CN215205393U - Battery replacing structure of unmanned aerial vehicle - Google Patents

Abstract

The utility model discloses unmanned vehicles's battery replacement structure, be in including supporting fixed establishment, setting support the last push-and-pull actuating mechanism, the setting that are used for accurate location of fixed establishment and be in the last centre gripping release mechanism that is used for centre gripping and unblock or locking unmanned vehicles's aircraft battery of push-and-pull actuating mechanism. The utility model discloses unmanned vehicles's battery change structure can carry out unblock/locking aircraft battery, change aircraft battery etc. to unmanned vehicles and carry out full automatic operation. The unmanned aerial vehicle has the advantages of simple overall structure, small occupied space, larger cruising range, longer operation time, better maneuverability and simpler operation, thereby reducing the cost and saving the energy.

Description

Battery replacing structure of unmanned aerial vehicle

Technical Field

The utility model relates to an unmanned vehicles technical field especially relates to an unmanned vehicles's battery change structure.

Background

In an unmanned aerial vehicle storage environment or a full-automatic unmanned aerial vehicle use system, in order to ensure the long-term endurance capability of the unmanned aerial vehicle, the battery of the unmanned aerial vehicle needs to be charged or replaced so as to meet the use requirements of various unmanned aerial vehicles, or start operation in emergency takeoff, or download data in a starting state. Based on that unmanned vehicles continuously operate in the air, the fuselage can shake at a high frequency due to high-speed rotation of the rotor wings, and in order to ensure reliable performance of the whole aircraft, the fuselage serves as the only power source of the whole aircraft, the aircraft battery is firmly connected with the unmanned vehicles through a buckle lock, and the aircraft battery needs to be taken out or loaded through a reliable battery replacing structure.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned drawbacks of the prior art, a battery replacement structure for an unmanned aerial vehicle is provided.

The utility model provides a technical scheme that its technical problem adopted is: provided is a battery replacement structure for an unmanned aerial vehicle. The battery replacing structure comprises a supporting and fixing mechanism, a push-pull driving mechanism and a clamping and unlocking mechanism, wherein the push-pull driving mechanism is arranged on the supporting and fixing mechanism and used for accurately positioning, and the clamping and unlocking mechanism is arranged on the push-pull driving mechanism and used for clamping and unlocking an aircraft battery of the unmanned aerial vehicle.

Preferably, the supporting and fixing mechanism comprises a fixed bottom plate, a movable fixing piece and a motor fixing piece, wherein the movable fixing piece and the motor fixing piece are fixedly connected with the fixed bottom plate; the motor fixing part comprises a motor fixing seat and a bearing fixing seat;

the movable fixing piece is fixedly connected with the movable structure and used for moving the battery replacing structure.

Preferably, the push-pull driving mechanism comprises a driving component and a sliding component connected with the driving component;

the driving assembly comprises a first motor, a coupler, a lead screw, a ball screw pair and a connecting seat; the first motor is coaxially and fixedly connected with one end of the lead screw through the coupler; the ball screw pair is sleeved on the screw, and the connecting seat is fixedly arranged on the ball screw pair; the first motor is fixedly arranged on the motor fixing seat, and the front end of the lead screw is erected on the bearing fixing seat;

the sliding assembly comprises a linear guide rail and a front sliding plate and a rear sliding plate; the front and rear sliding plates are slidably arranged on the linear guide rail; the connecting seat and the front and rear sliding plates are fixedly connected to move together;

the first motor drives the lead screw to rotate, and the lead screw is in threaded fit with the ball screw pair so as to drive the connecting seat and the front and rear sliding plates to move back and forth on the linear guide rail.

Preferably, the clamping and unlocking mechanism comprises a main supporting plate, a second motor, a driving synchronizing wheel, a driven synchronizing wheel, a rotating cam, a first cam follower, a second cam follower, a first main clamping plate and a second main clamping plate;

the main supporting plate is fixedly arranged on one side of the front and rear sliding plates; the second motor is fixedly arranged at the upper end of the inner side of the main supporting plate, the driving synchronizing wheel and the driven synchronizing wheel are obliquely arranged at the outer side of the main supporting plate, and the rotating cam is arranged at the middle end of the inner side of the main supporting plate; the first cam follower and the second cam follower are arranged close to the upper side and the lower side of the rotating cam, the first cam follower is fixedly connected with the first main clamping plate, and the second cam follower is fixedly connected with the second main clamping plate;

the second motor drives the driving synchronizing wheel to rotate through a motor shaft, the driving synchronizing wheel drives the driven synchronizing wheel to synchronously rotate through a synchronous belt, the rotating cam synchronously rotates with the driven synchronizing wheel through a rotating shaft, and drives the first cam follower and the second cam follower to synchronously rotate, so that the first main clamping plate and the second main clamping plate are closed to clamp the aircraft battery, or the first main clamping plate and the second main clamping plate are opened to loosen the aircraft battery.

Preferably, the rotating cam is an elliptical rotating cam.

Preferably, centre gripping release mechanism still includes first vice splint and the vice splint of second, first vice splint setting is in first main plate front end, the vice splint setting of second is in second main plate front end, the cooperation of first vice splint and the vice splint of second is used for the unblock the battery hasp and the centre gripping of aircraft battery the aircraft battery.

Preferably, the clamping and unlocking mechanism further comprises a secondary support plate, 2 follower wheels, 2 follower plates, 2 linear bearings, 2 guide rods, 2 battery guide blocks and a battery supporting plate;

the auxiliary support plate is fixedly arranged on the other side of the front and rear sliding plates, and the 2 follow-up wheels are respectively arranged at the lower ends of the outer sides of the main support plate and the auxiliary support plate; the 2 follow-up plates are positioned at the outer sides of the main supporting plate and the auxiliary supporting plate; the 2 follower plates are respectively fixed on the fixed bottom plate through the 2 linear bearings and the 2 guide rods, and the 2 follower plates are provided with inclined grooves and transverse grooves for the 2 follower wheels to slide;

the front ends of the 2 follow-up plates are respectively fixedly connected with two ends of the battery supporting plate, and the 2 battery guide blocks are arranged on two sides of the battery supporting plate;

the front and rear sliding plates move back and forth to drive the 2 follower wheels to slide in the inclined grooves and the transverse grooves of the 2 follower plates, and drive the 2 follower plates to ascend or descend, so that the battery supporting plate ascends or descends synchronously.

Preferably, the battery replacing structure further comprises a power on/off mechanism, an optical fiber sensor and a switch bracket;

the switch mechanism and the optical fiber sensor are fixedly arranged at the middle end of the inner side of the main supporting plate through the switch bracket; the startup and shutdown mechanism is used for switching on and shutting down the aircraft battery, and the optical fiber sensor is used for detecting whether the aircraft battery exists or not.

Preferably, the clamping and unlocking mechanism further comprises an induction sensor arranged on the outer side of the main supporting plate, and the induction sensor is used for sensing and detecting the rotation origin position of the driven synchronizing wheel.

Preferably, the clamping and unlocking mechanism further comprises a first supporting piece and a second supporting piece which are arranged at the upper part and the lower part of the inner side of the main supporting plate, the first supporting piece is used for limiting the preset limit of the upward rotation of the first main clamping plate, and the second supporting piece is used for limiting the preset limit of the downward rotation of the second main clamping plate.

Implement the utility model discloses unmanned vehicles's battery replacement structure's technical scheme has following advantage or beneficial effect: the utility model discloses unmanned vehicles's battery change structure can be automatic carry out unblock/locking aircraft battery, change full automatic operation such as aircraft battery to unmanned vehicles. Overall structure is simple, and it is little to take up space to make unmanned vehicles's the scope of cruising bigger, operating time is more of a specified duration, mobility is better, the operation is simplified more, thereby reduce cost, the energy can be saved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained without inventive work, and in the drawings:

fig. 1 is a schematic overall structural diagram of a battery replacement structure embodiment of the unmanned aerial vehicle according to the present invention;

FIG. 2 is a schematic view of an aircraft battery structure according to an embodiment of the battery replacement structure of the unmanned aerial vehicle of the present invention;

fig. 3 is an exploded schematic view of an embodiment of a battery replacement structure of the unmanned aerial vehicle according to the present invention;

fig. 4 is a schematic side structural view of an embodiment of the battery replacement structure of the unmanned aerial vehicle according to the present invention;

fig. 5 is a schematic structural view of a clamping and unlocking mechanism of an embodiment of a battery replacement structure of the unmanned aerial vehicle according to the present invention;

fig. 6 is a schematic structural view of another side of the battery replacement structure of the unmanned aerial vehicle according to the embodiment of the present invention;

fig. 7 is a schematic view of a partial structure of a clamping and unlocking mechanism of an embodiment of a battery replacement structure of an unmanned aerial vehicle according to the present invention.

Detailed Description

In order to make the objects, aspects and advantages of the present invention more apparent, various exemplary embodiments to be described hereinafter will be referred to in the accompanying drawings, which form a part hereof, and in which are shown by way of illustration various exemplary embodiments in which the invention may be practiced, the same numerals in different drawings referring to the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. It is to be understood that they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims, and that other embodiments may be used, or structural and functional modifications may be made to the embodiments set forth herein, without departing from the scope and spirit of the present disclosure. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "thickness", "up and down, front and back, left and right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a defined feature of "first", "second" may explicitly or implicitly include one or more features. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise. It should be noted that unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly and include, for example, fixed or removable connections or integral connections; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media profiles, either internally or in any combination thereof. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Since the unmanned aerial vehicle 60 is continuously operated in the air, the fuselage shakes at a high frequency due to the high-speed rotation of the rotor, and as the only power source of the whole unmanned aerial vehicle, the connection between the vehicle battery 70 of the unmanned aerial vehicle 60 and the unmanned aerial vehicle 60 is a firm connection with the battery latch 71, so that the vehicle battery 70 of the unmanned aerial vehicle 60 needs to be replaced, the unmanned aerial vehicle 60 needs to be positioned and fixed, the battery latch 71 of the vehicle battery 70 of the unmanned aerial vehicle 60 needs to be unlocked (as shown in fig. 2), and the vehicle battery 70 of the unmanned aerial vehicle 60 needs to be taken out or loaded by a set of reliable structure.

In order to explain the technical solution of the battery replacement structure of the unmanned aerial vehicle of the present invention, the following description is made by using a specific embodiment.

Fig. 1-7 show schematic diagrams provided by the battery replacement structure of the unmanned aerial vehicle according to the embodiment of the present invention, and for convenience of illustration, only the parts related to the embodiment of the present invention are shown.

The utility model discloses unmanned vehicles's battery replacement structure, be in including supporting fixed establishment 10, setting support the push-and-pull actuating mechanism 20, the setting that are used for accurate location on the fixed establishment 10 and be in the last centre gripping release mechanism 30 that is used for centre gripping and unblock unmanned vehicles 60's aircraft battery 70 of push-and-pull actuating mechanism 20. Specifically, the push-pull driving mechanism 20 is used for moving and accurately positioning the position of the aircraft battery 70.

As shown in fig. 3-4, the supporting and fixing mechanism 10 includes a fixing base plate 11, a movable fixing member 12 fixedly connected to the fixing base plate 11, and a motor fixing member 13; the motor fixing part 13 comprises a motor fixing seat 131 and a bearing fixing seat 132; specifically, the movable fixing member 12 is fixedly connected with a movable structure (not shown) for moving the battery replacing structure, the movable structure is not a component of the battery replacing structure of the present invention, and the movable structure is used for moving the battery replacing structure in the up-down direction, the left-right direction, and the like, and the specific structure of the movable structure is not limited herein.

As shown in fig. 3-5, the push-pull driving mechanism 20 includes a driving assembly 21, a sliding assembly 22 connected to the driving assembly 21; specifically, the driving assembly 21 includes a first motor 211, a coupling 212, a lead screw 213, a ball screw pair 214, and a connecting seat 215; the first motor 211 is coaxially and fixedly connected with one end of the lead screw 213 through the coupler 212; the ball screw pair 214 is sleeved on the screw 213, and the connecting seat 215 is fixedly arranged on the ball screw pair 214; the first motor 211 is fixedly arranged on the motor fixing seat 131, the lead screw 213 is provided with a bearing, and the front end of the lead screw 213 is erected on the bearing fixing seat 132. Preferably, the first motor 211 is a rotating electric machine.

As shown in fig. 3-4, the slide assembly 22 includes a linear guide 221 and a front and rear slide 222; the front and rear sliding plates 222 are slidably disposed on the linear guide 221; the connecting base 215 and the front and rear sliding plates 222 are fixedly connected to move together; namely, the connecting seat 215 and the main supporting plate 301 are fixedly arranged on the front and rear sliding plates 222 for fixing and then synchronously moving; specifically, the linear guide 221 includes a linear slide rail 2211 and a slider 2212, and the front and rear sliding plates 222 are fixedly connected to the slider 2212 of the linear guide 221. The first motor 211 drives the lead screw 213 to rotate, and the lead screw 213 is in threaded fit with the ball screw pair 214 to drive the connecting seat 215 and the front and rear sliding plates 222 to move back and forth on the linear guide rail 221 (i.e., the linear slide rail 2211). The connecting seat 215 and the main supporting plate 301 are erected on the sliding block 2212 of the linear guide rail, so that the movement is more convenient and smoother.

As shown in fig. 3 to 7, the clamping and unlocking mechanism 30 includes a main support plate 301, a second motor 302, a driving synchronizing wheel 303, a driven synchronizing wheel 304, a rotating cam 305, a first cam follower 306, a second cam follower 307, a first main plate 308, and a second main plate 309; specifically, the main supporting plate 301 is fixedly arranged on one side of the front and rear sliding plates 222; the second motor 302 is fixedly arranged at the inner upper end of the main support plate 301, the driving synchronous wheel 303 and the driven synchronous wheel 304 are obliquely arranged at the outer side of the main support plate 301, and the rotating cam 305 is arranged at the inner middle end of the main support plate 301; the first cam follower 306 and the second cam follower 307 are arranged close to the upper side and the lower side of the rotating cam 305, the first cam follower 306 is fixedly connected with the first main plate 308, a first fixing piece 3081 is arranged between the first cam follower 306 and the first main plate 308 for fixing, the second cam follower 307 is fixedly connected with the second main plate 309, and a second fixing piece 3091 is arranged between the second cam follower 307 and the second main plate 309 for fixing. Specifically, the rotating cam 305 is an elliptical rotating cam, and the rotating cam 305 can simultaneously drive the first cam follower 306 and the second cam follower 307 to rotate synchronously when rotating.

As shown in fig. 5 and 7, the clamping unlocking mechanism 30 further includes a first auxiliary clamping plate 318 and a second auxiliary clamping plate 319, the first auxiliary clamping plate 318 is disposed at the front end of the first main clamping plate 308, the second auxiliary clamping plate 319 is disposed at the front end of the second main clamping plate 309, and the first auxiliary clamping plate 318 and the second auxiliary clamping plate 319 cooperate to unlock the battery catch 71 of the aircraft battery 70 and clamp the aircraft battery 70.

Specifically, the second motor 302 drives the driving synchronizing wheel 303 to rotate through a motor shaft, the driving synchronizing wheel 303 drives the driven synchronizing wheel 304 to rotate synchronously through a synchronizing belt 310, the rotating cam 305 rotates synchronously with the driven synchronizing wheel 304 through a rotating shaft, the rotating cam 305 drives the first cam follower 306 and the second cam follower 307 to rotate synchronously, so that the first main clamping plate 308 (i.e., the first sub-clamping plate 318) and the second main clamping plate 309 (i.e., the second sub-clamping plate 319) clamp the aircraft battery 70, or the first main clamping plate 308 and the second main clamping plate 309 are opened to release the aircraft battery 70. More specifically, the second motor 302 rotates in one direction, and the first secondary cleat 318 and the second secondary cleat 319 close to grip the aircraft battery 70; the second motor 302 rotates in the other direction and the first 318 and second 319 secondary jaws open to release the aircraft battery 70.

As shown in fig. 3, the main support plate 301 specifically includes a motor fixing position 3011, a driving wheel hole 3012, a driven wheel hole 3013, a first support hole 3014, and a second support hole 3015, specifically, the motor fixing position 3011 is used to fixedly place the second motor 302, the driving wheel hole 3012 is used to fixedly place the driving synchronizing wheel 303, further, a motor shaft of the second motor 302 passes through the driving wheel hole 3012 to be fixedly connected with the driving synchronizing wheel 303, the driven wheel hole 3013 is used to fixedly place the driven synchronizing wheel 304, a rotating shaft of the driven synchronizing wheel 304 passes through the driven wheel hole 3013 to rotate synchronously with the rotating cam 305, and the first support hole 3014 and the second support hole 3015 are respectively used to fixedly set the first support 320 and the second support 321.

As shown in fig. 4 and 6, the clamping and unlocking mechanism 30 further includes a sub support plate 311, 2 follower wheels 312, 2 follower plates 313, 2 linear bearings 314, 2 guide rods 315, 2 battery guide blocks 316, and a battery support plate 317; wherein, the auxiliary support plate 311 is fixedly arranged at the other side of the front and rear slide plate 222, and 2 follower wheels 312 are respectively arranged at the outer lower ends of the main support plate 301 and the auxiliary support plate 311; the 2 follower plates 313 are positioned outside the main support plate 301 and the sub support plate 311; the 2 follower plates 313 are respectively fixed on the fixed base plate 11 by the 2 linear bearings 313 and the 2 guide rods 315, and the 2 follower plates 313 are provided with a diagonal groove 3131 and a transverse groove 3132 for the 2 follower wheels 312 to slide.

As shown in fig. 4 and 6, the front ends of 2 follower plates 313 are respectively fixedly connected to two ends of the battery supporting plate 317, and 2 battery guide blocks 316 are disposed on two sides of the battery supporting plate 317; the front and rear sliding plates 222 move back and forth to drive the 2 follower wheels 312 to slide in the inclined grooves 3131 and the transverse grooves 3132 of the 2 follower plates 313, and drive the 2 follower plates 313 to ascend or descend, so that the battery supporting plate 317 ascends or descends synchronously.

As shown in fig. 4, the battery replacing structure further includes a switch mechanism 51, an optical fiber sensor 52 and a switch bracket 53; specifically, the switch mechanism 51 and the optical fiber sensor 52 are fixedly arranged at the middle end of the inner side of the main supporting plate 301 through the switch bracket 53; the switch mechanism 51 is used for switching the aircraft battery 70 on and off, and the optical fiber sensor 52 is used for detecting whether the aircraft battery 70 exists.

Specifically, the on-off mechanism 51 is an electromagnet, which may be a through electromagnet or a 24V through push-pull electromagnet, and generates magnetism by current, and different magnetic rings and a power supply are used to control the magnitude of magnetism to form a pushing and pulling action, so that the pushing and pulling action can be performed in a whole, and the pushing and pulling action can move like a piston, and the push-pull electromagnet is small in size and easy to install in small places.

As shown in fig. 4 and 6, the clamping and unlocking mechanism 30 further includes an induction sensor 40 disposed outside the main support plate 301, and the induction sensor 33 is configured to sense a rotation origin position of the passive synchronizing wheel 304; and returning to the rotation origin position after each rotation, so as to be convenient for clamping the aircraft battery next time, wherein the induction sensor 40 is preferably a photoelectric sensor.

As shown in fig. 5, the clamping and unlocking mechanism 30 further includes a first supporting member 320 and a second supporting member 321 both disposed at the upper portion and the lower portion inside the main supporting plate 301, wherein the first supporting member 320 is used for limiting a preset limit of the first main plate 308 rotating upwards, and the second supporting member 321 is used for limiting a preset limit of the second main plate 309 rotating downwards, so as to protect the clamping and unlocking mechanism.

The utility model discloses the battery is changed the structure and is generally in home position, and moving mechanism and push-and-pull actuating mechanism change the structure with the battery and remove to aircraft battery dress and get the position, specific, (1) if unmanned vehicles loads the aircraft battery: the aircraft battery is loaded into a battery bin of the unmanned aircraft by the clamping and unlocking mechanism, the aircraft battery is loosened by opening the first auxiliary clamping plate and the second auxiliary clamping plate, and then the battery lock catch is automatically locked to fix the aircraft battery in the battery bin of the unmanned aircraft; (2) if the unmanned aerial vehicle grabs the aircraft battery: the first auxiliary clamping plate and the second auxiliary clamping plate are folded to clamp the aircraft battery, and meanwhile, the battery lock catch is pressed to take the aircraft battery out of the battery bin of the unmanned aerial vehicle; after the above steps are respectively completed, the battery replacing structure returns to the original position.

The utility model discloses the action flow of structure is changed to the battery does: (1) the battery supporting plate is in an initial state, moves back and forth, is positioned at an initial position (rear), follows the battery supporting plate at the initial position (upper), and is positioned at the initial position (opened); (2) the first motor drives the ball bar pair through the coupler, the sliding plate moves forward, and the battery supporting plate descends in a follow-up mode; (3) the second motor drives the rotating cam to rotate through the synchronizing wheel synchronizing belt assembly, the upper main clamping plate and the lower main clamping plate are folded under the acting force of the cam follower, and the auxiliary clamping plate arranged on the main clamping plates clamps the aircraft battery and simultaneously unlocks the battery spring buckle; (4) the sliding plate retreats to drive the aircraft battery to be separated from the unmanned aerial vehicle, and the battery supporting plate ascends along with the unmanned aerial vehicle to support the aircraft battery; (5) the sliding plate advances, the aircraft battery is loaded to the unmanned aircraft, and the aircraft battery supporting plate descends along with the aircraft battery; (6) the clamping and unlocking mechanism acts, the clamping plate is opened, the aircraft battery is loosened, and a battery lock catch (automatic spring buckle) of the aircraft battery is clamped; (7) the slide plate retreats, all structures reset and the initial position.

The utility model discloses unmanned vehicles's battery change structure can be automatic carry out unblock/locking aircraft battery, change full automatic operation such as aircraft battery to unmanned vehicles. Overall structure is simple, and it is little to take up space to make unmanned vehicles's the scope of cruising bigger, operating time is more of a specified duration, mobility is better, the operation is simplified more, thereby reduce cost, the energy can be saved.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of the present application belong to the protection scope of the present invention.

Claims (10)

1. The battery replacing structure of the unmanned aerial vehicle is characterized by comprising a supporting and fixing mechanism (10), a push-pull driving mechanism (20) arranged on the supporting and fixing mechanism (10) and used for accurate positioning, and a clamping and unlocking mechanism (30) arranged on the push-pull driving mechanism (20) and used for clamping and unlocking an aircraft battery (70) of the unmanned aerial vehicle (60).

2. The battery replacement structure of the unmanned aerial vehicle according to claim 1, wherein the support fixing mechanism (10) comprises a fixing base plate (11), a moving fixing member (12) fixedly connected to the fixing base plate (11), and a motor fixing member (13); the motor fixing part (13) comprises a motor fixing seat (131) and a bearing fixing seat (132);

the mobile fixing piece (12) is fixedly connected with the mobile structure and used for moving the battery replacing structure.

3. The battery replacement structure of an unmanned aerial vehicle according to claim 2, wherein the push-pull drive mechanism (20) comprises a drive assembly (21), a slide assembly (22) connected to the drive assembly (21);

the driving assembly (21) comprises a first motor (211), a coupler (212), a lead screw (213), a ball screw pair (214) and a connecting seat (215); the first motor (211) is coaxially and fixedly connected with one end of the lead screw (213) through the coupler (212); the ball screw pair (214) is sleeved on the screw (213), and the connecting seat (215) is fixedly arranged on the ball screw pair (214); the first motor (211) is fixedly arranged on the motor fixing seat (131), and the front end of the lead screw (213) is erected on the bearing fixing seat (132);

the sliding assembly (22) comprises a linear guide rail (221) and a front sliding plate and a rear sliding plate (222); the front and rear sliding plates (222) are slidably arranged on the linear guide rail (221); the connecting seat (215) and the front and rear sliding plates (222) are fixedly connected to move together;

the first motor (211) drives the lead screw (213) to rotate, and the lead screw (213) is in threaded fit with the ball screw pair (214) to drive the connecting seat (215) and the front and rear sliding plates (222) to move back and forth on the linear guide rail (221).

4. The battery replacement structure of an unmanned aerial vehicle according to claim 3, wherein the clamp unlocking mechanism (30) comprises a main support plate (301), a second motor (302), a driving synchronizing wheel (303), a driven synchronizing wheel (304), a rotating cam (305), a first cam follower (306), a second cam follower (307), a first main plate (308), and a second main plate (309);

the main supporting plate (301) is fixedly arranged on one side of the front and rear sliding plate (222); the second motor (302) is fixedly arranged at the upper end of the inner side of the main supporting plate (301), the driving synchronous wheel (303) and the driven synchronous wheel (304) are obliquely arranged at the outer side of the main supporting plate (301), and the rotating cam (305) is arranged at the middle end of the inner side of the main supporting plate (301); the first cam follower (306) and the second cam follower (307) are arranged close to the upper side and the lower side of the rotating cam (305), the first cam follower (306) is fixedly connected with the first main clamping plate (308), and the second cam follower (307) is fixedly connected with the second main clamping plate (309);

the second motor (302) drives the driving synchronizing wheel (303) to rotate through a motor shaft, the driving synchronizing wheel (303) drives the driven synchronizing wheel (304) to synchronously rotate through a synchronizing belt (310), the rotating cam (305) rotates synchronously with the driven synchronizing wheel (304) through a rotating shaft, the rotating cam (305) drives the first cam follower (306) and the second cam follower (307) to synchronously rotate, and therefore the first main clamping plate (308) and the second main clamping plate (309) are closed to clamp the aircraft battery (70), or the first main clamping plate (308) and the second main clamping plate (309) are opened to release the aircraft battery (70).

5. The battery replacement structure for the unmanned aerial vehicle according to claim 4, wherein the rotating cam (305) is an elliptical rotating cam.

6. The unmanned aerial vehicle battery replacement structure according to claim 4, wherein the clamp unlocking mechanism (30) further comprises a first sub clamp plate (318) and a second sub clamp plate (319), the first sub clamp plate (318) is provided at a front end of the first main clamp plate (308), the second sub clamp plate (319) is provided at a front end of the second main clamp plate (309), and the first sub clamp plate (318) and the second sub clamp plate (319) cooperate to unlock the battery catch (71) of the aircraft battery (70) and clamp the aircraft battery (70).

7. The battery replacement structure for the unmanned aerial vehicle according to claim 4, wherein the grip unlocking mechanism (30) further comprises a sub support plate (311), 2 follower wheels (312), 2 follower plates (313), 2 linear bearings (314), 2 guide rods (315), 2 battery guide blocks (316), and a battery tray plate (317);

the auxiliary support plate (311) is fixedly arranged at the other side of the front and rear sliding plate (222), and 2 follow-up wheels (312) are respectively arranged at the lower ends of the outer sides of the main support plate (301) and the auxiliary support plate (311); the 2 follow-up plates (313) are positioned at the outer sides of the main support plate (301) and the auxiliary support plate (311); 2 follower plates (313) are respectively fixed on the fixed bottom plate (11) through 2 linear bearings (314) and 2 guide rods (315), and 2 follower plates (313) are provided with a chute (3131) and a transverse groove (3132) for the 2 follower wheels (312) to slide;

the front ends of the 2 follow-up plates (313) are respectively fixedly connected with the two ends of the battery supporting plate (317), and the 2 battery guide blocks (316) are arranged on the two sides of the battery supporting plate (317);

the front and rear sliding plates (222) move back and forth to drive 2 follower wheels (312) to slide in inclined grooves (3131) and transverse grooves (3132) of 2 follower plates (313), and drive the 2 follower plates (313) to ascend or descend, so that the battery supporting plate (317) ascends or descends synchronously.

8. The battery replacement structure of an unmanned aerial vehicle according to claim 4, wherein the battery replacement structure further comprises a switch on/off mechanism (51), a fiber sensor (52), and a switch bracket (53);

the switch mechanism (51) and the optical fiber sensor (52) are fixedly arranged at the middle end of the inner side of the main supporting plate (301) through the switch bracket (53); the on-off mechanism (51) is used for switching on and off the aircraft battery (70), and the optical fiber sensor (52) is used for detecting whether the aircraft battery (70) exists or not.

9. The UAV battery replacement structure according to claim 4, wherein the clamping unlocking mechanism (30) further comprises an induction sensor (40) disposed outside the main support plate (301), wherein the induction sensor (40) is used for sensing the rotation origin position of the passive synchronizing wheel (304).

10. The battery replacing structure of the UAV according to claim 4, wherein the clamping and unlocking mechanism (30) further comprises a first support member (320) and a second support member (321) disposed at the upper and lower portions inside the main support plate (301), the first support member (320) defining a preset limit for the upward rotation of the first main clamping plate (308), and the second support member (321) defining a preset limit for the downward rotation of the second main clamping plate (309).

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