An automated battery swapping robot for drones

Abstract

This invention belongs to the technical field of drone accessory equipment, specifically relating to an automatic battery swapping robot for drones. It solves the problems of low automation and complex battery swapping structures in drone battery swapping processes. This automatic battery swapping robot includes a robot arm lifting frame, on which a battery swapping telescopic mechanism capable of secondary horizontal extension and retraction for battery acquisition and swapping is provided. A robot arm lifting mechanism is located between the robot arm lifting frame and the battery swapping telescopic mechanism, enabling the battery swapping telescopic mechanism to move vertically upwards and downwards. This achieves automatic drone battery swapping with a relatively simple structure and high reliability.

Description

Technical Field

[0001] This invention belongs to the technical field of drone supporting equipment, and specifically relates to an automatic battery swapping robot for drones. Background Technology

[0002] Drones are widely used in many fields, but their power still mainly comes from batteries. When a drone needs a battery replacement, it often requires manual operation, resulting in low automation and being time-consuming and labor-intensive.

[0003] The invention disclosed in CN114771856A is a battery replacement mechanism for a drone, including a battery clamping manipulator lifting mechanism, a battery clamping manipulator rotating mechanism on the lifting platform at the top of the battery clamping manipulator lifting mechanism, a battery clamping manipulator telescopic mechanism on the rotating platform at the top of the battery clamping manipulator rotating mechanism, a battery clamping manipulator lateral movement mechanism on the telescopic slider at the bottom of the battery clamping manipulator lateral movement mechanism, a battery clamping manipulator on each of the two lateral movement supports at the bottom of the battery clamping manipulator lateral movement mechanism, and a drone power on / off mechanism on the fixed platform at the top of the battery clamping manipulator telescopic mechanism.

[0004] The aforementioned existing technology has a slightly complex structure and lacks lightweight and damage protection structures. Summary of the Invention

[0005] The purpose of this invention is to address the aforementioned problems in existing technologies by proposing an automatic battery-swapping robotic arm for unmanned aerial vehicles (UAVs) that is capable of automatic battery swapping and has a simple and reliable structure.

[0006] To achieve the purpose of this invention, the following technical solution can be used: an automatic battery swapping robot for unmanned aerial vehicles, including a robot lifting frame, wherein the robot lifting frame is provided with a battery swapping telescopic mechanism that can extend and retract horizontally twice and is used for battery swapping, and a robot lifting mechanism that can make the battery swapping telescopic mechanism move up and down in the vertical direction is provided between the robot lifting frame and the battery swapping telescopic mechanism.

[0007] The drone automatic battery swapping robot includes a robot lifting frame and a battery swapping telescopic structure. The battery swapping telescopic structure is set on the robot lifting frame and can be raised and lowered on the robot lifting frame through the robot lifting mechanism to reach the appropriate height for battery swapping. The battery swapping telescopic structure itself can extend and retract horizontally a second time to actually pick up and replace the battery.

[0008] In the aforementioned unmanned aerial vehicle (UAV) automatic battery swapping manipulator, the manipulator lifting frame includes a lifting frame back plate, and lifting frame side plates are provided on both sides of the lifting frame back plate. The top of the lifting frame back plate and the lifting frame side plates are fixed to the lifting frame top plate, and the bottom of the lifting frame back plate and the lifting frame side plates are fixed to the triangular base plate. A manipulator lifting mechanism is provided between the lifting frame back plate, the lifting frame top plate, and the triangular base plate and the battery swapping telescopic mechanism.

[0009] The top of the lifting frame back plate and the lifting frame side plate are fixed to the lifting frame top plate, and the bottom of the lifting frame back plate and the lifting frame side plate are fixed to the triangular base plate. The structure is stable, and the robotic arm lifting mechanism can drive and control the battery swapping telescopic mechanism to lift between the lifting frame top plate and the triangular base plate.

[0010] In the aforementioned unmanned aerial vehicle (UAV) automatic battery swapping manipulator, the manipulator lifting mechanism includes a lifting slider rail assembly disposed between the lifting frame back plate and the battery swapping telescopic mechanism, and a vertical lifting drive assembly is provided between the lifting frame top plate and the triangular base plate and the battery swapping telescopic mechanism.

[0011] The robotic arm lifting mechanism provides lifting conditions and defines the lifting path through the lifting slider rail assembly, and provides power for lifting through the vertical lifting drive assembly to drive the lifting of the battery swapping telescopic structure.

[0012] In the aforementioned unmanned aerial vehicle (UAV) automatic battery swapping manipulator, the vertical lifting drive assembly includes two manipulator lifting screws respectively set on both sides of the lifting frame back plate. The two ends of the manipulator lifting screws are connected to the top plate of the lifting frame and the triangular base plate respectively through bearings. The manipulator lifting screws are connected to the battery swapping telescopic mechanism through the manipulator lifting nut seat. A rotary drive unit is connected to the manipulator lifting screws.

[0013] The vertical lifting drive assembly achieves the specific lifting function through a screw structure and a rotary drive unit. The two ends of the robotic arm lifting screw are rotatably fixed to the top plate and the triangular base plate of the lifting frame through bearings, resulting in a stable structure. A robotic arm lifting nut seat connected to the battery swapping telescopic mechanism is fitted on the robotic arm lifting screw. As the robotic arm lifting screw rotates, the robotic arm lifting nut seat can drive the lifting of the battery swapping telescopic mechanism.

[0014] In the aforementioned unmanned aerial vehicle (UAV) automatic battery swapping manipulator, the rotary drive unit includes a lifting screw drive motor located at the bottom of a triangular base plate. The lower end of the lifting screw of the manipulator is provided with a lifting synchronous wheel. The drive shaft of the lifting screw drive motor passes through the triangular base plate, and the lifting drive wheel on the output shaft is connected to two lifting synchronous wheels via a lifting synchronous belt. The lifting drive wheel and the two lifting synchronous wheels are triangularly distributed, and the straight-line distance between the lifting drive wheel and the two lifting synchronous wheels is equal.

[0015] The rotary drive unit is mainly powered by a lifting screw drive motor. The lifting screw drive motor is located at the bottom of the triangular base plate and will not obstruct the lifting of the robot arm lifting frame. Its lifting drive wheel and the lifting synchronous wheels at the lower end of the two robot arm lifting screws are triangularly distributed and connected by a lifting synchronous belt. This enables real-time synchronization of the rotation of the two robot arm lifting screws, ensuring the stable lifting of the battery swapping telescopic mechanism. The straight-line distance between the lifting drive wheel and the two lifting synchronous wheels is equal, making the structure more stable.

[0016] In the aforementioned automatic battery swapping mechanism for unmanned aerial vehicles, the lifting frame side plate and the lifting frame back plate are provided with several lightweight through holes evenly distributed in the vertical direction; the triangular base plate is provided with two symmetrically arranged lightweight through holes.

[0017] The lightweight through holes in the lifting frame and the triangular base plate reduce the weight of the equipment without affecting its function or structural strength, thus reducing the burden on the drive structure and connecting structure, and also saving materials.

[0018] In the aforementioned automatic battery swapping manipulator for unmanned aerial vehicles, the battery swapping telescopic mechanism includes a battery swapping base, a battery swapping frame on the battery swapping base, a battery pick-and-place compartment on the battery swapping frame, a battery pick-and-place claw inside the battery pick-and-place compartment, a primary telescopic mechanism between the battery pick-and-place claw and the battery swapping frame that can drive the battery pick-and-place claw to extend and retract horizontally, and a secondary telescopic mechanism between the battery swapping frame and the battery swapping base that can drive the battery swapping frame to extend and retract horizontally.

[0019] The battery swapping telescopic mechanism is used to replace batteries. The battery swapping base is equipped with a battery swapping rack, which can be horizontally extended and retracted through a two-stage telescopic mechanism. The battery swapping rack is equipped with a battery pick-and-place compartment to hold the replaced and installed batteries. The battery pick-and-place claws in the battery compartment can be horizontally extended and retracted through a first-stage telescopic mechanism to specifically pick up, remove and install the batteries.

[0020] In the aforementioned automatic battery swapping manipulator for unmanned aerial vehicles, the battery pick-and-place claw includes a battery pusher plate, which is provided with two symmetrically arranged battery hook units. The battery pusher plate is connected to the battery swapping frame through a primary telescopic mechanism.

[0021] The battery pusher plate is connected to the battery swapping rack via a primary telescopic mechanism and can move telescopically. It is equipped with two symmetrical battery hook units for hooking the two batteries of the drone.

[0022] In the aforementioned automatic battery swapping machine for drones, the battery swapping rack is also equipped with a power on / off assembly for turning the drone on and off.

[0023] The power switch assembly on the battery swapping rack enables the drone to be switched on and off. The drone is turned off before the battery swap and turned on after the swap is completed.

[0024] In the aforementioned unmanned aerial vehicle (UAV) automatic battery swapping manipulator, the power-on / off assembly includes a power-on arm mounted on top of the battery swapping rack. One end of the power-on arm is equipped with a power-on pin, and the other end of the power-on arm is connected to the battery swapping rack via a swing driver that can drive one end of the power-on arm to swing around the other end.

[0025] One end of the power-on arm is equipped with a power-on pin for pressing the drone switch. The other end of the power-on arm is connected to the battery swapping rack via a swing driver. Through the swing driver, the power-on arm can swing and rotate around the connection point on the battery swapping rack, controlling the power-on pin to press the drone switch.

[0026] Compared with existing technologies:

[0027] 1. This UAV automatic battery swapping robot includes a robot lifting frame and a battery swapping telescopic structure. The battery swapping telescopic structure is set on the robot lifting frame and can be raised and lowered on the robot lifting frame through the robot lifting mechanism to reach the appropriate height for battery swapping. The battery swapping telescopic structure itself can be horizontally extended and retracted a second time to specifically realize battery retrieval and replacement.

[0028] 2. The vertical lifting drive assembly realizes the specific lifting function through a screw structure and a rotary drive unit. The two ends of the robotic arm lifting screw are rotatably fixed to the top plate and the triangular base plate of the lifting frame through bearings, which makes the structure stable. The robotic arm lifting nut seat is connected to the battery swapping telescopic mechanism on the robotic arm lifting screw. As the robotic arm lifting screw rotates, the robotic arm lifting nut seat can drive the lifting of the battery swapping telescopic mechanism.

[0029] 3. The rotary drive unit is mainly powered by a lifting screw drive motor. The lifting screw drive motor is located at the bottom of the triangular base plate and will not obstruct the lifting of the robot arm lifting frame. Its lifting drive wheel and the lifting synchronous wheels at the lower end of the two robot arm lifting screws are triangularly distributed and connected by a lifting synchronous belt. This enables real-time synchronization of the rotation of the two robot arm lifting screws, ensuring the stable lifting of the battery swapping telescopic mechanism. The straight-line distance between the lifting drive wheel and the two lifting synchronous wheels is equal, making the structure more stable.

[0030] 4. The lightweight through holes in the lifting frame and the triangular base plate reduce the weight of the equipment without affecting its function or structural strength, thus reducing the burden on the drive structure and connecting structure, and also saving materials.

[0031] 5. The power switch assembly on the battery swapping rack enables the drone to be switched on and off. The drone is turned off before the battery swap and turned on after the swap. One end of the power switch arm is equipped with a power switch pin, which is used to press the drone power switch. The other end of the power switch arm is connected to the battery swapping rack through a swing driver. Through the swing driver, the power switch arm can swing around the connection point on the battery swapping rack as an axis, controlling the power switch pin to press the drone power switch. Attached Figure Description

[0032] Figure 1 This is a front view schematic diagram of the overall structure of the automatic battery swapping robot for unmanned aerial vehicles (UAVs) of the present invention;

[0033] Figure 2 This is a rear view schematic diagram of the overall structure of the automatic battery swapping robot for unmanned aerial vehicles (UAVs) of the present invention;

[0034] Figure 3 This is a side view of the battery swapping telescopic mechanism of the present invention;

[0035] Figure 4 This is a front view of the battery swapping telescopic mechanism of the present invention;

[0036] Figure 5 This is a schematic diagram of the battery swapping telescopic mechanism of the present invention installed on the lifting frame of the robotic arm (part of the battery side panel is not shown).

[0037] In the diagram, the components are: robotic arm lifting frame 3000, lifting frame back plate 3010, lifting frame side plate 3020, lifting frame top plate 3030, triangular base plate 3040, lightweight through hole of lifting frame 3050, lightweight through hole of triangular base plate 3060, robotic arm lifting mechanism 3100, lifting slider rail assembly 3110, vertical lifting drive assembly 3120, robotic arm lifting screw 3130, robotic arm lifting nut seat 3140, rotary drive unit 3150, lifting screw drive motor 3151, lifting drive wheel 3152, lifting synchronous wheel 3153, lifting synchronous belt 3154, and battery swapping telescopic mechanism 4999. Battery swapping base 4000, base plate 4010, base rear plate 4020, right-angle support frame 4030, reinforcing rod 4040, battery swapping rack 4100, battery tray 4110, battery side guard 4111, battery separator 4112, battery top cover 4120, strip-shaped position sensor hole 4121, position sensing block 4122, in-situ sensor 4123, drone power-on device 4124, battery side plate 4130, battery loading / unloading compartment 4110, battery loading / unloading claw 4 200, Battery push plate 4210, Battery lock switch assembly 4211, Switch knob 4212, Switch rotation drive 4213, Battery claw unit 4220, Claw servo mount 4221, Claw servo 4222, Servo disc 4223, Battery hook 4224, Servo extension mount 4225, U-shaped support arm 4226, First-stage telescopic mechanism 4300, First-stage slider rail assembly 4310, First-stage rail 4311, First-stage strip heightening seat 4312, First-stage strip heightening seat light Quantization through hole 4313, primary linear drive unit 4320, primary slide screw 4321, primary slide nut seat 4322, primary rotary drive motor 4323, primary slide bearing seat 4324, secondary telescopic mechanism 4400, secondary slider slide rail assembly 4410, secondary slide rail 4411, secondary strip heightening seat 4412, secondary strip heightening seat lightweight through hole 4413, secondary linear drive unit 4420, secondary slide screw 4421, secondary slide nut seat 4422, Secondary slide bearing seat; 4423, Secondary rotary drive motor; 4424, Battery anti-damage and easy-entry structure; 4500, UAV battery rack groove; 4510, Easy-entry ramp; 4520, Side guard bar arc chamfer; 4530, Anti-damage ramp; 4540, Guide ramp; 4550, Lightweight structure; 4600, Strip-shaped weight-reducing oblique hole; 4610, Tray weight-reducing hole; 4620, Power-on / off assembly; 4700, Power-on arm; 4710, Power-on pin; 4720, Swing driver; 4730. Detailed Implementation

[0038] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0039] Specific implementation examples Figure 1-5As shown, the automatic battery swapping robot of this UAV includes a robot lifting frame 3000, a battery swapping telescopic mechanism 4999 that can extend and retract horizontally twice and is used for battery swapping, and a robot lifting mechanism 3100 that can make the battery swapping telescopic mechanism 4999 move up and down in the vertical direction is provided between the robot lifting frame 3000 and the battery swapping telescopic mechanism 4999.

[0040] Specifically, the automatic battery swapping robot for drones includes a robot lifting frame 3000 and a battery swapping telescopic structure. The battery swapping telescopic structure is mounted on the robot lifting frame 3000 and can be raised and lowered on the robot lifting frame 3000 via the robot lifting mechanism 3100 to reach the appropriate height for battery swapping. The battery swapping telescopic structure itself can extend and retract horizontally a second time to specifically realize battery retrieval and replacement.

[0041] like Figure 1 , Figure 2 As shown, the robotic arm lifting frame 3000 includes a lifting frame back plate 3010, lifting frame side plates 3020 on both sides of the lifting frame back plate 3010, the tops of the lifting frame back plate 3010 and the lifting frame side plates 3020 are fixed to the lifting frame top plate 3030, and the bottoms of the lifting frame back plate 3010 and the lifting frame side plates 3020 are fixed to the triangular base plate 3040. A robotic arm lifting mechanism 3100 is provided between the lifting frame back plate 3010, the lifting frame top plate 3030 and the triangular base plate 3040 and the battery swapping telescopic mechanism 4999. The robotic arm lifting mechanism 3100 includes a lifting slider rail assembly 3110 disposed between the lifting frame back plate 3010 and the battery swapping telescopic mechanism 4999, and a vertical lifting drive assembly 3120 is disposed between the lifting frame top plate 3030 and the triangular base plate 3040 and the battery swapping telescopic mechanism 4999. The vertical lifting drive assembly 3120 includes two rails respectively disposed on the two sides of the lifting frame back plate 3010. The robotic arm lifting screw 3130 is located on the side. Both ends of the robotic arm lifting screw 3130 are connected to the top plate 3030 and the triangular base plate 3040 of the lifting frame respectively through bearings. The robotic arm lifting screw 3130 is connected to the power-swapping telescopic mechanism 4999 through the robotic arm lifting nut seat 3140. A rotary drive unit 3150 is connected to the robotic arm lifting screw 3130. The rotary drive unit 3150 includes a lifting screw drive motor 3151 set at the bottom of the triangular base plate 3040. A lifting synchronous pulley 3153 is provided at the lower end of the robotic arm lifting screw. The drive shaft of the lifting screw drive motor 3151 passes through the triangular base plate 3040 and the lifting drive wheel 3152 on the output shaft is connected to the two lifting synchronous pulleys 3153 through the lifting synchronous belt 3154. The lifting drive wheel 3152 and the two lifting synchronous pulleys 3153 are triangularly distributed, and the straight-line distance between the lifting drive wheel 3152 and the two lifting synchronous pulleys 3153 is equal.

[0042] Specifically, the tops of the lifting frame back plate 3010 and the lifting frame side plate 3020 are fixed to the lifting frame top plate 3030, and the bottoms of the lifting frame back plate 3010 and the lifting frame side plate 3020 are both fixed to the triangular base plate 3040, resulting in a stable structure. The robotic arm lifting mechanism 3100 provides lifting conditions and defines the lifting path through the lifting slider rail assembly 3110. The vertical lifting drive assembly 3120 realizes the specific lifting function through the screw structure and the rotary drive unit 3150. The two ends of the robotic arm lifting screw 3130 are rotatably fixed to the lifting frame top plate 3030 and the triangular base plate 3040 through bearings, resulting in a stable structure. A robotic arm lifting nut seat 3140 connected to the battery swapping telescopic mechanism 4999 is fitted on the robotic arm lifting screw 3130. As the robotic arm lifting screw 3130 rotates, the robotic arm lifting nut seat 3140 can drive the lifting of the battery swapping telescopic mechanism 4999. The rotary drive unit 3150 is mainly powered by the lifting screw drive motor 3151. The lifting screw drive motor 3151 is located at the bottom of the triangular base plate 3040. Its lifting drive wheel 3152 and the lifting synchronous wheels 3153 at the lower end of the two robotic lifting screws 3130 are triangularly distributed, which can realize the real-time synchronization of the rotation of the two robotic lifting screws 3130, ensuring the stable lifting of the battery swapping telescopic mechanism 4999. The straight-line distance between the lifting drive wheel 3152 and the two lifting synchronous wheels 3153 is equal, making the structure more stable.

[0043] Preferably, the lifting frame side plate 3020 and the lifting frame back plate 3010 are provided with a number of lightweight lifting frame through holes 3050 evenly distributed in the vertical direction; the triangular base plate 3040 is provided with two symmetrically arranged triangular base plate lightweight through holes 3060.

[0044] In other words, the lightweight through-hole 3050 on the lifting frame and the lightweight through-hole 3060 on the triangular base plate reduce the weight of the equipment without affecting its function and structural strength, thus reducing the burden on the drive structure and connecting structure, and also saving materials.

[0045] The battery swapping telescopic mechanism 4999 is a specific operational structure for implementing battery swapping. It includes a battery swapping base 4000, a battery swapping rack 4100 on the battery swapping base 4000 for loading and unloading batteries, a battery pick-and-place compartment on the battery pick-and-place compartment for placing batteries, a battery pick-and-place claw 4200 inside the battery pick-and-place compartment, a primary telescopic mechanism 4300 between the battery pick-and-place claw 4200 and the battery swapping rack 4100 for driving the battery pick-and-place claw 4200 to extend and retract horizontally, and a secondary telescopic mechanism 4400 between the battery swapping rack 4100 and the battery swapping base 4000 for driving the battery swapping rack 4100 to extend and retract horizontally.

[0046] like Figure 1 , Figure 4As shown, the battery pick-and-place gripper 4200 includes a battery pusher plate 4210, on which two symmetrically arranged battery hook units 4220 are provided, capable of grabbing two batteries. The battery pusher plate 4210 is connected to the battery swapping rack 4100 through a primary telescopic mechanism 4300, used to drive the battery swapping rack 4100. The battery hook unit 4220 includes a hook servo base 4221, on which a hook servo 4222 is mounted. The hook servo 4222 is connected to the servo disk 4223 and can drive the rotation of the battery hook 4224. The servo disk 4223 has an L-shaped battery hook 4224 that can switch between relative and parallel states. When hooking is needed, switching to the relative state of the battery hook 4224 can achieve hooking control of the battery. When entering the predetermined position, switching to the parallel state will not hinder the extension and retraction of the battery hook 4224 to the target position. A U-shaped support arm 4226 is provided between the battery hook 4224 and the hook servo base 4221. The thickness of the U-shaped support arm 4226 is greater than the diameter of the servo disk 4223, which ensures that the servo disk 4223 can be installed well and provides a certain degree of protection for the servo disk 4223. The battery hook 4224 passes through the U-shaped support arm 4226. The grappling servo mount 4221 is fixed to the battery push plate 4210 via the servo extension mount 4225.

[0047] like Figure 1 , Figure 3As shown, the battery swapping rack 4100 includes a battery top cover 4120 positioned above the battery tray. The battery tray and battery top cover 4120 are connected by battery side plates 4130 on both sides. A battery push plate 4210 is connected to the battery top cover 4120 via a primary telescopic mechanism 4300. The battery push plate 4210 is equipped with a battery lock switch assembly 4211 for unlocking and locking the drone battery. This assembly allows for on / off control of the drone battery lock, opening the battery lock before battery replacement and locking it after replacement. The battery lock switch assembly 4211 includes a switch knob 4211 located in the middle of the battery push plate 4210, connected to a switch rotation drive 4212, which includes a motor. The primary telescopic mechanism 4300 includes two sets of primary slider rail assemblies 4310 positioned between the battery top cover 4120 and the battery push plate 4210. A [missing information - likely a typo or incomplete sentence] is provided between the two sets of primary slider rail assemblies 4310. The first-stage linear drive unit 4320 includes a first-stage slide screw 4321 and a first-stage slide nut seat 4322. The first-stage slide screw 4321 is connected to the bottom surface of the battery top cover 4120 through first-stage slide bearing seats 4324 at both ends. The first-stage slide nut seat 4322 is connected to the battery push plate 4210. A first-stage rotary drive motor 4323 is connected to the rear end of the first-stage slide screw 4321 and is fixed to the top surface of the rear end of the battery top cover 4120. The top of the battery top cover 4120 is provided with a strip-shaped position sensing hole 4121. A position sensing block 4122 connected to the first-stage slide nut seat 4322 passes through the strip-shaped position sensing hole 4121. An in-situ sensor 4123 is provided on one side of the strip-shaped position sensing hole 4121. The in-situ sensor 4121 monitors the position by sensing the position sensing block 4122 and makes corresponding feedback signals to make corresponding control.

[0048] like Figure 4 As shown, the secondary telescopic mechanism 4400 includes two sets of secondary slider rail assemblies 4410 disposed between the battery swapping rack 4100 and the battery swapping base 4000, which enable the battery swapping rack 4100 to move relative to the battery swapping base 4000 while restricting the movement path. A secondary linear drive unit 4420 is provided between the secondary slider rail assemblies 4410 to apply driving force to drive the movement of the battery swapping rack 4100. The secondary linear drive unit 4420 includes a secondary slide table lead screw 4421. The secondary slide nut seat 4422 and the secondary slide screw 4421 are connected to the top of the battery swapping base 4000 through the secondary slide bearing seats 4423 at both ends. The secondary slide nut seat 4422 is connected to the bottom of the battery tray. The rear end of the secondary slide screw 4421 is connected to the secondary rotary drive motor 4424, which is used to drive the rotation of the secondary slide screw, thereby controlling the movement of the battery swapping frame 4100 relative to the battery swapping base 4000. The secondary rotary drive motor 4424 is fixed to the bottom of the battery swapping base 4000.

[0049] like Figure 1 , Figure 4 As shown, the battery tray has battery side guards 4111 located on both sides, and a battery separator 4112 parallel to them is provided between the two battery side guards 4111. The battery tray, battery side guards 4111 and battery separator 4112 are integrated into one structure. A battery anti-damage access structure 4500 is provided between the battery tray, battery side guards 4111 and battery separator 4112. The battery anti-damage access structure 4500 includes a drone battery rack groove 4510 provided in the middle of the front end of the battery tray. The front end of the battery tray also has an access ramp 4520. The inner side of the front end of the battery side guards 4111 has a side guard arc chamfer 4530. The front end of the battery separator 4112 has an anti-damage slope 4540 that gradually slopes downward from the inner end to the outer end. The anti-damage slope 4540 and the side of the battery separator 4112 are both provided with guide slopes 4550 that gradually slope towards the center from the inner end to the outer end.

[0050] In terms of optimization, battery side guards 4111 are provided on both sides of the battery tray, serving as guides and limits. A battery separator 4112 is provided in the middle of the battery side guards 4111 to separate and limit the batteries. The battery tray, battery side guards 4111, and battery separator 4112 are integrated into a single, stable structure. In addition, a battery anti-damage and easy-access structure 4500 is provided, which provides a certain guiding effect and can prevent damage to the battery. The battery anti-damage and easy-access structure 4500 specifically includes a drone battery rack groove 4510 at the front of the battery tray to avoid collision damage to the drone battery rack; an easy-access ramp 4520 at the front of the battery tray to guide the battery tray to extend under the battery; and a side guard arc chamfer 4530 on the inner side of the front of the battery side guards 4111 to prevent collision damage to the lower side of the battery when the battery tray extends under the drone, while also providing a guiding effect. The guide ramp provides good guidance and prevents damage to the battery.

[0051] The optimized battery swapping base 4000 and battery swapping rack 4100 are equipped with a lightweight structure 4600. The lightweight structure 4600 includes several strip-shaped weight-reducing oblique holes 4610 that are symmetrically arranged vertically and distributed horizontally on the battery side plate 4130. The battery tray is provided with two tray weight-reducing holes 4620. The battery swapping base 4000 includes a base plate 4010 and a base rear plate 4020. The base plate 4010 is perpendicular to the base rear plate 4020. A right-angle support frame 4030 is provided in the middle between the base plate 4010 and the base rear plate 4020. A reinforcing rod 4040 is provided in the middle of the right-angle support frame 4030.

[0052] In other words, the lightweight structure 4600 reduces the weight of the equipment, decreases the burden on the drive and connection structures, and also saves materials. Specifically, the lightweight structure 4600 features strip-shaped weight-reducing oblique holes 4610 and tray weight-reducing holes 4620, achieving a lightweight effect without compromising structural strength. The battery swapping base 4000 consists of a vertically positioned base rear plate 4020 and base bottom plate 4010. A reinforcing rod 4040 is added to the middle of the right-angle support frame 4030, forming a stable triangular structure that ensures structural strength while maintaining a light weight.

[0053] Furthermore, to ensure height while reducing weight, the primary slide rail 4311 of the primary slider slide rail assembly 4310 is connected to the battery push plate 4210 via a primary strip-shaped elevation seat 4312. The primary strip-shaped elevation seat 4312 has several axially distributed lightweight through holes 4313. Similarly, the secondary slide rail 4411 of the secondary slider slide rail assembly 4410 is connected to the battery swapping base 4000 via a secondary strip-shaped elevation seat 4412. The secondary strip-shaped elevation seat 4412 also has several axially distributed lightweight through holes 4413. This effectively achieves a lightweight design.

[0054] like Figure 3 As shown, the battery swapping rack 4100 is also equipped with a power-on / off assembly 4700 for powering on / off the drone. The power-on / off assembly 4700 includes a power-on arm 7410 disposed on the top of the battery swapping rack 4100. One end of the power-on arm 7410 is provided with a power-on pin 4720. The other end of the power-on arm 7410 is connected to the battery swapping rack 4100 through a swing driver 4730 that can drive one end of the power-on arm 7410 to swing around the other end.

[0055] Specifically, the power switch assembly 4700 on the battery swapping rack enables the switching operation of the drone. The drone is turned off before the battery swap and turned on after the swap. One end of the power switch arm 7410 is equipped with a power switch pin 4720 for pressing the drone power switch. The other end of the power switch arm 7410 is connected to the battery swapping rack 4100 through a swing driver 4730. Through the swing driver 4730, the power switch arm 7410 can swing and rotate around the connection point on the battery swapping rack 4100, controlling the power switch pin 4720 to press the drone power switch.

[0056] Specific working principle: The robotic arm drives the motor 3151 to rotate via the lifting screw, causing the battery swapping telescopic mechanism 4999 to move to an appropriate height. When the drone is pushed near the robotic arm, the robotic arm extends the battery swapping rack 4100, places the battery tray in front of the drone's battery, and then extends the battery pick-and-place claw 4200. The hook servo 4222 actuates to grab the battery on the drone. Then, the battery lock switch assembly 4211 is turned off, and the swing driver 4730 actuates. After the drone is powered off by pressing the power-on pin 4720, the battery pick-and-place claw 4200 retracts, taking out the two batteries from the drone and pulling them onto the robotic arm's battery tray. After the battery pick-and-place claw 4200 retracts, the battery swapping rack 4100 also returns to its original position. The lifting screw drive motor 3151 rotates in the opposite direction to control the robotic arm to move downwards with the battery. When the arm is level with the battery compartment, the secondary rotary drive motor 4424 operates, pushing the battery swapping rack 4100 to the battery compartment opening. The primary rotary drive motor 4323 operates, and the battery pusher plate 4210 pushes the battery into the battery compartment. Then, the hook servo motor 4222 operates to open the battery hook 4224 to a parallel state. Then, the primary rotary drive motor 4323 and the secondary rotary drive motor 4424 operate simultaneously to retract the battery swapping rack 4100 and the battery pick-and-place claw 4200, completing the removal and storage of the UAV battery.

[0057] The steps for replacing the battery are the same as the reverse process.

[0058] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. An automatic battery-swapping robotic arm for unmanned aerial vehicles (UAVs), characterized in that, The system includes a robotic arm lifting frame (3000), which is equipped with a power swapping telescopic mechanism (4999) capable of secondary horizontal extension and retraction for power exchange. Between the robotic arm lifting frame (3000) and the power swapping telescopic mechanism (4999), there is a robotic arm lifting mechanism (3100) that enables the power swapping telescopic mechanism (4999) to move up and down in the vertical direction. The battery swapping telescopic mechanism (4999) includes a battery swapping base (4000), a battery swapping rack (4100) on the battery swapping base (4000), a battery pick-and-place compartment on the battery swapping rack (4100), a battery pick-and-place claw (4200) in the battery pick-and-place compartment, a primary telescopic mechanism (4300) between the battery pick-and-place claw (4200) and the battery swapping rack (4100) that can drive the battery pick-and-place claw (4200) to extend horizontally, and a secondary telescopic mechanism (4400) between the battery swapping rack (4100) and the battery swapping base (4000) that can drive the battery swapping rack (4100) to extend horizontally. The battery swapping rack (4100) includes a battery top cover (4120) above the battery tray. The battery tray and the battery top cover (4120) are connected by battery side plates (4130) on both sides. The battery push plate (4210) is connected to the battery top cover (4120) through a primary telescopic mechanism (4300). The battery push plate (4210) is provided with a battery lock switch assembly (4211) for unlocking and locking the UAV battery. The battery pick-and-place gripper (4200) includes a battery push plate (4210), on which two symmetrically arranged battery hook units (4220) are provided. The battery push plate (4210) is connected to the battery swapping rack (4100) through a primary telescopic mechanism (4300). The battery hooks (4224) of the battery hook units (4220) can switch between relative or parallel states to achieve battery grabbing control.

2. The automatic battery swapping robot for unmanned aerial vehicles according to claim 1, characterized in that, The robotic arm lifting frame (3000) includes a lifting frame back plate (3010), and lifting frame side plates (3020) are provided on both sides of the lifting frame back plate (3010). The tops of the lifting frame back plate (3010) and the lifting frame side plates (3020) are fixed on the lifting frame top plate (3030), and the bottoms of the lifting frame back plate (3010) and the lifting frame side plates (3020) are fixed on the triangular base plate (3040). A robotic arm lifting mechanism (3100) is provided between the lifting frame back plate (3010), the lifting frame top plate (3030), and the triangular base plate (3040) and the battery swapping telescopic mechanism (4999).

3. The automatic battery swapping robot for unmanned aerial vehicles according to claim 2, characterized in that, The robotic arm lifting mechanism (3100) includes a lifting slider rail assembly (3110) disposed between the lifting frame back plate (3010) and the battery swapping telescopic mechanism (4999), and a vertical lifting drive assembly (3120) is provided between the lifting frame top plate (3030) and the triangular base plate (3040) and the battery swapping telescopic mechanism (4999).

4. The automatic battery swapping robot for unmanned aerial vehicles according to claim 3, characterized in that, The vertical lifting drive assembly (3120) includes two robotic lifting screws (3130) respectively set on both sides of the lifting frame back plate (3010). The two ends of the robotic lifting screws (3130) are connected to the lifting frame top plate (3030) and the triangular base plate (3040) respectively through bearings. The robotic lifting screws (3130) are connected to the battery swapping telescopic mechanism (4999) through the robotic lifting nut seat (3140). A rotary drive unit (3150) is connected to the robotic lifting screws (3130).

5. The automatic battery swapping robot for unmanned aerial vehicles according to claim 4, characterized in that, The rotary drive unit (3150) includes a lifting screw drive motor (3151) set at the bottom of the triangular base plate (3040). The lower end of the lifting screw (3130) of the robotic arm is provided with a lifting synchronous wheel (3153). The drive shaft of the lifting screw drive motor (3151) passes through the triangular base plate (3040), and the lifting drive wheel (3152) on the output shaft is connected to the two lifting synchronous wheels (3153) through the lifting synchronous belt (3154). The lifting drive wheel (3152) and the two lifting synchronous wheels (3153) are triangularly distributed, and the straight-line distance between the lifting drive wheel (3152) and the two lifting synchronous wheels (3153) is equal.

6. The automatic battery swapping robot for unmanned aerial vehicles according to any one of claims 2-5, characterized in that, The lifting frame side plate (3020) and lifting frame back plate (3010) are provided with a number of lightweight lifting frame through holes (3050) evenly distributed in the vertical direction; the triangular base plate (3040) is provided with two symmetrically arranged triangular base plate lightweight through holes (3060).

7. The automatic battery swapping robot for unmanned aerial vehicles according to claim 6, characterized in that, The battery swapping rack (4100) is also equipped with a power-on / off assembly (4700) for powering on / off the drone.

8. The automatic battery swapping robot for unmanned aerial vehicles according to claim 7, characterized in that, The power-on / off assembly (4700) includes a power-on arm (4710) disposed on the top of the power-swapping rack (4100). One end of the power-on arm (4710) is provided with a power-on pin (4720), and the other end of the power-on arm (4710) is connected to the power-swapping rack (4100) through a swing driver (4730) that can drive one end of the power-on arm (4710) to swing around the other end.

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