A battery replacement gripping device suitable for a rotor unmanned aerial vehicle

Abstract

The application discloses a battery replacing and clamping device suitable for a rotor unmanned aerial vehicle, which comprises a clamping device base, an unmanned aerial vehicle clamping assembly, a front-back moving mechanism and a battery clamping mechanism, wherein the unmanned aerial vehicle clamping assembly, the front-back moving mechanism and the battery clamping mechanism are fixedly connected to the clamping device base; the unmanned aerial vehicle clamping assembly is used for clamping and fixing the unmanned aerial vehicle; the front-back moving mechanism is used for realizing the front-back movement of the battery clamping mechanism; and the battery clamping mechanism is used for opening and closing a battery lock and dismounting and mounting the battery. The application is suitable for replacing the battery in the autonomous support process of the unmanned aerial vehicle, improves the endurance of the rotor unmanned aerial vehicle and meets the adaptation ability of the rotor unmanned aerial vehicle in a long-endurance working scene.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to a battery replacement clamping device suitable for a rotor unmanned aerial vehicle. BACKGROUND

[0002] With the rapid development of unmanned aerial vehicle technology, unmanned aerial vehicles are applied in various application scenarios such as power line detection, logistics transportation, intelligent transportation, disaster rescue, etc., and higher requirements are put forward for the endurance of unmanned aerial vehicles. In order to meet the problem of full automation of unmanned aerial vehicle flight operation in long-endurance application scenarios in the wild, an unmanned aerial vehicle autonomous endurance support system is developed. For the battery replacement problem in the autonomous support process of the unmanned aerial vehicle, patent CN106864766A discloses a battery clamping device and replacement device and method applied to autonomous endurance of unmanned aerial vehicles, wherein the battery clamping device can stably and reliably grasp the battery, the gripper part is provided with a pressing block for opening and closing the battery to avoid damage to the electronic components of the unmanned aerial vehicle. The device is not suitable for rotor unmanned aerial vehicles with battery locks; patent CN109624935B discloses a battery automatic replacement structure, device and unmanned aerial vehicle airport, which is used to realize the automatic replacement of the battery of the unmanned aerial vehicle. The device does not consider the power-off requirement before the battery replacement of the unmanned aerial vehicle. The battery unlocking structures of the above two devices are used for pressing unlocking structures, which are not suitable for rotor unmanned aerial vehicles with rotary knob type battery lock structures. Patent CN111806721A discloses an unmanned aerial vehicle battery automatic replacement device, which can replace manual replacement of the battery of the unmanned aerial vehicle and considers the width influence caused by the battery bulge, but is not suitable for rotor unmanned aerial vehicles with button type opening and closing structures. In summary, the existing unmanned aerial vehicle battery replacement devices are mostly developed for special types of unmanned aerial vehicles, lack of universality, cannot be effectively applied to various types of rotor unmanned aerial vehicle battery types, and some devices do not consider the power-off problem of the battery of the unmanned aerial vehicle. Therefore, in order to meet the autonomous support needs of various types of unmanned aerial vehicles, it is imperative to design a battery replacement device that can meet the needs of different types of unmanned aerial vehicles. SUMMARY

[0003] In view of the above problems, the purpose of the present application is to provide a battery replacement clamping device suitable for a rotor unmanned aerial vehicle, which meets the full-automatic flight endurance requirement in the cruising operation process of the unmanned aerial vehicle, improves the replacement range and efficiency of the battery and the load, and guarantees the reliability and timeliness of the flight and operation of the unmanned aerial vehicle.

[0004] To achieve the above purpose, the present application adopts the following technical scheme:

[0005] A battery replacement clamping device for a rotary-wing drone includes a clamping device base, a drone clamping assembly, a forward and backward moving mechanism, and a battery clamping mechanism. The drone clamping assembly, the forward and backward moving mechanism, and the battery clamping mechanism are fixedly connected to the clamping device base. The drone clamping assembly is used for clamping and fixing the drone. The forward and backward moving mechanism is used to realize the forward and backward movement of the battery clamping mechanism. The battery clamping mechanism is used for opening and closing the battery lock, removing and installing the battery.

[0006] Furthermore, the gripping device base includes an upright plate, a base plate, a connecting plate, a partition base plate, a stiffening plate, a battery tray, a first partition, and a second partition. The upright plate and the base plate are arranged at a 90-degree angle and fixed by screws and pins. The two are reinforced by the stiffening plate. The partition base plate is fixed to the end of the base plate opposite to the upright plate by a slot and screws, and the second partition is fixed thereon. The battery tray is connected to the end of the base plate near the partition base plate by a connecting plate, and the first partition is fixed thereon. A quick-change chuck female plate is fixed on the upright plate. The two are fixedly connected by screws and pins for cooperating with the quick-change chuck male plate fixed to the end of the industrial robot to realize the engagement or disengagement of the gripping device with the industrial robot.

[0007] Furthermore, the UAV clamping assembly is symmetrically arranged on the base plate, including a cylinder, a main positioning upright plate, a main positioning moving plate, a first slide rail assembly, a clamping block mounting plate, a UAV clamping block, a main positioning dead stop, and adjusting bolts. The cylinder is fixed to the base plate via the main positioning upright plate, and the cylinder's piston rod is connected to the main positioning moving plate. The first slide rail assembly is fixed to the base plate. The main positioning moving plate is fixed to the first slide rail assembly and moves linearly along the slide rail direction under the drive of the cylinder piston rod. A clamping block mounting plate is fixed to the end of the main positioning moving plate, and a UAV clamping block is fixed to the clamping block mounting plate. A main positioning dead stop is provided in the direction of cylinder piston rod movement, which is fixed to the base plate by screws, and an adjusting bolt is fixed to it.

[0008] Furthermore, the forward and backward moving mechanism includes a motor, a motor mounting plate, a synchronous belt assembly, a lead screw assembly, a lead screw mechanical limit block, a lead screw polyurethane pad, a first lead screw nut connector, a second lead screw nut connector, a guide rail assembly, and a pulley protective cover. The motor is fixed to the motor mounting plate, and the motor head is connected to the synchronous belt assembly and then to the lead screw assembly via the synchronous belt. The lead screw of the lead screw assembly is fixed to the base plate via a lead screw mounting seat. Two sets of guide rail assemblies are provided on the other side of the base plate to cooperate with the lead screw assembly. A first lead screw nut connector is fixed to the lead screw nut of the lead screw assembly, and a second lead screw nut connector is fixed to the first lead screw nut connector via screws and pins. A lead screw mechanical limit block is provided on one side of the lead screw floating support of the lead screw assembly, on which a lead screw polyurethane pad is fixed for mechanically limiting the lead screw. A pulley protective cover is provided on the outside of the synchronous belt assembly and is fixed to the upright plate with screws.

[0009] Furthermore, the battery clamping mechanism includes a first battery clamping component and a battery lock switch component, wherein the battery lock switch component is used to switch the drone battery lock on and off; and the first battery clamping component is used to disassemble and install the drone battery.

[0010] Furthermore, the first battery gripping assembly includes a first guide rail connecting plate, a transverse slide rail assembly, a gripper mounting plate, a battery hook, a gripper pad, a cylinder mounting plate, a cylinder, a diffuse support, a laser rangefinder sensor, and a dead stop. The first guide rail connecting plate is fixedly connected to the slider of the guide rail assembly and connected to the second nut connector below. Two sets of transverse slide rail assemblies are fixedly mounted above the first guide rail connecting plate. A gripper mounting plate is mounted above the transverse slide rail assembly. The battery hook is fixed to the gripper mounting plate with screws, and a gripper pad is fixed at the position where the battery hook contacts the battery. The cylinder is fixedly connected to the first guide rail connecting plate through a cylinder mounting plate. The piston rod of the cylinder abuts against the gripper mounting plate through a slot. A dead stop is mounted on the other side of the gripper mounting plate. A diffuse support is mounted on the upper part of the gripper mounting plate, and a laser rangefinder sensor is fixedly connected to it.

[0011] Furthermore, the battery lock switch assembly includes an electric claw, gripper fingers, and a second guide rail connecting plate, wherein the second guide rail connecting plate is fixed on the first guide rail connecting plate of the first battery gripping assembly, the electric claw is mounted on the second guide rail connecting plate, and gripper fingers are mounted on the electric claw.

[0012] Furthermore, the battery clamping mechanism includes a second battery clamping assembly, which includes a first guide rail connecting plate, a second guide rail connecting plate, a battery mechanism rib, a battery mechanism base plate, a handle cylinder mounting plate, a handle cylinder, a guide rod cylinder mounting plate, a guide rod cylinder, a button mounting plate, a battery switch button, a hinge mounting plate, a hinge claw, a hinge support, a connecting rod, a battery pusher, a battery guide, and a mounting button. The first guide rail connecting plate is fixed to the slider of the guide rail assembly and is fixedly connected to the second guide rail connecting plate. The battery mechanism rib, the battery mechanism base plate, and the handle cylinder mounting plate are assembled to form a battery mechanism bracket, and the battery mechanism base plate is fixed to the... The second guide rail connecting plate is in the middle; the handle cylinder and guide rod cylinder mounting plate are fixed on the handle cylinder mounting plate, and a hinge support, connecting rod and battery pusher are fixed on the other side of the handle cylinder. The piston rod of the handle cylinder is abutted against the hinge mounting plate. The hinge claw is connected to the connecting rod and hinge mounting plate through a pin. Under the drive of the piston rod of the handle cylinder, it can rotate around the connecting rod and cooperate with the battery pusher to grasp the battery; the guide rod cylinder is fixed to the guide rod cylinder mounting plate, and its piston rod is connected to the button mounting plate; the battery switch button is fixed on the button mounting plate and moves back and forth under the drive of the piston rod of the guide rod cylinder to realize the switching of the battery power button.

[0013] Furthermore, it also includes a load clamping assembly, which includes a translational electric cylinder, a load gripper base plate, a first load gripper, a second load gripper, and a limit button. The translational electric cylinder is fixed to the second guide rail connecting plate, and the load gripper base plate is mounted on the translational electric cylinder. The first load gripper and the second load gripper are fixed to the load gripper base plate and perform translational opening and closing movements under the drive of the translational electric cylinder. They cooperate with the grooves provided on the load grippers to achieve the clamping and unloading of the load. The limit button is mounted on the first load gripper and the second load gripper for limiting movement.

[0014] Furthermore, it also includes a battery switch assembly, which includes a button rod and a button connector, wherein one end of the button rod is connected to the base plate and the other end is connected to the button connector, and the button connector is made of polyurethane material.

[0015] Compared with the prior art, the advantages and beneficial effects of the present invention are:

[0016] (1) This clamping device can meet the battery replacement requirements of different models or structures of rotary-wing UAVs;

[0017] (2) This clamping device has the characteristics of high automation and accurate battery replacement, which can effectively meet the autonomous support needs of UAVs.

[0018] (3) This clamping device adopts a modular design approach, and can be optimized and upgraded according to the battery structure of new UAVs without the need for new development, which can effectively save application costs. Attached Figure Description

[0019] Figure 1 Axial view of a clamping device for replacing drone batteries and loads according to the present invention. Figure 1 ;

[0020] Figure 2 Axial view of a clamping device for replacing drone batteries and loads according to the present invention. Figure 2 ;

[0021] Figure 3 Axial view of the clamping device base and UAV clamping assembly of the present invention Figure 1 ;

[0022] Figure 4 Axial view of the clamping device base and UAV clamping assembly of the present invention Figure 2 ;

[0023] Figure 5 The present invention includes a forward and backward moving mechanism, a battery clamping assembly, and a battery lock switch assembly. The battery switch assembly is shown in an axial view. Figure 1 ;

[0024] Figure 6 For the present invention Figure 4 The front and rear moving mechanism, battery clamping assembly, battery lock switch assembly, and the battery switch assembly are shown in the axial view. Figure 1 ;

[0025] Figure 7 This is an axonometric view of embodiment 2 of the clamping device for replacing drone batteries and loads according to the present invention;

[0026] Figure 8 This is a side view of the battery clamping device and load clamping device in embodiment 2 of the present invention for a clamping device for replacing the battery and load of a drone.

[0027] In the diagram: 1. Clamping device base; 2. UAV clamping assembly; 3. Forward and backward moving mechanism; 4. First battery clamping assembly; 5. Battery lock switch assembly; 6. Battery switch assembly; 7. Six-axis industrial robot; 8. Second battery clamping assembly; 9. Load clamping assembly; 102. Vertical plate; 101. Base plate; 103. Connecting plate; 103. Partition bottom plate; 109. Rib plate; 108. Large rib plate; 105. Battery tray; 106. First partition plate; 107. Second partition plate; 201. Cylinder; 202. Main body positioning vertical plate; [The last part is incomplete and likely refers to a different component.] The components include: a body positioning moving plate 203, an adjusting bolt 204, a UAV clamping block 205, a clamping block mounting plate 206, a main body positioning dead stop 207, a first slide rail assembly 208, a motor 301, a motor mounting plate 302, a synchronous belt assembly 303, a lead screw assembly 304, a lead screw mechanical limit block 305, a lead screw polyurethane pad 306, a first lead screw nut connector 307, a second lead screw nut connector 308, a guide rail assembly 309, a cable chain 310, a cable chain frame 311, and a pulley protective cover 312. First guide rail connecting plate 401, transverse slide rail assembly 402, gripper mounting plate 403, battery hook 404, gripper pad 405, cylinder mounting plate 406, cylinder 407, drift bracket 408, laser range sensor 409, dead stop block 410, electric gripper 501, gripper finger 502, second guide rail connecting plate 503, toggle lever 601 and button connector 602, first guide rail connecting plate 801, second guide rail connecting plate 802, battery mechanism rib 803, battery mechanism base plate. 804, Handle cylinder mounting plate; 805, Handle cylinder; 806, Guide rod cylinder mounting plate; 807, Guide rod cylinder; 808, Button mounting plate; 809, Battery switch button; 810, Hinge mounting plate; 811, Hinge claw; 812, Hinge support; 813, Connecting rod; 814, Battery pusher; 815, Battery guide; 816, Mounting button; 817, Translation cylinder; 901, Load gripper base plate; 902, First load gripper; 903, Second load gripper; 904, Limit button; 905. Detailed Implementation

[0028] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0029] Example 1

[0030] Combination Figures 1-2 A battery replacement clamping device for rotary-wing drones includes a clamping device base 1, a drone clamping assembly 2, a forward and backward moving mechanism 3, and a battery clamping mechanism. The drone clamping assembly 2, the forward and backward moving mechanism 3, and the battery clamping mechanism are fixedly connected to the clamping device base 1. The drone clamping assembly 2 is used for clamping and fixing the drone. The forward and backward moving mechanism 3 is used to realize the forward and backward movement of the battery clamping mechanism. The battery clamping mechanism is used for opening and closing the battery lock, removing and installing the battery.

[0031] Combination Figures 3-4The clamping device base 1 described in this embodiment includes a vertical plate 102, a base plate 101, a connecting plate 104, a partition base plate 103, a stiffening rib 109, a large stiffening rib 108, a battery tray 105, a first partition 106, and a second partition 107. The vertical plate 102 and the base plate 101 are arranged at a 90-degree angle and fixed by screws and pins, with the stiffening rib 109 and the large stiffening rib 108 providing a reinforcing connection. The partition base plate 103 is fixed to the end of the base plate 101 opposite to the vertical plate 102 via slots and screws, and the second partition 107 is fixed thereon. The battery tray 105 is connected to the base plate 101 via the connecting plate 104, and the first partition 106 is fixed thereon. The vertical plate 102 is fixed with a quick-change chuck female plate 110, which is fixedly connected by screws and pins. It is used to cooperate with the quick-change chuck male plate fixed to the end of the industrial robot 7 to realize the quick engagement or disengagement of the gripping device with the industrial robot 7.

[0032] Combination Figure 4 In this embodiment, the UAV clamping assembly 2 is symmetrically arranged on the base plate 101 and is used for clamping and positioning the UAV 5. It includes a cylinder 201, a main positioning upright plate 202, a main positioning moving plate 203, a first slide rail assembly 208, a clamping block mounting plate 206, a UAV clamping block 205, a main positioning dead stop 207, and adjusting bolts 204. The cylinder 201 is fixedly connected to the base plate 101 via the main positioning upright plate 202, and the piston rod of the cylinder 201 is connected to the main positioning moving plate 203. The first slide rail assembly 208 is fixedly connected to the base plate 101. The main positioning moving plate 203 is fixedly connected to the first slide rail assembly 208 and moves along the slide rail direction under the action of the piston rod of the cylinder 201. Figure 4 The drone moves in a straight line (in the direction of the middle arrow). A clamping block mounting plate 206 is fixed to the end of the main positioning moving plate 203. A drone clamping block 205 is fixed to the clamping block mounting plate 206. The clamping block 205 is made of polyurethane material, which has a shock-absorbing and buffering effect, effectively protecting the drone. A main positioning dead stop 207 is provided in the direction of piston rod movement of cylinder 201. The main positioning dead stop is fixed to the base plate by screws, and an adjusting bolt 204 is fixed to it.

[0033] Combination Figures 5-6The forward and backward moving mechanism 3 described in this embodiment includes a motor 301, a motor mounting plate 302, a synchronous belt assembly 303, a lead screw assembly 304, a lead screw mechanical limit block 305, a lead screw polyurethane pad 306, a first lead screw nut connector 307, a second lead screw nut connector 308, a guide rail assembly 309, a cable chain 310, a cable chain frame 311, and a pulley protective cover 312. The motor 301 is fixed to the motor mounting plate 302, and its head is connected to the synchronous belt assembly 303, which is then connected via the synchronous belt and the lead screw assembly 304. The lead screw of the lead screw assembly 304 is fixed to the base plate 101 via a lead screw mounting seat. Two sets of guide rail assemblies 309 are provided on the other side of the base plate 101 to cooperate with the lead screw assembly 304. A first lead screw nut connector 307 is fixed to the lead screw nut of the lead screw assembly 304, and a second lead screw nut connector 308 is fixed to the first lead screw nut connector 307 via screws and pins. A mechanical limiting block 305 is provided on one side of the lead screw floating support of the lead screw assembly, and a polyurethane pad 306 is fixed on it for mechanically limiting the lead screw. A pulley protective cover 312 is provided on the outside of the synchronous belt, and the protective cover is fixed to the upright plate with screws. The cable chain bracket 311 is fixed on the first guide rail connecting plate 401. One end of the cable chain 310 is fixed to the base plate 101, and the other end is fixed to the cable chain bracket 311. The cable chain contains air pipes, wires, and other necessary components for cylinders and electric cylinders. The cable chain and cable chain bracket are used together to meet the working needs of the cylinders and electric cylinders in the device.

[0034] This invention addresses the battery replacement needs during the autonomous operation of unmanned aerial vehicles (UAVs), improves the endurance of rotary-wing UAVs, and meets the adaptability requirements for long-endurance operating scenarios of rotary-wing UAVs.

[0035] Example 2

[0036] Combination Figures 1-2 This embodiment provides a battery replacement clamping device suitable for rotary-wing drones, applicable to rotary-wing drones with a knob-type battery lock. The battery clamping mechanism of this embodiment includes a first battery clamping assembly 4 and a battery lock switch assembly 5. The first battery clamping assembly 4 is fixedly connected to the slider of a forward and backward moving mechanism 3; the battery lock switch assembly 5 is fixed to the mounting plate of the first battery clamping assembly 4; the forward and backward moving mechanism 3 is used to move the battery clamping assembly 4 and the battery lock switch assembly 5 forward and backward; the battery lock switch assembly 5 is used to open and close the drone battery lock; the battery clamping assembly 4 is used to disassemble and install the drone battery; the drone clamping assembly 2, the forward and backward moving mechanism 3, the first battery clamping assembly 4, and the battery lock switch assembly 5 work together to automate the disassembly and installation of the rotary-wing drone battery.

[0037] The first battery gripping assembly 4 described in this embodiment includes a first guide rail connecting plate 401, a transverse slide rail assembly 402, a gripper mounting plate 403, a battery hook 404, a gripper pad 405, a cylinder mounting plate 406, a cylinder 407, a drift bracket 408, a laser rangefinder sensor 409, and a dead stop block 410. The first guide rail connecting plate 401 is fixed to the slider of the guide rail assembly 309 and connected to the second nut connector 308 at its lower part. Two sets of transverse slide rail assemblies 402 are fixed above the first guide rail connecting plate 401; a gripper mounting plate 403 is installed above the transverse slide rail assembly 402, and the battery hook 404 is fixed to the gripper mounting plate 403 by screws. A gripper pad 405 is fixed at the position where the battery hook contacts the battery. The cylinder 407 is fixedly connected to the first guide rail connecting plate 401 via a cylinder mounting plate 406, and the piston rod of the cylinder 407 abuts against the gripper mounting plate 403 via a slot. A dead stop block 410 is installed on the other side of the gripper mounting plate 403. A diffused return bracket 408 is installed on the upper part of the gripper mounting plate 403, and a laser rangefinder sensor 409 is fixedly connected to it.

[0038] The battery lock switch assembly 5 described in this embodiment includes an electric gripper 501, gripper fingers 502, and a second guide rail connecting plate 503. The second guide rail connecting plate 503 is fixed to the first guide rail connecting plate 401 of the first battery gripping assembly 4, and the electric gripper 501 is mounted on the second guide rail connecting plate 503. The electric gripper 501 can be selected as a rotary gripper or a translational gripper depending on the type of the drone battery lock. Gripper fingers 502 are mounted on the electric gripper 501.

[0039] The working method of this clamping device is as follows:

[0040] The first step is to land the rotary-wing drone on the workbench and position it using a centering device.

[0041] The second step involves selecting the appropriate drone battery replacement device based on the required drone battery type, connecting it to the six-axis industrial robot via a quick-connect chuck, and then moving the battery replacement device near the drone battery.

[0042] The third step is to disconnect the drone's battery using the battery switch mechanism (this step is combined with the sixth step in some structures; this step can be omitted for drones that support hot-swappable connectors).

[0043] The fourth step involves opening and closing the battery clamping device to clamp the drone, keeping the two relatively fixed.

[0044] Fifth, the battery lock switch mechanism and battery clamping device move forward under the drive of the motor, approaching the battery lock position.

[0045] Step 6: The battery lock switch assembly rotates to open and close the battery lock. Then, the gripper fingers rotate 90 degrees to cooperate with the battery gripping assembly to pick up the battery.

[0046] Step 7: Battery replacement

[0047] Step 8: Repeat steps 6 through 3 in reverse order to complete the entire process of replacing the drone battery.

[0048] Example 3

[0049] Furthermore, based on Example 1, combined with Figures 7-8 For rotary-wing drones with a press-type battery lock, a corresponding drone battery clamping device is developed. The battery clamping mechanism in this embodiment includes a second battery clamping component 8 and a load clamping component 9. The clamping device base 1, drone clamping component 2, and forward / backward moving mechanism 3 are the same as in Embodiment 1. The second battery clamping component 8 and the load clamping component 9 are developed specifically for rotary-wing drones with a press-type battery lock.

[0050] The second battery clamping assembly 8 is used for power-off and clamping of the battery of the press-type battery lock rotor UAV, and includes a first guide rail connecting plate 801, a second guide rail connecting plate 802, a battery mechanism rib plate 803, a battery mechanism base plate 804, a handle cylinder mounting plate 805, a handle cylinder 806, a guide rod cylinder mounting plate 807, a guide rod cylinder 808, a button mounting plate 809, a battery switch button 810, a hinge mounting plate 811, a hinge claw 812, a hinge support 813, a connecting rod 814, a battery pusher 815, a battery guide 816, and a mounting button 817. The first guide rail connecting plate 801 is fixed to the slider of the guide rail assembly 309 and is fixedly connected to the second guide rail connecting plate 802. The battery mechanism rib plate 803, the battery mechanism base plate 804, and the handle cylinder mounting plate 805 are spliced ​​to form a battery mechanism bracket, and the battery mechanism base plate 804 is fixed in the middle of the second guide rail connecting plate 802. The handle cylinder 806 and the guide rod cylinder mounting plate 807 are fixed on the handle cylinder mounting plate 805. A hinge support 813, a connecting rod 814, and a battery pusher 815 are fixed on the other side of the handle cylinder 806. The piston rod of the handle cylinder 806 abuts against the hinge mounting plate 811. The hinge claw 812 is connected to the connecting rod 814 and the hinge mounting plate 811 through a pin, and can rotate around the connecting rod 814 under the drive of the piston rod of the handle cylinder 806. It can grasp the battery in cooperation with the battery pusher 815. The guide rod cylinder 808 is fixedly connected to the guide rod cylinder mounting plate 807, and its piston rod is connected to the button mounting plate 809. The battery switch button 810 is fixed on the button mounting plate 809, and moves back and forth under the drive of the piston rod of the guide rod cylinder 808 to realize the switching of the battery power button.

[0051] Furthermore, in combination Figure 7 In this embodiment, the load clamping assembly 9 can disassemble and replace the load, including a translational electric cylinder 901, a load gripper base plate 902, a first load gripper 903, a second load gripper 904, and a limit button 905. The translational electric cylinder 901 is fixed to the second guide rail connecting plate 802, and the load gripper base plate 902 is mounted on the translational electric cylinder 901. The first load gripper 903 and the second load gripper 904 are fixed to the load gripper base plate 902 and can perform translational opening and closing movements under the action of the translational electric cylinder 901. The grooves on the load grippers allow for the clamping and unloading of the load. The limit button 905 is mounted on the first load gripper 903 and the second load gripper 904, and is mainly used for limiting the load and preventing hard contact between the load grippers and the drone.

[0052] Example 4

[0053] Compared to Embodiment 1, this embodiment provides a battery replacement clamping device suitable for rotary-wing UAVs, which further includes a battery switch assembly 6. The battery switch assembly 6 includes a button lever 601 and a button connector 602. One end of the button lever 601 is connected to the base plate 101, and the other end is connected to the button connector 602. The button connector is made of polyurethane material. The battery switch assembly 6, used in conjunction with an industrial robot 7 (the industrial robot rotates 180 degrees on its sixth axis), enables the disconnection of the UAV battery. For UAVs that support hot-swapping, this assembly is optional.

[0054] This embodiment provides a battery replacement gripper for rotary-wing drones, which is connected to a six-axis industrial robot 7 via a quick-change chuck. It can be used for the automated disassembly and installation of rotary-wing drone batteries, meeting the needs for automated battery replacement and maintenance.

[0055] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A battery replacement clamping device suitable for rotary-wing unmanned aerial vehicles, characterized in that, The device includes a clamping device base, a drone clamping assembly, a forward and backward moving mechanism, and a battery clamping mechanism. The drone clamping assembly, the forward and backward moving mechanism, and the battery clamping mechanism are fixedly connected to the clamping device base. The drone clamping assembly is used to clamp and fix the drone. The forward and backward moving mechanism is used to realize the forward and backward movement of the battery clamping mechanism. The battery clamping mechanism is used for opening and closing the battery lock, removing and installing the battery. The gripping device base includes an upright plate, a base plate, a connecting plate, a partition base plate, a stiffening plate, a battery tray, a first partition, and a second partition. The upright plate and the base plate are arranged at a 90-degree angle and fixed with screws and pins. The two are reinforced by the stiffening plate. The partition base plate is fixed to the end of the base plate opposite to the upright plate by a slot and screws, and the second partition is fixed thereon. The battery tray is connected to the end of the base plate near the partition base plate by a connecting plate, and the first partition is fixed thereon. A quick-change chuck female plate is fixed on the upright plate. The two are fixed together by screws and pins for cooperating with the quick-change chuck male plate fixed to the end of the industrial robot to realize the engagement or disengagement of the gripping device with the industrial robot. The drone clamping assembly is symmetrically arranged on the base plate and includes a cylinder, a main positioning plate, a main positioning moving plate, a first slide rail assembly, a clamping block mounting plate, a drone clamping block, a main positioning dead stop, and adjusting bolts. The cylinder is fixed to the base plate via the main positioning plate, and its piston rod is connected to the main positioning moving plate. The first slide rail assembly is fixed to the base plate. The main positioning moving plate is fixed to the first slide rail assembly and moves linearly along the slide rail direction under the drive of the cylinder piston rod. A clamping block mounting plate is fixed to the end of the main positioning moving plate, and a drone clamping block is fixed to the clamping block mounting plate. A main positioning dead stop is provided in the direction of cylinder piston rod movement and is fixed to the base plate by screws, with adjusting bolts fixed to it. The forward and backward moving mechanism includes a motor, a motor mounting plate, a synchronous belt assembly, a lead screw assembly, a lead screw mechanical limit block, a lead screw polyurethane pad, a first lead screw nut connector, a second lead screw nut connector, a guide rail assembly, and a pulley protective cover. The motor is fixed to the motor mounting plate, and the motor head is connected to the synchronous belt assembly and the lead screw assembly via the synchronous belt. The lead screw of the lead screw assembly is fixed to the base plate via a lead screw mounting seat. Two sets of guide rail assemblies are provided on the other side of the base plate to cooperate with the lead screw assembly. A first lead screw nut connector is fixed to the lead screw nut of the lead screw assembly, and a second lead screw nut connector is fixed to the first lead screw nut connector by screws and pins. A lead screw mechanical limit block is provided on one side of the lead screw floating support of the lead screw assembly, on which a lead screw polyurethane pad is fixed for mechanically limiting the lead screw. A pulley protective cover is provided on the outside of the synchronous belt assembly and is fixed to the upright plate by screws. The battery clamping mechanism includes a first battery clamping component and a battery lock switch component. The battery lock switch component is used to open and close the drone battery lock. The first battery clamping component is used to disassemble and install the drone battery. The battery clamping mechanism includes a second battery clamping assembly, which comprises a first guide rail connecting plate, a second guide rail connecting plate, a battery mechanism rib, a battery mechanism base plate, a handle cylinder mounting plate, a handle cylinder, a guide rod cylinder mounting plate, a guide rod cylinder, a button mounting plate, a battery switch button, a hinge mounting plate, a hinge hook, a hinge support, a connecting rod, a battery pusher, a battery guide, and a mounting button. The first guide rail connecting plate is fixed to the slider of the guide rail assembly and is fixedly connected to the second guide rail connecting plate. The battery mechanism rib, the battery mechanism base plate, and the handle cylinder mounting plate are assembled to form a battery mechanism bracket, and the battery mechanism base plate is fixed to the first guide rail connecting plate. The two guide rail connecting plates are located in the middle; the handle cylinder and guide rod cylinder mounting plate are fixed on the handle cylinder mounting plate. A hinge support, connecting rod, and battery pusher are fixed on the other side of the handle cylinder. The piston rod of the handle cylinder abuts against the hinge mounting plate. The hinge claw is connected to the connecting rod and hinge mounting plate via a pin. Driven by the piston rod of the handle cylinder, it can rotate around the connecting rod, cooperating with the battery pusher to grasp the battery. The guide rod cylinder is fixed to the guide rod cylinder mounting plate, and its piston rod is connected to the button mounting plate. The battery switch button is fixed to the button mounting plate and moves back and forth under the drive of the piston rod of the guide rod cylinder, thus turning the battery power button on and off. The working method of this battery replacement clamping device is as follows: The first step is to land the rotary-wing drone on the workbench and locate the drone using a centering device; The second step is to select the appropriate drone battery replacement device based on the required drone battery type, connect it to the six-axis industrial robot via a quick-change chuck, and move the battery replacement device to the vicinity of the drone battery. The third step is to disconnect the drone's battery using the battery switch mechanism; Fourth, the battery clamping device opens and closes to clamp the drone, keeping the two relatively fixed; Fifth, the battery lock switch assembly and battery clamping mechanism move forward under the drive of the motor, approaching the battery lock position; Step 6: The battery lock switch assembly rotates to open and close the battery lock, and then the gripper fingers rotate 90 degrees to cooperate with the battery gripping assembly to pick up the battery. Step 7: Replace the battery; Step 8: Repeat steps 3 through 6 in reverse order to complete the entire process of replacing the drone battery.

2. The battery replacement clamping device for rotary-wing UAVs according to claim 1, characterized in that, The first battery gripping assembly includes a first guide rail connecting plate, a transverse slide rail assembly, a gripper mounting plate, a battery hook, a gripper pad, a cylinder mounting plate, a cylinder, a diffuse support, a laser rangefinder sensor, and a dead stop. The first guide rail connecting plate is fixedly connected to the slider of the guide rail assembly and connected to the second nut connector at the bottom. Two sets of transverse slide rail assemblies are fixedly mounted on the top of the first guide rail connecting plate. A gripper mounting plate is mounted on the top of the transverse slide rail assembly. The battery hook is fixed to the gripper mounting plate with screws, and a gripper pad is fixed at the position where the battery hook contacts the battery. The cylinder is fixedly connected to the first guide rail connecting plate through a cylinder mounting plate. The piston rod of the cylinder abuts against the gripper mounting plate through a slot. A dead stop is mounted on the other side of the gripper mounting plate. A diffuse support is mounted on the top of the gripper mounting plate, and a laser rangefinder sensor is fixedly connected to it.

3. A battery replacement clamping device for rotary-wing UAVs according to claim 2, characterized in that, The battery lock switch assembly includes an electric gripper, gripper fingers, and a second guide rail connecting plate. The second guide rail connecting plate is fixed to the first guide rail connecting plate of the first battery gripping assembly. The electric gripper is mounted on the second guide rail connecting plate, and gripper fingers are installed on the electric gripper.

4. A battery replacement clamping device for rotary-wing UAVs according to claim 1, characterized in that, It also includes a load clamping assembly, which includes a translational electric cylinder, a load gripper base plate, a first load gripper, a second load gripper, and a limit button. The translational electric cylinder is fixed to the second guide rail connecting plate, and the load gripper base plate is mounted on the translational electric cylinder. The first load gripper and the second load gripper are fixed on the load gripper base plate and perform translational opening and closing movements under the drive of the translational electric cylinder. They cooperate with the grooves provided on the load grippers to achieve the clamping and unloading of the load. The limit button is mounted on the first load gripper and the second load gripper for limiting the load position.

5. A battery replacement clamping device for rotary-wing UAVs according to claim 1, characterized in that, It also includes a battery switch assembly, which includes a button lever and a button connector, wherein one end of the button lever is connected to the base plate and the other end is connected to the button connector.

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