Liftable battery replacing mechanism and method for unmanned aerial vehicle

Abstract

The application discloses a liftable battery replacing mechanism and method for a UAV, which solves the problems of low operation efficiency, complex path planning and poor adaptability to multi-layer battery compartments of traditional UAV battery replacing through multi-axis linkage design and precise control of a servo driving system. The battery replacing mechanism utilizes multi-axis linkage of X-axis, Y-axis and Z-axis to quickly align the target battery or the UAV battery replacing position, significantly reducing the battery replacing operation time. Meanwhile, the lifting function of the Z-axis effectively avoids the problem of paddle interference, and the path avoidance can be completed without lifting the UAV platform, optimizing the operation rhythm. The application is completely controlled by PLC without manual intervention, achieving the purpose of unmanned operation and eliminating the low efficiency and misoperation risk of manual battery replacing. The application is suitable for various UAV intelligent air stations, can significantly improve the endurance of the UAV, meets the demand of continuous operation, and comprehensively solves the technical bottleneck in the background technology.

Description

Technical Field

[0001] This application relates to the field of liftable battery swapping technology for unmanned aerial vehicles (UAVs), and in particular to a liftable battery swapping mechanism and method for UAVs. Background Technology

[0002] With the rapid development of drone technology, drones are increasingly being used in agriculture, logistics, security monitoring, and many other fields. The efficient operation of drones typically relies on their battery endurance, and in most application scenarios, long-term continuous operation places higher demands on the rapid replacement of batteries. As a key piece of equipment, drone battery swapping mechanisms can efficiently complete battery replacement operations without human intervention, thereby improving the operational efficiency of drones. To address this need, intelligent drone air stations (hereinafter referred to as "air stations") are gradually becoming the main platform for realizing drone battery swapping.

[0003] However, existing UAV battery swapping mechanisms generally suffer from technical limitations. Most UAV battery swapping operations in these stations require raising and lowering the UAV platform to avoid structural interference with the swapping mechanism. This approach often leads to complex operational procedures and reduced swapping efficiency. Especially in stations with multiple battery compartments, the long movement path of the swapping mechanism means that platform raising and lowering not only increases the operation cycle time but also risks equipment failure due to propeller collisions with the swapping mechanism. Furthermore, existing multi-axis linkage designs for battery swapping mechanisms are primarily focused on the horizontal direction, lacking sufficient adaptability to the vertical direction. This makes it difficult to meet the layout requirements of battery compartments at different heights, further limiting the reliability and flexibility of UAV battery swapping operations. Summary of the Invention

[0004] This application provides a liftable battery swapping mechanism and method for unmanned aerial vehicles (UAVs), aiming to solve the problem that the multi-axis linkage design of existing battery swapping mechanisms is mostly concentrated in the horizontal direction and lacks adaptability to the vertical direction.

[0005] In a first aspect, a liftable battery swapping mechanism for a drone, the mechanism comprising:

[0006] The X-axis motion unit is used to drive the battery swapping mechanism to move horizontally to the battery compartment or the drone battery replacement location.

[0007] The Y-axis motion unit is used to drive the battery swapping mechanism to extend or retract horizontally to approach the target battery location.

[0008] The Z-axis motion unit is used to drive the battery swapping mechanism to move up and down in the vertical direction to align with the target battery position in the battery compartment or the drone battery replacement position, and to avoid interference from the drone.

[0009] A hook mechanism is used to grab or release a target battery.

[0010] The servo drive system provides power to the X-axis motion unit, Y-axis motion unit, Z-axis motion unit, and hook mechanism;

[0011] The programmable logic controller communicates with the servo drive system via the ECAT bus protocol to control the coordinated movements of the X-axis motion unit, Y-axis motion unit, Z-axis motion unit, and hook mechanism.

[0012] Optionally, in the above scheme, the X-axis motion unit has three preset positions: the left battery compartment position, the right battery compartment position, and the drone battery replacement position.

[0013] Optionally, in the above scheme, the Y-axis motion unit has three preset positions, including the initial position, the extended position of the battery compartment, and the extended position of the drone.

[0014] In the above scheme, optionally, the Z-axis motion unit has three height positions, namely the target battery position corresponding to the lower battery compartment, the target battery position of the upper battery compartment, and the UAV battery position.

[0015] Optionally, in the above scheme, the hook mechanism is driven by a servo motor to rotate a synchronous link, and a hook is provided at the end of the link, which is used to grab or release the target battery.

[0016] Optionally, in the above scheme, the battery swapping mechanism is mounted entirely on a linear guide rail, and the X-axis motion unit moves along the linear guide rail.

[0017] Optionally, in the above scheme, the servo drive system receives motion control commands from the PLC via the ECAT bus protocol to achieve absolute positioning control of the X-axis motion unit, Y-axis motion unit, Z-axis motion unit, and hook mechanism.

[0018] Secondly, a liftable battery swapping method for unmanned aerial vehicles (UAVs) includes the following steps:

[0019] Control the X-axis motion unit to move to the battery compartment or the drone battery replacement location;

[0020] Control the Z-axis motion unit to move up and down to align with the target battery position;

[0021] Control the Y-axis motion unit to extend horizontally;

[0022] Control the hook mechanism to grab or release the target battery;

[0023] Control the Y-axis motion unit and the Z-axis motion unit to return to their initial positions in sequence.

[0024] Optionally, when controlling the movement of the X-axis motion unit, if the path needs to cross the drone, the Z-axis motion unit is controlled to rise to the corresponding position of the upper battery compartment to avoid the interference area of ​​the drone.

[0025] Optionally, the battery swapping operation in the above scheme includes the following two parts:

[0026] Battery retrieval operation: Control the X-axis motion unit to move to the battery compartment position, control the Z-axis motion unit to rise and fall to the target battery position in the battery compartment, control the Y-axis motion unit to extend, control the hook mechanism to grab the target battery, and control the Y-axis motion unit and Z-axis motion unit to return to their initial positions in sequence.

[0027] Battery replacement operation: Control the X-axis motion unit to move to the drone battery replacement position, control the Z-axis motion unit to rise and fall to the drone battery replacement position, control the Y-axis motion unit to extend, control the hook mechanism to release the target battery, and control the Y-axis motion unit and Z-axis motion unit to return to their initial positions in sequence.

[0028] Compared with the prior art, this application has at least the following beneficial effects:

[0029] Based on further analysis and research of existing technical problems, this application recognizes that the multi-axis linkage design of battery swapping mechanisms is mostly concentrated in the horizontal direction, lacking adaptability to the vertical direction. Through multi-axis linkage design and precise control of the servo drive system, this invention solves the problems of low efficiency, complex path planning, and poor adaptability to multi-layer battery compartments in traditional UAV battery swapping operations. The battery swapping mechanism of this invention utilizes multi-axis linkage of the X, Y, and Z axes to achieve rapid alignment of the target battery or UAV battery replacement position, significantly reducing battery swapping operation time. Simultaneously, the Z-axis lifting function effectively avoids propeller interference problems, enabling path avoidance without UAV platform lifting, thus optimizing the operation cycle. This invention is entirely controlled by a PLC, requiring no manual intervention, achieving unmanned operation and eliminating the inefficiency and risk of misoperation associated with manual battery swapping. Furthermore, the multi-axis design enhances the system's flexibility and adaptability, fitting high and low-layer battery compartments and various UAV layout scenarios. At the same time, the servo drive system combined with the ECAT bus protocol ensures high-precision execution of each action, improving the overall system's stability and safety. This invention is applicable to various intelligent air stations for unmanned aerial vehicles (UAVs). In fields such as agriculture, logistics, and security monitoring, it can significantly improve the endurance of UAVs, meet the needs of continuous operation, and comprehensively solve the technical bottlenecks in the background technology. Attached Figure Description

[0030] Figure 1 A circuit block diagram of a liftable battery swapping mechanism for an unmanned aerial vehicle (UAV) provided in an embodiment of this application;

[0031] Figure 2A schematic diagram of a liftable battery swapping mechanism for an unmanned aerial vehicle (UAV) provided in an embodiment of this application;

[0032] Figure 3 A circuit block diagram of another liftable battery swapping mechanism for a drone provided in an embodiment of this application;

[0033] Figure 4 This is a schematic flowchart illustrating a battery swapping method for a drone provided in an embodiment of this application. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0035] In one embodiment, such as Figures 1 to 3 As shown, a liftable battery swapping mechanism for unmanned aerial vehicles (UAVs) is provided, comprising:

[0036] The X-axis motion unit is used to drive the battery swapping mechanism to move horizontally to the battery compartment or the drone battery replacement location.

[0037] The Y-axis motion unit is used to drive the battery swapping mechanism to extend or retract horizontally to approach the target battery location.

[0038] The Z-axis motion unit is used to drive the battery swapping mechanism to move up and down in the vertical direction to align with the target battery position in the battery compartment or the drone battery replacement position, and to avoid interference from the drone.

[0039] A hook mechanism is used to grab or release a target battery.

[0040] The servo drive system provides power to the X-axis motion unit, Y-axis motion unit, Z-axis motion unit, and hook mechanism;

[0041] The programmable logic controller communicates with the servo drive system via the ECAT bus protocol to control the coordinated movements of the X-axis motion unit, Y-axis motion unit, Z-axis motion unit, and hook mechanism.

[0042] In this embodiment, the hardware components of the battery swapping mechanism are as follows:

[0043] X-axis motion unit:

[0044] To enable the battery swapping mechanism to move horizontally.

[0045] The X-axis motion unit is mounted on a linear guide rail and driven by a servo motor. Its motion range is preset to three positions: the left battery compartment position, the right battery compartment position, and the drone battery replacement position.

[0046] The servo drive system receives PLC commands via the ECAT bus protocol to achieve precise absolute positioning.

[0047] Y-axis motion unit:

[0048] Used to extend or retract the battery swapping mechanism horizontally to approach the target battery.

[0049] The guide rail and lead screw design converts the rotary motion of the servo motor into linear motion.

[0050] Its extension range is precisely set, enabling it to reach the target locations of the battery compartment and the drone battery, respectively.

[0051] Z-axis motion unit:

[0052] Used for vertical lifting of the battery swapping mechanism.

[0053] The Z-axis lifting range is divided into three positions: the target battery position in the lower battery compartment, the target battery position in the upper battery compartment, and the drone battery replacement position.

[0054] When it is necessary to avoid interference from the drone propellers, the Z-axis can quickly rise to the corresponding position in the upper battery compartment to ensure that the battery swapping operation is completed smoothly.

[0055] Hook mechanism:

[0056] The synchronous linkage is driven to rotate by a servo motor, and a hook is provided at the end of the linkage.

[0057] The hook can accurately grab the target battery to complete the power extraction or power return action.

[0058] Servo drive system:

[0059] It provides power to each motion unit and hook mechanism.

[0060] It communicates with the PLC via the ECAT bus protocol and receives motion commands issued by the PLC.

[0061] Programmable Logic Controller (PLC):

[0062] Used for overall control of the battery swapping mechanism's operation.

[0063] The PLC automates the battery swapping process through multi-axis coordinated control of the motion unit and hook mechanism.

[0064] The battery swapping operation procedure in this embodiment is as follows:

[0065] Battery retrieval operation: The X-axis motion unit moves to the target battery compartment location. The Z-axis motion unit rises and falls to the specific location of the target battery (high-level or low-level battery compartment). The Y-axis motion unit extends horizontally, and the hook mechanism grabs the target battery. The Y-axis and Z-axis motion units retract sequentially, completing the battery retrieval operation.

[0066] Battery replacement operation: The X-axis motion unit moves to the drone battery replacement position. The Z-axis motion unit rises and falls to the drone battery replacement height. The Y-axis motion unit extends, and the hook mechanism releases the target battery. The Y-axis and Z-axis motion units retract sequentially, completing the battery replacement operation.

[0067] Control logic: The target positions of each motion unit are defined through PLC programming. Based on task instructions, the battery swapping operation is automatically executed, including battery grabbing, transfer, and release.

[0068] This embodiment utilizes a multi-axis linkage design, enabling the battery swapping mechanism to quickly align with the target battery location or the drone battery replacement location, reducing the time consumed in the battery swapping operation. The Z-axis lifting function avoids complex path planning or repetitive actions caused by propeller interference, significantly optimizing the battery swapping cycle time. The battery swapping mechanism is controlled by a PLC, and all operations are automated, requiring no manual intervention. This solves the problems of low efficiency and misoperation in traditional manual battery swapping, improving system reliability. The multi-axis design of X, Y, and Z axes allows the battery swapping mechanism to adapt to various battery compartment layouts. Especially in situations where battery compartment heights are inconsistent or where it is necessary to avoid drone interference areas, the battery swapping mechanism demonstrates extremely high adaptability. The servo drive system achieves high-precision absolute positioning via the ECAT bus, ensuring accurate execution of each action. This avoids battery grabbing or releasing failures due to errors, thereby improving the overall system stability.

[0069] The background technology mentions that existing battery swapping mechanisms require the drone platform to be raised and lowered to avoid propellers, increasing operational complexity and cycle time. This invention, through a Z-axis lifting design, allows the drone platform to avoid propellers without lifting, significantly improving battery swapping efficiency. For multi-layered battery compartment layouts, the multi-axis linkage design of this invention can adapt to the height difference between upper and lower battery layers, solving the problem of insufficient vertical adaptability in existing technologies. The battery swapping mechanism is designed independently and is suitable for various drone smart air stations (terminals), completing tasks without the need for other equipment. In continuous operations in agriculture, logistics, and security monitoring, this invention can significantly improve the drone's endurance and operational efficiency.

[0070] In this embodiment, the target position refers to the horizontal position to which the X-axis motion unit moves, including the battery compartment position or the drone battery replacement position.

[0071] Target battery location: refers to the specific location aligned with the Z-axis and Y-axis, including the battery location inside the battery compartment or the location for replacing the drone battery.

[0072] Battery compartment location: The horizontal coordinate of the battery compartment, aligned by the X-axis motion unit.

[0073] Drone battery replacement location: The specific location on the drone where the battery to be replaced is located.

[0074] Through the specific implementation methods and technical effects described above, this embodiment effectively solves the problems of low battery swapping efficiency, complex operation, and poor adaptability existing in the background technology. Its innovation lies in achieving precise control through multi-axis linkage and optimizing the battery swapping path through Z-axis lifting function, which significantly improves the operating efficiency of the UAV and the stability of the battery swapping mechanism.

[0075] In this embodiment, the X-axis motion unit has three preset positions: the left battery compartment position, the right battery compartment position, and the drone battery replacement position.

[0076] This embodiment utilizes a servo drive system and encoder feedback control to achieve millimeter-level precision positioning of the X-axis motion unit within a horizontal range, preventing battery swapping failures due to positioning errors. Three preset positions cover all target points for battery swapping operations, simplifying the positioning logic and enabling the X-axis to quickly switch to the target position, reducing swapping time. Whether in a symmetrical battery compartment layout or a layout relatively independent of the drone's position, the X-axis motion unit can easily adapt through horizontal movement. The X-axis and Z-axis are linked; when it's necessary to avoid drone interference areas, the horizontal movement of the X-axis coordinates with the vertical movement of the Z-axis, preventing collisions between the battery swapping mechanism and the drone's propellers. Because the X-axis motion unit uses a standardized linear guide design, the battery swapping mechanism can be expanded to accommodate more battery compartments or multiple drones as needed.

[0077] In this embodiment, the Y-axis motion unit has three preset positions, including the initial position, the extended position of the battery compartment, and the extended position of the drone.

[0078] In this embodiment, the Z-axis motion unit has three height positions, which are the target battery position corresponding to the lower battery compartment, the target battery position of the upper battery compartment, and the drone battery position.

[0079] In this embodiment, the hook mechanism is driven by a servo motor to rotate a synchronous link, and a hook is provided at the end of the link, which is used to grab or release the target battery.

[0080] In this embodiment, the battery swapping mechanism is mounted on a linear guide rail, and the X-axis motion unit moves along the linear guide rail.

[0081] In this embodiment, the servo drive system receives motion control commands from the PLC via the ECAT bus protocol to achieve absolute positioning control of the X-axis motion unit, Y-axis motion unit, Z-axis motion unit, and hook mechanism.

[0082] In one embodiment, a battery swapping method for a drone is provided, the battery swapping method comprising the following steps:

[0083] Control the X-axis motion unit to move to the battery compartment or the drone battery replacement location;

[0084] Control the Z-axis motion unit to move up and down to align with the target battery position;

[0085] Control the Y-axis motion unit to extend horizontally;

[0086] Control the hook mechanism to grab or release the target battery;

[0087] Control the Y-axis motion unit and the Z-axis motion unit to return to their initial positions in sequence.

[0088] This embodiment includes:

[0089] Step 1: Control the X-axis motion unit to move to the target position, which includes the battery compartment position and the drone battery replacement position.

[0090] The PLC determines the horizontal coordinates of the target position according to the task requirements, sends instructions to the servo drive system, and controls the X-axis to move along the linear guide.

[0091] When the path may cross the drone's interference zone, the PLC synchronously commands the Z-axis to rise to the position of the upper battery compartment to avoid it.

[0092] Step 2: Control the Z-axis motion unit to move up and down. The Z-axis motion unit adjusts the position of the target battery vertically according to the current task.

[0093] In battery compartment missions, the Z-axis is positioned at the corresponding height of the upper or lower battery compartment; in drone missions, the Z-axis is positioned at the drone battery replacement location.

[0094] The Z-axis lifting is controlled by a servo drive system, which, combined with encoder feedback, achieves precise positioning.

[0095] Step 3: Control the Y-axis motion unit to extend horizontally. The Y-axis motion unit extends via a guide rail and lead screw structure, driving the hook mechanism to approach the target battery. The extension distance is preset by the PLC according to the task, ensuring that the hook can safely grab or release the battery.

[0096] Step 4: Control the hook mechanism to grab or release the target battery. The hook mechanism closes during battery retrieval and opens during battery return. The hook action is driven by a servo motor, achieving stable and reliable mechanical movement through a synchronous linkage.

[0097] Step 5: Control the Y-axis and Z-axis motion units to return to their initial positions sequentially. After completing the battery swap, the Y-axis returns to its initial position to avoid interfering with other equipment. The Z-axis returns to its initial height to prepare for the next task.

[0098] In this embodiment, all operations are controlled by PLC, requiring no manual intervention, which improves the level of automation and reduces the risk of human error.

[0099] The multi-axis linkage design optimizes the battery swapping process and reduces the waiting time for task execution.

[0100] The rapid switching of drone batteries between the battery compartment and the drone significantly reduces downtime.

[0101] The high-precision control of each motion unit ensures the accuracy of the target battery grasping and releasing actions, avoiding failures caused by positioning errors.

[0102] The battery swapping method can adapt to battery compartment layouts at different altitudes and various battery replacement locations for drones, making it widely applicable.

[0103] Stable mechanical motion design and efficient control logic reduce equipment wear and reduce maintenance frequency.

[0104] The system automatically avoids interference zones during battery swapping, reducing the possibility of equipment collisions and improving the overall system safety.

[0105] In this embodiment, when controlling the movement of the X-axis motion unit, if the path needs to cross the drone, the Z-axis motion unit is controlled to rise to the corresponding position of the upper battery compartment to avoid the interference area of ​​the drone.

[0106] The specific implementation of this embodiment is as follows:

[0107] Path determination:

[0108] The PLC receives the current task target position and reads the current X-axis position coordinates.

[0109] If the target is located on the other side of the horizontal area where the drone's propellers are located, the system determines that an avoidance maneuver is required.

[0110] Avoidance maneuvers:

[0111] The PLC controls the Z-axis motion unit to rise to the upper battery compartment position, so that the highest point of the battery swapping mechanism exceeds the height of the drone's propellers.

[0112] The X-axis motion unit moves along the linear guide to the target position at the avoidance height.

[0113] Resume normal procedure:

[0114] After the X-axis completes the crossing, the PLC instructs the Z-axis to adjust to the height corresponding to the target battery.

[0115] The battery swapping process continues according to normal logic, including the extension of the Y-axis and the movement of the hook mechanism.

[0116] This embodiment's obstacle avoidance logic ensures the battery swapping mechanism can smoothly cross drone propellers or other obstacles, avoiding the risk of equipment damage. Replacing complex path replanning with a simple elevation operation reduces the complexity of path calculation and motion control. In complex scenarios with interference, the introduction of obstacle avoidance logic improves mission success rates. The obstacle avoidance process requires no manual intervention, is highly efficient, ensures minimal crossing time, and maintains overall cycle time without significant impact. Regardless of propeller height, the obstacle avoidance logic can dynamically adjust, making it suitable for different drone models and specifications.

[0117] In this embodiment, the battery swapping operation includes the following two parts:

[0118] Battery retrieval operation: Control the X-axis motion unit to move to the battery compartment position, control the Z-axis motion unit to rise and fall to the target battery position in the battery compartment, control the Y-axis motion unit to extend, control the hook mechanism to grab the target battery, and control the Y-axis motion unit and Z-axis motion unit to return to their initial positions in sequence.

[0119] Battery replacement operation: Control the X-axis motion unit to move to the drone battery replacement position, control the Z-axis motion unit to rise and fall to the drone battery replacement position, control the Y-axis motion unit to extend, control the hook mechanism to release the target battery, and control the Y-axis motion unit and Z-axis motion unit to return to their initial positions in sequence.

[0120] like Figure 4 As shown, in another embodiment of this application, a liftable battery swapping mechanism and method for unmanned aerial vehicles (UAVs) are provided for battery replacement operations on UAVs within a terminal. The battery swapping mechanism can efficiently complete battery retrieval and return, and through the cyclical use of four sets of batteries, ensures continuous operation of the UAV.

[0121] The battery swapping mechanism includes an X-axis motion unit, a Y-axis motion unit, a Z-axis motion unit, and a hook mechanism, all driven by servo motors and uniformly controlled by a programmable logic controller (PLC) via the ECAT bus protocol. The X-axis motion unit moves the entire battery swapping mechanism horizontally to align with the target battery position or target battery compartment position; the Y-axis motion unit drives the battery swapping mechanism to extend horizontally to the target position; the Z-axis motion unit enables the vertical lifting and lowering of the battery swapping mechanism to adapt to battery compartment positions at different heights on both sides; the hook mechanism can hook the battery through rotation and, in conjunction with the Y-axis motion unit, complete the battery retrieval and return operation.

[0122] The control system consists of a PLC and servo drives. The PLC communicates with the servo drives via the ECAT bus protocol, and the motion parameters of each motion unit are defined in the PLC program. The X-axis motion unit has three preset positions, corresponding to the target battery compartment positions on the left and right sides and the drone battery replacement position, respectively. The Y-axis motion unit has three preset states, including the fully retracted state, the extended state 1 corresponding to the target battery compartment, and the extended state 2 corresponding to the drone battery replacement position. The Z-axis motion unit has three preset positions, namely the drone battery replacement position, the lower battery compartment position, and the upper battery compartment position, where the upper battery compartment position is used to avoid interference areas such as drone propellers. The hook mechanism has two action states: the initial state and the hook / release action state.

[0123] The hardware components of the liftable battery swapping mechanism for UAVs provided in this application include: a PLC, a servo driver, a servo motor, a linear guide rail, and various machined parts. The PLC sends control commands to the servo driver via the ECAT bus protocol, driving the X-axis, Y-axis, and Z-axis motion units and the hook mechanism to complete the battery swapping operation.

[0124] The battery swapping mechanism is mounted on a linear guide rail, and the X-axis servo motor moves horizontally along the rail via a transmission device. The target positions of the X-axis include the battery compartments on both sides and the drone battery replacement position. Each movement is combined with encoder feedback to ensure positioning accuracy. The PLC controls the X-axis motion unit to move along the linear guide rail to the preset target position and align it with the target battery compartment or drone battery replacement position.

[0125] The Y-axis is driven by a guide rail and lead screw, converting the rotational motion of the servo motor into horizontal linear motion. After the X-axis reaches the target position, the Y-axis motion unit drives the battery swapping mechanism to extend horizontally to the target battery position. The extension distance of the Y-axis is set by the PLC through instructions to ensure that the extension length accurately meets the requirements for battery gripping or release.

[0126] The Z-axis motion unit is equipped with a vertical guide rail and a servo motor drive to achieve vertical lifting and lowering movements. The Z-axis height adjustment has three positions: lower battery compartment, upper battery compartment, and the drone battery replacement position. The Z-axis lifting and lowering movement is controlled by a PLC and adjusted to the appropriate height according to mission requirements. If the path needs to avoid the drone propeller area, the Z-axis will first rise to the upper battery compartment position to complete the avoidance operation.

[0127] The hook mechanism uses a servo motor to drive the synchronous linkage to rotate, and a hook is installed at the end of the linkage to firmly grasp or release the target battery. In the battery retrieval operation, the hook rotates from the initial state to the closed state to grasp the battery; in the battery return operation, the hook opens to release the battery.

[0128] The battery swapping process includes:

[0129] Battery retrieval operation: The hook mechanism is in its initial position, the Y-axis is fully retracted, and the Z-axis is adjusted to the lower battery compartment position. If the path needs to avoid the drone's interference area, the Z-axis first rises to the upper battery compartment position. After the X-axis motion unit moves to the target battery compartment's horizontal position, the Z-axis is adjusted to the target height, the Y-axis motion unit extends to the target battery position, and the hook mechanism closes to grasp the battery. After grasping, the Y-axis retracts, and the Z-axis resets.

[0130] Battery replacement operation: The hook mechanism is in the gripping state, with both the Y-axis and Z-axis in their initial positions. The X-axis motion unit moves to the drone battery replacement location. If avoidance is required, the Z-axis first rises to the upper battery compartment position before moving. Upon reaching the position, the Z-axis adjusts to the drone battery compartment height, the Y-axis extends to the replacement position, and the hook releases the battery. After release, the Y-axis retracts, and the Z-axis resets.

[0131] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A liftable battery swapping mechanism for unmanned aerial vehicles (UAVs), characterized in that, include: The X-axis motion unit is used to drive the battery swapping mechanism to move horizontally to the battery compartment or the drone battery replacement location. The Y-axis motion unit is used to drive the battery swapping mechanism to extend or retract horizontally to approach the target battery location. The Z-axis motion unit is used to drive the battery swapping mechanism to move up and down in the vertical direction to align with the target battery position in the battery compartment or the drone battery replacement position, and to avoid interference from the drone. A hook mechanism is used to grab or release a target battery. The servo drive system provides power to the X-axis motion unit, Y-axis motion unit, Z-axis motion unit, and hook mechanism; The programmable logic controller communicates with the servo drive system via the ECAT bus protocol to control the coordinated movements of the X-axis motion unit, Y-axis motion unit, Z-axis motion unit, and hook mechanism. The X-axis motion unit has three preset positions: the left battery compartment position, the right battery compartment position, and the drone battery replacement position. The Y-axis motion unit has three preset positions, including the initial position, the extended position of the battery compartment, and the extended position of the drone. The Z-axis motion unit has three height positions, namely the target battery position corresponding to the lower battery compartment, the target battery position to the upper battery compartment, and the drone battery position. The hook mechanism is driven by a servo motor to rotate a synchronous link. A hook is provided at the end of the link, which is used to grab or release the target battery.

2. The liftable battery swapping mechanism for unmanned aerial vehicles according to claim 1, characterized in that, The battery swapping mechanism is mounted on a linear guide rail, and the X-axis motion unit moves along the linear guide rail.

3. The liftable battery swapping mechanism for unmanned aerial vehicles according to claim 1, characterized in that, The servo drive system receives motion control commands from the PLC via the ECAT bus protocol to achieve absolute positioning control of the X-axis motion unit, Y-axis motion unit, Z-axis motion unit, and hook mechanism.

4. A battery swapping method for unmanned aerial vehicles (UAVs), characterized in that, The battery swapping method using the battery swapping mechanism according to any one of claims 1 to 3 includes the following steps: Control the X-axis motion unit to move to the battery compartment or the drone battery replacement location; Control the Z-axis motion unit to move up and down to align with the target battery position; Control the horizontal extension of the Y-axis motion unit; Control the hook mechanism to grab or release the target battery; Control the Y-axis motion unit and the Z-axis motion unit to return to their initial positions in sequence.

5. A battery swapping method for unmanned aerial vehicles according to claim 4, characterized in that, When controlling the movement of the X-axis motion unit, if the path needs to cross the drone, control the Z-axis motion unit to rise to the corresponding position of the upper battery compartment to avoid the interference area of ​​the drone.

6. A battery swapping method for unmanned aerial vehicles according to claim 4, characterized in that, The battery swapping operation includes the following two parts: Battery retrieval operation: Control the X-axis motion unit to move to the battery compartment position, control the Z-axis motion unit to rise and fall to the target battery position in the battery compartment, control the Y-axis motion unit to extend, control the hook mechanism to grab the target battery, and control the Y-axis motion unit and Z-axis motion unit to return to their initial positions in sequence. Battery replacement operation: Control the X-axis motion unit to move to the drone battery replacement position, control the Z-axis motion unit to rise and fall to the drone battery replacement position, control the Y-axis motion unit to extend, control the hook mechanism to release the target battery, and control the Y-axis motion unit and Z-axis motion unit to return to their initial positions in sequence.

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