Battery taking and placing device of unmanned aerial vehicle and unmanned aerial vehicle hangar

Abstract

The application discloses a battery taking and placing device of a UAV and a UAV hangar, and the battery taking and placing device of the UAV comprises a shell, two clamping jaws movably mounted on the shell and used for clamping the battery of the UAV, and an open clamping space is defined between the two clamping jaws; a driving mechanism is in power connection with the clamping jaws and used for driving the two clamping jaws to move towards each other or away from each other; and a pressing assembly is mounted on the shell and comprises a top column relatively movable with the clamping jaws in the up-down direction, and the top column is adapted to press against the body of the UAV. The battery taking and placing device of the UAV can clamp the battery of the UAV by driving the two clamping jaws to relatively move, and the clamping jaws can more smoothly detach the battery from the UAV in cooperation with the pressing assembly, so that the detachment efficiency of the battery is improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a battery loading and unloading device for UAVs and a UAV hangar. Background Technology

[0002] Currently, drone technology is widely used in military reconnaissance, environmental measurement, rescue and search, film and television shooting, and entertainment performances. However, due to limited battery power, drone endurance has always constrained its working time and flight range, requiring frequent manual battery replacements. Efficient and rapid automatic battery swapping technology for drones plays a positive role in improving the efficiency of individual drones and enabling rapid maintenance in drone swarm scenarios. It can effectively save time and labor costs and meet the needs of more drone operating scenarios. In related technologies, the mechanical grippers used for motor swapping employ a single clamping action. The contact point with the battery cannot guarantee the attitude stability of the drone during battery swapping, and the clamping and unlocking mechanisms are complex, requiring a large operating space, which cannot meet the requirements for automatic battery swapping and thus has limitations. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a battery removal and placement device for a drone, which can clamp the battery of the drone and, in conjunction with a pressing component, allows the gripper to remove the battery from the drone more smoothly.

[0004] According to an embodiment of the present invention, a battery loading and unloading device for a drone includes: a housing; two claws movably mounted on the housing and used to clamp the battery of the drone, the two claws defining an open clamping space; a drive mechanism poweredly connected to the claws and used to drive the two claws to move toward or away from each other; and a pressing assembly mounted on the housing, the pressing assembly including a top post movable relative to the claws in a vertical direction, the top post being adapted to press against the body of the drone.

[0005] According to the embodiment of the present invention, the battery loading and unloading device for a drone can clamp the battery of the drone by driving two claws to move relative to each other through a drive mechanism. In addition, with the cooperation of the pressing component, the claws can remove the battery from the drone more smoothly, thereby improving the battery removal efficiency.

[0006] According to some embodiments of the present invention, the battery loading and unloading device for a drone further includes an elastic part connected between the top post and the housing, and the elastic part is used to elastically pre-tighten the top post toward the body of the drone.

[0007] According to some embodiments of the present invention, a battery loading and unloading device for a drone has a housing with a mounting sleeve, an elastic part configured as a compression spring, the compression spring being installed inside the mounting sleeve, one end of a top post being located inside the mounting sleeve and connected to the compression spring, and the other end of the top post extending elastically outward toward the mounting sleeve under the elastic action of the compression spring.

[0008] According to some embodiments of the present invention, a battery loading and unloading device for a drone has a limiting surface inside the mounting sleeve, and a limiting boss is provided on the outer peripheral wall of one end of the top post. The side of the limiting boss away from the compression spring abuts against the limiting surface.

[0009] According to some embodiments of the present invention, the battery loading and unloading device for a drone includes two sets of pressing components, which are installed separately on the housing, and two claws are located between the two pressing components.

[0010] According to some embodiments of the present invention, in a battery loading and unloading device for a drone, the cross-sectional diameter of the top post is smaller than the diameter of the power button of the drone, and the top post is also used to press against the power button.

[0011] According to some embodiments of the present invention, a battery loading and unloading device for a drone includes a driving mechanism comprising a driving member and a push guide plate. The driving member is used to drive the push guide plate to move in a straight line. The push guide plate has two driving inclined surfaces, and each of the claws is connected to a push portion. The two driving inclined surfaces respectively press against the push portions corresponding to the two claws to drive the two claws to move away from each other.

[0012] According to some embodiments of the present invention, a battery loading and unloading device for a drone includes a pushing unit comprising a connecting plate and a guide wheel, the guide wheel being rotatably mounted on the connecting plate, and the pawl being fixedly mounted on the connecting plate; the rotation axes of the guide wheels of the two pushing units are parallel and spaced apart, and the two driving inclined surfaces respectively abut against the guide wheels.

[0013] According to some embodiments of the present invention, the battery loading and unloading device for a drone further includes a drive spring, the two ends of which are respectively connected to the connecting plates of the two push portions, and are used to apply an elastic force to the connecting plates to bring the two claws closer to each other.

[0014] According to some embodiments of the present invention, a battery loading and unloading device for a drone has a drive region configured as an isosceles triangle, two drive ramps are symmetrically distributed on both sides of the drive region, and the drive region is adapted to extend between the two drive portions.

[0015] According to some embodiments of the present invention, in a battery loading and unloading device for a drone, the center line of symmetry of the driving region extends along the direction of movement of the push guide plate.

[0016] According to some embodiments of the present invention, the battery loading and unloading device for a drone includes a drive component configured as a drive motor, which drives the push guide plate to move in a straight line via a transmission structure.

[0017] According to some embodiments of the present invention, a battery loading and unloading device for a drone includes a transmission structure comprising a drive gear, a driven gear, and a drive nut. The drive gear is mounted on the motor shaft of the drive motor. The driven gear meshes with the drive gear and is connected to a drive screw. The drive nut is fixed relative to the push guide plate, and the drive screw is threadedly connected to the drive nut.

[0018] According to some embodiments of the present invention, the battery loading and unloading device for a drone further includes a first sliding part and a second sliding part. The first sliding part is fixedly installed inside the housing, and the second sliding part is fixed relative to the claw, and the first sliding part and the second sliding part are slidably engaged.

[0019] According to some embodiments of the present invention, the battery loading and unloading device for a drone is provided in two sets, the first sliding part and the second sliding part are respectively fixedly installed on two oppositely distributed sidewalls inside the housing, and the two sets of second sliding parts are respectively fixedly opposite to two claws.

[0020] According to some embodiments of the present invention, a battery loading and unloading device for a drone includes a housing comprising a front cover and a rear cover, the front cover and the rear cover being detachably connected and defining an installation space, a drive mechanism being mounted within the installation space, and a claw extending from the installation space.

[0021] The present invention also proposes a hangar for unmanned aerial vehicles (UAVs).

[0022] According to an embodiment of the present invention, a drone hangar includes a drone and a battery loading and unloading device for the drone as described in any of the above embodiments.

[0023] The advantages of the aforementioned drone hangar and the drone battery loading / unloading device compared to existing technologies are the same and will not be repeated here.

[0024] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0025] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0026] Figure 1 This is a schematic diagram of the structure of a drone hangar according to an embodiment of the present invention;

[0027] Figure 2 yes Figure 1 Enlarged view of point A in the middle;

[0028] Figure 3 This is a schematic diagram of a battery loading and unloading device for a drone according to an embodiment of the present invention, which performs battery swapping on the drone (the battery is separated from the drone).

[0029] Figure 4 This is an exploded view of a battery loading and unloading device for a drone according to an embodiment of the present invention;

[0030] Figure 5 This is an exploded view of a battery loading and unloading device for a drone according to an embodiment of the present invention (compared to...). Figure 4 (More details);

[0031] Figure 6 This is a schematic diagram of the structure of a battery loading and unloading device for a drone according to an embodiment of the present invention (without a housing);

[0032] Figure 7 This is a schematic diagram of the battery loading and unloading device of a drone according to an embodiment of the present invention from another perspective (without housing);

[0033] Figure 8 This is a schematic diagram of a battery swapping device for a drone according to an embodiment of the present invention.

[0034] Figure 9 This is a cross-sectional view of a battery loading and unloading device for a drone according to an embodiment of the present invention.

[0035] Figure label:

[0036] 100-square-meter drone hangar

[0037] The battery loading and unloading device 1 for the drone

[0038] Housing 11, front cover 111, rear cover 112, mounting sleeve 113, assembly mounting plate 114.

[0039] Drive mechanism 12, drive component 121, drive gear 122, driven gear 123, drive screw 124, drive nut 125, mounting plate 126, push guide plate 13, drive inclined plane 131, drive spring 14, pawl 15, push part 151, connecting plate 152, guide wheel 153, mounting pin 154, pivot shaft 155, slide rail 161, slider 162, pressing assembly 17, pressing spring 171, top column 172.

[0040] 2. Hangar frame, 3. Gantry slide module, 4. Lifting platform, 5. Drone, 51. Battery. Detailed Implementation

[0041] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0042] The following is for reference. Figures 1-9 A battery removal and placement device 1 for a drone according to an embodiment of the present invention is described. The battery removal and placement device 1 is used to remove and replace the battery 51 of the drone 5. During the removal of the battery 51, a pressing component 17 is used to facilitate the removal of the battery 51 from the drone 5 by the claw 15.

[0043] Figures 1-9 As shown, the battery loading and unloading device 1 for a drone according to an embodiment of the present invention includes: a housing 11, a drive mechanism 12, a pressing component 17, and two claws 15.

[0044] The housing 11 serves as the outer shell structure of the UAV's battery loading and unloading device 1, providing a stable installation environment for the internal structural components and ensuring that the drive mechanism 12 can operate safely and reliably, thereby ensuring that the UAV's battery loading and unloading device 1 can effectively replace the battery 51.

[0045] The claws 15 are movably mounted on the housing 11 and are used to clamp the battery 51 of the drone 5. The two claws 15 work together to clamp the battery 51, enabling its movement and replacement. Specifically, the claws 15 can be slidable relative to the housing 11, and the two claws 15 are adapted to move away from or towards each other, defining an open clamping space between them. Thus, by driving the two claws 15 to move away from or towards each other, the width of the clamping space gradually changes, facilitating the extension of the two claws 15 to both sides of the battery 51, clamping the battery 51 within the clamping space, thereby achieving the clamping and movement of the battery 51. Furthermore, the two claws 15 are configured to slide flexibly relative to the housing 11, which facilitates the adjustment of the clamping space width. Thus, when clamping different types of batteries 51, the two claws 15 can use batteries 51 of different widths, which helps to improve the versatility of the UAV's battery loading and unloading device 1.

[0046] The drive mechanism 12 is poweredly connected to the grippers 15, and the drive mechanism 12 is used to drive the two grippers 15 to move towards or away from each other. For example, the drive mechanism 12 includes a drive motor, and when the drive motor outputs driving force, it can drive the two grippers 15 to move relative to each other, thereby increasing the width of the clamping space. Thus, when the battery 51 is clamped by the battery pick-and-place device 1 of the UAV, the drive mechanism 12 drives the two grippers 15 to move away from each other, so that the clamping space can accommodate the battery 51, which is beneficial for the grippers 15 to clamp the battery 51. After the grippers 15 clamp the battery 51 and move to the target position, the drive mechanism 12 can also drive the two grippers 15 to move, thereby releasing the battery 51 and allowing the battery 51 to fall. The drive mechanism 12 may also include a reset structure, so that the two grippers 15 move towards each other under the action of the reset structure, thereby clamping the battery 51. The pressing component 17 is installed on the housing 11 and spaced apart from the claws 15. The pressing component 17 includes a top post 172, which is configured to move relative to the claws 15 in the vertical direction, and the top post 172 is adapted to press against the body of the drone 5. That is, when the claws 15 grasp the battery 51 of the drone 5, the two claws 15 can hold the battery 51, while the top post 172 presses against the body of the drone 5. At this time, the claws 15 and the top post 172 can move relative to each other in the vertical direction. For example, the claws 15 can move upward relative to the top post 172, while the top post 172 remains in a pressing state against the body, so that the claws 15 can quickly separate the battery 51 from the body of the drone 5, avoiding the movement of the drone 5's body when the claws 15 grasp the battery 51, and achieving effective separation of the battery 51 from the body of the drone 5, which helps to improve the disassembly efficiency of the battery 51.

[0047] According to the embodiment of the present invention, the battery loading and unloading device 1 of the drone has a driving mechanism 12 that drives two claws 15 to clamp the battery 51 of the drone 5, thereby realizing the removal of the battery 51. During the removal of the battery 51, the pressing component 17 presses against the body of the drone 5, which facilitates the rapid separation of the battery 51 from the body of the drone 5, so that the claws 15 can remove the battery 51 from the drone 5 more smoothly and improve the removal efficiency.

[0048] In some embodiments, the pressing component 17 further includes an elastic part, which is connected between the top post 172 and the housing 11. The elastic part is used to elastically pre-tighten the top post 172 toward the body of the drone 5. That is, by providing the elastic part, the top post 172 can elastically extend toward the body of the drone 5 so that when the claw 15 grasps the battery 51, the top post 172 elastically presses against the body of the drone 5 under the elastic force of the elastic part. And when the claw 15 grasps the battery 51 and detaches from the drone 5, the pressing action of the top post 172 on the body can be used to achieve rapid separation of the battery 51 from the body.

[0049] The elastic part pre-tightens the top post 172, allowing the top post 172 to move flexibly relative to the housing 11 and the claw 15. When the top post 172 presses against the body of the drone 5, the elastic part can play a certain buffering role, thereby preventing the top post 172 from causing damage to the body of the drone 5 and ensuring the safety of the drone 5.

[0050] In some embodiments, the housing 11 has a mounting sleeve 113, and the elastic part is configured as a compression spring 171. The compression spring 171 is installed inside the mounting sleeve 113. One end of the top post 172 is located inside the mounting sleeve 113 and connected to the compression spring 171, and the other end of the top post 172 extends elastically outward toward the mounting sleeve 113 under the elastic action of the compression spring 171.

[0051] Specifically, such as Figure 9 As shown, a mounting hole can be provided in the mounting sleeve 113. The mounting hole is a through hole and extends sequentially in the vertical direction. The pressure spring 171 and the top post 172 can be installed in the mounting hole from the upper end of the mounting hole. The pressure spring 171 is located in the mounting hole and the upper end of the mounting hole can be closed by a nut so that the pressure spring 171 is pressed downward.

[0052] Therefore, during the process of the claw 15 gripping the battery 51, the lower end of the top post 172 presses against the body of the drone 5, and during the pressing process, the upper end of the top post 172 compresses the pressure spring 171 to avoid damage to the body by the top post 172, and to ensure that the top post 172 can always press against the body, so that when the claw 15 grabs the battery 51 and moves away from the drone 5, the pushing force of the top post 172 on the body is conducive to the separation of the battery 51 from the body.

[0053] The mounting sleeve 113 not only serves to install the top column 172, but also acts as a guide, ensuring that the top column 172 presses against the machine body in the target direction, making the pressing more accurate and disassembly faster.

[0054] In some embodiments, the mounting sleeve 113 is provided with a limiting surface, and the outer peripheral wall of one end of the top post 172 is provided with a limiting boss. The limiting boss abuts against the side of the compression spring 171. For example, the mounting hole is provided with a limiting surface, and the plane where the limiting surface is located is perpendicular to the axis of the mounting hole. At the same time, a protruding limiting boss is provided on the outer peripheral wall of the upper end of the top post 172. The limiting surface can be constructed as an annular surface, and the limiting boss can also be constructed as an annular boss. Thus, the limiting boss can abut against the limiting surface at various positions in the circumferential direction.

[0055] Therefore, after the top post 172 has finished pressing against the body and separated from the body, the pressure spring 171 presses against the top post 172. The limiting boss and the limiting surface cooperate to limit the movement, so that the pressure spring 171 is always in a compressed state, thereby providing elastic force to the top post 172. Moreover, the pressure spring 171 will not come out of the mounting hole, which helps to ensure the installation stability of the top post 172.

[0056] In some embodiments, the pressing components 17 are in two sets, and the two sets of pressing components 17 are installed spaced apart on the housing 11, with two claws 15 located between the two pressing components 17. Figure 4 and Figure 5 As shown, a mounting sleeve 113 is provided on both the front and rear sides of the housing 11, and a pressing component 17 is provided on the mounting sleeve 113. The pressing component 17 extends downward so that when the battery 51 is replaced by the battery pick-and-place device 1 of the UAV, the lower end of the pressing component 17 can be elastically pressed against the body of the UAV 5, thereby facilitating the separation of the battery 51 from the body of the UAV 5 after the chuck 15 clamps the battery 51.

[0057] Furthermore, by setting two sets of pressing components 17 to press against the body, the battery pick-and-place device 100 is able to press against the body on both the front and rear sides of the claw 15, ensuring that the force on the front and rear sides of the battery pick-and-place device 100 is balanced.

[0058] In some embodiments, the cross-sectional diameter of the top post 172 is smaller than the diameter of the power button of the drone 5, and the top post 172 is also used to press against the power button.

[0059] In other words, the top post 172 in this invention can not only press against the body of the drone 5, but also extend to the power button to press the power button of the drone 5 when the battery 51 of the drone 5 is removed. The pressure spring 171 has a stroke of 20mm, an elastic coefficient of approximately 0.5N / mm, and can provide a maximum preload of 10N. The top post 172 is made of rubber, and its main function is to protect the appearance of the drone 5 shell 11 and increase friction when pressing the upper surface of the body. The cross-sectional diameter of the top post 172 is 8mm, which allows for a tolerance of ±2mm compared to the 12mm diameter of the power button of the drone 5, ensuring smooth power-on / off operation of the drone 5.

[0060] In some embodiments, the drive mechanism 12 includes a drive member 121 and a push guide plate 13. The drive member 121 is used to drive the push guide plate 13 to move in a straight line. The drive member 121 is poweredly connected to the push guide plate 13, that is, the drive member 121 can drive the push guide plate 13 through the intermediate transmission structure so that the push guide plate 13 can move in a straight line, thereby driving the chuck 15 during the movement. The structure is simple and easy to install.

[0061] The guide plate 13 has two driving ramps 131, and each claw 15 is connected to a pushing part 151. The two driving ramps 131 press against the corresponding pushing parts 151 of the two claws 15 to drive the two claws 15 to move away from each other. In other words, in this invention, the drive mechanism 12 and the claws 15 can drive the two claws 15 through the driving cooperation of the guide plate 13 and the pushing parts 151, which facilitates the movement of the claws 15 in a fixed direction.

[0062] It should be noted that in actual design, the clamping space can be set to be open on both sides and facing downwards. Thus, when the UAV's battery loading / unloading device 1 clamps the battery 51, the two claws 15 can extend downwards to both sides of the battery 51 to clamp and fix it. The push guide plate 13 can be configured to move vertically downwards under the driving action of the drive member 121. Specifically, two driving ramps 131 can be provided at the lower end of the push guide plate 13. When the drive member 121 drives the push guide plate 13 downwards, the two driving ramps 131 of the push guide plate 13 can respectively push the corresponding pushing parts 151 of the two claws 15, thereby moving the two claws 15 in opposite directions, realizing the opening operation of the clamping space. The structure is simple, and the movement process is concise and easy to implement.

[0063] It can be understood that during the downward linear movement of the push guide plate 13, the two claws 15 can be opened. When the two claws 15 move to the sides of the battery 51, the drive member 121 can drive the push guide plate 13 to move in the opposite direction, such as upward. When moving upward, the driving force of the drive slope 131 on the push part 151 is reduced. At this time, the two claws 15 move towards each other under the action of the reset structure to clamp the battery 51.

[0064] In some embodiments, the pushing part 151 includes a connecting plate 152 and a guide wheel 153. The guide wheel 153 is rotatably mounted on the connecting plate 152, and the pawl 15 is fixedly mounted on the connecting plate 152. In actual design, the pawl 15 can be welded to the connecting plate 152, or the pawl 15 can be connected and fixed to the connecting plate 152 by a threaded connector, so that the pawl 15 and the connecting plate 152 are fixedly connected as a whole, and when the driving mechanism 12 or the reset structure drives the pawl 15, the connecting plate 152 and the pawl 15 are always in a state of synchronous movement.

[0065] Additionally, a pivot shaft 155 can be provided on the connecting plate 152, and a guide wheel 153 is rotatably sleeved on the pivot shaft 155 so that the guide wheel 153 can rotate relative to the connecting plate 152 and the pawl 15. The rotation axes of the guide wheels 153 of the two pushing parts 151 are parallel and spaced apart, and the rotation axis of the guide wheel 153 is perpendicular to the linear motion direction of the pushing guide plate 13. If the pushing guide plate 13 moves in a vertical linear motion, the rotation axis of the guide wheel 153 is parallel to the horizontal plane. Thus, when the pushing guide plate 13 moves downward, the two driving inclined surfaces 131 can respectively press against the guide wheels 153 of the two pushing parts 151.

[0066] Therefore, when the push guide plate 13 drives the push part 151, it rolls against the guide wheel 153 at the drive ramp 131 to drive the push part 151 and the pawl 15, which helps to reduce the friction between the push guide plate 13 and the push part 151. The guide wheel 153 is made of nylon and has a bearing inside it. The bearing is sleeved on the outside of the pivot shaft 155 to reduce the friction between the guide wheel 153 and the pivot shaft 155, thereby improving the driving efficiency of the drive mechanism 12 and reducing driving power consumption.

[0067] In some embodiments, the drive mechanism 12 further includes a drive spring 14, which serves as a reset structure. Both ends of the drive spring 14 are connected to the connecting plates 152 of the two pushers 151, respectively. When the push guide plate 13 drives the two pushers 151 to move, the drive spring 14 is in a stretched state, meaning it can pull the two jaws 15 towards each other. The drive spring 14 is power-connected to the jaws 15 and provides an elastic force to the two jaws 15 to move towards each other; that is, the drive spring 14 drives the two jaws 15 towards each other, and the driving force is an elastic force. Therefore, after the drive mechanism 12 drives the two jaws 15 to open and allows the battery 51 to be accommodated in the clamping space, the driving force of the drive mechanism 12 can be removed, and the elastic force of the drive spring 14 is used to clamp and fix the battery 51.

[0068] In the actual design, a threaded hole is provided on the connecting plate 152, and a mounting pin 154 is provided at the threaded hole. The mounting pin 154 is threadedly connected to the threaded hole. The end of the drive spring 14 is sleeved on the mounting pin 154, so that the drive spring 14 can exert elastic force on the connecting plate 152 through the mounting pin 154, and then on the pawl 15 to drive the pawl 15.

[0069] Therefore, it can be seen that the clamping force of the claw 15 on the battery 51 in this invention can be provided by the drive spring 14. The structure is simple and easy to install. Moreover, the structural components required to drive the claw 15 are small, which helps to reduce the overall setup cost.

[0070] In other words, the driving component 121 of the driving mechanism 12 in this invention outputs driving force to unidirectionally push the jaw 15 to move. This reduces the complexity of the driving mechanism 12, requires less operating space, and allows the driving mechanism 12 to be integrated into the housing 11 for automatic execution, resulting in a simple structure and convenient installation. Simultaneously, the battery 51 is clamped by the driving spring 14, eliminating the need to actively adjust the driving force of each jaw 15 to regulate the tightness of the clamping. This simplifies the structure, eliminates the need for complex clamping mechanisms, reduces the required operating space, and ensures that the jaw 15 maintains its clamping position on the battery 51 even after the driving mechanism 12 is powered off, preventing the battery 51 from falling out. This design is energy-efficient and convenient.

[0071] It should be noted that the jaws 15 in this invention utilize the elastic force of the drive spring 14 to clamp the battery 51. This clamping action allows for error correction; even when the battery 51 is not in the center of the clamping space, the two jaws 15 can still effectively clamp it and flexibly adjust its position. Specifically, after one jaw 15 contacts the battery 51, that jaw 15 continuously moves towards the battery 51, while the other jaw 15, constrained by the elastic force of the drive spring 14, continues to move until it contacts the battery 51, achieving alignment with the jaw 15 on one side. This continues until both jaws are centered relative to the battery 51 and the clamping force is balanced, thus correcting the error. At this point, the jaws complete the battery 51 clamping action, ensuring even force on both sides of the battery 51. After the power adjustment action is completed, the drive mechanism 12 returns to its initial position, and the mechanical jaws resume normal operation. Rubber material is placed at the contact point between the claw 15 and the battery 51 to increase contact friction and prevent the battery 51 from slipping off. In addition, it can protect the external attachment of the drone 5 from scratches.

[0072] In some embodiments, the push guide plate 13 has a drive region constructed as an isosceles triangle, with two drive ramps 131 symmetrically distributed on both sides of the drive region, and the drive region is adapted to extend between the two push portions 151, thereby enabling the drive of the two claws 15.

[0073] like Figure 4 and Figure 5 As shown, a driving area is formed at the lower end of the push guide plate 13, and two driving inclined surfaces 131 are respectively provided on the left and right sides of the driving area. The two driving inclined surfaces 131 have the same angle with respect to the linear motion direction of the push guide plate 13, that is, the two driving inclined surfaces 131 have the same angle with the vertical direction and are symmetrically distributed. Therefore, in actual installation, the two pushing parts 151 can be spaced apart in the horizontal direction, so that the push guide plate 13 can contact the two pushing parts 151 at the same angle, so that the two pushing parts 151 and the claw 15 move at the same speed.

[0074] When the guide plate 13 pushes the two push parts 151, the drive area only needs to be extended between the guide wheels 153 corresponding to the two push parts 151. The structure is simple, which not only facilitates the pushing of the claw 15, but also makes installation convenient and the structural components easy to assemble.

[0075] In some embodiments, the center line of symmetry of the driving region extends along the direction of movement of the push guide plate 13. For example, if the push guide plate 13 moves vertically and the center line of symmetry of the driving region extends vertically, then when the driving region extends between the two guide wheels 153, it can produce a more balanced pushing effect on the two guide wheels 153, that is, ensure that the two guide wheels 153 move at the same speed in the direction away from each other, thereby improving the movement stability of the pawl 15.

[0076] In some embodiments, the drive element 121 is configured as a drive motor, which drives the guide plate 13 to move in a straight line through a transmission structure.

[0077] In other words, when the motor shaft of the drive motor rotates, the rotation of the motor shaft can be converted into the movement of the guide plate 13 through the transmission structure. For example, the transmission structure can be a nut screw mechanism to realize the transmission of the driving force of the drive motor in different directions, which is conducive to realizing the movement of the guide plate 13 and reducing the restriction of the installation space on the arrangement of the drive mechanism 12, improving the flexibility of the structural setting and reducing limitations.

[0078] In some embodiments, the transmission structure includes a drive gear 122, a driven gear 123, and a drive nut 125.

[0079] Among them, such as Figure 6 and Figure 7 As shown, the drive gear 122 is fixedly mounted on the motor shaft of the drive motor so that the drive gear 122 drives the motor shaft to rotate synchronously. The driven gear 123 meshes with the drive gear 122 so that the drive gear 122 can drive the driven gear 123 to rotate. A drive screw 124 is connected to the driven gear 123. The axis of the drive screw 124 coincides with the axis of the driven gear 123 so that the drive screw 124 and the driven gear 123 rotate coaxially.

[0080] Furthermore, the drive nut 125 is fixed relative to the push guide plate 13. For example... Figure 6 As shown, the drive nut 125 is connected to the mounting plate 126. The mounting plate 126 includes two bent and connected parts. One part is fixedly connected to the end face of the drive nut 125 and has a clearance hole facing the drive nut 125. The other part of the mounting plate 126 is fitted and fixed to the push guide plate 13 so that the mounting plate 126 and the push guide plate 13 can move synchronously.

[0081] The drive screw 124 is threadedly connected to the drive nut 125. In actual installation, the drive screw 124 is sequentially passed through the threaded hole of the drive nut 125 and the clearance hole of the mounting plate 126 so that the drive screw 124 can rotate at the threaded hole of the drive nut 125.

[0082] Therefore, when the drive motor is running, the motor shaft rotates, causing the drive gear 122 to rotate. The drive gear 122 rotates and meshes with the driven gear 123, causing the driven gear 123 to rotate, which in turn drives the drive screw 124 to rotate. The drive screw 124 and the driven gear 123 are fixed in the axial direction relative to the housing 11. Thus, during the rotation of the drive screw 124, the drive nut 125, the mounting plate 126, and the push guide plate 13 move along the axial direction of the drive screw 124 under its driving action, thereby realizing the linear motion of the push guide plate 13 and driving the two pawls 15.

[0083] The drive motor is bolted to the housing 11. The motor shaft and drive gear 122 are interference-fitted and assembled through the keyway inside the gear, providing driving force to the gripper 15 of the drone's battery loading / unloading device 1. The drive motor is equipped with an AB bidirectional incremental magnetic Hall encoder, which precisely controls the movement stroke through pulse signals. Together with the gripper 15 controller, it enables forward and reverse rotation and speed adjustment for the drone 5's battery swapping action, achieving closed-loop control. The DC geared motor used in this invention is less expensive than a servo motor. The speed ratio between the drive gear 122 and the driven gear 123 is 2, which can be changed according to the clamping force requirements. The driven gear 123 is interference-fitted to the drive screw 124 through the keyway. The drive screw 124 and the driven gear 123 cooperate, and the rotation of the screw causes the screw nut to translate. The screw-nut combination has high precision, enabling more accurate motion control.

[0084] In some embodiments, the battery loading and unloading device 1 of the drone further includes a first sliding part and a second sliding part. The first sliding part is fixedly installed inside the housing 11, and the second sliding part is fixed relative to the claw 15, and the first sliding part and the second sliding part are slidably engaged. Thus, by setting the first sliding part and the second sliding part to slide in a fixed trajectory inside the housing 11, the claw 15 can slide within the housing 11, thereby clamping the battery 51 during the sliding process.

[0085] In this design, one of the first sliding part and the second sliding part can be configured as a slide rail 161, and the other can be configured as a slider 162, so that the pawl 15 can slide stably relative to the housing 11 through the sliding engagement of the slide rail 161 and the slider 162. The slider 162 can be a standard ball bearing slider 162, and the slide rail 161 is mounted on the boss of the housing 11 and fixed by countersunk screws.

[0086] like Figure 6 and Figure 7As shown, the first sliding part is constructed as a slide rail 161, and the second sliding part is constructed as a slider 162. During actual installation, the slide rail 161 is fixedly installed on the inner wall of the housing 11 to be relatively fixed to the inner wall of the housing 11, while the slider 162 is fixedly installed on the connecting plate 152 to be relatively fixed to the claw 15. Therefore, when the claw 15 moves relative to the housing 11, it can slide relative to the slide rail 161 through the slider 162, ensuring the stability of the claw 15's sliding.

[0087] In some embodiments, both the first sliding portion and the second sliding portion are configured as two sets. The two sets of first sliding portions are respectively fixedly installed on two oppositely distributed sidewalls within the housing 11, and the two sets of second sliding portions are respectively fixed relative to two claws 15. That is, each claw 15 is slidably installed within the housing 11 through a set of sliding structures to ensure that both sets of claws 15 can slide stably.

[0088] like Figure 5 As shown, the housing 11 has two slide rails 161, and two claws 15 are respectively connected to two sliders 162. During actual installation, one slide rail 161 is fixedly installed on the front side wall inside the housing 11, and the other slide rail 161 is fixedly installed on the rear side wall inside the housing 11, so that the two slide rails 161 are parallel and spaced apart. Simultaneously, one of the two sliders 162 is fixedly installed on the connecting plate 152 corresponding to one claw 15, and the other slider 162 is fixedly installed on the connecting plate 152 corresponding to the other claw 15. The two slide rails 161 are distributed parallel and spaced apart inside the housing 11 along the front-back direction, and the two sliders 162 are correspondingly connected to the sides of the two slide rails 161 facing each other, so that the two sliders 162 are spaced apart in the left-right direction.

[0089] Among them, such as Figure 6 As shown, a guide boss is provided on the side of the slide rail 161, and a guide groove is provided on the side of the slider 162. During actual assembly, the guide boss is extended into the guide groove so that the slide rail 161 can slide along the guide boss, thereby realizing the sliding installation of the claw 15.

[0090] In some embodiments, the housing 11 includes a front cover 111 and a rear cover 112, which are detachably connected and define an installation space. The drive mechanism 12 is installed in the installation space, and the claw 15 extends out from the installation space.

[0091] In other words, the housing 11 can be constructed as a two-part structure, allowing the front cover 111 and the rear cover 112 to be flexibly disassembled. Therefore, during actual installation, the drive mechanism 12 can be fixedly installed on the front cover 111 and the rear cover 112. For example, two slide rails 161 can be installed on the front cover 111 and the rear cover 112 respectively, and two claws 15 and corresponding connecting plates 152 can be installed on the front cover 111 and the rear cover 112 respectively. The drive motor can be installed on the rear cover 112, and the gripping portion of the claws 15 extends outside the housing 11 to grip the battery 51. The structure is simple and easy to install.

[0092] The present invention also proposes a drone hangar 100.

[0093] According to an embodiment of the present invention, a drone hangar 100 includes a drone 5 and a battery loading / unloading device 1 for the drone as described in any of the above embodiments, wherein, as Figure 1 As shown, the drone hangar 100 also includes a hangar frame 2, a gantry slide module 3, and a lifting platform 4. Both the gantry slide module 3 and the lifting platform 4 are mounted on the hangar frame 2. The drone 5 can be parked on the lifting platform 4. The drone's battery loading / unloading device 1 is mounted on the gantry slide module 3 and is movable relative to the lifting platform 4, allowing the device to move in the X and Y directions, thus facilitating the removal and replacement of the drone 5's battery 51. An assembly mounting plate 114 is also connected to the rear cover 112, connecting the drone's battery loading / unloading device 1 to the gantry slide module 3.

[0094] By setting up the battery loading and unloading device 1 of the drone and setting up the drive mechanism 12 to drive the two claws 15, it is not only beneficial to reduce the complexity of the overall structure, but also to realize the error correction of the battery 51 clamping by driving the claws 15 through the drive spring 14, which is conducive to accurately and reliably clamping and fixing the battery 51, ensuring the clamping stability of the battery 51, and improving the battery swapping efficiency of the drone 5.

[0095] The compression of the pressing component 17 and the compression of the pressing spring 171 provide a small pressing force, which is not easy to damage the power button and has a fast response speed. When the battery 51 is removed or installed, the claw 15 moves in the Z direction after being in the open state, so that the pressing components 17 of the front and rear pressing components 17 first contact the top of the drone 5 and are compressed. The drone 5 and the lifting platform 4 are pressed tightly together by the force of the pressing spring 171. After the battery 51 is clamped, it is separated from the drone 5. The pressing component 17 can improve the efficiency of completing complex actions of battery swapping and has better practicality.

[0096] 1. In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0097] 2. In the description of this invention, "first feature" and "second feature" may include one or more of the features.

[0098] 3. In the description of this invention, "a plurality of" means two or more.

[0099] 4. In the description of the present invention, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features being in contact through another feature between them.

[0100] 5. In the description of the present invention, the terms "above", "over" and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicate that the first feature is at a higher horizontal level than the second feature.

[0101] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0102] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A battery loading and unloading device (1) for a drone, characterized in that, include: Shell (11); Two grippers (15) are movably mounted to the housing (11) and used to hold the battery (51) of the drone (5), and an open gripping space is defined between the two grippers (15). A drive mechanism (12) is poweredly connected to the jaws (15) and is used to drive the two jaws (15) to move toward or away from each other; A pressing component (17) is installed on the housing (11). The pressing component (17) includes a top post (172) that is movable relative to the claw (15) in the vertical direction. The top post (172) is adapted to press against the body of the drone (5). The pressing component (17) further includes an elastic part, which is connected between the top post (172) and the housing (11), and the elastic part is in a compressed state; The pressing components (17) are in two sets, and the two sets of pressing components (17) are installed on the housing (11) at a distance, and the two claws (15) are located between the two pressing components (17).

2. The battery loading and unloading device (1) for a drone according to claim 1, characterized in that, The housing (11) has a mounting sleeve (113), and the elastic part is constructed as a compression spring (171). The compression spring (171) is installed inside the mounting sleeve (113). One end of the top post (172) is located inside the mounting sleeve (113) and connected to the compression spring (171). The other end of the top post (172) extends elastically outward toward the mounting sleeve (113) under the elastic action of the compression spring (171).

3. The battery loading and unloading device (1) for a drone according to claim 2, characterized in that, The mounting sleeve (113) has a limiting surface inside, and the outer peripheral wall of one end of the top column (172) has a limiting boss. The side of the limiting boss away from the compression spring (171) abuts against the limiting surface.

4. The battery loading and unloading device (1) for a drone according to claim 1, characterized in that, The top post (172) is also used to press the power button of the drone.

5. The battery loading and unloading device (1) for a UAV according to any one of claims 1-4, characterized in that, The driving mechanism (12) includes a driving member (121) and a push guide plate (13), wherein the driving member (121) is used to drive the push guide plate (13) to move in a straight line; The push guide plate (13) has two driving ramps (131), and each of the claws (15) is connected to a push part (151). The two driving ramps (131) press against the push parts (151) corresponding to the two claws (15) to drive the two claws (15) to move away from each other.

6. The battery loading and unloading device (1) for a drone according to claim 5, characterized in that, The pushing part (151) includes a connecting plate (152) and a guide wheel (153). The guide wheel (153) is rotatably mounted on the connecting plate (152), and the pawl (15) is fixedly mounted on the connecting plate (152). The rotation axes of the guide wheels (153) of the two push units (151) are parallel and spaced apart, and the two drive inclined surfaces (131) respectively press against the guide wheels (153).

7. The battery loading and unloading device (1) for a drone according to claim 6, characterized in that, The drive mechanism (12) further includes a drive spring (14), the two ends of which are connected to the connecting plates (152) of the two push parts (151) respectively, and are used to apply an elastic force to the connecting plates (152) to bring the two claws (15) closer to each other.

8. The battery loading and unloading device (1) for a drone according to claim 5, characterized in that, The push guide plate (13) has a drive area constructed as an isosceles triangle, and two drive ramps (131) are symmetrically distributed on both sides of the drive area, and the drive area is adapted to extend between the two push parts (151).

9. The battery loading and unloading device (1) for a drone according to claim 8, characterized in that, The center line of symmetry of the driving region extends along the direction of movement of the push guide plate (13).

10. The battery loading and unloading device (1) for a drone according to claim 5, characterized in that, The driving component (121) is constructed as a driving motor, which drives the push guide plate (13) to move in a straight line through a transmission structure.

11. The battery loading and unloading device (1) for a drone according to claim 10, characterized in that, The transmission structure includes a drive gear (122), a driven gear (123), and a drive nut (125). The drive gear (122) is mounted on the motor shaft of the drive motor. The driven gear (123) meshes with the drive gear (122) and is connected to a drive screw (124). The drive nut (125) is fixed relative to the push guide plate (13), and the drive screw (124) is threadedly connected to the drive nut (125).

12. The battery loading and unloading device (1) for a UAV according to any one of claims 1-4, characterized in that, It also includes a first sliding part and a second sliding part. The first sliding part is fixedly installed inside the housing (11), and the second sliding part is fixed relative to the claw (15), and the first sliding part and the second sliding part slide in cooperation.

13. The battery loading and unloading device (1) for a drone according to claim 12, characterized in that, Both the first sliding part and the second sliding part are configured in two groups. The two groups of first sliding parts are respectively fixedly installed on two oppositely distributed side walls inside the housing (11), and the two groups of second sliding parts are respectively fixed relative to the two claws (15).

14. The battery loading and unloading device (1) for a drone according to claim 1, characterized in that, The housing (11) includes a front cover (111) and a rear cover (112), the front cover (111) and the rear cover (112) are detachably connected and define an installation space, the drive mechanism (12) is installed in the installation space, and the claw (15) extends out from the installation space.

15. A hangar for unmanned aerial vehicles (UAVs) (100), characterized in that, Includes a drone (5) and a battery loading / unloading device (1) for the drone according to any one of claims 1-13.

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