Unmanned aerial vehicle battery replacement device and nest

Abstract

This invention discloses a battery swapping device and housing for unmanned aerial vehicles (UAVs), belonging to the field of UAV technology. It includes an X-axis slide, an electric gripper, and a support component. The support component includes a base fixed to the end of a first slide rail, a linkage assembly hinged to the base, and a push plate fixed to the slide slider. A reset elastic element is provided between the linkage assembly and the base. The push plate includes a guide surface and a plane, with the plane parallel to the slide rail. When the UAV needs a battery swap, the slide slider moves the electric gripper and the push plate. The guide surface of the push plate approaches the support component, pushing the linkage assembly to rotate and compress the reset elastic element. When the electric gripper removes the battery from the UAV, the push plate moves away from the support component, the linkage assembly moves away from the push plate, and the reset elastic element returns to its original shape, causing the linkage assembly to rotate, thus supporting the battery. The support component provides high stability; the compression of the support component by the push plate avoids component interference, and it can be matched with various UAV models, offering strong versatility.

Description

Technical Field

[0001] This invention relates to unmanned aerial vehicle (UAV) technology, specifically to a UAV battery swapping device and a UAV housing. Background Technology

[0002] Currently, drones are widely used in various fields, but the flight time of multi-rotor drones is generally less than 1 hour, which is difficult to meet the requirements of drones for long-endurance and all-weather operation. Increasing the flight time by increasing the battery capacity will cause excessive load on the drone and affect its normal working performance. Therefore, it is necessary to swap the drone's battery through a battery cell during use.

[0003] Existing technologies for drone battery swapping include patent CN216186134U, which discloses a drone battery swapping device. However, this device is bulky, complex in structure, and has limited applications. Another example is patent CN218228705U, which discloses a small drone automatic battery swapping system. This system achieves battery swapping through the cooperation of a mobile module and an electric gripper. The structural design is relatively simple, but the electric gripper at the end of the system that performs the battery gripping action has specific requirements on the drone battery structure, resulting in poor versatility.

[0004] For example, patent application CN118387355A discloses a clamping part and a lifting part. The clamping part is suitable for clamping or releasing the battery, and the lifting part is suitable for supporting the battery. This solution provides a way to lift the battery when picking it up or putting it down. However, because the front end of some drone batteries fits into the drone body, there is an installation step. Setting a conventional lifting plate at this point causes interference between the battery installation step and the lifting plate, resulting in the lifting plate not being able to extend, or the lifting plate only contacting the installation step and not the battery, or the battery tilting to contact the lifting plate. This still has the problems of poor versatility and poor stability. Summary of the Invention

[0005] Purpose of the invention: To address the above-mentioned shortcomings, this invention provides a simple, versatile, and highly stable UAV battery swapping device and its housing.

[0006] Technical Solution: To solve the above problems, the present invention employs a drone battery swapping device, including an X-axis slide, an electric gripper, and a support component. The X-axis slide includes a first slide rail and a first slider that moves along the first slide rail. The electric gripper is fixedly mounted on the first slider and is used to grip the drone's battery. The support component includes a base fixed to the end of the first slide rail, a linkage assembly hinged to the base, and a push plate fixed to the first slider. The linkage assembly includes a hinge portion, a support portion, and a power portion. The support portion and the power portion are connected through the hinge portion. The hinge portion is hinged to the base. A reset elastic element is provided between the support portion and the base. The push plate includes... The device includes a guide surface and a plane. The plane is parallel to the first slide rail. One end of the plane is fixedly connected to the first slider, and the other end is provided with a guide surface. When the drone needs to have its battery replaced, the first slider drives the electric gripper and the push plate to move. The guide surface of the push plate approaches the support component, and the guide surface of the push plate guides the power unit onto the plane. The power unit drives the hinge part to rotate, thereby driving the support part to approach the base and compressing the reset elastic element. When the electric gripper leaves the drone holding the battery, the first slider drives the electric gripper and the push plate to move. The push plate moves away from the support component, the power unit moves away from the push plate, and the reset elastic element returns to its shape, driving the hinge part to rotate, thereby driving the support part away from the base and into contact with the battery, thus supporting the battery.

[0007] Furthermore, the hinged part is hinged to the base by a hinge pin, and the reset elastic element is a reset torsion spring. The reset torsion spring is sleeved on the hinge pin, with one end of the reset torsion spring abutting against the base and the other end abutting against the support part.

[0008] Furthermore, the linkage assembly includes two hinge parts and two power parts. The two hinge parts are respectively fixed to both ends of the support part. The two hinge parts are hinged to the base through a hinge pin. The two hinge parts are respectively fixedly connected to the two power parts. Push plates that push the two power parts are provided on both sides of the first slider.

[0009] Furthermore, a limiting structure is provided on the base, which is used to limit the rotation angle of the hinge under the action of the reset elastic element.

[0010] Furthermore, the power unit is fitted with a first rolling spacer for contacting the push plate, and the support unit is fitted with a second rolling spacer for contacting the drone battery.

[0011] The present invention discloses a drone housing, comprising a lower compartment, a cover located on the lower compartment, an exoskeleton assembly supporting the lower compartment, and an active drive assembly for opening and closing the cover. The lower compartment houses a central positioning platform for carrying the drone, a charging compartment, and the aforementioned drone battery swapping device. The central positioning platform includes a panel with a notch. The charging compartment is fixed below the central positioning platform. A Z-axis slide is located below the central positioning platform, comprising a second slide rail and a second slider that moves along the second slide rail. An X-axis slide is fixed to the second slider. The second slider drives the X-axis slide to extend from below the central positioning platform through the notch or retract from above the central positioning platform through the notch. A first slider drives an electric gripper to move, gripping the drone battery from the drone or the charging compartment, or returning the drone battery to the drone or the charging compartment.

[0012] Furthermore, it also includes a cover plate that mates with the notch of the panel. The cover plate is located above the electric gripper, and a vertical push plate is fixedly connected below the cover plate. The vertical push plate is provided with a sliding groove. A push plate bracket is fixedly connected to the second slider. Two sliding pins are provided on the push plate bracket at a preset distance. The line where the two sliding pins are located is parallel to the second slide rail. The two sliding pins are set in the sliding groove and form a sliding pair with the sliding groove.

[0013] Furthermore, the charging compartment includes a plurality of charging positions arranged along the extension direction of the second slide rail, and a charging seat for charging the battery is provided in the charging position. Guide limiting plates are provided on both sides of the charging seat, and the guide limiting plates are used to guide and limit the battery.

[0014] Furthermore, the central positioning platform is also equipped with a central push rod, which is used to push the frame of the drone to achieve the positioning and clamping of the drone.

[0015] Beneficial Effects: Compared with existing technologies, the significant advantages of this invention are that it uses a universal slide and grippers to clamp and remove batteries, enabling battery replacement. The structure is simple, and the supporting components provide support during battery replacement, preventing drops and impacts, resulting in high stability. Based on the support components, the electric grippers can use universal grippers, eliminating the need for grippers with specific clamping forces, thus offering strong versatility. The supporting components are compressed by the push plate, preventing interference with battery mounting steps, and allowing compatibility with various drone models, further enhancing its versatility. Simultaneously, the adjustable stroke of the cross slide and grippers ensures compatibility with various drone types, demonstrating strong adaptability. Attached Figure Description

[0016] Figure 1 The diagram shown is a schematic representation of the overall structure of the battery swapping device of the present invention.

[0017] Figure 2 for Figure 1 Enlarged schematic diagram of part I.

[0018] Figure 3 The diagram shown is a schematic representation of the overall structure of the nest in this invention.

[0019] Figure 4 The diagram shown is a structural schematic of the combination of the battery swapping device and the central positioning platform in this invention.

[0020] Figure 5 The diagram shown is a schematic of the battery swapping device in the present invention in its raised position.

[0021] Figure 6 The diagram shown is a schematic of the battery swapping device in the lowered position state in this invention.

[0022] Figure 7 The diagram shows the initial state of the battery swapping device of the present invention as it picks up the battery from the drone.

[0023] Figure 8 The diagram shows the process of the battery swapping device of the present invention picking up a battery from a drone.

[0024] Figure 9 The diagram shows the final state of the battery swapping device of the present invention after it has removed the battery from the drone.

[0025] Figure 10 The diagram shows the initial state of the battery swapping device of the present invention as it clamps the battery from the charging compartment.

[0026] Figure 11 The diagram shows the process of the battery swapping device of the present invention picking up the battery from the charging compartment.

[0027] Figure 12 The diagram shows the final state of the battery swapping device of the present invention after it has removed the battery from the charging compartment.

[0028] 1. Canopy; 2. Lower cabin; 3. Exoskeleton assembly; 4. Main drive assembly; 5. Centering positioning platform; 51. Panel; 52. Notch; 6. Secondary drive assembly; 7. Inner skeleton assembly; 8. Battery swapping device; 9. Charging compartment; 901. Charging base; 902. Guide limit plate; 200. UAV battery compartment; 101. Z-axis slide; 801. X-axis slide; 802. Electric gripper; 803. Fingertip; 8031. Vertical push plate; 804. Slide groove; 8041. Push plate bracket; 805. Sliding pin; 8051. Linkage assembly; 806. First rolling spacer; 8061. Second rolling spacer; 8062. Support part; 8063. Power part; 8064. Hinge part; 8065. Support component; 807. Hinge pin; 808. Return torsion spring; 809. Cover plate; 810. Push plate; 811. Guide surface; 8111. Plane; 8112. Base; 812. Detailed Implementation

[0029] like Figure 1 and Figure 2As shown, in this embodiment, a UAV battery swapping device 8 includes an X-axis slide 802, an electric gripper 803, and a support component 807. The X-axis slide 802 includes a first slide rail and a first slider that moves along the first slide rail. The electric gripper 803 is fixedly mounted on the first slider. In this embodiment, the electric gripper 803 is a general-purpose small electric gripper used to grip the end of the battery 200. Simultaneously, a connecting rod assembly 806 is provided at one end of the first slide rail of the X-axis slide 802 to support the other end of the battery 200, ensuring that the battery 200 is always parallel to the X-axis slide 802, thus improving the stability of the UAV battery swapping process.

[0030] The support component 807 includes a base 812 fixed to the end of the first slide rail, a connecting rod assembly 806 hinged to the base 812, and a push plate 811 fixed to the first slider. The connecting rod assembly 806 includes a hinge part 8065, a support part 8063, and a power part 8064. The support part 8063 and the power part 8064 are connected by the hinge part 8065. The hinge part 8065 is hinged to the base 812 by a hinge pin 808 and rotates around the hinge pin 808 when acted upon by the push plate 811. A limiting structure is provided on the base 812 to limit the rotation angle of the hinge part 8065 under the action of the reset elastic member, ensuring that the hinge part 8065 is in a vertical state when supporting the battery 200. A reset elastic element is provided between the support part 8063 and the base 812. In this embodiment, the reset elastic element is a reset torsion spring 809. The reset torsion spring 809 is sleeved on the hinge pin 808, and one end of the reset torsion spring 809 abuts against the base 812 and the other end abuts against the support part 8063, which is used to restore the hinge part 8065 to the vertical state after rotation.

[0031] In this embodiment, the linkage assembly includes two hinge parts 8065 and two power parts 8064. The two hinge parts 8065 are respectively fixed to both ends of the support part 8063. The two hinge parts 8065 are hinged to the base 812 through a hinge pin 808. The two hinge parts 8065 and the two power parts 8064 are respectively fixedly connected. Push plates 811 that push the two power parts 8064 are provided on both sides of the first slider to further improve the stability of the battery swapping device.

[0032] The push plate 811 includes a guide surface 8111 and a plane 8112. The plane 8112 is parallel to the first slide rail. One end of the plane 8112 is fixedly connected to the first slider, and the other end is provided with the guide surface 8111. The battery swapping device 8 includes a fingertip 8031 ​​provided at the end of the electric gripper 803 for gripping the battery 200. The power unit 8064 is covered with a first rolling spacer 8061, which is used to contact the push plate 811. The support unit 8063 is covered with a second rolling spacer 8062, which is used to contact the UAV battery. When gripping the battery 200, the first rolling spacer 8061 on the linkage assembly 806 is on the plane 8112. During the second half of the gripping process, the second rolling spacer 8062 supports the battery 200.

[0033] like Figure 3 As shown, in this embodiment, a drone nest includes a canopy 1, a lower cabin 2, an outer frame assembly 3, a main drive assembly 4, a centering positioning platform 5, a secondary drive assembly 6, an inner frame assembly 7, a battery swapping device 8, and a charging compartment 9. The outer frame assembly 3 is fixedly connected to the inner frame assembly 7, and the outer frame assembly 3 supports the lower cabin 2; the inner frame assembly 7 is fixedly disposed inside the lower cabin 2, and the main drive assembly 4 and the secondary drive assembly 6 are respectively fixedly installed on both sides of the inner frame assembly 7; the canopy 1 is fixedly connected to the output end of the main drive assembly 4 and the secondary drive assembly 6 respectively, and rotates with the output end of the main drive assembly 4 to realize the opening and closing of the canopy 1; the centering positioning platform 5 is fixedly installed on the inner frame assembly 7 to realize the positioning and clamping of the drone.

[0034] like Figure 4 As shown, a panel 51 is provided on the central positioning platform 5, and a notch 52 is provided on the panel 51. The notch 52 provides space for the X-axis slide 802 of the battery swapping device 8 to move up and down in the Z direction. The central positioning platform 5 is also provided with a central push rod, which is used to push the frame of the UAV to achieve the positioning and clamping of the UAV. The battery swapping device 8 and the charging compartment 9 are both fixedly installed on the inner frame assembly 7. The battery swapping device 8 performs battery 200 replacement and places the replaced battery 200 in the charging compartment 9.

[0035] A Z-axis slide 801 is provided below the centering positioning platform 5. The Z-axis slide 801 includes a second slide rail and a second slider that moves along the second slide rail. An X-axis slide 802 is fixed to the second slider. The second slider drives the X-axis slide 802 to extend from below the centering positioning platform 5 through the notch 52 or to retract from above the centering positioning platform 5 through the notch 52.

[0036] The battery swapping device 8 also includes a cover plate 810, a push plate bracket 805, and a vertical push plate 804. The cover plate 810 is located above the electric gripper 803. The push plate bracket 805 is fixedly connected to the second slider of the Z-axis slide table 801. The vertical push plate 804 is fixedly connected to the cover plate 810. A slide groove 8041 is provided on the vertical push plate 804. Two sliding pins 8051 are provided at a certain distance on the push plate bracket 805. The straight line where the two sliding pins 8051 are located is parallel to the second slide rail. The sliding pins 8051 are set in the slide groove 8041 and form a sliding pair with the slide groove 8041.

[0037] like Figure 5 As shown, when the Z-axis slide 801 operates, driving the X-axis slide 802 to its highest position, the sliding pin 8051 is at the top of the slide groove 8041, and the cover plate 810 is raised. When the X-axis slide 802 descends, initially, under the gravity of the cover plate 810, the sliding pin 8051 remains at the top of the slide groove 8041 and moves downwards together until the cover plate 810 overlaps the panel 51. The sliding pin 8051 then continues to move downwards along the slide groove 8041 with the second slider of the Z-axis slide 801 until it reaches the bottom. At this point, the upper surface of the cover plate 810 is flush with the surface of the panel 51, together forming the UAV landing platform. Figure 6 As shown.

[0038] like Figures 7 to 9 The image shows the process of removing the battery from a drone: Figure 7 As shown, the fingertips 8031 ​​of the electric gripper 803 tighten and grip the battery 200. As the X-axis slide 802 operates, the electric gripper 803 and the pusher plate 811 retract synchronously. The first rolling spacer 8061 remains on the plane 8112 and generates relative movement until the first rolling spacer 8061 leaves the plane 8112. The first rolling spacer 8061 then transitions onto the guide surface 8111, as... Figure 8 As shown, the linkage assembly 806 rotates under the action of the return torsion spring 809. At this time, the battery 200 is separated from the drone battery compartment 101 by a certain distance but not completely detached. The electric gripper 803 and the push plate 811 continue to retract, the first rolling spacer 8061 leaves the guide surface 8111, the hinge part 8065 of the linkage assembly 806 returns to the vertical state, and the second rolling spacer 8062 contacts the lower surface of the battery 200. The support part 8063 of the linkage assembly 806 supports the battery 200. The battery 200 is completely detached from the drone battery compartment 101, and the battery 200 disassembly is completed. Figure 9 As shown.

[0039] Drone battery installation process: The X-axis slide 802 operates, the electric gripper 803 and the pusher plate 811 advance synchronously. The battery 200 is held by the electric gripper 803 and, supported by the second rolling spacer 8062, moves horizontally synchronously with the electric gripper 803. After the battery 200 enters the drone battery compartment 101, the guide surface 8111 begins to contact the first rolling spacer 8061 and pushes the power part 8064 of the linkage assembly 806. The power part 8064 pushes the hinge part 8065 to rotate, and the support part 8063 disengages from the battery 200. At this time, the end of the battery 200 is supported by the drone battery compartment 101 to continue to maintain horizontality. The electric gripper 803 and the pusher plate 811 continue to advance, and the first rolling spacer 8061 transitions to the plane 8112 until the battery 200 is completely inside the drone battery compartment 101. The fingertip 8031 ​​of the electric gripper 803 is released, and the battery 200 installation is completed.

[0040] In this embodiment, the charging compartment 9 includes three charging positions arranged along the extension direction of the second slide rail. Each charging position is provided with a fixedly installed charging base 901 and symmetrically arranged guide limiting plates 902. The charging base 901 is used to charge the battery 200, and the guide limiting plates 902 are used to provide guidance and limitation during the disassembly and installation of the battery 200.

[0041] like Figures 9 to 12 The image shows the battery removal process from the charging compartment: Figure 9 As shown, the fingertips 8031 ​​of the electric gripper 803 tighten and grip the battery 200. As the X-axis slide 802 operates, the electric gripper 803 and the pusher plate 811 retract synchronously. The first rolling spacer 8061 remains on the plane 8112 and generates relative movement until the first rolling spacer 8061 leaves the plane 8112. The first rolling spacer 8061 then transitions onto the guide surface 8111, as... Figure 10 As shown, the linkage assembly 806 rotates under the action of the return torsion spring 809. At this time, the battery 200 is separated from the charging compartment 9 by a certain distance but not completely detached. The electric gripper 803 and the push plate 811 continue to retract, the first rolling spacer 8061 leaves the guide surface 8111, the hinge part 8065 of the linkage assembly 806 returns to the vertical state, and the second rolling spacer 8062 contacts the lower surface of the battery 200. The support part 8063 of the linkage assembly 806 supports the battery 200. The battery 200 is completely detached from the charging compartment 9, and the disassembly of the battery 200 is completed. Figure 12 As shown.

[0042] Battery installation process in the charging compartment: The X-axis slide 802 operates, and the electric gripper 803 and push plate 811 advance synchronously. The battery 200 is held by the electric gripper 803 and, supported by the second rolling spacer 8062, moves horizontally synchronously with the electric gripper 803. After the battery 200 enters the charging compartment 9, the guide surface 8111 begins to contact the first rolling spacer 8061 and pushes the power part 8064 of the connecting rod assembly 806. The power part 8064 pushes the hinge part 8065 to rotate, and the support part 8063 disengages from the battery 200. At this time, the end of the battery 200 is supported by the charging compartment 9 to continue to maintain horizontality. The electric gripper 803 and push plate 811 continue to advance, and the first rolling spacer 8061 transitions to the plane 8112 until the battery 200 is completely inside the charging compartment 9. The fingertip 8031 ​​of the electric gripper 803 is released, and the battery 200 installation is completed.

Claims

1. An unmanned aerial vehicle battery swapping device, characterized in that, The device includes an X-axis slide (802), an electric gripper (803), and a support component (807). The X-axis slide (802) includes a first slide rail and a first slider that moves along the first slide rail. The electric gripper (803) is fixedly mounted on the first slider and is used to grip the battery of the drone. The support component (807) includes a base (812) fixed to the end of the first slide rail, a linkage assembly (806) hinged to the base (812), and a support component fixed to the first slider. The push plate (811) and the linkage assembly (806) include a hinge (8065), a support (8063), and a power unit (8064). The support (8063) and the power unit (8064) are connected by the hinge (8065). The hinge (8065) ​​is hinged to the base (812). A reset elastic element is provided between the support (8063) and the base (812). The push plate (811) includes a guide surface (8111) and a plane (8112). The plane (8112) is parallel to the first slide rail. One end of the plane (8112) is fixedly connected to the first slider, and the other end is provided with a guide surface (8111). When the UAV needs to be replaced, the first slider drives the electric gripper (803) and the push plate (811) to move. The guide surface of the push plate (811) approaches the support component (807). The guide surface (8111) of the push plate (811) guides the power unit (8064) onto the plane (8112). The power unit (8064) drives the hinge part (8065). The first slider rotates, thereby driving the support part (8063) to approach the base and compress the reset elastic element. When the electric gripper (803) clamps the battery away from the drone, the first slider drives the electric gripper (803) and the push plate (811) to move. The push plate (811) moves away from the support part (807), the power part (8064) moves away from the push plate (811), and the reset elastic element restores its shape, driving the hinge part (8065) ​​to rotate, thereby driving the support part (8063) away from the base and contacting the battery, thereby supporting the battery.

2. The unmanned aerial vehicle battery swapping device according to claim 1, wherein, The hinge part (8065) ​​is hinged to the base (812) via the hinge pin (808). The reset elastic element is a reset torsion spring (809). The reset torsion spring (809) is sleeved on the hinge pin (808), and one end of the reset torsion spring abuts against the base (812) and the other end abuts against the support part (8063). 3.The device of claim 2, wherein, The linkage assembly includes two hinge parts (8065) ​​and two power parts (8064). The two hinge parts (8065) ​​are respectively fixed to both ends of the support part (8063). The two hinge parts (8065) ​​are hinged to the base (812) through a hinge pin (808). The two hinge parts (8065) ​​are respectively fixedly connected to the two power parts (8064). Push plates (811) for pushing the two power parts (8064) are provided on both sides of the first slider.

4. The unmanned aerial vehicle battery swapping device according to claim 1, wherein, A limiting structure is provided on the base (812), which is used to limit the rotation angle of the hinge (8065) ​​under the action of the reset elastic element.

5. The unmanned aerial vehicle battery swapping device according to claim 1, wherein, The power unit (8064) is fitted with a first rolling spacer (8061) for contacting the push plate (811), and the support unit (8063) is fitted with a second rolling spacer (8062) for contacting the drone battery.

6. A drone nest, characterized in that, The device includes a lower cabin (2), a hatch (1) located on the lower cabin (2), an exoskeleton assembly (3) supporting the lower cabin (2), and an active drive assembly (4) for opening and closing the hatch (1). The lower cabin (2) contains a central positioning platform (5) for carrying the UAV, a charging compartment, and a UAV battery swapping device as described in any one of claims 1 to 5. The central positioning platform (5) includes a panel (51) with a notch (52). The charging compartment is fixed below the central positioning platform (5). A Z-axis slide (801) is provided below the platform (5). The Z-axis slide (801) includes a second slide rail and a second slider that moves along the second slide rail. The X-axis slide (802) is fixed to the second slider. The second slider drives the X-axis slide (802) to extend from below the centering positioning platform (5) through the notch (52) or to retract from above the centering positioning platform (5) through the notch (52). The first slider drives the electric gripper (803) to move, to grab the drone battery from the drone or the charging compartment, or to send the drone battery back to the drone or the charging compartment.

7. The drone nest of claim 6, wherein, It also includes a cover plate (810) that mates with the notch (52) of the panel (51). The cover plate (810) is located above the electric gripper (803). A vertical push plate (804) is fixedly connected below the cover plate (810). The vertical push plate (804) is provided with a slide groove (8041). A push plate bracket (805) is fixedly connected to the second slider. Two sliding pins (8051) are provided on the push plate bracket (805) at a preset distance. The straight line where the two sliding pins (8051) are located is parallel to the second slide rail. The two sliding pins (8051) are located in the slide groove (8041) and form a sliding pair with the slide groove (8041).

8. The drone nest of claim 6, wherein, The charging compartment includes several charging positions arranged along the extension direction of the second slide rail. A charging seat (901) for charging the battery is provided in the charging position. Guide limiting plates (902) are provided on both sides of the charging seat (901). The guide limiting plates (902) are used to guide and limit the battery.

9. The drone nest of claim 6, wherein, The central positioning platform (5) is also equipped with a central push rod, which is used to push the frame of the UAV to achieve the positioning and clamping of the UAV.

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