CN111267790A - Unmanned aerial vehicle battery quick change system - Google Patents
Unmanned aerial vehicle battery quick change system Download PDFInfo
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- CN111267790A CN111267790A CN202010085956.1A CN202010085956A CN111267790A CN 111267790 A CN111267790 A CN 111267790A CN 202010085956 A CN202010085956 A CN 202010085956A CN 111267790 A CN111267790 A CN 111267790A
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
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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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- 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
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses a quick change system for a battery of an unmanned aerial vehicle, and belongs to the technical field of machinery. Unmanned aerial vehicle battery replacement system includes: battery rotary device, all direction movement platform truck, moving platform truck shell, friction pulley device, first battery box seat, battery case. The invention solves the problems of complex connection between the unmanned aerial vehicle and the battery, inconvenient battery replacement, time waste and low efficiency in the related technology, and improves the use efficiency of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to a quick change system for a battery of an unmanned aerial vehicle, and belongs to the technical field of machinery.
Background
In recent years, the unmanned aerial vehicle technology is rapidly developed, and the unmanned aerial vehicle is widely applied to industrial production and daily life by virtue of the advantages of light volume, wide application, convenience in use and the like. However, because the battery technology of the existing unmanned aerial vehicle does not make substantial breakthrough, the dead time of the multi-rotor unmanned aerial vehicle is about 20-30 minutes generally, and the industrial application requirements can not be met far; many researches start from the directions of improving the battery performance, lightening the weight of the unmanned aerial vehicle, replacing the battery at regular time and the like, and attempt to improve the endurance of the unmanned aerial vehicle, but the schemes are not perfect and cannot be widely applied; for more than ten years of battery technology development, technicians mostly innovate in battery materials from graphite cathodes, silicon cathodes, metal cathodes to graphene, and though a large amount of capital is invested in the aspects and a large number of papers are made, the battery has not been broken through in the aspect of battery endurance; because hardly on the basis of current battery technology and unmanned aerial vehicle structure, carry out the revolutionary breakthrough of duration, consequently it is not sensible to continue to invest a large amount of funds in the aspect of battery technology and unmanned aerial vehicle structure and improve the problem that unmanned aerial vehicle duration is short.
The problem of unmanned aerial vehicle continuation of the journey short is solved and progressively commercialized from another angle to current unmanned aerial vehicle fills electric pile system, but its cost is higher, fills electric pile distribution range and quantity limited, and needs unmanned aerial vehicle original place to charge and wait for can continue work for a long time, causes wasting of resources, inefficiency, can't satisfy normal industrial production demand, can't popularize the scheduling problem by a large scale.
In the current patent, for improving unmanned aerial vehicle duration, unmanned aerial vehicle trades battery system and makes unmanned aerial vehicle fall down on the unmanned aerial vehicle platform according to certain direction through vision recognition system, is equipped with four guide rails on the platform, is close to unmanned aerial vehicle from the four sides, makes unmanned aerial vehicle fix at the required position at last, and rethread trades battery mechanism and transversely pushes in the unmanned aerial vehicle battery jar with replacing old battery with new battery. The system has the advantages of large occupied area, long battery replacement time, high requirement on the attitude and the position of the unmanned aerial vehicle, high cost and difficulty in meeting the requirements of normal industrial production.
Therefore, a new method which can improve the cruising ability of the unmanned aerial vehicle, has a wide application range, low implementation cost, small occupied area and light volume is urgently needed to be found.
Disclosure of Invention
In order to solve the problems, the invention provides an unmanned aerial vehicle battery replacing system. The system provided by the invention has the advantages of simple operation, wide application range, short development period, moderate difficulty, low realization cost and the like.
The technical scheme of the invention is as follows:
the invention provides an unmanned aerial vehicle battery quick-change system, which comprises: the device comprises a battery rotating device, an all-directional moving platform truck, a moving platform truck shell, a friction wheel device, a first battery box seat and a battery box; the battery rotating device is fixed on the omnibearing moving platform truck, the shell of the moving platform truck is carried on the omnibearing moving platform truck, the friction wheel device is arranged at the top of the shell of the moving platform truck and is used for conveying a battery box between the unmanned aerial vehicle and the battery rotating device, the first battery box seat is fixed at the abdomen of the unmanned aerial vehicle, the battery boxes are fixed on the battery rotating device and the first battery box seat, and the top of the shell of the moving platform truck is provided with a battery hole for the battery box to pass through;
the friction wheel device includes: the device comprises a motor frame, a motor, a friction wheel and a rotating shaft; the battery box is characterized in that the two motor frames are transversely arranged on two sides of the battery hole, the friction wheels are connected with the motor through the motor frames and the rotating shaft, the friction wheels are of cylindrical structures, the two friction wheels are transversely arranged at two ends of the battery hole, two cylindrical walls of the two friction wheels are opposite, the battery box can be in contact with the two friction wheels, and the motor drives the friction wheels to rotate so as to convey the battery box into or out of the battery hole.
In one embodiment of the invention, the drone should have the following general configuration: a flight control system is arranged in the unmanned aerial vehicle, the flight control system comprises a gyroscope, a satellite positioning module and a control circuit, the gyroscope is used for sensing the flight posture of the unmanned aerial vehicle, and the satellite positioning module is used for controlling the hovering horizontal position and height of the unmanned aerial vehicle; the omni-directional mobile platform cart also includes the following common configurations: the inside detachable battery that is equipped with trades connects charging device, the inside device control system that is equipped with of detachable battery trades connects charging device, and device control system contains vision identification module, motion control system, battery and trades and connects charging control system, vision identification module is used for discerning the unmanned aerial vehicle position, battery trades and connects charging control system and is used for controlling the inside function of detachable battery trades and connects charging device.
The battery box comprises a second battery box seat, a battery box cover and a model airplane battery;
the second battery cartridge holder includes: the second fixing through hole, the second mounting through hole and the gripper fixing hole are formed in the base; the second battery box seat is of a hollow cuboid structure with an opening on one surface;
the battery case lid includes: the steering engine comprises an electric conducting sheet, a third mounting through hole, a third fixing through hole, a fixing rod, a spring, an XT interface, a steering engine, a steering wheel disc and a steering engine seat; the battery box cover is of a hollow cuboid cover-shaped structure with one open side; the steering engine seat is positioned in the center of the inner part of the battery box cover and is of a cuboid structure with a longitudinal through hole, one longitudinal surface of the steering engine seat is fixedly connected with one surface, facing the opening, of the battery box cover, the other longitudinal surface of the steering engine seat is fixedly connected with the steering engine, and the XT interfaces are positioned on one transverse side of the steering engine base and are two in total; the steering engine is connected with the rudder disc; the rudder disc is positioned in the rudder base hole and has a cam structure; the two fixed rods are positioned at the two longitudinal ends of the steering wheel, and one end of each fixed rod is in contact with the steering wheel; a spring is sleeved on the fixed rod, one end of the spring is fixed on the rudder base, and the other end of the spring is fixed on the longitudinal inner side wall of the battery box cover; the steering engine is used for controlling the steering wheel to rotate, and the fixed rod can extend out or retract into the third fixing through hole through the extension and retraction of the spring; the electric conduction sheet is positioned in the middle of the outer side face opposite to the opening of the battery box cover and is divided into a positive copper pole and a negative copper pole;
the XT plug is positioned at one side of the model airplane battery, and the model airplane battery can be connected with the battery box cover through the matching of the XT plug and the XT interface;
the first battery cartridge seat includes: the pin, the first mounting through hole and the first fixing through hole are arranged on the base; the first battery box seat is of a hollow cuboid structure with an opening on one surface, the opening of the first battery box seat faces downwards, and a contact pin is arranged in the center of one surface opposite to the opening and used for connecting an electric conduction sheet, so that the model airplane battery supplies power to the unmanned aerial vehicle through an internal circuit of the unmanned aerial vehicle;
the second mounting through hole and the third mounting through hole are used for fixedly connecting the second battery box seat and the battery box cover; the first battery box seat is arranged on the abdomen of the unmanned aerial vehicle through a first mounting through hole; the fixing rod can extend out of or retract into the third fixing through hole, the second fixing through hole and the first fixing through hole simultaneously.
In one embodiment of the invention, the outer side surface opposite to the opening of the second battery box seat is provided with a pattern which can be identified by a visual module.
In one embodiment of the invention, two first mounting through holes are provided, and are respectively arranged at two transverse ends of the first battery box seat; the two second mounting through holes are respectively arranged at the two transverse ends of the second battery box seat; the two third mounting through holes are respectively positioned at the two transverse ends of the battery box cover; and the second battery box seat and the battery box cover are fixedly connected by bolts.
In one embodiment of the invention, two first fixing through holes are provided, and are respectively arranged at two longitudinal ends of the first battery box seat; the two second fixing through holes are respectively arranged at the two longitudinal ends of the second battery box seat; the two third fixing through holes are respectively positioned at the two longitudinal ends of the battery box cover; when the battery case was located first battery box seat, third fixing hole, second fixing hole, first fixing hole's axle center was located a straight line this moment, stretched into simultaneously or contracted out third fixing hole, second fixing hole, first fixing hole through the dead lever to can fix or lift off the battery case from unmanned aerial vehicle.
In one embodiment of the invention, two grip fixing holes are formed in the second battery box seat and are respectively arranged at two longitudinal ends of the second battery box seat; the second fixing through hole and the hand grip fixing hole are respectively positioned on two sides of the same end;
in one embodiment of the invention, the longitudinal section of the rudder disk is formed by connecting two arcs with larger radius and two arcs with smaller radius, which are the same from top to bottom and from left to right, and straight lines; the steering engine acts after receiving the signal to drive the steering wheel to rotate, and when the steering wheel rotates to an arc with a smaller radius to be contacted with one end of the fixed rod, the compression spring is compressed at the moment, so that the fixed rod extends outwards; when the steering wheel rotates to an arc with a larger radius to be contacted with one end of the fixed rod, the compression spring extends at the moment, so that the fixed rod retracts.
In an embodiment of the present invention, the contact pin is cylindrical and is divided into two copper poles, i.e., a positive pole and a negative pole.
The battery rotary replacement device includes: the rotating outer cylinder, the gripper device, the cam ejector rod device, the motor torsion resistance, the third battery box seat, the bottom notch, the shuttle hole and the fixed seat;
the antitorque hollow cylinder structure that is of motor has a round hole in drum wall middle part, cam ejector pin device sets up in the antitorque middle part of motor, includes: the device comprises a push rod, an optical axis, a cam bearing, a brushless motor and a cam; the push rod is connected with the cam through a cam bearing and an optical axis, one end of the push rod can penetrate through the motor through a round hole to resist torsion, the cam is connected with the brushless motor, and the brushless motor controls the cam to rotate, so that the push rod is driven to enter and exit in the round hole through the cam bearing and the optical axis;
the rotary outer cylinder is arranged outside the motor in a torsion-resistant manner, and fixed seats are circumferentially distributed; the third battery box seat and the gripper device are respectively fixed on the fixed seat, and the middle part of the fixed seat is provided with an opening; the third battery box seat is of a hollow cuboid structure, one surface of the third battery box seat is open, and a bottom notch is formed in the surface facing the opening; two side faces of the third battery box seat, which are perpendicular to the circumferential direction of the rotary outer cylinder, are provided with shuttle holes; the battery box is fixed in the third battery box seat through the shuttle hole and the hand grip fixing hole by the hand grip device.
In one embodiment of the invention, one torsion-resistant end of the motor is connected with a round through large bearing, the round through large bearing is connected with a support frame, the other end of the round through large bearing is connected with a large bearing, and the large bearing is connected with the support frame through a coupler and an expansion sleeve; the support frame includes base and link, two totally, the link is the ring structure, is equipped with bloated cover and steering wheel in the ring, steering wheel outer lane is fixed with the support frame, and the inner circle can rotate along with the rotation of bloated cover.
In one embodiment of the present invention, the gripper comprises: the device comprises a claw tip, a groove pin, a spring seat, a compression spring, a pin, a claw shoulder, a claw seat, a groove, a claw seat ejector rod and a counter bore; the two claw tips are respectively connected with the claw shoulders and the claw seats through groove pins and pins; the two spring seats penetrate through the compression spring, one end of each spring seat is fixed on the corresponding claw shoulder, the other end of each spring seat is arranged in the corresponding counter bore of the corresponding claw seat, and a claw seat ejector rod is arranged in the center of each claw seat and can penetrate through a hole formed in the middle of the corresponding claw shoulder so as to penetrate through the bottom notch; the compression spring is arranged between the claw shoulder and the claw seat, one end of the spring seat can float up and down in the counter bore, so that the compression spring can stretch out and draw back, the two claw tips can slide along the grooves under the action of the two groove pins, and the two claw tips can rotate relative to the claw seat under the action of the two pins.
In an embodiment of the present invention, the fixing seats are circumferentially and uniformly distributed on the rotating outer cylinder, and the number of the fixing seats is six.
The invention provides an application of the unmanned aerial vehicle battery quick-change system in the field of unmanned aerial vehicle power supply.
Has the advantages that:
(1) the battery can be mounted and dismounted on the unmanned aerial vehicle by extending or retracting the fixing rod through rotation of the steering wheel in the battery cover, and the battery cover is high in replacement speed, simple in operation, short in consumed time and high in efficiency.
(2) The battery box is used as a shell structure, is suitable for connecting different types of common model airplane batteries, reduces the cost of the battery box and is beneficial to device maintenance.
(3) The gripper device is matched with the cam ejector rod device, the battery boxes can be fixed and dismounted on a plurality of battery seats on the battery rotating device only by the control of one motor device, the friction wheel device is adopted to control the battery to enter and exit, the requirement on the number of the motors is reduced, the rotatable double-layer circular through design is adopted, the anti-torsion inner cylinder and the rotatable outer cylinder are overlapped and mutually supported through two bearings, the anti-torsion inner device is fixed, the outer cylinder device is driven to rotate by the inner fixed motor, the structure is compact, the space occupation is small, the weight of the whole device is greatly reduced, the production cost is lower, and the gripper device can be applied to more application scenes.
(4) The mature satellite positioning return flight technology of the unmanned aerial vehicle is fully utilized, the existing unmanned aerial vehicle flight control system is not modified, and the flying stability of the unmanned aerial vehicle is guaranteed. Install visual identification system on ground storage battery car, discern hovering unmanned aerial vehicle through ground platform car to control platform car makes corresponding removal and compensaties the deviation that unmanned aerial vehicle satellite positioning returned the production of navigation in-process, guaranteed that unmanned aerial vehicle is accurate to fall on battery quick change position, establish a further accurate unmanned aerial vehicle gesture of fixing device and position and prevent that unmanned aerial vehicle from changing battery in-process gesture on the platform car in addition.
(5) According to the invention, a plurality of unmanned aerial vehicle batteries are stored in the battery rotating device, and the battery box without electricity can be fully charged and replaced for the unmanned aerial vehicle again through the rotation of the battery rotating device, so that seamless connection between battery replacement is realized, and further the cyclic utilization of the batteries is realized.
Drawings
Fig. 1 is an overall structure schematic diagram of a first view angle of an unmanned aerial vehicle battery quick-change system.
Fig. 2 is an overall structure schematic diagram of a second view angle of the fast battery changing system of the unmanned aerial vehicle.
Fig. 3 is a schematic structural view of the omni-directional mobile platform truck.
Fig. 4 is a schematic view of the battery case structure.
Fig. 5 is a schematic structural diagram of a first battery box holder on the unmanned aerial vehicle.
Fig. 6 is a schematic view of a lid of a battery case.
Fig. 7 is a schematic view of an extending structure of the fixing rod of the battery box cover.
Fig. 8 is a schematic view of a retraction structure of the fixing rod of the battery box cover.
FIG. 9 is a schematic view of the connection structure of the battery and the battery box cover of the model airplane
Fig. 10 is a schematic view of a connection structure between a battery box and a first battery holder.
Fig. 11 is a schematic structural view of a battery rotating device.
Fig. 12 is a front sectional view of the battery rotating device.
Fig. 13 is a schematic view of the structure of the rotary outer cylinder.
Fig. 14 is a schematic view of the internal structure of the battery rotating device.
Fig. 15 is a schematic view of a torsion-resistant structure of a motor of the battery rotating device.
Fig. 16 is a schematic structural view of the cam carrier bar device.
Fig. 17 is a schematic structural view of a third battery pack holder.
Fig. 18 is a schematic view of the gripper structure.
Fig. 19 is a schematic diagram of the working process of the present invention.
In the figure: a battery rotating device 1, an all-directional moving platform truck 2, a moving platform truck shell 3 (only the top part of the shell is shown in the figure), an unmanned aerial vehicle 4, a friction wheel device 5, a first battery box seat 6, a battery box 7, a second battery box seat 8, a battery box cover 9, a model airplane battery 10,
the device comprises a rotary outer cylinder 1-1, a gripper device 1-2, a cam ejector rod device 1-3, a motor torsion resistance 1-4, a circular hole 1-5, a motor base 1-6, a circular big bearing 1-7, a big bearing 1-8, a coupler 1-9, an expansion sleeve 1-10, a steering wheel 1-11 and a support frame 1-12; 1-13 parts of a third battery box seat, 1-14 parts of a bottom notch, 1-15 parts of a shuttle hole and 1-16 parts of a fixed seat;
the battery comprises a battery hole 3-1, a contact pin 6-1, a first mounting through hole 6-2 and a first fixing through hole 6-3;
a second fixing through hole 8-1, a second mounting through hole 8-2 and a gripper fixing hole 8-3;
9-1 of an electric conducting sheet, 9-2 of a third mounting through hole, 9-3 of a third fixing through hole, 9-4 of a fixing rod, 9-5 of a spring, 9-6 of an XT interface, 9-7 of a steering engine, 9-8 of a steering wheel disc, 9-9 of a steering engine base and 10-1 of an XT plug;
1-2-1 part of a claw tip, 1-2-2 parts of a groove pin, 1-2-3 parts of a spring seat, 1-2-4 parts of a compression spring, 1-2-5 parts of a pin, 1-2-6 parts of a claw shoulder, 1-2-7 parts of a claw seat, 1-2-8 parts of a groove, 1-2-9 parts of a claw seat ejector rod and 1-2-10 parts of a counter bore;
1-3-1 parts of ejector rod, 1-3-2 parts of optical axis, 1-3-3 parts of cam bearing, 1-3-4 parts of brushless motor and 1-3-5 parts of cam;
5-1 parts of a motor frame, 5-2 parts of a motor and 5-3 parts of a friction wheel.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Example 1
As shown in fig. 1-3, a quick change system for an unmanned aerial vehicle comprises: the device comprises a battery rotating device 1, an omnibearing moving platform truck 2, a moving platform truck shell 3, an unmanned aerial vehicle 4, a friction wheel device 5, a first battery box seat 6 and a battery box 7;
battery rotary device 1 is fixed in on the omnidirectional movement platform truck 2, moving platform truck shell 3 is carried on omnidirectional movement platform truck 2, friction pulley device 5 sets up in moving platform truck shell 3 top for the transport of battery case between unmanned aerial vehicle and the battery rotary device, first battery box seat 6 is fixed in the unmanned aerial vehicle belly, all be fixed with battery case 7 on battery rotary device 1 and the first battery box seat 6.
As shown in fig. 4-10, the battery box 7 includes a second battery box base 8, a battery box cover 9, and a model airplane battery 10;
the second battery cartridge holder 8 includes: a second fixing through hole 8-1, a second mounting through hole 8-2 and a gripper fixing hole 8-3; the second battery box base 8 is a hollow cuboid structure with an opening on one surface; two second fixing through holes 8-1 are respectively arranged at the two longitudinal ends of the second battery box seat 8, and two second mounting through holes 8-2 are respectively arranged at the two transverse ends of the second battery box seat 8; two gripper fixing holes 8-3 are respectively formed at two longitudinal ends of the second battery box base 8; the second fixing through hole 8-1 and the gripper fixing hole 8-3 are respectively positioned on two sides of the same end; the outer side surface opposite to the opening of the second battery box seat 8 is provided with a pattern which can be identified by a visual module.
The battery case cover 9 includes: the steering engine comprises an electric conduction sheet 9-1, a third mounting through hole 9-2, a third fixing through hole 9-3, a fixing rod 9-4, a spring 9-5, an XT interface 9-6, a steering engine 9-7, a steering wheel disk 9-8 and a steering engine seat 9-9; the battery box cover 9 is of a hollow cuboid cover-shaped structure with an opening on one surface, two third mounting through holes 9-2 are respectively positioned at the two transverse ends of the battery box cover 9, and two third fixing through holes 9-3 are respectively positioned at the two longitudinal ends of the battery box cover 9; the rudder engine base 9-9 is positioned in the center of the inner part of the battery box cover 9 and is of a cuboid structure with a longitudinal through hole, one longitudinal surface of the rudder engine base is fixedly connected with one surface, facing the opening, of the battery box cover 9, the other longitudinal surface of the rudder engine base is fixedly connected with the steering engine 9-7, and the XT interfaces 9-6 are positioned on one transverse side of the rudder engine base 9-9 and are two in total; the steering engine 9-7 is connected with the rudder disk 9-8, and a line collecting circuit and a control chip are arranged in the steering engine 9-7 and used for controlling the rudder disk 9-8; the rudder disk 9-8 is positioned in a hole 9-9 of the rudder base and is of a cam structure, and the longitudinal section of the rudder disk is formed by connecting two arcs with larger radius which are the same from top to bottom and two arcs with smaller radius which are the same from left to right; two fixing rods 9-4 are arranged and are positioned at two longitudinal ends of the rudder plate 9-8, and one end of each fixing rod 9-4 is in contact with the rudder plate 9-8; a spring 9-5 is sleeved on the fixing rod 9-4, one end of the spring 9-5 is fixed on the rudder engine base 9-9, and the other end of the spring is fixed on the longitudinal inner side wall of the battery box cover 9; the steering wheel 9-8 is rotated under the control of the steering wheel 9-7, the steering wheel 9-7 does not consume power in a normal state, the steering wheel 9-7 acts after receiving a signal to drive the steering wheel 9-8 to rotate by 90 degrees, and when the steering wheel 9-8 rotates to an arc with a smaller radius and is contacted with one end of the fixed rod 9-4, the compression spring 9-5 is compressed at the moment, so that the fixed rod 9-4 extends outwards; when the rudder disk 9-8 rotates to an arc with a larger radius to be contacted with one end of the fixed rod 9-4, the compression spring 9-5 extends at the moment, so that the fixed rod 9-4 retracts; the fixing rod 9-4 can extend out or retract into the third fixing through hole 9-3 through the extension and contraction of the spring 9-5; the electric conduction sheet 9-1 is positioned in the middle of the outer side surface of the battery box cover 9 opposite to the opening and is divided into a positive copper pole and a negative copper pole;
the model airplane battery 10 is of a cuboid structure, the XT plug 10-1 is located on one side of the model airplane battery 10, and the model airplane battery 10 can be connected with the battery box cover 9 through the cooperation of the XT plug 10-1 and the XT interface 9-6;
the second mounting through hole 8-2 and the third mounting through hole 9-2 are used for fixedly connecting the second battery box seat 8 and the battery box cover 9, and the connection mode can be bolt connection;
the first battery cartridge holder 6 includes: the pin 6-1, the first mounting through hole 6-2 and the first fixing through hole 6-3; the first battery box seat 6 is of a hollow cuboid structure with an opening on one surface, two first mounting through holes 6-2 are arranged and respectively arranged at two transverse ends of the first battery box seat 6, the first battery box seat 6 is mounted on the abdomen of the unmanned aerial vehicle through the first mounting through holes 6-2, the opening of the first battery box seat faces downwards, a contact pin 6-1 is arranged at the center of one surface, which is opposite to the opening, the contact pin 6-1 is cylindrical and is divided into a positive copper pole and a negative copper pole, and the contact pin is used for connecting an electric conduction sheet 9-1, so that the model airplane battery 10 supplies power to the unmanned aerial vehicle through an internal circuit of the unmanned aerial vehicle; two first fixing through holes 6-3 are respectively arranged at two longitudinal ends of the first battery box seat 6; when the battery box 7 is located in the first battery box seat 6, the axes of the third fixing through hole 9-3, the second fixing through hole 8-1 and the first fixing through hole 6-3 are located on a straight line, and the third fixing through hole 9-3, the second fixing through hole 8-1 and the first fixing through hole 6-3 are simultaneously extended or retracted through the fixing rod 9-4, so that the battery box 7 is fixed or detached from the unmanned aerial vehicle.
As shown in fig. 11 to 17, the battery rotary exchanging apparatus includes: the device comprises a rotary outer cylinder 1-1, a gripper device 1-2, a cam ejector rod device 1-3, a motor torsion resistance 1-4, a round hole 1-5, a motor base 1-6, a round through large bearing 1-7, a large bearing 1-8, a coupler 1-9, an expansion sleeve 1-10, a steering wheel 1-11, a support frame 1-12, a third battery box base 1-13, a bottom notch 1-14, a shuttle hole 1-15 and a fixed base 1-16;
the support frames 1-12 comprise two base and two connecting ends, the connecting ends are of a circular ring structure, and expansion sleeves 1-10 and steering wheels 1-11 are arranged in the circular ring; the outer ring of the steering wheel 1-11 is fixed with the support frame 1-12, and the inner ring can rotate along with the rotation of the expansion sleeve 1-10.
As shown in fig. 15, the motor torsion resistance 1-4 is a hollow cylinder structure, and a circular hole 1-5 is formed in the middle of the cylinder wall; one end of the motor torsion resistance 1-4 is connected with a round through large bearing 1-7, the round through large bearing 1-7 is connected with a support frame 1-12, the other end of the motor torsion resistance 1-4 is connected with a large bearing 1-8, and the large bearing 1-8 is connected with the support frame 1-12 through a coupler 1-9 and an expansion sleeve 1-10; the coupler 1-9 is fixed on the expansion sleeve 1-10 and the rotary outer cylinder 1-1.
As shown in fig. 16, the cam carrier bar device 1-3 is disposed in the middle of the motor torsion resistance 1-4, and includes: 1-3-1 parts of ejector rod, 1-3-2 parts of optical axis, 1-3-3 parts of cam bearing, 1-3-4 parts of brushless motor and 1-3-5 parts of cam; the push rod 1-3-1 is connected with the cam 1-3-5 through a cam bearing 1-3-3 and an optical axis 1-3-2, one end of the push rod 1-3-1 can penetrate through a motor torsion resistance 1-4 through a round hole 1-5, the cam 1-3-5 is connected with a brushless motor 1-3-4, and the brushless motor 1-3-4 is connected with a motor base 1-6; the brushless motor 1-3-4 controls the cam 1-3-5 to rotate, so that the ejector rod 1-3-1 is driven to enter and exit the round hole 1-5 through the cam bearing 1-3-3 and the optical axis 1-3-2.
As shown in fig. 12-14 and 17, the rotating outer cylinder 1-1 is disposed outside the motor torsion resistance 1-4, two ends of the rotating outer cylinder are respectively connected with a round through large bearing 1-7 and a large bearing 1-8, and a plurality of fixed seats 1-16, six in this embodiment, are uniformly distributed in the circumferential direction; the third battery box seat 3 and the gripper device 1-2 are respectively fixed on a fixed seat 1-16, and an opening is formed in the middle of the fixed seat; the third battery box seat 1-13 is of a hollow cuboid structure, one side of the third battery box seat is open, a bottom notch 1-14 is arranged on the side facing the opening, and the bottom notch 1-14 can be rectangular, circular, cross-shaped and the like; and two side surfaces of the third battery box seat 1-13, which are vertical to the circumferential direction of the rotary outer cylinder 1-1, are provided with shuttle holes 1-15.
As shown in fig. 18, the gripper 1-2 includes: 1-2-1 parts of claw tips, 1-2-2 parts of groove pins, 1-2-3 parts of spring seats, 1-2-4 parts of compression springs, 1-2-5 parts of pins, 1-2-6 parts of claw shoulders, 1-2-7 parts of claw seats, 1-2-8 parts of grooves, 1-2-9 parts of claw seat ejector rods and 1-2-10 parts of counter bores;
the number of the claw tips 1-2-1 is two, and the claw tips 1-2-2 and the pins 1-2-5 are respectively connected with the claw shoulders 1-2-6 and the claw seats 1-2-7 through groove pins 1-2-2 and pins 1-2-5; two spring seats 1-2-3 are arranged and penetrate through the compression spring 1-2-4, one end of each spring seat is fixed to a claw shoulder 1-2-6, the other end of each spring seat is arranged in a counter bore 1-2-10 of the claw seat 1-2-7, a claw seat ejector rod 1-2-9 is arranged in the center of the claw seat 1-2-7, and the claw seat ejector rod 1-2-9 can penetrate through a hole formed in the middle of the claw shoulder 1-2-6 and then penetrates through a bottom notch 1-14; the compression spring 1-2-4 is arranged between the claw shoulder 1-2-6 and the claw seat 1-2-7, one end of the spring seat 1-2-3 can float up and down in the counter bore 1-2-10 so as to enable the compression spring 1-2-4 to stretch and retract, therefore, under the action of the two groove pins 1-2-2, the two claw tips 1-2-1 can slide along the grooves 1-2-8, and under the action of the two pins 1-2-5, the two claw tips 1-2-1 can rotate relative to the claw seat 1-2-7.
Under the normal state, the compression spring 1-2-4 is in a compression state, so that the claw tip 1-2-1 is buckled on the battery box 7 through the claw fixing hole 8-3 and the shuttle hole 1-15, the battery box 7 is fixed in the third battery box seat 3 and cannot fall off due to gravity and centrifugal force in the rotating process; the mandril 1-3-1 is moved upwards through the cam mandril device 1-3, the claw seat 1-2-7 is pushed upwards to further compress the compression spring 1-2-4, so that the claw seat mandril 1-2-9 moves upwards to pass through the bottom notch 1-14 to be contacted with the bottom of the battery box 7, and meanwhile, the two claw tips 1-2-1 rotate towards the direction far away from the battery box 7 to loosen the battery box 7; when the top rod 1-3-1 moves downwards, the compression spring 1-2-4 extends, the claw seat 1-2-7 moves downwards under the action of the compression spring 1-2-4, and simultaneously the two claw tips 1-2-1 rotate towards the direction close to the battery box 7 to fix the battery box 7.
The top of the shell 3 of the moving platform car is provided with a battery hole 3-1 for a battery box 7 to pass through; the friction wheel device 5 includes: the device comprises a motor frame 5-1, a motor 5-2, a friction wheel 5-3 and a rotating shaft; the two motor frames 5-1 are transversely arranged at two sides of the battery hole 3-1, the friction wheels 5-3 are connected with the motor 5-2 through the motor frames 5-1 and the rotating shaft, the friction wheels 5-3 are of cylindrical structures, the two friction wheels 5-3 are transversely arranged at two ends of the battery hole, two cylindrical walls of the two friction wheels are opposite, the battery box 7 can be in contact with the two friction wheels 5-3, and the battery box 7 can be conveyed into or out of the battery hole 3-1 in the vertical direction by driving the friction wheels 5-3 to rotate through the motor 5-2, as shown in the vertical direction of arrow directions in figures 11-12.
The moving platform truck shell 3 is carried on the omnibearing moving platform truck 2, and the moving platform truck shell 3 is positioned on the upper side of the omnibearing moving platform truck 2; the bottom of the omnibearing moving platform truck 2 is provided with four universal castors; the unmanned aerial vehicle quick-change system is also provided with a detachable battery switching charging device and an unmanned aerial vehicle fixing device, a flight control system is arranged in the unmanned aerial vehicle, the flight control system comprises a gyroscope, a satellite positioning module and a control circuit, the gyroscope can sense the flight posture of the unmanned aerial vehicle, and the satellite positioning module can control the hovering horizontal position and height of the unmanned aerial vehicle; the detachable battery switching charging device is internally provided with a device control system, the device control system comprises a visual identification module, a motion control system and a battery switching charging control system, the visual identification module can identify the position of the unmanned aerial vehicle, and the battery switching charging control system can control the detachable battery switching charging device to operate inside.
The process of unmanned aerial vehicle battery replacement is described in detail below with reference to fig. 19, and includes:
(1) the unmanned aerial vehicle takes off, and the satellite positioning module can roughly record the position of the omnibearing moving platform vehicle 2;
(2) when the unmanned aerial vehicle loses the signal of the remote controller or receives a return command of one key of the remote controller, a flight control system in the unmanned aerial vehicle controls the unmanned aerial vehicle to automatically return to the position above the omnibearing moving platform car 2 and start to slowly descend;
(3) the camera on the detachable battery switching charging device captures and shoots patterns at the bottom of the battery box 7 and transmits the patterns to the visual identification module in the detachable battery switching charging device;
(4) the device control system controls four universal casters under the omnibearing moving platform truck 2 to move, a battery box 7 connected to the unmanned aerial vehicle is ensured to be over against a battery hole 3-1, and the fixing device fixes the unmanned aerial vehicle;
(5) when a battery box 7 connected to the unmanned aerial vehicle is in contact with the two friction wheels 5-3, the battery box 7 obtains a signal, the steering engine 9-7 controls the steering wheel 9-8 to rotate 90 degrees, the fixed rod 9-4 contracts, and the battery box 7 falls off from a first battery box seat 6 of the unmanned aerial vehicle; the battery box 7 enters the battery hole 3-1 under the action of gravity and the relative rotation of the friction wheel 5-3, the ejector rod 1-3-1 moves upwards at the same time, the gripper device 1-2 is opened, when the battery box 7 falls into the third battery box seat 8, the ejector rod 1-3-1 moves downwards, and the gripper device 1-2 is folded to fix the battery box 7 in the third battery box seat 8;
(6) the device control system controls the motor to drive the expansion sleeve 1-10 to rotate and drive the coupling 1-9 to rotate, therefore, the rotating outer cylinder 1-1 of the battery rotating device 1 rotates for an angle, the fully charged battery box 7 rotates to a position right facing the first battery box seat 6 which is not connected by people, an old battery is charged through a battery switching charging control system, the fully charged battery box 7 is pushed upwards by the ejector rod 1-3-1 until the fully charged battery box 7 is contacted with the friction wheel 5-3, the friction wheels rotate oppositely, the battery box is sent into the first battery box seat 6, the electric conduction sheet 9-1 is connected with the insertion pin 6-1 in the first battery box seat 6, the steering engine 9-7 acts after receiving a signal at the moment to drive the steering wheel 9-8 to rotate for 90 degrees, and the fixing rod 9-4 extends outwards to fix the battery box 7 on the first battery box seat 6.
(7) After the battery replacement action is finished, the fixing device of the unmanned aerial vehicle resets, and the unmanned aerial vehicle starts.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. An unmanned aerial vehicle battery quick change system, its characterized in that, the system includes: the device comprises a battery rotating device, an all-directional moving platform truck, a moving platform truck shell, a friction wheel device, a first battery box seat and a battery box; the battery rotating device is fixed on the omnibearing moving platform truck, the shell of the moving platform truck is carried on the omnibearing moving platform truck, the friction wheel device is arranged at the top of the shell of the moving platform truck and is used for conveying a battery box between the unmanned aerial vehicle and the battery rotating device, the first battery box seat is fixed at the abdomen of the unmanned aerial vehicle, the battery boxes are fixed on the battery rotating device and the first battery box seat, and the top of the shell of the moving platform truck is provided with a battery hole for the battery box to pass through;
the friction wheel device includes: the device comprises a motor frame, a motor, a friction wheel and a rotating shaft; the battery box is characterized in that the two motor frames are transversely arranged on two sides of the battery hole, the friction wheels are connected with the motor through the motor frames and the rotating shaft, the friction wheels are of cylindrical structures, the two friction wheels are transversely arranged at two ends of the battery hole, two cylindrical walls of the two friction wheels are opposite, the battery box can be in contact with the two friction wheels, and the motor drives the friction wheels to rotate so as to convey the battery box into or out of the battery hole.
2. The system of claim 1, wherein the battery compartment comprises a second battery compartment holder, a battery compartment cover, and a model airplane battery;
the second battery cartridge holder includes: the second fixing through hole, the second mounting through hole and the gripper fixing hole are formed in the base; the second battery box seat is of a hollow cuboid structure with an opening on one surface;
the battery case lid includes: the steering engine comprises an electric conducting sheet, a third mounting through hole, a third fixing through hole, a fixing rod, a spring, an XT interface, a steering engine, a steering wheel disc and a steering engine seat; the battery box cover is of a hollow cuboid cover-shaped structure with one open side; the steering engine seat is positioned in the center of the inner part of the battery box cover and is of a cuboid structure with a longitudinal through hole, one longitudinal surface of the steering engine seat is fixedly connected with one surface, facing the opening, of the battery box cover, the other longitudinal surface of the steering engine seat is fixedly connected with the steering engine, and the XT interfaces are positioned on one transverse side of the steering engine base and are two in total; the steering engine is connected with the rudder disc; the rudder disc is positioned in the rudder base hole and has a cam structure; the two fixed rods are positioned at the two longitudinal ends of the steering wheel, and one end of each fixed rod is in contact with the steering wheel; a spring is sleeved on the fixed rod, one end of the spring is fixed on the rudder base, and the other end of the spring is fixed on the longitudinal inner side wall of the battery box cover; the steering engine is used for controlling the steering wheel to rotate, and the fixed rod can extend out or retract into the third fixing through hole through the extension and retraction of the spring; the electric conduction sheet is positioned in the middle of the outer side face opposite to the opening of the battery box cover and is divided into a positive copper pole and a negative copper pole; the XT plug is positioned at one side of the model airplane battery, and the model airplane battery can be connected with the battery box cover through the matching of the XT plug and the XT interface;
the first battery cartridge seat includes: the pin, the first mounting through hole and the first fixing through hole are arranged on the base; the first battery box seat is of a hollow cuboid structure with an opening on one surface, the opening of the first battery box seat faces downwards, and a contact pin is arranged in the center of one surface opposite to the opening and used for connecting an electric conduction sheet, so that the model airplane battery supplies power to the unmanned aerial vehicle through an internal circuit of the unmanned aerial vehicle;
the second mounting through hole and the third mounting through hole are used for fixedly connecting the second battery box seat and the battery box cover; the first battery box seat is arranged on the abdomen of the unmanned aerial vehicle through a first mounting through hole; the fixing rod can extend out of or retract into the third fixing through hole, the second fixing through hole and the first fixing through hole simultaneously.
3. The system of claim 1, wherein the battery rotary exchanging device comprises: the rotating outer cylinder, the gripper device, the cam ejector rod device, the motor torsion resistance, the third battery box seat, the bottom notch, the shuttle hole and the fixed seat;
the antitorque hollow cylinder structure that is of motor has a round hole in drum wall middle part, cam ejector pin device sets up in the antitorque middle part of motor, includes: the device comprises a push rod, an optical axis, a cam bearing, a brushless motor and a cam; the push rod is connected with the cam through a cam bearing and an optical axis, one end of the push rod can penetrate through the motor through a round hole to resist torsion, the cam is connected with the brushless motor, and the brushless motor controls the cam to rotate, so that the push rod is driven to enter and exit in the round hole through the cam bearing and the optical axis;
the rotary outer cylinder is arranged outside the motor in a torsion-resistant manner, and fixed seats are circumferentially distributed; the third battery box seat and the gripper device are respectively fixed on the fixed seat, and the middle part of the fixed seat is provided with an opening; the third battery box seat is of a hollow cuboid structure, one surface of the third battery box seat is open, and a bottom notch is formed in the surface facing the opening; two side faces of the third battery box seat, which are perpendicular to the circumferential direction of the rotary outer cylinder, are provided with shuttle holes; the battery box is fixed in the third battery box seat through the shuttle hole and the hand grip fixing hole by the hand grip device.
4. The system for rapidly replacing the battery of the unmanned aerial vehicle according to claim 2, wherein the first through holes are two and are respectively formed at two transverse ends of the first battery box base; the two second mounting through holes are respectively arranged at the two transverse ends of the second battery box seat; the two third mounting through holes are respectively positioned at the two transverse ends of the battery box cover; and the second battery box seat and the battery box cover are fixedly connected by bolts.
5. The system for rapidly replacing the battery of the unmanned aerial vehicle according to claim 2 or 4, wherein the number of the first fixing through holes is two, and the two fixing through holes are respectively arranged at two longitudinal ends of the first battery box seat; the two second fixing through holes are respectively arranged at the two longitudinal ends of the second battery box seat; the two third fixing through holes are respectively positioned at the two longitudinal ends of the battery box cover; when the battery case was located first battery box seat, third fixing hole, second fixing hole, first fixing hole's axle center was located a straight line this moment, stretched into simultaneously or contracted out third fixing hole, second fixing hole, first fixing hole through the dead lever to can fix or lift off the battery case from unmanned aerial vehicle.
6. The system for rapidly changing the battery of the unmanned aerial vehicle according to claim 2, wherein the longitudinal section of the steering wheel consists of two arcs with larger radius which are the same from top to bottom, two arcs with smaller radius which are the same from left to right, and a straight line connection; the steering engine acts after receiving the signal to drive the steering wheel to rotate, and when the steering wheel rotates to an arc with a smaller radius to be contacted with one end of the fixed rod, the compression spring is compressed at the moment, so that the fixed rod extends outwards; when the steering wheel rotates to an arc with a larger radius to be contacted with one end of the fixed rod, the compression spring extends at the moment, so that the fixed rod retracts.
7. The system for rapidly replacing the battery of the unmanned aerial vehicle according to claim 3, wherein the anti-torsion end of the motor is connected with a round through large bearing, the round through large bearing is connected with the support frame, the other end of the round through large bearing is connected with the large bearing, and the large bearing is connected with the support frame through a coupler and an expansion sleeve; the support frame includes base and link, two totally, the link is the ring structure, is equipped with bloated cover and steering wheel in the ring, steering wheel outer lane is fixed with the support frame, and the inner circle can rotate along with the rotation of bloated cover.
8. The system of claim 3, wherein the gripper comprises: the device comprises a claw tip, a groove pin, a spring seat, a compression spring, a pin, a claw shoulder, a claw seat, a groove, a claw seat ejector rod and a counter bore; the two claw tips are respectively connected with the claw shoulders and the claw seats through groove pins and pins; the two spring seats penetrate through the compression spring, one end of each spring seat is fixed on the corresponding claw shoulder, the other end of each spring seat is arranged in the corresponding counter bore of the corresponding claw seat, and a claw seat ejector rod is arranged in the center of each claw seat and can penetrate through a hole formed in the middle of the corresponding claw shoulder so as to penetrate through the bottom notch; the compression spring is arranged between the claw shoulder and the claw seat, one end of the spring seat can float up and down in the counter bore, so that the compression spring can stretch out and draw back, the two claw tips can slide along the grooves under the action of the two groove pins, and the two claw tips can rotate relative to the claw seat under the action of the two pins.
9. The system for quickly replacing the battery of the unmanned aerial vehicle as claimed in claim 3, wherein the outer side surface of the second battery box base opposite to the opening is provided with a pattern for visual module identification.
10. The system of claim 3, wherein the fixing seats are circumferentially and uniformly distributed on the rotating outer cylinder, and the number of the fixing seats is six.
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| US20220144125A1 (en) * | 2020-11-06 | 2022-05-12 | Hyundai Motor Company | System for replacing battery of mobility |
| US11387515B2 (en) * | 2018-11-08 | 2022-07-12 | Amtran Technology Co., Ltd. | Battery assembly, system for replacing battery and method thereof |
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| CN114055666A (en) * | 2021-11-15 | 2022-02-18 | 满运昭 | Waste plastic melting granulator |
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