CN-122009581-A - Unmanned aerial vehicle trades electric arm and hangar automatically

CN122009581ACN 122009581 ACN122009581 ACN 122009581ACN-122009581-A

Abstract

The invention relates to the field of unmanned aerial vehicle libraries and discloses an unmanned aerial vehicle automatic power-changing mechanical arm and a unmanned aerial vehicle library, wherein the unmanned aerial vehicle automatic power-changing mechanical arm is in a structural form of a rotary mechanical arm, the unmanned aerial vehicle automatic power-changing mechanical arm is integrated in an integral structure and small in occupied space, the unmanned aerial vehicle automatic power-changing mechanical arm comprises a battery charging bin, a take-off and landing platform and an automatic power-changing mechanical arm, the battery charging bin comprises a plurality of charging grids arranged from top to bottom, a centering positioning device is arranged on the take-off and landing platform, the setting position of the battery charging bin and the position of the centering positioning device for positioning and fixing an unmanned aerial vehicle on the take-off and landing platform are both located in the rotation radial direction of the automatic power-changing mechanical arm, and after the unmanned aerial vehicle is positioned by the centering positioning device, the automatic power-changing mechanical arm can realize automatic replacement of batteries on the unmanned aerial vehicle body and batteries in the battery charging bin, and the miniaturization of the unmanned aerial vehicle automatic power-changing mechanical arm can be realized.

Inventors

XU YUEGANG
YIN XIAOHUA
WANG CHUJUN
Zheng yunji
PENG XIAOLIN
XU NINGBO
ZHU LISHA
ZHANG YANG
ZHANG QING
HUANG LINCHUAN
LEI ZHUOLIN
WANG JIAN
WU HAIYAN

Assignees

成都四威高科技产业园有限公司

Dates

Publication Date: 20260512
Application Date: 20260408

Claims (9)

1. The unmanned aerial vehicle automatic motor replacing mechanical arm is characterized by comprising a base, a rotation driving device, a lifting mechanism, a traversing mechanism and an executing mechanism; The lifting mechanism comprises a stand column and a lifting driving device, the transverse moving mechanism comprises a cross arm, a mounting seat and a transverse moving driving device, the stand column is vertically arranged, the bottom end of the stand column is rotatably connected with the top end of the base, the rotary driving device is used for driving the stand column to rotate on the base, the cross arm is horizontally arranged, one end of the cross arm is in sliding connection with the stand column, the lifting driving device is used for driving the cross arm to slide on the stand column, the mounting seat is slidably arranged on the cross arm, and the transverse moving driving device is used for driving the mounting seat to slide on the cross arm; the actuating mechanism comprises an actuating motor, an actuating gear and two clamping devices, The clamping device comprises a rack and a clamping arm, the rack is slidably arranged on the mounting seat, the clamping arm is fixedly connected with the rack, the clamping arm extends to one side, far away from the upright post, of the mounting seat along the horizontal direction, the execution motor is fixedly arranged on the mounting seat, the execution gear is fixedly sleeved on an output shaft of the execution motor, the execution gear is meshed with the rack, The two clamping devices are arranged in a central symmetry manner, the axis of the execution gear is perpendicular to the rotating shaft of the upright post relative to the base, the two clamping arms are positioned in the same horizontal plane and are bilaterally symmetrical with the execution gear as the center, and the two clamping arms can be mutually close or mutually far away.
2. The automatic unmanned aerial vehicle replacing mechanical arm according to claim 1, wherein the actuating mechanism further comprises a torsion shaft, a torsion seat and a spring, one end of the torsion shaft is fixedly connected with one end of the actuating gear far away from the actuating motor in a coaxial manner, the other end of the torsion shaft is connected with one end of the torsion seat in a coaxial slidable manner, the other end of the torsion seat is matched with a battery knob of the unmanned aerial vehicle, the spring is used for providing elastic force for enabling the torsion shaft and the torsion seat to be far away from each other, and a bending part is formed at one end of the clamping arm far away from the mounting seat; the actuating mechanism is matched with the battery mounting position of the unmanned aerial vehicle, and when the button swivel mount unscrews the battery knob of the unmanned aerial vehicle, the two clamping arms are mutually close to one end, which is far away from the battery knob, of the battery, and the bending part extends into the battery of the unmanned aerial vehicle.
3. The automatic unmanned aerial vehicle replacing mechanical arm according to claim 2, wherein the actuating mechanism further comprises a switching device, the switching device comprises a switching motor, a first connecting rod, a second connecting rod and a third connecting rod, two ends of the first connecting rod are respectively and rotatably connected with one end of the third connecting rod and the mounting seat, two ends of the second connecting rod are respectively and rotatably connected with the middle part of the third connecting rod and the mounting seat, the first connecting rod, the third connecting rod, the second connecting rod and the mounting seat form a parallelogram mechanism, one end, far away from the first connecting rod, of the third connecting rod is provided with a buffer button, the switching motor is used for driving the first connecting rod or the second connecting rod to swing around the mounting seat, and the buffer button is matched with the switching button of the unmanned aerial vehicle.
4. A robot arm according to any one of claims 1 to 3, wherein the lifting drive means comprises a lifting motor and a lifting screw, the lifting screw is rotatably connected to the upright, the cross arm is in threaded connection with the lifting screw, and the lifting motor is used for driving the lifting screw to rotate.
5. A robot arm according to any one of claims 1 to 3, wherein the traverse driving device comprises a traverse motor and a traverse screw, the traverse screw is rotatably connected to the cross arm, the mounting seat is in threaded connection with the traverse screw, and the traverse motor is used for driving the traverse screw to rotate.
6. An unmanned aerial vehicle automatic motor-changing machine library, which is characterized by comprising a battery charging bin, a take-off and landing platform and the unmanned aerial vehicle automatic motor-changing mechanical arm as claimed in any one of claims 1 to 3, The battery charging bin comprises a plurality of charging grids arranged from top to bottom, and the opening ends of the charging grids vertically face to the rotating shaft of the upright post relative to the base; The unmanned aerial vehicle is characterized in that a centering positioning device is arranged on the take-off and landing platform and used for fixing the unmanned aerial vehicle on the take-off and landing platform and positioning the battery of the unmanned aerial vehicle to be opposite to the rotating shaft of the upright post relative to the base.
7. The unmanned aerial vehicle automatic motor changing machine according to claim 6, wherein the centering and positioning device comprises two first centering beams and two second centering beams, The table top of the lifting platform is arranged along the horizontal direction, a first horizontal plane and a second horizontal plane are sequentially defined above the lifting platform from bottom to top, The two first centering beams are arranged in the first horizontal plane, the two first centering beams are parallel to each other, the two first centering beams can be mutually close to or mutually far away from each other, The two second centering beams are arranged in the second horizontal plane, the two second centering beams are parallel to each other, the two second centering beams can be mutually close to or mutually far away from each other, The projections of the two first centering beams and the two second centering beams along the vertical direction are in a groined shape.
8. The automatic motor changing pool for the unmanned aerial vehicle according to claim 7, wherein the centering positioning device further comprises a centering motor, a three-shaft commutator, two centering screw rods A, a bevel gear commutator A and a centering double-spiral screw rod A, The centering motor, the three-axis reverser and the bevel gear reverser A are fixedly connected with the lifting platform, the centering screw rod A and the centering double-spiral screw rod A are rotatably arranged on the lifting platform, the output shaft of the centering motor is fixedly connected with the input shaft of the three-axis reverser, the two centering screw rods A are coaxially arranged, the centering screw rod A is perpendicular to the centering double-spiral screw rod A, one end of the two centering screw rods A is respectively fixedly connected with two output shafts of the three-axis reverser, one end of the centering screw rod A is fixedly connected with one end of the bevel gear reverser A, the other end of the bevel gear reverser A is fixedly connected with one end of the centering double-spiral screw rod A, The device comprises a first centering beam, a second centering beam, a first centering beam, a second centering beam and a second centering beam, wherein one end of the first centering beam is in threaded connection with the two centering screw rods A respectively, a positive rotation thread section and a negative rotation thread section are respectively arranged on the centering double screw rods A far away from the central position, one end of the second centering beam is in threaded connection with the positive rotation thread section and the negative rotation thread section respectively, and the centering screw rods A and the centering double screw rods A are matched with a foot rest of an unmanned aerial vehicle.
9. The automatic motor changing machine base of the unmanned aerial vehicle according to claim 8, wherein the centering positioning device further comprises a bevel gear reverser B, a bevel gear reverser C, a bevel gear reverser D, a centering double-spiral screw rod B and two centering screw rods B, wherein the bevel gear reverser A, the bevel gear reverser B, the bevel gear reverser C and the bevel gear reverser D are respectively fixed at four corners of the lifting platform, The centering double-spiral screw rod B and the two centering screw rods B are rotatably connected with the lifting platform, One end of the centering screw rod B is fixedly connected with one end of the bevel gear reverser B, the other end of the bevel gear reverser B is fixedly connected with one end of the centering double-spiral screw rod A, which is far away from the bevel gear reverser A, One end of the other centering screw rod B is fixedly connected with one end of the bevel gear reverser C, the other end of the bevel gear reverser C is fixedly connected with one end of the centering double-spiral screw rod B, the other end of the centering double-spiral screw rod B is fixedly connected with one end of the bevel gear reverser D, the other end of the bevel gear reverser D is fixedly connected with the end part of the centering screw rod A which is far away from the bevel gear reverser A, The double-screw B is parallel to and mutually matched with the double-screw A, two ends of the second centering beam are respectively in threaded connection with the double-screw B and the double-screw A, the centering screw B is parallel to and mutually matched with the centering screw A, and two ends of the first centering beam are respectively in threaded connection with the centering screw B and the centering screw A.

Description

Unmanned aerial vehicle trades electric arm and hangar automatically Technical Field The invention relates to the field of unmanned aerial vehicle hangars, in particular to an automatic power-exchanging mechanical arm of an unmanned aerial vehicle and a hangar. Background With the wide application of unmanned aerial vehicle technology in scenes such as inspection, mapping, security protection, logistics, border patrol and the like, unmanned aerial vehicle automation hangar is generated, and the hangar aims at providing functions such as take-off and landing, environmental protection, energy supply and data feedback for the unmanned aerial vehicle, so that unmanned aerial vehicle remote deployment is realized, and all-weather on duty and whole-course autonomous operation are realized. At present, an unmanned aerial vehicle automatic hangar on the market usually adopts a charging and replenishing mode in the aspect of energy replenishment, a charging pile is arranged in the hangar, and the unmanned aerial vehicle can be automatically charged after returning to the hangar, but the charging and replenishing mode is unfavorable for continuous operation of the unmanned aerial vehicle due to low charging efficiency and long charging time. Under the application scenes that unmanned aerial vehicle needs long endurance, high frequency, quick response and the like, the energy supply strategy is still mainly based on battery replacement, the traditional unmanned aerial vehicle battery replacement operation mode is highly dependent on manual work, multiple groups of batteries and multiple operators need to be equipped for alternate operation in battery replacement, the personnel investment is large, and the battery replacement efficiency is relatively low. In order to realize full-automatic power conversion operation of unmanned aerial vehicle under these application scenes, people in the field also always aim at the research and development of automatic power conversion machine libraries, unmanned aerial vehicle libraries capable of automatically converting power also appear in the prior art, but the existing design often has the defects of complex system structure, huge machine library volume and the like. Disclosure of Invention The invention aims to overcome the defects of the prior art and provide the automatic electric-changing mechanical arm and the unmanned aerial vehicle library, and the unmanned aerial vehicle automatic electric-changing mechanical arm has the advantages of integrated integral structure and small occupied space under the condition of meeting the requirement of an automatic electric-changing function, and the unmanned aerial vehicle automatic electric-changing mechanical arm library can realize the miniaturization of the volume. The aim of the invention is realized by the following technical scheme: An automatic motor-changing mechanical arm of an unmanned aerial vehicle comprises a base, a rotation driving device, a lifting mechanism, a traversing mechanism and an executing mechanism; The lifting mechanism comprises a stand column and a lifting driving device, the transverse moving mechanism comprises a cross arm, a mounting seat and a transverse moving driving device, the stand column is vertically arranged, the bottom end of the stand column is rotatably connected with the top end of the base, the rotary driving device is used for driving the stand column to rotate on the base, the cross arm is horizontally arranged, one end of the cross arm is in sliding connection with the stand column, the lifting driving device is used for driving the cross arm to slide on the stand column, the mounting seat is slidably arranged on the cross arm, and the transverse moving driving device is used for driving the mounting seat to slide on the cross arm; The actuating mechanism comprises an actuating motor, an actuating gear and two clamping devices, the clamping devices comprise racks and clamping arms, the racks are slidably arranged on the mounting base, the clamping arms are fixedly connected with the racks, the clamping arms extend to one side, far away from the stand column, of the mounting base along the horizontal direction, the actuating motor is fixedly arranged on the mounting base, the actuating gear is fixedly sleeved on an output shaft of the actuating motor, the actuating gear is meshed with the racks, the two clamping devices are arranged in a central symmetry mode, the axis of the actuating gear is perpendicular to the revolving shaft of the stand column relative to the base, the two clamping arms are located in the same horizontal plane and are symmetrical left and right by taking the actuating gear as the center, and the two clamping arms can be mutually close or mutually far away. Further, the actuating mechanism further comprises a torsion shaft, a torsion seat and a spring, wherein one end of the torsion shaft is fixedly connected with one end of the actuating gear, which is far away fr