CN217345487U

CN217345487U - Unmanned aerial vehicle's automatic device of changing of battery

Info

Publication number: CN217345487U
Application number: CN202221370993.8U
Authority: CN
Inventors: 刘建冬
Original assignee: Shanghai Uvs Intelligent System Co ltd
Current assignee: Shanghai Uvs Intelligent System Co ltd
Priority date: 2022-06-02
Filing date: 2022-06-02
Publication date: 2022-09-02
Anticipated expiration: 2032-06-02

Abstract

The utility model relates to an automatic device of changing of unmanned aerial vehicle's battery. The automatic battery replacement device includes: electronic clamping jaw, button shifting block and arm. The mechanical arm comprises a fixed end, a plurality of rotating mechanisms and a moving end; the rotating mechanisms are sequentially and fixedly connected to form a driving part, one end of the driving part is fixedly connected with the fixed end, and the other end of the driving part is fixedly connected with the movable end; the electric clamping jaw is fixedly arranged on the moving end; the button shifting block is fixed on the electric clamping jaw. The mechanical arm drives the electric clamping jaw to clamp the battery button to open a battery lock of the battery compartment of the unmanned aerial vehicle, then drives the button shifting block to move the battery part out of the battery compartment, and then drives the electric clamping jaw to clamp the battery to take out the battery; the mechanical arm can also drive the electric clamping jaw to install the battery to be installed in the battery compartment. The utility model discloses a need not the precision connection between electronic clamping jaw, button shifting block and the arm, the part is difficult impaired, has reduced the step of installation, has reduced installation cost.

Description

Automatic battery replacing device of unmanned aerial vehicle

Technical Field

The utility model relates to an unmanned aerial vehicle equipment technical field especially relates to an unmanned aerial vehicle's automatic device of changing of battery.

Background

Current unmanned aerial vehicle changes battery technical scheme and mostly is nonstandard structural design, uses servo motor to drive the lead screw motion, and the mechanism needs linear slide rail as the track, constitutes the unipolar slide rail. Multiple axis motion can be achieved using multiple single axis slides, and such a mechanism requires tight control of the relative motion between the axes.

The assembly process of the single-shaft straight sliding rail needs higher precision, more parts are needed, the maintenance cost is high, if the installation precision cannot be achieved, the single-shaft straight sliding rail is extremely easy to damage, needs to be maintained regularly, is relatively troublesome in circuit control, needs to control the mutual matching of all motors, and is high in electrical and program development cost.

SUMMERY OF THE UTILITY MODEL

For solving the automatic problem of changing device installation cost height of unmanned aerial vehicle battery, the utility model provides an automatic device of changing of unmanned aerial vehicle's battery.

The utility model discloses a following technical scheme realizes: an automatic battery replacement device for an unmanned aerial vehicle, comprising: electric clamping jaw, button shifting block, arm.

The mechanical arm comprises a fixed end, a plurality of rotating mechanisms and a movable end. The plurality of rotating mechanisms are sequentially and fixedly connected to form a driving part. Wherein, two rotary mechanisms which are arbitrarily connected are vertically arranged. One end of the driving part is fixedly connected with the fixed end, and the other end of the driving part is fixedly connected with the movable end.

The electric clamping jaw is fixedly arranged on the moving end. The electric clamping jaw comprises a bracket, two clamping jaw fingers, two sliding blocks and an adjusting mechanism. Offer on the support and supply the gliding spout of two sliders, two sliders all with adjustment mechanism's one end swing joint, adjustment mechanism's the other end and support fixed connection. The two clamping jaw fingers are respectively and fixedly connected with the two sliding blocks.

The button shifting block comprises a telescopic tongue, a telescopic mechanism and an accommodating box. The telescopic mechanism is abutted against the telescopic tongue, and the telescopic mechanism and the telescopic tongue are both accommodated in the accommodating box. The holding box is fixedly arranged on the electric clamping jaw. The receiving box is provided with an opening for the telescopic tongue to move back and forth.

The utility model drives a plurality of rotating mechanisms step by step, namely the former rotating mechanism drives the rest rotating mechanisms to rotate integrally, thereby driving the moving end to move randomly in a spherical space and further driving the electric clamping jaw and the button shifting block to move; the two sliding blocks are driven to slide in the sliding grooves through the adjusting mechanism, so that the two clamping jaw fingers are driven to clamp the battery button, the electric clamping jaw is driven to rotate through the mechanical arm, and the battery button is driven to open a battery lock of the battery compartment of the unmanned aerial vehicle; the telescopic mechanism drives the telescopic tongue to move towards the outer side of the containing box, and the mechanical arm drives the button shifting block to move until the telescopic tongue drives the battery part to move out of the battery bin; the mechanical arm continues to drive the electric clamping jaw to clamp the battery, so that the battery is taken out. Similarly, the mechanical arm can drive the electric clamping jaw to install the battery to be installed into the battery cabin, so that the unmanned aerial vehicle battery is replaced. The utility model discloses a need not the precision connection between electronic clamping jaw, button shifting block and the arm, the part is difficult for impairedly, has reduced the step of installation, has reduced installation cost.

In one embodiment, the robotic arm is a six-axis robotic arm. Six arms have and remove nimble, advantage that the accuracy is high, have greatly simplified the operating procedure that unmanned aerial vehicle battery changed.

In one embodiment, the two jaw fingers are both U-shaped. Silica gel strips are pasted in the two clamping jaw fingers. The U-shaped structure is just adapted to the battery, so that the contact area of the two clamping jaw fingers is larger when the battery is clamped, the battery can be effectively prevented from falling off, and the clamping stability is improved. The silica gel strip can increase the friction force between the clamping jaw fingers and the battery knob or the battery, thereby improving the stability of clamping the battery knob or the battery by the two clamping jaw fingers

In one embodiment, the rotating mechanism includes a connecting shaft, a rotating shaft, and a servo motor. The rotating shaft is fixedly connected with the servo motor, the connecting shaft is fixedly connected with the rotating shaft, and the connecting shaft is perpendicular to the rotating shaft. The servo motor can drive the rotating shaft to rotate, and then drive the connecting shaft to rotate. Each connecting shaft can rotate along the central shaft of the rotating shaft connected with the connecting shaft, so that a plurality of rotating mechanisms can drive the movable end to move randomly in a spherical space.

In one embodiment, the adjusting mechanism comprises an electric telescopic rod, two first connecting rods and two second connecting rods. One end of the electric telescopic rod is fixedly installed on the support, the other end of the electric telescopic rod is fixedly connected with one end of the second connecting rod, the other end of the second connecting rod is rotatably connected with one ends of the first connecting rods, and the other ends of the first connecting rods are rotatably connected with the two sliding blocks respectively. The electric telescopic rod drives the second connecting rod to move, so that the first connecting rod and the second connecting rod are driven to rotate relatively, and the two sliding blocks are driven to slide relatively. The electric telescopic rod has the characteristic of stable operation, and the battery can be prevented from being damaged when the clamping jaw fingers are driven to clamp the battery.

In one embodiment, the button pusher further comprises a spring. The spring is fixedly arranged between the telescopic tongue and the telescopic mechanism. The spring can make flexible tongue elasticity remove, avoids causing the damage to battery or unmanned aerial vehicle's switch.

Further, the containing box comprises an upper cover and a lower cover, and the upper cover and the lower cover are fixedly connected relatively.

In one embodiment, the fingers of the clamping jaw and the button shifting block are both made of aluminum alloy pieces.

In one embodiment, the automatic battery replacing device further comprises an operation table. The fixed end is fixedly arranged on the operating platform.

In one embodiment, the automatic battery replacing device further comprises a fixing mechanism. The fixing mechanism is fixedly arranged on the operating platform.

The utility model discloses an automatic device of changing of unmanned aerial vehicle's battery compares with current automatic switch device:

1. the utility model discloses a need not the precision connection between electronic clamping jaw, button shifting block and the arm, the part is difficult impaired, has reduced the step of installation, has reduced installation cost.

2. Six arms have and remove nimble, advantage that the accuracy is high, have greatly simplified the operating procedure that unmanned aerial vehicle battery changed.

3. The slider steadily slides in the spout, can improve the stability that the clamping jaw finger removed, avoids battery or battery knob to slide when getting.

4. The clamping jaw finger of the U-shaped structure which is arranged oppositely is larger in contact area with the cylindrical battery or the battery knob, and the friction force between the clamping jaw finger and the battery can be increased through the silica gel strip, so that the clamping jaw finger is more stable when being clamped.

5. The spring is arranged on the telescopic tongue, so that the telescopic tongue can move elastically, and damage to a battery or a power switch of the unmanned aerial vehicle is avoided.

Drawings

Fig. 1 is the utility model discloses spatial structure schematic diagram when unmanned aerial vehicle's battery automatic change device centre gripping unmanned aerial vehicle battery of embodiment 1.

Fig. 2 is a schematic perspective view of the automatic battery replacing device of the unmanned aerial vehicle in fig. 1.

Fig. 3 is a front view structural diagram of the unmanned aerial vehicle in fig. 1 when the battery automatic replacing device presses the power switch of the unmanned aerial vehicle.

The reference numbers in the figures are: 1. a mechanical arm; 2. an electric jaw; 3. a button shifting block; 4. a jaw finger; 5. a battery knob; 6. a battery; 7. a telescopic tongue.

The present invention is described in further detail with reference to the drawings and the detailed description.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

It will be understood that when an element is referred to as being "mounted on" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.

Example 1

Please refer to fig. 1, which is a schematic perspective view of the battery automatic replacing device of the unmanned aerial vehicle clamping the battery of the unmanned aerial vehicle according to the embodiment. The automatic battery replacement device includes: the mechanical arm 1, the electric clamping jaw 2, the button shifting block 3, an operation table (not shown) and a fixing mechanism (not shown).

The robot arm 1 includes a fixed end, a driving portion, and a moving end. The driving part comprises a plurality of rotating mechanisms. The rotating mechanisms are sequentially and fixedly connected, and two adjacent rotating mechanisms are vertically arranged. The fixed end is fixedly connected with one end of the driving part, and the movable end is fixedly connected with the other end of the driving part. The rotating mechanism comprises a connecting shaft, a rotating shaft and a servo motor. One end and the servo motor fixed connection of rotation axis, the other end fixed connection of connecting axle and rotation axis, and the connecting axle sets up with the rotation axis is perpendicular. Among the rotating mechanisms connected in sequence, the first rotating mechanism is connected to, in this embodiment, the mechanical arm 1 is a six-axis mechanical arm, that is, the mechanical arm 1 includes six rotating mechanisms, and the six rotating mechanisms are fixedly connected in sequence. Of course, in other embodiments, the robot arm 1 may also include more or less rotation mechanisms as long as the electric clamping jaws 2 can be driven to clamp the battery knob 5 and the battery 6, and the button shifting block 3 can be driven to push the battery 6 and press the power switch of the drone.

The robot arm 1 can automatically replace the battery of the unmanned aerial vehicle after receiving a command for replacing the battery according to a preset program, and can also be matched with a plurality of operating levers to actively replace the battery of the unmanned aerial vehicle. The mechanical arm and the electric clamping jaw or the button shifting block do not need to be precisely connected, parts are not easy to damage, the steps of installation are reduced, and the installation cost is reduced.

The electric clamping jaw 2 comprises two clamping jaw fingers 4, two sliding blocks and an adjusting mechanism. The electric clamping jaw 2 is provided with a sliding groove for the sliding of the two sliding blocks, and the two clamping jaw fingers 4 are respectively fixed on the two sliding blocks. The adjusting mechanism comprises an electric telescopic rod, two first connecting rods and a second connecting rod. The two first connecting rods are respectively provided with one end which is respectively connected with the two sliding blocks in a rotatable mode, the other ends of the two first connecting rods are respectively connected with one end of the second connecting rod in a rotatable mode, and the electric telescopic rods are fixedly connected with the other ends of the second connecting rods. The electric telescopic rod drives the connecting rod II to translate, so that the two connecting rods I are driven to rotate relatively, the two sliding blocks are driven to slide relatively, and the two clamping jaw fingers 4 are driven to clamp or loosen the battery 6. The electric telescopic rod can drive the second connecting rod to move according to preset tension, and damage to the battery 6 or the battery knob 5 caused by overlarge clamping force of the two clamping jaw fingers 4 is avoided. The adjusting mechanism can also comprise a second electric telescopic rod and two second springs. Two springs II are arranged in the sliding groove, one ends of the two springs II are fixedly connected with the sliding block respectively, and the other ends of the two springs II are fixed on the electric clamping jaw 2 respectively. Two ends of the electric telescopic rod II are respectively fixed on the two sliding blocks. The two electric telescopic rods drive the two sliding blocks to move relatively, under the action of the elastic force of the two springs, the two sliding blocks slide symmetrically around the center of the sliding groove all the time, and then the two clamping jaw fingers 4 are driven to clamp or loosen the battery 6.

In this embodiment, two clamping jaw fingers 4 are U type structure, and all paste in two clamping jaw fingers 4 and have the silica gel strip. The U type structure just adapts to battery 6, and two clamping jaw fingers 4 are when centre gripping battery 6, and area of contact is bigger, can prevent battery 6 from droing effectively to improve the steadiness of centre gripping. The silica gel strip can increase the frictional force between clamping jaw finger 4 and battery knob 5 or battery 6 to improve the steadiness of two clamping jaw fingers 4 centre gripping battery knob 5 or centre gripping battery 6. Of course, in other embodiments, the clamping jaw fingers 4 may also be arc-shaped or block-shaped, as long as they can clamp the battery knob 5 or the battery 6. The clamping jaw fingers 4 can be aluminum alloy pieces, and can also be stainless steel pieces, wooden pieces and stone pieces. The jaw fingers 4 may be integrally formed or may be assembled.

The button shifting block 3 comprises a telescopic tongue 7, a telescopic mechanism, an accommodating box and a spring. The containing box can be fixedly arranged on the electric clamping jaw 2, and can also be directly fixedly arranged on the mechanical arm 1 and used for containing the telescopic tongue 7, the telescopic mechanism and the spring. The containing box comprises upper cover and the lower cover that sets up relatively, and upper cover and lower cover can be through two fixed connection of four screws, also can be through welded fastening. The containing box can be fixedly connected with the electric clamping jaw 2 through two screws III, and can also be directly welded on the electric clamping jaw 2 or the mechanical arm 1. The receiving box has an opening for the expansion tongue 7 to expand. The button shifting block 3 can be an aluminum alloy part, a stainless steel part, a wooden part or a stone part, and has the characteristics of high hardness, high stability and long service life.

Spring of fixed connection between flexible tongue 7 and the telescopic machanism, spring setting are in accepting the box, and flexible tongue 7 can elastic movement when drive battery 6 or unmanned aerial vehicle switch like this, avoids causing the damage to battery 6 or unmanned aerial vehicle switch. And the spring can limit the telescopic tongue 7, so that the telescopic tongue 7 is prevented from popping out of the containing box. The telescopic mechanism can be a cylinder or a telescopic rod as long as the telescopic mechanism can drive the telescopic tongue 7 to reciprocate. One end of a telescopic tongue 7 is driven by the telescopic mechanism to penetrate through the opening, the mechanical arm 1 drives the button shifting block 3 to move until the telescopic tongue 7 drives the battery 6 to enable the battery 6 to partially leave the battery bin, and then the mechanical arm 1 drives the electric clamping jaw 2 to clamp the battery 6. Arm 1 can also drive flexible tongue 7 and press unmanned aerial vehicle switch, accomplishes the start or shut down to unmanned aerial vehicle.

In this embodiment, at first, arm 1 drive electronic clamping jaw 2 moves the outside to battery knob 5 until two clamping jaw fingers 4, and two clamping jaw fingers 4 of adjustment mechanism drive press from both sides tight battery knob 5, and arm 1 drive electronic clamping jaw 2 rotates 90 to open the battery lock that is used for accomodating the battery compartment of battery 6 on the unmanned aerial vehicle, adjustment mechanism drives two clamping jaw fingers 4 immediately and loosens battery knob 5. The mechanical arm 1 drives the button shifting block 3 to move to the outer side of the battery compartment, the telescopic mechanism drives the telescopic tongue 7 to push the battery 6 through a through hole reserved in the battery compartment, and the battery 6 is partially pushed out of the battery compartment. Subsequently, the two gripper fingers 4 move to the outside of the battery 6, and the adjusting mechanism drives the two gripper fingers 4 to grip the battery 6, and then grips the battery 6. When installing a plurality of batteries 6 on the unmanned aerial vehicle, can adopt the same method to take out a plurality of batteries 6 respectively. The taken-out battery 6 can be placed in a corresponding battery box for charging, and similarly, the fully charged battery 6 in the battery box can also be installed in a battery lock of the unmanned aerial vehicle. Arm 1 can also drive button shifting block 3 and remove the outside to unmanned aerial vehicle switching power supply, and telescopic machanism drive flexible tongue 7 drives flexible tongue 7 and resets after pressing switching power supply to control unmanned aerial vehicle accomplishes the switching of power state.

The operation table may be a platform placed on the ground, or may be an object or a plane on which the robot arm 1 may be mounted, such as the ground, a table top, a wall, or the like. The fixing mechanism is used for fixing the unmanned aerial vehicle, and the fixed position can be on the operation panel, and also can be on the hangar or the parking lot that are used for depositing unmanned aerial vehicle. The fixing mechanism can be fixed by adopting a lock catch and can also be fixed by a clamping plate, so long as the unmanned aerial vehicle can be stably kept when the battery of the unmanned aerial vehicle is replaced.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent several embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, without departing from the concept of the present invention, several variations and modifications can be made, which all fall within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. The utility model provides an automatic device of changing of unmanned aerial vehicle's battery, its characterized in that, it includes:

a robot arm (1) including a fixed end, a plurality of rotating mechanisms, and a moving end; the rotating mechanisms are sequentially and fixedly connected to form a driving part, and two arbitrarily connected rotating mechanisms are vertically arranged; one end of the driving part is fixedly connected with the fixed end; the other end of the driving part is fixedly connected with the moving end;

an electric clamping jaw (2) fixedly arranged on the moving end; the electric jaw (2) comprises: the device comprises a bracket, two clamping jaw fingers (4), two sliding blocks and an adjusting mechanism; the bracket is provided with a sliding groove for the sliding of the two sliding blocks; the two clamping jaw fingers (4) are respectively fixed on the two sliding blocks; the two sliding blocks are movably connected with one end of the adjusting mechanism; the other end of the adjusting mechanism is fixedly connected with the bracket; and

the button shifting block (3) comprises a telescopic tongue (7), a telescopic mechanism and a containing box; the telescopic tongue (7) is abutted with the telescopic mechanism; the telescopic tongue (7) and the telescopic mechanism are both accommodated in the accommodating box; the accommodating box is fixedly connected with the electric clamping jaw (2); the containing box is provided with an opening for the telescopic tongue (7) to stretch.

2. The automatic battery replacement device for unmanned aerial vehicles according to claim 1, wherein the mechanical arm (1) is a six-axis mechanical arm.

3. The device for automatically replacing the battery of the unmanned aerial vehicle according to claim 1, wherein the two clamping jaw fingers (4) are of a U-shaped structure; silica gel strips are pasted in the two clamping jaw fingers (4).

4. The device of claim 1, wherein the rotating mechanism comprises a connecting shaft, a rotating shaft and a servo motor; the rotating shaft is fixedly connected with the servo motor; the connecting shaft with rotation axis fixed connection, just the connecting shaft with the rotation axis sets up perpendicularly.

5. The device of claim 1, wherein the adjusting mechanism comprises: the electric telescopic rod, the two first connecting rods and the two second connecting rods; one end of each of the two connecting rods is rotatably connected with the two sliding blocks; the other ends of the two first connecting rods are rotatably connected with one end of the second connecting rod; and the electric telescopic rod is fixedly connected with the other end of the second connecting rod.

6. The device of claim 1, wherein the button shifting block (3) further comprises a spring, and the spring is fixedly installed between the retractable tongue (7) and the accommodating box.

7. The device of claim 1, wherein the container comprises an upper cover and a lower cover, and the upper cover and the lower cover are fixedly connected with each other.

8. The automatic battery replacement device for the unmanned aerial vehicle as claimed in claim 1, wherein the clamping jaw fingers (4) and the button shifting block (3) are both aluminum alloy pieces.

9. The device of claim 1, further comprising an operation panel, wherein the fixed end is fixedly mounted on the operation panel.

10. The device of claim 9, further comprising a fixing mechanism, wherein the fixing mechanism is fixedly mounted on the console.