Mechanical arm for replacing battery of unmanned aerial vehicle and unmanned aerial vehicle parking device

Abstract

The invention provides a mechanical arm for replacing a battery of an unmanned aerial vehicle and an unmanned aerial vehicle parking device, and the mechanical arm for replacing the battery of the unmanned aerial vehicle comprises an X-axis module which comprises an X-axis guide rail and a first sliding table capable of moving along the X-axis guide rail; the Y-axis module comprises a Y-axis guide rail and a second sliding table capable of moving along the Y-axis guide rail, and the Y-axis guide rail is connected with the first sliding table; and the clamping module comprises a clamping block, a clamping claw and a rotating arm, the clamping block is connected to the second sliding table, the clamping claw is arranged on the clamping block in the X-axis direction in an openable and closable mode, the rotating arm is arranged on the clamping claw in the Y-axis direction in a rotatable mode, the clamping claw can clamp the unmanned aerial vehicle battery, and the rotating arm can lift the unmanned aerial vehicle battery. Through the technical scheme provided by the invention, the problem of low efficiency of manually replacing the battery of the unmanned aerial vehicle in related technologies can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a mechanical arm for replacing batteries of unmanned aerial vehicles and a parking device for unmanned aerial vehicles. Background Art

[0002] The battery is one of the important parts of drones and is the power source of drones. At present, the main way to replace drone batteries is through manual replacement. Manual replacement, that is, the battery of the drone is replaced with the assistance of humans, is inefficient, and there is a risk of battery falling due to misoperation during manual operation, which affects the safety of battery replacement.

[0003] Therefore, there is a problem of low efficiency in manually replacing drone batteries in the related art. Summary of the invention

[0004] The present invention provides a mechanical arm for replacing a drone battery and a drone parking device, so as to solve the problem of low efficiency of manually replacing a drone battery in the related art.

[0005] According to one aspect of the present invention, a robotic arm for replacing a drone battery is provided, and the robotic arm for replacing a drone battery comprises: an X-axis module, comprising an X-axis guide rail and a first slide movable along the X-axis guide rail; a Y-axis module, comprising a Y-axis guide rail and a second slide movable along the Y-axis guide rail, the Y-axis guide rail being connected to the first slide; a clamping module, comprising a clamping block, a clamping claw and a rotating arm, the clamping block being connected to the second slide, the clamping claw being openably and closably arranged on the clamping block along the X-axis direction, the rotating arm being rotatably arranged on the clamping claw around the Y-axis direction, the clamping claw being capable of clamping the drone battery, and the rotating arm being capable of lifting the drone battery.

[0006] Furthermore, the drone battery has a movable battery buckle, and the drone battery can be connected to the drone or the battery compartment through the battery buckle; when the clamping claw clamps the drone battery, the clamping claw presses against the battery buckle to separate the battery buckle from the drone or the battery compartment.

[0007] Furthermore, one of the clamping claw and the battery buckle is provided with a positioning groove, and the other of the clamping claw and the battery buckle is provided with a positioning boss. The inner wall of the positioning groove has a first inclined surface, and the outer wall of the positioning boss has a second inclined surface. The first inclined surface and the second inclined surface are adapted to each other. When the clamping claw clamps the drone battery, the first inclined surface and the second inclined surface cooperate to allow the positioning boss to extend into the positioning groove.

[0008] Furthermore, a mounting groove is provided at one end of the clamping claw away from the clamping block, a servo is provided in the mounting groove, and the servo is connected to the rotating arm to drive the rotating arm to rotate relative to the clamping claw; and / or a weight reduction groove is provided on the clamping claw.

[0009] Furthermore, a battery switch touch rod is arranged on the clamping claw.

[0010] Further, a spring steel ball is installed at one end of the battery switch touch rod away from the clamping block; and / or, the battery switch touch rod is located between two clamping claws of the clamping claw.

[0011] Furthermore, the clamping claw includes two clamping claws arranged at intervals in the X-axis direction, and the two clamping claws can be relatively close to or far away from each other along the X-axis direction to achieve opening and closing of the clamping claws.

[0012] Furthermore, a first travel switch is installed at both ends of the X-axis guide rail, and a first touch piece is provided on the first slide, and the first touch piece can trigger the first travel switch to operate; and / or, a second travel switch is installed at both ends of the Y-axis guide rail, and a second touch piece is provided on the second slide, and the second touch piece can trigger the second travel switch to operate.

[0013] Furthermore, the clamping claw is provided with a battery top block, and the drone is provided with a battery locking lever. When the clamping claw moves toward a direction close to the drone, the battery top block can unlock the battery locking lever.

[0014] According to another aspect of the present invention, a drone parking device is provided, which includes: a battery compartment that accommodates multiple drone batteries; a robotic arm for replacing drone batteries, and the robotic arm for replacing drone batteries is the robotic arm for replacing drone batteries provided above.

[0015] By applying the technical solution of the present invention, the robot arm for replacing the drone battery includes an X-axis module, a Y-axis module and a clamping module. When replacing the drone battery, the first slide of the X-axis module is used to slide along the X-axis guide rail, and the second slide of the Y-axis module is used to slide along the Y-axis guide rail, so that the position of the clamping module can be adjusted, so that the drone battery can be disassembled and a new drone battery can be installed using the clamping module. Specifically, the clamping module includes a clamping block, a clamping claw and a rotating arm, the clamping claw is openably arranged on the clamping block along the X-axis direction, the clamping claw can clamp the drone battery, and the rotating arm is rotatably arranged on the clamping claw around the Y-axis direction. After the clamping claw releases the removed drone battery, the rotating arm can be used to lift the drone battery. With the above structure, the robot arm for replacing the drone battery can realize the automatic replacement of the drone battery, thereby improving the replacement efficiency of the drone battery and solving the problem of low efficiency of manual replacement of drone batteries in the related technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0017] Figure 1 A schematic diagram of the structure of a mechanical arm for replacing a drone battery provided in an embodiment of the present invention is shown;

[0018] Figure 2 A schematic diagram showing the cooperation between a mechanical arm for replacing a drone battery and a drone according to an embodiment of the present invention is shown;

[0019] Figure 3 A schematic structural diagram of a clamping module of a mechanical arm for replacing a drone battery provided in an embodiment of the present invention is shown;

[0020] Figure 4 A schematic diagram of the structure of a battery buckle according to an embodiment of the present invention is shown;

[0021] Figure 5 A schematic structural diagram of a drone according to an embodiment of the present invention is shown.

[0022] The above drawings include the following reference numerals:

[0023] 10. X-axis module; 11. X-axis guide rail;

[0024] 20. Y-axis module; 21. Y-axis guide rail;

[0025] 30. Clamping module; 31. Clamping block; 32. Clamping claw; 321. Clamping claw; 33. Rotating arm;

[0026] 40. Drone battery; 41. Battery buckle; 411. Buckle hook;

[0027] 50. positioning groove; 51. positioning boss; 52. second inclined surface;

[0028] 60. Steering gear; 70. Weight reduction slot;

[0029] 80. A first travel switch; 90. A first touch sheet;

[0030] 100. A second travel switch; 110. A second touch sheet;

[0031] 120. Battery top block; 121. Battery locking lever;

[0032] 130. Drone. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. All other embodiments obtained by ordinary technicians in this field without creative work based on the embodiments of the present invention are within the scope of protection of the present invention.

[0034] like Figures 1 to 5 As shown, an embodiment of the present invention provides a robot arm for replacing a drone battery, and the robot arm for replacing a drone battery includes an X-axis module 10, a Y-axis module 20, and a clamping module 30. The X-axis module 10 includes an X-axis guide rail 11 and a first slide movable along the X-axis guide rail 11. The Y-axis module 20 includes a Y-axis guide rail 21 and a second slide movable along the Y-axis guide rail 21, and the Y-axis guide rail 21 is connected to the first slide. The clamping module 30 includes a clamping block 31, a clamping claw 32, and a rotating arm 33. The clamping block 31 is connected to the second slide, the clamping claw 32 is openably and closably arranged on the clamping block 31 along the X-axis direction, and the rotating arm 33 is rotatably arranged on the clamping claw 32 around the Y-axis direction. The clamping claw 32 can clamp the drone battery 40, and the rotating arm 33 can lift the drone battery 40.

[0035] By using the robot arm for replacing the drone battery provided in this embodiment, when replacing the drone battery 40, the first slide of the X-axis module 10 is used to slide along the X-axis guide rail 11, and the second slide of the Y-axis module 20 is used to slide along the Y-axis guide rail 21, so that the position of the clamping module 30 can be adjusted, so that the drone battery 40 can be removed and a new drone battery 40 can be installed by using the clamping module 30. Specifically, the clamping module 30 includes a clamping block 31, a clamping claw 32 and a rotating arm 33. The clamping claw 32 is openably arranged on the clamping block 31 along the X-axis direction, and the clamping claw 32 can clamp the drone battery 40. The rotating arm 33 is rotatably arranged on the clamping claw 32 around the Y-axis direction. After the clamping claw 32 releases the removed drone battery 40, the rotating arm 33 can be used to lift the drone battery 40. With the above structure, the robot arm for replacing the drone battery can realize the automatic replacement of the drone battery 40, thereby improving the replacement efficiency of the drone battery and solving the problem of low efficiency of manual replacement of drone batteries in the related art.

[0036] This design enables the robot arm to move flexibly in the X-axis and Y-axis directions, so as to accurately locate and operate the drone battery in three-dimensional space, improving the accuracy and efficiency of battery replacement. It is suitable for scenarios such as drone automatic charging stations and drone maintenance platforms. Through the precise coordination of the X-axis module and the Y-axis module, the robot arm can accurately move to the specific position of the battery when replacing the battery. The use of the clamping claw and the rotating arm further improves the flexibility and accuracy of the operation, making the battery replacement process fast and safe. In practical applications, this robot arm can significantly improve the working efficiency of drone automatic charging stations, reduce the waiting time of drones, and thus enhance the operational capabilities of the entire drone system.

[0037] The robotic arm for replacing drone batteries provided in this embodiment realizes remote unattended operation of the drone, and the battery is replaced through a battery replacement airport (drone parking device), so that the drone can be operated again in a short time.

[0038] like Figure 4 and Figure 5 As shown, the drone battery 40 has a movable battery buckle 41, and the drone battery 40 can be connected to the drone 130 or the battery compartment through the battery buckle 41. When the clamping claw 32 clamps the drone battery 40, the clamping claw 32 pushes against the battery buckle 41 to separate the battery buckle 41 from the drone 130 or the battery compartment. Through the design of the battery buckle, the robot arm can grasp and release the battery more stably, avoid the battery from falling off during the replacement process, and increase the safety of the operation. It is suitable for drone automatic battery replacement stations, especially for drone automatic charging and battery replacement systems in outdoor environments.

[0039] Furthermore, when the clamping claw 32 clamps the drone battery 40, the clamping claw 32 abuts against the battery buckle 41, so that the battery buckle 41 is separated from the drone 130 or the battery compartment. This simplifies the steps of disassembling and assembling the drone battery, and further improves the replacement efficiency.

[0040] The battery buckle 41 is provided with a hook 411 , and the hook 411 is connected to the drone 130 or to the battery compartment.

[0041] like Figure 3 and Figure 4As shown, one of the clamping claw 32 and the battery buckle 41 is provided with a positioning groove 50, and the other of the clamping claw 32 and the battery buckle 41 is provided with a positioning boss 51. The inner wall of the positioning groove 50 has a first inclined surface, and the outer wall of the positioning boss 51 has a second inclined surface 52. The first inclined surface and the second inclined surface 52 are adapted to each other. When the clamping claw 32 clamps the drone battery 40, the first inclined surface and the second inclined surface 52 cooperate to allow the positioning boss 51 to extend into the positioning groove 50. This positioning structure can ensure the correct position of the battery when it is clamped, improve the accuracy and reliability of battery replacement, and reduce replacement failures caused by inaccurate battery position. The matching design of the positioning groove and the positioning boss not only improves the accuracy of battery replacement, but also can adapt to slight changes in battery shape, changes in battery model or drone model, and improve the fault tolerance of the system.

[0042] like Figure 3 As shown, a mounting groove is provided at one end of the clamping claw 32 away from the clamping block 31, and a steering gear 60 is provided in the mounting groove. The steering gear 60 is connected to the rotating arm 33 to drive the rotating arm 33 to rotate within a range of 180° relative to the clamping claw 32. The use of the steering gear enables the rotating arm to accurately control the rotation angle, so that the battery can be accurately placed in the battery compartment when replacing the battery, avoiding battery damage and improving the success rate of battery replacement. It is suitable for automatic battery replacement stations for drones, especially in applications such as drone inspections and drone agricultural spraying where frequent battery replacement is required.

[0043] The precise control capability of the servo enables the robot arm to make fine adjustments when replacing batteries, ensuring perfect docking between the battery and the battery compartment, reducing battery damage and replacement failures caused by improper operation. In scenarios such as drone inspections and agricultural spraying that require high-frequency battery replacement, the use of servos greatly improves the speed and success rate of battery replacement, ensuring the continuity of drone operations.

[0044] like Figure 3 As shown, a weight-reducing groove 70 is provided on the clamping claw 32. The design of the weight-reducing groove can reduce the weight of the clamping claw, improve the response speed and operational flexibility of the robot arm, and reduce energy consumption and extend the service life of the robot arm.

[0045] The lightweight design of the weight-reducing slot not only improves the operating speed of the robotic arm, but also reduces the wear on the robotic arm during battery replacement, extending the overall service life of the system.

[0046] In this embodiment, a battery switch touch rod is provided on the clamping claw 32. The design of the battery switch touch rod enables the robot arm to automatically trigger the battery switch when replacing the battery, which simplifies the battery replacement process and improves the automation of the operation.

[0047] In addition, the automatic triggering function of the battery switch touch rod not only simplifies the battery replacement steps, but also improves the safety of operation.

[0048] In this embodiment, a spring steel ball is installed at one end of the battery switch touch rod away from the clamping block 31. This allows the switch action to have a certain error tolerance so that the switch action can be completed without causing damage to the drone battery.

[0049] Specifically, the battery switch touch rod is located between the two clamping claws 321 of the clamping claw 32. This layout can ensure that when clamping the battery, the battery switch touch rod can accurately align with the battery switch, avoiding switch trigger failure caused by position deviation.

[0050] like Figure 3 As shown, the clamping claw 32 includes two clamping claws 321 arranged at intervals in the X-axis direction, and the two clamping claws 321 can be relatively close to or far away from each other along the X-axis direction to achieve the opening and closing of the clamping claw 32. The design of the two clamping claws can provide a greater clamping force, ensure the stability of the battery during the replacement process, and can adapt to batteries of different sizes, thereby improving the versatility and adaptability of the system.

[0051] Through the adjustable design of the two grippers, the robot arm can adapt to batteries of different sizes and shapes, improving the versatility and adaptability of the system and reducing the need for adjustments when replacing batteries. In applications that require handling multiple batteries, such as drone logistics delivery and agricultural spraying, this design ensures that the robot arm can stably grip various batteries, improving the flexibility and efficiency of battery replacement.

[0052] In this embodiment, a first travel switch 80 is installed at both ends of the X-axis guide rail 11, and a first touch piece 90 is provided on the first slide, and the first touch piece 90 can trigger the first travel switch 80 to work. A second travel switch 100 is installed at both ends of the Y-axis guide rail 21, and a second touch piece 110 is provided on the second slide, and the second touch piece 110 can trigger the second travel switch 100 to work. The use of the travel switch can accurately control the movement range of the robot arm, avoid excessive movement of the robot arm, and improve the safety and stability of the system.

[0053] Specifically, the precise control capability of the travel switch ensures the safe movement of the robot arm in three-dimensional space, avoiding mechanical failure and battery damage caused by excessive movement. In applications such as drone logistics distribution and monitoring that require precise operation, this design can improve the overall stability and safety of the system, reduce unplanned downtime, and improve the operating efficiency of the drone.

[0054] like Figure 3As shown, the clamping claw 32 is provided with a battery top block 120, and the drone 130 is provided with a battery locking lever 121. When the clamping claw 32 moves toward the direction close to the drone 130, the battery top block 120 can unlock the battery locking lever 121. The design of the battery top block can automatically unlock the battery locking lever, simplifying the battery replacement process, improving the automation and efficiency of the operation, and reducing manual intervention and operational risks.

[0055] Specifically, the design of automatically unlocking the battery lock lever through the battery top block not only simplifies the battery replacement process, but also improves the safety of operation and reduces the need for manual intervention. In applications such as drone logistics and emergency rescue that require rapid battery replacement, this design can ensure that the drone can resume operation in the shortest possible time, improving the drone's response speed and operating efficiency.

[0056] In this embodiment, a first connecting plate is installed on the first slide by bolt fastening, and the first connecting plate is connected to the Y-axis module. A second connecting plate is installed on the second slide of the Y-axis module, and the clamping module is installed on the second connecting plate by bolt fastening.

[0057] In order to facilitate the understanding of the robotic arm provided in this embodiment, the battery replacement process of the robotic arm disassembling and installing the battery is described below:

[0058] ① Remove the battery from the drone: Check whether the robot arm is at the origin The robot arm moves along the X-axis direction to the middle of the X-axis module, facing the drone battery. The L-shaped rotating arm rotates and opens 90 degrees to a horizontal position to prevent interference from the propeller blades; the robotic arm moves forward along the Y-axis direction to the battery switch of the drone, stays for 3 seconds, and shuts down the drone; the robotic arm retreats along the Y-axis direction until the positioning groove of the clamping claw is aligned with the positioning boss of the battery; the clamping claw clamps the battery along the X-axis direction; the robotic arm retreats 100mm along the Y-axis direction; the L-shaped rotating arm rotates 90 degrees to a vertical downward position, at this time holding the battery; the robotic arm retreats along the Y-axis direction to return to the origin; the robotic arm returns to the origin along the X-axis direction.

[0059] ②Put the battery back into the battery slot: Check the available space in the battery slot; move the robot arm along the X-axis direction to the selected empty space in the battery slot; move the robot arm along the Y-axis direction to 100mm before the specified position of the battery slot and stop. At this time, the end of the battery enters the battery guide sleeve; the L-shaped rotating arm rotates 180° and returns to the origin; the robot arm moves forward 100mm along the Y-axis direction; the clamping claw is released along the X-axis direction, and the battery buckle is inserted into the slot of the battery guide sleeve. The battery is fixed and starts charging; the robot arm returns to the origin along the Y-axis direction; the robot arm returns to the origin along the X-axis direction.

[0060] ③ Remove the battery from the battery slot: check the available battery slot; check whether the battery replacement module is in place; the robotic arm moves forward along the Y-axis direction until the clamping claw positioning groove is aligned with the battery boss; the clamping claw clamps the battery along the X-axis direction; the robotic arm retreats 100mm along the Y-axis direction; the L-shaped arm rotates 180 degrees to lift the battery vertically downward; the robotic arm retreats back to the origin along the Y-axis direction; the robotic arm returns to the origin along the X-axis direction.

[0061] ④ Load the battery onto the drone: the robotic arm moves along the X-axis direction to the center of the stroke, and is now aimed at the drone; the robotic arm moves forward along the Y-axis direction until the clamping claw positioning groove is aligned with the battery boss; the L-shaped rotating arm rotates 180 degrees and returns to the origin; the robotic arm moves forward 100mm along the Y-axis direction, and the battery reaches the specified position; the clamping claw is released along the X-axis direction; the robotic arm continues to move forward along the Y-axis direction to the switch, stays for 3 seconds, and the drone turns on; the robotic arm retreats along the Y-axis direction to the origin; the robotic arm returns to the origin along the X-axis direction.

[0062] Another embodiment of the present invention provides a drone parking device, which includes a battery compartment and a mechanical arm for replacing drone batteries, wherein the battery compartment contains a plurality of drone batteries 40, and the mechanical arm for replacing drone batteries is the mechanical arm for replacing drone batteries provided above. Therefore, the drone parking device can also realize automatic replacement of drone batteries 40, thereby improving the replacement efficiency of drone batteries and solving the problem of low efficiency of manual replacement of drone batteries in related technologies.

[0063] The mechanical arm for replacing the drone battery and the drone parking device provided in this embodiment enable the mechanical arm to move precisely in three-dimensional space through the cooperation of the X-axis module and the Y-axis module, and the clamping module can accurately clamp and rotate the drone battery to achieve automatic replacement of the drone battery. In addition, through the cooperation of the clamping claw and the battery buckle, and the cooperation of the battery top block and the battery locking lever, the mechanical arm can effectively unlock and clamp the drone battery, thereby improving the efficiency and safety of drone battery replacement and providing an effective solution for the automated management of drones.

[0064] Specifically, when the drone takes off, the front door is driven to open by the driving device, the return platform is pushed out by the ejection guide rail mechanism, and the return device releases the drone so that the drone can take off safely; when the drone returns, the drone can land on the return platform through the auxiliary positioning system, the return device can clamp the drone and fix it in the middle position of the middle platform, and the ejection guide rail mechanism will send it back to the battery compartment, and the battery on the drone will be removed by the robotic arm and moved to the battery slot of the battery compartment for charging. The remaining battery slots have usable fully charged batteries, and the robotic arm removes the fully charged batteries and installs them back on the drone to realize the battery replacement operation.

[0065] In this embodiment, the drone parking device also includes a battery guide sleeve, and a charging adapter is installed at the lower end of the battery guide sleeve. The function of the guide sleeve is to provide a charging slot for the battery to ensure the stability of the battery during charging and battery replacement.

[0066] In practical applications, this type of mechanical arm and parking device can significantly improve the operating capabilities of drones, especially in the fields of drone logistics distribution, drone monitoring, drone agricultural spraying, drone emergency rescue, etc. It can realize the rapid and automatic replacement of drone batteries, ensure the continuous operation of drones, improve operating efficiency and response speed, and reduce operating costs and manual risks at the same time. It is one of the key technologies for automated management of drones. Through the comprehensive application of the above technologies, the mechanical arm and drone parking device of this application have demonstrated excellent performance and reliability in the process of drone battery replacement, which not only improves the operating efficiency and endurance of drones, but also greatly reduces operating costs and manual risks. The application of this technology is not limited to the above fields, but can also be extended to many scenarios that require automatic battery replacement, such as drone inspections, drone search and rescue, and drone photography, providing strong technical support for the widespread application of drones.

[0067] Specifically, the application of the robotic arm for replacing drone batteries is very broad in the field of drones. With the continuous development of drone technology and the increasing expansion of its application fields, the requirements for drone endurance, operating efficiency and operating range are becoming higher and higher. The robotic arm technology that automatically replaces batteries can effectively solve these problems and improve the operating efficiency and flexibility of drones. For example: Improve endurance: By automatically replacing batteries, drones can achieve rapid energy replenishment, thereby greatly increasing their continuous operation time. This technology is of great significance, especially for drones that perform long-term tasks; Improve operating efficiency: The robotic arm that automatically replaces batteries can complete battery replacement in a short time, reducing the time and labor intensity of manual battery replacement, allowing drones to return to the air faster to continue their missions; Expand the operating range: Drones can set up multiple battery replacement stations in different locations, and achieve a wider coverage by automatically replacing batteries, especially suitable for areas with complex terrain and sparsely populated areas; Adapt to diverse application scenarios: Whether it is agricultural plant protection, logistics distribution Whether it is delivery, inspection and monitoring or emergency rescue, the robotic arm that automatically replaces batteries can provide more powerful support for drones, enabling them to better adapt to various complex operating environments; promote the development of the drone industry: With the maturity and popularization of drone automatic battery replacement technology, it will further promote the development of the drone industry and promote the improvement of related industrial chains, including battery technology, robotic arm design and manufacturing, and automated control systems; promote technological innovation and industrial upgrading: The development of robotic arm technology that automatically replaces batteries will also drive the innovation of related technologies, such as battery fast locking and unlocking technology, high-precision positioning and docking technology, intelligent battery management system, etc., thereby promoting technological progress and industrial upgrading of the entire drone industry.

[0068] It should be noted that the inventors paid attention to the following aspects when developing the device provided in this embodiment:

[0069] (1) Robotic arm design and structural optimization: Research on how to design the structure of the robotic arm so that it can adapt to drones of different models and sizes, and how to optimize the structure of the robotic arm to achieve higher flexibility and stability. This includes research on the material, joint design, drive method, etc. of the robotic arm.

[0070] (2) Battery replacement mechanism design: Research the design of the battery replacement mechanism, including the battery clamping, positioning, locking, and unlocking mechanisms. These mechanisms need to be able to quickly and accurately identify and handle the drone’s battery while ensuring the safety and stability of the battery during the replacement process.

[0071] (3) Automatic docking and positioning technology: Research on automatic docking technology between the UAV and the robotic arm to ensure that the UAV can accurately dock with the robotic arm after landing to facilitate battery replacement.

[0072] (4) Control Systems and Algorithms: Research on the control systems of robotic arms, including the development of control algorithms to achieve precise motion control and automated operation.

[0073] (5) Battery management and charging strategy: Research battery management and charging strategies to ensure that replaced batteries can be charged in a timely manner while optimizing battery efficiency and life.

[0074] (6) System integration and testing: Research on how to integrate various parts such as the robotic arm, battery replacement structure, and control system into a complete system, and conduct field testing and verification to ensure the reliability and practicality of the entire system.

[0075] The device provided in this embodiment can adapt to various operating environments and tasks without waiting time, and can enable drones in the airport to respond quickly, which has the following beneficial effects:

[0076] (1) Modular design: The robotic arm of the drone airport (drone parking device) adopts a modular design, which means that the various parts of the robotic arm can be quickly disassembled and assembled. Through standardized interfaces and quick locking mechanisms, the robotic arm can be connected or separated from the drone body in a short time, enabling quick replacement.

[0077] (2) Compatibility: In order to achieve rapid replacement, the robotic arm needs to be compatible with a variety of drone models. This requires that the design of the robotic arm take into account the interface specifications, size, weight and other parameters of different drones to ensure that it can adapt to different drone models.

[0078] (3) Rapid positioning and docking: The drone airport needs to have an accurate positioning system to ensure that the drone can be accurately docked when the robotic arm is replaced. This usually involves a high-precision visual recognition system and positioning sensors, as well as a precise control system to ensure the rapid and accurate docking of the robotic arm and the drone.

[0079] (4) Intelligent Scheduling: The intelligent scheduling system of the drone airport can intelligently schedule the replacement order and time of the robotic arm according to mission requirements and the status of the drone, optimize resource utilization, and improve operational efficiency.

[0080] (5) Safety assurance: Safety is of paramount importance during the replacement process. The design of the drone airport needs to take into account various safety factors, such as preventing the robotic arm from accidentally falling off during the replacement process and ensuring the safety of the electrical connection.

[0081] Through the above functional characteristics, the drone airport can quickly replace the drone battery to adapt to different operational needs and improve the operation capacity and efficiency of the drone. This technology has broad application prospects in many fields such as agriculture, logistics, inspection, and rescue.

[0082] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0083] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being only exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0084] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0085] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0086] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only to facilitate the distinction between corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0087] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robotic arm for replacing drone batteries, characterized in that: The robotic arm for replacing the drone battery comprises: An X-axis module (10) comprises an X-axis guide rail (11) and a first slide table movable along the X-axis guide rail (11); A Y-axis module (20), comprising a Y-axis guide rail (21) and a second slide table movable along the Y-axis guide rail (21), wherein the Y-axis guide rail (21) is connected to the first slide table; The clamping module (30) comprises a clamping block (31), a clamping claw (32) and a rotating arm (33), wherein the clamping block (31) is connected to the second slide, the clamping claw (32) is arranged on the clamping block (31) in an openable and closable manner along the X-axis direction, and the rotating arm (33) is arranged on the clamping claw (32) in a rotatable manner around the Y-axis direction. The clamping claw (32) can clamp a drone battery (40), and the rotating arm (33) can lift the drone battery (40).

2. The robot arm for replacing the battery of a drone according to claim 1, characterized in that: The drone battery (40) has a movable battery buckle (41), and the drone battery (40) can be buckled with the drone (130) or with the battery compartment through the battery buckle (41); When the clamping claw (32) clamps the drone battery (40), the clamping claw (32) abuts against the battery buckle (41) so that the battery buckle (41) is separated from the drone (130) or from the battery compartment.

3. The robot arm for replacing the battery of a drone according to claim 2, characterized in that: One of the clamping claw (32) and the battery buckle (41) is provided with a positioning groove (50), and the other of the clamping claw (32) and the battery buckle (41) is provided with a positioning boss (51). The inner wall of the positioning groove (50) has a first inclined surface, and the outer wall of the positioning boss (51) has a second inclined surface (52). The first inclined surface and the second inclined surface (52) are adapted to each other. When the clamping claw (32) clamps the drone battery (40), the first inclined surface and the second inclined surface (52) cooperate to allow the positioning boss (51) to extend into the positioning groove (50).

4. The robot arm for replacing the battery of a drone according to claim 1, characterized in that: An end of the clamping claw (32) away from the clamping block (31) is provided with a mounting groove, a steering gear (60) is provided in the mounting groove, and the steering gear (60) is drivingly connected to the rotating arm (33) to drive the rotating arm (33) to rotate relative to the clamping claw (32); and / or, The clamping claw (32) is provided with a weight-reducing groove (70).

5. The robot arm for replacing the battery of a drone according to claim 1, characterized in that: The clamping claw (32) is provided with a battery switch touch rod.

6. The robot arm for replacing the battery of a drone according to claim 5, characterized in that: A spring steel ball is installed at one end of the battery switch touch rod away from the clamping block (31); and / or, The battery switch touch rod is located between the two clamping claws (321) of the clamping claw (32).

7. The robot arm for replacing the battery of a drone according to claim 1, characterized in that: The clamping claw (32) comprises two clamping claws (321) arranged at intervals in the X-axis direction, and the two clamping claws (321) can be relatively close to or far away from each other along the X-axis direction to achieve opening and closing of the clamping claw (32).

8. The robot arm for replacing the battery of a drone according to claim 1, characterized in that: A first travel switch (80) is installed at both ends of the X-axis guide rail (11), and a first touch sheet (90) is arranged on the first slide, and the first touch sheet (90) can trigger the first travel switch (80) to work; and / or, A second travel switch (100) is installed at both ends of the Y-axis guide rail (21), and a second touch sheet (110) is arranged on the second slide, and the second touch sheet (110) can trigger the second travel switch (100) to operate.

9. The robot arm for replacing the battery of a drone according to claim 1, characterized in that: The clamping claw (32) is provided with a battery top block (120), and the drone (130) is provided with a battery locking lever (121); when the clamping claw (32) moves in a direction approaching the drone (130), the battery top block (120) can unlock the battery locking lever (121).

10. A drone parking device, characterized in that: The drone parking device comprises: A battery compartment, accommodating a plurality of drone batteries (40); A robotic arm for replacing a drone battery, wherein the robotic arm for replacing a drone battery is the robotic arm for replacing a drone battery as claimed in any one of claims 1 to 9.

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