Battery replacement system for freight unmanned aerial vehicle nest

Abstract

The invention discloses a battery replacement system for a freight unmanned aerial vehicle nest, and belongs to the technical field of unmanned aerial vehicle battery replacement, the battery replacement system comprises a three-degree-of-freedom linear module and a tail end battery replacement execution mechanism, and the three-degree-of-freedom linear module is used for driving the tail end battery replacement execution mechanism to move in the X-axis direction, the Y-axis direction and the Z-axis direction; the tail end battery replacement executing mechanism comprises a connecting frame, a rotating module, a rotating base and a mechanical gripper which are connected in sequence, the connecting frame is connected with the three-degree-of-freedom linear module, the rotating module is used for rotationally adjusting the angle and the position of the mechanical gripper, and the mechanical gripper is used for grabbing a battery; according to the invention, the automatic battery replacement operation of the unmanned aerial vehicle can be completed in a short time, the battery replacement efficiency is remarkably improved, the high-frequency and continuous operation requirements of the freight unmanned aerial vehicle can be met, the operation cost of the freight unmanned aerial vehicle can be reduced, and the large-scale application of the freight unmanned aerial vehicle is promoted.

Description

Technical Field

[0001] This invention relates to a battery swapping system for cargo drone nests, belonging to the field of drone battery swapping technology. Background Technology

[0002] With the rapid development of the logistics industry and the increasing maturity of drone technology, cargo drones have been widely used in scenarios such as remote area material delivery, emergency material delivery, and urban last-mile logistics due to their advantages of flexibility, efficiency, less restriction by geographical environment, and low labor costs.

[0003] The endurance and operational efficiency of cargo drones are among the core factors restricting their large-scale application. Currently, most cargo drones use lithium batteries as their power source, which have limited range on a single charge and a long charging time. In actual operation, after a drone completes a single flight mission and returns to its nest, traditional battery replenishment methods mainly rely on manual replacement or manual connection to charging equipment. This mode has obvious drawbacks: on the one hand, manual operation is cumbersome, requires a large investment of manpower, and has low replacement efficiency, making it difficult to meet the high-frequency, continuous operation requirements of cargo drones; on the other hand, during manual battery replacement, improper operation can easily lead to problems such as poor battery contact and positioning deviation, which not only affects the drone's takeoff efficiency but may also cause damage to the battery and the drone's power system, posing certain safety hazards.

[0004] To address these issues, the industry has gradually begun exploring automated battery replenishment solutions for drones. Some existing technologies have developed small battery swapping devices for consumer drones, but these devices are mostly simple in structure and cannot be adapted to the characteristics of cargo drones, such as high payload, large battery size, and special interface specifications. Other technical solutions focus on automatic charging systems for drones, achieving charging through automatic docking between charging piles and drones. However, the charging time has not been fundamentally resolved and still cannot meet the operational requirements of rapid turnover for cargo drones.

[0005] Furthermore, cargo drones typically operate in complex outdoor environments, placing high demands on the environmental adaptability, stability, and safety of their battery swapping systems. Existing battery swapping technologies still have shortcomings in areas such as precise battery positioning and locking, making it difficult to guarantee the reliability of the swapping process. Therefore, developing a battery swapping system that is compatible with cargo drone nests, enables rapid, accurate, and automatic battery replacement, and possesses high stability and safety is of great significance for improving the operational efficiency of cargo drones, reducing operating costs, and promoting the large-scale application of cargo drones. Summary of the Invention

[0006] The purpose of this invention is to provide a battery swapping system for cargo drone nests to meet the current battery swapping needs of cargo drones in cargo drone nests.

[0007] The technical solution of this invention is as follows: A battery swapping system for cargo drone nests includes a three-degree-of-freedom linear module and an end-effector battery swapping mechanism. The three-degree-of-freedom linear module drives the end-effector battery swapping mechanism to move in the X, Y, and Z axis directions. The end-effector battery swapping mechanism includes a connecting frame, a rotating module, a rotating base, and a robotic gripper connected in sequence. The connecting frame is connected to the three-degree-of-freedom linear module. The rotating module is used to rotate and adjust the angle and position of the robotic gripper, which is used to grasp the battery.

[0008] As a preferred embodiment of the present invention, the three-degree-of-freedom linear module includes an X-axis module, a Y-axis module, and a Z-axis module; two sets of X-axis modules are provided, and the two sets of X-axis modules are respectively mounted on the housing via X-axis support beams; the Y-axis module is mounted on a Y-axis support beam, which spans across the two sets of X-axis modules, and the two sets of X-axis modules synchronously drive the Y-axis support beam and the Y-axis module to move along the X-axis direction; the Z-axis module is mounted on the Y-axis module, and the Y-axis module drives the Z-axis module to move along the Y-axis direction; the end-point battery swapping actuator is mounted on the Z-axis module, and the Z-axis module drives the end-point battery swapping actuator to move along the Z-axis direction.

[0009] In a preferred embodiment of the present invention, the robotic gripper includes a gripper support, a gripper driver, a driver bracket, a gear, two racks, a slide rail, two sliders, and two battery inserts. The gripper support is connected to a rotating base, the gripper driver is connected to the gripper support via the driver bracket, the slide rail is mounted on the gripper support, the two sliders are slidably connected to the slide rail, the two racks are respectively connected to the two sliders, and the gear meshes with the two racks and is driven to rotate by the gripper driver. The gripper support is provided with stroke holes for the two battery inserts to pass through, and the two battery inserts are respectively connected to the two sliders through the stroke holes. The gripper driver drives the gear to rotate, and the gear meshes with the two racks to drive the two racks to move synchronously in a linear motion. The two racks respectively drive the two sliders and the two battery inserts to move away from or towards each other, so that the two battery inserts can be inserted into or removed from the battery slots of the drone battery.

[0010] As a preferred embodiment of the present invention, the gripper driver includes a gripper drive motor and a right-angle reducer connected by transmission, wherein the gripper drive motor is a servo motor.

[0011] As a preferred embodiment of the present invention, the robotic gripper further includes a battery latching block mounted on the gripper support. When the robotic gripper descends in the Z-axis direction to grasp the drone battery, the battery latching block is used to press the battery latch of the drone battery to unlock the battery latch.

[0012] As a preferred embodiment of the present invention, a rubber sleeve is provided on the battery clip pressing block, the rubber sleeve providing cushioning and protection for the contact between the battery clip pressing block and the battery clip.

[0013] As a preferred embodiment of the present invention, the robotic gripper further includes two symmetrically arranged clamping mechanisms, which are respectively cross-connected to two battery inserts. When the two battery inserts move away from each other, the two clamping mechanisms are pulled together to clamp the drone battery, making minor adjustments and fixing the position of the drone battery. When the two battery inserts move closer to each other, the two clamping mechanisms are pushed apart to release the drone battery.

[0014] As a preferred embodiment of the present invention, the clamping mechanism includes a pull rod and a battery clamping plate. The outer end of the pull rod is connected to the battery clamping plate, and the inner end of the pull rod is provided with an extended waist-shaped hole. The inner end of the pull rod is connected to the battery insert teeth in a non-fixed fit by a bolt. The bolt passes through the extended waist-shaped hole, and the non-fixed fit connection between the inner end of the pull rod and the battery insert teeth is achieved by the frictional force generated by the pre-tightening of the bolt.

[0015] In a preferred embodiment of the present invention, the battery clamp and the gripper support are movably connected by clamp mounting bolts, external clamp spring bolts, and internal clamp spring bolts. These bolts pass through the battery clamp and connect to the gripper support. The clamp mounting bolts are installed with a gap, without pre-tightening, to allow for movement of the battery clamp. The springs of the external clamp spring bolts are located on the outside of the battery clamp, applying pre-pressure to the clamp from the outside. The springs of the internal clamp spring bolts are located on the inside of the battery clamp, applying pre-pressure from the inside. The clamp mounting bolts and external clamp spring bolts are installed on the upper part of the battery clamp, and the internal clamp spring bolts are installed on the lower part. When the robotic gripper docks with the drone battery, the initial openings of the two battery clamps are large under the action of the external and internal clamp spring bolts, increasing the deviation redundancy, while the later openings tighten to correct and constrain the position of the drone battery.

[0016] As a preferred embodiment of the present invention, a groove is provided on the lower edge of the battery clamp, and a pressure block is elastically installed in the groove. The pressure block can slide elastically in the groove, and a pressure block side-sliding ball is also installed at the bottom of the pressure block. When the robotic gripper descends in the Z-axis direction to grab the drone battery, the pressure blocks in the two battery clamp grooves first contact the guide ribs on both sides of the drone battery, providing guidance for the robotic gripper to descend and dock with the drone battery. At the same time, the pressure block can provide a downward pressure preload for the drone battery, and the pressure block side-sliding ball can reduce the lateral sliding resistance when the battery clamp is laterally displaced.

[0017] The advantages of this invention are: (1) The high-precision three-degree-of-freedom linear module with servo motor and precise transmission can achieve high-precision repeatable positioning. The positioning accuracy far exceeds the standard required for ordinary battery plugging, effectively avoiding battery docking failure due to positioning deviation, and greatly improving the success rate of battery swapping and overall operational reliability.

[0018] (2) The robotic gripper used is an end effector that integrates servo motors and precision transmission components. It has adaptive adjustment and precise position control capabilities, and can be compatible with slight position deviations of the battery after the UAV returns to base. This greatly improves the success rate of battery grabbing and reduces battery swapping failures caused by battery pose errors.

[0019] (3) The high-precision three-degree-of-freedom linear module, robotic gripper and charging device can be integrated into a compact automation unit and installed inside the machine nest without occupying too much space, effectively improving the utilization rate of the machine nest space; at the same time, it is conducive to the coordinated cooperation with other mechanisms and systems inside the machine nest.

[0020] (4) Based on the technical advantages of high-precision positioning, high-adaptive grasping and high-cooperative integrated design, it can complete the automated battery swapping operation of UAV batteries in a short time, significantly improving the battery swapping efficiency. It can meet the high-frequency and continuous operation needs of cargo UAVs, help reduce the operating cost of cargo UAVs, and promote the large-scale application of cargo UAVs. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the invention installed inside the machine nest; Figure 2 This is a schematic diagram of the structure of the present invention; Figure 3 This is a schematic diagram of the end-point battery swapping actuator of the present invention; Figure 4 This is a partial cross-sectional schematic diagram of the end-point battery swapping actuator of the present invention; Figure 5 This is an exploded view of the end-point battery swapping actuator of the present invention; Figure 6 This is a schematic diagram of the lever structure of the robotic gripper of the present invention.

[0022] Meaning of the reference numerals in the diagram: 1-Housing, 2-X-axis support beam, 3-Y-axis support beam, 4-Charging device; 80 - Battery; 81 - Terminal battery swapping actuator; 82-X-axis module, 83-Y-axis module, 84-Z-axis module; 85-Connecting frame; 86-Rotating module; 87-Rotating base; 88-Robotic gripper; 89-Battery tooth groove; 801-Grip support, 802-Grip drive motor, 803-Right angle reducer; 804-Driver bracket, 805-Gear, 806-Rack, 807-Slide rail, 808-Slider; 809-Battery insertion tooth, 810-Stroke hole, 811-Battery latching block, 812-Battery latch; 813-Pull rod, 814-Battery clamp, 815-Extended oblong hole, 816-Clamp mounting bolt; 817 - External spring bolt of clamping plate; 818 - Internal spring bolt of clamping plate; 819 - Slide groove; 820-Pressure block, 821-Pressure block side sliding ball, 822-Pressure block spring pin; 823-Pressure block limit bolt, 824-Battery status sensor, 825-Gripper status sensor; 826 - Rubber sleeve. Detailed Implementation

[0023] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0024] like Figure 1 and Figure 2 As shown, this embodiment is a battery swapping system for cargo drone nests, including a three-degree-of-freedom linear module and an end-of-line battery swapping actuator 81. The three-degree-of-freedom linear module is used to drive the end-of-line battery swapping actuator 81 to move in the X-axis, Y-axis and Z-axis directions. In this embodiment, the X-axis and Y-axis are both horizontal directions, where the X-axis is the length direction of the nest 1 and the Y-axis is the width direction of the nest 1; the Z-axis is the vertical direction, that is, the height direction of the nest 1.

[0025] like Figure 2 As shown, the three-degree-of-freedom linear module includes an X-axis module 82, a Y-axis module 83, and a Z-axis module 84. All modules (X-axis module 82, Y-axis module 83, and Z-axis module 84) are driven by servo motors and achieve motion and precise position control through a ball screw or rack and pinion transmission system. Two sets of X-axis modules 82 are provided, and the two sets of X-axis modules 82 are respectively mounted on the housing 1 via X-axis support beams 2, serving as support for the battery swapping system. The Y-axis module 83 is installed... Mounted on the Y-axis support beam 3, the Y-axis support beam 3 is mounted across two sets of X-axis modules 82. The two sets of X-axis modules 82 move synchronously to drive the Y-axis support beam 3 and the Y-axis module 83 to move along the X-axis direction. The Z-axis module 84 is mounted on the Y-axis module 83, and the Y-axis module 83 drives the Z-axis module 84 to move along the Y-axis direction. The end-point battery swapping actuator 81 is mounted on the Z-axis module 84, and the Z-axis module 84 drives the end-point battery swapping actuator 81 to move along the Z-axis direction.

[0026] like Figure 3 and Figure 4 As shown, the end-of-line battery swapping actuator 81 includes a connecting frame 85, a rotating module 86, a rotating base 87, and a robotic gripper 88 connected in sequence. The connecting frame 85 is connected to the three-degree-of-freedom linear module, that is, the connecting frame 85 is connected to the Z-axis module 84. The rotating module 86 is used to rotate and adjust the angle and position of the robotic gripper 88 so that the robotic gripper 88 is aligned with the battery 80 of the UAV or the battery 80 in the charging compartment of the charging device 4. The robotic gripper 88 is used to grasp the battery 80.

[0027] like Figures 3-5 As shown, the robotic gripper 88 includes a gripper support 801, a gripper driver, a driver bracket 804, a gear 805, two racks 806, a slide rail 807, two sliders 808, and two battery inserts 809. The gripper support 801 is connected to a rotating base 87, serving as the main support structure of the robotic gripper 88. The gripper driver is connected to the gripper support 801 via the driver bracket 804. The gripper driver includes a gripper drive motor 802 and a right-angle reducer 803, which are connected by a transmission connection. The gripper drive motor 802 is a servo motor. The slide rail 807 is mounted on the gripper support 801. The two sliders 808 are slidably connected to the slide rail 807. The two racks 806 are respectively connected to the two sliders 808. The gear 805 meshes with the two racks 806 and is driven to rotate by the gripper driver. The gripper support 801 is provided with a passage for the two battery inserts 809 to pass through. The stroke hole 810 connects two battery insert teeth 809 to two sliders 808 respectively. The gripper driver drives the gear 805 to rotate, and the gear 805 meshes with two racks 806 to drive the two racks 806 to move synchronously in a straight line from left to right. The two racks 806 drive the two sliders 808 and the two battery insert teeth 809 to move away from or towards each other, so that the two battery insert teeth 809 can insert or retract into the battery tooth grooves 89 of the drone battery 80. That is, the two racks 806 drive the two battery insert teeth 809 to extend and retract synchronously in the lateral direction. The battery insert teeth 809 match the battery tooth grooves 89 on the drone battery 80. When the battery insert teeth 809 extend, they are embedded in the battery tooth grooves 89 to complete the gripping of the drone battery 80. When the battery insert teeth 809 retract, they disengage from the battery tooth grooves 89 to complete the release of the drone battery 80.

[0028] like Figure 3 and Figure 5As shown, the robotic gripper 88 also includes a battery latching block 811 mounted on the gripper support 801. When the robotic gripper 88 descends in the Z-axis direction to grasp the drone battery 80, the battery latching block 811 is used to press the battery latch 812 of the drone battery 80 to unlock the battery latch 812. The battery latching block 811 is installed in a position corresponding to and cooperating with the battery latch 812 of the drone battery 80. When the robotic gripper 88 descends in the Z-axis direction to grasp the drone battery 80, the battery latching block 811 presses down accordingly. The battery latch 812 is unlocked, allowing the robotic gripper 88 to unlock the battery 80 while gripping it. Conversely, after the battery 80 is placed, the robotic gripper 88 rises in the Z-axis direction, causing the battery latch block 811 to rise accordingly, releasing the battery latch 812. The battery latch 812 then springs back to lock the battery 80. A rubber sleeve 826 is provided on the battery latch block 811, which provides cushioning and protection for the contact between the battery latch block 811 and the battery latch 812.

[0029] like Figures 3-5 As shown, the robotic gripper 88 also includes two symmetrically arranged clamping mechanisms, which are cross-connected to two battery inserts 809 respectively. The two clamping mechanisms move in tandem with the two battery inserts 809. When the two battery inserts 809 move away from each other (when the battery inserts extend outward), they cross-pull the two clamping mechanisms closer together to clamp the drone battery 80, making minor adjustments and fixing the position of the drone battery 80. When the two battery inserts 809 move closer together (when the battery inserts retract inward), they cross-push the two clamping mechanisms away from each other to release the drone battery 80.

[0030] like Figures 3-5 As shown, the clamping mechanism includes a pull rod 813 and a battery clamping plate 814. The outer end of the pull rod 813 is connected to the battery clamping plate 814, and the inner end of the pull rod 813 is provided with an elongated oblong hole 815, as shown. Figure 6 As shown, the inner end of the pull rod 813 is connected to the battery insert 809 in a non-fixed fit by a bolt. The bolt passes through the extended waist-shaped hole 815, and the non-fixed fit connection between the inner end of the pull rod 813 and the battery insert 809 is achieved by the friction force generated by the pre-tightening of the bolt.

[0031] like Figure 5As shown, the battery clamp 814 and the gripper support 801 are connected by a clamp mounting bolt 816, an outer clamp spring bolt 817, and an inner clamp spring bolt 818. These bolts pass through the battery clamp 814 and connect to the gripper support 801. The clamp mounting bolt 816 is installed with a clearance, without pre-tightening, leaving room for the battery clamp 814 to move. The spring of the outer clamp spring bolt 817 is located on the outside of the battery clamp 814, used to apply pre-pressure to the battery clamp 814 from the outside, maintaining a certain elastic constraint. The spring of the inner clamp spring bolt 818 is located on the inside of the battery clamp 814, used to apply pre-pressure to the battery clamp 814 from the outside. A pre-pressure is applied to the battery clamp 814 from the inside, and the battery clamp 814 is opened by the rebound force of the spring. The clamp mounting bolt 816 and the outer spring bolt 817 are installed on the upper part of the battery clamp 814, and the inner spring bolt 818 is installed on the lower part of the battery clamp 814. When the robotic gripper 88 docks with the drone battery 80, under the action of the outer spring bolt 817 and the inner spring bolt 818, the two battery clamps 814 maintain a state of outward expansion at the bottom and inward contraction at the top, and maintain a certain positional elasticity. The initial opening of the two battery clamps 814 is large to increase the deviation redundancy, and the opening of the rear section is tightened to correct and restrain the position of the drone battery 80, which is conducive to improving the success rate of battery 80 grasping.

[0032] like Figure 5 As shown, a groove 819 is provided on the lower edge of the battery clamp 814. A pressure block 820 is elastically installed in the groove 819 and can slide elastically in the groove 819. A pressure block side sliding ball 821 is also installed at the bottom of the pressure block 820. In this embodiment, dovetail structures are provided on both sides of the groove 819. The pressure block 820 is installed in the groove 819, and a pressure block spring pin 822 is installed in the groove 819. The pressure block 820 slides elastically up and down in the groove 819 through the pressure block spring pin 822. The upper part of the pressure block 820 forms an elastic stroke with the bottom of the groove 819 through the pressure block spring pin 822. Pressure block limiting bolts 823 are provided on both sides of the outlet of the groove 819 to limit the downward movement of the pressure block 820 and prevent the pressure block from sliding down. 820 disengages from the slide groove 819; when the robotic gripper 88 descends in the Z-axis direction to grasp the drone battery 80, the pressure block 820 in the slide groove 819 of the two battery clamps 814 first contacts the guide ribs on both sides of the drone battery 80, providing guidance for the robotic gripper 88 to descend and dock with the drone battery 80. At the same time, the pressure block 820 can provide a downward pressure preload to the drone battery 80, improving the Z-axis control stability when grasping the battery 80; the pressure block side sliding ball 821 installed at the bottom of the pressure block 820 can reduce the lateral sliding resistance of the battery clamp 814 during the slight expansion and contraction displacement when grasping and releasing the battery 80, that is, the pressure block side sliding ball 821 can reduce the lateral sliding resistance when the battery clamp 814 is laterally displaced.

[0033] like Figure 5 As shown, in this embodiment, a battery status sensor 824 is provided on the gripper support 801 to detect the presence status of the battery 80 and determine whether the battery exists; a gripper status sensor 825 is provided on the battery clamping plate 814 to detect the clamping status of the robotic gripper 88 and the relative position of the battery clamping plate 814, ensuring the safety and accuracy of operation; at the same time, the charging compartment of the charging device 4 has a standardized interface for docking with the robotic gripper 88.

[0034] The workflow of this invention: Drone battery unloading: The three-degree-of-freedom linear module and rotary module 86 work together to drive the robotic gripper 88 to move; the robotic gripper 88 removes the depleted battery 80 from the drone and transports it to the charging compartment of the charging device 4 for charging. The robotic gripper 88 returns to the standby position, and the drone battery 80 unloading is completed; the charging device 4 charges the depleted battery 80.

[0035] Drone battery installation: The three-degree-of-freedom linear module and rotary module 86 work together to drive the robotic gripper 88 to move; the robotic gripper 88 grasps the target fully charged battery 80 in the charging device 4, transports it to the corresponding battery installation position of the drone, installs it into the drone, and the robotic gripper 88 returns to the standby position; the drone battery 80 installation is complete.

[0036] Drone Battery Swapping: When a drone needs to replace its battery 80 to continue flying after completing its flight operations, the three-degree-of-freedom linear module and rotary module 86 work together to drive the robotic gripper 88 to move. The robotic gripper 88 removes the depleted battery 80 from the drone and transports it to the charging compartment of the charging device 4 for charging. The robotic gripper 88 then removes fully charged batteries 80 from other charging compartments in the charging device 4 and transports them to the empty battery slots on the drone, installing the fully charged batteries 80 in the empty battery slots. This process is repeated, removing and placing one battery at a time, until all the drone's batteries 80 have been replaced. The robotic gripper 88 then returns to the standby position, and the drone battery swapping is complete. The charging device 4 then charges the depleted battery 80.

[0037] This embodiment employs a high-precision three-degree-of-freedom linear module with servo motors and precise transmission, achieving highly accurate and repeatable positioning that far exceeds the precision requirements of ordinary battery insertion, significantly improving the success rate and reliability of battery swapping. The robotic gripper is not a simple pneumatic gripper, but an end effector integrating servo motors, precision transmission, and position sensors, possessing adaptive, position control, and status feedback capabilities. It can adapt to slight battery position deviations, improving the grasping success rate. The high-precision three-degree-of-freedom linear module, robotic gripper, and charging device can be integrated into a compact automated unit, installed inside the drone's housing, without occupying excessive space. Based on the technological advantages of high-precision positioning, highly adaptive grasping, and highly collaborative integrated design, automated battery swapping for drones can be completed in a short time, significantly improving swapping efficiency. This meets the high-frequency, continuous operation requirements of cargo drones, helps reduce the operating costs of cargo drones, and promotes the large-scale application of cargo drones.

[0038] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0039] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "setting," and "forming" should be interpreted broadly; for example, they can refer to fixed connections or settings, detachable connections or settings, or integrated structures; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium, or internal connections between two components; those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0040] In the description of this invention, references to terms such as “embodiment,” “specific example,” or “practical application” indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment is included in at least one embodiment or example of the invention; moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0041] The above embodiments are only used to illustrate the technical solutions of the present invention. Those skilled in the art should understand that the above embodiments do not limit the present invention in any way. All technical solutions obtained by equivalent substitution or equivalent transformation fall within the protection scope of the present invention.

Claims

1. A battery replacement system for a cargo drone nest, characterized in that: The application relates to a battery replacing mechanism for an unmanned aerial vehicle, which comprises a three-degree-of-freedom linear module and a terminal battery replacing actuating mechanism, wherein the three-degree-of-freedom linear module is used to drive the terminal battery replacing actuating mechanism to move in the X-axis, Y-axis and Z-axis directions; the terminal battery replacing actuating mechanism comprises a connecting frame, a rotating module, a rotating base and a mechanical gripper which are connected in sequence; the connecting frame is connected with the three-degree-of-freedom linear module; the rotating module is used to rotate and adjust the angle and position of the mechanical gripper; and the mechanical gripper is used to grab a battery. 2.The battery swapping system for cargo drone nest according to claim 1, wherein: The three-degree-of-freedom linear module comprises an X-axis module, a Y-axis module and a Z-axis module; two X-axis modules are arranged; the two X-axis modules are respectively installed on a machine nest through X-axis support beams; the Y-axis module is installed on a Y-axis support beam; the Y-axis support beam is installed on the two X-axis modules in a transverse mode; the two X-axis modules are synchronously driven to move the Y-axis support beam and the Y-axis module along the X-axis direction; the Z-axis module is installed on the Y-axis module; the Y-axis module drives the Z-axis module to move along the Y-axis direction; and the terminal battery replacing actuating mechanism is installed on the Z-axis module; the Z-axis module drives the terminal battery replacing actuating mechanism to move along the Z-axis direction. 3.The battery swapping system for cargo drone nest according to claim 1, wherein: The mechanical gripper comprises a gripper support, a gripper driver, a driver support, a gear, two racks, a slide rail, two sliders and two battery inserting gears; the gripper support is connected with the rotating base; the gripper driver is connected with the gripper support through the driver support; the slide rail is installed on the gripper support; the two sliders are slidably connected on the slide rail; the two racks are respectively connected with the two sliders; the gear is engaged with the two racks and is driven to rotate by the gripper driver; the gripper support is provided with stroke holes through which the two battery inserting gears pass; the two battery inserting gears are respectively connected with the two sliders through the stroke holes; the gripper driver drives the gear to rotate; the gear is engaged with the two racks to drive the two racks to synchronously move in a straight line; the two racks respectively drive the two sliders and the two battery inserting gears to move away from or close to each other, so that the two battery inserting gears are inserted into or withdrawn from the battery tooth grooves of the unmanned aerial vehicle battery. 4.The battery swapping system for cargo drone nest according to claim 3, characterized in that: The gripper driver comprises a transmission-connected gripper driving motor and a right-angle speed reducer; and the gripper driving motor is a servo motor. 5.The battery swapping system for cargo drone nest according to claim 3, characterized in that: The mechanical gripper further comprises a battery buckle pressing block which is installed on the gripper support; when the mechanical gripper descends to grab the unmanned aerial vehicle battery in the Z-axis direction, the battery buckle pressing block is used to press the battery buckle of the unmanned aerial vehicle battery to unlock the battery buckle. 6.The battery swapping system for cargo drone nest according to claim 5, characterized in that: A rubber sleeve is arranged on the battery buckle pressing block, which provides buffering and protection for the contact between the battery buckle pressing block and the battery buckle.

7. The battery swapping system for cargo drone nest according to any one of claims 3-6, characterized in that: The mechanical gripper further comprises two groups of symmetrically arranged clamping plate mechanisms which are respectively cross-connected with the two battery inserting gears; when the two battery inserting gears move away from each other, the two groups of clamping plate mechanisms are cross-pulled to move close to each other to clamp the unmanned aerial vehicle battery, so that the position of the unmanned aerial vehicle battery is slightly corrected and fixed; when the two battery inserting gears move close to each other, the two groups of clamping plate mechanisms are cross-pushed to move away from each other to release the unmanned aerial vehicle battery. 8.The battery swapping system for cargo drone nest according to claim 7, characterized in that: The clamping plate mechanism comprises a pull rod and a battery clamping plate, the outer end of the pull rod is connected with the battery clamping plate, the inner end of the pull rod is provided with an elongated waist-shaped hole, the inner end of the pull rod is connected with the battery pin gear through a non-fixed cooperation of a bolt, the bolt passes through the elongated waist-shaped hole, and the non-fixed cooperation between the inner end of the pull rod and the battery pin gear is realized through the friction force generated by the pre-tightening of the bolt. 9.The battery swapping system for cargo drone nest of claim 8, wherein: The battery clamping plate and the paw support are connected through the cooperation of a clamping plate mounting bolt, a clamping plate outer spring bolt and a clamping plate inner spring bolt, the clamping plate mounting bolt, the clamping plate outer spring bolt and the clamping plate inner spring bolt pass through the battery clamping plate and are connected with the paw support, the clamping plate mounting bolt is installed with a gap and is not pre-tightened, and a gap of the battery clamping plate is reserved; the spring of the clamping plate outer spring bolt is located outside the battery clamping plate and is used for applying pre-pressure to the battery clamping plate from the outside; the spring of the clamping plate inner spring bolt is located inside the battery clamping plate and is used for applying pre-pressure to the battery clamping plate from the inside; the clamping plate mounting bolt and the clamping plate outer spring bolt are installed on the upper part of the battery clamping plate, and the clamping plate inner spring bolt is installed on the lower part of the battery clamping plate; when the mechanical paw is connected with the unmanned aerial vehicle battery, the initial stage opening of the two battery clamping plates is large under the action of the clamping plate outer spring bolt and the clamping plate inner spring bolt, so as to increase the deviation redundancy, and the later stage opening is tightened, so as to correct and bind the position of the unmanned aerial vehicle battery. 10.The power swapping system for a cargo drone nest of claim 9, wherein: The lower edge of the battery clamping plate is provided with a sliding groove, a pressing block is elastically installed in the sliding groove, the pressing block can elastically slide in the sliding groove, and a pressing block side sliding ball is further installed at the bottom of the pressing block; when the mechanical paw is lowered to grab the unmanned aerial vehicle battery in the Z-axis direction, the pressing blocks in the sliding grooves of the two battery clamping plates firstly contact the guide beads on the two sides of the unmanned aerial vehicle battery, guide the mechanical paw to be lowered to connect with the unmanned aerial vehicle battery, and the pressing blocks can provide the unmanned aerial vehicle battery with a pre-tightening force, and the pressing block side sliding ball can reduce the lateral sliding resistance when the battery clamping plate is laterally displaced.

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