CN211943020U

CN211943020U - Unmanned aerial vehicle trades electric mechanical arm system

Info

Publication number: CN211943020U
Application number: CN202020508536.5U
Authority: CN
Inventors: 黄郑; 杨晟; 韩卫; 王红星
Original assignee: Shenzhen Multi Wing Electrical Intelligence Technology Co ltd; Jiangsu Fangtian Power Technology Co Ltd
Current assignee: Shenzhen Multi Wing Electrical Intelligence Technology Co ltd; Jiangsu Fangtian Power Technology Co Ltd
Priority date: 2020-04-08
Filing date: 2020-04-08
Publication date: 2020-11-17
Anticipated expiration: 2030-04-08

Abstract

The utility model discloses an unmanned aerial vehicle trades electric arm system, including trading electric manipulator assembly, trade electric manipulator assembly and include tray assembly and centering manipulator assembly, tray assembly passes through the telescoping device and the rotary device is connected with centering manipulator assembly transmission, the telescoping device is used for driving centering manipulator assembly concertina movement, the rotary device is used for driving the relative tray assembly of centering manipulator assembly and rotates, including the manipulator that is used for snatching the unmanned aerial vehicle group battery to centering manipulator assembly, the centering manipulator assembly is used for controlling the manipulator to press from both sides the clamp of unmanned aerial vehicle battery and get and break away from. This kind trades electric arm can stretch out and draw back, rotate and then realize the accurate counterpoint to the unmanned aerial vehicle group battery, can also accomplish simultaneously to snatching and the unblock action of group battery.

Description

Unmanned aerial vehicle trades electric mechanical arm system

Technical Field

The utility model discloses an unmanned aerial vehicle automated management technical field, specific unmanned aerial vehicle trades electric mechanical arm system that says so.

Background

Unmanned aerial vehicle automated management belongs to industry technical front edge in the electric power system field, covers techniques such as unmanned aerial vehicle, artificial intelligence, robot, automation, information communication, is the high new technology of multidisciplinary cross fusion. In recent years, unmanned aerial vehicle automated management has become an important automated management means of transmission line, and automated management benefit and quality are obviously improved compared with traditional manual automated management.

In the practical application of unmanned aerial vehicle transmission line automated management, some power grid companies in China carry out relevant pilot research works. In 2015, the welfare building power grid develops the application of a large unmanned aerial vehicle system based on the internet of things technology in power grid inspection and disaster prevention and reduction, establishes a low-speed automatic management mode of a large unmanned helicopter in a mountainous area under a high-temperature and humid condition, and preliminarily realizes multiple technologies such as beyond-visual-range measurement and control, high-precision three-dimensional program control flight, ultra-low-altitude autonomous obstacle avoidance and dynamic high-definition shooting. In 2018, a full-autonomous refined automatic management technology of the unmanned aerial vehicle is developed by a Shandong power grid, the technology comprises the functions of flight trajectory planning, task load photographing control, image autonomous naming filing, defect autonomous intelligent identification and the like, and the conversion from manual control to autonomous flight of the automatic management of the single unmanned aerial vehicle is realized. In 2018, a Howe unmanned aerial vehicle full-autonomous intelligent automatic management system is developed in the power grid in North Ji, and the system realizes autonomous intelligent automatic management and intelligent self-maintenance of a single unmanned aerial vehicle by arranging an intelligent platform on site and comprehensively applying overall process technologies such as air route design planning, data acquisition, result analysis and processing and the like. Compared with the domestic field, the unmanned aerial vehicle power transmission line automatic management system is rarely applied in foreign countries. In 2018, European utility companies began exploring the possibility of remotely controlling drones to search for grid damage, and many European companies tested drones, but most European power companies still used helicopter patrol to check the running state of grid equipment at the present stage. Advanced countries such as the united states and japan report fewer reports in the automated management of unmanned aerial vehicle power transmission lines. From the above situation, the application of the unmanned aerial vehicle automatic management in the foreign power grid is in the starting stage, while some application achievements are obtained in China, but research and development and application in the aspects of multi-unmanned aerial vehicle cluster cooperation, mobile unmanned aerial vehicle automatic management systems, complete information interaction systems (in butt joint with the relevant management systems of power grid companies) and the like are still in blank states, and development of corresponding technical countermeasures is urgently needed.

The battery power supply is adopted to current unmanned aerial vehicle power supply mode more, and unmanned aerial vehicle need change the battery after using a period, and need fix a position unmanned aerial vehicle when changing the battery at present, adjusts unmanned aerial vehicle to suitable posture after, changes the battery again, fixes a position at present, can only mostly only pass through manual operation, and the error is great. Even if current unmanned aerial vehicle trades the electric technique and also has a great deal of drawback and defect.

For example, in the chinese utility model 201820108833.3 unmanned aerial vehicle battery replacement device and unmanned aerial vehicle battery replacement apparatus, the unmanned aerial vehicle battery replacement device includes a bearing mechanism, a lifting mechanism, a battery replacement platform, a rotating mechanism, and a battery loading and unloading mechanism; a battery charging seat group is arranged on the battery replacing platform; the bearing mechanism, the rotating mechanism and the lifting mechanism are sequentially connected; the one end and the battery of guide rail are changed the platform and are connected, and the other end is connected with the battery charging seat, and battery charging unit is two, and two are relative to be set up, and the battery in the battery charging seat is full of electricity, and another does not adorn the battery, and the battery charging seat can be followed the guide rail and removed, and in the battery dress got the battery propelling movement of mechanism in with a battery charging seat to unmanned aerial vehicle's battery, and with unmanned aerial vehicle's battery propelling movement to in another battery charging seat. Its shortcoming is that can't carry out many unmanned aerial vehicles simultaneously and be equipped with the battery of a plurality of sufficient quantity, trades the electric efficiency lower, is difficult to satisfy the requirement that trades the electricity fast that extensive unmanned aerial vehicle used.

Chinese utility model patent 201620906736.X an unmanned aerial vehicle battery change system, including battery charging mechanism, battery change mechanism, controlling means and unmanned aerial vehicle. The battery charging mechanism comprises a bracket and a plurality of battery charging clamps; the battery replacing mechanism comprises a base and a clamping device, the clamping device is rotatably arranged on the base, and the clamping device is used for holding the battery when the battery is replaced by the unmanned aerial vehicle; be provided with the battery box on the unmanned aerial vehicle, be built-in for the battery of unmanned aerial vehicle control system and first motor power supply. Unmanned aerial vehicle detects the battery power when not enough at the automatic flight process, and unmanned aerial vehicle control system control unmanned aerial vehicle back a journey and accurate descending to basic station, then the clamping device of controlling means control battery change mechanism takes out the battery in the battery box, and charge in inserting idle battery charging clamp, then clamping device presss from both sides and gets in one full of the battery of being full of electricity in the battery charging mechanism and puts into unmanned aerial vehicle's battery box with its accuracy, reaches the purpose of changing the battery. But the battery replacing structure is more complex and easy to damage, and has no good popularization value.

Chinese published patent application 201910997352.1 unmanned aerial vehicle battery automatic replacing device, it is including setting up in the unmanned aerial vehicle and being used for carrying out the clamping device of centre gripping installation to the battery in the unmanned aerial vehicle, it is used for carrying out the change equipment that the battery was changed to it to match with unmanned aerial vehicle, change equipment includes the box, the box is the one end opening, the rectangle box structure of case lid is installed in one end closure and open end matching, install in the box and support induction mechanism, change the electricity and put, the withdrawal device, a controller, it is used for carrying out the supporting role and can give the controller with supporting signal to support induction mechanism, the controller is used for controlling to change the operation conditions of putting and withdrawal device, the free end of withdrawal device can stretch into in to the unmanned aerial vehicle and be used for making clamping device withdraw the centre gripping to the battery in the unmanned aerial vehicle through withdrawing the hole, it is used for making new battery replace the battery in. But this technical scheme structure is complicated, can only be applicable to specific model to consuming time very long, and be difficult to satisfy the demand that many unmanned aerial vehicles trade the electricity in turn fast.

Disclosure of Invention

The to-be-solved technical problem of the utility model is to provide unmanned aerial vehicle trades electric arm system, this kind trades electric arm can stretch out and draw back, rotate and then realize the accurate counterpoint to the unmanned aerial vehicle group battery, can also accomplish snatching and the unblock action to the group battery simultaneously.

In order to solve the technical problem, the utility model discloses a technical scheme does:

unmanned aerial vehicle trades electric mechanical arm system, its characterized in that: including trading electric manipulator assembly, trade electric manipulator assembly include tray assembly and centering manipulator assembly, tray assembly pass through telescoping device and rotary device and be connected with centering manipulator assembly transmission, the telescoping device be used for driving centering manipulator assembly concertina movement, rotary device be used for driving the relative tray assembly of centering manipulator assembly and rotate, centering manipulator assembly including being used for snatching the manipulator of unmanned aerial vehicle group battery, centering manipulator assembly be used for controlling the manipulator to press from both sides the clamp of unmanned aerial vehicle battery and get and break away from.

The battery replacement manipulator assembly further comprises a primary platform assembly, a secondary platform assembly and a rotating platform assembly;

the secondary platform assembly is in transmission connection with the centering manipulator assembly and is used for driving the centering manipulator assembly to move in a stretching mode;

the rotary table assembly is fixedly connected with the primary platform assembly, the rotary table assembly is used for driving the secondary platform assembly to do telescopic motion, and the rotary table assembly is used for driving the primary platform assembly and the secondary platform assembly to rotate relatively;

the primary platform assembly is in transmission connection with the tray assembly, and the tray assembly is used for driving the primary platform assembly to move in a telescopic mode.

Tray assembly include the tray bottom plate, the outside extension in both sides of tray bottom plate form and lift the platform, the upper surface top of tray bottom plate be provided with one-level platform translation drive lead screw, one-level platform translation drive lead screw's both ends pass through one-level platform translation lead screw base fixed mounting at tray bottom plate upper surface, one-level platform translation drive lead screw one end be connected with one-level platform translation motor's output shaft transmission, one-level platform translation drive lead screw's both sides be provided with one-level platform translation guide rail.

The one-level platform assembly include one-level platform base plate, the lower fixed surface of one-level platform base plate install the translation nut, translation nut and one-level platform translation drive lead screw threaded connection, the both sides of translation nut be provided with the translation slider, translation slider and one-level platform translation guide rail sliding connection.

Revolving stage assembly include fixed platform and rotary platform, rotary platform pass through rotation axis fixed mounting in fixed platform's top, rotary platform pass through revolving stage drive worm gear and be connected with revolving stage driving motor assembly transmission, fixed platform and the one-level platform base plate fixed connection of one-level platform assembly, rotary platform top fixed mounting have second grade platform translation lead screw, second grade platform translation lead screw's one end be connected with second grade platform translation motor's output shaft transmission, second grade platform translation lead screw's both sides be provided with second grade platform translation guide rail.

The secondary platform assembly comprises a secondary platform parking apron, a secondary platform translation nut in threaded connection with a secondary platform translation lead screw is fixedly arranged on the lower surface of the secondary platform parking apron, secondary platform translation sliding blocks are fixedly arranged on two sides of the secondary platform translation nut and are in sliding connection with a secondary platform translation guide rail, the front end of the secondary platform parking apron extends outwards to form a battery guide plate assembly, a battery loading and unloading finger is fixedly arranged on the upper surface of the battery guide plate assembly, a steering engine mounting bracket assembly is fixedly connected above the secondary platform parking apron, the steering engine assembly is in transmission connection with the battery loading and unloading finger and is used for controlling the working state of the battery loading and unloading finger, a centering manipulator assembly translation guide rail and a centering manipulator assembly driving lead screw are fixedly arranged on the side surface of the secondary platform parking apron, and one end of the centering manipulator assembly driving screw is in transmission connection with an output shaft of the centering manipulator assembly translation motor.

The centering manipulator assembly comprises a centering frame assembly which is a frame structure, the bottom of the centering frame assembly is connected with the translation guide rail of the centering manipulator assembly in a sliding way through the moving slide block of the centering manipulator assembly, the bottom of the middle frame assembly is also fixedly provided with a centering manipulator translation nut which is in threaded connection with a driving screw rod of the centering manipulator assembly, the manipulator is fixedly arranged in the centering frame assembly, the photoelectric sensor assembly is fixedly arranged on the centering frame assembly, the photoelectric sensing piece is fixedly arranged above the manipulator, the photoelectric sensing piece and the photoelectric sensor assembly are used for limiting the stroke terminal of the manipulator, the centering frame assembly is fixedly provided with a centering motor assembly, and the centering motor assembly is in transmission connection with a mechanical arm of the mechanical arm and is used for controlling the working state of the mechanical arm.

The manipulator get the electric manipulator and get the electric manipulator including a left side, a left side get the electric manipulator through left fagging and last rack fixed connection, the right side get the electric manipulator through right fagging and lower rack fixed connection, last rack and last linear guide rail sliding connection, lower rack and lower linear guide rail sliding connection, last linear guide rail and lower linear guide rail set up relatively and all with centering frame assembly fixed connection, lower rack and last rack set up relatively and distribute in centering gear both sides, lower rack and last rack all be connected with centering gear engagement transmission, centering gear and centering motor assembly's output shaft transmission be connected.

This kind of unmanned aerial vehicle trades beneficial effect that electric mechanical arm system can reach does: first, translation and rotary motion through multistage platform combine together, can accomplish getting of unmanned aerial vehicle group battery in little space and put and the position adjustment to can be through the automatic trade electric operation that realizes the unmanned aerial vehicle group battery of multiunit sensor, efficiency is higher, as long as unmanned aerial vehicle's the position of parking is in the motion stroke scope of trading electric manipulator, all can trade electric operation, the trade of the many cell group of multiunit type in the finite space becomes possible.

Second, this kind of unmanned aerial vehicle trades electric arm system has greatly improved automatic management operation autonomy, automation and intelligent level, makes unmanned aerial vehicle automatic management operation security higher, efficiency is higher, the popularization nature is stronger, alleviates fortune and examines personnel intensity of labour, reduces fortune dimension cost by a wide margin.

And thirdly, the relative position of the battery pack buckle on the unmanned aerial vehicle and the battery pack, the relative position of the battery taking switch shaft and the battery compartment are the same as the relative position of the centering manipulator and the battery loading and unloading fingers, so that the battery pack buckle on the unmanned aerial vehicle or the battery taking switch shaft can be pushed by the battery pack buckle controlled by the steering engine assembly to load and unload the battery fingers, and the battery pack can be smoothly unlocked and taken out from the battery compartment or the unmanned aerial vehicle.

Drawings

Fig. 1 is the utility model discloses unmanned aerial vehicle trades electric mechanical arm system's position structure graph.

Fig. 2 is the utility model discloses unmanned aerial vehicle trades electric mechanical arm system's structural principle diagram.

Fig. 3 is the utility model discloses unmanned aerial vehicle trades structure schematic diagram of tray assembly among electric mechanical arm system.

Fig. 4 is the utility model discloses unmanned aerial vehicle trades one-level platform assembly's among the electric mechanical arm system structural principle diagram.

Fig. 5 is the utility model discloses unmanned aerial vehicle trades electric mechanical arm system in the structure schematic diagram of secondary platform assembly.

Fig. 6 is the utility model discloses unmanned aerial vehicle trades structure schematic diagram of revolving stage assembly in electric mechanical arm system.

Fig. 7 is the utility model discloses unmanned aerial vehicle trades structure schematic diagram of manipulator assembly among electric mechanical arm system.

Description of the drawings: 3. a battery replacement manipulator assembly, 30, a tray assembly, 301, a lifting platform, 302, a primary platform translation motor, 303, a motor mounting bracket, 304, a primary platform translation driving screw, 305, a primary platform translation screw base, 306, a primary platform translation guide rail, 31, a primary platform assembly, 310, a primary platform translation nut, 311, a primary platform translation slider, 32, a secondary platform assembly, 320, a battery loading and unloading finger, 321, a battery guide plate assembly, 322, a secondary platform parking apron, 323, a centering manipulator assembly translation motor, 324, a centering manipulator assembly driving belt, 325, a centering manipulator assembly driving screw, 326, a centering manipulator assembly translation guide rail, 327, a secondary platform translation slider, 328, a steering engine, a mounting bracket assembly, 329, a steering engine assembly, 33, a rotary table assembly, 330, a secondary platform translation screw, 331. the device comprises a secondary platform translation guide rail, 332, a secondary platform translation motor, 333, a secondary platform driving belt, 334, a rotary table driving motor assembly, 335, a rotary table driving worm gear, 34, a centering manipulator assembly, 340, a centering motor assembly, 341, a centering frame assembly, 342, a photoelectric sensing piece, 343, a photoelectric sensor assembly, 345, a lower linear guide rail, 346, a right supporting plate, 347, a right electricity taking manipulator, 348, a centering manipulator translation nut, 349, a left electricity taking manipulator, 350, a left supporting plate, 351, a centering manipulator assembly moving slide block, 352, a centering gear, 353, an upper rack, 354, a lower rack, 355 and an upper linear guide rail.

Detailed Description

The invention is further described below with reference to the drawings and specific preferred embodiments.

As shown in fig. 1, unmanned aerial vehicle trades electric mechanical arm system, its characterized in that: including trading electric manipulator assembly 3, trade electric manipulator assembly 3 include tray assembly 30 and centering manipulator assembly 34, tray assembly 30 pass through telescoping device and rotary device and be connected with centering manipulator assembly 34 transmission, the telescoping device be used for driving centering manipulator assembly 34 concertina movement, rotary device be used for driving the relative tray assembly 30 of centering manipulator assembly 34 and rotate, centering manipulator assembly 34 including the manipulator that is used for snatching the unmanned aerial vehicle group battery, centering manipulator assembly 34 be used for controlling the manipulator to press from both sides the clamp of unmanned aerial vehicle battery and break away from.

As shown in fig. 2, the battery replacing robot assembly 3 further includes a primary platform assembly 31, a secondary platform assembly 32 and a rotating platform assembly 33; the secondary platform assembly 32 is in transmission connection with the centering manipulator assembly 34, and the secondary platform assembly 32 is used for driving the centering manipulator assembly 34 to move telescopically; the rotating table assembly 33 is fixedly connected with the primary platform assembly 31, the rotating table assembly 33 is used for driving the secondary platform assembly 32 to move in a telescopic manner, and the rotating table assembly 33 is used for driving the primary platform assembly 31 and the secondary platform assembly 32 to rotate relatively; the primary platform assembly 31 is in transmission connection with the tray assembly 30, and the tray assembly 30 is used for driving the primary platform assembly 31 to move in a telescopic mode.

The telescopic device between the tray assembly 30 and the primary platform assembly 31, the telescopic device between the rotary table assembly 33 and the secondary platform assembly 32 and the telescopic device for controlling the manipulator in the centering manipulator assembly 34 jointly form a three-stage telescopic structure, so that the occupied space size of the manipulator structure is greatly reduced, and meanwhile, the movement stroke range of the manipulator is guaranteed. The rotating table assembly 33 is arranged to enable the manipulator to reciprocate between the unmanned aerial vehicle and the battery compartment on different sides.

As shown in fig. 3, tray assembly 30 includes the tray bottom plate, the both sides of tray bottom plate outwards extend and form lifting table 301, the upper surface top of tray bottom plate be provided with one-level platform translation drive lead screw 304, one-level platform translation drive lead screw 304 both ends pass through one-level platform translation lead screw base 305 fixed mounting at tray bottom plate upper surface, one-level platform translation drive lead screw 304 one end be connected with one-level platform translation motor 302's output shaft transmission, one-level platform translation drive lead screw 304's both sides be provided with one-level platform translation guide rail 306, one-level platform translation motor 302 pass through motor installing support 303 fixed mounting at tray bottom plate upper surface, one-level platform translation guide rail 306 parallel with one-level platform translation drive lead screw 304.

As shown in fig. 4, the primary platform assembly 31 includes a primary platform substrate, a translation nut 310 is fixedly mounted on a lower surface of the primary platform substrate, the translation nut 310 is in threaded connection with the primary platform translation driving screw 304, translation sliding blocks 311 are arranged on two sides of the translation nut 310, and the translation sliding blocks 311 are in sliding connection with the primary platform translation guide rails 306.

The first-level platform assembly 31 is used as a transition device for connecting the rotating platform assembly 33 and the tray assembly 30, the bottom of the first-level platform assembly 31 is connected with the telescopic structure of the tray assembly 30, and the top of the first-level platform assembly 31 is connected with the rotating structure of the rotating platform assembly 33, so that smooth connection of two transmission structures is guaranteed.

As shown in fig. 6, the rotating platform assembly 33 includes a fixed platform and a rotating platform, the rotating platform passes through the top of the rotating shaft fixed on the fixed platform, the rotating platform passes through the rotating platform driving worm gear 335 and is connected with the rotating platform driving motor assembly 334 in a transmission manner, the fixed platform is connected with the first-level platform substrate fixed on the first-level platform assembly 31, the rotating platform top is fixedly installed with a second-level platform translation screw 330, one end of the second-level platform translation screw 330 is connected with the output shaft of the second-level platform translation motor 332 in a transmission manner, and the two sides of the second-level platform translation screw 330 are provided with second-level platform translation guide rails 331. Two ends of the secondary platform translation lead screw 330 are fixedly mounted on the surface of the rotary platform through bearing seats, one end of the secondary platform translation lead screw 330 is in transmission connection with an output shaft of a secondary platform translation motor 332 through a secondary platform driving belt 333, and the secondary platform translation guide rail 331 is arranged in parallel with the secondary platform translation lead screw 330.

The battery storage system 4 is mainly used as the stroke of the rotating platform assembly 33, the battery compartments are vertically arranged, the grabbing of the battery pack in the unmanned aerial vehicle can be realized in a centering mode when the manipulator is located on the front side, and the grabbing of the battery pack in the battery compartments can be realized when the manipulator is located on the side.

As shown in fig. 5, in this embodiment, the secondary platform assembly 32 includes a secondary platform apron 322, a secondary platform translation nut screwed with the secondary platform translation screw 330 is fixedly installed on a lower surface of the secondary platform apron 322, secondary platform translation sliders 327 are fixedly installed on two sides of the secondary platform translation nut, the secondary platform translation sliders 327 are slidably connected with a secondary platform translation guide rail 331, a battery guide plate assembly 321 is formed by extending the front end of the secondary platform apron 322 outwards, a battery handling finger 320 is fixedly installed on the upper surface of the battery guide plate assembly 321, a steering engine mounting bracket assembly 328 is fixedly connected above the secondary platform apron 322, the steering engine assembly 329 is in transmission connection with the battery handling finger 320 and is used for controlling a working state of the battery handling finger 320, and a centering manipulator assembly translation guide rail 326 and a centering manipulator assembly driving screw 325 are fixedly mounted on the side surface of the secondary platform parking apron 322, and one end of the centering manipulator assembly driving screw 325 is in transmission connection with an output shaft of a centering manipulator assembly translation motor 323. Centering manipulator assembly drive lead screw 325 both ends all through bearing frame fixed mounting in the side of second grade platform air park 322, centering manipulator assembly drive lead screw 325 one end through centering manipulator assembly drive belt 324 and centering manipulator assembly translation motor 323's output shaft transmission, two sets of centering manipulator assembly translation guide rails 326 set up respectively in the both sides of second grade platform air park 322, centering manipulator assembly translation guide rails 326 all are parallel with centering manipulator assembly drive lead screw 325.

As shown in fig. 7, the centering manipulator assembly 34 includes a centering frame assembly 341, the centering frame assembly 341 is a frame structure, the bottom of the centering frame assembly 341 is slidably connected to the centering manipulator assembly translation guide rail 326 through a centering manipulator assembly moving slider 351, the bottom of the centering frame assembly 341 is further fixedly installed with a centering manipulator translation nut 348, the centering manipulator translation nut 348 is threadedly connected to the centering manipulator assembly driving screw 325, the manipulator is fixedly installed in the centering frame assembly 341, the centering frame assembly 341 is fixedly installed with a photoelectric sensor assembly 343, the photoelectric sensor piece 342 is fixedly installed above the manipulator, the photoelectric sensor piece 342 and the photoelectric sensor assembly 343 are used for limiting the stroke end of the manipulator, the centering frame assembly 341 is fixedly installed with a centering motor assembly 340, the centering motor assembly 340 is in transmission connection with a mechanical arm of the mechanical arm and is used for controlling the working state of the mechanical arm.

The manipulator includes left electricity-taking manipulator 349 and right electricity-taking manipulator 347, left electricity-taking manipulator 349 pass through left fagging 350 and last rack 353 fixed connection, right electricity-taking manipulator 347 pass through right fagging 346 and lower rack 354 fixed connection, last rack 353 and last linear guide rail 355 sliding connection, lower rack 354 and lower linear guide rail 345 sliding connection, last linear guide rail 355 and lower linear guide rail 345 set up relatively and all with centering frame assembly 341 fixed connection, lower rack 354 and last rack 353 set up and distribute in centering gear 352 both sides relatively, lower rack 354 and last rack 353 all with centering gear 352 meshing transmission connection, centering gear 352 and centering motor assembly 340's output shaft transmission connection.

Further, the primary platform translation driving screw 304, the secondary platform translation driving screw 330 and the centering manipulator assembly driving screw 325 are parallel to each other, accurate telescopic motion can be performed under the driving of corresponding motor controllers, the adoption of a plurality of groups of telescopic devices not only reduces the axial size of the electric replacement manipulator assembly 3, but also improves the displacement efficiency of the manipulator due to the synchronous operation of three groups of driving motors. Photoelectric sensing piece 342 and photoelectric sensing ware assembly 343 of manipulator top installation can make the accurate stable clamp of two sets of arms get the unmanned aerial vehicle group battery, can prevent that great drive power of great arm when getting the battery from causing the damage of arm or group battery. The lower rack 354 and the upper rack 353 are oppositely arranged and distributed on two sides of the centering gear 352, and the centering gear 352 is in meshing transmission connection, so that the lower rack 354 and the upper rack 353 can move towards opposite directions when the centering gear 352 rotates, and meanwhile, the left electricity taking manipulator 349 and the right electricity taking manipulator 347 are driven to perform clamping movement or loosening movement.

Further, the device for implementing the telescopic motion or the rotational motion of the actuator such as the lead screw, the rack and the like by using the driving motor as the driving device is not the only embodiment, and the existing reciprocating driving schemes including but not limited to pneumatic driving, hydraulic driving and the like can be considered to fall within the protection scope of the present application.

Above only the utility model discloses an it is preferred embodiment, the utility model discloses a scope of protection not only limits in above-mentioned embodiment, and the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, a plurality of modifications and decorations without departing from the principle of the present invention should be considered as the protection scope of the present invention.

Claims

1. Unmanned aerial vehicle trades electric mechanical arm system, its characterized in that: including trading electric manipulator assembly (3), trade electric manipulator assembly (3) including tray assembly (30) and centering manipulator assembly (34), tray assembly (30) be connected with centering manipulator assembly (34) transmission through telescoping device and rotary device, the telescoping device be used for driving centering manipulator assembly (34) concertina movement, rotary device be used for driving relative tray assembly (30) rotation of centering manipulator assembly (34), centering manipulator assembly (34) including the manipulator that is used for snatching the unmanned aerial vehicle group battery, centering manipulator assembly (34) be used for controlling the clamp of manipulator to the unmanned aerial vehicle battery to get and break away from.

2. The unmanned aerial vehicle trades electric mechanical arm system of claim 1, characterized in that: the battery replacement manipulator assembly (3) further comprises a primary platform assembly (31), a secondary platform assembly (32) and a rotating platform assembly (33);

the secondary platform assembly (32) is in transmission connection with the centering manipulator assembly (34), and the secondary platform assembly (32) is used for driving the centering manipulator assembly (34) to move in a telescopic mode;

the rotary table assembly (33) is fixedly connected with the primary platform assembly (31), the rotary table assembly (33) is used for driving the secondary platform assembly (32) to do telescopic motion, and the rotary table assembly (33) is used for driving the primary platform assembly (31) and the secondary platform assembly (32) to rotate relatively;

the first-stage platform assembly (31) is in transmission connection with the tray assembly (30), and the tray assembly (30) is used for driving the first-stage platform assembly (31) to do telescopic motion.

3. The unmanned aerial vehicle trades electric mechanical arm system of claim 2, characterized in that: tray assembly (30) include the tray bottom plate, the outside extension in both sides of tray bottom plate form and lift platform (301), the upper surface top of tray bottom plate be provided with one-level platform translation drive lead screw (304), the both ends of one-level platform translation drive lead screw (304) pass through one-level platform translation lead screw base (305) fixed mounting at tray bottom plate upper surface, one-level platform translation drive lead screw (304) one end be connected with the output shaft transmission of one-level platform translation motor (302), the both sides of one-level platform translation drive lead screw (304) be provided with one-level platform translation guide rail (306).

4. The unmanned aerial vehicle trades electric mechanical arm system of claim 3, characterized in that: one-level platform assembly (31) include one-level platform base plate, the lower fixed surface of one-level platform base plate install translation nut (310), translation nut (310) and one-level platform translation drive lead screw (304) threaded connection, the both sides of translation nut (310) be provided with translation slider (311), translation slider (311) and one-level platform translation guide rail (306) sliding connection.

5. The unmanned aerial vehicle trades electric mechanical arm system of claim 4, characterized in that: revolving stage assembly (33) including fixed platform and rotary platform, rotary platform pass through rotation axis fixed mounting in fixed platform's top, rotary platform pass through revolving stage drive worm gear (335) and revolving stage driving motor assembly (334) transmission and be connected, fixed platform and the one-level platform base plate fixed connection of one-level platform assembly (31), rotary platform top fixed mounting have second grade platform translation lead screw (330), the one end of second grade platform translation lead screw (330) be connected with the output shaft transmission of second grade platform translation motor (332), the both sides of second grade platform translation lead screw (330) be provided with second grade platform translation guide rail (331).

6. The unmanned aerial vehicle trades electric mechanical arm system of claim 5, characterized in that: the two-stage platform assembly (32) comprises a two-stage platform parking apron (322), a two-stage platform translation nut in threaded connection with a two-stage platform translation lead screw (330) is fixedly mounted on the lower surface of the two-stage platform parking apron (322), two-stage platform translation sliding blocks (327) are fixedly mounted on two sides of the two-stage platform translation nut, the two-stage platform translation sliding blocks (327) are in sliding connection with a two-stage platform translation guide rail (331), the front end of the two-stage platform parking apron (322) extends outwards to form a battery guide plate assembly (321), a battery loading and unloading finger (320) is fixedly mounted on the upper surface of the battery guide plate assembly (321), the upper part of the two-stage platform parking apron (322) is fixedly connected with a steering engine assembly (329) through a mounting bracket assembly (328), the steering engine assembly (329) is in transmission connection with the battery loading and unloading finger (320) and is used for controlling the working state of the battery loading and unloading finger (320), and a centering manipulator assembly translation guide rail (326) and a centering manipulator assembly driving lead screw (325) are fixedly mounted on the side surface of the secondary platform parking apron (322), and one end of the centering manipulator assembly driving lead screw (325) is in transmission connection with an output shaft of a centering manipulator assembly translation motor (323).

7. The unmanned aerial vehicle trades electric mechanical arm system of claim 6, characterized in that: the centering manipulator assembly (34) comprises a centering frame assembly (341), the centering frame assembly (341) is of a frame structure, the bottom of the centering frame assembly (341) is in sliding connection with a centering manipulator assembly translation guide rail (326) through a centering manipulator assembly moving slide block (351), a centering manipulator translation nut (348) is further fixedly installed at the bottom of the centering frame assembly (341), the centering manipulator translation nut (348) is in threaded connection with a centering manipulator assembly driving lead screw (325), the manipulator is fixedly installed in the centering frame assembly (341), a photoelectric sensor assembly (343) is fixedly installed on the centering frame assembly (341), a photoelectric sensor sheet (342) is fixedly installed above the manipulator, and the photoelectric sensor sheet (342) and the photoelectric sensor assembly (343) are used for limiting the stroke end of a mechanical arm of the manipulator, the centering frame assembly (341) is fixedly provided with a centering motor assembly (340), and the centering motor assembly (340) is in transmission connection with a mechanical arm of the mechanical arm and is used for controlling the working state of the mechanical arm.

8. The unmanned aerial vehicle trades electric mechanical arm system of claim 7, characterized in that: the manipulator comprises a left electricity taking manipulator (349) and a right electricity taking manipulator (347), the left electricity taking manipulator (349) is fixedly connected with the upper rack (353) through a left supporting plate (350), the right electricity taking manipulator (347) is fixedly connected with the lower rack (354) through a right supporting plate (346), the upper rack (353) is connected with the upper linear guide rail (355) in a sliding way, the lower rack (354) is connected with the lower linear guide rail (345) in a sliding way, the upper linear guide rail (355) and the lower linear guide rail (345) are oppositely arranged and are fixedly connected with the centering frame assembly (341), the lower rack (354) and the upper rack (353) are oppositely arranged and distributed at two sides of the centering gear (352), the lower rack (354) and the upper rack (353) are in meshed transmission connection with the centering gear (352), the centering gear (352) is in transmission connection with an output shaft of the centering motor assembly (340).