CN210971591U - Unmanned aerial vehicle trades battery device automatically - Google Patents
Unmanned aerial vehicle trades battery device automatically Download PDFInfo
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- CN210971591U CN210971591U CN201921833239.1U CN201921833239U CN210971591U CN 210971591 U CN210971591 U CN 210971591U CN 201921833239 U CN201921833239 U CN 201921833239U CN 210971591 U CN210971591 U CN 210971591U
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Abstract
The utility model belongs to the technical field of unmanned aerial vehicle automatic battery replacing operation, and relates to an unmanned aerial vehicle automatic battery replacing device and method, which comprises a battery clamping mechanism 1, a battery button mechanism 2, a battery replacing rotating mechanism 3, a battery moving mechanism 4 and a battery replacing positioning mechanism 5; the battery clamping mechanism 1 is connected with the battery moving mechanism 4, the battery key mechanism 2 is connected with the battery moving mechanism 4 through a connecting piece, and the battery replacing rotating mechanism 3 is connected with the unmanned aerial vehicle clamping mechanism and used for rotating the battery replacing mechanism to an accurate position; battery moving mechanism 4 is connected with rotary mechanism 3 through the connecting plate, trades electric positioning mechanism 5 and is fixed in on the battery moving mechanism 4, uses the utility model discloses filled the blank in the aspect of unmanned aerial vehicle battery intelligence change technique, reduced loaded down with trivial details manual operation, effectively saved time and manpower.
Description
Technical Field
The utility model belongs to the technical field of unmanned aerial vehicle trades the battery operation automatically, a unmanned aerial vehicle trades battery device automatically is related to.
Background
At present, unmanned aerial vehicles are applied more and more widely in various fields, and rapid development of unmanned aerial vehicle corollary equipment and service industry is also driven. With the progress and development of science and technology, people's life is more and more intelligent, and unmanned aerial vehicle is just the product under this intelligent life era background. In recent years, the development of unmanned aerial vehicle technology is not kept off, and by virtue of the advantages of light volume, convenience in carrying, easiness in use and the like, the unmanned aerial vehicle is more and more widely applied to industrial production and daily life. While the unmanned aerial vehicle technology is gradually developed, the application of the unmanned aerial vehicle is always limited by cruising ability. Because the finiteness of battery power, unmanned aerial vehicle can't realize remote flight and overlength standby flight, this just makes the timely change problem of unmanned aerial vehicle battery become for the first-priority problem that relevant technical field needs faced. At present, the replacement of unmanned aerial vehicle batteries is carried out manually, the batteries need to be disassembled manually, and the batteries full of electric quantity are replaced by the batteries with insufficient electric quantity for continuous use, so that the manual mode is time-consuming, labor-consuming and complex in operation.
SUMMERY OF THE UTILITY MODEL
The not enough to prior art, the utility model provides an automatic device of changing of unmanned aerial vehicle battery, aim at fill the blank in the aspect of the unmanned aerial vehicle battery intelligence change technique, reduce loaded down with trivial details manual operation, effectively save time and manpower.
An automatic battery replacing device for an unmanned aerial vehicle comprises a battery clamping mechanism 1, a battery button mechanism 2, a battery replacing rotating mechanism 3, a battery moving mechanism 4 and a battery replacing positioning mechanism 5; the battery clamping mechanism 1 is connected with the battery moving mechanism 4, the battery key mechanism 2 is connected with the battery moving mechanism 4 through a connecting piece, and the battery replacing rotating mechanism 3 is connected with the unmanned aerial vehicle clamping mechanism and used for rotating the battery replacing mechanism to an accurate position; the battery moving mechanism 4 is connected with the rotating mechanism 3 through a connecting plate, and the battery replacement positioning mechanism 5 is fixed on the battery moving mechanism 4 and can work simultaneously.
Furthermore, the battery clamping mechanism is provided with a clamping fixed support 11, two lateral motor claw mechanisms 12, two thrust blocks 13, two auxiliary limiting blocks 14 and an upper end motor claw mechanism 15, the two lateral motor claw mechanisms 12 and the upper end motor claw mechanism 15 are fixed on the clamping fixed support 11 through a connecting plate, and the two thrust blocks 13 are also fixed on the clamping fixed support 11.
Furthermore, the battery key mechanism 2 is provided with an electromagnet 21, a key rod guide block 22, a return spring 23, a key rod 24 and a guide mechanism 25; the electromagnet 21 and the key rod guide block 22 are fixed on the guide mechanism 25 through connecting pieces; the return spring 23 is fixed in the key lever guide block 22, and the key lever 24 is disposed inside the key lever guide block 22 to contact the output end of the electromagnet 21.
Further, trade electric rotary mechanism 3 and include motor connecting plate 31, first servo motor 32, harmonic speed reducer 33, position adjustment mechanism 34, motor connecting plate 31 is fixed on position adjustment mechanism 34, and first servo motor 32 and harmonic speed reducer 33 rotary motion actuating mechanism, position adjustment mechanism 34 are fixed in the unmanned aerial vehicle fixture for adjust rotary mechanism 3 on fixture position.
Further, the battery moving mechanism 4 includes a second servo motor 41, a linear module 42; the clamping fixing bracket 11 is fixed on the linear module 42, and the two auxiliary limit blocks 14 are fixed on the linear module 42 and used for auxiliary positioning of the airplane.
Further, the battery replacement positioning mechanism 5 is provided with a lead screw motor 51, a connecting piece 52 and a positioning block 53.
An automatic battery replacement method for an unmanned aerial vehicle comprises the following two working procedures: firstly, taking out a battery on the unmanned aerial vehicle, and sending the battery into a battery cabin for charging; the second process is to take out the battery in the battery compartment and send the battery into the unmanned aerial vehicle.
The battery on the unmanned aerial vehicle is taken out and sent into the battery compartment for charging, and the method specifically comprises the following steps:
(1) the whole device is fixed on an automatic clamping mechanism through a position adjusting mechanism 34, and the unmanned aerial vehicle is clamped and pushed to an appointed position by the clamping mechanism;
(2) the battery replacement rotating mechanism 3 drives the whole battery replacement device to rotate to a battery replacement angle, the battery replacement device moves to a specified working position, and all mechanisms are adjusted to the working positions;
(3) the battery replacing positioning mechanism 5 starts to work, the front end of the unmanned aerial vehicle is propped up by lifting of the positioning block 53, and the battery clamping mechanism 1 is moved to a battery taking working position of the unmanned aerial vehicle by the battery moving mechanism 4 through the guide mechanism 25 and the auxiliary limiting block 14;
(4) the electromagnet 21 is electrified to push the button rod 24 to press a power switch of the unmanned aerial vehicle, shutdown operation is carried out in a state of clamping a battery, after the unmanned aerial vehicle is completely closed, the electromagnet 21 is powered off, and the button rod 24 is reset by using the reset spring 23;
(5) the upper end motor claw mechanism 15 presses a switch of the battery clamping mechanism, the battery is separated from the clamping, then the lateral motor claw mechanism 12 clamps the battery out and keeps the position, and the battery is fixed on the battery clamping mechanism 1;
(6) the battery moving mechanism 4 moves the battery clamping mechanism 1 to a designated position, the rear clamping mechanism is released to the designated position, the battery replacing rotating mechanism 3 rotates to a position matched with the battery compartment, the battery clamping mechanism 1 moves to a battery conveying position, the lateral motor claw mechanism 12 and the upper end motor claw mechanism 15 loosen the battery and restore to an initial position, the battery clamping mechanism 1 is continuously moved forward to push the battery into the battery compartment charging seat by virtue of the two thrust blocks 13 for charging, at the moment, the indicator light for charging the battery compartment is lightened, and then the first working process is completed;
and taking out the batteries in the battery bin and sending the batteries into the unmanned aerial vehicle, wherein the sequence of the actions is consistent with that of the first process.
The utility model has the advantages that:
the utility model provides an operation is wasted time and energy when the manual work trades the electricity, complex operation scheduling problem, this device is small, light in weight, rational in infrastructure, the centre gripping is stable, positioning accuracy is high, can trade the whole flow of battery operation by a key, at the in-process that trades the battery operation, simulation manual operation's step replaces to realize automatic battery operation with mechanical mechanism, and mechanical mechanism can accurate location, reachs appointed position and removes appointed distance. The distance that needs to remove can accurate grasp when guaranteeing to trade battery operation unmanned aerial vehicle.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
Fig. 1 is a schematic view of the overall structure of an automatic battery replacing device for an unmanned aerial vehicle according to the present invention;
fig. 2 is a schematic side view of the automatic battery changer of the unmanned aerial vehicle according to the present invention;
fig. 3 is a schematic view of a front view structure of the automatic battery replacing device of the unmanned aerial vehicle of the present invention;
fig. 4 is a schematic structural diagram of the battery key mechanism of the present invention;
fig. 5 is a schematic structural diagram of the battery compartment mechanism of the present invention;
fig. 6 is a schematic view of the perspective structure of the automatic clamping mechanism of the unmanned aerial vehicle of the present invention;
fig. 7 is a schematic view of the overhead structure of the automatic clamping mechanism of the unmanned aerial vehicle of the present invention;
fig. 8 is a perspective schematic view of the overhead structure of the automatic clamping mechanism of the unmanned aerial vehicle according to the present invention;
fig. 9 is the utility model discloses automatic fixture's of unmanned aerial vehicle structure local schematic diagram that steps up.
Detailed Description
As shown in fig. 1-4, the utility model provides an automatic battery replacing device for an unmanned aerial vehicle; the battery replacing device comprises a battery clamping mechanism 1, a battery key mechanism 2, a battery replacing rotating mechanism 3, a battery moving mechanism 4 and a battery replacing positioning mechanism 5. The battery clamping mechanism 1 is connected with the battery moving mechanism 4 and used for clamping and positioning the battery and pushing the battery. The battery clamping mechanism 1 is provided with a clamping fixed support 11, two thrust blocks 13, two auxiliary limiting blocks 14 and an upper end motor claw mechanism 15, is fixed on the linear module 42 and is used for clamping and positioning the unmanned aerial vehicle battery; two lateral motor claw mechanisms 12 are also arranged and fixed on the clamping fixed bracket 11 through a connecting plate for grabbing and fixing the battery in the battery replacing process; the two thrust blocks 13 are fixed on the clamping fixing support 11 and used for guaranteeing the balance of force in the battery pushing process, and the two auxiliary limiting blocks 14 are fixed on the linear module 42 and used for auxiliary positioning of the airplane; the upper end motor claw mechanism 15 is fixed on the clamping fixing support 11 through a connecting plate and used for pressing a switch of the unmanned aerial vehicle battery buckling mechanism. Battery button mechanism 2 is connected with battery moving mechanism 4 through the connecting piece for unmanned aerial vehicle switch's start-up is closed. The battery key mechanism 2 is provided with an electromagnet 21 which is fixed on a guide mechanism 25 through a connecting piece and provides power for a key rod 24; a key rod guide block 22 is also arranged and is fixed on the guide mechanism 25 through a connecting piece, and plays a role in guiding the movement of the key rod 24; reset spring 23 is fixed in the key-press pole guide block 22 for the key-press accomplishes the back and presses the reseing of key-press pole, presses the key-press pole 24 to arrange in the contact of the inside 21 output ends of electromagnet of key-press pole guide block 22, is used for unmanned aerial vehicle switch to press. The guide mechanism 25 is fixed on the linear module 42 through a connecting piece, plays a role in positioning and guiding the battery in the battery replacement process, and is used for parking the battery in the battery replacement process. The battery replacing and rotating mechanism 3 is connected with the clamping mechanism of the unmanned aerial vehicle and used for rotating the battery replacing and rotating mechanism to an accurate position. The battery replacement rotating mechanism 3 is provided with a motor connecting plate 31 fixed on a position adjusting mechanism 34 and used for fixing a motor and a harmonic speed reducer 33; a first servo motor 32 and a harmonic reducer 33; the position adjusting mechanism 34 is fixed on the unmanned aerial vehicle clamping mechanism and used for adjusting the position of the rotating mechanism 3 on the clamping mechanism. The battery moving mechanism 4 is connected with the rotating mechanism 3 through a connecting plate and used for moving the battery, and the battery moving mechanism 4 is provided with a second servo motor 41 and a linear module 42; the battery replacement positioning mechanism 5 is fixed on the battery moving mechanism 4, and is provided with a screw motor 51, a connecting piece 52 and a positioning block 53.
When the automatic battery replacing device works, the whole automatic battery replacing process can be completed only by sequentially matching the mechanisms, reasonable operation among the mechanisms is needed in the battery replacing process, and all the moving mechanisms are required to work simultaneously under the condition of meeting safe moving conditions in order to reduce the time of the automatic battery replacing process. After unmanned aerial vehicle steadily lands on the platform of the automatic centre gripping of unmanned aerial vehicle, automatic fixture can remove unmanned aerial vehicle assigned position and press from both sides tightly, then the platform descends to the required position of trading the battery, next automatic battery replacement mechanism begins work, at first close the unmanned aerial vehicle power, then take off the battery, send the position of empty battery compartment to charge, later battery compartment mechanism removes the corresponding position of full-charge battery, it installs on unmanned aerial vehicle to take off the battery, then, at this moment, need press from both sides unmanned aerial vehicle again and press from both sides fixedly, then the platform rises to the top centre gripping and loosens, wait for unmanned aerial vehicle to take off. By which all operational flows are complete.
The unmanned aerial vehicle carries out automatic battery replacement operation mainly comprises two processes, firstly, a battery on the unmanned aerial vehicle is taken out and is fed into a battery bin for charging, an automatic battery replacement integrated device is fixed on an automatic clamping mechanism through a position adjusting mechanism 34, the clamping mechanism clamps and pushes the unmanned aerial vehicle to a specified position, at the moment, a rotating mechanism 3 drives the whole battery replacement mechanism to rotate to a battery replacement angle, the battery replacement mechanism moves to a specified working position, each mechanism is adjusted to the working position, at the moment, a battery replacement positioning mechanism 5 starts to work, the front end of the unmanned aerial vehicle is jacked through the lifting of a positioning block 53, a battery moving mechanism 4 moves a battery clamping mechanism 1 to a battery taking working position of the unmanned aerial vehicle through an arranged guide mechanism 25 and an auxiliary limiting block 14, an electromagnet 21 is electrified to push a key rod 24 to press a power switch of the unmanned aerial vehicle, shutdown operation is carried out under, the electromagnet 21 is powered off, the key rod 24 is reset by using the reset spring 23, the upper end motor claw mechanism 15 presses a battery clamping mechanism switch, the battery is separated from the buckle, then the lateral motor claw mechanism 12 buckles the battery out and keeps the battery at the position, the battery is fixed on the battery clamping mechanism 1, the battery moving mechanism 4 moves the battery clamping mechanism 1 (including the battery) to the designated position, the rear clamping mechanism looses the designated position, the battery replacing rotating mechanism 3 rotates to the position matched with the battery bin, namely the moving mechanism 62 in the battery bin 6 drives the charging seat 61 to move to the matched position, then the battery clamping mechanism 1 (including the battery) moves to the battery feeding position, the lateral motor claw mechanism 12 and the upper end motor claw mechanism 15 loosen the battery, recover to the initial position, and continuously move the battery clamping mechanism 1 (including the battery) forward to push the battery into the battery bin charging seat by means of the two thrust blocks 13 for charging, at the moment, the indicator light for charging the battery compartment can be lightened, and the first working process is finished. The second process is to take out the batteries in the battery compartment and send the batteries into the unmanned aerial vehicle, and the action sequence is consistent with that of the first process.
The above unmanned aerial vehicle fixture adopts the patent content of application No. 201921124093.3.
The automatic clamping mechanism of the unmanned aerial vehicle comprises a supporting platform 71, a docking plate 72, a dust-proof plate 73, a long push rod 74, a short push rod 75 and a clamping mechanism. The clamping mechanism comprises a linear module 76, a push rod connecting piece 77, a stepping motor 78, a connecting shaft 79 and a coupler 710; the supporting platform 71 is fixed on an underframe of the parking apron, the parking plate 72 is cut into 75 pieces according to the position of a slide rail and is fixed on the supporting platform 71 through a T-shaped bolt, the dust-proof plate 73 is fixed on the supporting platform 71, the linear modules 76 are fixed on the supporting platform 71, and the clamping structure is respectively provided with one linear module 76 in the direction of the short push rod 75 and is driven by a stepping motor 78. Two linear modules 76 are respectively arranged in the direction of the long push rod 74 to keep the rigidity and the thrust of the long push rod 74, the two linear modules 76 are connected with a coupler 710 through a connecting shaft 79, the two linear modules are driven by a stepping motor 78 to realize linkage, and the linear modules 76 are connected with the long push rod and the short push rod through a connecting piece 77.
After unmanned aerial vehicle lands to the landing platform, linear module 76 drives long push rod 74 and promotes the aircraft to the assigned position, and back linear module 76 drives short push rod 75 and realizes accurate location and the clamp tight to unmanned aerial vehicle, has improved the reliability that unmanned aerial vehicle takes off, has ensured the automatic accuracy of trading the battery of unmanned aerial vehicle simultaneously.
The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, to thereby enable others skilled in the art to best understand the invention for and utilize the invention. The present invention is limited only by the claims and their full scope and equivalents.
Claims (6)
1. An automatic battery replacing device for an unmanned aerial vehicle is characterized by comprising a battery clamping mechanism (1), a battery button mechanism (2), a battery replacing rotating mechanism (3), a battery moving mechanism (4) and a battery replacing positioning mechanism (5); the battery clamping mechanism (1) is connected with the battery moving mechanism (4), the battery key mechanism (2) is connected with the battery moving mechanism (4) through a connecting piece, and the battery replacing rotating mechanism (3) is connected with the unmanned aerial vehicle clamping mechanism and used for rotating the battery replacing mechanism to an accurate position; the battery moving mechanism (4) is connected with the rotating mechanism (3) through a connecting plate, the battery replacement positioning mechanism (5) is fixed on the battery moving mechanism (4), and the battery replacement positioning mechanism can work simultaneously.
2. The automatic battery replacing device for the unmanned aerial vehicle as claimed in claim 1, wherein the battery clamping mechanism is provided with a clamping fixing support (11), two lateral motor claw mechanisms (12), two thrust blocks (13), two auxiliary limiting blocks (14), and an upper end motor claw mechanism (15), the two lateral motor claw mechanisms (12) and the upper end motor claw mechanism (15) are fixed on the clamping fixing support (11) through a connecting plate, and the two thrust blocks (13) are also fixed on the clamping fixing support (11).
3. The automatic battery replacing device for the unmanned aerial vehicle as claimed in claim 1, wherein the battery key mechanism (2) is provided with an electromagnet (21), a key rod guide block (22), a return spring (23), a key rod (24) and a guide mechanism (25); the electromagnet (21) and the key rod guide block (22) are fixed on the guide mechanism (25) through a connecting piece; the reset spring (23) is fixed in the key rod guide block (22), and the key rod (24) is arranged in the key rod guide block (22) and is contacted with the output end of the electromagnet (21).
4. The automatic battery replacing device for the unmanned aerial vehicle as claimed in claim 1, wherein the battery replacing rotating mechanism (3) comprises a motor connecting plate (31), a first servo motor (32), a harmonic speed reducer (33) and a position adjusting mechanism (34), the motor connecting plate (31) is fixed on the position adjusting mechanism (34), the first servo motor (32) and the harmonic speed reducer (33) are used for driving a rotating motion, and the position adjusting mechanism (34) is fixed on the clamping mechanism of the unmanned aerial vehicle and used for adjusting the position of the rotating mechanism (3) on the clamping mechanism.
5. The automatic battery replacing device for the unmanned aerial vehicle as claimed in claim 2, wherein the battery moving mechanism (4) comprises a second servo motor (41) and a linear module (42); the clamping fixing support (11) is fixed on the linear module (42), and the two auxiliary limiting blocks (14) are fixed on the linear module (42) and used for auxiliary positioning of the airplane.
6. The automatic battery replacing device for the unmanned aerial vehicle as claimed in claim 1, wherein the battery replacing positioning mechanism (5) is provided with a lead screw motor (51), a connecting piece (52) and a positioning block (53).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921833239.1U CN210971591U (en) | 2019-10-29 | 2019-10-29 | Unmanned aerial vehicle trades battery device automatically |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921833239.1U CN210971591U (en) | 2019-10-29 | 2019-10-29 | Unmanned aerial vehicle trades battery device automatically |
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| CN210971591U true CN210971591U (en) | 2020-07-10 |
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| CN201921833239.1U Active CN210971591U (en) | 2019-10-29 | 2019-10-29 | Unmanned aerial vehicle trades battery device automatically |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110733663A (en) * | 2019-10-29 | 2020-01-31 | 华软科技股份有限公司 | unmanned aerial vehicle automatic battery changing device and method |
| CN113511102A (en) * | 2021-07-12 | 2021-10-19 | 于伟龙 | Intelligent battery replacement station and intelligent battery replacement method for inspection unmanned aerial vehicle |
-
2019
- 2019-10-29 CN CN201921833239.1U patent/CN210971591U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110733663A (en) * | 2019-10-29 | 2020-01-31 | 华软科技股份有限公司 | unmanned aerial vehicle automatic battery changing device and method |
| CN110733663B (en) * | 2019-10-29 | 2024-02-02 | 华软科技股份有限公司 | Automatic battery replacing device and method for unmanned aerial vehicle |
| CN113511102A (en) * | 2021-07-12 | 2021-10-19 | 于伟龙 | Intelligent battery replacement station and intelligent battery replacement method for inspection unmanned aerial vehicle |
| CN113511102B (en) * | 2021-07-12 | 2022-06-03 | 齐丰科技股份有限公司 | Intelligent battery replacement station and intelligent battery replacement method for inspection unmanned aerial vehicle |
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