CN111038454A - Unmanned aerial vehicle battery replacement system and closed-loop automatic control method - Google Patents
Unmanned aerial vehicle battery replacement system and closed-loop automatic control method Download PDFInfo
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- CN111038454A CN111038454A CN201911388466.2A CN201911388466A CN111038454A CN 111038454 A CN111038454 A CN 111038454A CN 201911388466 A CN201911388466 A CN 201911388466A CN 111038454 A CN111038454 A CN 111038454A
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- 230000007246 mechanism Effects 0.000 claims abstract description 60
- 210000000078 claw Anatomy 0.000 claims abstract description 26
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- 230000009471 action Effects 0.000 claims description 21
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- 230000002159 abnormal effect Effects 0.000 claims description 6
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/06—Supplying batteries to, or removing batteries from, vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention relates to an unmanned aerial vehicle battery replacement system and a closed-loop automatic control method, which comprise an unmanned aerial vehicle platform, a grabbing mechanism, a battery replacement mechanism, a charging cabin A, a charging cabin B and a control circuit board, wherein the grabbing mechanism and the battery replacement mechanism are positioned on one side of the unmanned aerial vehicle platform, the grabbing mechanism comprises a mechanical claw, a Z-axis rotating module, a Y-axis module and an X-axis module, and the charging cabin is fixedly assembled on a charging cabin bracket. This system is automatic closed loop battery system that trades, snatchs the gripper realization of mechanism and gets and put the battery, removes the battery to charging position or unmanned aerial vehicle parking position, and the setting of battery change mechanism cooperatees with snatching the mechanism, can save the occupation of land space of equipment to can be according to the cabin position state of battery, the system is automatic to be judged and is carried out and place the battery in the vacancy cabin and will be changed the battery of another cabin position, need not artifical judgement cabin position state and selects the cabin position.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle battery replacement, in particular to an unmanned aerial vehicle battery replacement system and a closed-loop automatic control method.
Background
Unmanned aerial vehicles are unmanned aerial vehicles operated by radio remote control equipment and self-contained program control devices, or are completely or intermittently and autonomously operated by vehicle-mounted computers, and currently, unmanned aerial vehicles are divided into two major categories, namely military and civil, and the civil aspect is mainly applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, electric inspection, disaster relief, movie and television shooting, romance manufacturing and the like.
The endurance time is one of the most important performance indexes of the unmanned aerial vehicle, can directly indicate the capacity of persistent combat or persistent flight after the unmanned aerial vehicle is charged once, and is directly related to the endurance time, namely the electric quantity of the battery, and the battery has long service life and long endurance time; the electric quantity live time of battery is short, and the time of endurance is short, and current unmanned aerial vehicle arrives appointed place and charges after the battery electric quantity finishes using, and present charging mode is mostly after the battery is changed to the manual work, charges in putting into the charger with the battery under changing, has increased the cost of labor, has reduced its availability factor.
Disclosure of Invention
In order to overcome the defects, the invention aims to provide an unmanned aerial vehicle battery replacement system and a closed-loop automatic control method.
The technical scheme adopted by the invention for solving the technical problems is as follows: an unmanned aerial vehicle battery replacing system comprises an unmanned aerial vehicle platform, a grabbing mechanism, a battery replacing mechanism, a charging cabin A, a charging cabin B and a control circuit board, wherein the grabbing mechanism and the battery replacing mechanism are positioned on one side of the unmanned aerial vehicle platform;
the grabbing mechanism comprises a mechanical claw, a Z-axis rotating module, a Y-axis module and an X-axis module, the mechanical claw is mounted on a rotary table of the Z-axis rotating module, the Z-axis rotating module is mounted on a Z-axis rotary table support of the Y-axis module, a bottom fixing support of the Y-axis module is assembled on an X-axis sliding block of the X-axis module, the Z-axis rotating module is used for driving the mechanical claw to rotate on a horizontal plane, the Y-axis module is used for driving the mechanical claw to move on a Y axis, and the X-axis module is used for driving the mechanical claw to move on the X axis;
the charging cabin A and the charging cabin B are fixedly assembled on the charging cabin support, the charging cabin support is assembled on the battery replacing mechanism, the battery replacing mechanism drives the charging cabin A and the charging cabin B to do linear motion along the Y-axis direction, the charging cabin A is provided with the battery position sensor A, and the charging cabin B is provided with the battery position sensor B.
Specifically, the gripper adopts a split servo gripper, the housing of the gripper is fixedly mounted on a gripper bracket, the gripper bracket is fixedly mounted on a transition connecting plate, and the transition connecting plate is fixed on a turntable of the Z-axis rotation module.
Specifically, the Z-axis rotating module comprises a rotating table, a worm and gear assembly and a Z-axis motor, wherein the rotating table is connected with a worm wheel through a rotating shaft, the worm wheel is meshed with the worm, the worm is mechanically connected with the Z-axis motor through a worm gear box, a Z-axis shell is arranged outside the worm and gear assembly, and the Z-axis shell is fixedly installed on a Z-axis rotating table support.
Specifically, the Y-axis module comprises a Y-axis linear electric cylinder and a Y-axis linear sliding rail, the Z-axis turntable support is connected to the end portions of push rods of the Y-axis linear electric cylinder and the Y-axis linear electric cylinder, the Y-axis linear electric cylinder is fixed on the bottom fixing frame through the Y-axis electric cylinder support, a Y-axis linear sliding block is installed on the bottom fixing frame and assembled on the Y-axis linear sliding rail, the Y-axis linear sliding block plays a role in supporting and stabilizing the Y-axis linear sliding rail, the operation of the Y-axis linear sliding rail is more stable, and the bottom fixing frame is assembled on the X-axis sliding block.
Specifically, the X-axis module comprises an X-axis sliding block, an X-axis guide rail, a ball screw and an X-axis motor, wherein the X-axis guide rail and the ball screw are arranged in parallel, the X-axis sliding block is assembled on the ball screw and the X-axis guide rail, and one end of the ball screw is mechanically connected with the X-axis motor.
Specifically, the battery is changed the initial position that the mechanism installed at the gripper, and the battery is changed the mechanism and is included the charging cabin support, the straight line electric jar that charges, the jar support that charges, the guide rail that charges, the push rod tip at the straight line electric jar that charges of cabin support mounting, the cabin support that charges passes through the slider assembly on the guide rail that charges, the straight line electric jar that charges is fixed on the unmanned aerial vehicle platform through the jar support that charges, under the prerequisite that does not increase the gripper stroke, change the position through the straight line electric jar that charges and drive the cabin support that charges and remove the position that realizes changing the charging cabin A, the cabin B that charges.
For the unmanned aerial vehicle battery replacement system, the system automatically judges and executes to place the battery in the vacancy charging cabin according to the cabin position state of the battery, and replaces the battery in another cabin position without manually judging the cabin position state and selecting the cabin position, and the implementation method comprises the following steps:
step 1: the system is provided with a closed loop judgment scheme, after a battery replacement command is executed, the system firstly detects the battery states of two charging bays, the default factory state of the system is that a battery is arranged on an unmanned aerial vehicle body, a standby battery is arranged on an unmanned aerial vehicle platform, and a system sensor detects four state conditions:
state 1: the charging cabin A is provided with a battery, and the charging cabin B is not provided with a battery;
state 2: the charging cabin A has no battery, and the charging cabin B has a battery;
the state 3 is that the charging cabin A has no battery, the charging cabin B has no battery and has no standby battery;
and 4: the charging cabin A is provided with a battery, the charging cabin B is provided with a battery, and the system is in an abnormal power failure condition in the battery replacement process;
step 2: according to the four sensor states, the system presets three execution actions.
In state 1 and state 3, perform action one: the acquiescence of system is charged cabin B and is located the gripper reset position, at first the X axle module, the Y axle module, the rotatory module of Z axle removes unmanned aerial vehicle and parks the position, the gripper snatchs unmanned aerial vehicle's battery, put into the cabin B that charges, the battery is changed the mechanism and is removed the gripper position, the gripper takes out the battery of the cabin A that charges, the X axle module, the Y axle module, the rotatory module of Z axle removes unmanned aerial vehicle and parks the position, put into unmanned aerial vehicle with the battery, the battery is changed the mechanism and is reset, the X axle module, the Y axle module, the rotatory module of Z axle.
In state 2, action two is performed: at first the battery is changed the mechanism and is removed the messenger and charge cabin A to the gripper stop position, then system X axle module, Y axle module, the rotatory module of Z axle removes unmanned aerial vehicle stop position, the gripper takes out unmanned aerial vehicle's battery, put into the cabin A that charges, the battery is changed the mechanism and is reset, the gripper takes out the battery of the cabin B that charges, system X axle module, Y axle module, the rotatory module of Z axle removes unmanned aerial vehicle stop position, put into unmanned aerial vehicle with the battery, X axle module, Y axle module, the rotatory module of Z axle resets.
The state 4 is an abnormal state, mechanical parts such as a battery replacing mechanism, a grabbing mechanism and the like in the system do not execute any action, and the control circuit sends an error reporting instruction.
Specifically, when the state 3 is used for the situation that no standby battery is solely charged in the unmanned aerial vehicle platform, the first action is executed, the unmanned aerial vehicle battery is taken out by the mechanical claw for the first time and is placed into the charging cabin B, the return stroke is an idle stroke, after the charging is completed, the battery replacement operation is executed, and the system executes the second action to replace the charged battery in the charging cabin B.
The invention has the following beneficial effects: this system is automatic closed loop battery system that trades, the gripper of snatching the mechanism realizes getting and puts the battery, and through the rotatory module of Z axle, Y axle module, the action of X axle module, move the battery to charge position or unmanned aerial vehicle parking position, the setting of battery change mechanism cooperatees with snatching the mechanism, under the prerequisite that does not increase the gripper stroke, change the position through the straight line electric jar that charges and drive the battery cabin support and remove and realize changing the battery cabin A, the position of battery cabin B, can save the occupation of land space of equipment, and can be according to the cabin position state of battery, the system judges automatically and carries out to place the battery in the vacancy cabin and will change the battery of another cabin position, need not artifical judgement cabin position state and selects the cabin position.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a top view of the present invention.
Fig. 3 is a schematic structural diagram of a battery replacement mechanism according to the present invention.
Fig. 4 is a schematic structural diagram of the battery grasping mechanism of the present invention.
Fig. 5 is a schematic structural view of the connection between the gripper and the Z-axis rotation module according to the present invention.
Fig. 6 is a schematic structural view of a gripper according to the present invention.
Fig. 7 is a schematic structural diagram of a Z-axis rotation module according to the present invention.
FIG. 8 is a schematic structural diagram of a Y-axis module according to the present invention.
FIG. 9 is a schematic structural diagram of an X-axis module according to the present invention.
FIG. 10 is a flow chart of the closed loop control of the present invention.
In the figure, 1 unmanned aerial vehicle platform, 2 unmanned aerial vehicle, 3 grabbing mechanisms, 301 mechanical claws, 3011 claw blocks, 3012 wire plugs, 302Z-axis rotating module, 3021 turntable, 3022 worm gear assembly, 3023 worm gear box, 3024Z-axis motor, 3025Z-axis housing, 303Y-axis module, 3031Z-axis turntable support, 3032Y-axis linear slide rail, 3033Y-axis linear slider, 3034Y-axis linear electric cylinder, 3035Y-axis electric cylinder support, 3036 bottom fixed support, 304X-axis module, 3041X-axis slider, 3042 ball screw, 3043X-axis guide rail, 3044X-axis motor, 305 gripper support, 306 transition connection plate, 4 battery replacing mechanism, 401 charging cabin support, 402 charging linear electric cylinder, 403 charging cylinder support, 404 charging guide rail, 5 control circuit board, 6 charging cabin B, 601 battery position sensor B, 7 charging cabin a, 701 battery position sensor a.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 9, an unmanned aerial vehicle battery replacing system includes an unmanned aerial vehicle platform 1, a grabbing mechanism 3, a battery replacing mechanism 4, a charging cabin a7, a charging cabin B6, and a control circuit board 5, wherein the grabbing mechanism 3 and the battery replacing mechanism 4 are located on one side of the unmanned aerial vehicle platform 1;
the grabbing mechanism 3 comprises a mechanical claw 301, a Z-axis rotating module 302, a Y-axis module 303 and an X-axis module 304, wherein the mechanical claw 301 is installed on a rotary table 3021 of the Z-axis rotating module 302, the Z-axis rotating module 302 is installed on a Z-axis rotary table support 3031 of the Y-axis module 303, a bottom fixing support 3036 of the Y-axis module 303 is assembled on an X-axis sliding block 3041 of the X-axis module 304, the Z-axis rotating module 302 is used for driving the mechanical claw 301 to rotate on a horizontal plane, the Y-axis module 303 is used for driving the mechanical claw 301 to move on the Y axis, and the X-axis module 304 is used for driving the mechanical claw 301 to move on the X axis;
in order to save the occupied space of equipment, charging cabin A7, charging cabin B6 are fixed to be assembled on charging cabin support 401, charging cabin support 401 is assembled on battery change mechanism 4, battery change mechanism 4 drives charging cabin A7, charging cabin B6 to be linear motion along the Y-axis direction, battery position sensor A701 is installed on charging cabin A7, and battery position sensor B601 is installed on charging cabin B6.
Specifically, gripper 301 adopts to open servo gripper, has designed customization claw piece 3011 according to unmanned aerial vehicle 2's battery, and gripper 301 embeds small motor gear, realizes the clamping function, can realize snatching unmanned aerial vehicle 2's battery, and gripper 301's shell fixed mounting is on gripper support 305, and gripper support 305 fixed mounting is on transition connecting plate 306, and transition connecting plate 306 is fixed on the revolving stage 3021 of Z axle rotation module 302.
Specifically, what the Z-axis rotation module 302 adopted is that the Z-axis motor 3024 drives the worm gear assembly 3022, so that the turntable 3021 rotates, the Z-axis rotation module 302 includes the turntable 3021, the worm gear assembly 3022, and the Z-axis motor 3024, the turntable 3021 is connected to the worm wheel through the rotating shaft, the worm wheel is connected to the worm, the worm is mechanically connected to the Z-axis motor 3024 through the worm gear box 3023, the worm gear assembly 3022 is externally provided with a Z-axis housing, and the Z-axis housing is fixedly mounted on the Z-axis table support 3031.
Specifically, the Y-axis module 303 includes a Y-axis linear electric cylinder 3034 and a Y-axis linear sliding rail 3032, the Z-axis table support 3031 is connected to the Y-axis linear sliding rail 3032 and the end of the push rod of the Y-axis linear electric cylinder 3034, the Y-axis linear electric cylinder 3034 is fixed on a bottom fixing frame 3036 through a Y-axis electric cylinder support 3035, a Y-axis linear slider 3033 is mounted on the bottom fixing frame 3036, the Y-axis linear slider 3033 is mounted on the Y-axis linear sliding rail 3032 to play a role in supporting and stabilizing the Y-axis linear sliding rail 3032, so that the Y-axis linear sliding rail 3032 operates more stably, and the bottom fixing frame 3036 is mounted on the X-axis slider 3041.
Specifically, the X-axis module 304 includes an X-axis slider 3041, an X-axis guide rail 3043, a ball screw 3042, and an X-axis motor 3044, where the X-axis guide rail 3043 and the ball screw 3042 are arranged in parallel, the X-axis slider 3044 is assembled on the ball screw 3042 and the X-axis guide rail 3043, and one end of the ball screw 3042 is mechanically connected to the X-axis motor 3044.
Specifically, the battery replacement mechanism 4 is installed at the initial position of gripper 301, and the battery replacement mechanism 4 includes charging cabin support 401, the electric jar 402 of the straight line that charges, charging cylinder support 403, the guide rail 404 that charges, charging cabin support 401 is installed at the push rod tip of the electric jar 402 of the straight line that charges, charging cabin support 401 passes through the slider assembly on the guide rail 404 that charges, the electric jar 402 of the straight line that charges is fixed on unmanned aerial vehicle platform 1 through charging cylinder support 403, under the prerequisite that does not increase gripper 301 stroke, change the position through the electric jar 402 of the straight line that charges and drive charging cabin support 401 and remove the realization and change charging cabin A7, the position of charging cabin B6.
The unmanned aerial vehicle battery replacement system is an automatic closed-loop battery replacement system, is provided with two charging cabins, which are respectively set as a charging cabin A and a charging cabin B, and according to the cabin position state of a battery, the system automatically judges and executes to place the battery in a vacant charging cabin and replace the battery in another charging cabin position without manually judging the cabin position state and selecting the cabin position, as shown in fig. 10, the implementation method is as follows:
step 1: the system is internally provided with a closed loop judgment scheme, after a battery replacement command is executed, the system firstly detects the battery states of two charging bays, the default factory state of the system is that a battery is arranged on the body of an unmanned aerial vehicle 2, a standby battery is arranged on the unmanned aerial vehicle platform 1, and the system sensors, namely a battery position sensor A601 and a battery position sensor B701, detect four state conditions:
state 1: the charging cabin A is provided with a battery, and the charging cabin B is not provided with a battery;
state 2: the charging cabin A has no battery, and the charging cabin B has a battery;
the state 3 is that the charging cabin A has no battery, the charging cabin B has no battery and has no standby battery;
and 4: the charging cabin A is provided with a battery, the charging cabin B is provided with a battery, and the system is in an abnormal power failure condition in the battery replacement process;
the method comprises the following steps: according to the four sensor states, the system presets three execution actions.
In state 1 and state 3, perform action one: the default charging cabin B6 of the system is located at a mechanical claw reset position, firstly, the X-axis module 304, the Y-axis module 303 and the Z-axis rotating module 302 move a parking position of the unmanned aerial vehicle 2, the mechanical claw 301 grabs a battery of the unmanned aerial vehicle 2 and puts the battery into the charging cabin B, the battery replacing mechanism 4 moves to a position of the mechanical claw 301, the mechanical claw 301 takes out the battery of the charging cabin A7, the X-axis module 304, the Y-axis module 303 and the Z-axis rotating module 302 move to a parking position of the unmanned aerial vehicle 2 and put the battery into the unmanned aerial vehicle 2, the battery replacing mechanism 4 resets, the X-axis module 304, the Y-axis module 303 and the Z-axis rotating module 302 reset, when the state 3 is noticed, the situation that the unmanned aerial vehicle platform has no spare battery and is charged independently is used, the mechanical claw 301 takes out the battery of the unmanned aerial vehicle for the first time and puts the battery into the charging cabin B6, the return stroke is an idle stroke, when the battery is charged, the battery replacing operation is executed, and, in the second action, the action of taking out the battery from the unmanned aerial vehicle 2 is an idle stroke.
In state 2, action two is performed: at first 4 removal messenger's charging cabin A7 to gripper 301 parking position of battery replacement mechanism, then system X axle module 304, Y axle module 303, the rotatory module 302 of Z axle moves unmanned aerial vehicle 2 parking position, gripper 301 takes out unmanned aerial vehicle 2's battery, put into charging cabin A6, battery replacement mechanism 4 resets, gripper 301 takes out the battery of charging cabin B6, system X axle module 304, Y axle module 303, the rotatory module 302 of Z axle moves to unmanned aerial vehicle 2 parking position, put into unmanned aerial vehicle 2 with the battery, X axle module 304, Y axle module 303, the rotatory module 302 of Z axle resets.
The state 4 is an abnormal state, mechanical parts such as the battery replacing mechanism 4 and the grabbing mechanism 3 in the system do not execute any action, and the control circuit sends an error reporting instruction.
The present invention is not limited to the above embodiments, and any structural changes made under the teaching of the present invention shall fall within the protection scope of the present invention, which is similar or similar to the technical solutions of the present invention.
The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.
Claims (10)
1. The utility model provides an unmanned aerial vehicle battery replacement system, includes the unmanned aerial vehicle platform, its characterized in that: the unmanned aerial vehicle charging system further comprises a grabbing mechanism, a battery replacing mechanism, a charging cabin and a control circuit board, wherein the grabbing mechanism and the battery replacing mechanism are positioned on one side of the unmanned aerial vehicle platform;
the grabbing mechanism comprises a mechanical claw, a Z-axis rotating module, a Y-axis module and an X-axis module, the mechanical claw is mounted on a rotary table of the Z-axis rotating module, the Y-axis module is used for driving the mechanical claw to move on a Y axis, and the X-axis module is used for driving the mechanical claw to move on an X axis;
the charging cabin is provided with at least two charging cabins, the charging cabin is fixedly assembled on a charging cabin support, the charging cabin support is assembled on a battery replacing mechanism, the battery replacing mechanism drives the charging cabin to move linearly in the Y-axis direction, and a battery position sensor is installed on the charging cabin.
2. The unmanned aerial vehicle battery change system of claim 1, wherein: the Z-axis rotating module is installed on a Z-axis turntable support of the Y-axis module, a bottom fixing support of the Y-axis module is assembled on an X-axis sliding block of the X-axis module, and the Z-axis rotating module is used for driving the mechanical claw to rotate on a horizontal plane.
3. The unmanned aerial vehicle battery change system of claim 2, wherein: the mechanical gripper adopts a split servo mechanical gripper, a shell of the mechanical gripper is fixedly arranged on a mechanical gripper support, the mechanical gripper support is fixedly arranged on a transition connecting plate, and the transition connecting plate is fixed on a rotary table of the Z-axis rotating module.
4. The unmanned aerial vehicle battery change system of claim 2, wherein: the Z-axis rotating module comprises a rotating platform, a worm and gear assembly and a Z-axis motor, the rotating platform is connected with a worm gear through a rotating shaft, the worm gear is meshed with the worm, and the worm is mechanically connected with the Z-axis motor through a worm gear box.
5. The unmanned aerial vehicle battery change system of claim 2, wherein: the Y-axis module comprises a Y-axis linear electric cylinder and a Y-axis linear sliding rail, the Z-axis turntable support is connected to the end portions of push rods of the Y-axis linear electric cylinder and the Y-axis linear electric cylinder, the Y-axis linear electric cylinder is fixed on a bottom fixing frame through a Y-axis electric cylinder support, a Y-axis linear sliding block is installed on the bottom fixing frame, and the Y-axis linear sliding block is assembled on the Y-axis linear sliding rail.
6. The unmanned aerial vehicle battery change system of claim 2, wherein: the X-axis module comprises an X-axis sliding block, an X-axis guide rail, a ball screw and an X-axis motor, wherein the X-axis guide rail and the ball screw are arranged in parallel, the X-axis sliding block is assembled on the ball screw and the X-axis guide rail, and one end of the ball screw is mechanically connected with the X-axis motor.
7. The unmanned aerial vehicle battery change system of claim 2, wherein: the battery replacement mechanism is installed at the initial position of gripper, and the battery replacement mechanism includes the cabin support that charges, the straight line electric jar that charges, the jar support that charges, the guide rail that charges, and the cabin support mounting that charges is at the push rod tip of the straight line electric jar that charges, and the cabin support that charges passes through the slider assembly on the guide rail that charges, and the straight line electric jar that charges is fixed on the unmanned aerial vehicle platform through the jar support that charges.
8. The system of any one of claims 2 to 7, wherein: the charging cabin is provided with two charging cabins which are respectively set as a charging cabin A and a charging cabin B.
9. A closed-loop automatic control method of an unmanned aerial vehicle battery replacement system is characterized in that: the method comprises the following steps:
step 1: the system is provided with a closed loop judgment scheme, after a battery replacement command is executed, the system firstly detects the battery states of two charging bays, the default factory state of the system is that a battery is arranged on an unmanned aerial vehicle body, a standby battery is arranged on an unmanned aerial vehicle platform, and a system sensor detects four state conditions:
state 1: the charging cabin A is provided with a battery, and the charging cabin B is not provided with a battery;
state 2: the charging cabin A has no battery, and the charging cabin B has a battery;
in the state 3, the charging cabin A has no battery, and the charging cabin B has no battery;
and 4: the charging cabin A is provided with a battery, and the charging cabin B is provided with a battery;
step 2: according to the four sensor states, the system presets three execution actions, namely an execution action I, an execution action II and an abnormal state;
and step 3: after the actual conditions of the charging cabin A and the charging cabin B are detected by the sensors, the system performs the following operations:
in state 1 and state 3, perform action one: the acquiescence of system is charged cabin B and is located the gripper reset position, at first the X axle module, the Y axle module, the rotatory module of Z axle removes unmanned aerial vehicle and parks the position, the gripper snatchs unmanned aerial vehicle's battery, put into the cabin B that charges, the battery is changed the mechanism and is removed the gripper position, the gripper takes out the battery of the cabin A that charges, the X axle module, the Y axle module, the rotatory module of Z axle removes unmanned aerial vehicle and parks the position, put into unmanned aerial vehicle with the battery, the battery is changed the mechanism and is reset, the X axle module, the Y axle module, the rotatory module of Z axle.
In state 2, action two is performed: at first the battery is changed the mechanism and is removed the messenger and charge cabin A to the gripper stop position, then system X axle module, Y axle module, the rotatory module of Z axle removes unmanned aerial vehicle stop position, the gripper takes out unmanned aerial vehicle's battery, put into the cabin A that charges, the battery is changed the mechanism and is reset, the gripper takes out the battery of the cabin B that charges, system X axle module, Y axle module, the rotatory module of Z axle removes unmanned aerial vehicle stop position, put into unmanned aerial vehicle with the battery, X axle module, Y axle module, the rotatory module of Z axle resets.
The state 4 is an abnormal state, mechanical parts such as a battery replacing mechanism, a grabbing mechanism and the like in the system do not execute any action, and the control circuit sends an error reporting instruction.
10. The closed-loop automatic control method of the unmanned aerial vehicle battery exchange system according to claim 9, characterized in that: when the state 3 is used for the situation that the unmanned aerial vehicle platform is charged independently without a standby battery, firstly, the first action is executed, the unmanned aerial vehicle battery is taken out by the mechanical claw for the first time and is placed into the charging cabin B, the return stroke is an idle stroke, after the charging is completed, the battery replacement operation is executed, and the system executes the second action to replace the charged battery in the charging cabin B.
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