CN215361872U

CN215361872U - Automatic battery replacing device for unmanned aerial vehicle

Info

Publication number: CN215361872U
Application number: CN202121535404.2U
Authority: CN
Inventors: 狄夫岱; 张昌征; 姜华; 李军; 杨腾腾; 谢忠; 韩洪豆
Original assignee: State Grid Xuzhou Power Supply Co; Xuzhou New Power Hi Tech Electric Co ltd
Current assignee: State Grid Xuzhou Power Supply Co; Xuzhou New Power Hi Tech Electric Co ltd; Xuzhou Power Supply Co of State Grid Jiangsu Electric Power Co Ltd
Priority date: 2021-07-07
Filing date: 2021-07-07
Publication date: 2021-12-31
Anticipated expiration: 2031-07-07

Abstract

The utility model discloses an automatic battery replacing device for an unmanned aerial vehicle, belongs to the technical field of unmanned aerial vehicle matching devices, and is designed for solving the problems that an existing unmanned aerial vehicle battery assembly is not firm in installation and the like. The utility model discloses an unmanned aerial vehicle battery automatic replacing device which comprises an installation socket arranged on an unmanned aerial vehicle, a battery assembly matched with the installation socket, and a manipulator assembly used for clamping and carrying the battery assembly, wherein the installation socket is provided with one of a female head and a male head, and a fixing frame used for fixing the battery assembly, the battery assembly is provided with the other of the female head and the male head, and the manipulator assembly is provided with a clamping piece and a driving device used for driving the clamping piece to move. The unmanned aerial vehicle battery automatic replacing device is more stable in overall structural connection and strong in shock resistance, and a battery assembly cannot easily fall off from an installation socket, so that the unmanned aerial vehicle battery automatic replacing device is safer to use; the dismouting is more convenient, and connection structure is more stable, can effectively save time and manpower.

Description

Automatic battery replacing device for unmanned aerial vehicle

Technical Field

The utility model relates to the technical field of unmanned aerial vehicle matching devices, in particular to an automatic replacing device for an unmanned aerial vehicle battery.

Background

An unmanned aircraft is an unmanned aircraft that is operated by a radio remote control device and self-contained program control devices, and may also be operated autonomously, either fully or intermittently, by an on-board computer. The unmanned plane is abbreviated as unmanned aerial vehicle and English is abbreviated as UAV.

Need set up battery or battery charging outfit on the unmanned aerial vehicle, provide the electric energy for unmanned aerial vehicle's each part. Wherein, use to charge and set up to unmanned aerial vehicle when charging, unmanned aerial vehicle need park for a long time on charging platform, influence availability factor, it is convenient inadequately.

When the battery is used, the battery and the main body of the unmanned aerial vehicle are usually fixed by means of special adhesive bonding or binding. Because the battery has certain weight, the requirement on the strength of a bonding or binding structure is higher, so that the use amount of bonding materials is larger or the binding time is longer; the ability that bonding or the connected mode of bundling antidetonation was moved is relatively poor, because air current or other external factors can lead to unmanned aerial vehicle to produce vibrations or jolt often in the flight in-process, and the battery is easy to loosen at this moment and takes off, has certain danger.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an automatic unmanned aerial vehicle battery replacing device with a more firmly-installed battery pack.

In order to achieve the purpose, the utility model adopts the following technical scheme:

the utility model provides an automatic change device of unmanned aerial vehicle battery, including set up installation socket on unmanned aerial vehicle, with installation socket matched with battery pack and be used for the centre gripping transport battery pack's manipulator subassembly, be provided with one of female head and public first both on the installation socket and be used for fixing battery pack's mount, be provided with on the battery pack female head with another person in the public head, be provided with the holder on the manipulator subassembly and be used for the drive arrangement that the holder removed.

Particularly, the mounting socket is provided with a limiting lock catch for preventing the battery assembly from being separated from the fixing frame.

Particularly, the driving device comprises an X-axis mechanical arm, a Y-axis mechanical arm and a Z-axis mechanical arm, the X-axis mechanical arm is arranged on the Z-axis mechanical arm and can move along the Z-axis direction under the driving of the Z-axis mechanical arm, the Y-axis mechanical arm is arranged on the X-axis mechanical arm and can move along the X-axis direction under the driving of the X-axis mechanical arm, and the clamping piece is arranged on the Y-axis mechanical arm and can move along the Y-axis direction under the driving of the Y-axis mechanical arm.

Particularly, the manipulator assembly is further provided with a clamping power source for driving the clamping piece to stretch and open and close, and the clamping power source is arranged on the Y-axis manipulator.

In particular, the automatic battery replacement device for the unmanned aerial vehicle further comprises a plurality of battery bins for charging the battery assembly.

In particular, the automatic battery exchange device for the unmanned aerial vehicle further comprises a parking apron for parking the unmanned aerial vehicle.

Particularly, the parking apron comprises a bottom surface and two supporting surfaces which extend obliquely upwards along two side edges of the bottom surface respectively, and an included angle between the bottom surface and the supporting surfaces is an obtuse angle.

In particular, a sensor bracket is also arranged on the parking apron.

In particular, the automatic unmanned aerial vehicle battery replacement device further comprises a base frame, and the driving device and the apron are respectively arranged on the base frame.

In particular, universal wheels are arranged below the base frame.

The unmanned aerial vehicle battery automatic replacing device comprises an installation socket arranged on an unmanned aerial vehicle, a battery assembly matched with the installation socket, and a manipulator assembly used for clamping and carrying the battery assembly, wherein the battery assembly is fixedly connected by using the installation socket, the whole structure is more stable in connection and strong in shock resistance, the battery assembly cannot easily fall off from the installation socket in the processes of high-speed flight of the unmanned aerial vehicle, deflection or rolling at various angles, air flow and the like, the use is safer, and the problem that the battery assembly is easy to fall off in the existing structure is solved; realize connecting through the cooperation of public head and female head between battery pack and the installation socket, the dismouting is more convenient, and connection structure is more stable, can effectively save time and manpower to improve unmanned aerial vehicle's the efficiency of patrolling and examining.

Drawings

Fig. 1 is a schematic structural diagram of an automatic battery changer for an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 2 is a front view of an automatic battery changer for an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 3 is a left side view of an automatic battery changer for an unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a mounting socket provided in accordance with an embodiment of the present invention;

FIG. 5 is a schematic structural view of a battery pack according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a clamping member according to an embodiment of the present invention.

In the figure:

1. an unmanned aerial vehicle; 2. installing a socket; 3. a battery assembly; 5. a battery compartment; 6. parking apron; 7. a base frame; 21. a female head; 22. a fixed mount; 23. limiting and locking; 31. a male head; 41. a clamping member; 42. an X-axis mechanical arm; 43. a Y-axis mechanical arm; 44. a Z-axis mechanical arm; 45. clamping a power source; 46. a placement platform; 61. a sensor holder; 71. a universal wheel.

Detailed Description

The technical scheme of the utility model is further explained by the specific implementation mode in combination with the attached drawings.

This embodiment discloses an automatic device of changing of unmanned aerial vehicle battery for the battery that finishes that charges is changed for the rechargeable battery of treating on the unmanned aerial vehicle automatically, need not manual operation. As shown in fig. 1 to 6, the automatic battery replacement device for the unmanned aerial vehicle comprises an installation socket 2, a battery assembly 3 and a manipulator assembly, wherein the installation socket 2 is arranged on the unmanned aerial vehicle 1, the battery assembly 3 can be inserted into the installation socket 2 to supply power to the unmanned aerial vehicle 1, and the manipulator assembly is used for clamping and carrying the battery assembly 3. Specifically, the mounting socket 2 is provided with a female head 21 and a fixing frame 22 for fixing the battery assembly 3, the battery assembly 3 is provided with a male head 31 matched with the female head 21, and the manipulator assembly is provided with a clamping piece 41 and a driving device for driving the clamping piece 41 to move. Of course, the male connector 31 may be provided on the mounting socket 2 and the female connector 21 may be provided on the battery assembly 3, and the same effects are obtained. The male head 31 is preferably a plug of XT90, and the female head 21 is preferably a butt joint of XT 90.

The automatic battery replacing device of the unmanned aerial vehicle is fixedly connected with the battery component 3 by using the mounting socket 2, the whole structure is more stable in connection and strong in shock resistance, the battery component 3 cannot easily fall off from the mounting socket 2 in the processes of high-speed flight, deflection or rolling at various angles, airflow and the like of the unmanned aerial vehicle 1, and the use is safer; realize connecting through the cooperation of public head 31 and female head 21 between battery pack 3 and the installation socket 2, the dismouting is more convenient, and connection structure is more stable, can effectively save time and manpower to improve unmanned aerial vehicle 1's the efficiency of patrolling and examining.

The specific manner of fixing the battery assembly 3 by the mounting socket 2 is not limited, and any method such as interference fit which can prevent the battery assembly 3 from falling off from the mounting socket 2 may be used. Preferably, the mounting socket 2 is provided with a limiting latch 23 for preventing the battery assembly 3 from being released from the fixing frame 22, and the limiting latch 23 is disposed at the open end of the fixing frame 22. The limiting lock 23 can abut against the outer end of the battery component 3 when closed, and limits the outward movement of the battery component 3; after the limiting lock 23 is opened, the battery component 3 can freely move outwards, and the battery component 3 can be mounted and dismounted.

The specific structure of the driving device is not limited, and the driving device can drive the clamping piece 41 to move in a three-dimensional space. Preferably, the driving device includes an X-axis robot 42, a Y-axis robot 43, and a Z-axis robot 44, the X-axis robot 42 is disposed on the Z-axis robot 44 and can move in the Z-axis direction by being driven by the Z-axis robot 44, the Y-axis robot 43 is disposed on the X-axis robot 42 and can move in the X-axis direction by being driven by the X-axis robot 42, and the gripper 41 is disposed on the Y-axis robot 43 and can move in the Y-axis direction by being driven by the Y-axis robot 43. That is, the clamping member 41 can be moved to the target position along the three-dimensional coordinates (X, Y and Z) under the common driving of the X-axis robot 42, the Y-axis robot 43 and the Z-axis robot 44, so as to realize the taking and placing and the dismounting of the battery assembly 3.

The connection relationship between the clamping piece 41 and the battery assembly 3 is not limited, the width of the battery assembly 3 can be designed to be slightly larger than that of the clamping piece 41, and the battery assembly 3 penetrates into the clamping piece 41 to form a clamping relationship; preferably, a clamping power source 45 may be further provided, and the clamping power source 45 drives the clamping member 41 to extend and contract, so that the clamping member 41 can stably grip and carry the battery assembly 3 regardless of changes in the shape and size of the battery assembly 3. The clamping power source 45 is preferably arranged on the Y-axis mechanical arm 43, and the clamping piece 41 is connected to the head end of the clamping power source 45; the clamping power source 45 may be, but is not limited to, an electric motor, an air cylinder, or a hydraulic cylinder.

On the basis of above-mentioned structure, the automatic device of changing of unmanned aerial vehicle battery still includes a plurality of battery compartment 5 that are used for charging for battery pack 3, can change battery pack 3 for many unmanned aerial vehicles 1 in succession. The battery pack 3 that the electric quantity that follow the dismantlement on unmanned aerial vehicle 1 is not enough can directly put into battery compartment 5 and charge, and the battery pack 3 that has charged in battery compartment 5 can take out at any time and install on unmanned aerial vehicle 1, and it is more convenient to use, and battery pack 3 changes efficiently.

On the basis of above-mentioned structure, in order to make unmanned aerial vehicle 1 change 3 in-process of battery pack more stable, unmanned aerial vehicle battery automatic exchange device still includes the air park 6 that is used for parking unmanned aerial vehicle 1. The air park 6 comprises a bottom surface and two supporting surfaces which extend obliquely upwards along two side edges of the bottom surface respectively, an included angle between the bottom surface and the supporting surfaces is an obtuse angle, the air park 6 does not need to be replaced when the size of the parked unmanned aerial vehicle 1 is changed, and the supporting surfaces which are obliquely arranged can allow the unmanned aerial vehicles 1 with different sizes to select qualified width for parking.

In order to prevent the unmanned aerial vehicle 1 from falling off the apron 6 or from hitting the apron 6 when the position of the unmanned aerial vehicle 1 is adjusted when landing, the sensor support 61 is preferably provided on the apron 6, so that the unmanned aerial vehicle 1 can clearly and accurately know the position of the apron 6 and the boundary of the apron 6, and the unmanned aerial vehicle 1 can accurately stop at a proper position.

The specific installation position of the apron 6 is not limited, and preferably, the automatic unmanned aerial vehicle battery replacement device further comprises a base frame 7, and the driving device and the apron 6 are respectively arranged on the base frame 7. The below of base frame 7 is provided with universal wheel 71, can remove suitable position department with whole unmanned aerial vehicle battery automatic exchange device as required, uses more convenient nimble.

The using method comprises the following steps:

this automatic change device of unmanned aerial vehicle battery can use independent manipulator to snatch battery pack 3 and have holder 41 to be responsible for installing battery pack 3 into installation socket 2, also can directly use holder 41 to snatch battery pack 3 from battery compartment 5. In the present embodiment, a method for using the automatic battery replacement device for an unmanned aerial vehicle is described by taking the clamp 41 as an example.

The unmanned aerial vehicle 1 lands on the parking apron 6, the clamping piece 41 moves to the position below the installation socket 2 of the unmanned aerial vehicle 1 under the combined action of the X-axis mechanical arm 42, the Y-axis mechanical arm 43 and the Z-axis mechanical arm 44, and the limiting lock catch 23 is opened; the clamping piece 41 moves to the opening end of the installation socket 2, clamps the battery assembly 3 and pulls out the battery assembly 3 outwards until the battery assembly 3 moves to the object placing platform 46 along with the clamping piece 41, and the object placing platform 46 is arranged on the Y-axis mechanical arm 43; the X-axis mechanical arm 42, the Y-axis mechanical arm 43 and the Z-axis mechanical arm 44 work together to move the object placing platform 46 to the empty target battery compartment 5, the clamping piece 41 pushes forward along the object placing platform 46, and the disassembled battery assembly 3 is pushed into the battery compartment 5 to start charging; the clamping piece 41 is moved to the battery compartment 5 filled with the full-energy battery assembly 3, the clamping piece 41 clamps and takes out the full-energy battery assembly 3 from the battery compartment 5, and the clamping power source 45 controls the clamping piece 41 to retreat until the battery assembly 3 is placed on the placing platform 46; the clamping piece 41 moves to the opening end of the installation socket 2, and the battery assembly 3 on the object placing platform 46 is pushed into the installation socket 2; the clamping piece 41 moves to the position below the installation socket 2 of the unmanned aerial vehicle 1 to buckle the limiting lock catch 23; the clamp 41 is reset.

It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the utility model. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. The utility model provides an automatic device that changes of unmanned aerial vehicle battery, its characterized in that, including setting up installation socket (2) on unmanned aerial vehicle (1), with installation socket (2) matched with battery pack (3) and be used for the centre gripping transport the manipulator subassembly of battery pack (3), be provided with on installation socket (2) female head (21) and public head (31) one in both and be used for fixing mount (22) of battery pack (3), be provided with on battery pack (3) female head (21) with another in public head (31), be provided with on the manipulator subassembly holder (41) and be used for the drive arrangement that holder (41) removed.

2. The automatic battery exchange device for unmanned aerial vehicles according to claim 1, wherein the mounting socket (2) is provided with a limit catch (23) for preventing the battery assembly (3) from coming out of the fixing frame (22).

3. The automatic battery exchanging apparatus according to claim 1, wherein the driving means includes an X-axis robot (42), a Y-axis robot (43), and a Z-axis robot (44), the X-axis robot (42) is disposed on the Z-axis robot (44) and is movable in a Z-axis direction by the driving of the Z-axis robot (44), the Y-axis robot (43) is disposed on the X-axis robot (42) and is movable in an X-axis direction by the driving of the X-axis robot (42), and the gripper (41) is disposed on the Y-axis robot (43) and is movable in a Y-axis direction by the driving of the Y-axis robot (43).

4. The automatic unmanned aerial vehicle battery replacement device according to claim 3, wherein a clamping power source (45) for driving the clamping piece (41) to extend and retract and to open and close is further arranged on the manipulator assembly, and the clamping power source (45) is arranged on the Y-axis mechanical arm (43).

5. The automatic unmanned-machine battery replacement device according to claim 1, further comprising a plurality of battery compartments (5) for charging the battery assembly (3).

6. The automatic unmanned-aerial-battery-replacement device according to any one of claims 1 to 5, further comprising a tarmac (6) for parking the unmanned aerial vehicle (1).

7. The automatic unmanned-aerial-vehicle battery replacement device according to claim 6, wherein the apron (6) comprises a bottom surface and two supporting surfaces extending obliquely upward along two side edges of the bottom surface, respectively, and an included angle between the bottom surface and the supporting surfaces is an obtuse angle.

8. The automatic unmanned-machine battery replacement device according to claim 6, wherein a sensor bracket (61) is further provided on the apron (6).

9. The automatic unmanned-machine battery replacement device according to claim 6, further comprising a base frame (7), wherein the driving device and the apron (6) are respectively disposed on the base frame (7).

10. The automatic unmanned-machine battery replacement device according to claim 9, wherein universal wheels (71) are provided below the base frame (7).