CN110696783B - Automatic replacement method of unmanned aerial vehicle battery - Google Patents

Automatic replacement method of unmanned aerial vehicle battery Download PDF

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Publication number
CN110696783B
CN110696783B CN201910997356.XA CN201910997356A CN110696783B CN 110696783 B CN110696783 B CN 110696783B CN 201910997356 A CN201910997356 A CN 201910997356A CN 110696783 B CN110696783 B CN 110696783B
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China
Prior art keywords
clamping
rod
sliding
unmanned aerial
aerial vehicle
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CN201910997356.XA
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CN110696783A (en
Inventor
闵召强
杨凯
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Shandong Zhongyu Aviation Technology Development Co ltd
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Huaibei Fanjun Electronic Technology Co Ltd
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Priority to CN201910997356.XA priority Critical patent/CN110696783B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
    • B60S5/06—Supplying batteries to, or removing batteries from, vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Abstract

The invention discloses an automatic replacement method of an unmanned aerial vehicle battery, which comprises the following steps: the working personnel horizontally place the unmanned aerial vehicle on the supporting induction piece; the driving piece operates and drives the pin removing piece to ascend, so that the clamping device removes clamping of the battery in the unmanned aerial vehicle, meanwhile, the receiving piece slides to the position right below the battery in the unmanned aerial vehicle along with the sliding plate, and the battery in the unmanned aerial vehicle falls onto the receiving piece; the translation component operates and enables the lifting plate to be positioned right below the clamping area of the clamping device; the lifting motor operates and drives the lifting plate/the new battery to ascend, and when the new battery is positioned in the clamping area of the clamping device, the lifting motor stops operating; the driving piece reversely runs and enables the withdrawing piece to descend, and the clamping device restores to the original state under the elastic force action of the clamping spring of the clamping device and clamps the new battery; the lifting motor runs reversely, the driving piece continues to run reversely, and finally the replacing device/the canceling device are all restored to the original state.

Description

Automatic replacement method of unmanned aerial vehicle battery
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a battery replacement method for an unmanned aerial vehicle.
Background
Along with the progress and development of scientific technology, the life of people is more and more intelligent, an unmanned aerial vehicle is a product under the background of the era of intelligent life, the development trend of the unmanned aerial vehicle technology is more overwhelming in recent years, the application is wider, the body shadow of the unmanned aerial vehicle appears in the fields of aerial photography, plant protection, seeding, logistics, agricultural pesticide spraying, forest fire early warning and the like, but the battery capacity of the unmanned aerial vehicle is limited, so that the unmanned aerial vehicle can run out of electric quantity after flying for a long time, the endurance of the unmanned aerial vehicle is influenced, at present, the battery of the unmanned aerial vehicle is mostly replaced by manually disassembling a battery bin, and then the battery with full electric quantity is replaced by the battery with insufficient electric quantity for continuous use, the manual replacement mode increases the labor intensity of manpower, brings great inconvenience to the use of the unmanned aerial vehicle, and also limits the unmanned aerial vehicle to automatically finish the work, therefore, the invention needs to provide a device for automatically replacing the battery of the unmanned aerial vehicle, the unmanned aerial vehicle adopts a clamping mode to install the battery and does not influence the whole using process of the unmanned aerial vehicle, the battery of the unmanned aerial vehicle adopts an automatic replacing mode, the whole replacing process is rapid and convenient, manual operation of personnel is not needed, compared with the traditional method for manually disassembling the battery compartment to replace the battery, the tedious manual operation is greatly reduced, and the time and the labor are effectively saved.
Disclosure of Invention
In order to solve the defects of the prior art, the invention aims to provide a method for replacing a battery of an unmanned aerial vehicle, wherein the unmanned aerial vehicle adopts a clamping mode to install the battery and does not influence the whole using process of the unmanned aerial vehicle, the battery of the unmanned aerial vehicle adopts an automatic replacing mode, the whole replacing process is quick and convenient, manual operation of personnel is not needed, and compared with the traditional method for manually disassembling a battery compartment to replace the battery, the method greatly reduces fussy manual operation and effectively saves time and labor.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows.
The automatic replacing method of the unmanned aerial vehicle battery comprises the following steps:
s1: a worker horizontally places the unmanned aerial vehicle on a support induction mechanism arranged in the box body;
the battery in the unmanned aerial vehicle is arranged in the unmanned aerial vehicle in a clamping mode through the clamping device, the bottom of the unmanned aerial vehicle is provided with a replacing hole and a canceling hole, the replacing hole is positioned right below the battery in the unmanned aerial vehicle, the supporting induction mechanism comprises four groups of supporting induction parts which are respectively positioned at four corners of the box body, and an induction element is arranged in any one group of supporting induction parts;
when the battery arranged in the unmanned aerial vehicle in a clamping mode is not enough to continuously provide power, namely the battery needs to be replaced, a worker opens the box cover of the box body and horizontally places the unmanned aerial vehicle on the four groups of supporting sensing pieces, a cancellation hole arranged at the bottom of the unmanned aerial vehicle is positioned right above the free end of the cancellation device, then the supporting sensing pieces perform descending motion under the action of the gravity of the unmanned aerial vehicle, and the sensing elements transmit the status signals to the controller;
s2: the controller drives the replacing device/the cancelling device to operate according to a preset replacing program;
the replacing device comprises an installing mechanism and a lifting mechanism, wherein the installing mechanism comprises a sliding rail, a sliding plate, a fixed rod, a fixed plate, an installing plate, a vertical guide rod and a receiving piece, the guiding direction of the sliding rail is parallel to the length direction of the box body, and the sliding rail is fixed at the bottom of a cavity of the box body;
the lifting mechanism comprises a translation component and a lifting component, the translation component is used for driving the mounting plate to slide along the guide direction of the sliding part, the lifting component comprises a lifting motor, a lifting driving part and a lifting plate, the lifting motor is horizontally fixed on the upper end face of the mounting plate, the axial direction of an output shaft of the lifting motor is parallel to the guide direction of the sliding rail, the lifting plate is horizontally and movably mounted outside the vertical guide rod and forms sliding guide fit, the lifting driving part is arranged between the lifting motor and the lifting plate, the lifting motor runs and drives the lifting plate to do lifting motion through the lifting driving part, and the new battery is placed on the upper end face of the;
the withdrawing device is arranged at the bottom of the cavity of the box body and comprises a withdrawing mechanism and a power linkage mechanism, the withdrawing mechanism is used for leading the clamping device to withdraw the clamping of the battery in the unmanned aerial vehicle, and the power linkage mechanism is used for the power linkage between the withdrawing mechanism and the replacing device;
the withdrawing mechanism comprises a withdrawing component, the withdrawing component comprises a driving part and a withdrawing part, the withdrawing part is used for enabling the clamping mechanism to withdraw the clamping of the battery in the unmanned aerial vehicle, the driving part is used for driving the withdrawing part to operate, and the power linkage mechanism is used for power linkage between the withdrawing mechanism and the sliding plate;
the driving piece operates and drives the pin removing piece to move upwards, the free end of the pin removing piece penetrates through the pin removing hole, extends into the unmanned aerial vehicle and contacts with the clamping device, the clamping device finally removes the clamping of the battery in the unmanned aerial vehicle, meanwhile, the removing mechanism operates and also pulls the sliding plate to slide along the guiding direction of the sliding rail through the power linkage mechanism, when the clamping device removes the clamping of the battery in the unmanned aerial vehicle, the receiving piece slides to be positioned under the battery in the unmanned aerial vehicle along with the sliding plate, and the battery in the unmanned aerial vehicle falls onto the receiving piece through the replacing hole under the action of gravity;
s3: the translation component operates and drives the mounting plate to slide along the guide direction of the sliding part until the vertical guide rod/lifting plate is positioned below the replacement hole again, namely, is positioned right below the clamping area of the clamping device, and the translation component stops operating;
s4: the lifting motor operates and drives the lifting plate to do ascending motion along the guiding direction of the vertical guide rod through the lifting driving piece, the lifting plate ascends and pulls the new battery to ascend synchronously, and when the new battery is positioned in the clamping area of the clamping device, the lifting motor stops operating;
s5: the driving piece reversely runs and drives the pin removing piece to descend and is separated from the contact with the clamping device, and the clamping device is restored to the original state under the elastic force of the clamping spring of the clamping device and clamps the new battery;
s6: the lifting motor runs reversely, the driving piece continues to run reversely, and finally the replacing device and the canceling device are all restored to the original state.
The technical scheme is further improved and optimized.
The clamping device comprises a sealing mechanism and a clamping mechanism, wherein the sealing mechanism is used for sealing the withdrawn hole, and the clamping mechanism is used for clamping the battery in the unmanned aerial vehicle;
the sealing mechanism comprises a sealing component, the sealing component comprises a sealing slide rod, a sealing plate and a sealing spring, an installation bulge is arranged at the bottom of an inner cavity of the unmanned aerial vehicle, the sealing slide rod is horizontally and movably installed on the installation bulge and forms sliding guide fit between the sealing slide rod and the installation bulge, the extending direction of the sealing slide rod is parallel to the diameter direction corresponding to the circular bottom of the unmanned aerial vehicle, the sealing plate is horizontally arranged in a canceling hole, a sleeving bulge is arranged on the upper end face of the sealing plate, the sealing plate is movably sleeved outside the sealing slide rod through the sleeving bulge, the sleeving bulge and the sealing slide rod form sliding guide fit, the lower end face of the sealing plate is a guide inclined face, the distance between the guide inclined face and the upper end face of the sealing plate increases progressively along the guide direction of the sealing slide rod and the direction;
the sealing spring is sleeved outside the sealing slide rod, one end of the sealing spring is abutted against the sleeved bulge, the other end of the sealing spring is abutted against the mounting bulge, and the elastic force of the sealing spring drives the sealing plate to move away from the mounting bulge and seal the pin removing hole;
the closing member be provided with two sets and be located one side of changing the hole respectively to two sets of closing member are the symmetric distribution about the axial of changing the hole, cancel the hole and should be provided with two sets.
The technical scheme is further improved and optimized.
The clamping mechanism comprises clamping members, the clamping members are positioned above the sealing member, two groups of clamping members are arranged on the clamping members and are respectively positioned on one side of the replacing hole, and the two groups of clamping members are symmetrically distributed along the axial direction of the replacing hole;
the clamping component comprises a clamping sliding sleeve, a clamping sliding rod, clamping rods and a clamping spring, the extending directions of the clamping sliding sleeve/the clamping sliding rod/the clamping rod are all parallel to the guiding direction of the sealing sliding rod, the clamping sliding sleeve is horizontally fixed on the cavity wall of the unmanned aerial vehicle, one end of each clamping sliding rod is close to the replacing hole, the other end of each clamping sliding rod is located in the clamping sliding sleeve, the clamping sliding rods and the clamping sliding sleeve form sliding guide fit, and the clamping sliding sleeve/the clamping sliding rods are provided with two groups and are all located in the same horizontal plane;
the clamping rods are arranged between the two groups of clamping slide rods, the side surfaces of the clamping rods are provided with connecting bulges, the clamping rods are fixedly connected with the clamping slide rods through the connecting bulges, and the connecting bulges are correspondingly provided with two groups;
the clamping spring is sleeved outside the clamping slide rod, one end of the clamping spring is abutted against the connecting protrusion, the other end of the clamping spring is abutted against the clamping sliding sleeve, the elastic force of the clamping spring drives the clamping rod to move close to the replacing hole, and two groups of clamping springs are correspondingly arranged;
the clamping component also comprises a clamping arc plate and a triggering block, the clamping arc plate is fixed at the end part of the clamping rod facing the replacing hole, the clamping arc plate is bent towards the replacing hole and is matched with the battery, the triggering block is fixedly equal to the clamping rod and is positioned right above the pin removing hole, the lower end surface of the triggering block is a triggering inclined surface, and the distance between the triggering inclined surface and the axial direction of the replacing hole is gradually reduced from bottom to top along the height direction vertical to the ground;
the area between the clamping arc plates of the two groups of clamping components is the clamping area of the clamping mechanism for the battery in the unmanned aerial vehicle.
The technical scheme is further improved and optimized.
The supporting induction part comprises a supporting sliding sleeve, a supporting sliding rod and a supporting spring, the supporting sliding sleeve is vertically fixed at the cavity bottom of the box body, the supporting sliding rod and the supporting sliding sleeve are coaxially arranged, the top end of the supporting sliding rod is provided with a butting step, the bottom of the supporting sliding rod is positioned in the supporting sliding sleeve, and the supporting sliding sleeve and the supporting sliding rod form sliding guide fit;
the supporting slide rod is sleeved with the supporting spring, one end of the supporting spring is abutted against the abutting step, the other end of the supporting spring is abutted against the cavity bottom of the box body, and the elastic force of the supporting spring drives the supporting slide rod to do ascending motion far away from the cavity bottom of the box body;
the bottom of the supporting sliding rod of any one of the four groups of supporting induction parts is coaxially provided with a mounting hole, the supporting sliding sleeve of the group of supporting induction parts is internally and coaxially provided with an induction element, and the top end of the induction element is positioned in the mounting hole.
The technical scheme is further improved and optimized.
The bottom of the sliding plate is provided with rollers, the sliding plate is in rolling friction type sliding guide fit with the sliding rail through the rollers, and the fixed rods are provided with four groups and are respectively positioned at four corners of the sliding plate;
the sliding part comprises a sliding chute arranged on the upper end surface of the fixed plate and a sliding bulge arranged on the lower end surface of the mounting plate, the guiding direction of the sliding chute is parallel to the guiding direction of the sliding rail, and the sliding bulge and the sliding chute form sliding guiding fit;
the four groups of vertical guide rods are distributed in a four-corner mode, the four groups of vertical guide rods are positioned right below the replacing hole, the receiving piece is arranged on the upper end face of the mounting plate, and the receiving piece is positioned on one side of the four groups of vertical guide rods along the guide direction of the sliding rail;
the receiving piece comprises a fixed shell, a receiving cover plate and a buffer spring, the fixed shell is of a circular shell structure with one open end and one closed end, the closed end of the fixed shell is fixed on the upper end face of the mounting plate, the receiving cover plate is arranged at the open end of the fixed shell, and the receiving cover plate and the fixed shell form sliding guide fit;
buffer spring set up in fixed shell, buffer spring's one end and fixed shell chamber end are connected, the other end and receiving cover connection, buffer spring's elasticity orders about and receives the apron and do the ascending motion of keeping away from the mounting panel, buffer spring is provided with a plurality of groups.
The technical scheme is further improved and optimized.
The translation component comprises a translation motor, a translation gear and a translation rack, a connecting bracket is arranged between the translation motor and the cavity bottom of the box body, the translation motor is fixed in the box body through the connecting bracket, and the axial direction of an output shaft of the translation motor is parallel to the width extension direction of the box body;
the extension direction of the translation rack is parallel to the guide direction of the slide rail, the translation rack is fixed on the upper end face of the mounting plate, the translation gear is coaxially fixed on the power output end of the translation motor, and the translation gear is meshed with the translation rack;
the lifting driving piece comprises a rotating shaft, a power connecting piece II and a connecting rod, the axial direction of the rotating shaft is parallel to the width extending direction of the box body, a supporting bracket is arranged on the upper end face of the mounting plate, the rotating shaft is movably mounted on the supporting bracket and can rotate around the axial direction of the rotating shaft, a power connecting piece I is arranged between the power output end of the lifting motor and the rotating shaft, power is connected and transmitted between the power output end of the lifting motor and the rotating shaft through the power connecting piece I, and the power connecting piece I is;
the second power connecting piece comprises a transmission gear and a transmission rack, the transmission gear is coaxially fixed outside the rotating shaft, the extension direction of the transmission rack is parallel to the length extension direction of the sliding rail, the transmission rack is fixed on the upper end face of the mounting plate, and the transmission gear is meshed with the transmission rack;
the extending direction of the connecting rod is perpendicular to the axial direction of the rotating shaft, one end of the connecting rod is hinged with the lifting plate, the other end of the connecting rod is hinged with the transmission rack, and two groups of hinging shaft core wires are parallel to the axial direction of the rotating shaft;
the lifting driving pieces are provided with two groups and are respectively positioned on one side of the lifting plate along the width extending direction of the box body, the power connecting pieces of the two groups of lifting driving pieces share one group of driving bevel gears, and the lifting motor runs and can drive the lifting plate to slide along the guiding direction of the vertical guide rod through the two groups of lifting driving pieces.
The technical scheme is further improved and optimized.
The canceling member comprises a canceling sliding sleeve and a canceling rod, the canceling sliding sleeve is vertically fixed at the bottom of the cavity of the box body, the canceling sliding sleeve and a canceling hole of the unmanned aerial vehicle placed on the supporting sensing member are positioned on the same vertical line, the canceling rod is vertically arranged, the bottom end of the canceling rod is positioned in the canceling sliding sleeve, the canceling sliding sleeve and the canceling sliding rod form sliding guide fit, a canceling inclined plane is arranged at the top end of the canceling rod, and the canceling inclined plane is parallel to a triggering inclined plane of a triggering block placed in the unmanned aerial vehicle on the supporting sensing member;
the withdrawing piece further comprises a withdrawing guide rod, a sliding support and a withdrawing spring, the guiding direction of the withdrawing guide rod is parallel to the guiding direction of the sliding rail, the withdrawing guide rod is fixed at the bottom of the cavity of the box body, the sliding support is movably arranged outside the withdrawing guide rod, the sliding support and the withdrawing guide rod form sliding guiding fit, the withdrawing spring is sleeved outside the withdrawing guide rod, the initial state of the withdrawing spring is a compression state, and the elastic force of the withdrawing spring drives the sliding support to move close to the withdrawing sliding sleeve;
the withdrawing piece also comprises a hinge rod, the extension direction of the hinge rod is the width extension direction of the box body, the hinge rod is obliquely arranged, the bottom end of the hinge rod is hinged with the sliding support, the top end of the hinge rod is hinged with the withdrawing rod, and two groups of hinge shaft core wires are parallel to the width extension direction of the box body;
the driving piece comprises an electric telescopic rod, a driving rack, a driving gear and a gear shaft, the electric telescopic rod is horizontally fixed at the cavity bottom of the box body, the telescopic direction of the electric telescopic rod is parallel to the width extension direction of the box body, and the gear shaft is vertically fixed at the cavity bottom of the box body;
the extension direction of the driving rack is parallel to the width extension direction of the box body, the driving rack is fixedly connected with the telescopic end of the electric telescopic rod, a guide piece is arranged between the driving rack and the cavity bottom of the box body and is movably arranged at the cavity bottom of the box body through the guide piece, the guide piece comprises a guide bulge arranged at the cavity bottom of the box body and a guide groove arranged at the bottom of the driving rack, the guide direction of the guide groove is parallel to the width extension direction of the box body, and the guide groove and the guide bulge form sliding guide fit;
the driving gear is arranged outside the gear shaft through a bearing and is meshed with the driving rack;
the driving piece further comprises a winding rope reel, a connecting rope and a transition pulley, the transition pulley is vertically and movably mounted at the cavity bottom of the box body and can rotate around the axial direction of the transition pulley, the winding rope reel is coaxially and movably mounted outside the gear shaft and is fixedly connected with the driving gear, one end of the connecting rope is wound outside the winding rope reel, the other end of the connecting rope is fixedly connected with the sliding support after winding around the transition pulley, and the electric telescopic rod retracts to run and pulls the winding rope reel to collect the rope and finally pulls the sliding support to move far away from the withdrawing sliding sleeve;
the withdrawing members are provided with two groups and respectively correspond to the two groups of clamping members arranged in the unmanned aerial vehicle.
The technical scheme is further improved and optimized.
The power linkage mechanism is arranged between any group of withdrawing components and the mounting mechanism, the power linkage mechanism comprises a linkage screw rod, a linkage rod and a linkage block, the axial direction of the linkage screw rod is parallel to the guiding direction of the slide rail, the cavity bottom of the box body is provided with a fixed support, the linkage screw rod is movably arranged on the fixed support and can rotate around the axial direction of the linkage screw rod, the linkage block is arranged on the linkage screw rod through a screw nut, the linkage screw rod rotates and pulls the linkage block to move along the axial direction of the linkage block, one end of the linkage rod is fixedly connected with the linkage block, and the other end of the linkage rod is;
the power linkage mechanism further comprises a first transmission shaft/second transmission shaft, a linkage gear, a linkage rack and a fastening rod, wherein the axial direction of the first transmission shaft is parallel to the axial direction of the linkage screw rod, the axial direction of the second transmission shaft is parallel to the width extension direction of the box body, the cavity bottom of the box body is provided with a mounting bracket, and the first transmission shaft/second transmission shaft is movably mounted on the mounting bracket and can rotate around the axial direction of the first transmission shaft/second transmission shaft;
a power transmission piece II is arranged between the first transmission shaft and the linkage screw rod and is in power connection transmission through the power transmission piece II, a power transmission piece I is arranged between the first transmission shaft and the second transmission shaft and is in power connection transmission through the power transmission piece I, the power transmission piece I is of a bevel gear power transmission structure, and the power transmission piece II is of a belt transmission power transmission structure;
the fastening rod is fixedly connected with the sliding support, the linkage gear is coaxially fixed outside the second transmission shaft, the extending direction of the linkage rack is parallel to the axial direction of the linkage screw rod, the linkage rack is fixed on the fastening rod, and the linkage gear is meshed with the linkage rack.
Compared with the prior art, the unmanned aerial vehicle has the advantages that the unmanned aerial vehicle adopts a clamping mode to install the battery, the whole using process of the unmanned aerial vehicle is not affected, the battery replacement of the unmanned aerial vehicle adopts an automatic replacement mode, the whole replacement process is quick and convenient, manual operation of personnel is not needed, compared with the traditional method for manually disassembling the battery compartment to replace the battery, the complicated manual operation is greatly reduced, the time and the labor are effectively saved, in addition, a main device of replacement equipment for replacing the battery of the unmanned aerial vehicle is arranged in the box body, the replacement equipment is more convenient to carry, only the box cover needs to be opened when the unmanned aerial vehicle is used, and the unmanned aerial vehicle can replace the battery at any time and any place.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural diagram of the present invention.
Fig. 3 is a schematic structural diagram of the present invention.
Fig. 4 is a schematic structural diagram of the clamping device of the present invention.
Fig. 5 is a schematic structural view of the closure member of the present invention.
Fig. 6 is a schematic structural view of the closure member of the present invention.
Fig. 7 is a schematic structural diagram of the clamping mechanism of the present invention.
Fig. 8 is a schematic structural view of the holding member of the present invention.
Fig. 9 is a schematic structural view of the replacing apparatus of the present invention.
Fig. 10 is a schematic structural diagram of the support sensing mechanism of the present invention.
Fig. 11 is a schematic structural view of the replacing device of the present invention.
Fig. 12 is a schematic structural view of the replacing device of the present invention.
FIG. 13 is a schematic structural view of the mounting mechanism of the present invention.
Fig. 14 is a schematic structural view of a receiving member of the present invention.
FIG. 15 is a schematic view of the engagement of the translating member of the present invention with the mounting plate.
Fig. 16 is a schematic view of the engagement between the lifting member and the mounting plate according to the present invention.
Fig. 17 is a partial schematic view of a lifting member of the present invention.
Fig. 18 is a partial schematic view of a lifting member of the present invention.
Fig. 19 is a schematic structural diagram of a revocation apparatus of the present invention.
Fig. 20 is a schematic diagram of the revocation mechanism of the present invention.
Fig. 21 is a schematic structural view of the driving member of the present invention.
Fig. 22 is a schematic structural view of the withdrawing member of the present invention.
FIG. 23 is a schematic view of the power linkage mechanism, the slide plate, and the sliding bracket according to the present invention.
Fig. 24 is a schematic structural view of the power linkage mechanism of the present invention.
Detailed Description
The automatic replacing method of the unmanned aerial vehicle battery comprises the following steps:
s1: the staff horizontally place the unmanned aerial vehicle on the support induction mechanism 210 installed in the box body 200;
the battery in the unmanned aerial vehicle is installed in the unmanned aerial vehicle in a clamping mode through the clamping device 100, the bottom of the unmanned aerial vehicle is provided with a replacing hole and a canceling hole, the replacing hole is positioned right below the battery in the unmanned aerial vehicle, the supporting induction mechanism 210 comprises four groups of supporting induction pieces which are respectively positioned at four corners of the box body 200, and an induction element 214 is arranged in any one group of the supporting induction pieces;
when the battery installed in the unmanned aerial vehicle in a clamping manner is insufficient to continuously provide power, namely, the battery needs to be replaced, a worker opens the box cover of the box body 200 and horizontally places the unmanned aerial vehicle on the four groups of supporting sensing pieces, a cancellation hole arranged at the bottom of the unmanned aerial vehicle is positioned right above the free end of the cancellation device 400, then the supporting sensing pieces perform descending motion under the action of the gravity of the unmanned aerial vehicle, and the sensing element 214 transmits a status signal to the controller;
s2: the controller drives the replacing device 300/the withdrawing device 400 to operate according to a preset replacing program;
the replacing device 300 comprises a mounting mechanism 310 and a lifting mechanism 320, wherein the mounting mechanism 310 comprises a sliding rail 311, a sliding plate 312 and a fixing rod 313, the fixing plate 314, the mounting plate 315, the vertical guide rod 316 and the receiving part 317, wherein the guiding direction of the slide rail 311 is parallel to the length direction of the box body 200, the slide rail 311 is fixed at the bottom of the cavity of the box body 200, the slide plate 312 is horizontally and movably mounted on the slide rail 311 to form sliding guide fit, the fixing rod 313 is vertically fixed at the upper end surface of the slide plate 312, the fixing plate 314 is horizontally fixed at the top end of the fixing rod 313, a sliding part is arranged between the mounting plate 315 and the fixing plate 314, the mounting plate 315 is horizontally and movably mounted on the upper end surface of the fixing plate 314 through the sliding part to form sliding guide fit, the guiding direction of which is parallel to the guiding direction of the slide rail 311, the vertical guide rod 316 is vertically fixed at the upper end surface of the;
the lifting mechanism 320 comprises a translation member and a lifting member, the translation member is used for driving the mounting plate 315 to slide along the guide direction of the sliding part, the lifting member comprises a lifting motor 324, a lifting driving part and a lifting plate 327, the lifting motor 324 is horizontally fixed on the upper end surface of the mounting plate 315, the axial direction of an output shaft of the lifting motor 324 is parallel to the guide direction of the sliding rail 311, the lifting plate 327 is horizontally and movably mounted outside the vertical guide rod 316 and forms sliding guide fit, the lifting driving part is arranged between the lifting motor 324 and the lifting plate 327, the lifting motor 324 runs and drives the lifting plate 327 to move up and down through the lifting driving part, and the new battery is placed on the upper end surface of the;
the withdrawing device 400 is installed at the bottom of the cavity of the box body 200, the withdrawing device 400 comprises a withdrawing mechanism 410 and a power linkage mechanism 420, the withdrawing mechanism 410 is used for withdrawing the clamping of the battery in the unmanned aerial vehicle by the clamping device 100, and the power linkage mechanism 420 is used for the power linkage between the withdrawing mechanism 410 and the replacing device 300;
the withdrawing mechanism 410 comprises withdrawing members, the withdrawing members comprise a driving member 4110 and a withdrawing member 4120, the withdrawing member 4120 is used for enabling the clamping mechanism 120 to withdraw the clamping of the battery in the unmanned aerial vehicle, the driving member 4110 is used for driving the withdrawing member 4120 to operate, and the power linkage mechanism 420 is used for power linkage between the withdrawing mechanism 410 and the sliding plate 312;
the driving element 4110 operates to drive the withdrawing member 4120 to perform an ascending motion, the free end of the withdrawing member 4120 passes through the withdrawing pin hole and extends into the unmanned aerial vehicle to be in contact with the clamping device 100, and finally the clamping device 100 withdraws the clamping of the battery in the unmanned aerial vehicle, meanwhile, the withdrawing mechanism 410 operates to further pull the sliding plate 312 to slide along the guiding direction of the sliding rail 311 through the power linkage mechanism 420, when the clamping device 100 withdraws the clamping of the battery in the unmanned aerial vehicle, the receiving element 317 slides to be located under the battery in the unmanned aerial vehicle along with the sliding plate 312, and the battery in the unmanned aerial vehicle falls onto the receiving element 317 through the replacing hole under the action of gravity;
s3: the translation member operates and drives the mounting plate 315 to slide along the guiding direction of the slider until the vertical guide rod 316/lifting plate 327 is positioned below the replacement hole again, i.e. directly below the clamping area of the clamping device 100, the translation member stops operating;
s4: the lifting motor 324 runs and drives the lifting plate 327 to do lifting motion along the guiding direction of the vertical guide rod 316 through the lifting driving piece, the lifting plate 327 rises and pulls the new battery to rise synchronously, and when the new battery is located in the clamping area of the clamping device 100, the lifting motor 324 stops running;
s5: the driving member 4110 reversely runs and drives the withdrawing member 4120 to perform a descending motion and to be separated from the contact with the clamping device 100, and the clamping device 100 is restored to the original state and clamps a new battery under the elastic force of the clamping spring 124 thereof;
s6: the lifting motor 324 runs in the reverse direction, and the driving member 4110 continues to run in the reverse direction, so that the replacement device 300 and the cancellation device 400 are restored to the original state.
Compared with the prior art, the unmanned aerial vehicle has the advantages that the unmanned aerial vehicle adopts a clamping mode to install the battery, the whole using process of the unmanned aerial vehicle is not affected, the battery replacement of the unmanned aerial vehicle adopts an automatic replacement mode, the whole replacement process is quick and convenient, manual operation of personnel is not needed, compared with the traditional method for manually disassembling the battery compartment to replace the battery, the complicated manual operation is greatly reduced, time and labor are effectively saved, in addition, the main device of the replacement equipment for replacing the battery of the unmanned aerial vehicle is arranged in the box body, the replacement equipment is more convenient to carry, only the box cover needs to be opened when the unmanned aerial vehicle is used, and the unmanned aerial vehicle can replace the battery at any time and any place.
Clamping type battery installation unmanned aerial vehicle and supporting equipment is changed to battery that corresponds, it is including setting up in the unmanned aerial vehicle and being used for carrying out the clamping device 100 of centre gripping installation to the battery in the unmanned aerial vehicle, supporting with unmanned aerial vehicle and being used for carrying out the change equipment that the battery was changed to it, and change hole, cancellation hole have been seted up to unmanned aerial vehicle's bottom, and the change hole is located under the battery in the unmanned aerial vehicle.
The change equipment include box 200, box 200 is one end opening, the one end is closed and the open end matches the rectangle box structure of installing the case lid, install in the box 200 and support induction mechanism 210, change device 300, remove device 400, a controller, support induction mechanism 210 and be used for carrying out the supporting role to unmanned aerial vehicle and can give the controller with supporting signal transmission, the controller is used for controlling the operational aspect of changing device 300 and removing device 400, the free end of removing device 400 can stretch into to the unmanned aerial vehicle in through removing the hole and be used for making clamping device 100 remove the centre gripping to the battery in the unmanned aerial vehicle, change device 300 is used for making new battery replacement unmanned aerial vehicle battery.
When the batteries mounted in the unmanned aerial vehicle in a clamping manner are insufficient to continue to provide power, i.e. battery replacement is required, the crew will open the tank lid and place the drone horizontally on the support induction mechanism 210, meanwhile, the support sensing mechanism 210 transmits the signal to the controller, and the controller controls the operation of the replacing device 300 and the canceling device 400 according to a program preset by a worker, specifically, the canceling device 400 operates first and causes the clamping device 100 to cancel clamping of the battery in the unmanned aerial vehicle, the battery in the unmanned aerial vehicle drops into the box body 200 through the replacing hole, then the replacing device 300 operates and causes a new battery to rise into the unmanned aerial vehicle, and then, when the reverse operation of the withdrawing device 400 is performed, the clamping device 100 clamps the new battery, namely, the battery of the unmanned aerial vehicle is replaced, and then the cancel device 400 and the replace device 300 run in the reverse direction to restore to the original state.
The clamping device 100 comprises a sealing mechanism 110 and a clamping mechanism 120, wherein the sealing mechanism 110 is used for sealing the withdrawn hole, and the clamping mechanism 120 is used for clamping the battery in the unmanned aerial vehicle.
Sealing mechanism 110 include the sealing member, the sealing member includes sealing slide bar 111, closing plate 112, sealing spring 113, be provided with the installation arch at the bottom of unmanned aerial vehicle's inner chamber, sealing slide bar 111 horizontal movable mounting is on the installation arch and constitute the slip guide cooperation between the two, the extending direction that seals slide bar 111 is on a parallel with the circular bottom of unmanned aerial vehicle rather than the diameter direction who corresponds, closing plate 112 level sets up in revoking downtheholely, closing plate 112's up end is provided with the cover and establishes protruding and closing plate and establish protruding movable cup joint in the outside of sealing slide bar 111 through the cover, the cover is established and is constituted the slip guide cooperation between protruding and the sealing slide bar 111, closing plate 112's lower terminal surface is the guide inclined plane, the distance between guide inclined plane and the closing plate 112 up end is followed the guide direction of sealing slide bar 111 and is established protruding directional installation bell.
The sealing spring 113 is sleeved outside the sealing sliding rod 111, one end of the sealing spring 113 abuts against the sleeved protrusion, the other end of the sealing spring 113 abuts against the mounting protrusion, and the elastic force of the sealing spring 113 drives the sealing plate 112 to move away from the mounting protrusion and seal the pin removing hole.
The closing member be provided with two sets and be located one side of changing the hole respectively to two sets of closing member are the symmetric distribution about the axial of changing the hole, cancel the hole and should be provided with two sets.
The withdrawing device 400 rises and the free end of the withdrawing device is contacted with the guide inclined plane of the closing plate 112, so that the closing plate 112 opens the withdrawing pin hole under the guide action of the guide inclined plane, and the free end of the withdrawing device 400 smoothly extends into the unmanned aerial vehicle; after the withdrawing device 400 descends and disengages from the drone, the elastic force of the closing spring 113 drives the closing plate 112 to re-close the withdrawing pin hole.
The clamping mechanism 120 comprises clamping members, the clamping members are located above the sealing members, the clamping members are provided with two groups and located on one side of the replacing hole respectively, and the two groups of clamping members are symmetrically distributed along the axial direction of the replacing hole.
The clamping member include centre gripping sliding sleeve 121, centre gripping slide bar 122, centre gripping pole 123, centre gripping spring 124, centre gripping sliding sleeve 121/centre gripping slide bar 122/centre gripping pole 123's extending direction all is on a parallel with the direction of guide of sealing slide bar 111, centre gripping sliding sleeve 121 level is fixed in on unmanned aerial vehicle's the chamber wall, centre gripping slide bar 122's one end is close to and changes the hole, the other end is located centre gripping sliding sleeve 121, constitute the slip direction cooperation between centre gripping slide bar 122 and the centre gripping sliding sleeve 121, centre gripping sliding sleeve 121/centre gripping slide bar 122 is provided with two sets ofly and all is located same.
The clamping rods 123 are arranged between the two groups of clamping slide bars 122, connecting protrusions are arranged on the side faces of the clamping rods 123, the clamping rods 123 are fixedly connected with the clamping slide bars 122 through the connecting protrusions, and the connecting protrusions are correspondingly provided with two groups.
The clamping spring 124 is sleeved outside the clamping slide rod 122, one end of the clamping spring 124 abuts against the connecting protrusion, the other end of the clamping spring 124 abuts against the clamping sliding sleeve 121, the clamping rod 123 is driven by the elastic force of the clamping spring 124 to move close to the replacing hole, and two groups of clamping springs 124 are correspondingly arranged.
The clamping component further comprises a clamping arc plate 124 and a triggering block 126, the clamping arc plate 124 is fixed at the end portion, facing the replacing hole, of the clamping rod 123, the clamping arc plate 124 is bent towards the replacing hole and matched with the battery, the triggering block 126 is fixedly equal to the clamping rod 123 and located right above the pin withdrawing hole, the lower end face of the triggering block 126 is a triggering inclined face, and the distance between the triggering inclined face and the axial direction of the replacing hole decreases progressively from bottom to top along the height direction perpendicular to the ground.
The area between the clamping arc plates 124 of the two sets of clamping members is the clamping area of the clamping mechanism 120 for the battery in the unmanned aerial vehicle.
The free end of the withdrawing device 400 rises and contacts with the trigger slope of the trigger block 126, under the guiding action of the trigger slope, the withdrawing device 400 rises and drives the trigger block 126 to move away from the replacing hole, the trigger block 126 moves and pulls the clamping rod 123/the clamping slide rod 122/the clamping arc plate 124 to move synchronously, so that the clamping mechanism 120 withdraws the clamping of the battery in the unmanned aerial vehicle, and the battery in the unmanned aerial vehicle drops downwards through the replacing hole;
when the free end of the withdrawing means 400 descends and disengages from the pressing of the trigger block 126, the clamping mechanism 120 is restored to the original state under the elastic force of the clamping spring 124.
The support sensing mechanism 210 comprises a support sensing part, the support sensing part comprises a support sliding sleeve 211, a support sliding rod 212 and a support spring 213, the support sliding sleeve 211 is vertically fixed at the bottom of the cavity of the box body 200, the support sliding rod 212 and the support sliding sleeve 211 are coaxially arranged, the top end of the support sliding rod 212 is provided with an abutting step, the bottom of the support sliding rod is located in the support sliding sleeve 211, and the support sliding sleeve 211 and the support sliding rod 212 are matched in a sliding guide mode.
The supporting spring 213 is sleeved outside the supporting sliding rod 212, one end of the supporting spring 213 abuts against the abutting step, the other end of the supporting spring 213 abuts against the cavity bottom of the box body 200, and the elastic force of the supporting spring 213 drives the supporting sliding rod 212 to move upward away from the cavity bottom of the box body 200.
The support sensing members are provided with four groups and are respectively positioned at four corners of the box body 200.
The bottom of the support sliding rod 212 of any one of the four support sensing members is coaxially provided with a mounting hole, the support sliding sleeve 211 of the support sensing member is coaxially provided with a sensing element 214, and the top end of the sensing element 214 is positioned in the mounting hole.
When the battery of the unmanned aerial vehicle is replaced, a worker horizontally places the unmanned aerial vehicle on the abutting steps of the four groups of supporting slide rods 212, the supporting slide rods 212 do descending motion under the action of the gravity of the unmanned aerial vehicle, and meanwhile, the sensing element 214 senses the situation and transmits a signal to the controller; after the battery of the unmanned aerial vehicle is replaced, the unmanned aerial vehicle leaves the support slide rod 212, the support slide rod 212 is lifted and restored to the original state by the elastic force of the support spring 213, and the sensing element 214 senses the situation and transmits a signal to the controller.
The replacing device 300 comprises a mounting mechanism 310 and a lifting mechanism 320, wherein the mounting mechanism 310 is used for mounting between the lifting mechanism 320 and the box body 200, and the lifting mechanism 320 is used for enabling a new battery to replace the battery in the unmanned aerial vehicle.
The mounting mechanism 310 includes a slide rail 311, a slide plate 312, a fixing rod 313, a fixing plate 314, and a mounting plate 315, wherein a guiding direction of the slide rail 311 is parallel to a length extending direction of the box 200, the slide rail 311 is fixedly mounted at the bottom of the cavity of the box 200, the slide plate 312 is horizontally movably mounted on the slide rail 311 and forms a sliding guiding fit therebetween, preferably, in order to reduce friction between the slide plate 312 and the slide rail 311 and prolong a service life, a roller is disposed at the bottom of the slide plate 312, and the slide plate 312 forms a rolling friction type sliding guiding fit with the slide rail 311 through the roller.
The fixing rods 313 are vertically fixed on the upper end surface of the sliding plate 312, four groups of fixing rods 313 are arranged at four corners of the sliding plate 312, and the fixing plates 314 are horizontally fixed on the top ends of the fixing rods 313.
The mounting plate 315 and the fixing plate 314 are provided with a sliding part therebetween, the mounting plate 315 is horizontally movably mounted on the upper end surface of the fixing plate 314 through the sliding part, the sliding part includes a sliding groove formed on the upper end surface of the fixing plate 314 and a sliding protrusion formed on the lower end surface of the mounting plate 315, the guiding direction of the sliding groove is parallel to the guiding direction of the sliding rail 311, and the sliding protrusion and the sliding groove form a sliding guide fit.
The mounting mechanism 310 further includes vertical guide rods 316 and receiving members 317, the vertical guide rods 316 are vertically fixed on the upper end surface of the mounting plate 315, the vertical guide rods 316 are provided with four groups, the four groups of vertical guide rods 316 are distributed in a four-corner manner, the four groups of vertical guide rods 316 are located right below the replacement holes, the receiving members 317 are mounted on the upper end surface of the mounting plate 315, and the receiving members 317 are located on one side of the four groups of vertical guide rods 316 along the guiding direction of the sliding rails 311.
The receiving member 317 comprises a fixed housing 3171, a receiving cover plate and a buffer spring 3172, the fixed housing 3171 is a circular shell structure with an open end and a closed end, the closed end of the fixed housing 3171 is fixed on the upper end surface of the mounting plate 315, and the receiving cover plate is arranged at the open end of the fixed housing 3171 and forms sliding guide fit with the fixed housing 3171.
The buffer spring 3172 is disposed in the fixed housing 3171, one end of the buffer spring 3172 is connected to the bottom of the cavity of the fixed housing 3171, the other end of the buffer spring 3172 is connected to the receiving cover plate, the elastic force of the buffer spring 3172 drives the receiving cover plate to move upward away from the mounting plate 315, and preferably, the buffer spring 3172 is provided with a plurality of groups.
When the lifting device 400 is lifted and the clamping mechanism 120 is enabled to lift and clamp the battery in the unmanned aerial vehicle, the lifting device 400 further drives the sliding plate 312 to slide along the guiding direction of the sliding rail 311, when the clamping mechanism 120 lifts and clamps the battery in the unmanned aerial vehicle, the receiving piece 317 slides along with the sliding plate 312 to be located right below the battery in the unmanned aerial vehicle, and the battery in the unmanned aerial vehicle drops onto the receiving piece 317 through the replacing hole under the action of gravity.
The lifting mechanism 320 comprises a translation member and a lifting member, the translation member comprises a translation motor 321, a translation gear 322 and a translation rack 323, a connecting support is arranged between the translation motor 321 and the bottom of the cavity of the box body 200, the translation motor 321 is fixed in the box body 200 through the connecting support, and the axial direction of an output shaft of the translation motor 321 is parallel to the width extending direction of the box body 200.
The extending direction of the translation rack 323 is parallel to the guiding direction of the slide rail 311, the translation rack 323 is fixed on the upper end surface of the mounting plate 315, the translation gear 322 is coaxially fixed on the power output end of the translation motor 321, and the translation gear 322 is engaged with the translation rack 323.
After the battery in the unmanned aerial vehicle falls onto the receiving part 317, the translation motor 321 operates and drives the mounting plate 315 to slide along the guiding direction of the sliding chute through the translation gear 322 and the translation rack 323 until the four sets of vertical guide rods 316 are positioned below the replacement hole again, that is, directly below the clamping area of the clamping mechanism 120, and the translation motor 321 stops operating.
The lifting member include lifting motor 324, the lift driving piece, lifter plate 327, lifting motor 324 level is fixed in the up end of mounting panel 315 and lifting motor 324's output shaft axial direction is on a parallel with the direction of guide of slide rail 311, lifter plate 327 is the level and arranges, the lifter plate 327 is last to have seted up the trepanning and it locates vertical guide rod 316 outside through trepanning movable sleeve, the trepanning corresponds and is provided with four groups and is located lifter plate 327's four corners department respectively, constitute the sliding guide cooperation between lifter plate 327 and the vertical guide rod 316, vertical guide rod 316's outside still is provided with the support step that is used for playing the supporting role to lifter plate 327.
The lifting driving piece comprises a rotating shaft 325, a power connecting piece II 328 and a connecting rod 329, the axial direction of the rotating shaft 325 is parallel to the width extending direction of the box body 200, a supporting bracket is arranged on the upper end face of the mounting plate 315, the rotating shaft 325 is movably mounted on the supporting bracket and can rotate around the axial direction of the rotating shaft, a power connecting piece I326 is arranged between the power output end of the lifting motor 324 and the rotating shaft 325, and power is connected and transmitted between the power output end of the lifting motor and the rotating shaft 325 through the power connecting piece I326, specifically, the power connecting piece I326 is.
The second power connecting part 328 includes a transmission gear and a transmission rack, the transmission gear is coaxially fixed outside the rotating shaft 325, the extending direction of the transmission rack is parallel to the length extending direction of the sliding rail 311, the transmission rack is fixed on the upper end surface of the mounting plate 315, and the transmission gear is engaged with the transmission rack.
The extending direction of the connecting rod 329 is perpendicular to the axial direction of the rotating shaft 325, one end of the connecting rod 329 is hinged with the lifting plate 327, the other end is hinged with the transmission rack, and two groups of hinge axis core wires are parallel to the axial direction of the rotating shaft 325.
The two sets of lifting driving members are disposed on one side of the lifting plate 327 along the extending direction of the width of the box 200, and the first power connectors 326 of the two sets of lifting driving members share one set of driving bevel gears, so that the lifting motor 324 operates and can drive the lifting plate 327 to slide along the guiding direction of the vertical guide rod 316 through the two sets of lifting driving members.
After the four sets of vertical guide rods 316 are positioned right below the clamping area of the clamping mechanism 120 again by the translation member, the lifting motor 324 starts to operate and drives the lifting plate 327 to perform lifting motion along the guiding direction of the vertical guide rods 316, the lifting plate 327 lifts and pulls a new battery to lift synchronously, when the new battery is positioned in the clamping area of the clamping mechanism 120, the lifting motor 324 stops operating, the withdrawing device 400 reversely operates and is separated from contact with the clamping mechanism 120, the clamping mechanism 120 recovers to the original state and clamps the new battery again under the elastic force of the clamping spring 124, and after the clamping is completed, the lifting motor 324 reversely operates, the withdrawing device 400 continues to reversely operate, and finally the replacing device 300 and the withdrawing device 400 recover to the original state.
The withdrawing device 400 is installed at the bottom of the cavity of the box body 200, the withdrawing device 400 comprises a withdrawing mechanism 410 and a power linkage mechanism 420, the withdrawing mechanism 410 is used for withdrawing the clamping of the battery in the unmanned aerial vehicle by the clamping mechanism 120, and the power linkage mechanism 420 is used for withdrawing the power linkage between the mechanism 410 and the installation mechanism 310.
The withdrawing mechanism 410 comprises withdrawing means comprising a driving member 4110 and a withdrawing member 4120, wherein the withdrawing member 4120 is used for withdrawing the clamping mechanism 120 from clamping the battery inside the unmanned aerial vehicle, and the driving member 4110 is used for driving the withdrawing member 4120 to operate.
The withdrawing member 4120 comprises a withdrawing sliding sleeve 4124 and a withdrawing rod 4125, the withdrawing sliding sleeve 4124 is vertically fixed at the cavity bottom of the box body 200, the withdrawing sliding sleeve 4124 and the withdrawing hole of the unmanned aerial vehicle placed on the supporting sensing member are positioned on the same vertical line, the withdrawing rod 4125 is vertically arranged, the bottom end of the withdrawing rod 4125 is positioned in the withdrawing sliding sleeve 4124, the withdrawing sliding sleeve 4124 and the withdrawing rod 4125 form sliding guide fit, the top end of the withdrawing rod 4125 is provided with a withdrawing inclined surface, and the withdrawing inclined surface is parallel to the triggering inclined surface of the triggering block 126 placed in the unmanned aerial vehicle on the supporting sensing member.
The withdrawing member 4120 further includes a withdrawing guide rod 4121, a sliding bracket 4122, and a withdrawing spring 4123, wherein the guiding direction of the withdrawing guide rod 4121 is parallel to the guiding direction of the slide rail 311, the withdrawing guide rod 4121 is fixed at the bottom of the cavity of the box 200, the sliding bracket 4122 is movably mounted outside the withdrawing guide rod 4121 and forms a sliding guiding fit therebetween, the withdrawing spring 4123 is sleeved outside the withdrawing guide rod 4121, the initial state of the withdrawing spring 4123 is a compressed state, and the elastic force thereof drives the sliding bracket 4122 to move close to the withdrawing slide sleeve 4124.
The withdrawing member 4120 further comprises a hinge lever 4126, the extending direction of the hinge lever 4126 is the width extending direction of the case 200, the hinge lever 4126 is obliquely arranged, the bottom end of the hinge lever 4126 is hinged with the sliding bracket 4122, the top end of the hinge lever 4126 is hinged with the withdrawing lever 4125, and the two sets of hinge axis lines are parallel to the width extending direction of the case 200.
Driving piece 4110 include electric telescopic handle 4111, drive rack 4112, drive gear 4113, the gear shaft, electric telescopic handle 4111 level is fixed in the chamber bottom of box 200 and its flexible direction is on a parallel with the width extending direction of box 200, the vertical chamber bottom of being fixed in box 200 of gear shaft.
Drive rack 4112's extending direction be on a parallel with the width extending direction of box 200, drive rack 4112 and electric telescopic handle 4111's flexible end fixed connection, be provided with guide and drive rack 4112 through guide movable mounting at the bottom of the chamber of box 200 between the bottom of the chamber of drive rack 4112 and box 200, the guide is including setting up in the direction arch at the bottom of the chamber of box 200, set up in the guide way of drive rack 4112 bottom, the guide direction of guide way constitutes the sliding guide cooperation between width extending direction and guide way and the guide arch that is on a parallel with box 200.
The driving gear 4113 is mounted outside the gear shaft through a bearing, and the driving gear 4113 is meshed with the driving rack 4112.
The driving member 4110 further comprises a winding rope tray 4114, a connecting rope 4115 and a transition pulley 4116, the transition pulley 4116 is vertically movably mounted at the bottom of the cavity of the box 200 and can rotate around the axial direction of the transition pulley, the winding rope tray 4114 is coaxially and movably mounted outside the gear shaft, the winding rope tray 4114 is further fixedly connected with the driving gear 4113, one end of the connecting rope 4115 is wound outside the winding rope tray 4114, the other end of the connecting rope tray bypasses the transition pulley 4116 and then is fixedly connected with the sliding support 4122, and the electric telescopic rod 4111 retracts to operate, draws the winding rope tray 4114 to collect ropes and finally draws the sliding support 4122 to move away from the withdrawing sliding sleeve 4124.
The withdrawing members are provided with two groups and respectively correspond to the two groups of clamping members arranged in the unmanned aerial vehicle.
When the electric telescopic rod 4111 is in stretching operation, the rope reel 4114 is wound for rope releasing rotation, and meanwhile, under the driving of the elasticity of the releasing spring 4123, the sliding support 4122 moves close to the releasing sliding sleeve 4124, so that the releasing rod 4125 is driven to move upwards, and the purpose of releasing the clamping of the battery in the unmanned aerial vehicle by the clamping mechanism 120 is achieved; when the electric telescopic rod 4111 retracts, the rope winding disk 4114 winds and rotates to pull the sliding bracket 4122 to move away from the withdrawing sliding sleeve 4124, so as to drive the withdrawing rod 4125 to move downwards, and the withdrawing mechanism 410 and the clamping mechanism 120 are both restored to the original state.
The power linkage mechanism 420 is arranged between any one group of the withdrawing members and the mounting mechanism 310, the power linkage mechanism 420 comprises a linkage screw rod 428, a linkage rod 427 and a linkage block 426, the axial direction of the linkage screw rod 428 is parallel to the guiding direction of the slide rail 311, the cavity bottom of the box body 200 is provided with a fixed support, the linkage screw rod 428 is movably arranged on the fixed support and can rotate around the axial direction of the linkage rod 428, the linkage block 426 is arranged on the linkage screw rod 428 through a screw nut, the linkage screw rod 428 rotates and pulls the linkage block 426 to displace along the axial direction, one end of the linkage rod 427 is fixedly connected with the linkage block 426, and the other end of the linkage rod 427 is fixedly.
The power linkage mechanism 420 further includes a first/second transmission shaft, a linkage gear 423, a linkage rack 422, and a fastening rod 421, wherein the axial direction of the first transmission shaft is parallel to the axial direction of the linkage screw rod 428, the axial direction of the second transmission shaft is parallel to the width extending direction of the box body 200, a mounting bracket is disposed at the bottom of the cavity of the box body 200, and the first/second transmission shafts are movably mounted on the mounting bracket and can rotate around the axial direction thereof.
A power transmission member II 425 is arranged between the first transmission shaft I and the linkage screw rod 428, power connection transmission is carried out between the first transmission shaft I and the linkage screw rod 428 through the power transmission member II 425, a power transmission member I424 is arranged between the first transmission shaft I and the second transmission shaft II, power connection transmission is carried out between the first transmission shaft I and the second transmission shaft II through the power transmission member I424, specifically, the power transmission member I424 is a bevel gear power transmission structure, and the power transmission member II 425 is a belt transmission power transmission structure.
The fastening rod 421 is fixedly connected with the sliding bracket 4122, the interlocking gear 423 is coaxially fixed outside the transmission shaft II, the extending direction of the interlocking rack 422 is parallel to the axial direction of the interlocking screw rod 428, the interlocking rack 422 is fixed on the fastening rod 421, and the interlocking gear 423 is meshed with the interlocking rack 422.
During the process that the free end of the withdrawing mechanism 410 is lifted, the sliding bracket 4122 moves close to the withdrawing sliding sleeve 4124 and pulls the fastening rod 421 to move synchronously, so as to drive the linkage screw rod 428 to rotate around the self axial direction, the linkage screw rod 428 rotates and drives the sliding plate 312 to slide along the guiding direction of the sliding rail 311 through the linkage block 426 and the linkage rod 427, so that the receiving member 317 follows the sliding plate 312 to slide to be positioned under the battery in the unmanned aerial vehicle when the clamping mechanism 120 withdraws the clamping of the battery in the unmanned aerial vehicle.
During actual work, when installing in the battery of unmanned aerial vehicle insufficient continuation power supply in the centre gripping mode, when needing to carry out the battery replacement promptly, the staff will open the case lid and place unmanned aerial vehicle level on the conflict step of four groups support slide bar 212, and set up in the cancellation hole of unmanned aerial vehicle bottom and be located directly over cancellation lever 4125 of cancellation device 400, under unmanned aerial vehicle action of gravity, support slide bar 212 and do the descending motion, inductive element 214 can sense this kind of condition and with signal transmission to controller simultaneously, the controller orders about change device 300, cancellation device 400 operation according to preset's change procedure immediately, specifically be:
the electric telescopic rod 4111 is extended, the rope winding disc 4114 is unwound and rotated, the sliding support 4122 moves close to the unwinding sliding sleeve 4124 under the driving of the elastic force of the unwinding spring 4123, so that the unwinding rod 4125 is driven to move upwards, the purpose of enabling the clamping mechanism 120 to unwind and clamp the battery in the unmanned aerial vehicle is achieved, in addition, the sliding support 4122 also moves through the power linkage mechanism 420 to draw the sliding plate 312 to slide along the guiding direction of the sliding rail 311, when the clamping mechanism 120 unwinds to clamp the battery in the unmanned aerial vehicle, the receiving piece 317 slides along with the sliding plate 312 to the position right below the battery in the unmanned aerial vehicle, and the battery in the unmanned aerial vehicle drops onto the receiving piece 317 through a replacing hole under the action of gravity;
then, the translation motor 321 operates and drives the mounting plate 315 to slide along the guiding direction of the sliding chute through the translation gear 322 and the translation rack 323, until the four groups of vertical guide rods 316 are positioned below the replacement holes again, that is, directly below the clamping area of the clamping mechanism 120, the translation motor 321 stops operating;
subsequently, the lifting motor 324 starts to operate and drives the lifting plate 327 to perform a lifting motion along the guiding direction of the vertical guide rod 316, the lifting plate 327 lifts and pulls the new battery to ascend synchronously, when the new battery is located in the clamping area of the clamping mechanism 120, the lifting motor 324 stops operating, meanwhile, the electric telescopic rod 4111 performs a retracting motion, the rope winding disc 4114 performs a rope winding rotation therewith and pulls the sliding bracket 4122 to perform a motion far away from the withdrawing sliding sleeve 4124, so as to drive the withdrawing rod 4125 to perform a descending motion, and the clamping mechanism 120 returns to an original state and clamps the new battery under the elastic force of the clamping spring 124;
after the new battery is clamped, the lifting motor 324 runs in the reverse direction, and the electric telescopic rod 4111 continues to retract, so that the replacing device 300 and the canceling device 400 are both restored to the original state.

Claims (10)

1. The automatic replacing method of the unmanned aerial vehicle battery comprises the following steps:
s1: a worker horizontally places the unmanned aerial vehicle on a support induction mechanism arranged in the box body;
the battery in the unmanned aerial vehicle is arranged in the unmanned aerial vehicle in a clamping mode through the clamping device, the bottom of the unmanned aerial vehicle is provided with a replacing hole and a canceling hole, the replacing hole is positioned right below the battery in the unmanned aerial vehicle, the supporting induction mechanism comprises four groups of supporting induction parts which are respectively positioned at four corners of the box body, and an induction element is arranged in any one group of supporting induction parts;
when the battery arranged in the unmanned aerial vehicle in a clamping mode is not enough to continuously provide power, namely the battery needs to be replaced, a worker opens the box cover of the box body and horizontally places the unmanned aerial vehicle on the four groups of supporting induction pieces, a cancellation hole arranged at the bottom of the unmanned aerial vehicle is positioned right above the free end of the cancellation device, then the supporting induction pieces perform descending motion under the action of the gravity of the unmanned aerial vehicle, and the induction elements transmit the status signals to the controller;
s2: the controller drives the replacing device/the cancelling device to operate according to a preset replacing program;
the replacing device comprises an installing mechanism and a lifting mechanism, wherein the installing mechanism comprises a sliding rail, a sliding plate, a fixed rod, a fixed plate, an installing plate, a vertical guide rod and a receiving piece, the guiding direction of the sliding rail is parallel to the length direction of the box body, and the sliding rail is fixed at the bottom of a cavity of the box body;
the lifting mechanism comprises a translation component and a lifting component, the translation component is used for driving the mounting plate to slide along the guide direction of the sliding part, the lifting component comprises a lifting motor, a lifting driving part and a lifting plate, the lifting motor is horizontally fixed on the upper end face of the mounting plate, the axial direction of an output shaft of the lifting motor is parallel to the guide direction of the sliding rail, the lifting plate is horizontally and movably mounted outside the vertical guide rod and forms sliding guide fit, the lifting driving part is arranged between the lifting motor and the lifting plate, the lifting motor runs and drives the lifting plate to do lifting motion through the lifting driving part, and a new battery is placed on the upper end face;
the withdrawing device is arranged at the bottom of the cavity of the box body and comprises a withdrawing mechanism and a power linkage mechanism, the withdrawing mechanism is used for leading the clamping device to withdraw the clamping of the battery in the unmanned aerial vehicle, and the power linkage mechanism is used for the power linkage between the withdrawing mechanism and the replacing device;
the withdrawing mechanism comprises a withdrawing component, the withdrawing component comprises a driving part and a withdrawing part, the withdrawing part is used for enabling the clamping mechanism to withdraw the clamping of the battery in the unmanned aerial vehicle, the driving part is used for driving the withdrawing part to operate, and the power linkage mechanism is used for power linkage between the withdrawing mechanism and the sliding plate;
the driving piece operates and drives the pin removing piece to move upwards, the free end of the pin removing piece penetrates through the pin removing hole, extends into the unmanned aerial vehicle and contacts with the clamping device, the clamping device finally removes the clamping of the battery in the unmanned aerial vehicle, meanwhile, the removing mechanism operates and also pulls the sliding plate to slide along the guiding direction of the sliding rail through the power linkage mechanism, when the clamping device removes the clamping of the battery in the unmanned aerial vehicle, the receiving piece slides to be positioned under the battery in the unmanned aerial vehicle along with the sliding plate, and the battery in the unmanned aerial vehicle falls onto the receiving piece through the replacing hole under the action of gravity;
s3: the translation component operates and drives the mounting plate to slide along the guide direction of the sliding part until the vertical guide rod/lifting plate is positioned below the replacement hole again, namely, is positioned right below the clamping area of the clamping device, and the translation component stops operating;
s4: the lifting motor operates and drives the lifting plate to do ascending motion along the guiding direction of the vertical guide rod through the lifting driving piece, the lifting plate ascends and pulls the new battery to ascend synchronously, and when the new battery is positioned in the clamping area of the clamping device, the lifting motor stops operating;
s5: the driving piece reversely runs and drives the pin removing piece to descend and is separated from the contact with the clamping device, and the clamping device is restored to the original state under the elastic force of the clamping spring of the clamping device and clamps the new battery;
s6: the lifting motor runs reversely, the driving piece continues to run reversely, and finally the replacing device and the canceling device are all restored to the original state.
2. The method for automatically replacing the battery of the unmanned aerial vehicle according to claim 1, wherein the clamping device comprises a closing mechanism and a clamping mechanism, the closing mechanism is used for closing the withdrawal hole, and the clamping mechanism is used for clamping the battery in the unmanned aerial vehicle;
the sealing mechanism comprises a sealing component, the sealing component comprises a sealing slide rod, a sealing plate and a sealing spring, an installation bulge is arranged at the bottom of an inner cavity of the unmanned aerial vehicle, the sealing slide rod is horizontally and movably installed on the installation bulge and forms sliding guide fit between the sealing slide rod and the installation bulge, the extending direction of the sealing slide rod is parallel to the diameter direction corresponding to the circular bottom of the unmanned aerial vehicle, the sealing plate is horizontally arranged in a canceling hole, a sleeving bulge is arranged on the upper end face of the sealing plate, the sealing plate is movably sleeved outside the sealing slide rod through the sleeving bulge, the sleeving bulge and the sealing slide rod form sliding guide fit, the lower end face of the sealing plate is a guide inclined face, the distance between the guide inclined face and the upper end face of the sealing plate increases progressively along the guide direction of the sealing slide rod and the direction;
the sealing spring is sleeved outside the sealing slide rod, one end of the sealing spring is abutted against the sleeved bulge, the other end of the sealing spring is abutted against the mounting bulge, and the elastic force of the sealing spring drives the sealing plate to move away from the mounting bulge and seal the pin removing hole;
the closing member be provided with two sets and be located one side of changing the hole respectively to two sets of closing member are the symmetric distribution about the axial of changing the hole, cancel the hole and should be provided with two sets.
3. The method for automatically replacing the battery of the unmanned aerial vehicle according to claim 2, wherein the clamping mechanism comprises two groups of clamping members, the two groups of clamping members are arranged above the sealing member and are respectively arranged at one side of the replacing hole, and the two groups of clamping members are symmetrically distributed along the axial direction of the replacing hole;
the clamping component comprises a clamping sliding sleeve, a clamping sliding rod, clamping rods and a clamping spring, the extending directions of the clamping sliding sleeve/the clamping sliding rod/the clamping rod are all parallel to the guiding direction of the sealing sliding rod, the clamping sliding sleeve is horizontally fixed on the cavity wall of the unmanned aerial vehicle, one end of each clamping sliding rod is close to the replacing hole, the other end of each clamping sliding rod is located in the clamping sliding sleeve, the clamping sliding rods and the clamping sliding sleeve form sliding guide fit, and the clamping sliding sleeve/the clamping sliding rods are provided with two groups and are all located in the same horizontal plane;
the clamping rods are arranged between the two groups of clamping slide rods, the side surfaces of the clamping rods are provided with connecting bulges, the clamping rods are fixedly connected with the clamping slide rods through the connecting bulges, and the connecting bulges are correspondingly provided with two groups;
the clamping spring is sleeved outside the clamping slide rod, one end of the clamping spring is abutted against the connecting protrusion, the other end of the clamping spring is abutted against the clamping sliding sleeve, the elastic force of the clamping spring drives the clamping rod to move close to the replacing hole, and two groups of clamping springs are correspondingly arranged;
the clamping component also comprises a clamping arc plate and a triggering block, the clamping arc plate is fixed at the end part of the clamping rod facing the replacing hole, the clamping arc plate is bent towards the replacing hole and matched with the battery, the triggering block is fixed on the clamping rod and positioned right above the pin removing hole, the lower end surface of the triggering block is a triggering inclined surface, and the distance between the triggering inclined surface and the axial direction of the replacing hole is gradually reduced from bottom to top along the height direction vertical to the ground;
the area between the clamping arc plates of the two groups of clamping components is the clamping area of the clamping mechanism for the battery in the unmanned aerial vehicle.
4. The automatic unmanned aerial vehicle battery replacement method according to claim 1, wherein the support sensing member comprises a support sliding sleeve, a support sliding rod and a support spring, the support sliding sleeve is vertically fixed at the bottom of the tank body, the support sliding rod and the support sliding sleeve are coaxially arranged, the top end of the support sliding rod is provided with an abutting step, the bottom of the support sliding rod is located in the support sliding sleeve, and the support sliding sleeve and the support sliding rod are in sliding guide fit;
the supporting slide rod is sleeved with the supporting spring, one end of the supporting spring is abutted against the abutting step, the other end of the supporting spring is abutted against the cavity bottom of the box body, and the elastic force of the supporting spring drives the supporting slide rod to do ascending motion far away from the cavity bottom of the box body;
the bottom of the supporting sliding rod of any one of the four groups of supporting induction parts is coaxially provided with a mounting hole, the supporting sliding sleeve of the group of supporting induction parts is internally and coaxially provided with an induction element, and the top end of the induction element is positioned in the mounting hole.
5. The automatic unmanned aerial vehicle battery replacement method according to claim 1, wherein rollers are arranged at the bottom of the sliding plate, the sliding plate is in rolling friction type sliding guide fit with the sliding rail through the rollers, and the four groups of fixing rods are arranged and are respectively positioned at four corners of the sliding plate;
the sliding part comprises a sliding chute arranged on the upper end surface of the fixed plate and a sliding bulge arranged on the lower end surface of the mounting plate, the guiding direction of the sliding chute is parallel to the guiding direction of the sliding rail, and the sliding bulge and the sliding chute form sliding guiding fit;
the four groups of vertical guide rods are distributed in a four-corner mode, the four groups of vertical guide rods are positioned right below the replacing hole, the receiving piece is arranged on the upper end face of the mounting plate, and the receiving piece is positioned on one side of the four groups of vertical guide rods along the guide direction of the sliding rail;
the receiving piece comprises a fixed shell, a receiving cover plate and a buffer spring, the fixed shell is of a circular shell structure with one open end and one closed end, the closed end of the fixed shell is fixed on the upper end face of the mounting plate, the receiving cover plate is arranged at the open end of the fixed shell, and the receiving cover plate and the fixed shell form sliding guide fit;
buffer spring set up in fixed shell, buffer spring's one end and fixed shell chamber end are connected, the other end and receiving cover connection, buffer spring's elasticity orders about and receives the apron and do the ascending motion of keeping away from the mounting panel, buffer spring is provided with a plurality of groups.
6. The automated unmanned aerial vehicle battery replacement method according to claim 5, wherein the translation member comprises a translation motor, a translation gear and a translation rack, a connecting bracket is arranged between the translation motor and the cavity bottom of the box body, the translation motor is fixed in the box body through the connecting bracket, and an output shaft of the translation motor is axially parallel to the width extension direction of the box body;
the extension direction of the translation rack is parallel to the guide direction of the slide rail, the translation rack is fixed on the upper end face of the mounting plate, the translation gear is coaxially fixed on the power output end of the translation motor, and the translation gear is meshed with the translation rack;
the lifting driving piece comprises a rotating shaft, a power connecting piece II and a connecting rod, the axial direction of the rotating shaft is parallel to the width extending direction of the box body, a supporting bracket is arranged on the upper end face of the mounting plate, the rotating shaft is movably mounted on the supporting bracket and can rotate around the axial direction of the rotating shaft, a power connecting piece I is arranged between the power output end of the lifting motor and the rotating shaft, power is connected and transmitted between the power output end of the lifting motor and the rotating shaft through the power connecting piece I, and the power connecting piece I is;
the second power connecting piece comprises a transmission gear and a transmission rack, the transmission gear is coaxially fixed outside the rotating shaft, the extension direction of the transmission rack is parallel to the length extension direction of the sliding rail, the transmission rack is fixed on the upper end face of the mounting plate, and the transmission gear is meshed with the transmission rack;
the extending direction of the connecting rod is perpendicular to the axial direction of the rotating shaft, one end of the connecting rod is hinged with the lifting plate, the other end of the connecting rod is hinged with the transmission rack, and two groups of hinging shaft core wires are parallel to the axial direction of the rotating shaft;
the lifting driving pieces are provided with two groups and are respectively positioned on one side of the lifting plate along the width extending direction of the box body, the power connecting pieces of the two groups of lifting driving pieces share one group of driving bevel gears, and the lifting motor runs and can drive the lifting plate to slide along the guiding direction of the vertical guide rod through the two groups of lifting driving pieces.
7. The automated unmanned aerial vehicle battery replacement method according to claim 3, wherein the cancellation member comprises a cancellation sliding sleeve and a cancellation rod, the cancellation sliding sleeve is vertically fixed at the bottom of the tank body and is positioned on the same vertical line with a cancellation hole of the unmanned aerial vehicle placed on the support sensing member, the cancellation rod is vertically arranged, the bottom end of the cancellation rod is positioned in the cancellation sliding sleeve, the cancellation sliding sleeve and the cancellation hole of the unmanned aerial vehicle placed on the support sensing member form a sliding guide fit, the top end of the cancellation rod is provided with a cancellation inclined surface, and the cancellation inclined surface is parallel to a trigger inclined surface of a trigger block placed in the unmanned aerial vehicle on the support sensing member;
the withdrawing piece further comprises a withdrawing guide rod, a sliding support and a withdrawing spring, the guiding direction of the withdrawing guide rod is parallel to the guiding direction of the sliding rail, the withdrawing guide rod is fixed at the bottom of the cavity of the box body, the sliding support is movably arranged outside the withdrawing guide rod, the sliding support and the withdrawing guide rod form sliding guiding fit, the withdrawing spring is sleeved outside the withdrawing guide rod, the initial state of the withdrawing spring is a compression state, and the elastic force of the withdrawing spring drives the sliding support to move close to the withdrawing sliding sleeve.
8. The method for automatically replacing an unmanned aerial vehicle battery according to claim 7, wherein the withdrawing member further comprises a hinge rod, the extending direction of the hinge rod is parallel to the width extending direction of the box body, the hinge rod is obliquely arranged, the bottom end of the hinge rod is hinged with the sliding bracket, the top end of the hinge rod is hinged with the withdrawing rod, and two groups of hinge shaft core wires are parallel to the width extending direction of the box body;
the driving piece comprises an electric telescopic rod, a driving rack, a driving gear and a gear shaft, the electric telescopic rod is horizontally fixed at the cavity bottom of the box body, the telescopic direction of the electric telescopic rod is parallel to the width extension direction of the box body, and the gear shaft is vertically fixed at the cavity bottom of the box body;
the extension direction of the driving rack is parallel to the width extension direction of the box body, the driving rack is fixedly connected with the telescopic end of the electric telescopic rod, a guide piece is arranged between the driving rack and the cavity bottom of the box body, the driving rack is movably arranged at the cavity bottom of the box body through the guide piece, the guide piece comprises a guide bulge arranged at the cavity bottom of the box body and a guide groove arranged at the bottom of the driving rack, and the guide direction of the guide groove is parallel to the width extension direction of the box body and forms sliding guide fit with the guide bulge.
9. The automated unmanned aerial vehicle battery replacement method of claim 8, wherein the drive gear is mounted to an outer portion of the gear shaft through a bearing and the drive gear is engaged with the drive rack;
the driving piece further comprises a winding rope reel, a connecting rope and a transition pulley, the transition pulley is vertically and movably mounted at the cavity bottom of the box body and can rotate around the axial direction of the transition pulley, the winding rope reel is coaxially and movably mounted outside the gear shaft and is fixedly connected with the driving gear, one end of the connecting rope is wound outside the winding rope reel, the other end of the connecting rope is fixedly connected with the sliding support after winding around the transition pulley, and the electric telescopic rod retracts to run and pulls the winding rope reel to collect the rope and finally pulls the sliding support to move far away from the withdrawing sliding sleeve;
the withdrawing members are provided with two groups and respectively correspond to the two groups of clamping members arranged in the unmanned aerial vehicle.
10. The automatic exchange method of the unmanned aerial vehicle battery according to claim 9, wherein the power linkage mechanism is arranged between any one group of the cancelling components and the mounting mechanism, the power linkage mechanism comprises a linkage screw rod, a linkage rod and a linkage block, the axial direction of the linkage screw rod is parallel to the guiding direction of the slide rail, the cavity bottom of the box body is provided with a fixed support, the linkage screw rod is movably mounted on the fixed support and can axially rotate around the linkage screw rod, the linkage block is mounted on the linkage screw rod through a screw nut, rotates along the linkage screw rod and pulls the linkage block to axially displace, one end of the linkage rod is fixedly connected with the linkage block, and the other end of the linkage rod is fixedly connected with the slide plate;
the power linkage mechanism further comprises a first transmission shaft/second transmission shaft, a linkage gear, a linkage rack and a fastening rod, wherein the axial direction of the first transmission shaft is parallel to the axial direction of the linkage screw rod, the axial direction of the second transmission shaft is parallel to the width extension direction of the box body, the cavity bottom of the box body is provided with a mounting bracket, and the first transmission shaft/second transmission shaft is movably mounted on the mounting bracket and can rotate around the axial direction of the first transmission shaft/second transmission shaft;
a power transmission piece II is arranged between the first transmission shaft and the linkage screw rod and is in power connection transmission through the power transmission piece II, a power transmission piece I is arranged between the first transmission shaft and the second transmission shaft and is in power connection transmission through the power transmission piece I, the power transmission piece I is of a bevel gear power transmission structure, and the power transmission piece II is of a belt transmission power transmission structure;
the fastening rod is fixedly connected with the sliding support, the linkage gear is coaxially fixed outside the second transmission shaft, the extending direction of the linkage rack is parallel to the axial direction of the linkage screw rod, the linkage rack is fixed on the fastening rod, and the linkage gear is meshed with the linkage rack.
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