CN207281497U - A kind of four axis unmanned plane automatic battery replacing systems - Google Patents
A kind of four axis unmanned plane automatic battery replacing systems Download PDFInfo
- Publication number
- CN207281497U CN207281497U CN201721248405.2U CN201721248405U CN207281497U CN 207281497 U CN207281497 U CN 207281497U CN 201721248405 U CN201721248405 U CN 201721248405U CN 207281497 U CN207281497 U CN 207281497U
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- CN
- China
- Prior art keywords
- battery
- unmanned plane
- plane automatic
- insertion groove
- axis unmanned
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
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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
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
- Y02T90/167—Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
-
- 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
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
- Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
- Y04S30/12—Remote or cooperative charging
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- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of four axis unmanned plane automatic battery replacing systems are the utility model is related to, including embedded controller, improved battery insertion groove and connecting mechanism, controller obtain rotational angle information via photoelectric encoder, to realize the perception to servo step motor rotational angle.Improved battery insertion groove on the premise of guarantee battery can be installed and fixed, simplifies the step of removing and installing battery with connecting mechanism.The controller of replaced on ground cell apparatus can be remotely connected with work station with ROS systems by ssh agreements and receive manual control.Controller obtains rotational angle information via photoelectric encoder and decoder, and servo step motor rotational angle is precisely controlled with realizing.Realize the described system of the utility model during actually battery is replaced, the time that whole battery altering process expends was compressed within 15 seconds, replacement/charging process has been significantly speeded up compared to traditional mechanical arm mode, and has possessed the Mechanical Reliability of higher and the ability of all weather operations.
Description
Technical field
It the utility model is related to a kind of four axis unmanned plane automatic battery replacing systems.
Background technology
Existing civilian, business small unmanned plane is mostly four axis multi-rotor unmanned aerial vehicles, the type unmanned plane battery life
It is weaker, more between 20-40 minutes.For such a four axis unmanned plane, the conception of small drone charging base station has been built, but
Its charging method focuses mainly on wireless charging, is limited by current wireless charging power technology efficiency, using this kind and similar techniques
The efficiency for carrying out automatic charging is unsatisfactory (when small more than 1.5).In addition the ground for using mechanical arm replace battery fills
Put, the positioning and crawl process due to mechanical arm be cumbersome, which to be caused to replace cell process, needs nearly 60 seconds, and mechanical arm condition outdoors
Under Mechanical Reliability it is bad.
The content of the invention
The technical problems to be solved in the utility model is：For the automatic charging of civilian business small quadrotor unmanned plane
Or cell process is replaced automatically, the charge efficiency of wireless charging method is relatively low to cause its long-time to be only a unmanned plane offer
Service, and the existing system that battery altering operation is carried out using mechanical arm, more sliding required time is longer, and mechanical arm is reliable
Property and autgmentability are bad.
Technical solution is used by the utility model solves its technical problem：The utility model is related to a kind of four axis nobody
Machine battery automatic-exchanging system, including embedded controller, improved battery insertion groove and connecting mechanism, controller are translated via photoelectricity
Code device obtains rotational angle information, to realize the perception to servo step motor rotational angle.Improved battery insertion groove is with plugging into
Mechanism ensure battery can install it is fixed on the premise of, simplify the step of removing and install battery so that realize quickly,
Simplicity is replaced battery and is possibly realized.Further, the controller of replaced on ground cell apparatus can by ssh agreements and ROS systems with
Work station remotely connects and receives control.
Further, controller obtains rotational angle information via photoelectric encoder and decoder, and servo is walked with realizing
Stepper motor rotational angle is precisely controlled, and ensures that new battery can be embedded in unmanned machine battery female groove exactly.
Further, the earth station in the system has five independent battery slots, can store four pieces of redundancy batteries at the same time,
Serviced for continuous five framves unmanned plane.
The beneficial effects of the utility model are the ground installations for the system described by the utility model that realizes in actual replacement
During battery, the time that whole battery altering process expends was compressed within 15 seconds, compared to traditional mechanical arm side
Formula has significantly speeded up replacement/charging process, and possesses the Mechanical Reliability of higher and the ability of all weather operations.
Brief description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is the system structure diagram of the utility model.
Fig. 2 is the arranging batteries schematic diagram of the utility model ground installation.
Embodiment
The utility model is described in further detail presently in connection with attached drawing.These attached drawings are simplified schematic diagram,
Only illustrate the basic structure of the utility model in a schematic way, therefore it only shows the composition related with the utility model.
Four axis unmanned plane automatic battery replacing system structure chart of one kind as shown in Figure 1, it includes the system ground installation
With ground installation interacting with unmanned plane.Ground installation uses one block of Arduino plate to exist as control panel, ground station control program
Run thereon, each component actuation being responsible for during control battery altering.
The photoelectric encoder execution that the task of battery truss rotational angle information is contained by device is gathered, to feed back to control
Program current angular information, decides to continue with rotation or stops in place.
Motor driver is connected to the axis of battery storing roller with stepper motor by gear, to drive roller around its center
Rotate.
Limit switch can be limited its incorrect rotation influenced due to external force, prevent battery in nothing after roller rotate in place
Man-machine battery case installation is not in place or produces loosening.
As shown in Fig. 2 the arranging batteries schematic diagram of the utility model ground installation, center have 5 electricity
The circular apparatus of pond groove position is the section of above-mentioned rollers.When replacing battery, unmanned plane level parks hanging down to the schematic diagram
Straight the top, rotates by motor driving roller, new battery is loaded to unmanned plane.
Using the above-mentioned desirable embodiment according to the utility model as enlightenment, pass through above-mentioned description, related work people
Member can carry out various changes and amendments in the range of without departing from this item utility model technological thought completely.This item is real
The content being not limited to new technical scope on specification, it is necessary to which its technology is determined according to right
Property scope.
Claims (8)
1. a kind of four axis unmanned plane automatic battery replacing systems, including embedded controller, improved wheeled battery insertion groove are with connecing
Mechanism is refuted, the controller obtains rotational angle information via photoelectric encoder, to realize to servo step motor rotational angle
Perception and control, the controller of the four axis unmanned plane automatic battery replacing system can be by ssh agreements and ROS systems and work
Stand and remotely connect and receive manual control, improved wheeled battery insertion groove is ensureing that it is fixed that battery can be installed with connecting mechanism
Under the premise of, the step of removing and installing battery is simplified, the wheeled battery insertion groove has five independent battery groove positions, can be same
When store four pieces of redundancy batteries.
2. a kind of four axis unmanned plane automatic battery replacing system according to claim 1, it is characterised in that the system aims at
The battery altering Process Design of small-sized quadrotor unmanned plane.
A kind of 3. four axis unmanned plane automatic battery replacing system according to claim 1, it is characterised in that the system ground
Station employs wheeled battery insertion groove, has five individual slots positions.
A kind of 4. four axis unmanned plane automatic battery replacing system according to claim 1, it is characterised in that the unmanned plane
Upper battery insertion groove is equally re-designed as being slidably installed, to match the wheeled battery insertion groove of earth station.
5. a kind of four axis unmanned plane automatic battery replacing system according to claim 1, it is characterised in that the system uses
Photoelectric encoder obtains angle information.
A kind of 6. four axis unmanned plane automatic battery replacing system according to claim 1, it is characterised in that replaced on ground electricity
Pool device can be remotely connected with work station with ROS system services by ssh agreements and receive manual control.
7. a kind of four axis unmanned plane automatic battery replacing system according to claim 1, it is characterised in that it can pass through
WLAN communicates with Dronekit instruments with the unmanned plane under same LAN.
8. a kind of four axis unmanned plane automatic battery replacing system according to claim 1, it is characterised in that do not having nobody
When machine is stopped, earth station can be that four pieces of batteries charge at the same time in wheeled slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721248405.2U CN207281497U (en) | 2017-09-27 | 2017-09-27 | A kind of four axis unmanned plane automatic battery replacing systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721248405.2U CN207281497U (en) | 2017-09-27 | 2017-09-27 | A kind of four axis unmanned plane automatic battery replacing systems |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207281497U true CN207281497U (en) | 2018-04-27 |
Family
ID=61987233
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721248405.2U Expired - Fee Related CN207281497U (en) | 2017-09-27 | 2017-09-27 | A kind of four axis unmanned plane automatic battery replacing systems |
Country Status (1)
| Country | Link |
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| CN (1) | CN207281497U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110962810A (en) * | 2019-11-25 | 2020-04-07 | 重庆三峡学院 | Quick change workstation of [ electric ] motor coach power battery |
| CN112185016A (en) * | 2018-07-28 | 2021-01-05 | 李跃泉 | Lending method for battery replacement of unmanned aerial vehicle endurance base station |
| CN112879029A (en) * | 2021-01-28 | 2021-06-01 | 安徽唐兴机械装备有限公司 | Rotary replacing device for earth pressure sensor of push bench |
-
2017
- 2017-09-27 CN CN201721248405.2U patent/CN207281497U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112185016A (en) * | 2018-07-28 | 2021-01-05 | 李跃泉 | Lending method for battery replacement of unmanned aerial vehicle endurance base station |
| CN110962810A (en) * | 2019-11-25 | 2020-04-07 | 重庆三峡学院 | Quick change workstation of [ electric ] motor coach power battery |
| CN112879029A (en) * | 2021-01-28 | 2021-06-01 | 安徽唐兴机械装备有限公司 | Rotary replacing device for earth pressure sensor of push bench |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180427 Termination date: 20180927 |