Unmanned aerial vehicle nest capable of automatically replacing battery and use method

Abstract

The invention discloses a nest for automatically replacing a battery of an unmanned aerial vehicle. A battery replacing mechanism is arranged in the nest; the battery replacing mechanism comprises an elastic battery replacing assembly and a driving mechanism, and the driving mechanism drives the elastic battery replacing assembly to move horizontally; the clamping force of the battery can be adjusted through the double-spring clamping assembly in different moving stages of the elastic battery replacing assembly; when the double-spring clamping assembly moves to a battery changing station, the clamping arm assembly is started; when the driving mechanism drives the elastic battery replacing assembly to move back to the unmanned aerial vehicle, the battery is driven by the clamping arm assembly to be separated from the unmanned aerial vehicle, and battery unloading is completed. The double-spring clamping assembly can effectively prevent the clamping force from directly acting on the unmanned aerial vehicle during battery replacement, and the linear module can adjust the position of the elastic battery replacement assembly, so that the double-spring clamping assembly is controlled to adjust the clamping force, and the service life of the battery and the unmanned aerial vehicle is prolonged; the linear module can lower the battery of the unmanned aerial vehicle into the nest for charging, and can also install the fully-charged battery on the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a drone nest for automatically replacing batteries and a use method thereof. Background Art

[0002] With the rapid development of drone technology and the increasing number of applications, people are increasingly demanding drones that can perform continuous intelligent operations, especially in the fields of line inspection, emergency response, topographic surveying, etc. Currently, existing drones on the market are controlled by pilots and the batteries are manually replaced to continue the flight mission, which greatly reduces the efficiency of drone operations. The drone assisted flight system allows drones to perform tasks automatically.

[0003] The hangar for storing drones includes a charging hangar for storing drones and charging drone batteries, and a battery replacement hangar for replacing batteries for drones. In the prior art, a manipulator is usually required in the battery replacement hangar to replace batteries for drones.

[0004] For example, in the prior art of automatic battery-changing drone cabin with patent announcement number CN217456377U and patent name, it specifically discloses "including a cabin and a base installed at the bottom end of the cabin, a lift is fixedly provided on the left side of the top of the base, a helipad is fixedly provided on the top of the lift, a fastening device is provided on the inner side of the lift, the fastening device is screwed and fixed to the base by installing a bottom plate, a battery charging box is fixedly provided on the right side of the top of the base, a mechanical arm is provided on the outer side of the battery charging box, the mechanical arm is screwed and fixed to the base, and a centering device is provided on the inner side of the helipad". The above-mentioned prior art adopts a mechanical arm to grab the drone battery for replacement and warehousing, etc., but the mechanical arm is prone to rigid collision with the battery or apply a large clamping force to the drone body when grabbing the battery, which will affect the service life of the battery and the drone in the long run.

[0005] For example, in the existing patent technology with patent announcement number CN219707347U and patent name "A drone battery gripper and a drone charging device composed of the same", it is specifically disclosed that "it includes a fixed base, the middle part of the fixed base is divided into two charging areas by a partition, and charging tentacles are respectively provided on the outer sides of the two charging areas; a first motor is provided under the fixed base, and the first motor is connected to the support plate on the fixed base through a connecting block, the rear end of the support plate is connected to the second motor, the front end of the support plate is connected to a clamping push block group, and the two sides of the clamping push block group are respectively connected to battery grippers, the two battery grippers are arranged opposite to each other and extend above the two charging tentacles, a battery buckle wrench is provided in the middle part of the clamping push block group, and a hole for the battery buckle wrench to pass through is provided in the middle part of the front side of the partition". The above-mentioned existing technology uses two gripper grabbing springs, which are also in rigid contact with the battery and will have a large clamping force, which will also affect the service life of the battery and the drone in the long run.

[0006] When the drone's flight mission ends, it needs to land on the power exchange nest. In order to ensure that the drone is successfully placed in the closed power exchange space formed by the nest's cabin and the nest's hatch, the drone's blades need to be folded. However, there is currently a lack of a device for folding the blades, which can easily cause the drone's blades to be squeezed when the nest's hatch is closed.

[0007] Therefore, there is an urgent need for a drone automatic battery replacement nest and a use method to solve the above technical problems. Summary of the invention

[0008] The technical problem to be solved by the present invention is: how to solve the problem that during the battery replacement process of the drone, the drone battery and body are susceptible to rigid impact or large clamping force, and the propeller blades are difficult to store in the drone nest.

[0009] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0010] A nest for automatically replacing batteries for drones, wherein a drone straightening support mechanism is provided on the horizontal surface of the nest, and a battery replacement mechanism for replacing batteries for drones is provided inside the nest and on one side of the drone straightening support mechanism;

[0011] The battery exchange mechanism includes an elastic battery exchange component and a driving mechanism capable of horizontal and vertical movement. The driving mechanism drives the elastic battery exchange component to move horizontally. The elastic battery exchange component includes a double spring clamping component and a clamping arm component. At different stages of the movement of the elastic battery exchange component, the clamping force of the battery can be adjusted by the double spring clamping component. When the double spring clamping component moves to the battery exchange station, the clamping arm component is started. When the driving mechanism drives the elastic battery exchange component to move back to the drone, the battery is driven by the clamping arm component to detach from the drone, completing the battery unloading.

[0012] The driving mechanism drives the elastic battery replacement assembly to descend, removes the empty battery, loads the fully charged battery and moves it to the battery replacement station, and the elastic battery replacement assembly pushes the fully charged battery into the battery compartment of the drone;

[0013] The nest is rotatably connected to a nest hatch cover, and when the nest hatch cover is closed, a blade retracting mechanism inside the nest hatch cover automatically retracts the blades of the UAV.

[0014] The present invention provides an elastic battery replacement component for replacing the battery of the drone on the linear module. The elastic battery replacement component is provided with a double spring clamping component that can directly contact the battery, which can effectively prevent the clamping force from directly acting on the drone during battery replacement, and the linear module can adjust the position of the elastic battery replacement component, and then control the double spring clamping component to adjust the clamping force, thereby reducing the impact on the battery and the body; at the same time, the linear module of the present invention can lower the drone battery into the machine nest for charging, and can also install a fully charged battery on the drone, thereby realizing intelligent replacement and energy replenishment of the drone battery.

[0015] As a further solution of the present invention: the double spring clamping assembly includes a connecting plate, one side of the connecting plate is provided with a clamping member, and the clamping member is slidably connected to a sliding groove body provided on the sliding base;

[0016] The two ends of the other side of the connecting plate are connected with outer rods that penetrate the connecting frame, wherein the inner part of the outer rod is slidably connected with the inner rod, the outer side of the inner rod is sleeved with spring 1, and the outer side of the outer rod and located on the front side of the connecting frame is sleeved with spring 2.

[0017] As a further solution of the present invention: a limit stopper corresponding to the clamp is provided at one end of the top of the driving mechanism that faces the UAV push support mechanism;

[0018] When the clamp moves laterally to contact the limit stopper, the spring 1 and the spring 2 are compressed, and the contact surface 1 at the end of the inner rod contacts the front end of the drone battery.

[0019] As a further solution of the present invention: the elastic battery exchange assembly includes a connecting frame, a side of the connecting frame away from the UAV push-up support mechanism is connected to a sliding base, and the bottom of the sliding base is connected to the driving mechanism;

[0020] The two ends of the connecting frame on one side of the UAV push support mechanism are provided with clamping arm assemblies, and the clamping arm assembly includes a clamping arm and a battery limiting assembly arranged thereon;

[0021] The double spring clamping assembly is arranged in the middle of the connecting frame and cooperates with the battery limiting assemblies on both sides to form an elastic clamp for the drone battery.

[0022] As a further solution of the present invention: the battery limiting assembly includes a rotating shaft, the end of the rotating shaft that pushes the support mechanism toward the drone is connected to a battery rear block, and the other end of the rotating shaft is connected to a motor, which can drive the battery rear block to rotate.

[0023] As a further solution of the present invention: a clamping block is installed in the middle of the rotating shaft, and a sensing plate is arranged on the clamping block in the same direction as the battery rear block, and a proximity sensor for detecting its position is also arranged on the clamping arm and located on one side of the sensing plate.

[0024] As a further solution of the present invention: a battery knob unlocking block is arranged on the middle side of the connecting frame and between the double spring clamping assemblies, and the battery knob unlocking block can just catch the knob switch of the drone battery, and a servo connected to the battery knob unlocking block is provided on the rear side of the connecting frame.

[0025] As a further solution of the present invention: the driving mechanism includes a vertical driving module and a linear module installed on one side of the vertical driving module, the vertical driving module can drive the linear module to move vertically, and the elastic power exchange component is installed on the linear module.

[0026] As a further solution of the present invention: the UAV pushing support mechanism includes a landing frame, a landing board for placing the UAV is arranged above the landing frame, and the landing board is provided with two horizontal pushing rods for positioning the UAV, as well as a vertical positioning plate and a vertical pushing rod.

[0027] As a further solution of the present invention: a positioning groove for clamping the UAV base is opened on the vertical positioning plate, and both ends of the vertical positioning plate are connected to a positioning plate slider located under the landing frame. The two sets of positioning plate sliders are driven to move vertically by the positioning plate driving assembly under the landing frame.

[0028] As a further solution of the present invention: both ends of the vertical straightening rod are connected to the straightening rod sliders located below the landing frame, and the two groups of straightening rod sliders are driven to move vertically by the limit rod driving assembly below the landing frame.

[0029] As a further solution of the present invention: a drone battery compartment is provided inside the machine nest and below the drone pushing support mechanism, and the elastic battery replacement component can load the fully charged batteries in the battery compartment and lift them up and push them into the drone battery compartment.

[0030] As a further solution of the present invention: the machine nest has a hatch cover that is rotatably connected on both sides of the horizontal plane of the machine nest through a driving rotating rod; a driving motor is arranged inside the machine nest, and both ends of the driving motor are respectively connected to a synchronous pulley located on the driving rotating rod through a connecting shaft, and the other end of the synchronous pulley is connected to the rotating shaft between the rotating rod and the machine nest hatch cover.

[0031] As a further solution of the present invention: the UAV push-to-align support mechanism is also provided with a blade auxiliary storage assembly, and the blade auxiliary storage assembly includes a rotating rod, one end of the rotating rod is connected to the motor, and the other end is fixed to the machine nest through a support, and a blade push rod is installed on the rotating rod.

[0032] The present invention also discloses an operation method of a drone nest for automatically replacing batteries, comprising the following steps:

[0033] The drone lands on the landing board of the machine nest, and the drone's attitude is adjusted through the drone's push-up support mechanism. Then the drone's position is adjusted to the power replacement position and fixed. Then the machine nest hatch is rotated to close the machine nest, and the propeller retracting mechanism automatically retracts the drone's propellers.

[0034] The driving mechanism drives the elastic battery-changing assembly to move first to contact the drone battery, and then continues to drive the elastic battery-changing assembly to move. During the movement, the clamping force of the double-spring clamping assembly on the battery is adjusted according to the position of the elastic battery-changing assembly until it moves to the battery-changing station, and the clamping arm assembly is started to clamp the battery; when the rear driving mechanism drives the elastic battery-changing assembly to move back to the drone, the battery is driven by the clamping arm assembly to move from the drone battery compartment to complete the battery unloading;

[0035] The driving mechanism drives the elastic battery replacement assembly to descend to the fully-charged battery compartment of the drone, removes the empty battery, and loads the fully-charged battery from the fully-charged battery compartment and moves it to the battery replacement station. The elastic battery replacement assembly pushes the fully-charged battery into the drone battery compartment.

[0036] When the UAV takes off, the UAV pushes the support mechanism to push it back to the take-off position and opens the nest.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] 1. The present invention provides an elastic battery replacement component on the linear module that can be used to replace the battery of the drone. The elastic battery replacement component is provided with a double spring clamping component that can directly contact the battery, wherein the second spring can provide the clamping force of the battery, and the first spring provides the pre-clamping force when the battery is placed in and removed, thereby effectively avoiding the rigid impact or clamping force directly acting on the drone during battery replacement, resulting in excessive extrusion and damage to the battery;

[0039] 2. The present invention can adjust the battery clamping force through the double spring clamping assembly at different stages of the movement of the elastic battery swap assembly. The clamping force to ensure that the battery does not fall off during the battery swap is certain. In order to prevent the clamping force from directly acting on the drone body during the battery swap process, causing the drone to overturn, and the large clamping force from damaging the more fragile position of the interface between the battery and the drone, a much smaller pre-clamping force provided by spring 1 is introduced, that is, to ensure that the drone battery and the drone are removed and installed to ensure that the battery and the body are in contact with a smaller force;

[0040] 3. The linear module of the present invention is installed on the vertical drive module, and the vertical drive module can drive the linear module and the elastic battery replacement component to move in the vertical direction, that is, the disassembled drone battery can be lowered into the machine nest for the next step of charging and replacing the battery, and at the same time, the fully charged battery in the machine nest can be installed back on the drone, realizing the intelligent replacement and energy replenishment of the drone battery;

[0041] 4. The present invention can be used to clamp the rear of the battery by arranging battery limit assemblies on the clamping arms on both sides, and the battery rear block is controlled to rotate to the rear of the battery by driving the rotating shaft through a motor, and a sensing plate in the same direction as the battery rear block is arranged on the rotating shaft, and a proximity sensor is arranged at one end of the sensing plate to provide feedback of the sensing plate being in place, thereby ensuring that the battery rear block is rotated into place, and improving the safety of the battery replacement and automatic control system action chain;

[0042] 5. The present invention also provides a battery knob unlocking block in the middle of the elastic battery replacement assembly. When the double spring clamping assembly is elastically squeezed to the front of the battery, the battery knob unlocking block can turn the knob switch between the two batteries of the drone open, and then cooperate with the battery rear block to clamp the rear of the battery. The integration of the above structure can realize the elastic clamping of the entire drone battery.

[0043] 6. The overall structure of the nest of the present invention is "L" shaped. The UAV push-up support mechanism is located on the horizontal plane of the nest. A rotatable nest hatch cover is arranged on the horizontal plane. The hatch cover is sealed with the nest when closed and is closed when not in use. It is used to store the UAV during non-mission periods. The hatch cover is opened when the UAV enters or flies away from the nest.

[0044] At the same time, a convex waterproof step is set on one circle of the landing frame to ensure that the drone lands on the platform to achieve the design of the body waterproof structure and realize the overall waterproofness of the nest;

[0045] 7. The present invention is provided with blade retracting members on both sides of the machine nest, and a blade pushing rod for pushing the blades straight is also provided on one side of the horizontal plane of the machine nest. The blade pushing rod cooperates with the blade retracting members to automatically retract the UAV blades when the machine nest hatch cover is retracted, so as to prevent the blades from being pressed by the machine nest hatch cover and causing damage;

[0046] 8. The present invention is provided with a UAV straightening support mechanism on the horizontal plane of the machine nest. The two lateral straightening rods on the UAV straightening support mechanism are used to adjust the lateral position of the UAV, and the vertical positioning plate and the vertical straightening rod are used to adjust the vertical position of the UAV. Therefore, the posture of the UAV fuselage after landing can be adjusted through the straightening structure to make it located at the designated position for battery replacement and maintain the stable position of the fuselage during battery replacement. At the same time, the movement of the UAV between the battery replacement and take-off positions can also be realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a schematic diagram of the overall structure of the automatic battery replacement machine nest for a drone according to an embodiment of the present invention;

[0048] Figure 2 This is a schematic diagram of the structure of the engine nest hatch when it is opened according to an embodiment of the present invention;

[0049] Figure 3 A partial cross-sectional view of the engine nest hatch cover when it is opened according to an embodiment of the present invention;

[0050] Figure 4 A schematic diagram of another viewing angle when the engine nest hatch is opened according to an embodiment of the present invention;

[0051] Figure 5 for Figure 4 A magnified view of area A in;

[0052] Figure 6 This is a structural schematic diagram of a UAV push-up support mechanism according to an embodiment of the present invention;

[0053] Figure 7 This is a schematic diagram of the bottom structure of the UAV push-up support mechanism according to an embodiment of the present invention;

[0054] Figure 8 It is a schematic diagram of a vertical drive module, a linear module and an elastic power exchange component according to an embodiment of the present invention;

[0055] Fig. 9 It is a schematic diagram of another perspective of the vertical drive module, the linear module and the elastic power exchange component of an embodiment of the present invention;

[0056] Fig.10 This is a schematic diagram of the structure of the elastic battery replacement assembly according to an embodiment of the present invention;

[0057] Fig.11 It is a schematic diagram of the double spring clamping assembly in contact with the end of the sliding slot body according to an embodiment of the present invention;

[0058] Fig.12 For Fig.11 Based on the above, the schematic diagram of the inner rod continuing to be compressed;

[0059] Fig.13This is a schematic diagram of the structure of a battery limiting assembly according to an embodiment of the present invention;

[0060] Fig.14 It is a schematic structural diagram of a battery limiting assembly and a clamping arm according to an embodiment of the present invention;

[0061] Fig.15 This is a schematic structural diagram of a double spring clamping assembly according to an embodiment of the present invention;

[0062] Fig.16 is a cross-sectional view of an inner rod and an outer rod according to an embodiment of the present invention;

[0063] Fig.17 It is a front view of the linear module and the elastic power exchange component of the embodiment of the present invention;

[0064] Fig.18 This is a schematic diagram of the structure of the engine nest hatch and bottom drive according to an embodiment of the present invention;

[0065] Fig.19 This is a layout diagram of the UAV push-up support mechanism and the power exchange mechanism according to an embodiment of the present invention;

[0066] Description of reference numerals:

[0067] 1. Machine nest; 11. Heat dissipation module;

[0068] 2. Engine nest cover; 21. Inner support frame; 22. Blade retracting member; 23. Driving motor; 24. Synchronous pulley; 25. Bracket;

[0069] 3. Drive the rotating rod;

[0070] 4. UAV push-up support mechanism; 41. Landing frame; 42. Horizontal push-up rod; 43. Vertical push-up rod; 44. Vertical positioning plate; 441. Positioning slot; 45. Horizontal push-up rod slide slot; 46. Positioning plate slider 1; 47. Limiting guide rail; 48. Belt 1; 49. Positioning plate drive motor; 410. Push-up rod slider; 411. Belt 2; 412. Limiting rod drive motor;

[0071] 5. Battery replacement mechanism; 51. Bottom plate; 52. Vertical drive module; 53. Linear module; 531. Limit block; 54. Elastic battery replacement assembly; 541. Sliding base; 542. Sliding trough; 543. Double spring clamping assembly; 5431. Card; 5432. Connecting plate; 5433. Spring 2; 5434. Spring 1; 5435. Inner rod; 5436. Outer rod; 544. Connecting frame; 545. Clamping arm; 546. Battery limit assembly; 5461. Motor; 5462. Rotating shaft; 5463. Induction plate; 5464. Positioning block; 5465. Battery rear block; 547. Servo; 548. Battery knob unlocking block;

[0072] 6. Battery compartment;

[0073] 7. Rotating rod; 71. Blade pushing rod; 72. Support. DETAILED DESCRIPTION

[0074] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0075] Example 1

[0076] Reference Figure 1 , Figure 2 , Figure 3 and Figure 4 The drone nest for automatically replacing batteries includes a nest 1 and a nest canopy 2 connected to the nest 1 by two sets of driving rotating rods 3. The nest 1 is an "L"-shaped structure as a whole. The nest canopy 2 can be rotated to the horizontal plane of the nest 1. The rotated nest canopy 2 and the nest 1 are as shown in FIG. Figure 1 The rectangular frame shown is sealed as a whole, that is, the contact positions between the machine nest hatch 2 and the machine nest 1 are designed to be sealed for waterproofing and dustproofing; a drone straightening support mechanism 4 is provided on the horizontal plane of the machine nest 1, and the drone can adjust its posture first through the drone straightening support mechanism 4, and then adjust its position and move to the designated battery replacement station, where the empty battery is removed and the fully charged battery is installed; and in order to ensure that the drone is not out of power, the present invention generally only removes a single drone battery at a time, and the drone battery replacement can be carried out when the machine nest hatch 2 covers the machine nest 1.

[0077] Reference Figure 3 A battery replacement mechanism 5 is provided in the vertical slot of the machine nest 1 and on one side of the UAV pushing support mechanism 4, which is used to replace the battery for the UAV on the UAV pushing support mechanism 4; a battery compartment body 6 is provided on the inner side of the machine nest 1 and below the UAV pushing support mechanism 4, which is used to store the UAV battery and can charge the UAV battery; the overall process is: the UAV is first fixed by the UAV pushing support mechanism 4, and moved to the designated position where the battery needs to be replaced (the designated position here needs to be designed according to the battery replacement mechanism 5, which will be described in detail below), and then the battery on the UAV is removed by the battery replacement mechanism 5, and then moved to the battery compartment body 6, and then the fully charged battery on the battery compartment body 6 is installed on the UAV, thereby completing the battery replacement of the UAV battery. The specific structure involved in the battery replacement process is described in detail below.

[0078] Further, see Figure 2 and Figure 3 A heat dissipation module 11 for dissipating heat from the batteries inside the nest 1 is disposed on the lower side wall of the nest 1 , and modules such as a router and a controller are also disposed on the inner side of the nest 1 .

[0079] Reference Fig.16 Baffles are set on both sides and the rear end of the machine nest canopy 2, and the front end needs to contact the vertical surface of the machine nest 1. Therefore, the front end of the machine nest canopy 2 is open, and the overall height of the machine nest canopy 2 is higher than the height of existing commonly used UAVs, providing sufficient space for UAV battery replacement.

[0080] Furthermore, an inner support frame 21 is provided on the inner side walls of the machine nest cabin cover 2, and a blade retracting member 22 is installed on the inner support frame 21. The blade retracting member 22 adopts an "L"-shaped structure as a whole. The blade retracting member 22 can contact the UAV blades when the machine nest cabin cover 2 rotates and contracts, and retract the UAV blades into the machine nest cabin cover 2. Since the inner support frame 21 needs to contact the UAV blades, in order to prevent collision damage to the UAV blades, the inner support frame 21 can be made of flexible material, and the specific flexible material is not limited in this application.

[0081] Furthermore, a driving motor 23 is installed inside the machine nest 1 and below the UAV pushing support mechanism 4 through a bracket 25. The two output ends of the driving motor 23 are connected to the output shaft and are connected to a synchronous pulley 24 located at one end of the driving rotating rod 3 through the output shaft. The external transmission of the synchronous pulley 24 is connected to a synchronous pulley, and the other end of the synchronous pulley is connected to the synchronous pulley located at the other end of the driving rotating rod 3. The two ends of the connecting shaft are respectively connected to the machine nest cabin cover 2 and the driving rotating rod 3; therefore, by controlling the driving motor 23, the output shaft can be driven to rotate. Here, the position of the synchronous pulley 24 is fixed, and it is only a phase holding mechanism. When the driving rotating rod 3 is driven to rotate by the driving motor 23, the synchronous pulley at the machine nest cabin cover 2 can rotate around the synchronous pulley 24 at the machine nest cabin body with the driving rotating rod 3. Because of the action of the synchronous pulley, the synchronous pulley at the machine nest cabin cover 2 can maintain the same phase with the synchronous pulley 24 at the machine nest cabin body, so that the machine nest cabin cover 2 can maintain a consistent posture during the opening and closing process.

[0082] Reference Figure 4 and Figure 5A rotating rod 7 is provided on the horizontal plane of the machine nest 1 and close to the vertical plane. One end of the rotating rod 7 is connected to the motor, and the other end is fixed to the horizontal plane of the machine nest 1 through a support 72. Two blade push rods 71 ​​are installed on the rotating rod 7, and the motor can drive the rotating rod 7 to rotate, thereby driving the two blade push rods 71 ​​to rotate; the blade storage of the present application is divided into two parts. When the machine nest cabin cover 2 is closed on the machine nest 1, the end away from the power exchange mechanism 5 is closed by the blade retracting member 22 when the machine nest cabin cover 2 is closed. The end close to the power exchange mechanism 5 needs to be driven by the motor to retract the blade push rod 71 during the process of pushing the UAV to the power exchange station. The control of the motor here can be controlled by the overall control system.

[0083] Reference Figure 6 and Figure 7 The UAV pushing support mechanism 4 includes a landing frame 41, a landing board for carrying the UAV is arranged above the landing frame 41, and two lateral pushing rods 42, a vertical positioning plate 44 and a vertical pushing rod 43 are arranged on the top of the landing board to position the UAV, wherein the two lateral pushing rods 42 can move laterally on the landing board to push the UAV to adjust and limit its lateral position; the vertical positioning plate 44 and the vertical pushing rod 43 can move longitudinally on the landing board (it should be noted that the lateral and longitudinal directions here are only for explanation, and the specific lateral and longitudinal directions need to be determined according to the actual operation conditions on site).

[0084] Furthermore, the vertical positioning plate 44 is provided with a positioning groove 441 (such as Figure 2 As shown in the figure, the positioning groove 441 can be just stuck in the base of the UAV), the two ends of the vertical positioning plate 44 are connected to the positioning plate slider 46 located under the landing frame 41, and the two groups of positioning plate sliders 46 are driven to move vertically by the belt 48 under the landing frame 41; wherein the two ends of the belt 48 are transmission-connected to the synchronous pulleys located at the bottom of the landing frame 41, and one of the synchronous pulleys is connected by the positioning plate driving motor 49 arranged at the bottom of the landing frame 41; therefore, by controlling the positioning plate driving motor 49, the synchronous pulleys at both ends can be driven to rotate, thereby driving the belt 48 to drive, and when the belt 48 is driven, it further drives the positioning plate slider 46 and the vertical positioning plate 44 to move vertically on the landing frame 41, thereby realizing the vertical movement and positioning of the UAV.

[0085] Furthermore, both ends of the vertical straightening rod 43 are connected to the straightening rod slider 410 located below the landing frame 41, and the two groups of straightening rod sliders 410 are driven to move vertically by the belt 2 411 below the landing frame 41, wherein both ends of the belt 2 411 are transmission-connected to the synchronous pulley 2 located at the bottom of the landing frame 41, and one of the synchronous pulleys 2 is connected by the limit rod driving motor 412 arranged at the bottom of the landing frame 41; therefore, by controlling the limit rod driving motor 412, the synchronous pulleys 2 at both ends can be driven to rotate, thereby driving the belt 2 411 to transmit, and when the belt 2 411 is transmitted, it further drives the straightening rod slider 410 and the vertical straightening rod 43 to move vertically on the landing frame 41, thereby realizing the vertical movement and positioning of the UAV.

[0086] The driving mode of the two transverse straightening rods 42 is the same as the driving direction of the vertical positioning plate 44 and the vertical straightening rod 43, and this application will not be described in detail. It should be noted that in order to ensure the stability of the transverse straightening rods 42, the vertical positioning plate 44 and the vertical straightening rods 43 when the belts thereon move, the present invention is provided with limit guide rails 47 on the four sides of the bottom of the landing frame 41, so that the sliders connected to the transverse straightening rods 42, the vertical positioning plate 44 and the vertical straightening rods 43 can slide on the corresponding limit guide rails 47, and the corresponding belts can pass through the sliders and be transmitted along the middle groove of the guide rails 47, which can play a certain limit role in the movement of the belts to ensure their stability during movement; transverse straightening rod slide grooves 45 are provided on both sides of the top of the landing frame 41, and the two transverse straightening rods 42 are moved laterally in the corresponding transverse straightening rod slide grooves 45.

[0087] Reference Figure 6 A groove is provided at the middle position of one side of the top of the landing frame 41 near the battery exchange mechanism 5. When the linear module 53 drives the elastic battery exchange component 54 to rise and fall, it passes through the groove. When the elastic battery exchange component 54 rises above the groove, the battery of the drone is exchanged. When the elastic battery exchange component 54 drops below the groove, the drone battery can be loaded into the battery compartment 6 for charging. At the same time, two sets of blade push rods 71 ​​are located on both sides of the groove. A circle of convex waterproof steps is set on the top of the landing frame 41, which can ensure that when the drone lands on the platform, the design of the body waterproof structure is achieved, thereby realizing the overall waterproofing of the machine nest.

[0088] Reference Figure 8 and Fig. 9The battery exchange mechanism 5 is arranged inside the machine nest 1 and placed vertically. The battery exchange mechanism 5 includes a base plate 51, a vertical drive module 52, a linear module 53 and an elastic battery exchange component 54, wherein the base plate 51 is installed at the bottom of the vertical drive module 52, and one side is connected to the linear module 53, and can drive the linear module 53 to rise and fall in the vertical direction along the vertical drive module 52, that is, drive the empty battery into the battery compartment 6 in the machine nest 1 or take the fully charged battery out of the machine nest 1 and install it on the drone. During the lifting and lowering process here, it can pass through the groove opened on the landing frame 41; and the elastic battery exchange component 54 is installed above the linear module 53, and the linear module 53 can drive the elastic battery exchange component 54 to move horizontally, so that it moves to the battery position of the drone, and the drone battery is disassembled and installed.

[0089] It should be noted that the overall principle of the vertical drive module 52 is similar to that of the linear module, which is a common device in the field, and the present application does not elaborate on its principle in detail.

[0090] Further, see Fig.10 The elastic battery exchange component 54 includes a sliding base 541, a sliding groove body 542, a double spring clamping component 543, a connecting frame 544, a clamping arm 545, a battery limit component 546, a servo 547 and a battery knob unlocking block 548. The sliding base 541 is connected to the side of the connecting frame 544 facing away from the UAV push support mechanism 4, and clamping arms 545 are arranged at both ends of the side of the connecting frame 544 facing the UAV push support mechanism 4. When the two groups of clamping arms 545 are clamped, they are located on both sides of the UAV battery; the opening end of the inner side of the clamping arm 545 that first contacts the battery is designed to be inclined to ensure that the battery smoothly enters the space surrounded by the two clamping arms; a battery knob unlocking block 548 is arranged at the middle position of the connecting frame 544 and between the two groups of clamping arms 545, and a double spring clamping component 543 is arranged on the outside of the battery knob unlocking block 548 and between the two groups of clamping arms 545.

[0091] Reference Fig.10 A sliding groove 542 is provided on one side of the sliding base 541 close to the connecting frame 544 , wherein the double spring clamping assembly 543 can slide in the sliding groove 542 .

[0092] Reference Fig.10 The double spring clamping assembly 543 is arranged in the middle of the connecting frame 544, and its end contacts the front end of the battery, and cooperates with the battery limiting assemblies 546 on both sides to form an elastic clamp for the drone battery;

[0093] Further, see Fig.15The double spring clamping assembly 543 includes a connecting plate 5432, one side of which is provided with a clamping piece 5431 with an end bent downward, and the clamping piece 5431 is slidably connected to a sliding groove body 542 opened on the sliding base 541; the other two ends of the other side of the connecting plate 5432 are connected to an outer rod 5436 that can penetrate the connecting frame 544, wherein the inner part of the outer rod 5436 is slidably connected to an inner rod 5435, and the outer side of the inner rod 5435 is provided with a spring 1 5434, and the outer side of the outer rod 5436 is provided with a spring 2 5433.

[0094] It should be noted that, refer to Fig.17 , a limit stopper 531 corresponding to the clamp 5431 is arranged at the top of the linear module 53 toward one end of the UAV push support mechanism 4; when the clamp 5431 moves laterally to contact the limit stopper 531, the spring 1 5434 and the spring 2 5433 are all compressed, and the contact surface of the end of the inner rod 5435 contacts the front end of the UAV battery. The overall battery clamping force adjustment of the present application is achieved by replacing and adjusting the elastic coefficient of the larger spring, and the force when the battery is put in and removed is achieved by adjusting the position of the limit stopper 531 or replacing the elastic coefficient of the spring 1 5434.

[0095] The overall operating principle here is as follows, refer to Fig.10 , Fig.11 , Fig.12 and Fig.15 :

[0096] Spring two 5433 provides clamping force, and spring one 5434 provides pre-clamping force;

[0097] When taking out the battery, after the z-axis direction of the linear module 53 is in place, the linear module 53 first drives the sliding base 541 to move as a whole toward the direction of the drone battery. At this time, the sliding slot 542 moves forward, and the front end contact surface of the inner rod 5435 continues to move forward after contacting the battery. At this time, the spring 1 5434 and the spring 2 5433 are compressed by force. Here, the clamping force and the pre-clamping force work simultaneously, but the clamping force is relatively small as a whole; the double spring clamping assembly 543 continues to slide in the sliding slot 542, and the clamping piece 5431 contacts the end of the sliding slot 542 (such as Fig.11 ), the movement of spring 2 5433 is restricted, and the contact surface 2 at the front end of the outer rod 5436 no longer moves; at this time, the linear module 53 continues to drive the sliding base 541 to move toward the direction of the drone battery as a whole, and the spring 1 5434 releases the pre-clamping force until the drone battery reaches the set position, at which time the sliding base 541 can no longer move (such as Fig.12 ); It should be noted here that a sensor is set on the landing frame 4 to locate the position of the drone battery, ensuring that the linear module 53 drives the precise sliding base 541 to move to the battery replacement station, thereby ensuring the accuracy of the drone battery replacement;

[0098] Then, the battery knob unlocking block 548 can turn on the knob switch between the two batteries of the drone, and then turn on the battery limit assembly 546 on the clamping arm 545, and the battery rear block 5465 pops into the rear of the battery, and the rear end of the battery starts clamping; then the sliding base 541 moves backward to drive the entire mechanism to move, the position of contact surface two remains unchanged, and the battery is still in the slot. The elastic force released by spring one 5434 pushes contact surface one and the battery to be pre-clamped. When the sliding base 541 continues to move backward, the battery limit assembly 546 moves the battery from the drone compartment and completely removes it from the interface between the drone and the battery. When the backward movement cancels the limit, the clamping force stored in spring two 5433 is released, compressing spring one 5434 to clamp the battery as a whole. At this time, the clamping force and the pre-clamping force work at the same time, but the clamping force is larger overall.

[0099] The vertical drive module 52 drives the elastic battery replacement component 54 to descend to the drone battery compartment 6 inside the machine nest 1, and removes the empty battery. The steps of removing the battery are the same as the steps of installing the battery into the drone battery compartment in the lower section, which will not be repeated here, and the fully charged battery is loaded from the fully charged battery compartment and ascended.

[0100] The process of loading a fully charged battery to the battery replacement station is similar to the battery removal principle mentioned above. After the z-axis direction of the linear module 53 is in place, the linear module 53 drives the sliding base 541 to move as a whole toward the battery compartment of the drone. When the clamp 5431 contacts the end of the sliding slot 542, the movement of spring two 5433 is restricted, and the contact surface two no longer moves. At this time, the linear module 53 still pushes the sliding base 541 to move. At this time, spring one 5434 pulls up and releases the pre-clamping force. When the clamp 5431 contacts the limit block 531, the battery limit assembly 546 on the clamping arm 545 works, and the battery rear block 5465 pops out from the rear of the battery in the opposite direction, and the battery is connected to the aircraft / charging compartment interface under the pre-clamping force of spring one 5434.

[0101] Reference Fig.13 and Fig.14 The battery limiting assembly 546 is provided with two groups, which are respectively installed on the outside of the two clamping arms 545. When the clamping arms 545 move to both sides of the battery and the inner rod 5435 and the outer rod 5436 are in place, the rear of the battery can be clamped by controlling the battery limiting assembly 546;

[0102] Specifically, the battery limit assembly 546 includes a rotating shaft 5462, and the end of the rotating shaft 5462 is connected to a battery rear block 5465 toward the UAV push support mechanism 4, and the end of the battery rear block 5465 is inclined, and when it rotates to the rear of the battery, it can prevent damage to the battery; the other end of the rotating shaft 5462 is connected to a motor 5461, and the motor 5461 can drive the battery rear block 5465 to rotate; a card block is installed in the middle of the rotating shaft 5462, and a sensing plate 5463 in the same direction as the battery rear block 5465 is arranged on the card block, and a proximity sensor for detecting its position is also arranged on the clamping arm 545 and on one side of the sensing plate 5463, and the proximity sensor is used to detect whether the sensing plate 5463 is rotated into place, and further can also detect whether the battery rear block 5465 is rotated into place;

[0103] It should be noted that the battery rear block 5465 and the induction plate 5463 are both set upward in the initial state. By controlling them to rotate 90 degrees, the battery rear block 5465 can be turned to the rear of the battery. The design here is used to simulate the characteristics of a human hand exerting force from the rear of the battery, and cooperate with the elastic clamping of the front end of the battery to achieve the removal and installation of the battery; a positioning block 5464 is also sleeved on the outer side of the rotating shaft 5462, and the bottom of the positioning block 5464 is fixed on the clamping arm 545, which is used to limit the rotation of the rotating shaft 5462 to a certain extent;

[0104] When in use, the motor 5461 is used to control the rotation of the rotating shaft 5462, thereby driving the induction plate 5463 and the battery rear block 5465 to rotate 90 degrees toward the rear of the drone battery, and the battery rear block 5465 can be rotated just to the rear of the battery; in actual use, the drone reserves a certain space at the rear of the battery for replacing the battery, and the thickness of the battery rear block 5465 of the present application is smaller than the width of the space, ensuring that the battery rear block 5465 can be completely screwed into the rear of the battery, and can also prevent the battery rear block 5465 from completely fitting the battery and rotating, thereby preventing damage to the battery.

[0105] Reference Fig.12 The battery knob unlocking block 548 is installed in the middle position of the connecting frame 544. The battery knob unlocking block 548 has a "U" shape structure and can be just stuck in the knob switch in the middle of the front end of the two batteries of the drone. When the front end contact surface of the inner rod 5435 contacts the front end of the battery in the final form (that is, when the clamp 5431 and the limit block 543 are in contact), the battery knob unlocking block 548 can just clamp the knob switch at the front end of the battery. The micro-motion sensor inside the battery knob unlocking block 548 contacts the knob switch, and then automatically controls the servo 547 on the other side of the connecting frame 544 to drive the battery knob unlocking block 548 to rotate, so that the knob switch can be turned out, and the battery can be removed later.

[0106] Example 2

[0107] Based on Example 1, Example 2 proposes a method for using a drone to automatically replace a battery nest, which specifically includes the following steps:

[0108] When the present invention is not used, Figure 1 When the UAV flight mission is over, it returns to the nest and lands on the landing board. Before that, the nest canopy 2 is opened to the landing board by driving the rotating rod 3 and the internal driving system. Figure 2 state, then control the drone to land on the landing frame 41, and then push the drone to the designated position for battery replacement through the lateral pushing rod 42, the vertical pushing rod 43 and the vertical positioning plate 44 on the landing frame 41. The designated position for battery replacement here can ensure that when the card 5431 contacts the limit stopper 531, the front contact surface of the inner rod 5435 fully contacts the front end of the battery, and at the same time, the battery rear stopper 5465 rotates 90 degrees to just screw into the rear end of the battery;

[0109] Then the vertical drive module 52 drives the linear module 53 to move upwards and fix it in the Z-axis direction. After it moves to the specified height for battery replacement, the linear module 53 controls the sliding base 541 to move horizontally, that is, to move in the X-axis direction. Then, the contact surface at the end of the inner rod contacts the battery and continues to move forward. At this time, the two springs are continuously compressed. When the clamp 5431 contacts the end of the sliding slot 542 (such as Fig.11 ) The movement of spring 2 is restricted, and the contact surface 2 of the outer rod no longer moves. At this time, the sliding base 541 continues to move forward, and spring 1 5434 releases a certain elastic force. After the clamping piece 5431 contacts the limit block 531, the clamping arm servo is actuated to drive the rotating shaft 5462 and the battery rear block 5465 to rotate 90°. At this time, the entire sliding base 541 moves backward to drive the entire mechanism to move. At this time, the position of contact surface 2 remains unchanged, and the battery is still in the slot. The elastic force released by spring 1 5434 pushes the contact surface 1 to pre-clamp the battery. When the sliding base 541 continues to move backward, when the backward movement cancels the limit, the elastic force stored in spring 2 is released, compressing spring 1 to clamp the battery as a whole.

[0110] After being taken out, the battery is driven downward by the vertical drive module 52 to the battery compartment 6 inside the machine nest 1, and is placed in the battery compartment 6 for charging. Then the fully charged battery or the fully charged battery clip in the battery compartment 6 is taken out (the process of taking the battery out of the battery compartment 6 is the same as the process of taking the battery out of the drone, which is not described in detail here), and then moved upward by the vertical drive module 52, and installed into the drone through the cooperation of the linear module 53 and the elastic battery replacement component 54. The battery installation step is the reverse process of the battery removal step.

[0111] It should be noted that during the entire process of removing and installing the battery, the engine nest hatch 2 can be closed to prevent contamination by external impurities.

[0112] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. The drone's automatic battery replacement nest is characterized by: A drone straightening support mechanism (4) is arranged on the horizontal plane of the machine nest (1), and a battery replacement mechanism (5) for replacing batteries for the drone is arranged inside the machine nest (1) and on one side of the drone straightening support mechanism (4); The battery exchange mechanism (5) comprises an elastic battery exchange component (54) and a driving mechanism capable of horizontal and vertical movement, wherein the driving mechanism drives the elastic battery exchange component (54) to move horizontally, and the elastic battery exchange component (54) comprises a double spring clamping component (543) and a clamping arm component; at different stages of movement of the elastic battery exchange component (54), the clamping force of the battery can be adjusted by the double spring clamping component (543); when the double spring clamping component (543) moves to the battery exchange station, the clamping arm component is started; when the driving mechanism drives the elastic battery exchange component (54) to move back to the drone, the battery is driven by the clamping arm component to detach from the drone, thereby completing the battery unloading; The driving mechanism drives the elastic battery replacement component (54) to descend, unloads the empty battery, loads the fully charged battery and moves to the battery replacement station, and the elastic battery replacement component (54) pushes the fully charged battery into the battery compartment of the drone; The machine nest (1) is rotatably connected to a machine nest hatch cover (2); when the machine nest hatch cover (2) is closed, a blade retracting mechanism inside the machine nest hatch cover (2) automatically retracts the blades of the UAV.

2. The drone automatic battery replacement nest according to claim 1, characterized in that: The double spring clamping assembly (543) includes a connecting plate (5432), one side of the connecting plate (5432) is provided with a clamping member (5431), and the clamping member (5431) is slidably connected in a sliding groove (542) provided on the sliding base (541); The other two ends of the connecting plate (5432) are connected to an outer rod (5436) that passes through the connecting frame (544), wherein the inner part of the outer rod (5436) is slidably connected to an inner rod (5435), a spring 1 (5434) is sleeved on the outer side of the inner rod (5435), and a spring 2 (5433) is sleeved on the outer side of the outer rod (5436) and located on the front side of the connecting frame (544).

3. The automatic battery replacement nest for unmanned aerial vehicles according to claim 2, characterized in that: A limit stopper (531) corresponding to the clamp (5431) is provided at one end of the top of the driving mechanism that faces the drone straightening support mechanism (4); When the clamp (5431) moves laterally to contact the limit stopper (531), the spring 1 (5434) and the spring 2 (5433) are compressed, and the contact surface 1 at the end of the inner rod (5435) contacts the front end of the drone battery.

4. The drone automatic battery replacement nest according to claim 1, characterized in that: The elastic power exchange component (54) comprises a connecting frame (544), a side of the connecting frame (544) away from the drone straightening support mechanism (4) is connected to a sliding base (541), and a bottom of the sliding base (541) is connected to a driving mechanism; The connecting frame (544) is provided with clamping arm assemblies at both ends of one side facing the drone pushing support mechanism (4), and the clamping arm assembly includes a clamping arm (545) and a battery limiting assembly (546) arranged thereon; The double spring clamping assembly (543) is arranged in the middle of the connecting frame (544), and cooperates with the battery limiting assemblies (546) on both sides to form an elastic clamping for the drone battery.

5. The automatic battery replacement nest for unmanned aerial vehicles according to claim 4, characterized in that: The battery limiting assembly (546) includes a rotating shaft (5462), and the end of the rotating shaft (5462) that pushes the support mechanism (4) toward the drone is connected to a battery rear block (5465), and the other end of the rotating shaft (5462) is connected to a motor (5461), and the battery rear block (5465) can be driven to rotate by the motor (5461).

6. The drone automatic battery replacement nest according to claim 5, characterized in that: A card block is installed in the middle of the rotating shaft (5462), and a sensing plate (5463) is arranged on the card block in the same direction as the battery rear block (5465). A proximity sensor for detecting the position of the sensing plate (5463) is also arranged on the clamping arm (545) and on one side of the sensing plate (5463).

7. The drone automatic battery replacement nest according to claim 4, characterized in that: A battery knob unlocking block (548) is provided on one side of the middle of the connecting frame (544) and between the double spring clamping components (543). The battery knob unlocking block (548) can just clamp the knob switch of the drone battery. A servo (547) connected to the battery knob unlocking block (548) is provided on the rear side of the connecting frame (544).

8. The drone automatic battery replacement nest according to claim 1, characterized in that: The driving mechanism comprises a vertical driving module (52) and a linear module (53) installed on one side of the vertical driving module (52), the vertical driving module (52) is capable of driving the linear module (53) to move vertically, and the elastic power exchange component (54) is installed on the linear module (53).

9. The drone automatic battery replacement nest according to claim 1, characterized in that: The UAV pushing and supporting mechanism (4) comprises a landing frame (41), a landing board for placing the UAV is arranged above the landing frame (41), and two lateral pushing and supporting rods (42) capable of positioning the UAV, a vertical positioning plate (44) and a vertical pushing and supporting rod (43) are arranged on the landing board.

10. The drone automatic battery replacement nest according to claim 9, characterized in that: The vertical positioning plate (44) is provided with a positioning groove (441) for clamping the drone base. Both ends of the vertical positioning plate (44) are connected to a positioning plate slider (46) located below the landing frame (41). The two sets of positioning plate sliders (46) are driven to move vertically by a positioning plate driving assembly below the landing frame (41).

11. The drone automatic battery replacement nest according to claim 9, characterized in that: Both ends of the vertical straightening rod (43) are connected to straightening rod sliders (410) located below the landing frame (41), and the two groups of straightening rod sliders (410) are driven to move vertically by the limit rod driving assembly below the landing frame (41).

12. The drone automatic battery replacement nest according to claim 1, characterized in that: A drone battery compartment (6) is provided inside the machine nest (1) and below the drone pushing support mechanism (4), and the elastic battery replacement component (54) is capable of lifting and pushing the fully charged batteries in the battery compartment (6) into the drone battery compartment.

13. The drone automatic battery replacement nest according to claim 1, characterized in that: The two sides of the horizontal plane of the machine nest (1) are connected to the machine nest cover (2) by driving the rotating rod (3); a driving motor (23) is arranged inside the machine nest (1); two ends of the driving motor (23) are respectively connected to the synchronous pulley (24) located on the driving rotating rod (3) through the output shaft; the other end of the synchronous pulley (24) is connected to the synchronous pulley between the rotating rod (3) and the machine nest cover (2) through the synchronous belt transmission.

14. The drone automatic battery replacement nest according to claim 1, characterized in that: The drone straightening support mechanism (4) is also provided with a blade auxiliary storage assembly, which comprises a rotating rod (7), one end of which is connected to the motor and the other end is fixed to the machine nest (1) via a support (72), and a blade pushing rod (71) is installed on the rotating rod (7).

15. The method for operating the drone nest for automatic battery replacement according to any one of claims 1 to 14 is characterized in that: The steps include: The UAV lands on the landing board of the machine nest (1), and the attitude of the UAV is adjusted by the UAV push-up support mechanism (4), and then the position is adjusted to the power replacement position and fixed, and then the machine nest hatch (2) is rotated to close the machine nest (1), and during the process, the propeller blade retracting mechanism automatically retracts the propeller blades of the UAV; The driving mechanism drives the elastic battery exchange component (54) to move first to contact the drone battery, and then continues to drive the elastic battery exchange component (54) to move. During the movement, the clamping force of the double spring clamping component (543) on the battery is adjusted according to the position of the elastic battery exchange component (54) until it moves to the battery exchange station, and the clamping arm component is started to clamp the battery; when the driving mechanism drives the elastic battery exchange component (54) to move back to the drone, the battery is driven by the clamping arm component to move from the drone battery compartment, and the battery is unloaded; The driving mechanism drives the elastic battery replacement component (54) to descend to the fully-charged battery compartment of the drone, removes the empty battery, and loads the fully-charged battery from the fully-charged battery compartment and moves it to the battery replacement station, and the elastic battery replacement component (54) pushes the fully-charged battery into the drone battery compartment; When the UAV takes off, the UAV pushes the support mechanism (4) back to the take-off position and opens the cabin cover (2).

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