Unmanned aerial vehicle hangar gripper device

Abstract

The invention discloses an unmanned aerial vehicle hangar gripper device. Comprising a gripper support fixed to a mechanical arm, a first transplanting mounting plate capable of moving front and back along the gripper support, a transplanting driving assembly located on the gripper support and used for driving the first transplanting mounting plate to move front and back, and a second transplanting mounting plate vertically arranged on the first transplanting mounting plate. The mounting unlocking assembly is located at the front end of the first transplanting mounting plate, the mounting gripper assembly is located at the front end of the first transplanting mounting plate, the locking assembly is located at the front end of the gripper support and used for clamping the unmanned aerial vehicle, and the battery button assembly is located on the second transplanting mounting plate and used for opening or closing a battery of the unmanned aerial vehicle. The battery unlocking assembly is located on the second transplanting mounting plate, and the battery buckling assembly and the controller are located on the second transplanting mounting plate. According to the invention, battery replacement and mounting can be realized at the same station.

Description

Technical Field

[0001] The invention relates to supporting equipment of an unmanned aerial vehicle hangar, and in particular to a gripper device of an unmanned aerial vehicle hangar. Background Art

[0002] As drones are increasingly used in power patrols, traffic monitoring, environmental monitoring, land patrols, basic planning measures, agricultural plant protection and other fields, the intelligence and autonomy of drones are the main development directions of drones. At present, the mainstream supporting drone airports are all mainstream fixed airports. As the types, frequencies and execution times of drones' outdoor automatic missions are different, drone hangar battery replacement and load replacement have become a must in the drone field.

[0003] The demand for drones is increasing, and the size and number of drone hangars are also expanding. Drone airports are all mainstream fixed airports, and most of them only have the function of changing the battery load, but not the cargo load. Although a small number of hangar technologies can achieve load replacement, drones need to turn in the hangar or set up multiple robots for operation, which greatly wastes space for medium and large drones.

[0004] Therefore, it is urgent to solve the above problems. Summary of the invention

[0005] Purpose of the invention: The purpose of the present invention is to provide a drone hangar gripper device that can achieve battery replacement and mounting at the same workstation.

[0006] Technical solution: To achieve the above objectives, the present invention discloses a UAV hangar gripper device, comprising a gripper support fixed to a mechanical arm, a first transplanting mounting plate movable forward and backward along the gripper support, a transplanting drive assembly located on the gripper support and used to drive the first transplanting mounting plate to move forward and backward, a second transplanting mounting plate vertically arranged on the first transplanting mounting plate, a mounting unlocking assembly located at the front end of the first transplanting mounting plate, a mounting gripper assembly located at the front end of the first transplanting mounting plate, a locking assembly located at the front end of the gripper support and used to clamp the UAV, a battery button assembly located on the second transplanting mounting plate and used to open or close the UAV battery, a battery unlocking assembly located on the second transplanting mounting plate, a buckle battery assembly located on the second transplanting mounting plate, and a controller electrically connected to the transplanting drive assembly, the mounting gripper assembly, the locking assembly, the battery button assembly, the battery unlocking assembly, and the buckle battery assembly.

[0007] Among them, the gripper support includes a gripper base plate, a gripper vertical plate located on the rear side of the gripper base plate, and reinforcement plates located on the left and right sides of the gripper base plate. The left and right sides of the upper surface of the gripper base plate are provided with a first linear guide rail, and the first transplanting mounting plate is connected to the slider on the first linear guide rail.

[0008] Preferably, the transplanting drive assembly includes a servo motor located on the back of the gripper base plate, a first synchronous wheel connected to the output shaft of the servo motor, a second synchronous wheel connected to the first synchronous wheel through a synchronous belt, a first lead screw mounted on the back of the gripper base plate through a bearing seat and coaxially connected to the second synchronous wheel, a first lead screw nut threadedly connected to the first lead screw, and a first connecting plate for connecting the first lead screw nut and the first transplanting mounting plate, and the servo motor is electrically connected to the controller.

[0009] Furthermore, the mounting unlocking assembly includes an upper unlocking piece, a lower unlocking piece, an unlocking tongue located between the upper unlocking piece and the lower unlocking piece, and a return spring with one end abutting on the first transplanting mounting plate and the other end abutting on the unlocking tongue. The first transplanting mounting plate is provided with a first groove for installing the mounting unlocking assembly.

[0010] Furthermore, the mounting gripper assembly includes a servo electric clamp fixed to the back of the first transplant mounting plate and a mounting clamp finger connected to the servo electric clamp through a mounting gripper bracket and used to clamp the drone mount, wherein the mounting gripper bracket has a protrusion that can move along the back of the first transplant mounting plate, and the back of the first transplant mounting plate is provided with a second groove for the protrusion on the mounting gripper bracket to move back, and the servo electric clamp is electrically connected to the controller.

[0011] Preferably, the locking assembly includes a locking mounting plate fixedly connected to the gripper support, a micromotor located on the locking mounting plate, a second linear guide rail located on the locking mounting plate, a baffle located at the end of the locking mounting plate and used to prevent the slider from derailing, a second lead screw connected to the output shaft of the micromotor, a second lead screw nut threadedly connected to the second lead screw, a lead screw connector connected to the second lead screw nut, a guide rail connector connected to the lead screw connector and the slider of the second linear guide rail, a positioning pin located on the guide rail connector and used to be inserted into the pin hole of the drone positioning block, and a first proximity sensor connected to the locking mounting plate through a first sensor bracket, wherein the micromotor and the first proximity sensor are electrically connected to the controller.

[0012] Furthermore, the battery button assembly includes a button mounting plate fixedly connected to the second transplant mounting plate, a first electric push rod fixed to the button mounting plate through a first pressure plate, and a nylon switch head located at the protruding end of the first electric push rod, wherein the second transplant mounting plate has a through hole for the nylon switch head to pass through, and the first electric push rod is electrically connected to the controller.

[0013] Furthermore, the battery unlocking assembly includes an unlocking bracket fixedly connected to the second transplanting mounting plate, a second electric push rod fixed to the unlocking bracket through a second pressure plate, an unlocking head located at the protruding end of the second electric push rod, and a distance sensor fixed to the unlocking bracket through a second sensor bracket, wherein the second electric push rod and the distance sensor are both connected to the controller.

[0014] Preferably, the button battery assembly includes a mounting bracket fixedly connected to the second transplanting mounting plate, a third electric push rod fixed to the mounting bracket through a third pressure plate, a push-pull block connected to the extended end of the third electric push rod through a clamping pin, a pair of hook brackets located on the second transplanting mounting plate, a hook whose central axis is mounted on the hook bracket and can rotate around the central axis, and two second proximity sensors connected to the second transplanting mounting plate through a third sensor bracket, wherein the front end of the hook has a lower hook portion for hooking the battery handle, the rear end of the hook has a push-pull connecting shaft passing through the push-pull block, one second proximity sensor is vertically arranged above the push-pull block, and the other second proximity sensor is horizontally arranged on the side of the push-pull block, and the third electric push rod and the second proximity sensor are both connected to the controller.

[0015] Furthermore, a pair of pressing plates for pressing the batteries are arranged on the second transplanting and mounting plate.

[0016] Beneficial effects: Compared with the prior art, the present invention has the following advantages: first, the present invention can realize battery replacement and mounting at the same work station; second, the present invention uses a locking assembly to realize relative fixation of the UAV and the gripper device, which is convenient for stable operation of battery replacement and mounting; thirdly, the present invention uses a battery button assembly to turn off the power supply to ensure safety when replacing the battery, and also uses the cooperation of the battery unlocking assembly and the battery buckle assembly to conveniently and efficiently buckle the battery, making it convenient to replace the battery; finally, the mounting unlocking assembly and the mounting gripper assembly of the present invention cooperate to quickly and conveniently separate the mount from the UAV, realize automatic replacement of the mount, and greatly save manpower. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of the present invention when docking with a drone;

[0018] Figure 2 It is a structural schematic diagram of the present invention;

[0019] Figure 3 It is a structural schematic diagram of the gripper support in the present invention;

[0020] Figure 4 It is a structural schematic diagram of the transplanting drive assembly in the present invention;

[0021] Figure 5 It is a schematic diagram of the installation of the mounting unlocking component and the mounting gripper component in the present invention;

[0022] Figure 6 It is a structural schematic diagram of the mounting and unlocking component in the present invention;

[0023] Figure 7 It is a structural schematic diagram of the mounting gripper assembly in the present invention;

[0024] Figure 8 The structure diagram of the first transplanting installation plate in the present invention is shown in FIG. Figure 1 ;

[0025] Fig. 9 The structure diagram of the first transplanting installation plate in the present invention is shown in FIG. Figure 2 ;

[0026] Fig.10 It is a schematic diagram of the structure of the battery unlocking component in the present invention;

[0027] Fig.11 It is a schematic diagram of the structure of the battery button assembly in the present invention;

[0028] Fig.12 The structure of the button battery assembly in the present invention is shown in FIG. Figure 1 ;

[0029] Fig.13 The structure of the button battery assembly in the present invention is shown in FIG. Figure 2 ;

[0030] Fig.14 It is a schematic diagram of the installation of the locking assembly in the present invention;

[0031] Fig.15 It is a schematic diagram of the structure of the locking assembly in the present invention.

[0032] The reference numerals are as follows:

[0033] A first transplanting installation plate 1, a first groove 101, and a second groove 102;

[0034] Transplant drive assembly 2, servo motor 201, first synchronous wheel 202, synchronous belt 203, second synchronous wheel 204, bearing seat 205, first lead screw 206, first lead screw nut 207, first connecting plate 208;

[0035] The second transplanting installation plate 3;

[0036] Mounting unlocking assembly 4, upper unlocking piece 401, lower unlocking piece 402, unlocking tongue 403, return spring 404;

[0037] Mounting gripper assembly 5, servo electric gripper 501, mounting gripper bracket 502, mounting gripper finger 503, and protrusion 504;

[0038] Locking assembly 6, locking mounting plate 601, micro motor 602, second linear guide rail 603, baffle 604, second lead screw 605, second lead screw nut 606, lead screw connector 607, guide rail connector 608, positioning pin 609, first sensor bracket 610, first proximity sensor 611;

[0039] Battery button assembly 7, button mounting plate 701, first pressing plate 702, first electric push rod 703, nylon switch head 704;

[0040] Battery unlocking assembly 8, unlocking bracket 801, second pressing plate 802, second electric push rod 803, unlocking head 804, second sensor bracket 805, distance sensor 806;

[0041] Button battery assembly 9, mounting bracket 901, third pressing plate 902, third electric push rod 903, clamping pin 904, push-pull block 905, hook bracket 906, hook 907, third sensor bracket 908, second proximity sensor 909, lower hook 910, push-pull connecting shaft 911, waist-shaped hole 912;

[0042] The gripper base plate 10 , the gripper vertical plate 11 , the reinforcing plate 12 , the first linear guide rail 13 , the pressing plate 14 , the UAV positioning block 15 , and the gripper cover 16 . DETAILED DESCRIPTION

[0043] The technical solution of the present invention is further described below in conjunction with the accompanying drawings.

[0044] like Figure 1 and Figure 2 As shown, a drone hangar gripper device of the present invention comprises a gripper support, a first transplanting mounting plate 1, a transplanting drive assembly 2, a second transplanting mounting plate 3, a mount unlocking assembly 4, a mount gripper assembly 5, a locking assembly 6, a battery button assembly 7, a battery unlocking assembly 8, a buckle battery assembly 9 and a controller, wherein the controller is electrically connected to the transplanting drive assembly 2, the mount gripper assembly 5, the locking assembly 6, the battery button assembly 7, the battery unlocking assembly 8, and the buckle battery assembly 9; wherein the gripper support is fixed to the mechanical arm, and the gripper support comprises a gripper base plate 10, a gripper vertical plate 11, a gripper vertical plate 12, a gripper vertical plate 13, a gripper vertical plate 14, a gripper vertical plate 15, a gripper vertical plate 16, a gripper vertical plate 17, a gripper vertical plate 18, a gripper vertical plate 19, a gripper vertical plate 20, a gripper vertical plate 21, a gripper vertical plate 22, a gripper vertical plate 23, a gripper vertical plate 24, a gripper vertical plate 25, a gripper vertical plate 26, a gripper vertical plate 27, a gripper vertical plate 28, a gripper vertical plate 29, a gripper vertical plate 30, a gripper vertical plate 31, a gripper vertical plate 32, a gripper vertical plate 33, a gripper vertical plate 34, a gripper vertical plate 35, a gripper vertical plate 36, a gripper vertical plate 37, a gripper vertical plate 38, a gripper vertical plate 39, a gripper vertical plate 31, a gripper vertical plate 3 The gripper base plate 10 is a U-shaped base plate, the gripper vertical plate 11 is located at the rear side of the gripper base plate, the gripper vertical plate 11 is vertically arranged, the gripper vertical plate 11 is fixedly connected to the robot arm, the reinforcement plate 12 is located at the left and right sides of the gripper base plate 10, the gripper cover 16 is respectively connected to the gripper vertical plate 11 and the reinforcement plate 12, the gripper vertical plate 11, the gripper base plate 10 and the reinforcement plate 12 constitute the gripper support of the unmanned aerial vehicle hangar, the gripper vertical plate 11 is fixed on the robot arm, and the gripper device of the unmanned aerial vehicle hangar is driven by the robot arm to perform the handling action.

[0045] like Figure 3 and Fig. 9 As shown, first linear guide rails 13 are arranged on the left and right sides of the upper surface of the gripper base plate 10, and the first transplanting mounting plate 1 is connected to the slider on the first linear guide rail 13. The first transplanting mounting plate 1 moves forward and backward along the first linear guide rail 13 of the gripper base plate 10 with the slider, ensuring the accurate position during the forward and backward movement. Figure 4As shown, the transplanting drive assembly 2 is located on the gripper base plate 10 supported by the gripper, and the transplanting drive assembly 2 is used to drive the first transplanting mounting plate 1 to move forward and backward. The transplanting drive assembly 2 includes a servo motor 201, a first synchronous wheel 202, a synchronous belt 203, a second synchronous wheel 204, a bearing seat 205, a first lead screw 206, a first lead screw nut 207 and a first connecting plate 208, wherein the servo motor 201 is located on the back of the gripper base plate 10, the first synchronous wheel 202 is connected to the output shaft of the servo motor 201, the second synchronous wheel 204 is connected to the first synchronous wheel 202 through the synchronous belt 203, and the first lead screw 206 is connected to the second synchronous wheel 20 2 are coaxially connected, the first lead screw 206 is mounted on the back of the gripper base plate 10 through the bearing seat 205, the first lead screw nut 207 is threadedly connected to the first lead screw 206, the first connecting plate 208 is used to connect the first lead screw nut 207 and the first transplanting mounting plate 1, the servo motor 201 is electrically connected to the controller, the controller controls the servo motor 201 to start, and drives the first lead screw 206 to rotate through the first synchronous wheel 202, the synchronous belt 203 and the second synchronous wheel 204, the first lead screw nut 207 moves forward and backward along the first lead screw 206, and the first lead screw nut 207 drives the first transplanting mounting plate 1 to move forward and backward through the first connecting plate 208. When the first transplanting mounting plate 1 moves to the specified position, the servo motor 201 feeds back a signal to the controller.

[0046] like Figure 5 and Figure 6 As shown, the mounting unlocking assembly 4 is located at the front end of the first transplanting mounting plate 1, and the mounting unlocking assembly 4 includes an upper unlocking piece 401, a lower unlocking piece 402, an unlocking tongue 403 and a return spring 404. The unlocking tongue 403 is located between the upper unlocking piece 401 and the lower unlocking piece 402. One end of the return spring 404 abuts on the first transplanting mounting plate 1 and the other end abuts on the unlocking tongue 403. The first transplanting mounting plate 1 is provided with a first groove 101 for mounting the mounting unlocking assembly. When the first transplanting mounting plate 1 moves to a specified position, the unlocking tongue 403 on the mounting unlocking assembly 4 presses the mounting lock buckle to unlock the mounting lock buckle, and the servo motor 201 feeds back a signal to the controller.

[0047] like Figure 5 and Figure 7As shown, the mounting gripper assembly 5 is located at the front end of the first transplanting mounting plate 1, and the mounting gripper assembly 5 includes a servo electric clamp 501, a mounting gripper bracket 502, a mounting clamping finger 503 and a protrusion 504. The servo electric clamp 501 is fixed to the back of the first transplanting mounting plate 1, and the servo electric clamp 501 is an existing structure. The mounting clamping finger 503 is connected to the servo electric clamp 501 through the mounting gripper bracket 502. The mounting clamping finger 503 is used to clamp the drone mount. The mounting clamping finger 503 is a profiling part, and the mounting shape is processed to ensure that the mount can be accurately positioned; wherein the mounting gripper bracket 502 has a protrusion 504 that can move along the back of the first transplanting mounting plate 1, and the back of the first transplanting mounting plate 1 is provided with a second groove 102 for the protrusion on the mounting gripper bracket to be opened and moved back, and the servo electric clamp 501 is electrically connected to the controller, such as Figure 8 As shown. When the mount lock is unlocked, the servo motor 201 feeds back a signal to the controller, the controller controls the servo electric clamp 501 on the mount gripper assembly 5 to clamp, the mount clamp finger 503 clamps the mount, the servo electric clamp 501 feeds back a signal to the controller, the controller controls the servo motor 201 to drive the first transfer mounting plate 1 to return to the initial position. The robotic arm sends the mount into the mount bin, the servo electric clamp 501 on the mount gripper assembly 5 opens, the servo electric clamp 501 feeds back a signal to the controller, and the robotic arm returns to the standby position. The robotic arm drives the mount gripper assembly 5 to take out the replaced mount from the mount bin, the robotic arm moves to the drone docking position, the action steps are the same as above, and the replaced mount is loaded into the drone.

[0048] like Fig.14 and Fig.15As shown, the locking assembly 6 is located at the front end of the gripper base plate 10 supported by the gripper, and the locking assembly 6 is used to clamp the drone. The locking assembly 6 includes a locking mounting plate 601, a micro motor 602, a second linear guide rail 603, a baffle 604, a second lead screw 605, a second lead screw nut 606, a lead screw connector 607, a guide rail connector 608, a positioning pin 609, a first sensor bracket 610 and a first proximity sensor 611. The locking mounting plate 601 is fixedly connected to the gripper base plate 10 supported by the gripper, the micro motor 602 is located on the locking mounting plate 601, the second linear guide rail 603 is located on the locking mounting plate 601, and the baffle 604 is located at the end of the locking mounting plate 601. The baffle 604 is used to prevent the slider on the second linear guide 603 from derailing, the second lead screw 605 is connected to the output shaft of the micro motor 602, the second lead screw nut 606 is threadedly connected to the second lead screw 605, the lead screw connector 607 is connected to the second lead screw nut 606, the guide rail connector 608 is respectively connected to the lead screw connector 607 and the slider of the second linear guide 603, the locating pin 609 is located on the guide rail connector 608, and the locating pin 609 is used to be inserted into the pin hole of the drone positioning block 15; the first proximity sensor 611 is connected to the locking mounting plate 601 through the first sensor bracket 610, wherein the micro motor 602 and the first proximity sensor 611 are electrically connected to the controller. During operation, the robotic arm moves to the docking position of the drone, the controller interacts with the robotic arm, the controller controls the micro motor 602 to start, the micro motor 602 drives the second lead screw 605 to rotate, and the second lead screw nut 606 drives the locating pin 609 to move along the second linear guide rail 603 through the guide rail connector 608 until the locating pin 609 is inserted into the pin hole of the drone positioning block 15 and locked, the drone hangar gripper device and the drone are relatively fixed, and the first proximity sensor 611 can detect the position of the locating pin and feed back to the controller.

[0049] like Fig.11 As shown, the second transplanting mounting plate 3 is vertically arranged on the first transplanting mounting plate 1, and the battery button assembly 7 is located on the second transplanting mounting plate 3. The battery button assembly 7 is used to turn on or off the drone battery. The battery button assembly 7 includes a button mounting plate 701, a first pressure plate 702, a first electric push rod 703 and a nylon switch head 704. The button mounting plate 701 is fixedly connected to the second transplanting mounting plate 3, and the first electric push rod 703 is fixed to the button mounting plate 701 through the first pressure plate 702. The nylon switch head 704 is located at the protruding end of the first electric push rod 703. The second transplanting mounting plate 3 has a through hole for the nylon switch head to pass through, and the first electric push rod 703 is electrically connected to the controller. When the first transfer mounting plate 1 drives the second transplanting mounting plate 3 to move to the specified position, the servo motor 201 feeds back a signal to the controller, and the controller controls the first electric push rod 703 to move, and the nylon switch head 704 turns off or on the power button on the battery.

[0050] like Fig.10 As shown, the battery unlocking assembly 8 is located on the second transplanting mounting plate 3, and the battery unlocking assembly 8 includes an unlocking bracket 801, a second pressing plate 802, a second electric push rod 803, an unlocking head 804, a second sensor bracket 805 and a distance sensor 806. The unlocking bracket 801 is fixedly connected to the second transplanting mounting plate 3, the second electric push rod 803 is fixed to the unlocking bracket 801 through the second pressing plate 802, the unlocking head 804 is located at the protruding end of the second electric push rod 803, and the distance sensor 806 is fixedly connected to the unlocking bracket 801 through the second sensor bracket 805, wherein the second electric push rod 803 and the distance sensor 806 are both connected to the controller. When the battery button assembly 7 turns off the power button on the battery, the controller controls the second electric push rod 803 to move, the unlocking head 804 extends, and the battery lock buckle is opened. The distance sensor 806 can detect and feedback the unlocking position distance of the battery buckle, and feedback to the controller, so as to ensure that the battery lock buckle is opened.

[0051] like Fig.12 and Fig.13As shown, the button battery assembly 9 is located on the second transplanting mounting plate 3, and the button battery assembly 9 includes a mounting bracket 901, a third pressing plate 902, a third electric push rod 903, a clamping pin 904, a push-pull block 905, a hook bracket 906, a hook 907, a third sensor bracket 908, a second proximity sensor 909, a lower hook 910 and a push-pull connecting shaft 911. The mounting bracket 901 is fixedly connected to the second transplanting mounting plate 3, the third electric push rod 903 is fixed to the mounting bracket 901 through the third pressing plate 902, the push-pull block 905 is connected to the protruding end of the third electric push rod 9036 through the clamping pin 904, a pair of hook brackets 906 are located on the second transplanting mounting plate 3, and a pair of pressing plates 14 for pressing the battery are provided on the second transplanting mounting plate 3, and the pressing plate 14 is located beside the hook bracket 906. The unlocking bracket 801 is connected to the hook bracket 906, and the central axis of the hook 907 is mounted on the hook bracket 906. The hook 907 can rotate around the central axis, wherein the front end of the hook 907 has a lower hook portion 910 for hooking the battery handle, and the rear end of the hook 907 has a push-pull connecting shaft 911 that passes through the push-pull block 905. The push-pull block 905 is provided with a waist-shaped hole 912 for the push-pull connecting shaft 911 to pass through. The two second proximity sensors 909 are connected to the second transplanting mounting plate 3 through the third sensor bracket 908, one second proximity sensor 909 is vertically arranged above the push-pull block 905, and the other second proximity sensor 909 is horizontally arranged on the side of the push-pull block 905, and the third electric push rod 903 and the second proximity sensor 909 are both connected to the controller. The second proximity sensor 909 can provide feedback on whether the hook 907 driven by the third electric push rod 903 is in place, and feedback to the controller to control the hooking and releasing of the hook 907 driven by the third electric push rod 903. The controller controls the third electric push rod 903 to start, drive the push-pull block 905 to extend, drive the push-pull connecting shaft 911 to move upward, and the lower hook part 910 to move downward, and the hook 907 hooks the drone battery; drive the push-pull block 905 to retract, drive the push-pull connecting shaft 911 to move downward, and the lower hook part 910 to move upward, and the hook 907 releases the drone battery.

[0052] Working process:

[0053] The gripper upright plate 11, the gripper base plate 10 and the reinforcing plate 12 constitute the gripper support of the drone hangar. The gripper upright plate 11 is fixed on the robotic arm, and the robotic arm drives the drone hangar gripper device to perform the transport action; the first transplanting mounting plate 1 moves back and forth along the first linear guide rail 13 of the gripper base plate 10 with the slider to ensure accurate position during the forward and backward movement.

[0054] Replace the battery: When working, the robotic arm moves to the docking position of the drone, the controller interacts with the robotic arm, the controller controls the micro motor 602 of the locking assembly 6 to start, the micro motor 602 drives the second lead screw 605 to rotate, and the second lead screw nut 606 drives the positioning pin 609 to move along the second linear guide rail 603 through the guide rail connector 608, the positioning pin 609 extends until the positioning pin 609 is inserted into the pin hole of the drone positioning block 15 and locked, the drone hangar gripper device and the drone are relatively fixed, and the first proximity sensor 611 can detect the position of the positioning pin and feed back to the controller.

[0055] At this time, the controller controls the servo motor 201 to start, and drives the first lead screw 206 to rotate through the first synchronous wheel 202, the synchronous belt 203 and the second synchronous wheel 204. The first lead screw nut 207 moves forward and backward along the first lead screw 206. The first lead screw nut 207 drives the first transplanting mounting plate 1 to move forward through the first connecting plate 208. When the first transplanting mounting plate 1 drives the second transplanting mounting plate 3 to move to the specified position, the servo motor 201 feeds back a signal to the controller, and the controller controls the first electric push rod 703 to move, and the nylon switch head 704 turns off the power button on the battery; the controller controls the second electric push rod 803 of the battery unlocking assembly 8 to move, unlocking The head 804 extends out to open the battery lock. The distance sensor 806 can detect and feedback the unlocking position distance of the battery lock, and feedback to the controller to ensure that the battery lock is opened. After completion, the PLC signal is fed back. The controller controls the third electric push rod 903 of the button battery assembly 9 to start, drive the push-pull block 905 to extend, drive the push-pull connecting shaft 911 to move upward, and the lower hook 910 to move downward. The hook claw 907 hooks the drone battery. At this time, the button battery assembly 9 buckles the battery handle. After buckling, a signal is sent to the controller. The controller controls the servo motor 201 to move, drive the first transplanting installation plate 1 and the second transplanting installation plate 3 to retreat, and pull the battery out of the drone. After pulling out to the specified position, the servo motor 201 feedbacks a signal to the controller, and the controller controls the micro motor 602 of the locking assembly 6 to start, the positioning pin 609 retracts, the locking assembly 6 releases the drone, and the robot arm sends the battery into the battery compartment for charging; at this time, the battery unlocking assembly 8 and the button battery assembly 9 are released.

[0056] The mechanical arm drives the drone hangar gripper device to take out the fully charged battery in the battery compartment. The battery removal method is the same as above. After taking the battery, the mechanical arm moves to the drone docking position, the controller exchanges information with the mechanical arm, the positioning pin 609 on the locking assembly 6 extends out, inserts into the pin hole on the positioning block 15 on the drone and locks, and the drone hangar gripper device and the drone are relatively fixed. At this time, when the controller controls the servo motor 201 to drive the first transfer mounting plate 1 to move to the specified position, the battery is pushed into the drone, the servo motor 201 feeds back the controller signal, the battery button assembly 7 turns on the power button on the battery, the battery unlocking assembly 8 and the battery button assembly 9 are released, the positioning pin 609 on the locking assembly 6 withdraws, and the mechanical arm withdraws to the standby position.

[0057] Replace the mount: the mechanical arm moves to the UAV docking position, the controller exchanges information with the mechanical arm, the positioning pin 609 on the locking assembly 6 extends out, inserts into the pin hole on the UAV positioning block 15 and locks, and the UAV hangar gripper device and the UAV are relatively fixed. At this time, the controller controls the servo motor 201 to drive the first transfer mounting plate 1 to move forward, the first transfer mounting plate 1 moves to the specified position, and at the same time, the unlocking tongue 403 of the mount unlocking assembly 4 on the transfer mounting plate unlocks the mount lock, the servo motor 201 feeds back the controller signal, the controller controls the servo electric clamp 501 on the mount gripper assembly 5 to clamp, the mount clamp finger 503 clamps the mount, the servo electric clamp 501 feeds back the controller signal, the controller controls the servo motor 201 to drive the first transfer mounting plate 1 back to the initial position; the mount gripper assembly 5 is fixed on the back of the first transfer mounting plate 1, the mechanical arm sends the mount into the mount bin, the servo electric clamp 501 on the mount gripper assembly 5 opens, the servo electric clamp 501 feeds back the controller signal, and the mechanical arm returns to the standby position. The mechanical arm drives the drone hangar gripper device to take the mount out of the mount bin, and the mechanical arm moves to the drone docking position, and the action steps are the same as above. The mount unlocking assembly and the mount gripper assembly of the present invention cooperate to quickly and conveniently separate the mount from the drone, realize automatic replacement of the mount, and greatly save manpower.

Claims

1. A drone hangar gripper device, characterized in that: The invention comprises a gripper support fixed to a mechanical arm, a first transplanting mounting plate (1) movable forward and backward along the gripper support, a transplanting driving assembly (2) located on the gripper support and used for driving the first transplanting mounting plate to move forward and backward, a second transplanting mounting plate (3) vertically arranged on the first transplanting mounting plate, a mounting unlocking assembly (4) located at the front end of the first transplanting mounting plate, a mounting gripper assembly (5) located at the front end of the first transplanting mounting plate, a locking assembly (6) located at the front end of the gripper support and used for clamping a drone, a battery button assembly (7) located on the second transplanting mounting plate and used for opening or closing a drone battery, a battery unlocking assembly (8) located on the second transplanting mounting plate, a button battery assembly (9) located on the second transplanting mounting plate, and a controller electrically connected to the transplanting driving assembly (2), the mounting gripper assembly (5), the locking assembly (6), the battery button assembly (7), the battery unlocking assembly (8), and the button battery assembly (9).

2. The drone hangar gripper device according to claim 1, characterized in that: The gripper support comprises a gripper base plate (10), a gripper upright plate (11) located at the rear side of the gripper base plate, and reinforcing plates (12) located at the left and right sides of the gripper base plate. First linear guide rails (13) are provided on the left and right sides of the upper surface of the gripper base plate (10), and the first transplanting mounting plate (1) is connected to a slider on the first linear guide rail (13).

3. The drone hangar gripper device according to claim 2 is characterized in that: The transplanting drive assembly (2) comprises a servo motor (201) located on the back of the gripper base plate (10), a first synchronous wheel (202) connected to the output shaft of the servo motor, a second synchronous wheel (204) connected to the first synchronous wheel via a synchronous belt (203), a first lead screw (206) mounted on the back of the gripper base plate via a bearing seat (205) and coaxially connected to the second synchronous wheel, a first lead screw nut (207) threadedly connected to the first lead screw, and a first connecting plate (208) used to connect the first lead screw nut and a first transplanting mounting plate, and the servo motor (201) is electrically connected to a controller.

4. The drone hangar gripper device according to claim 1, characterized in that: The mounting unlocking assembly (4) comprises an upper unlocking piece (401), a lower unlocking piece (402), an unlocking tongue (403) located between the upper unlocking piece and the lower unlocking piece, and a return spring (404) with one end abutting against the first transplanting mounting plate and the other end abutting against the unlocking tongue, and the first transplanting mounting plate (1) is provided with a first groove for mounting the mounting unlocking assembly.

5. The drone hangar gripper device according to claim 1, characterized in that: The mounting gripper assembly (5) comprises a servo electric clamp (501) fixed to the back of the first transplanting installation plate and a mounting clamp finger (503) connected to the servo electric clamp via a mounting gripper bracket (502) and used to clamp the drone mount, wherein the mounting gripper bracket (502) has a protrusion (504) that can move along the back of the first transplanting installation plate, and the back of the first transplanting installation plate (1) is provided with a second groove for the protrusion on the mounting gripper bracket to move back, and the servo electric clamp (501) is electrically connected to a controller.

6. The drone hangar gripper device according to claim 1, characterized in that: The locking assembly (6) comprises a locking mounting plate (601) fixedly connected to the gripper support, a micro motor (602) located on the locking mounting plate, a second linear guide rail (603) located on the locking mounting plate, a baffle (604) located at the end of the locking mounting plate and used to prevent the slider from derailing, a second lead screw (605) connected to the output shaft of the micro motor, a second lead screw nut (606) threadedly connected to the second lead screw, a lead screw connector (607) connected to the second lead screw nut, a guide rail connector (608) connected to the lead screw connector and the slider of the second linear guide rail, a positioning pin (609) located on the guide rail connector and used to be inserted into a pin hole of a positioning block of a drone, and a first proximity sensor (611) connected to the locking mounting plate via a first sensor bracket (610), wherein the micro motor (602) and the first proximity sensor (611) are electrically connected to a controller.

7. The drone hangar gripper device according to claim 1, characterized in that: The battery button assembly (7) comprises a button mounting plate (701) fixedly connected to the second transplant mounting plate, a first electric push rod (703) fixed to the button mounting plate via a first pressing plate (702), and a nylon switch head (704) located at the protruding end of the first electric push rod, wherein the second transplant mounting plate (3) has a through hole through which the nylon switch head can pass, and the first electric push rod (703) is electrically connected to the controller.

8. The drone hangar gripper device according to claim 1, characterized in that: The battery unlocking assembly (8) comprises an unlocking bracket (801) fixedly connected to the second transplanting mounting plate, a second electric push rod (803) fixed to the unlocking bracket via a second pressing plate (802), an unlocking head (804) located at the protruding end of the second electric push rod, and a distance sensor (806) fixedly connected to the unlocking bracket via a second sensor bracket (805), wherein the second electric push rod (803) and the distance sensor (806) are both connected to a controller.

9. The drone hangar gripper device according to claim 1, characterized in that: The button battery assembly (9) comprises a mounting bracket (901) fixedly connected to the second transplanting mounting plate, a third electric push rod (903) fixed to the mounting bracket via a third pressing plate (902), a push-pull block (905) connected to the protruding end of the third electric push rod via a clamping pin (904), a pair of hook brackets (906) located on the second transplanting mounting plate, a hook (907) with a central axis mounted on the hook bracket and rotatable around the central axis, and a third sensor bracket (908) connected to the second transplanting mounting plate. Two second proximity sensors (909) are connected, wherein the front end of the hook claw (907) has a lower hook portion (910) for hooking the battery handle, and the rear end of the hook claw (907) has a push-pull connecting shaft (911) that passes through the push-pull block, one second proximity sensor (909) is vertically arranged above the push-pull block (905), and the other second proximity sensor (909) is horizontally arranged on the side of the push-pull block (905), and the third electric push rod (903) and the second proximity sensor (909) are both connected to the controller.

10. The drone hangar gripper device according to claim 1, characterized in that: A pair of pressing plates (14) for pressing the batteries are arranged on the second transplanting installation plate (3).

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