CN115973480A - Full-automatic charging and battery-replacing unmanned aerial vehicle airport - Google Patents

Abstract

The invention provides a full-automatic battery charging and replacing unmanned aerial vehicle airport which comprises an engine room and a movable cabin door, wherein a support, a lifting platform mechanism, a lifting mechanism and a battery charging and replacing mechanism are arranged in the engine room, the lifting platform mechanism comprises a landing plate, a transverse centering device and a longitudinal clamping device, an I-shaped through hole is formed in the landing plate, the longitudinal clamping device is positioned in the through hole and used for longitudinally clamping and loosening the unmanned aerial vehicle and is driven by the lifting mechanism to move up and down through the through hole, the lifting mechanism is positioned below the longitudinal clamping device and used for driving the longitudinal clamping device to move up and down, the battery charging and replacing mechanism is positioned below the longitudinal clamping device and is vertical to the longitudinal clamping device, and the longitudinal clamping device clamps the unmanned aerial vehicle to move down into the battery charging and replacing mechanism under the driving of the lifting mechanism for battery charging and replacing. And the battery is charged and replaced through the charging and replacing mechanism, the battery is not clamped by the mechanical arm, the control logic is simple, and the stability is strong.

Description

Full-automatic charging and battery-replacing unmanned aerial vehicle airport

Technical Field

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a full-automatic charging and battery-replacing unmanned aerial vehicle airport.

Background

With the increase of cognition on the application value of the unmanned aerial vehicle, the unmanned aerial vehicle has the tendency of rapid development in consumption-level, industrial-level and military-level markets, and is increasingly applied in various fields. But unmanned aerial vehicle's duration becomes the biggest bottleneck that hinders unmanned aerial vehicle development, though the lithium cell is the best battery of comprehensive properties on the existing market, still can't satisfy unmanned aerial vehicle duration demand completely, consequently must consider unmanned aerial vehicle problem of charging in the unmanned aerial vehicle use.

At present, the battery replacement of the unmanned aerial vehicle has the following defects: unmanned aerial vehicle need frequently charge, trade battery operation, and it needs huge human input to trade the battery for it by staff's manual according to traditional mode, and needs personnel on duty, can't be in field work for a long time. Unmanned aerial vehicle airport is coming, but the battery in current unmanned aerial vehicle airport is all put into solitary charging tank and is charged, when unmanned aerial vehicle need return to the air and trade the battery, unmanned aerial vehicle falls on behind unmanned aerial vehicle airport take-off and landing platform, whole take-off and landing platform drives unmanned aerial vehicle and descends to the inside automatic battery replacement operation that carries on in unmanned aerial vehicle airport, it is very big to lead to unmanned aerial vehicle airport size, need hold the space of taking off and landing platform, the holistic size in full-automatic unmanned aerial vehicle cabin and weight have been increased, the cost also increases. After the whole take-off and landing platform drives the unmanned aerial vehicle to land, the mechanical arm works to clamp the battery and puts into the charging groove, and the clamp is got the battery that has been fully charged again and is put back in the unmanned aerial vehicle. The battery is clamped and stored through the mechanical arm, the operation program and the operation track of the mechanical arm are controlled to be very complex, and the unmanned aerial vehicle airport is large in size and very expensive in manufacturing cost. Moreover, because there is certain position error after unmanned aerial vehicle descends, the unable accurate clamp of arm gets the battery, also gives unmanned aerial vehicle and from moving the battery and bring a difficult problem, need adopt complicated process to make unmanned aerial vehicle descend to accurate position.

Disclosure of Invention

The invention aims to provide a full-automatic charging and replacing unmanned aerial vehicle airport which is low in cost, small in space, compact in structure, simple in control logic and strong in stability, and does not need a mechanical arm to clamp a battery. The unmanned aerial vehicle fills among the prior art, trades the electric process complicacy and unmanned aerial vehicle cabin overall dimension big, the weight is heavy, with high costs technical problem.

In order to solve the technical problems, the invention adopts the technical scheme that: the full-automatic charging and replacing unmanned aerial vehicle airport comprises a cabin and a movable cabin door, wherein a support, a lifting platform mechanism, a lifting mechanism and a charging and replacing mechanism are arranged in the cabin, the lifting platform mechanism comprises a landing plate, a transverse centering device and a longitudinal clamping device, the landing plate is arranged above the support and fixed in the cabin through the support, the transverse centering device is arranged on the upper surface of the landing plate, and the unmanned aerial vehicle is pushed to move towards the center of the landing plate by transverse reciprocating motion; be equipped with "worker" style of calligraphy through-hole on the landing board, vertical clamping device is located the through-hole and is used for vertically pressing from both sides tight, loosen unmanned aerial vehicle to through the upper and lower motion of elevating system drive through the through-hole, elevating system arranges vertical clamping device below in and is used for driving vertical clamping device up-and-down motion, it arranges vertical clamping device below in and is perpendicular with vertical clamping device to fill the electric mechanism that trades, fill and trade the electric mechanism and include battery jar, the reserve battery drive arrangement that bisymmetry set up, be equipped with the holding chamber between two battery jars, reserve battery arranges in arbitrary the battery jar charges, and reserve battery drive arrangement promotes reserve battery reciprocating motion in the battery jar, vertical clamping device presss from both sides tight unmanned aerial vehicle and moves to in elevating system's drive downstream extremely the holding intracavity trades electricity.

Furthermore, the movable cabin door comprises a left cabin door and a right cabin door which are respectively connected with the cabin through a left movable connecting rod and a right movable connecting rod, and the movable connecting rods drive the parallel swing arms to rotate to open and close the cabin door through the cabin door motor.

Furthermore, the longitudinal clamping device comprises two clamping parts, two screw rods, two first motors and two supporting plates which are symmetrically arranged, the two clamping parts are respectively arranged at two longitudinal sides of the lifting plate, the shapes of the two supporting plates are matched with the through holes, when the unmanned aerial vehicle takes off or lands, the two supporting plates and the lifting plate are on the same plane, the two first motors respectively drive the two screw rods to move, the two screw rods respectively drive the two clamping parts to reciprocate, and when the unmanned aerial vehicle lands, the unmanned aerial vehicle is clamped to longitudinally return to the center; and loosening the unmanned aerial vehicle when the unmanned aerial vehicle takes off.

Further, transversely put in order device including two push rods, two second motors that the symmetry set up, two push rods are arranged in respectively the horizontal both sides of board takes off and land, two second motors drive two push rod horizontal reciprocating motion respectively, and unmanned aerial vehicle descends and promotes unmanned aerial vehicle behind the board takes off and land and transversely puts in order.

Furthermore, elevating system includes fixed block, telescopic link and elevator motor, through the fixed block with vertical clamping device with the telescopic link is connected, telescopic link telescopic motion under elevator motor's promotion, and then makes vertical clamping device upwards, downstream.

Further, the standby battery driving device comprises a bottom plate, a battery push plate and a battery replacement motor, the bottom plate is located at the bottom of the battery tank, the battery push plate is respectively arranged at two ends of the bottom plate, and the battery replacement motor drives the battery push plate to push the standby battery to move back and forth in the battery tank.

Furthermore, the standby battery driving device also comprises a sliding block and a guide rail, wherein the guide rail is fixed on two sides of the battery jar and is connected with the battery push plate through the sliding block, and the battery push plate moves back and forth on the guide rail through the sliding block.

Furthermore, a charging plug in a transverse insertion mode is arranged in the battery jar, and the standby battery is charged through the charging plug.

Furthermore, one or more than one spare battery can be accommodated in the battery groove.

Furthermore, a meteorological station is arranged on the upper surface of the cabin door and used for collecting data of environment temperature, humidity, pressure, wind speed and rainfall.

The invention has the beneficial effects that: full-automatic electric unmanned aerial vehicle airport that fills is traded establishes "worker" style of calligraphy through-hole on taking off and land platform mechanism, and unmanned aerial vehicle returns well under the effect of horizontal device and vertical clamping device earlier back of returning to the heart, and vertical clamping device presss from both sides tight unmanned aerial vehicle and moves to filling and trade the mechanism in and trade the electricity under elevating system's drive. Need not whole platform of taking off and land to descend and trade the electricity, effectively reduce full-automatic charging trade the whole weight at electric unmanned aerial vehicle airport, save space. In the battery jar of the battery charging and replacing mechanism is arranged in to stand-by battery, when unmanned aerial vehicle need trade the battery, vertical clamping device presss from both sides tight unmanned aerial vehicle and moves downwards through elevating system's drive, stand-by battery drive arrangement promotes the distance of a battery of stand-by battery horizontal migration, the battery that needs to charge in the unmanned aerial vehicle promotes in step, the stand-by battery who is fully charged pushes into in the unmanned aerial vehicle, vertical clamping device presss from both sides tight unmanned aerial vehicle and moves upwards under elevating system's drive and carries out the flight task after parallel with the board that takes off and land, accomplish once trade electric operating procedure. This simple structure, it is with low costs, to the required precision of unmanned aerial vehicle post-landing battery position low, need not the arm clamp and get battery saving cost, control logic simply and stability is strong, has also reduced the size at unmanned aerial vehicle airport simultaneously, convenient transportation.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the embodiments or the prior art description will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings may be obtained according to these drawings without inventive labor.

Fig. 1 is a perspective view of an airport of a fully-automatic charging and swapping unmanned aerial vehicle of the invention;

fig. 2 is a schematic view of an airport door opening state of the full-automatic charging and replacing unmanned aerial vehicle of the invention;

fig. 3 is an internal schematic view of an airport cabin of a full-automatic charging and replacing unmanned aerial vehicle of the invention;

FIG. 4 is a schematic view of the longitudinal clamping device of the present invention clamping the unmanned aerial vehicle in downward motion;

FIG. 5 is a schematic diagram of the vertical clamping device of the invention moving upward after clamping the unmanned aerial vehicle to change power;

fig. 6 is a schematic diagram of the charging and battery replacing mechanism for replacing the battery of the unmanned aerial vehicle;

FIG. 7 is a schematic view of the longitudinal clamping device clamping the UAV of the present invention;

FIG. 8 is a schematic view of a landing platform mechanism of the present invention;

FIG. 9 is a schematic view of a charging and replacing mechanism according to the present invention;

FIG. 10 is an exploded view of the charging and swapping mechanism of the present invention;

FIG. 11 is a schematic view of the lifting mechanism of the present invention.

Description of reference numerals:

10. an unmanned aerial vehicle; 11. A propeller; 12. A battery; 13. A backup battery;

20. an airport; 21. A nacelle; 22. A cabin door; 23. A movable connecting rod;

231. a hatch motor; 24. A support; 25. A weather station; 26. A pattern transmission antenna;

27. a take-off and landing platform mechanism; 271. lowering the plate; 272. a transverse centering device; 2721. a push rod;

273. a longitudinal clamping device; 2731. a support plate; 2732. a clamping portion; 2733. A screw rod;

28. a battery charging and replacing mechanism; 281. A backup battery driving device; 282. A battery case;

283. a guide rail; 284. A charging plug; 285. An accommodating cavity; 286. a slider;

287. a bottom plate 288, a battery pusher; 289. A battery replacement motor;

29. a lifting mechanism; 291. A fixed block; 292. A screw rod; 293. a lifting motor; 294. a lifting plate.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present invention and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

As shown in fig. 1 to 11, an embodiment of the present invention provides a full-automatic charging and replacing unmanned aerial vehicle airport 20, which includes a cabin 21 and a movable cabin door 22, a support 24, a lifting platform mechanism 27, a lifting mechanism 29 and a charging and replacing mechanism 28 are disposed in the cabin 21, the lifting platform mechanism 27 includes a landing plate 271, a transverse centering device 272 and a longitudinal clamping device 273, the landing plate 271 is disposed above the support 24 and fixed in the cabin 21 through the support 24, the transverse centering device 272 is disposed on the upper surface of the landing plate 271, and transverse reciprocating motion pushes the unmanned aerial vehicle 10 to move toward the center of the landing plate; the unmanned aerial vehicle charging and replacing device is characterized in that an I-shaped through hole is formed in the falling plate 271, the longitudinal clamping device 273 is located in the through hole and used for longitudinally clamping and loosening the unmanned aerial vehicle 10, a propeller 11 of the unmanned aerial vehicle 10 is horizontally recovered, the lifting mechanism 29 is driven to move up and down through the through hole, the lifting mechanism 29 is arranged below the longitudinal clamping device 273 and used for driving the longitudinal clamping device 273 to move up and down, the charging and replacing mechanism 28 is arranged below the longitudinal clamping device 273 and perpendicular to the longitudinal clamping device 273, the charging and replacing mechanism 28 comprises two symmetrically arranged battery slots 282 and a standby battery driving device 281, an accommodating cavity 285 is arranged between the battery slots 282, the standby battery 13 is arranged in any one of the battery slots 282 for charging, the standby battery driving device 281 pushes the standby battery 13 to move back and forth in the battery slots 282, and the longitudinal clamping device 273 clamps the unmanned aerial vehicle 10 and moves down to the accommodating cavity 285 under the driving of the lifting mechanism 29 for replacing. The drone 10 is preferably provided with 4 propellers, the battery 12 powering the drone. When the battery 12 is low, the unmanned aerial vehicle needs to return to the full-automatic charging and replacing unmanned aerial vehicle airport to replace the battery, and the standby battery 13 is replaced to continue to execute the flight task. The replaced battery 12 is charged in the airport.

According to the full-automatic charging and replacing unmanned aerial vehicle airport, the I-shaped through hole is formed in the lifting platform mechanism, the unmanned aerial vehicle is centered under the action of the transverse centering device and the longitudinal clamping device, and the longitudinal clamping device clamps the unmanned aerial vehicle to move into the charging and replacing mechanism to replace power under the driving of the lifting mechanism. Need not whole platform of taking off and land to descend and trade the electricity, effectively reduce full-automatic charging trade the whole weight at electric unmanned aerial vehicle airport, save space. In the battery jar of the battery charging and replacing mechanism is arranged in to stand-by battery, when unmanned aerial vehicle need trade the battery, vertical clamping device presss from both sides tight unmanned aerial vehicle and moves downwards through elevating system's drive, stand-by battery drive arrangement promotes the distance of a battery of stand-by battery horizontal migration, the battery that needs to charge in the unmanned aerial vehicle promotes in step, the stand-by battery who is full of the electricity pushes into in the unmanned aerial vehicle battery jar, vertical clamping device presss from both sides tight unmanned aerial vehicle and moves upwards under elevating system's drive and carries out the flight task after parallel with the board that takes off and land, accomplish once trade electrical operation step. The support adopts carbon fiber square pipe preparation, weight only has traditional aluminum section frame's fourth, it all adopts carbon fiber sheet material processing preparation to fill to trade a mechanism large tracts of land frame member of electricity, the connecting piece adopts the aluminium alloy spare preparation, the relative all-metal mechanism light in weight is half, this full-automatic charging trades unmanned aerial vehicle airport simple structure, light in weight, with low costs, it is low to the required precision of unmanned aerial vehicle battery position after falling, it gets the battery saving cost to need not the arm clamp, control logic is simple and stable strong, the size at unmanned aerial vehicle airport has also been reduced simultaneously, convenient transportation.

Further, as shown in fig. 1-3, the movable cabin door 22 includes a left cabin door and a right cabin door, which are respectively connected to the cabin 21 through a left movable connecting rod 23 and a right movable connecting rod 23, and the movable connecting rods 23 drive the parallel swing arms to rotate to open and close the cabin door through the door motor 231. The cabin door adopts a parallel swing arm rotating structure, and under the limited airport volume, the unmanned plane can have larger landing area and cannot generate turbulent flow for the blocking of the cabin door to influence the landing.

Further, as shown in fig. 6 and 7, the longitudinal clamping device 273 includes two clamping portions 2732, two lead screws 2733, two first motors and two supporting plates 2731, which are symmetrically arranged, the two clamping portions 2732 are respectively disposed on two longitudinal sides of the lifting plate 271, the two supporting plates 2731 are adapted to the through holes, when the unmanned aerial vehicle takes off or lands, the two supporting plates 2731 and the lifting plate 271 are on the same plane, the two first motors respectively drive the two lead screws 2733 to move, the two lead screws 2733 respectively drive the two clamping portions 2732 to reciprocate, and when the unmanned aerial vehicle 10 lands, the unmanned aerial vehicle is clamped and longitudinally returned to the center; and loosening the unmanned aerial vehicle when the unmanned aerial vehicle takes off. Preferably, clamping part 2732 is the wedge, and when needs fixed unmanned aerial vehicle, the clamping part presss from both sides tight unmanned aerial vehicle under the drive of two first motors. This embodiment drives the clamping part through the lead screw and presss from both sides tightly and drive unmanned aerial vehicle motion for unmanned aerial vehicle can pinpoint, prevents to rock, has improved the precision of unmanned aerial vehicle battery position when trading the electricity. Meanwhile, the longitudinal clamping device is made of carbon fiber plates, the connecting piece is made of aluminum alloy pieces, the landing plate is a plastic-suction forming piece, the weight of the mechanism is lighter than that of an all-metal mechanism, the requirement on the motor torque of the lifting mechanism is lower, and the lifting mechanism is easier to achieve.

Further, as shown in fig. 4 and fig. 8, the transverse centering device 272 includes two push rods 2721 and two second motors that are symmetrically arranged, the two push rods 2721 are respectively disposed on two transverse sides of the lifting plate 271, the two second motors respectively drive the two push rods 2721 to perform transverse reciprocating motion, and after the unmanned aerial vehicle lands on the lifting plate 271, the two push rods 2721 push the unmanned aerial vehicle to perform transverse centering. For two second motors in this embodiment, also can set up 4 second motors, arrange the four corners of board of taking off and land respectively in, further prevent that the push rod from rocking, make unmanned aerial vehicle steady movement pushing away the in-process that unmanned aerial vehicle returned in the middle of.

Further, as shown in fig. 4 and 5, the clamping part is wedge-shaped, and when the unmanned aerial vehicle needs to be fixed, the clamping part is driven by the two first motors to clamp the unmanned aerial vehicle. Make centre gripping unmanned aerial vehicle more stable through the wedge design.

Further, as shown in fig. 11, the lifting mechanism 29 includes a fixing block 291, a telescopic rod 292, and a lifting motor 293, the fixing block 291 connects the longitudinal clamping device 273 with the telescopic rod 292, and the telescopic rod 292 is driven by the lifting motor 293 to move in a telescopic manner, so that the longitudinal clamping device 272 moves up and down. In this embodiment, it is preferable that a lifting plate 294 is further provided, the telescopic rod moves through the lifting plate 294, when the telescopic rod moves downward to the lifting plate 294, the power switching operation step is performed, and after the power switching operation is completed, the telescopic rod moves upward. Elevating system establishes to telescopic link structure, simple to operate, and can realize the modularization equipment.

Further, as shown in fig. 9 and 10, the backup battery driving device 281 includes a bottom plate 287, a battery push plate 288, and a battery replacement motor 289, the bottom plate 287 is located at the bottom of the battery container 282, the battery push plates 288 are respectively disposed at two ends of the bottom plate 287, and the battery replacement motor 289 drives the battery push plate 288 to push the backup battery 13 to reciprocate in the battery container 282.

Further, as shown in fig. 10, the backup battery driving apparatus 281 further includes a slider 286 and a guide track 283, the guide track 283 is fixed on both sides of the battery container 282 and is connected with the battery pushing plate 288 through the slider 286, and the battery pushing plate 288 reciprocates on the guide track 283 through the slider 286.

Further, as shown in fig. 9 and 10, a charging plug 284 of a lateral insertion type is provided in the battery container 282, and the backup battery 13 is charged by the charging plug 284. The charging plug adopts a transverse insertion mode, so that the standby battery can be conveniently moved, and quick charging and battery replacement can be realized.

Further, as shown in fig. 9 and 10, one or more backup batteries 13, preferably 3 backup batteries, can be accommodated in the battery container 282.

Further, as shown in fig. 1 and 2, a weather station 25 is disposed on an upper surface of the cabin door, and the weather station 25 is configured to collect data of ambient temperature, humidity, pressure, wind speed, and rainfall. Preferably, a pattern transmission antenna 26 is further arranged on the upper surface of the cabin door, so that the image transmission quality is improved.

In the invention, all motors adopt outer rotor brushless speed reducing motors, and compared with the traditional servo motor, the servo motor has smaller volume and lighter weight under the same torque.

As shown in fig. 4-6, the airport work flow of the full-automatic charging and replacing unmanned aerial vehicle of the invention is as follows:

when the unmanned aerial vehicle does not need to execute a flight task, the unmanned aerial vehicle is parked in the full-automatic charging and replacing unmanned aerial vehicle airport. When the flight task needs to be executed, the cabin door is opened, the lifting mechanism drives the longitudinal clamping device to move upwards and be parallel to the take-off and landing plate, the longitudinal clamping device loosens the unmanned aerial vehicle, and the unmanned aerial vehicle takes off to execute the flight task. When unmanned aerial vehicle flight electric power is not enough, the low warning of unmanned aerial vehicle electric quantity returns the unmanned aerial vehicle airport and trades the battery, and unmanned aerial vehicle is automatic to return to navigate, descends to this full-automatic charging and trades the board of taking off and land at electric unmanned aerial vehicle airport, because of the precision problem of landing point, needs adjust the unmanned aerial vehicle position. At this moment, the device work of transversely returning to the middle, the horizontal pole of the device of transversely returning to the middle promotes unmanned aerial vehicle to the horizontal central motion of board that takes off and land, and when unmanned aerial vehicle reachd the horizontal center of board that takes off and land, vertical clamping device began work, and under the effect of first motor, the lead screw rotated and drives clamping part motion unmanned aerial vehicle for unmanned aerial vehicle moves to the vertical central position of board that takes off and land. So far, unmanned aerial vehicle accomplishes the position and puts in the middle, is located the through-hole. Then, the vertical clamping device clamps the unmanned aerial vehicle and carries out the electricity switching operation when elevating system's effect descends to the set position. At this moment, the charging and replacing mechanism starts working, the standby battery driving device pushes the standby battery to horizontally move for a distance of one battery, the battery needing to be charged in the unmanned aerial vehicle is synchronously pushed, the fully charged standby battery is pushed into the unmanned aerial vehicle, the vertical clamping device clamps the unmanned aerial vehicle and moves upwards under the driving of the lifting mechanism until the unmanned aerial vehicle is parallel to the lifting plate, the vertical clamping device loosens the unmanned aerial vehicle, the unmanned aerial vehicle takes off to execute a flight task, and one-time battery replacing operation step is completed. So as to reciprocate. The battery that gets off of trading charges in full-automatic unmanned aerial vehicle airport, can circulate reciprocal repetitious usage. And repeating the steps when the battery is required to be replaced, and the details are not repeated.

In conclusion, the invention has simple structure and low cost. Vertical clamping mechanism presss from both sides tight unmanned aerial vehicle and moves in the through-hole, and does not need the upper and lower motion of whole take-off and landing platform, saves space, adopts carbon fiber material, and all motors all adopt outer rotor brushless gear motor, alleviate size, the weight at unmanned aerial vehicle airport. The cost is saved, the transportation is convenient, and the automatic operation is convenient. And can be realized through simple control logic without clamping and taking the battery by a mechanical arm. And the requirement on the position precision of unmanned aerial vehicle landing is low, and the cost of an unmanned aerial vehicle airport is reduced.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.

Claims (10)

1. Full-automatic electric unmanned aerial vehicle airport that fills trades, its characterized in that: the unmanned aerial vehicle control system comprises a cabin and a movable cabin door, wherein a support, a lifting platform mechanism, a lifting mechanism and a charging and replacing mechanism are arranged in the cabin, the lifting platform mechanism comprises a landing plate, a transverse centering device and a longitudinal clamping device, the landing plate is arranged above the support and is fixed in the cabin through the support, the transverse centering device is arranged on the upper surface of the landing plate, and the unmanned aerial vehicle is pushed to move towards the center of the landing plate by transverse reciprocating motion; be equipped with "worker" style of calligraphy through-hole on the descending board, vertical clamping device is located the through-hole and is used for vertically pressing from both sides tight, loosen unmanned aerial vehicle to pass through the through-hole upper and lower motion through the elevating system drive, elevating system arranges vertical clamping device below in and is used for driving vertical clamping device up and down motion, it is perpendicular with vertical clamping device to fill and trade the mechanism and arrange vertical clamping device below in, fill and trade battery jar, reserve battery drive arrangement that the mechanism includes the battery jar, the reserve battery drive arrangement that two symmetries set up, be equipped with the holding chamber between two battery jars, and reserve battery arranges in arbitrary the battery jar is charged, and reserve battery drive arrangement promotes reserve battery reciprocating motion in the battery jar, vertical clamping device presss from both sides tight unmanned aerial vehicle and drives downstream extremely at elevating system the holding intracavity trades the electricity.

2. The full-automatic electric-charging unmanned aerial vehicle airport according to claim 1, wherein the movable cabin door comprises a left cabin door and a right cabin door, the left cabin door and the right cabin door are connected with the cabin through a left movable connecting rod and a right movable connecting rod respectively, and the movable connecting rods drive the parallel swing arms to rotate to open and close the cabin door through a cabin door motor.

3. The full-automatic charging and replacing unmanned aerial vehicle airport according to claim 1, wherein the longitudinal clamping device comprises two clamping portions, two lead screws, two first motors and two supporting plates which are symmetrically arranged, the two clamping portions are respectively arranged at two longitudinal sides of the lifting plate, the two supporting plates are matched with the through holes in shape, when the unmanned aerial vehicle takes off or lands, the two supporting plates and the lifting plate are on the same plane, the two first motors respectively drive the two lead screws to move, the two lead screws respectively drive the two clamping portions to reciprocate, and when the unmanned aerial vehicle lands, the unmanned aerial vehicle is clamped to longitudinally return; and loosening the unmanned aerial vehicle when the unmanned aerial vehicle takes off.

4. The full-automatic charging and replacing unmanned aerial vehicle airport according to claim 1, wherein the transverse centering device comprises two push rods and two second motors, the two push rods and the two second motors are symmetrically arranged, the two push rods are respectively arranged on two transverse sides of the lifting plate, the two second motors respectively drive the two push rods to do transverse reciprocating motion, and the unmanned aerial vehicle is pushed to transversely center after landing on the lifting plate.

5. The full-automatic charging and replacing unmanned aerial vehicle airport according to claim 1, wherein the lifting mechanism comprises a fixed block, a telescopic rod and a lifting motor, the fixed block is used for connecting the longitudinal clamping device with the telescopic rod, and the telescopic rod is pushed by the lifting motor to move in a telescopic manner, so that the longitudinal clamping device moves upwards and downwards.

6. The airport of claim 1, wherein the backup battery driving device comprises a bottom plate, a battery pushing plate and a battery replacing motor, the bottom plate is located at the bottom of the battery tank, the battery pushing plate is respectively arranged at two ends of the bottom plate, and the battery replacing motor drives the battery pushing plate to push the backup battery to move back and forth in the battery tank.

7. The full-automatic charging and replacing unmanned aerial vehicle airport according to claim 6, wherein the backup battery driving device further comprises a sliding block and a guide rail, the guide rail is fixed on two sides of the battery jar and is connected with the battery push plate through the sliding block, and the battery push plate moves back and forth on the guide rail through the sliding block.

8. The airport of claim 6, wherein a plug for horizontal insertion is disposed in the battery slot, and a backup battery is charged through the plug.

9. The full-automatic charging and replacing unmanned aerial vehicle airport according to claim 1, wherein one or more spare batteries can be accommodated in the battery jar.

10. The full-automatic electric unmanned aerial vehicle charging and replacing airport according to claim 1, wherein a weather station is arranged on the upper surface of the cabin door and used for collecting data of ambient temperature, humidity, pressure, wind speed and rainfall.

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