阅读说明：本技术 一种无人机自动换电池装置及方法 (unmanned aerial vehicle automatic battery changing device and method ) 是由 姜野 冯永振 刘波 苏永波 于 2019-10-29 设计创作，主要内容包括：本发明属于无人机自动换电池操作技术领域,涉及一种无人机自动换电池装置及方法,包括电池夹紧机构1,电池按键机构2,换电旋转机构3,电池移动机构4,换电定位机构5；所述电池夹紧机构1与电池移动机构4连接,电池按键机构2通过连接件与电池移动机构4连接,换电旋转机构3与无人机夹持机构连接,用于将换电机构旋转到取准确位置；电池移动机构4通过连接板与旋转机构3连接,换电定位机构5固定于电池移动机构4上,应用本发明填补了无人机电池智能更换技术方面的空白,减少繁琐的人工操作,有效地节省时间和人力。(The invention belongs to the technical field of automatic battery replacement operation of unmanned aerial vehicles, and relates to automatic battery replacement devices and methods for unmanned aerial vehicles, which comprise a battery clamping mechanism 1, a battery button mechanism 2, a battery replacement rotating mechanism 3, a battery moving mechanism 4 and a battery replacement positioning mechanism 5, wherein the battery clamping mechanism 1 is connected with the battery moving mechanism 4, the battery button mechanism 2 is connected with the battery moving mechanism 4 through a connecting piece, the battery replacement rotating mechanism 3 is connected with an unmanned aerial vehicle clamping mechanism and used for rotating the battery replacement mechanism to an accurate position, the battery moving mechanism 4 is connected with the rotating mechanism 3 through a connecting plate, and the battery replacement positioning mechanism 5 is fixed on the battery moving mechanism 4.)

The automatic battery replacing device of the unmanned aerial vehicle is characterized by comprising a battery clamping mechanism (1), a battery key mechanism (2), a battery replacing rotating mechanism (3), a battery moving mechanism (4) and a battery replacing positioning mechanism (5), wherein the battery clamping mechanism (1) is connected with the battery moving mechanism (4), the battery key mechanism (2) is connected with the battery moving mechanism (4) through a connecting piece, the battery replacing rotating mechanism (3) is connected with an unmanned aerial vehicle clamping mechanism and used for rotating the battery replacing mechanism to an accurate position, the battery moving mechanism (4) is connected with the rotating mechanism (3) through a connecting plate, the battery replacing positioning mechanism (5) is fixed on the battery moving mechanism (4), and the mechanisms can work simultaneously.

2. The automatic battery replacing device for unmanned aerial vehicles according to claim 1, wherein the battery clamping mechanism is provided with a clamping fixing support (11), two lateral motor claw mechanisms (12), two thrust blocks (13), two auxiliary limiting blocks (14), and an upper end motor claw mechanism (15), the two lateral motor claw mechanisms (12) and the upper end motor claw mechanism (15) are fixed to the clamping fixing support (11) through a connecting plate, and the two thrust blocks (13) are also fixed to the clamping fixing support (11).

3. The automatic battery replacing device for unmanned aerial vehicles according to claim 1, wherein the battery button mechanism (2) is provided with an electromagnet (21), a button rod guide block (22), a return spring (23), a button rod (24) and a guide mechanism (25), the electromagnet (21) and the button rod guide block (22) are fixed on the guide mechanism (25) through a connecting piece, the return spring (23) is fixed in the button guide block (22), and the button rod (24) is arranged inside the button guide block (22) and is in contact with the output end of the electromagnet (21).

4. The automatic battery replacing device for unmanned aerial vehicles according to claim 1, wherein the battery replacing rotating mechanism (3) comprises a motor connecting plate (31), a servo motor (32), a harmonic speed reducer (33), and a position adjusting mechanism (34), the motor connecting plate (31) is fixed on the position adjusting mechanism (34), the servo motor (32) and the harmonic speed reducer (33) are used for driving a rotating motion, and the position adjusting mechanism (34) is fixed on the clamping mechanism of the unmanned aerial vehicle and used for adjusting the position of the rotating mechanism (3) on the clamping mechanism.

5. The automatic battery replacing device for unmanned aerial vehicles according to claim 1, wherein the battery moving mechanism (4) comprises a servo motor (41) and a linear module (42), the clamping and fixing bracket (11) is fixed on the linear module (42), and the two auxiliary limiting blocks (14) are fixed on the linear module (42) for auxiliary positioning of the aircraft.

6. The automatic battery replacing device for unmanned aerial vehicles according to claim 1, wherein the battery replacing positioning mechanism (5) is provided with a lead screw motor (51), a connecting piece (52) and a positioning block (53).

7, method for automatically changing batteries by applying the device according to claims 1-6, characterized in that it includes two working procedures, firstly, taking out the batteries in the unmanned plane and sending them into the battery chamber for charging, and the second procedure is taking out the batteries in the battery chamber and sending them into the unmanned plane.

8. The method for automatically replacing the battery of the unmanned aerial vehicle according to claim 7, wherein the method for taking out the battery on the unmanned aerial vehicle and sending the battery into the battery compartment for charging comprises the following steps:

(1) the whole device is fixed on an automatic clamping mechanism through a position adjusting mechanism (34), and the unmanned aerial vehicle is clamped and pushed to an appointed position by the clamping mechanism;

(2) the battery replacement rotating mechanism 3 drives the whole battery replacement device to rotate to a battery replacement angle, the battery replacement device moves to a specified working position, and all mechanisms are adjusted to the working positions;

(3) the battery replacing positioning mechanism (5) starts to work, the front end of the unmanned aerial vehicle is propped up by the lifting of the positioning block (53), and the battery clamping mechanism (1) is moved to the battery taking working position of the unmanned aerial vehicle by the battery moving mechanism (4) through the guide mechanism (25) and the auxiliary limiting block (14);

(4) the electromagnet (21) is electrified to push the key rod (24) to press a power switch of the unmanned aerial vehicle, shutdown operation is carried out in a state of clamping a battery, the electromagnet (21) is powered off after the unmanned aerial vehicle is completely shut down, and the key rod (24) is reset by using the reset spring (23);

(5) the upper end motor claw mechanism (15) presses a switch of the battery clamping mechanism, the battery is separated from the clamp, then the lateral motor claw mechanism (12) clamps the battery out and keeps the position, and the battery is fixed on the battery clamping mechanism (1);

(6) the battery moving mechanism (4) moves the battery clamping mechanism (1) to a specified position, the rear clamping mechanism is released to the specified position, the battery replacing rotating mechanism (3) rotates to a position matched with the battery compartment, the battery clamping mechanism (1) moves to a battery conveying position, the lateral motor claw mechanism (12) and the upper end motor claw mechanism (15) loosen the battery and restore to an initial position, the battery clamping mechanism (1) is continuously moved forward to push the battery into a battery compartment charging seat by means of two thrust blocks (13) to be charged, and an indicator light for charging the battery compartment is lightened at the moment, so that the th working process is completed;

the battery in the battery compartment is taken out and sent into the unmanned aerial vehicle, and the operation sequence is after the th process.

Technical Field

The invention belongs to the technical field of automatic battery replacement operation of unmanned aerial vehicles, and relates to an automatic battery replacement device and method for unmanned aerial vehicles.

Background

At present, unmanned aerial vehicles are applied more and more in various fields, and rapid development of unmanned aerial vehicle corollary equipment and service industries is also driven, along with the progress and development of scientific technology, the life of people is more and more intelligent, and the unmanned aerial vehicles are products under the background of intelligent life times.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides unmanned aerial vehicle battery automatic replacement devices and methods, and aims to fill the blank in the intelligent unmanned aerial vehicle battery replacement technology, reduce complicated manual operation and effectively save time and labor.

automatic battery replacing device for unmanned aerial vehicles, which comprises a battery clamping mechanism 1, a battery button mechanism 2, a battery replacing rotating mechanism 3, a battery moving mechanism 4 and a battery replacing positioning mechanism 5, wherein the battery clamping mechanism 1 is connected with the battery moving mechanism 4, the battery button mechanism 2 is connected with the battery moving mechanism 4 through a connecting piece, the battery replacing rotating mechanism 3 is connected with an unmanned aerial vehicle clamping mechanism and used for rotating the battery replacing mechanism to an accurate position, the battery moving mechanism 4 is connected with the rotating mechanism 3 through a connecting plate, the battery replacing positioning mechanism 5 is fixed on the battery moving mechanism 4, and the mechanisms can work simultaneously.

, the battery clamping mechanism is provided with a clamping fixed support 11, two lateral motor claw mechanisms 12, two thrust blocks 13, two auxiliary limiting blocks 14 and an upper end motor claw mechanism 15, the two lateral motor claw mechanisms 12 and the upper end motor claw mechanism 15 are fixed on the clamping fixed support 11 through a connecting plate, and the two thrust blocks 13 are also fixed on the clamping fixed support 11.

, the battery key mechanism 2 is provided with an electromagnet 21, a key rod guide block 22, a return spring 23, a key rod 24 and a guide mechanism 25, wherein the electromagnet 21 and the key rod guide block 22 are fixed on the guide mechanism 25 through a connecting piece, the return spring 23 is fixed in the key guide block 22, and the key rod 24 is arranged inside the key guide block 22 and is contacted with the output end of the electromagnet 21.

, the battery replacement rotating mechanism 3 comprises a motor connecting plate 31, a servo motor 32, a harmonic speed reducer 33 and a position adjusting mechanism 34, wherein the motor connecting plate 31 is fixed on the position adjusting mechanism 34, the servo motor 32 and the harmonic speed reducer 33 rotate to drive the mechanism, and the position adjusting mechanism 34 is fixed on the unmanned aerial vehicle clamping mechanism and used for adjusting the position of the rotating mechanism 3 on the clamping mechanism.

, the battery moving mechanism 4 comprises a servo motor 41 and a linear module 42, the clamping fixing bracket 11 is fixed on the linear module 42, and the two auxiliary limit blocks 14 are fixed on the linear module 42 for auxiliary positioning of the airplane.

, the battery replacement positioning mechanism 5 is provided with a lead screw motor 51, a connecting piece 52 and a positioning block 53.

method for automatically replacing battery of unmanned aerial vehicle comprises two working procedures, namely taking out battery on unmanned aerial vehicle, sending into battery cabin for charging, and taking out battery in battery cabin, and sending into unmanned aerial vehicle.

The battery on the unmanned aerial vehicle is taken out and sent into the battery compartment for charging, and the method specifically comprises the following steps:

(1) the whole device is fixed on an automatic clamping mechanism through a position adjusting mechanism 34, and the unmanned aerial vehicle is clamped and pushed to an appointed position by the clamping mechanism;

(2) the battery replacement rotating mechanism 3 drives the whole battery replacement device to rotate to a battery replacement angle, the battery replacement device moves to a specified working position, and all mechanisms are adjusted to the working positions;

(3) the battery replacing positioning mechanism 5 starts to work, the front end of the unmanned aerial vehicle is propped up by lifting of the positioning block 53, and the battery clamping mechanism 1 is moved to a battery taking working position of the unmanned aerial vehicle by the battery moving mechanism 4 through the guide mechanism 25 and the auxiliary limiting block 14;

(4) the electromagnet 21 is electrified to push the button rod 24 to press a power switch of the unmanned aerial vehicle, shutdown operation is carried out in a state of clamping a battery, after the unmanned aerial vehicle is completely closed, the electromagnet 21 is powered off, and the button rod 24 is reset by using the reset spring 23;

(5) the upper end motor claw mechanism 15 presses a switch of the battery clamping mechanism, the battery is separated from the clamping, then the lateral motor claw mechanism 12 clamps the battery out and keeps the position, and the battery is fixed on the battery clamping mechanism 1;

(6) the battery moving mechanism 4 moves the battery clamping mechanism 1 to a designated position, the rear clamping mechanism is released to the designated position, the battery replacing rotating mechanism 3 rotates to a position matched with the battery compartment, the battery clamping mechanism 1 moves to a battery conveying position, the lateral motor claw mechanism 12 and the upper end motor claw mechanism 15 loosen the battery and restore to the initial position, the battery clamping mechanism 1 continues to move forwards to push the battery into the battery compartment charging seat by virtue of the two thrust blocks 13 for charging, at the moment, the indicator light for charging the battery compartment is lightened, and at this moment, th working processes are completed;

the battery in the battery compartment is taken out and sent into the unmanned aerial vehicle, and the operation sequence is after the th process.

The invention has the beneficial effects that:

the unmanned aerial vehicle battery replacement device solves the problems of time-consuming operation, labor waste, complex operation and the like in manual battery replacement, is small in size, light in weight, reasonable in structure, stable in clamping and high in positioning accuracy, can perform the whole process of battery replacement operation through keys, simulates the step of manual operation in the process of battery replacement operation, uses a mechanical mechanism to replace the mechanical mechanism to realize automatic battery replacement operation, can accurately position the mechanical mechanism, moves the mechanical mechanism to the specified position by the specified distance, and ensures that the distance required to move can be accurately mastered in the process of battery replacement operation of an unmanned aerial vehicle.

Drawings

To facilitate understanding by those skilled in the art, the present invention will be further described in conjunction with the accompanying drawings.

Fig. 1 is a schematic view of the overall structure of an automatic battery replacing device for unmanned aerial vehicles according to the invention;

fig. 2 is a schematic side view of an automatic battery replacing device for unmanned aerial vehicles according to the present invention;

fig. 3 is a schematic front view of an automatic battery replacing device for unmanned aerial vehicles according to the present invention;

FIG. 4 is a schematic structural diagram of a battery key mechanism according to the present invention;

FIG. 5 is a schematic structural view of a battery compartment mechanism according to the present invention;

FIG. 6 is a schematic view of a perspective structure of an automatic clamping mechanism of an unmanned aerial vehicle according to the present invention;

FIG. 7 is a schematic view of the top view of the automatic clamping mechanism of the unmanned aerial vehicle according to the present invention;

FIG. 8 is a perspective schematic view of a top view structure of the automatic clamping mechanism of the unmanned aerial vehicle according to the present invention;

fig. 9 is a partial schematic view of a clamping structure of the automatic clamping mechanism of the unmanned aerial vehicle.

Detailed Description

As shown in fig. 1-4, the invention provides unmanned aerial vehicle battery automatic replacement devices, which comprise a battery clamping mechanism 1, a battery key mechanism 2, a battery replacement rotating mechanism 3, a battery moving mechanism 4 and a battery replacement positioning mechanism 5, wherein the battery clamping mechanism 1 is connected with the battery moving mechanism 4 and used for clamping and positioning a battery and pushing the battery, the battery clamping mechanism 1 is provided with a clamping fixed support 11, two thrust blocks 13, two auxiliary limit blocks 14 and an upper end motor hook mechanism 15 which are fixed on a linear module 42 and used for clamping and positioning an unmanned aerial vehicle battery, the battery clamping mechanism 1 is further provided with two lateral motor hook mechanisms 12 which are fixed on the clamping fixed support 11 through a connecting plate and used for grabbing and fixing the battery in a battery replacement process, the two thrust blocks 13 are fixed on the clamping fixed support 11 and used for ensuring the balance of power in the battery pushing process, the two auxiliary limit blocks 14 are fixed on the linear module 42 and used for auxiliary positioning of an airplane, the upper end motor hook mechanism 15 is fixed on the clamping fixed support 11 through a connecting plate which is used for pressing a switch of the unmanned aerial vehicle battery clamping fixed mechanism, the battery button mechanism 2 is connected with a battery moving mechanism through a connecting piece, the battery replacement button 4 through a connecting plate, the connecting plate is used for connecting plate, the motor mechanism 22, the motor mechanism is used for providing a power supply positioning mechanism, the motor mechanism is used for a power supply adjusting mechanism, the motor mechanism 22 is used for positioning mechanism, the motor mechanism 3, the motor mechanism is used for positioning mechanism, the motor mechanism 3, the motor mechanism is used for positioning mechanism, the motor mechanism 4 is used for positioning mechanism, the motor mechanism is used for positioning mechanism, the motor mechanism 3, the motor positioning mechanism, the motor mechanism is used for positioning mechanism, the motor mechanism is used for positioning mechanism 3, the motor mechanism is used for positioning mechanism 4 is used for positioning mechanism, the motor mechanism is used for positioning mechanism.

When the automatic battery replacing device works, the whole automatic battery replacing process can be completed only by sequentially matching the mechanisms, reasonable operation among the mechanisms is needed in the battery replacing process, and all the moving mechanisms are required to work simultaneously under the condition of meeting safe moving conditions in order to reduce the time of the automatic battery replacing process. After unmanned aerial vehicle steadily lands on the platform of the automatic centre gripping of unmanned aerial vehicle, automatic fixture can remove unmanned aerial vehicle assigned position and press from both sides tightly, then the platform descends to the required position of trading the battery, next automatic battery replacement mechanism begins work, at first close the unmanned aerial vehicle power, then take off the battery, send the position of empty battery compartment to charge, later battery compartment mechanism removes the corresponding position of full-charge battery, it installs on unmanned aerial vehicle to take off the battery, then, at this moment, need press from both sides unmanned aerial vehicle again and press from both sides fixedly, then the platform rises to the top centre gripping and loosens, wait for unmanned aerial vehicle to take off. By which all operational flows are complete.

The unmanned aerial vehicle carries out automatic battery replacement operation mainly comprises two processes, firstly, a battery on the unmanned aerial vehicle is taken out and sent into a battery compartment for charging, the automatic battery replacement integrated device is fixed on an automatic clamping mechanism through a position adjusting mechanism 34, the clamping mechanism clamps and pushes the unmanned aerial vehicle to a specified position, at the moment, a rotating mechanism 3 drives the whole battery replacement mechanism to rotate to a battery replacement angle, the battery replacement mechanism moves to a specified working position, each mechanism is adjusted to the working position, at the moment, a battery replacement positioning mechanism 5 starts to work, the front end of the unmanned aerial vehicle is jacked through the lifting of a positioning block 53, a battery moving mechanism 4 moves a battery clamping mechanism 1 to a battery taking working position of the unmanned aerial vehicle through a guide mechanism 25 and an auxiliary limiting block 14, an electromagnet 21 is electrified to push a rod 24 to push a power switch of the unmanned aerial vehicle, shutdown operation is carried out in a battery clamping state, after the unmanned aerial vehicle is completely closed, the electromagnet 21 is powered off, the button rod 24 is reset by utilizing a reset spring 23, an upper end motor claw mechanism 15 presses a battery buckle mechanism, the battery is separated from the battery, then the battery is buckled by a lateral motor claw mechanism 12 to be buckled out and kept at a battery clamping mechanism position, the battery clamping mechanism 12 is fixed on the battery clamping mechanism, the battery is moved to a battery, the battery is taken out and the battery, the battery is pushed into a battery in a charging mechanism, the battery compartment after the battery clamping mechanism, the battery clamping mechanism 2, the battery is pushed into a battery compartment, the battery.

The above unmanned aerial vehicle fixture adopts the patent content of application No. 201921124093.3.

The automatic clamping mechanism of the unmanned aerial vehicle comprises a supporting platform 71, a parking plate 72, a dust guard 73, a long push rod 74, a short push rod 75 and a clamping mechanism, wherein the clamping mechanism comprises linear modules 76, a push rod connecting piece 77, a stepping motor 78, a connecting shaft 79 and a coupler 710, the supporting platform 71 is fixed on an underframe of the parking apron, the parking plate 72 is cut into 75 blocks according to the position of a slide rail and is fixed on the supporting platform 71 through a T-shaped bolt, the dust guard 73 is fixed on the supporting platform 71, the linear modules 76 are fixed on the supporting platform 71, the clamping structure is provided with linear modules 76 in the direction of the short push rod 75 and is driven by the stepping motor 78, two linear modules 76 are arranged in the direction of the long push rod 74 to keep the rigidity and the thrust of the long push rod 74, the two linear modules 76 are connected with the coupler 710 through the connecting shaft 79, the two linear modules are driven by the stepping motor 78 to realize the linkage, and the linear modules 76 are connected.

After unmanned aerial vehicle lands to the landing platform, linear module 76 drives long push rod 74 and promotes the aircraft to the assigned position, and back linear module 76 drives short push rod 75 and realizes accurate location and the clamp tight to unmanned aerial vehicle, has improved the reliability that unmanned aerial vehicle takes off, has ensured the automatic accuracy of trading the battery of unmanned aerial vehicle simultaneously.

The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.