A drone automatic power replacement station

Abstract

The present invention discloses an automatic battery replacement station for unmanned aerial vehicles, comprising an unmanned aerial vehicle, wherein the unmanned aerial vehicle is provided with a detachable battery and two load-bearing rods located at the bottom of the unmanned aerial vehicle; a cabinet is provided with a accommodating space, and a sensing door assembly is provided on the top of the cabinet, which is used for automatically opening after sensing the unmanned aerial vehicle; a helipad is arranged in the accommodating space in a liftable manner, and is used for carrying the unmanned aerial vehicle; a centering device for the unmanned aerial vehicle is arranged on the helipad, and the centering device for the unmanned aerial vehicle is used for centering the unmanned aerial vehicle through the load-bearing rods; a battery storage and access platform and a battery retrieval device are relatively arranged in the accommodating space; the present invention can realize automatic centering of the unmanned aerial vehicle, and automatically replace the exhausted battery with the fully charged battery, and finally send the fully charged battery to the unmanned aerial vehicle, and the whole process is fully automated, the replacement speed is fast and the accuracy is high, and the exhausted battery can be charged at the same time, so as to realize the recycling of the battery, and has good practicality and promotion value.

Description

Technical Field

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

[0002] At present, drones are increasingly used in various fields, which has also led to the rapid development of drone supporting equipment and service industries. With the advancement and development of science and technology, people's lives are becoming more and more intelligent. Drones are the product of this era of intelligent life. Especially in recent years, the development of drone technology has been unstoppable. With its advantages of light size, easy to carry and easy to use, drones are becoming more and more widely used in industrial production and daily life.

[0003] As drone technology develops, drones cannot achieve long-distance flight and long standby flight due to the limited battery power. This makes the timely replacement of drone batteries the primary problem that the relevant technical field needs to face. At present, the replacement of drone batteries is done manually, which requires manual disassembly of the battery and then replacing the low-power battery with a fully charged battery for continuous use. This manual method is time-consuming, labor-intensive, and cumbersome to operate, which brings many inconveniences to actual applications. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a kind of automatic replacement station for drone batteries, which can automatically complete the replacement of drone batteries with fast replacement speed and high accuracy, and can automatically charge the exhausted batteries to realize the recycling of batteries; at the same time, the batteries are replaced by rotating, which reduces the occupied area, reduces the production cost, and is a highly practical drone automatic battery replacement station.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: an automatic battery replacement station for drones, comprising:

[0006] A drone having a detachable battery and a load-bearing rod at the bottom of the drone;

[0007] A cabinet body, wherein the cabinet body has a storage space, and a sensing door assembly is provided on the top of the cabinet body, which is used to automatically open after sensing a drone;

[0008] A helipad, which is escalably disposed in the accommodation space and is used to carry a drone;

[0009] A drone centering device, the drone centering device is arranged on the apron, and the drone centering device centers the drone through a load-bearing rod;

[0010] at least one battery access platform, wherein the battery access platform is disposed in the accommodation space;

[0011] A battery material extraction device, the battery material extraction device is arranged in the accommodating space;

[0012] The battery retrieval device is used to grab the batteries on the drone and send them to the empty space on the battery storage and retrieval platform, and then send the fully charged batteries on the battery storage and retrieval platform to the drone.

[0013] Furthermore, the induction door assembly includes:

[0014] Two sliding doors, the two sliding doors are arranged on the top of the cabinet body and can slide in opposite directions through slide rails, wherein the slide rails are driven to slide by a synchronous belt power assembly;

[0015] A laser ranging sensor is arranged on any one of the sliding doors and is used to detect the position of the drone and control the synchronous belt power assembly.

[0016] Furthermore, the UAV centering device comprises:

[0017] Two lateral push rods, which can move in opposite directions in the lateral direction of the apron through a lateral power mechanism;

[0018] Wherein, the lateral power mechanism comprises two lateral drive screws respectively located at the upper and lower ends of the apron, and the lateral drive screws are provided with a first transmission member and a second transmission member that can move in opposite directions relative to each other; the power between the two lateral drive screws is transmitted through a transmission shaft, and the first transmission member and the second transmission member on any one of the lateral drive screws are driven by the lateral drive screw motor to move in opposite directions; the two ends of the two lateral push rods are respectively provided on the first transmission member and the second transmission member on the two lateral drive screws;

[0019] Two vertical push rods, which can move in opposite directions in the vertical direction of the apron through a vertical power mechanism;

[0020] Wherein, the vertical power mechanism comprises two vertical screws respectively located at the left and right ends of the apron, and the vertical screws are provided with a third transmission member and a fourth transmission member capable of relatively reverse movement; the power between the two vertical screws is transmitted through a transmission shaft, and the third transmission member and the fourth transmission member on any one of the vertical screws are driven by a vertical screw motor to move in reverse; the two ends of the two vertical push rods are respectively arranged on the third transmission member and the fourth transmission member on the two vertical screws;

[0021] A positioning sensor is arranged on the apron, and is used to sense the position of the UAV on the apron, and control and drive the lateral power mechanism and the vertical power mechanism.

[0022] Furthermore, the apron is provided with receiving grooves distributed in a grid shape, and rotatable balls are provided in the receiving grooves.

[0023] Furthermore, the battery material removal device comprises:

[0024] A base, wherein a rotating motor is provided in the base;

[0025] A vertical moving assembly, the vertical moving assembly being rotatably disposed on the base by the rotating motor;

[0026] A material-grabbing manipulator is arranged on the vertical moving component and is used to grab the battery at the drone.

[0027] Further, the material taking manipulator comprises:

[0028] A load-bearing frame, the load-bearing frame is arranged on the vertical moving assembly, and a load-bearing space is provided on the load-bearing frame;

[0029] A main slide rail, the main slide rail is arranged on the carrying space, the main slide rail is driven by a main motor, and a battery unlocking component and a battery clamping component that can move laterally are arranged on the main slide rail;

[0030] Among them, the battery unlocking assembly includes an unlocking slide rail, a forward moving plate that can move laterally is provided on the unlocking slide rail, a downward pressure block is provided at the front end of the forward moving plate, and the front end of the downward pressure block is in the shape of an inclined surface inclined to the upper right; the supporting frame is also provided with a lifting plate that can be extended and retracted up and down, a buckle pressure block is provided at the front end of the lifting plate, and a contact piece located below the downward pressure part is provided on the rear end of the lifting plate.

[0031] Furthermore, the battery clamping assembly includes two clamping jaws that can be clamped / released by a clamping motor, and a battery bin for assembling batteries is provided below the clamping jaws.

[0032] Furthermore, it also includes a locking assembly arranged in the cabinet, the locking assembly includes a locking motor, the locking motor is provided with a rotatable rotating bar, and the rotating bar is provided with a positioning groove adapted to the wing rod on the drone.

[0033] Furthermore, the battery access platform includes:

[0034] A battery stand, on which a plurality of charging bins are arranged vertically, and a partition is provided in the middle of the charging bins;

[0035] A charging plate, which is arranged on one side of the charging bin connected to the battery stand, and has a charging connector;

[0036] At least one vertical pole, the vertical pole is vertically penetrated through the partition, and the upper end of the vertical pole is provided with a pressing plate;

[0037] A power blocking block, which is arranged at the bottom of the vertical rod after it passes through the partition, and the power blocking block is located above the bottom surface of the charging silo;

[0038] Wherein, a spring is sleeved on the vertical rod between the pressure plate and the top of the partition.

[0039] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0040] 1. Use laser ranging sensors to sense the position of the drone, so that the two sliding doors can be opened automatically, allowing the drone to quickly enter the apron.

[0041] 2. The position of the UAV's load-bearing rod is adjusted by the cooperation of the UAV centering device and the ball bearing on the apron. Since the ball bearing is slidable, the position of the UAV can be adjusted more quickly and effectively.

[0042] 3. The battery retrieval device, the UAV centering device and the battery storage and retrieval platform cooperate with each other to automatically replace the UAV battery, with fast replacement speed and high accuracy.

[0043] 4. The retrieving manipulator in the battery retrieving device replaces the battery in a rotating manner, which shortens the horizontal width of the battery swap station, reduces the size of the cabinet, reduces the production cost and floor space, and is highly practical.

[0044] 5. The entire drone battery replacement process is fully automated, and the exhausted batteries are charged at the battery storage and access platform, realizing the recycling of batteries. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The technical solution of the present invention is further described below in conjunction with the accompanying drawings:

[0046] Attached Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention when two sliding doors are opened;

[0047] Attached Figure 2 For attachment Figure 1 Enlarged view of part A in the middle;

[0048] Attached Figure 3 This is a schematic diagram of the internal structure of the present invention after omitting two sliding doors;

[0049] Attached Figure 4 For attachment Figure 3 Enlarged view of middle part B;

[0050] Attached Figure 5 For attachment Figure 3 Enlarged view of the middle C part;

[0051] Attached Figure 6 The three-dimensional structure diagram of the UAV is shown in FIG.

[0052] Attached Figure 7 It is a schematic diagram of the three-dimensional structure connecting the UAV centering device and the apron;

[0053] Attached Figure 8 For attachment Figure 7 Enlarged view of the middle D part;

[0054] Attached Fig. 9 For attachment Figure 7 A schematic diagram of a three-dimensional structure from another perspective;

[0055] Attached Fig.10 It is a schematic diagram of the three-dimensional structure of the battery material removal device and the locking assembly;

[0056] Attached Fig.11 It is a schematic diagram of the three-dimensional structure of the battery material extraction device;

[0057] Attached Fig.12 For attachment Fig.11 A schematic diagram of a three-dimensional structure from another perspective;

[0058] Attached Fig.13 It is a schematic diagram of the three-dimensional structure of the battery access platform;

[0059] Attached Fig.14 It is a schematic diagram of the three-dimensional structure of the charging silo;

[0060] Among them: drone 1, cabinet 2, induction door assembly 3, apron 4, drone centering device 5, battery storage and retrieval platform 6, battery retrieval device 7, battery 10, load-bearing rod 11, wing rod 12, buckle 13, sliding door 30, slide rail 31, synchronous belt power assembly 32, laser ranging sensor 33, vertical lifting assembly 40, accommodating groove 41, ball 42, lateral push rod 50, lateral drive screw 51, first transmission member 52, second transmission member 53, transmission shaft 54, lateral drive screw motor drive 55, vertical push rod 56, vertical screw 57, third transmission member 58, fourth transmission member 59, vertical plate 60, charging silo 61, charging plate 62, charging Electrical connector 63, partition 64, vertical pole 65, power blocking block 66, pressure plate 67, base 70, vertical moving assembly 71, material picking robot 72, rotating motor 73, locking motor 80, rotating bar 81, positioning groove 82, sliding door drive motor 320, synchronous belt 321, connecting block 322, vertical screw motor 500, positioning sensor 501, carrier frame 720, vertical moving assembly 71, main slide rail 721, main motor 722, sliding plate 723, unlocking slide rail 724, forward plate 725, lower pressure block 726, lifting plate 727, buckle pressure block 728, contact piece 729, clamping motor 730, clamping claw 731, battery silo 732. DETAILED DESCRIPTION

[0061] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation of the present invention.

[0062] The present invention is designed based on the following ideas: the laser ranging sensor opens the two sliding doors after sensing the position of the drone, and after the drone enters the apron, it is positioned in the middle of the apron through the drone centering device, the battery retrieval device removes the exhausted battery from the drone and rotates it to the battery access platform, and then the fully charged battery on the battery access platform is delivered to the drone, and the two sliding doors are closed after the drone takes off from the apron, the entire charging process is fully automated, and battery replacement is fast and accurate; at the same time, the battery retrieval device is delivered to the battery access platform in a rotating manner, which shortens the lateral width of the battery swap station, reduces the occupied space, has low production costs, and is more practical.

[0063] Please see attached Figure 1-5 An automatic battery replacement station for unmanned aerial vehicles according to an embodiment of the present invention comprises an unmanned aerial vehicle 1, a cabinet 2, an induction door assembly 3, a helipad 4, an unmanned aerial vehicle centering device 5, a battery storage and access platform 6, and a battery retrieval device 7; the cabinet 2 is a rectangular frame having a storage space therein, and an opening is provided on the top of the cabinet 2.

[0064] As a further preferred embodiment, the induction door assembly 3 is arranged at the opening of the cabinet 2, and the induction door assembly 3 includes two sliding doors 30. The two sliding doors 30 are arranged at the top opening of the cabinet 2 so as to slide relative to each other through corresponding slide rails 31; specifically, a synchronous belt power assembly 32 is provided on the cabinet 2 for driving the two sets of slide rails 31 to slide in opposite directions on the top of the cabinet, thereby realizing the two sliding doors 30 to open or close the opening.

[0065] Specifically, the synchronous belt power assembly 32 includes a synchronous belt 321 driven by a sliding door drive motor 320, and two connecting blocks 322 are arranged upper and lower on the synchronous belt 321, and the two sliding doors 30 are respectively arranged on the two connecting blocks 322; when the sliding door drive motor 320 is working, the synchronous belt 321 drives the two connecting blocks 322 to move synchronously in opposite directions, so that the two sliding doors 30 are approached or separated from each other; when the two sliding doors 30 are separated from each other, the opening of the cabinet 2 is opened, and the drone 1 can enter the apron 4 inside the cabinet 2.

[0066] In addition, a laser ranging sensor 33 is installed on the sliding door 30 on the right side of the cabinet 2. When the drone 1 approaches the set distance of the laser ranging sensor 33, the laser ranging sensor 33 senses the position of the drone 1. At this time, the laser ranging sensor 33 sends relevant information to the control system, and the control system controls the sliding door drive motor 320 to work, so that the two sliding doors move away from each other and open the opening of the cabinet.

[0067] Please see attached Figure 6 The drone 1 has two batteries 10 arranged opposite to each other, which are clamped inside the drone 1 through a buckle 13. At the same time, two circular load-bearing rods 11 are provided at the bottom of the drone 1. When the drone stops on the apron 4, the two load-bearing rods 11 are set on the apron 4 as load-bearing fulcrums; at the same time, the drone 1 is also provided with four wing rods 12, and the wing rods 12 have wind blades.

[0068] Please see attached Figure 1-2 The apron 4 is arranged in the accommodating space of the cabinet 2 through a vertical lifting component 40; the vertical lifting component is a vertically arranged screw motor component, which drives the apron 4 to move up and down in the vertical direction using the screw motor component.

[0069] Please see attached Figure 7-9 As a further preferred embodiment, the UAV centering device 5 includes two left and right lateral push rods 50 and two upper and lower vertical push rods 56 arranged on the apron 4; the two lateral push rods 50 make relative opposite movements in the lateral direction through a lateral power mechanism.

[0070] Specifically, the lateral power mechanism includes two lateral drive screws 51 respectively located at the upper and lower ends of the apron 4; the lateral drive screw 51 located at the lower end of the apron 4 is driven by the lateral drive screw motor 55 to drive the first transmission member 52 and the second transmission member 53 to make relative reverse movements on the lateral drive screw 51.

[0071] Because the two transverse driving screw rods 51 are connected to each other through the transmission shaft 54 ​​, the first transmission member 52 and the second transmission member 53 on the other transverse driving screw rod also synchronously move in the opposite direction on the corresponding transverse driving screw rod 51 .

[0072] The two ends of one transverse push rod 50 are respectively arranged on the two first transmission members 52, and the two ends of the other transverse push rod 50 are respectively installed on the second transmission member 53, so that the two transverse push rods 50 make relative reverse movements under the drive of the transverse drive screw motor 55, thereby realizing the approach or distance between the two transverse push rods 50.

[0073] The two vertical push rods 56 make relative reverse motion in the vertical direction through the vertical power mechanism; the vertical power mechanism includes two vertical screw rods 57 respectively located at the left and right ends of the apron, and the vertical screw rods are provided with a third transmission member 58 and a fourth transmission member 59 that can move in relative reverse direction; the power between the two vertical screw rods is transmitted through the transmission shaft 54, and the third transmission member and the fourth transmission member on any one of the vertical screw rods are driven by the vertical screw rod motor 500 to make reverse motion; the two ends of the two vertical push rods 56 are respectively arranged on the third transmission member and the fourth transmission member on the two vertical screw rods 57; the working principle of the vertical push rod when in operation is the same as the working principle of the lateral push rod when in operation, except that one is lateral movement and the other is vertical movement.

[0074] During operation, the UAV 1 enters the apron 4, and then the two lateral push rods 50 and the two vertical push rods 56 are driven by the lateral drive screw motor 55 and the vertical screw motor 500 to adjust the lateral position and vertical position of the load-bearing rod 11 respectively, and finally the position of the UAV can be in the middle position set on the apron 4.

[0075] In addition, a positioning sensor 501 is also provided on the apron 4; when working, when the positioning sensor 501 senses the position of the UAV 1 on the apron 4, it controls the lateral power mechanism and the vertical power mechanism to stop working. At this time, the center positioning of the UAV 1 is completed.

[0076] In addition, the apron 4 is provided with receiving grooves 41 distributed in a grid, which are divided into four areas, and a rotatable ball 42 is provided in the receiving grooves 41; in this way, when the load-bearing rod 11 of the drone 1 is pushed by the lateral push rod and the vertical push rod to move horizontally and vertically on the apron 4, the load-bearing rod 11 contacts the ball 42, so that the position of the drone 1 can be moved more quickly and effectively, and the position of the drone will not be stuck, or the friction force is too large, which will lead to the inconvenience of moving the drone and the problem of inaccurate moving position.

[0077] Please see attached Figure 10-12 As a further preferred embodiment, the battery picking device 7 includes a base 70, a vertical moving component 71 and a picking robot 72; the base has a rotating motor 73, the rotating motor 73 drives the vertical moving component 71 to perform omnidirectional rotational movement, the vertical moving component 71 is a vertical screw motor drive component, and the picking robot 72 is driven by the vertical moving component 71 to move up and down in the vertical direction.

[0078] Specifically, the material picking robot 72 includes a carrier frame 720, which is installed on the vertical moving assembly 71. The main slide rail 721 is arranged in the carrying space of the carrier frame 720. The main slide rail 721 is driven to slide by a main motor 722. A sliding plate 723 that can move laterally is provided on the main slide rail 721. A battery unlocking assembly and a battery clamping assembly are arranged in front and back on the sliding plate 723, and the front end of the battery unlocking assembly is located above the battery clamping assembly.

[0079] The battery unlocking assembly includes an unlocking slide rail 724, which drives the forward moving plate 725 to move laterally. A downward pressing block 726 is provided at the front end of the forward moving plate 725, and the front end of the downward pressing block 726 is in the shape of an inclined plane inclined toward the upper right; the carrier frame 720 is also provided with a lifting plate 727 which can be extended and retracted up and down by a telescopic spring and a telescopic rod, and a buckle pressing block 728 is provided at the front end of the lifting plate 727, and the buckle pressing block 728 is L-shaped, and a contact piece 729 located below the downward pressing part is provided on the rear end of the lifting plate 727, and the contact piece 729 is a cylindrical block; when the downward pressing block moves forward, the inclined surface of the downward pressing block slides on the contact piece 279, thereby realizing the up and down movement of the lifting plate 727.

[0080] The battery clamping assembly includes two clamping jaws 731 that can be clamped / released by a clamping motor 730 , and a battery material bin 732 for adapting two batteries is located below the clamping jaws 731 .

[0081] During operation, the main slide rail 721 drives the sliding plate 723 to move forward, so that the battery unlocking assembly and the battery clamping assembly move forward synchronously to the battery of the drone 1; when reaching the set position, the unlocking slide rail 724 drives the forward plate 725 to move forward synchronously. In the process of the forward plate 725 moving forward, the inclined surface of the pressing block 726 slides to the right on the contact piece 729, thereby driving the lifting plate 727 to move downward, and then driving the buckle pressing block 728 at the front end of the lifting plate to move downward, loosening the buckle that is stuck on the battery on the drone 1, so that the battery is unlocked.

[0082] When the battery on the drone is unlocked, the clamping motor 730 drives the two clamps 731 to clamp the exhausted battery on the drone, and then the main slide rail 721 drives the two clamps 731 back to their original positions, thereby driving the battery into the battery bin 732.

[0083] In addition, in order to ensure the stability of the drone 1 during the process of grabbing the battery, a locking assembly is added to the cabinet 2 to further position the drone 1. The locking assembly includes a locking motor 80, and a rotatable rotating bar 81 is provided on the locking motor 80. The front end of the rotating bar is provided with a positioning groove 82 that is compatible with the wing rod 12 of the drone; when the position of the drone 1 is fixed by the drone centering device, the vertical lifting assembly 40 drives the drone on the apron 4 to move downward, so that the two wing rods on the right side of the drone 1 can be adapted to the positioning groove 82. At this time, the position allows the material-retrieving robot to remove the battery from the drone.

[0084] Please see attached Figure 3 , 10-12, as a further preferred embodiment, in this embodiment, two battery storage and retrieval platforms 6 are respectively located on both sides of the battery retrieval device 7, and the battery storage and retrieval platform 6 includes a battery upright plate 60, and the battery upright plate 60 is provided with three charging bins 61 which are sequentially arranged in parallel up and down, and a charging plate 62 is provided on the side of the charging bin 61 connected to the battery upright plate, and a charging connector 63 is provided on the charging plate 62, and a partition plate 64 is provided in the middle of the charging bin 61, thereby dividing the charging bin into two spaces, which are distributed for storing two batteries.

[0085] Two vertical poles 65 are vertically penetrated on the partition 64, and the tops of the two vertical poles 65 are connected by a pressure plate 67. A spring (not shown in the figure) sleeved on the vertical pole 65 is provided between the pressure plate 67 and the top of the partition 64; the bottom of the vertical pole 65 passing through the partition is provided with a power-blocking block 66, and the power-blocking block 66 is located above the bottom surface of the charging bin 61, so as to block the front end of the charging bin 61.

[0086] During operation, the material picking robot first rotates to an empty space on any battery storage platform through the rotating motor, and then the battery unlocking assembly moves forward through the unlocking slide rail 724, driving the buckle pressure block 728 to press the pressure plate downward, so that the power blocking block 66 is located below the battery bin, so that the battery can be delivered to the battery bin. At this time, the battery clamping assembly delivers the battery into the battery bin through the main slide rail 721, and the battery unlocking group and the battery clamping assembly return to their original positions. Since a spring is provided on the vertical pole, the spring recovers and drives the power blocking block to move upward, thereby blocking the battery in the battery bin.

[0087] Then the material-retrieving robot moves vertically to the side of the fully charged battery. The same battery unlocking assembly first unlocks the battery, and then the battery clamping assembly takes the battery out. Then the battery clamping assembly and the battery unlocking assembly return to their original positions.

[0088] Finally, the material-retrieving robot rotates to the battery side of the drone. The same battery unlocking component first loosens the buckle on the drone, and then the battery clamping component delivers the battery to the drone to complete the battery replacement.

[0089] The process of replacing the battery of a drone at this drone automatic battery replacement station is as follows:

[0090] S01 The drone approaches the cabinet, the laser range finder senses the drone’s position, the two sliding doors open, and the drone enters the apron.

[0091] The S02 UAV enters the apron and uses the UAV centering mechanism to center the UAV at the center of the apron.

[0092] The S03 helipad moves the drone down to the side of the retrieving robot, and uses the locking assembly to further lock the position of the drone. The retrieving robot unlocks the battery on the drone and removes the battery.

[0093] S04 After the material-retrieving robot rotates 90° counterclockwise, it delivers the exhausted battery to the empty space on the battery storage and retrieval platform.

[0094] The S05 retrieving robot takes out the fully charged battery from the battery storage and retrieval platform and delivers it to the drone for installation.

[0095] After the S06 drone battery was replaced, the drone flew out of the helipad and the two sliding doors closed automatically.

[0096] The automatic battery replacement station for drones of the present invention has a compact overall structure, can realize automatic centering operation of drones, and can automatically replace exhausted batteries with fully charged batteries, and finally deliver the charged batteries to the drones. The entire process is fully automated, and the speed and accuracy of replacement can meet the requirements. At the same time, exhausted batteries can be charged, thereby realizing the recycling of batteries and meeting actual usage needs.

[0097] The above are only specific application examples of the present invention and do not constitute any limitation on the protection scope of the present invention. Any technical solution formed by equivalent transformation or equivalent replacement shall fall within the protection scope of the present invention.

Claims

1. An automatic battery replacement station for drones, characterized in that: include: A drone having a detachable battery and a load-bearing rod at the bottom of the drone; A cabinet body, wherein the cabinet body has a storage space, and a sensing door assembly is provided on the top of the cabinet body, which is used to automatically open after sensing a drone; A helipad, which is escalably disposed in the accommodation space and is used to carry a drone; A drone centering device, the drone centering device is arranged on the apron, the drone centering device centers the drone through a load-bearing rod, and the drone centering device includes: Two lateral push rods, which can move in opposite directions in the lateral direction of the apron through a lateral power mechanism; Wherein, the lateral power mechanism comprises two lateral drive screws respectively located at the upper and lower ends of the apron, and the lateral drive screws are provided with a first transmission member and a second transmission member that can move in opposite directions relative to each other; the power between the two lateral drive screws is transmitted through a transmission shaft, and the first transmission member and the second transmission member on any one of the lateral drive screws are driven by the lateral drive screw motor to move in opposite directions; the two ends of the two lateral push rods are respectively provided on the first transmission member and the second transmission member on the two lateral drive screws; Two vertical push rods, the two vertical push rods can make reverse movements in the vertical direction of the apron through a vertical power mechanism; wherein the vertical power mechanism comprises two vertical screw rods respectively located at the left and right ends of the apron, and the vertical screw rods are provided with a third transmission member and a fourth transmission member that can move in relative reverse directions; the power between the two vertical screw rods is transmitted through a transmission shaft, and the third transmission member and the fourth transmission member on any one of the vertical screw rods are driven by a vertical screw rod motor to make reverse movements; the two ends of the two vertical push rods are respectively arranged on the third transmission member and the fourth transmission member on the two vertical screw rods; A positioning sensor, which is arranged on the apron and is used to sense the position of the UAV on the apron and control the driving of the lateral power mechanism and the vertical power mechanism; The apron is provided with receiving grooves distributed in a grid shape, and rotatable balls are arranged in the receiving grooves; at least one battery access platform, wherein the battery access platform is disposed in the accommodation space; A battery material extraction device, the battery material extraction device is arranged in the accommodating space; The battery retrieval device is used to grab the batteries on the drone and send them to the empty space on the battery storage and retrieval platform, and then send the fully charged batteries on the battery storage and retrieval platform to the drone.

2. The automatic battery replacement station for unmanned aerial vehicles according to claim 1, characterized in that: The induction door assembly comprises: Two sliding doors, the two sliding doors are arranged on the top of the cabinet body and can slide in opposite directions through slide rails, wherein the slide rails are driven to slide by a synchronous belt power assembly; A laser ranging sensor is arranged on any one of the sliding doors and is used to detect the position of the drone and control the synchronous belt power assembly.

3. The automatic battery replacement station for unmanned aerial vehicles according to claim 1, characterized in that: The battery material taking device comprises: A base, wherein a rotating motor is provided in the base; A vertical moving assembly, the vertical moving assembly being rotatably disposed on the base by the rotating motor; A material-grabbing manipulator is arranged on the vertical moving component and is used to grab the battery at the drone.

4. The automatic battery replacement station for unmanned aerial vehicles as claimed in claim 3, characterized in that: The material taking manipulator comprises: A load-bearing frame, the load-bearing frame is arranged on the vertical moving assembly, and a load-bearing space is provided on the load-bearing frame; A main slide rail, the main slide rail is arranged on the carrying space, the main slide rail is driven by a main motor, and a battery unlocking component and a battery clamping component that can move laterally are arranged on the main slide rail; Among them, the battery unlocking assembly includes an unlocking slide rail, a forward moving plate that can move laterally is provided on the unlocking slide rail, a downward pressure block is provided at the front end of the forward moving plate, and the front end of the downward pressure block is in the shape of an inclined surface inclined to the upper right; the supporting frame is also provided with a lifting plate that can be extended and retracted up and down, a buckle pressure block is provided at the front end of the lifting plate, and a contact piece located below the downward pressure part is provided on the rear end of the lifting plate.

5. The automatic battery replacement station for unmanned aerial vehicles as claimed in claim 4, characterized in that: The battery clamping assembly includes two clamping jaws that can be clamped / released by a clamping motor, and a battery material bin for assembling batteries is provided below the clamping jaws.

6. The automatic battery replacement station for unmanned aerial vehicles according to claim 1, characterized in that: It also includes a locking assembly arranged in the cabinet, the locking assembly includes a locking motor, a rotatable rotating bar is provided on the locking motor, and a positioning groove adapted to the wing rod on the drone is provided on the rotating bar.

7. The automatic battery replacement station for unmanned aerial vehicles according to claim 1, characterized in that: The battery access platform comprises: A battery stand, on which a plurality of charging bins are arranged vertically, and a partition is provided in the middle of the charging bins; A charging plate, which is arranged on one side of the charging bin connected to the battery stand, and has a charging connector; At least one vertical pole, the vertical pole is vertically penetrated through the partition, and the upper end of the vertical pole is provided with a pressing plate; A power blocking block, which is arranged at the bottom of the vertical rod after it passes through the partition, and the power blocking block is located above the bottom surface of the charging silo; Wherein, a spring is sleeved on the vertical rod between the pressure plate and the top of the partition.

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