CN202922160U - Battery automatic changing system of small sized multi-rotor unmanned aerial vehicle - Google Patents
Battery automatic changing system of small sized multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN202922160U CN202922160U CN2012205365840U CN201220536584U CN202922160U CN 202922160 U CN202922160 U CN 202922160U CN 2012205365840 U CN2012205365840 U CN 2012205365840U CN 201220536584 U CN201220536584 U CN 201220536584U CN 202922160 U CN202922160 U CN 202922160U
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Abstract
The utility model discloses a battery automatic changing system of a small sized multi-rotor unmanned aerial vehicle. The battery automatic changing system of the small sized multi-rotor unmanned aerial vehicle comprises a multi-caterpillar-band trolley, a battery storage disc, a landing support for the unmanned aerial vehicle, a landing support fixing plate, a landing support fixing plate support, a battery storage disc support and a mechanical arm. The landing support fixing plate is arranged above the multi-caterpillar-band trolley. The landing support fixing plate is fixedly connected with the multi-caterpillar-band trolley through the landing support fixing plate support. The landing support for the unmanned aerial vehicle is arranged above the landing support fixing plate. A battery inlet corresponding to the battery in size is formed in the center of the fixing plate. The battery storage disc is arranged below the landing support fixing plate. The battery storage disc is fixedly connected with the multi-caterpillar-band trolley through the battery storage disc support. The mechanical arm is arranged below the battery storage disc. A rotary battery storage cabin is adopted so that the batteries can be changed by five times at most by once. Blind inserting type battery installation is convenient, rapid and high in efficiency.
Description
Technical field
The utility model belongs to the automatic battery replacing system of unmanned plane technical field, particularly a kind of small-sized many rotor wing unmanned aerial vehicles.
Background technology
In recent years, along with the large-scale natural calamities such as earthquake, flood, nuclear pollution take place frequently, the research of small-sized many rotor wing unmanned aerial vehicles becomes the focus of unmanned plane research gradually.Risk that small-sized many rotor wing unmanned aerial vehicles have that cost is low, efficiency-cost ratio is high, no one was injured and can set foot in the man-machine zone that can't arrive is arranged advantages such as (core, chemistry, bacterium infected zones).Also be with a wide range of applications in dual-use field, as low-altitude reconnaissance, meteorological exploration, aeroplane photography, traffic patrolling etc.But be confined to body size reason, small-sized many rotor wing unmanned aerial vehicles aloft the flight time very short, need often to change battery, cumbersome, waste a lot of human and material resources.Research for the automatic battery replacing system of small-sized many rotor wing unmanned aerial vehicles is quite necessary.
There is no at present the automatically replacing battery plateform system for small-sized many rotor wing unmanned aerial vehicles, all by manually removing to install battery, because small-sized many rotor wing unmanned aerial vehicles structure is relatively little, the battery that can carry is also smaller, generally maintain 15 minutes to 20 minutes so power-on time is relatively very short, so just need manually constantly to go to change battery, waste of manpower resource greatly.
Application number is automatic quick-change system and the automatic quick change method that 201010603039.4 Chinese patent discloses a kind of batteries of electric automobile.This patent discloses a kind of automatic quick change scheme of batteries of electric automobile, this system can realize single automatically replacing battery, but also need constantly manually to put battery toward changing on the battery transporter after having changed each time, automaticity is not high, and is very inconvenient.
Be used in the battery replacement device on electric automobile, although can realize Auto-mounting.But can only be once corresponding one, installing is over also needs to ressemble, and based on the power demand of electric automobile, just needs a lot of so more changing devices, and cost is relatively very high and make complicated.
The utility model content
The technical problem that the utility model solves is to provide a kind of automatic battery replacing system of small-sized many rotor wing unmanned aerial vehicles.
The technical solution that realizes the utility model purpose is: a kind of automatic battery replacing system of small-sized many rotor wing unmanned aerial vehicles, comprise fixture, battery storage dish, unmanned plane undercarriage fixture, undercarriage fixed head, undercarriage fixed head support, battery storage disc carrier and manipulator
Described fixture top arranges the undercarriage fixed head, the undercarriage fixed head is connected with fixture mutually by undercarriage fixed head support, undercarriage fixed head top arranges unmanned plane undercarriage fixture, the battery entrance that this fixed head center setting matches with battery sizes, the below of undercarriage fixed head arranges the battery storage dish, this battery storage dish is connected with fixture mutually by the support of battery storage dish, and manipulator is set below the battery storage dish;
The draw-in groove of six storage batteries is set on the battery storage dish, these six draw-in grooves are evenly distributed on the battery storage dish, the center line of each draw-in groove all is positioned on the diameter of battery storage dish, load battery on draw-in groove, the draw-in groove below has through hole, manipulator can pass from the through hole of draw-in groove below and battery is released from the battery porch at fixed head center after promptly, finally is pushed to unmanned plane; The center of described battery storage dish arranges connecting rod, the gear that is connected on connecting rod, and the below of battery storage dish arranges motor, but the rotation of motor driven gear finally drives the battery storage disc spins.
preferably, manipulator comprises handgrip, camera, servomotor, tooth bar, the manipulator motor, the manipulator gear, slide rail and elevating lever, handgrip is positioned at an end of elevating lever, the center of handgrip arranges camera, handgrip is connected with servomotor on being connected in elevating lever, rotate under the drive of servomotor, elevating lever is positioned on slide rail and can moves along slide rail, tooth bar is set on elevating lever, the manipulator motor is set on slide rail, the manipulator gear is connected on the output shaft of manipulator motor, the manipulator wheel and rack is meshed, during the manipulator machine operation, motor output shaft driving mechanical hand gear rotates and is with carry-over bar to move, the final elevating lever that drives moves up and down, decoder also is set on slide rail, this decoder is connected with camera.
Preferably, described unmanned plane comprises two handgrips with the undercarriage fixture, these two handgrips are oppositely arranged, each handgrip all is " V " font, and the angle of " V " font is 120 degree, and the below of undercarriage fixed head arranges handgrip motor, gear and handgrip pole, gear is connected on the handgrip motor output shaft, gear is connected with the handgrip pole, advances or retreats thereby the rotation of handgrip motor output shaft driven gear drives the handgrip pole, and final handgrip pole drives the handgrip motion.
Preferably, described fixture is the multi-track dolly, above described multi-track dolly, the undercarriage fixed head is set, and this undercarriage fixed head is connected mutually by undercarriage fixed head support and multi-track dolly.
Preferably, described camera is the CCD camera.
The utility model compared with prior art, its remarkable advantage is: 1) the utility model adopts rotating disc type battery reserve storehouse, once can carry out the replacing of 5 primary cells at most, and the utility model adopts blindmate formula battery efficient quick and easy for installation high; 2) device of the present utility model has been realized automatic loading and the unloading of small-sized many rotor wing unmanned aerial vehicles battery, thereby realizes the automatic replacing of small-sized many rotor wing unmanned aerial vehicles battery; 3) automatic battery replacing system of small-sized many rotor wing unmanned aerial vehicles of the present utility model on a pedrail, can adapt to various complex environments; 4) the utility model is convenient and reliable, can effectively solve the artificial frequent problem of changing battery of small-sized many rotor wing unmanned aerial vehicles, can allow small-sized many autonomous execution detection task in the open air of rotor wing unmanned aerial vehicle longer time.
Below in conjunction with accompanying drawing, the utility model is described in further detail.
Description of drawings
The overall construction drawing of the small-sized many rotor wing unmanned aerial vehicles of Fig. 1.
Fig. 2 is battery structure figure.
Fig. 3 is the hollow out aerial view that battery has just entered small-sized many rotor wing unmanned aerial vehicles.
Fig. 4 is battery connection figure.
Fig. 5 is the automatic battery replacing system overall construction drawing of small-sized many rotor wing unmanned aerial vehicles.
Fig. 6 is undercarriage fixed head front elevation.
Fig. 7 is that unmanned plane grasps the schematic diagram of unmanned plane with undercarriage.
Fig. 8 is undercarriage fixed head back view.
Fig. 9 is the battery storage dish front elevation of depositing reserve battery.
Figure 10 is the battery storage dish back view of depositing reserve battery.
Figure 11 is the robot manipulator structure schematic diagram.
The specific embodiment
In conjunction with Fig. 1, small-sized many rotor wing unmanned aerial vehicles comprise undercarriage base 1.1, battery plug 1.2, battery case 1.3, battery compression plate 1.4, spring 1.5, control module 1.6.
Control module 1.6 belows in the middle of small-sized many rotor wing unmanned aerial vehicles are battery cases 1.3, battery case 1.3 belows are hollow outs of battery sizes, battery is installed into and is become right-angled intersection to place with hollow out, battery socket and plug adopt the blindmate mode, plug on battery is a combined plug-in that docks with socket on many rotor wing unmanned aerial vehicles, realizes automatically connecting when becoming right-angled intersection to place with hollow out.Automatically realize that by spring driven battery compression plate 1.4 compression of battery fixes on battery case.On many rotor wing unmanned aerial vehicles, digital camera can be set, the wireless transmission/reception device connects by the control module of small-sized many rotor wing unmanned aerial vehicles.The battery compartment of power supply is arranged on the control module below of many rotor wing unmanned aerial vehicles.Integral body contacts with ground by undercarriage.Jack after having carried out 90 degree rotations on battery just in time achieves a butt joint with the plug of small-sized many rotor wing unmanned aerial vehicles battery case 1.3 the insides, and then the spring 1.5 by battery case 1.3 the insides drives battery compression plates 1.4 and compresses fixing realization connection.
In conjunction with Fig. 2, Fig. 3, Fig. 4, battery 2.0 is provided with battery socket anodal 2.1 and battery socket negative pole 2.2, realizes automatically that by spring driven battery compression plate 1.4 compression of battery fixes on battery case.
In conjunction with Fig. 5, Fig. 9, Figure 10, a kind of automatic battery replacing system of small-sized many rotor wing unmanned aerial vehicles, comprise multi-track dolly 6.0, battery storage dish 4.0, unmanned plane undercarriage fixture 3.3, undercarriage fixed head 3.0, undercarriage fixed head support 7.0, battery storage disc carrier 8.0 and manipulator 5.0
Described multi-track dolly 6.0 tops arrange undercarriage fixed head 3.0, this undercarriage fixed head 3.0 is connected mutually by undercarriage fixed head support 7.0 and multi-track dolly 6.0, undercarriage fixed head 3.0 tops arrange unmanned plane undercarriage fixture 3.3, the battery entrance that this fixed head center setting matches with battery sizes, the below of undercarriage fixed head 3.0 arranges battery storage dish 4.0, this battery storage dish 4.0 is connected with multi-track dolly 6.0 mutually by the support of battery storage dish, and battery storage dish 4.0 belows arrange manipulator 5.0;
The draw-in groove of six storage batteries is set on battery storage dish 4.0, these six draw-in grooves are evenly distributed on the battery storage dish, the center line of each draw-in groove all is positioned on the diameter of battery storage dish 4.0, load battery on draw-in groove, the draw-in groove below has through hole, manipulator 5.0 can pass from the through hole of draw-in groove below and battery is released from the battery porch at fixed head center after promptly, finally is pushed to unmanned plane; The center of described battery storage dish 4.0 arranges connecting rod 4.4, the gear 4.5 that is connected on connecting rod, and the below of battery storage dish 4.0 arranges motor 4.3, but motor 4.3 driven gear 4.5 rotations finally drive 4.0 rotations of battery storage dish.Often change one-shot battery, battery storage dish 4.0 rotates 30 degree.
Described multi-track car 6.0 has increased by one at normal two front-wheels of crawler type dolly and has become the upwards crawler belt of drift angle of 45 degree, the Athey wheel that increases by front-wheel drive carries out the climbing operation of barrier, the crawler type dolly can be realized the automatically replacing battery of small-sized many rotor wing unmanned aerial vehicles of some danger zones, has greatly increased the utilization scope of the automatically replacing battery platform of these small-sized many rotor wing unmanned aerial vehicles.
In conjunction with Fig. 6, the top of undercarriage fixed head is that landing is mark plate 3.0, and the camera of unmanned plane is realized small-sized many rotor wing unmanned aerial vehicles pose determination by distinguishing mark thing plate 3.0.Described mark plate 3.0 fronts have: large Back Word 3.1, little Back Word 3.2.This part is that camera on small-sized many rotor wing unmanned aerial vehicles can be identified the landing cue thing plate of determining pose, both sides are and undercarriage two the fixedly handgrips 3.3 that match, realize exactly when small-sized many rotor wing unmanned aerial vehicles are somewhat crooked on platform, realize automatically fixing.Middle circular hole can allow battery comprise that the elevating lever of back changes hands free discrepancy.After falling on platform, can realize the hexagon undercarriage of small-sized many rotor wing unmanned aerial vehicles the crawl schematic diagram of Fig. 7.
in conjunction with Fig. 7, Fig. 8, described unmanned plane comprises two handgrips 3.3 with the undercarriage fixture, these two handgrips are oppositely arranged, each handgrip all is " V " font, the angle of " V " font is 120 degree, the below of undercarriage fixed head arranges handgrip motor 3.4, gear 3.5 and handgrip pole 3.6, gear 3.5 is connected on handgrip motor 3.4 output shafts, gear 3.5 is connected with handgrip pole 3.6, thereby 3.4 output shaft driven gear 3.5 rotations of handgrip motor drive handgrip pole 3.6 and advance or retreat, final handgrip pole drives the handgrip motion, described two handgrips 3.3 move under the drive of handgrip motor 3.4.Because the bottom of unmanned plane is regular hexagon, so above-mentioned handgrip can well be fixing with the unmanned plane bottom, even some deviation when the unmanned plane landing, handgrip also can be fixed.
in conjunction with Figure 11, manipulator comprises handgrip 2, camera 4, servomotor 3, tooth bar 9, manipulator motor 10, manipulator gear 5, slide rail 7 and elevating lever 1, handgrip is positioned at an end of elevating lever 1, the center of handgrip arranges camera 4, handgrip is connected with servomotor 3 on being connected in elevating lever 1, rotate under the drive of servomotor, elevating lever 1 is positioned on slide rail 7 and can moves along slide rail 7, tooth bar 8 is set on elevating lever 1, manipulator motor 10 is set on slide rail, manipulator gear 5 is connected on the output shaft of manipulator motor 10, manipulator gear 5 is meshed with tooth bar 8, during 10 work of manipulator motor, motor output shaft driving mechanical hand gear 5 rotates and is with carry-over bar 8 to move, the final elevating lever 1 that drives moves up and down, decoder 6 also is set on slide rail 7, this decoder 6 is connected with camera 4.Described camera is CCD camera 4.
The wireless transmission/reception device of above ground portion is arranged on the computer serial ports of ground control station, and software for calculation is arranged on the notebook computer of ground control station; The mark plate of the known dimensions that the CCD camera of the replaced on ground battery platform of the automatic battery replacing system of small-sized many rotor wing unmanned aerial vehicles can be identified, mark version both sides are fixedly handgrips of the landing frame of automatically fixing many rotor wing unmanned aerial vehicles, and the centre is the battery case (often change one-shot battery and rotate 30 degree) that can automatically become the placement reserve battery of 360 degree rotations.Always have 6 grooves of putting battery on rotating disk, stayed the conversion of the battery on realization and small-sized many rotor wing unmanned aerial vehicles.
The below introduces the workflow of whole system again.Be divided into and unload battery and two parts of packed battery.
(1) unload the battery part:
A, by the little CCD camera 4 on elevating lever handgrip 1, see through battery hole in the middle of the undercarriage fixed head and carry out image and process, whether scanning has small-sized many rotor wing unmanned aerial vehicles to change on platform at battery ground.
If B has small-sized many rotor wing unmanned aerial vehicles on platform, the task of changing battery is described, send instruction to the motor 3.4 under the mark plate by control, carry out the fixedly fixedly shrinkage operation of 3.3 pairs of small-sized many rotor wing unmanned aerial vehicles undercarriages of handgrip.
C, execute pinned task after, elevating lever handgrip 1 is carried out rising along slide rail 7 of task by motor 10, arrive the Battery Card groove location of small-sized many rotor wing unmanned aerial vehicles when handgrip, handgrip is carried out the self-contained battery operation.
After D, handgrip fixed battery, the control by to the servomotor 3 of handgrip bottom realized that handgrip is to the rotary manipulation of battery.
E, after executing 90 degree battery rotaries operations, battery and change hands just in time can be in the hollow out of draw-in groove bottom out.
F, motor 10 controls by elevating lever at last realize elevating lever landing operation, when battery down just in time makes battery drop on the battery case of rotating disk through control hole.Finally realize the unloading operation of battery.
(2) packed battery part:
A, after on rotating disk, battery being arranged, motor 4.3 below the control rotating disk, realize the rotation of rotating disk, namely make the battery rotary of deposit to the corresponding manipulable position of elevating lever, what here we arranged is 30 degree rotations, then scan by the CCD camera 4 in the middle of elevating lever, whether have the battery rotary of deposit to come, if do not proceed 30 degree rotations.
B, after battery being detected, by the control to elevating lever motor 10, elevating lever is raise along slide rail 7, change hands the reserve cell of fixing on rotating disk.
C, elevating lever rise, until the battery case position under small-sized many rotor wing unmanned aerial vehicles.
The D part that D, the face of catching up with unload is the same, by controlling the servomotor 3 under handgrip, realizes the rotation to battery.
E, after the rotations of having carried out 90 degree, battery fixed head above battery case 1.4 can make the jack of battery and the plug on small-sized many rotor wing unmanned aerial vehicles realize blindmate by spring 1.5, carries out the power supply to unmanned plane.
F, elevating lever are controlled by motor 10 after executing these operations, are retracted into the origin-location, send unlock command then for the motor below mark, realize the release to undercarriage.
The final automatically replacing battery operation that has just realized small-sized many rotor wing unmanned aerial vehicles.
The replacing of 5 primary cells once can be carried out at most in the utility model employing rotating disc type battery reserve storehouse, and the utility model adopts blindmate formula battery efficient quick and easy for installation high; Device of the present utility model has been realized automatic loading and the unloading of small-sized many rotor wing unmanned aerial vehicles battery, thereby realizes the automatic replacing of small-sized many rotor wing unmanned aerial vehicles battery.
Claims (5)
1. the automatic battery replacing system of small-sized many rotor wing unmanned aerial vehicles, it is characterized in that, comprise fixture, the battery storage dish, unmanned plane undercarriage fixture, the undercarriage fixed head, undercarriage fixed head support, battery storage disc carrier and manipulator, described fixture top arranges the undercarriage fixed head, the undercarriage fixed head is connected with fixture mutually by undercarriage fixed head support, undercarriage fixed head top arranges unmanned plane undercarriage fixture, the battery entrance that this fixed head center setting matches with battery sizes, the below of undercarriage fixed head arranges the battery storage dish, this battery storage dish is connected with fixture mutually by the support of battery storage dish, battery storage dish below arranges manipulator,
The draw-in groove of six storage batteries is set on the battery storage dish, these six draw-in grooves are evenly distributed on the battery storage dish, the center line of each draw-in groove all is positioned on the diameter of battery storage dish, load battery on draw-in groove, the draw-in groove below has through hole, manipulator can pass from the through hole of draw-in groove below and battery is released from the battery porch at fixed head center after promptly, finally is pushed to unmanned plane; The center of described battery storage dish arranges connecting rod, the gear that is connected on connecting rod, and the below of battery storage dish arranges motor, but the rotation of motor driven gear finally drives the battery storage disc spins.
2. the automatic battery replacing system of small-sized many rotor wing unmanned aerial vehicles according to claim 1, it is characterized in that, manipulator comprises handgrip, camera, servomotor, tooth bar, the manipulator motor, the manipulator gear, slide rail and elevating lever, handgrip is positioned at an end of elevating lever, the center of handgrip arranges camera, handgrip is connected with servomotor on being connected in elevating lever, rotate under the drive of servomotor, elevating lever is positioned on slide rail and can moves along slide rail, tooth bar is set on elevating lever, the manipulator motor is set on slide rail, the manipulator gear is connected on the output shaft of manipulator motor, the manipulator wheel and rack is meshed, during the manipulator machine operation, motor output shaft driving mechanical hand gear rotates and is with carry-over bar to move, the final elevating lever that drives moves up and down, decoder also is set on slide rail, this decoder is connected with camera.
3. the automatic battery replacing system of small-sized many rotor wing unmanned aerial vehicles according to claim 1, it is characterized in that, described unmanned plane comprises two handgrips with the undercarriage fixture, these two handgrips are oppositely arranged, each handgrip all is " V " font, the angle of " V " font is 120 degree, the below of undercarriage fixed head arranges the handgrip motor, gear and handgrip pole, gear is connected on the handgrip motor output shaft, gear is connected with the handgrip pole, thereby the rotation of handgrip motor output shaft driven gear drives the handgrip pole advances or retreats, final handgrip pole drives the handgrip motion.
4. the automatic battery replacing system of small-sized many rotor wing unmanned aerial vehicles according to claim 1, it is characterized in that, described fixture is the multi-track dolly, described multi-track dolly top arranges the undercarriage fixed head, and this undercarriage fixed head is connected mutually by undercarriage fixed head support and multi-track dolly.
5. the automatic battery replacing system of small-sized many rotor wing unmanned aerial vehicles according to claim 2, is characterized in that, described camera is the CCD camera.
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| CN2012205365840U CN202922160U (en) | 2012-10-19 | 2012-10-19 | Battery automatic changing system of small sized multi-rotor unmanned aerial vehicle |
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| CN2012205365840U CN202922160U (en) | 2012-10-19 | 2012-10-19 | Battery automatic changing system of small sized multi-rotor unmanned aerial vehicle |
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