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CN-121973153-A - Unmanned aerial vehicle triaxial manipulator trades battery mechanism

CN121973153ACN 121973153 ACN121973153 ACN 121973153ACN-121973153-A

Abstract

The invention discloses a three-axis manipulator battery replacing mechanism of an unmanned aerial vehicle, which relates to the technical field of unmanned aerial vehicles, the manipulator comprises a triaxial manipulator and a manipulator executing mechanism arranged at the driving tail end of the triaxial manipulator, wherein the manipulator executing mechanism comprises a pressing component, a positioning component, a handle clamping component and a hooking handle component. The pressing assembly achieves battery preliminary compaction, the positioning assembly achieves accurate calibration through screw transmission and guide rail guiding, the handle clamping assembly drives the flexible clamp to clamp a battery handle through synchronous belt transmission, the hooking handle assembly achieves self-adaptive hooking with the aid of springs and the hook claw, and the sensor is equipped to detect grabbing states in real time. This mechanism is cooperated through the multiunit, and it is accurate to fix a position, snatchs firmly, can adapt multiple specification battery, but real-time supervision snatchs the state, promotes conversion efficiency and reliability by a wide margin, satisfies unmanned aerial vehicle automation quick change electricity demand.

Inventors

  • JIANG YE
  • CHEN CHUAN
  • LIU TONG

Assignees

  • 华软科技股份有限公司

Dates

Publication Date
20260505
Application Date
20260121

Claims (10)

  1. 1. The utility model provides an unmanned aerial vehicle triaxial manipulator trades battery mechanism, its characterized in that includes triaxial manipulator, manipulator actuating mechanism (4) are installed to triaxial manipulator's drive end, manipulator actuating mechanism (4) are including installing at the terminal swage subassembly (41) of triaxial manipulator drive, install locating component (42) at swage subassembly (41) lift end and install handle clamping component (43) and the trip handle subassembly (44) of swage subassembly (41) same side, swage subassembly (41) include electric cylinder (412), install pressure plate (413) at electric cylinder (412) telescopic end, locating component (42) are including installing seat frame (421) in pressure plate (413) bottom, the inside rotation of seat frame (421) is connected with first lead screw (422), and the tip installs location driving motor (423) that are connected with first lead screw (422), the external screw connection of first lead screw (422) has first movable seat (424), briquetting (432) are installed to the bottom of first movable seat (424), motor (432) are including electric cylinder (433) and second lead screw (433) are connected with second lead screw (433) drive end (433) from the outside through the clamping sleeve piece (433), the outside threaded connection of second lead screw (433) has second movable seat (435), flexible anchor clamps (437) are installed through anchor clamps fixing base (436) to the lateral part of second movable seat (435), collude handle subassembly (44) including installing frame body (441) in swage subassembly (41) front, the inside swing joint of frame body (441) has claw (443) to remove the handle of hooking battery top connection through the horizontal direction.
  2. 2. The three-axis manipulator battery replacing mechanism of the unmanned aerial vehicle according to claim 1, wherein the three-axis manipulator comprises an X-axis linear module (1), a Z-axis linear module (2) and a Y-axis linear module (3), the Z-axis linear module (2) is arranged at the driving end of the X-axis linear module (1) along the vertical direction, the Y-axis linear module (3) is arranged at the driving end of the Z-axis linear module (2) along the horizontal direction, and the manipulator actuating mechanism (4) is arranged at the driving end of the Y-axis linear module (3) along the vertical direction.
  3. 3. The unmanned aerial vehicle triaxial manipulator battery replacement mechanism according to claim 1, wherein the material pressing assembly (41) further comprises a seat plate (411) arranged at the driving end of the Y-axis linear module (3), the electric cylinder (412) is arranged on the front surface of the seat plate (411), the front surface of the seat plate (411) is provided with linear bearings (414) which are arranged on two sides of the electric cylinder (412), a guide shaft rod (415) is connected to the inner part of the linear bearings (414) in a sliding mode, and the bottom end of the guide shaft rod (415) is connected with the material pressing plate (413).
  4. 4. The three-axis manipulator battery replacing mechanism of the unmanned aerial vehicle according to claim 1, wherein the bottom end of the first movable seat (424) is symmetrically provided with a compression guide block (426), and a guide inclined plane extending from the inner side to the outer side is arranged at the bottom end of the compression guide block (426).
  5. 5. The three-axis manipulator battery replacing mechanism of the unmanned aerial vehicle according to claim 1, wherein the bottom end of the seat frame (421) is symmetrically provided with a first linear guide rail (427), and the first movable seat (424) slides outside the first linear guide rail (427).
  6. 6. The three-axis manipulator battery replacing mechanism of an unmanned aerial vehicle according to claim 1, wherein the handle clamping assembly (43) further comprises a base frame (431) arranged on the front surface of the seat plate (411), the clamping driving motor (432) is arranged on one side of the base frame (431), the second screw rod (433) is rotatably connected on the other side of the base frame (431), and the base frame (431) is slidably connected with the second movable seat (435) through a second linear guide rail (439).
  7. 7. The three-axis manipulator battery replacing mechanism of the unmanned aerial vehicle according to claim 6, wherein the bearing seat (438) is symmetrically arranged on the other side of the base frame (431), and the second screw rod (433) is rotatably connected inside the bearing seat (438).
  8. 8. The three-axis manipulator battery replacing mechanism of the unmanned aerial vehicle according to claim 1, wherein the synchronous belt transmission sleeve (434) comprises a driving synchronous wheel (4341) arranged at the driving end of the base frame (431), a transmission synchronous wheel (4342) arranged at the driven end of the second screw rod (433), and a synchronous belt (4343) connected to the outside of the driving synchronous wheel (4341) and the transmission synchronous wheel (4342).
  9. 9. The three-axis manipulator battery replacing mechanism of an unmanned aerial vehicle according to claim 1, wherein the frame body (441) is mounted on the front surface of the seat plate (411) and is located below the flexible clamp (437), a push plate (442) is movably arranged in the frame body (441), the push plate (442) is connected with the frame body (441) through a spring (444), and the claw (443) is mounted on the surface of the push plate (442) and is away from one side of the spring (444).
  10. 10. The unmanned aerial vehicle triaxial manipulator battery replacing mechanism according to claim 9, wherein a first sensor (445) is further installed on the surface of the pushing plate (442), a second sensor (446) is installed at the bottom end of the pushing plate, and the first sensor (445) and the second sensor (446) are on the same side with the claw (443).

Description

Unmanned aerial vehicle triaxial manipulator trades battery mechanism Technical Field The invention relates to the technical field of unmanned aerial vehicles, in particular to a three-axis manipulator battery replacing mechanism of an unmanned aerial vehicle. Background Unmanned aerial vehicle's application in fields such as logistics distribution, electric power inspection, mapping etc. is increasingly extensive, but is limited by battery duration, and the operation continuity often relies on efficient battery replacement technique. Currently, unmanned aerial vehicle trades the electric mode and mainly falls into two types of manual work and automatic power conversion. The manual power exchange mode generally has the problems of low efficiency, dependence on professional flying hand operation, high operation cost, poor safety in complex or dangerous environments and the like. In order to improve the power conversion efficiency and the automation level, various automatic power conversion devices are generated. For example, a power conversion scheme of an unmanned aerial vehicle based on a triaxial mobile platform and a mechanical claw has been disclosed in the prior art. For example, in chinese patent application CN111547255A, a power conversion device for an unmanned aerial vehicle and a power conversion device for an unmanned aerial vehicle are disclosed, which comprises a frame, a shutdown platform, a battery compartment, a triaxial moving platform and a gripper device. The device drives the mechanical claw device to move between the battery compartment and the stopping position of the unmanned aerial vehicle through the triaxial moving platform, the clamping device of the mechanical claw is used for grabbing the battery, and the locking of the battery is released through the ejector rod structure in the unlocking device, so that the automatic taking and placing of the battery are realized. The scheme realizes the automation of the power conversion process to a certain extent, and reduces the manual intervention. However, it has been found through practice and analysis that the existing automatic power changing apparatus still has several limitations, in particular in terms of power changing accuracy, operational stability and adaptability to different battery structures. In the scheme disclosed in CN111547255A, the function of the mechanical claw device is relatively basic, and the battery replacement is mainly completed through simple clamping and pushing actions, so that a special structure for carrying out multidimensional, fine positioning and stable holding on the battery is lacking. Specifically, when changing the special unmanned aerial vehicle battery package that has accurate constant head tank, handle and hand knot structure, the rough mode of snatching and unblock of current equipment easily leads to following problem: (1) High-precision alignment is difficult to realize between the battery and the battery cabin of the unmanned aerial vehicle, and the risk of incomplete installation or poor contact exists; (2) The battery lacks an effective stable pressing mechanism in the power exchange process, and the reliability of electric connection can be affected by shaking during carrying or installation; (3) For the battery handle and the handle button structure which need to be hooked and unlocked through a specific path, the adaptability of the universal mechanical claw is insufficient, and the operation success rate and the safety are required to be improved. Therefore, how to design a set of actuating mechanism which can realize high-precision positioning, stably grasp and compress and is specially used for complex battery structure operation on the basis of the existing automatic power conversion platform becomes a key technical problem for improving the performance of the full-automatic power conversion system of the unmanned aerial vehicle. Disclosure of Invention Therefore, the invention provides a three-axis manipulator battery replacing mechanism of an unmanned aerial vehicle, which aims to solve the problems in the prior art. In order to achieve the aim, the three-axis manipulator battery replacing mechanism of the unmanned aerial vehicle comprises a three-axis manipulator, wherein a manipulator executing mechanism is arranged at the driving tail end of the three-axis manipulator, the manipulator executing mechanism comprises a pressing component arranged at the driving tail end of the three-axis manipulator, a positioning component arranged at the lifting end of the pressing component, and a handle clamping component and a hooking handle component arranged on the same side of the pressing component, the pressing component comprises an electric cylinder and a pressing plate arranged at the telescopic end of the electric cylinder, the positioning component comprises a seat frame arranged at the bottom end of the pressing plate, a first screw rod is rotatably connected inside the seat fram