CN212354423U - Automatic battery replacing device - Google Patents

Abstract

The utility model discloses an automatic device of changing of battery relates to unmanned air vehicle technique field. This automatic device of changing of battery includes the arm, and the arm is used for the automatic battery of changing unmanned aerial vehicle, and the arm includes bottom plate, switching on and shutting down mechanism, battery knob rotary mechanism and fixture. The startup and shutdown mechanism, the battery knob rotating mechanism and the clamping mechanism are arranged on the bottom plate in a sliding manner; the unmanned aerial vehicle is provided with a startup and shutdown button, and the startup and shutdown mechanism is used for pressing the startup and shutdown button so as to start or shut down the unmanned aerial vehicle; the unmanned aerial vehicle is provided with a fixing knob for fixing the battery, and the battery knob rotating mechanism is used for rotating the fixing knob so as to unlock the battery or lock the battery; the clamping mechanism can clamp the battery so as to pull out or convey the battery from or into the unmanned aerial vehicle. The automatic battery replacing device realizes high automation, reduces the labor intensity of workers and improves the efficiency of replacing batteries.

Description

Automatic battery replacing device

Technical Field

The utility model relates to an unmanned air vehicle technique field especially relates to an automatic device of changing of battery.

Background

In the full-automatic unmanned aerial vehicle use system, in order to guarantee unmanned aerial vehicle's long-time duration, need change unmanned aerial vehicle's battery.

In the prior art, when a battery of an unmanned aerial vehicle is automatically replaced, the unmanned aerial vehicle needs to be manually turned on and off; the unmanned aerial vehicle is provided with a fixing knob for fixing the battery, and when the battery is replaced, the fixing knob needs to be rotated to the vertical direction to unlock the battery; after the battery is installed, the battery is locked by rotating the fixing knob to the horizontal direction, the battery is prevented from dropping, and finally, the unmanned aerial vehicle is started manually so that the unmanned aerial vehicle can continue to work. Since the duration of operation of the drone battery is short, frequent replacement is required. The mode of manual switch machine and rotatory fixed knob among the prior art has increased staff's intensity of labour, and degree of automation is low to lead to the change inefficiency of battery.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an automatic device of changing of battery to realize changing the high automation of battery, improve the change efficiency of battery.

To achieve the purpose, the utility model adopts the following technical proposal:

an automatic battery replacement device, includes the arm, the arm is used for the automatic battery of changing unmanned aerial vehicle, wherein the arm includes:

a base plate;

the battery rotary mechanism and the clamping mechanism are arranged on the bottom plate in a sliding manner;

the unmanned aerial vehicle is provided with a startup and shutdown button, and the startup and shutdown mechanism is used for pressing the startup and shutdown button so as to start up or shut down the unmanned aerial vehicle;

the unmanned aerial vehicle is provided with a fixing knob for fixing the battery, and the battery knob rotating mechanism is used for rotating the fixing knob so as to unlock the battery or lock the battery;

the clamping mechanism can clamp the battery so as to pull out or convey the battery from or into the unmanned aerial vehicle.

Optionally, the bottom plate includes a first bottom plate and a second bottom plate, the second bottom plate is slidably connected to the first bottom plate, and the power on/off mechanism, the battery knob rotating mechanism and the clamping mechanism are all disposed on the second bottom plate.

Optionally, the power on/off mechanism includes a first driving component, a rotating arm and a pressing block, one end of the rotating arm is rotatably connected to the first driving component, the other end of the rotating arm is connected to the pressing block, and the first driving component drives the rotating arm to rotate, so that the pressing block presses the power on/off button.

Optionally, the power on/off mechanism further includes a first sensor, where the first sensor is disposed on one side of the rotating arm and is used to detect whether the rotating arm rotates in place.

Optionally, the battery knob rotating mechanism includes a second driving part and a rotating shaft, one end of the rotating shaft is rotatably connected to the second driving part, the other end of the rotating shaft is provided with a rotating part, and the rotating part is connected to the end face of the fixed knob in a matching manner, so that the second driving part drives the fixed knob to rotate through the rotating shaft.

Optionally, the battery knob rotating mechanism further includes at least one second sensor and at least one signal panel, the signal panel is fixedly connected to the rotating shaft, the second sensor is disposed on one side of the rotating shaft, and the second sensor detects the rotating position of the rotating shaft through the signal panel.

Optionally, the clamping mechanism includes a push block, a hook and a first mounting seat, the push block is disposed on the end surface of the first mounting seat, the hook is disposed on the side surface of the first mounting seat, and the hook is rotatably connected with the first mounting seat.

Optionally, the fixture further includes a hook switch assembly, the hook switch assembly includes an inclined chute, the inclined chute is slidably disposed on the second bottom plate, a first connecting member is disposed in the inclined chute, the first connecting member is fixedly connected to the non-hook end of the hook, a rotating shaft is disposed between the hook end of the hook and the non-hook end, and the hook is rotatably connected to the first mounting seat through the rotating shaft.

Optionally, the first connecting piece includes a roller, a first connecting column and a fastening nut, the roller is disposed in the inclined sliding groove and is in rolling connection with the inclined sliding groove, one end of the first connecting column is disposed in the roller, the other end of the first connecting column is provided with the fastening nut, and the non-hook end of the hook is connected between the roller and the fastening nut.

Optionally, the number of the clamping mechanisms is two, the clamping mechanisms are used for clamping two batteries, two side plates and a middle plate are arranged on the bottom plate, and the two batteries can be respectively located between the side plates and the middle plate;

the side plate comprises a fixed baffle and a floating baffle, and the floating baffle is arranged on the inner side of the fixed baffle through an elastic piece.

The utility model discloses at least, include following beneficial effect:

1) the utility model provides an automatic device of changing of battery is through locating the bottom plate with switching on and shutting down mechanism, battery knob rotary mechanism and fixture all smooth for arm and unmanned aerial vehicle's battery compartment dock the back, switching on and shutting down mechanism can move the switching on and shutting down button that corresponds the position with unmanned aerial vehicle, presses down the switching on and shutting down button, in order to start or shut down unmanned aerial vehicle. Battery knob rotary mechanism moves to and is connected with unmanned aerial vehicle's fixed knob counterpoint to rotatory fixed knob unlocks or locks the battery. The automatic battery replacing device realizes high automation, reduces the labor intensity of workers and improves the efficiency of replacing batteries.

2) The clamping hook switch assembly is arranged, so that the clamping hook can be rotatably connected relative to the first mounting seat, when the clamping mechanism extends into a battery compartment of the unmanned aerial vehicle, one end of the battery is abutted to the pushing block, the clamping hook rotates to hook the other end of the battery, and then the battery is pulled out of the battery compartment; when the pulled battery moves to the empty battery placing position, the clamping hook rotates to be opened, and the pushing block pushes the battery to the empty battery placing position.

3) The utility model provides an automatic battery replacing device, which is provided with two clamping mechanisms, two batteries in an unmanned aerial vehicle are replaced simultaneously, two side plates and a middle plate are arranged on a bottom plate, the side plates comprise a fixed baffle and a floating baffle, and the floating baffle can butt the inner side of the battery with the middle plate to avoid the battery from shaking left and right; in addition, after the battery is used for a period of time, bulges appear on two sides, and the floating baffle can accommodate the width increase caused by the bulges.

Drawings

Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle provided in an embodiment of the present invention;

fig. 2 is a schematic structural diagram of an automatic battery replacement device according to an embodiment of the present invention;

fig. 3 is a schematic view of a first perspective structure of a robot arm according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a power on/off mechanism provided in an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a battery knob rotating mechanism provided in an embodiment of the present invention;

fig. 6 is a schematic view of a second perspective structure of the robot arm according to the embodiment of the present invention;

fig. 7 is a schematic structural diagram of a first connecting member according to an embodiment of the present invention;

fig. 8 is the utility model discloses arm and unmanned aerial vehicle counterpoint structure sketch map that the embodiment provided.

In the figure:

100. an unmanned aerial vehicle;

101. a battery compartment; 102. a battery; 103. fixing the knob; 104. a power-on and power-off button;

1. a base plate; 2. a power on/off mechanism; 3. a battery knob rotating mechanism; 4. a clamping mechanism; 5. a horizontal movement mechanism; 6. a vertical moving mechanism; 7. a first connecting plate;

11. a first base plate; 12. a second base plate; 21. a first drive member; 22. a rotating arm; 23. briquetting; 24. a first sensor; 25. a buffer spring; 26. a limiting block; 27. a second bracket; 31. a second drive member; 32. a rotating shaft; 33. a second sensor; 34. a signal panel; 35. a third support; 41. a push block; 42. a hook; 43. a first mounting seat; 44. a hook switch assembly; 45. a first fixed seat;

111. a side plate; 112. a middle plate; 113. a first bracket; 114. a right-angled triangular baffle; 121. a third drive member; 351. a third connecting plate; 352. a fourth connecting plate; 441. an inclined chute; 442. a second connecting member; 443. a first connecting member; 444. a rotating shaft; 445. a fourth drive member;

4431. a roller; 4432. a first connecting column; 4433. and (5) tightening the nut.

Detailed Description

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

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "secured" are to be construed broadly and encompass, for example, both fixed and removable connections; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in direct contact with the second feature but being in contact with the second feature by another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.

As shown in fig. 1, the drone 100 lands on the drone landing platform as the battery 102 is replaced. The battery compartment 101 of the unmanned aerial vehicle 100 is provided with openings at two sides, two batteries 102 are arranged in the battery compartment 101, the front end of the battery compartment 101 is provided with a fixing knob 103 for fixing the batteries 102, and the fixing knob 103 is rotated to the horizontal direction to lock the two batteries 102 so as to prevent the batteries 102 from falling; when the batteries 102 need to be replaced, the fixing knob 103 needs to be rotated to the vertical direction to unlock the two batteries 102. The top of battery compartment 101 is provided with the on-off button 104 of unmanned aerial vehicle 100.

As shown in fig. 2 and fig. 3, the present embodiment provides an automatic battery replacement device, which includes a mechanical arm, the mechanical arm is used to automatically replace a battery 102 of an unmanned aerial vehicle 100, and the mechanical arm includes a bottom plate 1, a power on/off mechanism 2, a battery knob rotating mechanism 3, and a clamping mechanism 4. The startup and shutdown mechanism 2, the battery knob rotating mechanism 3 and the clamping mechanism 4 are arranged on the bottom plate 1 in a sliding manner; the unmanned aerial vehicle 100 is provided with a startup and shutdown button 104, and the startup and shutdown mechanism 2 is used for pressing the startup and shutdown button 104 so as to start or shut down the unmanned aerial vehicle 100; the unmanned aerial vehicle 100 is provided with a fixing knob 103 for fixing the battery 102, and the battery knob rotating mechanism 3 is used for rotating the fixing knob 103 so as to unlock the battery 102 or lock the battery 102; the clamping mechanism 4 can clamp the battery 102 to extract or transport the battery 102 from or into the drone 100.

The automatic device of changing of battery that this embodiment provided is through locating switch mechanism 2, battery knob rotary mechanism 3 and fixture 4 all smooth on bottom plate 1 for arm and unmanned aerial vehicle 100's battery compartment 101 dock the back, switch mechanism 2 can move to the switch button 104 with unmanned aerial vehicle 100 and correspond the position, presses switch button 104, in order to start or shut down unmanned aerial vehicle 100. The battery knob rotating mechanism 3 moves to be connected with the fixing knob 103 of the unmanned aerial vehicle 100 in an alignment manner, so that the fixing knob 103 is rotated to unlock or lock the battery 102. The high automation of the automatic battery replacing device is realized, the labor intensity of workers is reduced, and the efficiency of replacing the battery 102 is improved.

In this embodiment, as shown in fig. 2, the automatic battery replacement device further includes a horizontal movement mechanism 5 and a vertical movement mechanism 6, and the horizontal movement mechanism 5 and the vertical movement mechanism 6 are disposed on the unmanned aerial vehicle landing platform. The mechanical arm is arranged on the vertical moving mechanism 6 and is connected with the vertical moving mechanism 6 in a sliding manner; the vertical moving mechanism 6 is arranged on the horizontal moving mechanism 5 and is connected with the horizontal moving mechanism 5 in a sliding way. The mechanical arm and the vertical moving mechanism 6 are in sliding connection with the vertical moving mechanism 6 and the horizontal moving mechanism 5 through the matching of a sliding rail and a sliding block. In the present embodiment, a first connecting plate 7 is provided on one side of the base plate 1, and the base plate 1 is slidably connected to the vertical moving mechanism 6 through the first connecting plate 7. The horizontal movement mechanism 5 and the vertical movement mechanism 6 drive the mechanical arm to move in the horizontal direction and the vertical direction, so that the mechanical arm is aligned with the battery compartment 101 of the unmanned aerial vehicle 100 which is landed on the unmanned aerial vehicle landing platform.

Optionally, as shown in fig. 3, the base plate 1 includes a first base plate 11 and a second base plate 12, the second base plate 12 is slidably connected to the first base plate 11, and the power on/off mechanism 2, the battery knob rotating mechanism 3 and the clamping mechanism 4 are disposed on the second base plate 12. In this embodiment, the first bottom plate 11 and the second bottom plate 12 are slidably connected through a slide rail and a slide block, the slide rail is arranged on the first bottom plate 11, the slide block is arranged on the second bottom plate 12, an open slot is arranged on the first bottom plate 11, a third driving part 121 is arranged below the first bottom plate 11, the third driving part 121 comprises a third motor, a lead screw and a lead screw nut, one end of the lead screw nut is fixedly connected with a second connecting plate, the second connecting plate penetrates through the open slot and is fixedly connected with the second bottom plate 12, and the third motor drives the second bottom plate 12 to slide on the first bottom plate 11 through the second connecting plate so as to move the on-off mechanism 2, the battery knob rotating mechanism 3 and the clamping mechanism 4 to corresponding positions.

Alternatively, as shown in fig. 2 and 3, the two clamping mechanisms 4 are used for clamping two batteries 102, two side plates 111 and a middle plate 112 are arranged on the bottom plate 1, and the two batteries 102 can be respectively positioned between the side plates 111 and the middle plate 112; the side plate 111 includes a fixed baffle and a floating baffle, and the floating baffle is disposed at an inner side of the fixed baffle through an elastic member. In this embodiment, the battery knob rotating mechanism 3 is disposed in the middle of the second bottom plate 12 and corresponds to the battery 102 fixing knob 103 at the front end of the battery compartment 101 of the drone 100. The two clamping mechanisms 4 are respectively arranged at two sides of the battery knob rotating mechanism 3 and used for clamping two batteries 102. A first bracket 113 is arranged in the middle of the second bottom plate 12, and the height of the first bracket 113 is higher than the height of the top of the battery compartment 101. The startup and shutdown mechanism 2 is disposed on the first support 113, so that the startup and shutdown mechanism 2 can press the unmanned aerial vehicle startup and shutdown button 104 located at the top of the battery compartment 101. The side plate 111 and the middle plate 112 are disposed at one end of the first bottom plate 11 near the battery compartment 101, and are used for clamping the battery 102 pulled out from the battery compartment 101 to prevent the battery 102 from falling off during the transportation of the battery 102 to the empty battery placement place by the automatic battery replacing device. The floating barrier is attached to the inside of the fixed barrier by a spring to accommodate the increase in width of the bulge battery 102. Two sides of one end, far away from the battery compartment 101, of the first bottom plate 11 are also provided with right-angled triangle baffles 114, one right-angled side of each right-angled triangle baffle 114 is fixedly connected with the first connecting plate 7, and the other right-angled side of each right-angled triangle baffle 114 is fixedly connected with the first bottom plate 11.

The automatic battery replacing device provided by the embodiment is provided with the two clamping mechanisms 4, two batteries 102 in the unmanned aerial vehicle 100 are replaced at the same time, the bottom plate 1 is provided with the two side plates 111 and the middle plate 112, the side plates 111 comprise the fixed baffle and the floating baffle, the floating baffle can enable the inner side of the battery 102 to be abutted against the middle plate 112, and the battery 102 is prevented from shaking left and right; in addition, after battery 102 has been used for a period of time, bulges may appear on both sides, and the floating barrier may accommodate the increased width that such bulges bring.

Alternatively, as shown in fig. 4, the on-off mechanism 2 includes a first driving member 21, a rotating arm 22, a pressing block 23 and a first sensor 24, one end of the rotating arm 22 is rotatably connected to the first driving member 21, the other end of the rotating arm 22 is connected to the pressing block 23, and the first driving member 21 drives the rotating arm 22 to rotate so that the pressing block 23 presses the on-off button 104. The first sensor 24 is disposed at one side of the rotating arm 22 for detecting whether the rotating arm 22 is rotated to a certain position. In the present embodiment, the first driving member 21 includes a first motor and a first speed reducer, an output end of the first motor is connected to the first speed reducer, and an output end of the first speed reducer is rotatably connected to the rotating arm 22. A buffer spring 25 is arranged between the pressing block 23 and the rotating arm 22, and the buffer spring 25 is arranged to provide a buffer space for the pressing block 23 to press the switch button 104, so that the damage of the pressing block 23 to the switch button 104 is avoided. A second bracket 27 is arranged between the first speed reducer and the rotating arm 22, two sides of the second bracket 27 are respectively provided with a first sensor 24, one side of the rotating arm 22 close to the second bracket 27 is provided with a limiting block 26, the first sensor 24 is provided with a limiting groove corresponding to the limiting block 26, and when the limiting block 26 moves into the limiting groove, the rotating arm 22 rotates in place. When the on-off mechanism 2 presses the on-off button 104, the limit block 26 on the rotating arm 22 moves into the limit groove of the first sensor 24 close to one side of the battery compartment 101, so as to press the on-off button 104; then the rotating arm 22 is driven by the first driving part 21 to rotate 180 degrees, and the limit block 26 on the rotating arm 22 moves into the limit groove of the first sensor 24 on the side far away from the battery compartment 101 to wait for the next pressing.

Alternatively, as shown in fig. 5, the battery knob rotating mechanism 3 includes a second driving part 31 and a rotating shaft 32, one end of the rotating shaft 32 is rotatably connected to the second driving part 31, and the other end of the rotating shaft 32 is provided with a rotating part, which is fittingly connected to an end surface of the fixed knob 103, so that the second driving part 31 drives the fixed knob 103 to rotate through the rotating shaft 32. In the present embodiment, the second driving member 31 includes a second motor and a second speed reducer, an output end of the second motor is connected to the second speed reducer, and an output end of the second speed reducer is rotatably connected to the rotating shaft 32. The end face of the fixed knob 103 is provided with a knob groove, the knob groove is in a straight line shape, the rotating part of the rotating shaft 32 is arranged in a straight line shape matched with the knob groove, so that the rotating part can be inserted into the knob groove of the fixed knob 103, the fixed knob 103 is driven to rotate under the driving of the second driving part 31, and the fixed knob 103 is rotated to the vertical direction to unlock the two batteries 102 of the battery compartment 101. A compression spring is provided on one side of the slider under the second base plate 12, the end face of the slider abuts against the compression spring, and when the rotating part of the rotating shaft 32 is inserted into the knob groove and is not inserted into the knob groove, the rotating shaft 32 is located at different positions. The position of the rotation shaft 32 is detected by a sensing piece provided at the end of the second base plate 12 and a third sensor provided at the end of the first base plate 11.

Of course, in other embodiments, the rotation groove of the fixing knob 103 may be formed in a cross shape, a square shape, or other structures, and accordingly, the rotation portion of the rotation shaft 32 may be formed in a cross shape, a square shape, or other structures.

Optionally, as shown in fig. 5, the battery knob rotating mechanism 3 further includes at least one second sensor 33 and at least one signal panel 34, the signal panel 34 is fixedly connected to the rotating shaft 32, the second sensor 33 is disposed on one side of the rotating shaft 32, and the second sensor 33 detects the rotating position of the rotating shaft 32 through the signal panel 34. In the present embodiment, the battery knob rotating mechanism 3 includes two second sensors 33 and two signal pads 34. A third bracket 35 is provided between the second reduction gear and the rotating shaft 32, the third bracket 35 includes a third connecting plate 351 and a fourth connecting plate 352, the rotating shaft 32 passes through the third connecting plate 351 and is rotatably connected to the second reduction gear, and the fourth connecting plate 352 is located on one side of the rotating shaft 32 and is perpendicular to the third connecting plate 351. Open grooves are provided on both the two signal pads 34 and the two second sensors 33. Two signal discs 34 are arranged on the rotating shaft 32 at intervals, one of the two second sensors 33 is arranged at one end of the third connecting plate 351, an open slot on the second sensor 33 is arranged corresponding to one of the signal discs 34, the other second sensor 33 is arranged at one end of the fourth connecting plate 352, and an open slot on the second sensor 33 is arranged corresponding to the other signal disc 34. The rotating shaft 32 rotates, and when the opening groove on the signal panel 34 rotates into the corresponding opening groove on the second sensor 33, the rotating shaft 32 rotates in place. In the present embodiment, one of the second sensors 33 and the signal pad 34 corresponding thereto are used for detecting whether the rotating shaft 32 rotates the fixed knob 103 to the vertical direction, and the other of the second sensors 33 and the signal pad 34 corresponding thereto are used for detecting whether the rotating shaft 32 rotates the fixed knob 103 to the horizontal direction.

Of course, in other embodiments, only one second sensor 33 and one signal panel 34 or two second sensors 33 and one signal panel 34 may be provided. Two open slots are arranged on one signal panel 34 at intervals of 90 degrees, when one second sensor 33 is arranged, the two open slots on the signal panel 34 are respectively sensed by one second sensor 33, the direction of the fixed knob 103 when the first open slot is sensed is set, and when the second open slot is sensed, the fixed knob 103 is in the other direction; when the two second sensors 33 are provided, the two second sensors 33 are respectively provided at both sides of the rotation shaft 32, one of the second sensors 33 is used to detect whether the rotation shaft 32 rotates the fixing knob 103 to the vertical direction, and the other second sensor 33 is used to detect whether the rotation shaft 32 rotates the fixing knob 103 to the horizontal direction.

Alternatively, as shown in fig. 3 and 6, the clamping mechanism 4 includes a pushing block 41, a hook 42 and a first mounting seat 43, the pushing block 41 is disposed on an end surface of the first mounting seat 43, the hook 42 is disposed on a side surface of the first mounting seat 43, and the hook 42 is rotatably connected with the first mounting seat 43. In this embodiment, the number of the clamping mechanisms 4 is two, the two first mounting seats 43 are respectively arranged corresponding to the two batteries 102 of the battery compartment 101, and the pushing block 41 can abut against one end of the battery 102 close to the pushing block 41; the hooks 42 are disposed on the outer side surface of the first mounting seat 43, so that the two hooks 42 can hook the ends of the two batteries 102 away from the push block 41, respectively, and thus the two batteries 102 are pulled out from the battery compartment 101 of the drone 100.

Optionally, the clamping mechanism 4 further includes a hook switch assembly 44, the hook switch assembly 44 includes an inclined sliding groove 441, the inclined sliding groove 441 is slidably disposed on the second base plate 12, a first connecting member 443 is disposed in the inclined sliding groove 441, the first connecting member 443 is fixedly connected with the non-hook end of the hook 42, a rotating shaft 444 is disposed between the hook end and the non-hook end of the hook 42, and the hook 42 is rotatably connected with the first mounting seat 43 through the rotating shaft 444. In this embodiment, the hook switch assembly 44 further includes a second connecting member 442, one end of the second connecting member 442 is fixedly connected to the first connecting member 443, the other end of the second connecting member 442 is fixedly connected to the non-hook end of the hook 42, the cross section of the second connecting member 442 is L-shaped, one end of the L-shape is connected to the first connecting member 443, and the other end of the L-shape is connected to the non-hook end of the hook 42. The side of the first mounting seat 43 is provided with a first fixing seat 45, the first fixing seat 45 is U-shaped, the bottom of the U-shape is fixedly connected with the first mounting seat 43, two side walls of the U-shape are provided with hinge holes, and the rotating shaft 444 on the hook 42 is hinged with the hinge holes. The hook 42 enters the first fixing seat 45 from the open end of the U-shape and is rotatably connected with the first fixing seat 45 through the rotating shaft 444.

Preferably, the hook switch assembly 44 further includes a fourth driving part 445, the fourth driving part 445 includes a fourth motor, a third connecting piece and a fourth connecting piece, an output end of the fourth motor is connected with the fourth connecting piece through the third connecting piece, the third connecting piece is L-shaped, one end of the L-shaped is connected with an output end of the fourth motor, the other end of the L-shaped is connected with the fourth connecting piece, a sliding groove is arranged at the bottom of the fourth connecting piece, a sliding block is arranged on the second bottom plate 12, and the fourth motor drives the fourth connecting piece to slide on the second bottom plate 12. The inclined sliding groove 441 is disposed on the fourth connecting member, and the inclined sliding groove 441 is a waist-shaped hole and gradually inclines inward from an end away from the battery 102. When the fourth motor drives the fourth connecting piece to move towards the direction close to the battery bin 101, the hook 42 rotates towards the direction close to the side face of the battery 102 until the hook end of the hook 42 hooks the end face of the battery 102; when the fourth motor drives the fourth connecting piece to move in the direction away from the battery compartment 101, the hook 42 rotates in the direction away from the side surface of the battery 102 until the hook end of the hook 42 releases the end surface of the battery 102.

By arranging the hook switch assembly 44, the hook 42 can be rotatably connected relative to the first mounting seat 43, when the clamping mechanism 4 extends into the battery compartment 101 of the unmanned aerial vehicle 100, one end of the battery 102 abuts against the push block 41, the hook 42 rotates to hook the other end of the battery 102, and then the battery 102 is pulled out of the battery compartment 101; when the pulled battery 102 moves to the empty battery placing position, the hook 42 rotates to open, and the push block 41 pushes the battery 102 to the empty battery placing position.

Alternatively, as shown in fig. 7, the first connecting member 443 includes a roller 4431, a first connecting column 4432 and a fastening nut, the roller 4431 is disposed in the inclined sliding groove 441 and is in rolling connection with the inclined sliding groove 441, one end of the first connecting column 4432 is disposed in the roller 4431, the other end of the first connecting column 4432 is disposed with the fastening nut 4433, and the non-hooking end of the hook is connected between the roller 4431 and the fastening nut 4433. In the present embodiment, one end of the second connector 442 is fixed between the roller 4431 and the fastening nut 4433. When the fourth motor drives the fourth connecting piece to move, the roller 4431 is driven to move in the inclined sliding groove 441, so that the moving speed of the first connecting piece 443 in the inclined sliding groove 441 is increased, and the opening speed of the hook 42 is increased, so that the hook end of the hook 42 can release or hook the battery 102 within a set stroke.

The working process of the automatic battery replacing device provided by the embodiment is as follows:

(1) a full-electricity battery placing position and an empty-electricity battery placing position are arranged on one side of the unmanned aerial vehicle landing platform;

(2) as shown in fig. 8, when the drone 100 lands on the drone 100 landing platform, the horizontal displacement mechanism and the vertical displacement mechanism move the first base plate 11 to the position aligned with the battery compartment 101 of the drone 100;

(3) the first driving part 21 drives the rotating arm 22 to rotate 180 degrees, the power on/off button 104 is pressed to shut down the unmanned aerial vehicle 100, and then the first driving part 21 drives the rotating arm 22 to rotate 180 degrees again to wait for the next pressing;

(4) the third driving part 121 drives the second bottom plate 12 to slide relative to the first bottom plate 11, so that the battery knob rotating mechanism 3 is inserted into the fixed knob 103 of the battery compartment 101, the rotating shaft 32 driven by the second driving part 31 rotates 90 degrees, and the fixed knob 103 is rotated to the vertical direction, i.e. the two batteries 102 in the battery compartment 101 are unlocked;

(5) the third driving part 121 drives the second bottom plate 12 to continue moving relative to the first bottom plate 11 until the pushing block 41 abuts against one end of the battery 102;

(6) the fourth driving part 445 drives the fourth connecting piece to move towards the direction close to the battery compartment 101 until the hook ends of the hooks 42 at the two sides hook the other end of the battery 102;

(7) the third driving part 121 drives the second bottom plate 12 to move away from the battery compartment 101, so as to hook the two batteries 102 onto the first bottom plate 11, and the two batteries 102 are clamped and fixed by the side plates 111 and the middle plate 112 on the two sides respectively;

(8) the horizontal moving mechanism 5 and the vertical moving mechanism 6 move the mechanical arm to the empty battery placing position, and the third driving part 121 drives the second bottom plate 12 to move forwards until the pushing block 41 pushes the two batteries 102 to the empty battery placing position;

(9) then the horizontal moving mechanism 5 and the vertical moving mechanism 6 move the mechanical arm to a full-charge battery placing position to clamp the full-charge battery, the third driving part 121 drives the second bottom plate 12 to move backwards, and the full-charge battery 102 is placed on the first bottom plate 11 through the clamping mechanism 4;

(10) the horizontal moving mechanism 5 and the vertical moving mechanism 6 move the mechanical arm to the position aligned with the battery bin 101 of the unmanned aerial vehicle 100;

(11) the third driving part 121 drives the second bottom plate 12 to move relative to the first bottom plate 11 until the fully charged battery 102 is pushed into the battery compartment 101;

(12) the second driving component 31 drives the rotating shaft 32 of the battery knob rotating mechanism 3 to rotate 90 degrees, rotates the fixed knob 103 to the horizontal direction, and locks the two batteries 102 in the battery compartment 101;

(13) the first driving part 21 drives the rotating arm 22 to rotate 180 degrees, the startup and shutdown button 104 is pressed to start the unmanned aerial vehicle 100, the unmanned aerial vehicle 100 continues to execute a flight task, and the first driving part 21 drives the rotating arm 22 to rotate 180 degrees again;

(14) after the battery 102 of the drone 100 is replaced, the horizontal movement mechanism 5 and the vertical movement mechanism 6 move the robot arm to the original position to wait for the next replacement task of the battery 102.

The above description is only for the preferred embodiment of the present invention, and for those skilled in the art, there are variations on the detailed description and the application scope according to the idea of the present invention, and the content of the description should not be construed as a limitation to the present invention.

Claims (10)

1. An automatic battery replacement device comprising a robotic arm for automatically replacing a battery (102) of a drone (100), characterized in that the robotic arm comprises:

a base plate (1);

the battery turning-on and turning-off device comprises a turning-on and turning-off mechanism (2), a battery knob rotating mechanism (3) and a clamping mechanism (4), wherein the turning-on and turning-off mechanism (2), the battery knob rotating mechanism (3) and the clamping mechanism (4) are arranged on the bottom plate (1) in a sliding mode;

the unmanned aerial vehicle (100) is provided with a power on/off button (104), and the power on/off mechanism (2) is used for pressing the power on/off button (104) so as to start or shut off the unmanned aerial vehicle (100);

a fixing knob (103) for fixing the battery (102) is arranged on the unmanned aerial vehicle (100), and the battery knob rotating mechanism (3) is used for rotating the fixing knob (103) to unlock the battery (102) or lock the battery (102);

the clamping mechanism (4) is capable of clamping the battery (102) to extract or transport the battery (102) from or into the drone (100).

2. The automatic battery replacing device according to claim 1, wherein the bottom plate (1) comprises a first bottom plate (11) and a second bottom plate (12), the second bottom plate (12) is slidably connected with the first bottom plate (11), and the on-off mechanism (2), the battery knob rotating mechanism (3) and the clamping mechanism (4) are all arranged on the second bottom plate (12).

3. The automatic battery replacing device according to claim 1, wherein the on-off mechanism (2) comprises a first driving member (21), a rotating arm (22) and a pressing block (23), one end of the rotating arm (22) is rotatably connected with the first driving member (21), the other end of the rotating arm (22) is connected with the pressing block (23), and the first driving member (21) drives the rotating arm (22) to rotate so that the pressing block (23) presses the on-off button (104).

4. The automatic battery replacing device according to claim 3, wherein the on-off mechanism (2) further comprises a first sensor (24), the first sensor (24) is disposed at one side of the rotating arm (22) for detecting whether the rotating arm (22) is rotated to the right position.

5. The device for automatically replacing the battery according to claim 1, wherein the battery knob rotating mechanism (3) comprises a second driving part (31) and a rotating shaft (32), one end of the rotating shaft (32) is rotatably connected with the second driving part (31), the other end of the rotating shaft (32) is provided with a rotating part, and the rotating part is connected with an end surface of the fixed knob (103) in a matching way, so that the second driving part (31) drives the fixed knob (103) to rotate through the rotating shaft (32).

6. The device for automatically replacing batteries according to claim 5, characterized in that the battery knob rotating mechanism (3) further comprises at least one second sensor (33) and at least one signal panel (34), the signal panel (34) is fixedly connected to the rotating shaft (32), the second sensor (33) is arranged at one side of the rotating shaft (32), and the second sensor (33) detects the rotating position of the rotating shaft (32) through the signal panel (34).

7. The device according to claim 2, wherein the holding mechanism (4) comprises a push block (41), a hook (42) and a first mounting seat (43), the push block (41) is disposed on an end surface of the first mounting seat (43), the hook (42) is disposed on a side surface of the first mounting seat (43), and the hook (42) is rotatably connected with the first mounting seat (43).

8. The device for automatically replacing batteries according to claim 7, wherein the holding mechanism (4) further comprises a hook switch assembly (44), the hook switch assembly (44) comprises an inclined sliding groove (441), the inclined sliding groove (441) is slidably disposed on the second bottom plate (12), a first connecting member (443) is disposed in the inclined sliding groove (441), the first connecting member (443) is fixedly connected to the non-hook end of the hook (42), a rotating shaft (444) is disposed between the hook end and the non-hook end of the hook (42), and the hook (42) is rotatably connected to the first mounting seat (43) through the rotating shaft (444).

9. The automatic battery replacing apparatus according to claim 8, wherein the first connector (443) includes a roller (4431), a first connecting post (4432) and a fastening nut (4433), the roller (4431) is disposed in the inclined sliding groove (441) and is in rolling connection with the inclined sliding groove (441), one end of the first connecting post (4432) is disposed in the roller (4431), the other end of the first connecting post (4432) is disposed with the fastening nut, and the non-hooking end of the hook (42) is connected between the roller (4431) and the fastening nut (4433).

10. The automatic battery replacing device according to claim 1, wherein the number of the clamping mechanisms (4) is two, so as to clamp two batteries (102), two side plates (111) and a middle plate (112) are arranged on the bottom plate (1), and the two batteries (102) can be respectively positioned between the side plates (111) and the middle plate (112);

the side plate (111) comprises a fixed baffle and a floating baffle, and the floating baffle is arranged on the inner side of the fixed baffle through an elastic piece.

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