CN207360600U - Unmanned plane battery grips mechanism action device - Google Patents

Unmanned plane battery grips mechanism action device Download PDF

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Publication number
CN207360600U
CN207360600U CN201721211872.8U CN201721211872U CN207360600U CN 207360600 U CN207360600 U CN 207360600U CN 201721211872 U CN201721211872 U CN 201721211872U CN 207360600 U CN207360600 U CN 207360600U
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China
Prior art keywords
vertical
cylinder
installing plate
unmanned plane
slider cylinder
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Active
Application number
CN201721211872.8U
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Chinese (zh)
Inventor
杨凌
文朋
冯小淋
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Chaonongli (Zhejiang) Intelligent Technology Co.,Ltd.
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Chengdu Tianqi Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/02—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
    • B60S5/06—Supplying batteries to, or removing batteries from, vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/10—Air crafts
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Insects & Arthropods (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Pest Control & Pesticides (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Wood Science & Technology (AREA)
  • Catching Or Destruction (AREA)
  • Power-Operated Mechanisms For Wings (AREA)
  • Battery Mounting, Suspending (AREA)
  • Manipulator (AREA)
  • Infusion, Injection, And Reservoir Apparatuses (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)

Abstract

It the utility model is related to unmanned plane battery gripping mechanism action device, including first level slider cylinder, the first vertical slider cylinder and the second vertical slider cylinder, first vertical slider cylinder is installed on the slide unit of first level slider cylinder, first vertical slider cylinder has two, and two the first vertical slider cylinders are respectively arranged on the both sides of first level slider cylinder slide unit；The second vertical slider cylinder is mounted on the slide unit of two the first vertical slider cylinders.The utility model is simple in structure, for the adjusting of clamping device position, beneficial to extracting battery out of battery compartment automatically.

Description

Unmanned plane battery grips mechanism action device
Technical field
It the utility model is related to unmanned air vehicle technique field, more particularly to unmanned plane battery gripping mechanism action device.
Background technology
UAV referred to as " unmanned plane ", is manipulated using radio robot and the presetting apparatus provided for oneself Not manned aircraft, without cockpit on machine, but the equipment such as automatic pilot, presetting apparatus are installed；It is widely used in aerial Scouting, monitoring, communication, antisubmarine, electronic interferences etc..
With the continuous development of scientific technology, unmanned plane is in an increasingly wide range of applications, such as plant protection unmanned plane, cares for name It is the UAV for agriculture and forestry plant protection operation to think justice, which has flying platform (fixed-wing, Dan Xuan The wing, more rotors), GPS fly control, spraying mechanism three parts composition, fly to control by ground remote control or GPS, can to realize spraying operation To spray medicament, seed, pulvis etc., bring great convenience for live and work.
Existing unmanned plane recycling so can usually use auxiliary often frequently with the mode of block landing or ground landing Instrument needs special messenger to recycle, inefficient.So industry class gradually starts to use unmanned plane alighting carriage, and use nobody Machine battery gripping body grips battery, since the landing platform of unmanned plane alighting carriage has certain distance from the ground, so Unmanned plane battery gripping body needs to be moved to below battery by movement devices such as lifting gear, horizontal shift structures.
Utility model content
The utility model aims to provide unmanned plane battery gripping mechanism action device, for the adjusting of clamping device position, Beneficial to battery is extracted out of battery compartment automatically.
To reach above-mentioned purpose, the technical solution adopted in the utility model is as follows：
Unmanned plane battery grips mechanism action device, including first level slider cylinder, the first vertical slider cylinder and the Two vertical slider cylinders, the first vertical slider cylinder are installed on the slide unit of first level slider cylinder, and first is vertical sliding Platform cylinder has two, and two the first vertical slider cylinders are respectively arranged on the both sides of first level slider cylinder slide unit；Two first The second vertical slider cylinder is mounted on the slide unit of vertical slider cylinder.
Further, the stroke of the first vertical slider cylinder is more than the stroke of the second vertical slider cylinder.
Further, lifting gear is further included, the first level slider cylinder is installed on lifting gear.
Wherein, lifting gear includes the first vertical translation mechanism and the second vertical translation mechanism, the first vertical translation mechanism Including the first installing plate, the second installing plate, rectangle frame, for driving the first cylinder for vertically moving of the second installing plate and four pieces the One vertical guide post, the first vertical guide post lower end and the first installing plate are affixed, there is guide post vertical with first on the second installing plate The through hole A of clearance fit, the first vertical guide post upper end is affixed through through hole A and rectangle frame, and the first cylinder is installed on the first installation On plate, the output terminal of the first cylinder is connected with the second installing plate, and the second vertical translation mechanism is installed on the second installing plate, four First vertical guide post and rectangle frame is located at the second vertical translation mechanism periphery.
Wherein, the second vertical translation mechanism includes the 3rd installing plate, vertically moved for the 3rd installing plate of driving second Cylinder and four second vertical guide posts, the second vertical guide post upper end and the 3rd installing plate are affixed, have on the second installing plate with The through hole B of second vertical guide post clearance fit, the second vertical guide post lower end pass through through hole B, and the second cylinder is installed on the second installation On plate.
Further, second cylinder is located at the lower section of the second installing plate, and the output terminal of the second cylinder passes perpendicularly through Two installing plates are connected with the 3rd installing plate.
Wherein, first cylinder and the second cylinder have two.
Compared with prior art, the utility model has the advantages that：
The utility model is simple in structure, for the adjusting of clamping device position, beneficial to extracting battery out of battery compartment automatically.
Brief description of the drawings
Fig. 1 is the structure diagram of unmanned plane battery gripping body；
Fig. 2 is the structure diagram of the utility model；
Fig. 3 is the structure diagram of lifting gear；
Fig. 4 is schematic diagram when first level slider cylinder is installed on the 3rd installing plate；
Fig. 5 is the structure diagram of unmanned plane landing gear；
In figure：The first vertical translations of 1- mechanism, the second vertical translations of 2- mechanism, 3- clamp devices, 4- batteries, 5- landing are flat Platform, the first installing plates of 11-, the second installing plates of 12-, the first vertical guide posts of 13-, 14- rectangle frames, the first cylinders of 15-, 21- the 3rd Installing plate, the second vertical guide posts of 22-, the second cylinders of 23-, 31- first levels slider cylinder, the first vertical slider cylinders of 32-, The second vertical slider cylinders of 33-, the 4th installing plates of 34-, 36- grip blocks, 37- clamp arm, 38- sliding slots.
Embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing, to this reality It is further elaborated with new.
As shown in Figure 1, unmanned plane battery gripping body includes clamp device 3 and for moving up and down clamp device 3 Lifting gear, the clamp device 3 includes movement device and the clamping device for clamping battery, and clamping device is installed on dynamic Make on device.
As shown in Fig. 2, unmanned plane battery disclosed in the utility model grips mechanism action device, including first level slide unit Cylinder 31, the first vertical 32 and second vertical slider cylinder 33 of slider cylinder, the first vertical slider cylinder 32 are installed on the first water On the slide unit of somoothing board cylinder 31, the first vertical slider cylinder 32 has two, and two the first vertical slider cylinders 32 are respectively arranged on The both sides of 31 slide unit of first level slider cylinder；It is vertical sliding that second is mounted on the slide unit of two the first vertical slider cylinders 32 Platform cylinder 33.The stroke of first vertical slider cylinder 32 is more than the stroke of the second vertical slider cylinder 33.Clamping device is installed on In second vertical slider cylinder 33.
Clamping device includes two grip blocks 36 and for driving two second levels of two grip blocks 36 sliding respectively Platform cylinder, the direction of motion of two grip blocks 36 is conversely to grip or loosen battery.Two the second horizontal sliding table cylinder difference On the slide unit of two the second vertical slider cylinders 33.
Each grip block 36 is equipped with least one clamp arm 37, and clamp arm 37 is adapted to the blind hole on battery 4.4th installing plate 34 are installed on the slide unit of two the second vertical slider cylinders 33, and the second horizontal sliding table cylinder is located under the 4th installing plate 34 Side, clamp arm 37 are located at the top of the 4th installing plate 34, have the sliding slot 38 being adapted to grip block 36, grip block on the 4th installing plate 34 36 direction of motion is vertical with the direction of motion of the slide unit of first level slider cylinder 31.
As shown in Figure 1,3, lifting gear includes the first vertical translation mechanism 1 and the second vertical translation mechanism 2, and second is vertical Translation mechanism 2 is installed in the first vertical translation mechanism 1.First vertical translation mechanism 1 is installed including the first installing plate 11, second Plate 12, the first vertical guide post 13 and rectangle frame 14, the first vertical 13 lower end of guide post and the first installing plate 11 are affixed, the second installing plate There is the through hole of 13 clearance fit of guide post vertical with first on 12, the first vertical 13 upper end of guide post passes through logical on the second installing plate 12 Hole and rectangle frame 14 are affixed, and the first vertical guide post 13 has 4, and 4 first vertical guide posts 13 are separately positioned on same rectangle On four vertex, two the first cylinders 15 are installed on the first installing plate 11, the output terminal and the second installing plate of the first cylinder 15 12 connections.Second vertical translation mechanism 2 is installed on the second installing plate 12, and 4 first vertical guide posts 13 and rectangle frame 14 are located at The periphery of second vertical translation mechanism 2, under the action of the first cylinder 15, the second vertical translation mechanism 2 is with 12 edge of the second installing plate First vertical guide post 13 moves up and down, and realizes the first order lifting of lifting gear.
Second vertical translation mechanism 2 includes the 3rd installing plate 21 and the second vertical guide post 22, the second vertical 22 upper end of guide post It is affixed with the 3rd installing plate 21, there is the through hole of 22 clearance fit of guide post vertical with second on the second installing plate 12, second vertically leads 22 lower end of column passes through the through hole, and the second vertical guide post 22 has 4, and 4 second vertical guide posts 22 are separately positioned on same rectangle Four vertex on, two the second cylinders 23 are installed on the second installing plate 12 and positioned at the lower sections of the second installing plate 12, second The output terminal of cylinder 23 is connected through the second installing plate 12 with the 3rd installing plate 21, under the action of the second cylinder 23, the 3rd peace Loading board 21 is moved up and down relative to the first vertical guide post 13, realizes the second level lifting of lifting gear.As shown in figure 4, horizontal move Motivation structure is installed on the 3rd installing plate 21.
As shown in figure 5, being reserved with the convenient window for taking battery 4 away from below on the landing platform 5 of unmanned plane landing gear, make Used time, lifting gear make clamp device 3 rise to certain altitude, then first level slider cylinder 31, the first vertical slide unit gas Cylinder 32, the second vertical slider cylinder 33, which successively act, makes the 4th installing plate 34 of clamping device rise to immediately below battery 4, this When, two grip blocks 36 are placed exactly in the both sides of battery 4, then, driving 36 clamping of grip block of the second horizontal sliding table cylinder, clamp arm 37 are horizontally inserted into the blind hole of battery 4, and subsequent second vertical 33 and first vertical slider cylinder 32 of slider cylinder, which successively acts, to be made Clamping device, which declines, extracts battery.
The utility model is simple in structure, for the adjusting of clamping device position, beneficial to extracting battery out of battery compartment automatically.
Certainly, the utility model can also have other numerous embodiments, without departing substantially from the utility model spirit and its essence In the case of, those skilled in the art can make various corresponding changes and deformation, but these according to the utility model It is corresponding to change and deform the scope of the claims that all belong to appended by the utility model.

Claims (7)

1. unmanned plane battery grips mechanism action device, it is characterised in that:Including first level slider cylinder (31), first vertical Slider cylinder (32) and the second vertical slider cylinder (33), the first vertical slider cylinder (32) are installed on first level slide unit On the slide unit of cylinder (31), the first vertical slider cylinder (32) has two, and two the first vertical slider cylinders (32) are respectively arranged on The both sides of first level slider cylinder (31) slide unit；It is perpendicular that second is mounted on the slide unit of two the first vertical slider cylinders (32) Straight slider cylinder (33).
2. unmanned plane battery according to claim 1 grips mechanism action device, it is characterised in that：First vertical slide unit gas The stroke of cylinder (32) is more than the stroke of the second vertical slider cylinder (33).
3. unmanned plane battery according to claim 1 grips mechanism action device, it is characterised in that：Further include lifting dress Put, the first level slider cylinder (31) is installed on lifting gear.
4. unmanned plane battery according to claim 3 grips mechanism action device, it is characterised in that：Lifting gear includes the One vertical translation mechanism (1) and the second vertical translation mechanism (2), the first vertical translation mechanism (1) include the first installing plate (11), Second installing plate (12), rectangle frame (14), the first cylinder (15) vertically moved for the second installing plate of driving (12) and four First vertical guide post (13), first vertical guide post (13) lower end and the first installing plate (11) are affixed, the second installing plate (12) On have the through hole A of guide post (13) clearance fit vertical with first, the first vertical guide post (13) upper end passes through through hole A and rectangle frame (14) affixed, the first cylinder (15) is installed on the first installing plate (11), the output terminal and the second installing plate of the first cylinder (15) (12) connect, the second vertical translation mechanism (2) is installed on the second installing plate (12), four first vertical guide posts (13) and rectangle Frame (14) is located at the second vertical translation mechanism (2) periphery.
5. unmanned plane battery according to claim 4 grips mechanism action device, it is characterised in that：Second vertical translation machine Structure (2) includes the 3rd installing plate (21), for driving the second cylinder (23) for vertically moving of the 3rd installing plate (21) and four pieces the Two vertical guide posts (22), second vertical guide post (22) upper end and the 3rd installing plate (21) are affixed, on the second installing plate (12) There is the through hole B of guide post (22) clearance fit vertical with second, the second vertical guide post (22) lower end passes through through hole B, the second cylinder (23) it is installed on the second installing plate (12).
6. unmanned plane battery according to claim 5 grips mechanism action device, it is characterised in that：Second cylinder (23) it is located at the lower section of the second installing plate (12), the output terminal of the second cylinder (23) passes perpendicularly through the second installing plate (12) and the 3rd Installing plate (21) connects.
7. unmanned plane battery according to claim 5 grips mechanism action device, it is characterised in that：First cylinder (15) and the second cylinder (23) has two.
CN201721211872.8U 2017-05-19 2017-09-20 Unmanned plane battery grips mechanism action device Active CN207360600U (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710359516 2017-05-19
CN2017103595169 2017-05-19

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ID=61114025

Family Applications (10)

Application Number Title Priority Date Filing Date
CN201721211872.8U Active CN207360600U (en) 2017-05-19 2017-09-20 Unmanned plane battery grips mechanism action device
CN201721214766.5U Active CN207360602U (en) 2017-05-19 2017-09-20 Unmanned plane battery gripping body
CN201721214696.3U Active CN207360291U (en) 2017-05-19 2017-09-20 Unmanned plane takes battery system
CN201710851229.XA Active CN107719329B (en) 2017-05-19 2017-09-20 Unmanned aerial vehicle support system
CN201710857322.1A Active CN107651205B (en) 2017-05-19 2017-09-20 Unmanned aerial vehicle location battery system
CN201710851248.2A Expired - Fee Related CN107697314B (en) 2017-05-19 2017-09-20 Unmanned aerial vehicle take-off and landing device
CN201721205975.3U Active CN207243451U (en) 2017-05-19 2017-09-20 A kind of medicine-filling device
CN201710855244.1A Active CN107640079B (en) 2017-05-19 2017-09-20 Unmanned aerial vehicle endurance guarantee method
CN201721205974.9U Active CN207141422U (en) 2017-05-19 2017-09-20 A kind of unmanned plane landing platform
CN201721208723.6U Active CN207355319U (en) 2017-05-19 2017-09-20 A kind of automatic liquid medicine injection system

Family Applications After (9)

Application Number Title Priority Date Filing Date
CN201721214766.5U Active CN207360602U (en) 2017-05-19 2017-09-20 Unmanned plane battery gripping body
CN201721214696.3U Active CN207360291U (en) 2017-05-19 2017-09-20 Unmanned plane takes battery system
CN201710851229.XA Active CN107719329B (en) 2017-05-19 2017-09-20 Unmanned aerial vehicle support system
CN201710857322.1A Active CN107651205B (en) 2017-05-19 2017-09-20 Unmanned aerial vehicle location battery system
CN201710851248.2A Expired - Fee Related CN107697314B (en) 2017-05-19 2017-09-20 Unmanned aerial vehicle take-off and landing device
CN201721205975.3U Active CN207243451U (en) 2017-05-19 2017-09-20 A kind of medicine-filling device
CN201710855244.1A Active CN107640079B (en) 2017-05-19 2017-09-20 Unmanned aerial vehicle endurance guarantee method
CN201721205974.9U Active CN207141422U (en) 2017-05-19 2017-09-20 A kind of unmanned plane landing platform
CN201721208723.6U Active CN207355319U (en) 2017-05-19 2017-09-20 A kind of automatic liquid medicine injection system

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CN110733663B (en) * 2019-10-29 2024-02-02 华软科技股份有限公司 Automatic battery replacing device and method for unmanned aerial vehicle
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