CN210503212U - Aerial battery system of changing of unmanned aerial vehicle - Google Patents
Aerial battery system of changing of unmanned aerial vehicle Download PDFInfo
- Publication number
- CN210503212U CN210503212U CN201921053061.9U CN201921053061U CN210503212U CN 210503212 U CN210503212 U CN 210503212U CN 201921053061 U CN201921053061 U CN 201921053061U CN 210503212 U CN210503212 U CN 210503212U
- Authority
- CN
- China
- Prior art keywords
- battery
- unmanned aerial
- aerial vehicle
- limiting
- track
- Prior art date
- 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.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
Abstract
The utility model discloses an aerial battery system of changing of unmanned aerial vehicle, include unmanned aerial vehicle, do unmanned aerial vehicle carries out the aerial device of changing the battery, the device includes: the flight mechanism is provided with a battery storage mechanism, a battery replacing mechanism and a control driving mechanism which are arranged on the flight mechanism; adopt flight mechanism to carry on battery and store mechanism, battery change mechanism and control actuating mechanism and fly to aloft to flying directly over the unmanned aerial vehicle who patrols and examines the task, keeping with unmanned aerial vehicle relative static, the cooperation of each mechanism of rethread realizes carrying out the battery change to unmanned aerial vehicle aloft, guarantees to patrol and examine unmanned aerial vehicle's uninterrupted power supply work, the utility model provides a current unmanned aerial vehicle change method need go on at the air park, can't deal with the condition that unmanned aerial vehicle proruption electric quantity is not enough to and battery change inefficiency scheduling problem.
Description
Technical Field
The utility model relates to an unmanned aerial vehicle equipment technical field especially relates to an aerial change battery system of unmanned aerial vehicle.
Background
Nowadays, unmanned aerial vehicles are widely applied to the inspection neighborhood of electric power, and the automatic inspection by using the unmanned aerial vehicles is more advantageous at present, but the unmanned aerial vehicles need to carry inspection equipment with larger weight and faster electric quantity consumption, so that the working duration is shortened and limited compared with the common unmanned aerial vehicles, and the common unmanned aerial vehicles can be generally used for about half an hour; at present, mostly through set up the air park that supplies with unmanned aerial vehicle and charge on electric tower pylon, when unmanned aerial vehicle electric quantity is not enough, then stop and change the battery device through automatic on the air park and change new battery for it, but this technique need arrange the air park on certain distance pylon, and need calculate the distance that unmanned aerial vehicle electric quantity is not enough in advance and step on and adorn at the air park and change the battery well, when the battery ageing when electric quantity is not enough in advance, unmanned aerial vehicle makes many round trip routes owing to need frequently to change the battery, influence unmanned aerial vehicle's automatic efficiency of patrolling and examining.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a solve current unmanned aerial vehicle and change the method and need go on at the air park, can't deal with the not enough condition of unmanned aerial vehicle proruption electric quantity to and battery change inefficiency scheduling problem provides an unmanned aerial vehicle and changes battery system in the air.
In order to realize the purpose of the utility model, the technical means adopted is as follows:
an aerial battery replacement system for an unmanned aerial vehicle, comprising an unmanned aerial vehicle, a device for the unmanned aerial vehicle to perform aerial battery replacement, the device comprising: the flight mechanism is provided with a battery storage mechanism, a battery replacing mechanism and a control driving mechanism which are arranged on the flight mechanism;
the unmanned aerial vehicle is provided with a battery accommodating groove; the flight mechanism is used for carrying a battery storage mechanism, a battery replacing mechanism and a control driving mechanism to fly; the battery storage mechanism is used for storing at least two batteries, the battery storage mechanism comprises a battery sliding unit and a battery pushing unit, the battery sliding unit is used for limiting the track of pushing the batteries into or out of the battery storage mechanism, and the battery pushing unit provides pushing force or pushing force for the batteries in the battery sliding unit; the battery replacing mechanism is used for grabbing the batteries of the battery storage mechanism and/or the batteries of the battery accommodating groove when replacing the batteries; the control driving mechanism is used for controlling and driving the battery pushing unit to provide propelling force or pushing force for a battery positioned in the battery sliding unit, and controlling and driving the battery replacing mechanism to grab the battery of the battery storing mechanism and/or the battery of the battery accommodating groove when the battery is replaced.
In the above-mentioned scheme, adopt flight mechanism to carry on the battery and store mechanism, battery change mechanism and control actuating mechanism and fly to aloft to fly to directly over the unmanned aerial vehicle who patrols and examines the task, keep static relatively with unmanned aerial vehicle, the cooperation of rethread each mechanism realizes carrying out the battery to unmanned aerial vehicle and changes aloft.
Preferably, the battery replacing mechanism comprises at least one group of multi-freedom mechanical arm and mechanical claw combination, one end of the multi-freedom mechanical arm is mounted at one end of the flying mechanism, the other end of the multi-freedom mechanical arm is fixedly connected with one end of the mechanical claw, and the actions of the multi-freedom mechanical arm and the mechanical claw are controlled and driven by the control driving mechanism. In this preferred embodiment, the multi-freedom mechanical arm and the gripper are movable between the battery storage mechanism and the unmanned battery housing tub under the control driving action of the control driving mechanism, so as to grasp the battery of the battery storage mechanism and/or the battery of the battery housing tub when replacing the battery.
Preferably, the gripper comprises two mechanical fingers, one ends of the two mechanical fingers are fixedly connected with the other end of the multi-free mechanical arm after being hinged, and the other ends of the two mechanical fingers are respectively provided with a round ball. In this preferred scheme, set up the ball through the other end at the mechanical finger, can guarantee that the gripper no matter is in any kind of gesture, the battery homoenergetic can be snatched firmly, and the gesture of battery is vertical downwards.
Preferably, the battery sliding unit comprises a battery storage plate and a battery sliding rail arranged on the battery storage plate; the battery storage plate is connected with the flying mechanism through a connecting piece, the battery sliding track is a U-shaped track, the opening of the U-shaped track faces the installation side of the multi-free mechanical arm, the U-shaped track comprises two linear tracks, the first linear track is used for limiting the track of the battery storage mechanism pushed by the battery, and the second linear track is used for limiting the track of the battery storage mechanism pushed by the battery.
Preferably, the battery sliding unit further includes a plurality of arc-in limiting pieces and a plurality of arc-out limiting pieces, the arc-in limiting pieces are symmetrically arranged on two side walls of the first linear track and used for limiting the sliding direction of the battery as the moving direction, the arc-in limiting pieces on the same side wall are arranged at equal intervals, and the distance is the length of the battery and used as a battery slot position for limiting the movement of the battery; the arc-shaped limiting parts are symmetrically arranged on two side walls of the second linear track and used for limiting the sliding direction of the battery to be an outlet direction, the arc-shaped limiting parts on the same side wall are arranged at equal intervals, and the distance is the length of the battery and used for limiting the movement of the battery as a battery slot position and limiting the movement and the shaking of the battery.
Preferably, the battery pushing unit includes two battery thrusters, and the two battery thrusters are respectively disposed at a terminal end of the first linear rail and a start end of the second linear rail. In the preferred embodiment, the battery thruster provides a propelling force or a pushing force for the battery located in the battery sliding unit.
Preferably, the battery is equipped with battery locking groove and snatchs the recess, battery locking groove sets up on the outer wall of battery for lock in the battery holding tank in, it is greater than for hemisphere recess and hemispherical diameter to snatch the recess the ball diameter that machinery indicates the other end, it sets up on the both sides wall of battery to snatch the recess. In the preferred scheme, the battery locking groove is arranged, so that the battery is locked when the battery slides to the bottom of the battery accommodating groove under the action of gravity, and poor contact caused by movement of the battery is prevented; through the hemispherical grooves on the two side walls of the battery, the mechanical claw can better fit the grooves when grabbing the battery, and therefore the grabbing stability is improved.
Preferably, the battery accommodating groove is also connected with an inverted hollow quadrangular frustum pyramid, and the opening size of the hollow quadrangular frustum pyramid is larger than the width of the battery. In the preferred scheme, because the opening of the hollow quadrangular frustum pyramid is larger than the opening of the battery accommodating groove and the width of the battery, the battery firstly enters the opening of the hollow quadrangular frustum pyramid and then slides to the inlet of the battery accommodating groove along the edge of the hollow quadrangular frustum pyramid, so that the success rate of entering the battery is improved; in addition, compare in original battery holding tank, thereby also adjust in discerning the position of accuse quadrangular platform more easily, further improved the success rate that the battery got into.
Preferably, the other end of the flying mechanism is also provided with a wireless communication mechanism and a visual mechanism, and the wireless communication mechanism is used for enabling the unmanned aerial vehicle to perform information interaction with the device for replacing the battery of the unmanned aerial vehicle in the air; the visual mechanism is used for detecting and adjusting the butt joint position of the battery replacing mechanism and the battery accommodating groove; the vision mechanism comprises a camera cloud platform, a rotating plate and a camera, the camera is provided with an IMU sensor and used for acquiring attitude information of the camera, the camera is movably connected with the camera cloud platform through the rotating plate, the camera cloud platform is installed at the other end of the flight mechanism, and the camera cloud platform is controlled and driven by the control driving mechanism.
Preferably, the flight mechanism is a sub unmanned aerial vehicle body, the battery stores the mechanism and installs with control actuating mechanism the bottom of sub unmanned aerial vehicle body, the one end of the arm of many freedom install in on the wing of sub unmanned aerial vehicle body one end, the camera cloud platform is installed on the wing of sub unmanned aerial vehicle body other end.
Compared with the prior art, the utility model discloses technical scheme's beneficial effect is:
the utility model discloses an aerial battery system of changing of unmanned aerial vehicle adopts flight mechanism to carry on each constitution mechanism and flies to aerial to flying directly over the unmanned aerial vehicle who patrols and examines the task, keep static relatively with unmanned aerial vehicle, the cooperation of each mechanism of rethread is realized carrying out the battery change to unmanned aerial vehicle aloft, guarantees to patrol and examine unmanned aerial vehicle's uninterrupted power supply work. When the unmanned aerial vehicle patrols in the air changes the battery, the unmanned aerial vehicle does not need to be carried out on an apron, so that the laying cost of the apron and the time of the round trip of the unmanned aerial vehicle are reduced, and the battery changing efficiency is improved; when the proruption electric quantity of unmanned aerial vehicle is not enough simultaneously, do and pass through the utility model provides a battery is changed at once to the device, no longer is subject to the not enough distance of unmanned aerial vehicle electric quantity that calculates in advance, has improved unmanned aerial vehicle and has lasted the market and the working range of carrying out the task.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the system of the present invention.
Fig. 2 is a plan view of the battery sliding unit of the present invention.
Fig. 3 is a top view of the hollow quadrangular frustum of the present invention.
Fig. 4 is a schematic view of the combination of the hollow rectangular prism and the battery holding tank of the present invention.
Fig. 5 is a schematic diagram of a battery according to the present invention.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product;
it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical solution of the present invention will be further explained with reference to the accompanying drawings and examples.
Example 1
An aerial battery replacement system of an Unmanned Aerial Vehicle (UAV) 1, as shown in FIG. 1, comprising the UAV 1, a device for the UAV 1 to replace batteries in the air, the device comprising: the flight mechanism 2, and a battery storage mechanism 3, a battery replacement mechanism 4 and a control drive mechanism which are installed on the flight mechanism 2; wherein the control drive mechanism is not shown in the drawings;
as shown in fig. 3 and 4, the unmanned aerial vehicle 1 is provided with a battery accommodating groove 11; the battery accommodating groove 11 is also connected with an inverted hollow quadrangular frustum 12, and the opening size of the hollow quadrangular frustum 12 is larger than the width of a battery;
the flying mechanism 2 is used for carrying a battery storage mechanism 3, a battery replacing mechanism 4 and a control driving mechanism to fly;
the battery storage mechanism 3 is used for storing at least two batteries, and the battery storage mechanism 3 comprises a battery sliding unit and a battery pushing unit;
as shown in fig. 1 and 2, the battery slide unit includes a battery storage plate 31 and a battery slide rail 32 provided on the battery storage plate 31; the battery storage plate 31 is connected with the flying mechanism 2 through a connecting piece, the battery sliding rail 32 is a U-shaped rail, an opening of the U-shaped rail faces the installation side of the multiple-freedom-degree mechanical arm 41, the U-shaped rail comprises two linear rails, a first linear rail 321 is used for limiting a track of pushing a battery into the battery storage mechanism 3, a second linear rail 322 is used for limiting a track of pushing the battery out of the battery storage mechanism 3, the battery sliding unit further comprises a plurality of arc-entering limiting pieces 323 and a plurality of arc-exiting limiting pieces 324, the arc-entering limiting pieces 323 are symmetrically arranged on two side walls of the first linear rail 321 and used for limiting a sliding direction of the battery to be an entering direction, the arc-entering limiting pieces 323 on the same side wall are arranged at equal intervals, and the distance is the length of the battery and used as a battery slot position for limiting the movement of; the arc-out limiting pieces 324 are symmetrically arranged on two side walls of the second linear rail 322 and used for limiting the sliding direction of the battery to be an out direction, the arc-out limiting pieces 324 on the same side wall are arranged at equal intervals, and the distance is the length of the battery and is used as a battery slot position for limiting the movement of the battery; in the present embodiment, each of the arc-shaped limiting part 323 and the arc-shaped limiting part 324 includes an arc-shaped surface and a straight surface, and the arc-shaped limiting parts have a spring property, wherein six arc-shaped limiting parts 323 and six arc-shaped limiting parts 324 are respectively disposed, for the arc-shaped limiting part 323, the arc-shaped surface faces one side of the opening of the U-shaped track, and for the arc-shaped limiting part 324, the arc-shaped surface faces away from one side of the opening of the U-shaped track. When the battery is pushed into the battery storage mechanism 3 from the first linear rail 321, the arc-shaped limiting piece 323 can be retracted inwards under the action of thrust, the battery slides in along the arc-shaped surface of the battery, and the linear surface limits the rear leg of the battery, namely the battery can only enter but not exit; similarly, when the battery is pushed out of the battery storage mechanism 3 from the second linear rail 322, the battery can only be pushed out and cannot be pushed in;
the battery sliding unit is used for limiting the track of the battery pushing or pushing out of the battery storage mechanism 3, and the battery pushing unit provides pushing force or pushing out force for the battery in the battery sliding unit; the battery pushing unit includes two battery thrusters 325, and the two battery thrusters 325 are respectively disposed at the end of the first linear rail 321 and the start of the second linear rail 322. The battery thruster 325 at the end of the first linear track 321 is used for pushing the battery located in the first linear track 321 to the beginning of the second linear track 322, and the battery located at the beginning of the second linear track 322 is used for pushing the battery to the previous battery slot, so that the unmanned aerial vehicle 1 is kept in central balance when the battery is not replaced, and the unmanned aerial vehicle can fly stably.
The battery replacing mechanism 4 is used for grabbing the batteries of the battery storage mechanism 3 and/or the batteries of the battery accommodating groove 11 when replacing the batteries; the battery replacing mechanism 4 comprises a combination of a group of multi-freedom mechanical arms 41 and mechanical claws, one end of each multi-freedom mechanical arm 41 is mounted at one end of the flying mechanism 2, the other end of each multi-freedom mechanical arm 41 is fixedly connected with one end of each mechanical claw, each mechanical claw comprises two mechanical fingers 42, one ends of the two mechanical fingers 42 are fixedly connected with the other end of each multi-freedom mechanical arm 41 after being hinged, and the other ends of the two mechanical fingers 42 are respectively provided with a round ball 43; the actions of the multi-freedom mechanical arm 41 and the mechanical claw are controlled and driven by the control driving mechanism.
The control driving mechanism is used for controlling and driving the battery pushing unit to provide pushing force or pushing force for the battery positioned in the battery sliding unit, and controlling and driving the battery replacing mechanism 4 to grab the battery of the battery storage mechanism 3 and/or the battery of the battery accommodating groove 11 when replacing the battery. Wherein the function of control actuating mechanism all can realize through current singlechip etc. the utility model discloses do not restrict it.
Wherein, as shown in fig. 5, the battery is equipped with battery locking groove 62 and snatchs recess 61, battery locking groove 62 sets up on the outer wall of battery for lock in the battery holding tank 11 in with the battery, it is that hemisphere recess 61 is hemisphere recess and hemispherical diameter is greater than the ball 43 diameter of mechanical finger 42 other end to snatch recess 61 and set up on the both sides wall of battery, wherein only draw the recess 61 that snatchs of one of them lateral wall in fig. 5. Since the grasping groove 61 is hemispherical and can be nested with the ball 43 at the other end of the mechanical finger 42, the battery can be successfully grasped as long as the grasping of the mechanical claw is within a certain error range.
In this embodiment, the flight mechanism 2 is a sub unmanned aerial vehicle body, the battery stores the mechanism 3 and installs with control drive mechanism the bottom of sub unmanned aerial vehicle body, the one end of the arm 41 of many freedom install in on the wing of sub unmanned aerial vehicle body one end.
Example 2
In embodiment 2, on the basis of embodiment 1, a wireless communication mechanism and a visual mechanism 5 are further installed at the other end of the flying mechanism 2, and the wireless communication mechanism is used for enabling the unmanned aerial vehicle 1 to perform information interaction with the device for replacing the battery of the unmanned aerial vehicle 1 in the air; the vision mechanism 5 is used for detecting and adjusting the butt joint position of the battery replacing mechanism 4 and the battery accommodating groove 11; the vision mechanism 5 comprises a camera holder, a rotating plate and a camera, the camera is provided with an IMU sensor and used for acquiring attitude information of the camera, the camera is movably connected with the camera holder through the rotating plate, the camera holder is installed at the other end of the flight mechanism 2, and the camera holder is controlled and driven by the control driving mechanism;
simultaneously, still be equipped with power management mechanism 13 on unmanned aerial vehicle 1's the battery holding tank 11, power management mechanism 13 includes battery pilot lamp, voltage measurement ware, power switching unit, the voltage measurement ware is used for detecting the electric quantity of battery, the battery pilot lamp is used for showing the electric quantity condition of battery, the power switching unit is used for making polylith battery switching work.
The process of performing the battery replacement task in this embodiment 2 is:
when the voltage measurement ware of patrolling and examining unmanned aerial vehicle 1 detected the electric quantity of current battery not enough, sent the signal that the electric quantity is not enough, received the back by the wireless communication mechanism on the flight mechanism 2 other end, flight mechanism 2 carried each other mechanism and flies to patrolling and examining unmanned aerial vehicle 1's top to it patrols and examines unmanned aerial vehicle 1 and keep with the direction of unanimity and close speed, can begin to change the battery when being approximate and patrolling and examining unmanned aerial vehicle 1 relative quiescent condition promptly.
Firstly, the battery with insufficient electric quantity of the unmanned aerial vehicle 1 is recovered, in the process, the butt joint position of the battery replacing mechanism 4 and the battery accommodating groove 11 can be detected and adjusted by the aid of the visual mechanism 5, the relative position of the battery accommodating groove 11 of the unmanned aerial vehicle 1 and the ball 43 at the other end of the mechanical finger 42 can be calculated respectively by the existing software program, thereby obtaining the distance difference between the battery and the battery, controlling the multi-degree-of-freedom mechanical arm to move and grab the battery, slowly lifting the battery with insufficient power on the unmanned aerial vehicle 1 upwards, adjusting the posture of the mechanical claw to enable the edge of the battery head to be aligned with the first linear track 321, then gradually pushing the battery to enter the track through the arc-shaped limiting door by a force horizontally towards the tail end of the track, when the distance of one battery length is pushed, the battery is clamped in the first battery slot position of the track, and the recovery task of the battery with insufficient electric quantity is finished;
then, a fully charged replacement battery is grabbed from the battery storage mechanism 3, similarly, the posture of the mechanical claw is adjusted to extend into the second linear rail 322 to grab the fully charged replacement battery, after the battery is successfully pushed out, the upward force is gradually increased until the battery slightly contacts the second linear rail 322, and then the pulling force towards the opening direction of the rail is applied, so that the grabbing of the fully charged replacement battery is completed; because the grabbing groove 61 of the battery and the round ball 43 of the mechanical claw are partially and perfectly nested, the battery with larger stable weight can be firmly grabbed, and because the grabbing groove 61 and the round ball 43 of the battery are arc surfaces, the degree of freedom of the battery in forward and backward rotation is reserved, the battery is always kept vertically downwards under the action of gravity, and the follow-up operation of battery installation is more convenient.
Carry out the battery installation at last, concretely, control multi freedom arm carries battery slow moving, progressively reduce the distance between the cavity four terrace with edges 12 of battery and battery, when the terminal opening that contacts cavity four terrace with edges 12 of battery, because cavity four terrace with edges 12 of being the four terrace with edges of inversion, under the action of gravity, this cavity four terrace with edges 12 of can leading battery afterbody to slide to the entry of battery holding tank 11, adjust the gripper gesture and then adjust the battery gesture immediately, guarantee the critical entrance that gets into battery holding tank 11 of battery afterbody, the adjustment keeps the battery and patrols unmanned aerial vehicle 1 vertical simultaneously, slowly descend along holding the cell wall again, prevent to patrol and examine unmanned aerial vehicle 1 and receive great weight battery weight interference suddenly and lead to unmanned aerial vehicle 1 out of balance when changing the battery. The voltage measurer in the power management mechanism 13 detects the voltages of the two poles of the battery, when the voltages reach more than 90% of the standard full-electricity voltage, the battery is considered to be fully charged, the battery replacement task is completed, and at this time, the battery replacement mechanism 4 can be withdrawn to complete the task of automatically replacing the battery.
The terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent;
it is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations to the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. The utility model provides an aerial battery system of changing of unmanned aerial vehicle, its characterized in that includes unmanned aerial vehicle, does unmanned aerial vehicle carries out the aerial device of changing the battery, the device includes: the flight mechanism is provided with a battery storage mechanism, a battery replacing mechanism and a control driving mechanism which are arranged on the flight mechanism;
the unmanned aerial vehicle is provided with a battery accommodating groove; the flight mechanism is used for carrying a battery storage mechanism, a battery replacing mechanism and a control driving mechanism to fly; the battery storage mechanism is used for storing at least two batteries, the battery storage mechanism comprises a battery sliding unit and a battery pushing unit, the battery sliding unit is used for limiting the track of pushing the batteries into or out of the battery storage mechanism, and the battery pushing unit provides pushing force or pushing force for the batteries in the battery sliding unit; the battery replacing mechanism is used for grabbing the batteries of the battery storage mechanism and/or the batteries of the battery accommodating groove when replacing the batteries; the control driving mechanism is used for controlling and driving the battery pushing unit to provide propelling force or pushing force for a battery positioned in the battery sliding unit, and controlling and driving the battery replacing mechanism to grab the battery of the battery storing mechanism and/or the battery of the battery accommodating groove when the battery is replaced.
2. The aerial battery replacement system for the unmanned aerial vehicle as claimed in claim 1, wherein the battery replacement mechanism comprises at least one set of combination of a multi-free mechanical arm and a mechanical claw, one end of the multi-free mechanical arm is mounted on one end of the flight mechanism, the other end of the multi-free mechanical arm is fixedly connected with one end of the mechanical claw, and the actions of the multi-free mechanical arm and the mechanical claw are controlled and driven by the control driving mechanism.
3. The aerial battery replacement system for the unmanned aerial vehicle as claimed in claim 2, wherein the gripper comprises two mechanical fingers, one end of each of the two mechanical fingers is hinged and then fixedly connected with the other end of the multi-freedom mechanical arm, and the other ends of the two mechanical fingers are respectively provided with a ball.
4. The unmanned aerial vehicle aerial replacement battery system of claim 1, wherein the battery slide unit comprises a battery storage board and a battery slide rail disposed on the battery storage board; the battery storage plate is connected with the flying mechanism through a connecting piece, the battery sliding track is a U-shaped track, the opening of the U-shaped track faces the installation side of the multi-free mechanical arm, the U-shaped track comprises two linear tracks, the first linear track is used for limiting the track of the battery storage mechanism pushed by the battery, and the second linear track is used for limiting the track of the battery storage mechanism pushed by the battery.
5. The aerial battery replacement system for unmanned aerial vehicles according to claim 4, wherein the battery sliding unit further comprises a plurality of arc-in limiting members and a plurality of arc-out limiting members, the arc-in limiting members are symmetrically arranged on two side walls of the first linear track and used for limiting the sliding direction of the battery to be the inlet direction, the arc-in limiting members on the same side wall are arranged at equal intervals, and the distance is the length of the battery and used as a battery slot position for limiting the movement of the battery; the arc-shaped limiting parts are symmetrically arranged on two side walls of the second linear track and used for limiting the sliding direction of the battery to be an outlet direction, the arc-shaped limiting parts on the same side wall are arranged at equal intervals, and the distance is the length of the battery and used as a battery slot position for limiting the movement of the battery.
6. The unmanned aerial vehicle aerial replacement battery system of claim 4, wherein the battery pushing unit comprises two battery thrusters, and the two battery thrusters are respectively arranged at the tail end of the first linear track and the start end of the second linear track.
7. The aerial battery system of changing of unmanned aerial vehicle of claim 3, characterized in that, the battery is equipped with battery locking groove and snatchs the recess, battery locking groove sets up on the outer wall of battery for lock the battery in the battery holding groove, snatch the recess for the hemisphere recess and hemispherical diameter is greater than the ball diameter that the machinery indicates the other end, snatch the recess and set up on the both sides wall of battery.
8. The aerial battery change system for unmanned aerial vehicles of claim 1, wherein the battery receiving groove is further connected with an inverted hollow quadrangular frustum pyramid, and the size of the opening of the hollow quadrangular frustum pyramid is larger than the width of the battery.
9. The aerial battery replacement system for unmanned aerial vehicles according to claim 1, wherein a wireless communication mechanism and a vision mechanism are further mounted at the other end of the flight mechanism, and the wireless communication mechanism is used for enabling the unmanned aerial vehicle to perform information interaction with the device for aerial battery replacement for the unmanned aerial vehicle; the visual mechanism is used for detecting and adjusting the butt joint position of the battery replacing mechanism and the battery accommodating groove; the vision mechanism comprises a camera cloud platform, a rotating plate and a camera, the camera is provided with an IMU sensor and used for acquiring attitude information of the camera, the camera is movably connected with the camera cloud platform through the rotating plate, the camera cloud platform is installed at the other end of the flight mechanism, and the camera cloud platform is controlled and driven by the control driving mechanism.
10. The unmanned aerial vehicle aerial battery replacement system according to any one of claims 1 to 9, wherein the flying mechanism is a sub unmanned aerial vehicle body, the battery storage mechanism and the control drive mechanism are mounted at the bottom of the sub unmanned aerial vehicle body, one end of the multi-free mechanical arm is mounted on a wing at one end of the sub unmanned aerial vehicle body, and the camera holder is mounted on a wing at the other end of the sub unmanned aerial vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921053061.9U CN210503212U (en) | 2019-07-05 | 2019-07-05 | Aerial battery system of changing of unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921053061.9U CN210503212U (en) | 2019-07-05 | 2019-07-05 | Aerial battery system of changing of unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210503212U true CN210503212U (en) | 2020-05-12 |
Family
ID=70581923
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921053061.9U Active CN210503212U (en) | 2019-07-05 | 2019-07-05 | Aerial battery system of changing of unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210503212U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110356569A (en) * | 2019-07-05 | 2019-10-22 | 广东工业大学 | A kind of unmanned plane replaces battery system in the air |
| CN113479107A (en) * | 2021-07-19 | 2021-10-08 | 北京理工大学 | Long-endurance unmanned aerial vehicle with battery replaced in air and use method thereof |
-
2019
- 2019-07-05 CN CN201921053061.9U patent/CN210503212U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110356569A (en) * | 2019-07-05 | 2019-10-22 | 广东工业大学 | A kind of unmanned plane replaces battery system in the air |
| CN113479107A (en) * | 2021-07-19 | 2021-10-08 | 北京理工大学 | Long-endurance unmanned aerial vehicle with battery replaced in air and use method thereof |
| CN113479107B (en) * | 2021-07-19 | 2023-11-21 | 北京理工大学 | Long-endurance unmanned aerial vehicle with battery replaced in air and use method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110356569A (en) | A kind of unmanned plane replaces battery system in the air | |
| CN108045580B (en) | Double unmanned aerial vehicle system for replacing batteries in air butt joint mode | |
| CN210503212U (en) | Aerial battery system of changing of unmanned aerial vehicle | |
| US9238414B2 (en) | Charging system for battery-powered unmanned aerial vehicles | |
| CN106873623B (en) | Unmanned aerial vehicle rapid autonomous endurance system and method thereof | |
| CN106068592B (en) | Unmanned aerial vehicle battery replacement system and method | |
| JP6395835B2 (en) | UAV battery power backup system and method | |
| AU2019377041B2 (en) | Power communication to regulate charge of unmanned aerial vehicle | |
| JP2018100088A (en) | Method of supplying energy to uav, and uav | |
| CN109533329B (en) | Magnetic suspension positioning device for unmanned aerial vehicle charging, unmanned aerial vehicle and charging method | |
| CN102795205A (en) | Car automatic centering mechanism for replacement of electric car battery | |
| CN111439143A (en) | Unmanned aerial vehicle recovery system and recovery method thereof | |
| CN115951620A (en) | Unmanned aerial vehicle intelligent equipment management and control system | |
| CN109774521B (en) | Unmanned aerial vehicle docking system | |
| CN209814315U (en) | Charging take-off and landing platform suitable for mooring unmanned aerial vehicle | |
| CN105959627A (en) | Automatic wireless charging type artificial intelligence unmanned aerial vehicle | |
| CN209225411U (en) | Rechargeable type logistics unmanned plane logistics airplane parking area platform | |
| CN112977819B (en) | Power transmission line inspection flying robot comprising double machines | |
| CN110589007A (en) | Heavy-duty industrial-grade multi-rotor unmanned aerial vehicle hangar | |
| CN109449826A (en) | Inspection device and system based on robot platform | |
| CN111439380B (en) | Unmanned aerial vehicle battery replacement method | |
| CN110406402B (en) | Remote flight system | |
| CN113276725B (en) | Unmanned on duty power station that trades of unmanned aerial vehicle is patrolled and examined to electric power | |
| CN205544624U (en) | Unmanned vehicles descending capture device | |
| CN113716062A (en) | Unmanned aerial vehicle hangar and unmanned aerial vehicle charging system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |