CN112046331A - Grabbing device that can be used to unmanned aerial vehicle battery to change - Google Patents
Grabbing device that can be used to unmanned aerial vehicle battery to change Download PDFInfo
- Publication number
- CN112046331A CN112046331A CN202010781793.0A CN202010781793A CN112046331A CN 112046331 A CN112046331 A CN 112046331A CN 202010781793 A CN202010781793 A CN 202010781793A CN 112046331 A CN112046331 A CN 112046331A
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- unmanned aerial
- aerial vehicle
- clamping jaw
- steering wheel
- battery
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of battery replacement of unmanned aerial vehicles, and particularly relates to a grabbing device for replacing batteries of unmanned aerial vehicles, which comprises a mechanical claw and a mechanical arm matched with the mechanical claw, wherein the mechanical claw comprises a base, a torsion spring, a steering engine, a steering wheel and clamping jaws arranged on two sides of the base; the steering engine is fixedly connected with the steering wheel, a steel wire rope is arranged between the steering wheel and the clamping jaw, the base is fixedly connected with the mounting plate, the mounting plate is movably connected with the clamping jaw, the torsion spring is arranged on the mounting plate, and the torsion spring is movably matched with the clamping jaw; when the steering engine drives the steering wheel to rotate, the steering wheel drives the steel wire rope to move and is linked with the grabbing part of the clamping jaw to open; when the steering wheel stops rotating, the grabbing parts of the clamping jaws are tightened towards the middle under the action of the torsion springs, so that the clamping jaws grab the battery, and the battery is pushed to the unmanned aerial vehicle by matching with the mechanical arm; realize the mechanism of "hand" and "elbow" through linear motion arm and gripper, reach the purpose of changing the unmanned aerial vehicle lithium cell, degree of automation is high.
Description
Technical Field
The invention belongs to the technical field of battery replacement of unmanned aerial vehicles, and particularly relates to a grabbing device for replacing an unmanned aerial vehicle battery.
Background
The automatic battery replacement technology of the unmanned aerial vehicle is an effective mode for solving the problems of long endurance and automation of the unmanned aerial vehicle. For drones, lithium polymer batteries (such batteries are typically used) are typically fastened to the drone body to ensure flight safety.
Among the prior art, for example: patent document CN201920619452.6 discloses a replacing mechanism for battery of unmanned aerial vehicle, which includes a landing platform, a positioning component, a battery replacing component and a plurality of battery charging bins; the take-off and landing platform is used for the unmanned aerial vehicle to take off and land; the positioning assembly is arranged on the take-off and landing platform and used for centering, positioning and fixing the landing unmanned aerial vehicle; the battery charging bins are arranged at the bottom of the take-off and landing platform and used for storing unmanned aerial vehicle batteries and charging the unmanned aerial vehicle batteries; the battery replacement assembly is arranged on the take-off and landing platform and used for replacing batteries of the unmanned aerial vehicle by the unmanned aerial vehicle which is fixed in a plurality of battery charging bins and centering and positioning mode. However, the replacement mechanism of this patent document is complicated in structure and has a low degree of automation.
Among the prior art, can not realize the automatic change to the unmanned aerial vehicle battery, and the structure is complicated, needs artifical supplementary change battery, and degree of automation is low. Therefore, there is a need for improvement based on this.
Disclosure of Invention
Based on the above-mentioned shortcomings in the prior art, the function of the battery replacement of the unmanned aerial vehicle necessarily requires a mechanical structure similar to a human 'hand-elbow' for the purpose of automatic grasping when replacing the battery of the unmanned aerial vehicle.
In order to achieve the purpose, the invention adopts the following technical scheme:
a gripping device for replacing a battery of an unmanned aerial vehicle comprises a mechanical claw and a mechanical arm matched with the mechanical claw, wherein the mechanical claw comprises a base, a torsion spring, a steering engine, a steering wheel and clamping jaws arranged on two sides of the base; the steering engine is fixedly connected with the steering wheel, a steel wire rope is arranged between the steering wheel and the clamping jaw, the base is fixedly connected with the mounting plate, the mounting plate is movably connected with the clamping jaw, the torsion spring is arranged on the mounting plate, and the torsion spring is movably matched with the clamping jaw; when the steering engine drives the steering wheel to rotate, the steering wheel drives the steel wire rope to move and is linked with the grabbing part of the clamping jaw to open; when the steering wheel stall, under the effect of torsional spring, the portion of snatching of clamping jaw tightens up to the centre to make the clamping jaw snatch the battery, and cooperate the arm with battery propelling movement to unmanned aerial vehicle.
As preferred scheme, mounting panel symmetric distribution has two mounting panels in the both sides of base, and the same one side of base has, installs the torsional spring between two mounting panels, torsional spring and clamping jaw clearance fit.
Preferably, the mounting plate is provided with a plurality of mounting holes, the first contact pins of the torsion spring are movably matched with the mounting holes, and the second contact pins are abutted against the clamping jaws, so that the grabbing parts of the clamping jaws at two sides are respectively tightened towards the middle.
Preferably, the clamping jaw is arranged between the two mounting plates and provided with a fixing part, and the fixing part is movably connected with the mounting hole.
As an optimal scheme, the steering engine is fixedly connected with a pressure spring, and the pressure spring is fixedly connected with a warping plate.
Preferably, the clamping jaw is provided with a plurality of through holes, the through holes and the grabbing parts of the clamping jaw are respectively arranged at two ends of the clamping jaw, one end of the steel wire rope is fixedly connected to the steering wheel, and the other end of the steel wire rope penetrates through the through holes so as to open the grabbing parts of the clamping jaws at two sides.
Preferably, the grabbing part of the clamping jaw is provided with a guide groove and a clamping groove, and the battery enters the clamping groove along the guide groove.
Preferably, the mechanical arm comprises a motor, an optical axis, a guide rail, a gear and a rack, the rack is fixed on the guide rail and matched with the gear, the gear is fixed on the optical axis, the motor drives the optical axis to rotate, and the rack is linked to reciprocate along the gear.
As preferred scheme, the outside of guide rail is equipped with the carbon fiber pipe, carbon fiber pipe fixed mounting guide rail fixing base, guide rail fixing base and base fixed connection to make arm and gripper linkage cooperation.
According to a preferable scheme, the mechanical claw and the mechanical arm are controlled by a lower computer respectively, the lower computer sends pulse signals to a motor through a driver, the lower computer sends PWM signals to a steering engine through a controller, and the mechanical claw and the mechanical arm are controlled to move through the motor and the steering engine respectively.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the mechanism of 'hand' and 'elbow' is realized by respectively moving the mechanical arm and the mechanical claw in a linear manner, and the mechanical claw and the mechanical arm are respectively controlled to move by the steering engine and the motor, so that the aim of replacing the lithium battery of the unmanned aerial vehicle is fulfilled.
2. When the steering engine does not control the mechanical claw, the mechanical claw is in a tightened state, and a battery can be directly pushed into the unmanned aerial vehicle; when the steering engine controlled the gripper, the gripper opened and tightened up after grabbing the battery, can send the battery to unmanned aerial vehicle.
3. The invention has waterproof function, and can place the gripping device outdoors.
4. The lithium battery taking-off device can put the lithium battery taken off from the unmanned aerial vehicle into a fixed position, and is high in automation degree.
Drawings
Fig. 1 is a schematic connection diagram of an operating state of a gripping device for unmanned aerial vehicle battery replacement according to embodiment 1 of the present invention;
fig. 2 is a schematic structural diagram of a gripper of a gripping device for unmanned aerial vehicle battery replacement according to embodiment 1 of the present invention;
fig. 3 is an exploded view of a gripper apparatus gripper for unmanned aerial vehicle battery replacement according to embodiment 1 of the present invention;
fig. 4 is another schematic view of a gripper for unmanned aerial vehicle battery replacement according to embodiment 1 of the present invention;
FIG. 5 is a front view of a gripper apparatus gripper for unmanned aerial vehicle battery replacement according to embodiment 1 of the present invention;
FIG. 6 is a schematic view of the connection between a gripper and a robot arm of a gripping device for unmanned aerial vehicle battery replacement according to embodiment 1 of the present invention;
fig. 7 is a schematic view of a robot arm mechanism of a gripping device for unmanned aerial vehicle battery replacement according to embodiment 1 of the present invention;
fig. 8 is a schematic view of another perspective of a robot arm of a gripping device for unmanned aerial vehicle battery replacement according to embodiment 1 of the present invention;
fig. 9 is a partial structural schematic view of a robot arm of a gripping device for unmanned aerial vehicle battery replacement according to embodiment 1 of the present invention;
fig. 10 is a schematic view of another perspective of the partial structure of a robot arm of a gripping device for unmanned aerial vehicle battery replacement according to embodiment 1 of the present invention;
fig. 11 is a schematic circuit connection diagram of a gripping device for unmanned aerial vehicle battery replacement according to embodiment 1 of the present invention;
1 gripper, 11 bases, 110 fixing pieces, 12 clamping jaws, 120 metal sleeves, 121 through holes, 122 grabbing parts, 13 steering engines, 14 steering wheel, 15 torsion springs, 16 mounting plates, 161 mounting holes, 17 compression springs, 18 metal pieces, 19 warping plates, 2 mechanical arms, 21 motors, 22 couplers, 23 optical axes, 24 optical axis fixing seats, 25 gears, 26 guide rails, 27 carbon fiber tubes, 28 racks, 29 guide rail fixing seats, 3 shells and 4 unmanned aerial vehicles.
Detailed Description
The technical solution of the present invention is further described below by means of specific examples.
Example 1:
as shown in fig. 1 to 10, the present embodiment provides a gripping device for battery replacement of an unmanned aerial vehicle, including a gripper 1 and a mechanical arm 2 cooperating with the gripper 1, where the gripper 1 includes a base 11, a torsion spring 15, a steering engine 13, a rudder plate 14, and a clamping jaw 12 disposed on two sides of the base 11; the steering engine 13 is fixedly connected with a steering wheel 14, a steel wire rope is arranged between the steering wheel 14 and the clamping jaw 12, the base 11 is fixedly connected with a mounting plate 16, the mounting plate 16 is movably connected with the clamping jaw 12, a torsion spring 15 is arranged on the mounting plate 16, and the torsion spring 15 is movably matched with the clamping jaw 12; when the steering engine 13 drives the rudder disc 14 to rotate, the rudder disc 14 drives the steel wire rope to move and is linked with the grabbing part 122 of the clamping jaw 12 to open; when steering wheel 14 stall, under the effect of torsional spring 15, the portion 11 of snatching of clamping jaw 12 tightens up to the centre to make clamping jaw 12 snatch the battery, and cooperate arm 2 with battery propelling movement to unmanned aerial vehicle.
A steering engine 13 and a rudder disk 14 are installed in the base 11, and the steering engine 13 provides enough torque force for the whole mechanical claw 1 to change the position form of the mechanical claw. The base 11 has a metal member 18 therein for fixing the steering engine 13 to the base 11. The mounting plates 16 are symmetrically distributed on two sides of the base 11, two mounting plates 16 are arranged on the same side of the base 11, a torsion spring 15 is arranged between the two mounting plates 16, and the torsion spring 15 is movably matched with the clamping jaw 12. The mounting plate 16 is provided with a plurality of mounting holes 161, the first contact pin of the torsion spring 15 is movably fitted in the mounting holes 161, and the second contact pin abuts against the clamping jaws 12, so that the grabbing portions 122 of the clamping jaws 12 on both sides are tightened towards the middle. The mounting hole 121 of the attached torsion spring 15 is fixed by the metal sleeve 120.
The clamping jaw 12 is arranged between the two mounting plates 16, and the clamping jaw 12 is provided with a fixing part which is movably connected with the mounting hole 161. The clamping jaw 12 is provided with a plurality of through holes 121, and the through holes 121 and the grabbing part 122 of the clamping jaw 12 are arranged at two ends of the clamping jaw 12. The grabbing portion 122 of the clamping jaw 12 is provided with a guide groove and a clamping groove, the guide groove has a guiding function, the clamping groove has a function of clamping and limiting the battery, the battery enters the clamping groove along the guide groove, the steering wheel 14 stops rotating, the grabbing portions 122 on two sides of the clamping jaw 12 are tightened towards the middle under the action of the torsion spring 15, and therefore the clamping jaw 12 grabs the battery.
One end of the steel wire rope is fixed on the rudder plate 14, the other end of the steel wire rope penetrates through the through hole 121, and the clamping jaws 12 on the two sides are symmetrically arranged in structure, so that when the rudder plate 14 rotates, the grabbing parts 122 of the clamping jaws 12 on the two sides are linked to be opened, and the opening angle of the grabbing parts 122 can be adjusted by controlling the steering engine 13.
The steering engine 13 is fixedly connected with a pressure spring 17, the pressure spring 17 is fixedly connected with a warping plate 19, the warping plate 19 is movably connected with the mounting plate 16, and the warping plate 19 is fixedly connected with the base 11 through a fixing piece 110. The battery that wane 19 was convenient for snatch clamping jaw 12 carries on spacingly, prevents that the battery from taking place the skew so that the landing along wane 19's direction because battery action of gravity when both sides clamping jaw 12 tighten up, and wane 19 can play and support spacing function. Simultaneously, can also push away the battery to unmanned aerial vehicle 4 with clamping jaw 12 cooperation.
The mechanical arm 2 comprises a motor 21, an optical axis 23, a guide rail 26, a gear 25 and a rack 28, wherein the rack 28 is fixed on the guide rail 26 and matched with the gear 25, the gear 25 is fixed on the optical axis 23, and the guide rail 26 is fixed on the optical axis fixing seat 24. A coupling 22 is arranged between the motor 21 and the optical shaft 23, the motor 21 drives the optical shaft 23 to rotate, and the parallel moving rack 28 reciprocates along the gear 25. The motor 21 provides power for motion control for the linear motion of the robot arm 2, and converts the rotary motion of the motor 21 into linear motion.
The guide rail 26 provides the support for the rack 28 to be fixed in on the shell 3, the outside of guide rail 26 is equipped with carbon fiber tube 27, and the guide rail fixing base 29 of nylon material is all installed to carbon fiber tube 27 both ends, guarantees overall structure's rigidity. The guide rail fixing seat 29 is fixedly connected with the base 11 so that the mechanical arm 2 is in linkage fit with the mechanical claw 1.
When needing to snatch the battery, steering wheel 13 drive steering wheel 14 motion, and steering wheel 14 drives wire rope and links the portion 122 of snatching of clamping jaw 12 and open to snatch the battery, in the battery gets into the draw-in groove of clamping jaw 12, steering wheel 14 stall, under the effect of torsional spring 15, the portion 122 of snatching of clamping jaw 12 tightens up to the centre, in order to fix the battery, realizes the function of snatching, under the synergism of robotic arm 2, send the battery to unmanned aerial vehicle 4's battery jar.
The mechanical arm 2 and the mechanical structure in the mechanical claw 1 which move linearly can take out the battery (generally a lithium polymer battery) on the unmanned aerial vehicle body under the condition that the unmanned aerial vehicle is parked in place. Grabbing device's arm 2 can realize the propelling movement of the on-orbit transportation of battery and battery, and linear motion arm 2 has also contained the rain-proof water design, can realize that lithium polymer battery stores safely under sleet weather. The gripper 1 of the gripping device can realize the operations of gripping, putting down, stably holding and the like of the lithium polymer battery, and is convenient for the replacement of the battery of the unmanned aerial vehicle.
Unmanned aerial vehicle falls on ground station back, gripper 1 alright with opening, motor 21 impels whole grabbing device, the battery gets into gripper 1's draw-in groove under the guide of gripper 1 guide slot, gripper 1 is closed, the battery alright just transport the place that sets up in advance (for example put in the battery compartment between grabbing device and the aircraft). Two ways of sending the battery to the drone are available: one is that steering wheel 13 is not controlled under the condition as gripper 1, and gripper 1 is in the state of tightening up, and gripper 1 end size is less than the battery size, can push away the battery to unmanned aerial vehicle. And the second step is that when the steering engine 13 controls the mechanical claw 1 to open, the battery is grabbed and then tightened, and the battery is sent to the unmanned aerial vehicle.
The grabbing device is independent of an airborne system of the unmanned aerial vehicle, is arranged on a ground station of the unmanned aerial vehicle, and can execute the task of replacing the battery of the unmanned aerial vehicle after the unmanned aerial vehicle stably lands on the ground station. This provides convenience for unmanned aerial vehicle's long duration, automated operation. Unmanned aerial vehicle ground satellite station generally includes that unmanned aerial vehicle precision landing platform, battery change grabbing device, battery storage storehouse, battery charger, ground control center (generally for the machine carries the computer), weather enclosure etc.. Through using together with unmanned aerial vehicle ground satellite station, improved long duration of journey, degree of automation of unmanned aerial vehicle.
Example 2:
the present embodiment provides a gripping device for unmanned aerial vehicle battery replacement, which is different from embodiment 1 in that:
as shown in fig. 11, in this embodiment, the mechanical claw and the mechanical arm are controlled by a lower computer respectively, the lower computer sends a pulse signal to the motor through the driver, the lower computer sends a PWM signal to the steering engine through the controller, and the mechanical claw and the mechanical arm are controlled by the motor and the steering engine respectively. The motor and the steering engine are powered by a power supply and controlled by a switch. The battery gripping device is beneficial to cooperative motion when the mechanical claw and the mechanical arm grip the battery, improves the accuracy and is convenient to control.
The linear motion mechanical arm and the mechanical claw are fixedly arranged together, and the lower computer executes control instructions to the motor and the steering engine, so that the operations of grabbing, holding, loosening and the like are realized. The lower computer is generally a single chip microcomputer or an onboard computer, is connected with a controller (driver) of the motor and a controller of the steering engine, and sends control signals (control instructions) to the motor and the steering engine; the power supply simultaneously supplies power to the lower computer, the motor, the steering engine and a controller (driver) of the steering engine; an emergency switch is arranged between the lower computer and the power supply to ensure safety.
Other specific configurations can refer to embodiment 1.
Example 3:
the present embodiment provides a gripping device for unmanned aerial vehicle battery replacement, which is different from embodiment 1 in that:
grabbing device has waterproof function in this embodiment, and linear motion arm is fixed in the shell, is traded down when unmanned aerial vehicle lithium polymer battery, can be snatched by the manipulator and save in the middle of the shell. The mechanical parts of the gripping device are all aluminum alloy, stainless steel or nylon parts, the motor and the steering engine also have a waterproof function, and the circuit connection is not provided with an exposed interface, so that the waterproof safety function can be realized. The grabbing device that unmanned aerial vehicle trades battery on the electric ground station is rain-proof water, can place outdoors, but because lithium polymer battery's reason, grabbing device is unsuitable to soak and works under aquatic or the heavy rain environment.
Other specific configurations can refer to embodiment 1.
Example 4:
the present embodiment provides a gripping device for unmanned aerial vehicle battery replacement, which is different from embodiment 1 in that:
in the embodiment, a warping plate and a pressure spring can be omitted, the structure is simplified, and the installation and the disassembly are convenient.
Other specific configurations can refer to embodiment 1.
Although the present invention has been described in detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A gripping device capable of being used for replacing batteries of unmanned aerial vehicles is characterized by comprising a mechanical claw and a mechanical arm matched with the mechanical claw, wherein the mechanical claw comprises a base, a torsion spring, a steering engine, a steering wheel and clamping jaws arranged on two sides of the base; the steering engine is fixedly connected with the steering wheel, a steel wire rope is arranged between the steering wheel and the clamping jaw, the base is fixedly connected with the mounting plate, the mounting plate is movably connected with the clamping jaw, the torsion spring is arranged on the mounting plate, and the torsion spring is movably matched with the clamping jaw; when the steering engine drives the steering wheel to rotate, the steering wheel drives the steel wire rope to move and is linked with the grabbing part of the clamping jaw to open; when the steering wheel stall, under the effect of torsional spring, the portion of snatching of clamping jaw tightens up to the centre to make the clamping jaw snatch the battery, and cooperate the arm with battery propelling movement to unmanned aerial vehicle.
2. The grabbing device for unmanned aerial vehicle battery replacement of claim 1, wherein the mounting plates are symmetrically distributed on both sides of the base, and the base has two mounting plates on the same side, and a torsion spring is mounted between the two mounting plates and is movably matched with the clamping jaw.
3. The grasping device for unmanned aerial vehicle battery replacement according to claim 2, wherein the mounting plate has a plurality of mounting holes, the first contact pin of the torsion spring is movably fitted in the mounting holes, and the second contact pin abuts against the clamping jaws, so that the grasping portions of the clamping jaws on both sides are respectively tightened toward the middle.
4. The grasping device for unmanned aerial vehicle battery replacement according to claim 3, wherein the holding jaw is disposed between two mounting plates, the holding jaw having a fixed portion, the fixed portion being movably connected to the mounting hole.
5. The grabbing device for unmanned aerial vehicle battery replacement of claim 1, wherein the steering engine is fixedly connected with a pressure spring, and the pressure spring is fixedly connected with a wane.
6. The grasping device for battery replacement of unmanned aerial vehicles according to claim 1, wherein the clamping jaw is provided with a plurality of through holes, the through holes and the grasping portions of the clamping jaw are respectively arranged at two ends of the clamping jaw, one end of the steel wire rope is fixedly connected to the steering wheel, and the other end of the steel wire rope passes through the through holes, so that the grasping portions of the clamping jaws at two sides are opened.
7. The grasping device for unmanned aerial vehicle battery replacement according to claim 1, wherein the grasping portion of the jaw has a guide groove along which the battery enters the slot and a slot.
8. The grasping device for unmanned aerial vehicle battery replacement according to claim 1, wherein the mechanical arm comprises a motor, an optical axis, a guide rail, a gear and a rack, the rack is fixed on the guide rail and is matched with the gear, the gear is fixed on the optical axis, the motor drives the optical axis to rotate and is linked with the rack to reciprocate along the gear.
9. The grabbing device for unmanned aerial vehicle battery replacement according to claim 8, wherein a carbon fiber tube is arranged outside the guide rail, and the carbon fiber tube is fixedly installed on a guide rail fixing seat which is fixedly connected with the base, so that the mechanical arm and the mechanical claw are in linkage fit.
10. The grabbing device for unmanned aerial vehicle battery replacement of claim 1, wherein the gripper and the mechanical arm are controlled by a lower computer respectively, the lower computer sends a pulse signal to the motor through a driver, the lower computer sends a PWM signal to the steering engine through a controller, and the movement of the mechanical arm and the gripper is controlled by the motor and the steering engine respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010781793.0A CN112046331A (en) | 2020-08-06 | 2020-08-06 | Grabbing device that can be used to unmanned aerial vehicle battery to change |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010781793.0A CN112046331A (en) | 2020-08-06 | 2020-08-06 | Grabbing device that can be used to unmanned aerial vehicle battery to change |
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| CN112046331A true CN112046331A (en) | 2020-12-08 |
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| CN202010781793.0A Pending CN112046331A (en) | 2020-08-06 | 2020-08-06 | Grabbing device that can be used to unmanned aerial vehicle battery to change |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113011269A (en) * | 2021-02-23 | 2021-06-22 | 国网安徽省电力有限公司淮南供电公司 | Mechanical clamping jaw and working method for grabbing battery |
| CN113212235A (en) * | 2021-06-11 | 2021-08-06 | 西安冰果智能航空科技有限公司 | Arm that unmanned aerial vehicle changed battery usefulness |
| CN114455073A (en) * | 2022-03-17 | 2022-05-10 | 江苏佰通智能科技有限公司 | Unmanned aerial vehicle system with function of self-replacing battery |
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| CN109624935A (en) * | 2019-02-20 | 2019-04-16 | 深圳市多翼创新科技有限公司 | A kind of automatically replacing battery structure, device and unmanned plane airport |
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| CN1753829A (en) * | 2003-02-28 | 2006-03-29 | E.C.L.公司 | Handling gripper for an electrolysis cell service machine for the production of aluminium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114455073B (en) * | 2022-03-17 | 2023-08-22 | 江苏佰通智能科技有限公司 | Unmanned aerial vehicle system with self-replacement battery function |
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Application publication date: 20201208 |