CN104981403B - Unmanned plane base station and its battery replacement device - Google Patents
Unmanned plane base station and its battery replacement device Download PDFInfo
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- CN104981403B CN104981403B CN201480007286.4A CN201480007286A CN104981403B CN 104981403 B CN104981403 B CN 104981403B CN 201480007286 A CN201480007286 A CN 201480007286A CN 104981403 B CN104981403 B CN 104981403B
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- 230000014616 translation Effects 0.000 description 314
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- 230000001105 regulatory effect Effects 0.000 description 5
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Abstract
A kind of unmanned plane base station and its battery replacement device, the battery replacement device (10b) include：For capturing the grasping mechanism (14) of the battery, for the first translation mechanism (11) for driving the grasping mechanism (14) to be translated in the first direction of principal axis (X), for the second translation mechanism (12) for driving the grasping mechanism (14) to be translated in the second direction of principal axis (Y), for the 3rd translation mechanism (13) for driving the grasping mechanism (14) to be translated in the 3rd direction of principal axis (Z).Wherein, first direction of principal axis (X), second direction of principal axis (Y) and the 3rd direction of principal axis (Z) form three Cartesian coordinates；Coordinate position of the grasping mechanism (14) in the three Cartesian coordinates is adjusted by first translation mechanism (11), second translation mechanism (12) and the 3rd translation mechanism (13).The structure of the battery replacement device (10b) of above-mentioned unmanned plane base station is more compact, and space-consuming is smaller, is easy to the Miniaturization Design of unmanned plane base station.
Description
Technical field
The present invention relates to a kind of unmanned plane (that is, unmanned vehicle, unmanned aerial vehicle) base station
(Dock), the unmanned plane base station of more particularly to a kind of battery that can change unmanned plane automatically and its battery replacement device.
Background technology
The battery durable ability of general small-sized unmanned aircraft is limited, in order to which unmanned vehicle more adapts to flying for full-automation
Row operation, it is existing there is scientific research institution and part commercial company to attempt on the market design is a kind of can to change unmanned plane automatically
The unmanned aerial vehicle base station of battery.
However, traditional unmanned aerial vehicle base station is all gone to store stand-by battery and charged using rotary type battery storehouse, it is tied
Structure is complex, and space-consuming is big, and layout number of batteries is few in fixed space, vertical so as to integrally add ground base station
The requirement of height and overall dimensions on direction.
The content of the invention
The present invention provides a kind of battery replacement device of unmanned plane base station, more compact to reach structure, space-consuming compared with
It is small, it is easy to the purpose of the Miniaturization Design of unmanned plane base station.
A kind of battery replacement device of unmanned plane base station, for changing the battery of unmanned plane, it is characterised in that the battery
More changing device includes：
For capturing the grasping mechanism of the battery；
For the first translation mechanism for driving the grasping mechanism to be translated in the first direction of principal axis；
For the second translation mechanism for driving the grasping mechanism to be translated in the second direction of principal axis；And
For the 3rd translation mechanism for driving the grasping mechanism to be translated in the 3rd direction of principal axis；
Wherein, first direction of principal axis, second direction of principal axis and the 3rd direction of principal axis form three-dimensional cartesian and sat
Mark system；Coordinate position of the grasping mechanism in the three Cartesian coordinates passes through first translation mechanism, described
Second translation mechanism and the 3rd translation mechanism regulation.
Compared to conventional art, at least there is following advantage in above-mentioned unmanned plane base station：
(1) battery replacement device of above-mentioned unmanned plane base station uses three translation mechanisms, and three translation mechanism structures
Into cartesian coordinate system, grasping mechanism is driven by three translation mechanisms, makes grasping mechanism more conveniently by unmanned plane
Battery is put into battery compartment, or is taken out out of battery compartment, without using the larger rotary type battery storehouse of space-consuming；Also,
When battery replacement device complete battery altering operation, or it is idle when, be moved to by the translation of three translation mechanisms
The edge of the inner space of unmanned plane base station, and shrink together, to save the inner space of unmanned plane base station.Therefore, on
State that the structure of the battery replacement device of unmanned plane base station is more compact, and space-consuming is smaller, be easy to the miniaturization of unmanned plane base station
Design.
(2) battery replacement device of above-mentioned unmanned plane base station uses three translation mechanisms, and three translation mechanism structures
, can be directly by the insertion battery compartment of the battery of unmanned plane, without using extra driving structure into cartesian coordinate system
The placing direction of regulating cell, therefore, the battery replacement device structure of above-mentioned unmanned plane base station is relatively simple, and cost is relatively low.
In one of the embodiments, first translation mechanism, second translation mechanism and the 3rd translation
Mechanism moves successively；
Or at least two in first translation mechanism, second translation mechanism and the 3rd translation mechanism
It is individual simultaneously mobile.
In one of the embodiments, the three Cartesian coordinates are rectangular coordinate system or oblique coordinates.
In one of the embodiments, first translation mechanism is electric rotating machine translational drive mechanism, belt translation machine
Structure, cylinder translational drive mechanism or linear electric motors translational drive mechanism.
In one of the embodiments, second translation mechanism is electric rotating machine translational drive mechanism, belt translation machine
Structure, cylinder translational drive mechanism or linear electric motors translational drive mechanism.
In one of the embodiments, the 3rd translation mechanism is electric rotating machine translational drive mechanism, belt translation machine
Structure, cylinder translational drive mechanism or linear electric motors translational drive mechanism.
In one of the embodiments, the grasping mechanism is vacuum cup grasping mechanism, magnet grasping mechanism or machinery
Clamping jaw grasping mechanism.
In one of the embodiments, the grasping mechanism is on the 3rd translation mechanism, the 3rd translation machine
Structure is on second translation mechanism, and second translation mechanism is on first translation mechanism, first translation
Mechanism is in bearing basement；
Wherein, the 3rd translation mechanism and first translation mechanism move parallel to the bearing basement, and described the
Two translation mechanisms are directed away from or moved close to the direction of the bearing basement.
In one of the embodiments, the grasping mechanism is on the 3rd translation mechanism, the 3rd translation machine
Structure is on second translation mechanism, and second translation mechanism is on first translation mechanism, first translation
Mechanism is in bearing basement；
Wherein, second translation mechanism and first translation mechanism move parallel to the bearing basement, and described the
Three translation mechanisms are directed away from or moved close to the direction of the bearing basement.
In one of the embodiments, the grasping mechanism is on the 3rd translation mechanism, the 3rd translation machine
Structure is on second translation mechanism, and second translation mechanism is on first translation mechanism, first translation
Mechanism is in bearing basement；
Wherein, the 3rd translation mechanism and second translation mechanism move parallel to the bearing basement, and described the
One translation mechanism is directed away from or moved close to the direction of the bearing basement.
Meanwhile the present invention also provides the battery replacement device of another unmanned plane base station.
A kind of battery replacement device of unmanned plane base station, for changing the battery of unmanned plane, the battery replacement device bag
Include：
First translation mechanism, including the first actuator and the first bearing part, first actuator can drive described
First bearing part moves along first direction of principal axis；
The second translation mechanism on first bearing part, second translation mechanism include the second actuator,
And second bearing part, second actuator can drive second bearing part to be moved along the second direction of principal axis；
The 3rd translation mechanism on second bearing part, the 3rd translation mechanism include the 3rd actuator,
And the 3rd bearing part, the 3rd actuator can drive the 3rd bearing part to be moved along the 3rd direction of principal axis；And
Grasping mechanism on the 3rd bearing part and for capturing the battery；
Wherein, first direction of principal axis, second direction of principal axis and the 3rd direction of principal axis form three-dimensional cartesian and sat
Mark system；Coordinate position of the grasping mechanism on the three Cartesian coordinates passes through first actuator, institute respectively
State the second actuator and the 3rd actuator regulation.
Compared to conventional art, at least there is following advantage in the battery replacement device of above-mentioned unmanned plane base station：
(1) above-mentioned battery replacement device uses three translation mechanisms, and three translation mechanisms form cartesian coordinate
System, grasping mechanism is driven by three translation mechanisms, makes grasping mechanism that the battery of unmanned plane are put into battery more conveniently
In storehouse, or taken out out of battery compartment, without using the larger rotary type battery storehouse of space-consuming；Also, when battery altering fills
Put complete battery altering operation, or it is idle when, unmanned plane base station is moved to by the translation of three translation mechanisms
The edge of inner space, and shrink together, to save the inner space of unmanned plane base station.Therefore, above-mentioned unmanned plane base station
Battery replacement device structure it is more compact, space-consuming is smaller, is easy to the Miniaturization Design of unmanned plane base station.
(2) above-mentioned battery replacement device uses three translation mechanisms, and three translation mechanisms form cartesian coordinate
System, can be directly by the insertion battery compartment of the battery of unmanned plane, without the pendulum using extra driving structure regulating cell
Direction is put, therefore, the battery replacement device structure of above-mentioned unmanned plane base station is relatively simple, and cost is relatively low.
(3) above-mentioned battery replacement device uses three independent actuators, drives three bearing parts respectively, and two of which is held
Holder is used to carry two translation mechanisms, and another is used to carry grasping mechanism, and three bearing parts can be translated independently,
So that stability, flexibility are preferable when grasping mechanism moves.
In one of the embodiments, first translation mechanism also includes the first guide, and first guide is put down
Row is set in first direction of principal axis, and first bearing part is provided with first be engaged with first guide and coordinated
Portion, make first bearing part along first guide slidably.
In one of the embodiments, first guide be parallel to first direction of principal axis set guide rail, institute
It is the sliding block being fixed on the bottom of first bearing part to state the first auxiliary section, and the sliding block is provided with and the rail shapes phase
The chute of cooperation；
Or first guide be parallel to first direction of principal axis set guide rod, first auxiliary section
For the pilot hole on first bearing part, the guide rod passes through the pilot hole, and can in the pilot hole
Slidably.
In one of the embodiments, first actuator is electric rotating machine, and first translation mechanism also includes the
One screw mandrel and the first screw being set on first screw mandrel, the drive shaft of first actuator and first screw mandrel
One end is coaxial to be fixedly connected, and first screw is fixedly connected with first bearing part；
Wherein, first actuator drives the first screw mandrel rotation, first screw mandrel and the first screw spiral shell
Line coordinates and drives first screw to move, and first screw drives the first bearing part translation.
In one of the embodiments, first translation mechanism also includes a screw mandrel bearing and two motor branch
Frame；
The screw mandrel bearing is provided with bearing, and the one end of first screw mandrel away from first actuator wears the silk
The bearing on rod bearing；
Described two electric machine supports are fixed in bearing basement, and relative spacing is set；The phase of first actuator
Both sides are respectively equipped with a mounting lug, two mounting lugs are fixedly connected with described two electric machine supports respectively, with
First actuator is fixed in the bearing basement；
First screw is fixed on first bearing part.
In one of the embodiments, first guide is two, and two first guides are located at institute respectively
The both sides of the first screw mandrel are stated, and are set parallel to first screw mandrel.
In one of the embodiments, first actuator is to have bar cylinder, the expansion link for having bar cylinder and institute
State the first bearing part to be fixedly connected, to drive first bearing part to move.
In one of the embodiments, first actuator is linear electric motors, the linear electric motors it is primary with it is described
First bearing part is fixedly connected, to drive the first bearing part synchronizing moving；
Or first actuator is Rodless cylinder, the piston of the Rodless cylinder is fixed with first bearing part
Connection, to drive the first bearing part synchronizing moving.
In one of the embodiments, first bearing part is loading plate, and the loading plate is provided with hollow-out parts.
In one of the embodiments, first translation mechanism also includes the first limit switch, and described first spacing opens
Close and set along first direction of principal axis, for sensing the shift position of first bearing part.
In one of the embodiments, first limit switch is photo-electric limit switch, dry-reed limit switch
Or induction type limit switch.
In one of the embodiments, second translation mechanism also includes the second guide, and second guide is put down
Row is set in second direction of principal axis, and second bearing part is provided with second be engaged with second guide and coordinated
Portion, make second bearing part along second guide slidably.
In one of the embodiments, second guide be parallel to second direction of principal axis set guide rail, institute
It is the sliding block being fixed on the bottom of second bearing part to state the second auxiliary section, and the sliding block is provided with and the rail shapes phase
The chute of cooperation；
Or second guide be parallel to second direction of principal axis set guide rod, second auxiliary section
For the pilot hole on second bearing part, the guide rod passes through the pilot hole, and can in the pilot hole
Slidably.
In one of the embodiments, second actuator is electric rotating machine, and second translation mechanism also includes the
Two screw mandrels and the second screw being set on second screw mandrel, the drive shaft of second actuator and second screw mandrel
One end is coaxial to be fixedly connected, and second screw is fixedly connected with second bearing part；
Wherein, second actuator drives the second screw mandrel rotation, second screw mandrel and the second screw spiral shell
Line coordinates and drives second screw to move, and second screw drives the second bearing part translation.
In one of the embodiments, second translation mechanism also includes motor mounting plate, and second actuator is consolidated
It is scheduled on the motor mounting plate, the motor mounting plate is fixed on first bearing part by threaded fastener；It is described
Second screw is fixed on second bearing part.
In one of the embodiments, second guide is two, and described two second guides are located at institute respectively
The both sides of the second screw mandrel are stated, and are set parallel to second screw mandrel.
In one of the embodiments, second actuator is to have bar cylinder, the expansion link for having bar cylinder and institute
State the second bearing part to be fixedly connected, to drive second bearing part to move.
In one of the embodiments, second actuator is linear electric motors, the linear electric motors it is primary with it is described
Second bearing part is fixedly connected, to drive the second bearing part synchronizing moving；
Or second actuator is Rodless cylinder, the piston of the Rodless cylinder is fixed with second bearing part
Connection, to drive the second bearing part synchronizing moving.
In one of the embodiments, second bearing part is loading plate, and the loading plate is provided with hollow-out parts.
In one of the embodiments, second translation mechanism also includes the second limit switch, and described second spacing opens
Close and set along second direction of principal axis, for sensing the shift position of second bearing part.
In one of the embodiments, second translation mechanism also includes limit switch installing plate, the limit switch
Installing plate is fixedly connected with second guide, and second limit switch is arranged on the limit switch installing plate.
In one of the embodiments, second limit switch is photo-electric limit switch, dry-reed limit switch
Or induction type limit switch.
In one of the embodiments, the 3rd translation mechanism also includes the 3rd guide, and the 3rd guide is put down
Row is set in the 3rd direction of principal axis, and the 3rd bearing part is provided with the 3rd be engaged with the 3rd guide and coordinated
Portion, make the 3rd bearing part along the 3rd guide slidably.
In one of the embodiments, the 3rd guide be parallel to the 3rd direction of principal axis set guide rail, institute
It is the sliding block being fixed on the bottom of the 3rd bearing part to state the 3rd auxiliary section, and the sliding block is provided with and the rail shapes phase
The chute of cooperation；
Or the 3rd guide be parallel to the 3rd direction of principal axis set guide rod, the 3rd auxiliary section
For the pilot hole on the 3rd bearing part, the guide rod passes through the pilot hole, and can in the pilot hole
Slidably.
In one of the embodiments, the 3rd actuator is electric rotating machine, and the 3rd translation mechanism also includes the
Three screw mandrels and the 3rd screw being set on the 3rd screw mandrel, drive shaft and the 3rd screw mandrel of the 3rd actuator
One end is coaxial to be fixedly connected, and the 3rd screw is fixedly connected with the 3rd bearing part；
Wherein, the 3rd actuator drives the 3rd screw mandrel rotation, the 3rd screw mandrel and the 3rd screw spiral shell
Line coordinates and drives the 3rd screw to move, and the 3rd screw drives the 3rd bearing part translation.
In one of the embodiments, the 3rd translation mechanism also includes two guide mounting brackets, described in two
Guide mounting bracket is fixed on second bearing part, and relative spacing is set；
In described 3rd actuator, one installed therein guide mounting bracket, another described guide peace
Dress support is provided with bearing, and the described one end of 3rd screw mandrel away from the 3rd actuator wears another described guide peace
Fill the bearing on support；
The both ends of 3rd guide are separately fixed in two guide mounting brackets；
3rd screw is fixed on the 3rd bearing part.
In one of the embodiments, the 3rd translation mechanism also includes two battery brackets, for supporting unmanned plane
Battery；Described two one installed therein guide mounting brackets away from the 3rd actuator of battery bracket
On, and relative spacing is set.
In one of the embodiments, the 3rd guide is one, the 3rd guide and the 3rd screw mandrel
It is oppositely arranged, and parallel to the 3rd screw mandrel.
In one of the embodiments, the 3rd actuator is to have bar cylinder, the expansion link for having bar cylinder and institute
State the 3rd bearing part to be fixedly connected, to drive the 3rd bearing part to move.
In one of the embodiments, the 3rd actuator is linear electric motors, the linear electric motors it is primary with it is described
3rd bearing part is fixedly connected, to drive the 3rd bearing part synchronizing moving；
Or the 3rd actuator is Rodless cylinder, the piston of the Rodless cylinder is fixed with the 3rd bearing part
Connection, to drive the 3rd bearing part synchronizing moving.
In one of the embodiments, the 3rd bearing part is loading plate, and the loading plate is provided with hollow-out parts.
In one of the embodiments, the 3rd translation mechanism also includes the 3rd limit switch, and the described 3rd spacing opens
Close and set along the 3rd direction of principal axis, for sensing the shift position of the 3rd bearing part.
In one of the embodiments, the 3rd limit switch is photo-electric limit switch, dry-reed limit switch
Or induction type limit switch.
In one of the embodiments, the 3rd translation mechanism also includes the 3rd limit switch and limit switch is held
Support plate, the both ends of the limit switch loading plate are fixedly connected with two guide mounting brackets respectively, the 3rd limit
Bit switch is arranged on the limit switch loading plate.
In one of the embodiments, the grasping mechanism is vacuum cup grasping mechanism, magnet grasping mechanism or machinery
Clamping jaw grasping mechanism.
In addition, the present invention also provides a kind of unmanned plane base station using above-mentioned battery replacement device.
A kind of unmanned plane base station, including：
Bearing basement；
Battery replacement device, for changing the battery of unmanned plane, the battery replacement device includes the first translation mechanism, the
Two translation mechanisms, the 3rd translation mechanism and grasping mechanism；
First translation mechanism be arranged on the bearing basement on, first translation mechanism include the first actuator,
And first bearing part, first actuator can drive first bearing part to be moved along first direction of principal axis；
Second translation mechanism on first bearing part, second translation mechanism include the second driving
Part and the second bearing part, second actuator can drive second bearing part to be moved along the second direction of principal axis；
The 3rd translation mechanism on second bearing part, the 3rd translation mechanism include the 3rd driving
Part and the 3rd bearing part, the 3rd actuator can drive the 3rd bearing part to be moved along the 3rd direction of principal axis；Described
One direction of principal axis, second direction of principal axis and the 3rd direction of principal axis form three Cartesian coordinates；
The grasping mechanism on the 3rd bearing part and for capturing the battery；The grasping mechanism
Coordinate position on the three Cartesian coordinates passes through first actuator, second actuator and described respectively
3rd actuator is adjusted；
Battery compartment in the bearing basement, the battery compartment is used to store the battery, and gives the electricity
Charge in pond；
Wherein, the battery is captured by the battery replacement device, and can be by the battery out of described battery compartment
Take out, or be put into the battery compartment.
Compared to conventional art, at least there is following advantage in above-mentioned unmanned plane base station：
(1) battery replacement device of above-mentioned unmanned plane base station uses three translation mechanisms, and three translation mechanism structures
Into cartesian coordinate system, grasping mechanism is driven by three translation mechanisms, makes grasping mechanism more conveniently by unmanned plane
Battery is put into battery compartment, or is taken out out of battery compartment, without using the larger rotary type battery storehouse of space-consuming；Also,
When battery replacement device complete battery altering operation, or it is idle when, be moved to by the translation of three translation mechanisms
The edge of the inner space of unmanned plane base station, and shrink together, to save the inner space of unmanned plane base station.Therefore, on
State that the structure of the battery replacement device of unmanned plane base station is more compact, and space-consuming is smaller, be easy to the miniaturization of unmanned plane base station
Design.
(2) battery replacement device of above-mentioned unmanned plane base station uses three translation mechanisms, and three translation mechanism structures
, can be directly by the insertion battery compartment of the battery of unmanned plane, without using extra driving structure into cartesian coordinate system
The placing direction of regulating cell, therefore, the battery replacement device structure of above-mentioned unmanned plane base station is relatively simple, and cost is relatively low.
(3) battery replacement device of above-mentioned unmanned plane base station uses three independent actuators, drives three carryings respectively
Part, two of which bearing part are used to carry two translation mechanisms, and another is used to carry grasping mechanism, and three bearing parts can be with
Independently translate so that stability, flexibility are preferable when grasping mechanism moves.
In one of the embodiments, first translation mechanism also includes the first guide, and first guide is put down
Row is set in first direction of principal axis, and first bearing part is provided with first be engaged with first guide and coordinated
Portion, make first bearing part along first guide slidably.
In one of the embodiments, first guide be parallel to first direction of principal axis set guide rail, institute
It is the sliding block being fixed on the bottom of first bearing part to state the first auxiliary section, and the sliding block is provided with and the rail shapes phase
The chute of cooperation；
Or first guide be parallel to first direction of principal axis set guide rod, first auxiliary section
For the pilot hole on first bearing part, the guide rod passes through the pilot hole, and can in the pilot hole
Slidably.
In one of the embodiments, first actuator is electric rotating machine, and first translation mechanism also includes the
One screw mandrel and the first screw being set on first screw mandrel, the drive shaft of first actuator and first screw mandrel
One end is coaxial to be fixedly connected, and first screw is fixedly connected with first bearing part；
Wherein, first actuator drives the first screw mandrel rotation, first screw mandrel and the first screw spiral shell
Line coordinates and drives first screw to move, and first screw drives the first bearing part translation.
In one of the embodiments, first translation mechanism also includes a screw mandrel bearing and two motor branch
Frame；
The screw mandrel bearing is provided with bearing, and the one end of first screw mandrel away from first actuator wears the silk
The bearing on rod bearing；
Described two electric machine supports are fixed in bearing basement, and relative spacing is set；The phase of first actuator
Both sides are respectively equipped with a mounting lug, two mounting lugs are fixedly connected with described two electric machine supports respectively, with
First actuator is fixed in the bearing basement；
First screw is fixed on first bearing part.
In one of the embodiments, first guide is two, and described two first guides are located at institute respectively
The both sides of the first screw mandrel are stated, and are set parallel to first screw mandrel.
In one of the embodiments, first actuator is to have bar cylinder, the expansion link for having bar cylinder and institute
State the first bearing part to be fixedly connected, to drive first bearing part to move.
In one of the embodiments, first actuator is linear electric motors, the linear electric motors it is primary with it is described
First bearing part is fixedly connected, to drive the first bearing part synchronizing moving；
Or first actuator is Rodless cylinder, the piston of the Rodless cylinder is fixed with first bearing part
Connection, to drive the first bearing part synchronizing moving.
In one of the embodiments, first bearing part is loading plate, and the loading plate is provided with hollow-out parts.
In one of the embodiments, first translation mechanism also includes the first limit switch, and described first spacing opens
Close and set along first direction of principal axis, for sensing the shift position of first bearing part.
In one of the embodiments, first limit switch is photo-electric limit switch, dry-reed limit switch
Or induction type limit switch.
In one of the embodiments, second translation mechanism also includes the second guide, and second guide is put down
Row is set in second direction of principal axis, and second bearing part is provided with second be engaged with second guide and coordinated
Portion, make second bearing part along second guide slidably.
In one of the embodiments, second guide be parallel to second direction of principal axis set guide rail, institute
It is the sliding block being fixed on the bottom of second bearing part to state the second auxiliary section, and the sliding block is provided with and the rail shapes phase
The chute of cooperation；
Or second guide be parallel to second direction of principal axis set guide rod, second auxiliary section
For the pilot hole on second bearing part, the guide rod passes through the pilot hole, and can in the pilot hole
Slidably.
In one of the embodiments, second actuator is electric rotating machine, and second translation mechanism also includes the
Two screw mandrels and the second screw being set on second screw mandrel, the drive shaft of second actuator and second screw mandrel
One end is coaxial to be fixedly connected, and second screw is fixedly connected with second bearing part；
Wherein, second actuator drives the second screw mandrel rotation, second screw mandrel and the second screw spiral shell
Line coordinates and drives second screw to move, and second screw drives the second bearing part translation.
In one of the embodiments, second translation mechanism also includes motor mounting plate, and second actuator is consolidated
It is scheduled on the motor mounting plate, the motor mounting plate is fixed on first bearing part by threaded fastener；It is described
Second screw is fixed on second bearing part.
In one of the embodiments, second guide is two, and described two second guides are located at institute respectively
The both sides of the second screw mandrel are stated, and are set parallel to second screw mandrel.
In one of the embodiments, second actuator is to have bar cylinder, the expansion link for having bar cylinder and institute
State the second bearing part to be fixedly connected, to drive second bearing part to move.
In one of the embodiments, second actuator is linear electric motors, the linear electric motors it is primary with it is described
Second bearing part is fixedly connected, to drive the second bearing part synchronizing moving；
Or second actuator is Rodless cylinder, the piston of the Rodless cylinder is fixed with second bearing part
Connection, to drive the second bearing part synchronizing moving.
In one of the embodiments, second bearing part is loading plate, and the loading plate is provided with hollow-out parts.
In one of the embodiments, second translation mechanism also includes the second limit switch, and described second spacing opens
Close and set along second direction of principal axis, for sensing the shift position of second bearing part.
In one of the embodiments, second translation mechanism also includes limit switch installing plate, the limit switch
Installing plate is fixedly connected with second guide, and second limit switch is arranged on the limit switch installing plate.
In one of the embodiments, second limit switch is photo-electric limit switch, dry-reed limit switch
Or induction type limit switch.
In one of the embodiments, the 3rd translation mechanism also includes the 3rd guide, and the 3rd guide is put down
Row is set in the 3rd direction of principal axis, and the 3rd bearing part is provided with the 3rd be engaged with the 3rd guide and coordinated
Portion, make the 3rd bearing part along the 3rd guide slidably.
In one of the embodiments, the 3rd guide be parallel to the 3rd direction of principal axis set guide rail, institute
It is the sliding block being fixed on the bottom of the 3rd bearing part to state the 3rd auxiliary section, and the sliding block is provided with and the rail shapes phase
The chute of cooperation；
Or the 3rd guide be parallel to the 3rd direction of principal axis set guide rod, the 3rd auxiliary section
For the pilot hole on the 3rd bearing part, the guide rod passes through the pilot hole, and can in the pilot hole
Slidably.
In one of the embodiments, the 3rd actuator is electric rotating machine, and the 3rd translation mechanism also includes the
Three screw mandrels and the 3rd screw being set on the 3rd screw mandrel, drive shaft and the 3rd screw mandrel of the 3rd actuator
One end is coaxial to be fixedly connected, and the 3rd screw is fixedly connected with the 3rd bearing part；
Wherein, the 3rd actuator drives the 3rd screw mandrel rotation, the 3rd screw mandrel and the 3rd screw spiral shell
Line coordinates and drives the 3rd screw to move, and the 3rd screw drives the 3rd bearing part translation.
In one of the embodiments, the 3rd translation mechanism also includes two guide mounting brackets, described in two
Guide mounting bracket is fixed on second bearing part, and relative spacing is set；
In described 3rd actuator, one installed therein guide mounting bracket, another described 3rd guiding
Part mounting bracket is provided with bearing, and the described one end of 3rd screw mandrel away from the 3rd actuator wears another described guiding
The bearing in part mounting bracket；
The both ends of 3rd guide are separately fixed in two guide mounting brackets；
3rd screw is fixed on the 3rd bearing part.
In one of the embodiments, the 3rd translation mechanism also includes two battery brackets, for supporting unmanned plane
Battery；Described two one installed therein guide mounting brackets away from the 3rd actuator of battery bracket
On, and relative spacing is set.
In one of the embodiments, the 3rd guide is one, the 3rd guide and the 3rd screw mandrel
It is oppositely arranged, and parallel to the 3rd screw mandrel.
In one of the embodiments, the 3rd actuator is to have bar cylinder, the expansion link for having bar cylinder and institute
State the 3rd bearing part to be fixedly connected, to drive the 3rd bearing part to move.
In one of the embodiments, the 3rd actuator is linear electric motors, the linear electric motors it is primary with it is described
3rd bearing part is fixedly connected, to drive the 3rd bearing part synchronizing moving；
Or the 3rd actuator is Rodless cylinder, the piston of the Rodless cylinder is fixed with the 3rd bearing part
Connection, to drive the 3rd bearing part synchronizing moving.
In one of the embodiments, the 3rd bearing part is loading plate, and the loading plate is provided with hollow-out parts.
In one of the embodiments, the 3rd translation mechanism also includes the 3rd limit switch, and the described 3rd spacing opens
Close and set along the 3rd direction of principal axis, for sensing the shift position of the 3rd bearing part.
In one of the embodiments, the 3rd limit switch is photo-electric limit switch, dry-reed limit switch
Or induction type limit switch.
In one of the embodiments, the 3rd translation mechanism also includes the 3rd limit switch and limit switch is held
Support plate, the both ends of the limit switch loading plate are fixedly connected with two guide mounting brackets respectively, the 3rd limit
Bit switch is arranged on the limit switch loading plate.
In one of the embodiments, the grasping mechanism is vacuum cup grasping mechanism, magnet grasping mechanism or machinery
Clamping jaw grasping mechanism.
In one of the embodiments, the battery compartment includes multiple cell containing cavities, the multiple cell containing cavity with
Matrix form is arranged, and each cell containing cavity is respectively provided with a storage mouth, and the mouth of storing is towards the battery altering
Side where device is set.
In one of the embodiments, each cell containing cavity is provided with the charging dress being used for battery charging
Put, when the battery is put into the battery containing intracavitary, the charging device can give the battery to charge.
In one of the embodiments, the charging device is non-contact charger, the Non-contact type charging Denso
Put including one kind in electromagnetic induction circuit, magnetic resonance sensor circuit and microwave induced circuit.
In one of the embodiments, the charging device is contact-type charging device, the contact-type charging device bag
Include the charging contact on the inwall of the storage mouth of each cell containing cavity, the battery be provided be used for it is described
Charging electrode corresponding to charging contact electrical contact.
In one of the embodiments, the inwall of the storage mouth of each cell containing cavity is provided with engaging and tied
Structure, the snap-in structure and the battery phase clamping, the battery containing intracavitary is positioned at by the battery.
In one of the embodiments, the snap-in structure is Elastic buckle, electronic lock or electromagnetism lock.
Brief description of the drawings
Fig. 1 is the structural representation of the unmanned plane base station of embodiments of the present invention one；
Fig. 2 is structural representation when unmanned plane being parked on the unmanned plane base station of embodiments of the present invention two；
Fig. 3 is that the unmanned plane base station shown in Fig. 2 removes the structural representation after shell；
Fig. 4 is the structural representation at another visual angle of the unmanned plane base station shown in Fig. 3；
Fig. 5 is the exploded view of the unmanned plane base station shown in Fig. 4；
Fig. 6 is the exploded view of the first translation mechanism of the unmanned plane base station shown in Fig. 4；
Fig. 7 is the exploded view of the second translation mechanism of the unmanned plane base station shown in Fig. 4；
Fig. 8 is the exploded view of the 3rd translation mechanism of the unmanned plane base station shown in Fig. 4；
Fig. 9 is the top view of the unmanned plane base station shown in Fig. 4；
Figure 10 is the structural representation of the battery compartment of the unmanned plane base station shown in Fig. 3.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement are for illustrative purposes only.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more phases
The arbitrary and all combination of the Listed Items of pass.
The disclosure provides a kind of unmanned plane base station, including battery replacement device and battery compartment, battery replacement device are used for
The automatic battery for changing unmanned plane, battery compartment is used for the battery for storing unmanned plane, and the battery of unmanned plane is charged.
Battery replacement device goes to capture the battery of unmanned plane using a grasping mechanism, using three translation mechanism de-regulations
The position of structure is captured, three translation mechanisms can be built into a three Cartesian coordinates.Pass through three translation mechanisms
Grasping mechanism is controlled, grasping mechanism is taken out battery from battery compartment, or be put into battery.Because three translation mechanisms can be with structure
A three Cartesian coordinates are built up, after battery replacement device completes to change battery operation, or when not working, three translations
Mechanism and grasping mechanism can be moved to the edge of the inner space of unmanned plane base station, and shrink together, with saving nobody
The inner space of machine base station, it is easy to the volume Miniaturization Design of unmanned plane base station.
In wherein some embodiments, unmanned plane base station can be ground base station, or air base station, for example, adopting
The unmanned plane base station is stopped in the air with balloon, or base station waterborne, for example, using carriers such as ships, by this nobody
Machine base station stop across the sea, lake surface it is first-class.
In wherein some embodiments, ground base station can be fixedly face base station, or Portable movable base
Stand.
In wherein some embodiments, three translation mechanisms can be built into Descartes's rectangular coordinate system or Descartes oblique angle
Coordinate system.For example, when the interior space shape of unmanned plane base station is the regular shapes such as rectangle, then three translation mechanisms can be built
Into Descartes's rectangular coordinate system, to be adapted to the interior space shape of unmanned plane base station, so as to can more save the interior of unmanned plane base station
Portion space；When the interior space shape of unmanned plane base station is the shapes such as taper, then three translation mechanisms can be built into flute card
That oblique coordinates, to be adapted to the interior space shape of unmanned plane base station as far as possible, so as to can more save the inside of unmanned plane base station
Space.
In wherein some embodiments, the mobile order of three translation mechanisms can successively be carried out or carried out simultaneously, for example,
Three translation mechanisms can move successively, or, two of which translation mechanism is simultaneously mobile, or, three translation mechanisms are simultaneously
It is mobile.When three translation mechanisms are simultaneously mobile, three translation mechanisms can complete translation simultaneously, i.e. S1/V1=S2/
V2=S3/V3, S1, S2, S3 are respectively the displacement of three translation mechanism translations, and V1, V2, V3 are respectively three translation mechanism translations
Speed；Three translation mechanisms complete translation when can also be different, for example, S1/V1=S2/V2<S3/V3, S3 are crawl
The displacement that mechanism moves towards battery compartment.
In wherein some embodiments, three translation mechanisms can build cartesian coordinate system in bearing basement successively,
It can also reverse the right order and cartesian coordinate system is built in bearing basement.
For example, three translation mechanisms are respectively X-axis structure, Y-axis structure, Z axis structure, X-axis structure and Y-axis structure are used respectively
Two plane coordinates in regulation parallel to bearing basement, Z axis structure are used to adjust the height perpendicular to bearing basement.Now,
Can be by X-axis structure in bearing basement, by Z axis structure in X-axis structure, by Y-axis structure in Z axis structure；Or
Person, can be by X-axis structure in bearing basement, by Y-axis structure in X-axis structure, by Z axis structure in Y-axis structure；
Or by X-axis structure in Z axis structure, Y-axis structure can be located at X-axis structure by Z axis structure in bearing basement
On.
Below in conjunction with the accompanying drawings, some embodiments of the present invention are elaborated.
Referring to Fig. 1, the unmanned plane base station 10 of embodiments of the present invention one, including bearing basement 10a, battery altering dress
Put 10b and battery compartment 10c.Battery replacement device 10b is arranged on bearing basement 10a, for changing the battery of unmanned plane.Battery
Storehouse 10c is used for the battery for storing unmanned plane, and is charged to the battery of unmanned plane.
Battery replacement device 10b include the first translation mechanism 11, the second translation mechanism 12, the 3rd translation mechanism 13 and
Grasping mechanism 14, grasping mechanism 14 are used to capture battery, and the first translation mechanism 11 is used to drive grasping mechanism 14 in first axle side
Translated to X, the second translation mechanism 12 is used to drive grasping mechanism 14 to translate in the second direction of principal axis Y, and the 3rd translation mechanism 13 is used for
Grasping mechanism 14 is driven to be translated in the 3rd direction of principal axis Z.Wherein, the first direction of principal axis X, the second direction of principal axis Y and the 3rd direction of principal axis Z
Form coordinate position of the three Cartesian coordinates grasping mechanisms 14 in three Cartesian coordinates and pass through the first translation mechanism
11st, the second translation mechanism 12 and the 3rd translation mechanism 13 are adjusted.
Further, the first translation mechanism 11, the second translation mechanism 12 and the 3rd translation mechanism 13 can work asynchronously,
It can also work respectively.For example, in the illustrated embodiment, the first translation mechanism 11, the second translation mechanism 12 and the 3rd are flat
Telephone-moving structure 13 moves successively.In other embodiments, the first translation mechanism 11, the second translation mechanism 12 and the 3rd translation mechanism
At least two in 13 are simultaneously mobile.
Further, three Cartesian coordinates can be rectangular coordinate system, or oblique coordinates.Can basis
The shape of the inner space of unmanned plane base station 10, appropriate coordinate system is built, for example, when the inner space of unmanned plane base station 10 is
Cube, then selection build Descartes's rectangular coordinate system, are better able to save the inner space of unmanned plane base station 10；Work as unmanned plane
The inner space of base station 10 is the analogous shapes such as pyramid, then selection structure Descartes's oblique coordinates, is better able to unmanned plane
The inner space of base station 10.
Further, the concrete structure of the first translation mechanism 11 can design according to being actually needed, for example, the first translation
Mechanism 11 can be electric rotating machine translational drive mechanism, belt translation mechanism, cylinder translational drive mechanism or linear electric motors translation
Drive mechanism.Electric rotating machine translation mechanism, i.e., rotated by using electric rotating machine drive screw, screw is cased with screw mandrel, and
Screw mandrel coordinates with screw screw thread and drives screw to translate, and screw then drives carried thing to move.Belt translation mechanism, that is, pass through
Belt pulley drives belt to rotate, and the carried thing being fixed on belt follows belt synchronizing moving.Cylinder translational drive mechanism, i.e.,
Carried thing is driven to move by cylinder, for example, cylinder is has bar cylinder, the expansion link for having bar cylinder drives carried thing to move
It is dynamic, or, cylinder is Rodless cylinder, and piston and the carried thing of Rodless cylinder are fixedly connected and drive carried thing is synchronous to move
It is dynamic.Linear electric motors translational drive mechanism, i.e., carried thing synchronizing moving is driven by the primary of linear electric motors.
Further, the concrete structure of the second translation mechanism 12 can design according to being actually needed, for example, the second translation
Mechanism 12 can be electric rotating machine translational drive mechanism, belt translation mechanism, cylinder translational drive mechanism or linear electric motors translation
Drive mechanism.Electric rotating machine translational drive mechanism, belt translation mechanism, cylinder translational drive mechanism or linear electric motors driven in translation
The operation principle of mechanism is with discussed above identical, and in this not go into detail.
Further, the concrete structure of the 3rd translation mechanism 13 can design according to being actually needed, for example, the 3rd translation
Mechanism 13 can be electric rotating machine translational drive mechanism, belt translation mechanism, cylinder translational drive mechanism or linear electric motors translation
Drive mechanism.Electric rotating machine translational drive mechanism, belt translation mechanism, cylinder translational drive mechanism or linear electric motors driven in translation
The operation principle of mechanism is with discussed above identical, and in this not go into detail.
It should be noted that the specific knot of the first translation mechanism 11, the second translation mechanism 12 and the 3rd translation mechanism 13
Structure type can be with identical, can also be different.For example, the first translation mechanism 11, the second translation mechanism 12 can use straight-line electric
Machine translational drive mechanism, the 3rd translation mechanism 13 use electric rotating machine translational drive mechanism, or, the first translation mechanism 11, the
Two translation mechanisms 12 and the 3rd translation mechanism 13 use electric rotating machine translational drive mechanism.
Further, grasping mechanism 14 can be vacuum cup grasping mechanism, magnet grasping mechanism or mechanical grip crawl
Mechanism.Vacuum cup grasping mechanism, i.e., go to draw the battery of unmanned plane by vacuum cup, when capturing the battery of unmanned plane,
The cylinder connected with vacuum cup is started working, and vacuumizes vacuum cup, when putting down the battery of unmanned plane, with vacuum cup
The cylinder of connection is stopped, and inflates vacuum cup.Magnet grasping mechanism, i.e., go to attract the battery of unmanned plane by electromagnet
On irony part, when magnet grasping mechanism crawl unmanned plane battery when, electromagnet be powered, when magnet grasping mechanism puts down nobody
During the battery of machine, electromagnet power-off.Mechanical grip grasping mechanism, i.e., unmanned plane is gripped by clamp structures such as similar fingers
Battery.
Further, the position relationship between the first translation mechanism 11, the second translation mechanism 12, the 3rd translation mechanism 13 can
To be set according to different demands.For example, in the illustrated embodiment, grasping mechanism 14 is located on the 3rd translation mechanism 13, the
Three translation mechanisms 13 are on the second translation mechanism 12, and the second translation mechanism 12 is on the first translation mechanism 11, the first translation
Mechanism 11 is on bearing basement 10a.Wherein, the 3rd translation mechanism 13 and the first translation mechanism 11 are parallel to bearing basement 10a
Mobile, the second translation mechanism 12 is directed away from or close to the movement of bearing basement 10a direction.
In another embodiment, grasping mechanism 14 is on the 3rd translation mechanism 13, and the 3rd translation mechanism 13 is located at the
On two translation mechanisms 12, for the second translation mechanism 12 on the first translation mechanism 11, the first translation mechanism 11 is located at bearing basement
On 10a.Wherein, the second translation mechanism 12 and the first translation mechanism 11 move parallel to bearing basement 10a, the 3rd translation mechanism 13
It is directed away from or close to the movement of bearing basement 10a direction.
In another embodiment, grasping mechanism 14 is on the 3rd translation mechanism 13, and the 3rd translation mechanism 13 is located at the
On two translation mechanisms 12, for the second translation mechanism 12 on the first translation mechanism 11, the first translation mechanism 11 is located at bearing basement
On 10a.Wherein, the 3rd translation mechanism 13 and the second translation mechanism 12 move parallel to bearing basement 10a, the first translation mechanism 11
It is directed away from or close to the movement of bearing basement 10a direction.
Battery compartment 10c concrete structure can design according to different needs.For example, specifically in the illustrated embodiment,
Battery compartment 10c includes multiple cell containing cavities, and multiple cell containing cavities are arranged with matrix form, and each cell containing cavity is respectively provided with one
Individual storage mouth, and store the side setting where mouth towards battery replacement device 10b.
Further, each cell containing cavity is provided with the charging device for being used for charging the battery, when battery is put into battery
In accommodating cavity, charging device can charge the battery.
Further, the charging device can be non-contact charger, or contact-type charging device.Example
Such as, in one of the embodiments, charging device is non-contact charger, and non-contact charger includes electromagnetic induction
One kind in circuit, magnetic resonance sensor circuit and microwave induced circuit.In another embodiment, charging device is contact
Charging device, contact-type charging device include the charging contact on the inwall of the storage mouth of each cell containing cavity, battery
Provided with for making electrical contact with corresponding charging electrode with charging contact.
Further, the inwall of the storage mouth of each cell containing cavity is provided with snap-in structure, snap-in structure and battery phase
Clamping, battery is positioned at battery containing intracavitary.
Further, snap-in structure is Elastic buckle, electronic lock or electromagnetism lock.Elastic buckle, that is, pass through a bullet
Property buckle and battery outer wall clamping, when apply an external force to battery, battery abuts the Elastic buckle and makes the elastic card garnishment
Raw elastic deformation, so as to extract or insert battery out from battery compartment 10c battery containing intracavitary.Electronic lock, that is, pass through switch
Circuit controls an actuator, makes the outer wall phase clamping of actuator driving one buckle and battery, when needing to capture battery, then opens
Powered-down road is powered between driving, buckle is abutted battery；When needing to put down battery, then on-off circuit disconnects the energization of actuator,
Buckle is set to be separated with battery.Electromagnetism latches, i.e., attracts the irony part on battery by electromagnet and locating batteries, when needing from electricity
When pond storehouse 10c battery containing intracavitary takes out battery, then the energization on electromagnet is disconnected.
Compared to conventional art, at least there is following advantage in above-mentioned unmanned plane base station 10：
(1) the battery replacement device 10b of above-mentioned unmanned plane base station 10 uses three translation mechanisms, and three translation machines
Structure forms cartesian coordinate system, drives grasping mechanism 14 by three translation mechanisms, grasping mechanism 14 more conveniently will
The battery of unmanned plane is put into battery compartment 10c, or is taken out out of battery compartment 10c, without using the larger rotation of space-consuming
Formula battery compartment 10c；Also, when battery replacement device 10b completes battery altering operation, or it is idle when, it is flat by three
The translation of telephone-moving structure and be moved to the edge of the inner space of unmanned plane base station 10, and shrink together, to save unmanned plane
The inner space of base station 10.Therefore, the battery replacement device 10b of above-mentioned unmanned plane base station 10 structure is more compact, takes empty
Between it is smaller, be easy to the Miniaturization Design of unmanned plane base station 10.
(2) the battery replacement device 10b of above-mentioned unmanned plane base station 10 uses three translation mechanisms, and three translation machines
Structure forms cartesian coordinate system, can be directly by the insertion battery compartment 10c of the battery of unmanned plane, without using extra drive
The placing direction of dynamic structure regulating cell, therefore, the battery replacement device 10b structures of above-mentioned unmanned plane base station 10 are relatively simple,
Cost is relatively low.
Refer to Fig. 2 to Fig. 5, the unmanned plane base station 100 of embodiments of the present invention two, including bearing basement 100a, electricity
Pond more changing device 100b and battery compartment 100c (as shown in Figure 10).Battery replacement device 100b is arranged on bearing basement 100a,
For changing the battery of unmanned plane.Battery compartment 100c is used for the battery 201 for storing unmanned plane 200, and to the electricity of unmanned plane 200
Charge in pond 201.
Battery replacement device 100b include the first translation mechanism 110, the second translation mechanism 120, the 3rd translation mechanism 130,
And grasping mechanism 140.First translation mechanism 110, the second translation mechanism 120 and the 3rd translation mechanism 130 can synchronous works
Make, can also individually work.For example, in the illustrated embodiment, the first translation mechanism 110, the second translation mechanism 120 with
And the 3rd translation mechanism 130 move successively.In other embodiments, the first translation mechanism 110, the second translation mechanism 120 and
At least two in 3rd translation mechanism 130 are simultaneously mobile.
Wherein, for grasping mechanism 140 on the 3rd translation mechanism 130, the 3rd translation mechanism 130 is located at the second translation mechanism
On 120, the second translation mechanism 120 is on the first translation mechanism 110, and the first translation mechanism 110 is on bearing basement 100a.
Wherein, the 3rd translation mechanism 130 and the first translation mechanism 110 move parallel to bearing basement 100a, the court of the second translation mechanism 120
Moved to the direction away from or close to bearing basement 100a.
The concrete structure of first translation mechanism 110 can design according to being actually needed, for example, the first translation mechanism 110
Can be electric rotating machine translational drive mechanism, belt translation mechanism, cylinder translational drive mechanism or linear electric motors driven in translation machine
Structure.Electric rotating machine translation mechanism, i.e., rotate by using electric rotating machine drive screw, is cased with screw on screw mandrel, and screw mandrel with
Screw screw thread coordinates and drives screw to translate, and screw then drives carried thing to move.Belt translation mechanism, that is, pass through belt pulley
Belt is driven to rotate, the carried thing being fixed on belt follows belt synchronizing moving.Cylinder translational drive mechanism, that is, pass through gas
Cylinder driving carried thing movement, for example, cylinder is has bar cylinder, the expansion link for having bar cylinder drives the movement of carried thing, or,
Cylinder is Rodless cylinder, and the piston of Rodless cylinder is fixedly connected with carried thing and drives carried thing synchronizing moving.Straight-line electric
Machine translational drive mechanism, i.e., carried thing synchronizing moving is driven by the primary of linear electric motors.
Also referring to Fig. 6, specifically in the illustrated embodiment, the first translation mechanism 110 include the first actuator 111,
And first bearing part 113, the first actuator 111 can drive the first bearing part 113 to be moved along the first direction of principal axis.
First actuator 111 can be cylinder, or motor.For example, in the illustrated embodiment, the first actuator
111 be electric rotating machine, and the first translation mechanism 110 also includes the first screw mandrel 114 and the first screw being set on the first screw mandrel 114
115, the drive shaft of the first actuator 111 is coaxial with one end of the first screw mandrel 114 to be fixedly connected, and the first screw 115 is held with first
Holder 113 is fixedly connected.Wherein, the first actuator 111 drives the first screw mandrel 114 to rotate, the first screw mandrel 114 and the first screw
115 screw threads coordinate and drive the first screw 115 to move, and the first screw 115 drives the first bearing part 113 to translate.
Further, the first translation mechanism 110 also includes a screw mandrel bearing 116a and two electric machine support 116b.Silk
Rod bearing 116a is provided with bearing, and the one end of the first screw mandrel 114 away from the first actuator 111 wears the axle on screw mandrel bearing 116a
Hold.Two electric machine support 116b are fixed on bearing basement 100a, and relative spacing is set.First actuator 111 it is relative
Both sides are respectively equipped with a mounting lug 111a, and two mounting lug 111a are fixedly connected with two electric machine support 116b respectively,
So that the first actuator 111 is fixed on bearing basement 100a.First screw 115 is fixed on the first bearing part 113.
In other embodiments, the first actuator 111 is has bar cylinder, the expansion link and the first bearing part for having bar cylinder
113 are fixedly connected, to drive the first bearing part 113 to move.
Further, in order to improve the stability during translation of the first bearing part 113, the first translation mechanism 110 also includes the
One guide 117, the first guide 117 are set parallel to the first direction of principal axis, and the first bearing part 113 is provided with and the first guide
117 the first auxiliary section 113a being engaged, make the first bearing part 113 along the first guide 117 slidably.
The concrete structure of first guide 117 can design according to different demands, for example, in the illustrated embodiment,
First guide 117 is the guide rail set parallel to the first direction of principal axis, and the first auxiliary section 113a is to be fixed on the first bearing part 113
Bottom on sliding block, sliding block is provided with the chute that is engaged with rail shapes.
In other embodiments, the first guide 117 be parallel to the first direction of principal axis set guide rod, the first auxiliary section
113a is the pilot hole on the first bearing part 113, and guide rod passes through pilot hole, and freely slidable in pilot hole.
Further, the first guide 117 is two, and two the first guides 117 are located at the two of the first screw mandrel 114 respectively
Side, and set parallel to the first screw mandrel 114.Certainly, in the present invention, the first guide 117 is not limited to two, can also
For one, or three and more than three.
It should be noted that the first guide 117 can also omit, it is only necessary to the translation stability of the first bearing part 113
Meet demand, for example, in one of the embodiments, the first actuator 111 is linear electric motors, the primary of linear electric motors with
First bearing part 113 is fixedly connected, to drive the synchronizing moving of the first bearing part 113.In other embodiments, the first actuator
111 be Rodless cylinder, and the piston of Rodless cylinder is fixedly connected with the first bearing part 113, to drive the first bearing part 113 is synchronous to move
It is dynamic.
The concrete structure of first bearing part 113 can design according to different demands, for example, in the illustrated embodiment,
First bearing part 113 is loading plate, and loading plate is provided with hollow-out parts.By opening up hollow-out parts on loading plate, held with mitigating
The weight of support plate, while can avoid being greatly lowered the structural strength of loading plate.
Further, the first translation mechanism 110 also includes the first limit switch 118, and the first limit switch 118 is along first axle
Direction is set, for sensing the shift position of the first bearing part 113.
Further, the first limit switch 118 can be photo-electric limit switch, dry-reed limit switch, induction type
Limit switch etc..
Second translation mechanism 120 is arranged on the first bearing part 113.The concrete structure of second translation mechanism 120 can root
Designed according to being actually needed, for example, the second translation mechanism 120 is electric rotating machine translational drive mechanism, belt translation mechanism, cylinder
Translational drive mechanism or linear electric motors translational drive mechanism.Electric rotating machine translational drive mechanism, belt translation mechanism, cylinder translational
Drive mechanism or the operation principle of linear electric motors translational drive mechanism are with discussed above identical, and in this not go into detail.
Also referring to Fig. 7, specifically in the illustrated embodiment, the second translation mechanism 120 include the second actuator 121,
And second bearing part 123, the second actuator 121 can drive the second bearing part 123 to be moved along the second direction of principal axis.
Second actuator 121 can be cylinder, or motor.For example, in the illustrated embodiment, the second actuator
121 be electric rotating machine, and the second translation mechanism 120 also includes the second screw mandrel 124 and the second screw being set on the second screw mandrel 124
125, the drive shaft of the second actuator 121 is coaxial with one end of the second screw mandrel 124 to be fixedly connected, and the second screw 125 is held with second
Holder 123 is fixedly connected.Wherein, the second actuator 121 drives the second screw mandrel 124 to rotate, the second screw mandrel 124 and the second screw
125 screw threads coordinate and drive the second screw 125 to move, and the second screw 125 drives the second bearing part 123 to translate.
Further, the second translation mechanism 120 also includes motor mounting plate 126, and the second actuator 121 is fixed on motor peace
In loading board 126, motor mounting plate 126 is fixed on the first bearing part 113 by threaded fastener (figure is not marked).Second screw
125 are fixed on the second bearing part 123.
In other embodiments, the second actuator 121 is has bar cylinder, the expansion link and the second bearing part for having bar cylinder
123 are fixedly connected, to drive the second bearing part 123 to move.
Further, in order to improve the stationarity during movement of the second bearing part 123, the second translation mechanism 120 also includes the
Two guides 127, the second guide 127 are set parallel to the second direction of principal axis, and the second bearing part 123 is provided with and the second guide
127 the second auxiliary section 123a being engaged, make the second bearing part 123 along the second guide 127 slidably.
The concrete structure of second guide 127 designs according to different demands, for example, in the illustrated embodiment, second
Guide 127 is the guide rail set parallel to the second direction of principal axis, and the second auxiliary section 123a is the bottom for being fixed on the second bearing part 123
Sliding block in portion, sliding block are provided with the chute being engaged with rail shapes.
In other embodiments, the second guide 127 be parallel to the second direction of principal axis set guide rod, the second auxiliary section
123a is the pilot hole on the second bearing part 123, and guide rod passes through pilot hole, and freely slidable in pilot hole.
Further, the second guide 127 is two, and two the second guides 127 are located at the two of the second screw mandrel 124 respectively
Side, and set parallel to the second screw mandrel 124.Certainly, in the present invention, the second guide 127 is not limited to two, can also
For one or three and more than.
It should be noted that the second guide 127 can also omit, it is only necessary to the translation stability of the second bearing part 123
Meet demand, for example, in one of the embodiments, the second actuator 121 can be linear electric motors, linear electric motors just
Level is fixedly connected with the second bearing part 123, to drive the synchronizing moving of the second bearing part 123.In other embodiments, the second driving
Part 121 can be Rodless cylinder, and the piston of Rodless cylinder is fixedly connected with the second bearing part 123, to drive the second bearing part 123
Synchronizing moving.
The concrete structure of second bearing part 123 can design according to different demands, for example, in the illustrated embodiment,
Second bearing part 123 is loading plate, and loading plate is provided with hollow-out parts.By opening up hollow-out parts on loading plate, held with mitigating
The weight of support plate, while can avoid being greatly lowered the structural strength of loading plate.
Further, the second translation mechanism 120 also includes the second limit switch 128a, the second limit switch 128a along second
Direction of principal axis is set, for sensing the shift position of the second bearing part 123.Specifically in the illustrated embodiment, the second translation mechanism
120 are also fixedly connected including limit switch installing plate 128b, limit switch installing plate 128b with the second guide 127, the second limit
Bit switch 128a is arranged on limit switch installing plate 128b.
Further, the second limit switch 128a can be photo-electric limit switch, dry-reed limit switch, induction type
Limit switch etc..
3rd translation mechanism 130 is arranged on the second bearing part 123.The concrete structure of 3rd translation mechanism 130 can root
Designed according to being actually needed, for example, the 3rd translation mechanism 130 is electric rotating machine translational drive mechanism, belt translation mechanism, cylinder
Translational drive mechanism or linear electric motors translational drive mechanism.Electric rotating machine translational drive mechanism, belt translation mechanism, cylinder translational
Drive mechanism or the operation principle of linear electric motors translational drive mechanism are with discussed above identical, and in this not go into detail.
Also referring to Fig. 8, specifically in the illustrated embodiment, the 3rd translation mechanism 130 include the 3rd actuator 131,
And the 3rd bearing part 133, the 3rd actuator 131 can drive the 3rd bearing part 133 to be moved along the 3rd direction of principal axis.Wherein,
One direction of principal axis, the second direction of principal axis and the 3rd direction of principal axis form three Cartesian coordinates.
It is appreciated that three Cartesian coordinates can be rectangular coordinate system, or oblique coordinates.Can basis
The inner space of unmanned plane base station 100, appropriate coordinate system is built, for example, when the inner space of unmanned plane base station 100 is cube
Shape, then selection build Descartes's rectangular coordinate system, are better able to save the inner space of unmanned plane base station 100；When unmanned plane base
Stand 100 inner space is the analogous shape such as pyramid, then selection structure Descartes's oblique coordinates, is better able to unmanned plane base
Stand 100 inner space.
3rd actuator 131 can be cylinder, or motor.For example, specifically in the illustrated embodiment, the 3rd drives
Moving part 131 is electric rotating machine, and the 3rd translation mechanism 130 also includes the 3rd screw mandrel 134 and the be set on the 3rd screw mandrel 134 the 3rd
Screw 135, the drive shaft of the 3rd actuator 131 is coaxial with one end of the 3rd screw mandrel 134 to be fixedly connected, the 3rd screw 135 and
Three bearing parts 133 are fixedly connected.Wherein, the 3rd actuator 131 drives the 3rd screw mandrel 134 to rotate, the 3rd screw mandrel 134 and the 3rd
Female 135 screw threads coordinate and drive the 3rd screw 135 to move, and the 3rd screw 135 drives the 3rd bearing part 133 to translate.
In other embodiments, the 3rd actuator 131 is has bar cylinder, the expansion link and the 3rd bearing part for having bar cylinder
133 are fixedly connected, to drive the 3rd bearing part 133 to move.
Further, in order to improve the stationarity during movement of the 3rd bearing part 133, the 3rd translation mechanism 130 also includes the
Three guides 137, the 3rd guide 137 are set parallel to the 3rd direction of principal axis, and the 3rd bearing part 133 is provided with and the 3rd guide
137 the 3rd auxiliary section 133a being engaged, make the 3rd bearing part 133 along the 3rd guide 137 slidably.
The concrete structure of 3rd guide 137 can design according to different demands, for example, in the illustrated embodiment,
3rd guide 137 is the guide rail set parallel to the 3rd direction of principal axis, and the 3rd auxiliary section 133a is to be fixed on the 3rd bearing part 133
Bottom on sliding block, sliding block is provided with the chute that is engaged with rail shapes.
In other examples, the 3rd guide 137 is the guide rod set parallel to the 3rd direction of principal axis, and the 3rd coordinates
Portion 133a is the pilot hole on the 3rd bearing part 133, and guide rod passes through pilot hole, and can free skating in pilot hole
It is dynamic.
Further, the 3rd guide 137 is one, and the 3rd guide 137 is oppositely arranged with the 3rd screw mandrel 134, and
Parallel to the 3rd screw mandrel 134.Certainly, in the present invention, the 3rd guide 137 can also be two, and two or more.
Further, the 3rd translation mechanism 130 also includes two guide mounting bracket 136a, two guide installation branch
Frame 136a is fixed on the second bearing part 123, and relative spacing is set.3rd actuator, 131 guiding installed therein
On part mounting bracket 136a, another guide mounting bracket 136a is provided with bearing, and the 3rd screw mandrel 134 is away from the 3rd driving
One end of part 131 wears the bearing on another guide mounting bracket 136a.The both ends of 3rd guide 137 are fixed respectively
On two guide mounting bracket 136a.3rd screw 135 is fixed on the 3rd bearing part 133.
Further, the 3rd translation mechanism 130 also includes bearing part support 136b, and the 3rd bearing part 133 passes through institute
Bearing part support 136b is stated to be fixedly connected with the 3rd screw 135.Specifically in the illustrated embodiment, the bearing part support
136b is the first U-shaped support, and the 3rd bearing part 133 is fixed on the both ends of the described first U-shaped support, the 3rd screw
135 are located at the bottom outside of the described first U-shaped support.
Further, the 3rd translation mechanism 130 also includes screw support 136c, and the 3rd screw 135 passes through the silk
Female support 136c is fixedly connected with the bearing part support 136b.Specifically in the illustrated embodiment, the screw support 136c
For the second U-shaped support, and the screw is located in the bottom of the described second U-shaped support, the opening two of the second U-shaped support
The opposite sides respectively with the bottom of the described first U-shaped support is held to be fixedly connected.3rd guide 137 passes through described second
The enclosed construction that U-shaped support collectively forms with the described first U-shaped support.
It should be noted that the 3rd guide 137 can also omit, it is only necessary to the translation stability of the 3rd bearing part 133
Meet demand, for example, in one of the embodiments, the 3rd actuator 131 is linear electric motors, the primary of linear electric motors with
3rd bearing part 133 is fixedly connected, to drive the synchronizing moving of the 3rd bearing part 133.
In another embodiment, the 3rd actuator 131 is Rodless cylinder, the piston of Rodless cylinder and the 3rd bearing part
133 are fixedly connected, to drive the synchronizing moving of the 3rd bearing part 133.The concrete structure of 3rd bearing part 133 can be according to different need
Ask to design, for example, in the illustrated embodiment, the 3rd bearing part 133 is loading plate, and loading plate is provided with hollow-out parts.It is logical
Cross and hollow-out parts are opened up on loading plate, to mitigate the weight of loading plate, while the structure that loading plate is greatly lowered can be avoided strong
Degree.
Further, the 3rd translation mechanism 130 also includes the 3rd limit switch 138a, and the 3rd limit switch 138a is along the 3rd
Direction of principal axis is set, for sensing the shift position of the 3rd bearing part 133.Specifically in the illustrated embodiment, the 3rd translation mechanism
130 also include limit switch loading plate 138b, limit switch loading plate 138b both ends respectively with two guide mounting brackets
136a is fixedly connected, and the 3rd limit switch 138a is arranged on limit switch loading plate 138b.
Further, the 3rd limit switch 138a can be photo-electric limit switch, dry-reed limit switch, induction type
Limit switch etc..
Further, the 3rd translation mechanism 130 also includes two battery brackets 139, for supporting the battery of unmanned plane 200
201.Specifically, two battery brackets 139 are mounted remotely from the guide mounting bracket 136a of the 3rd actuator 131,
And relative spacing is set.
Grasping mechanism 140 is arranged on the 3rd bearing part 133, for capturing battery 201.Grasping mechanism 140 is in three-dimensional flute
Coordinate position on karr coordinate system is adjusted by the first actuator 111, the second actuator 121 and the 3rd actuator 131 respectively.
It should be noted that the position between the first translation mechanism 110, the second translation mechanism 120, the 3rd translation mechanism 130
The relation of putting can be set according to different demands, the mode being not limited in the embodiment of diagram, or other modes.
For example, also referring to Fig. 9, in one of the embodiments, grasping mechanism 140 is located at the 3rd translation mechanism 130
On, on the second translation mechanism 120, the second translation mechanism 120 is located on the first translation mechanism 110 the 3rd translation mechanism 130,
First translation mechanism 110 is on bearing basement 100a.Wherein, the second translation mechanism 120 and the first translation mechanism 110 parallel to
Bearing basement 100a is moved, and the 3rd translation mechanism 130 is directed away from or close to the movement of bearing basement 100a direction.
In another embodiment, on the 3rd translation mechanism 130, the 3rd translation mechanism 130 is located at grasping mechanism 140
On second translation mechanism 120, on the first translation mechanism 110, the first translation mechanism 110 is located at and held the second translation mechanism 120
Carry on substrate 100a.Wherein, the 3rd translation mechanism 130 and the second translation mechanism 120 move parallel to bearing basement 100a, and first
Translation mechanism 110 is directed away from or close to the movement of bearing basement 100a direction.
Grasping mechanism 140 is vacuum cup grasping mechanism, magnet grasping mechanism or mechanical grip grasping mechanism.Vacuum cup
Grasping mechanism, i.e., go to draw the battery 201 of unmanned plane 200 by vacuum cup, when capturing the battery 201 of unmanned plane 200, with
The cylinder of vacuum cup connection is started working, and vacuumizes vacuum cup, and true when putting down the battery 201 of unmanned plane 200
The cylinder of suction disk connection is stopped, and inflates vacuum cup.Magnet grasping mechanism, i.e., go to attract unmanned plane by electromagnet
Irony part on 200 battery 201, when the battery 201 of magnet grasping mechanism crawl unmanned plane 200, electromagnet is powered, and works as magnetic
When iron grasping mechanism puts down the battery 201 of unmanned plane 200, electromagnet power-off.Mechanical grip grasping mechanism, that is, pass through similar finger
The battery 201 of unmanned plane 200 is gripped etc. structure.
Battery compartment 100c concrete structure can design according to different needs.For example, as shown in Figure 10, specifically illustrating
Embodiment in, battery compartment 100c includes multiple cell containing cavities 102, and multiple cell containing cavities 102 are arranged with matrix form, each
Cell containing cavity 102 is respectively provided with a storage mouth (figure is not marked), and stores one where mouth towards battery replacement device 100b
Side is set.
Further, each cell containing cavity 102 is provided with the charging device for being used for charging to battery 201, when battery 201 is put
Enter into cell containing cavity 102, charging device can charge to battery 201.
Further, charging device can be non-contact charger, or contact-type charging device.For example,
In the illustrated embodiment, charging device can be contact-type charging device, and contact-type charging device includes being located at each battery
Charging contact 103 on the inwall of the storage mouth of accommodating cavity 102, battery 201 are provided with for corresponding with the electrical contact of charging contact 103
Charging electrode (figure do not mark).
In other embodiments, charging device can be non-contact charger, and non-contact charger includes electricity
One kind in magnetic conduction circuitry, magnetic resonance sensor circuit and microwave induced circuit.
Further, the inwall of the storage mouth of each cell containing cavity 102 is provided with snap-in structure 104, snap-in structure 104
With the phase clamping of battery 201, battery 201 is positioned in cell containing cavity 102.
Further, snap-in structure 104 can be Elastic buckle, electronic lock, electromagnetism lock etc..Elastic buckle, i.e.,
By the outer wall clamping of an Elastic buckle and battery 201, Elastic buckle is abutted to battery 201, battery 201 when applying an external force
And make the Elastic buckle that elastic deformation occur, so as to extract or insert battery 201 out out of battery compartment 100c cell containing cavity 102
Enter.Electronic lock, i.e., the outer wall phase clamping of an electronic buckle and battery 201 is controlled by on-off circuit, when needs capture electricity
Pond 201, then on-off circuit give electronic buckle to be powered, electronic buckle is clamped battery 201；When needing to put down battery 201, then switch
Circuit disconnects the energization of electronic opening, electronic buckle is unclamped battery 201.Electromagnetism latches, i.e., attracts battery 201 by electromagnet
On irony part and locating batteries 201, when needing to take out battery 201 out of battery compartment 100c cell containing cavity 102, then break
Open the energization on electromagnet.
Compared to conventional art, at least there is following advantage in above-mentioned unmanned plane base station 100：
(1) the battery replacement device 100b of above-mentioned unmanned plane base station 100 uses three translation mechanisms, and this three translations
Mechanism forms cartesian coordinate system, drives grasping mechanism 140 by three translation mechanisms, makes grasping mechanism 140 more convenient
The battery of unmanned plane 200 is put into battery compartment 100c by ground, or is taken out out of battery compartment 100c, without using space-consuming compared with
Big rotary type battery storehouse 100c；Also, when battery replacement device 100b complete the replacement operation of battery 201, or it is idle when
Wait, the edge of the inner space of unmanned plane base station 100 is moved to by the translation of three translation mechanisms, and be contracted in one
Rise, to save the inner space of unmanned plane base station 100.Therefore, the battery replacement device 100b of above-mentioned unmanned plane base station 100 knot
Structure is more compact, and space-consuming is smaller, is easy to the Miniaturization Design of unmanned plane base station 100.
(2) the battery replacement device 100b of above-mentioned unmanned plane base station 100 uses three translation mechanisms, and this three translations
Mechanism forms cartesian coordinate system, can be directly by the insertion battery compartment 100c of the battery 201 of unmanned plane 200, without adopting
With the placing direction of extra driving structure regulating cell 201, therefore, the battery replacement device of above-mentioned unmanned plane base station 100
100b structures are relatively simple, and cost is relatively low.
(3) the battery replacement device 100b of above-mentioned unmanned plane base station 100 uses three independent actuators, drives three respectively
Individual bearing part, two of which bearing part are used to carry two translation mechanisms, and another is used to carry grasping mechanism 140, three
Bearing part can be translated independently so that stability, flexibility are preferable when grasping mechanism 140 moves.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (40)
- A kind of 1. unmanned plane base station, it is characterised in that including：Bearing basement；Battery replacement device, for changing the battery of unmanned plane, the battery replacement device includes the first translation mechanism, second flat Telephone-moving structure, the 3rd translation mechanism and grasping mechanism；First translation mechanism be arranged on the bearing basement on, first translation mechanism include the first actuator and First bearing part, first actuator can drive first bearing part to be moved along the first direction of principal axis；Second translation mechanism be arranged on first bearing part on, second translation mechanism include the second actuator, with And second bearing part, second actuator can drive second bearing part to be moved along the second direction of principal axis；3rd translation mechanism be arranged on second bearing part on, the 3rd translation mechanism include the 3rd actuator, with And the 3rd bearing part, the 3rd actuator can drive the 3rd bearing part to be moved along the 3rd direction of principal axis；The first axle Direction, second direction of principal axis and the 3rd direction of principal axis form three Cartesian coordinates；The grasping mechanism is arranged on the 3rd bearing part and for capturing the battery, and the grasping mechanism is described Coordinate position on three Cartesian coordinates is driven by first actuator, second actuator and the described 3rd respectively Moving part is adjusted；Battery compartment in the bearing basement, the battery compartment is used to store the battery, and is filled to the battery Electricity, wherein matrix structure of the battery compartment for stacking, including multiple cell containing cavities, each cell containing cavity are respectively provided with One storage mouth, and the side where the storage mouth towards the battery replacement device is set；Wherein, the battery is captured by the battery replacement device, and the battery can be taken out out of described battery compartment, Or it is put into the battery compartment.
- 2. unmanned plane base station according to claim 1, it is characterised in that first translation mechanism also includes first and is oriented to Part, first guide are set parallel to first direction of principal axis, and first bearing part is provided with to be oriented to described first The first auxiliary section that part is engaged, make first bearing part along first guide slidably.
- 3. unmanned plane base station according to claim 2, it is characterised in that first guide is parallel to described first The guide rail that direction of principal axis is set, first auxiliary section are the sliding block being fixed on the bottom of first bearing part, the sliding block Provided with the chute being engaged with the rail shapes；Or first guide is the guide rod set parallel to first direction of principal axis, first auxiliary section is to set Pilot hole on first bearing part, the guide rod pass through the pilot hole, and can be free in the pilot hole Slide.
- 4. unmanned plane base station according to claim 2, it is characterised in that first actuator is electric rotating machine, described First translation mechanism also includes the first screw mandrel and the first screw being set on first screw mandrel, the drive of first actuator Moving axis is coaxial with one end of first screw mandrel to be fixedly connected, and first screw is fixedly connected with first bearing part；Wherein, first actuator drives the first screw mandrel rotation, and first screw mandrel is matched somebody with somebody with the first screw screw thread Close and drive first screw to move, first screw drives the first bearing part translation.
- 5. unmanned plane base station according to claim 4, it is characterised in that first translation mechanism also includes a screw mandrel Bearing and two electric machine supports；The screw mandrel bearing is provided with bearing, and the one end of first screw mandrel away from first actuator wears the screw mandrel branch The bearing on seat；Described two electric machine supports are fixed in bearing basement, and relative spacing is set；Relative the two of first actuator Side is respectively equipped with a mounting lug, and two mounting lugs are fixedly connected with described two electric machine supports respectively, by institute The first actuator is stated to be fixed in the bearing basement；First screw is fixed on first bearing part.
- 6. unmanned plane base station according to claim 4, it is characterised in that first guide is two, described two First guide is located at the both sides of first screw mandrel respectively, and is set parallel to first screw mandrel.
- 7. unmanned plane base station according to claim 2, it is characterised in that first actuator is described to there is bar cylinder The expansion link for having bar cylinder is fixedly connected with first bearing part, to drive first bearing part to move.
- 8. unmanned plane base station according to claim 1, it is characterised in that first actuator is linear electric motors, described The primary of linear electric motors is fixedly connected with first bearing part, to drive the first bearing part synchronizing moving；Or first actuator is Rodless cylinder, the piston of the Rodless cylinder is fixedly connected with first bearing part, To drive the first bearing part synchronizing moving.
- 9. the unmanned plane base station according to any one of claim 1~8, it is characterised in that first bearing part is carrying Plate, and the loading plate is provided with hollow-out parts.
- 10. the unmanned plane base station according to any one of claim 1~8, it is characterised in that first translation mechanism also wraps The first limit switch is included, first limit switch is set along first direction of principal axis, for sensing first bearing part Shift position.
- 11. unmanned plane base station according to claim 10, it is characterised in that first limit switch is that photo-electric is spacing Switch, dry-reed limit switch or induction type limit switch.
- 12. unmanned plane base station according to claim 1, it is characterised in that second translation mechanism is also led including second To part, second guide is set parallel to second direction of principal axis, and second bearing part is provided with and led with described second The second auxiliary section being engaged to part, make second bearing part along second guide slidably.
- 13. unmanned plane base station according to claim 12, it is characterised in that second guide is parallel to described the The guide rail that two direction of principal axis are set, second auxiliary section are the sliding block being fixed on the bottom of second bearing part, the cunning Block is provided with the chute being engaged with the rail shapes；Or second guide is the guide rod set parallel to second direction of principal axis, second auxiliary section is to set Pilot hole on second bearing part, the guide rod pass through the pilot hole, and can be free in the pilot hole Slide.
- 14. unmanned plane base station according to claim 12, it is characterised in that second actuator is electric rotating machine, institute Stating the second translation mechanism also includes the second screw mandrel and the second screw being set on second screw mandrel, second actuator Drive shaft is coaxial with one end of second screw mandrel to be fixedly connected, and second screw is fixedly connected with second bearing part；Wherein, second actuator drives the second screw mandrel rotation, and second screw mandrel is matched somebody with somebody with the second screw screw thread Close and drive second screw to move, second screw drives the second bearing part translation.
- 15. unmanned plane base station according to claim 14, it is characterised in that second translation mechanism, which also includes motor, pacifies Loading board, second actuator are fixed on the motor mounting plate, and the motor mounting plate is fixed on by threaded fastener On first bearing part；Second screw is fixed on second bearing part.
- 16. unmanned plane base station according to claim 14, it is characterised in that second guide be two, described two Individual second guide is located at the both sides of second screw mandrel respectively, and is set parallel to second screw mandrel.
- 17. unmanned plane base station according to claim 12, it is characterised in that second actuator is to have bar cylinder, institute The expansion link for stating bar cylinder is fixedly connected with second bearing part, to drive second bearing part to move.
- 18. unmanned plane base station according to claim 1, it is characterised in that second actuator is linear electric motors, described The primary of linear electric motors is fixedly connected with second bearing part, to drive the second bearing part synchronizing moving；Or second actuator is Rodless cylinder, the piston of the Rodless cylinder is fixedly connected with second bearing part, To drive the second bearing part synchronizing moving.
- 19. the unmanned plane base station according to any one of claim 12~18, it is characterised in that second bearing part is to hold Support plate, and the loading plate is provided with hollow-out parts.
- 20. the unmanned plane base station according to any one of claim 12~17, it is characterised in that second translation mechanism is also Including the second limit switch, second limit switch is set along second direction of principal axis, for sensing second bearing part Shift position.
- 21. unmanned plane base station according to claim 20, it is characterised in that second translation mechanism also includes spacing open Installing plate is closed, the limit switch installing plate is fixedly connected with second guide, and second limit switch is arranged on institute State on limit switch installing plate.
- 22. unmanned plane base station according to claim 20, it is characterised in that second limit switch is that photo-electric is spacing Switch, dry-reed limit switch or induction type limit switch.
- 23. unmanned plane base station according to claim 1, it is characterised in that the 3rd translation mechanism is also led including the 3rd To part, the 3rd guide is set parallel to the 3rd direction of principal axis, and the 3rd bearing part is provided with and led with the described 3rd The 3rd auxiliary section being engaged to part, make the 3rd bearing part along the 3rd guide slidably.
- 24. unmanned plane base station according to claim 23, it is characterised in that the 3rd guide is parallel to described the The guide rail that three direction of principal axis are set, the 3rd auxiliary section are the sliding block being fixed on the bottom of the 3rd bearing part, the cunning Block is provided with the chute being engaged with the rail shapes；Or the 3rd guide is the guide rod set parallel to the 3rd direction of principal axis, the 3rd auxiliary section is to set Pilot hole on the 3rd bearing part, the guide rod pass through the pilot hole, and can be free in the pilot hole Slide.
- 25. unmanned plane base station according to claim 23, it is characterised in that the 3rd actuator is electric rotating machine, institute Stating the 3rd translation mechanism also includes the 3rd screw mandrel and the 3rd screw being set on the 3rd screw mandrel, the 3rd actuator Drive shaft is coaxial with one end of the 3rd screw mandrel to be fixedly connected, and the 3rd screw is fixedly connected with the 3rd bearing part；Wherein, the 3rd actuator drives the 3rd screw mandrel rotation, and the 3rd screw mandrel is matched somebody with somebody with the 3rd screw screw thread Close and drive the 3rd screw to move, the 3rd screw drives the 3rd bearing part translation.
- 26. unmanned plane base station according to claim 25, it is characterised in that the 3rd translation mechanism is also led including two To part mounting bracket, two guide mounting brackets are fixed on second bearing part, and relative spacing is set；In described 3rd actuator, one installed therein guide mounting bracket, another described 3rd guide peace Dress support is provided with bearing, and the described one end of 3rd screw mandrel away from the 3rd actuator wears another described guide peace Fill the bearing on support；The both ends of 3rd guide are separately fixed in two guide mounting brackets；3rd screw is fixed on the 3rd bearing part.
- 27. unmanned plane base station according to claim 26, it is characterised in that the 3rd translation mechanism also includes two electricity Pond support, for supporting the battery of unmanned plane；Described two one installed therein of battery brackets are away from the 3rd actuator The guide mounting bracket on, and relative spacing set.
- 28. unmanned plane base station according to claim 25, it is characterised in that the 3rd guide is one, described the Three guides are oppositely arranged with the 3rd screw mandrel, and parallel to the 3rd screw mandrel.
- 29. unmanned plane base station according to claim 23, it is characterised in that the 3rd actuator is has bar cylinder, institute The expansion link for stating bar cylinder is fixedly connected with the 3rd bearing part, to drive the 3rd bearing part to move.
- 30. unmanned plane base station according to claim 1, it is characterised in that the 3rd actuator is linear electric motors, described The primary of linear electric motors is fixedly connected with the 3rd bearing part, to drive the 3rd bearing part synchronizing moving；Or the 3rd actuator is Rodless cylinder, the piston of the Rodless cylinder is fixedly connected with the 3rd bearing part, To drive the 3rd bearing part synchronizing moving.
- 31. the unmanned plane base station according to any one of claim 23~30, it is characterised in that the 3rd bearing part is to hold Support plate, and the loading plate is provided with hollow-out parts.
- 32. the unmanned plane base station according to any one of claim 23~30, it is characterised in that the 3rd translation mechanism is also Including the 3rd limit switch, the 3rd limit switch is set along the 3rd direction of principal axis, for sensing the 3rd bearing part Shift position.
- 33. unmanned plane base station according to claim 26, it is characterised in that the 3rd translation mechanism also includes the 3rd limit Branch is installed in bit switch and limit switch loading plate, the both ends of the limit switch loading plate with two guides respectively Frame is fixedly connected, and the 3rd limit switch is arranged on the limit switch loading plate.
- 34. unmanned plane base station according to claim 33, it is characterised in that the 3rd limit switch is that photo-electric is spacing Switch, dry-reed limit switch or induction type limit switch.
- 35. unmanned plane base station according to claim 1, it is characterised in that the grasping mechanism is vacuum cup gripper Structure, magnet grasping mechanism or mechanical grip grasping mechanism.
- 36. unmanned plane base station according to claim 1, it is characterised in that each cell containing cavity, which is provided with, to be used to give The charging device of the battery charging, when the battery is put into the battery containing intracavitary, the charging device can give institute State battery charging.
- 37. unmanned plane base station according to claim 36, it is characterised in that the charging device is Non-contact type charging Denso Put, the non-contact charger includes one kind in electromagnetic induction circuit, magnetic resonance sensor circuit and microwave induced circuit.
- 38. unmanned plane base station according to claim 36, it is characterised in that the charging device is contact charging dress Put, the charging that the contact-type charging device is included on the inwall of the storage mouth of each cell containing cavity is touched Point, the battery, which is provided with, to be used for and the corresponding charging electrode of charging contact electrical contact.
- 39. unmanned plane base station according to claim 1, it is characterised in that the storage of each cell containing cavity The inwall of mouth is provided with snap-in structure, the snap-in structure and the battery phase clamping, and the battery is positioned at into the electricity In the accommodating cavity of pond.
- 40. the unmanned plane base station according to claim 39, it is characterised in that the snap-in structure is Elastic buckle, electronic Lock or electromagnetism lock.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2014/083981 WO2016015354A1 (en) | 2014-07-31 | 2014-08-08 | Unmanned aerial vehicle dock and battery replacement device thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104981403A CN104981403A (en) | 2015-10-14 |
| CN104981403B true CN104981403B (en) | 2018-02-13 |
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ID=54277081
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480007286.4A Active CN104981403B (en) | 2014-08-08 | 2014-08-08 | Unmanned plane base station and its battery replacement device |
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| Country | Link |
|---|---|
| CN (1) | CN104981403B (en) |
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Effective date of registration: 20240526 Address after: Building 3, Xunmei Science and Technology Plaza, No. 8 Keyuan Road, Science and Technology Park Community, Yuehai Street, Nanshan District, Shenzhen City, Guangdong Province, 518057, 1634 Patentee after: Shenzhen Zhuoyu Technology Co.,Ltd. Country or region after: China Address before: 518057 Shenzhen Nanshan High-tech Zone, Shenzhen, Guangdong Province, 6/F, Shenzhen Industry, Education and Research Building, Hong Kong University of Science and Technology, No. 9 Yuexingdao, South District, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SZ DJI TECHNOLOGY Co.,Ltd. Country or region before: China |