A device and method for quick replacement of a drone payload

Abstract

The application discloses a device and method for quickly replacing a load of an unmanned aerial vehicle. The device comprises an unmanned aerial vehicle end mechanism, a load end mechanism and a load grabbing mechanism. The unmanned aerial vehicle end mechanism is installed on the unmanned aerial vehicle, the load end mechanism is connected with the load, and the unmanned aerial vehicle end mechanism and the load end mechanism are matched to realize physical connection between the load and the unmanned aerial vehicle, signal transmission and bearing of the load weight; the load grabbing mechanism is used to realize gripping and releasing of the load, so that the load replacement is completed. The application is suitable for automatic replacement of the load of the unmanned aerial vehicle, and realizes wide application of the unmanned aerial vehicle to various scenes.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, and in particular to a device and method for quickly changing the payload of a UAV. Background Technology

[0002] With the rapid development of drone technology, it is widely used in various fields, such as power line inspection, emergency rescue, and intelligent transportation. Considering the limited payload capacity of drones, the payload capacity is limited during missions. For example, high-definition cameras are needed for power line inspection; loudspeakers and droppers are needed for emergency rescue; and high-definition cameras and loudspeakers are needed for intelligent transportation missions. To meet the needs of various mission scenarios and achieve shared use of drones in multiple scenarios, the technology for automatic payload changing in drone hangars is constantly developing. Regarding the drone payload changing problem, patent CN202223402862 discloses a drone payload rotation quick-release device, which can achieve uniform load distribution. However, loading and unloading the payload requires two-handed actions of pulling the elastic pin and rotating the payload component, making automation difficult. Patent CN202122996220 discloses a quick-release device that allows manual loading and unloading of drone payloads, avoiding the use of tools. However, loading and unloading also requires two-handed actions of pressing the button and rotating the quick-release component, making automation difficult. Therefore, to meet the need for automatic payload changing of drones, a specialized design is urgently needed. Summary of the Invention

[0003] The purpose of this invention is to address the problems existing in the prior art by proposing a device and method for quickly changing the payload of drones, meeting the needs of drones for cross-scenario use, and improving the efficiency of drone use.

[0004] The technical solution to achieve the purpose of this invention is as follows: a device for quickly changing the payload of a drone, the device comprising a drone end mechanism, a payload end mechanism, and a payload gripping mechanism; the drone end mechanism is installed on the drone, the payload end mechanism is connected to the payload, the drone end mechanism and the payload end mechanism cooperate to realize the physical connection between the payload and the drone, signal transmission, and bearing the weight of the payload; the payload gripping mechanism is used to grip the payload to complete the payload replacement.

[0005] The UAV end mechanism includes a locking device and a first component for docking and connecting with the load end mechanism. The locking device is used to lock the load end mechanism and the first component.

[0006] The locking device includes a locking component, which locks or unlocks the load-end mechanism, thereby locking or unlocking the load.

[0007] The locking assembly includes at least one hook, a pressure application device, and a self-resetting device mounted on the first component, wherein the hook is mounted on the first component by a pin.

[0008] When the locking assembly locks the load end mechanism, under the drive of the first driving assembly, the hook rotates around the pin and approaches the first end of the movement space, contacts the surface of the load end mechanism placed in the movement space, and generates a certain extrusion force under the action of the pressure device to lock the load end mechanism and the first component.

[0009] When the locking assembly unlocks the load-end mechanism, it removes the driving force of the first driving assembly and the pressure application device. Under the action of the self-resetting device, the hook rotates around the pin and moves away from the head end of the movement space to unlock the load-end mechanism from the first component.

[0010] Furthermore, the drone end mechanism also includes a first adapter plate and a connector; the first component is detachably mounted on the drone to provide movement space for the installation and removal of the load end mechanism; the first adapter plate and connector are mounted on the first component to realize the transmission of electricity and signals between the drone end mechanism and the drone and the load end mechanism; the load end mechanism is detachably mounted in the movement space, and the load end mechanism is locked or unlocked by a locking device.

[0011] Furthermore, the locking device also includes a first driving component, which, under the drive of the first driving component, locks or unlocks the load-end mechanism, thereby locking or unlocking the load.

[0012] Furthermore, the movement space includes a front end and a rear end, wherein the front end serves as a load replacement inlet and outlet, and the rear end is equipped with a baffle.

[0013] Furthermore, the load-end mechanism includes a second component that interfaces with the drone end mechanism, a second adapter plate and connector for connecting the drone end mechanism, and a third adapter plate and connector for connecting the load.

[0014] The bottom of the motion space is open, and the second component is connected to the first component through the bottom of the first component, thereby realizing the docking of the second adapter plate and connector with the first adapter plate and connector.

[0015] Furthermore, the load-grabbing mechanism is installed on a three-axis motion platform in the drone hangar, and achieves three-dimensional motion under the action of the three-axis motion platform.

[0016] Furthermore, the motion space includes a space for the load gripping mechanism to move, and the load gripping mechanism includes a gripper assembly and a gripper drive device;

[0017] The gripper assembly includes two symmetrically arranged gripper arms for gripping the load end mechanism;

[0018] The gripper drive device is used to drive the two gripper arms to open or close, thereby clamping or unloading the load end mechanism and changing the load.

[0019] Furthermore, the gripper drive device includes a motor, gears, and at least two sets of transmission components. Each set of transmission components includes a rack and a linear guide pair, and the linear guide pair includes a guide rail and a slider.

[0020] The motor is fixedly mounted on the three-axis motion platform via a motor mounting plate; both sliders are fixedly mounted on the three-axis motion platform via slider mounting plates; the two guide rails are respectively fixedly mounted on the two racks; and the two gripper arms are respectively fixedly mounted on the two guide rails; the output shaft of the motor is connected to a gear, which meshes with both racks.

[0021] The motor rotates, driving the gears to rotate. When the gears rotate forward and in reverse, the two racks move in opposite directions or towards each other, which in turn drives the two guide rails to move in opposite directions to open or close the gripper arms.

[0022] Furthermore, the device also includes a control system for generating control signals to control the movement of the load-grabbing mechanism to the drone load mounting position.

[0023] Furthermore, the load gripping mechanism also includes a sensing device for sensing the relative position of the two gripper arms opening or closing in real time. When the sensing reaches the opening limit position or closing limit position, a command is sent to the gripper drive device to stop the gripper arms from opening or closing.

[0024] Compared with the prior art, the significant advantages of this invention are:

[0025] (1) The present invention utilizes the grippers to press (or release) the hook in pairs and then move them horizontally, so that the load can be released (or held) and the load can be removed (or loaded) by using only one gripper. This avoids the complicated two-hand operation in the prior art, such as first pulling out the pin and then removing the load or first loading the load and then inserting the pin to lock it, such as pressing the button with the left hand and rotating the operation with the right hand at the same time.

[0026] (2) This invention uses stepper or servo motors in conjunction with photoelectric switches to determine the running path and position, so as to achieve the purpose of load loading and unloading. It does not require the cooperation of hands and vision, reducing the difficulty of implementation, thus achieving automation and reducing costs (completely different from the multiple sensors and machine learning technology solutions of dexterous hands).

[0027] (3) The present invention provides matching grooves and protrusions on the load end and the drone end to bear the load weight and avoid damage to the load due to clamping on both sides.

[0028] (4) The present invention realizes the transmission of electricity and signals between the drone and the load through the connector and control board of the drone end and the load end, realizes the precise control of the load, and can execute the instructions issued by the drone.

[0029] The present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0030] Figure 1 An isometric view of a device for quickly changing the payload of a drone in one embodiment. Figure 1 .

[0031] Figure 2 Isometric view of the drone end mechanism in one embodiment Figure 1 .

[0032] Figure 3 Isometric view of the drone end mechanism in one embodiment Figure 2 .

[0033] Figure 4 This is an isometric view of the load-end mechanism in one embodiment.

[0034] Figure 5 Isometric view of the load gripping mechanism in one embodiment Figure 1 .

[0035] Figure 6 Isometric view of the load gripping mechanism in one embodiment Figure 2 .

[0036] Reference numerals: 1-UAV end mechanism; 111-Hook; 112-Bearing; 113-Torsion spring; 114-Pin; 115-Shaft; 120-First component; 130-First adapter plate and connector; 2-Load end mechanism; 210-Second component; 220-Second adapter plate and connector; 230-Third adapter plate and connector; 240-Load; 3-Load gripping mechanism; 311-Pressing component; 312-Hooking component; 321-Gear; 322-Rack; 323-Guide rail; 324-Slider; 325-Motor; 326-Photoelectric switch; 327-Photoelectric switch mounting component; 328-Motor mounting plate; 329-Slider mounting plate; 4-Control system; 5-Three-axis motion platform. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0038] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0039] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0040] In one embodiment, combined Figures 1 to 6 A device for quickly changing the payload of a drone is provided. The device includes a drone end mechanism 1, a payload end mechanism 2, and a payload gripping mechanism 3. The drone end mechanism 1 is installed on the drone, and the payload end mechanism 2 is connected to the payload 240. The drone end mechanism 1 and the payload end mechanism 2 cooperate to realize the physical connection between the payload 240 and the drone, signal transmission, and to bear the weight of the payload 240. The payload gripping mechanism 3 is used to grip the payload 240 to complete the payload 240 replacement.

[0041] Further, in one embodiment, the drone end mechanism 1 includes a locking device, a first adapter plate and a connector 130, and a first component 120 for docking and connecting with the load end mechanism 2; the first component 120 is detachably mounted on the drone to provide movement space for the load end mechanism 2 during installation and removal; the locking device is used to lock the load end mechanism 2 and the first component 120; the first adapter plate and the connector 130 are mounted on the first component 120 to realize the transmission of electricity and signals between the drone end mechanism 1 and the drone and the load end mechanism 2; the load end mechanism 2 is detachably mounted in the movement space, and the load end mechanism 2 is locked or unlocked by the locking device.

[0042] Preferably, in some embodiments, the locking device includes a first driving component and a locking component. Under the drive of the first driving component, the locking component locks or unlocks the load end mechanism 2, thereby locking or unlocking the load 240.

[0043] Preferably, in some embodiments, the motion space includes a head end and a tail end, wherein the head end serves as the inlet and outlet for changing the load 240, and the tail end is provided with a baffle to limit the load end mechanism 2.

[0044] Preferably, in some embodiments, the locking assembly includes at least one hook 111 mounted on the first member 120, a pressure device, and a self-resetting device, wherein the hook 111 is mounted on the first member 120 by a pin 114;

[0045] When the locking assembly locks the load end mechanism 2, under the drive of the first driving assembly, the hook 111 rotates around the pin 114 and approaches the first end of the motion space, contacts the surface of the load end mechanism 2 placed in the motion space, and generates a certain extrusion force under the action of the pressure device to lock the load end mechanism 2 and the first component 120.

[0046] When the locking assembly unlocks the load end mechanism 2, it removes the driving force of the first driving assembly and the pressure device. Under the action of the self-resetting device, the hook 111 rotates around the pin 114 and moves away from the head end of the movement space to unlock the load end mechanism 2 from the first component 120.

[0047] Here, the rotating hooks 111 can be used alone or in pairs. When used in pairs, they are located above or below or to the left or right of the first component 120, respectively.

[0048] It should be noted that the locking component is not limited to the structure described above; other structures capable of locking or unlocking the load 240 are also acceptable and are not further limited here.

[0049] It should be noted that the component is not limited to the hook 111; other shapes of components are also acceptable.

[0050] Preferably, in some embodiments, the first drive assembly includes at least a bearing 112, which is mounted on the hook 111 via a shaft 115, and drives the hook 111 to rotate by driving the bearing 112.

[0051] Here, if the rotating hooks 111 are used in pairs, the first driving component can be used in pairs and correspond one-to-one with the rotating hooks 111.

[0052] Preferably, in some embodiments, the self-resetting device includes a torsion spring 113 sleeved on the pin 114, one end of the torsion spring 113 abutting against the hook 111, and the other end abutting against a protrusion provided on the first member 120. When the locking assembly unlocks the load-end mechanism 2, the drive of the first drive assembly is removed, and under the action of the self-resetting force of the torsion spring 113, the hook 111 rotates around the pin 114 and moves away from the head end of the movement space, thereby unlocking the load-end mechanism 2 from the first member 120. The pressure-applying device includes the torsion spring 113, and the torsional force provided by the torsion spring 113 locks the load-end mechanism 2.

[0053] Here, the self-resetting device is not limited to the torsion spring 113 mentioned above; any other automatic reset device that can achieve the same function is acceptable.

[0054] Furthermore, in one embodiment, the load end mechanism 2 includes a second component 210 that docks with the drone end mechanism 1, a second adapter plate and connector 220 for connecting the drone end mechanism 1, and a third adapter plate and connector 230 for connecting the load 240.

[0055] The bottom of the motion space is open, and the second component 210 is connected to the first component 120 through the bottom of the first component 120. In this process, the second adapter plate and connector 220 are connected to the first adapter plate and connector 130.

[0056] Preferably, in some embodiments, the first component 120 and the second component 210 are mated to form a support boss, which supports the load-end mechanism 2 in the movement space. This embodiment ensures both accurate insertion of the connector and bears the weight of the load 240.

[0057] Preferably, in some embodiments, the first component 120 and the second component 210 are docked by, but not limited to, a sliding fit.

[0058] More preferably, in some embodiments, the sliding fit method employs, but is not limited to, a groove structure. The first component 120 includes at least a groove recess, and the second component 210 includes at least a groove protrusion. The groove protrusion and groove recess cooperate to achieve a mating connection. Here, the groove is used to realize the relative movement of the load 240 during installation and removal.

[0059] Furthermore, in one embodiment, the load-grabbing mechanism 3 is mounted on a three-axis motion platform 5 in the drone hangar, and achieves three-dimensional motion under the action of the three-axis motion platform 5.

[0060] Preferably, in some embodiments, the motion space includes a space for the load gripping mechanism 3 to move, and the load gripping mechanism 3 includes a gripper assembly and a gripper drive device;

[0061] The gripper assembly includes two symmetrically arranged gripper arms for gripping the load end mechanism 2;

[0062] The gripper drive device is used to drive the two gripper arms to open or close, thereby clamping or unloading the load end mechanism 2 and replacing the load 240.

[0063] In a further preferred embodiment, in some embodiments, a pair of hooking members 312 are symmetrically provided at the ends of the two gripper arms for hooking out the load end mechanism 2 in the motion space. This embodiment facilitates the loading and unloading of the load end mechanism 2.

[0064] Here, a single hook component 312 can also be used.

[0065] Here, more preferably, in some embodiments, the hook member 312 is installed on the inner wall of the end of the gripper arm and has an L-shaped structure, including a first mounting plate and a second mounting plate, wherein the first mounting plate is installed on the inner wall of the end of the gripper arm, and the second mounting plate is installed on the end of the first mounting plate so that the two form an L-shaped structure, and the surface of the second mounting plate can fit against the surface of the load end mechanism 2 near the end of the movement space.

[0066] The first mounting plate is provided with a boss that supports the load end mechanism 2, so that a portion of the load 240 is borne.

[0067] More preferably, in some embodiments, the hook member 312 includes a third mounting plate, which is mounted on the end of the gripper arm, and the surface of the third mounting plate can fit against the surface of the load end mechanism 2 near the end of the movement space.

[0068] The inner wall at the end of the gripper arm is provided with a boss for bearing the load end mechanism 2, so as to bear part of the load 240 weight.

[0069] It should be noted that the hooking component 312 is not limited to the above-described structural form. Other structures that can hook the load end mechanism 2 out of the first component 120 are also acceptable, and no further special limitations are made here.

[0070] Preferably, in some embodiments, the gripper drive device includes a motor 325, a gear 321, and at least two sets of transmission components, each set of transmission components including a rack 322 and a linear guide pair, the linear guide pair including a guide rail 323 and a slider 324;

[0071] The motor 325 is fixedly mounted on the three-axis motion platform 5 via a motor mounting plate 328; both sliders 324 are fixedly mounted on the three-axis motion platform 5 via slider mounting plates 329; the two guide rails 323 are respectively fixedly mounted on the two racks 322; and the two gripper arms are respectively fixedly mounted on the two guide rails 323; the output shaft of the motor 325 is connected to a gear 321, and the gear 321 meshes with both racks 322.

[0072] The rotation of the motor 325 drives the gear 321 to rotate. When the gear 321 rotates forward and in reverse, the two racks 322 move in opposite directions or towards each other, thereby driving the two guide rails 323 to move in opposite directions to open or close the gripper arm.

[0073] It should be noted that the gripper drive device is not limited to the structure described above; any other structure that can open or close the gripper arm is acceptable.

[0074] Preferably, in some embodiments, the load gripping mechanism 3 further includes a sensing device for sensing the relative position of the two gripper arms opening or closing in real time. When the sensing reaches the opening limit position or closing limit position, a command is sent to the gripper drive device to stop the gripper arms from opening or closing.

[0075] Here, the sensing device is, but is not limited to, a photoelectric switch 326. The photoelectric switch 326 is fixedly mounted on the three-axis motion platform 5 via a photoelectric switch mounting bracket 327.

[0076] Furthermore, in one embodiment, the first drive assembly further includes at least one pressing member 311 mounted on the end of the gripper arm;

[0077] When the load gripping mechanism 3 moves toward the drone end mechanism 1, the pressing member 311 first contacts the drone end mechanism 1 and rubs and squeezes against the bearing 112. By driving the bearing 112, the hook 111 rotates around the pin 114 and moves away from the head end of the movement space, thereby installing or unloading the load end mechanism 2.

[0078] Preferably, the bearing 112 is mounted on the protruding end of the hook 111 so that the pressing member 311 contacts the bearing 112 first and generates frictional compression.

[0079] Here, the pressing component 311 and the hooking component 312 work together to grasp the load 240.

[0080] Here, the bearing 112 is used to convert the sliding friction between the gripper arm and the hook 111 into rolling friction when the gripper arm moves forward or backward.

[0081] Here, the pressing element 311 can be used alone or in pairs, corresponding to the bearing 112.

[0082] Furthermore, in one embodiment, the device further includes a control system 4 for generating control signals to control the movement of the load-grabbing mechanism 3 to the mounting position of the drone load 240.

[0083] In one embodiment, a method for quickly changing the payload of a drone based on the above-described device is provided, the method comprising the following steps:

[0084] Step 1, remove payload 240 from the drone, specifically including:

[0085] Step 11: The drone completes its homing and positioning, and control system 4 is activated;

[0086] Step 12: Remove the load 240 from the drone. Specifically: The gripper assembly of the load gripping mechanism 3 moves to the rear of the drone, directly facing the load 240. The gripper arm first opens and then extends towards the load 240. During this extension, the pressing element 311 on the gripper arm presses down the protruding end of the hook 111. The hook 111 rotates and lifts around the axis 115, releasing the load 240. The gripper arm continues to move forward to the designated position. After the gripper arm closes and holds the load 240, it retracts in the direction away from the drone. The load 240 slides along the slide until it leaves the slide. At this point, the load 240 is removed, and the gripper arm continues to retract, completely leaving the drone. During this process, the gripper arm first carries the load 240 away from the drone, and then the pressing element 311 on the gripper arm also leaves the drone, releasing the protruding end of the hook 111. The hook 111 rotates in the opposite direction around the axis 115, and the hook 111 resets.

[0087] Step 2: Place the payload 240 removed from the drone into the designated location in the payload compartment;

[0088] Step 3: Remove the load 240 to be used from the load bin.

[0089] Step 4: Mount the load 240 onto the drone. The specific process is as follows: The gripper arm returns to the rear of the drone and extends towards the position where the load 240 is to be installed. The pressing part 311 on the gripper arm presses down the protruding end on the hook 111. The hook 111 rotates and tilts up around the axis 115. The load 240 slides along the groove and is pushed into the drone until the connector is inserted. The gripper arm retracts and leaves the drone. The pressing part 311 on the gripper arm leaves the drone to release the protruding end on the hook 111. The hook 111 rotates in the opposite direction around the axis 115 to reset. The torsion spring 113 resets, and the load 240 is locked.

[0090] Step 5: Load-grabbing mechanism 3 returns to its original position, and the drone is ready to go.

[0091] This completes a full load 240 replacement process.

[0092] It should be noted that for components without special structural limitations, any component that can achieve the corresponding function in the existing technology is acceptable.

[0093] It should also be noted that the above-mentioned settings, installations, connections, and fixations can be made using, but are not limited to, bolts, threads, etc. Any existing fixed or movable connection scheme can be adapted, as long as the corresponding function can be achieved.

[0094] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention without departing from its spirit and scope should be included within the protection scope of the present invention.

Claims

1. A device for quickly changing the payload of a drone, characterized in that, The device includes a drone end mechanism (1), a load end mechanism (2), and a load gripping mechanism (3); the drone end mechanism (1) is installed on the drone, the load end mechanism (2) is connected to the load (240), and the drone end mechanism (1) and the load end mechanism (2) cooperate to realize the physical connection between the load (240) and the drone, signal transmission, and bearing the weight of the load (240); the load gripping mechanism (3) is used to grip the load (240) to complete the replacement of the load (240); The UAV end mechanism (1) includes a locking device and a first component (120) for docking and connecting with the load end mechanism (2), wherein the locking device is used to lock the load end mechanism (2) and the first component (120); The locking device includes a locking component that locks or unlocks the load end mechanism (2), thereby locking or unlocking the load (240); The locking assembly includes at least one hook (111) mounted on the first component (120), a pressure application device, and a self-resetting device. The hook (111) is mounted on the first component (120) by a pin (114). When the locking assembly locks the load end mechanism (2), under the drive of the first driving assembly, the hook (111) rotates around the pin (114) and approaches the first end of the motion space, contacts the surface of the load end mechanism (2) placed in the motion space, and generates a certain squeezing force under the action of the pressure device to lock the load end mechanism (2) and the first component (120). When the locking assembly unlocks the load end mechanism (2), it removes the driving function of the first driving assembly and the pressure device. Under the action of the self-resetting device, the hook (111) rotates around the pin (114) and moves away from the head end of the movement space to unlock the load end mechanism (2) from the first component (120).

2. The device for quickly changing the payload of a drone according to claim 1, characterized in that, The UAV end mechanism (1) further includes a first adapter plate and a connector (130); the first component (120) is detachably mounted on the UAV to provide a space for the load end mechanism (2) to be installed and removed; the first adapter plate and connector (130) are mounted on the first component (120) to realize the transmission of electricity and signals between the UAV end mechanism (1) and the UAV and the load end mechanism (2); the load end mechanism (2) is detachably mounted in the space, and the load end mechanism (2) is locked or unlocked by a locking device.

3. The device for quickly changing the payload of a drone according to claim 2, characterized in that, The locking device further includes a first driving component. Under the drive of the first driving component, the locking component locks or unlocks the load end mechanism (2), thereby locking or unlocking the load (240).

4. The device for quickly changing the payload of a drone according to claim 3, characterized in that, The movement space includes a front end and a rear end, wherein the front end serves as the inlet and outlet for load (240) replacement, and the rear end is equipped with a baffle.

5. The device for quickly changing the payload of a drone according to claim 2, characterized in that, The load end mechanism (2) includes a second component (210) that docks with the UAV end mechanism (1), a second adapter plate and connector (220) for connecting the UAV end mechanism (1), and a third adapter plate and connector (230) for connecting the load (240). The bottom of the motion space is open, and the second component (210) is connected to the first component (120) through the bottom of the first component (120). In this process, the second adapter plate and connector (220) are connected to the first adapter plate and connector (130).

6. The device for quickly changing the payload of a drone according to claim 2, characterized in that, The load-grabbing mechanism (3) is installed on a three-axis motion platform (5) in the UAV hangar, and achieves three-dimensional motion under the action of the three-axis motion platform (5).

7. The device for quickly changing the payload of a drone according to claim 6, characterized in that, The motion space contains space for the load gripping mechanism (3) to move. The load gripping mechanism (3) includes a gripper assembly and a gripper drive device. The gripper assembly includes two symmetrically arranged gripper arms for gripping the load end mechanism (2). The gripper drive device is used to drive the two gripper arms to open or close, thereby clamping or unloading the load end mechanism (2) and replacing the load (240).

8. The device for quickly changing the payload of a drone according to claim 7, characterized in that, The gripper drive device includes a motor (325), a gear (321), and at least two sets of transmission components. Each set of transmission components includes a rack (322) and a linear guide pair. The linear guide pair includes a guide rail (323) and a slider (324). The motor (325) is fixedly mounted on the three-axis motion platform (5) via a motor mounting plate (328); the two sliders (324) are fixedly mounted on the three-axis motion platform (5) via slider mounting plates (329); the two guide rails (323) are fixedly mounted on the two racks (322) respectively; the two gripper arms are fixedly mounted on the two guide rails (323) respectively; the output shaft of the motor (325) is connected to a gear (321), and the gear (321) meshes with both racks (322); The motor (325) rotates and drives the gear (321) to rotate. When the gear (321) rotates forward and backward, the two racks (322) move in opposite directions or towards each other, thereby driving the two guide rails (323) to move in opposite directions to open or close the gripper arm.

9. The device for quickly changing the payload of a drone according to claim 1, characterized in that, The device also includes a control system (4) for generating control signals to control the load-grabbing mechanism (3) to move to the installation position of the UAV load (240).

10. The apparatus for quickly changing the payload of a drone according to claim 7, characterized in that, The load gripping mechanism (3) also includes a sensing device for sensing the relative position of the two gripper arms opening or closing in real time. When the sensing reaches the opening limit position or closing limit position, a command is sent to the gripper drive device to stop the gripper arms from opening or closing.

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