CN113276725A - Unmanned on duty power station that trades of unmanned aerial vehicle is patrolled and examined to electric power - Google Patents
Unmanned on duty power station that trades of unmanned aerial vehicle is patrolled and examined to electric power Download PDFInfo
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- CN113276725A CN113276725A CN202110781519.8A CN202110781519A CN113276725A CN 113276725 A CN113276725 A CN 113276725A CN 202110781519 A CN202110781519 A CN 202110781519A CN 113276725 A CN113276725 A CN 113276725A
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- aerial vehicle
- unmanned aerial
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- 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
- B60L53/30—Constructional details of charging stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses an unmanned on duty power exchange station of an electric power inspection unmanned aerial vehicle, which comprises a base, an unmanned aerial vehicle positioning device, a battery charging seat and a power exchange battery mechanism, wherein the base is provided with an unmanned aerial vehicle parking position; the unmanned aerial vehicle positioning device is installed on the unmanned aerial vehicle parking position; the battery charging seat is provided with a plurality of charging cabins arranged in a linear array, the bottom of each charging cabin is provided with a first butt joint interface, and all the first butt joint interfaces are connected with the charging unit; the battery replacing mechanism can take out the battery from the battery charging seat or put the battery back into the battery charging seat, and can also take down the battery from the unmanned aerial vehicle parked at the unmanned aerial vehicle parking position or install the battery onto the unmanned aerial vehicle. According to the unmanned on duty battery replacement station of the electric power inspection unmanned aerial vehicle, the battery charging seat and the battery replacement mechanism are arranged, so that the unmanned aerial vehicle can be automatically replaced, the practicability is high, the unmanned aerial vehicle application scene needing continuous operation does not need to be manually attended, and the labor cost is saved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned electric inspection unmanned aerial vehicle power changing station.
Background
Many rotor unmanned aerial vehicle is because it controls easily, and the high characteristics of flight stability have obtained extensive application in the electric power field of patrolling and examining, and current unmanned aerial vehicle mostly duration is short, need frequently change the battery, when unmanned aerial vehicle carries out electric power in succession and patrols and examines the task, frequently changes the battery and need be equipped with the manpower and wait at any time, consumes the cost of labor.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the unattended power exchanging station of the power inspection unmanned aerial vehicle, which can automatically replace the battery for the unmanned aerial vehicle.
The technical scheme is as follows: in order to achieve the purpose, the unattended power change station of the power inspection unmanned aerial vehicle comprises:
the base is provided with an unmanned aerial vehicle parking position;
the unmanned aerial vehicle positioning device is installed on the unmanned aerial vehicle parking position;
the battery charging seat is provided with a plurality of charging cabins arranged in a linear array, the bottom of each charging cabin is provided with a first butt joint interface, and all the first butt joint interfaces are connected with the charging unit;
the battery replacing mechanism can take out the battery from the battery charging seat or put the battery back into the battery charging seat, and can take down the battery from the unmanned aerial vehicle parked at the unmanned aerial vehicle parking position or install the battery onto the unmanned aerial vehicle.
Furthermore, the battery charging seat is arranged on the base through a lifting driving assembly;
the battery replacing mechanism comprises a moving seat which moves in a reciprocating manner and a picking and placing claw used for taking out and putting back the battery;
the picking and placing claw can rotate along with the moving seat and can turn over for a set angle relative to the moving seat, so that the head of the grabbed battery faces the unmanned aerial vehicle or the battery charging seat.
Further, the picking and placing claw comprises a claw seat, and the claw seat is rotatably installed on the moving seat through a gear shaft; a gear is also rotatably arranged on the movable seat, and a rack which can be meshed with the gear is fixedly arranged on the machine seat; the gear and the claw hand seat have a transmission relation, so that the claw hand seat rotates along with the gear;
the gear shaft is provided with a holding part, and the holding part is provided with two surfaces which are parallel to each other and have a first relative distance;
the machine base is also provided with two holding guide rails, the holding guide rails are provided with holding grooves for the holding parts to go in and out, and the width of each holding groove is equal to the first distance; two of the holding rails are disposed at both ends of the rack gear, and when the gear is disengaged from the rack gear, the holding portion enters the holding groove of the holding rail and slides with respect to the holding groove.
Further, the moving seat is driven to move by a moving lead screw, and the moving lead screw is in driving connection with a translation motor.
Furthermore, the lifting driving assembly comprises a lifting seat, a lifting screw rod and a lifting motor, and the battery charging seat is arranged on the lifting seat; the lifting seat is driven by the lifting screw rod to do lifting motion, and the lifting motor is in driving connection with the lifting screw rod.
Furthermore, the machine base is provided with a machine box; when the battery charging seat is at the lowest position, the whole battery charging seat is arranged in the case.
Furthermore, the battery is arranged on a battery bracket, and a second butt joint interface electrically connected with the battery on the battery bracket is arranged on the battery bracket; the second docking interface and the first docking interface can be docked to realize the electrical connection of a battery and the charging unit;
charging cabin in and all install butt joint fixing device on the unmanned aerial vehicle.
Has the advantages that: according to the unmanned on duty battery replacement station of the electric power inspection unmanned aerial vehicle, the battery charging seat and the battery replacement mechanism are arranged, so that the unmanned aerial vehicle can be automatically replaced, the practicability is high, the unmanned aerial vehicle application scene needing continuous operation does not need to be manually attended, and the labor cost is saved.
Drawings
Fig. 1 is a structural diagram of an unattended power conversion station of an electric power inspection unmanned aerial vehicle;
FIG. 2 is a combined structure diagram of a battery charging seat and a lifting driving assembly;
FIG. 3 is a block diagram of a battery pack;
FIG. 4 is a combination block diagram of a battery tray mounted within the charging chamber;
FIG. 5 is a structural view of a battery carrier;
FIG. 6 is an enlarged view of portion A of FIG. 5;
FIG. 7 is a block diagram of a closed loop slot set;
FIG. 8 is a view of the structure of the pick-and-place claw;
FIG. 9 is a view of the structure of the pick-and-place gripper when the two grippers are opened to the maximum angle;
fig. 10 is a front view of the positioning device of the drone in an initial state;
figure 11 is a side view of the positioning apparatus of the drone in an initial state;
fig. 12 is a state diagram of the positioning device of the drone after docking with the drone;
fig. 13 is a combined state diagram of the positioning device of the unmanned aerial vehicle and the unmanned aerial vehicle after docking.
In the figure: a machine base 1; a cabinet 11; an unmanned aerial vehicle positioning device 2; a positioning claw 21; a finger portion 211; a V-shaped positioning portion 212; a link 213; a slider 214; a lead screw 215; a second transition gear 216; a drive gear 217; a lead screw motor 218; an opening and closing drive assembly 22; a drive shaft 221; an opening and closing motor 222; an intermediate shaft 223; a first transition gear 224; a timing belt assembly 225; a battery charging stand 3; a charging compartment 31; a battery replacing mechanism 4; a movable base 41; pick-and-place claws 42; a claw rest 421; a pushing portion 4211; a pushrod 422; a gripper jaw 423; a connecting rod 424; a return spring 425; a gear 43; a rack 44; a gear shaft 45; the holding portion 451; a holding rail 46; the retaining groove 461; the lead screw 47 is moved; a translation motor 48; a lifting drive assembly 5; a lifting base 51; a lift screw 52; a lift motor 53; a battery holder 61; an in-out straight slot 611; a first process slot 612; a first return groove 613; a second process slot 614; a second backhaul trough 615; a temporary holding tank 616; a first step 617; a second step 618; a third step 619; a fourth step 610; a butt joint fixing device 7; the first docking interface 71; an L-shaped resilient bar 72; a spring 73; an auxiliary positioning device 8; a landing gear 81; a transverse bar 811; the rod 812 is vertically disposed.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
An unattended power exchange station of an electric power inspection unmanned aerial vehicle shown in figure 1 comprises a base 1, an unmanned aerial vehicle positioning device 2, a battery charging seat 3 and a battery exchange mechanism 4; wherein, the base 1 is provided with an unmanned aerial vehicle parking position; the unmanned aerial vehicle positioning device 2 is installed on the unmanned aerial vehicle parking position and used for fixing the unmanned aerial vehicle on the base 1 in a set posture; the battery charging stand 3 is provided with a plurality of charging cabins 31 arranged in a linear array, the bottom of each charging cabin 31 is provided with a first butt joint interface 71, and all the first butt joint interfaces 71 are connected with charging units; the battery replacing mechanism 4 can take out the battery from the battery charging seat 3 or put the battery back into the battery charging seat 3, and can take down the battery from the unmanned aerial vehicle parked at the unmanned aerial vehicle parking position or install the battery on the unmanned aerial vehicle.
Above-mentioned unmanned aerial vehicle positioner 2, battery charging seat 3 and trade battery mechanism 4 and control by controller unified, adopt above-mentioned structure, the controller controls unmanned aerial vehicle positioner 2 earlier and fixes a position unmanned aerial vehicle, it takes off the old battery (the battery that the electric quantity is low) from unmanned aerial vehicle to control battery mechanism 4 again, and pack into an empty charging cabin 31 of battery charging seat 3 with the old battery, at last with a new battery (being full of the battery of electricity promptly) in battery charging seat 3, and pack into unmanned aerial vehicle's battery cabin with the new battery, so trade the battery operation has been accomplished promptly.
Preferably, the battery charging seat 3 is installed on the base 1 through a lifting driving assembly 5; as shown in fig. 2, the lifting driving assembly 5 includes a lifting base 51, a lifting screw 52 and a lifting motor 53, and the battery charging base 3 is mounted on the lifting base 51; the lifting seat 51 is driven by the lifting screw 52 to move up and down, and the lifting motor 53 is in driving connection with the lifting screw 52.
As shown in fig. 3, the battery replacing mechanism 4 includes a moving seat 41 that reciprocates and a picking and placing claw 42 for picking and placing back the battery; the picking and placing claw 42 can rotate along with the moving seat 41 and can turn over a set angle relative to the moving seat 41, so that the head of the grabbed battery faces the unmanned aerial vehicle or the battery charging seat 3. When the picking and placing claw 42 needs to load and unload the battery to the unmanned aerial vehicle, the head of the picking and placing claw 42 faces the unmanned aerial vehicle, and when the picking and placing claw 42 needs to load and unload the battery to the battery charging base 3, the head of the picking and placing claw 42 faces the battery charging base 3.
Preferably, in order to make the control of the battery replacing mechanism 4 simple, the translational motion of the moving seat 41 and the turning motion of the picking and placing claw 42 can be linked, specifically, the picking and placing claw 42 comprises a claw seat 421, and the claw seat 421 is rotatably mounted on the moving seat 41 through a gear shaft 45; a gear 43 is rotatably mounted on the movable base 41, and a rack 44 capable of meshing with the gear 43 is fixedly mounted on the base 1; the gear 43 and the gripper seat 421 have a transmission relationship, so that the gripper seat 421 rotates with the gear 43; a holding part 451 is formed on the gear shaft 45, and the holding part 451 has two surfaces parallel to each other and having a first distance between the surfaces; two holding rails 46 are further mounted on the housing 1, a holding groove 461 for the holding part 451 to go in and out is formed on the holding rails 46, and the width of the holding groove 461 is equal to the first distance; the two holding rails 46 are disposed at both ends of the rack gear 44, and when the gear 43 is disengaged from the rack gear 44, the holding portion 451 enters the holding groove 461 of the holding rail 46 and slides with respect to the holding groove 461. The movable base 41 is driven to move by a movable lead screw 47, and the movable lead screw 47 is in driving connection with a translation motor 48.
With the above structure, the battery replacement mechanism 4 performs the battery replacement process as follows: in the idle state without task execution, the head of the picking and placing claw 42 faces the drone positioning device 2, and the holding part 451 is placed in the holding groove 461 close to the holding guide rail 46 of the drone positioning device 2, at this time, the claw seat 421 cannot rotate relative to the moving seat 41 and can only slide relative to the base 1; when the unmanned aerial vehicle is fixed by the positioning device 2 of the unmanned aerial vehicle, the controller controls the lifting driving assembly 5 to operate to enable the charging cabin 31 above the battery charging seat 3 to be flush with the picking and placing claw 42, the controller drives the translation motor 48 to operate to control the moving seat 41 to move to the first limit position to the unmanned aerial vehicle, the picking and placing claw 42 picks up the old battery, the controller drives the translation motor 48 to rotate reversely, the moving seat 41 moves reversely, in the translation process, the holding part 451 moves to the tail end of the holding groove 461 at the current position and disengages from the holding groove 461, when the holding part 451 disengages from the holding groove 461, the gear 43 is in butt joint with the rack 44 to establish a meshing relationship, along with the movement of the moving seat 41, the meshing relationship between the gear 43 and the rack 44 enables the claw seat to turn over for 180 degrees, and thus, the end part of the picking and placing claw 42 faces the battery charging seat 3. After the claw seat 421 is turned over 180 degrees, the gear 43 is disengaged from the rack 44, and the holding portion 451 enters the holding groove 461 of the holding guide rail 46 near the battery charging seat 3, so that the claw seat 421 can only slide relative to the base 1 and cannot rotate relative to the movable seat 41, and when the movable seat 41 moves to the second limit, the picking and placing claw 42 picks up the used battery and places the used battery into the empty charging compartment 31. Then, the controller controls the moving seat 41 to move reversely for a set distance, and controls the lifting driving assembly 5 to operate, so that the charging cabin 31 on the battery charging seat 3, which is filled with fully charged batteries, is flush with the picking and placing claw 42, and then controls the moving seat 41 to move to a second limit position, so that the picking and placing claw 42 picks up new batteries; then the controller controls again and removes seat 41 reverse motion to first spacing, packs the battery into unmanned aerial vehicle's battery compartment, and finally, controller control removes seat 41 and gets back to initial position.
Preferably, the machine base 1 is provided with a machine box 11; when the battery charging stand 3 is at the lowest position, the whole battery charging stand is arranged in the case 11. Thus, the battery charging stand 3 can be protected.
Further, as shown in fig. 4, the battery is mounted on a battery bracket 61, and a second docking interface 62 electrically connected with the battery on the battery bracket 61 is mounted on the battery bracket 61; the second docking interface 62 and the first docking interface 71 can be docked to realize the electrical connection of the battery and the charging unit; docking fixing devices 7 are installed in the charging cabin 31 and the battery cabin of the unmanned aerial vehicle.
As shown in fig. 4, the docking fixture 7 includes a first docking interface 71, an L-shaped elastic rod 72, and a spring 73; the first docking interface 71 is mounted at the bottom of the charging bay 31 or the battery bay of the drone; one end of the L-shaped elastic rod 72 is fixed in the charging cabin 31 or the battery cabin of the unmanned aerial vehicle (shown as the charging cabin 31), and the other end of the L-shaped elastic rod 72 is an open end. As shown in fig. 5, the battery holder 61 has a notch structure, and the L-shaped elastic rod 72 has its own elasticity such that its open end is always in contact with the bottom of the notch structure.
The slot structure includes an in-out straight slot 611 and a closed-loop slot group communicating with the in-out straight slot 611, as shown in fig. 6 and 7, the closed-loop slot group includes a first process slot 612 extending forward from a front end of the in-out straight slot 611, a first return slot 613 extending backward from the front end of the first process slot 612, a second process slot 614 extending forward from a rear end of the first return slot 613, and a second return slot 615 connecting a front end of the second process slot 614 and the front end of the in-out straight slot 611; in the entering and exiting direction of the battery bracket 2, the projected length of the first return groove 613 is smaller than the length of the first travel groove 612; a temporary holding groove 616 for accommodating the open end of the L-shaped elastic rod 72 is formed at the intersection of the first return groove 613 and the second stroke groove 614; when the open end of the L-shaped resilient bar 72 is placed in the retention slot 616, the battery bracket 61 is fixed relative to the charging bay 31 or the battery bay of the drone.
The front end of the straight access slot 611 and the rear end of the first process slot 612 are in smooth transition, the front end of the first process slot 612 is higher than the front end of the first return slot 613, and a first step 617 is arranged between the front end of the straight access slot 611 and the rear end of the first process slot 612; the rear end of the first return groove 613 is higher than the rear end of the second process groove 614, and a second step 618 is arranged between the first return groove and the second return groove; the front end of the second process groove 614 is higher than the front end of the second return groove 615, and a third step 619 is arranged between the first process groove and the second return groove; the rear end of the second return groove 615 is higher than the front end of the straight in-out groove 611, and a fourth step 610 is arranged between the two.
With the above structure, the open end of the L-shaped resilient lever 72 is enabled to move unidirectionally along the closed loop slot group.
The first docking interface 71 is slidably mounted with respect to the charging bay 31 or the battery bay of the drone, and a spring 73 is provided between the bottom of the bay (charging bay 31 or the battery bay of the drone) and the first docking interface 71.
As shown in fig. 8, the pick-and-place gripper 42 includes a gripper seat 421, a push rod 422, a clamping claw 423 and a sliding block 426; the two clamping jaws 423 are rotatably mounted at the front end of the gripper seat 421, and can be opened and closed relatively, and the opening and closing of the two clamping jaws are driven by the push rod 422. The claw holder 421 has a pushing portion 4211 for applying a pushing force to the battery holder 61.
The push rod 422 is slidably mounted on the claw hand seat 421, the sliding block 426 is slidably mounted on the push rod 422, a connecting rod 424 is arranged between each clamping claw 423 and the sliding block 426, the push rod 422 acts on the sliding block 426 through a pushing spring 427, and a return spring 425 is arranged between the sliding block 426 and the claw hand seat 421. The stiffness of the push spring 427 is greater than the stiffness of the return spring 425.
Through the above-mentioned picking and placing claw 42, when taking out the battery, the picking and placing claw 42 moves to the direction close to the unmanned aerial vehicle or the charging seat 3, and in the moving process, the push rod 422 contacts with the unmanned aerial vehicle or the charging seat 3 first, so that the push rod 422 slides relative to the claw seat 421, the push rod 422 acts on the sliding block 426 through the pushing spring 427, so that the two clamping claws 423 are relatively opened, and after the two clamping claws 423 are opened to the maximum angle (as shown in fig. 9), the push rod 422 compresses the pushing spring 427 to continue sliding; then, the pushing portion 4211 on the gripper seat 421 contacts the battery bracket 61 to apply a pushing force to the battery bracket 61 and continues to move forward for a first set distance after contacting the battery bracket 61, during which, the open end of the original L-shaped elastic rod 72 is placed in the temporary holding groove 616, the pushing portion 4211 pushes the battery bracket to move along the second process groove 614 and reach the front end of the second process groove 614, then the pick-and-place gripper 42 retreats, the restoring force of the spring 73 makes the battery bracket 61 move backward, during the backward movement, the open end moves along the second return groove 615 and enters the in-and-out straight groove 611, after the push rod 422 is separated from the drone or the charging seat 3, the two clamping jaws 423 are completely closed and clamp the battery bracket 61, so that, when the pick-and-place gripper 42 retreats, a pulling force is applied to the battery bracket 61 to separate the battery bracket 61 from the battery compartment 11, thereby completing quick release. When the battery is loaded, the picking and placing claw 42 clamps the battery bracket 61 to be close to the unmanned aerial vehicle or the charging seat 3, after the battery bracket 61 enters the battery cabin 11 and moves for a certain distance, the push rod 422 contacts with the unmanned aerial vehicle or the charging seat 3, the push rod 422 slides relative to the claw hand seat 421 to indirectly open the two clamping claws 423 relatively, the pushing part 4211 continues to push the battery bracket 61 to move forward, in the process, the open end of the L-shaped resilient rod 72 enters the slot structure 61 along the in-out straight slot 611, when the open end reaches the front end of the slot structure 61, the open end enters the first process groove 612, and after the open end reaches the front end of the first process groove 612, the open end reaches the foremost end of the entire notch structure 61, and then the pick-and-place claw 42 is retracted, the return force of the spring 73 causes the battery carrier 61 to move in the opposite direction, which, when moved in the opposite direction, the open end moves along the first return slot 613 and reaches the dwell slot 616, thus completing the quick assembly of the battery.
As shown in fig. 13, have the auxiliary positioning device 8 that is used for with the butt joint of unmanned aerial vehicle positioner 2 on the unmanned aerial vehicle, auxiliary positioning device 8 is installed including the symmetry two undercarriage 81 of unmanned aerial vehicle's lower extreme, undercarriage 81 is the U font, and it includes horizontal pole 811 and will respectively the both ends of horizontal pole 811 are connected two of unmanned aerial vehicle's body are erected and are put pole 812.
As shown in fig. 10 to 12, the positioning device 2 of the unmanned aerial vehicle includes two sets of positioning claws 21 and an opening and closing driving assembly 22, where each set of positioning claws 21 includes two finger portions 211 capable of moving toward or away from each other; the finger part 211 is provided with a V-shaped positioning part 212; the opening and closing driving component 22 can drive the two sets of positioning claws 21 to open and close.
The opening and closing driving assembly 22 includes two driving shafts 221 which are parallel to each other and rotate in opposite directions at a constant speed, and the two driving shafts 221 are respectively used for driving the two positioning claws 21 to operate.
Adopt above-mentioned structure, the process that unmanned aerial vehicle positioner 2 advances line location to unmanned aerial vehicle is as follows: in an initial state (as shown in fig. 10 to 11), two sets of positioning claws 21 are in a closed state, and two finger portions 211 included in each set of positioning claws 21 are in a mutually close state, the unmanned aerial vehicle flies to a first designated position and hovers at the first designated position, and at this time, the V-shaped positioning portions 212 of the two sets of positioning claws 21 are both placed between two transverse rods 811; then, the controller controls the two groups of positioning claws 21 to be switched to a scattered state, in the process, the two groups of V-shaped positioning parts 212 of the two groups of positioning claws 21 are mutually far away and respectively act on the two transverse rods 811, and when the distance between the two groups of V-shaped positioning parts 212 reaches the maximum, each transverse rod 811 is arranged at the groove bottom position of the V-shaped positioning part 212 contacted with the transverse rod; finally, the opening and closing driving assembly 22 operates to drive the two sets of positioning claws 21 to be switched from the closed state to the away state, when the distance between the two sets of positioning claws 21 reaches the maximum, the two V-shaped positioning portions 212 of the same positioning claw 21 respectively abut against the two vertical rods 812 of the corresponding undercarriage 81, and thus, the positioning of the unmanned aerial vehicle is completed.
Preferably, the positioning claw 21 further comprises a connecting rod 213 and a sliding block 214; the V-shaped positioning part 212 is hinged on the finger part 211; the connecting rod 213 is always parallel to the finger part 211, two ends of the connecting rod 213 are respectively hinged to the V-shaped positioning part 212 and the sliding block 214, the sliding block 214 is slidably mounted relative to the driving shaft 221, and the sliding block 214 can axially slide relative to the driving shaft 221 but cannot rotate relative to the driving shaft 221. Thus, since the connecting rod 213 is always parallel to the finger part 211, two hinge centers on the connecting rod 213 and two hinge centers on the finger part 211 form four corner points of a parallelogram, when the driving shaft 221 rotates, the connecting rod 213 and the finger part 211 rotate synchronously, so that the two sets of positioning claws 21 make opening and closing movements, and the posture of the V-shaped positioning part 212 can be kept unchanged due to the characteristics of the parallelogram.
The driving shaft 221 is driven by an opening and closing motor 222 to operate, the opening and closing driving assembly 22 has two intermediate shafts 223, the two intermediate shafts 223 are respectively rotatably provided with first transition gears 224, the two first transition gears 224 are engaged with each other, and the two driving shafts 221 are respectively in driving connection with the two first transition gears 224 through two sets of synchronous belt assemblies 225. One of the driving shafts 221 is directly connected with the opening and closing motor 222 in a driving way, so that the two driving shafts 221 can rotate reversely at a constant speed;
the two intermediate shafts 223 are further respectively and rotatably provided with second transition gears 216, the two second transition gears 216 are mutually meshed, the two screw rods 215 are respectively and fixedly provided with transmission gears 217, the two transmission gears 217 are respectively meshed with the two second transition gears 216, one of the screw rods 215 is in driving connection with a screw rod motor 218, and thus, the two screw rods 215 can be driven to run by one screw rod motor 218.
Every group two that location claw hand 21 contains finger portion 211 is operated by lead screw 215 drive, the both ends of lead screw 215 set up left-handed screw and right-handed screw respectively, two on the finger portion 211 corresponding to the lead screw nut of left-handed screw and right-handed screw. Thus, the same lead screw 215 can drive the two finger parts 211 to move in an opening and closing manner.
According to the unmanned on duty battery replacement station of the electric power inspection unmanned aerial vehicle, the battery charging seat and the battery replacement mechanism are arranged, so that the unmanned aerial vehicle can be automatically replaced, the practicability is high, the unmanned aerial vehicle application scene needing continuous operation does not need to be manually attended, and the labor cost is saved.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (7)
1. The utility model provides an unmanned on duty of unmanned aerial vehicle trades electric power inspection trades power station, its characterized in that, it includes:
the base (1) is provided with an unmanned aerial vehicle parking position;
the unmanned aerial vehicle positioning device (2) is installed on the unmanned aerial vehicle parking position;
the battery charging seat (3) is provided with a plurality of charging cabins (31) which are arranged in a linear array, the bottom of each charging cabin (31) is provided with a first butt joint interface (71), and all the first butt joint interfaces (71) are connected with a charging unit;
and the battery replacing mechanism (4) can take out the battery from the battery charging seat (3) or put the battery back into the battery charging seat (3), and can also take off the battery from the unmanned aerial vehicle parked at the unmanned aerial vehicle parking position or install the battery onto the unmanned aerial vehicle.
2. The unmanned electric inspection unmanned aerial vehicle power exchange station according to claim 1, wherein the battery charging stand (3) is mounted on the base (1) through a lifting drive assembly (5);
the battery replacing mechanism (4) comprises a moving seat (41) which moves in a reciprocating manner and a picking and placing claw (42) which is used for picking and putting back the battery;
the picking and placing claw (42) can rotate along with the moving seat (41) and can turn over a set angle relative to the moving seat (41), so that the head of the grabbed battery faces the unmanned aerial vehicle or the battery charging seat (3).
3. The unmanned aerial vehicle power inspection unmanned aerial vehicle power exchange station according to claim 2, wherein the pick-and-place claw (42) comprises a claw holder (421), and the claw holder (421) is rotatably mounted on the movable base (41) through a gear shaft (45); a gear (43) is further rotatably mounted on the movable seat (41), and a rack (44) capable of being meshed with the gear (43) is fixedly mounted on the machine base (1); the gear (43) and the claw hand seat (421) have a transmission relation, so that the claw hand seat (421) rotates along with the gear (43);
a holding part (451) is formed on the gear shaft (45), and the holding part (451) is provided with two surfaces which are parallel to each other and have a first distance between the surfaces;
the machine base (1) is also provided with two holding guide rails (46), a holding groove (461) for the holding part (451) to go in and out is formed on each holding guide rail (46), and the width of each holding groove (461) is equal to the first distance; the two holding rails (46) are disposed at both ends of the rack gear (44), and when the gear (43) is disengaged from the rack gear (44), the holding portion (451) enters the holding groove (461) of the holding rail (46) and slides with respect to the holding groove (461).
4. The unmanned power station of power inspection unmanned aerial vehicle of claim 2, wherein the moving base (41) is driven to move by a moving lead screw (47), and the moving lead screw (47) is in driving connection with a translation motor (48).
5. The unmanned electric inspection unmanned aerial vehicle power exchange station according to claim 2, wherein the lifting driving assembly (5) comprises a lifting seat (51), a lifting screw (52) and a lifting motor (53), and the battery charging seat (3) is mounted on the lifting seat (51); the lifting seat (51) is driven by the lifting screw rod (52) to move up and down, and the lifting motor (53) is in driving connection with the lifting screw rod (52).
6. The unmanned aerial vehicle power inspection interchange station according to claim 2, wherein the base (1) is provided with a case (11); when the battery charging seat (3) is at the lowest position, the whole battery charging seat is arranged in the case (11).
7. The unmanned aerial vehicle power inspection swapping station of the power inspection unmanned aerial vehicle of claim 1, wherein the battery is mounted on a battery bracket (61), and a second docking interface (62) electrically connected with the battery is mounted on the battery bracket (61); the second docking interface (62) and the first docking interface (71) are dockable to enable electrical connection of a battery to the charging unit;
all install butt joint fixing device (7) in charging cabin (31) and on the unmanned aerial vehicle.
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| CN202110781519.8A CN113276725B (en) | 2021-07-12 | 2021-07-12 | Unmanned on duty power station that trades of unmanned aerial vehicle is patrolled and examined to electric power |
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| CN202110781519.8A CN113276725B (en) | 2021-07-12 | 2021-07-12 | Unmanned on duty power station that trades of unmanned aerial vehicle is patrolled and examined to electric power |
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| CN113276725B (en) | 2022-06-21 |
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