WO2023116153A1 - Vertical takeoff unmanned aerial vehicle hangar system - Google Patents

Abstract

A vertical takeoff unmanned aerial vehicle hangar system, comprising a hangar outer frame (100), a storage opening being provided on an upper side of the hangar outer frame (100); an inner side of the hangar outer frame (100) being provided with a receiving platform (200) capable of vertically rising and descending; the receiving platform (200) being provided with a return mechanism (300); an inner side of the hangar outer frame (100) being provided with a lifting mechanism (400) driving the receiving platform (200) to vertically rise or descend; the hangar outer frame (100) being provided with a cabin door (500), the cabin door being capable of opening or closing the storage opening, an automatic opening and closing mechanism (600) being disposed between the cabin door (500) and the hangar outer frame (100), and the automatic opening and closing mechanism (600) being connected to the lifting mechanism (400). When the lifting mechanism (400) controls the receiving platform (200) to rise, the automatic opening and closing mechanism (600) controls the cabin door (500) to open, and when the lifting mechanism (400) controls the receiving platform (200) to descend, the automatic opening and closing mechanism (600) controls the cabin door (500) to close the storage opening. The vertical takeoff unmanned aerial vehicle hangar system can perform a return operation for an unmanned aerial vehicle landing at any position on the receiving platform, and has a high degree of system integration and a strong reliability.

Description

A hanging hangar system for unmanned aerial vehicles technical field

The invention belongs to the technical field of drones, and in particular relates to a hangar system for hanging drones.

Background technique

In recent years, with the rapid development of the Internet and the Internet of Things, UAV products have been widely used in many fields in modern society, such as forestry, power grids, sea areas, surveying and mapping and other related industries. UAVs can complete tasks such as reconnaissance, detection, and inspection. However, a single UAV operation system still needs to rely on many personnel to support it, and the professional level of the support personnel is high. It also means that a single UAV operation system has not realized true unmanned operation. Therefore, the UAV operation system that can operate without human participation, that is, the application of the UAV hangar system was born.

In recent years, the drone hangar system has gradually entered the public's field of vision. The drone hangar refers to a drone system that can automatically return, store, maintain, and charge the drone. The whole process of drone operation is controlled by the system itself without human participation. At present, the most widely used UAV hangar system is the multi-rotor UAV hangar, and most of them are consumer-level UAV hangar systems. However, due to the performance of the rotor UAV itself, it cannot fully reflect the advantages of the UAV hangar in terms of battery life, altitude, load, and quick response.

Hanging drones have developed rapidly in recent years with the advantages of large load, high battery life, high altitude, and fast cruise. Therefore, there will also be a wide range of application markets for hangar systems for hanging drones.

The current UAV cabin system has a complex structure and many power components, resulting in high cost of the whole product, poor reliability, and poor coordination and linkage of the power components of the whole machine. The linkage of the system’s homing, lifting, and opening and closing of the hatch door is poor. The time required for the drone to land on the receiving platform of the cabin to complete the mission and close the hatch is too long and inefficient, which cannot meet the needs of the industry. Internal application requirements for UAV hangars. For example, in the hangar in the patent CN110937127A, the homing part needs at least two groups of power components to realize, and the door closing component also needs a separate power system. At the same time, there are still relatively few UAV hangar systems for hanging UAVs. Patent CN 112918696 A adopts a traditional homing system and hatch closing system. The system has many drive components and poor reliability. Made as a detachable system, with poor cohesion and consistency, and allowing the ingress of rain and dirt.

In summary, the current hangar system has a complex structure, a large number of motor drive systems, insufficient reliability, and high cost. At the same time, the linkage of the system is poor, and the homing and storage of the UAV system takes a long time to run, which cannot meet the industry's application requirements for the cabin system.

In view of this, the present invention aims to propose a novel hanging UAV hangar system,

Contents of the invention

Aiming at the problems existing in the above-mentioned prior art, the object of the present invention is to provide a hanging hangar system for unmanned aerial vehicles, which can perform homing operation for unmanned aerial vehicles landing on any position of the receiving platform, and at the same time, the system integration degree High, strong reliability.

In order to realize the foregoing invention object, a technical scheme provided by the present invention is as follows:

A hanging hangar system for unmanned aerial vehicles, comprising a hangar outer frame, the upper side of the hangar outer frame is provided with a storage opening; the inner side of the hangar outer frame is provided with a receiving platform that can be raised and lowered in the vertical direction; The receiving platform is provided with a homing mechanism that moves the unmanned aerial vehicle parked on it to make it return to the final parking position; the inner side of the outer frame of the hangar is provided with a mechanism that drives the receiving platform up and down in the vertical direction. Lifting mechanism; the outer frame of the hangar is provided with a hatch, which can open or close the storage opening, and an automatic opening and closing mechanism is arranged between the hatch and the outer frame of the hangar. The automatic opening and closing mechanism is connected with the lifting mechanism. When the lifting mechanism controls the rising of the receiving platform, the automatic opening and closing mechanism controls the opening of the hatch door. When the lifting mechanism controls the falling of the receiving platform, the The automatic opening and closing mechanism controls the hatch to close the storage opening.

Preferably, the homing mechanism includes a first homing lever and a second homing lever arranged on the upper side of the receiving platform; the first homing lever and the second homing lever enclose to form a closed figure; The two ends of the first return rod are located on the upper side of the second return rod; the receiving platform is provided with a first chute and a second chute to both sides along the final parking position; the A homing drive assembly is provided on the lower side of the receiving platform, and the homing drive assembly passes through the first chute and the second chute to connect the first homing rod and the second homing rod respectively, and controls the The first return lever and the second return lever move towards or away from the final parking position synchronously.

Preferably, the shape of the first reset rod and/or the second reset rod is L-shaped.

Preferably, the homing drive assembly includes a first linkage plate and a second linkage plate; a mounting plate is fixed on the lower side of the receiving platform, a homing motor is arranged on the upper side of the mounting plate, and the homing motor The output shaft is provided with a homing gear; the first linkage plate and the second linkage plate are respectively provided with drive blocks, and the drive blocks on the first linkage plate and the second linkage plate respectively pass through The first chute and the second chute are respectively connected to the first return rod and the second return rod; the lower side of the receiving platform is located at the first chute and the second chute Guide rails are respectively arranged on both sides, and guide blocks are arranged at intervals on the side of the first linkage plate and the second linkage plate close to the receiving platform, and fitting grooves are opened on the guide blocks, and the guide blocks pass through The fitting groove is slidably connected with the guide rail; the first rack is provided on the first linkage plate parallel to the first chute; the second linkage plate is provided with a second gear parallel to the The second rack of the chute; the first rack and the second rack are respectively located on both sides of the homing gear, and are respectively meshed with the homing gear.

Preferably, the lifting mechanism includes a support frame installed on the lower side of the receiving platform, a lifting support sleeve is provided on a side of the support frame away from the receiving platform, and a lifting base is installed at the bottom of the outer frame of the hangar , the upper side of the lifting base is rotated with a lifting screw, the upper end of the lifting screw is located in the lifting support sleeve, and the lower end of the lifting support sleeve is fixed with a lifting nut, and the lifting nut is connected to the lifting screw. threaded connection; a servo motor is installed on the upper side of the lifting base, a driving gear is connected to the output shaft of the servo motor, a driven gear is fixedly connected to the lifting screw, and the driving gear meshes with the driven gear; The inner side of the outer frame of the hangar is provided with a guide assembly for guiding the sliding of the receiving platform in the vertical direction.

Preferably, multiple sets of guide assemblies are arranged at intervals; the guide assemblies include an upper mounting base and a lower mounting base fixed on the outer frame of the hangar, and a lift is provided between the upper mounting base and the lower mounting base. A guide rod, a slidable support plate is sleeved on the lifting guide rod; the lower side of the receiving platform, and the two ends that are relatively far away are respectively provided with a connecting frame, and the connecting frame is provided with a plurality of horizontal The mounting block is provided with a sliding joint hole, and each of the mounting blocks is sleeved on the lifting guide rod through the sliding joint hole, and the mounting block is connected to the support plate.

Preferably, the hatch door includes a first hatch door and a second hatch door, and the automatic opening and closing mechanism includes a first support seat fixed on one end of the hangar outer frame close to the storage port, and a first support seat located on the second hatch door. Two second support seats on both sides of a support seat; the first support seat and the second support seat are respectively provided with a group on the relatively parallel sides of the storage opening; the first support seat and the two second support seats Sliding guide rods are respectively arranged between the two support seats, and the upper sides of the sliding guide rods are respectively sleeved with compression springs; the lower side of the first hatch door and the lower side of the second hatch door are respectively provided with connecting seats. The two connecting seats are respectively sleeved on the sliding guide rods, and the compression spring is located on the rod section between the connecting seats and the first supporting seat; The first support plate and the second support plate, the first support plate is located on the side close to the first hatch door, the second support plate is located on the side close to the second hatch door; the first support plate is provided with the first support plate A guide wheel, the first guide wheel is rollingly connected to the first cabin door; a second guide wheel is arranged on the second support plate, and the second guide wheel is rollingly connected to the second cabin door; The wheel surfaces of the first guide wheel and the second guide wheel form a concave wire groove; the side of the first cabin door away from the second cabin door is provided with a first connection point, and the connecting frame is close to the second cabin door. One side of a cabin door is provided with a second connection point, a first connection rope is provided between the first connection point and the second connection point, and the first connection rope bypasses the wire groove on the first guide wheel; A third connection point is provided on the side of the second cabin door away from the first cabin door, and a fourth connection point is provided on the side of the connecting frame close to the second cabin door, and the third connection point and the first cabin door A second connecting rope is arranged between the four connecting points, and the second connecting rope goes around the wire groove on the second guide wheel.

Preferably, the inner side of the outer frame of the hangar is provided with a vertical first charging electrode rod and a second charging electrode rod, and the tops of the first charging motor rod and the second charging motor rod are respectively fixed with positive contacts and negative poles contacts; a battery module is arranged inside the outer frame of the hangar, and the positive contact and the negative contact are connected with the battery module; a charging hole is opened on the receiving platform and is located at the final parking position; the receiving platform When moving down, the positive and negative contacts can pass through the charging hole to charge the drone.

Preferably, it also includes a charging adapter block detachably connected to the drone; one end of the charging adapter block is provided with a cylindrical hole, and a wiring hole communicating with the cylindrical hole is opened in the charging adapter block; A charging bracket is fixed in the cylindrical hole, and the charging bracket is a cylindrical sleeve; a plurality of electrode rotating shafts are arranged at intervals along the circumferential direction inside the charging bracket, and the electrode rotating shafts are arranged horizontally, and each electrode rotating shaft The electrode pair contact piece is connected in rotation; the electrode pair contact piece includes an arc portion and a tapered portion, and the outer wall of the arc portion is connected to the electrode shaft; between the tapered portion and the charging bracket An electrode spring is provided; the positive contact or the negative contact can pass through the cylindrical hole and be in contact with the arc portion and/or the tapered portion.

A vertical UAV hangar system provided by the present invention has the following advantages:

1. In the present invention, the first homing lever, the second homing lever and the homing drive assembly are provided, and the unmanned aerial vehicle that lands on the receiving platform is homing in a diagonally symmetrical integrated homing manner. The entire homing mechanism only uses a homing motor as the power input, and a homing gear drives the first rack and the second rack to move in opposite directions, and can simultaneously homing the UAV in the X and Y directions. Moreover, the first homing rod and the second homing rod are misaligned in the vertical direction, so that the UAVs that land on any position on the receiving platform can be homing to the final parking position, and the reliability and economic benefits are greatly improved.

2. The present invention controls the lifting of the receiving platform through the provided lifting mechanism, and synchronously controls the synchronous opening or closing of the first cabin door and the second cabin door during the lifting process. The first cabin door and the second cabin door are driven by the power of the lifting mechanism. Complete the closing and opening action of the hatch, link the opening and closing action of the first hatch and the second hatch with the lifting mechanism, the system integration is high, the power system of the system is minimized, the cost is reduced, and the system is improved. reliability.

3. The present invention sets the first charging electrode pole, the second charging motor pole and the charging adapter block. When the UAV lands on the receiving platform for homing, after the receiving platform descends, the first charging electrode pole, the second charging pole The second charging motor pole is connected with the charging adapter block, which can realize the charging function of the drone. During this process, through the structure of the electrode shaft and the electrode pair contact piece set in the charging adapter block, when the positive contact and the negative contact are in contact with the electrode pair contact piece, the electrode pair contact piece can rotate around the motor shaft, During the rotation process, the upper and lower ends of the electrode pair contact sheet are respectively in contact with the positive contact or the negative contact, and the double contact ensures the reliability of contact and charging.

Description of drawings

Fig. 1 is the structural representation of a kind of hanging UAV hangar system of the present invention;

Fig. 2 is a structural schematic diagram of a protruding lifting mechanism in a hangar system for hanging drones according to the present invention;

Fig. 3 is a structural schematic diagram of a protruding homing mechanism in a hanging hangar system of an unmanned aerial vehicle according to the present invention;

Fig. 4 is a schematic diagram of the distribution of the protruding receiving platform and homing rods in a hanging UAV hangar system of the present invention;

Fig. 5 is a schematic diagram of the connection between the protruding homing mechanism and the receiving platform in a hanging UAV hangar system of the present invention;

Fig. 6 is a partial schematic diagram of a protruding homing mechanism in a hanging hangar system of an unmanned aerial vehicle according to the present invention;

Fig. 7 is a cross-sectional view of a prominent lifting mechanism in a hangar system for hanging drones according to the present invention;

Fig. 8 is a partial schematic diagram of the protruding lifting mechanism in a hanging hangar system for unmanned aerial vehicles of the present invention;

Fig. 9 is a cross-sectional view of a prominent automatic opening and closing mechanism in a hanging hangar system for unmanned aerial vehicle of the present invention;

Fig. 10 is a schematic diagram of a protruding support plate in a hanging hangar system of an unmanned aerial vehicle according to the present invention;

Fig. 11 is a schematic diagram of protruding to charge the UAV in a hanging UAV hangar system of the present invention;

Fig. 12 is a cross-sectional view of a protruding charging adapter block in a hanging hangar system of an unmanned aerial vehicle according to the present invention;

Fig. 13 is a schematic diagram of the connection between the protruding charging bracket and the electrode-to-contact piece in a hanging hangar system for the unmanned aerial vehicle of the present invention;

Fig. 14 is a schematic diagram of a protruding single electrode pair contact piece in a hanging hangar system for drones according to the present invention.

Reference signs in the figure:

100. The outer frame of the hangar;

200, receiving platform; 210, first chute; 220, second chute; 230, connecting frame; 240, installation block; 250, charging hole;

300, homing mechanism; 310, first homing lever; 320, second homing lever; 330, homing drive assembly; 331, first linkage plate; 331a, guide block; 332, second linkage plate; 333, mounting plate; 334, homing motor; 335, homing gear; 336, drive block; 337, guide rail; 338, first rack; 339, second rack;

400, lifting mechanism; 410, support frame; 420, lifting support sleeve; 430, lifting base; 440, lifting screw; 450, lifting nut; 460, servo motor; 470, driving gear; 480, driven gear; 490, Guide assembly; 491, upper mounting seat; 492, lower mounting seat; 493, lifting guide rod; 494, support plate;

500, hatch; 510, first hatch; 520, second hatch;

600, automatic opening and closing mechanism; 610a, first support seat; 610b, second support seat; 620, sliding guide rod; 630, compression spring; 640, connection seat; 650a, first support plate; 650b, second support plate 660a, first guide wheel; 660b, second guide wheel; 670a, first connection point; 680a, second connection point; 690a, first connection rope; 670b, third connection point; 680b, fourth connection point; 690b, the second connecting rope;

700a, the first charging electrode rod; 700b, the second charging electrode rod; 710, the positive contact; 720, the negative contact;

800, charging adapter block; 810, cylindrical hole; 820, wiring hole; 830, charging bracket; 840, electrode shaft; 850, electrode pair contact piece; spring.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Example

The present invention provides a hanging hangar system for unmanned aerial vehicles, referring to Fig. 1-Fig. The receiving platform 200 is raised and lowered in the vertical direction; when in use, the drone can pass through the storage opening and park on the upper side of the receiving platform 200, and can move vertically under the drive of the receiving platform 200. The receiving platform 200 is provided with a homing mechanism 300 that moves the unmanned aerial vehicle parked thereon to make it return to the final parking position; the inner side of the hangar outer frame 100 is provided with a lifting mechanism that drives the receiving platform 200 to rise and fall vertically. Agency 400. When in the final parking position, the parked drone can be charged.

The hangar outer frame 100 is provided with a hatch 500, the hatch 500 can open or close the storage opening, an automatic opening and closing mechanism 600 is arranged between the hatch 500 and the hangar outer frame 100, the automatic opening and closing mechanism 600 and the lifting mechanism 400 Connect, when the lifting mechanism 400 controls the receiving platform 200 to rise, the automatic opening and closing mechanism 600 controls the hatch 500 to open, and when the lifting mechanism 400 controls the receiving platform 200 to descend, the automatic opening and closing mechanism 600 controls the hatch 500 to close the storage port. When receiving the unmanned aerial vehicle, the lifting mechanism 400 controls the receiving platform 200 to rise, and at the same time, the hatch 500 is opened under the control of the automatic opening and closing mechanism 600. At this time, the unmanned aerial vehicle can land on the upper side of the receiving platform 200. After the landing is completed, the lifting mechanism 400 controls the receiving platform 200 to descend, and the automatic opening and closing mechanism 600 synchronously controls the closing of the hatch 500. Finally, the hatch 500 closes the storage port, and the drone is located inside the hangar outer frame 100.

4-6, the homing mechanism 300 includes a first homing bar 310 and a second homing bar 320 arranged on the upper side of the receiving platform 200; the first homing bar 310 and the second homing bar 320 are enclosed to form A closed figure; in this embodiment, the first homing rod 310 and/or the second homing rod 320 are L-shaped and enclosed to form a rectangle, the first homing rod 310 and the second homing rod 320 The shape can also be C-shape, V-shape and so on.

The two ends of the first homing bar 310 are located on the upper side of the second homing bar 320; the receiving platform 200 is provided with the first chute 210 and the second chute 220 along the final parking position to both sides; the final parking position is located at the first chute. One end of the first sliding slot 210 and the second sliding slot 220 are close to each other.

The lower side of the receiving platform 200 is provided with a homing drive assembly 330. The homing drive assembly 330 passes through the first chute 210 and the second chute 220 to connect the first homing rod 310 and the second homing rod 320 respectively, and controls the The first return rod 310 and the second return rod 320 move towards or away from the final parking position synchronously. When the first homing rod 310 and the second homing rod 320 move towards the final parking position, the rectangular area surrounded by the two gradually decreases; when moving away from the final parking position, the area surrounded by the two gradually decreases. Grow up to the max. When the area surrounded by the first homing bar 310 and the second homing bar 320 is the largest, it is convenient for the drone to park, and the parking position of the drone is located at the first homing bar 310 and the second homing bar 320 inside the enclosed area. When the first homing bar 310 and the second homing bar 320 move to the final parking position, the UAV can be driven to move until the first homing bar 310 and the second homing bar 320 are limited by the surroundings, so that It is fixed in the final parking position. It should be noted that the final parking position can be in the middle of the receiving platform 200 or other positions, as long as there is no collision with the drone.

The homing drive assembly 330 includes a first linkage plate 331 and a second linkage plate 332; a mounting plate 333 is fixed on the lower side of the receiving platform 200, a homing motor 334 is arranged on the upper side of the mounting plate 333, and the output shaft of the homing motor 334 A homing gear 335 is arranged on the top; a drive block 336 is respectively arranged on the first linkage plate 331 and the second linkage plate 332, and the drive blocks 336 on the first linkage plate 331 and the second linkage plate 332 respectively pass through The first chute 210 and the second chute 220 are respectively connected to the first homing bar 310 and the second homing bar 320; Guide rails 337 are respectively provided on the sides, wherein the length direction of the guide rails 337 is parallel to the first sliding slot 210 and the second sliding slot 220 . The first linkage plate 331 and the second linkage plate 332 are provided with guide blocks 331a at intervals on one side close to the receiving platform 200, and a fitting groove is opened on the guide block 331a, and the guide block 331a is slidably connected with the guide rail 337 through the fitting groove; The first link plate 331 is provided with a first rack 338 parallel to the first chute 210; the second link plate 332 is provided with a second rack 339 parallel to the second chute 220; the first rack 338 and The second racks 339 are respectively located on two sides of the return gear 335 and mesh with the return gear 335 respectively.

When working, the homing motor 334 works to control the homing gear 335 to rotate. Since the first rack 338 and the second rack 339 are meshed with the homing motor 334, the first rack is driven during the homing gear 335 rotation process. 338 and the second rack 339 move along a straight line, and then respectively drive the first linkage plate 331 and the second linkage plate 332 to move toward or away from each other. During the movement of 332 , the driving block 336 drives the first return rod 310 and the second return rod 320 on the upper side of the receiving platform 200 to move along the first chute 210 and the second chute 220 . When performing a homing operation on the UAV, the homing gear 335 rotates forward to control the first homing lever 310 and the second homing lever 320 to approach each other until the UAV reaches the final parking position. For the homing function of the drone, when the homing function ends, the homing motor 334 can control the homing gear 335 to rotate in reverse, and at this time, the first homing lever 310 and the second homing lever 320 are controlled to move away from each other. Move sideways until reaching the edge of the receiving platform 200, and wait for the next command to return to the original position again. It should be noted that the "forward rotation" and "reverse rotation" in the above are only used to distinguish that when the homing gear 335 rotates in different directions, it can drive the first homing lever 310 and the second homing lever 320 to approach or move away from each other. , does not limit the direction of rotation.

In addition, when the final parking position is located at the non-center position of the receiving platform 200, two homing gears 335 with different diameters can be provided to mesh with the first rack 338 and the second rack 339 respectively to realize the first homing. The rod 310 and the second homing rod 320 are driven at different speeds, thereby realizing the adjustment of the final parking position to a non-central position that can be implemented.

Referring to FIGS. 7-9 , the lifting mechanism 400 includes a support frame 410 installed on the lower side of the receiving platform 200 , and a lifting support sleeve 420 is provided on the side of the support frame 410 away from the receiving platform 200 . The bottom of the hangar outer frame 100 is equipped with a lifting base 430, and the upper side of the lifting base 430 is rotated to be provided with a lifting screw 440. The upper end of the lifting screw 440 is located in the lifting support sleeve 420, and the lower end of the lifting support sleeve 420 is fixedly provided with a lifting nut 450. , the lifting nut 450 is threadedly connected with the lifting screw rod 440; the upper side of the lifting base 430 is equipped with a servo motor 460, the output shaft of the servo motor 460 is connected with a driving gear 470, and the lifting screw rod 440 is fixedly connected with a driven gear 480, and the driving gear 470 and The driven gear 480 is engaged; the inner side of the hangar outer frame 100 is provided with a guide assembly 490 for guiding the sliding of the receiving platform 200 in the vertical direction. The provided guide assembly 490 can control the receiving platform 200 to move in the vertical direction without rotation.

When in use, drive the driving gear 470 to rotate by driving the motor, and the driving gear 470 drives the driven gear 480 to rotate, and then control the rotation of the lifting screw 440. During the rotation of the lifting screw 440, the lifting nut 450 is controlled to rotate in the vertical direction of the lifting screw 440. Move upward, drive the lifting support sleeve 420 connected to it to move during the movement, and then control the receiving platform 200 to move in the vertical direction. When the UAV needs to be homing, control the receiving platform 200 to rise to the highest position , it is convenient for the UAV to land at this time, and the receiving platform 200 is controlled to descend after landing.

The guide assembly 490 is provided with multiple groups at intervals; the guide assembly 490 includes an upper mounting seat 491 and a lower mounting seat 492 fixed on the hangar outer frame 100, and a lifting guide rod 493 is arranged between the upper mounting seat 491 and the lower mounting seat 492. A slidable support plate 494 is sleeved on the lifting guide rod 493; the lower side of the receiving platform 200, and the two ends located relatively far away are respectively provided with a connecting frame 230, and a plurality of horizontal mounting blocks 240 are arranged on the connecting frame 230, The mounting blocks 240 are provided with sliding joint holes, and each mounting block 240 is sleeved on the lifting guide rod 493 through the sliding joint holes, and the mounting blocks 240 are connected to the support plate 494 .

Referring to Figures 9-10, the hatch 500 includes a first hatch 510 and a second hatch 520, the automatic opening and closing mechanism 600 includes a first support seat 610a fixed at the end of the hangar outer frame 100 near the storage port, and a There are two second support bases 610b on both sides of a support base 610a; a set of first support bases 610a and second support bases 610b are respectively provided on opposite parallel sides of the storage opening.

Sliding guide rods 620 are respectively arranged between the first support base 610a and the two second support bases 610b, and the upper sides of the slide guide rods 620 are respectively sleeved with compression springs 630; the lower side of the first hatch door 510 and the second hatch door The lower side of 520 is provided with connecting seat 640 respectively, and two connecting seats 640 are sleeved on the sliding guide bar 620 respectively, and the compression spring 630 is located on the bar section between connecting seat 640 and first supporting seat 610a; The door 510 and the second hatch 520 can be opened to both sides under the action of the compression spring 630 .

A first support plate 650a and a second support plate 650b are provided on the inside of the hangar frame and on the side close to the storage opening. The first support plate 650a is located on the side close to the first hatch door 510, and the second support plate 650b is located One side of the hatch door 520; the first support plate 650a is provided with a first guide wheel 660a, and the first guide wheel 660a is rollingly connected with the first hatch door 510; the second support plate 650b is provided with a second guide wheel 660b, the second The guide wheel 660b is rollingly connected with the second hatch door 520; the first guide wheel 660a and the second guide wheel 660b can guide the first hatch door 510 and the second hatch door 520 when opening and closing.

The wheel surfaces of the first guide wheel 660a and the second guide wheel 660b form a concave wire groove; the side of the first cabin door 510 away from the second cabin door 520 is provided with a first connection point 670a, on the connecting frame 230 and close to the second cabin door. One side of a cabin door 510 is provided with a second connection point 680a, and a first connection rope 690a is arranged between the first connection point 670a and the second connection point 680a, and the first connection rope 690a is bypassed on the first guide wheel 660a. Wire groove; the second cabin door 520 is provided with a third connection point 670b on the side away from the first cabin door 510, and a fourth connection point 680b is provided on the connecting frame 230 and close to the side of the second cabin door 520, and the third connection A second connecting rope 690b is provided between the point 670b and the fourth connecting point 680b, and the second connecting rope 690b goes around the wire groove on the second guide wheel 660b.

Through the provided first connecting rope 690a and second connecting rope 690b, when the receiving platform 200 moves downward, the connecting frame 230 moves downward synchronously, at this time, the first connecting rope 690a and the second connecting rope 690b are connected Pull down, at this time, the first connecting rope 690a and the second connecting rope 690b drive the first hatch 510 and the second hatch 520 to overcome the elastic force of the compression spring 630, so that the first hatch 510 and the second hatch 520 are closed , when the receiving platform 200 rises, the force of the connecting frame 230 on the first connecting rope 690a and the second connecting rope 690b decreases, and under the elastic force of the compression spring 630, the first cabin door 510 and the second cabin door 520 Open to both sides, to the maximum position.

When it is necessary to return the UAV, the lifting mechanism 400 controls the receiving platform 200 to rise while controlling the first hatch 510 and the second hatch 520 to open synchronously. After receiving, the receiving platform 200 moves downward. , synchronously controlling the closing of the first cabin door 510 and the second cabin door 520 .

11-14, the hangar outer frame 100 is provided with a vertical first charging electrode rod 700a and a second charging electrode rod 700b, and the tops of the first charging motor rod and the second charging motor rod are respectively fixed with positive contacts. Point 710 and negative contact 720; a battery module is arranged inside the hangar outer frame 100, and the positive contact 710 and the negative contact 720 are connected with the battery module; meanwhile, the battery module supplies power to the homing motor 334 and the servo motor 460. A charging hole 250 is provided on the receiving platform 200 at the final parking position; when the receiving platform 200 moves down, the positive contact 710 and the negative contact 720 can pass through the charging hole 250 to charge the drone.

The drone hangar system also includes a charging adapter block 800 that is detachably connected to the drone; At the same time, the charging adapter block 800 can be installed on the UAV, and can be connected to the UAV to realize charging through wire connection.

One end of the charging adapter block 800 is provided with a cylindrical hole 810, and the charging adapter block 800 is provided with a wiring hole 820 communicating with the cylindrical hole 810; a charging bracket 830 is fixed in the cylindrical hole 810, and the charging bracket 830 is cylindrical Sleeve; the inner side of the charging bracket 830 is provided with a plurality of electrode shafts 840 at intervals along the circumferential direction, and the electrode shafts 840 are arranged horizontally, and each electrode shaft 840 is rotatably connected with an electrode pair contact piece 850; the electrode pair contact piece 850 includes an arc portion 851 and a tapered part 852, the outer wall of the arc part 851 is connected to the electrode shaft 840; an electrode spring 860 is arranged between the tapered part 852 and the charging bracket 830; the positive contact 710 or the negative contact 720 passes through the cylindrical hole 810 may be in contact with arcuate portion 851 and/or tapered portion 852 . Specifically, short shafts are respectively provided between the tapered portion 852 and the charging bracket 830 , and the electrode spring 860 is fixed through the end shafts.

On the outer frame 100 of the hangar, controllers, air conditioners and other equipment are also arranged.

The specific working process is as follows:

After receiving the landing information of the drone, the servo motor 460 is controlled to work. The servo motor 460 drives the lifting screw 440 to rotate through the driving gear 470 and the driven gear 480. During the movement, the first connecting rope 690a and the second connecting rope 690b are loose, and under the action of the compression spring 630, the first cabin door 510 and the second cabin door 520 are simultaneously opened to both sides until the maximum position, and the receiving platform 200 Rising to the highest point, at this moment, the drone can land in the receiving platform 200 .

When the UAV landed on the receiving platform 200, the homing motor 334 worked to control the first homing lever 310 and the second homing lever 320 to move to the side close to each other. At this time, the first homing lever 310 and the The area enclosed by the second homing rod 320 is gradually reduced, and the drone is moved to the final parking position in the process. When the drone moves to the final position, the first homing rod 310 and the second homing rod 320 are driven by the homing drive assembly 330 to move to the edge of the receiving platform 200 and wait for the next homing operation.

At the same time, the servo motor 460 rotates in reverse to control the receiving panel to move downward. During the downward movement, the positive contact 710 and the negative contact 720 pass through the charging hole 250 and connect with the charging adapter block 800 installed on the drone. Connect and charge. While the receiving panel moves downward, the first hatch 510 and the second hatch 520 close the storage opening.

A vertical UAV hangar system provided by the present invention has the following advantages:

1. The present invention returns the unmanned aerial vehicle landed on the receiving platform 200 through the diagonally symmetrical integrated homing mode through the first homing rod 310, the second homing rod 320 and the homing drive assembly 330. bit manipulation. The whole homing mechanism 300 only adopts a homing motor 334 as the power input, drives the first rack 338 and the second rack 339 to move in opposite directions through a homing gear 335, and can control the X direction and the Y direction of the drone simultaneously. Perform homing action, and the first homing rod 310 and the second homing rod 320 are misaligned in the vertical direction, and the unmanned aerial vehicle that lands on any position on the receiving platform 200 can be homing to the final parking position, and the reliability And the economic benefits are greatly improved.

2. The present invention controls the lifting of the receiving platform 200 through the lifting mechanism 400 provided, and synchronously controls the synchronous opening or closing of the first cabin door 510 and the second cabin door 520 during the lifting process. The first cabin door 510 and the second cabin door 520 With the help of the power of the lifting mechanism 400, the closing and opening actions of the hatch 500 are completed, and the opening and closing actions of the first hatch 510 and the second hatch 520 are linked with the lifting mechanism 400. The advanced power system reduces the cost and improves the reliability of the system.

3. In the present invention, through the first charging electrode rod 700a, the second charging motor rod and the charging adapter block 800, when the UAV lands on the receiving platform 200 for homing, after the receiving platform 200 descends, the first charging The electrode rod 700a, the second charging motor rod and the charging adapter block 800 are connected to realize the charging function of the drone. During this process, through the structure of the electrode shaft 840 and the electrode pair contact piece 850 provided in the charging adapter block 800, when the positive contact 710 and the negative electrode contact 720 contact the electrode pair contact piece 850, the electrode pair contact piece 850 can rotate around the shaft of the motor. During the rotation, the upper and lower ends of the electrode pair contact sheet 850 are in contact with the positive contact 710 or the negative contact 720 respectively. The double contact ensures the reliability of contact and charging.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", The orientation or positional relationship indicated by "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have Certain orientations, constructed and operative in certain orientations, therefore are not to be construed as limitations on the invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connection, or integral connection, may be mechanical connection, electrical connection, direct connection, or indirect connection through an intermediary, or internal communication between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations. In the case of no conflict, the embodiments and the features in the embodiments of the present invention can be combined with each other.

The above-mentioned embodiments only express the implementation manner of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present invention. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (9)

A hanger system for hanging unmanned aerial vehicles, characterized in that: it comprises a hangar outer frame (100), the upper side of the hangar outer frame (100) is provided with a storage port; the inner side of the hangar outer frame (100) A receiving platform (200) that can be raised and lowered in the vertical direction is provided; The receiving platform (200) is provided with a homing mechanism (300) for moving the UAV parked thereon to make it return to the final parking position; The inner side of the hangar outer frame (100) is provided with a lifting mechanism (400) that drives the receiving platform (200) to lift up and down in the vertical direction; The hangar outer frame (100) is provided with a hatch door (500), and the hatch door (500) can open or close the storage opening, and the hatch door (500) and the hangar outer frame (100) ) is provided with an automatic opening and closing mechanism (600), the automatic opening and closing mechanism (600) is connected with the lifting mechanism (400), and when the lifting mechanism (400) controls the rising of the receiving platform (200), The automatic opening and closing mechanism (600) controls the hatch (500) to open the storage port, and the lifting mechanism (400) controls when the receiving platform (200) descends, the automatic opening and closing mechanism (600) Controlling the cabin door (500) to close the storage opening. The hanging UAV hangar system according to claim 1, wherein: the homing mechanism (300) includes a first homing rod (310) and a first homing rod (310) arranged on the upper side of the receiving platform (200) and The second homing rod (320); the first homing rod (310) and the second homing rod (320) enclose to form a closed figure; The two ends of the first return rod (310) are located on the upper side of the second return rod (320); The receiving platform (200) is provided with a first chute (210) and a second chute (220) on both sides along the final parking position; The lower side of the receiving platform (200) is provided with a homing drive assembly (330), and the homing drive assembly (330) passes through the first chute (210) and the second chute (220) respectively to connect the the first return lever (310) and the second return lever (320), and control the first return lever (310) and the second return lever (320) to approach or move away from the final parking position synchronously move. The hanging UAV hangar system according to claim 2, characterized in that: the first homing rod (310) and/or the second homing rod (320) are L-shaped. The hanging hangar system for unmanned aerial vehicles according to claim 2, wherein: the homing drive assembly (330) includes a first linkage plate (331) and a second linkage plate (332); The lower side of the receiving platform (200) is fixed with a mounting plate (333), the upper side of the mounting plate (333) is provided with a homing motor (334), and the output shaft of the homing motor (334) is provided with a homing motor (334). bit gear (335); The first linkage plate (331) and the second linkage plate (332) are respectively provided with drive blocks (336), and the first linkage plate (331) and the second linkage plate (332) are The driving block (336) respectively passes through the first chute (210) and the second chute (220), and connects the first return rod (310) and the second return rod (320); The lower side of the receiving platform (200) and the two sides of the first chute (210) and the second chute (220) are respectively provided with guide rails (337), and the first linkage plate (331) A guide block (331a) is arranged at a distance from the side of the second linkage plate (332) close to the receiving platform (200), and a fitting groove is opened on the guide block (331a), and the guide block (331a) slidingly connected with the guide rail (337) through the fitting groove; A first rack (338) parallel to the first chute (210) is provided on the first linkage plate (331); The second linkage plate (332) is provided with a second rack (339) parallel to the second chute (220); the first rack (338) and the second rack (339) are respectively Located on both sides of the return gear (335), and meshing with the return gear (335) respectively. The hanging hangar system for unmanned aerial vehicles according to claim 1, wherein: the lifting mechanism (400) includes a support frame (410) installed on the underside of the receiving platform (200), and the support frame (410) a lifting support sleeve (420) is provided on one side away from the receiving platform (200), The bottom of the hangar outer frame (100) is equipped with a lifting base (430), and the upper side of the lifting base (430) is rotated with a lifting screw (440), and the upper end of the lifting screw (440) is located on the lifting support. Inside the casing (420), the lower end of the lifting support casing (420) is fixedly provided with a lifting nut (450), and the lifting nut (450) is threadedly connected with the lifting screw (440); A servo motor (460) is installed on the upper side of the lifting base (430), a driving gear (470) is connected to the output shaft of the servo motor (460), and a driven gear is fixedly connected to the lifting screw (440). (480), the driving gear (470) meshes with the driven gear (480); A guide assembly (490) is provided on the inside of the hangar outer frame (100) to guide the sliding of the receiving platform (200) in the vertical direction. Hanging UAV hangar system according to claim 5, is characterized in that: described guiding assembly (490) is provided with multiple groups at intervals; The guide assembly (490) includes an upper mounting base (491) and a lower mounting base (492) fixed on the hangar outer frame (100), and the upper mounting base (491) and the lower mounting base (492) A lifting guide rod (493) is arranged between them, and a slidable support plate (494) is sleeved on the lifting guide rod (493); The lower side of the receiving platform (200), and the two ends that are located relatively far away are respectively provided with a connecting frame (230), and a plurality of horizontal mounting blocks (240) are arranged on the connecting frame (230). The block (240) is provided with a sliding joint hole, and each of the mounting blocks (240) is sleeved on the lifting guide rod (493) through the sliding joint hole, and the mounting block (240) and the The support disc (494) is connected. The hanging hangar system for unmanned aerial vehicles according to claim 6, wherein: the hatch (500) comprises a first hatch (510) and a second hatch (520), The automatic opening and closing mechanism (600) includes a first support base (610a) fixed at the end of the hangar outer frame (100) close to the storage opening, and two sides on both sides of the first support base (610a). Two second support bases (610b); the first support base (610a) and the second support base (610b) are respectively provided with a group on the two sides relatively parallel to the storage opening; Sliding guide rods (620) are respectively arranged between the first support base (610a) and the two second support bases (610b), and compression springs (630) are sleeved on the upper sides of the slide guide rods (620). ; The lower side of the first cabin door (510) and the lower side of the second cabin door (520) are respectively provided with connecting seats (640), and the two connecting seats (640) are respectively sleeved on the sliding guide rods (620 ), and the compression spring (630) is located on the rod section between the connection seat (640) and the first support seat (610a); A first support plate (650a) and a second support plate (650b) are provided on the inside of the hangar frame and on the side close to the storage opening, and the first support plate (650a) is located close to the first cabin door (510) On one side, the second support plate (650b) is located on the side close to the second hatch (520); The first support plate (650a) is provided with a first guide wheel (660a), and the first guide wheel (660a) is rollingly connected with the first cabin door (510); the second support plate (650b ) is provided with a second guide wheel (660b), and the second guide wheel (660b) is rollingly connected to the second cabin door (520); The wheel surfaces of the first guide wheel (660a) and the second guide wheel (660b) form concave wire grooves; The side of the first hatch (510) away from the second hatch (520) is provided with a first connection point (670a), and the side of the connecting frame (230) close to the first hatch (510) A second connection point (680a) is provided, a first connection rope (690a) is arranged between the first connection point (670a) and the second connection point (680a), and the first connection rope (690a) bypasses the the wire groove on the first guide wheel (660a); A third connection point (670b) is provided on the side of the second hatch (520) away from the first hatch (510), and on the side of the connecting frame (230) close to the second hatch (520) A fourth connection point (680b) is provided, a second connection rope (690b) is provided between the third connection point (670b) and the fourth connection point (680b), and the second connection rope (690b) bypasses The wire groove on the second guide wheel (660b). Hanging UAV hangar system according to claim 1, it is characterized in that: the inside of the hangar outer frame (100) is provided with a vertical first charging electrode rod (700a) and a second charging electrode rod ( 700b), the tops of the first charging motor rod and the second charging motor rod are respectively fixed with a positive contact (710) and a negative contact (720); A battery module is arranged inside the hangar outer frame (100), and the positive contact (710) and the negative contact (720) are connected to the battery module; A charging hole (250) is opened on the receiving platform (200) and located at the final parking position; when the receiving platform (200) moves downward, the positive contact (710) and the negative contact (720) can wear Charge the drone through the charging hole (250). According to claim 8, hang up the unmanned aerial vehicle hangar system, it is characterized in that: also comprise the charging transfer block (800) that is detachably connected on the unmanned aerial vehicle; A cylindrical hole (810) is opened at one end of the charging adapter block (800), and a wiring hole (820) communicating with the cylindrical hole (810) is opened in the charging adapter block (800); A charging bracket (830) is fixed in the cylindrical hole (810), and the charging bracket (830) is a cylindrical sleeve; a plurality of electrode shafts (840) are arranged at intervals along the circumferential direction inside the charging bracket (830). ), the electrode shaft (840) is arranged horizontally, and each electrode shaft (840) is rotationally connected with an electrode pair contact sheet (850); The electrode pair contact piece (850) includes an arc portion (851) and a tapered portion (852), and the outer wall of the arc portion (851) is connected to the electrode shaft (840); the tapered portion An electrode spring (860) is arranged between (852) and the charging stand (830); The positive contact (710) or the negative contact (720) can contact the arc portion (851) and/or the tapered portion (852) through the cylindrical hole (810).

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