CN114379411B - Unmanned aerial vehicle trades battery basic station - Google Patents
Unmanned aerial vehicle trades battery basic station Download PDFInfo
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- CN114379411B CN114379411B CN202111250640.4A CN202111250640A CN114379411B CN 114379411 B CN114379411 B CN 114379411B CN 202111250640 A CN202111250640 A CN 202111250640A CN 114379411 B CN114379411 B CN 114379411B
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- 238000009434 installation Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000003068 static effect Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
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- 230000007547 defect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
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Classifications
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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
- 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
- B60L53/10—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 characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/31—Charging columns specially adapted for electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- 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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- 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
- Y02T90/14—Plug-in electric vehicles
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
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Abstract
The invention discloses a battery replacement base station of an unmanned aerial vehicle, which comprises an unmanned aerial vehicle, an outer positioning device, a battery replacement device and a battery box device, wherein four support rods are fixed above the outer positioning device, the four support rods are square, four vertex angles are arranged perpendicular to the outer positioning device, the upper ends of the four support rods are connected with the battery replacement device, the outer positioning device comprises an outer positioning platform, a first motor, a bevel gear reverser, a screw nut seat and screw nuts, four screws are connected around the bevel gear reverser, each screw is connected with the bevel gear reverser through a coupling, one screw nut seat is connected on each screw in a sliding manner, a screw nut is fixed on each screw nut seat, the other end of one screw is connected with the output end of the first motor to serve as a left-handed screw, the other three screws are all right-handed screws, positioning rod seats are arranged above the screw nut seats, and an outer positioning rod is arranged on each positioning rod seat. The invention is convenient for quick replacement of the battery.
Description
Technical Field
The invention relates to an unmanned aerial vehicle, belongs to the technical field of machinery, and particularly relates to a novel economical and practical unmanned aerial vehicle battery replacement base station which can replace batteries of the unmanned aerial vehicle and charge and recycle the replaced batteries.
Background
The safe landing is an important precondition for automatic battery replacement of the unmanned aerial vehicle, and the accurate landing is the precondition and foundation for automatic battery replacement of the unmanned aerial vehicle. With the rapid development of machine deep learning technology, artificial intelligence technology, microprocessor and integrated circuit, and the maturity of satellite navigation system, ranging component and unmanned aerial vehicle imaging component in the present stage, various accurate landing realization modes such as global positioning system or Beidou navigation satellite positioning system have been developed; adopting a composite positioning mode based on an inertial navigation system, an ultra-wideband and a low-cost visual laser radar; a positioning detection method for autonomous landing of the multi-rotor unmanned aerial vehicle based on binocular vision is adopted.
For the accurate positioning of unmanned aerial vehicle, most schemes and patents on the market start from improving the positioning accuracy of the visual guidance of the unmanned aerial vehicle or arranging cameras around, but the price of accessories required by some high-accuracy equipment is not enough, and the unmanned aerial vehicle can not meet the accuracy required by automatic battery replacement, and the interference caused by various environmental factors such as wind and light is difficult to overcome. Some solutions thus start from mechanical positioning, such as with conical positioning, but they place high demands on the gradient and surface friction coefficient of the conical elements outside the four landing gears and the device of the unmanned aerial vehicle, and the manner of slotting from the inside of the legs also makes the landing gears fragile. In addition, if belt transmission is used for correcting the pose of the unmanned aerial vehicle from outside to inside, however, the device has large occupied area and does not play a role in good fixing after positioning, so that a mechanical positioning method with small occupied area, low cost and wide application is needed to be found.
To unmanned aerial vehicle's battery replacement, there is cylinder battery replacement device on the market at present, and small in size can be for unmanned aerial vehicle replacement battery effectively fast, but also has higher requirement to unmanned aerial vehicle self landing precision, and unmanned aerial vehicle can't adjust the position appearance after the landing. There is also a battery replacing scheme using a mechanical arm, but the cost is extremely high and the unmanned aerial vehicle and the battery cannot be well fixed together, so that it is highly demanded to find a battery replacing device which is low in cost and can be matched with external mechanical positioning.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provide the unmanned aerial vehicle battery replacement base station, a special battery box is used for loading model airplane batteries in an external mechanical positioning mode, and the defects of large volume, high cost, large difficulty, small application range and the like of the original battery replacement device are avoided by combining a battery box seat and a planar battery replacement device on the unmanned aerial vehicle, meanwhile, model airplane batteries can be adopted, the cost for designing and manufacturing the batteries is reduced, the maintenance is easier, and the unmanned aerial vehicle battery replacement base station has the advantages of high automation degree, low realization cost, wide application range, short development period, moderate difficulty and the like.
In order to achieve the above purpose, the unmanned aerial vehicle battery replacement base station comprises an unmanned aerial vehicle, an outer positioning device, a battery replacement device and a battery box device, and is characterized in that four support rods are fixed above the outer positioning device, the four support rods are arranged in a manner that four square vertex angles are perpendicular to the outer positioning device, and the upper ends of the four support rods are connected with the battery replacement device, wherein: the battery replacing device comprises a battery replacing platform, a push plate, a long right-handed screw and more than one charging pile, wherein the lower part of the battery replacing platform is connected with the upper ends of four support rods, a second motor is fixed at the bottom of the battery replacing platform, an output shaft of the second motor is connected with the long right-handed screw, a screw sliding nut is connected to the long right-handed screw, a sliding guide groove is formed in the battery platform, the screw sliding nut penetrates through the sliding guide groove and then is connected with the long right-handed screw, a second steering engine is connected to the screw sliding nut, an output shaft of the second steering engine is connected with the push plate through a first steering wheel, two charging piles are arranged above the battery replacing platform at intervals, an incomplete gear positioned at the bottom of the battery replacing platform is arranged below each charging pile, one end of the incomplete gear is rotationally connected to an output shaft of the first steering engine, the charging pile comprises a charging pile seat, a second clamping seat, a second sliding block, a second guide rail, a second extension line male head and a guide seat are fixedly arranged on the second sliding pile seat, and are in a second sliding fit with the second sliding pile seat, and are in a complete fit with the second sliding seat, and are not in a complete sliding pile seat;
the battery box device comprises an aeromodelling battery, a base, a battery box cover and an XT extension line, a first clamping seat is arranged on the battery box cover, the base is fixedly connected with one side of the battery box cover through a trapezoidal concave boss, the base is fixed with the other side of the battery box cover through a bolt, the XT extension line comprises an extension line male head and an extension line female head electrically connected with the aeromodelling battery, and the aeromodelling battery is electrically connected with the extension line male head through the extension line female head;
the unmanned aerial vehicle comprises a body and a battery box seat, wherein a bottom plate is arranged at the bottom of the body, four landing gears and the battery box seat are arranged at the bottom of the bottom plate, the battery box seat comprises a first guide rail, a first sliding block and a first rack seat, the first guide rail is fixed at the bottom of the bottom plate, the first rack seat is fixedly connected to the first sliding block, the first sliding block is slidably connected to the first guide rail, and the male end of the extension line is fixed in the first rack seat through a first clamping seat;
the outer positioning device comprises an outer positioning platform, a motor, a bevel gear commutator, four screw nut seats and four screw nuts, wherein the motor is fixed on the outer positioning platform, four screws are connected to the periphery of the bevel gear commutator, each screw is connected with the bevel gear commutator through a coupling, one screw nut seat is connected to each screw in a sliding manner, one screw nut is fixed to each screw nut seat, the other end of one screw is connected with the output end of the motor to serve as a left-handed screw, the other three screws are right-handed screws, positioning rod seats are arranged above the screw nut seats, the four positioning rod seats are distributed in four sides in a square shape, and are respectively two symmetrical short positioning rod seats and two symmetrical high positioning rod seats, an outer positioning rod is arranged on each positioning rod seat, and the other three right-handed screws are respectively driven to synchronously rotate through the bevel gear commutator after the motor rotates, so that the nuts are moved along the screw rods to realize the movement of the screw nut seats.
As the preference, for easy to assemble, can play the guide effect when simultaneously removing screw nut seat, outer locating lever passes through the cover that rises and is connected with high locating lever seat or short locating lever seat, and every locating lever seat is fixed on screw nut seat through four first bolts respectively, fixedly connected with on every screw nut with outer locating lever complex guide block, just the hexagon hole that the nut was placed to the inside is opened to the guide block both sides, the hexagon hole is used for installing external screw thread bearing.
Preferably, in order to facilitate the assembly of the battery box cover and the base, two mounting through holes II and a rectangular concave table are formed in one side of the battery box cover, two mounting through holes I, a clamping table, a rectangular boss, a trapezoidal concave table I and a trapezoidal concave table II are formed in the base, the first clamping seat is fixed on the clamping table, and the battery box cover and the base are aligned by the mounting through holes I and the mounting through holes II and then fixed with nuts through bolts; the second trapezoidal concave table is buckled with the first guide hook on the bottom plate when being installed with the unmanned aerial vehicle and is used for firmly fixing the base on the battery box seat when the unmanned aerial vehicle flies; the first trapezoid concave table is matched with the trapezoid boss on the battery replacing platform.
Preferably, for convenient installation of each part, the below of outer location platform is provided with the rest stand, and the other end of each dextrorotation lead screw is all fixed through a fixing base on the outer location platform, no. one motor is fixed in No. one motor frame, no. one motor frame is installed on the outer location platform.
Preferably, a sponge leg sleeve is sleeved on each landing gear, and through the arrangement of the sponge leg sleeves, when the four outer positioning rods fixed by the outer positioning device are respectively contacted with the four sponge leg sleeves to clamp the unmanned aerial vehicle, larger static friction force can be provided to prevent the unmanned aerial vehicle from generating displacement.
As the preference, for each part of convenient installation, the one end of incomplete gear is connected with steering wheel one through the second steering wheel, and the other end of incomplete gear passes through flange mounting in the first bearing of incomplete gear supporting seat, incomplete gear supporting seat and steering wheel one are fixed in battery replacement platform bottom, no. two steering wheels are installed on the steering wheel fixing base through No. two steering wheel seats, the steering wheel fixing base is installed on screw sliding nut, the output shaft of No. two steering wheels is connected with the push pedal through first steering wheel.
Preferably, in order to facilitate installation of each component, the steering engine I is fixed in the steering engine I, the steering engine I is installed on the steering engine fixing seat, the other end of the long right-handed screw is installed on the battery replacing platform through the supporting seat, the motor II is located in the motor II, the motor II is installed on the battery replacing platform, and the charging pile seat and the guide seat are fixed on the battery replacing platform through bolts.
The unmanned aerial vehicle battery replacement base station has the following technical effects:
therefore, the invention has the following technical effects:
(1) The invention can perform quick and accurate mechanical positioning and quick battery replacement of the unmanned aerial vehicle, and has lower requirement on the positioning precision of the unmanned aerial vehicle.
(2) The invention can realize the charging and recycling of the replaced battery, and simultaneously adopts two charging piles, so that the battery can be replaced for a plurality of unmanned aerial vehicles in a short time.
(3) The special battery box provided by the invention can be used as a shell and suitable for connection of model airplane batteries of different types, so that the use cost is reduced, and the maintenance of the device is facilitated.
(4) The invention adopts the incomplete gear to drive the first rack seat to plug the second extension line male head, has large and stable force, and simultaneously, the incomplete gear faces upwards smoothly when the unmanned aerial vehicle descends, and the external positioning device can not interfere with the unmanned aerial vehicle when correcting the pose of the unmanned aerial vehicle.
(5) According to the invention, when the unmanned aerial vehicle falls on the battery replacing platform, the unmanned aerial vehicle is supported by the battery box device base at the lower part of the unmanned aerial vehicle, and the landing gear on the unmanned aerial vehicle is suspended, so that the external positioning device can easily correct the pose of the unmanned aerial vehicle.
(6) According to the invention, the guide block fixed with the external thread bearing is adopted to replace a first guide rail mode in the market to enable the screw nut to move in parallel, so that the mechanism is simplified, and meanwhile, the manufacturing cost is greatly saved.
(7) The invention utilizes the low trapezoid boss fixed on the battery changing platform to be matched with the low trapezoid concave table on the base of the battery box device, and can play a role in guiding the battery box device when moving on the battery changing platform, so that the battery box device always moves on the same straight line.
(8) When the battery box is arranged on the bottom plate of the unmanned aerial vehicle, the trapezoidal concave table of the base of the battery box device is matched with the first guide hook on the unmanned aerial vehicle, and the battery box device can be firmly fixed on the battery box base of the unmanned aerial vehicle by matching with the XT60 male plug of the battery box base on the other side, and meanwhile, when the battery is replaced, the trapezoidal concave table is arranged, so that the displacement of the battery box device caused by the force generated by plug insertion can be prevented.
(9) According to the invention, the sponge leg sleeves fixed on the landing gear are respectively contacted with the two outer positioning rods when the outer positioning device positions the unmanned aerial vehicle, and can provide larger static friction force to prevent the unmanned aerial vehicle from generating displacement under external force during positioning.
Drawings
Fig. 1 is an overall schematic diagram of a battery-changing base station of an unmanned aerial vehicle;
fig. 2 is a front view of a battery changing base station of the unmanned aerial vehicle;
fig. 3 is a side view of a battery changing base station of the unmanned aerial vehicle;
FIG. 4 is a schematic view of the structure of the battery case device and the bottom plate;
FIG. 5 is a partial cross-sectional view of FIG. 4;
FIG. 6 is a schematic view of the structure of the outer positioning device;
FIG. 7 is a schematic diagram of an assembled structure of a left-handed screw, screw nut mount, screw nut, and outer locating lever;
FIG. 8 is a schematic view of the structure of the guide block;
FIG. 9 is a schematic view of the outer positioning device in a limit collapsed position;
FIG. 10 is a schematic view of the outer positioning device in a limit open position;
fig. 11 is a schematic view of the structure of the unmanned aerial vehicle without the battery box device;
fig. 12 is a schematic structural view of the battery case device;
FIG. 13 is a schematic view of a battery holder;
FIG. 14 is a front view of the battery exchange device assembled with an external positioning device;
fig. 15 is a top view of the battery exchange device;
FIG. 16 is a schematic view of the structure of the base plate above the battery exchange device;
FIG. 17 is an assembled structural illustration of an incomplete gear, steering engine number one, and an incomplete gear support;
FIG. 18 is a schematic view of a portion of one of the charging posts and one of the incomplete gears;
FIG. 19 is a schematic diagram of the structure of the push plate and the steering engine II;
FIG. 20 is a front structural perspective view of one of the charging posts;
fig. 21 is a front view of one of the charging piles;
fig. 22 is a schematic diagram of the operation of the present invention.
In the figure: external positioning device 1, battery replacement device 2, unmanned aerial vehicle 3, body 3-1, battery case device 4, support rod 5, flange 6, external positioning platform 7, battery replacement platform 8, battery case seat 9, bottom plate 10, guide holder 11, sponge leg sleeve 12, first rack seat 13, first slider 14, first guide rail 15, extension male head 16, fixing seat 17, extension female head 18, external positioning rod 19, steering engine fixing seat 20, bevel gear commutator 21, right-handed screw 22, left-handed screw 23, first motor 24, mounting rack 25, coupler 26, first motor rack 27, short positioning rod seat 28, high positioning rod seat 29, fixing seat 30, screw nut 31, screw nut seat 32, expansion sleeve 33, guide block 34, external thread bearing 35, base 36, battery case cover 37, model battery 38, first guide hook 39 the first trapezoidal concave table 40, the second trapezoidal concave table 41, the trapezoidal boss 42, the long right-handed screw 43, the incomplete gear 44, the first steering engine 45, the first steering engine seat 46, the push plate 47, the second steering engine 48, the second motor 49, the charging pile 50, the supporting seat 51, the charging pile rack seat 52, the second motor frame 54, the incomplete gear supporting seat 55, the landing gear 56, the first mounting through hole 57, the second mounting through hole 58, the rectangular concave table 59, the rectangular boss 60, the clamping table 61, the sliding guide groove 8-1, the screw sliding nut 43-1, the second steering wheel A2, the first bearing A3, the second steering engine seat A4, the charging pile seat A5, the first steering wheel A6, the second clamping seat 17-1, the second sliding block 14-1, the second guide rail 15-1, the second extension line male head 16-1, the gear communicating groove 8-2, the first bolt 19-1 and the hexagonal hole 34-1.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which are derived by a person skilled in the art based on the embodiments of the invention, fall within the scope of protection of the invention.
Example 1:
as shown in fig. 1-21, the battery replacement base station for an unmanned aerial vehicle provided by the invention comprises an unmanned aerial vehicle 3, an outer positioning device 1, a battery replacement device 2 and a battery box device 4, wherein four support rods 5 are fixed above the outer positioning device 1, the four support rods 5 are arranged in a manner that four square vertex angles are perpendicular to the outer positioning device 1, and the upper ends of the four support rods 5 are connected with the battery replacement device 2, wherein: the battery replacing device 2 comprises a battery replacing platform 8, a push plate 47, a long right-handed screw 43 and more than one charging pile 50, wherein the lower part of the battery replacing platform 8 is connected with the upper ends of four support rods 5, a second motor 49 is fixed at the bottom of the battery replacing platform 8, an output shaft of the second motor 49 is connected with the long right-handed screw 43, a screw sliding nut 43-1 is connected on the long right-handed screw 43, a sliding guide groove 8-1 is arranged on the battery replacing platform 8, the screw sliding nut 43-1 penetrates through the sliding guide groove 8-1 and then is connected with the long right-handed screw 43, a second steering engine 48 is connected on the screw sliding nut 43-1, an output shaft of the second steering engine 48 is connected with the push plate 47 through a first steering wheel A6, two charging piles 50 are arranged above the battery replacing platform 8 at intervals, an incomplete gear 44 positioned at the bottom of the battery replacing platform 8 is arranged below each charging pile 50, one end of the incomplete gear 44 is rotatably connected to an output shaft of a steering engine 45, each charging pile 50 comprises a charging pile seat A5, a charging pile rack seat 52, a second clamping seat 17-1, a second sliding block 14-1, a second guide rail 15-1, a second extended line male head 16-1 and a guide seat 11, the second guide rail 15-1 is fixed on the charging pile seat A5, the second sliding block 14-1 is in sliding fit with the second guide rail 15-1, the charging pile rack seat 52 is fixed on the second sliding block 14-1, the second extended line male head 16-1 is fixed on the charging pile rack seat 52 through the second clamping seat 17-1, the charging pile rack seat 52 is meshed with a gear part of the incomplete gear 44 below, a gear communication groove 8-2 matched with the gear part of the incomplete gear 44 is arranged on the battery replacing platform 8;
the battery box device 4 comprises an aeromodelling battery 38, a base 36, a battery box cover 37 and an XT60 extension line, a first clamping seat 17 is arranged on the battery box cover 37, the base 36 is fixedly connected with one side of the battery box cover 37 through a trapezoidal concave boss, the base 36 is fixed with the other side of the battery box cover 37 through bolts, the XT60 extension line comprises an extension line male head 16 which is mutually inserted and pulled out and an extension line female head 18 which is electrically connected with the aeromodelling battery 38, and the aeromodelling battery 38 is electrically connected with the extension line male head 16 through the extension line female head 18;
the unmanned aerial vehicle 3 comprises a body 3-1 and a battery box seat 9, a bottom plate 10 is arranged at the bottom of the body 3-1, four landing gears 56 and the battery box seat 9 are arranged at the bottom of the bottom plate 10, the battery box seat 9 comprises a first guide rail 15, a first sliding block 14 and a first rack seat 13, the first guide rail 15 is fixed at the bottom of the bottom plate 10, the first rack seat 13 is fixedly connected to the first sliding block 14, the first sliding block 14 is slidably connected to the first guide rail 15, and the extension line male head 16 is fixed in the first rack seat 13 through a first clamping seat 17;
the external positioning device 1 comprises an external positioning platform 7, a motor 24, a bevel gear reverser 21, four screw nut seats 32 and four screw nuts 31, wherein the motor 24 is fixed on the external positioning platform 7, four screws are connected around the bevel gear reverser 21, each screw is connected with the bevel gear reverser 21 through a coupler 26, one screw nut seat 32 is connected onto each screw in a sliding manner, one screw nut 31 is fixed onto each screw nut seat 29, the other end of one screw is connected with the output end of the motor 24 to serve as a left-handed screw 23, the other three screws are all right-handed screws 22, positioning rod seats are arranged above the screw nut seats 32, the four positioning rod seats are distributed in square four sides, and two symmetrical short positioning rod seats 28 and two symmetrical high positioning rod seats 29 are respectively arranged on each positioning rod seat, one outer positioning rod 19 is arranged on each positioning rod seat, the first motor 24 rotates and then drives the other three right-handed screw 22 to synchronously rotate through the bevel gear reverser 21, so that the screw nut seat 32 crawls along the screw, the outer positioning rod 19 is moved, as shown in fig. 6-8, 4 outer positioning rods 19 are in a groined structure, 4 bevel gears on the bevel gear reverser 21 connected with the 4 screw are in a cross shape, 4 outer positioning rods 19 are in a groined structure, when one bevel gear in the bevel gear reverser 21 rotates, the adjacent two bevel gears are driven to synchronously rotate in opposite directions, the other three screw shafts are driven to rotate, the positioning bearing seat fixed with the screw nut is crawled along the screw, the outer positioning rod is further moved, and the unmanned aerial vehicle 3 above is moved, the specific work is as follows: the motor 24 drives a left-handed screw 23 to rotate, and the bevel gear reverser 21 can drive the rest three right-handed screws 22 to synchronously rotate, so that a screw nut seat 32 fixed with a screw nut 31 crawls along the screw, and the upper outer positioning rod 19 is moved to position the upper unmanned aerial vehicle 3.
In this embodiment, the outer positioning device 1 is vertically connected with the battery replacing device 2 through four support rods 5, two ends of the four support rods 5 are fixed between the outer positioning platform 7 and the battery replacing platform 8 through flanges 6 and bolts, the battery box device 4 is connected to a battery box seat 9 on the unmanned aerial vehicle according to the illustration of fig. 3, and the contact between the sponge leg sleeves 12 and four outer positioning rods 19 is ensured when the unmanned aerial vehicle 3 is positioned on the outer positioning device 1, so that larger static friction force can be provided to prevent the unmanned aerial vehicle 3 from generating displacement.
Preferably, for convenience in installation, the outer positioning rod 19 is connected with the high positioning rod seat 29 or the low positioning rod seat 28 through the expansion sleeve 33, each positioning rod seat is fixed on the screw nut seat 32 through four first bolts 19-1, a guide block 34 matched with the outer positioning rod 19 is fixedly connected to each screw nut 31, two sides of the guide block 34 are provided with hexagonal holes 34-1 for internally placing nuts, the hexagonal holes 34-1 are used for installing external thread bearings 35, the external thread bearings 35 are in threaded connection with the inside of the hexagonal holes 34-1, so that the outer positioning rod 19 always moves parallel to the outer positioning platform 7, as shown in a nine-step view and a ten-step view, and is a schematic diagram of two limit positions of the outer positioning rod 19, when the unmanned aerial vehicle 3 falls, the outer positioning rod 19 is in a folded state, as shown in a top view in fig. 9, after the unmanned aerial vehicle 3 falls, the outer positioning rod 19 is gradually unfolded, and the position of the unmanned aerial vehicle 3 is unfolded to the top view as shown in fig. 10.
Preferably, in order to facilitate assembling the battery box cover 37 and the base 36, two mounting through holes 58 and a rectangular concave table 59 are arranged on one side of the battery box cover 37, two mounting through holes 57, a clamping table 61, a rectangular boss 60, a trapezoidal concave table 40 and a trapezoidal concave table 41 are arranged on the base 36, the first clamping seat 17 is fixed on the clamping table 61, and the battery box cover 37 and the base 36 are aligned by the mounting through holes 57 and the mounting through holes 58 and then fixed with nuts by bolts; the rectangular concave table 59 is mutually matched with the rectangular convex table 60 and is used for fixing the base 36 and the battery box cover 37, and the second trapezoidal concave table 41 is fixed with the first guide hook 39 on the battery box seat 9 when being installed with the unmanned aerial vehicle 3 and is used for firmly fixing the base 36 on the battery box seat 9 when the unmanned aerial vehicle 3 flies; the first trapezoidal concave stage 40 is matched with a trapezoidal boss 42 on the battery changing platform 8, and one end of the extension cord female head 18 is fixed on the base 36.
Preferably, for easy installation of each component, a mounting frame 25 is disposed below the outer positioning platform 7, and the other end of each right-handed screw 22 is fixed on the outer positioning platform 7 through a fixing seat 30, the first motor 24 is fixed in a first motor frame 27, and the first motor frame 27 is mounted on the outer positioning platform 7.
Preferably, a sponge leg sleeve 12 is sleeved on each landing gear 56, and by arranging the sponge leg sleeves 12, when the four outer positioning rods 19 on the outer positioning device stator 1 are respectively contacted with the four sponge leg sleeves 12 to clamp the unmanned aerial vehicle 3, a large static friction force can be provided to prevent the unmanned aerial vehicle 3 from generating displacement.
Preferably, for convenient installation of each component, one end of the incomplete gear 44 is connected with a first steering gear 45 through a second steering wheel A2, the other end of the incomplete gear 44 is installed in a first bearing A3 of an incomplete gear supporting seat 55 through a flange, the incomplete gear supporting seat 55 and the first steering gear 45 are fixed at the bottom of the battery replacing platform 8, a second steering gear 48 is installed on a steering gear fixing seat 20 through a second steering gear seat A4, and the steering gear fixing seat 20 is installed on a lead screw sliding nut 43-1.
Preferably, for convenient installation of each component, the first steering engine 45 is fixed in the first steering engine seat 46, the first steering engine seat 46 is installed on the steering engine fixing seat 20, the other end of the long right-handed screw 43 is installed on the battery replacing platform 8 through the supporting seat 51, the second motor 49 is located in the second motor frame 54, the second motor frame 54 is installed on the battery replacing platform 8, and the charging pile seat A5 and the guide seat 11 are fixed on the battery replacing platform 8 through bolts.
In this embodiment, the base 36 and one side of the battery box cover 37 are fixed by using a trapezoidal concave boss, and one side is fixed by using a bolt, while one end of a wire on the extension cord female head 18 is fixed in the base 36, the other end is spliced with the model-air battery 38, and the extension cord female head 18 is spliced with the extension cord male head 16, so that when the model-air battery 38 in the battery box device 4 needs to be replaced in the later stage, the replacement of the model-air battery 38 in the battery box device 4 can be greatly facilitated, and meanwhile, two trapezoidal concave tables are arranged on the base 36, wherein when the battery box device 4 is installed on the unmanned aerial vehicle 3, at this time, the second trapezoidal concave table 41 can be buckled with the first guide hook 39 on the bottom plate 10, so that the battery box device 4 can be firmly fixed on the battery box seat 9 when the unmanned aerial vehicle 3 flies; when the battery needs to be replaced, the female end 18 of the extension cord can be prevented from being pulled out and inserted with the male end 16 of the extension cord, the battery box device 4 is prevented from being displaced, and the trapezoidal concave table I40 is matched with the trapezoidal boss 42 on the battery replacing platform 8, so that the guiding function can be achieved when the battery box device 4 moves on the battery replacing platform 8, and the whole battery box device 4 always moves on the same straight line.
As shown in fig. 15-21, the second motor 49 works to drive the long right-handed screw 43 to rotate, so that the screw sliding nut 43-1 drives the push plate 47 to creep along the screw to push the new battery to replace the old battery, and push the old battery to the charging pile 50, then the second steering engine 48 controls the push plate 47 to rotate when changing the direction of the battery pushing, the incomplete gear 44 ensures that the gear-free position faces upwards when the unmanned aerial vehicle descends, so that the external positioning device 1 can be ensured not to interfere with the unmanned aerial vehicle 3 when correcting the pose of the unmanned aerial vehicle 3, the latter steering engine 45 drives the incomplete gear 44 to rotate after the positioning is finished, the first rack seat 13 fixed with the second extension line male head 16-1 is driven to slide outwards along the second guide rail 15-1 to replace the battery, as shown in fig. 21, the principle of the charging pile 50 is similar to that of the unmanned aerial vehicle battery replacing principle, when the push plate 47 pushes the battery box device 4 to the charging pile 50, the first steering engine 45 acts to drive the incomplete gear 44 to move the charging pile seat 52 to the battery box device 4, so that the charging interface is connected with the battery interface on the battery box device 4, and the guiding seat 11 can simultaneously generate displacement force when the battery is placed in the process of the battery replacing guide seat. The pushing plate 47 moves to the other side of the battery box device 4 when the battery is charged, the previous battery replacing operation can be repeated after the battery is fully charged, and the charging piles 50 can be arranged on two sides of the battery replacing platform side by side so as to replace batteries for a plurality of unmanned aerial vehicles simultaneously in a short time, as shown in fig. 22, a flow chart for replacing the batteries for the unmanned aerial vehicle in the invention is created, and the flow chart comprises the whole process that the unmanned aerial vehicle is fixed to the battery replacing process, and the specific steps are as follows:
s1, unmanned aerial vehicle returns to home position: the unmanned aerial vehicle receives a battery replacement instruction, a flight control system inside the unmanned aerial vehicle controls the unmanned aerial vehicle to automatically return to the battery replacement device to hover above the battery replacement device, the unmanned aerial vehicle adjusts the pose of the unmanned aerial vehicle through the two-dimensional code on the visual scanning battery replacement platform, and then the unmanned aerial vehicle falls on the battery quick-change system of the unmanned aerial vehicle.
S2, positioning the unmanned aerial vehicle: the external positioning device receives the landing signal of the unmanned aerial vehicle, the motor No. 24 acts, the screw rod connected with the motor shaft is driven to rotate, the bevel gear connected with the head of the screw rod drives the other three bevel gears to synchronously rotate, and the four screw rod nut seats 32 are driven by the screw rod nuts 31 fixed on the four screw rod nut seats to climb outwards along the screw rod; the four outer positioning rods 19 fixed on the screw nut seat 32 synchronously move outwards, and the four landing gears of the unmanned aerial vehicle are pushed outwards when encountering the landing gears; after four landing gears of the unmanned aerial vehicle are clamped by the four outer positioning rods 19, the motor number one 24 stops rotating, and at the moment, the landing gears 56 are tightly pressed by the sponge leg sleeves to the outer positioning rods 19, so that the unmanned aerial vehicle is accurately positioned.
S3, replacing a battery: the battery replacing device receives the unmanned aerial vehicle positioning completion signal, the steering engine 45 drives the incomplete gear 44 to rotate, the plug with the rack is driven to move outwards, then the motor 49 is rotated, the push plate 47 on the lead screw nut 31 is driven to push the fully charged battery to the battery box seat 9 on the unmanned aerial vehicle, and the old battery is pushed out of the battery box seat of the unmanned aerial vehicle while the new battery is replaced.
S4, taking off of the unmanned aerial vehicle: after the new battery is pushed to the accurate position, the steering engine 45 drives the incomplete gear 44 to reversely rotate, the plug with the rack is driven to inwardly move, the battery is replaced, the unmanned aerial vehicle is electrified, the external positioning device receives a signal, the motor 24 reversely rotates, the lead screw nuts 31 creep inwards along the lead screw, the unmanned aerial vehicle external positioning device resets, the unmanned aerial vehicle is started, the steering engine 48 on the battery replacing device rotates, the motor 49 reversely rotates, the lead screw nuts 31 drive the push plate 47 to move by 4 width+2mm of the battery box device, the steering engine 48 reversely rotates, the motor 49 positively rotates, and the push plate 47 is driven to push the battery box device 4 which consumes electricity to a charging seat.
Therefore, the invention has the following technical effects:
(1) The invention can perform quick and accurate mechanical positioning and quick battery replacement of the unmanned aerial vehicle, and has lower requirement on the positioning precision of the unmanned aerial vehicle.
(2) The invention can realize the charging and recycling of the replaced battery, and simultaneously adopts two charging piles, so that the battery can be replaced for a plurality of unmanned aerial vehicles in a short time.
(3) The special battery box provided by the invention can be used as a shell and suitable for connection of model airplane batteries of different types, so that the use cost is reduced, and the maintenance of the device is facilitated.
(4) The invention adopts the incomplete gear to drive the first rack seat to plug the second extension line male head 16-1, so that the force is large and stable, and meanwhile, the incomplete gear faces upwards smoothly when the unmanned aerial vehicle descends, and the external positioning device can not interfere with the unmanned aerial vehicle when correcting the pose of the unmanned aerial vehicle.
(5) According to the invention, when the unmanned aerial vehicle falls on the battery replacing platform, the unmanned aerial vehicle is supported by the base 36 at the lower part of the unmanned aerial vehicle, and the landing gear on the unmanned aerial vehicle is suspended, so that the external positioning device can easily correct the pose of the unmanned aerial vehicle.
(6) According to the invention, the guide block fixed with the external thread bearing is adopted to replace a first guide rail mode in the market to enable the screw nut to move in parallel, so that the mechanism is simplified, and meanwhile, the manufacturing cost is greatly saved.
(7) The invention utilizes the low trapezoid boss fixed on the battery changing platform to be matched with the low trapezoid concave table on the base 36, and can play a role in guiding the battery box device 4 when moving on the battery changing platform, so that the battery box device 4 always moves on the same straight line.
(8) When the battery box device 4 is positioned on the bottom plate of the unmanned aerial vehicle, the trapezoidal concave table of the base 36 is matched with the first guide hook 39 on the unmanned aerial vehicle, and the battery box device 4 can be firmly fixed on the unmanned aerial vehicle battery box seat by matching with the XT60 male plug of the battery box seat 9 on the other side, namely the extension line male head 16, and meanwhile, when the battery is replaced, the trapezoidal concave table is arranged, so that the battery box device 4 can be prevented from being displaced by the force generated by plug insertion and extraction.
(9) According to the invention, the sponge leg sleeves fixed on the landing gear are respectively contacted with the two outer positioning rods when the outer positioning device positions the unmanned aerial vehicle, and can provide larger static friction force to prevent the unmanned aerial vehicle from generating displacement under external force during positioning.
The present invention is not limited to the above-described preferred embodiments, and any person who can obtain other various products under the teaching of the present invention, however, any change in shape or structure of the product is within the scope of the present invention, and all the products having the same or similar technical solutions as the present application are included.
Claims (7)
1. The utility model provides an unmanned aerial vehicle trades battery basic station, includes unmanned aerial vehicle (3), outer positioner (1), trades battery device (2) and battery case device (4), its characterized in that, the top of outer positioner (1) is fixed with four spinal branch vaulting poles (5), and four spinal branch vaulting poles (5) are square four apex angles perpendicular to and arrange outside positioner (1), are connected with at the upper end of four spinal branch vaulting poles (5) trades battery device (2), wherein: the battery replacement device (2) comprises a battery replacement platform (8), a push plate (47), a long right-handed screw (43) and more than one charging pile (50), the lower part of the battery replacement platform (8) is connected with the upper ends of four support rods (5), a second motor (49) is fixed at the bottom of the battery replacement platform (8), an output shaft of the second motor (49) is connected with the long right-handed screw (43), a screw sliding nut (43-1) is connected to the long right-handed screw (43), a sliding guide groove (8-1) is formed in the battery platform (8), the screw sliding nut (43-1) penetrates through the sliding guide groove (8-1) and then is connected with the long right-handed screw (43), a second steering engine (48) is connected to the screw sliding nut (43-1), an output shaft of the second steering engine (48) is connected with the push plate (47) through a first steering wheel (A6), two charging piles (50) are arranged above the battery replacement platform (8) at intervals, one end of each steering engine (50) is not connected with one end of the battery replacement platform (44) through a gear (44), and the other end of the battery replacement platform (50) is not connected with the other end (44) through the long right-handed screw (44) The charging pile comprises a charging pile rack seat (52), a second clamping seat (17-1), a second sliding block (14-1), a second guide rail (15-1), a second extension line male head (16-1) and a guide seat (11), wherein the second guide rail (15-1) is fixed on a charging pile seat (A5), the second sliding block (14-1) is in sliding fit with the second guide rail (15-1), the charging pile rack seat (52) is fixed on the second sliding block (14-1), the second extension line male head (16-1) is fixed on the charging pile rack seat (52) through the second clamping seat (17-1), the charging pile rack seat (52) is meshed with a gear part of an incomplete gear (44) below, and a gear communication groove (8-2) matched with the gear part of the incomplete gear (44) is formed in a battery replacing platform (8);
the battery box device (4) comprises an aeromodelling battery (38), a base (36), a battery box cover (37) and an XT60 extension line, a first clamping seat (17) is arranged on the battery box cover (37), the base (36) is fixedly connected with one side of the battery box cover (37) through a trapezoidal concave boss, the base (36) is fixed with the other side of the battery box cover (37) through bolts, the XT60 extension line comprises an extension line male head (16) and an extension line female head (18) electrically connected with the aeromodelling battery (38), the extension line male head (16) and the extension line female head (18) which are mutually plugged and unplugged, and the aeromodelling battery (38) is electrically connected with the extension line male head (16) through the extension line female head (18);
the unmanned aerial vehicle (3) comprises a body (3-1) and a battery box seat (9), a bottom plate (10) is arranged at the bottom of the body (3-1), four landing gears (56) and the battery box seat (9) are arranged at the bottom of the bottom plate (10), the battery box seat (9) comprises a first guide rail (15), a first sliding block (14) and a first rack seat (13), the first guide rail (15) is fixed at the bottom of the bottom plate (10), the first rack seat (13) is fixedly connected to the first sliding block (14), the first sliding block (14) is slidably connected to the first guide rail (15), and an extension male head (16) is fixed in the first rack seat (13) through a first clamping seat (17);
the utility model provides an outer positioner (1) include outer location platform (7), motor (24), bevel gear commutator (21), four lead screw nut seats (32) and four lead screw nuts (31), motor (24) are fixed on outer location platform (7), be connected with four lead screws around bevel gear commutator (21), all be connected through a shaft coupling (26) between every lead screw and bevel gear commutator (21), sliding connection has one on every lead screw nut seat (32), be fixed with one on every lead screw nut seat (29) lead screw nut (31), wherein the other end of a lead screw is connected as left-handed lead screw (23) with the output of motor (24), other three lead screws are right-handed lead screw (22), the top of lead screw nut seat (32) all is provided with the locating lever seat, four locating lever seats are square four limit and distribute, and are respectively two symmetrical low locating lever seats (28) and two high locating levers (29), thereby the lead screw nut (19) are moved one and are followed in turn around in order to realize that one lead screw nut seat (19) is followed by three lead screw nut seats (19) and one and is rotated one and is followed on the lead screw nut seat (19).
2. The unmanned aerial vehicle battery replacement base station according to claim 1, wherein the outer positioning rod (19) is connected with the high positioning rod seat (29) or the low positioning rod seat (28) through an expansion sleeve (33), each positioning rod seat is fixed on the screw nut seat (32) through four first bolts (19-1), a guide block (34) matched with the outer positioning rod (19) is fixedly connected on each screw nut (31), hexagonal holes (34-1) for internally placing nuts are formed in two sides of the guide block (34), and the hexagonal holes (34-1) are used for installing external thread bearings (35).
3. The unmanned aerial vehicle battery replacement base station according to claim 1 or 2, wherein two mounting through holes (58) and a rectangular concave table (59) are formed in one side of a battery box cover (37), two mounting through holes (57), a clamping table (61), a rectangular boss (60), a trapezoidal concave table (40) and a trapezoidal concave table (41) are formed in a base (36), the first clamping seat (17) is fixed on the clamping table (61), and the battery box cover (37) and the base (36) are aligned by the mounting through holes (57) and the mounting through holes (58) and then fixed with nuts by bolts; the rectangular concave table (59) is mutually matched with the rectangular boss (60) and is used for fixing the base (36) and the battery box cover (37), and the trapezoidal concave table II (41) is buckled with the first guide hook (39) on the bottom plate (10) when being installed with the unmanned aerial vehicle (3) and is used for firmly fixing the base (36) on the battery box seat (9) when the unmanned aerial vehicle (3) flies; the first trapezoid concave table (40) is matched with a trapezoid boss (42) on the battery replacing platform (8).
4. A base station for battery replacement of an unmanned aerial vehicle according to claim 3, wherein a mounting frame (25) is arranged below the outer positioning platform (7), the other end of each right-handed screw (22) is fixed on the outer positioning platform (7) through a fixing seat (30), the first motor (24) is fixed in a first motor frame (27), and the first motor frame (27) is mounted on the outer positioning platform (7).
5. A base station for battery replacement for unmanned aerial vehicles according to claim 1 or 2, wherein a sponge leg cover (12) is provided over each landing gear (56).
6. An unmanned aerial vehicle battery replacement base station according to claim 1 or 2, wherein one end of the incomplete gear (44) is connected with a steering engine (45) through a second steering wheel (A2), the other end of the incomplete gear (44) is mounted in a first bearing (A3) of an incomplete gear support seat (55) through a flange, the incomplete gear support seat (55) and the steering engine (45) are fixed at the bottom of the battery replacement platform (8), the steering engine (48) is mounted on a steering engine fixing seat (20) through a steering engine seat (A4), and the steering engine fixing seat (20) is mounted on a screw sliding nut (43-1).
7. The unmanned aerial vehicle battery replacement base station according to claim 1 or 2, wherein the steering engine (45) is fixed in a steering engine seat (46), the steering engine seat (46) is installed on a steering engine fixing seat (20), the other end of the long right-handed screw (43) is installed on a battery replacement platform (8) through a supporting seat (51), the motor (49) is located in a motor frame (54), the motor frame (54) is installed on the battery replacement platform (8), and the charging pile seat (A5) and the guide seat (11) are fixed on the battery replacement platform (8) through bolts.
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