A method, device and system for swapping batteries for unmanned aerial vehicles (UAVs)

Abstract

This application relates to a method, device, and system for swapping batteries for unmanned aerial vehicles (UAVs). The method includes controlling the UAV battery swapping system to receive a battery swapping task; according to the task, controlling the battery swapping device to move to the battery compartment, wherein the battery swapping device includes battery grippers, specifically a first, second, third, and fourth battery gripper; controlling the first and fourth battery grippers to pick up fully charged batteries; controlling the battery swapping device to move to the swapping position and controlling the second battery gripper to remove a battery to be swapped; controlling the first battery gripper to place a fully charged battery into the UAV; controlling the third battery gripper to remove another battery to be swapped; and controlling the fourth battery gripper to place a fully charged battery into the UAV. This method avoids the risks of signal interruption and slow restart due to power failure, and simplifies the battery swapping process, reducing swapping time and improving UAV battery swapping efficiency.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a UAV battery swapping method, battery swapping device, and battery swapping system. Background Technology

[0002] Due to their limited battery life, drones require timely battery replacements. To improve battery replacement efficiency, automated battery swapping devices are typically used. However, commercially available automated battery swapping devices require a power outage during battery replacement, interrupting the drone's signal. The drone then needs to reconnect to image transmission, satellite, remote control, and self-test procedures before it can take off again, resulting in slow startup and a lengthy battery swapping process. Summary of the Invention

[0003] This application provides a method, device, and system for swapping batteries for unmanned aerial vehicles (UAVs) to solve the problem in the prior art where power outages during battery swapping result in slow startup of the UAV after battery swapping and a long overall battery swapping process.

[0004] The first aspect of this application provides a method for swapping batteries for unmanned aerial vehicles, the battery swapping steps including:

[0005] Receive battery swapping tasks;

[0006] According to the battery swapping task, the battery swapping device is controlled to move to the battery compartment; the battery swapping device includes battery grippers, which include a first battery gripper, a second battery gripper, a third battery gripper, and a fourth battery gripper.

[0007] Control the first and fourth battery grippers to pick up fully charged batteries;

[0008] Control the battery swapping device to move to the battery swapping position, and control the second battery gripper to remove a battery to be swapped;

[0009] Control the first battery gripper to place the fully charged battery into the drone;

[0010] Control the third battery gripper to remove another battery to be replaced;

[0011] Control the fourth battery gripper to place the fully charged battery into the drone.

[0012] In one possible design, the process of controlling the second battery gripper to remove a battery to be replaced further includes:

[0013] The two positioning grippers of the control positioning component move closer to each other to position the drone.

[0014] A second aspect of this application provides a battery swapping device for unmanned aerial vehicles (UAVs). The battery swapping device includes a robotic arm, a fixed base, and battery grippers. The fixed base is connected to the robotic arm. The battery grippers include a first battery gripper, a second battery gripper, a third battery gripper, and a fourth battery gripper, all of which are connected to the fixed base. The first and fourth battery grippers are used to hold the battery and move it from the battery compartment to the UAV. The second and third battery grippers are also used to hold the battery and move it from the UAV to the battery compartment.

[0015] In one possible design, the robotic arm includes a first drive shaft, a second drive shaft, and a third connecting assembly; the mounting base is detachably connected to the third connecting assembly, the first drive shaft is used to drive the battery gripper to move in a first direction, and the second drive shaft is used to drive the battery gripper to move in a second direction.

[0016] In one possible design, the robotic arm further includes a first connecting block, which is slidably connected to the first drive shaft, and the second drive shaft is fixedly connected to the first connecting block.

[0017] In one possible design, the robotic arm further includes a second connecting block that is slidably connected to the second drive shaft, and the third connecting assembly is fixedly connected to the second connecting block.

[0018] In one possible design, the battery swapping device further includes a horizontal moving assembly and a mounting flange. The horizontal moving assembly includes a fixed frame that is fixedly connected to the fixed base. The battery grippers are mounted on the mounting flange. One of the fixed frame and the mounting flange is provided with a slide rail, and the other is provided with a slider that can slide along the slide rail.

[0019] In one possible design, the battery swapping device further includes multiple lifting assemblies connected to the mounting flange, and the battery grippers connected to the lifting assemblies; the lifting assemblies are used to drive the battery grippers to move in a third direction.

[0020] In one possible design, the lifting assembly includes a second driving member, a transmission gear, a second lead screw, and a lifting plate. The battery gripper is connected to the lifting plate, and the lifting plate is threadedly connected to the second lead screw. The second lead screw is connected to the transmission gear, and during the process of the second driving member driving the transmission gear to rotate, the second driving member can drive the second lead screw to rotate through the transmission gear.

[0021] In one possible design, the battery gripper includes a third drive unit, a power distributor, and two clamping blocks; the third drive unit is connected to the input shaft of the power distributor, and the two clamping blocks are respectively threadedly connected to the output shafts on both sides of the power distributor.

[0022] In one possible design, the battery swapping device further includes a positioning component for locating the drone, the positioning component being connected to the mounting base.

[0023] A third aspect of this application provides a UAV battery swapping system, including a receiving device, a battery swapping device, and a control device. The receiving device receives battery swapping tasks, and the battery swapping device replaces the batteries of the UAV. The battery swapping device includes battery grippers, specifically a first battery gripper, a second battery gripper, a third battery gripper, and a fourth battery gripper. The control device is electrically connected to both the receiving device and the battery swapping device. The control device, according to the battery swapping task, controls the battery swapping device to move to the battery compartment; controls the first and fourth battery grippers to pick up fully charged batteries; controls the battery swapping device to move to the swapping position and controls the second battery gripper to remove a battery to be swapped; controls the first battery gripper to place a fully charged battery into the UAV; controls the third battery gripper to remove another battery to be swapped; and controls the fourth battery gripper to place a fully charged battery into the UAV.

[0024] In one possible design, the battery swapping device further includes a positioning component comprising two opposing positioning grippers; the control device is capable of controlling the two positioning grippers to move closer to each other to position the drone.

[0025] In this application, when the UAV undergoes battery replacement, according to the battery replacement task, the battery replacement device is first moved to the battery compartment, allowing the first and fourth battery grippers to pre-grab fully charged batteries from the battery compartment. Then, the battery replacement device is moved to the replacement position, where the second battery gripper can remove a battery to be replaced from the first battery slot of the UAV. The first battery gripper then places the fully charged battery into the first battery slot. Next, the third battery gripper removes another battery to be replaced from the second battery slot of the UAV, and the fourth battery gripper places the fully charged battery into the second battery slot, completing the battery replacement for the UAV. Therefore, when using the battery replacement device of this application to replace the UAV's battery, a continuous current supply can be maintained in the UAV, ensuring that the UAV's signal is not interrupted during the battery replacement process. There is no need to reconnect to image transmission, satellite, remote control, and self-test programs, avoiding the risk of signal interruption and slow restart due to power failure during the battery replacement process. Furthermore, the battery replacement process is simplified, the number of times the battery replacement device moves between the battery compartment and the replacement position is reduced, the overall battery replacement process time is shortened, and the efficiency of UAV battery replacement is improved.

[0026] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this application. Attached Figure Description

[0027] Figure 1 This is a flowchart illustrating the UAV battery swapping method provided in this application;

[0028] Figure 2 A partial structural diagram of the battery swapping system provided in this application;

[0029] Figure 3 for Figure 2 A partial structural diagram of the battery swapping device;

[0030] Figure 4 for Figure 3 Schematic diagram of the middle section;

[0031] Figure 5 for Figure 3 A schematic diagram of the structure of the horizontal moving component;

[0032] Figure 6 for Figure 3 A schematic diagram of the structure of another part;

[0033] Figure 7 for Figure 6 Schematic diagram of the lifting assembly;

[0034] Figure 8 for Figure 6 A schematic diagram of the structure of the battery gripper;

[0035] Figure 9 for Figure 6 A bottom view.

[0036] Figure label:

[0037] 1- Battery swapping device;

[0038] 11-Robotic arm;

[0039] 111 - First drive shaft;

[0040] 112 - Second drive shaft;

[0041] 113 - Third connecting component;

[0042] 114 - First connecting block;

[0043] 115 - Second connecting block;

[0044] 12-Fixed base;

[0045] 13-Positioning components;

[0046] 131 - Positioning gripper;

[0047] 132 - First driving component;

[0048] 133 - Drive wheel;

[0049] 134 - Driven gear;

[0050] 135 - Synchronous belt;

[0051] 136 - First leadscrew;

[0052] 137 - First guide rod;

[0053] 138 - Unmanned Aerial Vehicle (UAV) Positioning Pin;

[0054] 139 - Tensioner;

[0055] 14-Lifting assembly;

[0056] 141 - Second drive component;

[0057] 142-Lifting plate;

[0058] 143 - Second leadscrew;

[0059] 144 - Transmission gear;

[0060] 145 - First mounting plate;

[0061] 146 - Second mounting plate;

[0062] 147 - Lifting guide rod;

[0063] 15-Battery gripper;

[0064] 151 - Third drive component;

[0065] 152 - Power distributor;

[0066] 152a - Input axis;

[0067] 152b - Output shaft;

[0068] 153-Clamping block;

[0069] 154 - Second guide rod;

[0070] 155 - Limit switch;

[0071] 156 - Battery positioning pin;

[0072] 157 - Installation Department;

[0073] 16-Horizontal movement component;

[0074] 161-Fixed frame;

[0075] 161a - Slide rail;

[0076] 162 - Fourth drive component;

[0077] 163 - Transmission wheel;

[0078] 164 - Drive belt;

[0079] 17-Installation flange;

[0080] 171-Slider; 2-Battery;

[0081] 3-Battery compartment;

[0082] 4-Drone

[0083] 5-First battery gripper;

[0084] 6-Second battery gripper;

[0085] 7-Third battery gripper;

[0086] 8-Fourth battery gripper;

[0087] X - First direction;

[0088] Y - Second direction;

[0089] Z - Third-party orientation.

[0090] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. Detailed Implementation

[0091] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0092] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0093] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0094] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0095] It should be noted that the directional terms such as "upper," "lower," "left," and "right" described in the embodiments of this application are used to describe the angles shown in the accompanying drawings and should not be construed as limiting the embodiments of this application. Furthermore, in the context, it should be understood that when it is mentioned that an element is connected "upper" or "lower" to another element, it can be directly connected to the other element "upper" or "lower," or indirectly connected to the other element "upper" or "lower" through an intermediate element.

[0096] This application provides a method for swapping batteries for unmanned aerial vehicles, such as... Figure 1 As shown, it includes:

[0097] S1 receives the battery swapping task.

[0098] In this step, when the drone 4 needs a battery swap, the drone battery swapping system receives the battery swapping task through the receiving device, so that the drone 4 can perform a battery swap within the drone battery swapping system.

[0099] S2, according to the battery swapping task, control the battery swapping device 1 to move to the battery compartment 3; the battery swapping device 1 includes a battery gripper 15, which includes a first battery gripper 5, a second battery gripper 6, a third battery gripper 7 and a fourth battery gripper 8.

[0100] In this step, after receiving the battery swapping task, the UAV battery swapping system needs to control the battery swapping device 1 to move to the battery compartment 3 so that the battery swapping device 1 can grab the fully charged battery 2 in the battery compartment 3.

[0101] S3, control the first battery gripper 5 and the fourth battery gripper 8 to grip the fully charged battery 2.

[0102] In this step, after the battery swapping device 1 moves to the battery compartment 3, the first battery gripper 5 and the fourth battery gripper 8 respectively grab the fully charged battery 2 from the battery compartment 3 to facilitate the subsequent battery swapping task.

[0103] S4, control the battery swapping device 1 to move to the battery swapping position, and control the second battery gripper 6 to take out a battery 2 to be swapped.

[0104] In this step, the second battery gripper 6 can remove a battery 2 to be replaced from the first battery slot on the drone 4 so that a fully charged battery 2 can be inserted.

[0105] S5 controls the first battery gripper 5 to place the fully charged battery 2 into the drone 4.

[0106] In this step, the first battery gripper 5 is able to place the fully charged battery 2 into the first battery slot on the drone 4.

[0107] S6, control the third battery gripper 7 to remove another battery 2 to be replaced.

[0108] In this step, the third battery gripper 7 can remove another battery 2 to be replaced from the second battery slot on the drone 4 so that the fully charged battery 2 can be inserted.

[0109] S7 controls the fourth battery gripper 8 to place the fully charged battery 2 into the drone 4.

[0110] In this step, the four battery grippers 8 are able to insert the fully charged battery 2 into the second battery slot of the drone 4.

[0111] In this embodiment, as Figure 1 , Figure 2 , Figure 3 , Figure 6 and Figure 9 As shown, when the drone 4 is replacing its battery, according to the battery replacement task, the battery replacement device 1 is first moved to the battery compartment 3, so that the first battery gripper 5 and the fourth battery gripper 8 can pre-grab a fully charged battery 2 from the battery compartment 3. Then, the battery replacement device 1 is moved to the battery replacement position, and the battery replacement device 1 can control the second battery gripper 6 to take out a battery 2 to be replaced from the first battery position of the drone 4. Then, the first battery gripper 5 is controlled to put the fully charged battery 2 into the first battery position. Next, the third battery gripper 7 is controlled to take out another battery 2 to be replaced from the second battery position of the drone 4. Then, the fourth battery gripper 8 is controlled to... The fully charged battery 2 is placed in the second battery slot to complete the battery swap for the drone 4. Therefore, when the drone is battery swapped using the battery swapping device 1 of this application, a continuous current supply can be maintained in the drone 4, so that the signal of the drone 4 will not be interrupted during the battery swapping process. There is no need to reconnect the image transmission, satellite, remote control and self-test programs, etc., avoiding the risk of signal interruption and slow restart due to power failure during the battery swapping process. It also simplifies the battery swapping process, reduces the number of times the battery swapping device 1 moves between the battery compartment 3 and the battery swapping position, reduces the time of the entire battery swapping process, and improves the efficiency of drone battery swapping.

[0112] Among them, such as Figure 2 and Figure 3In the specific embodiment shown, the drone 4 is provided with a first battery position and a second battery position, and is equipped with two batteries 2. For the two batteries 2 on the drone, the battery swapping device 1 is provided with four battery grippers 15, which can pre-grab two fully charged batteries 2 from the battery compartment 3 before swapping the batteries of the drone 4, and then move to the battery swapping position to replace the batteries in the first battery position and the second battery position of the drone 4 one by one. This ensures that the drone 4 has a continuous current supply during the battery swapping process, and reduces the number of times the robotic arm 11 moves the battery swapping device 1 between the battery compartment 3 and the battery swapping position, thereby simplifying the battery swapping process, reducing the time of the entire battery swapping process, and improving the efficiency of the drone battery swapping. Of course, the drone 4 can also be equipped with three, four, or other numbers of battery slots, and have three, four, or other numbers of batteries 2 installed. For the three, four, or other numbers of batteries installed on the drone, the battery swapping device 1 can be equipped with six, eight, or other numbers of battery grippers 15 to ensure that the drone 4 has a continuous current supply during the battery swapping process, and to simplify the battery swapping process, reduce the time of the entire battery swapping process, and improve the efficiency of the drone battery swapping. No restrictions are imposed here.

[0113] In one specific embodiment, before controlling the second battery gripper 6 to remove a battery 2 to be replaced, the following steps are also included:

[0114] The two positioning grippers 131 of the control positioning component 13 move closer to each other to position the drone 4.

[0115] In this step, the battery swapping device 1 can control the two positioning grippers 131 of the positioning component 13 to move closer to each other to clamp the body of the drone 4, thereby positioning the drone 4. The battery swapping device 1 can drive the battery grippers 15 to accurately remove the battery 2 to be replaced from the drone 4 or insert a fully charged battery 2 to achieve battery swapping.

[0116] In this embodiment, as Figures 2 to 4 As shown, the battery swapping device 1 can control the two positioning claws 131 of the positioning component 13 to fix the body of the drone 4, and then take out the battery 2 to be replaced or put in the fully charged battery 2 from the drone 4 through the first battery claw 5, the second battery claw 6, the third battery claw 7 and the fourth battery claw 8. This can prevent the body of the drone 4 from shifting as the battery claws 15 insert and remove the battery 2, making it easier to take out or put in the drone 4.

[0117] The positioning component 13, the first battery gripper 5, the second battery gripper 6, the third battery gripper 7, and the fourth battery gripper 8 are connected to the end of the robotic arm 11 of the battery swapping device 1 via the fixing base 12. This reduces the impact of the insertion and removal force generated by inserting and removing the battery 2 on the end of the robotic arm 11, prevents the robotic arm 11 from bending or being damaged by the insertion and removal force during the battery insertion and removal process, reduces the requirements for the output force and rigidity of the robotic arm 11, thereby reducing the weight of the battery swapping device 1, reducing the cost of the battery swapping device 1, and improving the reliability of UAV battery swapping.

[0118] In addition, such as Figure 4 In the specific embodiment shown, a conical drone positioning pin 138 is provided on the positioning gripper 131, and a corresponding positioning hole is provided on the drone body 4. During positioning, the drone positioning pin 138 on the positioning gripper 131 can be inserted into the positioning hole on the body, thereby preventing the body from moving relative to the positioning gripper 131 during the battery swapping process, thus improving the stability of drone positioning. At the same time, the conical drone positioning pin 138 can reduce the difficulty of inserting the drone positioning pin 138 into the positioning hole and improve positioning efficiency.

[0119] This application also provides a battery swapping device for unmanned aerial vehicles, such as... Figure 2 , Figure 3 Figure 6 and Figure 9 As shown, the battery swapping device 1 includes a robotic arm 11, a fixed base 12, and battery grippers 15. The fixed base 12 is connected to the robotic arm 11. The battery grippers 15 include a first battery gripper 5, a second battery gripper 6, a third battery gripper 7, and a fourth battery gripper 8, all of which are connected to the fixed base 12. The first battery gripper 5 and the fourth battery gripper 8 are used to hold the battery 2 and move it from the battery compartment 3 to the drone 4. The second battery gripper 6 and the third battery gripper 7 are used to move the battery 2 from the drone 4 to the battery compartment 3.

[0120] In this embodiment, when the drone 4 is battery replaced, the robotic arm 11 can move the battery swapping device 1 to the battery swapping position. The battery swapping device 1 can control the second battery gripper 6 to remove a battery 2 to be replaced from the first battery position of the drone 4, and then control the first battery gripper 5 to put the fully charged battery 2 into the first battery position. Next, it controls the third battery gripper 7 to remove another battery 2 to be replaced from the second battery position of the drone 4, and then controls the fourth battery gripper 8 to put the fully charged battery 2 into the second battery position to complete the battery swapping of the drone 4. Therefore, when the battery swapping device 1 of this application is used to swap the drone's battery, it can always maintain a continuous current supply to the drone 4, so that the signal of the drone 4 will not be interrupted during the battery swapping process. There is no need to reconnect the image transmission, satellite, remote control and self-test programs, etc., avoiding the risk of signal interruption and slow restart caused by power failure during the battery swapping process of the drone 4. It also simplifies the battery swapping process, reduces the time of the entire battery swapping process, and improves the efficiency of drone battery swapping.

[0121] Among them, such as Figure 2 , Figure 3 Figure 6 and Figure 9 In the specific embodiment shown, the drone 4 is provided with a first battery position and a second battery position, and is equipped with two batteries 2. For the two batteries 2 on the drone, the battery swapping device 1 is provided with four battery grippers 15, which can pre-grab two fully charged batteries 2 from the battery compartment 3 before swapping the batteries of the drone 4, and then move to the battery swapping position to replace the batteries in the first battery position and the second battery position of the drone 4 one by one. This ensures that the drone 4 has a continuous current supply during the battery swapping process, and reduces the number of times the robotic arm 11 moves the battery swapping device 1 between the battery compartment 3 and the battery swapping position, thereby simplifying the battery swapping process, reducing the time of the entire battery swapping process, and improving the efficiency of the drone battery swapping. Of course, the drone 4 can also be equipped with three, four, or other numbers of battery slots, and have three, four, or other numbers of batteries 2 installed. For the three, four, or other numbers of batteries 2 installed on the drone, the battery swapping device 1 can be equipped with six, eight, or other numbers of battery grippers 15 to ensure that the drone 4 has a continuous current supply during the battery swapping process, and to simplify the battery swapping process, reduce the time of the entire battery swapping process, and improve the efficiency of the drone battery swapping. No restrictions are imposed here.

[0122] In one specific embodiment, such as Figure 2 As shown, the robotic arm 11 includes a first drive shaft 111, a second drive shaft 112, and a third connecting assembly 113; the fixed base 12 is detachably connected to the third connecting assembly 113. The first drive shaft 111 is used to drive the battery gripper 15 to move along the first direction X, and the second drive shaft 112 is used to drive the battery gripper 15 to move along the second direction Y.

[0123] In this embodiment, as Figure 2 As shown, during the battery swapping process of the UAV 4, when the battery swapping device 1 is activated, the robotic arm 11 can drive the battery gripper 15 to move along the first direction X via the first drive shaft 111. This causes the fixed base 12 and the battery gripper 15 to be displaced in the first direction X, thereby adjusting the positional relationship between the battery gripper 15 and the battery 2 along the first direction X. The robotic arm 11 can also drive the battery gripper 15 to move along the second direction Y via the second drive shaft 112. This causes the fixed base 12 and the battery gripper 15 to be displaced in the second direction Y, thereby adjusting the positional relationship between the battery gripper 15 and the battery 2 along the second direction Y. Based on the positional relationship of the battery 2, the third connecting component 113 can fix the fixing seat 12 and the battery gripper 15 on the third direction Z along the robotic arm 11, which facilitates the subsequent movement of the battery gripper 15 along the third direction Z, thereby enabling the battery gripper 15 to grip the battery 2 from the drone 4 or the battery compartment 3, and improving the stability of the robotic arm 11. Therefore, in this embodiment, through the first drive shaft 111, the second drive shaft 112 and the third connecting component 113, the robotic arm 11 can expand the range of movement of the battery gripper 15, and is easier to control precisely and operate stably, which is convenient for the battery swapping task.

[0124] Of course, robotic arm 11 can also be other types of multi-axis robotic arms, and there are no restrictions here.

[0125] In one specific embodiment, such as Figure 2 As shown, the robotic arm 11 also includes a first connecting block 114, which is slidably connected to the first drive shaft 111, and the second drive shaft 112 is fixedly connected to the first connecting block 114.

[0126] In this embodiment, as Figure 2 As shown, the first connecting block 114 can slide along the first direction X on the first drive shaft 111. Since the second drive shaft 112 is fixed to the first connecting block 114, the first connecting block 114 can drive the second drive shaft 112 to move synchronously, thereby generating displacement in the first direction X. This allows adjustment of the positional relationship between the battery gripper 15 and the battery 2 along the first direction X. Therefore, this structure facilitates the first connecting block 114 to drive the battery gripper 15 to move along the first direction X, and improves the connection strength between the second drive shaft 112 and the first drive shaft 111.

[0127] In one specific embodiment, such as Figure 2 As shown, the robotic arm 11 also includes a second connecting block 115, which is slidably connected to the second drive shaft 112, and a third connecting assembly 113 is fixedly connected to the second connecting block 115.

[0128] In this embodiment, as Figure 2As shown, the second connecting block 115 can slide along the second direction Y on the second drive shaft 112. Since the third connecting component 113 is fixed to the second connecting block 115, the second connecting block 115 can drive the third connecting component 113 to move synchronously, thereby generating displacement in the second direction Y. This allows adjustment of the positional relationship between the battery gripper 15 and the battery 2 along the second direction Y. Therefore, this structure facilitates the second connecting block 115 driving the battery gripper 115 to move along the second direction Y, and improves the connection strength between the third connecting component 113 and the second drive shaft 112.

[0129] In one specific embodiment, such as Figures 2 to 4 As shown, the battery swapping device 1 also includes a positioning component 13 for positioning the drone 4. The positioning component 13 includes a first driving member 132, a driving wheel 133, a driven wheel 134, a timing belt 135, and two opposing positioning grippers 131. The positioning component 13 is connected to the fixed base 12. The first driving member 132 is connected to the driving wheel 133, and the driven wheel 134 is connected to the positioning grippers 131. The timing belt 135 wraps around the driving wheel 133 and the driven wheel 134. During the process of the first driving member 132 driving the driving wheel 133 to rotate, it can drive the driven wheel 134 to move the positioning grippers 131 through the timing belt 135.

[0130] In this embodiment, as Figure 4 As shown, during the positioning of the drone 4, the first driving component 132 drives the active wheel 133 to rotate, which in turn drives the driven wheel 134 to rotate via the synchronous belt 135. This causes the driven wheel 134 to move the positioning gripper 131, enabling the positioning component 13 to position the drone 4. This structure is simple, reliable, low-cost, and easy to maintain. Furthermore, this transmission structure occupies little space, reducing the size of the positioning component 13 and thus the size of the battery swapping device 1. This facilitates miniaturization of the battery swapping device 1, reduces interference from the battery swapping device 1 with other components within the drone's battery swapping system, and improves the reliability of the drone's battery swapping. Meanwhile, as... Figures 2 to 4 As shown, after the two positioning claws 131 of the battery swapping device 1 control positioning component 13 fix the body of the drone 4, when the first battery claw 5, the second battery claw 6, the third battery claw 7 and the fourth battery claw 8 take out the battery 2 to be replaced or put in the fully charged battery 2 from the drone 4, the body of the drone 4 can be prevented from shifting as the battery claws 15 insert and remove the battery 2, making it easier to take out or put in the drone 4.

[0131] The positioning component 13, the first battery gripper 5, the second battery gripper 6, the third battery gripper 7, and the fourth battery gripper 8 are connected to the end of the robotic arm 11 of the battery swapping device 1 via the fixing base 12. This reduces the impact of the insertion and removal force generated by inserting and removing the battery 2 on the end of the robotic arm 11, prevents the robotic arm 11 from bending or being damaged by the insertion and removal force during the battery insertion and removal process, reduces the requirements for the output force and rigidity of the robotic arm 11, thereby reducing the weight of the battery swapping device 1, reducing the cost of the battery swapping device 1, and improving the reliability of UAV battery swapping.

[0132] In addition, such as Figure 4 In the specific embodiment shown, a conical drone positioning pin 138 is provided on the positioning gripper 131, and a corresponding positioning hole is provided on the drone body 4. During positioning, the drone positioning pin 138 on the positioning gripper 131 can be inserted into the positioning hole on the body, thereby preventing the body from moving relative to the positioning gripper 131 during the battery swapping process, thus improving the stability of drone positioning. At the same time, the conical drone positioning pin 138 can reduce the difficulty of inserting the drone positioning pin 138 into the positioning hole and improve positioning efficiency.

[0133] In addition, such as Figure 4 In the specific embodiment shown, the positioning component 13 can also provide a tensioning pulley 139 between the driving pulley 133 and the driven pulley 134. This can change the wrap angle of the synchronous belt 135 on the driving pulley 133 and the driven pulley 134, reduce the local stress on the synchronous belt 135, and improve the service life of the synchronous belt 135. At the same time, it can also adjust the tension of the synchronous belt 135 to prevent the synchronous belt 135 from being too loose, which would cause the synchronous belt 135 to slip during transmission and affect the power transmission of the first driving member 132, or the synchronous belt 135 from being too tight, which would increase the stress on the synchronous belt 135, the driving pulley 133 and the driven pulley 134, causing damage to the synchronous belt 135, the driving pulley 133 and the driven pulley 134. This improves the transmission stability and service life of the positioning component 13.

[0134] In one specific embodiment, such as Figure 4 As shown, the positioning assembly 13 also includes a first lead screw 136 and a first guide rod 137. One end of the first lead screw 136 along its axial direction is configured with a left-hand thread and the other end is configured with a right-hand thread. The positioning gripper 131 is slidably connected to the first guide rod 137, and the positioning gripper 131 is threadedly connected to the first lead screw 136.

[0135] In this embodiment, as Figure 4As shown, during the process of the first driving member 132 driving the active wheel 133 to rotate, it can drive the driven wheel 134 to rotate via the synchronous belt 135, and then drive the first lead screw 136 to rotate via the driven wheel 134. Since the first lead screw 136 and the first guide rod 137 are parallel to each other, and the positioning gripper 131 is slidably connected to the first guide rod 137 and threadedly connected to the first lead screw 136, when the driven wheel 134 drives the first lead screw 136 to rotate, the first guide rod 137 has a guiding function, which can prevent the positioning gripper 131 from rotating or shaking as the first lead screw 136 rotates, so that the positioning gripper 131 can move linearly along the axial direction of the first lead screw 136 and the first guide rod 137, preventing the positioning gripper 131 from rotating and causing positioning failure of the UAV 4, and improving the positioning accuracy. At the same time, the first lead screw 136 moves linearly along its axial direction. One end of the screw is configured with a left-hand thread and the other end with a right-hand thread. Two positioning jaws 131 are respectively installed at both ends of the first lead screw 136. When the driven wheel 134 drives the first lead screw 136 to rotate, the threads on the two positioning jaws 131 respectively engage with the threads at both ends of the first lead screw 136. This allows the two positioning jaws 131 to move closer to each other or further away from each other along the axial direction of the first lead screw 136. This enables the two positioning jaws 131 to clamp the fuselage of the UAV 4 or to release the fuselage of the UAV 4 by moving closer to each other, thereby realizing the positioning function of the positioning component 13. The threaded engagement motion transmission between the first lead screw 136 and the positioning jaws 131 has high efficiency, smooth movement, high control precision, and simple structure, making it easy to maintain. This reduces the structural complexity of the positioning component 13 and facilitates the positioning function of the positioning component 13.

[0136] In one specific embodiment, such as Figure 3 , Figure 5 and Figure 6 As shown, the battery swapping device 1 also includes a horizontal moving assembly 16 and a mounting flange 17. The horizontal moving assembly 16 includes a fixed frame 161, which is fixedly connected to the fixed base 12. The battery gripper 15 is mounted on the mounting flange 17. One of the fixed frame 161 and the mounting flange 17 is provided with a slide rail 161a, and the other is provided with a slider 171, which can slide along the slide rail 161a.

[0137] In this embodiment, as Figure 3 , Figure 5 and Figure 6As shown, the fixed frame 161 is provided with a slide rail 161a, and the mounting flange 17 is provided with a slider 171. The mounting flange 17 can slide on the slide rail 161a with the slider 171. Since the four battery grippers 15 are installed on the mounting flange 17, the battery grippers 15 move synchronously with the mounting flange 17, generating displacement along the slide rail 161a. This allows the first battery gripper 5, the second battery gripper 6, the third battery gripper 7, and the fourth battery gripper 8 to move along the slide rail 161a to adjust their positional relationship with the battery 2 on the drone 4. This facilitates the first battery gripper 5, the second battery gripper 6, the third battery gripper 7, and the fourth battery gripper 8 to grip or put the battery 2 on the drone 4 without moving the robotic arm 11, further simplifying the battery swapping process and saving battery swapping time.

[0138] Specifically, such as Figure 2 and 5 As shown, the horizontal moving component 16 also includes a fourth driving member 162, a transmission wheel 163, and a transmission belt 164. The slider 171 is connected to the transmission belt 164, and the transmission belt 164 is wound around the transmission wheel 163. During the process of the fourth driving member 162 driving the transmission wheel 163 to rotate, the slider 171 can be driven to slide along the slide rail 161a through the transmission belt 164, so that the first battery gripper 5, the second battery gripper 6, the third battery gripper 7, and the fourth battery gripper 8 can move along the slide rail 161a to adjust their positional relationship with the battery 2 on the UAV 4.

[0139] In one specific embodiment, such as Figure 6 As shown, the battery swapping device 1 also includes multiple lifting components 14, which are connected to the mounting flange 17. The battery grippers 15 are connected to the lifting components 14, and the lifting components 14 can drive the battery grippers 15 to move along the third direction Z.

[0140] In this embodiment, as Figure 6 As shown, during the battery swapping process of the drone, the four lifting components 14 can drive the first battery gripper 5, the second battery gripper 6, the third battery gripper 7, and the fourth battery gripper 8 to move in the direction of approaching or moving away from the battery 2, thereby causing each battery gripper 15 to generate displacement along the third direction Z, so as to adjust the positional relationship between each battery gripper 15 and the battery 2, so that each battery gripper 15 can independently pick up and put the battery 2 from the drone 4 to complete the battery swapping work, improving the control accuracy of the battery swapping device 1. At the same time, the setting of the lifting components 14 expands the movement range of the battery grippers 15, which can avoid interference between each battery gripper 15 and other devices or components such as the drone 4, and improve the reliability of battery swapping.

[0141] In one specific embodiment, such as Figure 7As shown, the lifting assembly 14 includes a second driving member 141, a transmission gear 144, a second lead screw 143, and a lifting plate 142. The battery gripper 15 is connected to the lifting plate 142. The lifting plate 142 is threadedly connected to the second lead screw 143. The second lead screw 143 is connected to the transmission gear 144. During the process of the second driving member 141 driving the transmission gear 144 to rotate, the second driving member 141 can drive the second lead screw 143 to rotate through the transmission gear 144.

[0142] In this embodiment, as Figure 7 As shown, when the second driving component 141 is started, it can drive the transmission gear 144 to rotate, thereby driving the second lead screw 143 to rotate. This causes the thread on the second lead screw 143 to engage with the thread on the lifting plate 142, allowing the lifting plate 142 to move linearly along the axial direction of the second lead screw 143. This allows the lifting plate 142 to drive the battery gripper 15 to move linearly along the axial direction of the lifting plate 142, adjusting the displacement between the battery gripper 15 and the battery 2. The threaded engagement between the second lead screw 143 and the lifting plate 142 results in high transmission efficiency, smooth movement, high control precision, and a simple structure that is easy to maintain. This reduces the structural complexity of the lifting assembly 14 and facilitates the lifting assembly 14 in achieving its lifting function.

[0143] Specifically, such as Figure 7 As shown, the lifting assembly 14 also includes a first mounting plate 145, a second mounting plate 146, and a lifting guide rod 147. The lifting assembly 14 is mounted on the mounting flange 17 via the first mounting plate 145. The second drive component 141 and the transmission gear 144 are mounted on the first mounting plate 145. The lifting guide rod 147 is disposed between the first mounting plate 145 and the second mounting plate 146 and is slidably connected to the lifting plate 142. The first mounting plate 145 and the second mounting plate 146 are used to fix the lifting guide rod 147, which improves the structural stability of the lifting assembly 14. The lifting guide rod 147 also has a guiding function, which can prevent the lifting plate 142 from rotating with the rotation of the second lead screw 143, thereby enabling the lifting plate 142 to move linearly along the axial direction of the second lead screw 143. This prevents the lifting plate 142 from shifting during the lifting process, avoids positional errors between the battery gripper 15 and the battery 2 that could damage the drone 4, improves the smoothness of the movement of the lifting assembly 14, and improves the moving accuracy of the battery swapping device 1.

[0144] In one specific embodiment, such as Figure 8 As shown, the battery gripper 15 includes a third drive member 151, a power distributor 152, and two clamping blocks 153. The third drive member 151 is connected to the input shaft 152a of the power distributor 152, and the two clamping blocks 153 are threadedly connected to the output shafts 152b on both sides of the power distributor 152.

[0145] In this embodiment, as Figure 8As shown, when the third drive unit 151 is started, it can input power through the input shaft 152a of the power distributor 152 and transmit it to the output shaft 152b of the power distributor 152, thereby driving the output shaft 152b to rotate. At the same time, the threads on the two clamping blocks 153 cooperate with the threads on the output shaft 152b, so that the two clamping blocks 153 can move closer to each other or further away from each other along the axial direction of the output shaft 152b. This allows the two clamping blocks 153 to clamp the battery 2 or release the battery 2 by moving closer to each other, so as to realize the function of the battery gripper 15 clamping the battery 2. The threaded cooperation between the output shaft 152b and the clamping blocks 153 has high transmission efficiency, smooth movement, high control precision, and simple structure, which is easy to maintain. It reduces the structural complexity of the battery gripper 15 and makes it easier for the battery gripper 15 to realize the clamping function.

[0146] The third drive component 151 is connected to the input shaft 152a of the power distributor 152 via a coupling, which increases the connection strength between the third drive component 151 and the input shaft 152a, improves the power transmission efficiency of the third drive component 151, and enhances the structural stability of the battery gripper 15. Specifically, the power input from the input shaft 152a in the power distributor 152 is transmitted to the output shaft 152b through a bevel gear. Since the output shafts 152b on both sides of the power distributor 152 rotate in opposite directions, the threads on the output shafts 152b on both sides of the power distributor 152 can be aligned in the same direction to drive the third drive component 151 to move the two clamping blocks 153 in opposite directions, thereby realizing the gripping function of the battery gripper 15.

[0147] In addition, the clamping block 153 may be provided with a battery positioning pin 156 and an unlocking component, so that while the battery gripper 15 clamps the battery 2, the battery positioning pin 156 can position the battery 2, so that the unlocking component can unlock the battery 2. There is no need for additional drive motors and release switches to unlock the battery, which reduces the structural complexity of the battery swapping device 1 and thus reduces manufacturing costs.

[0148] In addition, the battery gripper 15 is also provided with a mounting part 157, which is used to fix the third drive component 151 to prevent the battery gripper 15 from being damaged by vibration and displacement during the operation of the third drive component 151. The mounting part 157 is fixedly connected to the lifting plate 142 of the lifting assembly 14, which increases the connection strength between the battery gripper 15 and the lifting assembly 14 and improves the structural stability of the battery swapping device 1.

[0149] The first driving component 132, the second driving component 141, the third driving component 151, and the fourth driving component 162 described in the above embodiments can all be driving components such as motors, or other driving components, and there are no restrictions here.

[0150] In one specific embodiment, such as Figure 8As shown, the battery gripper 15 also includes a second guide rod 154, and the clamping block 153 is slidably connected to the second guide rod 154. The second guide rod 154 is provided with a limit switch 155. When the clamping block 153 contacts the limit switch 155, the third drive member 151 can be de-energized so that the clamping block 153 stops moving.

[0151] In this embodiment, as Figure 8 As shown, when the third drive unit 151 is started, the second guide rod 154 has a guiding function, which can prevent the clamping block 153 from rotating as the output shaft 152b rotates, thereby enabling the clamping block 153 to move linearly along the axial direction of the output shaft 152b and the second guide rod 154, preventing the clamping block 153 from rotating and causing the battery 2 to fail to be clamped, thus improving the clamping accuracy. Meanwhile, two limit switches 155 are respectively set at the minimum and maximum points of the target opening and closing stroke of the battery gripper 15 to control the opening and closing degree of the battery gripper 15. When the clamping block 153 slides along the second guide rod 154 and contacts the limit switch 155 at the minimum point, the third drive motor 151 is de-energized, and the clamping block 153 stops moving, so that the battery gripper 15 can clamp the battery 2 and prevent the two clamping blocks 153 from continuing to move and putting excessive pressure on the battery 2, thus damaging the battery. When the clamping block 153 slides along the second guide rod 154 and contacts the limit switch 155 at the maximum point, the third drive motor 151 is de-energized, and the clamping block 153 stops moving, so that the battery gripper 15 can release the battery 2 and prevent the two clamping blocks 153 from continuing to move and causing interference to other components inside the battery gripper 15. Therefore, the setting of the limit switch 155 improves the control accuracy of the battery gripper 15 by the battery swapping device 1, improves the service life of the battery 2 and the battery gripper 15, and has a simple structure, is easy to control, and reduces manufacturing costs.

[0152] This application also provides a drone battery swapping system, including a receiving device, a battery swapping device 1, and a control device. The receiving device is used to receive battery swapping tasks. The battery swapping device 1 is used to replace the battery 2 of the drone 4. The battery swapping device 1 includes battery grippers 15, which include a first battery gripper 5, a second battery gripper 6, a third battery gripper 7, and a fourth battery gripper 8. The control device is electrically connected to the receiving device and the battery swapping device 1 respectively. The control device is used to control the battery swapping device 1 to move to the battery compartment 3 according to the battery swapping task; control the first battery gripper 5 and the fourth battery gripper 8 to grip a fully charged battery 2; control the battery swapping device 1 to move to the battery swapping position and control the second battery gripper 6 to remove a battery 2 to be swapped; control the first battery gripper 5 to put the fully charged battery 2 into the drone 4; control the third battery gripper 7 to remove another battery 2 to be swapped; and control the fourth battery gripper 8 to put the fully charged battery 2 into the drone 4.

[0153] In this embodiment, as Figure 2 and Figure 9As shown, when the drone 4 needs a battery replacement, the drone battery swapping system receives the battery swapping task through the receiving device. According to the battery swapping task, it first controls the battery swapping device 1 to move to the battery compartment 3, so that the first battery gripper 5 and the fourth battery gripper 8 can pre-grab a fully charged battery 2 from the battery compartment 3. Then, it controls the battery swapping device 1 to move to the swapping position, and the battery swapping device 1 can control the second battery gripper 6 to take out a battery 2 to be replaced from the first battery position of the drone 4. Then, it controls the first battery gripper 5 to put the fully charged battery 2 into the first battery position. Then, it controls the third battery gripper 7 to take out another battery 2 to be replaced from the second battery position of the drone 4. Then, the fourth battery gripper 8 is controlled to place the fully charged battery 2 into the second battery position to complete the battery swap for the drone 4. Therefore, when the battery swapping device 1 of this application is used to swap the battery of the drone, it can always maintain a continuous current supply to the drone 4, so that the signal of the drone 4 will not be interrupted during the battery swapping process. There is no need to reconnect the image transmission, satellite, remote control and self-test programs, etc., avoiding the risk of signal interruption and slow restart caused by power failure during the battery swapping process. It also simplifies the battery swapping process, reduces the number of times the battery swapping device 1 moves between the battery compartment 3 and the battery swapping position, reduces the time of the entire battery swapping process, and improves the efficiency of drone battery swapping.

[0154] Among them, such as Figure 2 and Figure 3 In the specific embodiment shown, the drone 4 is provided with a first battery position and a second battery position, and is equipped with two batteries 2. For the two batteries 2 on the drone, the battery swapping device 1 is provided with four battery grippers 15, which can pre-grab two fully charged batteries 2 from the battery compartment 3 before swapping the batteries of the drone 4, and then move to the battery swapping position to replace the batteries in the first battery position and the second battery position of the drone 4 one by one. This ensures that the drone 4 has a continuous current supply during the battery swapping process, and reduces the number of times the robotic arm 11 moves the battery swapping device 1 between the battery compartment 3 and the battery swapping position, thereby simplifying the battery swapping process, reducing the time of the entire battery swapping process, and improving the efficiency of the drone battery swapping. Of course, the drone 4 can also be equipped with three, four, or other numbers of battery slots, and have three, four, or other numbers of batteries 2 installed. For the three, four, or other numbers of batteries 2 installed on the drone, the battery swapping device 1 can be equipped with six, eight, or other numbers of battery grippers 15 to ensure that the drone 4 has a continuous current supply during the battery swapping process, and to simplify the battery swapping process, reduce the time of the entire battery swapping process, and improve the efficiency of the drone battery swapping. No restrictions are imposed here.

[0155] In one specific embodiment, the battery swapping device 1 further includes a positioning component 13, which includes two positioning grippers 131 arranged opposite to each other. The control device can control the two positioning grippers 131 to move closer to each other to position the drone 4.

[0156] In this embodiment, as Figures 2 to 4 As shown, after the two positioning grippers 131 of the positioning component 13 of the battery swapping device 1 fix the body of the drone 4, the first battery gripper 5, the second battery gripper 6, the third battery gripper 7, and the fourth battery gripper 8 remove the battery 2 to be replaced from the drone 4 or insert a fully charged battery 2. This prevents the body of the drone 4 from shifting as the battery grippers 15 insert or remove the battery 2, making it easier to remove or insert the battery 2 from the drone 4. The positioning component 13, the first battery gripper 5, the second battery gripper 6, the third battery gripper 7, and the fourth battery gripper 8 are connected to the end of the robotic arm 11 of the battery swapping device 1 via the fixing base 12. This reduces the impact of the insertion and removal force generated by inserting and removing the battery 2 on the end of the robotic arm 11, preventing the robotic arm 11 from bending or being damaged by the insertion and removal force during battery insertion and removal. This reduces the requirements for the output force and rigidity of the robotic arm 11, thereby reducing the weight and cost of the battery swapping device 1 and improving the reliability of drone battery swapping.

[0157] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A battery swapping device for unmanned aerial vehicles (UAVs), characterized in that, The battery swapping device (1) includes: robotic arm (11); A fixed base (12) is connected to the robotic arm (11); Battery gripper (15), the battery gripper (15) includes a first battery gripper (5), a second battery gripper (6), a third battery gripper (7) and a fourth battery gripper (8), all of which are connected to the fixing base (12); The first battery gripper (5) and the fourth battery gripper (8) are both used to hold the battery (2) and move it from the battery compartment (3) to the drone (4); The second battery gripper (6) and the third battery gripper (7) are both used to hold the battery (2) as it moves from the drone (4) to the battery compartment (3); The robotic arm (11) includes a first drive shaft (111), a second drive shaft (112), and a third connecting assembly (113); The fixed base (12) is detachably connected to the third connecting assembly (113). The first drive shaft (111) is used to drive the battery gripper (15) to move along the first direction (X), and the second drive shaft (112) is used to drive the battery gripper (15) to move along the second direction (Y). The battery swapping device (1) further includes a positioning component (13) for positioning the drone (4), and the positioning component (13) is connected to the mounting base (12).

2. The UAV battery swapping device according to claim 1, characterized in that, The robotic arm (11) further includes a first connecting block (114), which is slidably connected to the first drive shaft (111), and the second drive shaft (112) is fixedly connected to the first connecting block (114).

3. The UAV battery swapping device according to claim 2, characterized in that, The robotic arm (11) further includes a second connecting block (115), which is slidably connected to the second drive shaft (112), and the third connecting component (113) is fixedly connected to the second connecting block (115).

4. The UAV battery swapping device according to claim 3, characterized in that, The battery swapping device (1) further includes a horizontal moving assembly (16) and a mounting flange (17), the horizontal moving assembly (16) including a fixed frame (161); The fixed frame (161) is fixedly connected to the fixed base (12), and the battery clamp (15) is installed on the mounting flange (17); One of the fixed frame (161) and the mounting flange (17) is provided with a slide rail (161a), and the other is provided with a slider (171), the slider (171) being able to slide along the slide rail (161a).

5. The UAV battery swapping device according to claim 4, characterized in that, The battery swapping device (1) also includes multiple lifting components (14), which are connected to the mounting flange (17), and the battery grippers (15) are connected to the lifting components (14); The lifting assembly (14) is used to drive the battery gripper (15) to move along a third direction (Z).

6. The UAV battery swapping device according to claim 5, characterized in that, The lifting assembly (14) includes a second drive member (141), a transmission gear (144), a second lead screw (143), and a lifting plate (142); The battery gripper (15) is connected to the lifting plate (142), and the lifting plate (142) is threadedly connected to the second lead screw (143); The second lead screw (143) is connected to the transmission gear (144). During the process of the second driving member (141) driving the transmission gear (144) to rotate, the second lead screw (143) can be driven to rotate through the transmission gear (144).

7. The UAV battery swapping device according to claim 1, characterized in that, The battery gripper (15) includes a third drive unit (151), a power distributor (152), and two clamping blocks (153); The third drive unit (151) is connected to the input shaft (152a) of the power distributor (152), and the two clamping blocks (153) are respectively threadedly connected to the output shafts (152b) on both sides of the power distributor (152).

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