CN113459879B - Quick-change battery structure and battery quick-change system of inspection unmanned aerial vehicle - Google Patents
Quick-change battery structure and battery quick-change system of inspection unmanned aerial vehicle Download PDFInfo
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- CN113459879B CN113459879B CN202110781510.7A CN202110781510A CN113459879B CN 113459879 B CN113459879 B CN 113459879B CN 202110781510 A CN202110781510 A CN 202110781510A CN 113459879 B CN113459879 B CN 113459879B
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- 238000007689 inspection Methods 0.000 title abstract description 10
- 210000001503 joint Anatomy 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims description 44
- 230000008569 process Effects 0.000 claims description 44
- 210000000078 claw Anatomy 0.000 claims description 29
- 230000008859 change Effects 0.000 claims description 11
- 239000002184 metal Substances 0.000 claims description 11
- 230000007704 transition Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 238000003032 molecular docking Methods 0.000 description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 3
- 230000007306 turnover Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a quick-change battery structure of an inspection unmanned aerial vehicle, which comprises a battery holder, a battery bracket and a quick-release unit, wherein a battery cabin is formed in the battery holder, and the bottom of the battery cabin is provided with a first electric butt-joint module; the first electric butt joint module is electrically connected with an electric system of the unmanned aerial vehicle; the battery bracket is provided with a battery fixing position and a second electric butt-joint module, and the battery fixed at the battery fixing position is electrically connected with the second electric butt-joint module; the quick release structure is also arranged on the bracket; the quick-release unit is arranged in the battery compartment and used for acting on the quick-release structure so as to enable the battery bracket to be fixed and detached relative to the battery seat. According to the battery quick-dismounting device, the battery bracket with the battery fixing position is arranged, and the battery bracket and the battery seat are quickly fixed and separated through the quick-dismounting structure and the quick-dismounting unit, so that the battery can be automatically and quickly dismounted, the dismounting efficiency is high, and the battery quick-dismounting device can be used for quickly replacing the battery of the unmanned aerial vehicle when the unmanned aerial vehicle needs to operate for a long time.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a quick-change battery structure and a quick-change battery system of an inspection unmanned aerial vehicle.
Background
Many rotor unmanned aerial vehicle have obtained wide application in every trade owing to its flight control is simple and flight stable characteristics. In the field of patrolling and examining, because the unmanned aerial vehicle load is limited, the limited battery of capacity that its can carry on for its flight duration is shorter, when need carry out the task of patrolling and examining of longer time, need frequently change the battery to unmanned aerial vehicle, unmanned aerial vehicle on the current market can only hand loading and unloading unmanned aerial vehicle's battery, complex operation trades the battery inefficiency.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a quick-change battery structure and a quick-change battery system of an inspection unmanned aerial vehicle, which can quickly change batteries.
The technical scheme is as follows: in order to achieve the above object, the present invention provides a quick-change battery structure of an inspection unmanned aerial vehicle, which includes:
the battery holder is internally provided with a battery cabin, and the bottom of the battery cabin is provided with a first electric butt-joint module; the first electric butt joint module is electrically connected with an electric system of the unmanned aerial vehicle;
the battery bracket is provided with a battery fixing position and a second electric butt-joint module, and the battery fixed at the battery fixing position is electrically connected with the second electric butt-joint module; the quick release structure is also arranged on the bracket;
The quick-release unit is arranged in the battery compartment and used for acting on the quick-release structure so as to enable the battery bracket to be fixed and detached relative to the battery seat.
Furthermore, the quick-release unit comprises an L-shaped elastic rod and a spring, one end of the L-shaped elastic rod is fixed at the bottom of the battery compartment, and the other end of the L-shaped elastic rod is an open end; the spring is arranged at the bottom of the battery compartment, and when the battery bracket is fixed in the battery compartment and acts on the battery bracket, the spring generates outward thrust on the battery bracket;
the quick release structure is a notch structure formed on the battery bracket, the notch structure comprises an in-out straight groove and a closed loop groove group communicated with the in-out straight groove, the closed loop groove group comprises a first process groove extending forwards from the front end of the in-out straight groove, a first return groove extending backwards from the front end of the first process groove, a second process groove extending forwards from the rear end of the first return groove, and a second return groove connecting the front end of the second process groove and the front end of the in-out straight groove; in the entering and exiting direction of the battery bracket, the projection length of the first return groove is smaller than the length of the first process groove; a temporary holding groove for accommodating the open end of the L-shaped elastic rod is formed at the junction of the first return groove and the second progress groove; when the open end of the L-shaped resilient lever is placed in the retention groove, the battery bracket is fixed relative to the battery holder.
Furthermore, the front end of the straight access groove and the rear end of the first process groove are in smooth transition, the front end of the first process groove is higher than the front end of the first return groove, and a first step is arranged between the front end of the straight access groove and the rear end of the first process groove; the rear end of the first return groove is higher than the rear end of the second process groove, and a second step is arranged between the first return groove and the second return groove; the front end of the second process groove is higher than the front end of the second return groove, and a third step is arranged between the front end of the second process groove and the front end of the second return groove; the rear end of the second return groove is higher than the front end of the straight inlet and outlet groove, and a fourth step is arranged between the rear end of the second return groove and the front end of the straight inlet and outlet groove.
Furthermore, the quick-release structures are arranged on two side surfaces of the battery bracket; correspondingly, the quick-release units are arranged on two sides of the battery cabin.
Furthermore, the first electric butt-joint module comprises a plurality of metal elastic sheets, and the second electric butt-joint module comprises metal contacts with the metal elastic sheets in equal quantity.
The utility model provides a quick change system of battery, its includes foretell unmanned aerial vehicle's quick change battery structure of patrolling and examining, still includes the quick change manipulator that is used for snatching the battery.
Furthermore, the quick-change mechanical hand comprises a claw hand seat body, a push rod and a clamping claw; the gripper jaw has two, and both rotate to be installed the front end of cleft hand pedestal, and both can open and shut relatively, and its opening and shutting is by the push rod drive.
Further, the push rod slidable mounting be in on the cleft hand pedestal, sliding sleeve is equipped with the sliding block on the push rod, every the gripper jaw with all be equipped with the connecting rod between the sliding block, the push rod acts on through pushing spring the sliding block, the sliding block with be equipped with reset spring between the cleft hand pedestal.
Has the advantages that: according to the quick-change battery structure and the quick-change battery system for the inspection unmanned aerial vehicle, the battery bracket with the battery fixing position is arranged, and the battery bracket and the battery base are quickly fixed and quickly separated through the quick-release structure and the quick-release unit, so that the battery can be automatically and quickly disassembled and assembled, the disassembling and assembling efficiency is high, and the quick-change battery structure and the quick-change battery system can be used for quickly replacing the battery for the unmanned aerial vehicle when the unmanned aerial vehicle needs to operate for a long time.
Drawings
FIG. 1 is a structural diagram of a quick-change battery structure of an inspection unmanned aerial vehicle;
FIG. 2 is a structural view of a battery carrier;
FIG. 3 is an enlarged structural view of portion A of FIG. 2;
FIG. 4 is a block diagram of a closed loop slot set;
FIG. 5 is a structural diagram of a quick-change manipulator;
FIG. 6 is a state diagram of the quick-change manipulator when two clamping jaws are opened to the maximum angle;
FIG. 7 is a block diagram of a battery quick-change system;
FIG. 8 is a combined structure diagram of the reciprocating device and the quick-change manipulator;
fig. 9 is a combination diagram of the battery charging base and the lifting driving assembly.
In the figure: a battery holder 1; a battery compartment 11; a first electrical docking module 12; a metal dome 121; a battery holder 2; a battery fixing station 21; a second electrical docking module 22; a notch structure 23; an in-out straight slot 231; a first process slot 232; a first return slot 233; a second process slot 234; a second return slot 235; a temporary holding tank 236; a first step 237; a second step 238; a third step 239; a fourth step 230; a metal contact 221; a quick release unit 3; an L-shaped elastic rod 31; a spring 32; a mechanical arm 4 is quickly replaced; a claw base body 41; a pushing section 411; a push rod 42; a gripper jaw 43; a connecting rod 44; a return spring 45; a slider 46; a pushing spring 47; a battery holder 2; a reciprocating device 5; a movable base 51; a translation motor 52; a gear 53; a rack 54; a gear shaft 55; a holding portion 551; a holding rail 56; a holding groove 561; the moving lead screw 57; a battery charging stand 6; a charging compartment 61; unmanned aerial vehicle positioner 7.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The quick-change battery structure of the inspection unmanned aerial vehicle shown in the attached drawing 1 comprises a battery holder 1, a battery bracket 2 and a quick-release unit 3, wherein a battery compartment 11 is formed in the battery holder 1, and a first electric butt-joint module 12 is arranged at the bottom of the battery compartment 11; the first electric butt joint module 12 is electrically connected with an electric system of the unmanned aerial vehicle; as shown in fig. 2, the battery bracket 2 has a battery fixing position 21 and a second electrical docking module 22, and the battery fixed at the battery fixing position 21 is electrically connected to the second electrical docking module 22; the battery bracket 2 is also provided with a quick-release structure; a quick release unit 3 is mounted in the battery compartment 11 for acting on the quick release structure to enable the battery carrier 2 to be fixed and removed relative to the battery holder 1.
Further, as shown in fig. 1, the quick release unit 3 includes an L-shaped elastic rod 31 and a spring 32, one end of the L-shaped elastic rod 31 is fixed at the bottom of the battery compartment 11, and the other end is an open end; the spring 32 is arranged at the bottom of the battery compartment 11, and when the battery bracket 2 is fixed in the battery compartment 11 and the spring 32 acts on the battery bracket 2, the spring 32 generates outward thrust on the battery bracket 2;
as shown in fig. 2, the quick-release structure is a notch structure 23 formed on the battery bracket 2, and the elasticity of the L-shaped elastic rod 31 makes the open end always contact with the groove bottom of the notch structure 23; the slot opening structure includes an in-out straight slot 231 and a closed-loop slot group communicated with the in-out straight slot 231, as shown in fig. 3 and 4, the closed-loop slot group includes a first process slot 232 extending forward from a front end of the in-out straight slot 231, a first return slot 233 extending backward from the front end of the first process slot 232, a second process slot 234 extending forward from a rear end of the first return slot 233, and a second return slot 235 connecting a front end of the second process slot 234 and the front end of the in-out straight slot 231; in the entering and exiting direction of the battery bracket 2, the projected length of the first return groove 233 is smaller than the length of the first travel groove 232; a temporary holding groove 236 for accommodating the open end of the L-shaped elastic rod 31 is formed at the intersection of the first return groove 233 and the second stroke groove 234; when the open end of the L-shaped elastic rod 31 is placed in the retaining groove 236, the battery holder 2 is fixed with respect to the battery holder 1.
The front end of the straight access slot 231 and the rear end of the first process slot 232 are in smooth transition, the front end of the first process slot 232 is higher than the front end of the first return slot 233, and a first step 237 is arranged between the front end of the first process slot 232 and the front end of the first return slot 233; the rear end of the first return groove 233 is higher than the rear end of the second process groove 234, and a second step 238 is arranged between the rear ends; the front end of the second process groove 234 is higher than the front end of the second return groove 235, and a third step 239 is arranged between the two; the rear end of the second return groove 235 is higher than the front end of the straight in-out groove 231, and a fourth step 230 is disposed between the two.
Through the structure, the open end of the L-shaped elastic rod 31 can move along the closed loop groove group in a single direction. In the fast assembly process, in the forward movement process that the battery bracket 2 enters the battery compartment 11 from the outside of the battery compartment 11 under the action of thrust, the open end of the L-shaped elastic rod 31 enters the notch structure 23 along the in-out straight groove 231, when the open end reaches the front end of the notch structure 23, the open end enters the first progress groove 232, and after the open end reaches the front end of the first progress groove 232, the open end reaches the foremost end of the whole notch structure 23, and then the thrust disappears, the reset force of the spring 32 makes the battery bracket 2 move in the reverse direction, and when the open end moves in the reverse direction, the open end moves along the first return groove 233 and reaches the temporary storage groove 236, and at this time, the battery bracket 2 is fixed relative to the battery holder 1; in the process of quick disassembly, firstly, pushing force is applied to the battery bracket 2 to enable the battery bracket 2 to move forwards, when the battery bracket 2 moves forwards, the open end moves along the second process groove 234 and reaches the front end of the second process groove 234, then the pushing force disappears, the reset force of the spring 32 enables the battery bracket 2 to move reversely, and in the process of reverse movement, the open end moves along the second return groove 235 and enters the in-out straight groove 231; finally, the battery carrier 2 is released from the battery compartment 11 by an external pulling force. The pushing force and the pulling force are provided by the quick-change mechanical arm 4.
Preferably, the quick release structure is arranged on both side surfaces of the battery bracket 2; correspondingly, the quick-release units 3 are also arranged on two sides of the battery compartment 11. Therefore, the stability of fixing the battery bracket 2 can be kept, and the stress on two sides of the battery bracket 2 is uniform.
Preferably, as shown in fig. 1, the first electrical docking module 12 includes a plurality of metal domes 121, and the second electrical docking module 22 includes a number of metal contacts 221 equal to the number of the metal domes 121. In this manner, the reliability of the interface between the first electrical interface module 12 and the second electrical interface module 22 may be maintained.
Preferably, the first electrical interface module 12 is slidably mounted with respect to the battery compartment 11, and the spring 32 is disposed between the bottom of the battery compartment 11 and the first electrical interface module 12.
The utility model provides a quick battery change system, its includes foretell unmanned aerial vehicle's quick change battery structure of patrolling and examining, still including the quick change manipulator 4 that is used for snatching the battery.
As shown in fig. 5, the quick-change manipulator 4 includes a gripper seat 41, a push rod 42 and a gripper jaw 43; the two clamping claws 43 are rotatably mounted at the front end of the claw hand seat body 41 and can be opened and closed relatively, and the opening and closing of the two clamping claws are driven by the push rod 42. The claw holder body 41 has a pushing portion 411 for applying a pushing force to the battery holder 2.
The push rod 42 is slidably mounted on the claw holder body 41, a sliding block 46 is sleeved on the push rod 42 in a sliding manner, each clamping claw 43 is provided with a connecting rod 44 between the sliding blocks 46, the push rod 42 acts on the sliding blocks 46 through a pushing spring 47, and a return spring 45 is arranged between the sliding blocks 46 and the claw holder body 41.
When the battery is taken out by the quick-change manipulator 4, the quick-change manipulator 4 moves towards the direction close to the battery holder 1, and during the movement, the push rod 42 contacts the battery holder 1 first, so that the push rod 42 slides relative to the claw holder body 41 and acts on the sliding block 46 through the pushing spring 47, so that the two clamping claws 43 are opened relatively (when the two clamping claws 43 are opened to the maximum extent (as shown in fig. 6), the push rod 42 compresses the pushing spring 47 to continue sliding relative to the claw holder body 41), then, the pushing part 411 on the claw holder body 41 contacts the battery bracket 2, applies a pushing force to the battery bracket 2 and continues to move forward for a first set distance after contacting the battery bracket 2, during which, the open end of the original L-shaped elastic rod 31 is placed in the temporary groove 236, the pushing part 411 moves along the second process groove 234 and reaches the front end of the second process groove 234, then, the quick-change manipulator 4 retreats, the battery bracket 2 moves reversely by the restoring force of the spring 32, during the reverse movement, the open end moves along the second return groove 235 and enters the in-out straight groove 231, after the push rod 42 is separated from the battery holder 1, the two clamping claws 43 are completely closed and clamp the battery bracket 2, and thus, when the quick-change manipulator 4 retreats continuously, a pulling force is applied to the battery bracket 2, so that the battery bracket 2 is separated from the battery compartment 11, and quick detachment is completed. When a battery is loaded, the quick-change mechanical arm 4 clamps the battery bracket 2 to be close to the battery seat 1, after the battery bracket 2 enters the battery compartment 11 and moves for a certain distance, the push rod 42 contacts the battery holder 1, the push rod 42 slides relative to the claw hand holder body 41 to indirectly open the two clamping claws 43 relatively, the pushing part 411 continues to push the battery bracket 2 to move forward, in the process, the open end of the L-shaped resilient bar 31 enters the slot structure 23 along the straight entry and exit slot 231, when the open end reaches the front end of the slot structure 23, the open end enters the first progress groove 232, and after the open end reaches the front end of the first progress groove 232, the open end reaches the foremost end of the entire notch structure 23, after which the quick-change robot 4 is retracted, the return force of the spring 32 causing the battery carrier 2 to move in the opposite direction, which, when moved in the opposite direction, the open end moves along the first return slot 233 and reaches the dwell slot 236, thus completing the quick assembly of the battery.
Preferably, as shown in fig. 7, the battery quick-change system further includes a reciprocating device 5 for driving the manipulator to move, a battery charging seat 6 and an unmanned aerial vehicle positioning device 7, the battery charging seat 6 includes a plurality of charging cabins 61 arranged in a linear array vertically, and each charging cabin 61 is internally provided with a quick-release unit 3. As shown in fig. 9, the battery charging base 6 can be driven by the lifting driving component to perform controllable lifting movement.
As shown in fig. 8, the reciprocating device 5 comprises a moving seat 51 which reciprocates, and the quick-change manipulator 4 is mounted on the moving seat 51; the quick-change manipulator 4 can rotate along with the movable base 51 and can turn over a set angle relative to the movable base 51, so that the head of the grabbed battery bracket 2 faces the unmanned aerial vehicle or the battery charging base 6. When the quick-change manipulator 4 needs to load and unload the battery to the unmanned aerial vehicle, the head of the quick-change manipulator 4 faces the unmanned aerial vehicle, and when the quick-change manipulator 4 needs to load and unload the battery to the battery charging seat 6, the head of the quick-change manipulator 4 faces the battery charging seat 6.
Preferably, in order to make the control of the battery replacing mechanism 5 simple, the translational motion of the moving seat 51 and the overturning motion of the quick-change manipulator 4 can be linked, and in particular, the claw holder body 41 of the quick-change manipulator 4 is rotatably mounted on the moving seat 51 through the gear shaft 55; a gear 53 is further rotatably mounted on the movable base 51, and a rack 54 capable of being meshed with the gear 53 is fixedly mounted on the base 1; the gear 53 and the claw holder body 41 have a transmission relationship, so that the claw holder body 41 rotates along with the gear 53; a holding part 551 is formed on the gear shaft 55, and the holding part 551 is provided with two surfaces which are parallel to each other and have a first distance between the surfaces; two groups of holding guide rails 56 are further mounted on the machine base 1, a holding groove 561 for the holding part 551 to go in and out is formed on the holding guide rails 56, and the width of the holding groove 561 is equal to the first distance; two sets of the holding rails 56 are disposed at both ends of the rack gear 54, and when the gear 53 is disengaged from the rack gear 54, the holding portions 551 enter the holding grooves 561 of the holding rails 56 and slide relative to the holding grooves 561. The movable base 51 is driven to move by a movable lead screw 57, and the movable lead screw 57 is in driving connection with the translation motor 52.
With the above structure, the process of replacing the battery is performed as follows: in an idle state without task execution, the head of the quick-change manipulator 4 faces the positioning device 7 of the unmanned aerial vehicle, and the holding part 551 is placed in the holding groove 561 of the holding guide rail 56 close to the positioning device 7 of the unmanned aerial vehicle, at this time, the claw holder body 41 cannot rotate relative to the moving seat 51 and can only slide relative to the base 1; when the unmanned aerial vehicle is fixed by the positioning device 7 of the unmanned aerial vehicle, the controller controls the operation of the lifting driving assembly to enable the charging cabin 31 above the battery charging seat 6 to be flush with the quick-change manipulator 4, the controller drives the translation motor 52 to operate, so as to control the moving seat 51 to move to a first limit position towards the unmanned aerial vehicle, after the quick-change manipulator 4 takes the battery bracket 2 containing the old battery, the controller drives the translation motor 52 to rotate reversely, the moving seat 51 moves reversely, in the translation process, the retaining part 551 moves to the tail end of the retaining groove 561 where the retaining part is located at present and disengages from the retaining groove 561, when the retaining part 551 disengages from the retaining groove 561, the gear 53 is in butt joint with the rack 54 to establish a meshing relationship, along with the movement of the moving seat 51, the meshing relationship between the gear 53 and the rack 54 enables the claw hand seat body 41 to turn over for 180 degrees, and thus, the end part of the quick-change manipulator 4 faces towards the battery charging seat 6. After the claw-hand seat 41 is turned over 180 degrees, the gear 53 is disengaged from the rack 54, and the holding part 551 enters the holding groove 561 of the holding guide rail 56 at the side close to the battery charging seat 6, so that the claw-hand seat 41 can only slide relative to the machine base 1 and can not rotate relative to the moving seat 51, and when the moving seat 51 moves to the second limit, the quick-change manipulator 4 loads the battery bracket 2 with the used battery into the empty charging cabin 31. Then, the controller controls the moving seat 51 to move reversely for a set distance and controls the lifting driving assembly to operate, so that a charging cabin 31 which is provided with a fully charged battery on the battery charging seat 6 is flush with the quick-change mechanical arm 4, and then the moving seat 51 is controlled to move to a second limit position, so that the quick-change mechanical arm 4 gets to the battery bracket 2 with a new battery; then the controller controls again and removes seat 51 reverse motion to first spacing, packs into unmanned aerial vehicle's battery compartment with battery bracket 2, and finally, controller control removes seat 51 and gets back to initial position.
According to the quick-change battery structure and the quick-change battery system for the inspection unmanned aerial vehicle, the battery bracket with the battery fixing position is arranged, and the battery bracket and the battery base are quickly fixed and quickly separated through the quick-release structure and the quick-release unit, so that the battery can be automatically and quickly disassembled and assembled, the disassembling and assembling efficiency is high, and the quick-change battery structure and the quick-change battery system can be used for quickly replacing the battery for the unmanned aerial vehicle when the unmanned aerial vehicle needs to operate for a long time.
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 (4)
1. The utility model provides a patrol and examine unmanned aerial vehicle's quick change battery structure which characterized in that, it includes:
the battery holder (1) is internally provided with a battery compartment (11), and the bottom of the battery compartment (11) is provided with a first electric butt-joint module (12); the first electric butt joint module (12) is electrically connected with an electric system of the unmanned aerial vehicle;
the battery bracket (2) is provided with a battery fixing position (21) and a second electric butt joint module (22), and the battery fixed at the battery fixing position (21) is electrically connected with the second electric butt joint module (22); the quick release structure is also arranged on the bracket;
A quick release unit (3) mounted in the battery compartment (11) for acting on the quick release structure to enable the battery bracket (2) to be fixed and removed relative to the battery holder (1);
the quick release unit (3) comprises an L-shaped elastic rod (31) and a spring (32), one end of the L-shaped elastic rod (31) is fixed at the bottom of the battery compartment (11), and the other end of the L-shaped elastic rod is an open end; the spring (32) is arranged at the bottom of the battery compartment (11), and when the battery bracket (2) is fixed in the battery compartment (11) and the spring (32) acts on the battery bracket (2), the spring (32) generates outward thrust on the battery bracket (2);
the quick release structure is a notch structure (23) formed on the battery bracket (2), the notch structure comprises an access straight groove (231) and a closed loop groove group communicated with the access straight groove (231), the closed loop groove group comprises a first process groove (232) extending forwards from the front end of the access straight groove (231), a first return groove (233) extending backwards from the front end of the first process groove (232), a second process groove (234) extending forwards from the rear end of the first return groove (233), and a second return groove (235) connecting the front end of the second process groove (234) and the front end of the access straight groove (231); in the entering and exiting direction of the battery bracket (2), the projection length of the first return groove (233) is smaller than the length of the first travel groove (232); a temporary holding groove (236) used for accommodating the open end of the L-shaped elastic rod (31) is formed at the junction of the first return groove (233) and the second process groove (234); when the open end of the L-shaped elastic rod (31) is placed in the retaining groove (236), the battery bracket (2) is fixed relative to the battery holder (1);
The front end of the straight access groove (231) and the rear end of the first process groove (232) are in smooth transition, the front end of the first process groove (232) is higher than the front end of the first return groove (233), and a first step (237) is arranged between the front end of the first process groove and the first return groove; the rear end of the first return groove (233) is higher than the rear end of the second process groove (234), and a second step (238) is arranged between the first return groove and the second return groove; the front end of the second process groove (234) is higher than the front end of the second return groove (235), and a third step (239) is arranged between the front end of the second process groove and the front end of the second return groove; the rear end of the second return groove (235) is higher than the front end of the straight inlet and outlet groove (231), and a fourth step (230) is arranged between the rear end of the second return groove and the straight inlet and outlet groove;
the quick-release structures are arranged on two side surfaces of the battery bracket (2); correspondingly, the quick-release units (3) are arranged on two sides of the battery compartment (11);
the first electric butt-joint module (12) comprises a plurality of metal elastic sheets (121), and the second electric butt-joint module (22) comprises metal contacts (221) with the same number as the metal elastic sheets (121).
2. A battery quick-change system, characterized in that, it includes the quick-change battery structure of patrolling unmanned aerial vehicle of claim 1, still includes quick-change manipulator (4) for snatching the battery.
3. The system for the quick change of the batteries according to claim 2, characterized in that the quick change manipulator (4) comprises a gripper seat (41), a push rod (42) and a gripper jaw (43); the two clamping claws (43) are rotatably arranged at the front end of the claw hand seat body (41) and can be opened and closed relatively, and the opening and closing of the clamping claws are driven by the push rod (42).
4. The battery quick-change system according to claim 3, characterized in that the push rod (42) is slidably mounted on the claw holder body (41), a slide block (46) is slidably sleeved on the push rod (42), a connecting rod (44) is arranged between each clamping claw (43) and the slide block (46), the push rod (42) acts on the slide block (46) through a pushing spring (47), and a return spring (45) is arranged between the slide block (46) and the claw holder body (41).
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| CN106774415A (en) * | 2017-01-11 | 2017-05-31 | 深圳市元征科技股份有限公司 | Unmanned plane, unmanned plane battery change method, device and UAS |
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| CN112158122A (en) * | 2020-09-25 | 2021-01-01 | 江苏方天电力技术有限公司 | Portable automatic unmanned aerial vehicle inspection platform |
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| SG11201907017QA (en) * | 2016-12-30 | 2019-09-27 | Shanghai Dianba New Energy Technology Co Ltd | Movable battery replacing platform and quick replacing system |
| CN213502927U (en) * | 2020-11-26 | 2021-06-22 | 尚良仲毅(沈阳)高新科技有限公司 | Battery compartment and unmanned aerial vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105836149A (en) * | 2016-04-13 | 2016-08-10 | 四川智慧鹰航空科技有限公司 | Automatic charging and battery replacement system of unmanned aerial vehicle |
| KR20180000810A (en) * | 2016-06-24 | 2018-01-04 | 동명대학교산학협력단 | System and method for auto-exchanging battery of unmanned air vehicle, and the unmanned air vehicle therefor |
| CN106774415A (en) * | 2017-01-11 | 2017-05-31 | 深圳市元征科技股份有限公司 | Unmanned plane, unmanned plane battery change method, device and UAS |
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