CN104981403B - Unmanned plane base station and its battery replacement device - Google Patents

Abstract

A kind of unmanned plane base station and its battery replacement device, the battery replacement device (10b) include：For capturing the grasping mechanism (14) of the battery, for the first translation mechanism (11) for driving the grasping mechanism (14) to be translated in the first direction of principal axis (X), for the second translation mechanism (12) for driving the grasping mechanism (14) to be translated in the second direction of principal axis (Y), for the 3rd translation mechanism (13) for driving the grasping mechanism (14) to be translated in the 3rd direction of principal axis (Z).Wherein, first direction of principal axis (X), second direction of principal axis (Y) and the 3rd direction of principal axis (Z) form three Cartesian coordinates；Coordinate position of the grasping mechanism (14) in the three Cartesian coordinates is adjusted by first translation mechanism (11), second translation mechanism (12) and the 3rd translation mechanism (13).The structure of the battery replacement device (10b) of above-mentioned unmanned plane base station is more compact, and space-consuming is smaller, is easy to the Miniaturization Design of unmanned plane base station.

Description

UAV base station and its battery replacement device

technical field

The present invention relates to an unmanned aerial vehicle (unmanned aerial vehicle, unmanned aerial vehicle) base station (Dock), in particular to an unmanned aerial vehicle base station capable of automatically replacing the battery of the unmanned aerial vehicle and a battery replacement device thereof.

Background technique

Generally, the battery life of small unmanned aerial vehicles is limited. In order for unmanned aerial vehicles to be more suitable for fully automated flight operations, scientific research institutions and some commercial companies have tried to design an unmanned aerial vehicle that can automatically replace the battery of the unmanned aerial vehicle. machine ground base station.

However, traditional UAV ground base stations all use rotating battery compartments to store and charge standby batteries. The structure is more complicated, it takes up a lot of space, and the number of batteries arranged in a fixed space is small, which increases the overall vertical direction of the ground base station. on height and overall size requirements.

Contents of the invention

The invention provides a battery replacement device for a UAV base station, so as to achieve the purpose of having a relatively compact structure, occupying less space, and facilitating the miniaturization design of the UAV base station.

A battery replacement device for an unmanned aerial vehicle base station, used to replace the battery of an unmanned aerial vehicle, characterized in that the battery replacement device includes:

a gripping mechanism for gripping said battery;

a first translation mechanism for driving the gripping mechanism to translate in the direction of the first axis;

a second translation mechanism for driving the gripping mechanism to translate in the direction of the second axis; and

a third translation mechanism for driving the grabbing mechanism to translate in the direction of the third axis;

Wherein, the first axis direction, the second axis direction, and the third axis direction form a three-dimensional Cartesian coordinate system; the coordinate position of the grasping mechanism in the three-dimensional Cartesian coordinate system is passed by the The first translation mechanism, the second translation mechanism and the third translation mechanism adjust.

Compared with traditional technologies, the above UAV base station has at least the following advantages:

(1) The battery replacement device of the above-mentioned UAV base station adopts three translation mechanisms, and the three translation mechanisms constitute a Cartesian coordinate system, and the three translation mechanisms drive the grasping mechanism, so that the grasping mechanism can easily move the drone The battery of the man-machine is placed in or taken out of the battery compartment, without using a rotating battery compartment that takes up a lot of space; and, when the battery replacement device completes the battery replacement operation or is not working, through three translations The translation of the mechanism moves to the edge of the inner space of the UAV base station, and shrinks together to save the inner space of the UAV base station. Therefore, the battery replacement device of the above-mentioned UAV base station has a relatively compact structure and takes up less space, which is convenient for the miniaturization design of the UAV base station.

(2) The battery replacement device of the above-mentioned UAV base station adopts three translation mechanisms, and the three translation mechanisms form a Cartesian coordinate system, and the battery of the UAV can be directly inserted into the battery compartment without using additional drives The structure adjusts the placement direction of the battery. Therefore, the battery replacement device of the above-mentioned UAV base station has a relatively simple structure and low cost.

In one of the embodiments, the first translation mechanism, the second translation mechanism and the third translation mechanism move sequentially;

Alternatively, at least two of the first translation mechanism, the second translation mechanism and the third translation mechanism move simultaneously.

In one of the embodiments, the three-dimensional Cartesian coordinate system is a Cartesian coordinate system or an oblique coordinate system.

In one of the embodiments, the first translation mechanism is a rotary motor translation drive mechanism, a belt translation mechanism, a cylinder translation drive mechanism or a linear motor translation drive mechanism.

In one of the embodiments, the second translation mechanism is a rotary motor translation drive mechanism, a belt translation mechanism, a cylinder translation drive mechanism or a linear motor translation drive mechanism.

In one of the embodiments, the third translation mechanism is a rotary motor translation drive mechanism, a belt translation mechanism, a cylinder translation drive mechanism or a linear motor translation drive mechanism.

In one of the embodiments, the grabbing mechanism is a vacuum chuck grabbing mechanism, a magnet grabbing mechanism or a mechanical gripper grabbing mechanism.

In one of the embodiments, the grabbing mechanism is set on the third translation mechanism, the third translation mechanism is set on the second translation mechanism, and the second translation mechanism is set on the first translation mechanism. On the translation mechanism, the first translation mechanism is arranged on the bearing base;

Wherein, the third translation mechanism and the first translation mechanism move parallel to the carrying base, and the second translation mechanism moves away from or close to the carrying base.

In one of the embodiments, the grabbing mechanism is set on the third translation mechanism, the third translation mechanism is set on the second translation mechanism, and the second translation mechanism is set on the first translation mechanism. On the translation mechanism, the first translation mechanism is arranged on the bearing base;

Wherein, the second translation mechanism and the first translation mechanism move parallel to the carrying base, and the third translation mechanism moves away from or close to the carrying base.

In one of the embodiments, the grabbing mechanism is set on the third translation mechanism, the third translation mechanism is set on the second translation mechanism, and the second translation mechanism is set on the first translation mechanism. On the translation mechanism, the first translation mechanism is arranged on the bearing base;

Wherein, the third translation mechanism and the second translation mechanism move parallel to the carrying base, and the first translation mechanism moves away from or close to the carrying base.

At the same time, the present invention also provides another battery replacement device for the UAV base station.

A battery replacement device for an unmanned aerial vehicle base station, used to replace the battery of an unmanned aerial vehicle, said battery replacement device comprising:

The first translation mechanism includes a first driving member and a first carrier, and the first driver can drive the first carrier to move along the first axis;

The second translation mechanism installed on the first carrier, the second translation mechanism includes a second driver and a second carrier, the second driver can drive the second carrier along the second Axis direction movement;

A third translation mechanism installed on the second carrier, the third translation mechanism includes a third driver and a third carrier, the third driver can drive the third carrier along the third axial movement; and

a grabbing mechanism installed on the third carrier and used to grab the battery;

Wherein, the first axis direction, the second axis direction, and the third axis direction constitute a three-dimensional Cartesian coordinate system; the coordinate positions of the gripping mechanism on the three-dimensional Cartesian coordinate The first driving member, the second driving member and the third driving member are adjusted.

Compared with the traditional technology, the battery replacement device of the above-mentioned UAV base station has at least the following advantages:

(1) The above-mentioned battery replacement device adopts three translational mechanisms, and the three translational mechanisms constitute a Cartesian coordinate system, and the three translational mechanisms drive the grasping mechanism, so that the grasping mechanism can more conveniently place the battery of the drone into the battery compartment, or taken out from the battery compartment, without using a rotating battery compartment that takes up a lot of space; and, when the battery replacement device completes the battery replacement operation or is not working, it moves through the translation of the three translation mechanisms to the edge of the inner space of the UAV base station, and shrunk together to save the inner space of the UAV base station. Therefore, the battery replacement device of the above-mentioned UAV base station has a relatively compact structure and takes up less space, which is convenient for the miniaturization design of the UAV base station.

(2) The above-mentioned battery replacement device adopts three translation mechanisms, and the three translation mechanisms form a Cartesian coordinate system, which can directly insert the battery of the drone into the battery compartment without using an additional drive structure to adjust the swing of the battery. Therefore, the structure of the battery replacement device of the above-mentioned UAV base station is relatively simple and the cost is low.

(3) The above-mentioned battery replacement device adopts three independent driving parts to respectively drive three bearing parts, two of which are used to carry two translation mechanisms, and the other is used to carry a grasping mechanism, and the three bearing parts can be respectively Independent translation makes the gripping mechanism more stable and flexible when moving.

In one of the embodiments, the first translation mechanism further includes a first guide, the first guide is arranged parallel to the direction of the first axis, and the first bearing is provided with a The first matching portion matched with the guide member enables the first bearing member to slide along the first guide member.

In one of the embodiments, the first guide is a guide rail arranged parallel to the direction of the first axis, the first matching part is a slider fixed on the bottom of the first carrier, the The slider is provided with a chute matching the shape of the guide rail;

Alternatively, the first guide member is a guide rod arranged parallel to the direction of the first axis, the first matching portion is a guide hole provided on the first bearing member, and the guide rod passes through the guide hole, and can slide freely in the guide hole.

In one of the embodiments, the first driving member is a rotating motor, and the first translation mechanism further includes a first screw and a first nut sleeved on the first screw, and the first The driving shaft of the driving member is coaxially and fixedly connected to one end of the first screw rod, and the first screw nut is fixedly connected to the first bearing member;

Wherein, the first driving member drives the first screw to rotate, and the first screw is threadedly matched with the first screw nut to drive the first screw nut to move, and the first screw nut drives the first screw nut to move. The translation of the first bearing member.

In one of the embodiments, the first translation mechanism further includes a screw support and two motor supports;

The screw support is provided with a bearing, and the end of the first screw away from the first driving member passes through the bearing on the screw support;

The two motor brackets are fixed on the bearing base and are arranged at a distance from each other; two mounting lugs are respectively provided on the opposite sides of the first driving member, and the two mounting lugs are respectively connected to the two motor brackets. fixedly connected to fix the first driver on the carrier base;

The first wire nut is fixed on the first carrier.

In one embodiment, there are two first guide members, and the two first guide members are respectively located on two sides of the first screw rod and arranged parallel to the first screw rod.

In one embodiment, the first driving member is a rod cylinder, and the telescopic rod of the rod cylinder is fixedly connected to the first carrier to drive the first carrier to move.

In one of the embodiments, the first driving part is a linear motor, and the primary side of the linear motor is fixedly connected to the first carrier, so as to drive the first carrier to move synchronously;

Alternatively, the first driving part is a rodless cylinder, and the piston of the rodless cylinder is fixedly connected with the first bearing part, so as to drive the first bearing part to move synchronously.

In one of the embodiments, the first carrier is a carrier plate, and the carrier plate is provided with a hollow portion.

In one of the embodiments, the first translation mechanism further includes a first limit switch, the first limit switch is arranged along the direction of the first axis, and is used for sensing the moving position of the first bearing member.

In one of the embodiments, the first limit switch is a photoelectric limit switch, a reed switch or an inductive limit switch.

In one of the embodiments, the second translation mechanism further includes a second guide, the second guide is arranged parallel to the direction of the second axis, and the second bearing is provided with The second matching portion matched with the guide member enables the second bearing member to slide along the second guide member.

In one of the embodiments, the second guide is a guide rail arranged parallel to the direction of the second axis, the second matching part is a slider fixed on the bottom of the second carrier, the The slider is provided with a chute matching the shape of the guide rail;

Alternatively, the second guide member is a guide rod arranged parallel to the direction of the second axis, the second matching portion is a guide hole provided on the second bearing member, and the guide rod passes through the guide hole, and can slide freely in the guide hole.

In one of the embodiments, the second driving member is a rotating motor, and the second translation mechanism further includes a second screw rod and a second screw nut sleeved on the second screw rod. The driving shaft of the driving member is coaxially and fixedly connected to one end of the second screw rod, and the second screw nut is fixedly connected to the second bearing member;

Wherein, the second driving member drives the second screw to rotate, and the second screw is threadedly matched with the second screw nut to drive the second screw nut to move, and the second screw nut drives the second screw nut to move. The second carrier is translated.

In one of the embodiments, the second translation mechanism further includes a motor mounting plate, the second drive member is fixed on the motor mounting plate, and the motor mounting plate is fixed on the first motor mounting plate through threaded fasteners. on the carrier; the second wire nut is fixed on the second carrier.

In one embodiment, there are two second guide members, and the two second guide members are respectively located on two sides of the second screw rod and arranged parallel to the second screw rod.

In one of the embodiments, the second driving part is a rod cylinder, and the telescopic rod of the rod cylinder is fixedly connected with the second carrier to drive the second carrier to move.

In one of the embodiments, the second driving part is a linear motor, and the primary side of the linear motor is fixedly connected to the second carrier, so as to drive the second carrier to move synchronously;

Alternatively, the second driving part is a rodless cylinder, and the piston of the rodless cylinder is fixedly connected with the second bearing part, so as to drive the second bearing part to move synchronously.

In one of the embodiments, the second carrier is a carrier plate, and the carrier plate is provided with a hollow portion.

In one of the embodiments, the second translation mechanism further includes a second limit switch, the second limit switch is arranged along the direction of the second axis, and is used for sensing the moving position of the second carrier.

In one of the embodiments, the second translation mechanism further includes a limit switch installation plate, the limit switch installation plate is fixedly connected with the second guide, and the second limit switch is installed on the limit switch. position switch mounting plate.

In one of the embodiments, the second limit switch is a photoelectric limit switch, a reed switch or an inductive limit switch.

In one of the embodiments, the third translation mechanism further includes a third guide, the third guide is arranged parallel to the direction of the third axis, and the third bearing is provided with a The third matching portion matched with the guide member enables the third bearing member to slide along the third guide member.

In one of the embodiments, the third guiding member is a guide rail arranged parallel to the direction of the third axis, the third matching portion is a slider fixed on the bottom of the third bearing member, the The slider is provided with a chute matching the shape of the guide rail;

Alternatively, the third guide member is a guide rod arranged parallel to the direction of the third axis, the third matching portion is a guide hole provided on the third bearing member, and the guide rod passes through the guide hole, and can slide freely in the guide hole.

In one of the embodiments, the third driving member is a rotating motor, and the third translation mechanism further includes a third screw rod and a third screw nut sleeved on the third screw rod. The driving shaft of the driving member is coaxially and fixedly connected to one end of the third screw rod, and the third screw nut is fixedly connected to the third bearing member;

Wherein, the third driving member drives the third screw to rotate, and the third screw is threadedly matched with the third screw nut to drive the third screw nut to move, and the third screw nut drives the third screw nut to move. The third carrier is translated.

In one of the embodiments, the third translation mechanism further includes two guide installation brackets, and the two guide installation brackets are fixed on the second carrier and arranged at a distance from each other;

The third driving member is installed on one of the guide member mounting brackets, and the other guide member mounting bracket is provided with a bearing, and the end of the third screw rod away from the third driving member passes through another the bearing on the guide mounting bracket;

Both ends of the third guide are respectively fixed on the two guide mounting brackets;

The third wire nut is fixed on the third carrier.

In one of the embodiments, the third translation mechanism further includes two battery brackets for supporting the batteries of the drone; the two battery brackets are installed on one of the guides away from the third driving member The parts are installed on the bracket and set at relative intervals.

In one of the embodiments, there is one third guide member, and the third guide member is arranged opposite to the third screw rod and parallel to the third screw rod.

In one of the embodiments, the third driving member is a rod cylinder, and the telescopic rod of the rod cylinder is fixedly connected to the third carrier to drive the third carrier to move.

In one of the embodiments, the third driving part is a linear motor, and the primary of the linear motor is fixedly connected with the third carrier, so as to drive the third carrier to move synchronously;

Alternatively, the third driving member is a rodless cylinder, and the piston of the rodless cylinder is fixedly connected to the third carrier, so as to drive the third carrier to move synchronously.

In one of the embodiments, the third carrier is a carrier plate, and the carrier plate is provided with a hollow portion.

In one of the embodiments, the third translation mechanism further includes a third limit switch, the third limit switch is arranged along the direction of the third axis, and is used for sensing the moving position of the third carrier.

In one embodiment, the third limit switch is a photoelectric limit switch, a reed switch or an inductive limit switch.

In one of the embodiments, the third translation mechanism further includes a third limit switch and a limit switch bearing plate, and the two ends of the limit switch bearing plate are respectively fixedly connected to the two guide mounting brackets. , the third limit switch is installed on the limit switch bearing plate.

In one of the embodiments, the grabbing mechanism is a vacuum chuck grabbing mechanism, a magnet grabbing mechanism or a mechanical gripper grabbing mechanism.

In addition, the present invention also provides an unmanned aerial vehicle base station using the above-mentioned battery replacement device.

A drone base station, comprising:

carrying base;

The battery replacement device is used to replace the battery of the drone, and the battery replacement device includes a first translation mechanism, a second translation mechanism, a third translation mechanism and a grasping mechanism;

The first translation mechanism is installed on the bearing base, the first translation mechanism includes a first driver and a first carrier, and the first driver can drive the first carrier along the first Move in one axis direction;

The second translation mechanism installed on the first carrier, the second translation mechanism includes a second driver and a second carrier, the second driver can drive the second carrier along the Move in the direction of the second axis;

The third translation mechanism installed on the second carrier, the third translation mechanism includes a third driver and a third carrier, the third driver can drive the third carrier along the moving in the direction of the third axis; the direction of the first axis, the direction of the second axis, and the direction of the third axis form a three-dimensional Cartesian coordinate system;

The grasping mechanism installed on the third carrier and used to grasp the battery; the coordinate positions of the grasping mechanism on the three-dimensional Cartesian coordinate system are respectively passed through the first driving member , the adjustment of the second driving member and the third driving member;

a battery compartment installed on the carrier base, the battery compartment is used to accommodate the battery and charge the battery;

Wherein, the battery is grasped by the battery replacement device, and the battery can be taken out from the battery compartment or put into the battery compartment.

Compared with traditional technologies, the above UAV base station has at least the following advantages:

(1) The battery replacement device of the above-mentioned UAV base station adopts three translation mechanisms, and the three translation mechanisms constitute a Cartesian coordinate system, and the three translation mechanisms drive the grasping mechanism, so that the grasping mechanism can easily move the drone The battery of the man-machine is placed in or taken out of the battery compartment, without using a rotating battery compartment that takes up a lot of space; and, when the battery replacement device completes the battery replacement operation or is not working, through three translations The translation of the mechanism moves to the edge of the inner space of the UAV base station, and shrinks together to save the inner space of the UAV base station. Therefore, the battery replacement device of the above-mentioned UAV base station has a relatively compact structure and takes up less space, which is convenient for the miniaturization design of the UAV base station.

(2) The battery replacement device of the above-mentioned UAV base station adopts three translation mechanisms, and the three translation mechanisms form a Cartesian coordinate system, and the battery of the UAV can be directly inserted into the battery compartment without using additional drives The structure adjusts the placement direction of the battery. Therefore, the battery replacement device of the above-mentioned UAV base station has a relatively simple structure and low cost.

(3) The battery replacement device of the above-mentioned UAV base station adopts three independent driving parts to drive three bearing parts respectively, wherein two bearing parts are used to carry two translation mechanisms, and the other is used to carry a grasping mechanism. The two bearing parts can translate independently, so that the gripping mechanism has good stability and flexibility when moving.

In one of the embodiments, the first translation mechanism further includes a first guide, the first guide is arranged parallel to the direction of the first axis, and the first bearing is provided with a The first matching portion matched with the guide member enables the first bearing member to slide along the first guide member.

In one of the embodiments, the first guide is a guide rail arranged parallel to the direction of the first axis, the first matching part is a slider fixed on the bottom of the first carrier, the The slider is provided with a chute matching the shape of the guide rail;

Alternatively, the first guide member is a guide rod arranged parallel to the direction of the first axis, the first matching portion is a guide hole provided on the first bearing member, and the guide rod passes through the guide hole, and can slide freely in the guide hole.

In one of the embodiments, the first driving member is a rotating motor, and the first translation mechanism further includes a first screw and a first nut sleeved on the first screw, and the first The driving shaft of the driving member is coaxially and fixedly connected to one end of the first screw rod, and the first screw nut is fixedly connected to the first bearing member;

Wherein, the first driving member drives the first screw to rotate, and the first screw is threadedly matched with the first screw nut to drive the first screw nut to move, and the first screw nut drives the first screw nut to move. The translation of the first bearing member.

In one of the embodiments, the first translation mechanism further includes a screw support and two motor supports;

The screw support is provided with a bearing, and the end of the first screw away from the first driving member passes through the bearing on the screw support;

The two motor brackets are fixed on the bearing base and are arranged at a distance from each other; two mounting lugs are respectively provided on the opposite sides of the first driving member, and the two mounting lugs are respectively connected to the two motor brackets. fixedly connected to fix the first driver on the carrier base;

The first wire nut is fixed on the first carrier.

In one embodiment, there are two first guide members, and the two first guide members are respectively located on two sides of the first screw rod and arranged parallel to the first screw rod.

In one embodiment, the first driving member is a rod cylinder, and the telescopic rod of the rod cylinder is fixedly connected to the first carrier to drive the first carrier to move.

In one of the embodiments, the first driving part is a linear motor, and the primary side of the linear motor is fixedly connected to the first carrier, so as to drive the first carrier to move synchronously;

Alternatively, the first driving part is a rodless cylinder, and the piston of the rodless cylinder is fixedly connected with the first bearing part, so as to drive the first bearing part to move synchronously.

In one of the embodiments, the first carrier is a carrier plate, and the carrier plate is provided with a hollow portion.

In one of the embodiments, the first translation mechanism further includes a first limit switch, the first limit switch is arranged along the direction of the first axis, and is used for sensing the moving position of the first bearing member.

In one of the embodiments, the first limit switch is a photoelectric limit switch, a reed switch or an inductive limit switch.

In one of the embodiments, the second translation mechanism further includes a second guide, the second guide is arranged parallel to the direction of the second axis, and the second bearing is provided with The second matching portion matched with the guide member enables the second bearing member to slide along the second guide member.

In one of the embodiments, the second guide is a guide rail arranged parallel to the direction of the second axis, the second matching part is a slider fixed on the bottom of the second carrier, the The slider is provided with a chute matching the shape of the guide rail;

Alternatively, the second guide member is a guide rod arranged parallel to the direction of the second axis, the second matching portion is a guide hole provided on the second bearing member, and the guide rod passes through the guide hole, and can slide freely in the guide hole.

In one of the embodiments, the second driving member is a rotating motor, and the second translation mechanism further includes a second screw rod and a second screw nut sleeved on the second screw rod. The driving shaft of the driving member is coaxially and fixedly connected to one end of the second screw rod, and the second screw nut is fixedly connected to the second bearing member;

Wherein, the second driving member drives the second screw to rotate, and the second screw is threadedly matched with the second screw nut to drive the second screw nut to move, and the second screw nut drives the second screw nut to move. The second carrier is translated.

In one of the embodiments, the second translation mechanism further includes a motor mounting plate, the second drive member is fixed on the motor mounting plate, and the motor mounting plate is fixed on the first motor mounting plate through threaded fasteners. on the carrier; the second wire nut is fixed on the second carrier.

In one embodiment, there are two second guide members, and the two second guide members are respectively located on two sides of the second screw rod and arranged parallel to the second screw rod.

In one of the embodiments, the second driving part is a rod cylinder, and the telescopic rod of the rod cylinder is fixedly connected with the second carrier to drive the second carrier to move.

In one of the embodiments, the second driving part is a linear motor, and the primary side of the linear motor is fixedly connected to the second carrier, so as to drive the second carrier to move synchronously;

Alternatively, the second driving part is a rodless cylinder, and the piston of the rodless cylinder is fixedly connected with the second bearing part, so as to drive the second bearing part to move synchronously.

In one of the embodiments, the second carrier is a carrier plate, and the carrier plate is provided with a hollow portion.

In one of the embodiments, the second translation mechanism further includes a second limit switch, the second limit switch is arranged along the direction of the second axis, and is used for sensing the moving position of the second carrier.

In one of the embodiments, the second translation mechanism further includes a limit switch installation plate, the limit switch installation plate is fixedly connected with the second guide, and the second limit switch is installed on the limit switch. position switch mounting plate.

In one of the embodiments, the second limit switch is a photoelectric limit switch, a reed switch or an inductive limit switch.

In one of the embodiments, the third translation mechanism further includes a third guide, the third guide is arranged parallel to the direction of the third axis, and the third bearing is provided with a The third matching portion matched with the guide member enables the third bearing member to slide along the third guide member.

In one of the embodiments, the third guiding member is a guide rail arranged parallel to the direction of the third axis, the third matching portion is a slider fixed on the bottom of the third bearing member, the The slider is provided with a chute matching the shape of the guide rail;

Alternatively, the third guide member is a guide rod arranged parallel to the direction of the third axis, the third matching portion is a guide hole provided on the third bearing member, and the guide rod passes through the guide hole, and can slide freely in the guide hole.

In one of the embodiments, the third driving member is a rotating motor, and the third translation mechanism further includes a third screw rod and a third screw nut sleeved on the third screw rod. The driving shaft of the driving member is coaxially and fixedly connected to one end of the third screw rod, and the third screw nut is fixedly connected to the third bearing member;

Wherein, the third driving member drives the third screw to rotate, and the third screw is threadedly matched with the third screw nut to drive the third screw nut to move, and the third screw nut drives the third screw nut to move. The third carrier is translated.

In one of the embodiments, the third translation mechanism further includes two guide installation brackets, and the two guide installation brackets are fixed on the second carrier and arranged at a distance from each other;

The third driving member is installed on one of the guide member mounting brackets, and the other third guide member mounting bracket is provided with a bearing, and the end of the third screw rod away from the third driving member is passed through The bearing on another one of the guide mounting brackets;

Both ends of the third guide are respectively fixed on the two guide mounting brackets;

The third wire nut is fixed on the third carrier.

In one of the embodiments, the third translation mechanism further includes two battery brackets for supporting the batteries of the drone; the two battery brackets are installed on one of the guides away from the third driving member The parts are installed on the bracket and set at relative intervals.

In one of the embodiments, there is one third guide member, and the third guide member is arranged opposite to the third screw rod and parallel to the third screw rod.

In one of the embodiments, the third driving member is a rod cylinder, and the telescopic rod of the rod cylinder is fixedly connected to the third carrier to drive the third carrier to move.

In one of the embodiments, the third driving part is a linear motor, and the primary of the linear motor is fixedly connected with the third carrier, so as to drive the third carrier to move synchronously;

Alternatively, the third driving member is a rodless cylinder, and the piston of the rodless cylinder is fixedly connected to the third carrier, so as to drive the third carrier to move synchronously.

In one of the embodiments, the third carrier is a carrier plate, and the carrier plate is provided with a hollow portion.

In one of the embodiments, the third translation mechanism further includes a third limit switch, the third limit switch is arranged along the direction of the third axis, and is used for sensing the moving position of the third carrier.

In one embodiment, the third limit switch is a photoelectric limit switch, a reed switch or an inductive limit switch.

In one of the embodiments, the third translation mechanism further includes a third limit switch and a limit switch bearing plate, and the two ends of the limit switch bearing plate are respectively fixedly connected to the two guide mounting brackets. , the third limit switch is mounted on the limit switch bearing plate.

In one of the embodiments, the grabbing mechanism is a vacuum chuck grabbing mechanism, a magnet grabbing mechanism or a mechanical gripper grabbing mechanism.

In one of the embodiments, the battery compartment includes a plurality of battery accommodation chambers, the plurality of battery accommodation chambers are arranged in a matrix, each of the battery accommodation chambers has a receiving opening, and the battery accommodation chambers The storage opening is set towards the side where the battery replacement device is located.

In one of the embodiments, each of the battery accommodating chambers is provided with a charging device for charging the battery, and when the battery is put into the battery accommodating chamber, the charging device can charge the battery battery charging.

In one embodiment, the charging device is a non-contact charging device, and the non-contact charging device includes one of an electromagnetic induction circuit, a magnetic resonance induction circuit and a microwave induction circuit.

In one of the embodiments, the charging device is a contact charging device, and the contact charging device includes charging contacts arranged on the inner wall of the storage opening of each battery storage cavity, and the battery Charging electrodes are provided for corresponding electrical contact with the charging contacts.

In one of the embodiments, an engaging structure is provided on the inner wall of the receiving opening of each battery accommodating cavity, and the engaging structure is engaged with the battery so as to position the battery in the inside the battery housing.

In one embodiment, the engaging structure is an elastic buckle, an electric lock or an electromagnetic lock.

Description of drawings

FIG. 1 is a schematic structural diagram of a UAV base station in Embodiment 1 of the present invention;

Fig. 2 is a schematic structural diagram when a drone is parked on the base station of the drone according to Embodiment 2 of the present invention;

Fig. 3 is a schematic diagram of the structure of the UAV base station shown in Fig. 2 after removing the casing;

FIG. 4 is a structural schematic diagram of another perspective of the UAV base station shown in FIG. 3;

Fig. 5 is an exploded view of the UAV base station shown in Fig. 4;

Fig. 6 is an exploded view of the first translation mechanism of the UAV base station shown in Fig. 4;

Fig. 7 is an exploded view of the second translation mechanism of the UAV base station shown in Fig. 4;

Fig. 8 is an exploded view of the third translation mechanism of the UAV base station shown in Fig. 4;

Fig. 9 is a top view of the UAV base station shown in Fig. 4;

FIG. 10 is a schematic structural diagram of the battery compartment of the UAV base station shown in FIG. 3 .

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of 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.

It should be noted that when an element is referred to as being “fixed” to another element, it can be directly on the other element or there can also be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and similar expressions are used herein for purposes of illustration only.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The disclosure provides a UAV base station, including a battery replacement device and a battery compartment, the battery replacement device is used to automatically replace the battery of the UAV, the battery compartment is used to store the UAV battery, and the to charge.

The battery replacement device uses a grasping mechanism to grasp the battery of the drone, and uses three translation mechanisms to adjust the position of the grasping structure. The three translation mechanisms can be constructed into a three-dimensional Cartesian coordinate system. The grasping mechanism is controlled by three translational mechanisms, so that the grasping mechanism can take out the battery from the battery compartment or put it into the battery. Since the three translation mechanisms can be constructed into a three-dimensional Cartesian coordinate system, when the battery replacement device completes the battery replacement operation or is not working, the three translation mechanisms and the grabbing mechanism can move to the edge of the inner space of the UAV base station , and shrunk together to save the internal space of the UAV base station and facilitate the miniaturization design of the UAV base station.

In some of these embodiments, the UAV base station can be a ground base station or an air base station. For example, the UAV base station is kept in the air by using a balloon, or it can be a water base station. For example, a carrier such as a ship is used to place the UAV base station The UAV base station stays on the sea, lake, etc.

In some of the embodiments, the ground base station may be a fixed ground base station or a portable mobile base station.

In some of the embodiments, the three translation mechanisms can be constructed in a Cartesian coordinate system or a Cartesian oblique coordinate system. For example, when the internal spatial shape of the UAV base station is a regular shape such as a rectangle, the three translation mechanisms can be constructed into a Cartesian coordinate system to adapt to the internal spatial shape of the UAV base station, thereby saving UAVs more The internal space of the base station; when the internal space shape of the UAV base station is a cone shape, the three translation mechanisms can be constructed into a Cartesian oblique coordinate system to try to adapt to the internal space shape of the UAV base station, so that It can save the internal space of the UAV base station.

In some of these embodiments, the movement sequence of the three translation mechanisms may be performed sequentially or simultaneously, for example, the three translation mechanisms may move sequentially, or two of the translation mechanisms may move simultaneously, or the three translation mechanisms may move simultaneously. When the three translation mechanisms move at the same time, the three translation mechanisms can simultaneously complete the translation operation, that is, S1/V1=S2/V2=S3/V3, S1, S2, and S3 are the displacements of the translation of the three translation mechanisms, V1, V2 and V3 are the translation speeds of the three translation mechanisms respectively; the three translation mechanisms can also complete translation operations at different times, for example, S1/V1=S2/V2<S3/V3, and S3 is the displacement of the grabbing mechanism moving towards the battery compartment .

In some of the embodiments, the three translation mechanisms can construct the Cartesian coordinate system on the carrying base sequentially, or reverse the order to construct the Cartesian coordinate system on the carrying base.

For example, the three translation mechanisms are X-axis structure, Y-axis structure, and Z-axis structure. The X-axis structure and Y-axis structure are respectively used to adjust two plane coordinates parallel to the bearing base, and the Z-axis structure is used to adjust The height of the base. At this time, the X-axis structure can be set on the bearing base, the Z-axis structure can be set on the X-axis structure, and the Y-axis structure can be set on the Z-axis structure; or, the X-axis structure can be set on the bearing base, and the The Y-axis structure is set on the X-axis structure, and the Z-axis structure is set on the Y-axis structure; or, the Z-axis structure can be set on the bearing base, the X-axis structure is set on the Z-axis structure, and the Y-axis structure can be set on the X-axis structure.

Some embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

Please refer to FIG. 1 , the UAV base station 10 according to the first embodiment of the present invention includes a carrier base 10a, a battery replacement device 10b and a battery compartment 10c. The battery replacement device 10b is installed on the carrier base 10a, and is used for replacing the battery of the drone. The battery compartment 10c is used for storing the battery of the drone and charging the battery of the drone.

The battery replacement device 10b includes a first translation mechanism 11, a second translation mechanism 12, a third translation mechanism 13, and a grasping mechanism 14, the grasping mechanism 14 is used to grasp the battery, and the first translation mechanism 11 is used to drive the grasping mechanism 14 translates in the first axis direction X, the second translation mechanism 12 is used to drive the grasping mechanism 14 to translate in the second axis direction Y, and the third translation mechanism 13 is used to drive the grasping mechanism 14 to translate in the third axis direction Z. Wherein, the first axis direction X, the second axis direction Y, and the third axis direction Z form a three-dimensional Cartesian coordinate system. The coordinate position of the grasping mechanism 14 in the three-dimensional Cartesian coordinate system is determined by the first translation mechanism 11, the second The translation mechanism 12 and the third translation mechanism 13 are adjusted.

Further, the first translation mechanism 11 , the second translation mechanism 12 and the third translation mechanism 13 can work synchronously or separately. For example, in the illustrated embodiment, the first translation mechanism 11 , the second translation mechanism 12 and the third translation mechanism 13 move sequentially. In other embodiments, at least two of the first translation mechanism 11 , the second translation mechanism 12 and the third translation mechanism 13 move simultaneously.

Further, the three-dimensional Cartesian coordinate system may be a Cartesian coordinate system or an oblique coordinate system. An appropriate coordinate system can be constructed according to the shape of the internal space of the UAV base station 10. For example, when the internal space of the UAV base station 10 is a cube, a Cartesian coordinate system can be selected to save more space for the UAV base station. 10 of the internal space; when the internal space of the UAV base station 10 is a pyramid or similar shape, then choose to build a Cartesian oblique coordinate system, which can better understand the internal space of the UAV base station 10.

Further, the specific structure of the first translation mechanism 11 can be designed according to actual needs, for example, the first translation mechanism 11 can be a rotary motor translation drive mechanism, a belt translation mechanism, a cylinder translation drive mechanism or a linear motor translation drive mechanism. The rotary motor translation mechanism is to use a rotary motor to drive the screw to rotate. The screw is covered with a nut, and the screw and the nut are threaded to drive the nut to translate, and the nut then drives the loaded object to move. The belt translation mechanism drives the belt to rotate through the pulley, and the loaded object fixed on the belt moves synchronously with the belt. Cylinder translation drive mechanism, which drives the object to move through the cylinder. For example, the cylinder is a rod cylinder, and the telescopic rod of the rod cylinder drives the object to move, or the cylinder is a rodless cylinder, and the piston of the rodless cylinder is connected to the object. The object is fixedly connected to drive the carried object to move synchronously. Linear motor translation drive mechanism, that is, the primary drive of the linear motor moves the carried object synchronously.

Further, the specific structure of the second translation mechanism 12 can be designed according to actual needs, for example, the second translation mechanism 12 can be a rotary motor translation drive mechanism, a belt translation mechanism, a cylinder translation drive mechanism or a linear motor translation drive mechanism. The working principles of the rotating motor translational driving mechanism, belt translational driving mechanism, cylinder translational driving mechanism or linear motor translational driving mechanism are the same as those discussed above, and will not be described in detail here.

Further, the specific structure of the third translation mechanism 13 can be designed according to actual needs, for example, the third translation mechanism 13 can be a rotary motor translation drive mechanism, a belt translation mechanism, a cylinder translation drive mechanism or a linear motor translation drive mechanism. The working principles of the rotating motor translational driving mechanism, belt translational driving mechanism, cylinder translational driving mechanism or linear motor translational driving mechanism are the same as those discussed above, and will not be described in detail here.

It should be noted that the specific structure types of the first translation mechanism 11 , the second translation mechanism 12 , and the third translation mechanism 13 may be the same or different. For example, both the first translation mechanism 11 and the second translation mechanism 12 can use a linear motor translation drive mechanism, and the third translation mechanism 13 can use a rotary motor translation drive mechanism, or the first translation mechanism 11, the second translation mechanism 12 and the third translation mechanism The translation mechanism 13 all adopts a rotary motor translation drive mechanism.

Further, the grabbing mechanism 14 may be a vacuum chuck grabbing mechanism, a magnet grabbing mechanism or a mechanical gripper grabbing mechanism. The vacuum suction cup grabbing mechanism is to suck the battery of the drone through the vacuum suction cup. When the battery of the drone is grabbed, the cylinder connected to the vacuum suction cup starts to work to make the vacuum suction cup vacuum. When the battery of the drone is put down , the cylinder communicated with the vacuum suction cup stops working, so that the vacuum suction cup is inflated. The magnet grabbing mechanism is to attract the iron parts on the battery of the drone through the electromagnet. When the magnet grabbing mechanism grabs the battery of the drone, the electromagnet is powered on. When the magnet grabbing mechanism puts down the drone’s battery When the battery is turned off, the electromagnet is de-energized. The mechanical gripper gripping mechanism is to grip the battery of the drone through a gripper structure such as a finger.

Further, the positional relationship among the first translation mechanism 11 , the second translation mechanism 12 and the third translation mechanism 13 can be set according to different requirements. For example, in the illustrated embodiment, the gripping mechanism 14 is arranged on the third translation mechanism 13, the third translation mechanism 13 is arranged on the second translation mechanism 12, and the second translation mechanism 12 is arranged on the first translation mechanism 11 , the first translation mechanism 11 is disposed on the carrier base 10a. Wherein, the third translation mechanism 13 and the first translation mechanism 11 move parallel to the carrying base 10a, and the second translation mechanism 12 moves away from or close to the carrying base 10a.

In another embodiment, the grasping mechanism 14 is arranged on the third translation mechanism 13, the third translation mechanism 13 is arranged on the second translation mechanism 12, the second translation mechanism 12 is arranged on the first translation mechanism 11, and the first translation mechanism 13 is arranged on the second translation mechanism 12. The translation mechanism 11 is disposed on the carrier base 10a. Wherein, the second translation mechanism 12 and the first translation mechanism 11 move parallel to the carrying base 10a, and the third translation mechanism 13 moves away from or close to the carrying base 10a.

In another embodiment, the grasping mechanism 14 is arranged on the third translation mechanism 13, the third translation mechanism 13 is arranged on the second translation mechanism 12, the second translation mechanism 12 is arranged on the first translation mechanism 11, and the first translation mechanism 13 is arranged on the second translation mechanism 12. The translation mechanism 11 is disposed on the carrier base 10a. Wherein, the third translation mechanism 13 and the second translation mechanism 12 move parallel to the carrying base 10a, and the first translation mechanism 11 moves away from or close to the carrying base 10a.

The specific structure of the battery compartment 10c can be designed according to different needs. For example, in the illustrated embodiment, the battery compartment 10c includes a plurality of battery storage cavities arranged in a matrix, each battery storage cavity has a storage opening, and the storage opening faces The side where the battery replacement device 10b is located is provided.

Further, each battery accommodating cavity is provided with a charging device for charging the battery, and when the battery is put into the battery accommodating cavity, the charging device can charge the battery.

Further, the charging device may be a non-contact charging device or a contact charging device. For example, in one of the embodiments, the charging device is a non-contact charging device, and the non-contact charging device includes one of an electromagnetic induction circuit, a magnetic resonance induction circuit and a microwave induction circuit. In another embodiment, the charging device is a contact charging device, and the contact charging device includes charging contacts arranged on the inner wall of the storage opening of each battery accommodating cavity, and the battery is provided with a charging contact corresponding to the charging contact. charging electrodes.

Further, an engaging structure is provided on the inner wall of the receiving opening of each battery accommodating chamber, and the engaging structure is engaged with the battery so as to position the battery in the battery accommodating chamber.

Further, the engaging structure is an elastic buckle, an electric lock or an electromagnetic lock. The elastic buckle is used to hold the outer wall of the battery through an elastic buckle. When an external force is applied to the battery, the battery will contact the elastic buckle to cause elastic deformation of the elastic buckle, thereby releasing the battery from the battery compartment 10c. Take out or insert into the accommodating cavity. The electric lock is to control a driving part through the switch circuit, so that the driving part drives a buckle to be clamped with the outer wall of the battery. When the battery needs to be grasped, the switch circuit energizes the driver to make the buckle touch the battery; When the battery needs to be put down, the switch circuit disconnects the power supply of the driving part, so that the buckle is separated from the battery. The electromagnetic lock is to locate the battery by attracting the iron parts on the battery through the electromagnet. When the battery needs to be taken out from the battery accommodating cavity of the battery compartment 10c, the power supply on the electromagnet is cut off.

Compared with traditional technologies, the UAV base station 10 has at least the following advantages:

(1) The battery replacement device 10b of the above-mentioned unmanned aerial vehicle base station 10 adopts three translation mechanisms, and these three translation mechanisms constitute a Cartesian coordinate system, and the grasping mechanism 14 is driven by the three translation mechanisms to make the grasping mechanism 14 relatively It is convenient to put the battery of the drone into the battery compartment 10c, or take it out from the battery compartment 10c, without using the rotating battery compartment 10c which occupies a large space; and, when the battery replacement device 10b completes the battery replacement operation, or does not When working, they are moved to the edge of the inner space of the UAV base station 10 through the translation of the three translation mechanisms, and are shrunk together to save the inner space of the UAV base station 10 . Therefore, the structure of the battery replacement device 10 b of the above-mentioned UAV base station 10 is relatively compact and takes up less space, which facilitates the miniaturization design of the UAV base station 10 .

(2) The battery replacement device 10b of the above-mentioned UAV base station 10 adopts three translation mechanisms, and the three translation mechanisms constitute a Cartesian coordinate system, and the battery of the UAV can be directly inserted into the battery compartment 10c without using The additional drive structure adjusts the placement direction of the battery. Therefore, the battery replacement device 10b of the drone base station 10 has a relatively simple structure and low cost.

Please refer to FIG. 2 to FIG. 5 , the UAV base station 100 according to the second embodiment of the present invention includes a carrier base 100a, a battery replacement device 100b and a battery compartment 100c (as shown in FIG. 10 ). The battery replacement device 100b is installed on the carrier base 100a, and is used for replacing the battery of the drone. The battery compartment 100c is used for storing the battery 201 of the drone 200 and charging the battery 201 of the drone 200 .

The battery replacement device 100 b includes a first translation mechanism 110 , a second translation mechanism 120 , a third translation mechanism 130 , and a grasping mechanism 140 . The first translation mechanism 110 , the second translation mechanism 120 and the third translation mechanism 130 can work synchronously, or can work independently. For example, in the illustrated embodiment, the first translation mechanism 110 , the second translation mechanism 120 and the third translation mechanism 130 move sequentially. In other embodiments, at least two of the first translation mechanism 110 , the second translation mechanism 120 and the third translation mechanism 130 move simultaneously.

Wherein, the grasping mechanism 140 is located on the third translation mechanism 130, the third translation mechanism 130 is located on the second translation mechanism 120, the second translation mechanism 120 is located on the first translation mechanism 110, and the first translation mechanism 110 is located on on the carrier substrate 100a. Wherein, the third translation mechanism 130 and the first translation mechanism 110 move parallel to the carrying base 100a, and the second translation mechanism 120 moves away from or close to the carrying base 100a.

The specific structure of the first translation mechanism 110 can be designed according to actual needs, for example, the first translation mechanism 110 can be a rotary motor translation drive mechanism, a belt translation mechanism, a cylinder translation drive mechanism or a linear motor translation drive mechanism. The rotary motor translation mechanism is to use a rotary motor to drive the screw to rotate. The screw is covered with a nut, and the screw and the nut are threaded to drive the nut to translate, and the nut then drives the loaded object to move. The belt translation mechanism drives the belt to rotate through the pulley, and the loaded object fixed on the belt moves synchronously with the belt. Cylinder translation drive mechanism, which drives the object to move through the cylinder. For example, the cylinder is a rod cylinder, and the telescopic rod of the rod cylinder drives the object to move, or the cylinder is a rodless cylinder, and the piston of the rodless cylinder is connected to the object. The object is fixedly connected to drive the carried object to move synchronously. Linear motor translation drive mechanism, that is, the primary drive of the linear motor moves the carried object synchronously.

Please refer to FIG. 6 together. Specifically, in the illustrated embodiment, the first translation mechanism 110 includes a first driver 111 and a first bearing 113. The first driver 111 can drive the first bearing 113 along the first Axis direction movement.

The first driving member 111 can be a cylinder or a motor. For example, in the illustrated embodiment, the first driving member 111 is a rotating motor, and the first translation mechanism 110 also includes a first screw 114 and a first screw nut 115 sleeved on the first screw 114, the first The driving shaft of the driving member 111 is coaxially and fixedly connected to one end of the first screw rod 114 , and the first screw nut 115 is fixedly connected to the first bearing member 113 . Wherein, the first driving member 111 drives the first screw rod 114 to rotate, the first screw rod 114 and the first screw nut 115 are screwed together to drive the first screw nut 115 to move, and the first screw nut 115 drives the first bearing member 113 to translate.

Further, the first translation mechanism 110 also includes a screw support 116a and two motor supports 116b. The screw support 116a is provided with a bearing, and the end of the first screw 114 away from the first driving member 111 passes through the bearing on the screw support 116a. The two motor brackets 116b are fixed on the carrier base 100a and are arranged at intervals relative to each other. Two mounting lugs 111 a are respectively provided on opposite sides of the first driving member 111 , and the two mounting lugs 111 a are respectively fixedly connected with two motor brackets 116 b to fix the first driving member 111 on the supporting base 100 a. The first nut 115 is fixed on the first carrier 113 .

In other embodiments, the first driving member 111 is a rod cylinder, and the telescopic rod of the rod cylinder is fixedly connected to the first bearing member 113 to drive the first bearing member 113 to move.

Further, in order to improve the stability of the first carrier 113 when it translates, the first translation mechanism 110 also includes a first guide 117, the first guide 117 is arranged parallel to the direction of the first axis, and the first carrier 113 is provided with The first matching portion 113 a matched with the first guide member 117 enables the first bearing member 113 to slide along the first guide member 117 .

The specific structure of the first guide 117 can be designed according to different requirements. For example, in the illustrated embodiment, the first guide 117 is a guide rail parallel to the direction of the first axis, and the first matching part 113a is fixed on the A slide block on the bottom of the carrier 113, the slide block is provided with a chute matching the shape of the guide rail.

In other embodiments, the first guide member 117 is a guide rod arranged parallel to the direction of the first axis, the first matching portion 113a is a guide hole provided on the first bearing member 113, the guide rod passes through the guide hole, and It can slide freely in the guide hole.

Further, there are two first guide members 117 , and the two first guide members 117 are respectively located on two sides of the first screw rod 114 and arranged parallel to the first screw rod 114 . Certainly, in the present invention, the number of the first guide member 117 is not limited to two, and may also be one, or three or more.

It should be noted that the first guide member 117 can also be omitted, as long as the translational stability of the first bearing member 113 meets the requirements. For example, in one of the embodiments, the first driving member 111 is a linear motor, and the linear motor The primary is fixedly connected with the first carrier 113 to drive the first carrier 113 to move synchronously. In other embodiments, the first driving member 111 is a rodless cylinder, and the piston of the rodless cylinder is fixedly connected to the first bearing member 113 to drive the first bearing member 113 to move synchronously.

The specific structure of the first carrier 113 can be designed according to different requirements, for example, in the illustrated embodiment, the first carrier 113 is a carrier plate, and the carrier plate is provided with a hollow portion. The weight of the bearing plate can be reduced by providing the hollow part on the bearing plate, and at the same time, the structural strength of the bearing plate can be avoided from greatly reducing.

Further, the first translation mechanism 110 also includes a first limit switch 118 , which is arranged along the first axis and used for sensing the moving position of the first bearing member 113 .

Further, the first limit switch 118 may be a photoelectric limit switch, a reed switch, an inductive limit switch, and the like.

The second translation mechanism 120 is installed on the first carrier 113 . The specific structure of the second translation mechanism 120 can be designed according to actual needs, for example, the second translation mechanism 120 is a rotary motor translation drive mechanism, a belt translation mechanism, a cylinder translation drive mechanism or a linear motor translation drive mechanism. The working principles of the rotating motor translational driving mechanism, belt translational driving mechanism, cylinder translational driving mechanism or linear motor translational driving mechanism are the same as those discussed above, and will not be described in detail here.

Please also refer to FIG. 7 , specifically in the illustrated embodiment, the second translation mechanism 120 includes a second driving member 121 and a second carrier 123 , and the second driving member 121 can drive the second carrier 123 along the second Axis direction movement.

The second driving member 121 can be a cylinder or a motor. For example, in the illustrated embodiment, the second driving member 121 is a rotary motor, and the second translation mechanism 120 also includes a second threaded rod 124 and a second threaded nut 125 sleeved on the second threaded rod 124. The driving shaft of the driving member 121 is coaxially and fixedly connected to one end of the second screw rod 124 , and the second screw nut 125 is fixedly connected to the second bearing member 123 . Wherein, the second driving member 121 drives the second screw rod 124 to rotate, the second screw rod 124 and the second screw nut 125 are screwed together to drive the second screw nut 125 to move, and the second screw nut 125 drives the second bearing member 123 to translate.

Further, the second translation mechanism 120 also includes a motor mounting plate 126, the second driving member 121 is fixed on the motor mounting plate 126, and the motor mounting plate 126 is fixed on the first carrier 113 by a threaded fastener (not shown in the figure). . The second nut 125 is fixed on the second carrier 123 .

In other embodiments, the second driving member 121 is a rod cylinder, and the telescopic rod of the rod cylinder is fixedly connected to the second carrier 123 to drive the second carrier 123 to move.

Further, in order to improve the stability when the second carrier 123 moves, the second translation mechanism 120 also includes a second guide 127, the second guide 127 is arranged parallel to the direction of the second axis, and the second carrier 123 is provided with The second matching portion 123 a matched with the second guide member 127 enables the second bearing member 123 to slide along the second guide member 127 .

The specific structure of the second guide 127 is designed according to different requirements. For example, in the illustrated embodiment, the second guide 127 is a guide rail parallel to the direction of the second axis, and the second matching part 123a is fixed on the second The slide block on the bottom of the bearing member 123 is provided with a chute matching the shape of the guide rail.

In other embodiments, the second guide member 127 is a guide rod arranged parallel to the direction of the second axis, the second matching portion 123a is a guide hole provided on the second bearing member 123, the guide rod passes through the guide hole, and It can slide freely in the guide hole.

Further, there are two second guide members 127 , and the two second guide members 127 are respectively located on two sides of the second screw rod 124 and arranged parallel to the second screw rod 124 . Certainly, in the present invention, the number of the second guide member 127 is not limited to two, and may also be one or three or more.

It should be noted that the second guide member 127 can also be omitted, as long as the translational stability of the second bearing member 123 meets the requirements. For example, in one of the embodiments, the second drive member 121 can be a linear motor, a linear The primary side of the motor is fixedly connected with the second carrier 123 to drive the second carrier 123 to move synchronously. In other embodiments, the second driving member 121 may be a rodless cylinder, and the piston of the rodless cylinder is fixedly connected with the second bearing member 123 to drive the second bearing member 123 to move synchronously.

The specific structure of the second carrier 123 can be designed according to different requirements, for example, in the illustrated embodiment, the second carrier 123 is a carrier plate, and the carrier plate is provided with a hollow portion. The weight of the bearing plate can be reduced by providing the hollow part on the bearing plate, and at the same time, the structural strength of the bearing plate can be avoided from greatly reducing.

Further, the second translation mechanism 120 also includes a second limit switch 128a, which is arranged along the second axis and used for sensing the moving position of the second carrier 123 . Specifically, in the illustrated embodiment, the second translation mechanism 120 further includes a limit switch installation plate 128b, the limit switch installation plate 128b is fixedly connected with the second guide member 127, and the second limit switch 128a is installed on the limit switch mounting plate 128b. board 128b.

Further, the second limit switch 128a may be a photoelectric limit switch, a reed switch, an inductive limit switch, and the like.

The third translation mechanism 130 is mounted on the second carrier 123 . The specific structure of the third translation mechanism 130 can be designed according to actual needs, for example, the third translation mechanism 130 is a rotary motor translation drive mechanism, a belt translation mechanism, a cylinder translation drive mechanism or a linear motor translation drive mechanism. The working principles of the rotating motor translational driving mechanism, belt translational driving mechanism, cylinder translational driving mechanism or linear motor translational driving mechanism are the same as those discussed above, and will not be described in detail here.

Please also refer to FIG. 8 , specifically in the illustrated embodiment, the third translation mechanism 130 includes a third driver 131 and a third bearing 133 , and the third driver 131 can drive the third bearing 133 along the third Axis direction movement. Wherein, the first axis direction, the second axis direction, and the third axis direction constitute a three-dimensional Cartesian coordinate system.

It can be understood that the three-dimensional Cartesian coordinate system may be a Cartesian coordinate system or an oblique coordinate system. An appropriate coordinate system can be constructed according to the internal space of the UAV base station 100. For example, when the internal space of the UAV base station 100 is a cubic shape, a Cartesian coordinate system can be selected to save the cost of the UAV base station 100. Internal space; when the internal space of the UAV base station 100 is a pyramid or similar shape, then choose to construct a Cartesian oblique coordinate system to better understand the internal space of the UAV base station 100.

The third driving member 131 can be a cylinder or a motor. For example, specifically in the illustrated embodiment, the third driving member 131 is a rotating motor, and the third translation mechanism 130 further includes a third threaded rod 134 and a third threaded nut 135 sleeved on the third threaded rod 134. The driving shaft of the three driving parts 131 is coaxially fixedly connected to one end of the third screw rod 134 , and the third screw nut 135 is fixedly connected to the third bearing part 133 . Wherein, the third driving member 131 drives the third screw rod 134 to rotate, the third screw rod 134 and the third screw nut 135 are screwed together to drive the third screw nut 135 to move, and the third screw nut 135 drives the third bearing member 133 to translate.

In other embodiments, the third driving member 131 is a rod cylinder, and the telescopic rod of the rod cylinder is fixedly connected to the third bearing member 133 to drive the third bearing member 133 to move.

Further, in order to improve the stability when the third carrier 133 moves, the third translation mechanism 130 also includes a third guide 137, the third guide 137 is arranged parallel to the direction of the third axis, and the third carrier 133 is provided with The third matching portion 133 a matched with the third guide member 137 enables the third bearing member 133 to slide along the third guide member 137 .

The specific structure of the third guide 137 can be designed according to different requirements. For example, in the illustrated embodiment, the third guide 137 is a guide rail parallel to the third axis, and the third matching part 133a is fixed on the The slide block on the bottom of the three bearing parts 133 is provided with a chute matching the shape of the guide rail.

In other embodiments, the third guide member 137 is a guide rod arranged parallel to the direction of the third axis, the third matching portion 133a is a guide hole provided on the third bearing member 133, the guide rod passes through the guide hole, and Can slide freely in the guide hole.

Further, there is one third guide piece 137 , and the third guide piece 137 is arranged opposite to the third screw rod 134 and parallel to the third screw rod 134 . Of course, in the present invention, there may also be two or more third guide members 137 .

Further, the third translation mechanism 130 also includes two guide mounting brackets 136a, and the two guide mounting brackets 136a are fixed on the second carrier 123 and arranged at a distance from each other. The third driver 131 is mounted on one of the guide mounting brackets 136a, the other guide mounting bracket 136a is provided with a bearing, and the end of the third screw 134 away from the third driving member 131 passes through another guide mounting bracket 136a on the bearing. Both ends of the third guide piece 137 are respectively fixed on the two guide piece installation brackets 136a. The third wire nut 135 is fixed on the third carrier 133 .

Further, the third translation mechanism 130 further includes a carrier bracket 136b, and the third carrier 133 is fixedly connected to the third nut 135 through the carrier bracket 136b. Specifically in the illustrated embodiment, the carrier bracket 136b is a first U-shaped bracket, the third carrier 133 is fixed at both ends of the first U-shaped bracket, and the third wire nut 135 is set on the outside of the bottom of the first U-shaped bracket.

Further, the third translation mechanism 130 further includes a wire nut bracket 136c, and the third wire nut 135 is fixedly connected to the carrier bracket 136b through the wire nut bracket 136c. Specifically in the illustrated embodiment, the nut bracket 136c is a second U-shaped bracket, and the nut is passed through the bottom of the second U-shaped bracket. The ends are respectively fixedly connected to opposite sides of the bottom of the first U-shaped bracket. The third guiding member 137 passes through the closed structure jointly formed by the second U-shaped bracket and the first U-shaped bracket.

It should be noted that the third guide member 137 can also be omitted, as long as the translational stability of the third bearing member 133 meets the requirements. For example, in one of the embodiments, the third driving member 131 is a linear motor, and the linear motor The primary side is fixedly connected with the third carrier 133 to drive the third carrier 133 to move synchronously.

In another embodiment, the third driving member 131 is a rodless cylinder, and the piston of the rodless cylinder is fixedly connected with the third bearing member 133 to drive the third bearing member 133 to move synchronously. The specific structure of the third carrier 133 can be designed according to different requirements, for example, in the illustrated embodiment, the third carrier 133 is a carrier plate, and the carrier plate is provided with a hollow portion. The weight of the bearing plate can be reduced by providing the hollow part on the bearing plate, and at the same time, the structural strength of the bearing plate can be avoided from greatly reducing.

Further, the third translation mechanism 130 further includes a third limit switch 138a, which is arranged along the direction of the third axis and is used for sensing the moving position of the third carrier 133 . Specifically in the illustrated embodiment, the third translation mechanism 130 also includes a limit switch bearing plate 138b, and the two ends of the limit switch bearing plate 138b are respectively fixedly connected to the two guide mounting brackets 136a, and the third limit switch 138a Installed on the limit switch bearing plate 138b.

Further, the third limit switch 138a may be a photoelectric limit switch, a reed switch, an inductive limit switch, and the like.

Further, the third translation mechanism 130 also includes two battery brackets 139 for supporting the battery 201 of the drone 200 . Specifically, the two battery brackets 139 are mounted on the guide member installation bracket 136a far away from the third driving member 131, and are relatively spaced apart.

The grabbing mechanism 140 is installed on the third carrier 133 for grabbing the battery 201 . The coordinate position of the gripping mechanism 140 on the three-dimensional Cartesian coordinate system is adjusted by the first driving member 111 , the second driving member 121 and the third driving member 131 respectively.

It should be noted that the positional relationship among the first translation mechanism 110, the second translation mechanism 120, and the third translation mechanism 130 can be set according to different requirements, and is not limited to the manner in the illustrated embodiment, and can also be other manners .

For example, please refer to FIG. 9 together. In one embodiment, the grabbing mechanism 140 is arranged on the third translation mechanism 130, the third translation mechanism 130 is arranged on the second translation mechanism 120, and the second translation mechanism 120 is arranged on On the first translation mechanism 110, the first translation mechanism 110 is disposed on the carrier base 100a. Wherein, the second translation mechanism 120 and the first translation mechanism 110 move parallel to the carrying base 100a, and the third translation mechanism 130 moves away from or close to the carrying base 100a.

In another embodiment, the grasping mechanism 140 is arranged on the third translation mechanism 130, the third translation mechanism 130 is arranged on the second translation mechanism 120, the second translation mechanism 120 is arranged on the first translation mechanism 110, and the first translation mechanism 130 is arranged on the first translation mechanism 110. The translation mechanism 110 is disposed on the carrier base 100a. Wherein, the third translation mechanism 130 and the second translation mechanism 120 move parallel to the carrying base 100a, and the first translation mechanism 110 moves away from or close to the carrying base 100a.

The grasping mechanism 140 is a vacuum chuck grasping mechanism, a magnet grasping mechanism or a mechanical jaw grasping mechanism. The vacuum suction cup grabbing mechanism is to suck the battery 201 of the drone 200 through the vacuum suction cup. When the battery 201 of the drone 200 is grabbed, the cylinder connected with the vacuum suction cup starts to work, so that the vacuum suction cup is evacuated. When the battery 201 of the unmanned aerial vehicle 200 is running, the cylinder communicated with the vacuum suction cup stops working, so that the vacuum suction cup is inflated. The magnet grabbing mechanism is to attract the iron parts on the battery 201 of the drone 200 through the electromagnet. When the magnet grabbing mechanism grabs the battery 201 of the drone 200, the electromagnet is energized, and when the magnet grabbing mechanism is put down When the battery 201 of the drone 200 is powered off, the electromagnet is de-energized. The mechanical gripper grasping mechanism is to grasp the battery 201 of the drone 200 through structures such as fingers.

The specific structure of the battery compartment 100c can be designed according to different requirements. For example, as shown in FIG. 10 , specifically in the illustrated embodiment, the battery compartment 100c includes a plurality of battery accommodation chambers 102 arranged in a matrix, and each battery accommodation chamber 102 is There is a storage opening (not shown in the figure), and the storage opening is set towards the side where the battery replacement device 100b is located.

Further, each battery receiving chamber 102 is provided with a charging device for charging the battery 201 , and when the battery 201 is put into the battery receiving chamber 102 , the charging device can charge the battery 201 .

Further, the charging device may be a non-contact charging device or a contact charging device. For example, in the illustrated embodiment, the charging device may be a contact charging device. The contact charging device includes charging contacts 103 arranged on the inner wall of the receiving opening of each battery accommodating chamber 102, and the battery 201 is provided with The corresponding charging electrode (not marked) is in electrical contact with the charging contact 103 .

In other embodiments, the charging device may be a non-contact charging device, and the non-contact charging device includes one of an electromagnetic induction circuit, a magnetic resonance induction circuit and a microwave induction circuit.

Furthermore, an engaging structure 104 is provided on the inner wall of the receiving opening of each battery containing chamber 102 , and the engaging structure 104 is engaged with the battery 201 to position the battery 201 in the battery containing chamber 102 .

Further, the engaging structure 104 may be an elastic buckle, an electric lock, an electromagnetic lock or the like. The elastic buckle is clamped with the outer wall of the battery 201 through an elastic buckle. When an external force is applied to the battery 201, the battery 201 abuts against the elastic buckle to cause elastic deformation of the elastic buckle, thereby pulling the battery 201 out of the battery compartment. 100c into the battery housing chamber 102 or inserted. The electric lock is to control an electric buckle to hold the outer wall of the battery 201 through the switch circuit. When the battery 201 needs to be grasped, the switch circuit energizes the electric buckle so that the electric buckle clamps the battery 201; when it needs to be put down battery 201, then the switch circuit disconnects the energization of the electric opening, so that the electric buckle releases the battery 201. The electromagnetic lock is to attract the iron parts on the battery 201 through the electromagnet to locate the battery 201. When the battery 201 needs to be taken out from the battery chamber 102 of the battery compartment 100c, the electricity on the electromagnet is cut off.

Compared with traditional technologies, the UAV base station 100 has at least the following advantages:

(1) The battery replacement device 100b of the above-mentioned unmanned aerial vehicle base station 100 adopts three translation mechanisms, and the three translation mechanisms constitute a Cartesian coordinate system, and the grasping mechanism 140 is driven by the three translation mechanisms to make the grasping mechanism 140 relatively Conveniently put the battery of the drone 200 into the battery compartment 100c, or take it out from the battery compartment 100c, without using the rotating battery compartment 100c that takes up a lot of space; and, when the battery replacement device 100b completes the battery 201 replacement operation, Or when not working, move to the edge of the inner space of the UAV base station 100 through the translation of the three translation mechanisms, and shrink together to save the inner space of the UAV base station 100. Therefore, the battery replacement device 100b of the drone base station 100 has a relatively compact structure and takes up less space, which facilitates the miniaturization design of the drone base station 100 .

(2) The battery replacement device 100b of the above-mentioned UAV base station 100 adopts three translation mechanisms, and the three translation mechanisms constitute a Cartesian coordinate system, and the battery 201 of the UAV 200 can be directly inserted into the battery compartment 100c, and There is no need to use an additional driving structure to adjust the placement direction of the battery 201. Therefore, the battery replacement device 100b of the above-mentioned UAV base station 100 has a relatively simple structure and low cost.

(3) The battery replacement device 100b of the above-mentioned UAV base station 100 adopts three independent driving parts to respectively drive three bearing parts, wherein two bearing parts are used to carry two translation mechanisms, and the other is used to carry a grasping mechanism 140 , the three bearing parts can translate independently, so that the gripping mechanism 140 has good stability and flexibility when moving.

The above is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related technologies fields, all of which are equally included in the scope of patent protection of the present invention.

Claims (40)

1. An unmanned aerial vehicle base station, is characterized in that, comprises: carrying base; The battery replacement device is used to replace the battery of the drone, and the battery replacement device includes a first translation mechanism, a second translation mechanism, a third translation mechanism and a grasping mechanism; The first translation mechanism is installed on the bearing base, the first translation mechanism includes a first driver and a first carrier, and the first driver can drive the first carrier along the first axis direction movement; The second translation mechanism is installed on the first carrier, the second translation mechanism includes a second driver and a second carrier, and the second driver can drive the second carrier along the first Two-axis direction movement; The third translation mechanism is installed on the second carrier, the third translation mechanism includes a third driver and a third carrier, and the third driver can drive the third carrier along the first Three-axis movement; the first axis direction, the second axis direction, and the third axis direction form a three-dimensional Cartesian coordinate system; The grabbing mechanism is installed on the third carrier and is used to grab the battery, and the coordinate positions of the grabbing mechanism on the three-dimensional Cartesian coordinate system are respectively passed by the first driving member, the adjustment of the second driving member and the third driving member; The battery compartment installed on the carrier base, the battery compartment is used to accommodate the battery and charge the battery, wherein the battery compartment is a stacked matrix structure, including a plurality of battery accommodation chambers, each Each of the battery accommodation chambers has a storage opening, and the storage opening is set towards the side where the battery replacement device is located; Wherein, the battery is grasped by the battery replacement device, and the battery can be taken out from the battery compartment or put into the battery compartment. 2. The UAV base station according to claim 1, wherein the first translation mechanism also includes a first guide, the first guide is arranged parallel to the first axis direction, and the first guide A supporting part is provided with a first matching part matched with the first guiding part, so that the first supporting part can slide along the first guiding part. 3. The UAV base station according to claim 2, wherein the first guide is a guide rail parallel to the direction of the first axis, and the first matching part is fixed on the first A slider on the bottom of the carrier, the slider is provided with a chute matching the shape of the guide rail; Alternatively, the first guide member is a guide rod arranged parallel to the direction of the first axis, the first matching portion is a guide hole provided on the first bearing member, and the guide rod passes through the guide hole, and can slide freely in the guide hole. 4. The unmanned aerial vehicle base station according to claim 2, wherein the first driving member is a rotating motor, and the first translation mechanism further includes a first screw rod and a first screw rod sleeved on the first screw rod The first nut on the top, the drive shaft of the first driving member is coaxially fixedly connected to one end of the first screw rod, and the first nut is fixedly connected to the first bearing member; Wherein, the first driving member drives the first screw to rotate, and the first screw is threadedly matched with the first screw nut to drive the first screw nut to move, and the first screw nut drives the first screw nut to move. The translation of the first bearing member. 5. The UAV base station according to claim 4, wherein the first translation mechanism also includes a screw support and two motor supports; The screw support is provided with a bearing, and the end of the first screw away from the first driving member passes through the bearing on the screw support; The two motor brackets are fixed on the bearing base and are arranged at a distance from each other; two mounting lugs are respectively provided on the opposite sides of the first driving member, and the two mounting lugs are respectively connected to the two motor brackets. fixedly connected to fix the first driver on the carrier base; The first wire nut is fixed on the first carrier. 6. The UAV base station according to claim 4, wherein there are two first guides, and the two first guides are respectively located on both sides of the first screw mandrel, and are parallel to each other. Set on the first screw rod. 7. The UAV base station according to claim 2, wherein the first driving member is a rod cylinder, and the telescopic rod of the rod cylinder is fixedly connected to the first carrier to drive the The first carrier moves. 8. The UAV base station according to claim 1, wherein the first driving member is a linear motor, and the primary of the linear motor is fixedly connected to the first carrier to drive the first The carrier moves synchronously; Alternatively, the first driving part is a rodless cylinder, and the piston of the rodless cylinder is fixedly connected with the first bearing part, so as to drive the first bearing part to move synchronously. 9. The UAV base station according to any one of claims 1-8, characterized in that, the first carrier is a carrier plate, and the carrier plate is provided with a hollow portion. 10. The UAV base station according to any one of claims 1 to 8, characterized in that, the first translation mechanism further comprises a first limit switch, and the first limit switch moves along the first axis The direction setting is used to sense the moving position of the first carrier. 11. The UAV base station according to claim 10, wherein the first limit switch is a photoelectric limit switch, a reed switch or an inductive limit switch. 12. The UAV base station according to claim 1, wherein the second translation mechanism also includes a second guide, the second guide is arranged parallel to the second axis direction, and the first The second supporting part is provided with a second matching part matched with the second guiding part, so that the second supporting part can slide along the second guiding part. 13. The UAV base station according to claim 12, wherein the second guide is a guide rail parallel to the direction of the second axis, and the second matching part is fixed on the second A slider on the bottom of the carrier, the slider is provided with a chute matching the shape of the guide rail; Alternatively, the second guide member is a guide rod arranged parallel to the direction of the second axis, the second matching portion is a guide hole provided on the second bearing member, and the guide rod passes through the guide hole, and can slide freely in the guide hole. 14. The unmanned aerial vehicle base station according to claim 12, wherein the second driving member is a rotating motor, and the second translation mechanism further includes a second screw rod and a second screw rod sleeved on the second screw rod The second nut on the top, the drive shaft of the second driving member is coaxially fixedly connected to one end of the second screw rod, and the second nut is fixedly connected to the second bearing member; Wherein, the second driving member drives the second screw to rotate, and the second screw is threadedly matched with the second screw nut to drive the second screw nut to move, and the second screw nut drives the second screw nut to move. The second carrier is translated. 15. The UAV base station according to claim 14, wherein the second translation mechanism also includes a motor mounting plate, the second driver is fixed on the motor mounting plate, and the motor mounting plate It is fixed on the first carrier by threaded fasteners; the second nut is fixed on the second carrier. 16. The UAV base station according to claim 14, wherein there are two second guides, and the two second guides are respectively located on both sides of the second screw rod and are parallel to each other. Set on the second screw rod. 17. The UAV base station according to claim 12, wherein the second driving member is a rod cylinder, and the telescopic rod of the rod cylinder is fixedly connected to the second carrier to drive the The second carrier moves. 18. The UAV base station according to claim 1, wherein the second driving part is a linear motor, and the primary of the linear motor is fixedly connected to the second carrier to drive the second The carrier moves synchronously; Alternatively, the second driving part is a rodless cylinder, and the piston of the rodless cylinder is fixedly connected with the second bearing part, so as to drive the second bearing part to move synchronously. 19. The UAV base station according to any one of claims 12-18, characterized in that, the second carrier is a carrier plate, and the carrier plate is provided with a hollow portion. 20. The UAV base station according to any one of claims 12 to 17, wherein the second translation mechanism further comprises a second limit switch, and the second limit switch moves along the second axis The direction setting is used for sensing the moving position of the second carrier. 21. The UAV base station according to claim 20, wherein the second translation mechanism also includes a limit switch mounting plate, and the limit switch mounting plate is fixedly connected to the second guide member, so that The second limit switch is installed on the limit switch mounting plate. 22. The drone base station according to claim 20, wherein the second limit switch is a photoelectric limit switch, a reed switch or an inductive limit switch. 23. The UAV base station according to claim 1, wherein the third translation mechanism further comprises a third guide, the third guide is arranged parallel to the third axis direction, and the first The third supporting part is provided with a third matching part matched with the third guiding part, so that the third supporting part can slide along the third guiding part. 24. The UAV base station according to claim 23, wherein the third guide is a guide rail parallel to the direction of the third axis, and the third matching part is fixed on the third A slider on the bottom of the carrier, the slider is provided with a chute matching the shape of the guide rail; Alternatively, the third guide member is a guide rod arranged parallel to the direction of the third axis, the third matching portion is a guide hole provided on the third bearing member, and the guide rod passes through the guide hole, and can slide freely in the guide hole. 25. The unmanned aerial vehicle base station according to claim 23, wherein the third driving member is a rotating motor, and the third translation mechanism further includes a third screw rod and a third screw rod sleeved on the third screw rod The third nut on the top, the drive shaft of the third driving member is coaxially fixedly connected to one end of the third screw rod, and the third nut is fixedly connected to the third bearing member; Wherein, the third driving member drives the third screw to rotate, and the third screw is threadedly matched with the third screw nut to drive the third screw nut to move, and the third screw nut drives the third screw nut to move. The third carrier is translated. 26. The UAV base station according to claim 25, wherein the third translation mechanism further comprises two guide installation brackets, and the two guide installation brackets are fixed on the second carrier , and the relative interval is set; The third driving member is installed on one of the guide member mounting brackets, and the other third guide member mounting bracket is provided with a bearing, and the end of the third screw rod away from the third driving member is passed through The bearing on another one of the guide mounting brackets; Both ends of the third guide are respectively fixed on the two guide mounting brackets; The third wire nut is fixed on the third carrier. 27. The unmanned aerial vehicle base station according to claim 26, wherein the third translation mechanism also includes two battery supports for supporting the batteries of the unmanned aerial vehicle; the two battery supports are mounted on one of them The guide member far away from the third driving member is installed on the bracket and arranged relatively at intervals. 28. The UAV base station according to claim 25, characterized in that there is one third guide member, and the third guide member is arranged opposite to the third screw rod and parallel to the third guide member. screw. 29. The UAV base station according to claim 23, wherein the third driving member is a rod cylinder, and the telescopic rod of the rod cylinder is fixedly connected with the third carrier to drive the The third carrier moves. 30. The UAV base station according to claim 1, wherein the third driving part is a linear motor, and the primary of the linear motor is fixedly connected to the third carrier to drive the third The carrier moves synchronously; Alternatively, the third driving member is a rodless cylinder, and the piston of the rodless cylinder is fixedly connected to the third carrier, so as to drive the third carrier to move synchronously. 31. The UAV base station according to any one of claims 23 to 30, wherein the third carrier is a carrier plate, and the carrier plate is provided with a hollow portion. 32. The UAV base station according to any one of claims 23 to 30, wherein the third translation mechanism further includes a third limit switch, and the third limit switch moves along the third axis The direction setting is used for sensing the moving position of the third carrier. 33. The UAV base station according to claim 26, wherein the third translation mechanism also includes a third limit switch and a limit switch bearing plate, and the two ends of the limit switch bearing plate are respectively It is fixedly connected with the two guide installation brackets, and the third limit switch is installed on the limit switch bearing plate. 34. The drone base station according to claim 33, wherein the third limit switch is a photoelectric limit switch, a reed switch or an inductive limit switch. 35. The UAV base station according to claim 1, wherein the grabbing mechanism is a vacuum chuck grabbing mechanism, a magnet grabbing mechanism or a mechanical gripper grabbing mechanism. 36. The unmanned aerial vehicle base station according to claim 1, characterized in that, each of the battery accommodating chambers is provided with a charging device for charging the battery, when the battery is put into the battery accommodating Inside the cavity, the charging device is capable of charging the battery. 37. The UAV base station according to claim 36, wherein the charging device is a non-contact charging device, and the non-contact charging device includes an electromagnetic induction circuit, a magnetic resonance induction circuit and a microwave induction circuit kind of. 38. The UAV base station according to claim 36, wherein the charging device is a contact charging device, and the contact charging device includes the receiving port provided in each of the battery accommodation chambers The charging contacts on the inner wall of the battery are provided with corresponding charging electrodes for electrically contacting the charging contacts. 39. The UAV base station according to claim 1, wherein an engaging structure is provided on the inner wall of the receiving opening of each battery accommodating cavity, and the engaging structure is in contact with the battery. clamping to position the battery in the battery accommodating cavity. 40. The UAV base station according to claim 39, wherein the engaging structure is an elastic buckle, an electric lock or an electromagnetic lock.