Automatic battery replacement device

Abstract

The present invention discloses an automatic battery replacement device, which relates to the technical field of unmanned aerial vehicles. The automatic battery replacement device includes a mechanical arm, which is used to automatically replace the battery of the unmanned aerial vehicle, and the mechanical arm includes a bottom plate, a switch mechanism, a battery knob rotating mechanism and a clamping mechanism. The switch mechanism, the battery knob rotating mechanism and the clamping mechanism are all slidably arranged on the bottom plate; the unmanned aerial vehicle is provided with a switch button, and the switch mechanism is used to press the switch button to turn the unmanned aerial vehicle on or off; the unmanned aerial vehicle is provided with a fixed knob for fixing the battery, and the battery knob rotating mechanism is used to rotate the fixed knob to unlock or lock the battery; the clamping mechanism can clamp the battery to pull the battery out of the unmanned aerial vehicle or transport it into the unmanned aerial vehicle. The automatic battery replacement device realizes high automation, reduces the labor intensity of the staff, and improves the efficiency of replacing batteries.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to an automatic battery replacement device. Background Art

[0002] In a fully automatic drone use system, in order to ensure the long-term endurance of the drone, the drone's battery needs to be replaced.

[0003] In the prior art, when the battery of a drone is automatically replaced, the drone needs to be turned on and off manually. There is a fixed knob on the drone to fix the battery. When replacing the battery, the fixed knob needs to be rotated to the vertical direction to unlock the battery. After the battery is installed, the fixed knob is rotated to the horizontal direction to lock the battery to prevent the battery from falling. Finally, the drone is turned on manually to allow the drone to continue working. Since the drone battery has a very short working time, it needs to be replaced frequently. The manual turning on and off and rotating the fixed knob in the prior art increases the labor intensity of the staff and has a low degree of automation, resulting in low efficiency in battery replacement. Summary of the invention

[0004] The object of the present invention is to provide an automatic battery replacement device to achieve high automation of battery replacement and improve battery replacement efficiency.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A battery automatic replacement device, comprising a mechanical arm, wherein the mechanical arm is used to automatically replace the battery of a drone, wherein the mechanical arm comprises:

[0007] Base plate;

[0008] A switch mechanism, a battery knob rotating mechanism and a clamping mechanism, wherein the switch mechanism, the battery knob rotating mechanism and the clamping mechanism are all slidably disposed on the bottom plate;

[0009] The drone is provided with a power button, and the power mechanism is used to press the power button to turn the drone on or off;

[0010] The drone is provided with a fixing knob for fixing the battery, and the battery knob rotating mechanism is used to rotate the fixing knob to unlock or lock the battery;

[0011] The clamping mechanism can clamp the battery so as to remove the battery from the drone or transport the battery into the drone.

[0012] Optionally, the base plate includes a first base plate and a second base plate, the second base plate is slidably connected to the first base plate, and the power on / off mechanism, the battery knob rotating mechanism and the clamping mechanism are all arranged on the second base plate.

[0013] Optionally, the power on / off mechanism includes a first driving component, a rotating arm and a pressing block, one end of the rotating arm is rotatably connected to the first driving component, and the other end of the rotating arm is connected to the pressing block, and the first driving component drives the rotating arm to rotate so that the pressing block presses the power on / off button.

[0014] Optionally, the power on / off mechanism further includes a first sensor, which is disposed on one side of the rotating arm and is used to detect whether the rotating arm is rotated into place.

[0015] Optionally, the battery knob rotation mechanism includes a second driving component and a rotating shaft, one end of the rotating shaft is rotatably connected to the second driving component, and the other end of the rotating shaft is provided with a rotating portion, and the rotating portion is cooperatively connected with the end face of the fixed knob, so that the second driving component drives the fixed knob to rotate via the rotating shaft.

[0016] Optionally, the battery knob rotation mechanism further includes at least one second sensor and at least one signal disk, the signal disk is fixedly connected to the rotating shaft, the second sensor is arranged on one side of the rotating shaft, and the second sensor detects the rotation position of the rotating shaft through the signal disk.

[0017] Optionally, the clamping mechanism includes a push block, a hook and a first mounting seat, the push block is arranged on the end surface of the first mounting seat, the hook is arranged on the side surface of the first mounting seat, and the hook is rotatably connected to the first mounting seat.

[0018] Optionally, the clamping mechanism also includes a hook switch assembly, the hook switch assembly includes an inclined slide groove, the inclined slide groove is slidably arranged on the second base plate, and a first connecting member is arranged in the inclined slide groove, the first connecting member is fixedly connected to the non-hook end of the hook, and a rotating shaft is arranged between the hook end and the non-hook end of the hook, and the hook is rotatably connected to the first mounting seat via the rotating shaft.

[0019] Optionally, the first connecting member includes a roller, a first connecting column and a fastening nut, the roller is arranged in the inclined slide groove and is rollingly connected to the inclined slide groove, one end of the first connecting column is arranged in the roller, and the other end of the first connecting column is provided with a fastening nut, and the non-hook end of the hook is connected between the roller and the fastening nut.

[0020] Optionally, there are two clamping mechanisms for clamping two batteries, and two side plates and a middle plate are provided on the bottom plate, and the two batteries can be located between the side plates and the middle plate respectively;

[0021] The side plate includes a fixed baffle and a floating baffle, and the floating baffle is arranged on the inner side of the fixed baffle through an elastic member.

[0022] The present invention has at least the following beneficial effects:

[0023] 1) The automatic battery replacement device provided by the present invention slides the power on / off mechanism, the battery knob rotating mechanism and the clamping mechanism on the bottom plate, so that after the mechanical arm is docked with the battery compartment of the drone, the power on / off mechanism can be moved to a position corresponding to the power on / off button of the drone, and the power on / off button can be pressed to turn the drone on or off. The battery knob rotating mechanism moves to a position corresponding to the fixed knob of the drone, and the fixed knob is rotated to unlock or lock the battery. The automatic battery replacement device achieves high automation, reduces the labor intensity of the staff, and improves the efficiency of battery replacement.

[0024] 2) By setting a hook switch assembly, the hook can be rotatably connected relative to the first mounting seat. When the clamping mechanism extends into the battery compartment of the drone, one end of the battery abuts against the push block, the hook rotates to hook the other end of the battery, and then the battery is pulled out of the battery compartment; when the pulled out battery moves to the empty battery placement position, the hook rotates to open, and the push block pushes the battery to the empty battery placement position.

[0025] 3) The automatic battery replacement device provided by the present invention is provided with two clamping mechanisms to replace two batteries in the drone at the same time. Two side panels and a middle panel are provided on the bottom panel. The side panels include a fixed baffle and a floating baffle. The floating baffle can abut the inner side of the battery against the middle panel to prevent the battery from shaking left and right. In addition, after the battery has been used for a period of time, bulges will appear on both sides, and the floating baffle can accommodate the increase in width caused by such bulges. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic diagram of the structure of a drone provided by an embodiment of the present invention;

[0027] Figure 2 is a schematic structural diagram of an automatic battery replacement device provided by an embodiment of the present invention;

[0028] Figure 3 is a schematic diagram of the structure of a mechanical arm from a first perspective provided by an embodiment of the present invention;

[0029] Figure 4 is a structural schematic diagram of a power on / off mechanism provided by an embodiment of the present invention;

[0030] Figure 5 is a structural schematic diagram of a battery knob rotating mechanism provided by an embodiment of the present invention;

[0031] Figure 6 is a schematic diagram of the structure of the mechanical arm provided by an embodiment of the present invention from a second viewing angle;

[0032] Figure 7 is a schematic structural diagram of a first connecting member provided in an embodiment of the present invention;

[0033] Figure 8 It is a schematic diagram of the alignment structure of a robotic arm and a drone provided in an embodiment of the present invention.

[0034] In the figure:

[0035] 100. Drones;

[0036] 101. Battery compartment; 102. Battery; 103. Fixing knob; 104. Power on / off button;

[0037] 1. Bottom plate; 2. Power on / off mechanism; 3. Battery knob rotating mechanism; 4. Clamping mechanism; 5. Horizontal moving mechanism; 6. Vertical moving mechanism; 7. First connecting plate;

[0038] 11. First base plate; 12. Second base plate; 21. First driving component; 22. Rotating arm; 23. Pressing block; 24. First sensor; 25. Buffer spring; 26. Limiting block; 27. Second bracket; 31. Second driving component; 32. Rotating shaft; 33. Second sensor; 34. Signal disk; 35. Third bracket; 41. Pushing block; 42. Hook; 43. First mounting seat; 44. Hook switch assembly; 45. First fixing seat;

[0039] 111, side plate; 112, middle plate; 113, first bracket; 114, right-angled triangle baffle; 121, third driving component; 351, third connecting plate; 352, fourth connecting plate; 441, inclined slide; 442, second connecting member; 443, first connecting member; 444, rotating shaft; 445, fourth driving component;

[0040] 4431, roller; 4432, first connecting column; 4433, fastening nut. DETAILED DESCRIPTION

[0041] Embodiments of the present invention are described in detail below, examples of which 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. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0042] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.

[0043] Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection or a detachable 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 the present invention can be understood according to specific circumstances.

[0044] Unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in contact with the second feature through another feature between them instead of being in direct contact. Moreover, a first feature being "above", "above" and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0045] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0046] like Figure 1 As shown, when the drone 100 replaces the battery 102, it lands on the drone landing platform. The battery compartment 101 of the drone 100 is open on both sides. Two batteries 102 are arranged in the battery compartment 101. A fixing knob 103 for fixing the battery 102 is arranged at the front end of the battery compartment 101. The fixing knob 103 is rotated to the horizontal direction to lock the two batteries 102 to prevent the batteries 102 from falling. When the battery 102 needs to be replaced, the fixing knob 103 needs to be rotated to the vertical direction to unlock the two batteries 102. The top of the battery compartment 101 is provided with a power button 104 of the drone 100.

[0047] like Figure 2 and Figure 3 As shown, this embodiment provides an automatic battery replacement device, including a mechanical arm, which is used to automatically replace the battery 102 of the drone 100, and the mechanical arm includes a bottom plate 1, a switch mechanism 2, a battery knob rotating mechanism 3 and a clamping mechanism 4. The switch mechanism 2, the battery knob rotating mechanism 3 and the clamping mechanism 4 are all slidably arranged on the bottom plate 1; the drone 100 is provided with a switch button 104, and the switch mechanism 2 is used to press the switch button 104 to turn on or off the drone 100; the drone 100 is provided with a fixed knob 103 for fixing the battery 102, and the battery knob rotating mechanism 3 is used to rotate the fixed knob 103 to unlock or lock the battery 102; the clamping mechanism 4 can clamp the battery 102 to pull the battery 102 out of the drone 100 or transport it into the drone 100.

[0048] The battery automatic replacement device provided in this embodiment slides the power on / off mechanism 2, the battery knob rotating mechanism 3 and the clamping mechanism 4 on the bottom plate 1, so that after the mechanical arm is docked with the battery compartment 101 of the drone 100, the power on / off mechanism 2 can be moved to a position corresponding to the power on / off button 104 of the drone 100, and the power on / off button 104 is pressed to turn the drone 100 on or off. The battery knob rotating mechanism 3 moves to a position corresponding to the fixed knob 103 of the drone 100, and the fixed knob 103 is rotated to unlock or lock the battery 102. The high automation of the battery automatic replacement device is achieved, the labor intensity of the staff is reduced, and the efficiency of replacing the battery 102 is improved.

[0049] In this embodiment, if Figure 2 As shown, the automatic battery replacement device also includes a horizontal moving mechanism 5 and a vertical moving mechanism 6, and the horizontal moving mechanism 5 and the vertical moving mechanism 6 are arranged on the UAV landing platform. The mechanical arm is arranged on the vertical moving mechanism 6 and is slidably connected to the vertical moving mechanism 6; the vertical moving mechanism 6 is arranged on the horizontal moving mechanism 5 and is slidably connected to the horizontal moving mechanism 5. The mechanical arm and the vertical moving mechanism 6, and the vertical moving mechanism 6 and the horizontal moving mechanism 5 are all slidably connected through slide rails and sliders. In this embodiment, a first connecting plate 7 is provided on one side of the base plate 1, and the base plate 1 is slidably connected to the vertical moving mechanism 6 through the first connecting plate 7. The horizontal moving mechanism 5 and the vertical moving mechanism 6 drive the mechanical arm to move in the horizontal direction and the vertical direction, so that the mechanical arm is aligned with the battery compartment 101 of the UAV 100 landed on the UAV landing platform.

[0050] Alternatively, if Figure 3As shown, the bottom plate 1 includes a first bottom plate 11 and a second bottom plate 12, the second bottom plate 12 is slidably connected to the first bottom plate 11, and the power on / off mechanism 2, the battery knob rotating mechanism 3 and the clamping mechanism 4 are all arranged on the second bottom plate 12. In this embodiment, the first bottom plate 11 and the second bottom plate 12 are slidably connected through a slide rail and a slider, the first bottom plate 11 is provided with a slide rail, the second bottom plate 12 is provided with a slider, the first bottom plate 11 is provided with an open slot, and a third driving component 121 is provided below the first bottom plate 11. The third driving component 121 includes a third motor, a lead screw and a lead screw nut, one end of the lead screw nut is fixedly connected to a second connecting plate, the second connecting plate passes through the open slot and is fixedly connected to the second bottom plate 12, and the third motor drives the second bottom plate 12 to slide on the first bottom plate 11 through the second connecting plate to move the power on / off mechanism 2, the battery knob rotating mechanism 3 and the clamping mechanism 4 to corresponding positions.

[0051] Alternatively, if Figure 2 and Figure 3 As shown, there are two clamping mechanisms 4 for clamping two batteries 102. Two side plates 111 and a middle plate 112 are provided on the bottom plate 1. The two batteries 102 can be located between the side plates 111 and the middle plate 112 respectively. The side plates 111 include a fixed baffle and a floating baffle, and the floating baffle is arranged on the inner side of the fixed baffle through an elastic member. In this embodiment, the battery knob rotating mechanism 3 is arranged in the middle position of the second bottom plate 12, corresponding to the battery 102 fixing knob 103 at the front end of the battery compartment 101 of the drone 100. The two clamping mechanisms 4 are respectively arranged on both sides of the battery knob rotating mechanism 3 for clamping the two batteries 102. A first bracket 113 is provided in the middle of the second bottom plate 12, and the height of the first bracket 113 is higher than the height of the top of the battery compartment 101. The switch mechanism 2 is arranged on the first bracket 113 so that the switch mechanism 2 can press the drone switch button 104 located at the top of the battery compartment 101. The side plate 111 and the middle plate 112 are arranged at one end of the first bottom plate 11 close to the battery compartment 101, and are used to clamp the battery 102 pulled out of the battery compartment 101 to prevent it from falling when the battery automatic replacement device transports the battery 102 to the empty battery placement area. The floating baffle is connected to the inner side of the fixed baffle by a spring to adapt to the increase in the width of the swollen battery 102. Right-angled triangular baffles 114 are also arranged on both sides of the end of the first bottom plate 11 away from the battery compartment 101. One of the right-angled sides of the right-angled triangular baffle 114 is fixedly connected to the first connecting plate 7, and the other right-angled side is fixedly connected to the first bottom plate 11.

[0052] The automatic battery replacement device provided in this embodiment is provided with two clamping mechanisms 4, and two batteries 102 in the drone 100 are replaced at the same time. Two side panels 111 and a middle panel 112 are provided on the bottom panel 1. The side panels 111 include a fixed baffle and a floating baffle. The floating baffle can abut the inner side of the battery 102 against the middle panel 112 to prevent the battery 102 from shaking left and right. In addition, after the battery 102 has been used for a period of time, bulges will appear on both sides, and the floating baffle can accommodate the increase in width caused by such bulges.

[0053] Alternatively, if Figure 4 As shown, the switch mechanism 2 includes a first driving component 21, a rotating arm 22, a pressing block 23 and a first sensor 24. One end of the rotating arm 22 is rotatably connected to the first driving component 21, and the other end of the rotating arm 22 is connected to the pressing block 23. The first driving component 21 drives the rotating arm 22 to rotate so that the pressing block 23 presses the switch button 104. The first sensor 24 is arranged on one side of the rotating arm 22, and is used to detect whether the rotating arm 22 is rotated into place. In this embodiment, the first driving component 21 includes a first motor and a first reducer. The output end of the first motor is connected to the first reducer, and the output end of the first reducer is rotatably connected to the rotating arm 22. A buffer spring 25 is arranged between the pressing block 23 and the rotating arm 22. The setting of the buffer spring 25 provides a buffer space for the pressure of the pressing block 23 on the switch button 104, thereby avoiding damage to the switch button 104 by the pressing block 23. A second bracket 27 is provided between the first reducer and the rotating arm 22, and a first sensor 24 is provided on both sides of the second bracket 27. A limit block 26 is provided on the side of the rotating arm 22 close to the second bracket 27, and a limit groove corresponding to the limit block 26 is provided on the first sensor 24. When the limit block 26 moves into the limit groove, the rotating arm 22 rotates into place. When the power on / off mechanism 2 presses the power on / off button 104, the limit block 26 on the rotating arm 22 moves into the limit groove of the first sensor 24 close to the battery compartment 101, and the power on / off button 104 is pressed; then the rotating arm 22 rotates 180 degrees under the drive of the first driving component 21, and the limit block 26 on the rotating arm 22 moves into the limit groove of the first sensor 24 away from the battery compartment 101, waiting for the next press.

[0054] Alternatively, if Figure 5As shown, the battery knob rotating mechanism 3 includes a second driving component 31 and a rotating shaft 32, one end of the rotating shaft 32 is rotatably connected to the second driving component 31, and the other end of the rotating shaft 32 is provided with a rotating portion, and the rotating portion is matched and connected with the end surface of the fixed knob 103, so that the second driving component 31 drives the fixed knob 103 to rotate through the rotating shaft 32. In this embodiment, the second driving component 31 includes a second motor and a second reducer, the output end of the second motor is connected to the second reducer, and the output end of the second reducer is rotatably connected to the rotating shaft 32. The end surface of the fixed knob 103 is provided with a knob groove, and the knob groove is a straight line. The rotating portion of the rotating shaft 32 is set to a straight line matching the knob groove, so that the rotating portion can be inserted into the knob groove of the fixed knob 103, and the fixed knob 103 is driven to rotate under the drive of the second driving component 31, so as to rotate the fixed knob 103 to a vertical direction, and unlock the two batteries 102 in the battery compartment 101. A compression spring is provided on one side of the slider under the second bottom plate 12, and the end surface of the slider abuts against the compression spring. The rotating shaft 32 is in different positions when the rotating portion of the rotating shaft 32 is inserted into the knob groove and when it is not inserted into the knob groove. The position of the rotating shaft 32 is detected by the induction sheet provided at the end of the second bottom plate 12 and the third sensor provided at the end of the first bottom plate 11.

[0055] Of course, in other embodiments, the rotation slot of the fixed knob 103 may also be configured as a cross or square or other structure, and accordingly, the rotation portion of the rotation shaft 32 may be configured as a cross or square or other structure.

[0056] Alternatively, if Figure 5As shown, the battery knob rotating mechanism 3 also includes at least one second sensor 33 and at least one signal disk 34, the signal disk 34 is fixedly connected to the rotating shaft 32, the second sensor 33 is arranged on one side of the rotating shaft 32, and the second sensor 33 detects the rotation position of the rotating shaft 32 through the signal disk 34. In this embodiment, the battery knob rotating mechanism 3 includes two second sensors 33 and two signal disks 34. A third bracket 35 is arranged between the second reducer and the rotating shaft 32, and the third bracket 35 includes a third connecting plate 351 and a fourth connecting plate 352. The rotating shaft 32 passes through the third connecting plate 351 and is rotatably connected to the second reducer, and the fourth connecting plate 352 is located on one side of the rotating shaft 32 and is perpendicular to the third connecting plate 351. Open slots are arranged on the two signal disks 34 and the two second sensors 33. Two signal disks 34 are arranged at intervals on the rotating shaft 32, one of the two second sensors 33 is arranged at one end of the third connecting plate 351, and the opening groove thereon is arranged corresponding to one of the signal disks 34, and the other second sensor 33 is arranged at one end of the fourth connecting plate 352, and the opening groove thereon is arranged corresponding to the other signal disk 34. The rotating shaft 32 rotates, and when the opening groove on the signal disk 34 is transferred to the opening groove on the corresponding second sensor 33, the rotating shaft 32 rotates into place. In this embodiment, one of the second sensors 33 and the corresponding signal disk 34 are used to detect whether the rotating shaft 32 rotates the fixed knob 103 to the vertical direction, and the other second sensor 33 and the corresponding signal disk 34 are used to detect whether the rotating shaft 32 rotates the fixed knob 103 to the horizontal direction.

[0057] Of course, in other embodiments, only one second sensor 33 and one signal disk 34 or two second sensors 33 and one signal disk 34 may be provided. Two opening slots are provided on one signal disk 34 at an interval of 90 degrees. When one second sensor 33 is provided, one second sensor 33 is used to sense the two opening slots on the signal disk 34 respectively, and the direction of the fixed knob 103 is set when the first opening slot is sensed, and when the second opening slot is sensed, the fixed knob 103 is in another direction; when two second sensors 33 are provided, the two second sensors 33 are respectively provided on both sides of the rotating shaft 32, one second sensor 33 is used to detect whether the rotating shaft 32 rotates the fixed knob 103 to the vertical direction, and the other second sensor 33 is used to detect whether the rotating shaft 32 rotates the fixed knob 103 to the horizontal direction.

[0058] Alternatively, if Figure 3 and Figure 6As shown, the clamping mechanism 4 includes a push block 41, a hook 42 and a first mounting seat 43. The push block 41 is arranged on the end surface of the first mounting seat 43, and the hook 42 is arranged on the side of the first mounting seat 43, and the hook 42 is rotatably connected to the first mounting seat 43. In this embodiment, the clamping mechanism 4 is provided in two pieces, and the two first mounting seats 43 are respectively provided corresponding to the two batteries 102 of the battery compartment 101, and the push block 41 can abut against one end of the battery 102 close to the push block 41; the hook 42 is arranged on the outer side of the first mounting seat 43, so that the two hooks 42 can respectively hook one end of the two batteries 102 away from the push block 41, thereby pulling the two batteries 102 out of the battery compartment 101 of the drone 100.

[0059] Optionally, the clamping mechanism 4 further includes a hook switch assembly 44, the hook switch assembly 44 includes an oblique slide groove 441, the oblique slide groove 441 is slidably disposed on the second bottom plate 12, and a first connecting member 443 is disposed in the oblique slide groove 441, the first connecting member 443 is fixedly connected to the non-hook end of the hook 42, and a rotating shaft 444 is disposed between the hook end and the non-hook end of the hook 42, and the hook 42 is rotatably connected to the first mounting seat 43 via the rotating shaft 444. In this embodiment, the hook switch assembly 44 further includes a second connecting member 442, one end of the second connecting member 442 is fixedly connected to the first connecting member 443, the other end of the second connecting member 442 is fixedly connected to the non-hook end of the hook 42, and the cross section of the second connecting member 442 is L-shaped, one end of the L-shaped member is connected to the first connecting member 443, and the other end of the L-shaped member is connected to the non-hook end of the hook 42. A first fixing seat 45 is disposed on the side of the first mounting seat 43. The first fixing seat 45 is U-shaped, the bottom of the U-shaped portion is fixedly connected to the first mounting seat 43, hinge holes are disposed on both side walls of the U-shaped portion, and the rotating shaft 444 on the hook 42 is hinged to the hinge holes. The hook 42 enters the first fixing seat 45 from the opening end of the U-shaped portion, and is rotatably connected to the first fixing seat 45 via the rotating shaft 444.

[0060] Preferably, the hook switch assembly 44 further includes a fourth driving component 445, which includes a fourth motor, a third connector and a fourth connector, the output end of the fourth motor is connected to the fourth connector through the third connector, the third connector is L-shaped, one end of the L-shaped connector is connected to the output end of the fourth motor, and the other end of the L-shaped connector is connected to the fourth connector, a slide groove is provided at the bottom of the fourth connector, a slider is provided on the second bottom plate 12, and the fourth motor drives the fourth connector to slide on the second bottom plate 12. An inclined slide groove 441 is provided on the fourth connector, and the inclined slide groove 441 is a waist-shaped hole, and gradually tilts inward from the end away from the battery 102. When the fourth motor drives the fourth connecting member to move toward the direction approaching the battery compartment 101, the hook 42 rotates toward the side of the battery 102 until the hook end of the hook 42 hooks the end face of the battery 102; when the fourth motor drives the fourth connecting member to move toward the direction away from the battery compartment 101, the hook 42 rotates toward the direction away from the side of the battery 102 until the hook end of the hook 42 releases the end face of the battery 102.

[0061] By setting a hook switch assembly 44, the hook 42 can be rotatably connected relative to the first mounting seat 43. When the clamping mechanism 4 extends into the battery compartment 101 of the drone 100, one end of the battery 102 abuts against the push block 41, and the hook 42 rotates to hook the other end of the battery 102, and then the battery 102 is pulled out of the battery compartment 101; when the pulled out battery 102 moves to the empty battery placement position, the hook 42 rotates to open, and the push block 41 pushes the battery 102 to the empty battery placement position.

[0062] Alternatively, if Figure 7 As shown, the first connecting member 443 includes a roller 4431, a first connecting column 4432 and a fastening nut. The roller 4431 is disposed in the inclined slide groove 441 and is rollingly connected to the inclined slide groove 441. One end of the first connecting column 4432 is disposed in the roller 4431. The other end of the first connecting column 4432 is provided with a fastening nut 4433. The non-hook end of the hook is connected between the roller 4431 and the fastening nut 4433. In this embodiment, one end of the second connecting member 442 is fixed between the roller 4431 and the fastening nut 4433. When the fourth motor drives the fourth connecting member to move, the roller 4431 is driven to move in the inclined slide groove 441, thereby accelerating the moving speed of the first connecting member 443 in the inclined slide groove 441, thereby increasing the speed of the hook 42 opening, so that the hook end of the hook 42 can release or hook the battery 102 within the set stroke.

[0063] The working process of the automatic battery replacement device provided in this embodiment is as follows:

[0064] (1) A place for placing fully charged batteries and a place for placing empty batteries are provided on one side of the UAV landing platform;

[0065] (2) Figure 8 As shown, when the drone 100 lands on the drone 100 landing platform, the horizontal displacement mechanism and the vertical displacement mechanism move the first bottom plate 11 to a position aligned with the drone 100 battery compartment 101;

[0066] (3) The first driving component 21 drives the rotating arm 22 to rotate 180°, and the power button 104 is pressed to turn off the drone 100. Then, the first driving component 21 drives the rotating arm 22 to rotate 180° again, and waits for the next press;

[0067] (4) The third driving component 121 drives the second bottom plate 12 to slide relative to the first bottom plate 11, so that the battery knob rotating mechanism 3 is inserted into the fixed knob 103 of the battery compartment 101, and the rotating shaft 32 driven by the second driving component 31 rotates 90°, rotating the fixed knob 103 to a vertical direction, that is, unlocking the two batteries 102 in the battery compartment 101;

[0068] (5) The third driving component 121 drives the second bottom plate 12 to continue to move relative to the first bottom plate 11 until the push block 41 abuts against one end of the battery 102;

[0069] (6) The fourth driving component 445 drives the fourth connecting member to move toward the battery compartment 101 until the hook ends of the hooks 42 on both sides hook the other end of the battery 102;

[0070] (7) The third driving component 121 drives the second bottom plate 12 to move away from the battery compartment 101, and hooks the two batteries 102 onto the first bottom plate 11, so that the two batteries 102 are clamped and fixed by the side plates 111 and the middle plate 112 on both sides;

[0071] (8) The horizontal moving mechanism 5 and the vertical moving mechanism 6 move the robot arm to the empty battery placement position, and the third driving component 121 drives the second bottom plate 12 to move forward until the push block 41 pushes the two batteries 102 to the empty battery placement position;

[0072] (9) Then the horizontal moving mechanism 5 and the vertical moving mechanism 6 move the robot arm to the place where the fully charged battery is placed, clamp the fully charged battery, and the third driving component 121 drives the second bottom plate 12 to move backward, and the fully charged battery 102 is placed on the first bottom plate 11 through the clamping mechanism 4;

[0073] (10) The horizontal moving mechanism 5 and the vertical moving mechanism 6 then move the robotic arm to a position aligned with the battery compartment 101 of the drone 100;

[0074] (11) The third driving component 121 drives the second bottom plate 12 to move relative to the first bottom plate 11 until the fully charged battery 102 is pushed into the battery compartment 101;

[0075] (12) The second driving component 31 drives the rotating shaft 32 of the battery knob rotating mechanism 3 to rotate 90°, rotates the fixed knob 103 to the horizontal direction, and locks the two batteries 102 in the battery compartment 101;

[0076] (13) The first driving component 21 drives the rotating arm 22 to rotate 180°, and the power button 104 is pressed to turn on the UAV 100. The UAV 100 continues to perform the flight mission, and the first driving component 21 drives the rotating arm 22 to rotate another 180°;

[0077] (14) After the battery 102 of the drone 100 is replaced, the horizontal moving mechanism 5 and the vertical moving mechanism 6 move the robot arm to its original position, waiting for the next battery 102 replacement task.

[0078] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there will be changes in the specific implementation methods and application scopes. The content of this specification should not be understood as limiting the present invention.

Claims

1. An automatic battery replacement device, comprising a mechanical arm, wherein the mechanical arm is used to automatically replace a battery (102) of a drone (100), characterized in that: The robotic arm comprises: Bottom plate (1); A power on / off mechanism (2), a battery knob rotating mechanism (3) and a clamping mechanism (4), wherein the power on / off mechanism (2), the battery knob rotating mechanism (3) and the clamping mechanism (4) are all slidably disposed on the bottom plate (1); The drone (100) is provided with a power on / off button (104), and the power on / off mechanism (2) is used to press the power on / off button (104) to turn the drone (100) on or off; The drone (100) is provided with a fixing knob (103) for fixing the battery (102), and the battery knob rotating mechanism (3) is used to rotate the fixing knob (103) to unlock the battery (102) or lock the battery (102); The clamping mechanism (4) is capable of clamping the battery (102) so as to remove the battery (102) from the drone (100) or transport the battery (102) into the drone (100); The battery knob rotating mechanism (3) comprises a second driving component (31) and a rotating shaft (32), one end of the rotating shaft (32) is rotatably connected to the second driving component (31), and the other end of the rotating shaft (32) is provided with a rotating portion, and the rotating portion is matched and connected with the end surface of the fixed knob (103), so that the second driving component (31) drives the fixed knob (103) to rotate through the rotating shaft (32); The base plate (1) comprises a first base plate (11) and a second base plate (12), the second base plate (12) being slidably connected to the first base plate (11), and the power on / off mechanism (2), the battery knob rotating mechanism (3) and the clamping mechanism (4) are all arranged on the second base plate (12); The clamping mechanism (4) comprises a push block (41), a hook (42) and a first mounting seat (43), wherein the push block (41) is arranged on the end surface of the first mounting seat (43), the hook (42) is arranged on the side surface of the first mounting seat (43), and the hook (42) is rotatably connected to the first mounting seat (43); The clamping mechanism (4) further comprises a hook switch assembly (44), wherein the hook switch assembly (44) comprises an inclined slide groove (441), wherein the inclined slide groove (441) is slidably disposed on the second bottom plate (12), and a first connecting member (443) is disposed in the inclined slide groove (441), wherein the first connecting member (443) is fixedly connected to the non-hook end of the hook (42), and a rotating shaft (444) is disposed between the hook end and the non-hook end of the hook (42), and the hook (42) is rotatably connected to the first mounting seat (43) via the rotating shaft (444); The first connecting member (443) includes a roller (4431), a first connecting column (4432) and a fastening nut (4433); the roller (4431) is arranged in the inclined slide groove (441) and is rollingly connected to the inclined slide groove (441); one end of the first connecting column (4432) is arranged in the roller (4431); the other end of the first connecting column (4432) is provided with a fastening nut; the non-hook end of the hook (42) is connected between the roller (4431) and the fastening nut (4433).

2. The automatic battery replacement device according to claim 1, characterized in that: The on / off mechanism (2) comprises a first driving component (21), a rotating arm (22) and a pressing block (23); one end of the rotating arm (22) is rotatably connected to the first driving component (21), and the other end of the rotating arm (22) is connected to the pressing block (23); the first driving component (21) drives the rotating arm (22) to rotate so that the pressing block (23) presses the on / off button (104).

3. The automatic battery replacement device according to claim 2, characterized in that: The on / off mechanism (2) further comprises a first sensor (24), which is arranged on one side of the rotating arm (22) and is used to detect whether the rotating arm (22) is rotated into place.

4. The automatic battery replacement device according to claim 1, characterized in that: The battery knob rotating mechanism (3) further comprises at least one second sensor (33) and at least one signal disk (34), wherein the signal disk (34) is fixedly connected to the rotating shaft (32), and the second sensor (33) is arranged on one side of the rotating shaft (32), and the second sensor (33) detects the rotation position of the rotating shaft (32) through the signal disk (34).

5. The automatic battery replacement device according to claim 1, characterized in that: There are two clamping mechanisms (4) for clamping two batteries (102); two side plates (111) and a middle plate (112) are provided on the bottom plate (1); the two batteries (102) can be located between the side plates (111) and the middle plate (112), respectively; The side plate (111) comprises a fixed baffle and a floating baffle, and the floating baffle is arranged on the inner side of the fixed baffle via an elastic member.

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