CN218641092U

CN218641092U - Automatic charging device of unmanned aerial vehicle

Info

Publication number: CN218641092U
Application number: CN202222907544.9U
Authority: CN
Inventors: 於鑫洋; 武慧宁; 郝泽浩; 张沁; 周珂佳; 谭宇硕
Original assignee: Shijiazhuang Post & Telecommunication Technical College
Current assignee: Shijiazhuang Post & Telecommunication Technical College
Priority date: 2022-11-02
Filing date: 2022-11-02
Publication date: 2023-03-17
Anticipated expiration: 2032-11-02

Abstract

The utility model discloses an automatic charging device of unmanned aerial vehicle belongs to the automatic technical field that charges of unmanned aerial vehicle. The device comprises a box body, a clamping device, a detection and identification device, a charging device and a control device; a cover is arranged on the box body; the clamping device comprises a slideway, a clamping rod and a first driving device; four slide ways are arranged, and guide holes corresponding to the four slide ways are arranged on the cover; clamping rods are connected to the four slide ways in a sliding mode, extend out of the box body and are provided with clamps; the clamping rods can move along the slide way through the first driving device; the detection and recognition device comprises a sensor and a signboard used for the unmanned aerial vehicle to recognize the charging device; the charging device comprises an electric plug board, an electric plug fixedly arranged on the electric plug board and a second driving device. The utility model discloses an unmanned aerial vehicle's the mouth that charges is high with plug alignment rate, and the contact fastness is strong, and it is convenient fast to charge, enables unmanned aerial vehicle and charging device one-to-one, provides the efficiency that charges greatly, is applicable to the automatic charging of unmanned aerial vehicle.

Description

Automatic charging device of unmanned aerial vehicle

Technical Field

The utility model belongs to the technical field of unmanned aerial vehicle automatic charging, a charging device is related to, specifically speaking is an automatic charging device of unmanned aerial vehicle.

Background

At present, civil unmanned aerial vehicles are widely applied to the aspects of industry, agriculture, entertainment and the like, such as electric power inspection, pest control or personal aerial photography performance by using the unmanned aerial vehicles. However, the endurance time of the conventional unmanned aerial vehicle is about 30 minutes, which also becomes an important factor limiting the development of the unmanned aerial vehicle, and if the unmanned aerial vehicle is required to continuously fly, the battery needs to be replaced manually.

Among the prior art, in order to improve unmanned aerial vehicle's flight time, can be its continuation of the journey through automatic charging device, but automatic charging device among the prior art is mostly a charging platform, and unmanned aerial vehicle needs to descend on charging platform, and the position of charging mouthful on the charging platform is looked for automatically, charges. The disadvantages of this approach are: (1) When the charging port of the unmanned aerial vehicle is butted with the plug connector, the unmanned aerial vehicle often needs to be adjusted for a long time, and the alignment aging is slow; (2) The pressure of the unmanned aerial vehicle is insufficient, and the plug-in connector cannot be completely inserted into the charging port, so that poor contact is caused; (3) When there are a plurality of charging devices, it is not possible to identify which charging device is used for charging.

SUMMERY OF THE UTILITY MODEL

For solving exist among the prior art more than not enough, the utility model aims at providing an automatic charging device of unmanned aerial vehicle to it is fast to reach the ageing of charging, and can accurate butt joint plug, can with the purpose of charging device one-to-one.

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

an automatic charging device of an unmanned aerial vehicle comprises a box body, a clamping device, a detection and identification device, a charging device and a control device;

the box body is detachably provided with a cover;

the clamping device comprises a slideway, a clamping rod and a first driving device; the four slide ways are fixedly arranged in the box body, and the cover is provided with guide holes corresponding to the four slide ways; clamping rods are connected to the four slideways in a sliding mode, penetrate through guide holes in the cover and extend out of the box body, and a clamp used for clamping the unmanned aerial vehicle is fixedly arranged at one end, extending out of the box body, of each clamping rod; the clamping rod can move along the slide way through the first driving device, so that the clamp on the clamping rod is close to or far away from the unmanned aerial vehicle;

the detection and recognition device comprises a sensor for detecting that the unmanned aerial vehicle is positioned on the cover and a signboard for identifying the charging device by the unmanned aerial vehicle;

the charging device comprises an electric plug board, an electric plug head fixedly arranged on the electric plug board and a second driving device for driving the electric plug board to approach or depart from the charging port of the unmanned aerial vehicle, and the electric plug head is matched with the charging port of the unmanned aerial vehicle;

the first driving device, the sensor and the second driving device are electrically connected with the control device.

As the limitation of the utility model, a supporting rod is fixedly arranged at the center of the box body, one ends of the four slideways are fixedly arranged on the supporting rod, and the other ends of the four slideways are fixedly arranged on the box body, so that a gap is formed between the slideways and the bottom of the box body; all be equipped with the through-hole that runs through its thickness on every slide, four through-holes correspond with the guiding hole on the lid, and supporting rod sliding connection is in the through-hole.

As a further limitation of the present invention, the first driving device includes a linkage rod, four connecting rods, two first motors and two cams, the center of the linkage rod is rotatably connected to the supporting rod, and the linkage rods on both sides of the supporting rod are both slidably connected to sliding members, two connecting rods are hinged to the two sliding members, and the other ends of the four connecting rods are respectively hinged to the four clamping rods; springs are sleeved on the linkage rods on the two sides of the supporting rod, and the two springs are located between the sliding piece and the supporting rod;

the two first motors are fixedly arranged on the box body and respectively correspond to two ends of the linkage rod; the two cams are respectively and fixedly arranged on motor shafts of the two first motors, and the first motors drive the cams to rotate, so that the cams push the sliding piece to move along the linkage rod.

As the utility model discloses a further inject again, the both ends of gangbar all set firmly the stopper that prevents the slider and break away from.

As another limitation of the present invention, the clamp is a splayed shape which opens outward, and the opening ends of the four clamps are disposed toward the center.

As a further limitation of the present invention, the second driving device includes a vertical plate, two screws rotatably connected between the vertical plate and the box body, and a second motor for driving the two screws to rotate respectively; the plug-in board is in threaded connection with the two screw rods.

As a third limitation of the present invention, the sensor is a pressure sensor or a gravity sensor.

As the utility model discloses a prescribe a limit to, the signboard is located on riser or the lid.

Since the technical scheme is adopted, compared with the prior art, the utility model, the beneficial effect who gets is:

(1) The utility model discloses utilize clamping device to firmly the unmanned aerial vehicle centre gripping, make through first drive arrangement insert the power plug and insert in unmanned aerial vehicle's the charging port, it is efficient to aim at, and first drive arrangement acts on the power plug, can not cause the damage to unmanned aerial vehicle, make unmanned aerial vehicle's charging port can aim at with the power plug fast, charge, can peg graft firmly both simultaneously, the contact is compact, the signboard is used for unmanned aerial vehicle discernment, enable unmanned aerial vehicle and its corresponding charging device to pair, it is convenient to charge, avoid a plurality of unmanned aerial vehicles to alternate to charge, charging efficiency is improved;

(2) The clamping rod of the utility model is connected in the guide hole and the through hole in a sliding way, and the two tracks limit the clamping rod, so that the sliding path is accurate and the clamping is accurate;

(3) The utility model utilizes two first motors to drive the cams to rotate, realizes the simultaneous movement of four connecting rods, has simple structure and strong synchronism, and firmly clamps the unmanned aerial vehicle;

(4) The utility model has the advantages that the splayed clamp can adapt to the structures of different unmanned aerial vehicles, the adaptability is strong, and the universality is strong;

(5) The utility model utilizes the screw thread matching mode to ensure the plug board to move, has accurate and firm positioning, can stop at any position, can further improve the plug effect with the charging port of the unmanned aerial vehicle, and prevents bad contact;

(6) The utility model discloses utilize pressure sensor or gravity sensor to detect, discernment is accurate, and sensitivity is high.

To sum up, the utility model discloses an unmanned aerial vehicle's the mouth that charges is high with plug alignment rate, and the contact fastness is strong, and it is convenient fast to charge, enables unmanned aerial vehicle and charging device one-to-one, provides the efficiency that charges greatly, is applicable to the automatic charging of unmanned aerial vehicle.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Fig. 1 is a schematic external structural view of an embodiment of the present invention;

FIG. 2 is a schematic diagram of the internal structure of the embodiment of the present invention;

FIG. 3 is a schematic perspective view of a linkage rod according to an embodiment of the present invention;

fig. 4 is a schematic front view of a sliding member according to an embodiment of the present invention;

fig. 5 is a schematic structural view of the embodiment of the present invention when the first motor drives the cam to clamp the unmanned aerial vehicle;

fig. 6 is the embodiment of the utility model provides a structural schematic when first motor drives the cam and loosens unmanned aerial vehicle.

In the figure: 1. a box body; 11. a pillar; 12. a strut; 13. a cover; 131. a guide hole; 21. a slideway; 211. a through hole; 22. a clamping rod; 221. a clamp; 231. a linkage rod; 232. a connecting rod; 233. a slider; 234. a first motor; 235. a cam; 236. a spring; 31. a screw; 32. a vertical plate; 33. a plug-in board; 331. a plug; 34. a second motor.

Detailed Description

The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It is to be understood that the preferred embodiments described herein are for purposes of illustration and understanding only and are not intended to be limiting of the present invention.

Embodiment automatic charging device of unmanned aerial vehicle

As shown in fig. 1, this embodiment includes box 1, clamping device, detection recognition device, charging device and controlling means, and wherein clamping device sets up in box 1, and charging device sets up outside box 1, and when unmanned aerial vehicle fell on box 1, clamping device was firm with its centre gripping, then charging device and unmanned aerial vehicle butt joint, for unmanned aerial vehicle charges. Detection device makes unmanned aerial vehicle and charging device one-to-one match and corresponds, avoids latency overlength.

As shown in fig. 2, the case 1 has a square box shape, and a cover 13 is detachably attached to the upper side of the case by bolts. The centre of lid 13 is equipped with the boss that is used for unmanned aerial vehicle to stop, all is equipped with the guiding hole 131 that link up on four angles of lid 13, and the length direction of guiding hole 131 extends by four angular centers.

The gripping device comprises a slide 21, a gripping bar 22 and a first drive. The four corners of the bottom in the box body 1 are fixedly provided with supporting columns 11, and the central position of the box body 1 is fixedly provided with a supporting rod 12. Slide 21 is equipped with four, and the one end of four slides 21 sets firmly respectively on four pillars 11 in box 1, and the other end all sets firmly on branch 12 at box 1 center, makes to form the clearance between slide 21 and the box 1 bottom, and four slides 21 are radial setting in box 1, and is corresponding with unmanned aerial vehicle's rack construction. The four slide ways 21 are provided with through holes 211 penetrating the thickness of the slide ways, and the length direction of the through holes 211 corresponds to the length direction of the guide holes 131 on the cover 13.

All sliding connection has the clamping rod 22 on four slide 21, and the through-hole 211 on slide 21 is passed to the one end of clamping rod 22, is located between box 1 bottom and slide 21, and the other end passes the guiding hole 131 on lid 13 and stretches out to the box 1 outside. Four supporting rods 22 stretch out and all set firmly anchor clamps 221 that are used for joint unmanned aerial vehicle to the outer one end of box 1, and anchor clamps 221 are outside open splayed, and the great open end of four anchor clamps 221 sets up towards the center for the joint is in unmanned aerial vehicle's frame. One ends of the four clamping rods 22, which are positioned between the bottom of the box body 1 and the slide rail 21, are driven by the first driving device and can slide along the through holes 211 of the slide rail 21.

The first driving means includes a linkage 231, four links 232, two first motors 234, and two cams 235. As shown in fig. 3, the center of the linkage rod 231 is a cylindrical structure, and two rods are fixedly arranged on the cylindrical structure and are located on a straight line. The cylindrical structure at the center of the linkage rod 231 is rotatably connected to the supporting rod 12, and two rods of the linkage rod 231 are located between two adjacent slide ways 21. All sliding connection has slider 233 on two poles of gangbar 231, and the both ends of gangbar 231 all set firmly the stopper that prevents slider 233 and break away from. As shown in fig. 4, the bottom ends of the two sliding parts 233 are both sliding blocks, and are all connected to the linkage rod 231 in a sliding manner, a pin shaft is fixedly arranged on the sliding blocks, the two pin shafts are hinged to two connecting rods 232, and the other ends of the pin shafts are limited by split pins. The other ends of the four connecting rods 232 hinged to the two pin shafts are hinged to the four clamping rods 22, that is, the ends of the four clamping rods 22 located between the bottom of the box body 1 and the slide rail 21 are hinged to the pin shafts. Springs 236 are sleeved on the rods on the two sides of the cylindrical structure on the linkage rod 231, and the two springs 236 are respectively positioned between the sliding piece 233 and the cylindrical structure of the linkage rod 231.

The two first motors 234 are fixedly arranged at the bottom of the box body 1 and respectively correspond to two ends of the linkage rod 231; the two cams 235 are respectively fixed to the motor shafts of the two first motors 234, and when the cams 235 are mounted, the initial state is that the side of the cam 235 having a smaller diameter is away from the slider 233. When first motor 234 rotated half a turn, the extreme position of cam 235 pushed slider 233 to the center removal, and slider 233 drove the centre gripping pole 22 on the connecting rod 232 and slides to the center, and is firm with the unmanned aerial vehicle centre gripping. When the first motor 234 rotates for one circle, the cam 235 is restored to the initial state, the spring 236 releases potential energy, the sliding piece 233 moves towards the direction away from the center, the connecting rod 232 connected to the sliding piece 233 drives the clamping rod 22 to move in the opposite direction, and the unmanned aerial vehicle is loosened.

The charging device comprises an electric plug board 33, an electric plug 331 fixedly arranged on the electric plug board 33 and a second driving device for driving the electric plug board 33 to be close to or far away from the charging port of the unmanned aerial vehicle. Plug 331 on the plug 33 matches with the charging port on the unmanned aerial vehicle. The second driving device comprises a vertical plate 32, two screws 31 rotatably connected between the vertical plate 32 and the box body 1, and a second motor 34 for respectively driving the two screws 31 to rotate. Two screw rods 31 set gradually along the direction of height of box 1, are equipped with two screw holes on the electricity inserting plate 33, and threaded connection is on two screw rods 31, and the both ends of two screw rods 31 rotate respectively to be connected on the outer wall of box 1 and on riser 32. The two second motors 34 are fixedly arranged on the other side of the vertical plate 32, and are respectively connected with the two screws 31 for driving the two screws 31 to rotate. Since the plug-in board 33 is limited by the two screws 31, it can only move away from and close to the box 1 along with the screw threads of the screws 31.

The detection and recognition device comprises a sensor for detecting that the unmanned aerial vehicle is positioned on the cover 13 and a signboard for recognizing the charging device by the unmanned aerial vehicle. The sensor is a pressure sensor or a gravity sensor, which is arranged on the cover 13, and the pressure sensor is adopted in the embodiment. Signboard can be placed on riser 32 or the arch of lid 13 for unmanned aerial vehicle discerns in charging device one by one. When the signboard is a poster, the signboard can be directly fixed on the protrusion of the cover 13, and when the signboard is an electronic screen, the signboard can be arranged on the vertical plate 32. The signboard of this embodiment adopts the electronic screen, sets firmly on riser 32.

Pressure sensor, two first motors 234, two second motors 34 and controlling means electric connection, when pressure sensor senses unmanned aerial vehicle, start two first motors 234, stop when two first motors 234 rotate the half-turn, with the unmanned aerial vehicle centre gripping firm to start second motor 34, second motor 34 drives the plug 331 on the plug board 33 and the unmanned aerial vehicle on the mouth that charges and injects. After the drone is fully charged, two second motors 34 are started, the remaining half-turn is continued to be rotated, and the drone is released.

When utilizing this device to charge automatically, unmanned aerial vehicle discerns the charging device that can match rather than according to the electron screen on the riser 32, then descend on lid 13, when pressure sensor on lid 13 discerns unmanned aerial vehicle, controlling means starts two first motors 234, two first motors 234 rotate the half-turn, make the extreme position of cam 235 slide slider 233 to the center, as shown in fig. 5, connecting rod 232 on the slider 233 drives clamping rod 22 and moves to the center, the firm unmanned aerial vehicle frame of anchor clamps 221 joint on clamping rod 22. Then start two second motors 34, it is firm with unmanned aerial vehicle's the mouth grafting that charges to drive plug 331 on the board 33 of inserting electricity for charge. After the completion of charging, unmanned aerial vehicle gives controlling means with signal transmission, and controlling means starts two second motor 34 reversals, makes plug 331 and unmanned aerial vehicle's the mouth separation that charges, simultaneously, as shown in fig. 6, two first motors 234 continue to rotate the half-turn, drive supporting rod 22 and keep away from central motion, loosen unmanned aerial vehicle, accomplish and charge.

It should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention, and the present invention is not limited thereto, and although the present invention has been described in detail with reference to the above-mentioned embodiments, it will be apparent to those skilled in the art that modifications can be made to the technical solutions described in the above-mentioned embodiments, or some technical features can be replaced with equivalents. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides an automatic charging device of unmanned aerial vehicle which characterized in that: the device comprises a box body, a clamping device, a detection and identification device, a charging device and a control device;

the box body is detachably provided with a cover;

2. An unmanned aerial vehicle automatic charging device according to claim 1, characterized in that: a supporting rod is fixedly arranged at the center of the box body, one ends of the four slideways are fixedly arranged on the supporting rod, and the other ends of the four slideways are fixedly arranged on the box body, so that a gap is formed between each slideway and the bottom of the box body; each slide way is provided with a through hole penetrating through the thickness of the slide way, the four through holes correspond to the guide holes in the cover, and the clamping rods are connected in the through holes in a sliding mode.

3. The automatic charging device of unmanned aerial vehicle of claim 2, characterized in that: the first driving device comprises a linkage rod, four connecting rods, two first motors and two cams, the center of the linkage rod is rotatably connected to the supporting rod, the linkage rods on the two sides of the supporting rod are connected with sliding parts in a sliding mode, the two sliding parts are hinged to the two connecting rods, and the other ends of the four connecting rods are hinged to the four clamping rods respectively; springs are sleeved on the linkage rods on the two sides of the supporting rod, and the two springs are located between the sliding piece and the supporting rod;

4. The automatic charging device of unmanned aerial vehicle of claim 3, characterized in that: and two ends of the linkage rod are respectively and fixedly provided with a limiting block for preventing the sliding part from separating.

5. An automatic charging device for unmanned aerial vehicles according to any one of claims 1-4, wherein: the clamp is splayed outwards, and the larger open ends of the four clamps are arranged towards the center.

6. An unmanned aerial vehicle automatic charging device according to claim 5, characterized in that: the second driving device comprises a vertical plate, two screw rods which are rotatably connected between the vertical plate and the box body, and a second motor which is used for respectively driving the two screw rods to rotate; the plug-in board is in threaded connection with the two screw rods.

7. An automatic charging device for unmanned aerial vehicle according to any one of claims 1-4, 6, characterized in that: the sensor is a pressure sensor or a gravity sensor.

8. The automatic charging device of unmanned aerial vehicle of claim 7, characterized in that: the signboard is located on riser or lid.