CN-122009582-A - Battery replacement equipment, system and method for self-adaptive unmanned aerial vehicle

CN122009582ACN 122009582 ACN122009582 ACN 122009582ACN-122009582-A

Abstract

The application discloses self-adaptive unmanned aerial vehicle battery replacement equipment, a system and a battery replacement method, wherein the equipment comprises a battery grabbing mechanism, a battery clamping mechanism and a battery replacement mechanism, wherein the battery grabbing mechanism is arranged at the tail end of a position adjusting mechanism; the battery grabbing mechanism comprises a manipulator connecting plate fixedly arranged at the tail end of the position adjusting mechanism, a guide rod fixedly arranged on the manipulator connecting plate, a manipulator main body block slidably sleeved on the guide rod, an elastic piece sleeved on the periphery of the guide rod, an electromagnetic driving assembly fixedly arranged on one side of the manipulator connecting plate or one side of the manipulator main body block, the middle part of a manipulator clamping jaw hinged with the manipulator main body block, and one end of a connecting rod hinged with the guide rod and the other end hinged with the manipulator clamping jaw. According to the application, through designing the structure of the battery grabbing mechanism, a safe self-locking framework with normally closed power failure is formed, and the safety and the accuracy of the replacement of the unmanned aerial vehicle battery are improved by matching with the position adjusting mechanism with the XYZ three-axis dynamic compensation.

Inventors

WANG YUBIN
LI HAIFENG
Ding Congyu
HAN WENTING
Dan Xiujia
Xu Qianyou

Assignees

西北农林科技大学

Dates

Publication Date: 20260512
Application Date: 20260416

Claims (9)

1. The self-adaptive unmanned aerial vehicle battery replacement equipment is characterized by comprising a position adjusting mechanism and a battery grabbing mechanism; the position adjusting mechanism is used for driving the battery grabbing mechanism to move along the X direction, the Y direction and the Z direction which are perpendicular to each other, and the battery grabbing mechanism is used for grabbing and releasing the unmanned aerial vehicle battery; The battery grabbing mechanism is arranged at the tail end of the position adjusting mechanism; the battery grabbing mechanism comprises a manipulator connecting plate, a guide rod, a manipulator main body block, an elastic piece, an electromagnetic driving assembly, a manipulator clamping jaw and a connecting rod; The manipulator connecting plate is fixedly arranged at the tail end of the position adjusting mechanism; The guide rod is fixedly arranged on the manipulator connecting plate; The manipulator main body block is sleeved on the guide rod in a sliding way; the elastic piece is sleeved on the periphery of the guide rod and is positioned between the manipulator connecting plate and the manipulator main body block; the electromagnetic driving assembly is fixedly arranged on one side of the manipulator connecting plate facing the manipulator main body block or one side of the manipulator main body block facing the manipulator connecting plate; the middle part of the manipulator clamping jaw is hinged with the manipulator main body block; One end of the connecting rod is hinged with the end part of the guide rod, and the other end of the connecting rod is hinged with the driving end of the manipulator clamping jaw.
2. The adaptive unmanned aerial vehicle battery replacement apparatus of claim 1, wherein the elastic member is a spring, and both ends of the spring are respectively abutted against the robot connecting plate and the robot body block.
3. An adaptive unmanned aerial vehicle battery replacement apparatus as recited in claim 1, wherein the electromagnetic drive assembly employs an electromagnet; When the electromagnet is not electrified, the elastic piece drives the manipulator main body block to be far away from the manipulator connecting plate, and the manipulator clamping jaw is in a closed state through the kinematic constraint of the connecting rod so as to grasp the battery grabbing nail of the unmanned aerial vehicle battery; when the electromagnet is electrified, the manipulator main body block overcomes the elasticity of the elastic piece, approaches the manipulator connecting plate, drives the connecting rod to push and pull the manipulator clamping jaw, and enables the manipulator clamping jaw to be in an open state so as to release the battery grabbing nail of the unmanned aerial vehicle battery.
4. The apparatus of claim 1, wherein the position adjustment mechanism comprises a first arm unit, a second arm unit, a third arm unit, a terminal mounting plate, an electric turntable, and a manipulator mounting plate; the first mechanical arm unit is arranged along the X direction, the output end of the first mechanical arm unit is connected with the second mechanical arm unit, and the first mechanical arm unit is used for driving the second mechanical arm unit to move along the X direction; The second mechanical arm unit is arranged along the Z direction, the output end of the second mechanical arm unit is connected with the third mechanical arm unit, and the second mechanical arm unit is used for driving the third mechanical arm unit to move along the Z direction; The third mechanical arm unit is arranged along the Y direction, the output end of the third mechanical arm unit is connected with the tail end mounting plate, and the third mechanical arm unit is used for driving the tail end mounting plate to move along the Y direction; The electric rotary table is assembled on the tail end mounting plate, and the rotation axis of the electric rotary table is perpendicular to the plane where the tail end mounting plate is located; The manipulator mounting plate is fixedly connected with the output end of the electric rotary table, and the manipulator connecting plate is fixedly arranged on the manipulator mounting plate.
5. The adaptive unmanned aerial vehicle battery replacement apparatus of claim 4, wherein the first, second, and third arm units each employ a lead screw nut drive structure, the difference being in different directions; the first mechanical arm unit comprises a first base, a first lead screw, a first sliding block, a first coupler and a first motor; The first lead screw is rotatably arranged in the first base; The first motor is fixedly arranged on one side of the first base and is rotationally connected with the first screw rod through the first coupler; the first sliding block is sleeved on the first lead screw and used for sliding on the first base.
6. The adaptive unmanned aerial vehicle battery replacement apparatus of claim 4, wherein the end mounting plate has integrated thereon a visual sensor and an unlocking mechanism that is independent of the battery gripping mechanism; The image acquisition direction of the visual sensor faces to the unmanned aerial vehicle battery to be replaced, and the visual sensor is fixedly arranged on the tail end mounting plate and is used for acquiring image information of a battery grabbing nail of the unmanned aerial vehicle battery so as to perform closed-loop space positioning; The unlocking mechanism comprises a steering engine and a knob clamping jaw, the steering engine is fixedly arranged on the tail end mounting plate, the knob clamping jaw is arranged at the output end of the steering engine, and the steering engine and the knob clamping jaw are used for rotating and releasing the physical lock catch of the unmanned aerial vehicle battery before the battery grabbing mechanism grabs the battery grabbing nail of the unmanned aerial vehicle battery.
7. An adaptive robot cell replacement apparatus according to claim 1, wherein the manipulator clamping jaws are provided in number and distributed along the circumference Xiang Junyun of the manipulator body block; The guide rods are consistent with the manipulator clamping jaws in number and are uniformly distributed along the circumferential direction of the manipulator connecting plate; the connecting rod is consistent with the guide rod and the manipulator clamping jaws in number.
8. The self-adaptive unmanned aerial vehicle battery replacement system is characterized by comprising an unmanned aerial vehicle battery to be replaced, wherein standardized battery grabbing nails are fixedly arranged on the outer surface of the unmanned aerial vehicle battery; Further comprising an adaptive unmanned aerial vehicle battery replacement device as claimed in any one of claims 1 to 7.
9. An adaptive unmanned aerial vehicle battery replacing method, which adopts the adaptive unmanned aerial vehicle battery replacing device as claimed in any one of claims 1 to 7, comprising the following steps: Firstly, visual positioning and deviation calculation, namely acquiring actual three-dimensional space coordinates of a battery grabbing nail of an unmanned aerial vehicle battery through a visual sensor of a position adjusting mechanism after the unmanned aerial vehicle lands on an unmanned aerial vehicle landing platform, and calculating three-dimensional position deviation data; Unscrewing a battery grabbing mechanism to avoid collision interference with the body of the unmanned aerial vehicle, and butting the unlocking mechanism with a physical lock catch of the battery of the unmanned aerial vehicle based on the three-dimensional position deviation data; Step three, unlocking the battery, namely driving an unlocking mechanism to release the physical lock catch of the unmanned aerial vehicle battery; Switching the alignment and dynamic grabbing, namely switching the battery grabbing mechanism to align the grabbing central axis of the battery grabbing mechanism with the central axis of the battery grabbing nail, and driving the battery grabbing mechanism to grab the battery grabbing nail of the unmanned aerial vehicle battery to realize normally closed rigid clamping after power failure; And fifthly, controlling the position adjusting mechanism to pull out the old unmanned aerial vehicle battery, transferring and inserting the old unmanned aerial vehicle battery into the battery charging box for charging, controlling the battery grabbing mechanism to release the old unmanned aerial vehicle battery, grabbing the new unmanned aerial vehicle battery according to the same logic and inserting the new unmanned aerial vehicle battery into a battery compartment of the unmanned aerial vehicle, and driving the unlocking mechanism to lock the physical lock catch to finish the replacement operation.

Description

Battery replacement equipment, system and method for self-adaptive unmanned aerial vehicle Technical Field The application relates to the technical field of battery replacement of unmanned aerial vehicle, in particular to self-adaptive battery replacement equipment and system for an unmanned aerial vehicle and a battery replacement method. Background With the rapid development of low-altitude economy and unmanned aerial vehicle technology, the importance of unmanned aerial vehicle automatic airports (unmanned aerial vehicle nests) as a core infrastructure for realizing unmanned aerial vehicle full-automatic cruising is increasingly highlighted. In order to ensure the high-frequency and uninterrupted operation requirements of the unmanned aerial vehicle, the automatic airport must have the capability of rapid energy supplementing, wherein the energy supplementing speed of the power conversion mode is far higher than that of the rapid charging mode, and the power conversion mode becomes the mainstream of industry development. The existing unmanned aerial vehicle automatic power exchanging device has obvious technical bottlenecks. For example, conventional grasping mechanisms often employ complex pneumatic jaws or multi-axis servo motor driven link jaws. The pneumatic clamping jaw is required to be provided with a miniature air compressor and a complex air channel system, so that the pneumatic clamping jaw is large in size, high in noise and easy to capture failure due to air channel condensation or aging and air leakage at outdoor extreme temperature, and the multi-axis servo clamping jaw is high in accuracy, but is complex in control logic and large in dead weight, so that the inertia of the end effector is overlarge, and the response speed and the service life of the mechanical arm are influenced. In the prior art, chinese patent CN119660024A discloses a battery replacing system and a replacing method of an unmanned aerial vehicle, the system comprises a battery replacing mechanism, the battery replacing mechanism comprises a vertical driving module and a linear module capable of vertically lifting along the vertical driving module, an elastic battery replacing assembly capable of transversely moving is arranged above the linear module, the elastic battery replacing assembly can take off the unmanned aerial vehicle battery from the unmanned aerial vehicle or clamp the unmanned aerial vehicle battery to install the unmanned aerial vehicle battery on the unmanned aerial vehicle, and a double-spring elastic assembly for protecting battery replacement of the unmanned aerial vehicle battery is arranged in the elastic battery replacing assembly. However, the above-mentioned prior art does not study or solve the above-mentioned problems, only relies on the dual spring elastic component to realize buffering protection, can't effectively to the position deviation and the sudden outage risk in the battery replacement process, and unmanned aerial vehicle battery replacement's security and accuracy need to be improved. Disclosure of Invention The application provides self-adaptive unmanned aerial vehicle battery replacement equipment, a system and a battery replacement method, which are used for solving the problem that the safety and the accuracy of the replacement of an unmanned aerial vehicle battery in the prior art are to be improved. In one aspect, the application provides an adaptive unmanned aerial vehicle battery replacement device comprising a position adjustment mechanism and a battery grabbing mechanism. The position adjusting mechanism is used for driving the battery grabbing mechanism to move along the X direction, the Y direction and the Z direction which are perpendicular to each other, and the battery grabbing mechanism is used for grabbing and releasing the unmanned aerial vehicle battery. The battery grabbing mechanism is arranged at the tail end of the position adjusting mechanism. The battery grabbing mechanism comprises a manipulator connecting plate, a guide rod, a manipulator main body block, an elastic piece, an electromagnetic driving assembly, a manipulator clamping jaw and a connecting rod. The manipulator connecting plate is fixedly arranged at the tail end of the position adjusting mechanism. The guide rod is fixedly arranged on the manipulator connecting plate. The manipulator main body block is sleeved on the guide rod in a sliding way. The elastic piece is sleeved on the periphery of the guide rod and is positioned between the manipulator connecting plate and the manipulator main body block. The electromagnetic driving assembly is fixedly arranged on one side of the manipulator connecting plate facing the manipulator main body block, or one side of the manipulator main body block facing the manipulator connecting plate. The middle part of the manipulator clamping jaw is hinged with the manipulator main body block. One end of the connecting rod is hinged with the end part of the guide ro