Unmanned aerial vehicle three-axis manipulator battery replacing mechanism

Abstract

The invention discloses an unmanned aerial vehicle three-axis mechanical arm battery replacing mechanism, and relates to the technical field of unmanned aerial vehicles, the unmanned aerial vehicle three-axis mechanical arm battery replacing mechanism comprises a three-axis mechanical arm and a mechanical arm executing mechanism installed at the driving tail end of the three-axis mechanical arm, and the mechanical arm executing mechanism comprises a material pressing assembly, a positioning assembly, a handle clamping assembly and a handle hooking assembly. The material pressing assembly achieves preliminary pressing of a battery, the positioning assembly completes accurate calibration through lead screw transmission and guide rail guiding, the handle clamping assembly drives a flexible clamp to clamp a battery handle through synchronous belt transmission, the handle hooking assembly achieves self-adaptive hooking connection through a spring and a hook claw, and a sensor is arranged to detect the grabbing state in real time. According to the mechanism, through cooperation of multiple assemblies, positioning is accurate, grabbing is stable, the mechanism can adapt to batteries of various specifications, the grabbing state can be monitored in real time, the battery replacing efficiency and reliability are greatly improved, and the requirement for automatic and rapid battery replacing of the unmanned aerial vehicle is met.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically to a battery-changing mechanism for a three-axis robotic arm used in UAVs. Background Technology

[0002] Drones are increasingly used in logistics delivery, power line inspection, and aerial surveying, but their operational continuity is often limited by battery life and relies on efficient battery swapping technology. Currently, drone battery swapping methods are mainly divided into two categories: manual battery swapping and automatic battery swapping.

[0003] Manual battery swapping methods generally suffer from low efficiency, reliance on professional pilots, high operating costs, and poor safety in complex or hazardous environments. To improve battery swapping efficiency and automation, various automated battery swapping devices have emerged. For example, a drone battery swapping solution based on a three-axis mobile platform and a mechanical gripper has been disclosed in existing technology. For instance, Chinese patent application CN111547255A, entitled "A Drone Battery Swapping Device and Drone Nest," discloses a battery swapping device comprising a frame, a parking platform, a battery compartment, a three-axis mobile platform, and a mechanical gripper. This device uses the three-axis mobile platform to drive the mechanical gripper to move between the battery compartment and the drone's parking position. The mechanical gripper uses its clamping device to grasp the battery, and the battery is unlocked by a push rod structure in the unlocking device, thus achieving automatic battery loading and unloading. This type of solution automates the battery swapping process to a certain extent, reducing manual intervention.

[0004] However, practical experience and analysis have revealed several limitations in existing automated battery swapping equipment, particularly in terms of swapping accuracy, operational stability, and adaptability to different battery structures. The solution disclosed in CN111547255A features a relatively basic mechanical gripper device, primarily relying on simple clamping and pushing actions to replace the battery. It lacks a dedicated structure for multi-dimensional, precise positioning and stable holding of the battery. Specifically, when replacing dedicated drone battery packs with precision positioning grooves, handles, and latches, the existing equipment's rough gripping and unlocking methods easily lead to the following problems:

[0005] (1) It is difficult to achieve high-precision alignment between the battery and the drone battery compartment, which poses a risk of improper installation or poor contact;

[0006] (2) The battery lacks an effective stable clamping mechanism during the battery swapping process, and the reliability of the electrical connection may be affected by shaking during handling or installation;

[0007] (3) For battery handles and buckle structures that require hooking and unlocking through a specific path, the general mechanical claw is not adaptable enough, and the success rate and safety of operation need to be improved.

[0008] Therefore, designing an actuator that can achieve high-precision positioning, stable gripping and clamping, and is specifically designed for complex battery structure operations, based on the existing automatic battery swapping platform, has become a key technical issue for improving the performance of fully automatic battery swapping systems for UAVs. Summary of the Invention

[0009] To address these issues, the present invention provides a battery-changing mechanism for a three-axis robotic arm used in unmanned aerial vehicles (UAVs) to solve the aforementioned problems in the prior art.

[0010] To achieve the above objectives, the present invention provides the following technical solution: a three-axis robotic arm battery changing mechanism for unmanned aerial vehicles (UAVs), comprising a three-axis robotic arm, wherein a robotic arm execution mechanism is mounted at the drive end of the three-axis robotic arm, the robotic arm execution mechanism includes a pressing assembly mounted at the drive end of the three-axis robotic arm, a positioning assembly mounted at the lifting end of the pressing assembly, and a handle clamping assembly and a hook handle assembly mounted on the same side of the pressing assembly. The pressing assembly includes an electric cylinder and a pressing plate mounted at the telescopic end of the electric cylinder. The positioning assembly includes a seat frame mounted at the bottom end of the pressing plate, wherein a first lead screw is rotatably connected inside the seat frame, and a first lead screw is mounted at its end. The positioning drive motor is connected to a lead screw. The first lead screw is externally threaded to a first movable seat. A pressure block is installed at the bottom end of the first movable seat. The handle clamping assembly includes a clamping drive motor and a second lead screw. The driving end of the clamping drive motor and the driven end of the second lead screw are connected via a synchronous belt transmission kit. The second lead screw is externally threaded to a second movable seat. A flexible clamp is installed on the side of the second movable seat via a clamp fixing seat. The hook handle assembly includes a frame body installed on the front of the pressing assembly. A hook claw is movably connected inside the frame body to hook the handle connected to the top of the battery by horizontal movement.

[0011] Furthermore, the three-axis manipulator includes an X-axis linear module, a Z-axis linear module, and a Y-axis linear module. The Z-axis linear module is mounted vertically on the drive end of the X-axis linear module, the Y-axis linear module is mounted horizontally on the drive end of the Z-axis linear module, and the manipulator actuator is mounted vertically on the drive end of the Y-axis linear module.

[0012] Furthermore, the pressing assembly also includes a base plate installed on the drive end of the Y-axis linear module. The electric cylinder is installed on the front of the base plate. Linear bearings are installed on the front of the base plate and on both sides of the electric cylinder. A guide shaft is slidably connected inside the linear bearing. The bottom end of the guide shaft is connected to the pressing plate.

[0013] Furthermore, a clamping guide block is symmetrically installed at the bottom end of the first movable seat, and the bottom end of the clamping guide block is provided with a guide slope extending from the inside to the outside.

[0014] Furthermore, a first linear guide rail is symmetrically mounted on the bottom end of the seat frame, and the first movable seat slides outside the first linear guide rail.

[0015] Furthermore, the handle clamping assembly also includes a base frame mounted on the front of the seat plate, the clamping drive motor is mounted on one side of the base frame, the second lead screw is rotatably connected to the other side of the base frame, and the base frame and the second movable seat are slidably connected by a second linear guide rail.

[0016] Furthermore, a bearing seat is symmetrically installed on the other side of the base frame, and the second lead screw is rotatably connected inside the bearing seat.

[0017] Furthermore, the synchronous belt drive assembly includes a driving synchronous pulley mounted on the driving end of the base frame, a transmission synchronous pulley mounted on the driven end of the second lead screw, and a synchronous belt connected to the outside of the driving synchronous pulley and the transmission synchronous pulley.

[0018] Furthermore, the frame body is installed on the front of the seat plate and located below the flexible clamp. A push plate is movably arranged inside the frame body. The push plate is connected to the frame body by a spring. The hook is installed on the surface of the push plate and is located away from the spring.

[0019] Furthermore, a first sensor is installed on the surface of the push plate, and a second sensor is installed at the bottom. Both the first and second sensors are on the same side as the hook claw.

[0020] The present invention has the following advantages:

[0021] 1. Precise and reliable positioning: The robotic arm actuator integrates a pressing component and a positioning component. The pressing component ensures stable pressing through a guide shaft and linear bearing. The positioning component is guided by a first lead screw and a first linear guide rail, and works with a pressing guide block with a guide slope to achieve initial pressing and precise calibration of the battery, avoiding battery misalignment during battery replacement and improving battery replacement alignment accuracy.

[0022] 2. Stable and safe gripping: The device adopts a dual fixing structure of handle clamping component and hook handle component. The flexible clamp is adapted to different handle sizes and avoids damage. The hook claw adaptively engages under the action of spring. The dual protection ensures a firm gripping of the battery, preventing the battery from falling off or shaking during the battery swapping process and reducing the risk of damage to the equipment and battery.

[0023] 3. High versatility: Through modular design and adjustable structure, the flexible characteristics of the flexible clamp and the adaptive design of the hook can adapt to the handle structure of various battery specifications without the need for individual adjustments for specific batteries, thus expanding the applicability of the battery swapping mechanism.

[0024] 4. Real-time status monitoring: The hook handle assembly is equipped with a first sensor and a second sensor, which can detect the contact status between the hook and the battery handle in real time, and provide timely feedback on whether the gripping is in place, so as to avoid battery swapping failure due to gripping failure and improve the reliability and safety of the battery swapping process.

[0025] 5. Highly efficient and coordinated operation: Each component has a clear division of labor and works in concert. The pressing, positioning, clamping, and hooking actions are smooth and continuous. Combined with the precise movement of the three-axis robotic arm, the battery swapping efficiency is greatly improved, meeting the needs of automated and rapid battery swapping for drones. Attached Figure Description

[0026] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0027] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0028] Figure 1 This is a schematic diagram of the structure of a three-axis robotic arm battery changing mechanism for a drone according to the present invention.

[0029] Figure 2 This is a front view of the robotic arm actuator in a three-axis robotic arm battery changing mechanism for a drone according to the present invention.

[0030] Figure 3 This is a front view of the pressing component in a battery changing mechanism for a three-axis robotic arm of a drone according to the present invention.

[0031] Figure 4 This is a bottom view of the positioning component in a battery changing mechanism for a three-axis robotic arm of a drone according to the present invention.

[0032] Figure 5 This is a schematic diagram of the handle gripping assembly in a battery changing mechanism for a three-axis robotic arm of a drone according to the present invention.

[0033] Figure 6 This is a schematic diagram of the hook handle assembly in a battery changing mechanism for a three-axis robotic arm of a drone according to the present invention.

[0034] Figure 7This is a schematic diagram of the battery structure in a battery-changing mechanism for a three-axis robotic arm of a drone according to the present invention.

[0035] In the diagram: 1. X-axis linear module; 2. Z-axis linear module; 3. Y-axis linear module; 4. Robotic arm actuator; 41. Pressure assembly; 411. Seat plate; 412. Electric cylinder; 413. Pressure plate; 414. Linear bearing; 415. Guide shaft; 42. Positioning assembly; 421. Seat frame; 422. First lead screw; 423. Positioning drive motor; 424. First movable seat; 425. Pressure block; 426. Pressure guide block; 427. First linear guide rail; 43. Handle clamping assembly; 431. Base frame; 432. Clamping drive motor; 433. Second lead screw; 434. Synchronous belt transmission assembly; 4341. Active synchronous pulley; 4342. Transmission synchronous pulley; 4343. Synchronous belt; 435. Second movable seat; 436. Clamp fixing seat; 437. Flexible clamp; 438. Bearing seat; 439. Second linear guide rail; 44. Hook handle assembly; 441. Frame body; 442. Push plate; 443. Hook; 444. Spring; 445. First sensor; 446. Second sensor; 5. Battery; 51. Handle. Detailed Implementation

[0036] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] like Figures 1 to 7 As shown, a three-axis robotic arm battery-changing mechanism for a drone includes an X-axis linear module 1, a Z-axis linear module 2, a Y-axis linear module 3, and a robotic arm actuator 4. The overall design employs a modular assembly, enabling the robotic arm actuator 4 to move flexibly in the X, Y, and Z directions within space. The Z-axis linear module 2 is vertically mounted on the drive end of the X-axis linear module 1 and can move horizontally left and right along with it. The Y-axis linear module 3 is horizontally mounted on the drive end of the Z-axis linear module 2 and can move vertically up and down along with it. The robotic arm actuator 4 is vertically mounted on the drive end of the Y-axis linear module 3 and moves horizontally forward and backward under the drive of the Y-axis linear module 3. Through the coordinated action of the three linear modules, the robotic arm actuator 4 can accurately reach the location of the battery 5, providing reliable mobility for the battery-changing operation.

[0038] The robotic arm actuator 4 is the component that realizes battery gripping, positioning, and replacement. It mainly consists of a pressing assembly 41, a positioning assembly 42, a handle gripping assembly 43, and a hook handle assembly 44. Each component works together to complete the entire battery replacement process. The specific technical solution is as follows:

[0039] The pressure assembly 41 includes a base plate 411, an electric cylinder 412, a pressure plate 413, a linear bearing 414, and a guide shaft 415. The base plate 411 is mounted on the Y-axis linear module 3. The electric cylinder 412 is installed on the front of the seat plate 411 at the drive end. Its telescopic end is connected to the pressure plate 413, providing power for the lifting and lowering of the pressure plate 413. The guide shaft 415 is slidably connected inside the linear bearing 414 on both sides of the electric cylinder 412 on the front of the seat plate 411. The bottom end of the guide shaft 415 is fixed to the pressure plate 413. When the electric cylinder 412 drives the pressure plate 413 to move up and down, the guide shaft 415 slides synchronously along the linear bearing 414, effectively ensuring the stability and straightness of the movement of the pressure plate 413 and avoiding deviation that affects the pressing effect. When it is necessary to position the battery 5, the electric cylinder 412 extends to push the pressure plate 413 to move downward, thereby driving the entire positioning component 42 to move downward until the pressure block 425 and the pressing guide block 426 of the positioning component 42 contact the surface of the battery 5 and apply appropriate pressure to achieve the initial fixing of the battery.

[0040] The positioning assembly 42 is installed at the bottom of the pressure plate 413 for precise positioning and calibration of the battery 5. It includes a frame 421, a first lead screw 422, a positioning drive motor 423, a first movable seat 424, a pressure block 425, a clamping guide block 426, and a first linear guide rail 427. The frame 421 is fixed to the bottom of the pressure plate 413, and the first lead screw 422 is rotatably connected inside it. The positioning drive motor 423, installed at its end, is connected to the first lead screw 422, providing power for the positioning action. The drive motor 423 is a servo motor. The first movable seat 424 is externally threaded onto the first lead screw 422. The first linear guide rails 427, symmetrically installed at the bottom of the frame 421, provide sliding support for the first movable seat 424, ensuring... The first movable seat 424 moves smoothly along the first linear guide rail 427 under the drive of the positioning drive motor 423. The pressure block 425 installed at the bottom of the first movable seat 424 is used to directly contact the battery 5 and apply positioning pressure. The bottom of the symmetrically arranged pressing guide block 426 is provided with a guide slope extending from the inside to the outside. During the positioning process, it can guide the pressure block 425 to accurately fit the edge of the battery 5 and avoid positioning deviation. After the pressing assembly 41 completes the initial pressing, the positioning drive motor 423 starts and drives the first lead screw 422 to rotate, thereby driving the first movable seat 424 to move along the first linear guide rail 427, so that the pressure block 425 and the pressing guide block 426 work together to accurately position and calibrate the battery 5, ensuring that the battery 5 is in the correct gripping position.

[0041] A handle gripping assembly 43 is mounted on the front of the base plate 411 to grip the handle 51 on top of the battery 5, enhancing gripping stability. It includes a base frame 431, a gripping drive motor 432, a second lead screw 433, a synchronous belt drive assembly 434, a second movable seat 435, a clamp fixing seat 436, a flexible clamp 437, a bearing seat 438, and a second linear guide rail 439. The base frame 431 is fixed to the front of the base plate 411. The gripping drive motor 432 is mounted on one side of the base frame 431. The second lead screw 433 is rotatably connected inside the bearing seat 438, which is symmetrically mounted on the other side of the base frame 431. The driving end of the gripping drive motor 432 and the driven end of the second lead screw 433 are connected via the synchronous belt drive assembly 434. The synchronous belt drive assembly 434 consists of an active synchronous pulley 4341 mounted on the driving end of the gripping drive motor 432, a transmission synchronous pulley 4342 mounted on the driven end of the second lead screw 433, and... The synchronous belt 4343 connecting the two ensures the smoothness and accuracy of power transmission; the second lead screw 433 is externally threaded to the second movable seat 435, and the base frame 431 and the second movable seat 435 are slidably connected through the second linear guide rail 439 to ensure smooth movement of the second movable seat 435; the flexible clamp 437 installed on the side of the second movable seat 435 through the clamp fixing seat 436 is made of flexible material and adopts existing technology, which will not be described in detail here. During the clamping process, it can adapt to the shape of the handle 51 to avoid damage to the handle 51, while ensuring the firmness of the clamping. When the positioning component 42 completes the positioning, the clamping drive motor 432 starts and drives the second lead screw 433 to rotate through the synchronous belt transmission kit 434, driving the second movable seat 435 to move along the second linear guide rail 439, so that the flexible clamp 437 approaches and clamps the handle 51 of the battery 5, thereby achieving stable clamping of the battery 5;

[0042] The hook handle assembly 44 is installed on the front of the seat plate 411 and located below the flexible clamp 437. It is used to assist in hooking the handle 51 of the battery 5, further improving the gripping reliability. It includes a frame body 441, a push plate 442, a claw 443, a spring 444, a first sensor 445, and a second sensor 446. The frame body 441 is fixed to the front of the seat plate 411, and the push plate 442 is movably arranged inside it. The push plate 442 is connected to the frame body 441 by the spring 444. The spring 444 provides elastic support for the push plate 442, so that the claw 443 can adaptively adjust its position when contacting the handle 51. The claw 443 is installed on the push plate. The side of the surface of the push plate 442 facing away from the spring 444 is used to hook the handle 51. The first sensor 445 mounted on the surface of the push plate 442 and the second sensor 446 mounted at the bottom are both on the same side as the hook 443, used to detect the contact state between the hook 443 and the handle 51, ensuring that the hook 443 accurately hooks the handle 51. While the handle clamping assembly 43 clamps the handle 51, the hooking assembly 43 moves horizontally to make the hook 443 fit against the bottom of the handle 51, and achieves a tight hooking under the elastic action of the spring 444. The first sensor 445 and the second sensor 446 provide real-time feedback of contact signals to ensure that the hooking action is in place.

[0043] During battery replacement, the X-axis linear module 1, Z-axis linear module 2, and Y-axis linear module 3 of the three-axis robot first work together to move the robot actuator 4 directly above the battery 5 to be replaced. Then, the electric cylinder 412 of the pressing assembly 41 extends, driving the pressing plate 413 downwards to initially press the battery 5. Next, the positioning drive motor 423 of the positioning assembly 42 starts, driving the first movable seat 424 to move via the first lead screw 422. The pressing block 425 and the pressing guide block 426 precisely position the battery 5. After positioning, the clamping drive motor 432 of the handle clamping assembly 43 starts, and... The synchronous belt drive assembly 434 drives the second lead screw 433 to rotate, causing the flexible clamp 437 to clamp the handle 51 of the battery 5. At the same time, the hook 443 of the handle assembly 44 hooks the handle 51 under the action of the spring 444. The double fixation ensures that the battery 5 is firmly gripped. Then, the three-axis robot arm drives the robot arm actuator 4 and the gripped battery 5 to move to the designated battery placement position. The components are then reversed to release the battery 5, completing the removal of the old battery. Finally, the same process is followed to grab the new battery and accurately install it into the battery mounting position of the drone. The entire battery replacement process is completed automatically without human intervention, making the operation efficient and precise.

[0044] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

[0045] The terms such as "upper," "lower," "left," "right," and "middle" used in this specification are merely for clarity of description and are not intended to limit the scope of the invention. Any changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

Claims

1. A battery-changing mechanism for a three-axis robotic arm of a drone, characterized in that, The system includes a three-axis manipulator, the drive end of which is equipped with a manipulator actuator (4). The manipulator actuator (4) includes a pressing assembly (41) installed at the drive end of the three-axis manipulator, a positioning assembly (42) installed at the lifting end of the pressing assembly (41), and a handle clamping assembly (43) and a hook handle assembly (44) installed on the same side of the pressing assembly (41). The pressing assembly (41) includes an electric cylinder (412) and a pressing plate (413) installed at the telescopic end of the electric cylinder (412). The positioning assembly (42) includes a seat frame (421) installed at the bottom end of the pressing plate (413). A first lead screw (422) is rotatably connected inside the seat frame (421), and a positioning drive motor (423) connected to the first lead screw (422) is installed at the end. The first lead screw (422) is externally connected to the first lead screw (422). The first movable seat (424) is threadedly connected to the first movable seat (424), and a pressure block (425) is installed at the bottom end of the first movable seat (424). The handle clamping assembly (43) includes a clamping drive motor (432) and a second lead screw (433). The driving end of the clamping drive motor (432) and the driven end of the second lead screw (433) are connected by a synchronous belt drive kit (434). The second lead screw (433) is threadedly connected to a second movable seat (435). A flexible clamp (437) is installed on the side of the second movable seat (435) through a clamp fixing seat (436). The hook handle assembly (44) includes a frame body (441) installed on the front of the pressure assembly (41). A hook claw (443) is movably connected inside the frame body (441) to hook the handle connected to the top of the battery by moving horizontally.

2. The battery-changing mechanism for a three-axis robotic arm of a drone according to claim 1, characterized in that, The three-axis manipulator includes an X-axis linear module (1), a Z-axis linear module (2), and a Y-axis linear module (3). The Z-axis linear module (2) is installed vertically at the drive end of the X-axis linear module (1), the Y-axis linear module (3) is installed horizontally at the drive end of the Z-axis linear module (2), and the manipulator actuator (4) is installed vertically at the drive end of the Y-axis linear module (3).

3. The battery-changing mechanism for a three-axis robotic arm of a drone according to claim 1, characterized in that, The pressing assembly (41) also includes a base plate (411) installed on the drive end of the Y-axis linear module (3). The electric cylinder (412) is installed on the front of the base plate (411). Linear bearings (414) are installed on the front of the base plate (411) and on both sides of the electric cylinder (412). A guide shaft (415) is slidably connected inside the linear bearing (414). The bottom end of the guide shaft (415) is connected to the pressing plate (413).

4. The battery-changing mechanism for a three-axis robotic arm of a drone according to claim 1, characterized in that, The bottom end of the first movable seat (424) is symmetrically equipped with a pressing guide block (426), and the bottom end of the pressing guide block (426) is provided with a guide slope extending from the inside to the outside.

5. The battery-changing mechanism for a three-axis robotic arm of a drone according to claim 1, characterized in that, The bottom end of the seat frame (421) is symmetrically equipped with a first linear guide rail (427), and the first movable seat (424) slides outside the first linear guide rail (427).

6. The battery-changing mechanism for a three-axis robotic arm of a drone according to claim 1, characterized in that, The handle clamping assembly (43) also includes a base frame (431) mounted on the front of the seat plate (411), the clamping drive motor (432) is mounted on one side of the base frame (431), the second lead screw (433) is rotatably connected to the other side of the base frame (431), and the base frame (431) and the second movable seat (435) are slidably connected by a second linear guide rail (439).

7. A battery-changing mechanism for a three-axis robotic arm of a drone according to claim 6, characterized in that, A bearing seat (438) is symmetrically installed on the other side of the base frame (431), and the second lead screw (433) is rotatably connected inside the bearing seat (438).

8. The battery-changing mechanism for a three-axis robotic arm of a drone according to claim 1, characterized in that, The synchronous belt drive assembly (434) includes an active synchronous pulley (4341) installed on the drive end of the base frame (431), a transmission synchronous pulley (4342) installed on the driven end of the second lead screw (433), and a synchronous belt (4343) connected to the outside of the active synchronous pulley (4341) and the transmission synchronous pulley (4342).

9. A battery-changing mechanism for a three-axis robotic arm of a drone according to claim 1, characterized in that, The frame body (441) is mounted on the front of the seat plate (411) and located below the flexible clamp (437). A push plate (442) is movably arranged inside the frame body (441). The push plate (442) is connected to the frame body (441) by a spring (444). The hook (443) is mounted on the surface of the push plate (442) and is located away from the spring (444).

10. A battery-changing mechanism for a three-axis robotic arm of a drone according to claim 9, characterized in that, The surface of the push plate (442) is also equipped with a first sensor (445) and the bottom is equipped with a second sensor (446). The first sensor (445) and the second sensor (446) are both on the same side as the hook (443).

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