技术领域technical field
本发明属于无人机技术领域，特别是一种小型多旋翼无人机的电池自动更换系统。The invention belongs to the technical field of unmanned aerial vehicles, in particular to an automatic battery replacement system for a small multi-rotor unmanned aerial vehicle.
背景技术Background technique
近年来，随着地震、洪水、核污染等大型自然灾害频发，小型多旋翼无人机的研究逐渐成为无人机研究的热点。小型多旋翼无人机具有成本低、效费比高、无人员伤亡风险及可以涉足到有人机无法到达的区域（核，化学，细菌感染区域）等优点。在军用和民用领域也具有广泛的应用前景，如低空侦察、气象勘测、航空摄影、交通巡逻等。但是局限于机体大小原因，小型多旋翼无人机在空中飞行时间很短，需要经常更换电池，比较麻烦，浪费好多人力物力资源。针对小型多旋翼无人机的电池自动更换系统的研究相当必要。In recent years, with the frequent occurrence of large-scale natural disasters such as earthquakes, floods, and nuclear pollution, the research on small multi-rotor UAVs has gradually become a hot spot in UAV research. Small multi-rotor UAVs have the advantages of low cost, high cost-effectiveness, no risk of casualties, and can get involved in areas that cannot be reached by manned aircraft (nuclear, chemical, and bacterial infection areas). It also has broad application prospects in military and civilian fields, such as low-altitude reconnaissance, weather survey, aerial photography, traffic patrol, etc. However, limited to the size of the body, small multi-rotor drones fly in the air for a short time, requiring frequent battery replacement, which is cumbersome and wastes a lot of manpower and material resources. The research on automatic battery replacement system for small multi-rotor UAV is quite necessary.
目前没有针对小型多旋翼无人机的电池自动更换平台系统，都是通过人工去安装电池，因为小型多旋翼无人机结构相对比较小，能够承载的电池也比较小，所以供电时间相对很短一般维持在15分钟到20分钟，这样就需要人工不断的去更换电池，大大浪费人力资源。At present, there is no automatic battery replacement platform system for small multi-rotor UAVs. The batteries are installed manually. Because the structure of small multi-rotor UAVs is relatively small, the battery that can be carried is also relatively small, so the power supply time is relatively short. Generally, it is maintained at 15 minutes to 20 minutes, so that it is necessary to manually replace the battery continuously, which greatly wastes human resources.
申请号为201010603039.4的中国专利公开了一种电动汽车电池的自动快换系统及自动快换方法。该专利公开了一种电动汽车电池的自动快换方案，该系统可实现单个的电池自动更换，但是每一次更换完之后还需要不断的人工往换电池运输机上摆放电池，自动化程度不高，非常不方便。Chinese patent application number 201010603039.4 discloses an automatic quick-change system and an automatic quick-change method for electric vehicle batteries. This patent discloses an automatic quick-change solution for electric vehicle batteries. This system can realize automatic replacement of a single battery. However, after each replacement, it is necessary to manually place the batteries on the battery-replacement transport plane. The degree of automation is not high. very inconvenient.
用在电动汽车上的电池更换装置，虽然可以实现自动安装。但是只能一次对应一个，安装完了还需要重新装配，基于电动汽车的电力需求量，就需要很多这样的更换装置，成本相对很高并且制作复杂。The battery replacement device used in electric vehicles, although it can be installed automatically. But it can only correspond to one at a time, and it needs to be reassembled after installation. Based on the power demand of electric vehicles, many such replacement devices are required, which are relatively expensive and complicated to manufacture.
发明内容Contents of the invention
本发明所解决的技术问题在于提供一种小型多旋翼无人机的电池自动更换系统。The technical problem solved by the present invention is to provide an automatic battery replacement system for a small multi-rotor drone.
实现本发明目的的技术解决方案为：一种小型多旋翼无人机的电池自动更换系统，包括固定装置、电池存储盘、无人机用起落架固定装置、起落架固定板、起落架固定板支架、电池存储盘支架和机械手，The technical solution to realize the purpose of the present invention is: a battery automatic replacement system for a small multi-rotor drone, including a fixing device, a battery storage disk, a landing gear fixing device for the drone, a landing gear fixing plate, and a landing gear fixing plate brackets, battery storage tray holders and manipulators,
所述固定装置上方设置起落架固定板，起落架固定板通过起落架固定板支架与固定装置相固连，起落架固定板上方设置无人机用起落架固定装置，该固定板中心设置与电池大小相配合的电池入口，起落架固定板的下方设置电池存储盘，该电池存储盘通过电池存储盘支架与固定装置相固连，电池存储盘下方设置机械手；The landing gear fixing plate is arranged above the fixing device, and the landing gear fixing plate is fixedly connected with the fixing device through the landing gear fixing plate bracket. The battery inlet with matching size, the battery storage tray is set under the fixed plate of the landing gear, the battery storage tray is fixedly connected with the fixing device through the battery storage tray bracket, and the manipulator is set under the battery storage tray;
电池存储盘上设置六个存储电池的卡槽，该六个卡槽均匀分布在电池存储盘上,每个卡槽的中心线均位于电池存储盘的直径上，卡槽上装载电池，卡槽下方开有通孔，机械手可从卡槽下方的通孔穿出并将电池抓紧后从固定板中心的电池入口处推出，最终推送给无人机；所述电池存储盘的中心设置连杆，连杆上固连齿轮，电池存储盘的下方设置电机，电机可带动齿轮旋转，最终带动电池存储盘旋转。Six card slots for storing batteries are arranged on the battery storage disc, and the six card slots are evenly distributed on the battery storage disc. There is a through hole at the bottom, the manipulator can pass through the through hole under the card slot and grasp the battery and push it out from the battery entrance in the center of the fixed plate, and finally push it to the drone; the center of the battery storage disk is provided with a connecting rod, The gear is fixedly connected to the connecting rod, and a motor is arranged under the battery storage disk, and the motor can drive the gear to rotate, and finally drive the battery storage disk to rotate.
优选的，机械手包括抓手、摄像头、伺服电机、齿条、机械手电机、机械手齿轮、滑轨和升降杆，抓手位于升降杆的一端，抓手的中心设置摄像头，抓手与固连在升降杆上的伺服电机相连接，在伺服电机的带动下旋转，升降杆位于滑轨上并可沿滑轨移动，升降杆上设置齿条，滑轨上设置机械手电机，机械手电机的输出轴上固连机械手齿轮，机械手齿轮与齿条相啮合，机械手电机工作时，电机输出轴带动机械手齿轮旋转并带动齿条运动，最终带动升降杆上下移动，滑轨上还设置译码器，该译码器与摄像头相连接。Preferably, the manipulator includes a gripper, a camera, a servo motor, a rack, a manipulator motor, a manipulator gear, a slide rail, and a lifting rod. The gripper is positioned at one end of the lifting rod, and the center of the gripper is provided with a camera. The servo motor on the rod is connected and rotates under the drive of the servo motor. The lifting rod is located on the slide rail and can move along the slide rail. The rack is set on the lifting rod, and the manipulator motor is set on the slide rail. Even the gear of the manipulator, the gear of the manipulator is meshed with the rack. When the motor of the manipulator is working, the output shaft of the motor drives the gear of the manipulator to rotate and the rack to move, and finally drives the lifting rod to move up and down. A decoder is also set on the slide rail. Connect to the camera.
优选的，所述无人机用起落架固定装置包括两个抓手，该两个抓手相对设置，每个抓手均呈“V”字形，“V”字形的角度为120度，起落架固定板的下方设置抓手电机、齿轮和抓手杆子，抓手电机输出轴上固连齿轮，齿轮与抓手杆子相连接，抓手电机输出轴带动齿轮旋转从而驱动抓手杆子前进或者后退，最终抓手杆子带动抓手运动。Preferably, the landing gear fixing device for unmanned aerial vehicles includes two grippers, the two grippers are arranged opposite each other, each gripper is in the shape of a "V", the angle of the "V" shape is 120 degrees, and the landing gear The gripper motor, the gear and the gripper rod are arranged under the fixed plate, the gear is fixedly connected to the output shaft of the gripper motor, the gear is connected with the gripper rod, and the output shaft of the gripper motor drives the gear to rotate to drive the gripper rod forward or backward. Finally, the gripper rod drives the movement of the gripper.
优选的，所述固定装置为多履带小车，所述多履带小车上方设置起落架固定板，该起落架固定板通过起落架固定板支架与多履带小车相固连。Preferably, the fixing device is a multi-crawler trolley, a landing gear fixing plate is arranged above the multi-crawler trolley, and the landing gear fixing plate is fixedly connected to the multi-crawler trolley through a landing gear fixing plate bracket.
优选的，所述摄像头为CCD摄像头。Preferably, the camera is a CCD camera.
本发明与现有技术相比，其显著优点为：1）本发明采用转盘式电池储备仓，一次最多可以进行5次电池的更换，本发明采用盲插式电池安装方便快捷效率高；2）本发明的装置实现了小型多旋翼无人机电池的自动装载和卸载，从而实现小型多旋翼无人机电池的自动更换；3）本发明的小型多旋翼无人机的电池自动更换系统在一个履带小车上，能够适应各种复杂环境；4）本发明方便可靠，可以有效解决小型多旋翼无人机人工频繁更换电池的问题，能够让小型多旋翼无人机更长时间自主的在野外执行侦测任务。Compared with the prior art, the present invention has the following significant advantages: 1) The present invention adopts a turntable battery storage bin, which can replace batteries up to 5 times at a time, and the present invention adopts blind plug-in battery installation, which is convenient, quick and efficient; 2) The device of the present invention realizes the automatic loading and unloading of the battery of the small multi-rotor UAV, thereby realizing the automatic replacement of the battery of the small multi-rotor UAV; 3) The battery automatic replacement system of the small multi-rotor UAV of the present invention is in a 4) The invention is convenient and reliable, and can effectively solve the problem of frequent manual battery replacement for small multi-rotor UAVs, allowing small multi-rotor UAVs to operate autonomously in the field for a longer period of time detection tasks.
下面结合附图对本发明作进一步详细描述。Below in conjunction with accompanying drawing, the present invention is described in further detail.
附图说明Description of drawings
图1小型多旋翼无人机的总体结构图。Figure 1 shows the overall structure of a small multi-rotor UAV.
图2为电池结构图。Figure 2 is a structural diagram of the battery.
图3为电池刚进入小型多旋翼无人机的镂空俯瞰图。Figure 3 is a hollowed-out bird's-eye view of the battery just entering the small multi-rotor drone.
图4为电池接通图。Figure 4 is a battery connection diagram.
图5为小型多旋翼无人机的电池自动更换系统总体结构图。Figure 5 is the overall structure diagram of the automatic battery replacement system for a small multi-rotor UAV.
图6为起落架固定板正面图。Figure 6 is a front view of the landing gear fixing plate.
图7为无人机用起落架抓取无人机的示意图。FIG. 7 is a schematic diagram of the UAV grabbing the UAV with its landing gear.
图8为起落架固定板背面图。Figure 8 is a rear view of the landing gear fixing plate.
图9为存放备用电池的电池存储盘正面图。Figure 9 is a front view of a battery storage tray for storing spare batteries.
图10为存放备用电池的电池存储盘背面图。Figure 10 is a rear view of the battery storage tray for storing spare batteries.
图11为机械手结构示意图。Figure 11 is a schematic diagram of the structure of the manipulator.
具体实施方式Detailed ways
结合图1，小型多旋翼无人机包括起落架底座1.1、电池插头1.2、电池槽1.3、电池压缩板1.4、弹簧1.5、控制单元1.6。Referring to Figure 1, the small multi-rotor UAV includes a landing gear base 1.1, a battery plug 1.2, a battery slot 1.3, a battery compression plate 1.4, a spring 1.5, and a control unit 1.6.
小型多旋翼无人机中间的控制单元1.6下方是电池槽1.3，电池槽1.3下方是电池大小的镂空，电池安装进去与镂空成十字交叉放置，电池插座与插头采用盲插方式，电池上的插头与多旋翼无人机上的插座为一对接的组合插件，当与镂空成十字交叉放置时实现自动接通。电池槽上通过弹簧驱动的电池压缩板1.4自动实现电池的压缩固定。多旋翼无人机上可以设置数码相机，无线发射/接收装置通过小型多旋翼无人机的控制单元连接。供电的电池仓安装在多旋翼无人机的控制单元下方。整体通过起落架与地面接触。当进行完90度旋转之后电池上的插孔与小型多旋翼无人机电池槽1.3里面的插头正好实现对接，然后通过电池槽1.3里面的弹簧1.5带动电池压缩板1.4进行压缩固定实现接通。Below the control unit 1.6 in the middle of the small multi-rotor drone is the battery slot 1.3, and below the battery slot 1.3 is a hollow of the size of the battery. It is a combined plug-in paired with the socket on the multi-rotor drone, and it is automatically connected when it is placed in a cross with the hollow. The battery compression plate 1.4 driven by the spring on the battery slot automatically realizes the compression and fixing of the battery. A digital camera can be set on the multi-rotor UAV, and the wireless transmitting/receiving device is connected through the control unit of the small multi-rotor UAV. The battery compartment for power is installed under the control unit of the multi-rotor drone. The whole is in contact with the ground through the landing gear. After the 90-degree rotation, the socket on the battery is connected to the plug in the battery slot 1.3 of the small multi-rotor drone, and then the battery compression plate 1.4 is driven by the spring 1.5 in the battery slot 1.3 to be compressed and fixed to achieve connection.
结合图2、图3、图4，电池2.0上设有电池插座正极2.1和电池插座负极2.2，电池槽上通过弹簧驱动的电池压缩板1.4自动实现电池的压缩固定。2, 3 and 4, the battery 2.0 is provided with a battery socket positive pole 2.1 and a battery socket negative pole 2.2, and the battery compression plate 1.4 driven by a spring on the battery slot automatically realizes the compression and fixing of the battery.
结合图5、图9、图10，一种小型多旋翼无人机的电池自动更换系统，包括多履带小车6.0、电池存储盘4.0、无人机用起落架固定装置、起落架固定板3.0、起落架固定板支架7.0、电池存储盘支架8.0和机械手5.0，Combined with Figure 5, Figure 9, and Figure 10, an automatic battery replacement system for a small multi-rotor drone, including a multi-track car 6.0, a battery storage disk 4.0, a landing gear fixing device for the drone, a landing gear fixing plate 3.0, Landing gear fixing plate bracket 7.0, battery storage disk bracket 8.0 and manipulator 5.0,
所述多履带小车6.0上方设置起落架固定板3.0，该起落架固定板3.0通过起落架固定板支架7.0与多履带小车6.0相固连，起落架固定板3.0上方设置无人机用起落架固定装置，该固定板中心设置与电池大小相配合的电池入口，起落架固定板3.0的下方设置电池存储盘4.0，该电池存储盘4.0通过电池存储盘支架与多履带小车6.0相固连，电池存储盘4.0下方设置机械手5.0；The landing gear fixing plate 3.0 is arranged above the multi-crawler trolley 6.0, and the landing gear fixing plate 3.0 is fixedly connected with the multi-crawler trolley 6.0 through the landing gear fixing plate bracket 7.0. device, the center of the fixed plate is provided with a battery inlet that matches the size of the battery, and the battery storage tray 4.0 is provided under the landing gear fixed plate 3.0. Manipulator 5.0 is set under disk 4.0;
电池存储盘4.0上设置六个存储电池的卡槽，该六个卡槽均匀分布在电池存储盘上,每个卡槽的中心线均位于电池存储盘4.0的直径上，卡槽上装载电池，卡槽下方开有通孔，机械手5.0可从卡槽下方的通孔穿出并将电池抓紧后从固定板中心的电池入口处推出，最终推送给无人机；所述电池存储盘4.0的中心设置连杆4.4，连杆上固连齿轮4.5，电池存储盘4.0的下方设置电机4.3，电机4.3可带动齿轮4.5旋转，最终带动电池存储盘4.0旋转。每换一次电池，电池存储盘4.0转动30度。The battery storage disc 4.0 is provided with six card slots for storing batteries. The six card slots are evenly distributed on the battery storage disc. The center line of each card slot is located on the diameter of the battery storage disc 4.0. The slots are loaded with batteries. There is a through hole under the card slot, and the manipulator 5.0 can pass through the through hole under the card slot and grasp the battery and push it out from the battery entrance in the center of the fixing plate, and finally push it to the drone; the center of the battery storage disk 4.0 The connecting rod 4.4 is set, the gear 4.5 is fixedly connected to the connecting rod, and the motor 4.3 is arranged below the battery storage disc 4.0. The motor 4.3 can drive the gear 4.5 to rotate, and finally drives the battery storage disc 4.0 to rotate. Every time the battery is changed, the battery storage disc 4.0 rotates 30 degrees.
所述多履带车6.0在正常的履带式小车两个前轮增加了一个成45度向上偏角的履带，通过前轮驱动增加的履带轮进行障碍物的爬坡操作，履带式小车可以实现一些危险地带的小型多旋翼无人机的电池自动更换，大大增加了此小型多旋翼无人机的电池自动更换平台的运用范围。The multi-track vehicle 6.0 adds a crawler track with an upward deflection angle of 45 degrees to the two front wheels of the normal crawler trolley. The crawler trolley can climb obstacles by driving the added track wheels through the front wheel. The crawler trolley can achieve some The automatic battery replacement of small multi-rotor drones in dangerous areas greatly increases the application range of the battery automatic replacement platform of this small multi-rotor drone.
结合图6，起落架固定板的最上方是着陆时标志物板，无人机的摄像头通过识别标志物板实现小型多旋翼无人机位姿确定。所述标志物板正面有：大回字3.1、小回字3.2。这部分是小型多旋翼无人机上的摄像头能够识别确定位姿的着陆标志物板，两侧是与起落架相吻合两个固定抓手3.3，就是实现当小型多旋翼无人机在平台上有点歪斜的时候，实现自动固定。中间的圆孔可以让电池包括后面的升降杆转手自由出入。当小型多旋翼无人机的六边形起落架落到平台上之后可以实现图7的抓取示意图。Combined with Figure 6, the top of the landing gear fixed plate is the marker board when landing, and the camera of the UAV can determine the pose of the small multi-rotor UAV by identifying the marker board. The front of the marker board has: big back characters 3.1, small back characters 3.2. This part is that the camera on the small multi-rotor UAV can identify the landing marker board to determine the pose. On both sides are two fixed grippers 3.3 that match the landing gear, which is to realize when the small multi-rotor UAV is on the platform When it is skewed, it can be automatically fixed. The round hole in the middle allows the battery, including the lifting rod at the back, to move in and out freely. When the hexagonal landing gear of the small multi-rotor UAV falls on the platform, the grabbing schematic diagram in Figure 7 can be realized.
结合图7、图8，所述无人机用起落架固定装置包括两个固定抓手3.3，该两个固定抓手相对设置，每个固定抓手均呈“V”字形，“V”字形的角度为120度，起落架固定板的下方设置抓手电机3.4、齿轮3.5和抓手杆子3.6，抓手电机3.4输出轴上固连齿轮3.5，齿轮3.5与抓手杆子3.6相连接，抓手电机3.4输出轴带动齿轮3.5旋转从而驱动抓手杆子3.6前进或者后退，最终抓手杆子带动抓手运动，所述两个固定抓手3.3在抓手电机3.4的带动下运动。由于无人机的底部是正六边形，所以，上述抓手可以很好的将无人机底部固定，即使无人机降落的时候有些偏差，抓手也可以将其固定住。7 and 8, the UAV landing gear fixing device includes two fixed grippers 3.3, the two fixed grippers are arranged opposite each other, and each fixed gripper is in the shape of a "V". The angle is 120 degrees, the gripper motor 3.4, the gear 3.5 and the gripper rod 3.6 are set under the fixed plate of the landing gear, the output shaft of the gripper motor 3.4 is fixedly connected with the gear 3.5, the gear 3.5 is connected with the gripper rod 3.6, and the gripper The output shaft of the motor 3.4 drives the gear 3.5 to rotate so as to drive the gripper rod 3.6 to move forward or backward, and finally the gripper rod drives the gripper to move, and the two fixed grippers 3.3 move under the drive of the gripper motor 3.4. Since the bottom of the drone is a regular hexagon, the above-mentioned grips can well fix the bottom of the drone, and even if the drone lands with some deviation, the grips can also fix it.
结合图11，机械手包括抓手2、摄像头4、伺服电机3、齿条9、电机10、机械手齿轮5、滑轨7和升降杆1，抓手位于升降杆1的一端，抓手的中心设置摄像头4，抓手与固连在升降杆1上的伺服电机3相连接，在伺服电机的带动下旋转，升降杆1位于滑轨7上并可沿滑轨7移动，升降杆1上设置齿条8，滑轨上设置电机10，电机10的输出轴上固连机械手齿轮5，机械手齿轮5与齿条8相啮合，电机10工作时，电机输出轴带动机械手齿轮5旋转并带动齿条8运动，最终带动升降杆1上下移动，滑轨7上还设置译码器6，该译码器6与摄像头4相连接。所述摄像头为CCD摄像头4。Referring to Figure 11, the manipulator includes a gripper 2, a camera 4, a servo motor 3, a rack 9, a motor 10, a manipulator gear 5, a slide rail 7 and a lifting rod 1, the gripper is located at one end of the lifting rod 1, and the center of the gripper is set The camera 4, the gripper is connected with the servo motor 3 fixedly connected on the lift rod 1, and rotates under the drive of the servo motor. The lift rod 1 is located on the slide rail 7 and can move along the slide rail 7. Bar 8, a motor 10 is set on the slide rail, the output shaft of the motor 10 is fixedly connected with the manipulator gear 5, and the manipulator gear 5 is meshed with the rack 8. When the motor 10 is working, the output shaft of the motor drives the manipulator gear 5 to rotate and drives the rack 8 The movement finally drives the lifting rod 1 to move up and down, and a decoder 6 is also arranged on the slide rail 7, and the decoder 6 is connected with the camera 4. Described camera is CCD camera 4.
地面部分的无线发射/接收装置安装在地面控制站的电脑串口上，计算软件安装在地面控制站的笔记本电脑上；小型多旋翼无人机的电池自动更换系统的地面更换电池平台的CCD摄像头能够识别的已知大小的标志物板、标志物板两侧是自动固定多旋翼无人机的起降架的固定抓手，中间是可以自动成360度旋转的放置备用电池的电池槽（每换一次电池转动30度）。转盘上总共有6个摆放电池的槽，留一空实现与小型多旋翼无人机上的电池的转换。The wireless transmitting/receiving device of the ground part is installed on the computer serial port of the ground control station, and the calculation software is installed on the laptop computer of the ground control station; the CCD camera of the ground replacement battery platform of the automatic battery replacement system of the small multi-rotor UAV can Recognized marker boards of known size, on both sides of the marker board are fixed grippers that automatically fix the takeoff and landing gear of the multi-rotor UAV, and in the middle is a battery slot that can automatically rotate 360 degrees to place a spare battery (every change One battery turn 30 degrees). There are a total of 6 battery slots on the turntable, leaving one empty to realize the conversion with the battery on the small multi-rotor drone.
下面再介绍一下整个系统的工作流程。分为卸电池和装电池两个部分。The workflow of the whole system is introduced below. It is divided into two parts: removing the battery and installing the battery.
（1）卸电池部分：(1) Unloading the battery part:
A、通过抓手上的小CCD摄像头4，透过起落架固定板中间的电池孔进行图像处理，扫描是否有小型多旋翼无人机在地面电池更换平台上。A. Through the small CCD camera 4 on the gripper, image processing is performed through the battery hole in the middle of the landing gear fixing plate to scan whether there is a small multi-rotor drone on the ground battery replacement platform.
B 、如果有小型多旋翼无人机在平台上，说明有更换电池的任务，通过控制发送指令给标志物板下的电机3.4，执行固定抓手3.3对小型多旋翼无人机起落架的固定收缩操作。B. If there is a small multi-rotor UAV on the platform, it means that there is a task to replace the battery. Through the control, send instructions to the motor 3.4 under the marker board, and execute the fixed gripper 3.3 to fix the landing gear of the small multi-rotor UAV. Shrink operation.
C、执行完固定任务后，抓手通过电机10执行沿着滑轨7上升的任务，当抓手到达小型多旋翼无人机的电池卡槽部位，抓手执行固定电池操作。C. After performing the fixing task, the gripper performs the task of rising along the slide rail 7 through the motor 10. When the gripper reaches the battery slot of the small multi-rotor UAV, the gripper performs the operation of fixing the battery.
D、抓手固定好电池后，通过对抓手下部的伺服电机3的控制，实现抓手对电池的旋转操作。D. After the battery is fixed by the gripper, the rotation operation of the battery by the gripper is realized by controlling the servo motor 3 at the lower part of the gripper.
E、当执行完90度电池旋转操作之后，电池和转手正好可以在卡槽下部的镂空出来。E. After the 90-degree battery rotation operation is completed, the battery and the handle can just be hollowed out at the lower part of the card slot.
F、最后通过电机10控制实现升降杆降落操作，当电池经过标志孔往下正好使电池落在转盘的电池槽上。最终实现电池的卸载操作。F. Finally, the motor 10 is used to control the lowering operation of the elevating rod. When the battery goes down through the marking hole, the battery just falls on the battery slot of the turntable. Finally, the unloading operation of the battery is realized.
（2）装电池部分：(2) Battery installation part:
A、当转盘上有电池之后，通过控制转盘下面的电机4.3，实现转盘的旋转，也就是使储备的电池旋转到对应的升降杆可以操作的位置，在这里我们设置的是30度旋转，然后通过升降杆中间的CCD摄像头4进行扫描，是否有储备的电池旋转过来，如果没有继续进行30度旋转。A. When there is a battery on the turntable, the rotation of the turntable is realized by controlling the motor 4.3 under the turntable, that is, the reserved battery is rotated to the position where the corresponding lifting rod can be operated. Here we set the rotation at 30 degrees, and then Scan through the CCD camera 4 in the middle of the lifting pole, whether there is a reserve battery to rotate, if not, continue to rotate 30 degrees.
B、当检测到电池后，通过对电机10的控制，使升降杆沿着滑轨7升高，转手固定住转盘上的储备电池。B. After the battery is detected, through the control of the motor 10, the lifting rod is raised along the slide rail 7, and the reserve battery on the turntable is fixed by hand.
C、升降杆上升，一直到小型多旋翼无人机下的电池槽位置。C. The elevating mast goes up until it reaches the battery slot under the small multi-rotor UAV.
D、跟上面卸载的D部分一样，通过控制抓手下的伺服电机3，实现对电池的旋转。D. Same as the unloading part D above, the rotation of the battery is realized by controlling the servo motor 3 under the gripper.
E、当进行完90度的旋转之后，电池槽上面的电池固定板1.4会通过弹簧1.5，使电池的插孔与小型多旋翼无人机上的插头实现盲插，进行对无人机的供电。E. After the 90-degree rotation is completed, the battery fixing plate 1.4 on the battery slot will pass through the spring 1.5, so that the socket of the battery and the plug on the small multi-rotor drone can be blindly plugged in to supply power to the drone.
F、升降杆执行完这些操作之后，通过电机10控制，缩回到原来位置，然后给标志物下面的电机发送解锁指令，实现对起落架的解锁。F. After the elevating lever performs these operations, it is controlled by the motor 10 to retract to the original position, and then an unlocking command is sent to the motor under the marker to realize unlocking of the landing gear.
最终就实现了小型多旋翼无人机的电池自动更换操作。Finally, the automatic battery replacement operation of the small multi-rotor UAV is realized.
本发明采用转盘式电池储备仓，一次最多可以进行5次电池的更换，本发明采用盲插式电池安装方便快捷效率高；本发明的装置实现了小型多旋翼无人机电池的自动装载和卸载，从而实现小型多旋翼无人机电池的自动更换。The present invention adopts a turntable battery storage bin, which can replace the battery up to 5 times at a time. The present invention adopts the blind plug-in battery installation, which is convenient, fast and efficient; the device of the present invention realizes the automatic loading and unloading of the battery of the small multi-rotor drone , so as to realize the automatic replacement of the battery of the small multi-rotor UAV.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210401648.0ACN102909540B (en) | 2012-10-19 | 2012-10-19 | Battery automatic replacement system of small-sized multi-rotor-wing unmanned aerial vehicle |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210401648.0ACN102909540B (en) | 2012-10-19 | 2012-10-19 | Battery automatic replacement system of small-sized multi-rotor-wing unmanned aerial vehicle |
| Publication Number | Publication Date |
|---|---|
| CN102909540A CN102909540A (en) | 2013-02-06 |
| CN102909540Btrue CN102909540B (en) | 2014-12-10 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210401648.0AActiveCN102909540B (en) | 2012-10-19 | 2012-10-19 | Battery automatic replacement system of small-sized multi-rotor-wing unmanned aerial vehicle |
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