CN107065614A - Unmanned plane houses and changes electric installation and method - Google Patents
Unmanned plane houses and changes electric installation and method Download PDFInfo
- Publication number
- CN107065614A CN107065614A CN201710286970.6A CN201710286970A CN107065614A CN 107065614 A CN107065614 A CN 107065614A CN 201710286970 A CN201710286970 A CN 201710286970A CN 107065614 A CN107065614 A CN 107065614A
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- platform
- hoistable platform
- unmanned plane
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- 238000009434 installation Methods 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 230000008859 change Effects 0.000 claims abstract description 8
- 244000309464 bull Species 0.000 claims description 16
- 230000033001 locomotion Effects 0.000 claims description 15
- 230000005611 electricity Effects 0.000 claims description 9
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 230000003028 elevating effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 3
- 210000000080 chela (arthropods) Anatomy 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 208000035473 Communicable disease Diseases 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
-
- B64D27/40—
Abstract
Electric installation is changed in unmanned plane collecting and method belongs to unmanned plane collecting and changes electro-technical field, it is therefore intended that solve the problem of unmanned can not changing battery and inefficiency of prior art presence.The present invention includes：Shell, shell includes housing and is arranged on the slide unit of housing upper end relative position；The lowering or hoisting gear in shell is arranged on, lowering or hoisting gear includes being provided with cross chute on the lift drive mechanism of hoistable platform and driving hoistable platform lifting, hoistable platform；The homing device on hoistable platform is arranged on, homing device includes four playback bars for being arranged on hoistable platform upper surface and the playback drive mechanism for being arranged on hoistable platform lower surface；By playbacking, drive mechanism drives four playback bars synchronously outwardly or inwardly to move；And be arranged on hoistable platform and change cell apparatus, changing cell apparatus includes and the slide unit manipulator carrying platform being slidably matched on housing, the battery house keeper that is fixedly installed on the manipulator of manipulator carrying platform lower end and hoistable platform upper surface is arranged on by electric rotating platform.
Description
Technical field
Housed the invention belongs to unmanned plane and change electro-technical field, and in particular to a kind of unmanned plane houses and changes electric installation and side
Method.
Background technology
Unmanned plane be divided into it is military with it is civilian, in ship, agricultural, plant protection, miniature auto heterodyne, express transportation, disaster relief, observation
Wild animal, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief, movies-making, manufacture romance etc. field application
Extensively.
Unmanned plane needs battery to power in the process of moving, and existing cell apparatus of being changed automatically on unmanned plane is all needed mostly
Want human hand that unmanned plane is put into determination position, it is impossible to realize really unmanned replacing battery operation；Use more and cut hoistable platform
V shape, accuracy is low, poor reliability.Multiple degrees of freedom being used manipulator, build is heavy, poor reliability more.And currently without correlation
Device can detect landing of the environment if appropriate for unmanned plane.And it is that unmanned plane replacing battery is more that existing unmanned plane, which changes cell apparatus,
Using used pattern is now filled, the time of unmanned plane stop is added, its operating efficiency is reduced.Man-machine domain is progressively expanded
Exhibition, market is in the urgent need to a set of reliable unmanned replacing cell apparatus.
The content of the invention
It is an object of the invention to propose that a kind of unmanned plane houses electric installation and the method for changing, the nothing that prior art is present is solved
The problem of unmanned replacing battery of method and inefficiency.
To achieve the above object, electric installation is changed in unmanned plane of the invention collecting includes：
Shell, the shell includes housing and is arranged on the slip lid that on housing and relative housing is slided, the housing upper end
Relative position is provided with slide unit；
The lowering or hoisting gear in the shell is arranged on, the lowering or hoisting gear includes hoistable platform and driving hoistable platform lifting
Lift drive mechanism, be provided with cross chute on the hoistable platform；
The homing device on hoistable platform is arranged on, the homing device includes be arranged on hoistable platform upper surface four
Playback bar and the playback drive mechanism for being arranged on hoistable platform lower surface；Four playback bars respectively with it is cross on hoistable platform
One end of chute be vertically arranged, the playback drive mechanism is fixed and connected through four ends of cross chute and four playback bars
Connect, by playbacking, drive mechanism drives four playback bars synchronously outwardly or inwardly to move；
The cell apparatus that changes on hoistable platform is arranged on, the cell apparatus that changes includes sliding with the slide unit on the housing
The manipulator carrying platform of cooperation, it is fixedly installed on manipulator and rides over the manipulator of platform lower end and set by rotatable platform
Battery house keeper in hoistable platform upper surface；
And controller, the controller control lift drive mechanism, playback drive mechanism, manipulator and manipulator are carried
The motion of platform.
The playback drive mechanism includes：
It is fixed on the hoistable platform lower surface electric rotating platform corresponding with cross chute center；
The cross bull stick that center is fixedly connected with the electric rotating platform；
Four push rods, the end of one end of four push rods respectively with cross bull stick is hinged, four push rods
The other end be hinged respectively with an ear piece；
And four baffle plates with the connection of four ear pieces respectively, four baffle plates are each passed through the chute on hoistable platform
Four ends be fixedly connected with four playback bars.
The slip lid and the housing are slidably matched specially：Housing upper end relative position is provided with electric sliding rail,
The slip lid is divided into left and right two parts, and the two-part two ends in left and right of slip lid are slidably matched with the electric sliding rail being oppositely arranged respectively
Folding is realized, the electric sliding rail controls to move by the controller.
The lift drive mechanism include spindle motor and leading screw, the hoistable platform respectively with equally distributed multiple silks
The threaded one end connection of thick stick, the other end of multiple leading screws is connected with a spindle motor respectively.
The hoistable platform is square hoistable platform, and the quantity of the leading screw is four, respectively with the corner of hoistable platform
Place coordinates.
Infrared tube is provided with the manipulator carrying platform.
The manipulator includes：
It is fixed on the containment vessel of manipulator carrying platform lower surface；
Push pedal in containment vessel is set；
The first connecting plate and the second connecting plate that upper end and push pedal lower surface are hinged；
The first clamp and the second clamp being hinged respectively with the first connecting plate and the second connecting plate other end, first folder
Pincers and the second clamp upper end cross-articulation are set, and hinged place is provided with torsion spring, and two ends and containment vessel connection, and torsion spring is certainly
During right state, first clamp and the second clamp are in clamped condition, and first clamp and the second clamp lower end, which are located at, to be protected
Outside protective case, first connecting plate, the second connecting plate, the first clamp and the second clamp constitute parallel-crank mechanism；
Taken through containment vessel upper surface and manipulator the push rod that one end is fixedly connected with push pedal upper surface, the push rod upper end
Carrying platform；
And the electric pushrod of manipulator carrying platform upper surface is fixed on, the electric pushrod and the push rod upper end are matched somebody with somebody
Driving push rod is closed to move up and down.
The method for electrically that changes for changing electric installation based on unmanned plane collecting comprises the following steps：
Step one：Controller control playback bar is located at the outermost end of motion, and it is flat that control machinery hand carrying platform is located at lifting
The one end of platform；
Step 2：Unmanned plane is dropped on the elevating movement platform, and electric rotating platform rotates synchronous drive four and returned
Position bar is inwardly moved, and UAV Attitude is adjusted into specified location and in x, y, tri- directions of z limit its displacement；
Step 3：Manipulator carrying platform is slided on slide unit, above driving mechanical hand to unmanned machine battery；
Step 4：Controller control machinery hand is opened, and spindle motor driving hoistable platform is moved upwards, makes the electricity of unmanned plane
Pond enters in the range of manipulator clamping, and controller control machinery hand closure clamps battery jump ring；
Step 5：Controller control hoistable platform is moved downward, then control machinery hand carrying platform moves to electricity along slide unit
Above the house keeper of pond；
Step 6：Controller control hoistable platform is moved upwards, the battery of manipulator clamping is put into battery house keeper charging
In mouthful, manipulator is opened, and hoistable platform is moved downward, away from manipulator；
Step 7：Electric rotating platform is rotated, and the battery that electricity is filled with battery house keeper is moved to below manipulator；
Step 8：Hoistable platform rises, and fully charged battery enters manipulator clamping scope；Manipulator clamps Battery Card
Spring, hoistable platform declines；
Step 9：Manipulator carrying platform is slided along slide unit makes manipulator be located above unmanned plane battery compartment；
Step 10：Hoistable platform rises, and the fully charged battery of manipulator clamping is entered unmanned plane battery compartment, manipulator
Open, hoistable platform declines, manipulator carrying platform is moved along slide unit, and manipulator is delivered into initial position.
Infrared tube is provided with the manipulator carrying platform.
The manipulator includes：
It is fixed on the containment vessel of manipulator carrying platform lower surface；
Push pedal in containment vessel is set；
The first connecting plate and the second connecting plate that upper end and push pedal lower surface are hinged；
The first clamp and the second clamp being hinged respectively with the first connecting plate and the second connecting plate other end, first folder
Pincers and the second clamp upper end cross-articulation are set, and hinged place is provided with torsion spring, and two ends and containment vessel connection, and torsion spring is certainly
During right state, first clamp and the second clamp are in clamped condition, and first clamp and the second clamp lower end, which are located at, to be protected
Outside protective case, first connecting plate, the second connecting plate, the first clamp and the second clamp constitute parallel-crank mechanism；
Taken through containment vessel upper surface and manipulator the push rod that one end is fixedly connected with push pedal upper surface, the push rod upper end
Carrying platform；
And the electric pushrod of manipulator carrying platform upper surface is fixed on, the electric pushrod and the push rod upper end are matched somebody with somebody
Driving push rod is closed to move up and down.
Beneficial effects of the present invention are：Electric installation and method are changed in the unmanned plane collecting of the present invention makes aircraft landing sufficiently large
Hoistable platform on, and it is playbacked and fixed using homing device.Hoistable platform is controlled in housing using spindle motor
Interior lifting.Manipulator moves along a straight line with manipulator carrying platform, manipulator is parked in specified location, is ready for changing
The work of unmanned machine battery.It is furnished with battery house keeper and polylith battery on hoistable platform, electricity supply can be carried out at any time for unmanned plane.
The environmental sensor that device can arrange in pairs or groups monitors service station surrounding enviroment in real time, such as wind speed, temperature, humidity, makes unmanned plane only
It can be taken off under the conditions of defined.
The present invention using the electric rotating platform being fixed on hoistable platform as driving device, drive by cross bull stick,
The linkage of push rod and playback bar composition.Cross bull stick is connected firmly in electric rotating platform, and with electric rotating platform do around
The gyration of electric rotating platform axis.Straight line is done in chute in the chute processed on hoistable platform, limitation push rod one end
Motion.The other end of push rod and cross bull stick hinge connection, and do gyration with one end of cross bull stick.Push rod and limit
Push rod processed does the one end moved along a straight line with hinge connection, and is grouped into prismatic pair with hoistable platform slide groove portion.Four playback bars exist
The closed area that initial position is surrounded is the region that unmanned plane may land.Electric rotating platform drives cross bull stick, makes
Four playback bars are moved to target location, and the closed area that playback bar is surrounded in target location is unmanned plane in particular requirement
Park required region in lower specified position.Four playback bars connect in motion process with unmanned plane front foot and afterbody motor
Touch, to adjust the stand of unmanned plane and park posture.
The unmanned plane of the present invention, which is housed, changes electric installation and method can realize unmanned plane truly unmanned, with market
Upper traditional unmanned plane base station is compared, and the advantage is that：Automatically unmanned plane can be housed, is completed by stopping means to nobody
The seizure of machine；Rotary type battery house keeper is realized to unmanned plane fast quick change electricity, is added significantly to its operating efficiency；Logarithm can be achieved
According to instant upload with it is shared, realize the purpose supervised in a big way.
Brief description of the drawings
Fig. 1 is housed for the unmanned plane of the present invention and is changed electric installation overall structure diagram；
Fig. 2 is housed for the unmanned plane of the present invention and is changed shell mechanism schematic diagram in electric installation；
Fig. 3 is housed for the unmanned plane of the present invention and is changed lifting device structure schematic diagram in electric installation；
Fig. 4 is housed for the unmanned plane of the present invention and is changed homing device structural representation in electric installation；
Fig. 5 is housed for the unmanned plane of the present invention and is changed robot manipulator structure schematic diagram in electric installation；
Fig. 6 is housed for the unmanned plane of the present invention and is changed manipulator clamping fragmentary front view in electric installation；
Fig. 7 is housed for the unmanned plane of the present invention and is changed manipulator clamping partial schematic diagram in electric installation；
Wherein：1st, shell, 101, housing, 102, slip lid, 103, slide unit, 104, electric sliding rail, 2, lowering or hoisting gear, 201, rise
Platform drops, and 202, chute, 203, spindle motor, 3, homing device, 301, playback bar, 302, electric rotating platform, 303, cross
Bull stick, 304, push rod, 305, ear piece, 306, baffle plate, 4, change cell apparatus, 401, manipulator, 402, battery house keeper, 403, machinery
Hand carrying platform, the 404, first clamp, the 405, second clamp, the 406, first connecting plate, the 407, second connecting plate, 408, push rod,
409th, push pedal, 410, containment vessel, 411, electric pushrod, 5, unmanned plane.
Embodiment
Embodiments of the present invention are described further below in conjunction with the accompanying drawings.
Referring to accompanying drawing 1- accompanying drawings 4, electric installation is changed in unmanned plane collecting of the invention to be included：
Shell 1, the shell 1 includes housing 101 and is arranged on the slip lid that on housing 101 and relative housing 101 is slided
102, the upper end relative position of housing 101 is provided with slide unit 103；
The lowering or hoisting gear 2 in the shell 1 is arranged on, the lowering or hoisting gear 2 includes hoistable platform 201 and driving lifting is flat
Cross chute 202 is provided with the lift drive mechanism that platform 201 is lifted, the hoistable platform 201；
The homing device 3 on hoistable platform 201 is arranged on, the homing device 3 includes being arranged on the upper end of hoistable platform 201
Four playback bars 301 in face and the playback drive mechanism for being arranged on the lower surface of hoistable platform 201；Four playback bars 301 respectively and
One end of cross chute 202 on hoistable platform 201 is vertically arranged, and the playback drive mechanism passes through cross chute
202 four ends are fixedly connected with four playback bars 301, by the drive mechanism that playbacks drive four playback bars 301 it is synchronous inwardly or
Move out；
Be arranged on hoistable platform 201 and change cell apparatus 4, it is described change cell apparatus 4 include and the housing 101 on
Manipulator carrying platform 403 that slide unit 103 is slidably matched, it is fixedly installed on the manipulator 401 that manipulator 401 rides over platform lower end
And the battery house keeper 402 of the upper surface of hoistable platform 201 is arranged on by rotatable platform；
And controller, the controller control lift drive mechanism, playback drive mechanism, manipulator 401 and manipulator
The motion of carrying platform 403.
The playback drive mechanism includes：
It is fixed on the lower surface of hoistable platform 201 electric rotating platform corresponding with the cross center of chute 202
302；
The cross bull stick 303 that center is fixedly connected with the electric rotating platform 302；
Four push rods 304, the end of one end of four push rods 304 respectively with cross bull stick 303 is hinged, described
The other end of four push rods 304 is hinged with an ear piece 305 respectively；
And four baffle plates 306 connected respectively with four ear pieces 305, it is flat that four baffle plates 306 are each passed through lifting
Four ends of the chute 202 on platform 201 are fixedly connected with four playback bars 301.
The slip lid 102 and the housing 101 are slidably matched specially：The upper end relative position of housing 101 is provided with
Electric sliding rail 104,102 points of the slip lid is left and right two parts, and the two-part two ends in left and right of slip lid 102 respectively and are oppositely arranged
Electric sliding rail 104 be slidably matched and realize folding, the structure of electric sliding rail 104 is：Gear is connected with motor output shaft, tooth
Take turns rack to be connected with slip lid 102, wheel and rack engagement, the sliding block connection on the lateral margin and guide rail of slip lid.Power comes from electricity
Machine, using rack pinion, by controller controlled motor, allows slip lid to be moved back and forth on guide rail.
The lift drive mechanism include spindle motor 203 and leading screw, the hoistable platform 201 respectively with it is equally distributed
The threaded one end connection of multiple leading screws, the other end of multiple leading screws is connected with a spindle motor 203 respectively.
The hoistable platform 201 is square hoistable platform 201, and the quantity of the leading screw is four, respectively and hoistable platform
Coordinate at 201 corner.
Infrared tube is provided with the manipulator carrying platform 403.Positioning is provided to manipulator carrying platform 403 to protect
Barrier, narrows down to deviation and realizes in the receptible scope of function institute.Infrared tube launches infrared light using infrared transmitting device
Beam, when reception, which is not detected by, sends signal, manipulator carrying platform 403 is playbacked under the control of system, works as receiving terminal
When detecting infrared signal, the stop motion of manipulator carrying platform 403 completes playback.
Referring to accompanying drawing 5, accompanying drawing 6 and accompanying drawing 7, the manipulator 401 includes：
It is fixed on the containment vessel 410 of the lower surface of manipulator carrying platform 403；
Push pedal 409 in containment vessel 410 is set；
The first connecting plate 406 and the second connecting plate 407 that upper end and the lower surface of push pedal 409 are hinged；
The first clamp 404 and the second clamp being hinged respectively with the first connecting plate 406 and the other end of the second connecting plate 407
405, the upper end cross-articulation of 404 and second clamp of the first clamp 405 is set, and hinged place is provided with torsion spring, and two ends and
The containment vessel 410 is connected, during torsion spring nature, and the clamp 405 of the first clamp 404 and second is in clamped condition, institute
State the first clamp 404 and the lower end of the second clamp 405 and be located at housing exterior, first connecting plate 406, the second connecting plate 407, the
One clamp 404 and the second clamp 405 constitute parallel-crank mechanism；
The push rod 408 that one end is fixedly connected with the upper surface of push pedal 409, the upper end of push rod 408 passes through the upper end of containment vessel 410
Face and manipulator carrying platform 403；
And it is fixed on the electric pushrod 411 of the upper surface of manipulator carrying platform 403, the electric pushrod 411 and described
The upper end of push rod 408 coordinates driving push rod 408 to move up and down；
L-type rod member on the right side of the manipulator is contact, for pressing cell switch, is welded in the containment vessel 410 of manipulator 401
On, the battery of the model unmanned plane needs first short-press, then long-press to start, and entirely moves by the lifting of hoistable platform 201 come complete
Into.
The present invention utilizes torsion spring, makes manipulator 401 when being not driven, is at clamped condition.When electric pushrod works,
Manipulator 401 is in relieving state.
The method for electrically that changes for changing electric installation based on the collecting of unmanned plane 5 comprises the following steps：
Step one：Controller control playback bar 301 is located at the outermost end of motion, and control machinery hand carrying platform 403 is located at
The one end of hoistable platform 201；
Step 2：Unmanned plane 5 is dropped on the elevating movement platform, and electric rotating platform 302 rotates synchronous drive four
Root playback bar 301 is inwardly moved, and by the pose adjustment of unmanned plane 5 to specified location and in x, y, tri- directions of z limit its displacement；
Step 3：Manipulator carrying platform 403 is slided on slide unit 103, on driving mechanical hand 401 to the battery of unmanned plane 5
Side；
Step 4：Controller control machinery hand 401 is opened, and the driving hoistable platform 201 of spindle motor 203 is moved upwards, is made
The battery of unmanned plane 5 enters in the clamping range of manipulator 401, and the closure of controller control machinery hand 401 clamps battery jump ring；
Step 5：Controller control hoistable platform 201 is moved downward, then control machinery hand carrying platform 403 is along slide unit 103
Move to the top of battery house keeper 402；
Step 6：Controller control hoistable platform 201 is moved upwards, the battery that manipulator 401 is clamped is put into cell tube
In 402 charge ports of family, manipulator 401 is opened, and hoistable platform 201 is moved downward, away from manipulator 401；
Step 7：Electric rotating platform 302 is rotated, and the battery that electricity is filled with battery house keeper 402 is moved into machinery
The lower section of hand 401；
Step 8：Hoistable platform 201 rises, and fully charged battery enters the clamping range of manipulator 401；Manipulator 401 is pressed from both sides
Tight battery jump ring, hoistable platform 201 declines；
Step 9：Manipulator carrying platform 403 is slided along slide unit 103 makes manipulator 401 be located on the battery compartment of unmanned plane 5
Side；
Step 10：Hoistable platform 201 rises, and the fully charged battery that manipulator 401 is clamped is entered the battery of unmanned plane 5
Storehouse, manipulator 401 is opened, and hoistable platform 201 declines, and manipulator carrying platform 403 is moved along slide unit 103, and manipulator 401 is sent
To initial position.
The movement warp being likely to occur for settlement steps to deal manipulator carrying platform 403, the present invention is set on battery house keeper 402
Chamfering is counted, increases serious forgiveness, battery is put into the charge port of battery house keeper 402 exactly.
According to kinematics analysis, cross bull stick 303 and push rod 304 in initial position it is necessary to have certain angle (with
Call initial angle in the following text), to ensure enough normal setting in motions such as connecting rod.Mechanism is moved by card on crank and connecting rod collinear position
Extremely, drive line angle is 0 °, to avoid this situation, it is necessary to design initial angle.Initial angle is without strictly calculating, it is only necessary to avoid this
Situation occurs.The length of cross bull stick 303 and push rod 304 can according to the initial position of gag lever post and target location with it is initial
Angle and required rotational angle are calculated specially：
Wherein：X is that cross bull stick half is long；
Y is pull bar length；
A is playback bar inner edge distance；
B is aircraft width；
θ is the cross bull stick anglec of rotation.
The material of hoistable platform 201 is needed while possessing preferable intensity, rigidity and stability, keeps enough light
Quantify.The friction playbacked between bar 301 and landing platform can produce abrasion to part, and the material and contact surface shape of the two want root
Paid attention to according to being actually needed.
If desired the position of the in the vertical direction of unmanned plane 5 is limited, can be according to the shape of unmanned plane 5, individually designed one
Spacing part, its shape should try one's best identical with the shape at the top of unmanned plane 5, and the part be connected firmly on gag lever post.Now, nothing
Man-machine 5 motion in all directions is limited, and has been reached the limitation stand of unmanned plane 5 and has been parked the purpose of posture.
Claims (10)
1. unmanned plane houses and changes electric installation, it is characterised in that including：
Shell (1), the shell (1) includes housing (101) and is arranged on what is simultaneously slided on housing (101) with respect to housing (101)
Slip lid (102), housing (101) upper end relative position is provided with slide unit (103)；
The lowering or hoisting gear (2) in the shell (1) is arranged on, the lowering or hoisting gear (2) includes hoistable platform (201) and driving rises
Drop and be provided with cross chute (202) on the lift drive mechanism of platform (201) lifting, the hoistable platform (201)；
The homing device (3) on hoistable platform (201) is arranged on, the homing device (3) includes being arranged on hoistable platform (201)
Four playback bars (301) of upper surface and the playback drive mechanism for being arranged on hoistable platform (201) lower surface；Four playback bars
(301) one end respectively with the cross chute (202) on hoistable platform (201) is vertically arranged, the playback drive mechanism
It is fixedly connected through four ends of cross chute (202) with four playback bars (301), by playbacking, drive mechanism drives four
Playback bar (301) is synchronously outwardly or inwardly moved；
It is arranged on hoistable platform (201) and changes cell apparatus (4), the cell apparatus (4) that changes includes and the housing (101)
On slide unit (103) be slidably matched manipulator carrying platform (403), be fixedly installed on manipulator (401) and ride over platform lower end
Manipulator (401) and the battery house keeper (402) of hoistable platform (201) upper surface is arranged on by rotatable platform；
And controller, the controller control lift drive mechanism, playback drive mechanism, manipulator (401) and manipulator are taken
The motion of carrying platform (403).
2. unmanned plane according to claim 1 houses and changes electric installation, it is characterised in that the playback drive mechanism includes：
It is fixed on hoistable platform (201) the lower surface electric rotating platform corresponding with cross chute (202) center
(302)；
The cross bull stick (303) that center is fixedly connected with the electric rotating platform (302)；
Four push rods (304), the end of one end of four push rods (304) respectively with cross bull stick (303) is hinged, institute
The other end for stating four push rods (304) is hinged with an ear piece (305) respectively；
And four baffle plates (306) with the connection of four ear pieces (305) respectively, four baffle plates (306) are each passed through lifting
Four ends of the chute (202) on platform (201) are fixedly connected with four playback bars (301).
3. unmanned plane according to claim 1 houses and changes electric installation, it is characterised in that the slip lid (102) and the shell
Body (101) is slidably matched specially：Housing (101) upper end relative position is provided with electric sliding rail (104), the slip lid
(102) it is divided into left and right two parts, the two-part two ends in left and right of slip lid (102) are respectively and the electric sliding rail (104) that is oppositely arranged
It is slidably matched and realizes folding, the electric sliding rail (104) controls to move by the controller.
4. unmanned plane according to claim 1 or 2 houses and changes electric installation, it is characterised in that the lift drive mechanism bag
Spindle motor (203) and leading screw are included, the hoistable platform (201) connects with the threaded one end of equally distributed multiple leading screws respectively
Connect, the other end of multiple leading screws is connected with a spindle motor (203) respectively.
5. unmanned plane according to claim 4 houses and changes electric installation, it is characterised in that the hoistable platform (201) is side
Shape hoistable platform (201), the quantity of the leading screw is four, is coordinated respectively with the corner of hoistable platform (201).
6. unmanned plane according to claim 1 houses and changes electric installation, it is characterised in that the manipulator carrying platform
(403) infrared tube is provided with.
7. unmanned plane according to claim 1 houses and changes electric installation, it is characterised in that the manipulator (401) includes：
It is fixed on the containment vessel (410) of manipulator carrying platform (403) lower surface；
Push pedal (409) in containment vessel (410) is set；
The first connecting plate (406) and the second connecting plate (407) that upper end and push pedal (409) lower surface are hinged；
The first clamp (404) and the second clamp being hinged respectively with the first connecting plate (406) and the second connecting plate (407) other end
(405), first clamp (404) and the second clamp (405) upper end cross-articulation are set, and hinged place is provided with torsion spring, and
Two ends and the containment vessel (410) connection, during torsion spring nature, first clamp (404) and the second clamp (405) are in
Clamped condition, first clamp (404) and the second clamp (405) lower end are located at housing exterior, first connecting plate
(406), the second connecting plate (407), the first clamp (404) and the second clamp (405) constitute parallel-crank mechanism；
The push rod (408) that one end is fixedly connected with push pedal (409) upper surface, push rod (408) upper end passes through containment vessel (410)
Upper surface and manipulator carrying platform (403)；
And it is fixed on the electric pushrod (411) of manipulator carrying platform (403) upper surface, the electric pushrod (411) and institute
Stating push rod (408) upper end coordinates driving push rod (408) to move up and down.
8. housed based on the unmanned plane described in claim 1 change electric installation change method for electrically, it is characterised in that including following step
Suddenly：
Step one：Controller control playback bar (301) is located at the outermost end of motion, and control machinery hand carrying platform (403) is located at
The one end of hoistable platform (201)；
Step 2：Unmanned plane (5) is dropped on the elevating movement platform, and electric rotating platform (302) rotates synchronous drive four
Root playback bar (301) is inwardly moved, and by unmanned plane (5) pose adjustment to specified location and in x, y, tri- directions of z limit its position
Move；
Step 3：Manipulator carrying platform (403) is slided on slide unit (103), driving mechanical hand (401) to unmanned plane (5) electricity
Above pond；
Step 4：Controller control machinery hand (401) is opened, and spindle motor (203) driving hoistable platform (201) is moved upwards,
The battery of unmanned plane (5) is set to enter in manipulator (401) clamping range, controller control machinery hand (401) closure clamps battery
Jump ring；
Step 5：Controller control hoistable platform (201) is moved downward, then control machinery hand carrying platform (403) is along slide unit
(103) move to above battery house keeper (402)；
Step 6：Controller control hoistable platform (201) is moved upwards, the battery that manipulator (401) is clamped is put into cell tube
In family's (402) charge port, manipulator (401) is opened, and hoistable platform (201) is moved downward, away from manipulator (401)；
Step 7：Electric rotating platform (302) is rotated, and the battery that electricity is filled with battery house keeper (402) is moved into machinery
Below hand (401)；
Step 8：Hoistable platform (201) rises, and fully charged battery enters manipulator (401) clamping range；Manipulator (401)
Battery jump ring is clamped, hoistable platform (201) declines；
Step 9：Manipulator carrying platform (403) is slided along slide unit (103) makes manipulator (401) be located at unmanned plane (5) battery compartment
Top；
Step 10：Hoistable platform (201) rises, and the fully charged battery that manipulator (401) is clamped is entered unmanned plane (5) battery
Storehouse, manipulator (401) opens, and hoistable platform (201) declines, and manipulator carrying platform (403) is mobile along slide unit (103), by machine
Tool hand (401) delivers to initial position.
9. unmanned plane according to claim 8 houses and changes method for electrically, it is characterised in that the manipulator carrying platform
(403) infrared tube is provided with.
10. unmanned plane according to claim 8 houses and changes method for electrically, it is characterised in that the manipulator (401) includes：
It is fixed on the containment vessel (410) of manipulator carrying platform (403) lower surface；
Push pedal (409) in containment vessel (410) is set；
The first connecting plate (406) and the second connecting plate (407) that upper end and push pedal (409) lower surface are hinged；
The first clamp (404) and the second clamp being hinged respectively with the first connecting plate (406) and the second connecting plate (407) other end
(405), first clamp (404) and the second clamp (405) upper end cross-articulation are set, and hinged place is provided with torsion spring, and
Two ends and the containment vessel (410) connection, during torsion spring nature, first clamp (404) and the second clamp (405) are in
Clamped condition, first clamp (404) and the second clamp (405) lower end are located at housing exterior, first connecting plate
(406), the second connecting plate (407), the first clamp (404) and the second clamp (405) constitute parallel-crank mechanism；
The push rod (408) that one end is fixedly connected with push pedal (409) upper surface, push rod (408) upper end passes through containment vessel (410)
Upper surface and manipulator carrying platform (403)；
And it is fixed on the electric pushrod (411) of manipulator carrying platform (403) upper surface, the electric pushrod (411) and institute
Stating push rod (408) upper end coordinates driving push rod (408) to move up and down.
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| CN201710286970.6A CN107065614B (en) | 2017-04-27 | 2017-04-27 | Electric installation and method are changed in unmanned plane receiving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710286970.6A CN107065614B (en) | 2017-04-27 | 2017-04-27 | Electric installation and method are changed in unmanned plane receiving |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107065614A true CN107065614A (en) | 2017-08-18 |
| CN107065614B CN107065614B (en) | 2019-05-10 |
Family
ID=59605105
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710286970.6A Expired - Fee Related CN107065614B (en) | 2017-04-27 | 2017-04-27 | Electric installation and method are changed in unmanned plane receiving |
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| CN108501000A (en) * | 2018-06-20 | 2018-09-07 | 江苏大成航空科技有限公司 | A kind of unmanned plane battery changing machine tool hand |
| CN108545063A (en) * | 2018-06-05 | 2018-09-18 | 黄山学院 | A kind of unmanned plane automatic battery replacement device and method |
| CN108638904A (en) * | 2018-06-28 | 2018-10-12 | 芜湖新尚捷智能信息科技有限公司 | A kind of outdoor wall-hanging unmanned plane charging unit and its control system |
| CN108945500A (en) * | 2018-05-23 | 2018-12-07 | 武汉科技大学 | Quadrotor drone movable type landing platform and battery methods are replaced automatically |
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| CN108945500A (en) * | 2018-05-23 | 2018-12-07 | 武汉科技大学 | Quadrotor drone movable type landing platform and battery methods are replaced automatically |
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| CN108501000A (en) * | 2018-06-20 | 2018-09-07 | 江苏大成航空科技有限公司 | A kind of unmanned plane battery changing machine tool hand |
| CN108638904A (en) * | 2018-06-28 | 2018-10-12 | 芜湖新尚捷智能信息科技有限公司 | A kind of outdoor wall-hanging unmanned plane charging unit and its control system |
| CN109774959A (en) * | 2019-01-10 | 2019-05-21 | 山东理工大学 | The unmanned plane landing platform of the automatic replacement cell apparatus of band |
| CN109573066A (en) * | 2019-01-25 | 2019-04-05 | 王彩霞 | A kind of unmanned flight's equipment being conveniently replaceable battery |
| CN110203087A (en) * | 2019-05-17 | 2019-09-06 | 西安理工大学 | Charge level ground system and its charging method for the unmanned plane base station autonomous landing 5G |
| CN112292321A (en) * | 2019-11-13 | 2021-01-29 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle take-off and landing platform, unmanned aerial vehicle take-off and landing control method, unmanned aerial vehicle take-off and landing control device and machine readable storage medium |
| CN113060042A (en) * | 2019-12-31 | 2021-07-02 | 天津大学 | Unmanned aerial vehicle battery reloading platform and unmanned aerial vehicle battery reloading method based on manipulator |
| CN111547642A (en) * | 2020-04-08 | 2020-08-18 | 哈尔滨兆禾机械设备技术开发有限公司 | Aircraft lift platform with shock-absorbing function |
| CN111688942A (en) * | 2020-06-02 | 2020-09-22 | 西安交通大学 | Method and device for actively capturing and assisting unmanned aerial vehicle to land by manipulator |
| CN112172595A (en) * | 2020-09-16 | 2021-01-05 | 燕山大学 | Unmanned aerial vehicle battery replacement base station and method based on parallel mechanism |
| CN112873176B (en) * | 2021-01-08 | 2021-09-07 | 安徽大学 | Manipulator positioning device and positioning method thereof |
| CN112873176A (en) * | 2021-01-08 | 2021-06-01 | 安徽大学 | Manipulator positioning device and positioning method thereof |
| CN113183824A (en) * | 2021-07-01 | 2021-07-30 | 中苏科技股份有限公司 | Power changing system and power changing method for plant protection unmanned aerial vehicle |
| CN114379411A (en) * | 2021-10-26 | 2022-04-22 | 浙江大学 | Unmanned aerial vehicle trades battery base station |
| CN114379411B (en) * | 2021-10-26 | 2024-01-05 | 浙江大学 | Unmanned aerial vehicle trades battery basic station |
| CN115503546A (en) * | 2022-11-16 | 2022-12-23 | 泰昌科技(杭州)有限公司 | Automatic battery replacement platform for unmanned aerial vehicle |
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