Battery replacing and clamping device suitable for unmanned rotorcraft

Abstract

The battery replacement clamping device comprises a clamping device base, an unmanned aerial vehicle clamping assembly, a front-back moving mechanism and a battery clamping mechanism, and the unmanned aerial vehicle clamping assembly, the front-back moving mechanism and the battery clamping mechanism are fixedly connected to the clamping device base; the unmanned aerial vehicle clamping assembly is used for clamping and fixing an unmanned aerial vehicle, the front-back moving mechanism is used for achieving front-back movement of the battery clamping mechanism, and the battery clamping mechanism is used for opening and closing a battery lock and disassembling and installing a battery. The battery replacement requirement in the unmanned aerial vehicle autonomous guarantee process is met, the cruising ability of the rotor unmanned aerial vehicle is improved, and the adaptation ability of the rotor unmanned aerial vehicle in the long-cruising-ability working scene is met.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a battery replacement clamping device suitable for rotary-wing unmanned aerial vehicles. Background Art

[0002] With the rapid development of drone technology, drones have been used in a variety of application scenarios such as power line detection, logistics transportation, smart transportation, disaster relief, etc., which puts forward higher requirements for the endurance of drones. In order to meet the problem of fully automated flight operations of drones in long-endurance application scenarios in the wild, the autonomous endurance guarantee system of drones has been developed. Regarding the problem of battery replacement during the autonomous guarantee process of drones, patent CN106864766A discloses a battery clamping device and a replacement device and method for autonomous endurance of drones, in which the battery clamping device can stably and reliably grasp the battery, and the gripper part is provided with a pressing block for switching the battery to avoid damage to the electronic components of the drone. The device is not suitable for rotor drones with battery locks; patent CN109624935B discloses a battery automatic replacement structure, device and drone airport for realizing automatic replacement of drone batteries. The device does not consider the power-off requirement before replacing the drone battery. The battery unlocking structure of the above two devices is used in a press-unlocking structure, which is not applicable to rotor drones with a knob-type battery lock structure. Patent CN111806721A discloses an automatic battery replacement device for drones, which can replace manual labor to automatically replace drone batteries. It takes into account the width impact caused by the bulging of drone batteries, but is not suitable for rotary-wing drones with a button switch structure. In summary, existing drone battery replacement devices are mostly developed specifically for a certain type of drone, lack versatility, and cannot be effectively applied to a wide variety of rotary-wing drone battery types, and some devices do not consider the power outage problem of drone batteries. Therefore, in order to meet the autonomous protection needs of multiple types of drones, it is imperative to design a battery replacement device that can meet the needs of different types of drones. Summary of the invention

[0003] In response to the above problems, the purpose of the present invention is to provide a battery replacement clamping device suitable for rotorcraft UAVs, which can meet the requirements of fully automatic flight endurance during the UAV cruising operation, improve the replacement range and efficiency of batteries and loads, and ensure the reliability and timeliness of UAV flight and operation.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] A battery replacement clamping device suitable for a rotary-wing unmanned aerial vehicle comprises a clamping device base, an unmanned aerial vehicle clamping assembly, a forward and backward moving mechanism and a battery clamping mechanism, wherein the unmanned aerial vehicle clamping assembly, the forward and backward moving mechanism and the battery clamping mechanism are fixedly connected to the clamping device base, the unmanned aerial vehicle clamping assembly is used for clamping and fixing the unmanned aerial vehicle, the forward and backward moving mechanism is used for realizing the forward and backward movement of the battery clamping mechanism, and the battery clamping mechanism is used for switching a battery lock and disassembling and installing a battery.

[0006] Furthermore, the base of the clamping device includes a vertical plate, a bottom plate, a connecting plate, a partition bottom plate, a rib plate, a battery drag plate, a first partition plate and a second partition plate, wherein the vertical plate and the bottom plate are arranged at 90 degrees and fixed by screws and pins, and the two are reinforced by a rib plate. The partition bottom plate is fixed to the end of the bottom plate opposite to the vertical plate by a slot and screws, and the second partition plate is fixed thereon; the battery drag plate is connected to the end of the bottom plate close to the partition bottom plate by a connecting plate, and the first partition plate is fixed thereon; a quick-change chuck female disc is fixed on the vertical plate, and the two are fixedly connected by screws and pins, and are used to cooperate with the quick-change chuck male disc fixedly connected to the end of the industrial robot to achieve the cooperation or disengagement of the clamping device with the industrial robot.

[0007] Furthermore, the drone clamping assembly is symmetrically arranged on the base plate, including a cylinder, a main body positioning vertical plate, a main body positioning movable plate, a first slide rail assembly, a clamp mounting plate, a drone clamp, a main body positioning dead stop and an adjusting bolt, wherein the cylinder is fixedly connected to the base plate through the main body positioning vertical plate, the piston rod of the cylinder is connected to the main body positioning movable plate, and the first slide rail assembly is fixedly connected to the base plate; the main body positioning movable plate is fixedly connected to the first slide rail assembly, and moves linearly along the slide rail direction under the drive of the cylinder piston rod; a clamp mounting plate is fixed at the end of the main body positioning movable plate, and a drone clamp is fixed on the clamp mounting plate, and a main body positioning dead stop is provided in the movement direction of the cylinder piston rod, which is fixed to the base plate by screws, and an adjusting bolt is fixedly connected to it.

[0008] Furthermore, the forward and backward moving mechanism includes a motor, a motor mounting plate, a synchronous belt assembly, a screw assembly, a screw mechanical limit block, a screw polyurethane pad, a first nut connector, a second nut connector, a guide rail assembly and a pulley protection cover, wherein the motor is fixed on the motor mounting plate, the motor head is connected to the synchronous belt assembly, and is connected through the synchronous belt and screw assembly; the screw of the screw assembly is fixedly connected to the base plate through a screw mounting seat, and two groups of guide rail assemblies are provided on the other side of the base plate for use with the screw assembly; a first nut connector is fixed on the nut of the screw assembly, and the second nut connector is fixedly connected to the first nut connector through a screw pin; a screw mechanical limit block is provided on one side of the screw floating support of the screw assembly, and a screw polyurethane pad is fixed on it for mechanically limiting the screw, and a pulley protection cover is provided on the outside of the synchronous belt assembly, which is fixed to the vertical plate by screws.

[0009] Furthermore, the battery clamping mechanism includes a first battery clamping assembly and a battery lock switch assembly, wherein the battery lock switch assembly is used to switch the drone battery lock; and the first battery clamping assembly is used to realize the disassembly and installation of the drone battery.

[0010] Furthermore, the first battery clamping assembly includes a first guide rail connecting plate, a transverse slide rail assembly, a clamp mounting plate, a battery hook, a clamp pad, a cylinder mounting plate, a cylinder, a return bracket, a laser ranging sensor and a dead stop block, the first guide rail connecting plate is fixedly connected to the slider of the guide rail assembly, and is connected to the second nut connector at the bottom; two groups of transverse slide rail assemblies are fixed above the first guide rail connecting plate; a clamp mounting plate is installed above the transverse slide rail assembly, the battery hook is fixed to the clamp mounting plate by screws, and a clamp pad is fixed at the position where the battery hook connects with the battery; the cylinder is fixedly connected to the first guide rail connecting plate through the cylinder mounting plate, the piston rod of the cylinder is connected to the clamp mounting plate through a slot, a dead stop block is installed on the other side of the clamp mounting plate, and a return bracket is installed on the upper part of the clamp mounting plate, and a laser ranging sensor is fixed thereon.

[0011] Furthermore, the battery lock switch assembly includes an electric claw, a clamp finger and a second guide rail connecting plate, wherein the second guide rail connecting plate is fixed on the first guide rail connecting plate of the first battery clamping assembly, the electric claw is installed on the second guide rail connecting plate, and the clamp finger is installed on the electric claw.

[0012] Furthermore, the battery clamping mechanism includes a second battery clamping assembly, and the second battery clamping assembly includes a first guide rail connecting plate, a second guide rail connecting plate, a battery mechanism rib plate, a battery mechanism bottom plate, a handle cylinder mounting plate, a handle cylinder, a guide rod cylinder mounting plate, a guide rod cylinder, a button mounting plate, a battery switch button, a hinge mounting plate, a hinge hook, a hinge support, a connecting rod, a battery pusher, a battery guide and a mounting button, wherein the first guide rail connecting plate is fixed to the slider of the guide rail assembly and is fixedly connected to the second guide rail connecting plate; the battery mechanism rib plate, the battery mechanism bottom plate and the handle cylinder mounting plate are spliced ​​into a battery mechanism bracket, and the battery mechanism bottom plate is fixed to the The second guide rail connecting plate is in the middle; the handle cylinder and the guide rod cylinder mounting plate are fixed on the handle cylinder mounting plate, and a hinge support, a connecting rod and a battery pusher are fixed on the other side of the handle cylinder cylinder, the piston rod of the handle cylinder is abutted against the hinge mounting plate, and the hinge hook is connected to the connecting rod and the hinge mounting plate through a pin shaft, and can rotate around the connecting rod driven by the handle cylinder piston rod, and cooperate with the battery pusher to grasp the battery; the guide rod cylinder is fixedly connected to the guide rod cylinder mounting plate, and its piston rod is connected to the button mounting plate; the battery switch button is fixed on the button mounting plate, and moves back and forth driven by the piston rod of the guide rod cylinder to realize the switching of the battery power button.

[0013] Furthermore, it also includes a load clamping assembly, which includes a translation electric cylinder, a load clamping jaw base plate, a first load clamping jaw, a second load clamping jaw and a limit button. The translation electric cylinder is fixed on the second guide rail connecting plate, and the load clamping jaw base plate is installed on the translation electric cylinder; the first load clamping jaw and the second load clamping jaw are fixed on the load clamping jaw base plate, and perform translational opening and closing movements driven by the translation electric cylinder, and cooperate with the grooves set on the load clamping jaws to realize the clamping and loading and unloading of the load. The limit button is installed on the first load clamping jaw and the second load clamping jaw for limiting.

[0014] Furthermore, it also includes a battery switch assembly, which includes a button rod and a button connector, wherein one end of the button rod is connected to the bottom plate, and the other end is connected to the button connector, and the button connector is made of polyurethane material.

[0015] Compared with the prior art, the advantages and beneficial effects of the present invention are:

[0016] (1) The clamping device can meet the battery replacement requirements of rotorcraft drones of different models or structures;

[0017] (2) This gripping device has the characteristics of high degree of automation and accurate battery replacement, which can effectively meet the autonomous maintenance needs of drones.

[0018] (3) This clamping device adopts a modular design concept. In the future, the clamping device can be optimized and upgraded according to the battery structure of the new drone, without the need for new development, which can effectively save application costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A side view of a clamping device for replacing a battery and a load of a drone according to the present invention Figure 1 ;

[0020] Figure 2 A side view of a clamping device for replacing a battery and a load of a drone according to the present invention Figure 2 ;

[0021] Figure 3 The clamping device base and the UAV clamping assembly of the present invention are axial side views. Figure 1 ;

[0022] Figure 4 The clamping device base and the UAV clamping assembly of the present invention are axial side views. Figure 2 ;

[0023] Figure 5 The front-rear moving mechanism, the battery clamping assembly, the battery lock switch assembly, and the battery switch assembly are shown in the side view of the shaft. Figure 1 ;

[0024] Figure 6 For the present invention Figure 4 Front and rear moving mechanism, battery clamping assembly, battery lock switch assembly, battery switch assembly axial side view Figure 1 ;

[0025] Figure 7 It is an axial side view of an axial embodiment 2 of a clamping device for replacing batteries and loads of a drone according to the present invention;

[0026] Figure 8 This is a side view of the battery clamping device and the load clamping device in Example 2 of the clamping device axis for replacing batteries and loads in an unmanned aerial vehicle of the present invention.

[0027] In the figure: a clamping device base 1, a drone clamping assembly 2, a forward and backward moving mechanism 3, a first battery clamping assembly 4, a battery lock switch assembly 5, a battery switch assembly 6, a six-axis industrial robot 7, a second battery clamping assembly 8, a load clamping assembly 9, a vertical plate 102, a bottom plate 101, a connecting plate 103, a partition bottom plate 103, a rib plate 109, a large rib plate 108, a battery drag plate 105, a first partition plate 106, a second partition plate 107, a cylinder 201, a main body positioning vertical plate 202, a main The main body positioning moving plate 203, the adjusting bolt 204, the drone clamping block 205, the clamping block mounting plate 206, the main body positioning dead stop 207, the first slide rail assembly 208, the motor 301, the motor mounting plate 302, the synchronous belt assembly 303, the screw assembly 304, the screw mechanical limit block 305, the screw polyurethane pad 306, the first nut connector 307, the second nut connector 308, the guide rail assembly 309, the drag chain 310, the drag chain frame 311, the pulley protection cover 312, First rail connecting plate 401, transverse slide rail assembly 402, clamping claw mounting plate 403, battery hook 404, clamping claw pad 405, cylinder mounting plate 406, cylinder 407, return bracket 408, laser ranging sensor 409, dead stop block 410, electric claw 501, clamping claw finger 502, second rail connecting plate 503, button rod 601 and button connector 602, first rail connecting plate 801, second rail connecting plate 802, battery mechanism rib plate 803, battery mechanism bottom plate 804, handle cylinder mounting plate 805, handle cylinder 806, guide rod cylinder mounting plate 807, guide rod cylinder 808, button mounting plate 809, battery switch button 810, hinge mounting plate 811, hinge hook 812, hinge support 813, connecting rod 814, battery pusher 815, battery guide 816, mounting button 817, translation electric cylinder 901, load clamp base plate 902, first load clamp 903, second load clamp 904 and limit button 905. DETAILED DESCRIPTION

[0028] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0029] Embodiment 1

[0030] Combination Figure 1-2 A battery replacement clamping device suitable for a rotary-wing UAV comprises a clamping device base 1, a UAV clamping assembly 2, a forward and backward moving mechanism 3 and a battery clamping mechanism. The UAV clamping assembly 2, the forward and backward moving mechanism 3 and the battery clamping mechanism are fixedly connected to the clamping device base 1. The UAV clamping assembly 2 is used for clamping and fixing the UAV. The forward and backward moving mechanism 3 is used for realizing the forward and backward movement of the battery clamping mechanism. The battery clamping mechanism is used for switching the battery lock, disassembling and installing the battery.

[0031] Combination Figure 3-4The clamping device base 1 described in this embodiment includes a vertical plate 102, a bottom plate 101, a connecting plate 104, a partition bottom plate 103, a rib plate 109, a large rib plate 108, a battery drag plate 105, a first partition plate 106, and a second partition plate 107. The vertical plate 102 and the bottom plate 101 are arranged at 90 degrees, fixed by screws and pins, and the two are reinforced by the rib plate 109 and the large rib plate 108. The partition bottom plate 103 is fixed to the end of the bottom plate 101 opposite to the vertical plate 102 by a slot and a screw, and the second partition plate 107 is fixed thereon. The battery drag plate 105 is connected to the bottom plate 101 by a connecting plate 104, and the first partition plate 106 is fixed thereon. A quick-change chuck female disc 110 is fixed on the vertical plate 102, and the two are fixedly connected by screws and pins, and are used to cooperate with the quick-change chuck male disc fixedly connected to the end of the industrial robot 7 to achieve rapid cooperation or disengagement of the clamping device and the industrial robot 7.

[0032] Combination Figure 4 In this embodiment, the drone clamping assembly 2 is symmetrically arranged on the base plate 101, and is used for clamping and positioning the drone 5 by the clamping device, including a cylinder 201, a main body positioning vertical plate 202, a main body positioning movable plate 203, a first slide rail assembly 208, a clamp mounting plate 206, a drone clamp 205, a main body positioning dead stop 207, and an adjusting bolt 204. Among them, the cylinder 201 is fixedly connected to the base plate 101 through the main body positioning vertical plate 202, and the piston rod of the cylinder 201 is connected to the main body positioning movable plate 203. The first slide rail assembly 208 is fixedly connected to the base plate 101. The main body positioning movable plate 203 is fixedly connected to the first slide rail assembly 208, and is driven by the piston rod of the cylinder 201 along the slide rail direction ( Figure 4 The main body positioning moving plate 203 is provided with a clamping block mounting plate 206 at the end thereof, and a UAV clamping block 205 is fixed on the clamping block mounting plate 206. The clamping block 205 is made of polyurethane material and has a shock-absorbing and buffering effect, and can effectively protect the UAV 5. A main body positioning dead stop 207 is provided in the movement direction of the piston rod of the cylinder 201. The main body positioning dead stop is fixed to the bottom plate by screws, and an adjusting bolt 204 is fixed thereon.

[0033] Combination Figure 5-6The forward and backward moving mechanism 3 described in this embodiment includes a motor 301, a motor mounting plate 302, a synchronous belt assembly 303, a screw assembly 304, a screw mechanical stopper 305, a screw polyurethane pad 306, a first nut connector 307, a second nut connector 308, a guide rail assembly 309, a drag chain 310, a drag chain frame 311, and a pulley protective cover 312. Among them, the motor 301 is fixed on the motor mounting plate 302, and the head of the motor 301 is connected to the synchronous belt assembly 303 and connected through the synchronous belt and screw assembly 304. The screw of the screw assembly 304 is fixedly connected to the base plate 101 through a screw mounting seat. Two sets of guide rail assemblies 309 are provided on the other side of the base plate 101 for use with the screw assembly 304. The first nut connector 307 is fixed on the nut of the screw assembly 304, and the second nut connector 308 is fixedly connected to the first nut connector 307 through a screw pin. A mechanical limit block 305 is provided on one side of the screw floating support of the screw assembly, on which a polyurethane pad 306 is fixed for mechanically limiting the screw. A pulley protective cover 312 is provided on the outside of the synchronous belt, and the protective cover is fixed to the vertical plate by screws. The drag chain bracket 311 is fixed to the first guide rail connecting plate 401, one end of the drag chain 310 is fixed to the bottom plate 101, and the other end is fixed to the drag chain bracket 311. The drag chain has air pipes, wires and other necessary components of the cylinder and electric cylinder inside. The combination of the drag chain and the drag chain bracket can meet the working needs of the cylinder and electric cylinder in the device.

[0034] The present invention is applicable to the battery replacement needs during the autonomous maintenance of the UAV, improves the endurance of the rotary-wing UAV, and satisfies the adaptability of the rotary-wing UAV to the long-endurance working scene.

[0035] Embodiment 2

[0036] Combination Figure 1-2 , a battery replacement clamping device suitable for a rotary-wing UAV in this embodiment is suitable for a rotary-wing UAV with a knob-type battery lock. The battery clamping mechanism of this embodiment includes a first battery clamping assembly 4 and a battery lock switch assembly 5. Among them, the first battery clamping assembly 4 is fixedly connected to the slider of the forward and backward moving mechanism 3; the battery lock switch assembly 5 is fixed on the mounting plate of the first battery clamping assembly 4, and the forward and backward moving mechanism 3 is used to realize the forward and backward movement of the battery clamping assembly 4 and the battery lock switch assembly 5; the battery lock switch assembly 5 is used to complete the switch of the UAV battery lock; the battery clamping assembly 4 is used to realize the disassembly and installation of the UAV battery; the UAV clamping assembly 2, the forward and backward moving mechanism 3, the first battery clamping assembly 4 and the battery lock switch assembly 5 can cooperate to complete the automatic disassembly and installation of the rotary-wing UAV battery.

[0037] The first battery clamping assembly 4 described in this embodiment includes a first guide rail connecting plate 401, a transverse slide rail assembly 402, a clamping claw mounting plate 403, a battery hook 404, a clamping claw pad 405, a cylinder mounting plate 406, a cylinder 407, a scattering bracket 408, a laser ranging sensor 409, a dead stop block 410, etc. The first guide rail connecting plate 401 is fixedly connected to the slider of the guide rail assembly 309, and is connected to the second nut connector 308 at the bottom. Two groups of transverse slide rail assemblies 402 are fixed above the first guide rail connecting plate 401; a clamping claw mounting plate 403 is installed above the transverse slide rail assembly 402, the battery hook 404 is fixed to the clamping claw mounting plate 403 by screws, and a clamping claw pad 405 is fixed at the position where the battery hook connects with the battery. The cylinder 407 is fixedly connected to the first guide rail connecting plate 401 through the cylinder mounting plate 406, and the piston rod of the cylinder 407 is connected to the clamping jaw mounting plate 403 through the slot. A dead stopper 410 is installed on the other side of the clamping jaw mounting plate 403. A diffuse bracket 408 is installed on the upper part of the clamping jaw mounting plate 403, and a laser distance sensor 409 is fixedly connected to it.

[0038] The battery lock switch assembly 5 described in this embodiment includes an electric claw 501, a gripper finger 502, and a second guide rail connecting plate 503, wherein the second guide rail connecting plate 503 is fixed to the first guide rail connecting plate 401 of the first battery gripping assembly 4, and the electric claw 501 is installed on the second guide rail connecting plate 503. The electric claw 501 can be selected as a rotating electric claw or a translation electric claw according to the type of the drone battery lock. The gripper finger 502 is installed on the electric claw 501.

[0039] The working method of the clamping device is as follows:

[0040] The first step is to land the rotor drone on the workbench and position the drone using the centering device.

[0041] The second step is to select the required drone battery replacement device according to the required drone battery type, connect it to the six-axis industrial robot through the quick connection chuck, and move the battery replacement device near the drone battery.

[0042] In the third step, the battery switch mechanism cuts off the power to the drone battery (for some structures, this step is combined with the sixth step, and this step can be omitted for drones that support hot plugging).

[0043] Step 4: Open and close the battery clamp to clamp the drone and keep the two relatively fixed.

[0044] In the fifth step, the battery lock switch mechanism and the battery clamping device are driven by the motor to move forward and approach the battery lock position.

[0045] Step 6: The battery lock switch assembly is rotated to complete the battery lock switch, and then the gripper fingers are rotated 90 degrees to cooperate with the battery gripping assembly to complete the battery grabbing.

[0046] Step 7: Battery Replacement

[0047] Step 8. Repeat steps 6 to 3 in reverse to complete the entire process of drone battery replacement.

[0048] Embodiment 3

[0049] Further, based on Example 1, combined with Figure 7-8 , for the push-type battery lock rotor UAV, a corresponding UAV battery clamping device is developed. The battery clamping mechanism of this embodiment includes a second battery clamping component 8 and a load clamping component 9. The clamping device base 1, the UAV clamping component 2, and the forward and backward moving mechanism 3 are the same as those in the first embodiment. The second battery clamping component 8 and the load clamping component 9 are developed for the push-type battery lock rotor UAV.

[0050] The second battery clamping assembly 8 is used for powering off and clamping the battery of a rotary-wing drone with a push-type structure battery lock, and includes a first guide rail connecting plate 801, a second guide rail connecting plate 802, a battery mechanism rib plate 803, a battery mechanism bottom plate 804, a handle cylinder mounting plate 805, a handle cylinder 806, a guide rod cylinder mounting plate 807, a guide rod cylinder 808, a button mounting plate 809, a battery switch button 810, a hinge mounting plate 811, a hinge hook 812, a hinge support 813, a connecting rod 814, a battery pusher 815, a battery guide 816, and a mounting button 817. Among them, the first guide rail connecting plate 801 is fixed on the slider of the guide rail assembly 309 and is fixedly connected to the second guide rail connecting plate 802; the battery mechanism rib plate 803, the battery mechanism bottom plate 804, and the handle cylinder mounting plate 805 are spliced ​​into a battery mechanism bracket, and the battery mechanism bottom plate 804 is fixed in the middle of the second guide rail connecting plate 802. The handle cylinder 806 and the guide rod cylinder mounting plate 807 are fixed on the handle cylinder mounting plate 805. A hinge support 813, a connecting rod 814, and a battery pusher 815 are fixed on the other side of the handle cylinder 806 cylinder. The piston rod of the handle cylinder 806 is abutted against the hinge mounting plate 811. The hinge hook 812 is connected to the connecting rod 814 and the hinge mounting plate 811 through a pin shaft, and can rotate around the connecting rod 814 under the drive of the piston rod of the handle cylinder 806, and can cooperate with the battery pusher 815 to realize the grabbing of the battery. The guide rod cylinder 808 is fixedly connected to the guide rod cylinder mounting plate 807, and its piston rod is connected to the button mounting plate 809. The battery switch button 810 is fixed on the button mounting plate 809, and moves back and forth driven by the piston rod of the guide rod cylinder 808 to realize the switch of the battery power button.

[0051] Further, combined with Figure 7 In this embodiment, the load clamping assembly 9 can complete the disassembly and replacement of the load, including a translation electric cylinder 901, a load clamping jaw bottom plate 902, a first load clamping jaw 903, a second load clamping jaw 904 and a limit button 905. The translation electric cylinder 901 is fixed on the second guide rail connecting plate 802, and the load clamping jaw bottom plate 902 is installed on the translation electric cylinder 901; the first load clamping jaw 903 and the second load clamping jaw 904 are fixed on the load clamping jaw bottom plate 902, and can perform translational opening and closing movements driven by the translation electric cylinder 901, and can realize the clamping and loading and unloading of the load in conjunction with the grooves set on the load clamping jaws. The limit button 905, which is installed on the first load clamping jaw 903 and the second load clamping jaw 904, is mainly used for limiting to prevent the load clamping jaws from hard contact with the drone.

[0052] Embodiment 4

[0053] Compared with Example 1, the battery replacement clamping device for a rotary-wing UAV provided in this embodiment further includes a battery switch assembly 6, which includes a button rod 601 and a button connector 602, wherein one end of the button rod 601 is connected to the bottom plate 101, and the other end is connected to the button connector 602, and the button connector is made of polyurethane material. The battery switch assembly 6 is used in conjunction with the industrial robot 7 (the sixth axis of the industrial robot rotates 180 degrees) to realize the power-off operation of the UAV battery, and this assembly may not be selected for UAVs that support hot plugging.

[0054] The battery replacement clamping device provided in this embodiment is suitable for a rotary-wing UAV and is connected to a six-axis industrial robot 7 through a quick-change chuck. It can be used for the automatic disassembly and installation of the battery of the rotary-wing UAV, meeting the automatic replacement and protection requirements of the UAV battery.

[0055] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A battery replacement clamping device suitable for a rotary-wing UAV, characterized in that: It includes a clamping device base, a drone clamping assembly, a forward and backward moving mechanism and a battery clamping mechanism. The drone clamping assembly, the forward and backward moving mechanism and the battery clamping mechanism are fixedly connected to the clamping device base. The drone clamping assembly is used for clamping and fixing the drone. The forward and backward moving mechanism is used to realize the forward and backward movement of the battery clamping mechanism. The battery clamping mechanism is used for switching the battery lock, disassembling and installing the battery.

2. A battery replacement clamping device suitable for a rotary-wing UAV according to claim 1, characterized in that: The base of the clamping device includes a vertical plate, a bottom plate, a connecting plate, a partition bottom plate, a rib plate, a battery drag plate, a first partition plate and a second partition plate, wherein the vertical plate and the bottom plate are arranged at 90 degrees, fixed by screws and pins, and the two are reinforced by a rib plate. The partition bottom plate is fixed to the end of the bottom plate opposite to the vertical plate by a slot and screws, and the second partition plate is fixed thereon; the battery drag plate is connected to the end of the bottom plate close to the partition bottom plate by a connecting plate, and the first partition plate is fixed thereon; a quick-change chuck female disc is fixed on the vertical plate, and the two are fixedly connected by screws and pins, and are used to cooperate with the quick-change chuck male disc fixedly connected to the end of the industrial robot to achieve the cooperation or disengagement of the clamping device with the industrial robot.

3. A battery replacement clamping device suitable for a rotary-wing UAV according to claim 2, characterized in that: The drone clamping assembly is symmetrically arranged on the base plate, and includes a cylinder, a main body positioning vertical plate, a main body positioning movable plate, a first slide rail assembly, a clamp mounting plate, a drone clamp, a main body positioning dead stop and an adjusting bolt, wherein the cylinder is fixedly connected to the base plate through the main body positioning vertical plate, the piston rod of the cylinder is connected to the main body positioning movable plate, and the first slide rail assembly is fixedly connected to the base plate; the main body positioning movable plate is fixedly connected to the first slide rail assembly, and moves linearly along the slide rail direction under the drive of the cylinder piston rod; a clamp mounting plate is fixed at the end of the main body positioning movable plate, and a drone clamp is fixed on the clamp mounting plate, and a main body positioning dead stop is provided in the movement direction of the cylinder piston rod, which is fixed to the base plate by screws, and an adjusting bolt is fixedly connected to it.

4. A battery replacement clamping device suitable for a rotary-wing UAV according to claim 3, characterized in that: The forward and backward moving mechanism includes a motor, a motor mounting plate, a synchronous belt assembly, a screw assembly, a screw mechanical limit block, a screw polyurethane pad, a first nut connector, a second nut connector, a guide rail assembly and a pulley protection cover, wherein the motor is fixed on the motor mounting plate, the motor head is connected to the synchronous belt assembly, and is connected through the synchronous belt and screw assembly; the screw of the screw assembly is fixedly connected to the base plate through a screw mounting seat, and two groups of guide rail assemblies are provided on the other side of the base plate for use with the screw assembly; a first nut connector is fixed on the nut of the screw assembly, and the second nut connector is fixedly connected to the first nut connector through a screw pin; a screw mechanical limit block is provided on one side of the screw floating support of the screw assembly, a screw polyurethane pad is fixed on it, which is used for mechanically limiting the screw, and a pulley protection cover is provided on the outside of the synchronous belt assembly, which is fixed to the vertical plate by screws.

5. A battery replacement clamping device suitable for a rotary-wing UAV according to claim 4, characterized in that: The battery clamping mechanism includes a first battery clamping assembly and a battery lock switch assembly, wherein the battery lock switch assembly is used to switch the drone battery lock; the first battery clamping assembly is used to realize the disassembly and installation of the drone battery.

6. The battery replacement clamping device suitable for a rotary-wing UAV according to claim 5, characterized in that: The first battery clamping assembly comprises a first guide rail connecting plate, a transverse slide rail assembly, a clamp mounting plate, a battery hook, a clamp pad, a cylinder mounting plate, a cylinder, a return bracket, a laser ranging sensor and a dead stop block. The first guide rail connecting plate is fixedly connected to the slider of the guide rail assembly and is connected to the second nut connector at the bottom; two groups of transverse slide rail assemblies are fixed above the first guide rail connecting plate; a clamp mounting plate is installed above the transverse slide rail assembly, the battery hook is fixed to the clamp mounting plate by screws, and a clamp pad is fixed at the position where the battery hook connects with the battery; the cylinder is fixedly connected to the first guide rail connecting plate through the cylinder mounting plate, the piston rod of the cylinder is connected to the clamp mounting plate through a slot, a dead stop block is installed on the other side of the clamp mounting plate, and a return bracket is installed on the upper part of the clamp mounting plate, on which a laser ranging sensor is fixedly connected.

7. A battery replacement clamping device suitable for a rotary-wing UAV according to claim 6, characterized in that: The battery lock switch assembly includes an electric claw, a clamp finger and a second guide rail connecting plate, wherein the second guide rail connecting plate is fixed on the first guide rail connecting plate of the first battery clamping assembly, the electric claw is installed on the second guide rail connecting plate, and the clamp finger is installed on the electric claw.

8. The battery replacement clamping device suitable for a rotary-wing UAV according to claim 4, characterized in that: The battery clamping mechanism includes a second battery clamping assembly, and the second battery clamping assembly includes a first guide rail connecting plate, a second guide rail connecting plate, a battery mechanism rib plate, a battery mechanism bottom plate, a handle cylinder mounting plate, a handle cylinder, a guide rod cylinder mounting plate, a guide rod cylinder, a button mounting plate, a battery switch button, a hinge mounting plate, a hinge hook, a hinge support, a connecting rod, a battery pusher, a battery guide and a mounting button, wherein the first guide rail connecting plate is fixed to the slider of the guide rail assembly and is fixedly connected to the second guide rail connecting plate; the battery mechanism rib plate, the battery mechanism bottom plate and the handle cylinder mounting plate are spliced ​​into a battery mechanism bracket, and the battery mechanism bottom plate is fixed to the second guide The handle cylinder and the guide rod cylinder mounting plate are fixed on the handle cylinder mounting plate, and a hinge support, a connecting rod and a battery pusher are fixed on the other side of the handle cylinder. The piston rod of the handle cylinder is abutted against the hinge mounting plate, and the hinge hook is connected to the connecting rod and the hinge mounting plate through a pin shaft. It can rotate around the connecting rod driven by the handle cylinder piston rod, and cooperate with the battery pusher to grab the battery; the guide rod cylinder is fixed on the guide rod cylinder mounting plate, and its piston rod is connected to the button mounting plate; the battery switch button is fixed on the button mounting plate, and moves back and forth driven by the piston rod of the guide rod cylinder to realize the switching of the battery power button.

9. The battery replacement clamping device suitable for a rotary-wing UAV according to claim 8, characterized in that: It also includes a load clamping assembly, which includes a translation electric cylinder, a load clamping jaw base plate, a first load clamping jaw, a second load clamping jaw and a limit button. The translation electric cylinder is fixed to the second guide rail connecting plate, and the load clamping jaw base plate is installed on the translation electric cylinder; the first load clamping jaw and the second load clamping jaw are fixed to the load clamping jaw base plate, and perform translational opening and closing movements driven by the translation electric cylinder, and cooperate with the grooves set on the load clamping jaws to realize the clamping and loading and unloading of the load. The limit button is installed on the first load clamping jaw and the second load clamping jaw for limiting.

10. The battery replacement clamping device suitable for a rotary-wing UAV according to claim 4, characterized in that: It also includes a battery switch assembly, which includes a button rod and a button connector, wherein one end of the button rod is connected to the bottom plate, and the other end is connected to the button connector.

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