CN115946145A - Special handle of unmanned aerial vehicle smart battery, snatch mechanism and grasping system - Google Patents
Special handle of unmanned aerial vehicle smart battery, snatch mechanism and grasping system Download PDFInfo
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- CN115946145A CN115946145A CN202310224915.XA CN202310224915A CN115946145A CN 115946145 A CN115946145 A CN 115946145A CN 202310224915 A CN202310224915 A CN 202310224915A CN 115946145 A CN115946145 A CN 115946145A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The invention provides a special handle, a grabbing mechanism and a grabbing system for an intelligent battery of an unmanned aerial vehicle, and relates to the technical field related to the unmanned aerial vehicle, wherein the grabbing system for the intelligent battery of the unmanned aerial vehicle comprises a grabbing mechanism for the intelligent battery of the unmanned aerial vehicle and a special handle for the intelligent battery of the unmanned aerial vehicle, the special handle is positioned in the middle of the grabbing mechanism, the grabbing mechanism comprises an inclined plane M adaptive to the inclined plane M and an inclined plane N adaptive to the inclined plane N, the special handle comprises an inclined plane M adaptive to the inclined plane M and an inclined plane N adaptive to the inclined plane N, the included angle alpha between the inclined plane M and a horizontal line is equal to the included angle alpha between the inclined plane M and the horizontal line, and the included angle 180-alpha between the inclined plane N and the horizontal line is equal to the included angle 180-alpha between the inclined plane N and the horizontal line.
Description
Technical Field
The invention relates to the related technical field of unmanned aerial vehicles, in particular to a special handle, a grabbing mechanism and a grabbing system for an intelligent battery of an unmanned aerial vehicle.
Background
An unmanned plane, called an unmanned plane for short, is an unmanned plane mainly controlled by radio remote control or self programs. With the continuous progress of society and the continuous development of science and technology, the unmanned aerial vehicle technology has also obtained big development, and unmanned aerial vehicle is used for fields such as electric power inspection, agricultural insurance, environmental protection, movie & TV shooting, rescue after the calamity.
For unmanned aerial vehicles, lithium polymer batteries are generally fastened on the body of the unmanned aerial vehicle to ensure flight safety. However, unmanned aerial vehicle is in practical application, generally be in 1 hour because of battery power duration, and battery power is from zero to being full of and generally need more than 2 hours, so when needing continuous use unmanned aerial vehicle, then need carry out the battery change to unmanned aerial vehicle, but among the prior art, in order to realize the automatic change of unmanned aerial vehicle battery, lead to the structure complicacy, degree of automation is low, and among the prior art, more make unmanned aerial vehicle accomplish after the battery unblock work earlier, just can snatch the work to the battery, can reduce unmanned aerial vehicle like this and carry out the efficiency that the battery was changed. Therefore, how to complete the automatic battery replacement technology of the unmanned aerial vehicle and improve the efficiency of the automatic battery replacement of the unmanned aerial vehicle is a problem.
Disclosure of Invention
The invention aims to provide a special handle, a grabbing mechanism and a grabbing system for an intelligent battery of an unmanned aerial vehicle, which are characterized in that a photoelectric switch is adopted to check whether the battery exists or not, a sliding device is driven by a servo motor to enable a left clamping jaw and a right clamping jaw to be respectively attached and positioned with the battery handle on multiple faces, the left clamping jaw and the right clamping jaw are respectively matched with an inclined face of a battery unlocking switch, the left clamping jaw and the right clamping jaw are enabled to be in contact with the battery unlocking switch, the battery unlocking switch is squeezed, the battery unlocking switch is enabled to move upwards under the grabbing force action of the left clamping jaw and the right clamping jaw to touch an unlocking device above the battery unlocking switch, and the battery is unlocked while being grabbed.
In order to solve the technical problem, the invention adopts the following scheme:
a grabbing mechanism of an intelligent battery of an unmanned aerial vehicle comprises a left clamping jaw, a right clamping jaw and a sliding device, wherein the left clamping jaw and the right clamping jaw are positioned on the sliding device and are close to or far away from each other along the horizontal line direction,
the left clamping jaw comprises a left connecting part, a left attaching part and a left inclined plane part which are sequentially connected from top to bottom, the left connecting part is connected with the sliding device, the inner side surface of the left attaching part faces towards the right clamping jaw, the left inclined plane part surface has an inclined plane M matched with the inclined plane M towards the right clamping jaw, the inclined plane M forms an included angle alpha with a horizontal line,
the right clamping jaw comprises a right connecting part, a right attaching part and a right inclined plane part which are sequentially connected from top to bottom, the right connecting part is connected with the sliding device, the inner side surface of the right attaching part faces towards the left clamping jaw, the right inclined plane part faces towards the left clamping jaw and is provided with an inclined plane N matched with the inclined plane N, the included angle between the inclined plane N and the horizontal line is 180-alpha,
the inclined plane M and the inclined plane N are symmetrical with respect to a vertical line perpendicular to the horizontal line.
Further, the curve of the inner side surface of the left attaching portion is L1, the curve of the inner side surface of the right attaching portion is L2, and L1 and L2 are symmetrical with respect to a vertical line perpendicular to a horizontal line.
Further, slider includes linear guide, guide left slider and guide right slider, linear guide sets up on the water flat line, guide left slider and guide right slider move along linear guide on the horizontal direction, left side connecting portion are connected with guide left slider, right side connecting portion are connected with guide right slider.
Further, the value of α is greater than 0 degrees and less than 45 degrees.
A special handle for an intelligent battery of an unmanned aerial vehicle comprises a cap body and a cap peak which are connected with the upper surface of the battery, a through hole is arranged in the cap peak, a battery unlocking switch positioned on the bottom surface is arranged in the through hole, the battery unlocking switch comprises an unlocking part and a connecting plate positioned below the unlocking part, the connecting plate is arranged on a horizontal line,
the connecting plate comprises an inclined plane M and an inclined plane N, the inclined plane M is matched with the inclined plane M and the inclined plane N is matched with the inclined plane N, the inclined plane M extends towards two sides along a horizontal line, an included angle between the inclined plane M and the horizontal line is alpha, an included angle between the inclined plane N and the horizontal line is 180-alpha, and the inclined plane M and the inclined plane N are symmetrical about a vertical line perpendicular to the horizontal line.
Further, a curve formed by the left side surface and the left upper surface of the visor is L1', a curve formed by the right side surface and the right upper surface of the visor is L2', and L1 'and L2' are symmetrical with respect to a vertical line perpendicular to a horizontal line.
The utility model provides a system of snatching of unmanned aerial vehicle smart battery, a characterized in that, include an unmanned aerial vehicle smart battery snatch the mechanism with an unmanned aerial vehicle smart battery's special handle, an unmanned aerial vehicle smart battery's special handle is located an unmanned aerial vehicle smart battery's centre of snatching the mechanism, an unmanned aerial vehicle smart battery's the inclined plane M of snatching the mechanism and the value of contained angle alpha of water flat line equals the inclined plane M of an unmanned aerial vehicle smart battery's special handle and the value of contained angle alpha of water flat line, an unmanned aerial vehicle smart battery's the inclined plane N of snatching the mechanism and the value of contained angle 180-alpha of water flat line equals the inclined plane N of an unmanned aerial vehicle smart battery's special handle and the value of contained angle 180-alpha of water flat line.
Further, a curve L1 of the medial surface of the left laminating portion of the mechanism that snatchs of unmanned aerial vehicle intelligent battery laminates with the left surface of the brim of a hat of a special handle of an unmanned aerial vehicle intelligent battery and the curve L1 'that the upper left surface constitutes, a curve L2 of the medial surface of the right laminating portion of the mechanism that snatchs of unmanned aerial vehicle intelligent battery laminates with the right flank of the brim of a hat of a special handle of an unmanned aerial vehicle intelligent battery and the curve L2' that the upper right surface constitutes.
Furthermore, the device also comprises an optoelectronic switch, and the light beam direction of the optoelectronic switch is perpendicular to the battery.
The invention has the beneficial effects that:
the invention provides a special handle, a grabbing mechanism and a grabbing system for an intelligent battery of an unmanned aerial vehicle, which are characterized in that a photoelectric switch is adopted to check whether the battery exists or not, a sliding device is driven by a servo motor to respectively laminate and position a left clamping jaw and a right clamping jaw with the battery handle in multiple faces, the left clamping jaw and the right clamping jaw are respectively matched with an inclined face of a battery unlocking switch, the left clamping jaw and the right clamping jaw are contacted with the battery unlocking switch, the battery unlocking switch is extruded, the battery unlocking switch moves upwards along the direction under the grabbing force action of the left clamping jaw and the right clamping jaw to touch an unlocking device above the battery unlocking switch, and the battery is unlocked while the battery is grabbed.
Adopt photoelectric switch to check to having or not of battery, can prevent that the clamping jaw from empty grabbing or the mistake is grabbed, and lead to appearing the problem of grabbing the failure.
Adopt servo motor to drive slider and make the clamping jaw snatch the operation, can control the dynamics of snatching of clamping jaw, avoid snatching the dynamics undersize and lead to the battery to drop or snatch the dynamics and lead to pressing from both sides bad battery handle excessively.
Carry out the laminating location of a plurality of faces with the battery handle respectively with left clamping jaw and right clamping jaw to and left clamping jaw and right clamping jaw carry out the adaptation with the inclined plane of battery unblock switch respectively, can guarantee to snatch the battery in-process, do not have virtual position between clamping jaw and the battery handle, and the location is accurate, has guaranteed that the battery does not have rocking of relative clamping jaw at the removal in-process.
And the left clamping jaw and the right clamping jaw are respectively matched with the inclined plane of the battery unlocking switch, so that the left clamping jaw and the right clamping jaw are contacted with the battery unlocking switch, and the battery unlocking switch is extruded, so that the battery unlocking switch moves upwards along the direction under the action of the grabbing force of the left clamping jaw and the right clamping jaw and is contacted with an unlocking device above the battery unlocking switch, so that the unlocking and grabbing actions are simultaneously carried out, the grabbing and unlocking efficiency is improved, and the grabbing and unlocking structure is simplified. The unlocking and the grabbing actions are carried out simultaneously, the grabbing and unlocking efficiency is improved, and the grabbing and unlocking structure is simplified.
Drawings
Fig. 1 is a schematic diagram of a grabbing mechanism of an intelligent battery of an unmanned aerial vehicle according to the invention;
fig. 2 is a schematic diagram of a handle dedicated to a smart battery of an unmanned aerial vehicle according to the present invention;
fig. 3 is a schematic diagram of a grasping system of an intelligent battery of an unmanned aerial vehicle according to the present invention;
FIG. 4 is a schematic view of the angles of the inclined plane M, the inclined plane N, the inclined plane M and the inclined plane N according to the present invention;
FIG. 5 is a left side view of the structure of the present invention;
FIG. 6 is a schematic oblique top view;
FIG. 7 is a schematic cross-sectional view of the present invention;
description of reference numerals: 1-battery, 2-special handle for battery, 21-brim, 22-cap body, 3-battery unlocking switch, 31-unlocking part, 32-connecting plate, 321-inclined plane M, 322-inclined plane N, 4-through hole, 5-left clamping jaw, 51-left connecting part, 52-left attaching part, 53-left inclined plane part, 531-inclined plane M, 6-right clamping jaw, 61-right connecting part, 62-right attaching part, 63-right inclined plane part, 631-inclined plane N, 71-bidirectional screw rod, 72-screw rod slider, 8-linear guide rail, 9-guide rail left slider, 10-guide rail right slider, 11-servo motor and 12-photoelectric switch.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
In addition, descriptions of well-known structures, functions, and configurations may be omitted for clarity and conciseness. Those of ordinary skill in the art will recognize that various changes and modifications of the examples described herein can be made without departing from the spirit and scope of the disclosure.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
The invention is explained in detail below with reference to the figures and with reference to embodiments:
example 1
As shown in fig. 1, the grabbing mechanism of the smart battery of the unmanned aerial vehicle comprises a left clamping jaw 5, a right clamping jaw 6 and a sliding device, wherein the left clamping jaw 5 and the right clamping jaw 6 are positioned on the sliding device and close to or far away from each other along the horizontal line direction,
the left clamping jaw 5 comprises a left connecting part 51, a left attaching part 52 and a left inclined plane part 53 which are sequentially connected from top to bottom, the left connecting part 51 is connected with a sliding device, the inner side surface of the left attaching part 52 faces to the right clamping jaw 6, the left inclined plane part 53 is provided with an inclined plane M531 matched with the inclined plane M321 towards the right clamping jaw 6, the inclined plane M531 forms an included angle alpha with a horizontal line,
the right clamping jaw 6 comprises a right connecting part 61, a right attaching part 62 and a right inclined plane part 63 which are sequentially connected from top to bottom, the right connecting part 61 is connected with the sliding device, the inner side surface of the right attaching part 62 faces the left clamping jaw 5, the right inclined plane part 63 faces the left clamping jaw 5 and is provided with an inclined plane N631 matched with the inclined plane N322, the inclined plane N631 forms an included angle with a horizontal line of 180-alpha,
the inclined surface M531 and the inclined surface N631 are symmetrical with respect to a vertical line perpendicular to the horizontal line.
Preferably, a curve of an inner side surface of the left attaching portion 52 is L1, a curve of an inner side surface of the right attaching portion 62 is L2, and the L1 and the L2 are symmetrical with respect to a vertical line perpendicular to a horizontal line.
As shown in fig. 2, a handle special for an intelligent battery of an unmanned aerial vehicle comprises a cap body 22 and a cap peak 21 which are connected with the upper surface of a battery 1, a through hole 4 is arranged in the cap peak 21, a battery unlocking switch 3 positioned on the bottom surface is arranged in the through hole 4, the battery unlocking switch 3 comprises an unlocking part 31 and a connecting plate 32 positioned below the unlocking part 31, the connecting plate 32 is arranged on a horizontal line,
the connecting plate 32 comprises an inclined surface M321 and an inclined surface N322, wherein the inclined surface M321 is matched with the inclined surface M531, the inclined surface N631 is matched with the inclined surface M, the inclined surface M321 extends along the horizontal line, the included angle between the horizontal line and the inclined surface M321 is alpha, the included angle between the horizontal line and the inclined surface N322 is 180-alpha, and the inclined surface M321 and the inclined surface N322 are symmetrical about a vertical line perpendicular to the horizontal line.
Preferably, a curve formed by the left side surface and the left upper surface of the visor 21 is L1', a curve formed by the right side surface and the right upper surface of the visor 21 is L2', and the L1 'and the L2' are symmetrical with respect to a vertical line perpendicular to a horizontal line.
And, when the left and right jaws 5 and 6 are close to each other, the curves L1 and L2 form a space in which the visor 21 can be clamped.
As shown in fig. 3, a grabbing system of unmanned aerial vehicle smart battery, include a grabbing mechanism of unmanned aerial vehicle smart battery with a special handle of unmanned aerial vehicle smart battery, a special handle of unmanned aerial vehicle smart battery is located the centre of a grabbing mechanism of unmanned aerial vehicle smart battery.
Preferably, the sliding device comprises a linear guide rail 8, a guide rail left slider 9 and a guide rail right slider 10, the linear guide rail 8 is arranged on a horizontal line, the guide rail left slider 9 and the guide rail right slider 10 move in the horizontal direction along the linear guide rail 8, the left connecting part 51 is connected with the guide rail left slider 9, and the right connecting part 61 is connected with the guide rail right slider 10.
The sliding device can further comprise a bidirectional screw rod 71 and a servo motor 11, the servo motor 11 drives the bidirectional screw rod 71 to rotate, and a screw rod sliding block 72 on the bidirectional screw rod 71 is respectively and rigidly connected with the guide rail left sliding block 9 and the guide rail right sliding block 10, so that the servo motor 11 can drive the guide rail left sliding block 9 and the guide rail right sliding block 10 to move in the horizontal direction along the linear guide rail 8 to control the approaching or separating of the left clamping jaw 5 and the right clamping jaw 6.
Preferably, the value of α is greater than 0 degrees and less than 45 degrees.
As shown in fig. 4, the included angle α between the inclined plane M531 of the grabbing mechanism of the smart battery of the unmanned aerial vehicle and the horizontal line is equal to the included angle α between the inclined plane M321 of the special handle of the smart battery of the unmanned aerial vehicle and the horizontal line, and the included angle 180- α between the inclined plane N631 of the grabbing mechanism of the smart battery of the unmanned aerial vehicle and the horizontal line is equal to the included angle 180- α between the inclined plane N322 of the special handle of the smart battery of the unmanned aerial vehicle and the horizontal line.
Preferably, curve L1 of the medial surface of the left laminating portion 52 of a mechanism and the curve L1' laminating that the left surface and the upper left surface of the brim of a hat 21 of the special handle of an unmanned aerial vehicle intelligent battery constitute of unmanned aerial vehicle intelligent battery's the curve L2 of the medial surface of the right laminating portion 62 of a mechanism and the curve L2' laminating that the right surface and the upper right surface of the brim of a hat 21 of the special handle of an unmanned aerial vehicle intelligent battery constitute of unmanned aerial vehicle intelligent battery.
Preferably, the device further comprises a photoelectric switch 12, and the light beam direction of the photoelectric switch 12 is perpendicular to the battery 1.
Specifically, as shown in fig. 5, 6, and 7, the present invention first detects the presence or absence of the battery 1 by using the photoelectric switch 12 in order to prevent the miss-grasp or the empty grasp. When the photoelectric switch 12 detects the battery 1, the servo motor 11 is turned on and drives the bidirectional screw 71 to rotate. The lead screw slider 72 on the bidirectional lead screw 71 is respectively and rigidly connected with the guide rail left slider 9 and the guide rail right slider 10, so that the servo motor 11 can drive the guide rail left slider 9 and the guide rail right slider 10 to move along the linear guide rail 8 in the horizontal direction.
The servo motor 11 drives the bidirectional screw 71 to rotate, so that the left gripper 5 connected to the guide left slider 9 moves along the linear guide 8 toward the left side surface of the visor 21, and the right gripper 6 connected to the guide right slider 10 moves along the linear guide 8 toward the right side surface of the visor 21.
When the curve L1 moved to the inner side surface of the left attaching portion 52 is attached to the curve L1 'formed by the left side surface and the left upper surface of the visor 21 and the curve L2 of the inner side surface of the right attaching portion 62 is attached to the curve L2' formed by the right side surface and the right upper surface of the visor 21, the inclined surface M531 of the left clamping jaw 5 contacts the inclined surface M321 of the connecting plate 32 through the through hole 4, and the inclined surface N631 of the right clamping jaw 6 contacts the inclined surface of the connecting plate 32 through the through hole 4.
As shown in fig. 7, since the angle α between the inclined plane M531 and the horizontal line is equal to the angle α between the inclined plane M321 and the horizontal line, the angle 180- α between the inclined plane N631 and the horizontal line is equal to the angle 180- α between the inclined plane N322 and the horizontal line.
Therefore, the angle β 1 between the inclined plane M531 and the inclined plane N631 is equal to the angle β 2 between the inclined plane M321 and the inclined plane N322.
Then, when the servo motor 11 drives the left clamping jaw 5 to move to the left side surface of the visor 21 along the linear guide rail 8 and the right clamping jaw 6 moves to the right side surface of the visor 21 along the linear guide rail 8, the curve L1 of the inner side surface of the left attaching portion 52 and the curve L1 'formed by the left side surface and the left upper surface of the visor 21 are completely attached, and the curve L2 of the inner side surface of the right attaching portion 62 and the curve L2' formed by the right side surface and the right upper surface of the visor 21 are also completely attached.
Under two liang of complete laminating of curve on both sides, servo motor 11 then can drive left clamping jaw 5 and right clamping jaw 6 and produce the extrusion to battery unlock switch 3 to because curved constitution can lead to the extrusion in-process, battery unlock switch 3 moves up the unlocking device that the movable contact touched battery unlock switch 3 top along the direction, makes unmanned aerial vehicle's battery 1 by the unblock.
Simultaneously, left clamping jaw 5 and right clamping jaw 6 snatch the operation upwards, can reach and realize the unblock action to battery 1 when snatching the action to battery 1.
Therefore, the unlocking and grabbing actions are performed simultaneously, the grabbing and unlocking efficiency is improved, the grabbing and unlocking structure is simplified, and the battery 1 replacement efficiency of the unmanned aerial vehicle is improved.
While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications, equivalent arrangements, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. The grabbing mechanism of the intelligent battery of the unmanned aerial vehicle is characterized by comprising a left clamping jaw (5), a right clamping jaw (6) and a sliding device, wherein the left clamping jaw (5) and the right clamping jaw (6) are positioned on the sliding device and are close to or far away from each other along the horizontal line direction,
the left clamping jaw (5) comprises a left connecting part (51), a left attaching part (52) and a left inclined plane part (53) which are sequentially connected from top to bottom, the left connecting part (51) is connected with a sliding device, the inner side surface of the left attaching part (52) faces to the right clamping jaw (6), the left inclined plane part (53) has an inclined plane M (531) matched with the inclined plane M (321) towards the right clamping jaw (6), the inclined plane M (531) and the horizontal line have an included angle alpha,
the right clamping jaw (6) comprises a right connecting part (61), a right attaching part (62) and a right inclined plane part (63) which are sequentially connected from top to bottom, the right connecting part (61) is connected with a sliding device, the inner side surface of the right attaching part (62) faces to the left clamping jaw (5), the right inclined plane part (63) has an inclined plane N (631) matched with the inclined plane N (322) towards the left clamping jaw (5), the inclined plane N (631) and the horizontal line form an included angle of 180-alpha,
the inclined surface M (531) and the inclined surface N (631) are symmetrical with respect to a vertical line perpendicular to the horizontal line.
2. The unmanned aerial vehicle intelligent battery's of claim 1 mechanism of snatching, characterized in that, the curve of the medial surface of left laminating portion (52) is L1, the curve of the medial surface of right laminating portion (62) is L2, L1 and L2 are about the plumb line symmetry perpendicular to the horizon.
3. The unmanned aerial vehicle intelligent battery's of claim 1 mechanism of snatching, characterized in that slider includes linear guide (8), guide left slider (9) and guide right slider (10), linear guide (8) set up on the horizontal line, guide left slider (9) and guide right slider (10) move along linear guide (8) in the horizontal direction, left connecting portion (51) are connected with guide left slider (9), right connecting portion (61) are connected with guide right slider (10).
4. The grabbing mechanism of unmanned aerial vehicle smart battery of claim 1, wherein the value of α is greater than 0 degree and less than 45 degrees.
5. The special handle for the intelligent battery of the unmanned aerial vehicle is characterized by comprising a cap body (22) and a cap peak (21) which are connected with the upper surface of a battery (1), wherein a through hole (4) is formed in the cap peak (21), a battery unlocking switch (3) positioned on the bottom surface is arranged in the through hole (4), the battery unlocking switch (3) comprises an unlocking part (31) and a connecting plate (32) positioned below the unlocking part (31), the connecting plate (32) is arranged on a horizontal line,
the connecting plate (32) comprises an inclined surface M (321) extending along the horizontal line and matched with the inclined surface M (531) on two sides and an inclined surface N (322) matched with the inclined surface N (631), an included angle between the inclined surface M (321) and the horizontal line is alpha, an included angle between the inclined surface N (322) and the horizontal line is 180-alpha, and the inclined surface M (321) and the inclined surface N (322) are symmetrical about a vertical line perpendicular to the horizontal line.
6. The handle of claim 5, wherein the curve formed by the left side surface and the left upper surface of the visor (21) is L1', the curve formed by the right side surface and the right upper surface of the visor (21) is L2', and the L1 'and the L2' are symmetrical with respect to a vertical line perpendicular to a horizontal line.
7. An unmanned aerial vehicle intelligent battery grabbing system, characterized by comprising the unmanned aerial vehicle intelligent battery grabbing mechanism of any one of claims 1-4 and the unmanned aerial vehicle intelligent battery special handle of any one of claims 5-6, wherein the unmanned aerial vehicle intelligent battery special handle is positioned in the middle of the unmanned aerial vehicle intelligent battery grabbing mechanism, the included angle α between the inclined plane M (531) of the unmanned aerial vehicle intelligent battery grabbing mechanism and the horizontal line is equal to the included angle α between the inclined plane M (321) of the unmanned aerial vehicle intelligent battery special handle and the horizontal line, and the included angle 180- α between the inclined plane N (631) of the unmanned aerial vehicle intelligent battery grabbing mechanism and the horizontal line is equal to the included angle 180- α between the inclined plane N (322) of the unmanned aerial vehicle intelligent battery special handle and the horizontal line.
8. The unmanned aerial vehicle intelligent battery's grasping system according to claim 7, wherein the curve L1 of the medial surface of the left attaching portion (52) of the grasping mechanism of the unmanned aerial vehicle intelligent battery is attached to the curve L1' formed by the left lateral surface and the left upper surface of the brim of a hat (21) of the special handle of the unmanned aerial vehicle intelligent battery, and the curve L2 of the medial surface of the right attaching portion (62) of the grasping mechanism of the unmanned aerial vehicle intelligent battery is attached to the curve L2' formed by the right lateral surface and the right upper surface of the brim of a hat (21) of the special handle of the unmanned aerial vehicle intelligent battery.
9. The unmanned aerial vehicle intelligent battery grabbing system according to any one of claims 7 to 8, characterized by further comprising a photoelectric switch (12), wherein the light beam direction of the photoelectric switch (12) is perpendicular to the battery (1).
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