Assembling and debugging device for unmanned aerial vehicle parts

Abstract

The invention discloses an assembling and debugging device for unmanned aerial vehicle parts, and relates to the technical field of unmanned aerial vehicle assembling and debugging, the assembling and debugging device comprises a supporting mechanism, the supporting mechanism comprises a first supporting frame, a workbench is arranged on one side of the first supporting frame, and a flight state image of an unmanned aerial vehicle is shot through a camera and sent to a control box; the judgment module judges the wrong assembly condition of the propeller of the unmanned aerial vehicle according to the flight state of the unmanned aerial vehicle, so that the assembly condition of the propeller of the unmanned aerial vehicle is quickly and accurately known, and the accurate wrong assembly position of the propeller of the unmanned aerial vehicle is further known; a first electric clamping jaw and a first hydraulic cylinder are controlled to sequentially clamp loosened nuts and propellers which are installed wrongly into a waste box, then the corresponding number of propellers with correct steering directions are sequentially installed on the unmanned aerial vehicle, a locking mechanism locks the nuts on the upper portion of the unmanned aerial vehicle again, the propellers which are installed wrongly are rapidly reinstalled, and therefore the unmanned aerial vehicle is rapidly reinstalled. The effects of automatically recognizing the reassembling position of the propeller and achieving high propeller assembling efficiency are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle assembly and debugging, and more specifically, to an assembly and debugging device for unmanned aerial vehicle parts. Background Art

[0002] A drone, also known as a remotely piloted aircraft or unmanned aerial system, is an aircraft that does not require a pilot on board. Drones can be controlled by a remote operator or fly autonomously via a preset flight path. They have a wide range of applications in military, commercial and personal use.

[0003] Drones usually install the frame, motor, electronic speed controller, and matching screws and accessories together first, and then install the propeller on the output end of each motor in turn, and finally install the bolts on top of the propeller to fix the propeller.

[0004] When assembling existing propellers, some robots use a visual system through a camera to identify whether the propeller is a forward-rotating propeller or a reverse-rotating propeller. Since the forward-rotating propeller and the reverse-rotating propeller have the same shape but the blades face in different angles, the visual system is prone to errors or is unable to correctly identify the forward and reverse surfaces of the propeller, resulting in subsequent forward and reverse propeller installation errors, making it difficult for the drone to take off.

[0005] Therefore, after all the propellers are assembled, the entire drone needs to be debugged. When the propellers are installed in the wrong forward and reverse directions, the manipulator cannot know which propeller is installed incorrectly, so the manipulator usually removes all the propellers and reinstalls them. Reinstalling all the propellers will slow down the assembly speed of the drone and reduce the assembly efficiency of the drone. Therefore, it is necessary to design an assembly and debugging device for UAV parts that can automatically identify propeller reinstallation position errors and has high assembly efficiency to improve the above-mentioned technical problems. Summary of the invention

[0006] In view of the shortcomings of the prior art, the purpose of the present invention is to provide an assembly and debugging device for drone parts.

[0007] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an assembly and debugging device for drone parts, comprising a supporting mechanism, wherein the supporting mechanism comprises a first supporting frame, a workbench is provided on one side of the first supporting frame, a third supporting frame is fixedly connected to the upper side of the workbench, a waste box is fixedly connected to the interior of the workbench, a second supporting frame is provided on one side of the workbench, a first supporting plate is fixedly connected to the other side of the workbench, and a debugging box is fixedly connected to the upper side of the first supporting plate.

[0008] The present invention is further configured as follows: a control box is fixedly connected to one side of the third support frame, and a Bluetooth, a judgment module and a database are arranged inside the control box. The Bluetooth is used to control the drone, and sends four control instructions of power on, upward flight, downward descent and shutdown to the drone in sequence. The database is provided with identification photos of several drones in different flight states. The judgment module compares the drone flight state identification photos sent by the camera with the identification photos of several drones in different flight states in the database to identify the flight state of the drone, and then distinguishes the drone into four types of propeller assembly conditions according to the flight state of the drone, namely, a single propeller is installed in reverse, no propeller is installed in reverse, a diagonal propeller is installed in reverse, and a half-side propeller is installed in reverse.

[0009] The present invention is further configured as follows: a positioning mechanism for adjusting the installation position of the propeller of the UAV is provided inside the workbench, a transmission mechanism for transmitting the forward rotating propeller and the reverse rotating propeller is provided on the upper side of the first support frame, a feeding mechanism for conveying nuts is provided on the upper side of the second support frame, a locking mechanism for locking the nuts on the UAV or loosening the nuts incorrectly installed above the propeller is provided on the upper side of the workbench, and a debugging mechanism for transporting the installed UAV to the inside of the debugging box for debugging, or for transporting the UAV that failed the debugging back to the top of the positioning mechanism for reinstallation is provided inside the third support frame.

[0010] The present invention is further configured as follows: the positioning mechanism includes a positioning plate fixedly connected to the inside of the workbench, a plurality of first connecting columns are fixedly connected to the lower side of the positioning plate, a first motor is fixedly connected to the lower side of the first connecting columns, a plurality of second connecting columns are fixedly connected to the upper side of the workbench, a fixed plate is fixedly connected to the upper side of the second connecting columns, an output end of the first motor passes through the positioning plate, the workbench and the fixed plate in sequence and is fixedly connected to a turntable, the turntable is rotatably connected to the fixed plate, and a card slot is provided inside the turntable.

[0011] The present invention is further configured as follows: the transmission mechanism includes two second support plates fixedly connected to the upper side of the first support frame, a transmission machine is fixedly connected between the two second support plates, a fourth support frame is fixedly connected to the upper side of the first support frame, a first electric slide rail is fixedly connected to the upper side of the fourth support frame, a first hydraulic cylinder is fixedly connected to the sliding end of the first electric slide rail, and a first electric clamp is fixedly connected to the output end of the first hydraulic cylinder.

[0012] The present invention is further configured as follows: after the external manipulator places two forward-rotating propellers at the transmission end of the conveyor, it starts to place two reverse-rotating propellers, and after placing two reverse-rotating propellers, it starts to place two forward-rotating propellers. The external manipulator clamps a corresponding number of correctly steered propellers to the transmission end of the conveyor according to the incorrect assembly of the propellers determined by the judgment module. After the locking mechanism loosens the nuts above the incorrectly installed propellers, the first electric clamp and the first hydraulic cylinder clamp the loosened nuts and the incorrectly installed propellers in turn to the inside of the waste box according to the incorrect assembly of the propellers determined by the judgment module, and then installs a corresponding number of correctly steered propellers on the drone in turn.

[0013] The present invention is further configured as follows: the feeding mechanism includes a base fixedly connected to the upper side of the second support frame, a vibration disk is fixedly connected to the upper side of the base, an output end of the vibration disk is fixedly connected to a feed table, a through hole is provided inside one end of the feed table, two support blocks are fixedly connected to both sides of the feed table, and the support blocks are fixedly connected to the workbench.

[0014] The present invention is further configured as follows: the locking mechanism includes two supporting legs fixedly connected to the upper side of the workbench, one side of the supporting leg is fixedly connected to a third supporting plate, one side of the third supporting plate is fixedly connected to a third hydraulic cylinder, the output end of the third hydraulic cylinder is fixedly connected to a first slider, the lower side of the first slider is fixedly connected to two third connecting columns, the other end of the third connecting column is fixedly connected to a second slider, the first slider, the second slider and the third supporting plate are slidably connected, the upper side of the first slider is fixedly connected to a second motor, the output end of the second motor is fixedly connected to a universal shaft, the lower side of the second slider is fixedly connected to a guide block, and the other end of the universal shaft passes through the second slider and the guide block and is fixedly connected to a locking head.

[0015] The present invention is further configured as follows: a support seat is provided in the middle of the two support legs, a guide sliding block is fixedly connected to the upper side of the support seat, a fourth hydraulic cylinder is fixedly connected to one side of the guide sliding block, a third sliding block is fixedly connected to the output end of the fourth hydraulic cylinder, and a third electric clamp is fixedly connected to the other side of the third sliding block.

[0016] By adjusting the propeller installation position of the UAV by the positioning mechanism, the transmission mechanism transmits several forward-rotating propellers and several reverse-rotating propellers in turn, and places two forward-rotating propellers and two reverse-rotating propellers in turn to the four propeller installation ports of the UAV respectively, the feeding mechanism transports each nut to the four propeller installation ports of the UAV in turn, the locking mechanism then locks the nuts of the four propeller installation ports on the UAV in turn, and finally the debugging mechanism carries the installed UAV to the inside of the debugging box for debugging to determine whether it is qualified, thereby achieving the effect of automatically assembling and debugging the UAV and saving human resources.

[0017] The present invention is further configured as follows: the debugging mechanism includes a positioning plate fixedly connected to the inside of the third support frame, the lower side of the positioning plate is fixedly connected to a second electric slide rail, the sliding end of the second electric slide rail is fixedly connected to a second hydraulic cylinder, the output end of the second hydraulic cylinder is fixedly connected to a second electric clamp, and one side of the second electric clamp is fixedly connected to a camera.

[0018] The flight status image of the UAV is captured by the camera and sent to the control box. The judgment module judges the incorrect assembly status of the UAV propeller according to the flight status of the UAV, so as to quickly and accurately understand the assembly status of the UAV propeller, and then understand the exact position of the incorrect assembly of the UAV propeller. The first electric clamp and the first hydraulic cylinder are controlled to successively clamp the Panasonic nut and the incorrectly installed propeller into the waste bin, and then the corresponding number of correctly turned propellers are successively installed on the UAV, and the locking mechanism re-locks the nut on the top of the UAV, so that the incorrectly installed propeller can be quickly reinstalled, thereby achieving the effect of automatically identifying the propeller reinstallation position and high propeller assembly efficiency.

[0019] In summary, the present application includes at least one of the following beneficial technical effects: 1. By adjusting the propeller installation position of the UAV by the positioning mechanism, the transmission mechanism transmits several forward-rotating propellers and several reverse-rotating propellers in turn, and places two forward-rotating propellers and two reverse-rotating propellers in turn to the four propeller installation ports of the UAV respectively. The feeding mechanism transports each nut to the four propeller installation ports of the UAV in turn, and the locking mechanism then locks the nuts of the four propeller installation ports on the UAV in turn. Finally, the debugging mechanism transports the installed UAV to the debugging box for debugging to determine whether it is qualified, thereby achieving the effect of automatically assembling and debugging the UAV and saving human resources.

[0020] 2. The flight status image of the UAV is captured by the camera and sent to the control box. The judgment module judges the incorrect assembly of the UAV propeller according to the flight status of the UAV, so as to quickly and accurately understand the assembly status of the UAV propeller, and then understand the exact position of the incorrect assembly of the UAV propeller. The first electric clamp and the first hydraulic cylinder are controlled to clamp the Panasonic nut and the incorrectly installed propeller into the waste bin in turn, and then the corresponding number of correctly turned propellers are installed on the UAV in turn. The locking mechanism re-locks the nut on the top of the UAV, so that the incorrectly installed propeller can be quickly reinstalled, achieving the effect of automatically identifying the propeller reinstallation position and high propeller assembly efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the overall structure of an assembly and debugging device for drone parts of the present invention; Figure 2 It is a structural schematic diagram of the support mechanism in the present invention; Figure 3 It is a structural schematic diagram of the positioning mechanism in the present invention; Figure 4 It is a structural schematic diagram of the transmission mechanism in the present invention; Figure 5 It is a structural schematic diagram of the feeding mechanism in the present invention; Figure 6 It is a structural schematic diagram of the locking mechanism in the present invention; Figure 7 For the present invention Figure 6 An enlarged schematic diagram of region A; Figure 8 It is a structural schematic diagram of the debugging mechanism in the present invention.

[0022] Description of reference numerals: 1. support mechanism; 11. waste box; 12. first support frame; 13. second support frame; 14. workbench; 15. third support frame; 16. control box; 17. debugging box; 18. first support plate; 2. Positioning mechanism; 21. First motor; 22. First connecting column; 23. Positioning plate; 24. Second connecting column; 25. Fixed plate; 26. Turntable; 3. Transmission mechanism; 31. Second support plate; 32. Transmission machine; 33. First electric slide rail; 34. Fourth support frame; 35. First electric clamp; 36. First hydraulic cylinder; 4. Feeding mechanism; 41. Base; 42. Vibrating plate; 43. Feeding platform; 44. Support block; 5. Locking mechanism; 51. Support leg; 511. Support seat; 512. Guide slider; 513. Third slider; 514. Third electric clamp; 515. Fourth hydraulic cylinder; 52. First slider; 53. Third support plate; 54. Third hydraulic cylinder; 55. Second motor; 56. Third connecting column; 57. Universal shaft; 58. Second slider; 59. Locking head; 6. Debugging mechanism; 61. Positioning plate; 62. Second electric slide rail; 63. Second hydraulic cylinder; 64. Second electric clamp; 65. Camera. DETAILED DESCRIPTION

[0023] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0024] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0025] For example, see Figure 1-8 The present invention provides the following technical solutions: an assembly and debugging device for drone parts, including a supporting mechanism 1, the supporting mechanism 1 includes a first supporting frame 12, a workbench 14 is provided on one side of the first supporting frame 12, a third supporting frame 15 is fixedly connected to the upper side of the workbench 14, a waste box 11 is fixedly connected to the inside of the workbench 14, a second supporting frame 13 is provided on one side of the workbench 14, a first supporting plate 18 is fixedly connected to the other side of the workbench 14, and a debugging box 17 is fixedly connected to the upper side of the first supporting plate 18.

[0026] Specifically, the waste box 11 is used to place incorrectly assembled propellers and nuts corresponding to the incorrectly assembled propellers, and the debugging box 17 is used to place assembled drones and debug them.

[0027] See also Figure 2 A positioning mechanism 2 for adjusting the installation position of the propeller of the UAV is provided inside the workbench 14, a transmission mechanism 3 for transmitting the forward rotating propeller and the reverse rotating propeller is provided on the upper side of the first support frame 12, a feeding mechanism 4 for conveying nuts is provided on the upper side of the second support frame 13, a locking mechanism 5 for locking the nuts on the UAV or loosening the nuts on the wrongly installed propeller is provided on the upper side of the workbench 14, and a debugging mechanism 6 for transporting the installed UAV to the debugging box 17 for debugging, or transporting the UAV that failed the debugging back to the top of the positioning mechanism 2 for reinstallation is provided inside the third support frame 15.

[0028] See also Figure 3 The positioning mechanism 2 includes a positioning plate 23 fixedly connected to the inside of the workbench 14, a plurality of first connecting columns 22 are fixedly connected to the lower side of the positioning plate 23, a first motor 21 is fixedly connected to the lower side of the first connecting columns 22, a plurality of second connecting columns 24 are fixedly connected to the upper side of the workbench 14, a fixed plate 25 is fixedly connected to the upper side of the second connecting columns 24, an output end of the first motor 21 passes through the positioning plate 23, the workbench 14 and the fixed plate 25 in sequence and is fixedly connected to a turntable 26, the turntable 26 is rotatably connected to the fixed plate 25, and a card slot is provided inside the turntable 26.

[0029] Specifically, the inside of the card slot is used to clamp the chassis under the drone, and the rotation of the output end of the first motor 21 is used to control the rotation of the turntable 26, thereby controlling the rotation of the drone, and then controlling the propeller installation port of the drone to reach the areas of the transmission mechanism 3, the feeding mechanism 4, and the locking mechanism 5 in turn. The transmission mechanism 3, the feeding mechanism 4, and the locking mechanism 5 assemble the propellers at the four propeller installation ports of the drone in turn.

[0030] See also Figure 4The transmission mechanism 3 includes two second support plates 31 fixedly connected to the upper side of the first support frame 12, a transmission machine 32 is fixedly connected between the two second support plates 31, a fourth support frame 34 is fixedly connected to the upper side of the first support frame 12, a first electric slide rail 33 is fixedly connected to the upper side of the fourth support frame 34, a first hydraulic cylinder 36 is fixedly connected to the sliding end of the first electric slide rail 33, and a first electric clamp 35 is fixedly connected to the output end of the first hydraulic cylinder 36.

[0031] Specifically, the conveyor 32 is used to convey the forward-rotating propellers and the reverse-rotating propellers, and the external manipulator uses a visual system to identify whether the propeller is a forward-rotating propeller or a reverse-rotating propeller, thereby placing the forward-rotating propellers or the reverse-rotating propellers in batches.

[0032] After placing two forward-rotating propellers at the transmission end of the conveyor 32, the external manipulator starts to place two reverse-rotating propellers, and after placing two reverse-rotating propellers, it starts to place two forward-rotating propellers.

[0033] The first electric clamp 35 is used to clamp the forward rotating propeller or the reverse rotating propeller, the extension and retraction of the output end of the first hydraulic cylinder 36 is used to control the forward rotating propeller or the reverse rotating propeller to move upward or downward, the sliding of the sliding end of the first electric slide rail 33 is used to control the forward rotating propeller or the reverse rotating propeller to move above the propeller mounting port of the drone, and the output end of the first hydraulic cylinder 36 extends, thereby installing the forward rotating propeller or the reverse rotating propeller on the propeller mounting port of the drone.

[0034] See also Figure 5 The feeding mechanism 4 includes a base 41 fixedly connected to the upper side of the second support frame 13, a vibration plate 42 is fixedly connected to the upper side of the base 41, a feeding platform 43 is fixedly connected to the output end of the vibration plate 42, a through hole is provided inside one end of the feeding platform 43, two support blocks 44 are fixedly connected to both sides of the feeding platform 43, and the support blocks 44 are fixedly connected to the workbench 14.

[0035] Specifically, the vibration plate 42 utilizes the high-frequency vibration generated by the electromagnet to realize the automatic directional arrangement and conveying of the nuts through the inclined feed trough and the adjustable vibration frequency and amplitude. The nuts pass through the through hole of the feed table 43 and fall onto the propeller mounting port of the drone.

[0036] See also Figure 6The locking mechanism 5 includes two supporting legs 51 fixedly connected to the upper side of the workbench 14, one side of the supporting leg 51 is fixedly connected to the third supporting plate 53, one side of the third supporting plate 53 is fixedly connected to the third hydraulic cylinder 54, the output end of the third hydraulic cylinder 54 is fixedly connected to the first slider 52, the lower side of the first slider 52 is fixedly connected to two third connecting columns 56, the other end of the third connecting column 56 is fixedly connected to the second slider 58, the first slider 52 and the second slider 58 are slidably connected to the third supporting plate 53, the upper side of the first slider 52 is fixedly connected to the second motor 55, the output end of the second motor 55 is fixedly connected to the universal shaft 57, the lower side of the second slider 58 is fixedly connected to the guide block, the other end of the universal shaft 57 passes through the second slider 58 and the guide block and is fixedly connected to the locking head 59.

[0037] Specifically, the extension of the output end of the third hydraulic cylinder 54 is used to control the first slider 52 and the second slider 58 to move downward, thereby controlling the locking head 59 to move downward, and then positioning the nut inside the locking head 59. The rotation of the output end of the second motor 55 is used to control the rotation of the locking head 59. While the output end of the second motor 55 rotates clockwise, the output end of the third hydraulic cylinder 54 continues to extend, thereby locking the nut above the propeller, thereby limiting the propeller.

[0038] See also Figure 7 A support seat 511 is provided in the middle of the two supporting legs 51, a guide sliding block 512 is fixedly connected to the upper side of the support seat 511, a fourth hydraulic cylinder 515 is fixedly connected to one side of the guide sliding block 512, a third sliding block 513 is fixedly connected to the output end of the fourth hydraulic cylinder 515, and a third electric clamp 514 is fixedly connected to the other side of the third sliding block 513.

[0039] Specifically, the extension of the output end of the fourth hydraulic cylinder 515 is used to control the third electric clamp 514 to move forward, so that the motor on the propeller mounting port of the UAV is located between the two clamping jaws of the third electric clamp 514. When the locking mechanism 5 locks the nut, the third electric clamp 514 clamps the motor on the propeller mounting port of the UAV to prevent the UAV arm from being unable to withstand the locking force of the nut when the nut is locked, thereby preventing bending and deformation.

[0040] By adjusting the installation position of the drone propeller by the positioning mechanism 2, the transmission mechanism 3 transmits a plurality of forward-rotating propellers and a plurality of reverse-rotating propellers in turn, and places two forward-rotating propellers and two reverse-rotating propellers in turn on the four propeller installation ports of the drone, respectively. The feeding mechanism 4 delivers each nut to the four propeller installation ports of the drone in turn, and the locking mechanism 5 then locks the nuts of the four propeller installation ports on the drone in turn. Finally, the debugging mechanism 6 transports the installed drone to the debugging box 17 for debugging to determine whether it is qualified, thereby achieving the effect of automatically assembling and debugging the drone and saving human resources.

[0041] In the second embodiment, after all the propellers are assembled, the entire drone needs to be debugged. When the propellers are installed in the wrong forward and reverse directions, the manipulator cannot know which propeller is installed incorrectly, so the manipulator usually removes all the propellers and reinstalls all the propellers. Reinstalling all the propellers will slow down the assembly speed of the drone and reduce the assembly efficiency of the drone. Therefore, the following structure is designed to solve the above technical problem.

[0042] See also Figure 8 The debugging mechanism 6 includes a positioning plate 61 fixedly connected to the inside of the third support frame 15, a second electric slide rail 62 is fixedly connected to the lower side of the positioning plate 61, a second hydraulic cylinder 63 is fixedly connected to the sliding end of the second electric slide rail 62, a second electric clamp 64 is fixedly connected to the output end of the second hydraulic cylinder 63, and a camera 65 is fixedly connected to one side of the second electric clamp 64.

[0043] Specifically, the second electric clamp 64 is used to clamp the assembled drone, the extension and retraction of the output end of the second hydraulic cylinder 63 is used to control the drone to rise or fall, the sliding of the sliding end of the second electric slide rail 62 is used to control the drone to reach the top of the debugging box 17, and the extension of the output end of the second hydraulic cylinder 63 places the drone inside the debugging box 17. The camera 65 is used to take pictures of the drone in different flight states, and convert the taken pictures into electrical signals and send them to the control box 16.

[0044] A control box 16 is fixedly connected to one side of the third support frame 15. The control box 16 is provided with Bluetooth, a judgment module and a database. The Bluetooth is used to control the UAV and sends four control instructions, namely, power on, upward flight, downward descent and power off, to the UAV in sequence. The database is provided with identification photos of several UAVs in different flight states. The judgment module compares the UAV flight state identification photos sent by the camera 65 with the identification photos of several UAVs in different flight states in the database to identify the flight state of the UAV, and then distinguishes the UAV into four types of propeller assembly conditions, namely, a single propeller is reversed, no propeller is reversed, a diagonal propeller is reversed and a half propeller is reversed, according to the flight state of the UAV.

[0045] The four propeller installation positions of the drone are divided into a left front installation port, a left rear installation port, a right front installation port and a right rear installation port in sequence. The propellers installed at the left front installation port and the left rear installation port are both forward-rotating propellers, and the propellers installed at the right front installation port and the right rear installation port are both reverse-rotating propellers. When the drone needs to be debugged, the Bluetooth inside the control box 16 sends four control commands to the drone in sequence, namely, power on, upward flight, downward descent and power off. During the upward flight, the camera 65 takes images of the drone.

[0046] When the judgment module determines that a single propeller is installed reversely, the judgment module then distinguishes it into four types of single propeller incorrect assembly situations according to the flight status of the UAV, namely, the propeller at the left front installation port is installed reversely, the propeller at the left rear installation port is installed reversely, the propeller at the right front installation port is installed reversely, and the propeller at the right rear installation port is installed reversely.

[0047] When the judgment module determines that half of the propeller is installed reversely, the judgment module will distinguish it into two types of half-propeller incorrect assembly situations: the left front installation port propeller and the left rear installation port propeller are installed reversely, and the right front installation port propeller and the right rear installation port propeller are installed reversely according to the flight status of the drone.

[0048] The external manipulator clamps a corresponding number of correctly steered propellers to the transmission end of the conveyor 32 according to the propeller assembly status determined by the judgment module. After the locking mechanism 5 loosens the nut above the incorrectly installed propeller, the first electric clamp 35 and the first hydraulic cylinder 36 clamp the loosened nut and the incorrectly installed propeller into the waste box 11 in turn according to the propeller assembly status determined by the judgment module, and then installs a corresponding number of correctly steered propellers on the drone in turn. The locking mechanism 5 re-locks the nut above the drone, and the debugging mechanism 6 transports the drone that has been reassembled for the second time to the inside of the debugging box 17 for debugging again until the drone can take off completely.

[0049] When the camera 65 captures that the drone is in a balanced flight state and the four propellers are in the same horizontal plane, it means that the propellers of the drone are not installed upside down. The judgment module determines that the propellers are not installed upside down, and the external manipulator moves the qualified drone away.

[0050] When the camera 65 captures that the flight state of the drone is unbalanced, the propeller lifting force of the left front mounting port of the drone becomes lower, causing the propeller of the left front mounting port of the drone to be at the lowest point, and the judgment module determines that a single propeller is installed upside down. The single propeller installed upside down is the propeller of the left front mounting port. It only needs to remove the propeller of the left front mounting port for replacement. The external manipulator clamps a forward-rotating propeller to the transmission end of the conveyor 32, and the debugging mechanism 6 re-places the incorrectly assembled drone above the turntable 26. The turntable 26 rotates to control the drone to rotate. After the locking mechanism 5 loosens the nut of the left front mounting port of the drone, the first electric clamp 35 and the first hydraulic cylinder 36 clamp the nut and propeller of the left front mounting port of the drone into the waste box 11, and then a forward-rotating propeller is installed on the left front mounting port of the drone. The locking mechanism 5 re-locks the nut on the left front mounting port of the drone, and the debugging mechanism 6 transports the second-reassembled drone to the inside of the debugging box 17 for debugging again until the drone can take off completely.

[0051] When the camera 65 captures the unbalanced flight state of the drone, the lifting force of the propellers at the left front mounting port and the left rear mounting port of the drone becomes lower, causing the propellers at the left front mounting port and the left rear mounting port of the drone to be at the lowest point. The judgment module determines that half of the propellers are installed upside down. The half propellers installed upside down are the propellers at the left front mounting port and the propellers at the left rear mounting port. Only the propellers at the left front mounting port and the left rear mounting port need to be removed for replacement. The external manipulator clamps the two forward-rotating propellers to the transmission end of the conveyor 32, and the debugging mechanism 6 re-places the incorrectly assembled drone onto the upper side of the turntable 26. The turntable 26 rotates to control the rotation of the drone. After the locking mechanism 5 loosens the nuts of the left front mounting port and the left rear mounting port of the drone, the first electric clamp 35 and the first hydraulic cylinder 36 clamp the nuts and propellers of the left front mounting port and the left rear mounting port of the drone into the waste box 11, and then the two forward-rotating propellers are respectively installed on the left front mounting port and the left rear mounting port of the drone. The locking mechanism 5 re-locks the nuts on the left front mounting port and the left rear mounting port of the drone, and the debugging mechanism 6 transports the drone that has been reinstalled for the second time to the inside of the debugging box 17 for debugging again until the drone can take off completely.

[0052] When the camera 65 captures that the drone cannot fly and shakes, it means that the diagonal propellers of the drone are installed upside down. The incorrectly assembled diagonal propellers will seriously damage the balance of the drone, making the drone unable to be scrapped. The judgment module determines that the diagonal propellers are installed upside down, and it is impossible to accurately know the position of the incorrectly assembled propellers of the drone. All propellers need to be disassembled and reinstalled. After the nuts and propellers are all reinstalled, the debugging mechanism 6 moves the reinstalled drone to the debugging box 17 for debugging again until the drone can take off completely.

[0053] The flight status image of the UAV is captured by the camera 65 and sent to the control box 16. The judgment module judges the incorrect assembly of the UAV propeller according to the flight status of the UAV, so as to quickly and accurately understand the assembly status of the UAV propeller, and then understand the exact position of the incorrect assembly of the UAV propeller. The first electric clamp 35 and the first hydraulic cylinder 36 are controlled to clamp the Panasonic nut and the incorrectly installed propeller into the waste box 11 in turn, and then the corresponding number of correctly turned propellers are installed on the UAV in turn. The locking mechanism 5 re-locks the nut on the top of the UAV, so that the incorrectly installed propeller can be quickly reinstalled, thereby achieving the effect of automatically identifying the propeller reinstallation position and high propeller assembly efficiency.

[0054] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. An assembly and debugging device for drone parts, characterized in that: The support mechanism (1) comprises a first support frame (12), a workbench (14) is provided on one side of the first support frame (12), a third support frame (15) is fixedly connected to the upper side of the workbench (14), a waste box (11) is fixedly connected to the inside of the workbench (14), a second support frame (13) is provided on one side of the workbench (14), a first support plate (18) is fixedly connected to the other side of the workbench (14), and a debugging box (17) is fixedly connected to the upper side of the first support plate (18); The workbench (14) is provided with a positioning mechanism (2) for adjusting the installation position of the propeller of the drone, the upper side of the first support frame (12) is provided with a transmission mechanism (3) for transmitting the forward-rotating propeller and the reverse-rotating propeller, the upper side of the second support frame (13) is provided with a feeding mechanism (4) for conveying nuts, the upper side of the workbench (14) is provided with a locking mechanism (5) for locking the nuts on the drone or loosening the nuts installed wrongly on the propeller, and the inner side of the third support frame (15) is provided with a debugging mechanism (6) for transporting the drone after installation to the debugging box (17) for debugging, or transporting the drone that fails debugging back to the top of the positioning mechanism (2) for reinstallation; The debugging mechanism (6) comprises a positioning plate (61) fixedly connected to the inside of the third support frame (15); a second electric slide rail (62) is fixedly connected to the lower side of the positioning plate (61); a second hydraulic cylinder (63) is fixedly connected to the sliding end of the second electric slide rail (62); a second electric clamp (64) is fixedly connected to the output end of the second hydraulic cylinder (63); and a camera (65) is fixedly connected to one side of the second electric clamp (64); A control box (16) is fixedly connected to one side of the third support frame (15). The control box (16) is provided with a Bluetooth, a judgment module and a database. The Bluetooth is used to control the UAV and sends four control instructions, namely, power on, upward flight, downward descent and power off, to the UAV in sequence. The database is provided with a plurality of identification photos of the UAV in different flight states. The judgment module compares the identification photos of the UAV flight state sent by the camera (65) with the identification photos of the UAV in different flight states in the database to identify the flight state of the UAV. Then, according to the flight state of the UAV, it distinguishes it into four types of propeller assembly conditions, namely, a single propeller is installed in reverse, no propeller is installed in reverse, a diagonal propeller is installed in reverse and a half propeller is installed in reverse.

2. The assembly and debugging device for drone parts according to claim 1, characterized in that: The positioning mechanism (2) comprises a positioning plate (23) fixedly connected to the inside of a workbench (14); a plurality of first connecting columns (22) are fixedly connected to the lower side of the positioning plate (23); a first motor (21) is fixedly connected to the lower side of the first connecting columns (22); a plurality of second connecting columns (24) are fixedly connected to the upper side of the workbench (14); a fixed plate (25) is fixedly connected to the upper side of the second connecting columns (24); an output end of the first motor (21) passes through the positioning plate (23), the workbench (14) and the fixed plate (25) in sequence and is fixedly connected to a rotating plate (26); the rotating plate (26) is rotatably connected to the fixed plate (25); a slot is provided inside the rotating plate (26).

3. The assembly and debugging device for drone parts according to claim 1, characterized in that: The transmission mechanism (3) comprises two second support plates (31) fixedly connected to the upper side of the first support frame (12); a transmission machine (32) is fixedly connected between the two second support plates (31); a fourth support frame (34) is fixedly connected to the upper side of the first support frame (12); a first electric slide rail (33) is fixedly connected to the upper side of the fourth support frame (34); a first hydraulic cylinder (36) is fixedly connected to the sliding end of the first electric slide rail (33); and a first electric clamp (35) is fixedly connected to the output end of the first hydraulic cylinder (36).

4. The assembly and debugging device for drone parts according to claim 3, characterized in that: After placing two forward-rotating propellers at the transmission end of the conveyor (32), the external manipulator begins to place two reverse-rotating propellers, and after placing two reverse-rotating propellers, it begins to place two forward-rotating propellers. The external manipulator clamps a corresponding number of correctly-rotating propellers to the transmission end of the conveyor (32) based on the propeller assembly errors determined by the determination module.

5. The assembly and debugging device for drone parts according to claim 4, characterized in that: After the locking mechanism (5) loosens the nut above the incorrectly installed propeller, the first electric clamp (35) and the first hydraulic cylinder (36) sequentially pick up the loosened nut and the incorrectly installed propeller into the waste box (11) according to the incorrect assembly of the propeller determined by the determination module, and then sequentially install a corresponding number of correctly steered propellers on the drone.

6. The assembly and debugging device for drone parts according to claim 1, characterized in that: The feeding mechanism (4) comprises a base (41) fixedly connected to the upper side of the second support frame (13); a vibration plate (42) is fixedly connected to the upper side of the base (41); an output end of the vibration plate (42) is fixedly connected to a feeding platform (43); a through hole is provided inside one end of the feeding platform (43); two support blocks (44) are fixedly connected to the two sides of the feeding platform (43); and the support blocks (44) are fixedly connected to the workbench (14).

7. The assembly and debugging device for drone parts according to claim 1, characterized in that: The locking mechanism (5) comprises two support legs (51) fixedly connected to the upper side of the workbench (14); one side of the support legs (51) is fixedly connected to a third support plate (53); one side of the third support plate (53) is fixedly connected to a third hydraulic cylinder (54); and an output end of the third hydraulic cylinder (54) is fixedly connected to a first sliding block (52).

8. The assembly and debugging device for drone parts according to claim 7, characterized in that: Two third connecting columns (56) are fixedly connected to the lower side of the first sliding block (52); the other end of the third connecting column (56) is fixedly connected to the second sliding block (58); the first sliding block (52) and the second sliding block (58) are slidably connected to the third supporting plate (53); and the upper side of the first sliding block (52) is fixedly connected to the second motor (55).

9. The assembly and debugging device for drone parts according to claim 8, characterized in that: The output end of the second motor (55) is fixedly connected to a universal shaft (57), the lower side of the second slider (58) is fixedly connected to a guide block, and the other end of the universal shaft (57) passes through the second slider (58) and the guide block and is fixedly connected to a locking head (59).

10. The assembly and debugging device for drone parts according to claim 9, characterized in that: A support seat (511) is provided in the middle of the two support legs (51); a guide slider (512) is fixedly connected to the upper side of the support seat (511); a fourth hydraulic cylinder (515) is fixedly connected to one side of the guide slider (512); a third slider (513) is fixedly connected to the output end of the fourth hydraulic cylinder (515); and a third electric clamp (514) is fixedly connected to the other side of the third slider (513).

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