UAV battery automatic pick-and-place device

Abstract

The present application belongs to the field of battery technology, and in particular, relates to a fully automatic battery pick-up and placement device for unmanned aerial vehicles, including a battery device and a pick-up and placement device, wherein the battery device includes an outer shell, a battery body and a clamping mechanism, wherein the battery body is arranged in the outer shell, the clamping mechanism is connected to the battery body, the clamping mechanism includes at least one clamping member, and the outer shell is provided with at least one clamping interface for clamping and matching with the corresponding clamping member at the position corresponding to the clamping member, and the pick-up and placement device includes a driving mechanism and a hook member arranged on the driving end of the driving mechanism, and the hook member is used to extend into the outer shell under the drive of the driving mechanism to drive the clamping member and the corresponding clamping interface to clamp or disengage, and to pull the battery body away from or put it back into the outer shell. In this way, the pick-up and placement process of the battery body relative to the outer shell can be completed quickly and efficiently, and when the fully automatic battery pick-up and placement device for unmanned aerial vehicles is applied to unmanned aerial vehicles, the efficiency of unmanned aerial vehicle battery pick-up and placement is also improved.

Description

Technical Field

[0001] The present application belongs to the field of battery technology, and in particular relates to a fully automatic battery placement device for drones. Background Art

[0002] In recent years, with the development of technology, drones have gradually become popular in many fields such as public security, firefighting and surveying. When drones are in operation, they mostly rely on batteries to provide energy. The batteries of drones need to be taken out and charged regularly, and the fully charged batteries need to be put back into the drone. The above process is relatively cumbersome and often takes a long time to complete. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a fully automatic battery removal and placement device for drones, aiming to solve the technical problem of complicated battery replacement for drones in the prior art.

[0004] To achieve the above-mentioned purpose, the technical solution adopted in the embodiment of the present application is: to provide a fully automatic battery picking and placing device for a drone, including a battery device and a picking and placing device, the battery device including an outer shell, a battery main body and a clamping mechanism, the battery main body is arranged in the outer shell, the clamping mechanism is connected to the battery main body, the clamping mechanism includes at least one clamping piece, and the outer shell is provided with at least one clamping interface for clamping and matching with the corresponding clamping piece at a position corresponding to the clamping piece, the picking and placing device includes a driving mechanism and a hook member arranged on the driving end of the driving mechanism, the hook member is used to extend into the outer shell under the drive of the driving mechanism, drive the clamping piece and the corresponding clamping interface to clamp and match or disengage contact, and pull the battery main body away from or put it back into the outer shell.

[0005] Optionally, the card connection mechanism also includes a fixed plate and at least one toggle lever, the fixed plate is connected to the battery body, the card connection member is slidably arranged on the fixed plate, the fixed plate is provided with a through hole for the hook member to pass through, the toggle lever is rotatably arranged on the fixed plate, the hook member is used to pass through the through hole and push the toggle lever to rotate under the drive of the driving mechanism, and the toggle lever drives the card connection member to slide along the fixed plate when rotating, so that the card connection member is engaged with or disengaged from the corresponding card interface.

[0006] Optionally, the clamping mechanism also includes two elastic components, the number of the clamping parts and the number of the toggle levers are both four, the clamping parts are slidably arranged on both sides of the fixed plate in pairs in back-to-back directions, the elastic component is arranged between the two clamping parts arranged in back-to-back directions, and each toggle lever is arranged around the periphery of the through hole and corresponds to each clamping part, respectively.

[0007] Optionally, the elastic component includes a guide shaft and a spring sleeved on the guide shaft, and both ends of the guide shaft and both ends of the spring are respectively inserted into the corresponding two clamping parts.

[0008] Optionally, each of the clamping parts includes a connecting rod section slidably set on the fixed plate and a buckle set on the connecting rod section, the buckle and the corresponding card interface are snap-fitted together, and an accommodating hole for accommodating the corresponding guide shaft and the spring is opened along the axial direction at one end of the connecting rod section away from the buckle.

[0009] Optionally, the driving mechanism includes a manipulator, a fixed frame and a driving motor, the fixed frame is arranged on the manipulator, the driving motor is arranged on the fixed frame, the hook member is connected to the driving shaft of the driving motor, the manipulator is used to drive the fixed frame to move toward or away from the fixed plate, and is used to drive the hook member to pass through the through hole, the driving motor is used to drive the hook member to rotate after passing through the through hole, so that the hook member pushes the toggle lever to rotate, and the hook member is staggered from the through hole after rotation to abut against the side of the fixed plate away from the fixed frame.

[0010] Optionally, the driving mechanism further includes an elastic limiting probe, which is arranged on a side of the fixing frame facing the fixing plate and is used to abut against a side of the fixing plate facing the fixing frame when the hook member abuts against a side of the fixing plate away from the fixing frame.

[0011] Optionally, the elastic limiting probe includes a driving cylinder and an elastic abutment joint, the driving cylinder is arranged in the fixed frame, the elastic abutment joint is arranged on the piston rod of the driving cylinder and corresponds to the fixed plate, and the driving cylinder is used to drive the elastic abutment joint to abut the side of the fixed plate toward the fixed frame when the hook member abuts against the side of the fixed plate away from the fixed frame.

[0012] Optionally, the driving mechanism also includes a positioning probe, a first end of the positioning probe is fixed on the fixing frame, and a relative second end of the positioning probe is used to pass through the fixing plate and be inserted into the battery body when the manipulator drives the fixing frame and the driving motor to move toward the fixing plate.

[0013] The fully automatic battery pick-and-place device for unmanned aerial vehicles provided in the embodiment of the present application has at least the following beneficial effects: the fully automatic battery pick-and-place device for unmanned aerial vehicles provided in the embodiment of the present application, because the through hole of the outer shell of the battery device is provided with a clamping mechanism connected to the battery body, and the clamping member of the clamping mechanism is clamped with the clamping interface on the outer shell to ensure that the battery body can be stably arranged in the outer shell, so as to achieve the locking of the battery body in the outer shell. When the battery body needs to be extracted from the outer shell, the driving mechanism of the pick-and-place device drives the hook member to extend into the outer shell of the battery device. After the hook member extends into the outer shell, it can drive the clamping member and the clamping interface to disengage under the drive of the driving mechanism, thereby releasing the locking relationship between the battery body and the outer shell, and pulling the battery body out of the outer shell, so as to achieve the extraction of the battery body, and when the battery body needs to be put back into the outer shell, it only needs to repeat the above process in reverse, so that the battery body relative to the outer shell can be quickly and efficiently completed. When the fully automatic battery pick-and-place device for unmanned aerial vehicles is applied to unmanned aerial vehicles, it also significantly improves the efficiency of the battery pick-and-place process of unmanned aerial vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0015] Figure 1 A schematic diagram of the structure of a battery device and a pick-and-place device of a fully automatic battery pick-and-place device for a drone provided in an embodiment of the present application;

[0016] Figure 2 A schematic structural diagram of a battery device and a pick-and-place device of a fully automatic battery pick-and-place device for a drone provided in an embodiment of the present application from another angle;

[0017] Figure 3 for Figure 2 A partial enlarged view of point A in the middle;

[0018] Figure 4 A schematic diagram of the exploded structure of a battery device of the fully automatic battery pick-and-place device for a drone provided in an embodiment of the present application;

[0019] Figure 5 A schematic diagram of the structure of the clamping parts and elastic components of the fully automatic battery pick-and-place device for a drone provided in an embodiment of the present application;

[0020] Figure 6 A schematic diagram of the posture of the toggle lever of the fully automatic battery pick-and-place device for a drone provided in an embodiment of the present application when it is not pushed by the hanging component;

[0021] Figure 7 A schematic diagram of the posture change of the toggle lever of the fully automatic battery pick-and-place device for a drone provided in an embodiment of the present application when it is pushed by a hanging component;

[0022] Figure 8 A schematic diagram of the exploded structure of a fully automatic battery pick-and-place device for a drone provided in an embodiment of the present application;

[0023] Fig. 9 A schematic diagram of the structure of a hook member of a fully automatic battery pick-and-place device for a drone provided in an embodiment of the present application;

[0024] Fig.10 A schematic diagram of the structure of the elastic limiting probe of the fully automatic battery picking and placing device for a drone provided in an embodiment of the present application.

[0025] Among them, the reference numerals in the figure are:

[0026] 10—battery device 11—outer shell 12—battery body

[0027] 13—Card-connecting mechanism 14—Elastic component 15—Connector

[0028] 16 - first monitoring module 17 - second monitoring module 18 - coupling

[0029] 19—limit baffle 20—pick-and-place device 21—driving mechanism

[0030] 22—hook piece 23—adjustment slot 24—assembly hole

[0031] 25—locking hole 26—connecting shaft 111—card interface

[0032] 121—main housing 122—battery module 123—positioning block

[0033] 124—first positioning hole 125—cover 126—lower housing

[0034] 127—guide block 128—guide hole 131—clip part

[0035] 132 - fixed plate 133 - toggle lever 134 - through hole

[0036] 135—connecting rod section 136—buckle 137—accommodation hole

[0037] 138—matching notch 139—second positioning hole 141—guide shaft

[0038] 142—spring 151—male seat 152—female seat

[0039] 161 - first sensor 162 - trigger sheet 171 - trigger rod

[0040] 172 - second sensor 211 - fixing bracket 212 - driving motor

[0041] 213—elastic limit probe 214—driving cylinder 215—elastic abutment

[0042] 216 - Positioning probe 217 - Side plate 218 - First assembly plate

[0043] 219—Second assembly plate. DETAILED DESCRIPTION

[0044] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. Figures 1 to 10 The described embodiments are exemplary and are intended to be used to explain the present application, but should not be construed as limiting the present application.

[0045] In the description of the present application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and 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 therefore should not be understood as a limitation on the present application.

[0046] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0047] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0048] like Figures 1 to 4As shown, an embodiment of the present application provides a fully automatic battery picking and placing device for a drone, which is used for fully automatic battery picking and placing operations of unmanned or manned vehicles. The unmanned vehicle can be a drone, a self-propelled robot or an unmanned vehicle, etc. The embodiment of the present application is illustrated using a drone as an example.

[0049] Specifically, the fully automatic battery picking and placing device for drones includes a battery device 10 and a picking and placing device 20. The battery device 10 includes an outer shell 11, a battery body 12 and a clamping mechanism 13. The battery body 12 is arranged in the outer shell 11, so that the outer shell 11 can effectively protect and wrap the battery body 12, thereby preventing the battery body from being damaged by rain. The clamping mechanism 13 is connected to the battery body 12.

[0050] The fully automatic battery pick-and-place device for drones also includes a connector 15, which includes a male socket 151 disposed in the outer shell 11 and a female socket 152 disposed on the battery body 12 and used for plugging and matching with the male socket 151. Both the male socket 151 and the female socket 152 can be blade-type structures. This can avoid the phenomenon of poor contact of the battery body and ensure the stability of the power supply from the battery body to the drone.

[0051] The snap-fit ​​mechanism 13 includes at least one snap-fit ​​component 131. At least one snap-fit ​​interface 111 for snap-fitting with the corresponding snap-fit ​​component 131 is provided at a position corresponding to the snap-fit ​​component 131 of the outer shell 11. When the battery body 12 is arranged in the outer shell 11, the snap-fit ​​component 131 and the corresponding snap-fit ​​interface 111 are snap-fitted to ensure the stability of the battery body 12 when it is placed in the outer shell 11.

[0052] The pick-and-place device 20 includes a driving mechanism 21 and a hook member 22 disposed on the driving end of the driving mechanism 21. The hook member 22 is used to extend into the outer shell 11 under the drive of the driving mechanism 21 to drive the card connector 131 and the corresponding card interface 111 to engage or disengage, and pull the battery body 12 away from or put it back into the outer shell 11. When the battery body 12 needs to be pulled away from the outer shell 11, the driving mechanism 21 first drives the hook member 22 to extend into the outer shell 11, and then drives the hook member 22 to drive the card connector 131 and the corresponding card interface 111 to disengage, and then drives the hook member 22 to pull the battery body 12 away from the outer shell 11. When the battery body 12 is to be placed in the outer shell 11, it is only necessary to repeat the above process in reverse. More specifically, the fully automatic pick-and-place device for drone batteries also includes a control module, which can be a PLC programmable controller, etc., which is electrically connected to the driving mechanism 21 to control the action of the driving mechanism 21.

[0053] The following is a further explanation of the fully automatic battery picking and placing device for drones provided in the embodiment of the present application: The fully automatic battery picking and placing device for drones provided in the embodiment of the present application, since a snap-in mechanism 13 connected to the battery body 12 is provided at the through hole of the outer shell 11 of the battery device 10, and the snap-in member 131 of the snap-in mechanism 13 is snap-fitted with the snap interface 111 on the outer shell 11 to ensure that the battery body 12 can be stably arranged in the outer shell 11, thereby realizing the locking of the battery body 12 in the outer shell 11. When the battery body 12 needs to be extracted from the outer shell 11, the driving mechanism 21 of the pick-and-place device 20 drives the hook member 22 to extend into the outer shell 11 of the battery device 10. After the hook member 22 extends into the outer shell 11, it can drive the card connector 131 and the card interface 111 to disengage from contact under the drive of the driving mechanism 21, thereby releasing the locking relationship between the battery body 12 and the outer shell 11, and pulling the battery body 12 out of the outer shell 11, thereby realizing the extraction of the battery body 12. When the battery body 12 needs to be put back into the outer shell 11, it is only necessary to repeat the above process in reverse, so that the pick-and-place process of the battery body 12 relative to the outer shell 11 can be completed quickly and efficiently. When the fully automatic pick-and-place device for drone batteries is applied to drones, it also significantly improves the efficiency of the drone's battery pick-and-place process.

[0054] In other embodiments of the present application, Figures 4 to 6 As shown, the clamping mechanism 13 also includes a fixing plate 132 and at least one toggle lever 133, and the fixing plate 132 is connected to the battery body 12, wherein the fixing plate 132 can be directly connected to the battery body 12, or indirectly connected to the battery body 12 through other connecting parts.

[0055] Specifically, the clamping member 131 is slidably disposed on the fixed plate 132 , wherein the clamping member 131 can be slidably disposed on the fixed plate 132 by means of a slide rail or the like, or the clamping member 131 can be clamped by other objects so that the clamping member 131 can slide on the fixed plate 132 .

[0056] A through hole 134 is provided on the fixed plate 132 for the hook member 22 to pass through. The toggle lever 133 is rotatably set on the fixed plate 132. The hook member 22 passes through the through hole 134 under the drive of the driving mechanism 21 and pushes the toggle lever 133 to rotate. When the toggle lever 133 rotates, it drives the clamping member 131 to slide along the fixed plate 132, so that the clamping member 131 is clamped or disengaged from the corresponding card interface 111.

[0057] Specifically, when the driving mechanism 21 drives the hook member 22 to extend into the outer shell 11, the hook member 22 first passes through the through hole 134 provided on the fixing plate 132, and then the hook member 22 rotates 90 degrees and pushes the toggle lever 133 provided on the fixing plate 132 to rotate, and when the toggle lever 133 rotates, it can drive the clamping member 131 to slide along the fixing plate 132, thereby realizing the clamping or disengagement of the clamping member 131 from the corresponding clamp interface 111. In this way, the driving mechanism 21 only needs to feed and rotate to complete the placement of the battery body 12 relative to the outer shell 11, which significantly simplifies the complexity of the action of the driving mechanism 21, thereby significantly improving the placement efficiency of the battery body 12 relative to the outer shell 11.

[0058] Optionally, the toggle lever 133 can be transmission connected to the snap-in component 131 or a part of it can be passed through the snap-in component 131 or be integrally formed with the snap-in component 131, so that the toggle lever 133 drives the snap-in component 131 to move together when it rotates, and the sliding direction of the snap-in component 131 along the fixed plate 132 and the movement direction of the snap-in component 131 to engage or disengage from the corresponding card interface 111 are consistent, so as to ensure that the toggle lever 133 can smoothly drive the snap-in component 131 to engage or disengage from the corresponding card interface 111 during the rotation process.

[0059] Optionally, the clamping mechanism 13 further includes a limit baffle 19, which is disposed on a side of the fixing plate 132 away from the driving mechanism 21 and separates the battery body 12 from the clamping mechanism 13. In this way, after the hook member 22 passes through the through hole 134, it will touch the limit baffle 19, thereby preventing the hook member 22 from touching the battery body 12.

[0060] In other embodiments of the present application, Figure 6 and Figure 7 As shown, as a specific layout form of the clamping mechanism 13, the number of the clamping members 131 and the number of the toggle levers 133 are both four, and the clamping members 131 are arranged on both sides of the fixing plate 132 in pairs and slide back to back, so that the four clamping members 131 and the card interface 111 are clamped and matched, which further improves the stability of the battery body 12 arranged in the outer shell 11. Of course, the number of the clamping members 131 and the number of the toggle levers 133 can also be set to one or two for the consideration of saving costs and reducing the complexity of the clamping structure.

[0061] The clamping mechanism 13 further includes two elastic components 14, which are arranged between two clamping members 131 arranged in opposite directions, and each toggle lever 133 is arranged around the outer periphery of the through hole and is respectively arranged corresponding to each clamping member 131. In this way, when the hook member 22 rotates, each toggle lever 133 can be pushed to rotate at the same time, thereby realizing the simultaneous action of each clamping member 131.

[0062] Specifically, by providing the elastic component 14, when the battery body 12 is disposed in the outer shell 11, the elastic component 14 can apply elastic force to the two back-to-back clamping members 131, thereby enabling the clamping members 131 to stably engage with the clamp interface 111, so as to further improve the stability of the battery body 12 in the outer shell 11. By making the two back-to-back clamping members 131 share one elastic component 14, the elastic support function of the two clamping members 131 is achieved through one elastic component 14, and there is no need to equip each clamping member 131 with an elastic component 14, thereby significantly saving the process cost of implementing the clamping structure.

[0063] In other embodiments of the present application, Figures 4 to 6 As shown, the elastic component 14 includes a guide shaft 141 and a spring 142 sleeved on the guide shaft 141, and both ends of the guide shaft 141 and the spring 142 are respectively inserted into the corresponding two clamping members 131. Specifically, by providing the guide shaft 141 and sleeved on the guide shaft 141, the spring 142 can realize elastic support for the two clamping members 131, and by sleeved on the guide shaft 141, the spring 142 is prevented from bending as a whole when applying elastic force to the clamping members 131, thereby ensuring that the spring 142 can provide stable elastic support for the two clamping members 131.

[0064] In other embodiments of the present application, Figure 5 As shown, each clip 131 includes a connecting rod segment 135 slidably set on the fixed plate 132 and a buckle 136 set on the connecting rod segment 135. The buckle 136 is snap-fitted with the corresponding card interface 111. The end of the connecting rod segment 135 away from the buckle 136 is provided with an accommodating hole 137 along its axial direction for accommodating the corresponding guide shaft 141 and the spring 142.

[0065] Specifically, in the two back-to-back clamps 131, the two buckles 136 are arranged back-to-back. This is equivalent to the case where there are four clamps 131, and four buckles 136 can be respectively clamped on the corresponding clamping interfaces 111 on the opposite side walls of the outer shell 11, thereby further improving the assembly stability of the battery body 12 and the outer shell 11. By providing a connecting rod segment 135 and opening a receiving hole 137 in the axial direction of the connecting rod segment 135, the corresponding ends of the guide shaft 141 and the spring 142 can be inserted into the receiving hole 137 to achieve stable cooperation with the connecting rod segment 135.

[0066] In other embodiments of the present application, Figure 5As shown, a matching notch 138 is provided on the connecting rod segment 135, and one end of the toggle lever 133 passes through the matching notch 138. Specifically, as a matching mode between the toggle lever 133 and the clamping member 131, one end of the toggle lever 133 can pass through the matching notch 138 provided on the connecting rod segment 135, so that when the toggle lever 133 rotates, it can drive the connecting rod segment 135 to move, so that the connecting rod segment 135 slides along the fixing plate 132, and then the snap 136 and the clamping interface 111 are connected or disconnected, so that on the one hand, the snap 136 and the clamping interface 111 are connected or disconnected, and on the other hand, the structural complexity of the connecting rod segment 135 and the toggle lever 133 is reduced, thereby reducing the overall manufacturing difficulty and cost of the clamping mechanism 13.

[0067] Optionally, as another matching mode of the toggle lever 133 and the snap-in component 131, the toggle lever 133 can be hingedly connected to the snap-in component 131 through an articulated mechanism such as a hinge, so that when the toggle lever 133 rotates, the connecting rod segment 135 can be driven to move through the articulated mechanism, and the articulated connection improves the connection stability between the toggle lever 133 and the connecting rod segment 135, and can also ensure the connection stability between the toggle lever 133 and the connecting rod segment 135 in a vibration environment.

[0068] In other embodiments of the present application, Figure 1 , Figure 2 and Figure 8 As shown, the driving mechanism 21 includes a manipulator, a fixing frame 211 and a driving motor 212. The fixing frame 211 is arranged on the manipulator, and the driving motor 212 is arranged on the fixing frame 211. The hook member 22 is connected to the driving shaft of the driving motor 212. The manipulator is used to drive the fixing frame 211 to move toward or away from the fixing plate 132, and is used to drive the hook member 22 to pass through the through hole 134. The driving motor 212 is used to drive the hook member 22 to rotate after passing through the through hole 134, so that the hook member 22 pushes the toggle lever 133 to rotate. After rotating, the hook member 22 is misaligned with the through hole 134 to abut against the side of the fixing plate 132 away from the fixing frame 211.

[0069] Specifically, taking the fully automatic extraction of the battery body 12 of the drone battery as an example, when it is sensed that the drone needs to replace the battery when returning, when the driving mechanism 21 is working, its manipulator can first drive the fixing frame 211 to move toward the fixing plate 132, and then drive the driving motor 212 and the hook member 22 to move toward the fixing plate 132, so that the hook member 22 passes through the through hole 134 and enters the outer shell 11. At this time, the driving motor 212 is activated to drive the hook member 22 to rotate. During the rotation process, the toggle lever 133 is pushed to move upward. Driven by the toggle lever 133, the clamping member 131 moves downward, so that the clamping member 131 is separated from the corresponding clamp interface 111, and the hook member 22 will be misaligned with the through hole 134 during the rotation process, and then its partial structure can be in contact with the side of the fixing plate 132 away from the fixing frame 211, so as to hook the fixing plate 132. At this time, the manipulator moves in the direction away from the fixing plate 132, and then the battery body 12 can be pulled away from the outer shell 11.

[0070] Alternatively, if Figure 8 and Fig. 9 As shown, the driving mechanism 21 also includes a coupling 18 and a connecting shaft 26. The connecting shaft 26 is connected to the driving shaft of the driving motor 212 through the coupling 18, and the hook member 22 is installed on the connecting shaft 26. The hook member 22 is provided with an assembly hole 24 for matching with the connecting shaft 26, and the hook member 22 is provided with an adjustment slot 23 that penetrates along its height direction, and the adjustment slot 23 extends from one side of the length direction of the hook member 22 to the assembly hole 24 and is connected to the assembly hole 24. In this way, the parts of the hanging member located on the opposite sides of the adjustment slot 23 are penetrated with locking holes 25. After the hanging member is connected to the connecting shaft 26, the locking bolts are penetrated through the locking holes 25 to compress the slot width of the adjustment slot 23, thereby compressing the aperture of the assembly hole 24, and thereby firmly limiting the connecting shaft 26 in the assembly hole 24.

[0071] In other embodiments of the present application, Figure 1 , Figure 2 and Figure 8 As shown, the driving mechanism 21 also includes an elastic limiting probe 213, which is arranged on the side of the fixing frame 211 facing the fixing plate 132, and is used to abut against the side of the fixing plate 132 facing the fixing frame 211 when the hook member 22 abuts against the side of the fixing plate 132 away from the fixing frame 211.

[0072] Specifically, by providing the elastic limiting probe 213, it is achieved that during the process of taking and placing the battery body 12, the two sides of the fixing plate 132 are subjected to force, thereby improving the coordination stability between the fixing plate 132 and the hook member 22, and further ensuring the smooth process of taking and placing the battery body 12. At the same time, the presence of the elastic limiting probe 213 can also play a further limiting role, making the process of taking and placing the battery body 12 more stable.

[0073] Optionally, the number of elastic limit probes 213 can be two, and the two elastic limit probes 213 can be symmetrically arranged at the opposite ends of the side of the fixing frame 211 facing the fixing plate 132 relative to the hook member 22. In this way, when the elastic limit probe 213 and the hook member 22 are matched with the fixing plate 132, the two sides of the fixing plate 132 can achieve three-point force, thereby ensuring the force symmetry of the fixing plate 132, thereby ensuring the matching stability and further limiting of the hanging member and the fixing plate 132.

[0074] Optionally, the fixing frame 211 is composed of two side plates 217, a first assembly plate 218 and a second assembly plate 219, the first assembly plate 218 and the second assembly plate 219 are arranged between the two side plates 217, the driving motor 212 is arranged on the side of the second assembly plate 219 away from the first assembly plate 218, the driving shaft of the driving motor 212 passes through the second assembly plate 219 and extends into the area between the first assembly plate 218 and the second assembly plate 219, and is connected to the coupling 18, and the main body of the elastic limit probe 213 can also be arranged in the area between the first assembly plate 218 and the second assembly plate 219, so that the space in the fixing frame 211 is fully utilized, thereby making the structural layout of the driving mechanism 21 reasonable. Its end portion extends out of the first assembly plate 218 and is used to abut against the fixing plate 132, so that when the manipulator moves toward the battery body 12, its end portion can abut against the fixing plate 132 to play a further limiting buffering role.

[0075] In other embodiments of the present application, Fig.10 As shown, the elastic limit probe 213 includes a driving cylinder 214 and an elastic abutment 215. The driving cylinder 214 is arranged in the fixed frame 211, and the elastic abutment 215 is arranged on the piston rod of the driving cylinder 214 and corresponds to the fixed plate 132. The driving cylinder 214 is used to drive the elastic abutment 215 to abut the side of the fixed plate 132 facing the fixed frame 211 when the hook member 22 abuts against the side of the fixed plate 132 away from the fixed frame 211.

[0076] Specifically, by setting the driving cylinder 214, the driving cylinder 214 can drive the elastic abutment 215 to feed forward so that it abuts against the fixed plate 132. Since the driving cylinder 214 can control the feeding amount of the elastic abutment 215, it is also possible to adjust the magnitude of the elastic force applied by the elastic abutment 215 to the fixed plate 132, thereby adjusting the magnitude of the force on the fixed plate 132. In particular, when the battery body 12 is taken from top to bottom, the driving cylinder 214 can drive the elastic abutment 215 to firmly support and abut against the fixed plate 132, thereby ensuring the force balance state of the fixed plate 132, preventing the fixed plate 132 from shaking relative to the hook member 22 under the action of gravity, thereby ensuring the smooth process of taking and placing the battery body 12 from top to bottom.

[0077] In other embodiments of the present application, Figure 8 As shown, the driving mechanism 21 also includes a positioning probe 216, a first end of the positioning probe 216 is fixed on the fixing frame 211, and the relative second end of the positioning probe 216 is used to pass through the fixing plate 132 and be inserted into the battery body 12 when the manipulator drives the fixing frame 211 and the driving motor 212 to move toward the fixing plate 132.

[0078] Specifically, by providing the positioning probe 216, when the fixing frame 211 moves toward the fixing plate 132, the positioning probe 216 can be inserted into the battery body 12, thereby providing a guide for the movement of the fixing frame 211 and the hanging member, so that the alignment of the hook member 22 and the through hole 134 is more accurate.

[0079] Optionally, there are two positioning probes 216, and the two positioning probes 216 are respectively arranged at opposite ends of the side of the fixing frame 211 facing the fixing plate 132, so that the two positioning probes 216 achieve double guide positioning, thereby further improving the alignment accuracy of the hook member 22 and the through hole 134.

[0080] In other embodiments of the present application, Figure 2 and Figure 4As shown, the battery body 12 includes a main housing 121, a battery module 122 and a positioning block 123. The main housing 121 is composed of a lower housing 126 and a cover 125 covered on the lower housing 126. The battery module 122 and the positioning block 123 are both arranged in the main housing 121. The positioning block 123 and the positioning probe 216 are arranged correspondingly. The positioning block 123 is provided with a first positioning hole 124. The fixing plate 132 is provided with a second positioning hole 139 at a position corresponding to the first positioning hole 124. When the manipulator drives the fixing frame 211 and the driving motor 212 to move toward the fixing plate 132, the positioning probe 216 passes through the second positioning hole 139 and is inserted into the first positioning hole 124, thereby realizing the insertion and matching with the battery body 12. The second positioning hole 139 can be a tapered hole, which can increase the allowable range of the radial position error of the positioning probe 216 when it is aligned with the second positioning hole 139, thereby ensuring that the positioning probe 216 can accurately pass through the second positioning hole 139. At the same time, the fixing plate 132 can also be connected to the battery body 12 by connecting to the positioning block 123 .

[0081] Optionally, a guide block 127 is further provided at the position of the fixing plate 132 corresponding to the positioning block 123. The guide block 127 is connected to the positioning block 123. A guide hole 128 corresponding to the second positioning hole 139 and the first positioning hole 124 is opened on the guide block 127. The positioning probe 216 passes through the second positioning hole 139 and the guide hole 128 and is inserted into the first positioning hole 124. This further improves the accuracy and reliability of the insertion and matching process of the positioning probe 216 and the battery body 12.

[0082] In other embodiments of the present application, Figure 8 As shown, the driving mechanism 21 also includes a first monitoring module 16 electrically connected to the control module, and the first monitoring module 16 includes two first sensors 161 and two triggering pieces 162. The two first sensors 161 are fixed in the fixing frame 211, and the two triggering pieces 162 are connected to the driving shaft of the driving motor 212 and can rotate along with the driving shaft of the driving motor 212. The pointing positions of the two triggering pieces 162 and the two first sensors 161 when triggered correspond to the rotational position of the hook member 22 when the hanging member and the toggle lever 133 are in place, and the rotational position of the hook member 22 when it is not in cooperation with the toggle lever 133. In this way, by obtaining the trigger signal sent back by the two triggering pieces 162, the control module can know the working state of the hook member 22, and thus control the driving motor 212 or the manipulator to perform the next action according to the working state.

[0083] In other embodiments of the present application, Figure 8As shown, the driving mechanism 21 also includes a second monitoring module 17 electrically connected to the control module, and the second monitoring module 17 includes a trigger rod 171 and a second sensor 172. The trigger rod 171 is slidably arranged in the fixing frame 211 along the movement direction of the fixing frame 211, and the first end of the trigger rod 171 extends out of the fixing frame 211 toward the side of the fixing plate 132 and is kept flush with the end of the elastic abutment 215. The second sensor 172 is arranged in the fixing frame 211 and is in contact with the second end of the trigger rod 171 along the movement direction of the fixing frame 211. The two ends of the trigger rod 171 are arranged adjacent to each other, so that when the elastic abutment 215 abuts against the fixed plate 132, the first end of the trigger rod 171 will also abut against the fixed plate 132, thereby driving the trigger rod 171 as a whole to move relative to the fixing frame 211 in a direction away from the fixed plate 132, so that the second end of the trigger rod 171 will trigger the second sensor 172, and then the control module can know that the elastic abutment 215 abuts against the fixed plate 132 according to the signal sent back by the second sensor 172, and then control the manipulator and the drive motor 212 to further move according to the above information.

[0084] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A fully automatic battery pick-up and placement device for drones, characterized by: The invention comprises a battery device, a pick-and-place device and a connector, wherein the battery device comprises an outer shell, a battery main body and a snap-on mechanism, wherein the battery main body is arranged in the outer shell, the snap-on mechanism is connected to the battery main body, the snap-on mechanism comprises at least one snap-on component, and the outer shell is provided with at least one snap-on interface for snap-on cooperation with the corresponding snap-on component at a position corresponding to the snap-on component, the pick-and-place device comprises a driving mechanism and a hook component arranged on a driving end of the driving mechanism, the hook component is used to extend into the outer shell under the drive of the driving mechanism, drive the snap-on component to snap-on cooperation with the corresponding snap-on interface or to disengage contact, and pull the battery main body away from or put it back into the outer shell; wherein the connector comprises a male seat arranged in the outer shell and a female seat arranged on the battery main body for plugging and cooperating with the male seat; The clamping mechanism further includes a fixing plate and at least one toggle lever, the fixing plate is connected to the battery body, the clamping member is slidably arranged on the fixing plate, the fixing plate is provided with a through hole for the hook member to pass through, the toggle lever is rotatably arranged on the fixing plate, the hook member is used to pass through the through hole and push the toggle lever to rotate under the drive of the driving mechanism, and the toggle lever drives the clamping member to slide along the fixing plate when rotating, so that the clamping member is engaged with or disengaged from the corresponding card interface; The clamping mechanism also includes two elastic components. The number of the clamping parts and the number of the toggle levers are both four. The clamping parts are slidably arranged on both sides of the fixed plate in pairs in back-to-back directions. The elastic component is arranged between the two clamping parts arranged in back-to-back directions. Each toggle lever is arranged around the outer periphery of the through hole and is respectively arranged corresponding to each of the clamping parts.

2. The fully automatic battery pick-and-place device for drones according to claim 1 is characterized by: The elastic component comprises a guide shaft and a spring sleeved on the guide shaft, and both ends of the guide shaft and the spring are respectively inserted into the two corresponding clamping parts.

3. The fully automatic battery pick-up and placement device for drones according to claim 2 is characterized by: Each of the clamping parts includes a connecting rod section slidably set on the fixed plate and a buckle set on the connecting rod section, the buckle and the corresponding card interface are snap-fitted together, and an accommodating hole for accommodating the corresponding guide shaft and the spring is opened along the axial direction at one end of the connecting rod section away from the buckle.

4. The fully automatic battery pick-and-place device for drones according to claim 2 or 3, characterized in that: The driving mechanism includes a manipulator, a fixing frame and a driving motor, the fixing frame is arranged on the manipulator, the driving motor is arranged on the fixing frame, the hook member is connected to the driving shaft of the driving motor, the manipulator is used to drive the fixing frame to move toward or away from the fixing plate, and is used to drive the hook member to pass through the through hole, the driving motor is used to drive the hook member to rotate after passing through the through hole, so that the hook member pushes the toggle lever to rotate, and the hook member is staggered from the through hole after rotation to abut against the side of the fixing plate away from the fixing frame.

5. The fully automatic battery pick-up and placement device for drones according to claim 4 is characterized by: The driving mechanism further comprises an elastic limiting probe, which is arranged on a side of the fixing frame facing the fixing plate and is used to abut against a side of the fixing plate facing the fixing frame when the hook member abuts against a side of the fixing plate away from the fixing frame.

6. The fully automatic battery pick-and-place device for drones according to claim 5 is characterized by: The elastic limiting probe includes a driving cylinder and an elastic abutment joint, wherein the driving cylinder is arranged in the fixing frame, and the elastic abutment joint is arranged on the piston rod of the driving cylinder and corresponds to the fixing plate. The driving cylinder is used for driving the elastic abutment joint to abut against a side of the fixing plate facing the fixing frame when the hook member abuts against a side of the fixing plate away from the fixing frame.

7. The fully automatic battery pick-and-place device for drones according to claim 4 is characterized by: The driving mechanism also includes a positioning probe, a first end of which is fixed to the fixing frame, and a second end of which is used to pass through the fixing plate and be inserted into the battery body when the manipulator drives the fixing frame and the driving motor to move toward the fixing plate.

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