CN209634445U - A kind of automatically replacing battery structure, device and unmanned plane airport - Google Patents
A kind of automatically replacing battery structure, device and unmanned plane airport Download PDFInfo
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- CN209634445U CN209634445U CN201920217053.7U CN201920217053U CN209634445U CN 209634445 U CN209634445 U CN 209634445U CN 201920217053 U CN201920217053 U CN 201920217053U CN 209634445 U CN209634445 U CN 209634445U
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- 230000005611 electricity Effects 0.000 claims description 5
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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
-
- 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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Abstract
The utility model automatically replacing battery structure, device and unmanned plane airport, for replacing the battery of unmanned plane, automatic battery replacement device includes bearing structure, flexible positioning support structure, battery unlocking structure and the automatically replacing battery structure being fixed in bearing structure.The utility model is positioned the horn of unmanned plane by flexible positioning support structure, encircles/clamp the horn for clamping unmanned plane；Battery unlocking structure reaches setting position under the action of motion structure, rotating electric machine rotates forward, unlocking link is driven to push, unlocking board touches the battery lock of the battery of unmanned plane, with the movement of rotating electric machine, it is lasting to push, after reaching set angle, the battery lock of the battery of unmanned plane can be cramped open, the battery of unmanned plane is in free state at this time, it can be removed/load, full automatic working.
Description
Technical field
The utility model relates to air vehicle technique field more particularly to a kind of automatically replacing battery structure, device and nobody
Machine airport.
Background technique
It is used in system in unattended unmanned plane storage environment or full automatic unmanned plane, in order to guarantee nobody
Machine it is long when cruising ability, need to charge to the battery of unmanned plane, or replacement unmanned plane battery, to deal with various nothings
Man-machine use demand, or scramble and start operation or open state progress data downloading.It based on unmanned plane is continued in sky
Middle operation, because of the high speed rotation of rotor, fuselage has the shake of high frequency, for guarantee complete machine reliable performance, only as complete machine
One power resources, the connection of unmanned machine battery and unmanned plane are a kind of secured connections with padlock, need a set of reliable structure
The unmanned machine battery of taking-up/loading.
Summary of the invention
In view of the above drawbacks of the prior art, in view of the above drawbacks of the prior art, a kind of automatically replacing battery knot is provided
Structure, device and unmanned plane airport.
The technical scheme adopted by the utility model to solve the technical problem is as follows: it is according to the present utility model in a first aspect,
A kind of automatically replacing battery structure is provided, for replacing the battery of unmanned plane, including bottom plate, first movement component, the second movement
Component and clamp assemblies；
The first movement component is mounted on bottom plate, and second moving assembly is mounted on first movement component, institute
Clamp assemblies are stated to be mounted on the second moving assembly；
Second moving assembly of first movement Component driver is moved along the first axis direction, the second moving assembly driving
Clamp assemblies are moved along the second axis direction, and then clamp assemblies take out/load the battery of unmanned plane.
Preferably, the first movement component includes the first actuator, 2 first sliding rails disposed in parallel and 2 the
One carrying sliding block, the first carrying of the first actuator driving sliding block move on the first sliding rail along the first axis direction；
Second moving assembly is mounted on 2 first carrying sliding blocks；Second moving assembly includes the second driving
Part, the second sliding rail for being parallel to the setting of the second axis direction, second sliding rail both ends are fixed at 2 first carrying sliding blocks
On；Second actuator is electromagnet；
The clamp assemblies include push plate part, pickup folder, and the push plate part is fixed at the second sliding rail, pickup folder and
Two actuators are fixedly connected, and pickup folder is slidably arranged in the second sliding rail by the second actuator and moves along the second axis direction.
Preferably, the push plate part includes that push plate, 2 compressed springs, push plate guide holder, 2 stop collars, 2 push plates are led
It is fixed on the second sliding rail to bar and 2 guide sleeves, push plate guide holder, 2 pilot holes is had on push plate guide holder,
2 push plate guide rods are each passed through that 2 pilot holes are freely slidable in pilot hole, and push plate is fixed on pushes away by 2 guide sleeves
Plate guide rod one end, stop collar are fixed on the push plate guide rod other end for limiting push plate guide rod axial float, compressed spring
It is set on push plate guide rod；Stop collar and compressed spring cooperate so that push plate guide rod is arranged on push plate guide holder；It is described
Pickup folder includes clamping plate and clamping guide holder, and clamping plate is fixedly connected with clamping guide holder, and clamping guide holder passes through the second actuator
Slidably it is arranged on the second sliding rail and then clamping plate can be moved along the second axis direction.
Preferably, the clamp assemblies further include battery guide plate；The battery guide plate is fixed at and push plate part
On the bottom plate of corresponding position, battery guide plate is equipped with the battery guide slot for storing the battery of unmanned plane.
Preferably, the quantity of the clamp assemblies is 2.
Preferably, first actuator includes rotating electric machine, shaft coupling, screw rod support, lead screw, is set on lead screw
Screw and attachment base；The rotating electric machine is fixedly connected by the way that shaft coupling is coaxial with lead screw one end, the screw fixed setting
On attachment base, the attachment base is fixedly connected with two first carrying sliding blocks, and the screw rod support is fixed on bottom plate
For fixing lead screw；
The rotating electric machine driving lead screw rotation, lead screw and screw are threadedly engaged and attachment base are driven to move along the first axis direction
It is dynamic, and then attachment base drives the first carrying sliding block to move along the first axis direction.
Preferably, further include for incude first carrying sliding block shift position limit switch, limit switch is along first
Axis direction setting.
Preferably, the limit switch includes at least one sensor, at least one sensing chip, at least one sensor and
At least one sensing chip is respectively fixedly disposed on the same side wall of the first carrying sliding block or bottom plate.
Preferably, the limit switch includes sensor, the first sensing chip and the second sensing chip, sensor fixed setting
On the first carrying sliding block, first sensing chip and the second sensing chip along the first axis direction be arranged in bottom plate first position and
On the second position；Or
The limit switch includes first sensor, second sensor and the first sensing chip；First sensor and second
Sensor along the first position and the second position that the first axis direction is separately positioned on bottom plate, hold first by the setting of the first sensing chip
Carry sliding block；
The first position is the location of when pickup folder grabs the battery of unmanned plane, and the second position is multiple for pickup folder
Initial position locating for position.
On the other hand according to the utility model, a kind of automatic battery replacement device is also provided, for replacing the electricity of unmanned plane
Pond, including bearing structure are fixed at flexible positioning support structure in bearing structure, battery unlocking structure and as above
The automatically replacing battery structure；
The flexibility positioning support structure, for positioning fixed unmanned plane；
The battery unlocking structure, for unlocking the battery of unmanned plane；
The automatically replacing battery structure, for taking out/loading the battery of unmanned plane.
Preferably, the flexible positioning support structure includes two and is oppositely arranged the positioning branch for gripping unmanned plane respectively
Support component, positioning support component include supporting element, locating piece, 2 elastic components and shaft；
The locating piece is arch, and the both ends of locating piece are equipped with clamping part, middle part is equipped with through-hole, and supporting element one end passes through
Shaft is movably connected in the through-hole in the middle part of locating piece, and the supporting element other end is fixed at bearing structure, and clamping part is for pressing from both sides
Hold two horns of fixed unmanned plane；
One elastic component one end is fixedly connected with one side of the supporting element other end, the one side wall of the other end and locating piece is fixed connects
It connects, another elastic component one end is fixedly connected with the other side of the supporting element other end, another side wall of the other end and locating piece is solid
Fixed connection.
Preferably, the battery unlocking structure includes fixing piece, rotary electric machine and unlock piece；
Rotary electric machine is fixed at bearing structure by the fixing piece, and unlock piece includes unlocking link and unlocking board；Institute
State the battery lock of rotary electric machine driving unlock piece being unlocked by pressing unmanned plane；
The rotary electric machine and unlocking link are drivingly connected, and unlocking board is fixed on unlocking link；Rotary electric machine rotates forward
To drive unlocking link to push, the battery of the unlocking board being unlocked by pressing unmanned plane of unlocking link is driven to latch；Rotary electric machine is anti-
To rotation to drive unlocking link to reset, the battery lock of the unlock sheet reset locking unmanned plane of unlocking link is driven.
According to the utility model in another aspect, also providing a kind of unmanned plane airport, automatically more including battery described above
Changing device.
Implement the utility model automatically replacing battery structure, device and the technical solution on unmanned plane airport, has following excellent
Point or the utility model has the advantages that the utility model automatically replacing battery structure, device and unmanned plane airport, for replacing the electricity of unmanned plane
Pond, automatic battery replacement device include bearing structure, are fixed at flexible positioning support structure in bearing structure, battery solution
Lock construction and automatically replacing battery structure.The horn of unmanned plane is positioned by flexible positioning support structure, encircles/clamps
Clamp the horn of unmanned plane；Battery unlocking structure reaches setting position under the action of movement mechanism, and rotating electric machine rotates forward,
Unlocking link is driven to push, unlocking board touches the battery lock of the battery of unmanned plane, with the movement of rotating electric machine, under continuing
Pressure can cramp open the battery lock of the battery of unmanned plane, the battery of unmanned plane is in free shape at this time after reaching set angle
State can be removed/load, full automatic working.
Detailed description of the invention
It, below will be to required in embodiment description in order to illustrate more clearly of the technical solution of the utility model embodiment
The attached drawing used is briefly described, it is therefore apparent that and the drawings in the following description are merely some embodiments of the present invention,
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Other attached drawings, in attached drawing:
Fig. 1 is the structural schematic diagram of the utility model automatic battery replacement device embodiment；
Fig. 2 is the replacement structure of battery schematic diagram of the utility model automatic battery replacement device embodiment；
Fig. 3 is the battery structural diagram of base plate of the utility model automatic battery replacement device embodiment；
Fig. 4 is the replacement structure of battery schematic diagram of the utility model automatic battery replacement device embodiment；
Fig. 5 is the second moving assembly and the first carrying slide block structure of the utility model automatic battery replacement device embodiment
Schematic diagram；
Fig. 6 is the push plate part structural schematic diagram of the utility model automatic battery replacement device embodiment；
Fig. 7 is the first schematic diagram of limit switch of the utility model automatic battery replacement device embodiment；
Fig. 8 is the second schematic diagram of limit switch of the utility model automatic battery replacement device embodiment；
Fig. 9 is the push plate part decomposition diagram of the utility model automatic battery replacement device embodiment；
Figure 10 is the flexible positioning support structure schematic diagram of the utility model automatic battery replacement device embodiment；
Figure 11 is the battery unlocking structure schematic diagram of the utility model automatic battery replacement device embodiment；
Figure 12 is the decomposition state schematic diagram of the utility model automatic battery replacement device embodiment.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, what be will be described below is various
Exemplary embodiment will refer to corresponding attached drawing, these attached drawings constitute a part of exemplary embodiment, which describe
Realize the various exemplary embodiments that the utility model may use, unless otherwise indicated, the same numbers table in different attached drawings
Show the same or similar element.Embodiment described in following exemplary embodiment does not represent consistent with this disclosure
All embodiments.It should be appreciated that they be only with it is as detailed in the attached claim, more disclosed by the utility model
The example of the consistent device and method of aspect also can be used other embodiments, or carry out to embodiment enumerated herein
Modification structurally and functionally, without departing from the scope of the utility model and essence.In other cases, it omits to many institute's weeks
The detailed description of the system, apparatus, circuit and method known, in case unnecessary details interferes the description of the utility model.
In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", " length ", " thickness
Degree ", " up and down all around ", "vertical", "horizontal", "top", "bottom", "inner", "outside", " clockwise ", it is " counterclockwise " indicate
Orientation or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description the utility model and simplification
Description, rather than the element of indication or suggestion meaning must have specific orientation, be constructed and operated in a specific orientation, because
This, should not be understood as limiting the present invention.In addition, term " first ", " second " are used for description purposes only, and cannot manage
Solution is indication or suggestion relative importance or the quantity for implicitly indicating indicated technical characteristic." first " that limits as a result,
The feature of " second " can explicitly or implicitly include one or more feature.In the description of the utility model
In, the meaning of " plurality " is two or more, unless otherwise specifically defined.It should be noted that unless otherwise
Specific regulation and restriction, term " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected,
It can be and be detachably connected, or be integrally connected；It can be mechanical connection, be also possible to be electrically connected or can mutually communicate；It can
To be to be connected directly, it is also possible to be connected by intermediary brief introduction, can be the connection inside two elements or two elements
Interaction relationship.Term as used herein "and/or" include the arbitrary of one or more relevant listed items and
All combinations.For the ordinary skill in the art, it can understand that above-mentioned term is practical at this as the case may be
Concrete meaning in novel.
In order to illustrate technical solution described in the utility model, the following is a description of specific embodiments.
Since unmanned plane continues operation in the sky, because of the high speed rotation of rotor, fuselage has the shake of high frequency, to protect
The reliable performance of complete machine is demonstrate,proved, as the sole power source of complete machine, the connection of the battery and unmanned plane of unmanned plane is that one kind has
The secured connection of battery lock, replaces the battery of unmanned plane, needs that unmanned plane is fixed on the positioning, need to be to unmanned plane
The battery lock of battery buckle and be unlocked, need a set of reliable structure to take out/load the battery of unmanned plane.
Embodiment one:
If Fig. 1-10 shows the schematic diagram of the utility model automatically replacing battery constructive embodiment offer, for the ease of saying
It is bright, illustrate only part relevant to the utility model embodiment.The utility model automatically replacing battery structure 30 is for replacing
The battery 210 of unmanned plane 200, automatically replacing battery structure 30 include bottom plate 31, first movement component 32, the second moving assembly 34
And clamp assemblies 33；Wherein, bottom plate 31 is fixed in the bearing structure 50 of automatic battery replacement device, first movement
Component 32 is mounted on bottom plate 31, and the second moving assembly 34 is mounted on first movement component 32, and clamp assemblies 33 are mounted on
On two moving assemblies 34.First movement component 32 drives the second moving assembly 34 to move along the first axis direction, the second moving assembly
34 driving clamp assemblies 33 are moved along the second axis direction, and then 33 taking-ups of clamp assemblies/loading unmanned plane 200 battery 210.
More specifically, the first axis direction, the second axis direction are the plane orthogonal X-direction parallel with bottom plate 31 and Y-axis side
To.
In the present embodiment, the quantity of clamp assemblies 33 is equal with the quantity of battery 210 of unmanned plane 200, specifically can be with
It is set according to the quantity of the battery 210 of the unmanned plane 200 to be replaced, it is preferred that the quantity of clamp assemblies 33 is 2.Work as nothing
When man-machine 200 battery 210 is 1, the quantity of clamp assemblies 33 is 1, corresponding, when the battery 210 of unmanned plane 200 is
At 2, clamp assemblies 33 are 2, and particular number is herein with no restrictions.
In the present embodiment, first movement component 32 include the first actuator, 2 first sliding rails 323 disposed in parallel with
And 2 first carrying sliding blocks 322, the first actuator driving the first carrying sliding block 322 is on the first sliding rail 323 along the first axis direction
It is mobile.
In the present embodiment, first actuator includes rotating electric machine 321, shaft coupling 326, screw rod support 3241, silk
Thick stick 324, the screw 327 being set on lead screw 324 and attachment base 325；Wherein, rotating electric machine 321 passes through shaft coupling 326 and silk
324 one end of thick stick is coaxial to be fixedly connected, and screw 327 is fixed on attachment base 325, and attachment base 325 and 2 first carries sliding block
322 are fixedly connected, and screw rod support 3241 is fixed on bottom plate 31 for fixing lead screw 324；The rotating electric machine 321 drives
Lead screw 324 rotates, and lead screw 324 is threadedly engaged with screw 327 and attachment base 325 is driven to move along the first axis direction, and then connects
Seat 325 drives the first carrying sliding block 322 to move along the first axis direction.More specifically, it is provided with bearing on screw rod support 3241,
Lead screw 324 is on the bearing that one end of rotating electric machine 321 is threaded through screw rod support 3241.
In the present embodiment, the second moving assembly 34 is mounted on 2 first carrying sliding blocks 322, specifically, second is mobile
Component 34 includes the second actuator 341, the second sliding rail 3223 for being parallel to the setting of the second axis direction, and 3223 both ends of the second sliding rail are solid
It is fixed to be arranged on 2 first carrying sliding blocks 322；The clamp assemblies 33 include push plate part 331, pickup folder 332, push plate part 331
It is fixed on the second sliding rail 3223, pickup folder 332 is fixedly connected with the second actuator 341, and pickup folder 332 passes through second
Actuator 341 is slidably arranged in the second sliding rail 3223 and moves along the second axis direction, and the second actuator 341 drives pickup folder
332 move along the second axis direction.The position of pickup folder 332 passes through rotating electric machine 321 and the adjustment of the second actuator 341, folder respectively
Pickup 332 and push plate part 331 cooperate to clamp the battery 210 of unmanned plane 200.Second actuator 341 is electromagnet.Specifically
, electromagnet is through electromagnet, it is preferred that push-pull electromagnet can be penetrated through for 24V, magnetism is generated by electric current,
Using different magnetospheres, in addition power supply controls magnetic size, a movement that can be pushed away, draw is formed, keeps it whole at one
It is run in body, is like that piston equally moves, plug-type electromagnet is easily mounted to some small fields because figure is smaller
Institute.
Specifically, the push plate part 331 includes 3311,2 compressed springs 3312 of push plate, push plate guide holder 3313,2 limits
Position 3314,2 push plate guide rods 3315 of ring and 2 guide sleeves 3318, push plate guide holder 3313 are solid by its guide groove 3317
Fixed to be arranged on the second sliding rail 3223, about 3313 push plate guide holder is equipped with 2 pilot holes, 3316,2 push plate guide rods side by side
3315 freely slidable in pilot hole 3316, the push plates 3311 that by 2 guide sleeves 3318 are each passed through 2 pilot holes 3316
It is fixed on 3315 one end of push plate guide rod, stop collar 3314 is fixed on 3315 other end of push plate guide rod for limiting push plate guiding
3315 axial float of bar, compressed spring 3312 are set on push plate guide rod 3315；Stop collar 3314 and compressed spring 3312 are matched
It closes so that push plate guide rod 3315 is arranged on push plate guide holder 3313.The pickup folder 332 includes that clamping plate 3321 and clamping are led
To seat 3322, clamping plate 3321 is fixedly connected with clamping guide holder 3322, and clamping guide holder 3322 can be slided by the second actuator 341
The dynamic clamping plate 3321 in turn that is arranged on the second sliding rail 3223 can be moved along the second axis direction.
In the present embodiment, the clamp assemblies 33 further include battery guide plate 333；Battery guide plate 333 is fixedly installed
With on the bottom plate 31 of 331 corresponding position of push plate part, battery guide plate 333 is equipped with the battery 210 for storing unmanned plane 200
Battery guide slot 3331.
In the present embodiment, further include for incude first carrying sliding block 322 shift position limit switch 40, limit
Switch 40 is arranged along the first axis direction.Specifically, the limit switch 40 includes at least one sensor 311 and at least one sense
Answer piece 312, at least one sensor 311 and at least one sensing chip 312 be respectively fixedly disposed at the first carrying sliding block 322 or
On the same side wall of bottom plate 31.I.e., it is possible to which 311,1 sensing chips 312 of a sensor are arranged, it is also possible to 1 sensor, 2
A sensing chip 312 can also be 2 sensors, 1 sensing chip, and can be 2 sensors, 2 sensing chips etc. shape
Formula, sensor 311 and sensing chip 312 are separately positioned on the same side wall of the first carrying sliding block 322 or bottom plate 31.
Specifically, the limit switch 40 includes sensor 311, the first sensing chip 312 and the second sensing chip 314, pass
Sensor 311 is fixed on the first carrying sliding block 322, and the first sensing chip 312 and the second sensing chip 314 are set along the first axis direction
It sets on the first position and the second position of bottom plate 31；Or
The limit switch 40 includes first sensor 311, second sensor 313 and the first sensing chip 312；First
Sensor 311 and second sensor 313 are along the first position and the second position that the first axis direction is separately positioned on bottom plate 31, and
The setting of one sensing chip 312 carries sliding block 322 first；Wherein, the first position is that pickup folder 332 grabs unmanned plane 200
Battery 210 when the location of, the second position is that pickup folder 332 resets locating initial position.
As shown in fig. 7, being not used in limitation specifically, be hereafter only illustrated by taking photoelectric sensor as an example.Limit switch
40 first embodiment: the limit switch 40 includes photoelectric sensor 311, the first sensing chip 312 and the second sensing chip
314, photoelectric sensor 311 is fixed on the first carrying sliding block 322,314 edge of the first sensing chip 312 and the second sensing chip
First axis direction is arranged on the first position and the second position of bottom plate 31；The first position is that pickup folder 332 grabs nothing
The location of when man-machine 200 battery 210, the second position is the initial position that pickup folder 332 resets.Specifically, working as photoelectricity
When sensor 311 is moved to the first sensing chip 312 with the first carrying sliding block 322, light is blocked, and photoelectric sensor 311 has accordingly
Movement, export a corresponding switch control signal, and then other corresponding constructions take corresponding movement, tie as battery unlocks
Structure unlocks the battery lock of the battery 210 of unmanned plane 200, in turn, the clamping of clamp assemblies 33 or the battery for loading unmanned plane 200
210.When photoelectric sensor 311 is moved to the second sensing chip 314 with the first carrying sliding block 322, light is blocked, photoelectric sensor
311 have corresponding movement, export a corresponding switch control signal, and then other corresponding constructions take corresponding movement, such as
Clamp assemblies 33 have clamped the battery 210 of unmanned plane 200, and then the first actuator back/forward, by the battery of unmanned plane 200
210 are put into charging unit or are transported on unmanned plane 200 etc..
As shown in figure 8, specifically, 40 second embodiment of limit switch: limit switch 40 includes the first photoelectric sensor
311, the second photoelectric sensor 313 and the first sensing chip 312；313 edge of first photoelectric sensor 311 and the second photoelectric sensor
First axis direction is separately positioned on the first position and the second position of bottom plate 31, and the setting of the first sensing chip 312 is in the first carrying
Sliding block 322；First position is the location of when pickup folder 332 grabs the battery 210 of unmanned plane 200, and the second position is folder
The initial position that pickup 332 resets.More specifically, sensor 312 is trough type photoelectric sensor, it is preferred that can be 24V
Miniature trough type photoelectric sensor.
Specifically, when the first sensing chip 312 is moved to the first photoelectric sensor 311 with the first carrying sliding block 322, light
It is blocked, the first photoelectric sensor 311 has corresponding movement, exports a corresponding switch control signal, and then other are corresponding
Structure takes corresponding movement, such as the battery lock of the battery 210 of battery unlocking structure unlock unmanned plane 200, in turn, clamping
The clamping of component 33 or the battery 210 for loading unmanned plane 200.When the first sensing chip 312 is moved to second with the first carrying sliding block 322
When photoelectric sensor 313, light is blocked, and the second photoelectric sensor 313 has corresponding movement, exports a corresponding switch control
Signal, and then other corresponding constructions take corresponding movement, if clamp assemblies 33 have clamped the battery 210 of unmanned plane 200, in turn
First actuator back/forward, the battery 210 of unmanned plane 200 is put into charging unit or is transported on unmanned plane 200 etc..
Meanwhile limit switch can also have other embodiments, such as 2 photoelectric sensors and 2 sensing chips, do not do have herein
Body limitation.
Embodiment two:
If Fig. 1-10 shows the schematic diagram of the utility model automatic battery replacement device embodiment offer, for the ease of saying
It is bright, illustrate only part relevant to the utility model embodiment.The utility model automatic battery replacement device, for replacing nothing
Man-machine 200 battery 210, including bearing structure 50, flexible positioning support structure 10, the electricity being fixed in bearing structure 50
Pond unlocking structure 20, automatically replacing battery structure 30；The automatically replacing battery structure 30 does not exist specifically as described in embodiment one
This is further described.
Specifically, flexible positioning support structure 10, for positioning fixed unmanned plane 200 to be operated, battery unlocking structure
20, for unlocking the battery 210 of unmanned plane 200, automatically replacing battery structure 30, for taking out/loading the battery of unmanned plane 200
210。
Battery unlocking structure 20 reaches setting position under the action of motion structure, under the logic control of host computer, rotation
Rotating motor rotates forward, and driving unlocking link pushes, and unlocking board touches the battery lock of the battery of unmanned plane, with electric rotating
The movement of machine, it is lasting to push, after reaching set angle, the battery lock of the battery of unmanned plane can be cramped open, at this time unmanned plane
Battery be in free state, can be removed/load.It is to export bigger power using the purpose that rotating electric machine controls
Square, while can receive feedback, it, also can normal release in the case where guaranteeing that the battery lock of unmanned plane has differences.It is dismantling
During battery, rotating electric machine keep unlocking motion posture, to avoid the error because of mechanical structure caused by battery latch
Again battery is clasped；After completing disassembly battery, rotating electric machine direction resets.
In the present embodiment, the flexible positioning support structure 10 is oppositely arranged including 2 grips unmanned plane respectively
200 positioning support component 11, positioning support component 11 include supporting element 101, locating piece 102,2 elastic components 103 and shafts
123；Wherein, locating piece 102 is arch, and the both ends of locating piece 102 are equipped with clamping part 121, middle part is equipped with through-hole 122, support
101 one end of part is movably connected in the through-hole 122 at 102 middle part of locating piece by shaft 123, and the fixation of 101 other end of supporting element is set
It sets in bearing structure 50, clamping part 121 is used to grip 2 horns of unmanned plane 200；Preferably, elastic component 103 is bullet
Spring, more specifically, 103 one end of an elastic component is fixedly connected with 101 other end of supporting element, one side, the other end and locating piece
102 one side wall is fixedly connected, and another 103 one end of elastic component is fixedly connected with the other side of 101 other end of supporting element, is another
End is fixedly connected with another side wall of locating piece 102.Supporting element can be transported by centered on shaft, carrying out the rotation of certain angle
It is dynamic.Two sides tension spring connects supporting element 101 and locating piece 102, and effect is to maintain flexible positioning support structure 10 and keeps initial attitude.
The elastic deformation of elastic component 103 to adapt to error or other factors bring shift in position because of unmanned plane body caused by horn
Shift in position, the limitation of certain freedom degree can be had to unmanned plane body by guaranteeing locating piece 102 still, to guarantee next
Movement operates normally.
In the present embodiment, the battery unlocking structure 20 includes fixing piece 23, rotary electric machine 21 and unlock piece 22；Its
In, rotary electric machine 21 is fixed at bearing structure 40 by the fixing piece 23, and unlock piece 22 includes unlocking link 222 and unlock
Plate 221；Rotary electric machine 21 can drive the battery of 22 being unlocked by pressing unmanned plane 200 of unlock piece to latch；Rotary electric machine 21 and unlock
Connecting rod 222 is drivingly connected, and unlocking board 221 is fixed on unlocking link 222；Rotary electric machine 21 rotates forward to drive unlocking link
222 push, and drive the battery lock of the 221 being unlocked by pressing unmanned plane 200 of unlocking board of unlocking link 222；Rotary electric machine 21 is reversed
Rotation drives the unlocking board 221 of unlocking link 222 to reset the electricity of locking unmanned plane 200 to drive unlocking link 222 to reset
Pond lock 220.
As shown in Figure 10, a. is original state, and package unit is in rear, and it is first that sensing chip, which senses sensor signal,
Beginning position；B. package unit proceeds to setting position under the driving that rotating electric machine rotates；C. clamping plate is under the action of electromagnet
Advance, clasps battery；D. a whole set of head resets to initial position, in the process, battery under the driving that rotating electric machine inverts
Apply pulling force via clamping plate, under the effect of battery guide plate, is ultimately stored on guide plate.It is corresponding, load the movement of battery
Process is exactly to take out the reversed process flow of cell process, and this will not be repeated here.
The utility model automatic battery replacement device needs unlocking motion to first carry out when taking out battery, and keeps unlock dynamic
Make, until entire movement is completed, it is since there are scale errors for unmanned machine battery, it cannot be guaranteed that once unlocking successfully.It loads
When battery, because the inaccurate and unmanned plane body of UAV Attitude there are error, is needed using flexible support locating module
It works, guarantees to be can smoothly enter into when loading battery without damaging the hardware such as unmanned plane or battery, simultaneously as unmanned plane sheet
The reasons in structure of body, determining must just can guarantee using certain torque output is assembled into function.When taking out battery, in order to guarantee
Battery completely disengages unmanned plane, it is necessary to use position control, therefore need to carry out position control+torque control in terms of motor control
The switching of both of which processed uses.
Embodiment three:
Another aspect according to the present utility model also provides a kind of unmanned plane airport embodiment, including such as foregoing embodiments
Automatic battery replacement device described in two.Unmanned plane airport can also include battery charger, for automatically replacing battery
The battery for the unmanned plane that device is changed carries out automatic charging etc., and specific and other content is not limited herein and carefully states.
The utility model automatically replacing battery structure, device and unmanned plane airport, by flexible positioning support structure by nothing
Man-machine horn is positioned, and the horn for clamping unmanned plane is encircled/clamp, while keeping certain elastic deformation to adapt to because of nobody
Horn shift in position caused by the error or other factors bring shift in position of machine body guarantees there is one to unmanned plane body
Determine freedom degree limitation.
Battery unlocking structure reaches setting position under the action of movement mechanism, under the logic control of host computer, rotation
Motor rotates forward, and driving unlocking link pushes, and unlocking board touches the battery lock of the battery of unmanned plane, with rotating electric machine
Movement, it is lasting to push, after reaching set angle, the battery lock of the battery of unmanned plane can be cramped open, at this time unmanned plane
Battery is in free state, can be removed/load.It is to export bigger torque using the purpose that rotating electric machine controls,
It can receive feedback simultaneously, it, also can normal release in the case where guaranteeing that the battery lock of unmanned plane has differences.In disassembly battery
During, rotating electric machine keep unlocking motion posture, to avoid the error because of mechanical structure caused by battery lock again
Clasp battery；After completing disassembly battery, rotating electric machine direction resets, full automatic working.
The above is only the preferred embodiment of the utility model only, and those skilled in the art know, is not departing from this
In the case where the spirit and scope of utility model, various changes or equivalent replacement can be carried out to these features and embodiment.Separately
Outside, it under the introduction of the utility model, can modify to these features and embodiment to adapt to particular situation and material
Without departing from the spirit and scope of the utility model.Therefore, the utility model is not by specific embodiment disclosed herein
It limits, the embodiment within the scope of fallen with claims hereof belongs to the protection scope of the utility model.
Claims (13)
1. a kind of automatically replacing battery structure, for replacing the battery (210) of unmanned plane (200), which is characterized in that including bottom plate
(31), first movement component (32), the second moving assembly (34) and clamp assemblies (33)；
The first movement component (32) is mounted on the bottom plate (31), and second moving assembly (34) is mounted on described
On one moving assembly (32), the clamp assemblies (33) are mounted on second moving assembly (34)；
The first movement component (32) drives second moving assembly (34) to move along the first axis direction, and described second is mobile
Component (34) drives the clamp assemblies (33) to move along the second axis direction, and then the clamp assemblies (33) taking-up/loading institute
State the battery (210) of unmanned plane (200).
2. automatically replacing battery structure according to claim 1, which is characterized in that the first movement component (32) includes
First actuator, 2 first sliding rails (323) disposed in parallel and 2 first carrying sliding blocks (322), first actuator
First carrying sliding block (322) is driven to move on first sliding rail (323) along first axis direction；
Second moving assembly (34) is mounted in 2 first carryings sliding block (322)；Second moving assembly (34)
Including the second actuator (341), it is parallel to the second sliding rail (3223) of second axis direction setting, second sliding rail
(3223) both ends are fixed in 2 first carryings sliding block (322), and second actuator (341) is electromagnet；
The clamp assemblies (33) include push plate part (331), pickup folder (332), and the push plate part (331) is fixed at described
Second sliding rail (3223), the pickup folder (332) are fixedly connected with second actuator (341), and the pickup folder (332) is logical
It crosses second actuator (341) second sliding rail (3223) is slidably set and moved along second axis direction.
3. automatically replacing battery structure according to claim 2, which is characterized in that the push plate part (331) includes push plate
(3311), 2 compressed springs (3312), push plate guide holder (3313), 2 stop collars (3314), 2 push plate guide rods (3315)
And 2 guide sleeves (3318), the push plate guide holder (3313) is fixed on second sliding rail (3223), described to push away
Plate guide holder (3313) is equipped with 2 pilot holes (3316) side by side up and down, and 2 push plate guide rods (3315) pass through described in 2
It is freely slidable in the pilot hole (3316) that guide sleeve (3318) is each passed through 2 pilot holes (3316), described to push away
Plate (3311) is fixed on described push plate guide rod (3315) one end, and the stop collar (3314) is fixed on the push plate guide rod
(3315) other end is set in described for limiting push plate guide rod (3315) axial float, the compressed spring (3312)
On push plate guide rod (3315)；The stop collar (3314) and compressed spring (3312) cooperation are so that the push plate guide rod
(3315) it is arranged on the push plate guide holder (3313)；
The pickup folder (332) includes clamping plate (3321) and clamps guide holder (3322), the clamping plate (3321) and the clamping
Guide holder (3322) is fixedly connected, and the clamping guide holder (3322) is slidably arranged in by second actuator (341)
On second sliding rail (3223) and then the clamping plate (3321) can move along second axis direction.
4. automatically replacing battery structure according to claim 3, which is characterized in that the clamp assemblies (33) further include electricity
Pond guide plate (333)；
The battery guide plate (333) be fixed at on the bottom plate (31) of push plate part (331) corresponding position, institute
Battery guide plate (333) are stated equipped with the battery guide slot (3331) for storing the battery (210) of the unmanned plane (200).
5. automatically replacing battery structure according to claim 4, which is characterized in that the quantity of the clamp assemblies (33) is
2.
6. automatically replacing battery structure according to claim 2, which is characterized in that first actuator includes electric rotating
Machine (321), shaft coupling (326), screw rod support (3241), lead screw (324), the screw (327) being set on the lead screw (324)
And attachment base (325)；The rotating electric machine (321) is coaxial with the lead screw (324) one end solid by the shaft coupling (326)
Fixed connection, the screw (327) are fixed on the attachment base (325), the attachment base (325) with two described first
Carrying sliding block (322) is fixedly connected, and the screw rod support (3241) is fixed on the bottom plate (31) for described in fixation
Lead screw (324)；
The rotating electric machine (321) drives lead screw (324) rotation, and the lead screw (324) is matched with the screw (327) screw thread
It closes and the attachment base (325) is driven to move along first axis direction, and then the attachment base (325) drives described first to hold
Sliding block (322) are carried to move along first axis direction.
7. according to the described in any item automatically replacing battery structures of claim 2-6, which is characterized in that further include for incuding
The limit switch (40) of the shift position of the first carrying sliding block (322) is stated, the limit switch (40) is along first axis direction
Setting.
8. automatically replacing battery structure according to claim 7, which is characterized in that the limit switch (40) includes at least
One sensor (311) and at least one sensing chip (312), at least one described sensor (311) and at least one sensing chip
(312) it is respectively fixedly disposed on the same side wall of first carrying sliding block (322) or the bottom plate (31).
9. automatically replacing battery structure according to claim 8, which is characterized in that the limit switch (40) includes sensing
Device (311), the first sensing chip (312) and the second sensing chip (314), the sensor (311) are fixed at the first carrying
On sliding block (322), first sensing chip (312) and the second sensing chip (314) are arranged along first axis direction at the bottom
On the first position and the second position of plate (31)；Or
The limit switch (40) includes first sensor (311), second sensor (313) and the first sensing chip (312)；Institute
It states first sensor (311) and second sensor (313) and is separately positioned on the of the bottom plate (31) along first axis direction
On one position and the second position, the first sensing chip (312) setting is in first carrying sliding block (322)；
The first position is that the pickup folder (332) grab position locating when battery (210) of the unmanned plane (200)
It sets, the second position is that the pickup folder (332) reset locating initial position.
10. a kind of automatic battery replacement device, for replacing the battery (210) of unmanned plane (200), which is characterized in that including holding
It carries structure (50), flexible positioning support structure (10), the battery unlocking structure being fixed on the bearing structure (50)
(20) and such as the described in any item automatically replacing battery structures (30) of claim 1-9；
The flexibility positioning support structure (10), for positioning the fixed unmanned plane (200)；
The battery unlocking structure (20), for unlocking the battery (210) of the unmanned plane (200)；
The automatically replacing battery structure (30), for taking out/loading the battery (210) of the unmanned plane (200).
11. automatic battery replacement device according to claim 10, which is characterized in that the flexibility positioning support structure
(10) include two and be oppositely arranged the positioning support component (11) for gripping the unmanned plane (200) respectively, the positioning branch
Support component (11) includes supporting element (101), locating piece (102), 2 elastic components (103) and shaft (123)；
The locating piece (102) is arch, and the both ends of the locating piece (102) are equipped with clamping part (121), middle part is equipped with through-hole
(122), described supporting element (101) one end is movably connected in the through-hole in the middle part of the locating piece (102) by the shaft (123)
(122) in, supporting element (101) other end is fixed at the bearing structure (50), and the clamping part (121) is for pressing from both sides
Hold two horns of the fixed unmanned plane (200)；
One described elastic component (103) one end is fixedly connected with one side of the supporting element (101) other end, the other end with it is described fixed
The one side wall of position part (102) is fixedly connected, and another described elastic component (103) one end is another with the supporting element (101) other end
One side is fixedly connected, the other end is fixedly connected with another side wall of the locating piece (102).
12. automatic battery replacement device according to claim 10, which is characterized in that battery unlocking structure (20) packet
Include fixing piece (23), rotary electric machine (21) and unlock piece (22)；
The rotary electric machine (21) is fixed at the bearing structure (50) by the fixing piece (23), the unlock piece (22)
Including unlocking link (222) and unlocking board (221)；
The rotary electric machine (21) drives the battery of unmanned plane (200) described in unlock piece (22) being unlocked by pressing to latch (220)；
The rotary electric machine (21) and the unlocking link (222) are drivingly connected, and the unlocking board (221) is fixed on the unlock
Connecting rod (222)；The rotary electric machine (21) rotates forward that the unlocking link (222) is driven to push, and drives the unlock
The battery of unmanned plane (200) described in unlocking board (221) being unlocked by pressing of connecting rod (222) latches；The rotary electric machine (21) is reversed
Rotation drives the unlocking board (221) of the unlocking link (222) to reset locking to drive the unlocking link (222) to reset
The battery of the unmanned plane (200) latches (220).
13. a kind of unmanned plane airport, which is characterized in that including such as described in any item automatically replacing batteries of claim 10-12
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920217053.7U CN209634445U (en) | 2019-02-20 | 2019-02-20 | A kind of automatically replacing battery structure, device and unmanned plane airport |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920217053.7U CN209634445U (en) | 2019-02-20 | 2019-02-20 | A kind of automatically replacing battery structure, device and unmanned plane airport |
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| Publication Number | Publication Date |
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| CN209634445U true CN209634445U (en) | 2019-11-15 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109624935A (en) * | 2019-02-20 | 2019-04-16 | 深圳市多翼创新科技有限公司 | A kind of automatically replacing battery structure, device and unmanned plane airport |
| CN111055707A (en) * | 2019-12-31 | 2020-04-24 | 三峡大学 | Unmanned aerial vehicle aerial endurance charging platform capable of satisfying power transmission line inspection |
| CN111776240A (en) * | 2020-07-25 | 2020-10-16 | 河北柒壹壹玖工业自动化技术有限公司 | Aerial battery-replacing long-endurance unmanned aerial vehicle |
| CN112937363A (en) * | 2021-05-14 | 2021-06-11 | 北京三快在线科技有限公司 | Unmanned aerial vehicle battery dismounting device |
-
2019
- 2019-02-20 CN CN201920217053.7U patent/CN209634445U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109624935A (en) * | 2019-02-20 | 2019-04-16 | 深圳市多翼创新科技有限公司 | A kind of automatically replacing battery structure, device and unmanned plane airport |
| CN109624935B (en) * | 2019-02-20 | 2024-01-16 | 深圳市多翼创新科技有限公司 | Automatic battery replacement structure, device and unmanned aerial vehicle airport |
| CN111055707A (en) * | 2019-12-31 | 2020-04-24 | 三峡大学 | Unmanned aerial vehicle aerial endurance charging platform capable of satisfying power transmission line inspection |
| CN111055707B (en) * | 2019-12-31 | 2021-06-18 | 三峡大学 | Unmanned aerial vehicle aerial endurance charging platform capable of satisfying power transmission line inspection |
| CN111776240A (en) * | 2020-07-25 | 2020-10-16 | 河北柒壹壹玖工业自动化技术有限公司 | Aerial battery-replacing long-endurance unmanned aerial vehicle |
| CN112937363A (en) * | 2021-05-14 | 2021-06-11 | 北京三快在线科技有限公司 | Unmanned aerial vehicle battery dismounting device |
| CN112937363B (en) * | 2021-05-14 | 2021-07-23 | 北京三快在线科技有限公司 | Unmanned aerial vehicle battery dismounting device |
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