阅读说明：本技术 器件更换装置及飞行器器件更换仓 (Device replacing device and aircraft device replacing bin ) 是由 陈方平 曹子彧 朱胜利 李蕴仪 张晓琪 马辉 于 2020-08-05 设计创作，主要内容包括：本发明提供了一种器件更换装置及飞行器器件更换仓,涉及自动换电技术领域,包括：执行机构和导向机构；执行机构活动连接于导向机构,执行机构用于执行更换电器元件动作；导向机构配置为能够带动执行机构沿第一方向和第二方向移动；或者,执行机构配置为能够沿导向机构在第一方向和第二方向移动。由于执行机构能够沿第一方向和第二方向在导向机构上移动,使执行机构在与无人机同一水平面上移动,完成执行机构对无人机中的电器元件的更换操作,缓解了现有技术中存在的无人机器件拆装设备结构复杂的技术问题,实现了简化无人机器件拆装设备的结构,降低生产成本的技术效果。(The invention provides a device replacing device and an aircraft device replacing bin, which relate to the technical field of automatic power replacement and comprise the following components: an actuating mechanism and a guide mechanism; the actuating mechanism is movably connected with the guide mechanism and is used for executing the action of replacing the electrical appliance element; the guide mechanism is configured to drive the actuating mechanism to move along a first direction and a second direction; alternatively, the actuator is configured to be movable in the first direction and the second direction along the guide mechanism. Because actuating mechanism can move on guiding mechanism along first direction and second direction, make actuating mechanism move on the same horizontal plane with unmanned aerial vehicle, accomplish actuating mechanism and to the change operation of the electrical components among the unmanned aerial vehicle, alleviated the technical problem that unmanned aerial vehicle device dismouting equipment structure is complicated that exists among the prior art, realized simplifying unmanned aerial vehicle device dismouting equipment's structure, reduction in production cost's technological effect.)

1. A device replacement apparatus, comprising: an actuator (100) and a guide mechanism (200);

the actuating mechanism (100) is movably connected to the guide mechanism (200), and the actuating mechanism (100) is used for executing the action of replacing electrical components;

the guide mechanism (200) is configured to drive the actuating mechanism (100) to move along a first direction and a second direction;

alternatively, the first and second electrodes may be,

the actuator (100) is configured to be movable in a first direction and a second direction along the guide mechanism (200).

2. The device changing apparatus according to claim 1, wherein the guide mechanism (200) comprises a first rail (210) and a second rail (220), the first rail (210) and the second rail (220) having an included angle therebetween, the first rail (210) and the second rail (220) forming a continuous path therebetween, the actuator (100) being movable along the continuous path.

3. The device changing apparatus according to claim 1, wherein the guiding mechanism (200) comprises a first rail (210) and a second rail (220), the first rail (210) and the second rail (220) having an included angle therebetween, and the first rail (210) is movable along the second rail (220), and/or the second rail (220) is movable along the first rail (210);

the actuating mechanism (100) is fixed or movably arranged on the first track (210).

4. Device changing apparatus according to claim 1, characterized in that the actuator (100) comprises a gripper (110), the path of movement of the gripper (110) being a gripper path, the gripper path having at least a degree of freedom of movement in a horizontal direction.

5. Device changing apparatus according to claim 4, wherein the gripping portion (110) comprises at least one hand grip;

the gripper is provided with a clamping groove (111), the electrical element is provided with a protruding part, and the protruding part is clamped in the clamping groove (111);

alternatively, the first and second electrodes may be,

the gripper is provided with a protruding portion, the electrical component is provided with a clamping groove (111), and the protruding portion is clamped in the clamping groove (111).

6. The device changing apparatus according to claim 4, wherein the actuator (100) further comprises a rotation driving portion (120), the rotation driving portion (120) is in transmission connection with the grasping portion (110);

the rotary driving part (120) is configured to drive the grabbing part (110) to deviate from a grabbing station after grabbing the electrical component;

alternatively, the first and second electrodes may be,

the rotary driving part (120) is configured to drive the grabbing part (110) to return to a grabbing station before grabbing operation is required.

7. The device changing apparatus according to claim 6, wherein the rotation driving part (120) has a rotation driving force along a plane perpendicular to a rotation plane for driving the grip part (110) to approach or separate from the electric component along the rotation plane, the rotation plane is a plane in which the grip part (110) is located, and the grip path is in the rotation plane.

8. The device changing apparatus according to claim 5, wherein the actuator (100) further comprises an adjusting portion (130) for adjusting a gap between two adjacent grippers, the adjusting portion (130) providing a transmission path along which the two adjacent grippers can move toward or away from each other.

9. The device changing apparatus according to claim 7, wherein the actuator (100) further comprises a lifting portion (140);

the lifting part (140) is in transmission connection with the grabbing part (110), and the lifting part (140) has a lifting driving force perpendicular to the rotating plane.

10. An aircraft component changing magazine comprising a component changing apparatus according to any one of claims 1 to 9.

Technical Field

The invention relates to the technical field of automatic power changing, in particular to a device replacing device and an aircraft device replacing bin.

Background

An unmanned aircraft, referred to as "drone", is an unmanned aircraft that is operated by a radio remote control device and a self-contained program control device, or is operated autonomously, either completely or intermittently, by an onboard computer. Unmanned aerial vehicles can be classified into military and civil applications according to the application field. For military use, unmanned aerial vehicles divide into reconnaissance aircraft and target drone. In the civil aspect, the unmanned aerial vehicle is applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news report, power inspection, disaster relief, film and television shooting, romantic manufacturing and the like, the application of the unmanned aerial vehicle is greatly expanded, and the developed countries are also actively expanding the industrial application and developing the unmanned aerial vehicle technology.

The battery and various sensor devices are placed in the unmanned aerial vehicle, when the battery and the sensor devices in the unmanned aerial vehicle need to be replaced, the unmanned aerial vehicle needs to be parked on the apron for manual replacement, or the battery and the sensor in the unmanned aerial vehicle are replaced by using the device dismounting equipment, the battery and the sensor in the unmanned aerial vehicle are dismounted by using the dismounting equipment firstly, and the new battery and the new sensor are installed in the unmanned aerial vehicle by using the installing equipment.

However, in the existing replacement mode, the battery or the sensor is firstly detached by the detaching equipment, and then a new battery or a new sensor is installed by the installing equipment, so that the whole equipment is complicated.

Disclosure of Invention

The invention aims to provide a device replacing device and an aircraft device replacing bin, so as to solve the technical problem that the structure of device dismounting equipment in the prior art is complex.

In a first aspect, the present invention provides a device replacement apparatus comprising: an actuating mechanism and a guide mechanism;

the actuating mechanism is movably connected to the guide mechanism and used for executing the action of replacing an electrical appliance element;

the guide mechanism is configured to drive the actuating mechanism to move along a first direction and a second direction;

alternatively, the first and second electrodes may be,

the actuator is configured to be movable in a first direction and a second direction along the guide mechanism.

In an alternative embodiment, the guide mechanism comprises a first rail and a second rail, the first rail and the second rail having an included angle therebetween, the first rail and the second rail forming a continuous path therebetween, the actuator being movable along the continuous path.

In an alternative embodiment, the guide mechanism comprises a first rail and a second rail, the first rail and the second rail have an included angle therebetween, and the first rail can move along the second rail, and/or the second rail can move along the first rail;

the actuating mechanism is fixed or movably arranged on the first track.

In an alternative embodiment, the actuator comprises a gripping section, the path of movement of which is a gripping path having at least a degree of freedom of movement in a horizontal direction.

In an alternative embodiment, the gripping portion comprises at least one grip;

the gripper is provided with a clamping groove, the electrical element is provided with a protruding part, and the protruding part is clamped in the clamping groove;

alternatively, the first and second electrodes may be,

the gripper is provided with a protruding portion, the electrical component is provided with a clamping groove, and the protruding portion is clamped in the clamping groove.

In an optional embodiment, the actuator further comprises a rotation driving part, and the rotation driving part is in transmission connection with the grabbing part;

the rotation driving part is configured to drive the grabbing part to deviate from the grabbing station after the electric appliance element is grabbed;

alternatively, the first and second electrodes may be,

the rotation driving part is configured to drive the grabbing part to return to the grabbing station before grabbing operation is required.

In an alternative embodiment, the rotation driving portion has a rotation driving force along a direction perpendicular to a rotation plane, the rotation driving force is used for driving the grasping portion to approach or separate from the electrical component along the rotation plane, the rotation plane is a plane where the grasping portion is located, and the grasping path is in the rotation plane.

In an alternative embodiment, the actuator further comprises an adjustment portion for adjusting a gap between two adjacent grippers, the adjustment portion being provided with a transmission path along which two adjacent grippers can move toward and away from each other.

In an alternative embodiment, the actuator further comprises a lifting portion;

the lifting part is in transmission connection with the grabbing part and has lifting driving force perpendicular to the rotating plane.

In a second aspect, the invention provides an aircraft component replacement cartridge comprising a component replacement device.

According to the device replacing device provided by the invention, the actuating mechanism can move on the guide mechanism along the first direction and the second direction, so that the actuating mechanism moves on the same horizontal plane with the unmanned aerial vehicle, the replacement operation of the electrical components in the unmanned aerial vehicle by the actuating mechanism is completed, the technical problem that the structure of the unmanned aerial vehicle device dismounting equipment is complex in the prior art is solved, the structure of the unmanned aerial vehicle device dismounting equipment is simplified, and the technical effect of reducing the production cost is achieved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic overall structure diagram of a device replacement apparatus according to an embodiment of the present invention;

fig. 2 is a schematic mechanical diagram of a grasping portion in the device replacing apparatus according to the embodiment of the present invention.

Icon: 100-an actuator; 110-a grasping portion; 111-a snap groove; 120-a rotation drive; 130-an adjustment section; 140-a lifting section; 200-a guide mechanism; 210-a first track; 220-second track.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

As shown in fig. 1, in a first aspect, the present embodiment provides a device replacement apparatus, including: an actuator 100 and a guide 200; the actuating mechanism 100 is movably connected to the guide mechanism 200, and the actuating mechanism 100 is used for executing the action of replacing electrical components; the guiding mechanism 200 is configured to drive the actuator 100 to move in a first direction and a second direction; alternatively, the actuator 100 is configured to be movable in the first direction and the second direction along the guide mechanism 200.

Specifically, the actuator 100 is slidably connected to the guide mechanism 200, the actuator 100 can complete the action of replacing the electrical component, and the guide mechanism 200 can generate a driving force for driving the actuator 100 to move along the first direction and the second direction, or the actuator 100 has a moving driving force for driving the actuator 100 to move along the guide mechanism 200 along the first direction and the second direction.

It should be noted that the first direction and the second direction are located on the same plane, so that the actuator 100 has a freedom of free movement in one plane, which facilitates the movement of the actuator 100.

The working process is as follows: the actuator 100 takes out the electrical component in the equipment, the actuator 100 moves along the guide mechanism 200, the taken-out electrical component is placed in the component placing area, then the electrical component to be replaced on the component placing area is grabbed, the actuator 100 moves along the guide mechanism 200, the electrical component to be replaced is installed in the equipment, and replacement of the electrical component is completed.

The present embodiment provides a device replacement apparatus, including: an actuator 100 and a guide 200; the actuating mechanism 100 is movably connected to the guide mechanism 200, and the actuating mechanism 100 is used for executing the action of replacing electrical components; the guiding mechanism 200 is configured to drive the actuator 100 to move in a first direction and a second direction; alternatively, the actuator 100 is configured to be movable in the first direction and the second direction along the guide mechanism 200. Because actuating mechanism 100 can move on guiding mechanism 200 along first direction and second direction, make actuating mechanism 100 move on the same horizontal plane with unmanned aerial vehicle, accomplish actuating mechanism 100 and to the electrical components's among the unmanned aerial vehicle change operation, alleviated the technical problem that unmanned aerial vehicle device dismouting equipment structure is complicated that exists among the prior art, realized simplifying unmanned aerial vehicle device dismouting equipment's structure, reduction in production cost's technological effect.

On the basis of the above embodiment, in an alternative implementation manner, the guide mechanism 200 in the device replacing apparatus provided in this embodiment includes a first rail 210 and a second rail 220, an included angle is formed between the first rail 210 and the second rail 220, a continuous path is formed between the first rail 210 and the second rail 220, and the actuator 100 can move along the continuous path.

Specifically, the first rail 210 and the second rail 220 are fixed, and there is no relative movement between the first rail 210 and the second rail 220, only a continuous path is provided, so that the actuator 100 moves along the continuous path, and the first rail 210 and the second rail 220 have an included angle, so that the actuator 100 can move back and forth, left and right relative to the device to be replaced, and the actuator 100 can complete the operation of replacing electrical components.

The bottom of the actuator 100 may be provided with a sliding table, which is fixedly connected to the actuator 100 and can move on a continuous path formed by the first rail 210 and the second rail 220, so that the actuator 100 can move on the continuous path through the sliding rail.

In addition, the guide mechanism 200 may be provided with only the first rail 210, and the actuator 100 may be linearly reciprocated along the first rail 210 to complete the operation of replacing the electric components of the actuator 100.

In an alternative embodiment, the guiding mechanism 200 comprises a first rail 210 and a second rail 220, the first rail 210 and the second rail 220 have an included angle therebetween, and the first rail 210 is capable of moving along the second rail 220, and/or the second rail 220 is capable of moving along the first rail 210; the actuator 100 is fixed or movably disposed on the first rail 210.

Specifically, the actuator 100 is disposed on the first rail 210, the first rail 210 can move along the second rail 220, or the second rail 220 can move along the first rail 210, or the first rail 210 can move along the first rail 210 and the second rail 220 can also move along the first rail 210, so that the first rail 210 and the second rail 220 perform relative movement, and the actuator moves along with the movement of the first rail 210, thereby realizing the movement of the actuator 100 approaching or departing from the device to be replaced.

The actuator 100 can also be movably connected to the first rail 210, and a sliding table is disposed at the bottom of the actuator 100, so that the actuator 100 can move along the first rail 210, the movable range of the actuator 100 is increased, and the operation of replacing electrical components is better completed. In addition, a sliding table may be disposed on the second rail 220, the sliding table is connected to the first rail 210, and the first rail 210 moves along the second rail 220 through the sliding table.

In an alternative embodiment, the actuator 100 comprises a gripper 110, the path of movement of the gripper 110 being a gripper path, the gripper path having at least a degree of freedom of movement in a horizontal direction.

Specifically, in the moving process of the actuator 100, after the grabbing part 110 on the actuator 100 finishes replacing the electrical component, the actuator 100 moves towards the equipment, the grabbing part 110 grabs the electrical component to be replaced on the equipment, after the grabbing is firm, the actuator 100 moves towards the direction away from the equipment, the electrical component grabbed by the grabbing part 110 is pulled out from the equipment, and the electrical component is placed in the device replacement area, after the placement is finished, the grabbing part 110 grabs the electrical component to be installed, the actuator 100 moves towards the equipment, the grabbing part 110 installs the electrical component to be installed in the equipment, and the replacement operation is finished.

In an alternative embodiment, as shown in fig. 2, the grip portion 110 includes at least one grip; the gripper is provided with a clamping groove 111, the electrical element is provided with a protruding part, and the protruding part is clamped in the clamping groove 111; or, the gripper is provided with a protruding part, the electrical component is provided with a clamping groove 111, and the protruding part is clamped in the clamping groove 111.

Specifically, set up the bellying on the electrical components, set up joint groove 111 on the tongs, perhaps set up joint groove 111 on electrical components, set up the bellying on the tongs, the setting in bellying and joint groove 111 makes things convenient for being connected between tongs and the electrical components, guarantees the joint electrical components that the tongs can be firmly, drives electrical components and removes.

The number of the grippers is selected according to the specific shape of the electrical appliance element, the clamping grooves 111 and the protrusions are arranged in a one-to-one correspondence mode, and each protrusion can stretch into the clamping groove 111 to form clamping.

In addition, it should be noted that the clamping grooves 111 on the hand grip are provided in a plurality, the clamping grooves 111 are uniformly distributed on the hand grip, for example, the clamping groove 111 is arranged at the end of the hand grip, the clamping groove 111 is arranged at the bottom of the hand grip, the clamping groove 111 at the end grabs one electrical component, the clamping groove 111 at the bottom grabs another electrical component, so that the hand grip can grab a plurality of electrical components at the same time, and the head, the middle or the tail of the hand grip can grab an object according to the environment and the weight of the electrical components.

The device replacing apparatus provided in this embodiment moves the actuator 100 along the first rail 210 and the second rail 220 by the arrangement of the first rail 210 and the second rail 220, so that the actuator 100 is close to or far away from the apparatus, thereby facilitating the actuator 100 to complete the replacing operation; through the setting of joint groove 111 and bellying, realize the joint of tongs and electrical components, make the tongs can drive electrical components and remove, accomplish electrical components's dismantlement or installation.

On the basis of the above embodiment, in an optional implementation manner, the actuator 100 in the device replacing apparatus provided in this embodiment further includes a rotation driving portion 120, and the rotation driving portion 120 is in transmission connection with the grasping portion 110; the rotation driving part 120 is configured to drive the grasping part 110 to deviate from the grasping station after grasping the electrical component; alternatively, the rotation driving unit 120 is configured to drive the grip unit 110 to return to the grip station before the grip operation is required.

Specifically, when the electrical component in the equipment needs to be replaced, the rotation driving portion 120 drives the gripper in the gripping portion 110 to rotate towards the equipment, the gripper is located at a gripping station after the rotation is finished, and after the gripper is connected with the electrical component and is pulled out of the equipment in a clamping manner, the rotation driving portion 120 rotates towards a direction deviating from the gripping station, so that the electrical component can be conveniently placed.

In an alternative embodiment, the rotation driving part 120 has a rotation driving force along a direction perpendicular to a rotation plane for driving the grip part 110 to approach or separate from the electrical component along the rotation plane, which is a plane in which the grip part 110 is located, and the grip path is within the rotation plane.

Specifically, rotation drive portion 120 specifically sets up to rotating the motor, the rotation axis that rotates the motor is connected with the transmission of portion 110 that snatchs, when electrical components on the equipment needs to be changed, rotation drive portion 120 drives portion 110 that snatchs and rotates towards the direction that is close to the equipment, portion 110 that snatchs moves towards the direction that is close to the equipment, portion 110 and the electrical components joint in the equipment of snatching, the back is accomplished to the joint, portion 110 that snatchs moves towards the direction of keeping away from the equipment, rotation drive portion 120 drives portion 110 that snatchs and rotates towards the direction that is close to the device region of placing, place the back that finishes, portion 110 snatchs the electrical components that treat to change, rotation drive portion 120 drives portion 110 and rotates towards the direction that is close to the equipment, portion 110 moves towards the direction that is close to the equipment.

In an alternative embodiment, the actuator 100 further comprises an adjustment portion 130 for adjusting the gap between two adjacent grippers, the adjustment portion 130 providing a drive path along which two adjacent grippers can be moved closer to or further away from each other.

Specifically, the adjusting portion 130 is in transmission connection with two adjacent grippers respectively, so that the two adjacent grippers are close to or far away from each other along a transmission path, and further the distance between the two adjacent grippers is adjusted, the adjusting portion 130 specifically comprises a motor and a counter-tooth lead screw, each gripper is provided with a slider matched with the counter-pressure lead screw, and the sliders are configured to move in opposite directions when the motor drives the counter-tooth lead screw to rotate, and further the technical effect of adjusting the distance between the two adjacent grippers through the rotation of the counter-tooth lead screw is achieved.

In addition, after the hand grip is inserted into the equipment, the adjusting part 130 drives two adjacent hand grips to move in the direction away from each other, so that the hand grips are clamped with the electrical component in the equipment.

In an alternative embodiment, the actuator 100 further comprises a lift 140; the lifting part 140 is in transmission connection with the grabbing part 110, and the lifting part 140 has a lifting driving force along a direction perpendicular to the rotating plane.

Specifically, the electronic portion 110 that snatchs of lift portion 140 goes up and down along the perpendicular to rotation plane, adjusts the height of portion 110 of snatching, and the portion 110 of being convenient for snatch places electrical components and places in the region, and lift portion 140 can set up to hydraulic stem, cylinder pole and elevator motor etc. selects the concrete structure of lift portion 140 according to actual conditions, and it can to guarantee that lift portion 140 can drive portion 110 of snatching and go up and down.

The device replacing apparatus provided in this embodiment enables the grasping portion 110 to rotate along the rotation plane by the arrangement of the rotation driving portion 120; the distance between the two grippers is adjusted through the arrangement of the adjusting part 130, so that the gripping range of the grippers is improved, and the applicability is improved; the lifting part 140 is provided to lift the grabbing part 110, so that the grabbing part 110 can grab and place electrical components in all directions.

On the basis of the above embodiments, the aircraft component replacement bin provided by the present embodiment includes a component replacement device.

Specifically, the device replacing device can be applied to an aircraft device replacing bin to replace devices of an aircraft in the replacing bin, such as a battery in the aircraft or a sensor in an aircraft nacelle, and the device replacing device is simple in structure and low in cost.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.