Unmanned aerial vehicle automatic battery changing mechanical arm and hangar

Abstract

The invention relates to the field of unmanned aerial vehicle hangars, and discloses an unmanned aerial vehicle automatic battery changing mechanical arm and a hangar. The unmanned aerial vehicle automatic battery changing mechanical arm is of a rotary mechanical arm structural form, the overall structure is integrated, and the occupied space is small; the unmanned aerial vehicle automatic battery replacing machine library comprises a battery charging bin, a lifting platform and an automatic battery replacing mechanical arm, the battery charging bin comprises a plurality of charging grids arranged from top to bottom, and a centering positioning device is arranged on the lifting platform; the arrangement position of the battery charging bin and the position, where the centering positioning device positions and fixes the unmanned aerial vehicle on the take-off and landing platform are located in the rotation radial direction of the automatic battery replacing mechanical arm. The battery on the unmanned aerial vehicle body and the battery in the battery charging bin can be automatically replaced through the automatic battery replacing mechanical arm, and the size miniaturization of the unmanned aerial vehicle automatic battery replacing machine library can be achieved.

Description

Technical Field

[0001] This invention relates to the field of drone hangars, specifically to an automatic battery-swapping robotic arm and hangar for drones. Background Technology

[0002] With the widespread application of drone technology in scenarios such as inspection, surveying, security, logistics, and border patrol, automated drone hangars have emerged. The hangars are designed to provide drones with functions such as take-off and landing, environmental protection, energy supply, and data transmission, thereby enabling remote deployment, 24 / 7 monitoring, and fully autonomous operation of drones.

[0003] Currently, automated drone hangars on the market typically use charging for energy replenishment. Charging stations are installed within the hangar, allowing drones to automatically recharge upon returning. However, due to low charging efficiency and long charging times, this method is not conducive to continuous drone operation. For applications requiring long flight times, high frequency, and rapid response, battery swapping remains the primary energy replenishment strategy. Traditional drone battery swapping operations are highly dependent on manual labor, requiring multiple battery sets and numerous operators working in shifts, resulting in high personnel costs and relatively low swapping efficiency.

[0004] In order to realize fully automated battery swapping operations for drones in these application scenarios, those skilled in the art have been committed to the research and development of automated battery swapping hangars. There are also drone hangars with automated battery swapping in the existing technology, but existing designs often have defects such as complex system structure and large hangar volume. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide an automatic battery swapping robotic arm and hangar for drones. While meeting the requirements of automatic battery swapping, the automatic battery swapping robotic arm for drones has an integrated overall structure and occupies little space, and the automatic battery swapping hangar for drones can be miniaturized.

[0006] The objective of this invention is achieved through the following technical solution: An automatic battery swapping robotic arm for unmanned aerial vehicles includes a base, a rotary drive device, a lifting mechanism, a lateral movement mechanism, and an actuator. The lifting mechanism includes a column and a lifting drive device, and the lateral movement mechanism includes a horizontal arm, a mounting base, and a lateral movement drive device. The column is vertically arranged, and the bottom end of the column is rotatably connected to the top end of the base. The rotary drive device is used to drive the column to rotate on the base. The horizontal arm is horizontally arranged, and one end of the horizontal arm is slidably connected to the column. The lifting drive device is used to drive the horizontal arm to slide on the column. The mounting base is slidably arranged on the horizontal arm, and the lateral movement drive device is used to drive the mounting base to slide on the horizontal arm. The actuator includes an actuator motor, an actuator gear, and two clamping devices. Each clamping device includes a rack and a clamping arm. The rack is slidably mounted on the mounting base, and the clamping arm is fixedly connected to the rack. The clamping arm extends horizontally towards the side of the mounting base away from the column. The actuator motor is fixedly mounted on the mounting base, and the actuator gear is fixedly sleeved on the output shaft of the actuator motor. The actuator gear meshes with the rack. The two clamping devices are centrally symmetrically arranged. The axis of the actuator gear is perpendicular to the rotation axis of the column relative to the base. The two clamping arms are located in the same horizontal plane and are symmetrical about the left and right sides with the actuator gear as the center. The two clamping arms can move closer to each other or further away from each other.

[0007] Furthermore, the actuator also includes a torsion shaft, a torsion seat, and a spring. One end of the torsion shaft is coaxially and fixedly connected to the end of the actuator gear away from the actuator motor. The other end of the torsion shaft is coaxially and slidably connected to one end of the torsion seat. The other end of the torsion seat is adapted to the battery knob of the drone. The spring is used to provide elastic force to move the torsion shaft and the torsion seat away from each other. The clamping arm has a bent portion at the end away from the mounting base. The actuator is adapted to the battery mounting position of the drone. When the knob seat unscrews the battery knob of the drone, the two clamping arms move closer together to insert the bent part into the end of the drone's battery away from the battery knob.

[0008] Furthermore, the actuator also includes a switching device, which comprises a switch motor, a first link, a second link, and a third link. The two ends of the first link are rotatably connected to one end of the third link and the mounting base, respectively. The two ends of the second link are rotatably connected to the middle of the third link and the mounting base, respectively. The first link, the third link, the second link, and the mounting base form a parallelogram mechanism. A buffer button is provided at the end of the third link away from the first link. The switch motor is used to drive the first link or the second link to swing around the mounting base. The buffer button is compatible with the switch button of the UAV.

[0009] Specifically, the lifting drive device includes a lifting motor and a lifting screw. The lifting screw is rotatably connected to the column, and the cross arm is threadedly connected to the lifting screw. The lifting motor is used to drive the lifting screw to rotate.

[0010] Specifically, the lateral movement drive device includes a lateral movement motor and a lateral movement lead screw. The lateral movement lead screw is rotatably connected to the horizontal arm. The mounting base is threadedly connected to the lateral movement lead screw. The lateral movement motor is used to drive the lateral movement lead screw to rotate.

[0011] An automated battery swapping hangar for unmanned aerial vehicles (UAVs) includes a battery charging compartment, a take-off and landing platform, and the aforementioned automated battery swapping robotic arm. The battery charging compartment includes several charging cells arranged from top to bottom, with the opening end of each charging cell perpendicularly facing the rotation axis of the column relative to the base. The take-off and landing platform is equipped with a centering positioning device, which is used to fix the UAV on the take-off and landing platform and position the UAV's battery so that it faces the rotation axis of the column relative to the base.

[0012] Specifically, the centering and positioning device includes two first centering beams and two second centering beams. The platform of the lifting platform is set horizontally. A first horizontal plane and a second horizontal plane are defined above the lifting platform from bottom to top. The two first centering beams are set in the first horizontal plane and are parallel to each other. The two first centering beams can be close to each other or far apart. The two second centering beams are set in the second horizontal plane and are parallel to each other. The two second centering beams can be close to each other or far apart. The projections of the two first centering beams and the two second centering beams in the vertical direction form a grid shape.

[0013] Furthermore, the centering positioning device also includes a centering motor, a three-axis commutator, two centering lead screws A, a bevel gear commutator A, and a centering double helical lead screw A. The centering motor, three-axis commutator, and bevel gear commutator A are all fixedly connected to the lifting platform. The centering lead screws A and the centering double helical lead screw A are rotatably mounted on the lifting platform. The output shaft of the centering motor is fixedly connected to the input shaft of the three-axis commutator. The two centering lead screws A are coaxially arranged, perpendicular to the centering double helical lead screw A. One end of each of the two centering lead screws A is respectively connected to the three-axis commutator A. The two output shafts of the axial commutator are fixedly connected. The other end of one of the centering screws A is fixedly connected to one end of the bevel gear commutator A. The other end of the bevel gear commutator A is fixedly connected to one end of the centering double helical screw A. One end of each of the two first centering beams is threadedly connected to the two centering screws A. The centering double helical screw A has a forward thread section and a reverse thread section respectively located away from the center. One end of each of the two second centering beams is threadedly connected to the forward thread section and the reverse thread section respectively. Both the centering screw A and the centering double helical screw A are adapted to the UAV's landing gear.

[0014] Furthermore, the centering positioning device also includes bevel gear commutator B, bevel gear commutator C, bevel gear commutator D, centering double helical screw B, and two centering screws B. The bevel gear commutator A, bevel gear commutator B, bevel gear commutator C, and bevel gear commutator D are respectively fixed at the four corners of the lifting platform. The centering double helical screw B and the two centering screws B are all rotatably connected to the lifting platform. One end of one centering screw B is fixedly connected to one end of the bevel gear commutator B, and the other end of the bevel gear commutator B is fixedly connected to the end of the centering double helix screw A away from the bevel gear commutator A. One end of another centering screw B is fixedly connected to one end of the bevel gear commutator C, and the other end of the bevel gear commutator C is fixedly connected to one end of the centering double helix screw B. The other end of the centering double helix screw B is fixedly connected to one end of the bevel gear commutator D, and the other end of the bevel gear commutator D is fixedly connected to the end of the centering screw A away from the bevel gear commutator A. The centering double helix screw B and the centering double helix screw A are parallel and mutually adapted. The two ends of the second centering beam are threadedly connected to the centering double helix screw B and the centering double helix screw A, respectively. The centering screw B and the centering screw A are parallel and mutually adapted. The two ends of the first centering beam are threadedly connected to the centering screw B and the centering screw A, respectively.

[0015] The beneficial effects of this invention are: This invention discloses an automated battery swapping hangar for unmanned aerial vehicles (UAVs), comprising a battery charging compartment, a landing platform, and an automated battery swapping robotic arm. The battery charging compartment includes several charging cells arranged from top to bottom, and a centering and positioning device is installed on the landing platform. The automated battery swapping robotic arm is a rotary robotic arm structure. The battery charging compartment and the position where the centering and positioning device positions and fixes the UAV on the landing platform are both located in the radial direction of the automated battery swapping robotic arm's rotation. The automated battery swapping robotic arm enables automatic replacement of batteries on the UAV's fuselage with batteries in the charging compartment. Compared to the three-axis translational robot structure commonly used in existing automated battery swapping hangars, this rotary robotic arm structure is more integrated, occupies less space, and contributes to the miniaturization of the UAV automated battery swapping hangar.

[0016] The automated battery swapping robotic arm includes an actuator, which comprises an actuator motor, actuator gears, two gripping devices, a torsion shaft, a torsion seat, and a spring. The gripping devices include racks and gripping arms. When the actuator motor drives the actuator gears to rotate, the torsion shaft drives the torsion seat to rotate, thus opening the drone's battery knob. Simultaneously, the two racks drive the two gripping arms to move closer together, extending the bent portions at the front ends of the gripping arms into one end of the drone's battery. After the drone's battery knob is fully opened, the spring force allows the torsion seat and the bent portions of the two gripping arms to directly clamp the drone's battery. Thus, this automated battery swapping robotic arm can simultaneously open the battery knob and clamp the battery during use. This eliminates the need for a separate device and drive component for opening the battery knob in the automated battery swapping bay, contributing to the miniaturization of the automated battery swapping bay for drones. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of an automatic battery swapping robotic arm for unmanned aerial vehicles (UAVs) according to the present invention. Figure 2 for Figure 1 The diagram shows the structure of the lateral movement mechanism and the actuator in the automatic battery swapping robotic arm of the UAV. Figure 3 for Figure 2 Top view of the actuator; Figure 4 for Figure 3 Sectional view of AA; Figure 5 for Figure 3 BB section view; Figure 6 This is a schematic diagram of the structure of the torsion shaft and torsion seat in this invention; Figure 7 This is a schematic diagram of the switching device in this invention; Figure 8 This is a schematic diagram of the centering and positioning state of the UAV on the take-off and landing platform in this invention; Figure 9 for Figure 8 Schematic diagram of the bottom structure of the mid-lift and landing platform; Figure 10 This is a schematic diagram of the structure of a drone applicable to the automatic battery swapping robotic arm and hangar of the present invention; Figure 11 This invention provides a schematic diagram of an automatic motor-swapping hangar for unmanned aerial vehicles (UAVs). Figure 1 ; Figure 12 This invention provides a schematic diagram of an automatic motor-swapping hangar for unmanned aerial vehicles (UAVs). Figure 2 ; Figure 13 This invention provides a schematic diagram of an automatic motor-swapping hangar for unmanned aerial vehicles (UAVs). Figure 3 ; Figure 14 for Figure 13 Enlarged schematic diagram of the actuator position in the shown state; Figure 15 This invention provides a schematic diagram of an automatic motor-swapping hangar for unmanned aerial vehicles (UAVs). Figure 4 ; In the diagram, 1-crossbar, 2-limiting post, 3-battery, 4-battery knob, 5-switch button, 6-battery charging compartment, 100-base, 110-upright column, 111-lifting motor, 112-lifting screw, 120-crossarm, 121-mounting base, 122-transverse motor, 123-transverse screw, 131-actuator motor, 132-actuator gear, 133-rack, 134-clamping arm, 135-torsion shaft, 136-torsion seat, 137-spring, 141-switch motor, 142-... - First link, 143 - Second link, 144 - Third link, 145 - Buffer button, 200 - Lifting platform, 211 - First centering beam, 212 - Second centering beam, 213 - Centering motor, 214 - Three-axis commutator, 215 - Centering screw A, 216 - Bevel gear commutator A, 217 - Centering double helix screw A, 218 - Centering double helix screw B, 219 - Centering screw B, 220 - Bevel gear commutator B, 221 - Bevel gear commutator C, 222 - Bevel gear commutator D. Detailed Implementation

[0018] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.

[0019] like Figures 1 to 7 As shown, an automatic battery swapping robotic arm for unmanned aerial vehicles includes a base 100, a rotary drive device, a lifting mechanism, a lateral movement mechanism, and an actuator.

[0020] The lifting mechanism includes a column 110 and a lifting drive device, and the traversing mechanism includes a horizontal arm 120, a mounting base 121, and a traversing drive device. The column 110 is vertically arranged, and its bottom end is rotatably connected to the top end of the base 100. The rotation drive device is used to drive the column 110 to rotate on the base 100. The horizontal arm 120 is horizontally arranged, and one end of the horizontal arm 120 is slidably connected to the column 110. The lifting drive device is used to drive the horizontal arm 120 to slide on the column 110. The mounting base 121 is slidably arranged on the horizontal arm 120, and the traversing drive device is used to drive the mounting base 121 to slide on the horizontal arm 120.

[0021] The actuator includes an actuator motor 131, an actuator gear 132, and two clamping devices. Each clamping device includes a rack 133 and a clamping arm 134. The rack 133 is slidably mounted on the mounting base 121, and the clamping arm 134 is fixedly connected to the rack. The clamping arm 134 extends horizontally towards the side of the mounting base 121 away from the column 110. The actuator motor 131 is fixedly mounted on the mounting base 121, and the actuator gear 132 is fixedly sleeved on the output shaft of the actuator motor 131. The actuator gear 132 meshes with the rack 133. Starting the actuator motor 131 drives the actuator gear 132 to rotate, which in turn drives the two racks 133 to slide synchronously in opposite directions. The two clamping devices are arranged symmetrically at the center. The axis of the actuating gear 132 is perpendicular to the rotation axis of the column 110 relative to the base 100. The two clamping arms 134 are located in the same horizontal plane and are symmetrical about the left and right with the actuating gear 132 as the center. When the actuating motor 131 drives the actuating gear 132 to rotate, the two clamping arms 134 can move closer to each other or away from each other under the drive of the two racks 133.

[0022] like Figures 11 to 15 As shown, an automated battery swapping hangar for unmanned aerial vehicles (UAVs) includes a battery charging compartment 6, a landing platform 200, and the aforementioned automated battery swapping robotic arm. The battery charging compartment 6 includes several charging cells arranged from top to bottom, with the opening of each cell perpendicularly aligned with the rotation axis of the column 110 relative to the base 100. The landing platform 200 is equipped with a centering positioning device, which is used to fix the UAV on the landing platform 200 and position it so that the UAV's battery is directly aligned with the rotation axis of the column 110 relative to the base 100. The battery charging compartment 6, the landing platform 200, and the automated battery swapping robotic arm are all housed within the hangar. During installation, the rotation axis of the column 110 relative to the base 100 is used as the positioning reference, ensuring that the UAV, positioned and fixed by the battery charging compartment 6 and the centering positioning device, is located in the radial direction of rotation of the automated battery swapping robotic arm.

[0023] The automatic motor changer for drones involves the following steps when in use: S1, Initial state as follows Figure 11 As shown, at least one set of charging cells in the battery charging compartment 6 is empty and at least one set of charging cells contains a spare battery. The column 110 of the automatic battery swapping robot arm rotates to position the actuator facing the battery charging compartment 6. S2. The drone lands on the take-off and landing platform 200 and is positioned and fixed by the centering positioning device. Then the take-off and landing platform 200 carries the drone down into the hangar. S3, such as Figure 12 As shown, the column 110 is rotated by the rotary drive device and the height is adjusted by the lifting drive device so that the actuator is facing the battery compartment of the drone. Then, the mounting base 121 and the actuator are moved forward to a set position close to the drone's battery compartment by the transverse drive device. S4, such as Figure 13 As shown, the actuator 131 drives the two clamping arms 134 to move closer together and clamp the drone battery. S5, such as Figure 15 As shown, the mounting base 121 and the actuator are retracted by the lateral drive device, and the clamped battery is extracted from the drone body and moved to a position away from the drone. S6. The column 110 is rotated by the rotary drive device and the height is adjusted by the lifting drive device so that the actuator and the battery being clamped are facing the empty charging grid in the battery charging compartment 6. Then, the mounting base 121 and the actuator are moved forward by the transverse drive device to insert the battery into the empty charging grid for charging (the end of the charging grid away from the automatic battery swapping robot arm is provided with a charging port). S7. The two clamping arms 134 are driven away from each other by the actuator 131 to release the battery. Then, the height is adjusted by the lifting drive device so that the actuator faces the charging cell containing the spare battery. Then, the two clamping arms 134 are driven to move closer together by the actuator 131 to clamp the spare battery. Then, the mounting base 121 and the actuator are moved back by the transverse drive device to pull the spare battery out of the charging cell. S8. The column 110 is rotated by the rotary drive device and the height is adjusted by the lifting drive device so that the spare battery is facing the battery compartment of the drone. Then, the mounting base 121 and the actuator are moved forward by the transverse drive device to insert the spare battery into the battery compartment of the drone. S9. The two clamping arms 134 are moved away from each other by the actuator 131 to release the backup battery. Then, the mounting base 121 and the actuator are moved back by the transverse drive device. The column 110 is rotated back to the initial state by the rotary drive device.

[0024] The aforementioned automatic battery swapping robotic arm for drones is a rotary robotic arm structure. Combined with a centering and positioning device, it can automatically replace the drone battery. Compared with the three-axis translational robot structure commonly used in existing automatic battery swapping hangars (such as a drone battery swapping hangar and drone battery swapping method with application number CN202111088451.1, and a drone hangar with application number CN202222242965.4), the overall structure of this automatic battery swapping robotic arm for drones is more integrated, and it occupies less space, which is conducive to the miniaturization of the automatic battery swapping hangar for drones.

[0025] Because the drones applicable to the automatic battery swapping robotic arm and hangar of this invention are such as Figure 10The drone shown includes a fuselage with two landing gears at the bottom. Each landing gear consists of a diagonal bar and a horizontal bar 1. One end of the diagonal bar is fixedly connected to the fuselage, and the other end is fixedly connected to the middle of the horizontal bar 1. The two diagonal bars open outwards in a V-shape. The horizontal bar 1 is parallel to the fuselage and provides support to the drone upon landing by contacting the ground or platform. Limiting posts 2 are fixedly installed on the horizontal bar 1 near both ends. A battery compartment with an I-shaped cross-section is located in the middle of the fuselage, and two batteries 3 are embedded within it. Installed inside the battery compartment to power the drone; one end of the battery compartment is located at the rear of the fuselage, where a battery knob 4 is located. When the battery knob 4 is rotated to the horizontal position, its two ends can respectively block the ends of the two batteries 3 to prevent them from falling out. When the battery knob 4 is rotated to the vertical position, the two batteries 3 can be pulled out from the rear of the fuselage. A switch button 5 is also located on the top of the fuselage. Pressing the switch button 5 can turn the drone off or on. Therefore, further, in the above-mentioned automatic battery swapping robotic arm for drones, such as Figures 2 to 6 As shown, the actuator also includes a torsion shaft 135, a torsion seat 136, and a spring 137. One end of the torsion shaft 135 is coaxially and fixedly connected to the end of the actuator gear 132 away from the actuator motor 131. The other end of the torsion shaft 135 is coaxially and slidably connected to one end of the torsion seat 136. The other end of the torsion seat 136 has a groove that is adapted to the battery knob 4 of the drone. The spring is used to provide elastic force to move the torsion shaft 135 and the torsion seat 136 away from each other. In the aforementioned step S3, when the actuator moves forward to a set position close to the drone's battery compartment, the drone's battery knob 4 is engaged in the groove at the end of the torsion seat 136, and the spring 137 presses the torsion seat 136 against the drone's battery knob 4. A bent portion is formed at the end of the clamping arm 134 away from the mounting base 121. The speed ratio of the actuating gear 132 and rack 133 is accurately designed to adapt the actuator to the mounting position of the drone's battery 3. In the aforementioned step S4, when the actuating motor 131 rotates, the two clamping arms 134 no longer directly clamp the drone battery. Instead, the actuating motor 131 rotates 90 degrees, driving the rotating shaft 135 and the torsion seat 136 to rotate, causing the drone's battery knob 4 to turn open. At the same time, it drives the two clamping arms 134 to move closer together until the bent portion extends into the end of the drone's battery 3 away from the battery knob 4. Since the battery knob 4 has been turned vertically, under the elastic force of the spring 137, the torsion seat 136 can continue to move forward and abut against the end of the battery 3 near the battery knob 4. Thus, under the elastic force of the spring 137, the torsion seat 136 and the bent portions of the two clamping arms 134 respectively clamp the two batteries 3 (e.g., Figure 3As shown), a gap is maintained between the two batteries 3 so that the two batteries 3 can be inserted into the two side-by-side charging cells simultaneously in step S6. Similarly, in the aforementioned steps S8 and S9, after the spare battery is replaced, when the two clamping arms 134 are moved away from each other by the actuator 131 to release the spare battery, the torsion seat 136 also drives the battery knob 4 to rotate 90 degrees to the closed state.

[0026] Therefore, it can be seen that, in response to Figure 10 The drone model shown has an automatic battery swapping robotic arm that can simultaneously turn the battery knob 4 open (or close) and clamp (or release) the two batteries 3 by rotating the motor 131 90 degrees. This eliminates the need for a separate device and drive element to open the battery knob 4 in the automatic battery swapping unit, which is beneficial for miniaturizing the size of the drone's automatic battery swapping unit.

[0027] Furthermore, in the aforementioned automated battery-swapping robotic arm for drones, such as Figure 2 , Figure 7 As shown, the actuator also includes a switching device, which includes a switch motor 141, a first link 142, a second link 143, and a third link 144. The two ends of the first link 142 are rotatably connected to one end of the third link 144 and the mounting base 121, respectively. The two ends of the second link 143 are rotatably connected to the middle of the third link 144 and the mounting base 121, respectively. The first link 142, the third link 144, the second link 143, and the mounting base 121 form a parallelogram mechanism. A buffer button 145 is provided at the end of the third link 144 away from the first link 142. The switch motor 141 is used to drive the first link 142 or the second link 143 to swing around the mounting base 121. The buffer button 145 is adapted to the switch button 5 of the UAV. After step S3 ends and before step S4, by switching motor 141 driving the first link 142 or the second link 143 to swing, the third link 144 can be further driven to move forward parallel to the mounting base 121 until... Figure 15 As shown, pressing the switch button 5 with the buffer button 145 directly cuts off the power to the drone (the switch device is driven independently by the switch motor 141; pressing the switch button 5 drives the third linkage 144 to retract, and the drone power can also be turned on via the switch device after the battery has been replaced), avoiding the need to plug and unplug the battery 3 while it is powered on during battery swapping. This switch mechanism is directly mounted on the mounting base 121 and integrated into the automatic battery swapping robotic arm. There is no need to install separate switches to start or disconnect the drone power in other locations of the automatic battery swapping bay, which is beneficial for miniaturizing the size of the automatic battery swapping bay.

[0028] When the automatic battery-swapping robotic arm of this drone is implemented, such as Figure 1As shown, the lifting drive device includes a lifting motor 111 and a lifting screw 112. The lifting screw 112 is rotatably connected to the column 110. The cross arm 120 is threadedly connected to the lifting screw 112. The lifting motor 111 drives the lifting screw 112 to rotate, forming a screw-nut mechanism. When the lifting screw 112 rotates, it can drive the cross arm 120 to rise and fall. The traverse drive device includes a traverse motor 122 and a traverse screw 123. The traverse screw 123 is rotatably connected to the cross arm 120. The mounting base 121 is threadedly connected to the traverse screw 123. The traverse motor 122 drives the traverse screw 123 to rotate, also forming a screw-nut mechanism. When the traverse motor 122 drives the traverse screw 123 to rotate, it can drive the mounting base 121 to slide back and forth on the cross arm 120. It should be understood that the lifting drive device and the traversing drive device can be selected from various structural forms in the prior art. Here, the screw and nut mechanism can be used to integrate the corresponding components into the column 110 or the cross arm 120. At the same time, based on the characteristics of the screw and nut mechanism, the lifting or traversing operation can be accurately controlled and self-locking can be achieved. In addition, the rotary drive device can also be selected from various structural forms in the prior art, such as the worm gear mechanism driven by the motor, the bevel gear transmission mechanism, etc.

[0029] In the aforementioned automatic motor-changing hangar for unmanned aerial vehicles (UAVs), the centering and positioning device can be selected from various structural forms capable of positioning and fixing the UAVs. This embodiment is specifically designed for... Figure 10 The centering and positioning device designed for the UAV model shown is as follows: Figure 8 , Figure 9As shown, it includes two first centering beams 211 and two second centering beams 212. The platform surface of the lifting platform 200 is set in the horizontal direction, and a first horizontal plane and a second horizontal plane are defined sequentially from bottom to top above the lifting platform 200. The two first centering beams 211 are set in the first horizontal plane, and the two first centering beams 211 are parallel to each other and can be close to or far apart from each other; the two second centering beams 212 are set in the second horizontal plane, and the two second centering beams 212 are parallel to each other and can be close to or far apart from each other. The projections of the two first centering beams 211 and the two second centering beams 212 along the vertical direction form a grid pattern. When the UAV lands on the landing platform 200, the two first centering beams 211 move closer to each other simultaneously. When the first centering beams 211 contact the crossbar 1 of the UAV's tripod, they can push and adjust the tilt attitude of the crossbar 1 on the top surface of the landing platform 200, making the crossbar 1 parallel to the first centering beams 211. As the two first centering beams 211 continue to move closer to each other, they can push the two crossbars 1 of the UAV's tripod... Clamp and adjust the drone to the center position on the top surface of the take-off and landing platform 200, perpendicular to the direction of the first centering beam 211; similarly, make the two second centering beams 212 move closer to each other simultaneously, and the drone can also be adjusted to the center position on the top surface of the take-off and landing platform 200, perpendicular to the direction of the second centering beam 212, by contacting the four limiting posts 2 on the drone's landing gear with the second centering beams 212; thus, the drone can be centered and positioned on the center position of the take-off and landing platform 200 by the two first centering beams 211 and the two second centering beams 212. Regarding fixation, the two first centering beams 211 can apply an inward clamping force to the crossbar 1, and the two second centering beams 212 can apply an inward clamping force to the limiting post 2. Since the second centering beams 212 are located above the first centering beams 211 and the crossbar 1, when the two second centering beams 212 are close together, the crossbar 1 is also restricted vertically between the second centering beams 212 and the top surface of the take-off and landing platform 200. Thus, the two first centering beams 211 and the two second centering beams 212 can effectively fix the UAV.

[0030] Furthermore, the centering positioning device also includes a centering drive device, which includes a centering motor 213, a three-axis commutator 214, two centering lead screws A215, a bevel gear commutator A216, and a centering double helical lead screw A217. The centering motor 213, the three-axis commutator 214, and the bevel gear commutator A215 are all fixedly connected to the lifting platform 200. The centering lead screws A215 and A217 are rotatably mounted on the lifting platform 200. The output shaft of the centering motor 213 is fixedly connected to the input shaft of the three-axis commutator 214. The two centering lead screws A215 are coaxially arranged, perpendicular to the centering double helical lead screw A217. One end of each of the two centering lead screws A215 is fixedly connected to the two output shafts of the three-axis commutator 214. The other end of 215 is fixedly connected to one end of the bevel gear commutator A216, and the other end of the bevel gear commutator A216 is fixedly connected to one end of the centering double helical screw A217. The input shaft and the two output shafts of the above three-axis commutator 214 are all equipped with bevel gears. The bevel gear of the input shaft meshes with the bevel gears of the two output shafts at the same time. When the centering motor 213 rotates, it can drive the two centering screws A215 to rotate synchronously in opposite directions. Then, one of the centering screws A215 drives the centering double helical screw A217 to rotate after being reversed by the bevel gear commutator A216. One end of each of the two first centering beams 211 is threadedly connected to two centering screws A215. The centering double helix screw A217 has a forward-rotating thread section and a reverse-rotating thread section respectively located away from the center. One end of each of the two second centering beams 212 is threadedly connected to the forward-rotating thread section and the reverse-rotating thread section respectively. Both the centering screws A215 and A217 are adapted to the size of the UAV's landing gear. When the centering motor 213 is started, the synchronous reverse rotation of the two centering screws A215 can drive the two first centering beams 211 to move closer to each other (or further apart). At the same time, the rotation of the centering double helix screw A217 can drive the two second centering beams 212 to move closer to each other (or further apart). Thus, the centering positioning device can be driven and controlled by a single centering motor 213.

[0031] In practice, the end of the first centering beam 211 away from the centering screw A215 and the end of the second centering beam 212 away from the centering double helix screw A217 can be slidably connected to the take-off and landing platform 200 by setting guide rods, slide rails or other means on the take-off and landing platform 200. However, this will result in poor clamping reliability when centering and fixing the UAV because the first centering beam 211 or the second centering beam 212 transmits force only from one end of the thread. As an optional implementation, the centering drive device also includes bevel gear commutator B220, bevel gear commutator C221, bevel gear commutator D222, centering double helical screw B218, and two centering screws B219. Bevel gear commutator A216, bevel gear commutator B220, bevel gear commutator C221, and bevel gear commutator D222 are respectively fixed at the four corners of the lifting platform 200. The centering double helical screw B218 and the two centering screws B219 are all rotatably connected to the lifting platform 200. One end of a centering screw B219 is fixedly connected to one end of a bevel gear commutator B220, and the other end of the bevel gear commutator B220 is fixedly connected to the end of a centering double helix screw A217 away from the bevel gear commutator A216; one end of another centering screw B219 is fixedly connected to one end of a bevel gear commutator C221, and the other end of the bevel gear commutator C221 is fixedly connected to one end of a centering double helix screw B218, the other end of the centering double helix screw B218 is fixedly connected to one end of a bevel gear commutator D222, and the other end of the bevel gear commutator D is fixedly connected to the end of a centering screw A215 away from the bevel gear commutator A216. Thus, starting the centering motor 213 can synchronously drive each centering screw and the centering double helix screw to rotate. The centering double helix screw B218 and centering double helix screw A217 are parallel and compatible with each other. The two ends of the second centering beam 212 are threadedly connected to the centering double helix screws B218 and A217 respectively. The centering screw B219 and centering screw A215 are parallel and compatible with each other. The two ends of the first centering beam 211 are threadedly connected to the centering screws B219 and A215 respectively. When the centering motor 213 synchronously drives each centering screw and the centering double helix screw to rotate, both ends of the first centering beam 211 and both ends of the second centering beam 212 are driven by the thread, which helps to improve the reliability of the UAV centering and positioning fixation. (It should be understood that the processing and assembly accuracy requirements of each centering screw and the centering double helix screw in this optional implementation scheme are relatively high, and can be selected according to actual needs.)

[0032] The aforementioned centering and positioning device can realize the centering and positioning of the UAV on the take-off and landing platform 200. The two first centering beams 211, the two second centering beams 212, and the centering drive device are all integrated on the take-off and landing platform 200. The entire centering and positioning device is based on the flat structure of the take-off and landing platform 200, which will not occupy too much space and is conducive to the miniaturization of the UAV automatic motor changing hangar.

[0033] The above description is merely a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the concept described herein through the above teachings or related technologies or knowledge. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. An automatic battery-swapping robotic arm for unmanned aerial vehicles, characterized in that, Includes a base, a rotary drive, a lifting mechanism, a traversing mechanism, and an actuator; The lifting mechanism includes a column and a lifting drive device, and the lateral movement mechanism includes a horizontal arm, a mounting base, and a lateral movement drive device. The column is vertically arranged, and the bottom end of the column is rotatably connected to the top end of the base. The rotary drive device is used to drive the column to rotate on the base. The horizontal arm is horizontally arranged, and one end of the horizontal arm is slidably connected to the column. The lifting drive device is used to drive the horizontal arm to slide on the column. The mounting base is slidably arranged on the horizontal arm, and the lateral movement drive device is used to drive the mounting base to slide on the horizontal arm. The actuator includes an actuator motor, actuator gears, and two clamping devices. The clamping device includes a rack and a clamping arm. The rack is slidably mounted on the mounting base, and the clamping arm is fixedly connected to the rack. The clamping arm extends horizontally towards the side of the mounting base away from the column. The actuating motor is fixedly mounted on the mounting base, and the actuating gear is fixedly sleeved on the output shaft of the actuating motor. The actuating gear meshes with the rack. The two clamping devices are arranged symmetrically at the center. The axis of the actuating gear is perpendicular to the rotation axis of the column relative to the base. The two clamping arms are located in the same horizontal plane and are symmetrical about the left and right with the actuating gear as the center. The two clamping arms can move closer to each other or further away from each other.

2. The automatic battery swapping robotic arm for unmanned aerial vehicles according to claim 1, characterized in that, The actuator also includes a torsion shaft, a torsion seat, and a spring. One end of the torsion shaft is coaxially and fixedly connected to the end of the actuator gear away from the actuator motor. The other end of the torsion shaft is coaxially and slidably connected to one end of the torsion seat. The other end of the torsion seat is adapted to the battery knob of the drone. The spring is used to provide elastic force to move the torsion shaft and the torsion seat away from each other. The clamping arm has a bent portion at the end away from the mounting base. The actuator is adapted to the battery mounting position of the drone. When the knob seat unscrews the battery knob of the drone, the two clamping arms move closer together to insert the bent part into the end of the drone's battery away from the battery knob.

3. The automatic battery swapping robotic arm for unmanned aerial vehicles according to claim 2, characterized in that, The actuator further includes a switching device, which comprises a switch motor, a first link, a second link, and a third link. The two ends of the first link are rotatably connected to one end of the third link and the mounting base, respectively. The two ends of the second link are rotatably connected to the middle of the third link and the mounting base, respectively. The first link, the third link, the second link, and the mounting base form a parallelogram mechanism. A buffer button is provided at the end of the third link away from the first link. The switch motor is used to drive the first link or the second link to swing around the mounting base. The buffer button is adapted to the switch button of the UAV.

4. An automatic battery-swapping robotic arm for unmanned aerial vehicles according to any one of claims 1 to 3, characterized in that, The lifting drive device includes a lifting motor and a lifting screw. The lifting screw is rotatably connected to the column, and the cross arm is threadedly connected to the lifting screw. The lifting motor is used to drive the lifting screw to rotate.

5. An automatic battery-swapping robotic arm for unmanned aerial vehicles according to any one of claims 1 to 3, characterized in that, The lateral movement drive device includes a lateral movement motor and a lateral movement lead screw. The lateral movement lead screw is rotatably connected to the horizontal arm. The mounting base is threadedly connected to the lateral movement lead screw. The lateral movement motor is used to drive the lateral movement lead screw to rotate.

6. An automatic motor changing bay for unmanned aerial vehicles (UAVs), characterized in that, Includes a battery charging compartment, a take-off and landing platform, and an automated battery swapping robotic arm for drones as described in any one of claims 1 to 3. The battery charging compartment includes several charging cells arranged from top to bottom, with the opening end of each charging cell perpendicularly facing the rotation axis of the column relative to the base. The take-off and landing platform is equipped with a centering and positioning device, which is used to fix the UAV on the take-off and landing platform and position the UAV's battery so that it is aligned with the rotation axis of the column relative to the base.

7. An automatic motor-changing hangar for unmanned aerial vehicles according to claim 6, characterized in that, The centering and positioning device includes two first centering beams and two second centering beams. The platform of the take-off and landing platform is set horizontally, and a first horizontal plane and a second horizontal plane are defined above the platform from bottom to top. The two first centering beams are arranged within the first horizontal plane, and are parallel to each other. The two first centering beams can be close to or far apart from each other. The two second centering beams are positioned within the second horizontal plane, parallel to each other, and can be close to or far apart from each other. The projections of the two first centering beams and the two second centering beams along the vertical direction form a grid shape.

8. The automatic motor changing hangar for unmanned aerial vehicles according to claim 7, characterized in that, The centering positioning device also includes a centering motor, a three-axis commutator, two centering lead screws A, a bevel gear commutator A, and a centering double helical lead screw A. The centering motor, the three-axis commutator, and the bevel gear commutator A are all fixedly connected to the lifting platform. The centering lead screw A and the centering double helix lead screw A are rotatably mounted on the lifting platform. The output shaft of the centering motor is fixedly connected to the input shaft of the three-axis commutator. The two centering lead screws A are coaxially arranged, perpendicular to the centering double helix lead screw A. One end of each of the two centering lead screws A is fixedly connected to the two output shafts of the three-axis commutator, and the other end of one centering lead screw A is fixedly connected to one end of the bevel gear commutator A. The other end of the bevel gear commutator A is fixedly connected to one end of the centering double helix lead screw A. One end of each of the two first centering beams is threadedly connected to two centering screws A. The centering double helix screws A are respectively provided with a forward thread section and a reverse thread section away from the center. One end of each of the two second centering beams is threadedly connected to the forward thread section and the reverse thread section respectively. Both the centering screws A and the centering double helix screws A are adapted to the landing gear of the UAV.

9. An automatic motor-changing hangar for unmanned aerial vehicles according to claim 8, characterized in that, The centering positioning device also includes bevel gear commutator B, bevel gear commutator C, bevel gear commutator D, centering double helical screw B, and two centering screws B. The bevel gear commutator A, bevel gear commutator B, bevel gear commutator C, and bevel gear commutator D are respectively fixed at the four corners of the landing platform. The centering double helix screw B and the two centering screws B are all rotatably connected to the lifting platform. One end of the centering lead screw B is fixedly connected to one end of the bevel gear commutator B, and the other end of the bevel gear commutator B is fixedly connected to the end of the centering double helix lead screw A away from the bevel gear commutator A. One end of the other centering screw B is fixedly connected to one end of the bevel gear commutator C, the other end of the bevel gear commutator C is fixedly connected to one end of the centering double helix screw B, the other end of the centering double helix screw B is fixedly connected to one end of the bevel gear commutator D, and the other end of the bevel gear commutator D is fixedly connected to the end of the centering screw A that is away from the bevel gear commutator A. The centering double helix screw B is parallel to and adapted to the centering double helix screw A. The two ends of the second centering beam are threadedly connected to the centering double helix screw B and the centering double helix screw A, respectively. The centering screw B is parallel to and adapted to the centering screw A. The two ends of the first centering beam are threadedly connected to the centering screw B and the centering screw A, respectively.

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