CN112091553A - Unmanned aerial vehicle battery replacing device and using method thereof - Google Patents
Unmanned aerial vehicle battery replacing device and using method thereof Download PDFInfo
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- 229920001778 nylon Polymers 0.000 description 1
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Abstract
The invention belongs to the technical field of unmanned aerial vehicle battery replacement, and particularly relates to an unmanned aerial vehicle battery replacement device and a use method thereof, wherein the unmanned aerial vehicle battery replacement device comprises the following steps: the workbench is used for placing the unmanned aerial vehicle; the grabbing devices are fixed on the workbench and used for grabbing the battery; a storage device is arranged corresponding to each grabbing device and used for placing the battery; the guide fixing devices are fixed on the workbench and used for fixing the unmanned aerial vehicle foot rest; each grabbing device and each storage device are controlled by a lower computer respectively and are used for being matched with each guide fixing device when the unmanned aerial vehicle parks the workbench so as to replace a battery of the unmanned aerial vehicle; can accomplish the dismantlement and the change of unmanned aerial vehicle battery, unmanned aerial vehicle's fixed and the storage of battery, degree of automation is high.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle battery replacement, and particularly relates to an unmanned aerial vehicle battery replacement device and a use method thereof.
Background
The automatic battery replacement technology of the unmanned aerial vehicle can provide an effective solution for long-term endurance and automation tasks of the unmanned aerial vehicle. For a typical rotorcraft, its battery (typically a lithium polymer battery) is fastened to the fuselage of the drone to ensure safe flight. In order to realize the task of automatically replacing the battery of the unmanned aerial vehicle, a set of solution with a mechanical structure, electrical connection and program control is needed.
The automatic battery replacement of the unmanned aerial vehicle is divided into the following subtasks, namely, the unmanned aerial vehicle is precisely landed, the unmanned aerial vehicle is fixed by a foot rest, the battery is stored, the battery is replaced, and the unmanned aerial vehicle takes off; according to the several subtasks, different hardware modules or devices are respectively designed to be realized, namely, a hardware mechanism or mechanical device design, an electrical connection link design and a program control design. The hardware mechanism or mechanical device comprises a battery grabbing device, a battery storage device, a guiding and fixing device and a supporting structure.
In the prior art, for example: patent document with application number CN201810062724.7 discloses an unmanned aerial vehicle battery replacing device and an unmanned aerial vehicle battery automatic replacing method, which comprises a frame body, a battery transporting mechanism and a battery replacing mechanism; the battery transport mechanism includes a plurality of charging units for charging the battery; the battery replacing mechanism is installed on the frame body, and the battery replacing mechanism can convey the battery carried by the charging unit to a battery cabin of the unmanned aerial vehicle so as to replace the battery on the unmanned aerial vehicle. However, the device of this patent document can't be fixed the unmanned aerial vehicle accurate positioning, and work efficiency is lower.
For another example: patent document with application number CN201911341763.1 discloses an unmanned aerial vehicle battery rotary replacing device, which comprises an unmanned aerial vehicle battery connecting device, an unmanned aerial vehicle battery box and a battery changing and rotating device; the battery switching rotating device comprises a switching rotating disc, an unmanned aerial vehicle battery box storage position, a clamping jaw and a clamping jaw reset spring; the battery box of the unmanned aerial vehicle is clamped and connected on the battery switching rotating device through a clamping jaw; the jack catch is connected with the jack catch reset spring, and the jack catch is folded and dispersed by the expansion of the jack catch reset spring; unmanned aerial vehicle battery connecting device installs in unmanned aerial vehicle bottom. However, the device of this patent document cannot operate a plurality of actuators at the same time, and is not highly automated.
Unmanned aerial vehicle changes device duration among the prior art is shorter, and degree of automation is not high, can not satisfy multinomial operation task simultaneously, for this reason, is necessary to improve on this basis.
Disclosure of Invention
The invention aims to solve the problem of the defects, and provides an unmanned aerial vehicle battery replacing device and a using method thereof.
In order to achieve the purpose, the invention adopts the following technical scheme:
an unmanned aerial vehicle battery replacement device, comprising:
the workbench is used for placing the unmanned aerial vehicle;
the grabbing devices are fixed on the workbench and used for grabbing the battery; a storage device is arranged corresponding to each grabbing device and used for placing the battery;
the guide fixing devices are fixed on the workbench and used for fixing the unmanned aerial vehicle foot rest;
each grabbing device and each storage device are controlled through a lower computer respectively for when the unmanned aerial vehicle parks the workstation, the unmanned aerial vehicle is matched with each guide fixing device, and batteries are replaced for the unmanned aerial vehicle.
Preferably, the gripping device comprises a mechanical claw and a mechanical arm, the mechanical arm is provided with a guide rail and a motor, and the motor drives the mechanical arm to be linked with the mechanical claw to move along the guide rail; the gripper has clamping jaw and steering wheel, and steering wheel drive clamping jaw motion is used for snatching the battery.
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.
As a preferred scheme, the workbench is provided with a supporting plate, a stepping motor is fixedly arranged on the supporting plate, and the stepping motor is connected with a lead screw; the screw rod is fixedly connected with a fixing plate, the storage device is fixedly arranged on the fixing plate, and the stepping motor drives the screw rod to rotate to drive the storage device to move up and down so as to match the storage device with the grabbing device.
Preferably, the supporting plate is provided with a plurality of optical axes, and the optical axes penetrate through the fixing plate.
Preferably, the storage device is provided with a plurality of battery bins, a partition plate and a baffle plate which corresponds to each partition plate one by one are arranged between the battery bins, and each baffle plate is fixed on the corresponding partition plate and used for limiting the battery.
Preferably, the battery compartment is provided with a waterproof layer.
Preferably, a limiting plate is arranged at the end of the storage device, and a rain baffle is arranged on the limiting plate.
Preferably, the guiding and fixing device comprises a guiding funnel and a fixing claw, the fixing claw is fixedly connected with the guiding funnel, the flared end of the guiding funnel is flush with the plane of the workbench, and the fixing claw is used for fixing a foot rest of the unmanned aerial vehicle.
The invention also provides a use method of the unmanned aerial vehicle battery replacing device, which comprises the following steps:
unmanned aerial vehicle parks the workstation, and the guide fixing device is fixed with the unmanned aerial vehicle foot rest, and the battery is taken off from unmanned aerial vehicle to the next computer through control storage device rise and grabbing device to snatch the battery from storage device and put in unmanned aerial vehicle, in order to realize changing the battery to unmanned aerial vehicle.
Compared with the prior art, the invention has the beneficial effects that:
1. the guide fixing device can help the unmanned aerial vehicle to accurately land on the workbench, and ensures the stability of subsequent operation.
2. The grabbing device provided by the invention consists of the mechanical arm which moves linearly and the mechanical structure in the mechanical claw, and a battery on the unmanned aerial vehicle body can be taken out under the condition that the unmanned aerial vehicle is parked in place.
3. The grabbing device is matched with the storage device for use, so that the unmanned aerial vehicle battery is dismounted and replaced;
4. the invention has a rain-proof design, and can realize safe storage of the battery in rainy and snowy weather.
5. The invention can simultaneously satisfy a plurality of operation tasks by integrating a plurality of actuating mechanisms to work simultaneously, does not need manual operation and has high automation degree.
Drawings
Fig. 1 is a schematic structural view of an unmanned aerial vehicle battery exchange device according to embodiment 1 of the present invention;
fig. 2 is a schematic view of another perspective structure of the battery exchange device of the unmanned aerial vehicle according to embodiment 1 of the present invention;
fig. 3 is a schematic view of a workbench of a battery exchange apparatus for an unmanned aerial vehicle according to embodiment 1 of the present invention;
fig. 4 is a schematic perspective view of a gripping device of an unmanned aerial vehicle battery exchange device according to embodiment 1 of the present invention;
fig. 5 is a schematic plan view of a gripping device of the battery exchange device of the unmanned aerial vehicle according to embodiment 1 of the present invention;
fig. 6 is a schematic plan view of another view angle of the gripping device of the battery replacing device of the unmanned aerial vehicle in embodiment 1 of the invention;
fig. 7 is a schematic perspective view of a storage device of an unmanned aerial vehicle battery changer according to embodiment 1 of the present invention;
fig. 8 is a front view of a storage device of a battery exchange device of an unmanned aerial vehicle according to embodiment 1 of the present invention;
fig. 9 is a side view of a storage device of a battery exchange device of an unmanned aerial vehicle according to embodiment 1 of the present invention;
fig. 10 is a schematic view of a guiding and fixing device of a battery replacing device of an unmanned aerial vehicle according to embodiment 1 of the present invention;
fig. 11 is a schematic view of another perspective guiding and fixing device of the battery replacing device of the unmanned aerial vehicle according to embodiment 1 of the present invention;
fig. 12 is a schematic view of another perspective of a workbench of a battery exchange device of an unmanned aerial vehicle according to embodiment 1 of the present invention;
fig. 13 is a schematic view of an electrical control link of the battery exchange apparatus of the unmanned aerial vehicle according to embodiment 1 of the present invention;
fig. 14 is a schematic view of a program control flow of the battery changer for an unmanned aerial vehicle according to embodiment 1 of the present invention.
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 13, the present embodiment provides an unmanned aerial vehicle battery replacing device, including:
the workbench 1 is used for placing the unmanned aerial vehicle 5;
six grabbing devices 2 are uniformly distributed along the circumferential direction of the workbench 1, each grabbing device 2 is fixed on the workbench 1, and a storage device 4 is arranged corresponding to each grabbing device 2 and used for placing a battery;
six guiding and fixing devices 3 are uniformly distributed along the circumferential direction of the workbench 1, and each guiding and fixing device 3 is fixed on the workbench 1 and used for fixing a foot rest of the unmanned aerial vehicle; the guiding and fixing devices 3 and the grabbing devices 2 are arranged on the workbench 1 in a staggered mode.
Each grabbing device 2 and each storage device 4 are respectively controlled by a lower computer and are used in cooperation with each guide fixing device 3 when the unmanned aerial vehicle 5 parks the workbench 1 so as to replace the battery of the unmanned aerial vehicle 5.
The gripping device 2 comprises a gripper 21 and a robot 22, wherein the robot 22 has a guide rail and a motor, and the motor drives the robot 22 to move so as to link the gripper 21 to move along the guide rail. A rain shield shell 23 is arranged on the outer side of the grabbing device 2, the shell 23 is fixed on the workbench 1, the shell 23 is made of stainless alloy materials, and the mechanical arm 22 which moves linearly is surrounded by the shell 23 and is fixed in the shell 23. The mechanical arm 22 further has a gear, a rack and an optical axis, the rack is fixed on the guide rail, the gear and the rack are meshed to realize transmission fit, and the rotary motion of the motor can be converted into the linear motion of the mechanical claw 21. The gear is fixedly arranged on the optical axis, the motor drives the optical axis to move to drive the gear to rotate, and the gear rack is linked to move along the gear, so that the mechanical claw 21 can move linearly, and power is provided for the axial movement of the mechanical claw 21. Gripper 21 has clamping jaw and steering wheel, thereby the steering wheel rotates the shrink of drive clamping jaw and opens to reach and snatch the battery realization of tightly detaining on unmanned aerial vehicle.
The mechanical claw 21 and the mechanical arm 22 are controlled by a lower computer respectively, the lower computer sends pulse signals to the motor through a driver, the lower computer sends PWM signals to the steering engine through a controller, and the movement of the mechanical arm 22 and the mechanical claw 21 is controlled by the motor and the steering engine respectively.
The workbench 1 is provided with a support plate 12, a stepping motor 13 is fixedly arranged on the support plate 12, and the stepping motor 13 is connected with a screw rod 14; the screw 14 is fixedly connected with a fixing plate 16, the storage device 4 is fixedly arranged on the fixing plate 16, and the stepping motor 13 drives the screw 14 to rotate to drive the storage device 4 to move up and down so as to match the storage device 4 with the grabbing device 2. The frame 11 of workstation 1 plays the function of bearing, and backup pad 12 is equipped with several optical axis 15, and optical axis 15 runs through fixed plate 16, can play the effect of support for workstation 1, guarantees the stability of workstation 1. The lower computer sends a pulse signal to the stepping motor 13 through the driver, and the stepping motor 13 moves and drives the screw 14 to rotate so as to lift the battery compartment 43.
In the electrical control link, multiple mechanical devices, i.e., multiple degrees of freedom of movement, are required to perform the battery replacement task. Each battery needs a battery gripping device 2, the linear motion mechanical arm 22 of each battery has one degree of freedom, and the gripping device 2 has two or more degrees of freedom and is driven by a motor and a steering engine respectively. The battery storage unit 4 is fixed to a fixing plate 16 in the support plate 12, and requires a degree of freedom of up-and-down linear movement by driving the stepping motor. The tail end of the gripping device 2 is connected with an actuating mechanism, namely the mechanical claw 21 and the mechanical arm 22, the tail end of the storage device 4 is connected with an actuating mechanism, namely the battery compartment 43, the front end of the gripping device 2 and the front end of the storage device 4 are respectively connected with a driver and a controller, total control is realized through a lower computer, and a power supply supplies power to all the devices.
The corresponding use method of the unmanned aerial vehicle battery replacing device provided by the embodiment comprises the following steps:
unmanned aerial vehicle parks the workstation, and the guide fixing device is fixed with the unmanned aerial vehicle foot rest, and the battery is taken off from unmanned aerial vehicle to the next computer through control storage device rise and grabbing device to snatch the battery from storage device and put in unmanned aerial vehicle, in order to realize changing the battery to unmanned aerial vehicle.
As shown in fig. 14, the control flow of the present invention is used in conjunction with the battery replacement device, and a program for executing tasks, that is, tasks for battery replacement is executed by a subtask execution sequence and logical judgment, is set in advance in the lower computer of the battery replacement device. Whole design is independent of unmanned aerial vehicle machine and carries the system, and after unmanned aerial vehicle steadily descended to the ground station, the unmanned aerial vehicle foot rest triggered the switch on the guide fixing device, and the machine carries the computer just to begin to carry out the unmanned aerial vehicle battery and changes the task.
Firstly, the unmanned aerial vehicle lands on a workbench, a foot stool of the unmanned aerial vehicle grabs into a fixed claw along a guide funnel of a guide fixing device, if a fixed claw switch is triggered, a power supply of a machine body is closed by a mechanical claw, feedback information of the power supply is checked, and when a fault occurs, an alarm is sent; if the fixed claw switch is not triggered, the mechanical claw adjusts the position of the unmanned aerial vehicle, and the posture state of the unmanned aerial vehicle is checked until the fixed claw switch is successfully triggered. When the mechanical claw successfully turns off the power supply of the machine body, the power supply feedback information is checked to be normal, the stepping motor controls the battery storage device to rise, the motor drives the mechanical arm to enable the mechanical claw to move linearly, the mechanical claw penetrates through a battery bin of the battery storage device, and the steering engine drives the mechanical claw to expand and contract so as to grab out a battery fastened in the unmanned aerial vehicle and place the battery without electricity in the battery storage device. Then the mechanical claw is retracted, the battery storage device moves, the mechanical claw grabs the replaced battery from the battery compartment and penetrates through the battery compartment to be sent into a battery tank of the unmanned aerial vehicle, whether the battery replacement operation times are equal to the number of layers of the battery compartment or not is judged, and if yes, the mechanical claw adjusts the position of the unmanned aerial vehicle to check the posture of the unmanned aerial vehicle; if not, the mechanical claw grabs the battery and sends the battery to the unmanned aerial vehicle battery jar. Finally, the power supply of the unmanned aerial vehicle body is turned on by the mechanical gripper, the feedback information of the power supply is checked, if the feedback information is successful, the process of replacing the battery of the unmanned aerial vehicle is finished, and the unmanned aerial vehicle takes off; if the battery is failed, the mechanical claw continues to grab the battery, and the processes are repeated until the unmanned aerial vehicle is successfully replaced.
Example 2:
the utility model provides a device is changed to unmanned aerial vehicle battery that this embodiment provided, the difference with embodiment 1 lies in:
grabbing device, storage device, guide fixing device that unmanned aerial vehicle battery replacement device in this embodiment contained have waterproof function, and each mechanical device's material is stainless alloy spare or nylon spare. The battery is generally placed in a battery compartment of the storage device, and waterproof materials are arranged inside each battery compartment in the storage device to isolate the outside; the circuit parts are all provided with waterproof coatings, and the interfaces are all waterproof sealing interfaces. The controller, the control link, the power supply and the master control lower computer of each actuating mechanism are all placed in a waterproof box of the replacing device. The replacement device can be placed outdoors for a long period of time, but is not suitable for immersion in water or working in heavy rain.
Other specific structures and specific implementation steps can be referred to in example 1.
Example 3:
the utility model provides a device is changed to unmanned aerial vehicle battery that this embodiment provided, the difference with embodiment 1 lies in:
the mode that unmanned aerial vehicle battery changing device's grabbing device, storage device, guide fixing device realized each device function of this embodiment can form a whole actuating mechanism with each device integration together and carry out each function in step. It is also possible to form each device as a separate actuator, to perform the function of each device separately, or to integrate two devices into a single actuator to perform its function. The embodiment is not limited to the above embodiment, and the devices may be integrally arranged according to actual requirements.
Other specific structures and specific implementation steps can be referred to in example 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. The utility model provides an unmanned aerial vehicle battery changes device which characterized in that includes:
the workbench is used for placing the unmanned aerial vehicle;
the grabbing devices are fixed on the workbench and used for grabbing the battery; a storage device is arranged corresponding to each grabbing device and used for placing the battery;
the guide fixing devices are fixed on the workbench and used for fixing the unmanned aerial vehicle foot rest;
each grabbing device and each storage device are controlled through a lower computer respectively for when the unmanned aerial vehicle parks the workstation, the unmanned aerial vehicle is matched with each guide fixing device, and batteries are replaced for the unmanned aerial vehicle.
2. The unmanned aerial vehicle battery changing device of claim 1, wherein the gripping device comprises a gripper and a mechanical arm, the mechanical arm comprises a guide rail and a motor, and the motor drives the mechanical arm to move along the guide rail in a linkage manner; the gripper has clamping jaw and steering wheel, and steering wheel drive clamping jaw motion is used for snatching the battery.
3. The battery replacing device for the unmanned aerial vehicle as claimed in claim 2, wherein the mechanical gripper 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 movement of the mechanical gripper and the mechanical gripper is controlled by the motor and the steering engine respectively.
4. The unmanned aerial vehicle battery changing device of claim 1, wherein the worktable is provided with a supporting plate, a stepping motor is fixedly arranged on the supporting plate, and the stepping motor is connected with a lead screw; the screw rod is fixedly connected with a fixing plate, the storage device is fixedly arranged on the fixing plate, and the stepping motor drives the screw rod to rotate to drive the storage device to move up and down so as to match the storage device with the grabbing device.
5. The device of claim 4, wherein the supporting plate has a plurality of optical axes, and the optical axes penetrate through the fixing plate.
6. The unmanned aerial vehicle battery changing device of claim 1, wherein the storage device has a plurality of battery compartments, and baffles are disposed between each battery compartment and correspond to each baffle one-to-one, and each baffle is fixed on the corresponding baffle for limiting the battery.
7. The device of claim 6, wherein the battery compartment has a waterproof layer.
8. The unmanned aerial vehicle battery changing apparatus of claim 1, wherein the storage device is provided with a limiting plate, and a rain shield is provided on the limiting plate.
9. The device of claim 1, wherein the guiding and fixing device comprises a guiding funnel and a fixing claw, the fixing claw is fixedly connected with the guiding funnel, the flared end of the guiding funnel is flush with the plane of the workbench, and the fixing claw is used for fixing a foot rest of the unmanned aerial vehicle.
10. Use of a device for changing battery of a drone according to any of claims 1 to 9, characterised by the following steps:
unmanned aerial vehicle parks the workstation, and the guide fixing device is fixed with the unmanned aerial vehicle foot rest, and the battery is taken off from unmanned aerial vehicle to the next computer through control storage device rise and grabbing device to snatch the battery from storage device and put in unmanned aerial vehicle, in order to realize changing the battery to unmanned aerial vehicle.
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| CN113011269A (en) * | 2021-02-23 | 2021-06-22 | 国网安徽省电力有限公司淮南供电公司 | Mechanical clamping jaw and working method for grabbing battery |
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|---|---|---|---|---|
| CN113011269A (en) * | 2021-02-23 | 2021-06-22 | 国网安徽省电力有限公司淮南供电公司 | Mechanical clamping jaw and working method for grabbing battery |
| CN113011269B (en) * | 2021-02-23 | 2023-12-05 | 国网安徽省电力有限公司淮南供电公司 | Mechanical clamping jaw and working method for grabbing battery |
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| CN112091553B (en) | 2022-03-25 |
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Effective date of registration: 20240103 Address after: No. 1751 Binsheng Road, Binjiang District, Hangzhou City, Zhejiang Province, 310000 Patentee after: Zhejiang Provincial Natural Gas Development Co.,Ltd. Patentee after: ZHEJIANG University Address before: Zheneng second building, 1751 Binsheng Road, Binjiang District, Hangzhou City, Zhejiang Province 310052 Patentee before: ZHEJIANG ZHENENG NATURAL GAS OPERATION CO.,LTD. Patentee before: ZHEJIANG University |