CN106864766A - It is applied to unmanned plane independently the battery clamp device of continuation of the journey and replacing device and method - Google Patents
It is applied to unmanned plane independently the battery clamp device of continuation of the journey and replacing device and method Download PDFInfo
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- CN106864766A CN106864766A CN201710157192.0A CN201710157192A CN106864766A CN 106864766 A CN106864766 A CN 106864766A CN 201710157192 A CN201710157192 A CN 201710157192A CN 106864766 A CN106864766 A CN 106864766A
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- battery
- handgrip
- unmanned plane
- clamp device
- travel mechanism
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 128
- 230000033001 locomotion Effects 0.000 claims abstract description 34
- 210000000078 claw Anatomy 0.000 claims abstract description 29
- 230000005611 electricity Effects 0.000 claims description 9
- 230000006641 stabilisation Effects 0.000 abstract description 12
- 238000011105 stabilization Methods 0.000 abstract description 12
- 230000008569 process Effects 0.000 description 10
- 230000009471 action Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 241000375392 Tana Species 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000005662 electromechanics Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000001556 precipitation Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000010223 real-time analysis Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/12—Anchoring
- B64F1/125—Mooring or ground handling devices for helicopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
Abstract
Unmanned plane independently the battery clamp device of continuation of the journey and replacing device and method are applied to the invention discloses a kind of, it solves the problems, such as that unmanned machine battery stabilization clamp takes replacing, zigzag block is set on handgrip, can be with fastening clamp battery, downslide of the battery in movement is effectively solved, and can ensure that the depth of the gripping of battery both sides is identical with position, it is to avoid battery deflection is gripped caused by position and depth difference, cannot be attached on battery compartment or unmanned plane, its technical scheme is：Including clip claw mechanism, the clip claw mechanism includes clamping jaw body, and the clamping jaw body is connected with the first gripper jaw part and the second gripper jaw part, and first gripper jaw part is fixedly connected with the first handgrip, and second gripper jaw part and the second handgrip are fixedly connected；The opposite face of first handgrip and the second handgrip is equipped with zigzag block.
Description
Technical field
It is more particularly to a kind of to be applied to the battery gripping that unmanned plane is independently continued a journey the present invention relates to unmanned air vehicle technique field
Device and replacing device and method.
Background technology
As unmanned plane continues to develop popularization, unmanned plane has been applied to various fields occasion (such as agricultural spray, electric power
Patrol and examine, disaster prevention emergency, take photo by plane mapping, relay communication etc.), ground installation is no longer auxiliary facility and subordinate position, is had become
The key of a whole set of safe and stable Effec-tive Function of unmanned plane.
Some of current civilian unmanned plane require that such as hovering, VTOL only multi-rotor aerocraft can be accomplished, nothing
Man-machine application is also mostly four-axle aircraft, and the principle of electronic four-axle aircraft determines that it must use motor, and the energy content of battery
Density is limited, and the defect that causes currently to continue a journey is difficult to overcome.
At present, to meet unmanned plane motor continuation of the journey problem, it is required to by way of changing battery extend cruising time,
During unmanned plane use, if unmanned plane electricity is less than setting value, unmanned plane drop to unmanned plane station and changes battery, this
Process needs quick, stabilization, high-precision completion, and this just proposes requirement higher, existing folder to the clamp device of battery
It is that, using vacuum cup mode or mechanical gripper mode, vacuum cup replacing battery is high to operating environment requirements, design to take device
Complexity, vacuum tube is easily blocked under rugged environment；Mechanical gripper mode is directly to grip battery one with two handgrips for coordinating
Side, in battery movement Renewal process, be susceptible to that battery do not gripped one is sloped downwardly, and handgrip gripping is insecure, no
The precision of unmanned plane battery altering is only influenceed, while also easily lead to battery cannot install.
Therefore, it is necessary to an efficient, stable, battery clamp device for easy care in unmanned plane independently continuation of the journey system.
In sum, replacing problem is taken for unmanned machine battery stabilization clamp in the prior art, still lacks effective solution party
Case.
The content of the invention
In order to overcome the above-mentioned deficiencies of the prior art, it is applied to the battery that unmanned plane is independently continued a journey the invention provides a kind of
Clamp device, itself and battery reliable fit, battery gripping is more fastened, more stable in battery course of conveying is gripped.
To achieve the above object, the present invention uses following technical proposals：
A kind of to be applied to the battery clamp device that unmanned plane is independently continued a journey, including clip claw mechanism, the clip claw mechanism includes
Clamping jaw body, the clamping jaw body is connected with the first gripper jaw part and the second gripper jaw part, first gripper jaw part and first
Handgrip is fixedly connected, and second gripper jaw part and the second handgrip are fixedly connected；First handgrip and the second handgrip it is relative
Face is equipped with zigzag block.
Battery clamp device of the invention, drives handle component to clamp battery, clamping jaw and battery by clip claw mechanism
Clamping coordinates more reliable；By setting zigzag block on two handgrips, contact friction of the handgrip with battery when battery is clamped
Power is bigger, and clamping is more consolidated, it is to avoid the problem that battery gripping is glanced off.
Further, the clamping jaw body is chimeric is arranged in fixture block, and the fixture block is with the card with clamping jaw body fits
Groove.Draw-in groove is set on fixture block, the setting-in combination of draw-in groove and clamping jaw body is realized, can be with fast and reliable connection.
Further, the clamping jaw body is also fixedly connected by fastener with fixture block.Pass through draw-in groove clamping in fixture block
Under the premise of clamping jaw body, clamping jaw body can be fixedly secured using fastener, effectively keep mobile and change clamping jaw in cell process
The stabilization of mechanism.
Further, the clip claw mechanism is connected with power set.Clip claw mechanism folding is driven by power set, and then
The folding of two handgrips is realized, realization grips or lays down battery.
Further, first handgrip with the first gripper jaw part cooperation at set the first groove, the first gripper jaw part
It is entrenched in the first groove.First groove is set on the first handgrip, the setting-in group of the first handgrip and the first gripper jaw part is realized
Close, can be with fast and reliable connection.
Further, first gripper jaw part is also fastenedly connected by fastener with the first handgrip.In the first handgrip
Under the premise of by first the first gripper jaw part of groove clamping, the first gripper jaw part can be fixedly secured using fastener, effectively protected
Hold the mobile stabilization for changing the first handgrip in cell process.
Further, second handgrip with the second gripper jaw part cooperation at set the second groove, the second gripper jaw part
It is entrenched in the second groove.Second groove is set on the second handgrip, the setting-in group of the second handgrip and the second gripper jaw part is realized
Close, can be with fast and reliable connection.
Further, second gripper jaw part is also fastenedly connected by fastener with the second handgrip.In the second handgrip
Under the premise of by second the second gripper jaw part of groove clamping, the second gripper jaw part can be fixedly secured using fastener, effectively protected
Hold the mobile stabilization for changing the second handgrip in cell process.
Preferably, first handgrip or the second handgrip are provided with cell switch cooperation by motion block, and battery sidepiece is set
The sawtooth lamellar body coordinated with zigzag block.Motion block is pressed by being set on the first handgrip or the second handgrip, electricity can changed
Cell switch is first closed before pond, it is to avoid damage of the warm swap to battery；Set and zigzag block on handgrip in battery sidepiece
The zigzag lamellar body of cooperation, it is ensured that the cooperation steadiness of handgrip and battery, effectively solves battery and is glanced off in movement
Problem.
For the problem for overcoming prior art battery altering efficiency low, present invention offer one kind is applied to unmanned plane and independently continues
The battery replacement device of boat, including battery clamp device as described above, the battery clamp device are equipped with Y-axis movement
In mechanism, the Y-axis moving mechanism is equipped with Z axis travel mechanism, and the Z axis travel mechanism is equipped with and is moved in X-axis
On motivation structure.
In order to overcome battery altering precision problem not high in the prior art, the present invention to provide one kind and be applied to unmanned plane certainly
The method of work of the battery replacement device of main continuation of the journey, comprises the following steps：
(1) X-axis travel mechanism, Z axis travel mechanism and Y-axis moving mechanism are operated successively, drive the movement of battery clamp device
To unmanned plane battery location；
Cell switch is touched by motion block on (2) first handgrips or the second handgrip, battery is closed；
(3) clip claw mechanism drives the sawtooth of the first handgrip and the second handgrip clamping battery, zigzag block and battery sidepiece
Lamellar body coordinates；
(4) X-axis travel mechanism, Z axis travel mechanism and Y-axis moving mechanism are operated successively, drive the movement of battery clamp device
To battery compartment, battery is returned and is put in battery compartment；
(5) X-axis travel mechanism, that Y-axis moving mechanism and Z axis travel mechanism drive battery clamp device to be moved to battery compartment is another
The position of one battery, repeat step (3), battery is taken out；
(6) X-axis travel mechanism, Y-axis moving mechanism and Z axis travel mechanism drive battery clamp device to be moved to unmanned electromechanics
Chi Cangweizhichu, cell switch is touched by motion block, opens battery；
(7) X-axis travel mechanism, Y-axis moving mechanism and Z axis travel mechanism return initial position.
A kind of unmanned plane is continued a journey system, including guiding landing and fixing device, for guiding unmanned plane precisely landing and solid
Determine unmanned plane and keep stabilization；The guiding landing and fixing device sidepiece corresponding matching set battery altering dress as described above
Put, the guiding landing and fixing device include the stopper slot described at least two, and the bottom of the stopper slot is located at fixed station
On, identification point is provided with the middle part of fixed station, unmanned plane is positioned by identification point to unmanned plane movement, and fixed station is recessed
Slot structure is set, and is easy to subsequent fixed stake, the receiving of slide bar, vertical plane or support along fixed station circumferencial direction cloth
Put；The battery clamp device of battery replacement device is correspondingly arranged in fixed station sidepiece, and unmanned plane drop to guiding landing and fixes
After device, the battery of battery replacement device gripping unmanned plane is changed.
In the positioner, unmanned plane realizes coarse positioning using control system, and coarse positioning is vertical apart from landing platform
The free-falling in the interval of 5--10cm.The bootable unmanned plane of stopper slot in accurate positioning device is reached using inertia landing
To being accurately positioned and fixing, so between two stopper slots, the battery of unmanned plane can be entered manually or using plant equipment
Row is changed, or carries out other follow-up works.
In as optimal case, the quantity of the stopper slot is identical with the quantity of unmanned plane horn, by each machine
The wing it is spacing, it is ensured that unmanned plane position landing precision, control in submillimeter rank.
If unmanned plane carries picture pick-up device, spud pile is set at the middle part of the fixed station, the identification point is located at fixation
In stake, the imagination equipment that unmanned plane is carried is identified to identification point, and recognition speed is fast, or, set on spud pile surface and taken the photograph
As equipment, picture pick-up device are connected with controller, coarse positioning is carried out with to unmanned plane movement, further, the bottom of the fixed station
, to adjust the position of stopper slot by the rotation of fixed station, rotating mechanism can be electric rotating machine for portion and rotating mechanism fixation,
Unmanned plane carries out a positioning for point by identification point, compared in conventional art to four points of unmanned plane horn or six
Point carries out location control, realizes that sinking speed is fast, the follow-up work after landing has been effectively ensured and has carried out.
The picture pick-up device is effectively reduced the weight of unmanned plane on spud pile, improves the flight of unmanned machine equipment
Time, controller is positioned by picture pick-up device to unmanned plane movement position, is positioned with to unmanned plane movement, a point
Relative four points of positioning positioning for, positioning is relatively easy, then coordinates four coarse positionings of horn, the landing place degree of accuracy
It is higher.
Further, in order to improve the adaptability of the positioner, the unmanned plane of different horn length is adapted to, described solid
The circumference for determining stake is fixed with slide bar, and slide bar is fixed with sliding block, and relative to slide bar slidably, described stopper slot is fixed on cunning to sliding block
On block, with by the distance between the mobile regulation stopper slot of sliding block and spud pile.
Fastener is set on the sliding block, and be fixed on sliding block on slide bar through sliding block by fastener, such structure setting,
Sliding block can be adjusted relative to the position of slide bar according to the length of horn, also be achieved that stopper slot relative to spud pile namely
The position of unmanned plane movement.
The stopper slot includes that what bottom set supports, and supports side and be connected with landing face, face of landing for plane or curved surface,
Landing face is obliquely installed with supporting, and after unmanned plane horn supporting leg comes in contact with landing face, is dropped into along landing face and supported
Upper realization is accurately positioned, the setting that locating slot passes through face of landing in stopper slot, unmanned plane horn is carried out it is spacing, to improve landing
Precision, the locating slot simple structure, positioning precision is high, can reach submillimeter level.
Additionally, the opposite side supported in the stopper slot sets the second landing face, the second landing face sets with inclination is supported
Put, landing face, support and form V-type shape with the second landing face, such two landing face is from both direction to the branch of unmanned plane horn
Support leg carries out spacing control, has widened range of application, and the stopper slot is the truncated conical shape of hollow handstand.
Or, the stopper slot is U-shaped, when unmanned plane horn supporting leg collides with U-shaped stopper slot inwall, nobody
Machine horn supporting leg is slid to bottom along stopper slot inside.
Vertical plane is set between the landing face and the second landing face；
Further, the draw-in groove for supporting unmanned plane horn is provided with the top of vertical plane described in, by draw-in groove
Set, after unmanned plane falls into, unmanned plane is fixed, the height of draw-in groove can be adjusted according to the concrete model of unmanned plane
Save, generally, the height of draw-in groove and the radius more than or equal to unmanned plane horn.
The vertical plane is connected with the landing face, and above-mentioned stopper slot constitutes an open-topped receiving space, or,
The vertical plane is located between the landing face and the second landing face, when unmanned plane lands, if unmanned plane horn is supported
Leg position is glanced off, and the landing face inner surface in stopper slot is come in contact with unmanned plane horn supporting leg bottom, and supporting leg is received
The reason for power falls downward is dropped into support and is supported, and namely V-type shape is set in the landing face on both sides, to supporting leg
Carry out spacing, realize being accurately positioned for unmanned plane, the draw-in groove of cradle top has after unmanned plane position is landed to horn
Effect support and fixed, the position of effective guarantee unmanned plane landing.
Additionally, landing face or the second landing face relative to the angle A for supporting at 30 degree to 80 degree, spacing groove height H can
Change, occurrence depends on the height of unmanned plane supporting leg.
The variable-width that spacing trench bottom is supported, occurrence depends on the width of unmanned plane supporting leg.
Stopper slot draw-in groove variable-width, occurrence depends on the diameter of unmanned plane horn.
If the floor projection distance in face of landing is L, L=H/tanA, spacing groove height H and angle A are mutually restricted.
A kind of unmanned plane continuation of the journey system, including vision coarse positioning module, fine positioning module and battery replacement device,
The vision coarse positioning module includes image collecting device, and image collecting device is used for Real-time Collection unmanned plane image
And be sent to station internal controller and then obtain the aerial three-dimensional coordinate point of unmanned plane, then the drop of unmanned plane is controlled through on-board controller
The direction of drop height degree and unmanned plane head, realizes the coarse positioning of unmanned plane；
The fine positioning module is used to guide unmanned plane precision approach after unmanned plane drops to preset height；It is accurately positioned
Module includes guiding landing and fixing device, and the guiding landing and fixing device include the stopper slot described at least two, institute
The bottom of stopper slot is stated on fixed station, identification point is provided with the middle part of fixed station, unmanned plane is by identification point to nobody
Machine movement is positioned, and fixed station is that groove structure is set, vertical plane or support along fixed station circumferential directions,
Slipped into stopper slot and unmanned plane is fixed by unmanned plane horn in unmanned plane descent；
The guiding landing and fixing device sidepiece corresponding matching set battery replacement device as described above, battery altering
The battery clamp device of device is correspondingly arranged in fixed station sidepiece, after unmanned plane drop to guiding landing and fixing device, battery
The battery of more changing device gripping unmanned plane is changed.
Compared with prior art, the beneficial effects of the invention are as follows：
Using handgrip is equipped with clip claw mechanism, handle component is driven to clamp battery, clamping jaw by clip claw mechanism
Clamping with battery coordinates more reliable, while the size of battery is different, the stroke of required clip claw mechanism is different, and handgrip can be effective
Avoid changing clip claw mechanism because battery size is changed.
Using the setting zigzag block on handgrip, and sawtooth lamellar body is equipped with battery, can effectively solve electricity
Downslide of the pond in movement, and can ensure that the depth of the gripping of battery both sides is identical with position, it is to avoid because of position and depth
Difference causes to grip battery deflection, it is impossible to be installed on battery compartment or unmanned plane.
Clip claw mechanism is fixed using draw-in groove is set on fixture block, clip claw mechanism can be made more to stablize, it is to avoid because clipping
Clip claw mechanism is tilted when battery is moved, and the precision of battery is changed in influence.
It is equipped with by motion block using on handgrip, cell switch can be closed at power taking pond, it is to avoid warm swap electricity
Pond causes the damage of unmanned plane electronic component；Cell switch can also be opened when battery is installed, make the battery after installation can
Immediately work is entered.
The present invention provides a kind of modular battery clamp device, can be applicable and be coupled to any unmanned plane replacing battery
In train of mechanism, have wide range of applications, and efficient, reliable, high-precision can realize battery altering.
Brief description of the drawings
The Figure of description for constituting the part of the application is used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its illustrated for explaining the application, does not constitute the improper restriction to the application.
Fig. 1 is battery clamp device top view of the present invention；
Fig. 2 is battery clamp device front view of the present invention；
Fig. 3 is fixture block schematic diagram of the present invention；
Fig. 4 is guiding landing and fixing device schematic diagram；
Fig. 5 stopper slot schematic diagram；
In figure, 1 clamping jaw body, 2 first gripper jaw parts, 3 second gripper jaw parts, 4 first handgrips, 5 second handgrips, 6 sawtooth
Shape block, 7 fixture blocks, 8 fasteners, 9 servomotors, 10 first grooves, 11 press motion block, 12 draw-in grooves, 13 screw sliders；
14. fixed stations, 15. stopper slots, 16. sliding blocks, 17. slide bars, 18. spud piles, 19. landing faces, 20. support, 21. cards
Groove, 22. vertical planes
Specific embodiment
It is noted that described further below is all exemplary, it is intended to provide further instruction to the application.Unless another
Indicate, all technologies used herein and scientific terminology are with usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
Be also intended to include plural form, additionally, it should be understood that, when in this manual use term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
As background technology is introduced, there are problems that unmanned plane battery grips replacing in the prior art, in order to solve such as
On technical problem, present applicant proposes it is a kind of be applied to unmanned plane independently continuation of the journey battery clamp device.
In a kind of typical implementation method of the application, as shown in Figure 1, there is provided one kind is applied to unmanned plane and independently continues a journey
Battery clamp device, including clip claw mechanism, clip claw mechanism includes clamping jaw body 1, and clamping jaw body 1 is connected with the first gripper jaw part
2 and second gripper jaw part 3, the first gripper jaw part 2 is fixedly connected with the first handgrip 4, and the second gripper jaw part 3 and the second handgrip 5 are consolidated
Fixed connection；The opposite face of the first handgrip 4 and the second handgrip 5 is equipped with zigzag block 6.Handgrip is driven by clip claw mechanism
Part clamps battery, and clamping jaw coordinates more reliable with the clamping of battery；By setting zigzag block on two handgrips, in clamping
The contact friction force of handgrip and battery is bigger during battery, and clamping is more consolidated, it is to avoid the problem that battery gripping is glanced off.
Clip claw mechanism can effectively drive handgrip to be opened and closed, while can pass through using electronic clamping jaw or Pneumatic clamping jaw etc.
Control module is controlled it, it is ensured that the precision of battery altering, can be according to the chucking power selection of gripping required by task when using
Suitable electronic clamping jaw or Pneumatic clamping jaw, it is cost-effective.
Clamping jaw body 1 is chimeric to be arranged in fixture block 7, and fixture block 7 is with the draw-in groove 12 with clamping jaw body fits.Set on fixture block
Draw-in groove is put, the setting-in combination of draw-in groove and clamping jaw body is realized, can be with fast and reliable connection.
In order to more firm stationary jaw body, clamping jaw body 1 is also fixedly connected by fastener 8 with fixture block 7, tightly
Firmware 8 can be using screw etc.；Silk hole is all set on clamping jaw body 1 and fixture block 7, the fasteners such as screw or screw are passed through two
The silk hole of person completes being fastened and fixed for the two.Under the premise of fixture block passes through draw-in groove clamping clamping jaw body, can be with jail using fastener
Gu stationary jaw body, effectively keeps the mobile stabilization for changing clip claw mechanism in cell process.
Clip claw mechanism is connected with power set, and power set use servomotor 9 in the present embodiment.By power set band
Dynamic clip claw mechanism folding, and then the folding of two handgrips is realized, realization grips or lays down battery.When gripping battery is needed, pass through
Controller is signaled to driver, and the running of servomotor 9 drives clip claw mechanism to drive the first handgrip and the second handgrip gripping electricity
Changed in pond.
First handgrip 4 with the cooperation of the first gripper jaw part 2 at the first groove 10 is set, the first gripper jaw part 2 is entrenched in the
In one groove 10.First groove is set on the first handgrip, the setting-in combination of the first handgrip and the first gripper jaw part is realized, can be with
Fast and reliable connection.
In order to more firm the first gripper jaw part of fixing, the first gripper jaw part 2 also passes through fastener and the first handgrip 4
It is fastenedly connected, silk hole is all set on the first gripper jaw part 2 and the first handgrip 4, by fasteners such as screw or screws both
Silk hole complete being fastened and fixed for the two.Under the premise of the first handgrip passes through first the first gripper jaw part of groove clamping, using tight
Firmware can be fixedly secured the first gripper jaw part, effectively keep the mobile stabilization for changing the first handgrip in cell process.
Second handgrip 5 with the cooperation of the second gripper jaw part 3 at the second groove is set, the second gripper jaw part 3 is entrenched in second
In groove.Second groove is set on the second handgrip, the setting-in combination of the second handgrip and the second gripper jaw part is realized, can be quick
It is reliably connected.
In order to more firm the second gripper jaw part of fixing, the second gripper jaw part 3 also passes through fastener and the second handgrip 5
It is fastenedly connected, silk hole is all set on the second gripper jaw part 3 and the second handgrip 5, by fasteners such as screw or screws both
Silk hole complete being fastened and fixed for the two.Under the premise of the second handgrip passes through second the second gripper jaw part of groove clamping, using tight
Firmware can be fixedly secured the second gripper jaw part, effectively keep the mobile stabilization for changing the second handgrip in cell process.
First handgrip 4 or the second handgrip 5 are provided with cell switch cooperation by motion block 11, and battery sidepiece is set and zigzag
The sawtooth lamellar body that block 6 coordinates.Set on the first handgrip or the second handgrip and press motion block, electricity can be first closed before battery is changed
Pond switchs, it is to avoid damage of the warm swap to battery；The zigzag coordinated with zigzag block on handgrip is set in battery sidepiece
Lamellar body, it is ensured that the cooperation steadiness of handgrip and battery, effectively solves the problems, such as that battery is glanced off in movement, battery side
The sawtooth lamellar body in portion both can be affixed on it is on battery, or integrally formed with battery.Sawtooth is carried on the inside of handgrip
Shape block, with the dentation piece mates on battery, effectively solves in actual motion, and gripping battery glides, and causes
Battery grips the problem of deflection.
In the typical implementation method of another kind of the application, there is provided a kind of battery for being applied to the autonomous continuation of the journey of unmanned plane is more
Changing device, including battery clamp device as above, battery clamp device are equipped with Y-axis moving mechanism, Y-axis moving mechanism
It is equipped with Z axis travel mechanism, Z axis travel mechanism is equipped with X-axis travel mechanism.Fixture block 7 can for I-shaped,
Stationary jaw body 1 is blocked in upside with draw-in groove 12, and fixed screw slider 13, leading screw are blocked in the downside of fixture block 7 with another draw-in groove
Sliding block 13 is connected with Y-axis moving mechanism.
Certainly, three axle travel mechanisms in battery replacement device can also replace can drive battery to grip dress using other
Put the mechanism moved in cubic space.
Some are needed to need the region of fixed point tour, the automatic inspection of unmanned plane, tour personnel can be carried out often
Or other staff only need to send corresponding instruction in control room, unmanned plane will automatic takeoff respective regions are maked an inspection tour, work as nothing
When man-machine electricity is less than arranges value, unmanned plane can drop to the unmanned plane station being disposed about, and carry out autonomous battery altering, continue
Into the task of tour.Clamp device requirement of this process to battery is very strict, according to the mechanical gripper of prior art, in reality
During border is tested, by taking three axle travel mechanisms as an example, X-axis travel mechanism, Y-axis moving mechanism, Z axis travel mechanism is all according to setting
The position of battery is changed in fixed operation to unmanned plane, insecure due to clamp device gripping after gripping battery is extracted, battery not by
The side of clamping glides, even if in the case where X-axis travel mechanism and Z axis travel mechanism are constant, only passing through Y-axis moving mechanism handle
Battery peace cannot also be realized installing to unmanned plane battery compartment.And after using battery clamp device of the invention, X-axis travel mechanism,
Y-axis moving mechanism, Z axis travel mechanism coordinates with clip claw mechanism can be changed with reliable retention battery, be not in inclined battery
Tiltedly, can quickly, the replacing battery of stabilization, and can guarantee that the precision of battery altering.
In the typical implementation method of another of the application, there is provided a kind of battery for being applied to the autonomous continuation of the journey of unmanned plane is more
The method of work of changing device, comprises the following steps：
(1) X-axis travel mechanism, Z axis travel mechanism and Y-axis moving mechanism are operated successively, drive the movement of battery clamp device
To unmanned plane battery location；
Cell switch is touched by motion block on (2) first handgrips or the second handgrip, battery is closed；
(3) clip claw mechanism drives the sawtooth of the first handgrip and the second handgrip clamping battery, zigzag block and battery sidepiece
Lamellar body coordinates；
(4) X-axis travel mechanism, Z axis travel mechanism and Y-axis moving mechanism are operated successively, drive the movement of battery clamp device
To battery compartment, battery is returned and is put in battery compartment；
(5) X-axis travel mechanism, that Y-axis moving mechanism and Z axis travel mechanism drive battery clamp device to be moved to battery compartment is another
The position of one battery, repeat step (3), battery is taken out；
(6) X-axis travel mechanism, Y-axis moving mechanism and Z axis travel mechanism drive battery clamp device to be moved to unmanned electromechanics
Chi Cangweizhichu, cell switch is touched by motion block, opens battery；
(7) X-axis travel mechanism, Y-axis moving mechanism and Z axis travel mechanism return initial position.
In order that obtaining those skilled in the art can clearly understand the technical scheme of the application, below with the present apparatus
Operation process the present invention is described in detail：
Battery clamp device is equipped with Y-axis moving mechanism, and Y-axis moving mechanism is equipped with Z axis travel mechanism
On, Z axis travel mechanism is equipped with X-axis travel mechanism.
Unmanned plane is dropped on fixed support, and X-axis travel mechanism drives Z axis travel mechanism to move to nobody in x-axis direction
The position in machine battery storehouse.
After the completion of x-axis action, Z axis travel mechanism drives Y-axis moving mechanism to be moved downwardly to and nobody in the z-axis direction
Machine battery storehouse is with high.
After the completion of z-axis action, Y-axis moving mechanism drives battery clamp device to run forward on the y axis.
Cell switch is touched by motion block 11, battery is closed, afterwards clip claw mechanism closure, the first handgrip 4 and the second handgrip 5 are grabbed
Firmly battery, the sawtooth lamellar body snap-fit of zigzag block on the first handgrip 4 and battery side, the sawtooth on the second handgrip 5
The sawtooth lamellar body snap-fit of shape block and battery opposite side.
Y-axis moving mechanism drives battery clamp device to be withdrawn in y-axis direction, and after the completion of action, Z axis travel mechanism drives Y
Axle travel mechanism is lifted in the z-axis direction, and after the completion of action, X-axis travel mechanism drives Z axis travel mechanism to return in the direction of the x axis
Backhaul dynamic.
X-axis travel mechanism, Y-axis moving mechanism, Z axis travel mechanism coordinate running to put battery into battery compartment, and from next
Individual battery compartment power taking pond, gets battery and moves to unmanned plane battery bin location, installs battery, and unmanned machine battery is opened by motion block 11
Switch.
X-axis travel mechanism, Y-axis moving mechanism, Z axis travel mechanism return initial position.
A kind of unmanned plane is continued a journey system, including guiding landing and fixing device, for guiding unmanned plane precisely landing and solid
Determine unmanned plane and keep stabilization；Guiding landing and fixing device sidepiece corresponding matching set battery replacement device as described above, such as
Shown in Fig. 4-Fig. 5, guiding landing and fixing device include at least two stopper slots 15, and the bottom of stopper slot 15 is located at fixed station 14
On, support 20 and be fixed with fixed station 14 by bolt, fixed station 14 be groove structure set, be easy to subsequent fixed stake,
The receiving of slide bar.
Spud pile 18 is set at the middle part of the fixed station 14, the identification point is located at the middle part of spud pile 18, by one
The setting of individual identification point, is capable of achieving the coarse positioning of unmanned plane movement, and picture pick-up device is set on the surface of spud pile 18, picture pick-up device with
Controller is connected, and to carry out coarse positioning to unmanned plane, then coordinates the setting of stopper slot, is realized to unmanned plane horn supporting leg position
Positioning, and effectively unmanned plane horn is supported by draw-in groove, the bottom of the fixed station and rotating mechanism fixation with
The position of stopper slot is adjusted by the rotation of fixed station, rotating mechanism can be electric rotating machine.
In housing, windproof and dustproof to carry out, controller is connected controller with meteorological sensor, and meteorological sensor is real-time
Measurement external environment, including wind direction, wind speed, precipitation, temperature and humidity are sent to station internal controller, by with network weather
Key element is compareed, real-time analysis environments influence, determines that whether unmanned plane landing controls.Controller is by cloud server and monitoring
Central server is in communication with each other, and monitoring central server is also connected with display module, by monitoring central server come monitor in real time
The work state information of intelligent landing station system.
Additionally, the adaptability in order to improve the positioner, adapts to the unmanned plane of different horn length, in the spud pile
18 circumference is fixed with slide bar 17, and slide bar 17 is fixed with sliding block 16, and sliding block 16 relative to slide bar 17 slidably, fix by stopper slot 15
In on sliding block 16；
Fastener is set on the sliding block 16, and be fixed on sliding block 16 on slide bar 17 through sliding block 16 by fastener, such
Structure setting, can according to the length of horn, adjust sliding block 16 relative to slide bar 17 position, be also achieved that stopper slot relative to
The adjustment of movement position.
The V-shaped arrangements in both sides of the opposition of stopper slot 15, it is vertical plane 22 that the another both sides of stopper slot 15 are each vertically arranged,
Wherein, the side that stopper slot 15 is vertically arranged is provided with the draw-in groove 21 for supporting unmanned plane horn, and draw-in groove is circle-arc profile,
Rubber blanket is set in draw-in groove 21, is protected with to horn, meanwhile, by the setting of rubber blanket, because of the elastic reaction of rubber blanket,
Unmanned plane can be further fixedly secured, the height of draw-in groove can be adjusted according to the concrete model of unmanned plane, generally,
The height of draw-in groove and the radius more than or equal to unmanned plane horn, therefore the shape and the shape of unmanned plane horn of draw-in groove are close
, it is circular shape.
Stopper slot 15 includes supporting 20, supports in elongated rectangular shape shape, and the both sides for supporting 20 respectively set a landing face 19, another two
Side respectively sets described vertical plane 22.
Above-mentioned stopper slot 15 constitutes an open-topped receiving space, when unmanned plane lands, the drop in stopper slot 15
The inner surface of face 19 that falls is come in contact with unmanned plane horn supporting leg bottom, and supporting leg stress falls downward is dropped into support and carried out
Support, and the reason for namely V-type shape is set in the landing face on both sides 19, spacing, effective guarantee unmanned plane is carried out to supporting leg
The position of landing.
Additionally, landing face relative to the angle A for supporting at 30 degree to 80 degree, accordingly even when unmanned plane horn bottom supporting leg
Deviation position can guarantee that effectively to drop into farther out, also and support, it is ensured that the precision approach of unmanned plane, spacing groove height H is variable
Change, occurrence depends on the height of unmanned plane supporting leg.
The variable-width that spacing trench bottom is supported, occurrence depends on the width of unmanned plane supporting leg, it is preferable that
The width is identical with the diameter of unmanned plane supporting leg.
Stopper slot draw-in groove variable-width, occurrence depend on unmanned plane horn diameter, it is preferable that the width with
The diameter of unmanned plane horn is identical.
If the floor projection distance in face of landing is L, L=H/TanA, spacing groove height H and angle A are mutually restricted.
In order to realize the limitation to wing bottom supporting leg, the stopper slot 15 be U-shaped shape or funnel shaped or
Top is square, and bottom is funnel shaped.
The preferred embodiment of the application is the foregoing is only, the application is not limited to, for the skill of this area
For art personnel, the application can have various modifications and variations.It is all within spirit herein and principle, made any repair
Change, equivalent, improvement etc., should be included within the protection domain of the application.
Claims (10)
1. it is a kind of to be applied to the battery clamp device that unmanned plane is independently continued a journey, it is characterized in that, including clip claw mechanism, the clamping jaw machine
Structure includes clamping jaw body, and the clamping jaw body is connected with the first gripper jaw part and the second gripper jaw part, first gripper jaw part
It is fixedly connected with the first handgrip, second gripper jaw part and the second handgrip are fixedly connected；First handgrip and the second handgrip
Opposite face be equipped with zigzag block.
2. battery clamp device as claimed in claim 1, it is characterized in that, the clamping jaw body is chimeric to be arranged in fixture block, institute
Fixture block is stated with the draw-in groove with clamping jaw body fits.
3. battery clamp device as claimed in claim 2, it is characterized in that, the clamping jaw body is also consolidated by fastener with fixture block
Fixed connection.
4. battery clamp device as claimed in claim 1, it is characterized in that, the clip claw mechanism is connected with power set.
5. battery clamp device as claimed in claim 1, it is characterized in that, first handgrip coordinates with the first gripper jaw part
Place sets the first groove, and the first gripper jaw part is entrenched in the first groove.
6. battery clamp device as claimed in claim 5, it is characterized in that, first gripper jaw part is also by fastener and the
One handgrip is fastenedly connected.
7. battery clamp device as claimed in claim 1, it is characterized in that, second handgrip coordinates with the second gripper jaw part
Place sets the second groove, and the second gripper jaw part is entrenched in the second groove；Second gripper jaw part is also by fastener and the
Two handgrips are fastenedly connected.
8. battery clamp device as claimed in claim 1, it is characterized in that, first handgrip or the second handgrip are provided with and battery
The sawtooth lamellar body coordinated with zigzag block by motion block, the setting of battery sidepiece that switch coordinates.
9. it is a kind of to be applied to the battery replacement device that unmanned plane is independently continued a journey, it is characterized in that, including such as claim any one of 1-8
Described battery clamp device, the battery clamp device is equipped with Y-axis moving mechanism, and the Y-axis moving mechanism is matched somebody with somebody
Conjunction is arranged in Z axis travel mechanism, and the Z axis travel mechanism is equipped with X-axis travel mechanism.
10. the method for work of battery replacement device as claimed in claim 9, it is characterized in that, comprise the following steps：
(1) X-axis travel mechanism, Z axis travel mechanism and Y-axis moving mechanism are operated successively, drive battery clamp device to be moved to nothing
At man-machine battery location；
Cell switch is touched by motion block on (2) first handgrips or the second handgrip, battery is closed；
(3) clip claw mechanism drives the sawtooth lamellar body of the first handgrip and the second handgrip clamping battery, zigzag block and battery sidepiece
Coordinate；
(4) X-axis travel mechanism, Z axis travel mechanism and Y-axis moving mechanism are operated successively, drive battery clamp device to be moved to electricity
Chi Cangchu, battery is returned and is put in battery compartment；
(5) X-axis travel mechanism, Y-axis moving mechanism and Z axis travel mechanism drive battery clamp device to be moved to another electricity of battery compartment
The position in pond, repeat step (3), battery is taken out；
(6) X-axis travel mechanism, Y-axis moving mechanism and Z axis travel mechanism drive battery clamp device to be moved to unmanned plane battery compartment
At position, cell switch is touched by motion block, open battery；
(7) X-axis travel mechanism, Y-axis moving mechanism and Z axis travel mechanism return initial position.
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| CN201710157192.0A CN106864766B (en) | 2017-03-16 | 2017-03-16 | The battery clamp device and replacement device and method independently continued a journey applied to unmanned plane |
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| CN107856858A (en) * | 2017-11-09 | 2018-03-30 | 陈英蔚 | A kind of unmanned plane for being used to search and rescue based on ultrasonic listening |
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| CN108382591A (en) * | 2018-02-26 | 2018-08-10 | 河北省科学院应用数学研究所 | The air-ground inspection Detecting Robot system and operating method applied in complex environment |
| CN109094807A (en) * | 2018-08-01 | 2018-12-28 | 深圳市旭发智能科技有限公司 | A kind of unmanned plane battery change system |
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| CN113011269A (en) * | 2021-02-23 | 2021-06-22 | 国网安徽省电力有限公司淮南供电公司 | Mechanical clamping jaw and working method for grabbing battery |
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| CN109094807A (en) * | 2018-08-01 | 2018-12-28 | 深圳市旭发智能科技有限公司 | A kind of unmanned plane battery change system |
| CN111263883A (en) * | 2019-08-02 | 2020-06-09 | 深圳市大疆百旺科技有限公司 | Measuring device |
| CN111038454A (en) * | 2019-12-30 | 2020-04-21 | 山东厚德测控技术股份有限公司 | Unmanned aerial vehicle battery replacement system and closed-loop automatic control method |
| CN113011269A (en) * | 2021-02-23 | 2021-06-22 | 国网安徽省电力有限公司淮南供电公司 | Mechanical clamping jaw and working method for grabbing battery |
| CN113011269B (en) * | 2021-02-23 | 2023-12-05 | 国网安徽省电力有限公司淮南供电公司 | Mechanical clamping jaw and working method for grabbing battery |
| CN115946145A (en) * | 2023-03-10 | 2023-04-11 | 成都时代星光科技有限公司 | Special handle of unmanned aerial vehicle smart battery, snatch mechanism and grasping system |
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