CN102909540B - Battery automatic replacement system of small-sized multi-rotor-wing unmanned aerial vehicle - Google Patents
Battery automatic replacement system of small-sized multi-rotor-wing unmanned aerial vehicle Download PDFInfo
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- CN102909540B CN102909540B CN201210401648.0A CN201210401648A CN102909540B CN 102909540 B CN102909540 B CN 102909540B CN 201210401648 A CN201210401648 A CN 201210401648A CN 102909540 B CN102909540 B CN 102909540B
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Abstract
The invention discloses a battery automatic replacement system of a small-sized multi-rotor-wing unmanned aerial vehicle. The battery automatic replacement system comprises a multi-track trolley, a battery storage disk, an unmanned aerial vehicle landing gear, a landing gear fixing plate, a landing gear fixing plate support, a battery storage disk support and a mechanical arm, wherein the landing gear fixing plate is arranged above the multi-track trolley, and is fixedly connected with the multi-track trolley through the landing gear fixing plate support; the unmanned aerial vehicle landing gear is arranged above the landing gear fixing plate; a battery inlet matched with the size of a battery is formed in the center of the fixing plate; the battery storage disk is arranged below the landing gear fixing plate, and is fixedly connected with the multi-track trolley through the battery storage disk support; and the mechanical arm is arranged below the battery storage disk. The battery automatic replacement system adopts a turntable type battery storage bin, so that five times of battery replacement can be performed at most through one step; and the battery automatic replacement system adopts a blind plugging type battery installation mode to achieve effects of convenience, fastness and high efficiency.
Description
Technical field
The invention belongs to the automatic battery replacing system of unmanned plane technical field, particularly a kind of small-sized many rotor wing unmanned aerial vehicles.
Background technology
In recent years, along with the large-scale natural calamities such as earthquake, flood, nuclear pollution take place frequently, the research of small-sized many rotor wing unmanned aerial vehicles becomes the focus of unmanned plane research gradually.Risk that small-sized many rotor wing unmanned aerial vehicles have that cost is low, efficiency-cost ratio is high, no one was injured and can set foot in the advantages such as (core, chemistry, bacterium infected zones) that has the man-machine region that cannot arrive.Also be with a wide range of applications in dual-use field, as low-altitude reconnaissance, meteorological exploration, aeroplane photography, traffic patrolling etc.But be confined to body size reason, small-sized many rotor wing unmanned aerial vehicles aloft the flight time very short, need often to change battery, cumbersome, waste a lot of human and material resources.Research for the automatic battery replacing system of small-sized many rotor wing unmanned aerial vehicles is quite necessary.
There is no at present the automatically replacing battery plateform system for small-sized many rotor wing unmanned aerial vehicles, all by manually removing to install battery, because small-sized many rotor wing unmanned aerial vehicles structure is relatively little, the battery that can carry is also smaller, generally maintain 15 minutes to 20 minutes so power-on time is relatively very short, so just need manually constantly to go to change battery, waste of manpower resource greatly.
Application number is that 201010603039.4 Chinese patent discloses a kind of automatic quick-change system of batteries of electric automobile and quick change method automatically.This patent discloses a kind of automatic quick change scheme of batteries of electric automobile, this system can realize single automatically replacing battery, but after having changed each time, also need constantly manually to put battery toward changing on battery transporter, automaticity is not high, very inconvenient.
Be used in the battery replacement device on electric automobile, although can realize Auto-mounting.But can only be once corresponding one, installing is over also needs to ressemble, and based on the power demand of electric automobile, just needs a lot of so more changing devices, and cost is relatively very high and make complicated.
Summary of the invention
Technical problem solved by the invention is to provide a kind of automatic battery replacing system of small-sized many rotor wing unmanned aerial vehicles.
The technical solution that realizes the object of the invention is: a kind of automatic battery replacing system of small-sized many rotor wing unmanned aerial vehicles, comprise fixture, battery storage dish, unmanned plane undercarriage fixture, undercarriage fixed head, undercarriage fixed head support, battery storage disc carrier and manipulator
Described fixture top arranges undercarriage fixed head, undercarriage fixed head is connected with fixture mutually by undercarriage fixed head support, undercarriage fixed head top arranges unmanned plane undercarriage fixture, this fixed head center arranges the battery entrance matching with battery sizes, the below of undercarriage fixed head arranges battery storage dish, this battery storage dish is connected mutually by battery storage disc carrier and fixture, and battery storage dish below arranges manipulator;
The draw-in groove of six storage batteries is set on battery storage dish, these six draw-in grooves are evenly distributed on battery storage dish, the center line of each draw-in groove is all positioned on the diameter of battery storage dish, on draw-in groove, load battery, draw-in groove below has through hole, manipulator can be released from the battery porch at fixed head center from the through hole of draw-in groove below passes and battery is firmly grasped, and is finally pushed to unmanned plane; Described battery storage Pan center arranges connecting rod, the gear that is connected on connecting rod, and the below of battery storage dish arranges motor, and motor can rotate by driven gear, finally drives battery storage disc spins.
Preferably, manipulator comprises handgrip, camera, servomotor, tooth bar, manipulator motor, manipulator gear, slide rail and elevating lever, handgrip is positioned at one end of elevating lever, the center of handgrip arranges camera, handgrip is connected with the servomotor being connected on elevating lever, under the drive of servomotor, rotate, elevating lever is positioned on slide rail and can moves along slide rail, tooth bar is set on elevating lever, manipulator motor is set on slide rail, manipulator gear is connected on the output shaft of manipulator motor, manipulator wheel and rack is meshed, when manipulator machine operation, motor output shaft driving mechanical hand gear rotates and is with carry-over bar to move, the final elevating lever that drives moves up and down, decoder is also set on slide rail, this decoder is connected with camera.
Preferably, described unmanned plane comprises two handgrips by undercarriage fixture, these two handgrips are oppositely arranged, each handgrip is all " V " font, and the angle of " V " font is 120 degree, and the below of undercarriage fixed head arranges handgrip motor, gear and handgrip pole, gear is connected on handgrip motor output shaft, gear is connected with handgrip pole, thereby the rotation of handgrip motor output shaft driven gear drives handgrip pole advance or retreat, and final handgrip pole drives handgrip motion.
Preferably, described fixture is multi-track dolly, and described multi-track dolly top arranges undercarriage fixed head, and this undercarriage fixed head is connected mutually by undercarriage fixed head support and multi-track dolly.
Preferably, described camera is CCD camera.
Compared with prior art, its remarkable advantage is in the present invention: 1) the present invention adopts rotating disc type battery reserve storehouse, once can carry out at most the replacing of 5 primary cells, and the present invention adopts blindmate formula battery efficiency quick and easy for installation high; 2) device of the present invention has been realized automatic loading and the unloading of small-sized many rotor wing unmanned aerial vehicles battery, thereby realizes the automatic replacing of small-sized many rotor wing unmanned aerial vehicles battery; 3) automatic battery replacing system of small-sized many rotor wing unmanned aerial vehicles of the present invention, on a pedrail, can adapt to various complex environments; 4) the present invention is convenient and reliable, can effectively solve the artificial frequent problem of changing battery of small-sized many rotor wing unmanned aerial vehicles, can allow small-sized many autonomous execution detection task in the wild of rotor wing unmanned aerial vehicle longer time.
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Brief description of the drawings
The overall construction drawing of the small-sized many rotor wing unmanned aerial vehicles of Fig. 1.
Fig. 2 is battery structure figure.
Fig. 3 is the hollow out aerial view that battery has just entered small-sized many rotor wing unmanned aerial vehicles.
Fig. 4 is battery connection figure.
Fig. 5 is the automatic battery replacing system overall construction drawing of small-sized many rotor wing unmanned aerial vehicles.
Fig. 6 is undercarriage fixed head front elevation.
Fig. 7 is the schematic diagram that unmanned plane undercarriage captures unmanned plane.
Fig. 8 is undercarriage fixed head back view.
Fig. 9 is the battery storage dish front elevation of depositing reserve battery.
Figure 10 is the battery storage dish back view of depositing reserve battery.
Figure 11 is robot manipulator structure schematic diagram.
Detailed description of the invention
In conjunction with Fig. 1, small-sized many rotor wing unmanned aerial vehicles comprise undercarriage base 1.1, battery plug 1.2, battery case 1.3, battery compression plate 1.4, spring 1.5, control module 1.6.
Control module 1.6 belows in the middle of small-sized many rotor wing unmanned aerial vehicles are battery cases 1.3, battery case 1.3 belows are hollow outs of battery sizes, battery is installed into and is become right-angled intersection to place with hollow out, battery socket and plug adopt blindmate mode, plug on battery is a combined plug-in docking with the socket on many rotor wing unmanned aerial vehicles, when become right-angled intersection to place with hollow out, realizes automatically and connecting.Automatically the compression that realizes battery by spring driven battery compression plate 1.4 on battery case is fixed.On many rotor wing unmanned aerial vehicles, digital camera can be set, wireless transmission/reception device connects by the control module of small-sized many rotor wing unmanned aerial vehicles.The battery compartment of power supply is arranged on the control module below of many rotor wing unmanned aerial vehicles.Entirety contacts with ground by undercarriage.Jack after having carried out 90 degree rotations on battery and the plug of small-sized many rotor wing unmanned aerial vehicles battery case 1.3 the insides just in time achieve a butt joint, and then drive battery compression plate 1.4 to compress fixing realization by the spring 1.5 of battery case 1.3 the insides and connect.
In conjunction with Fig. 2, Fig. 3, Fig. 4, battery 2.0 is provided with battery socket anodal 2.1 and battery socket negative pole 2.2, and the compression that automatically realizes battery by spring driven battery compression plate 1.4 on battery case is fixed.
In conjunction with Fig. 5, Fig. 9, Figure 10, a kind of automatic battery replacing system of small-sized many rotor wing unmanned aerial vehicles, comprise multi-track dolly 6.0, battery storage dish 4.0, unmanned plane undercarriage fixture, undercarriage fixed head 3.0, undercarriage fixed head support 7.0, battery storage disc carrier 8.0 and manipulator 5.0
Described multi-track dolly 6.0 tops arrange undercarriage fixed head 3.0, this undercarriage fixed head 3.0 is connected mutually by undercarriage fixed head support 7.0 and multi-track dolly 6.0, undercarriage fixed head 3.0 tops arrange unmanned plane undercarriage fixture, this fixed head center arranges the battery entrance matching with battery sizes, the below of undercarriage fixed head 3.0 arranges battery storage dish 4.0, this battery storage dish 4.0 is connected mutually by battery storage disc carrier and multi-track dolly 6.0, and battery storage dish 4.0 belows arrange manipulator 5.0;
The draw-in groove of six storage batteries is set on battery storage dish 4.0, these six draw-in grooves are evenly distributed on battery storage dish, the center line of each draw-in groove is all positioned on the diameter of battery storage dish 4.0, on draw-in groove, load battery, draw-in groove below has through hole, manipulator 5.0 can be released from the battery porch at fixed head center from the through hole of draw-in groove below passes and battery is firmly grasped, and is finally pushed to unmanned plane; Described battery storage Pan4.0 center arranges connecting rod 4.4, the gear 4.5 that is connected on connecting rod, and the below of battery storage dish 4.0 arranges motor 4.3, and motor 4.3 can rotate by driven gear 4.5, finally drives battery storage dish 4.0 to rotate.Often change one-shot battery, battery storage dish 4.0 rotates 30 degree.
Described multi-track car 6.0 has increased by one at normal two front-wheels of crawler type dolly and has become 45 to spend the upwards crawler belt of drift angle, the Athey wheel increasing by front-wheel drive carries out the climbing operation of barrier, crawler type dolly can be realized the automatically replacing battery of small-sized many rotor wing unmanned aerial vehicles of some danger zones, has greatly increased the utilization scope of the automatically replacing battery platform of these small-sized many rotor wing unmanned aerial vehicles.
In conjunction with Fig. 6, mark plate when the top of undercarriage fixed head is landing, the camera of unmanned plane is realized small-sized many rotor wing unmanned aerial vehicles pose determination by distinguishing mark thing plate.Described mark plate front has: large Back Word 3.1, little Back Word 3.2.This part is that camera on small-sized many rotor wing unmanned aerial vehicles can be identified the landing cue thing plate of determining pose, both sides are and undercarriage two the fixing handgrips 3.3 that match, be exactly to realize in the time that small-sized many rotor wing unmanned aerial vehicles are somewhat crooked on platform, realize automatically fixing.Middle circular hole can allow battery comprise that elevating lever below changes hands free discrepancy.After falling on platform, can realize the hexagon undercarriage of small-sized many rotor wing unmanned aerial vehicles the crawl schematic diagram of Fig. 7.
In conjunction with Fig. 7, Fig. 8, described unmanned plane comprises two fixing handgrips 3.3 by undercarriage fixture, these two fixing handgrips are oppositely arranged, each fixing handgrip is all " V " font, the angle of " V " font is 120 degree, the below of undercarriage fixed head arranges handgrip motor 3.4, gear 3.5 and handgrip pole 3.6, gear 3.5 is connected on handgrip motor 3.4 output shafts, gear 3.5 is connected with handgrip pole 3.6, thereby handgrip motor 3.4 output shaft driven gears 3.5 rotate and drive handgrip pole 3.6 advance or retreat, final handgrip pole drives handgrip motion, described two fixing handgrips 3.3 move under the drive of handgrip motor 3.4.Because the bottom of unmanned plane is regular hexagon, so above-mentioned handgrip can well be by fixing unmanned plane bottom, even some deviation when unmanned plane lands, handgrip also can be fixed.
In conjunction with Figure 11, manipulator comprises handgrip 2, camera 4, servomotor 3, tooth bar 9, motor 10, manipulator gear 5, slide rail 7 and elevating lever 1, handgrip is positioned at one end of elevating lever 1, the center of handgrip arranges camera 4, handgrip is connected with the servomotor 3 being connected on elevating lever 1, under the drive of servomotor, rotate, elevating lever 1 is positioned on slide rail 7 and can moves along slide rail 7, tooth bar 8 is set on elevating lever 1, motor 10 is set on slide rail, manipulator gear 5 is connected on the output shaft of motor 10, manipulator gear 5 is meshed with tooth bar 8, when motor 10 is worked, motor output shaft driving mechanical hand gear 5 rotates and is with carry-over bar 8 to move, the final elevating lever 1 that drives moves up and down, decoder 6 is also set on slide rail 7, this decoder 6 is connected with camera 4.Described camera is CCD camera 4.
The wireless transmission/reception device of above ground portion is arranged on the computer serial ports of ground control station, and software for calculation is arranged on the notebook computer of ground control station; The mark plate of the known dimensions that the CCD camera of the replaced on ground battery platform of the automatic battery replacing system of small-sized many rotor wing unmanned aerial vehicles can be identified, mark plate both sides are fixing handgrips of the landing frame of automatically fixing many rotor wing unmanned aerial vehicles, and centre is the battery case (often change one-shot battery and rotate 30 degree) that can automatically become the placement reserve battery of 360 degree rotations.On rotating disk, always have 6 grooves of putting battery, stayed the conversion of the battery on realization and small-sized many rotor wing unmanned aerial vehicles.
Introduce again the workflow of whole system below.Be divided into and unload battery and two parts of packed battery.
(1) unload battery part:
A, by the little CCD camera 4 on handgrip, the battery hole seeing through in the middle of undercarriage fixed head carries out image processing, whether scanning has small-sized many rotor wing unmanned aerial vehicles to change on platform at battery ground.
If B has small-sized many rotor wing unmanned aerial vehicles on platform, the task of changing battery is described, send instruction to the motor 3.4 under mark plate by control, carry out the fixing shrinkage operation of fixing handgrip 3.3 to small-sized many rotor wing unmanned aerial vehicles undercarriage.
C, execute after pinned task, handgrip is carried out rising along slide rail 7 of task by motor 10, and when handgrip arrives the Battery Card groove location of small-sized many rotor wing unmanned aerial vehicles, handgrip is carried out self-contained battery operation.
D, handgrip fix after battery, by the control of the servomotor 3 to handgrip bottom, realize the rotation operation of handgrip to battery.
E, after executing 90 degree battery rotaries operations, battery and change hands just in time can be in the hollow out of draw-in groove bottom out.
F, finally control and realize elevating lever landing operation by motor 10, when battery down just in time makes battery drop on the battery case of rotating disk through control hole.Finally realize the unloading operation of battery.
(2) packed battery part:
A, after having battery on rotating disk, by controlling the motor 4.3 below rotating disk, realize the rotation of rotating disk, namely make the battery rotary of deposit to the corresponding manipulable position of elevating lever, what here we arranged is 30 degree rotations, then scan by the CCD camera 4 in the middle of elevating lever, whether have the battery rotary of deposit to come, if do not proceed 30 degree rotations.
B, when detecting after battery, by the control to motor 10, elevating lever is raise along slide rail 7, change hands the reserve cell of fixing on rotating disk.
C, elevating lever rise, until the battery case position under small-sized many rotor wing unmanned aerial vehicles.
The D part that D, the face of catching up with unload is the same, by controlling the servomotor 3 under handgrip, realizes the rotation to battery.
E, after having carried out the rotations of 90 degree, battery fixed head above battery case 1.4 can be by spring 1.5, makes the plug on jack and small-sized many rotor wing unmanned aerial vehicles of battery realize blindmate, carries out the power supply to unmanned plane.
F, elevating lever are controlled by motor 10 after executing these operations, are retracted into origin-location, send unlock command then to the motor below mark, realize the release to undercarriage.
The final automatically replacing battery operation that has just realized small-sized many rotor wing unmanned aerial vehicles.
The present invention adopts rotating disc type battery reserve storehouse, once can carry out at most the replacing of 5 primary cells, and the present invention adopts blindmate formula battery efficiency quick and easy for installation high; Device of the present invention has been realized automatic loading and the unloading of small-sized many rotor wing unmanned aerial vehicles battery, thereby realizes the automatic replacing of small-sized many rotor wing unmanned aerial vehicles battery.
Claims (5)
1. the automatic battery replacing system of small-sized many rotor wing unmanned aerial vehicles, it is characterized in that, comprise fixture, battery storage dish, unmanned plane undercarriage fixture, undercarriage fixed head, undercarriage fixed head support, battery storage disc carrier and manipulator, described fixture top arranges undercarriage fixed head, undercarriage fixed head is connected with fixture mutually by undercarriage fixed head support, undercarriage fixed head top arranges unmanned plane undercarriage fixture, this fixed head center arranges the battery entrance matching with battery sizes, the below of undercarriage fixed head arranges battery storage dish, this battery storage dish is connected mutually by battery storage disc carrier and fixture, battery storage dish below arranges manipulator,
The draw-in groove of six storage batteries is set on battery storage dish, these six draw-in grooves are evenly distributed on battery storage dish, the center line of each draw-in groove is all positioned on the diameter of battery storage dish, on draw-in groove, load battery, draw-in groove below has through hole, manipulator can be released from the battery porch at fixed head center from the through hole of draw-in groove below passes and battery is firmly grasped, and is finally pushed to unmanned plane; Described battery storage Pan center arranges connecting rod, the gear that is connected on connecting rod, and the below of battery storage dish arranges motor, and motor can rotate by driven gear, finally drives battery storage disc spins.
2. the automatic battery replacing system of small-sized many rotor wing unmanned aerial vehicles according to claim 1, it is characterized in that, manipulator comprises handgrip, camera, servomotor, tooth bar, manipulator motor, manipulator gear, slide rail and elevating lever, handgrip is positioned at one end of elevating lever, the center of handgrip arranges camera, handgrip is connected with the servomotor being connected on elevating lever, under the drive of servomotor, rotate, elevating lever is positioned on slide rail and can moves along slide rail, tooth bar is set on elevating lever, manipulator motor is set on slide rail, manipulator gear is connected on the output shaft of manipulator motor, manipulator wheel and rack is meshed, when manipulator machine operation, motor output shaft driving mechanical hand gear rotates and is with carry-over bar to move, the final elevating lever that drives moves up and down, decoder is also set on slide rail, this decoder is connected with camera.
3. the automatic battery replacing system of small-sized many rotor wing unmanned aerial vehicles according to claim 1, it is characterized in that, described unmanned plane comprises two handgrips by undercarriage fixture, these two handgrips are oppositely arranged, each handgrip is all " V " font, the angle of " V " font is 120 degree, the below of undercarriage fixed head arranges handgrip motor, gear and handgrip pole, gear is connected on handgrip motor output shaft, gear is connected with handgrip pole, thereby the rotation of handgrip motor output shaft driven gear drives handgrip pole advance or retreat, final handgrip pole drives handgrip motion.
4. the automatic battery replacing system of small-sized many rotor wing unmanned aerial vehicles according to claim 1, it is characterized in that, described fixture is multi-track dolly, described multi-track dolly top arranges undercarriage fixed head, and this undercarriage fixed head is connected mutually by undercarriage fixed head support and multi-track dolly.
5. the automatic battery replacing system of small-sized many rotor wing unmanned aerial vehicles according to claim 2, is characterized in that, described camera is CCD camera.
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| CN201210401648.0A CN102909540B (en) | 2012-10-19 | 2012-10-19 | Battery automatic replacement system of small-sized multi-rotor-wing unmanned aerial vehicle |
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| CN201210401648.0A CN102909540B (en) | 2012-10-19 | 2012-10-19 | Battery automatic replacement system of small-sized multi-rotor-wing unmanned aerial vehicle |
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| CN102909540B true CN102909540B (en) | 2014-12-10 |
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| CN102060005A (en) * | 2010-12-23 | 2011-05-18 | 柳崇禧 | Automatic battery quick replacement system and method for electric vehicles |
| CN102176626A (en) * | 2011-01-18 | 2011-09-07 | 东南大学 | Automatic battery replacement device for indoor security-maintaining robot |
| CN202922160U (en) * | 2012-10-19 | 2013-05-08 | 南京信息工程大学 | Battery automatic changing system of small sized multi-rotor unmanned aerial vehicle |
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