CN115891929A - Automatic battery replacement mechanical arm of unmanned aerial vehicle - Google Patents
Automatic battery replacement mechanical arm of unmanned aerial vehicle Download PDFInfo
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- CN115891929A CN115891929A CN202211432970.XA CN202211432970A CN115891929A CN 115891929 A CN115891929 A CN 115891929A CN 202211432970 A CN202211432970 A CN 202211432970A CN 115891929 A CN115891929 A CN 115891929A
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- manipulator
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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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Abstract
The invention belongs to the technical field of unmanned aerial vehicle corollary equipment, and particularly relates to an automatic battery replacement manipulator for an unmanned aerial vehicle, which solves the problems of low automation degree and complex battery replacement structure in the battery replacement process of the unmanned aerial vehicle. This automatic electric manipulator that trades of unmanned aerial vehicle, including the manipulator crane, the manipulator crane on be equipped with can the quadratic level stretch out and draw back and be used for getting the electric trade telescopic machanism that trades, the manipulator crane with trade and be equipped with the manipulator elevating system that can make trade electric telescopic machanism go up and down along the vertical direction between the electric telescopic machanism. The effect of automatic change unmanned aerial vehicle battery has been realized, and the structure is terse relatively has higher reliability.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle corollary equipment, and particularly relates to an automatic battery replacement manipulator for an unmanned aerial vehicle.
Background
Unmanned aerial vehicle is by wide application in a lot of fields, but unmanned aerial vehicle's the energy mainly still provides through the battery, when unmanned aerial vehicle need change the battery, often needs the manual work to operate, and degree of automation is low, wastes time and energy
The invention with the publication number of CN114771856A discloses an unmanned aerial vehicle battery replacing mechanism, which comprises a battery clamping manipulator lifting mechanism, wherein a battery clamping manipulator rotating mechanism is arranged on a lifting platform at the top of the battery clamping manipulator lifting mechanism, a battery clamping manipulator transverse moving mechanism is arranged on a telescopic sliding block at the bottom of a battery clamping manipulator telescopic mechanism arranged on a rotating platform at the top of the battery clamping manipulator rotating mechanism, two transverse moving supports at the bottom of the battery clamping manipulator transverse moving mechanism are respectively provided with a battery clamping manipulator, and an unmanned aerial vehicle on-off mechanism is arranged on a fixed platform at the top of the battery clamping manipulator telescopic mechanism.
The above prior art structure is somewhat complex and lacks a lightweight structure and an anti-injury protection structure.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides an automatic battery replacement manipulator of an unmanned aerial vehicle, which can automatically replace batteries and has a simple and reliable structure.
The aim of the invention can be achieved by the following technical scheme: the utility model provides an automatic electric manipulator that trades of unmanned aerial vehicle, includes the manipulator crane, the manipulator crane on be equipped with can two times the level stretch out and draw back and be used for getting the electric telescopic machanism that trades, the manipulator crane with trade and be equipped with the manipulator elevating system that can make to trade electric telescopic machanism and go up and down along the vertical direction between the electric telescopic machanism.
The automatic electric manipulator that trades of unmanned aerial vehicle has included the manipulator crane and has traded electric extending structure, trades electric extending structure and sets up on the manipulator crane, and accessible manipulator elevating system realizes going up and down on the manipulator crane to reach the suitable height of trading the battery, trade electric extending structure self can the secondary level stretch out and draw back and be used for specifically realizing getting and trading the battery.
In foretell automatic electric manipulator that trades of unmanned aerial vehicle, the manipulator crane include the crane backplate, crane backplate both sides all be equipped with the crane curb plate, crane backplate and crane curb plate top all fix on the crane roof, crane backplate and crane curb plate bottom all fix on the triangle bottom plate, crane backplate, crane roof and triangle bottom plate and trade and be equipped with manipulator elevating system between the electric telescopic machanism.
The top of crane backplate and crane curb plate is fixed on the crane roof, and crane backplate and crane curb plate bottom are all fixed on the triangle bottom plate, stable in structure, and manipulator elevating system can drive control and trade electric telescopic machanism and go up and down between crane roof and triangle bottom plate.
In foretell automatic electric manipulator that trades of unmanned aerial vehicle, manipulator elevating system including set up at the crane backplate and trade the electrical telescopic mechanism between the lifting slide rail set spare, crane roof and triangle bottom plate and trade and be equipped with vertical lift drive assembly between the electrical telescopic mechanism.
The manipulator lifting mechanism provides lifting conditions and limits a lifting path through the lifting slide block sliding rail assembly, and provides power for lifting through the vertical lifting driving assembly so as to drive the lifting of the battery replacing telescopic structure.
In foretell automatic electric manipulator that trades of unmanned aerial vehicle, vertical lift drive assembly include two manipulator lift lead screws that set up respectively in crane backplate both sides, manipulator lift lead screw both ends link to each other with crane roof and triangle bottom plate through the bearing respectively, manipulator lift lead screw pass through manipulator lift nut seat and trade electric telescopic machanism and link to each other, manipulator lift lead screw on be connected with the rotation driving unit.
The vertical lifting driving assembly realizes a specific lifting function through the screw rod structure and the rotary driving unit, the two ends of the manipulator lifting screw rod are rotatably fixed on the lifting frame top plate and the triangular bottom plate through the bearings, the structure is stable, the manipulator lifting nut seat connected with the battery replacement telescopic mechanism is matched on the manipulator lifting screw rod, and the manipulator lifting nut seat can drive the battery replacement telescopic mechanism to lift along with the rotation of the manipulator lifting screw rod.
In foretell automatic electric manipulator that trades of unmanned aerial vehicle, the rotation driving unit including setting up the lift lead screw driving motor in triangle bottom plate bottom, manipulator lift lead screw lower extreme be equipped with the lift synchronizing wheel, lift lead screw driving motor drive shaft wear to establish triangle bottom plate and output epaxial lift action wheel and link to each other through lift hold-in range and two lift synchronizing wheels, the lift action wheel be three horn shapes with two lift synchronizing wheels and distribute, and the straight line distance homogeneous phase of lift action wheel and two lift synchronizing wheels equals.
The rotary driving unit mainly provides power by a lifting lead screw driving motor, the lifting lead screw driving motor is arranged at the bottom of the triangular bottom plate, the lifting of the manipulator lifting frame cannot be blocked, the lifting driving wheel of the rotary driving unit and lifting synchronizing wheels at the lower ends of two manipulator lifting lead screws are distributed in a triangular shape, the rotary driving unit is connected with the lifting synchronizing belts through the lifting synchronizing belts, the real-time synchronization of the rotation of the two manipulator lifting lead screws can be realized, the stable lifting of the electric telescopic mechanism is ensured, the lifting driving wheel and the linear distance of the two lifting synchronizing wheels are equal, and the structure is more stable.
In the automatic power changing manipulator of the unmanned aerial vehicle, the side plates and the back plate of the lifting frame are respectively provided with a plurality of light-weight through holes of the lifting frame, which are uniformly distributed in the vertical direction; the triangular bottom plate is provided with two symmetrical triangular bottom plate lightweight through holes.
The setting of crane lightweight through-hole and triangle bottom plate lightweight through-hole has alleviateed the dead weight of equipment under the condition that does not influence function and structural strength, for drive structure connection structure alleviates the burden, has still practiced thrift the material simultaneously.
In foretell automatic electric manipulator that trades of unmanned aerial vehicle, trade electric telescopic machanism including trading the electric base, trade the electric base on have and trade the electric stand, be equipped with the battery on trading the electric stand and get the storehouse, the battery get in the storehouse be equipped with the battery and get and put the cleft hand, get to be equipped with the battery and get the one-level telescopic machanism that the cleft hand level is flexible of putting and trade between the electric stand at the battery, trade the electric stand and trade and be equipped with the flexible second grade telescopic machanism of the electric stand level of can driving between the electric base.
The battery replacing telescopic mechanism is used for achieving battery taking and replacing, the battery replacing base is provided with the battery replacing frame, the battery replacing frame can achieve horizontal telescopic through the second-stage telescopic mechanism, the battery taking and placing bin is arranged on the battery replacing frame and used for bearing replaced and to-be-loaded batteries, the battery taking and placing claw arranged in the battery bin can achieve horizontal telescopic through the first-stage telescopic mechanism, and grabbing, dismounting and mounting of the batteries are achieved specifically.
In foretell automatic electric manipulator that trades of unmanned aerial vehicle, battery get and put claw hand include the battery push pedal, the battery push pedal on be equipped with the battery hook unit that two symmetries set up, the battery push pedal pass through one-level telescopic machanism and trade the battery and link to each other.
The battery push pedal is connected through one-level telescopic machanism and can the concertina movement on the frame that trades electricity, and the symmetry is equipped with two battery hook units on it for collude two batteries to unmanned aerial vehicle and grab.
In the automatic electric manipulator that trades of foretell unmanned aerial vehicle, the electricity of trading put up and still be equipped with the switching on and shutting down subassembly that is used for the unmanned aerial vehicle switching on and shutting down.
Trade the switch machine subassembly on the electric stand and realize unmanned aerial vehicle's on-off operation, close unmanned aerial vehicle before trading the electricity, open unmanned aerial vehicle after trading well.
In foretell automatic electric manipulator that trades of unmanned aerial vehicle, the switch machine subassembly including set up at the start arm that trades the battery top, start arm one end on be equipped with the start thimble, the start arm other end through can drive start arm one end around other end wobbling swing driver with trade the battery and link to each other.
One end of the starting arm is provided with a starting thimble for pushing the switch of the unmanned aerial vehicle, the other end of the starting arm is connected to the power exchange frame through a swing driver, and through the swing driver, the starting arm can swing and rotate by taking a connecting point on the power exchange frame as an axis, and the starting thimble is controlled to push the switch of the unmanned aerial vehicle.
Compared with the prior art:
1. this automatic electric manipulator that trades of unmanned aerial vehicle has included the manipulator crane and has traded electric extending structure, trades electric extending structure and sets up on the manipulator crane, and accessible manipulator elevating system realizes going up and down on the manipulator crane to reach the suitable height of trading the battery, trade electric extending structure self can the quadratic level stretch out and draw back be used for specifically realizing getting to trade the battery.
2. The vertical lifting driving assembly realizes a specific lifting function through the screw rod structure and the rotary driving unit, the two ends of the manipulator lifting screw rod are rotatably fixed on the crane top plate and the triangular bottom plate through bearings, the manipulator lifting screw rod is stable in structure, the manipulator lifting nut seat connected with the electric switching telescopic mechanism is matched on the manipulator lifting screw rod, and the manipulator lifting nut seat can drive the electric switching telescopic mechanism to lift along with the rotation of the manipulator lifting screw rod.
3. The rotary driving unit is mainly powered by a lifting lead screw driving motor, the lifting lead screw driving motor is arranged at the bottom of a triangular bottom plate, the lifting of the manipulator lifting frame cannot be blocked, the lifting driving wheel of the rotary driving unit is distributed in a triangular shape with lifting synchronizing wheels at the lower ends of two manipulator lifting lead screws, the rotary driving unit is connected through a lifting synchronizing belt, the real-time synchronization of the two manipulator lifting lead screws can be realized, the stable lifting of the electric telescopic mechanism is ensured, the lifting driving wheel is equal to the linear distance of the two lifting synchronizing wheels, and the structure is more stable.
4. The setting of crane lightweight through-hole and triangle bottom plate lightweight through-hole has alleviateed the dead weight of equipment under the condition that does not influence function and structural strength, for drive structure connection structure alleviates the burden, has still practiced thrift the material simultaneously.
5. Trade the switch machine subassembly on the electric frame and realize unmanned aerial vehicle's on-off operation, close unmanned aerial vehicle before trading the electricity, open unmanned aerial vehicle after trading, the one end of opening the horn is equipped with the start thimble for the unmanned aerial vehicle switch is pressed to the top, the start horn other end passes through the swing driver and connects on trading the electric frame, through the swing driver, it can realize the swing rotation as the axle to open the horn with trading the tie point on the electric frame, control start thimble top is pressed unmanned aerial vehicle switch
Drawings
FIG. 1 is a schematic view of the front view of the whole structure of an automatic battery replacement manipulator of an unmanned aerial vehicle according to the invention;
fig. 2 is a schematic rear view of the overall structure of the automatic battery replacement manipulator of the unmanned aerial vehicle;
FIG. 3 is a side view of the current swapping telescoping mechanism of the present invention;
FIG. 4 is a front view of the current swapping telescoping mechanism of the present invention;
fig. 5 is a schematic view showing that the battery replacement telescopic mechanism of the present invention is mounted on a robot arm crane (a part of a battery side plate is not shown).
In the figure, the position of the upper end of the main shaft, a manipulator lifting frame 3000, a lifting frame back plate 3010, a lifting frame side plate 3020, a lifting frame top plate 3030, a triangular bottom plate 3040, a lifting frame light weight through hole 3050, a triangular bottom plate light weight through hole 3060, a manipulator lifting mechanism 3100, a lifting slider sliding rail assembly 3110, a vertical lifting driving assembly 3120, a manipulator lifting screw 3130, a manipulator lifting nut seat 3140, a rotary driving unit 3150, a lifting screw driving motor 3151, a lifting driving wheel 3152, a lifting synchronizing wheel 3153, a lifting synchronizing belt 3154, a battery replacing telescopic mechanism 4999, a battery replacing base 4000, a base bottom plate 4010, a base rear plate 4020, a right-angle supporting frame 400, a reinforcing rod 4040, a battery replacing frame 4100, a battery tray 4110, a battery side barrier strip 4111, a battery separating strip 4112, a battery top cover 4120, a strip-shaped position sensing hole 4121, a position sensing stopper 4122, an in-situ sensor 4123, an unmanned aerial vehicle starting device 4124, a battery side plate 4130, a battery taking and placing bin 4110 a battery taking and placing claw hand 4200, a battery push plate 4210, a battery lock switch assembly 4211, a switch knob 4212, a switch rotation drive 4213, a battery claw unit 4220, a claw steering engine seat 4221, a claw steering engine 4222, a steering wheel 4223, a battery hook 4224, a steering engine extension seat 4225, a U-shaped support arm 4226, a primary telescopic mechanism 4300, a primary slider slide rail assembly 4310, a primary slide rail 4311, a primary strip-shaped heightening seat 4312, a primary strip-shaped heightening seat light-weight through hole 4313, a primary linear drive unit 4320, a primary sliding table screw 4321, a primary sliding table nut seat 4322, a primary rotation drive motor 4323, a primary sliding table bearing seat 4324, a secondary telescopic mechanism 4400, a secondary slider slide rail assembly 4410, a secondary slide rail 4411, a secondary strip-shaped heightening seat 4412, a secondary strip-shaped heightening seat light-weight through hole 4413, a secondary linear drive unit 4420, a secondary sliding table screw rod 4421, a secondary sliding table nut seat 4422, a secondary sliding table bearing seat 4423, the unmanned aerial vehicle comprises a secondary rotary driving motor 4424, a battery damage prevention easy-entry structure 4500, an unmanned aerial vehicle battery frame groove 4510, an easy-entry slope 4520, a side baffle arc-shaped chamfer 4530, a damage prevention inclined plane 4540, a lead-in inclined plane 4550, a light-weight structure 4600, a strip-shaped weight-reduction inclined hole 4610, a tray weight-reduction hole 4620, a switching-on and switching-off assembly 4700, a starting-up arm 4710, a starting-up thimble 4720 and a swing driver 4730.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.
The specific embodiment is shown in fig. 1-5, the automatic battery replacing manipulator of the unmanned aerial vehicle comprises a manipulator lifting frame 3000, a battery replacing telescopic mechanism 4999 which can horizontally stretch for two times and is used for taking and replacing the battery is arranged on the manipulator lifting frame 3000, and a manipulator lifting mechanism 3100 which can enable the battery replacing telescopic mechanism 4999 to lift in the vertical direction is arranged between the manipulator lifting frame 3000 and the battery replacing telescopic mechanism 4999.
Particularly, unmanned aerial vehicle trades electric manipulator automatically has included manipulator crane 3000 and has traded electric extending structure, trades electric extending structure and sets up on manipulator crane 3000, and accessible manipulator elevating system 3100 realizes going up and down on manipulator crane 3000 to reach the suitable height of trading the battery, trade electric extending structure self can the secondary level stretch out and draw back and be used for specifically realizing getting to trade the battery.
As shown in fig. 1 and 2, the manipulator lifting frame 3000 includes a lifting frame back plate 3010, lifting frame side plates 3020 are disposed on both sides of the lifting frame back plate 3010, tops of the lifting frame back plate 3010 and the lifting frame side plates 3020 are fixed on a lifting frame top plate 3030, bottoms of the lifting frame back plate 3010 and the lifting frame side plates 3020 are fixed on a triangular bottom plate 3040, a manipulator lifting mechanism 3100 is disposed between the lifting frame back plate 3010 and the triangular bottom plate 3040 and a battery replacement telescopic mechanism 4999, the manipulator lifting mechanism 3100 includes a lifting slider sliding rail assembly 3110 disposed between the lifting frame back plate 3010 and the battery replacement telescopic mechanism 4999, a vertical lifting driving assembly 3120 is disposed between the lifting frame top plate 3030 and the battery replacement telescopic mechanism 4999, the vertical lifting driving assembly 3120 includes two manipulator lifting lead screw lifting assemblies 3130 disposed on both sides of the lifting frame back plate 3010, two ends of the manipulator lifting lead screw 3130 are connected with the lifting frame top plate 3030 and the triangular bottom plate 3040 through bearings, two manipulator lifting lead screw drive wheels 3152 are disposed on the lifting frame back plate 3010, a lifting lead screw 310, a lifting lead screw 3153, the manipulator lifting lead screw drive unit 3153 is connected with a lifting motor 3153, and a lifting motor 3152, and a lifting motor 3153, the lifting lead screw 3152 is disposed on the lifting lead screw 3152, and a lifting motor 3152, and a synchronous lifting lead screw 3153, the lifting lead screw 3152 is disposed on the lifting mechanism 3152, and a synchronous lifting lead screw 3152, and a synchronous lifting motor 3153.
Specifically, the tops of a lifting frame back plate 3010 and a lifting frame side plate 3020 are fixed on a lifting frame top plate 3030, the bottoms of the lifting frame back plate 3010 and the lifting frame side plate 3020 are fixed on a triangular bottom plate 3040, the structure is stable, a manipulator lifting mechanism 3100 provides lifting conditions and limits a lifting path through a lifting slider sliding rail assembly 3110, a vertical lifting driving assembly 3120 realizes a specific lifting function through a screw rod structure and a rotation driving unit 3150, two ends of a manipulator lifting screw rod 3130 are rotatably fixed on the lifting frame top plate 3030 and the triangular bottom plate 3040 through bearings, the structure is stable, a manipulator lifting nut seat 3140 connected with an electricity exchanging telescopic mechanism 4999 is matched on the manipulator lifting screw rod 3130, and the manipulator lifting nut seat 3140 can drive the electricity exchanging telescopic mechanism 4999 to lift along with the rotation of the manipulator lifting screw rod 3130. The rotation driving unit 3150 is mainly powered by a lifting lead screw driving motor 3151, the lifting lead screw driving motor 3151 is arranged at the bottom of the triangular bottom plate 3040, a lifting driving wheel 3152 and lifting synchronizing wheels 3153 at the lower ends of the two manipulator lifting lead screws 3130 are distributed in a triangular shape, real-time synchronization of rotation of the two manipulator lifting lead screws 3130 can be realized, stable lifting of the battery replacement telescopic mechanism 4999 is ensured, and the linear distances between the lifting driving wheel 3152 and the two lifting synchronizing wheels 3153 are equal, so that the structure is more stable.
Preferably, a plurality of crane lightweight through holes 3050 are uniformly distributed in the vertical direction on the crane side plate 3020 and the crane back plate 3010; the triangular bottom plate 3040 is provided with two symmetrically arranged triangular bottom plate lightweight through holes 3060.
In other words, the arrangement of the light-weight through hole 3050 of the lifting frame and the light-weight through hole 3060 of the triangular bottom plate reduces the self weight of the equipment under the condition of not influencing the function and the structural strength, reduces the burden of the connecting structure of the driving structure and saves materials at the same time.
The battery replacing telescopic mechanism 4999 is an operation structure for specifically implementing battery replacement, and comprises a battery replacing base 4000, a battery replacing rack 4100 is arranged on the battery replacing base 4000 and used for specifically realizing the loading and unloading functions of a battery, a battery taking and placing bin 4110 is arranged on the battery replacing rack 4100 and used for placing the battery, a battery taking and placing claw 4200 is arranged in the battery taking and placing bin 4110, a primary telescopic mechanism 4300 capable of driving the battery taking and placing claw 4200 to horizontally stretch is arranged between the battery taking and placing claw 4200 and the battery replacing base 4100, and a secondary telescopic mechanism 4400 capable of driving the battery replacing rack 4100 to horizontally stretch is arranged between the battery replacing rack 4100 and the battery replacing base 4000.
As shown in fig. 1 and 4, the battery taking and placing gripper 4200 includes a battery push plate 4210, two battery gripper units 4220 symmetrically arranged on the battery push plate 4210 are arranged to grip two batteries, the battery push plate 4210 is connected to the battery changing frame 4100 through a primary telescopic mechanism 4300 and is used for driving the battery changing frame 4100 to stretch and retract, the battery gripper unit 4220 includes a gripper steering engine base 4221, a gripper steering engine 4222 is arranged on the gripper steering engine base 4221 and is connected to a steering wheel 4223 and is used for driving the battery gripper 4224 to rotate, an L-shaped battery gripper 4224 is arranged on the steering wheel 4223 and can be switched between a relative state and a parallel state, when the battery gripper is required to grip, the battery gripper can be controlled by switching between the relative state and the battery gripper 4224, when the gripper is not required to grip in a predetermined position, the battery gripper is switched between the parallel state and does not hinder the battery gripper 4224 from stretching to a target position, a U-shaped support arm 4226 is arranged between the battery gripper 4224 and the gripper seat 4221, the diameter of the U-shaped support arm 4226 is larger than the diameter of the steering wheel 4223, and the diameter of the steering wheel 4223 can well protect the battery gripper, and the steering wheel 4223 is mounted on the steering wheel 4223. The knuckle rudder engine base 4221 is fixed on a battery push plate 4210 through a steering engine extension base 4225.
As shown in fig. 1 and 3, the battery changing rack 4100 comprises a battery top cover 4120 arranged above the battery tray 4110, the battery tray 4110 and the battery top cover 4120 are connected through battery side plates 4130 on both sides, and the battery push plate 4210 is connected with the battery top cover 4120 through a primary telescopic mechanism 4300; a battery lock switch assembly 4211 for unlocking and locking a battery of the unmanned aerial vehicle is arranged on the battery push plate 4210, the battery lock of the unmanned aerial vehicle can be controlled by one switch, the battery lock is opened before the battery is replaced, the battery lock is locked after the battery is replaced, the battery lock switch assembly 4211 comprises a switch knob 4211 arranged in the middle of the battery push plate 4210, a switch rotation drive 4212 is connected to the switch knob, the switch rotation drive 4212 comprises a motor, a primary telescopic mechanism 4300 comprises two groups of primary slider slide rail assemblies 4310 arranged between a battery top cover 4120 and the battery push plate 4210, a primary linear drive unit 4320 is arranged between the two groups of primary slider slide rail assemblies 4310, the primary linear drive unit 4320 comprises a primary sliding table lead screw 4321 and a primary sliding table nut seat 4322, the primary sliding table lead screw 4321 is connected with the bottom surface of the battery top cover 4120 through primary sliding table bearing seats 4324 at two ends, the primary sliding table nut seat 4322 is connected with the push plate battery 4210, a primary rotation drive motor 4323 is connected to the rear end of the primary sliding table lead screw 4321, and the primary rotation drive motor 4323 is fixed on the top surface of the top cover 4120; the top of the battery top cover 4120 is provided with a bar-shaped position sensing hole 4121, a position sensing stop 4122 connected with the first-stage sliding table nut seat 4322 is arranged on the bar-shaped position sensing hole 4121 in a penetrating manner, a home position sensor 4123 is arranged on one side of the bar-shaped position sensing hole 4121, and the home position sensor 4121 monitors the position by sensing the position sensing stop 4122 and makes a corresponding feedback signal to make a corresponding control.
As shown in fig. 4, the secondary telescoping mechanism 4400 includes two sets of secondary slider slide assemblies 4410 disposed between the battery changing rack 4100 and the battery changing base 4000, and is used for providing the battery changing rack 4100 with a capability of moving relative to the battery changing base 4000 and limiting a moving path, a secondary linear driving unit 4420 is disposed between the secondary slider slide assemblies 4410 for applying a driving force to drive the battery changing rack 4100 to move, the secondary linear driving unit 4420 includes a secondary slide lead screw 4421 and a secondary slide nut seat 4422, the secondary slide lead screw 4421 is connected to the top of the battery changing base 4000 through a secondary slide bearing seat 4423 at both ends, the secondary slide nut seat 4422 is connected to the bottom of the battery tray 4110, a secondary rotation driving motor 4424 is connected to the rear end of the secondary slide lead screw 4421 for driving the secondary slide lead screw to rotate, so as to control the movement of the battery changing rack 4100 relative to the battery changing base 4000, and the secondary rotation driving motor 4424 is fixed to the bottom of the battery changing base 4000.
As shown in fig. 1 and 4, battery side bars 4111 are respectively arranged on a battery tray 4110, battery separating bars 4112 parallel to the battery side bars 4111 are arranged between the two battery side bars 4111, the battery tray 4110, the battery side bars 4111 and the battery separating bars 4112 are connected into an integral structure, a battery damage prevention easy-entry structure 4500 is arranged between the battery tray 4110, the battery side bars 4111 and the battery separating bars 4112, the battery damage prevention easy-entry structure 4500 includes an unmanned aerial vehicle battery rack groove 4510 arranged in the middle of the front end of the battery tray 4110, an easy-entry slope 4520 is further arranged at the front end of the battery tray 4110, a side bar arc-shaped chamfer 4530 is arranged on the inner side of the front end of the battery side bar 4111, a damage prevention slope 4540 which gradually inclines from the inner end to the outer end is arranged at the front end of the battery separating bar 4112, and slopes 4550 which gradually inclines from the inner end to the outer end are arranged between the damage prevention slope 4540 and the battery separating bars 4112.
Optimize and say, be provided with battery side blend stop 4111 in the both sides of battery tray 4110, play a direction spacing effect, be equipped with battery spacer 4112 in the centre of battery side blend stop 4111 for play the spacing effect of separating the battery, battery tray 4110, battery side blend stop 4111 and battery spacer 4112 structure as an organic whole, the structure is firm, in addition, still be equipped with the battery and prevent hindering easily to go into structure 4500, play certain direction effect and can prevent damaging the battery. The battery damage prevention easy-entry structure 4500 specifically comprises an unmanned aerial vehicle battery rack groove 4510 in front of a battery tray 4110, so that collision damage to an unmanned aerial vehicle battery rack is avoided; an easy-to-enter slope 4520 arranged at the front end of the battery tray 4110 plays a role in guiding, so that the battery tray 4110 can conveniently extend into the lower part of a battery; the arc-shaped chamfer 4530 of the side barrier strips, which is arranged on the inner side of the front end of the battery side barrier strip 4111, avoids collision damage to the lower side of the battery when the battery tray 4110 extends into the lower part of the unmanned aerial vehicle, and has a guiding effect; the arrangement of the guide inclined plane provides good guide function to prevent the battery from being damaged by collision
Preferably, the battery replacing base 4000 and the battery replacing frame 4100 are provided with light-weight structures 4600, each light-weight structure 4600 comprises a plurality of strip-shaped weight-reducing inclined holes 4610 which are symmetrically arranged up and down on the battery side plate 4130 and are distributed along the horizontal direction, two tray weight-reducing holes 4620 are arranged on the battery tray 4110, the battery replacing base 4000 comprises a base bottom plate 4010 and a base rear plate 4020, the base bottom plate 4010 is perpendicular to the base rear plate 4020, a right-angle support 4030 located in the middle is arranged between the base bottom plate 4010 and the base rear plate 4020, and the middle of the right-angle support 4030 is provided with a reinforcing rod 4040.
In other words, the light weight structure 4600 reduces the self weight of the device, reduces the burden of the driving structure and the connecting structure, and saves a certain amount of material, and the light weight structure 4600 is embodied as a strip-shaped weight reducing inclined hole 4610 and a tray weight reducing hole 4620, so that the light weight effect is achieved on the premise of not affecting the structural strength. Trade electric base 4000 and constitute by the base back plate 4020 and the base bottom plate 4010 of vertical setting, and the stiffener 4040 is established in the middle part of right angle support 4030 additional, forms triangular stable structure, has guaranteed structural strength, and weight is lighter.
Moreover, in order to ensure the height and reduce the weight, a primary slide rail 4311 of the primary slide block slide rail assembly 4310 is connected with a battery push plate 4210 through a primary strip-shaped heightening seat 4312, and the primary strip-shaped heightening seat 4312 is provided with a plurality of primary strip-shaped heightening seat lightweight through holes 4313 which are distributed along the axial direction; a secondary slide rail 4411 of the secondary slide block slide rail assembly 4410 is connected with the battery replacing base 4000 through a secondary strip-shaped heightening seat 4412, and a plurality of secondary strip-shaped heightening seat light-weight through holes 4413 distributed along the axial direction are formed in the secondary strip-shaped heightening seat 4412. The light weight effect is well achieved.
As shown in fig. 3, a power switching assembly 4700 for switching on and off the unmanned aerial vehicle is further disposed on the power switching frame 4100, the power switching assembly 4700 includes a power starting arm 7410 disposed at the top of the power switching frame 4100, one end of the power starting arm 7410 is provided with a power starting thimble 4720, and the other end of the power starting arm 7410 is connected to the power switching frame 4100 through a swing driver 4730 capable of driving one end of the power starting arm 7410 to swing around the other end.
Particularly, trade the on-off subassembly 4700 on the electric stand and realize unmanned aerial vehicle's on-off operation, close unmanned aerial vehicle before trading the electricity, open unmanned aerial vehicle after trading well, the one end of start arm 7410 is equipped with start thimble 4720, be used for the top to press the unmanned aerial vehicle switch, the start arm 7410 other end passes through swing driver 4730 and connects on trading electric stand 4100, through swing driver 4730, start arm 7410 uses the tie point of trading on the electric stand 4100 as the axle and can realize the swing rotation, control start thimble 4720 top is pressed the unmanned aerial vehicle switch.
The specific working principle is as follows: the manipulator enables the battery replacing telescoping mechanism 4999 to move to a proper height position through rotation of a lifting lead screw driving motor 3151, when the unmanned aerial vehicle is pushed to the position close to the manipulator, the manipulator extends out of a battery replacing rack 4100, a battery tray 4110 is abutted to the battery surface of the unmanned aerial vehicle, then the battery taking and placing claw 4200 is extended out, a claw steering engine 4222 acts to grasp a battery on the unmanned aerial vehicle, a battery locking knob is unscrewed through a battery locking switch component 4211, a swing driver 4730 acts, after the unmanned aerial vehicle is turned off through jacking of a starting thimble 4720 and pressing of a switch of the unmanned aerial vehicle, the battery taking and placing claw 4200 retracts to take out two batteries on the unmanned aerial vehicle, the battery is dragged to the battery tray 4110 of the manipulator, and after retraction of the battery taking and placing claw 4200 is completed, the battery replacing rack 4100 also retracts to the original position. The lifting screw rod driving motor 3151 rotates reversely to control the manipulator to drive the battery to move downwards and move to be flush with the position of the battery bin, the secondary rotary driving motor 4424 works to push the battery changing frame 4100 to the opening of the battery bin, the primary rotary driving motor 4323 works, the battery pushing plate 4210 pushes the battery into the battery bin, then the hook claw steering engine 4222 works to open the battery hook 4224 to be in a parallel state, then the primary rotary driving motor 4323 and the secondary rotary driving motor 4424 work simultaneously to retract the battery changing frame 4100 and the battery taking and placing claw hand 4200, and the unmanned aerial vehicle battery is taken down and stored.
The step of replacing the new battery is performed according to the reverse flow of the same principle.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (10)
1. The utility model provides an automatic electric manipulator that trades of unmanned aerial vehicle, its characterized in that includes manipulator crane (3000), manipulator crane (3000) on be equipped with can two times horizontal flexible and be used for getting trade electric telescopic machanism (4999), manipulator crane (3000) and trade electric telescopic machanism (4999) between be equipped with and make trade electric telescopic machanism (4999) along manipulator elevating system (3100) that goes up and down in the vertical direction.
2. The unmanned aerial vehicle automatic battery replacement manipulator as claimed in claim 1, wherein the manipulator lifting frame (3000) comprises a lifting frame back plate (3010), lifting frame side plates (3020) are arranged on two sides of the lifting frame back plate (3010), tops of the lifting frame back plate (3010) and the lifting frame side plates (3020) are fixed on a lifting frame top plate (3030), bottoms of the lifting frame back plate (3010) and the lifting frame side plates (3020) are fixed on a triangular bottom plate (3040), and a manipulator lifting mechanism (3100) is arranged between the lifting frame back plate (3010), the lifting frame top plate (3030), the triangular bottom plate (3040) and the battery replacement telescopic mechanism (4999).
3. The unmanned aerial vehicle automatic battery replacement manipulator as claimed in claim 2, wherein the manipulator lifting mechanism (3100) comprises a lifting slider sliding rail assembly (3110) arranged between a lifting frame back plate (3010) and a battery replacement telescopic mechanism (4999), and a vertical lifting driving assembly (3120) is arranged between a lifting frame top plate (3030), a triangular bottom plate (3040) and the battery replacement telescopic mechanism (4999).
4. The unmanned aerial vehicle automatic battery replacement manipulator as claimed in claim 3, wherein the vertical lifting driving assembly (3120) comprises two manipulator lifting lead screws (3130) respectively disposed at two sides of the lifting frame back plate (3010), two ends of the manipulator lifting lead screw (3130) are respectively connected to the lifting frame top plate (3030) and the triangular bottom plate (3040) through bearings, the manipulator lifting lead screw (3130) is connected to the battery replacement telescopic mechanism (4999) through a manipulator lifting nut seat (3140), and the manipulator lifting lead screw (3130) is connected to a rotation driving unit (3150).
5. The unmanned aerial vehicle automatic battery replacement manipulator as claimed in claim 4, wherein the rotation driving unit (3150) comprises a lifting lead screw driving motor (3151) arranged at the bottom of a triangular bottom plate (3040), a lifting synchronizing wheel (3153) is arranged at the lower end of the manipulator lifting lead screw (3130), a driving shaft of the lifting lead screw driving motor (3151) penetrates through the triangular bottom plate (3040), a lifting driving wheel (3152) on an output shaft is connected with the two lifting synchronizing wheels (3153) through a lifting synchronizing belt (3154), the lifting driving wheel (3152) and the two lifting synchronizing wheels (3153) are distributed in a triangular shape, and the linear distances between the lifting driving wheel (3152) and the two lifting synchronizing wheels (3153) are equal.
6. The unmanned aerial vehicle automatic battery replacement manipulator as claimed in any one of claims 2-5, wherein a plurality of crane lightweight through holes (3050) are uniformly distributed along the vertical direction on the crane side plate (3020) and the crane back plate (3010); the triangular bottom plate (3040) is provided with two symmetrically arranged triangular bottom plate lightweight through holes (3060).
7. The unmanned aerial vehicle automatic battery replacing manipulator as claimed in any one of claims 1-5, wherein the battery replacing telescoping mechanism (4999) comprises a battery replacing base (4000), a battery replacing rack (4100) is arranged on the battery replacing base (4000), a battery taking and placing bin (4110) is arranged on the battery replacing rack (4100), a battery taking and placing claw (4200) is arranged in the battery taking and placing bin (4110), a primary telescoping mechanism (4300) capable of driving the battery taking and placing claw (4200) to horizontally telescope is arranged between the battery taking and placing claw (4200) and the battery replacing rack (4100), and a secondary telescoping mechanism (4400) capable of driving the battery replacing rack (4000) to horizontally telescope is arranged between the battery replacing rack (4100) and the battery replacing base (4000).
8. The unmanned aerial vehicle automatic battery replacement manipulator as claimed in claim 7, wherein the battery taking and placing claw (4200) comprises a battery push plate (4210), two battery claw units (4220) are symmetrically arranged on the battery push plate (4210), and the battery push plate (4210) is connected with the battery replacement rack (4100) through a primary telescopic mechanism (4300).
9. The automatic unmanned aerial vehicle power switching manipulator of claim 7, wherein the power switching frame (4100) is further provided with a power switching assembly (4700) for switching on and off the unmanned aerial vehicle.
10. The unmanned aerial vehicle automatic battery replacement manipulator according to claim 9, wherein the power on/off assembly (4700) comprises a power on arm (4710) arranged at the top of the battery replacement rack (4100), one end of the power on arm (4710) is provided with a power on ejector pin (4720), and the other end of the power on arm (4710) is connected with the battery replacement rack (4100) through a swing driver (4730) capable of driving one end of the power on arm (4710) to swing around the other end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211432970.XA CN115891929A (en) | 2022-11-16 | 2022-11-16 | Automatic battery replacement mechanical arm of unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211432970.XA CN115891929A (en) | 2022-11-16 | 2022-11-16 | Automatic battery replacement mechanical arm of unmanned aerial vehicle |
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| CN115891929A true CN115891929A (en) | 2023-04-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211432970.XA Pending CN115891929A (en) | 2022-11-16 | 2022-11-16 | Automatic battery replacement mechanical arm of unmanned aerial vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117103236A (en) * | 2023-10-19 | 2023-11-24 | 北京云圣智能科技有限责任公司 | Cylindrical coordinate robot and aircraft hangar |
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2022
- 2022-11-16 CN CN202211432970.XA patent/CN115891929A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117103236A (en) * | 2023-10-19 | 2023-11-24 | 北京云圣智能科技有限责任公司 | Cylindrical coordinate robot and aircraft hangar |
| CN117103236B (en) * | 2023-10-19 | 2024-01-23 | 北京云圣智能科技有限责任公司 | Cylindrical coordinate robot and aircraft hangar |
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