Unmanned aerial vehicle airport battery replacing device and unmanned aerial vehicle airport

Abstract

The utility model provides an unmanned aerial vehicle airport battery replacing device and an unmanned aerial vehicle airport, the unmanned aerial vehicle airport battery replacing device comprises a battery replacing upper rotating module, a battery replacing Y module, a battery replacing manipulator module, a battery replacing Z module and a battery replacing lower rotating module, the battery replacing upper rotating module and the battery replacing lower rotating module are respectively fixed on a frame of the unmanned aerial vehicle airport up and down; the battery replacing Z module is arranged between the battery replacing upper rotating module and the battery replacing lower rotating module to move in the vertical direction, the battery replacing Y module is connected with the battery replacing Z module and drives the battery replacing manipulator module to move in the left-right direction or the front-back direction, and the battery replacing manipulator module is used for grabbing or releasing an unmanned aerial vehicle pool. The power conversion device is a precise rotating telescopic power conversion structure, cantilever type linear module combination is adopted, reinforced connection is conducted on the structure, the power conversion device can rotate to move up and down and left and right, after the rotating module rotates by 90 degrees, displacement in the front-back direction and adjustment in the up-down direction can be achieved, and the space structure is saved and stable.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a UAV airport battery swapping device and a UAV airport. Background Technology

[0002] As the understanding of the application value of drones deepens, drones are showing rapid development in the consumer, industrial, and military markets. Drones are being used more and more in many fields.

[0003] However, the flight time of drones has become the biggest bottleneck hindering their development. Although lithium batteries are currently the best performing batteries on the market, they still cannot fully meet the flight time requirements of drones. Therefore, the issue of drone battery life must be taken into account during drone use.

[0004] Currently, drone battery swapping has the following drawbacks: drones require frequent charging and battery swapping. Traditionally, manual battery swapping by staff requires a significant manpower investment and on-site monitoring, making it unsuitable for extended outdoor operations. With the widespread use of drones and the development of their automation, drone airports have emerged, providing storage compartments for drones to automatically park, take off, and have their batteries swapped, achieving integrated automated management. When a drone needs to return for a battery swap, it lands on the drone airport's takeoff and landing platform for the automatic battery swapping operation. Most existing large and medium-sized automated drone battery swapping airports use linear module XYZ combinations for their swapping devices, typically employing gantry or cantilever designs. Gantry structures offer stability but require a large space, while cantilever designs save space but lack structural stability. Utility Model Content

[0005] The purpose of this utility model is to provide a battery swapping device and a drone airport, aiming to solve the technical problems of existing drone battery swapping devices that use linear module XYZ combination with gantry or cantilever type, which require large space or have poor structural stability.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: A battery swapping device for unmanned aerial vehicles (UAVs) airports is provided, characterized in that it includes an upper rotating battery swapping module, a Y-module, a robotic arm module, a Z-module, and a lower rotating battery swapping module. The upper and lower rotating battery swapping modules are respectively fixed to the frame of the UAV airport. The Z-module is positioned between the upper and lower rotating battery swapping modules to achieve vertical movement. The Y-module is connected to the Z-module, and the Y-module drives the robotic arm module to move horizontally or backward. The robotic arm module is used to grasp or release the UAV battery.

[0007] Furthermore, the upper rotating battery swapping module is provided with an upper fixed plate, an upper connecting plate, and a first rotating component. The upper fixed plate is provided with a first positioning pin, and the upper rotating battery swapping module is fixed to the UAV airport frame by the first positioning pin. The lower rotating battery swapping module is provided with a lower fixed plate, a lower connecting plate, and a second rotating component. The lower fixed plate is provided with a third positioning pin, and the lower rotating battery swapping module is fixed to the UAV airport frame by the third positioning pin. The Z-module of battery swapping is located between the upper connecting plate and the lower connecting plate. The first rotating component and the second rotating component work together to drive the Z-module of battery swapping to move left and right, thereby driving the Y-module of battery swapping to move left and right.

[0008] Furthermore, the first rotating component includes a flange shaft, a slewing bearing, a first sensing plate, and a first sensor. The flange shaft is installed inside the slewing bearing, which is installed between the upper fixed plate and the upper connecting plate. The first sensing plate is disposed on the upper connecting plate, and the first sensor is disposed on the upper fixed plate.

[0009] Furthermore, the second rotating component is equipped with a fifth motor and a harmonic reducer. The fifth motor is mounted on the lower fixed plate, and the harmonic reducer is positioned between the lower fixed plate and the lower connecting plate. The fifth motor is a rotary servo motor that drives the harmonic reducer to move.

[0010] Furthermore, the battery swapping Y-module includes a Y-axis cable chain, a Y-axis cable chain fixing plate, a battery swapping Y-module connecting plate, a robotic arm connecting plate, a first motor, a Y-axis slide rail, and a second sensor. One end of the Y-axis cable chain is fixed to the Y-axis cable chain fixing plate. The battery swapping Y-module connecting plate is mounted on the slider of the battery swapping Z-module. The robotic arm connecting plate is connected to the robotic arm module. The first motor drives the Y-axis cable chain to move on the Y-axis slide rail. The second sensor is located on the robotic arm connecting plate.

[0011] Furthermore, the battery swapping robot module includes a second motor, a motor base, a third sensor plate, a battery gripping mechanism, a third sensor, and a robot arm connecting base. The second motor is mounted on the motor base to drive the battery gripping mechanism to grip and release the battery. The robot arm connecting base is connected to the battery swapping Y module.

[0012] Furthermore, a speed reducer is provided between the second motor and the motor base, the third sensing plate is fixed on the motor base, and the third sensor is fixed on the battery gripping mechanism.

[0013] Furthermore, the battery gripping mechanism includes a rotary hook, a micro switch, and a battery gripper. The second motor drives the rotary hook and battery gripper to move in order to grip and release the drone battery.

[0014] Furthermore, the battery swapping Z-module includes an upper mounting plate, a Z-axis slide rail, a lower mounting plate, a Z-axis cable chain, a Z-axis cable chain fixing plate, and a fourth motor. The upper mounting plate is connected to the battery swapping Y-module. The Z-axis cable chain fixing plate is provided with a Z-axis slide rail. The battery swapping Y-module moves along the Z-axis slide rail. The Z-axis cable chain is connected to the Z-axis cable chain fixing plate. The fourth motor drives the Z-axis cable chain to move.

[0015] This utility model also provides a drone airport, including a frame and the aforementioned drone airport battery swapping device, wherein the drone airport battery swapping device is fixed on the frame.

[0016] The beneficial effects of this utility model are as follows: It provides a battery swapping device and a UAV airport, including an upper rotating battery swapping module, a Y-module, a robotic arm module, a Z-module, and a lower rotating battery swapping module. This battery swapping device is a precision rotating telescopic battery swapping structure, employing a cantilevered linear module combination with reinforced connections to achieve rotational displacement in all directions. After rotating 90 degrees, the rotating module can also achieve forward / backward displacement and vertical adjustment, saving space and ensuring structural stability. The use of a harmonic reducer eliminates rotational backlash, resulting in higher rotational accuracy, more precise positioning, and better control. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a UAV airport battery swapping device according to the present invention;

[0019] Figure 2 This is a schematic diagram of the rotating module structure for a UAV airport battery swapping device according to the present invention.

[0020] Figure 3 This is a schematic diagram of the Y-module structure of a UAV airport battery swapping device according to the present invention;

[0021] Figure 4 This is a schematic diagram of the battery swapping robot module of a UAV airport battery swapping device according to the present invention;

[0022] Figure 5 This is a schematic diagram of the Z-module structure of a UAV airport battery swapping device according to the present invention;

[0023] Figure 6This is a schematic diagram of the rotating module structure for a UAV airport battery swapping device according to the present invention.

[0024] Label Explanation:

[0025] 100. Airport battery swapping device; 10. Rotating module for battery swapping; 11. First positioning pin;

[0026] 12. Upper fixing plate; 13. Flange shaft; 14. Slewing bearing;

[0027] 15. Upper connecting plate; 16. First sensing element; 17. First sensor;

[0028] 20. Battery swapping Y-module; 21. Y-axis cable chain; 22. Y-axis cable chain fixing plate;

[0029] 23. Battery swapping Y-module connecting plate; 24. Robotic arm connecting plate; 25. First motor;

[0030] 26. Y-axis slide rail; 27. Second sensor;

[0031] 30. Battery swapping robotic arm module; 31. Second motor; 32. Reducer;

[0032] 33. Motor base; 34. Third induction plate; 35. Rotary hook;

[0033] 36. Third sensor; 37. Robotic arm connector; 38. Micro switch;

[0034] 39. Battery gripper arm; 40. Battery swapping Z-module; 41. Second positioning pin;

[0035] 42. Upper mounting plate; 43. Z-axis slide rail; 44. Lower mounting plate;

[0036] 45. Fourth sensor; 46. Z-axis cable chain; 47. Z-axis cable chain fixing plate;

[0037] 48. Fourth motor; 50. Rotating module under battery swapping; 51. Fifth motor;

[0038] 52. Lower fixed plate; 53. Third locating pin; 54. Harmonic reducer;

[0039] 55. Lower connecting plate. Detailed Implementation

[0040] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0041] In the description of this utility model, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0042] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0043] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0044] like Figures 1-6As shown, this utility model embodiment provides a UAV airport battery swapping device 100, including an upper rotating battery swapping module 10, a Y-module 20, a robotic arm module 30, a Z-module 40, and a lower rotating battery swapping module 50. The upper and lower rotating battery swapping modules 10 and 50 are fixed to the frame of the UAV airport, respectively. The Z-module 40 is positioned between the upper and lower rotating battery swapping modules 10 and 50 to enable vertical movement. The Y-module 20 is connected to the Z-module 40, and the Y-module 20 drives the robotic arm module 30 to move horizontally or backward. The robotic arm module 30 is used to grasp or release the UAV battery. A cantilevered linear module assembly with reinforced connections allows for rotational, vertical, horizontal, and vertical displacement of the battery swapping device. After rotating the module 90 degrees, it can also achieve forward / backward displacement and vertical adjustment, saving space and ensuring structural stability.

[0045] like Figure 1 , Figure 2 and Figure 6 As indicated, the upper rotating module 10 for battery swapping is provided with an upper fixed plate 12, an upper connecting plate 15, and a first rotating component. The upper fixed plate 12 is provided with a first positioning pin 11. The upper rotating module 10 for battery swapping is fixed to the UAV airport frame by the first positioning pin 11. The lower rotating module 50 for battery swapping is provided with a lower fixed plate 52, a lower connecting plate 55, and a second rotating component. The lower fixed plate 52 is provided with a third positioning pin 53. The lower rotating module 50 for battery swapping is fixed to the UAV airport frame by the third positioning pin 53. The Z-module for battery swapping is located between the upper connecting plate 15 and the lower connecting plate 55. The first rotating component and the second rotating component move in coordination to drive the Z-module for battery swapping to move left and right, thereby driving the Y-module for battery swapping to move left and right.

[0046] like Figure 2 As shown, the first rotating component includes a flange shaft 13, a slewing bearing 14, a first sensing plate 16, and a first sensor 17. The flange shaft 13 is mounted inside the slewing bearing 14, which is installed between the upper fixed plate 12 and the upper connecting plate 15. The first sensing plate 16 is located on the upper connecting plate 15, and the first sensor 17 is located on the upper fixed plate 12. By mounting the flange shaft on the slewing bearing and engaging the first sensing plate with the first sensor, the rotational accuracy is improved and easier to control.

[0047] like Figure 6 As shown, the second rotating component is equipped with a fifth motor 51 and a harmonic reducer 54. The fifth motor 51 is mounted on the lower fixed plate 52, and the harmonic reducer 54 is positioned between the lower fixed plate 52 and the lower connecting plate 55. The fifth motor 51 is a rotary servo motor that drives the harmonic reducer 54. By utilizing the harmonic reducer, rotational backlash is eliminated, resulting in higher rotational accuracy, more precise positioning, and better control.

[0048] like Figure 3As shown, the battery swapping Y module 20 includes a Y-axis cable chain 21, a Y-axis cable chain fixing plate 22, a battery swapping Y module connecting plate 23, a robotic arm connecting plate 24, a first motor 25, a Y-axis slide rail 26, and a second sensor 27. One end of the Y-axis cable chain 21 is fixed on the Y-axis cable chain fixing plate 22. The battery swapping Y module connecting plate 23 is installed on the battery swapping Z module 40. The robotic arm connecting plate 24 is connected to the robotic arm module 30. The first motor 25 drives the Y-axis cable chain 21 to move on the Y-axis slide rail 26. The second sensor 27 is located on the robotic arm connecting plate 24.

[0049] like Figure 4 As shown, the battery swapping robot module 30 includes a second motor 31, a motor base 33, a third sensor 34, a battery gripping mechanism, a third sensor 36, and a robot connecting seat 37. The second motor 31 is mounted on the motor base 33 to drive the battery gripping mechanism to grip and release the battery. The robot connecting seat 37 is connected to the battery swapping Y module 20.

[0050] like Figure 4 As shown, a speed reducer 32 is also provided between the second motor 31 and the motor base 33, the third sensing plate 34 is fixed on the motor base 33, and the third sensor 36 is fixed on the battery gripping mechanism.

[0051] like Figure 4 As shown, the battery gripping mechanism includes a rotary hook 35, a micro switch 38, and a battery gripper 39. A second motor 31 drives the rotary hook 35 and the battery gripper 39 to move in order to grip and release the drone battery.

[0052] like Figure 5 As indicated, the battery swapping Z-module 40 includes an upper mounting plate 42, a Z-axis slide rail 43, a lower mounting plate 44, a Z-axis cable chain 46, a Z-axis cable chain fixing plate 47, and a fourth motor 48. The upper mounting plate 42 is connected to the battery swapping Y-module 20. The Z-axis cable chain fixing plate 47 is provided with the Z-axis slide rail 43, and the battery swapping Y-module 20 moves along the Z-axis slide rail 43. The Z-axis cable chain 46 is connected to the Z-axis cable chain fixing plate 47, and the fourth motor 48 drives the Z-axis cable chain 46 to move. Preferably, the upper mounting plate is also provided with a second positioning pin 41, which is used to fix the battery swapping Y-module to the UAV airport frame. The Z-axis cable chain fixing plate 47 is also provided with a fourth sensor 45 for sensing the movement position of the battery swapping Z-module.

[0053] This utility model also provides a drone airport, including a frame and the aforementioned drone airport battery swapping device, wherein the drone airport battery swapping device 100 is fixed on the frame.

[0054] The following are the steps for rotating and retrieving batteries in a UAV airport battery swapping device 100 according to this utility model.

[0055] (1) The fifth motor 51 of the battery swapping rotating module 50 rotates from the safe position to the battery arm 39 of the battery swapping manipulator module 30 facing the drone with the battery. The first motor 25 of the battery swapping Y module 20 rotates, and the battery arm 39 of the battery swapping manipulator module 30 moves forward and inserts into the protruding rib on the drone battery. The second motor 31 of the battery swapping manipulator module 30 drives the rotary hook 35 to rotate and lock the rear ear of the battery. At the same time, the buckle on the drone opens. The first motor 25 of the battery swapping Y module rotates, and the battery arm 39 of the battery swapping manipulator module 30 grabs the battery and moves backward to the safe position. The battery is removed from the drone.

[0056] (2) The fifth motor 51 of the battery swapping rotating module 50 rotates to the safe position, the fourth motor 48 of the battery swapping Z module 40 rotates and drives the Z-axis slider 43 of the battery swapping Z module 40 and the battery swapping Y module 20 to move down at the same time, until the battery arm claw 39 of the battery swapping manipulator module 30 is facing the battery box of the UAV airport, the first motor 25 of the battery swapping Y module 20 rotates and the battery arm claw 39 of the battery swapping manipulator module 30 moves forward, and the battery is inserted into the battery box installation position of the UAV airport. The second motor 31 of the battery swapping manipulator module rotates in the opposite direction and drives the rotary hook 35 to rotate and release the UAV battery. At the same time, the buckle of the battery box holds the battery, and the battery swapping manipulator module 30 moves back to the safe position.

[0057] (3) The Z-module of battery swapping moves up or down, and the battery arm claw 39 of the battery swapping robot module 30 faces the battery box containing the battery. The first motor 25 of the Y-module of battery swapping rotates and the battery arm claw 39 of the battery swapping robot module 30 moves forward and inserts into the protruding rib on the battery. The second motor 31 of the battery swapping robot module 30 drives the rotary hook 35 to rotate and lock the rear ear of the battery. At the same time, the buckle on the battery box opens. The first motor 25 of the Y-module of battery swapping rotates and drives the battery arm claw 39 of the battery swapping robot module 30 to grab the battery and move backward to the safe position. The battery is taken out of the battery box.

[0058] (4) The fifth motor 51 of the battery swapping rotating module 50 rotates, and the battery arm 39 of the battery swapping Y module 20 and the battery swapping robotic arm module 30 grab the battery and move upward to the safe position. The rotation of the fifth motor 51 of the battery swapping rotating module 50 drives the battery arm 39 of the battery swapping Z module 40, the battery swapping Y module 20 and the battery swapping robotic arm module 30 to grab the battery and rotate, facing the battery slot of the UAV. The motor of the battery swapping Y module 20 rotates, driving the battery arm 39 of the battery swapping robotic arm module 30 to grab the battery and move forward to the installation position of the UAV. The second motor 31 of the battery swapping robotic arm module 30 rotates in the opposite direction, driving the rotary hook 35 to rotate and release the battery. At the same time, the UAV's buckle locks the battery, the battery is inserted into the UAV, the battery swapping robotic arm module moves backward to the safe position, and the battery swapping Y module and the battery swapping Z module rotate to the safe position, completing the battery swapping operation.

[0059] In summary, this utility model provides a battery swapping device and a UAV airport, including an upper rotating battery swapping module, a Y-module, a robotic arm module, a Z-module, and a lower rotating battery swapping module. This battery swapping device is a precision rotating telescopic battery swapping structure, employing a cantilevered linear module combination with reinforced connections to achieve rotational displacement in all directions. Even after rotating 90 degrees, the rotating module can still achieve forward / backward displacement and vertical adjustment, saving space and ensuring structural stability. The use of a harmonic reducer eliminates rotational backlash, resulting in higher rotational accuracy, more precise positioning, and better control.

[0060] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent modifications made based on the content of this utility model specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A battery swapping device for unmanned aerial vehicles (UAVs) airports, characterized in that, The system includes an upper rotating battery swapping module, a Y-module, a robotic arm module, a Z-module, and a lower rotating battery swapping module. The upper and lower rotating battery swapping modules are fixed to the frame of the UAV airport, respectively. The Z-module is positioned between the upper and lower rotating battery swapping modules to enable vertical movement. The Y-module is connected to the Z-module and drives the robotic arm module to move horizontally or backward. The robotic arm module is used to grasp or release the UAV battery.

2. The unmanned aerial vehicle (UAV) airport battery swapping device according to claim 1, characterized in that, The upper rotating battery swapping module includes an upper fixed plate, an upper connecting plate, and a first rotating component. The upper fixed plate has a first positioning pin, and the upper rotating battery swapping module is fixed to the UAV airport frame via the first positioning pin. The lower rotating battery swapping module includes a lower fixed plate, a lower connecting plate, and a second rotating component. The lower fixed plate has a third positioning pin, and the lower rotating battery swapping module is fixed to the UAV airport frame via the third positioning pin. The Z-module is located between the upper connecting plate and the lower connecting plate. The first and second rotating components work together to drive the Z-module to move left and right, thereby driving the Y-module to move left and right.

3. The unmanned aerial vehicle (UAV) airport battery swapping device according to claim 2, characterized in that, The first rotating component includes a flange shaft, a slewing bearing, a first sensing plate, and a first sensor. The flange shaft is installed inside the slewing bearing, which is installed between the upper fixed plate and the upper connecting plate. The first sensing plate is disposed on the upper connecting plate, and the first sensor is disposed on the upper fixed plate.

4. A UAV airport battery swapping device according to claim 2, characterized in that, The second rotating component is equipped with a fifth motor and a harmonic reducer. The fifth motor is mounted on the lower fixed plate, and the harmonic reducer is positioned between the lower fixed plate and the lower connecting plate. The fifth motor is a rotary servo motor that drives the harmonic reducer to move.

5. A battery swapping device for unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The battery swapping Y-module includes a Y-axis cable chain, a Y-axis cable chain fixing plate, a battery swapping Y-module connecting plate, a robotic arm connecting plate, a first motor, a Y-axis slide rail, and a second sensor. One end of the Y-axis cable chain is fixed to the Y-axis cable chain fixing plate. The battery swapping Y-module connecting plate is mounted on the slider of the battery swapping Z-module. The robotic arm connecting plate is connected to the robotic arm module. The first motor drives the Y-axis cable chain to move on the Y-axis slide rail. The second sensor is located on the robotic arm connecting plate.

6. A battery swapping device for unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The battery swapping robot module includes a second motor, a motor base, a third sensor, a battery gripping mechanism, a third sensor, and a robot connection base. The second motor is mounted on the motor base to drive the battery gripping mechanism to grip and release the battery. The robot connection base is connected to the battery swapping Y module.

7. A UAV airport battery swapping device according to claim 6, characterized in that, A speed reducer is also provided between the second motor and the motor base, the third sensing plate is fixed on the motor base, and the third sensor is fixed on the battery gripping mechanism.

8. A battery swapping device for unmanned aerial vehicles (UAVs) according to claim 6, characterized in that, The battery gripping mechanism includes a rotary hook, a micro switch, and a battery gripper. The second motor drives the rotary hook and battery gripper to grip and release the drone battery.

9. A battery swapping device for unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The battery swapping Z-module includes an upper mounting plate, a Z-axis slide rail, a lower mounting plate, a Z-axis cable chain, a Z-axis cable chain fixing plate, and a fourth motor. The upper mounting plate is connected to the battery swapping Y-module. The Z-axis cable chain fixing plate is provided with a Z-axis slide rail. The battery swapping Y-module moves along the Z-axis slide rail. The Z-axis cable chain is connected to the Z-axis cable chain fixing plate. The fourth motor drives the Z-axis cable chain to move.

10. An unmanned aerial vehicle (UAV) airport, characterized in that, The device includes a frame and a UAV airport battery swapping device as described in any one of claims 1-9, wherein the UAV airport battery swapping device is fixed to the frame.

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