CN111038326B - Rotatory device of changing of unmanned aerial vehicle battery - Google Patents

Abstract

The invention discloses a rotary battery replacing device for an unmanned aerial vehicle, and belongs to the technical field of machinery. The unmanned aerial vehicle battery rotary replacing device comprises an unmanned aerial vehicle battery connecting device (1), an unmanned aerial vehicle battery box (2) and a battery changing and connecting rotary device (3); the battery switching rotating device (3) comprises a switching rotating disc (31), an unmanned aerial vehicle battery box (2) storage position, a claw (32) and a claw return spring (33); the battery box (2) of the unmanned aerial vehicle is clamped and connected on the battery changing and connecting rotating device (3) through a clamping jaw (32); the clamping jaws (32) are connected with the clamping jaw return springs (33), and the clamping jaws (32) are folded and dispersed through the telescopic action of the clamping jaw return springs (33); the unmanned aerial vehicle battery connecting device (1) is installed at the bottom of the unmanned aerial vehicle. The invention solves the problems of complex connection between the unmanned aerial vehicle and the battery, inconvenient battery replacement, time waste and low efficiency in the related technology, and improves the use efficiency of the unmanned aerial vehicle.

Description

Translated fromChinese

一种无人机电池旋转更换装置A drone battery rotation replacement device

技术领域technical field

本发明涉及一种无人机电池旋转更换装置，属于机械技术领域。The invention relates to a battery rotation replacement device for an unmanned aerial vehicle, which belongs to the technical field of machinery.

背景技术Background technique

无人机是利用无线电遥控设备和自备的程序控制装置操纵的不载人飞机。目前，无人机在航拍、农业、植保、微型自拍、快递运输、灾难救援、观察野生动物、监控传染病、测绘、新闻报道、电力巡检、救灾、影视拍摄等领域广泛应用，各国也在积极扩展行业应用与发展无人机技术。UAV is an unmanned aircraft operated by radio remote control equipment and self-contained program control device. At present, UAVs are widely used in aerial photography, agriculture, plant protection, miniature selfie, express delivery, disaster relief, observation of wild animals, monitoring of infectious diseases, surveying and mapping, news reporting, power inspection, disaster relief, film and television shooting and other fields. Actively expand industry applications and develop drone technology.

目前，无人机电池已发展到相当成熟的阶段，继续通过电池领域的突破来提高无人机使用效率，面临着成本高、进展慢的问题。同时，要提高无人机续航时间，就要增大电池容量，而电池容量的增大势必导致电池重量增大，从而增加无人机耗电，反过来又缩短续航时间。无人机电池普遍续航时间较短，这一缺陷严重阻碍了其产业化的发展。At present, UAV batteries have developed to a fairly mature stage, and continue to improve the efficiency of UAVs through breakthroughs in the field of batteries, facing the problems of high cost and slow progress. At the same time, to increase the battery life of the drone, it is necessary to increase the battery capacity, and the increase in battery capacity will inevitably lead to an increase in the weight of the battery, thereby increasing the power consumption of the drone, which in turn shortens the battery life. UAV batteries generally have a short battery life, and this defect seriously hinders the development of its industrialization.

传统采用手动进行无人机电池更换，无人机与电池连接复杂，电池更换不方便，浪费时间，效率低下。目前市场上也存在无人机电池更换装置，但其大多需要改变电池形状及结构，应用范围小，成本高。王荣的一种可拆卸电池中更改了电池形状，限制了电池的适用范围，使电池无法广泛使用，现市场需要一种可以广泛适应多种不同电池的装置。Traditionally, the UAV battery is replaced manually. The connection between the UAV and the battery is complicated, the battery replacement is inconvenient, time-consuming, and inefficient. At present, there are UAV battery replacement devices on the market, but most of them need to change the shape and structure of the battery, the application range is small, and the cost is high. Wang Rong's detachable battery changed the shape of the battery, which limited the scope of application of the battery and prevented the battery from being widely used. Now the market needs a device that can widely adapt to many different batteries.

因此，急需找到一种新的能提高无人机续航能力且应用范围大、实现成本低、对无人机飞行无不良影响的电池更换方法。Therefore, there is an urgent need to find a new battery replacement method that can improve the battery life of the drone, has a wide range of applications, is low in cost, and has no adverse effects on the flight of the drone.

发明内容Contents of the invention

为解决上述问题，本发明提供了一种无人机电池旋转更换装置。In order to solve the above problems, the present invention provides a rotating battery replacement device for drones.

本发明的技术方案如下:Technical scheme of the present invention is as follows:

本发明提供了一种无人机电池旋转更换装置，包括无人机电池连接装置、无人机电池盒、电池换接旋转装置；The invention provides a UAV battery rotation replacement device, including a UAV battery connection device, a UAV battery box, and a battery replacement rotation device;

所述电池换接旋转装置包括换接旋转盘、无人机电池盒储存位置、卡爪，卡爪复位弹簧；所述卡爪对称分布在无人机电池盒储存位置的两端，所述无人机电池盒通过卡爪夹紧连接在电池换接旋转装置上；所卡爪复位弹簧位于换接旋转盘内部，所述卡爪与卡爪复位弹簧相连接，通过卡爪复位弹簧伸缩实现卡爪的收拢和分散；The battery switching and rotating device includes a switching rotating disk, a storage location for the battery box of the drone, a claw, and a claw reset spring; the claws are symmetrically distributed at both ends of the storage location of the battery box of the drone. The human-machine battery box is clamped and connected to the battery exchange rotating device by the claws; the return spring of the claws is located inside the exchange rotating disk, and the claws are connected with the return springs of the claws. The retraction and dispersion of claws;

所述无人机电池连接装置安装于无人机底部；所述无人机电池连接装置包括无人机电池连接架、铜极伸缩仓、第一铜极、第一限位块、复位弹簧、第二限位块；所述电池连接装置为架体结构，由一块长方体两端沿长方体纵剖面在同一侧垂直延伸两块长方体所形成；所述铜极伸缩仓位于无人机电池连接架的第一端，所述第一铜极处于铜极伸缩仓的正中位置且分为正负极两个铜极，所述第一铜极通过复位弹簧与铜极伸缩仓的仓壁相连，第一铜极可实现往复运动，所述第一限位块对称分布于第一铜极的左右两侧，所述第二限位块位于第一铜极的正上侧；在电池连接架的第二端内侧，未设第一铜极，设有与电池连接架的第一端内侧具有相同结构与分布的第一限位块与第二限位块；所述无人机电池盒包括电池仓、电池盒限位块、第二铜极、卡接块；所述卡接块为长方块，位于第二铜极的下方，其长度与电池仓宽度相等；所述电池仓用于存放电池；所述电池盒限位块为长方块，横剖面与电池仓纵剖面呈一定的角度；所述第二铜极位于电池仓的第一端，通过导线与电池仓内部电池相连；在电池仓的第二端，未设有所述第二铜极，设有与电池仓的第一端相同结构与分布的所述电池盒限位块与卡接块。The UAV battery connection device is installed at the bottom of the UAV; the UAV battery connection device includes a UAV battery connection frame, a copper pole telescopic warehouse, a first copper pole, a first limit block, a return spring, The second limit block; the battery connection device is a frame structure, formed by vertically extending two cuboids on the same side along the longitudinal section of a cuboid at both ends of a cuboid; At the first end, the first copper pole is located in the middle of the copper pole telescopic warehouse and is divided into two copper poles, positive and negative. The first copper pole is connected to the warehouse wall of the copper pole telescopic warehouse through a return spring. The copper pole can realize reciprocating movement, the first limit block is symmetrically distributed on the left and right sides of the first copper pole, and the second limit block is located on the upper side of the first copper pole; On the inner side of the end, there is no first copper pole, but a first limit block and a second limit block with the same structure and distribution as the inside of the first end of the battery connection frame; the drone battery box includes a battery compartment, The battery box limit block, the second copper pole, and the clamping block; the clamping block is a long square, located below the second copper pole, and its length is equal to the width of the battery compartment; the battery compartment is used to store batteries; the The limit block of the battery box is a rectangular block, and the cross section is at a certain angle to the longitudinal section of the battery compartment; the second copper electrode is located at the first end of the battery compartment, and is connected to the internal battery of the battery compartment through a wire; The two ends are not provided with the second copper electrode, but are provided with the battery box limiting block and the clamping block with the same structure and distribution as the first end of the battery compartment.

在本发明的一种实施方式中，所述第一限位块纵剖面为有一角为圆角的矩形。In one embodiment of the present invention, the longitudinal section of the first limiting block is a rectangle with one corner rounded.

在本发明的一种实施方式中，所述第二限位块纵剖面为有两角为圆角的矩形。In one embodiment of the present invention, the longitudinal section of the second limiting block is a rectangle with two rounded corners.

在本发明的一种实施方式中，所述第二铜极上方有2个电池盒限位块，沿第二铜极的竖向对称轴呈对称分布，中间相隔一定距离。In one embodiment of the present invention, there are two battery case limit blocks above the second copper pole, which are symmetrically distributed along the vertical axis of symmetry of the second copper pole, with a certain distance between them.

在本发明的一种实施方式中，所述电池仓为中空长方体结构。In one embodiment of the present invention, the battery compartment is a hollow cuboid structure.

在本发明的一种实施方式中，所述电池仓底部设有可用于视觉模块识别的图案。In one embodiment of the present invention, the bottom of the battery compartment is provided with a pattern that can be recognized by the vision module.

在本发明的一种实施方式中，所述电池仓两侧壁为矩形状镂空结构，此镂空结构可减轻电池仓重量。In one embodiment of the present invention, the two side walls of the battery compartment are rectangular hollow structures, which can reduce the weight of the battery compartment.

在本发明的一种实施方式中，所述电池盒限位块为长方块结构，其横剖面与电池仓纵剖面呈一定的角度，使无人机电池盒旋出取出更顺畅。In one embodiment of the present invention, the limit block of the battery box is a rectangular structure, and its cross section is at a certain angle to the longitudinal section of the battery compartment, so that the unmanned aerial vehicle battery box can be unscrewed and taken out more smoothly.

在本发明的一种实施方式中，所述换接旋转盘为中心对称的柱状结构，中心轴留有安装旋转轴的孔。In one embodiment of the present invention, the switching rotating disk is a center-symmetric columnar structure, and a hole for installing the rotating shaft is left on the central axis.

在本发明的一种实施方式中，所述用于无人机电池盒的储存位置周向均匀分布于旋转盘上且数量共有5个。In one embodiment of the present invention, the storage positions for the drone battery box are evenly distributed in the circumferential direction on the rotating disk, and there are 5 in total.

在本发明的一种实施方式中，所述卡爪呈“L”型结构。In one embodiment of the present invention, the claw is in an "L" shape.

有益效果：Beneficial effect:

(1)本发明通过换接旋转盘上的夹爪与无人机电池盒上的卡接块相配合，可进行无人机电池盒的快速旋转更换，操作简单，耗时短效率高。(1) In the present invention, the clamping jaws on the rotating disk are matched with the clamping block on the battery box of the drone, so that the battery box of the drone can be quickly rotated and replaced, and the operation is simple, time-consuming and efficient.

(2)本发明的可拆卸电池通过将铜极设置在电池仓内且一端分为正负极两个铜极，电池仓内的电池通过一端即可与无人机连接装置上的电极进行连接，并将电池仓侧壁设置为镂空结构，其结构简单、体积小、轻便、便于制作。(2) In the detachable battery of the present invention, the copper pole is arranged in the battery compartment and one end is divided into two copper poles, positive and negative. The battery in the battery compartment can be connected to the electrode on the UAV connection device through one end. , and the side wall of the battery compartment is set as a hollow structure, which has a simple structure, small size, light weight, and is easy to manufacture.

(3)本发明的可拆卸电池通过将无人机电池连接装置上两端的限位块与电池盒上的限位块配合，即可实现电池盒在连接装置上的精准定位。(3) The detachable battery of the present invention can realize precise positioning of the battery case on the connection device by cooperating the limit blocks at both ends of the drone battery connection device with the limit blocks on the battery box.

(4)本发明通过在换接旋转盘内储存多个无人机电池，通过电池换接旋转装置的旋转可将没电的可拆卸电池的电池仓充满电再次给无人机换上，以实现可拆卸电池电池仓的循环利用。(4) The present invention stores a plurality of unmanned aerial vehicle batteries in the switching rotating disk, and the battery compartment of the detachable battery that is dead can be fully charged and replaced by the unmanned aerial vehicle through the rotation of the battery switching rotating device. Realize the recycling of the detachable battery battery compartment.

附图说明Description of drawings

图1为无人机电池盒与无人机电池连接装置连接示意图。Figure 1 is a schematic diagram of the connection between the UAV battery box and the UAV battery connection device.

图2为无人机电池盒示意图。Figure 2 is a schematic diagram of the drone battery box.

图3为无人机电池连接装置示意图。Figure 3 is a schematic diagram of the drone battery connection device.

图4为无人机电池连接装置A-A剖视图。Fig. 4 is an A-A sectional view of the drone battery connection device.

图5为无人机电池连接装置A1向视图。Fig. 5 is a view from the direction A1 of the drone battery connection device.

图6为无人机电池盒与无人机电池连接装置连接剖视图。Fig. 6 is a sectional view of the connection between the drone battery box and the drone battery connection device.

图7为可拆卸电池换接旋转装置的示意图。FIG. 7 is a schematic diagram of the detachable battery swapping and rotating device.

图8为可拆卸电池换接旋转装置的B-B剖视图。Fig. 8 is a B-B sectional view of the detachable battery swapping and rotating device.

图9为可拆卸电池被换接旋转装置锁紧示意图。Fig. 9 is a schematic diagram of locking the detachable battery by the switching device.

图10为可拆卸电池被换接旋转装置松开示意图。Fig. 10 is a schematic diagram showing that the detachable battery is loosened by the switching device.

图11为全方位移动平台车示意图。Figure 11 is a schematic diagram of the omnidirectional mobile platform vehicle.

图12为无人机电池换接充电系统的流程图。Fig. 12 is a flow chart of the drone battery swap charging system.

图中：In the picture:

无人机电池连接装置1，无人机电池盒2，电池换接旋转装置3，电池换接旋转装置架4，电池旋转驱动装置5，全方位移动平台车6，全方位移动平台车外壳7，无人机电池连接架11，铜极伸缩仓12，第一铜极13，第一限位块14，复位弹簧15，第二限位块16，电池仓21，电池盒限位块22，第二铜极23，卡接块24，换接旋转盘31，卡爪32，卡爪复位弹簧33。UAVbattery connection device 1,UAV battery box 2, batteryswap rotation device 3, battery swap rotation device frame 4, batteryrotation drive device 5, omnidirectionalmobile platform vehicle 6, omnidirectional mobileplatform vehicle shell 7 , UAVbattery connection frame 11, copper poletelescopic warehouse 12,first copper pole 13,first limit block 14,return spring 15,second limit block 16,battery compartment 21, batterybox limit block 22, Thesecond copper pole 23 , the clampingblock 24 , therotating disk 31 , theclaw 32 , and thespring 33 for restoring the claw.

具体实施方式Detailed ways

为了更好地理解本发明，下面结合实施例进一步阐释本发明的内容，但本发明的内容不仅仅局限于下面的实施例。In order to better understand the present invention, the content of the present invention is further explained below in conjunction with the examples, but the content of the present invention is not limited to the following examples.

如图7、8、9、10所示，一种用于更换无人机的无人机电池盒2的电池换接旋转装置3，包括换接旋转盘31、无人机电池盒2储存位置、卡爪32，卡爪复位弹簧33；所述换接旋转盘31为中心对称的柱状结构，中心轴留有安装旋转轴的孔；所述用于无人机电池盒2的储存位置周向均匀分布于旋转盘31上且数量共有5个；所述无人机电池盒2储存位置为长方体结构，用来储存无人机电池盒2，所述卡爪32对称分布在无人机电池盒2储存位置的两端且呈“L”型结构，所卡爪复位弹簧33位于换接旋转盘31内部，卡爪32与卡爪复位弹簧33相连接，通过卡爪复位弹簧33伸缩实现卡爪32的收拢和分散，卡爪32收拢时，可与卡接快24配合，从而夹紧可固定无人机电池盒2；卡爪32分散时，无人机电池盒2可进行如图8箭头方向所示的竖直方向移入移出。As shown in Figures 7, 8, 9, and 10, a battery exchange androtation device 3 for replacing thebattery box 2 of an unmanned aerial vehicle includes anexchange rotating disk 31 and a storage position for thebattery box 2 of the unmanned aerial vehicle. ,claw 32,claw return spring 33; the switching rotatingdisk 31 is a centrally symmetrical columnar structure, and the central axis has a hole for installing the rotating shaft; the storage position for thedrone battery box 2 is circumferentially Evenly distributed on the rotatingdisk 31 and the number is 5 in total; the storage position of thedrone battery box 2 is a cuboid structure for storing thedrone battery box 2, and theclaws 32 are symmetrically distributed in thedrone battery box 2. The two ends of the storage position are in an "L" shape. Theclaw return spring 33 is located inside the switchingrotary plate 31. Theclaw 32 is connected to theclaw return spring 33. The claw is realized by stretching theclaw return spring 33. 32 is folded and dispersed. When theclaws 32 are folded, they can cooperate with the clamping fast 24, thereby clamping and fixing theUAV battery box 2; Move in and out in the vertical direction indicated by the direction.

如图1所示，能够与电池换接旋转装置3配套的可拆卸电池包括：无人机电池连接装置1，无人机电池盒2。As shown in FIG. 1 , the detachable battery that can be matched with the battery swapping androtating device 3 includes: a UAVbattery connection device 1 and aUAV battery box 2 .

如图2所示，所述无人机电池盒2包含：电池仓21、电池盒限位块22、第二铜极23、卡接块24；所述电池仓21为中空的长方体结构，可存放无人机电池，电池仓21两侧壁为矩形状镂空结构，此镂空结构可减轻电池仓重量；所述第二铜极23位于电池仓21的第一端，通过导线与电池仓21内部电池相连；所述电池盒限位块22为长方体结构，在第二铜极23上方有2个电池盒限位块22，沿第二铜极23的竖向对称轴呈对称分布，中间相隔一定距离，所述电池盒限位块22横剖面与电池仓21纵剖面呈一定的角度，使无人机电池盒旋出取出更顺畅；所述卡接块24位于第二铜极23的下方，其长度与电池仓宽度相等，为长方体结构；在电池仓的第二端，未设有第二铜极23，设有与电池仓的第一端相同结构与分布的电池盒限位块22与卡接块24；所述电池仓21底部设有可用于视觉模块识别的图案。As shown in Figure 2, thedrone battery box 2 includes: abattery compartment 21, a batterybox limiting block 22, asecond copper pole 23, and aclamping block 24; thebattery compartment 21 is a hollow cuboid structure, which can To store the drone battery, the two side walls of thebattery compartment 21 are rectangular hollow structures, which can reduce the weight of the battery compartment; The battery is connected; the batterybox stop block 22 is a cuboid structure, and there are two battery box stop blocks 22 above thesecond copper pole 23, which are symmetrically distributed along the vertical symmetry axis of thesecond copper pole 23, with a certain distance between them. Distance, the cross section of the batterybox limit block 22 is at a certain angle to the longitudinal section of thebattery compartment 21, so that the unmanned aerial vehicle battery box can be unscrewed and taken out more smoothly; the clampingblock 24 is located below thesecond copper pole 23, Its length is equal to the width of the battery compartment, and it is a cuboid structure; at the second end of the battery compartment, there is nosecond copper pole 23, and a batterybox limiting block 22 with the same structure and distribution as the first end of the battery compartment is provided. Clampingblock 24; the bottom of thebattery compartment 21 is provided with a pattern that can be used for recognition by the vision module.

如图3、4、5、6所示，所述无人机电池连接装置1包括：无人机电池连接架11，铜极伸缩仓12，第一铜极13，第一限位块14，复位弹簧15，第二限位块16；所述电池连接架11为架体结构，由一块长方体两端沿长方体纵剖面在同一侧垂直延伸两块长方体所形成；所述铜极伸缩仓12位于无人机电池连接架11的第一端，中间镂空，为长方体结构，并留有第一铜极13存放孔，所述第一铜极13处于铜极伸缩仓12的正中位置且分为正负极两个铜极，所述第一铜极13一端通过复位弹簧15与铜极伸缩仓12的仓壁相连，第一铜极13可实现往复运动，当无人机电池盒2与无人机电池连接装置1连接时，通过复位弹簧15的压缩，可使第一铜极13与第二铜极23连接；所述第一限位块14对称分布于第一铜极13的左右两侧，其纵剖面为有一角为圆角的矩形，所述第二限位块16位于第一铜极13的正上侧，其纵剖面为有两角为圆角的矩形；在电池连接架11的第二端内侧，未设有第一铜极13，设有与电池连接架11的第一端内侧相同结构与分布的第一限位块14与第二限位块16。As shown in Figures 3, 4, 5, and 6, the dronebattery connection device 1 includes: a dronebattery connection frame 11, a copper poletelescopic warehouse 12, afirst copper pole 13, afirst limit block 14, Back-movingspring 15, thesecond limit piece 16; Thebattery connection frame 11 is a frame structure, formed by vertically extending two cuboids at the same side along the longitudinal section of a cuboid at both ends of a cuboid; the copper poletelescopic warehouse 12 is located The first end of the UAVbattery connection frame 11 is hollowed out in the middle and is a cuboid structure, and there are storage holes for thefirst copper pole 13. Thefirst copper pole 13 is located in the middle of the copper poletelescopic warehouse 12 and is divided into two parts: Negative two copper poles, one end of thefirst copper pole 13 is connected to the warehouse wall of the copper poletelescopic warehouse 12 through thereturn spring 15, thefirst copper pole 13 can realize reciprocating motion, when thedrone battery box 2 is connected to the unmanned When the machine-battery connection device 1 is connected, thefirst copper pole 13 can be connected to thesecond copper pole 23 through the compression of thereturn spring 15; the first limitingblock 14 is symmetrically distributed on the left and right sides of thefirst copper pole 13 , its longitudinal section is a rectangle with rounded corners, the second limitingblock 16 is located on the upper side of thefirst copper pole 13, and its longitudinal section is a rectangle with rounded corners; on thebattery connecting frame 11 The inner side of the second end of thebattery connection frame 11 is not provided with thefirst copper electrode 13, and the first limitingblock 14 and the second limitingblock 16 are provided with the same structure and distribution as the inner side of the first end of thebattery connecting frame 11.

图11所示的是一种无人机电池更换系统，可以用于配合上述电池换接旋转装置3、可拆卸电池来实现无人机电池更换。如图11所示，无人机电池更换系统包括无人机(附图中未表示)、可拆卸电池换接充电装置(附图中未表示)、无人机电池连接装置1(附图中未表示)、无人机电池盒2、电池换接旋转装置3、电池换接旋转装置架4、电池旋转驱动装置5、全方位移动平台车6、移动平台车外壳7；所述无人机电池连接装置1安装于无人机底部，所述无人机电池盒2通过卡爪32夹紧连接在电池换接旋转装置3上；所述电池换接旋转装置架4为薄板形结构，上有开孔；所述电池旋转驱动装置5内部包含驱动电机，通过电池换接旋转装置架4与接旋转盘31的旋转轴相连，电池旋转驱动装置5可通过内部电机旋转从而控制电池换接旋转装置3旋转运动；所述电池换接旋转装置架4、移动平台车外壳7搭载于全方位移动平台车6，所述全方位移动平台车外壳7位于全方位移动平台车6上侧；所述全方位移动平台车6底部有四个万向脚轮；所述无人机内部设有飞行控制系统，所述飞行控制系统包含陀螺仪、卫星定位模块以及控制电路，陀螺仪可感知无人机飞行姿势，卫星定位模块可控制无人机悬停水平位置及高度；所述可拆卸电池换接充电装置内部设有装置控制系统，装置控制系统包含视觉识别模块、运动控制系统、电池换接充电控制系统，所述视觉识别模块可识别无人机位置，所述电池换接充电控制系统可控制可拆卸电池换接充电装置内部运作。Figure 11 shows a UAV battery replacement system, which can be used to realize UAV battery replacement in cooperation with the above-mentioned battery swappingrotating device 3 and detachable battery. As shown in Figure 11, the drone battery replacement system includes a drone (not shown in the accompanying drawings), a detachable battery exchange charging device (not shown in the accompanying drawings), a drone battery connection device 1 (not shown in the accompanying drawings) Not shown), unmanned aerialvehicle battery box 2, batteryexchange rotating device 3, battery exchange rotating device frame 4, battery rotatingdrive device 5, omnidirectionalmobile platform vehicle 6, mobileplatform vehicle shell 7; Thebattery connection device 1 is installed on the bottom of the UAV, and theUAV battery box 2 is clamped and connected to the battery exchange androtation device 3 through theclaws 32; the battery exchange and rotation device frame 4 is a thin plate structure, and the upper There are openings; the battery rotatingdrive device 5 contains a driving motor inside, and the battery rotating device frame 4 is connected to the rotating shaft connected to therotating disk 31 through thebattery rotating device 5. The battery rotating drivingdevice 5 can rotate through the internal motor to control the battery switching rotation Thedevice 3 rotates; the battery exchange rotating device frame 4 and the mobileplatform car shell 7 are mounted on the omnidirectionalmobile platform car 6, and the omnidirectional mobileplatform car shell 7 is located on the upper side of the omnidirectionalmobile platform car 6; There are four universal casters at the bottom of the all-roundmobile platform vehicle 6; a flight control system is provided inside the drone, and the flight control system includes a gyroscope, a satellite positioning module and a control circuit, and the gyroscope can perceive the flight of the drone. Posture, the satellite positioning module can control the horizontal position and height of the hovering of the drone; the detachable battery swap charging device is equipped with a device control system inside, and the device control system includes a visual recognition module, a motion control system, and a battery swap charging control system, the visual identification module can identify the position of the drone, and the battery swapping and charging control system can control the internal operation of the detachable battery swapping and charging device.

下面以无人机为例，结合图12具体阐述无人机电池更换过程：Taking the drone as an example, the process of replacing the battery of the drone is described in detail in conjunction with Figure 12:

(1)将无人机电池连接装置1安装在无人机底部，无人机电池连接装置1连接了无人机电池盒2，第二铜极23通过导线将电池仓21内电池的能源通过无人机电池连接装置1上的第一铜极13供给无人机；(1) Install the UAVbattery connection device 1 on the bottom of the UAV, the UAVbattery connection device 1 is connected to theUAV battery box 2, and thesecond copper pole 23 passes the energy of the battery in thebattery compartment 21 through the wire Thefirst copper pole 13 on the dronebattery connection device 1 is supplied to the drone;

(2)无人机起飞，卫星定位模块可大致记录全方位移动平台车6的位置；(2) The unmanned aerial vehicle takes off, and the satellite positioning module can roughly record the position of the omnidirectionalmobile platform vehicle 6;

(3)无人机失去遥控器信号或接收到遥控器一键返航指令，无人机内部的飞行控制系统控制无人机自动返航至全方位移动平台车6的位置上空，并开始缓缓下降；(3) The UAV loses the signal of the remote control or receives a one-key return command from the remote control. The flight control system inside the UAV controls the UAV to automatically return to the position of the omnidirectionalmobile platform vehicle 6, and begins to slowly descend ;

(4)无人机返航至全方位移动平台车6的位置上空，可拆卸电池换接充电装置上的摄像头捕捉、拍摄电池仓21底部的特殊图案，并传送至可拆卸电池换接充电装置内部的视觉识别模块；(4) The UAV returns to the sky above the position of the omnidirectionalmobile platform vehicle 6, and the camera on the detachable battery swapping and charging device captures and shoots the special pattern at the bottom of thebattery compartment 21, and transmits it to the inside of the detachable battery swapping and charging device visual identity module;

(5)装置控制系统控制全方位移动平台车6下的四个万向脚轮进行移动，确保换接旋转盘31圆周上空闲的无人机电池盒2储存位置在电池仓21正下方且两者方向一致，此时正下方空闲的无人机电池盒2储存位置两端的卡爪32呈分散状态；(5) The device control system controls the four universal casters under the omni-directionalmobile platform vehicle 6 to move, ensuring that the freeUAV battery box 2 storage position on the circumference of the switchingrotating disk 31 is directly below thebattery compartment 21 and both The direction is the same, at this time, theclaws 32 at both ends of the storage position of the idleUAV battery box 2 directly below are in a dispersed state;

(6)可拆卸电池换接充电装置内部的视觉识别模块根据图片可判断无人机电池盒2是否已落入其正下方空闲的无人机电池盒2储存位置内，若无人机电池盒2已落入储存位置内，进行下一步操作；(6) The visual recognition module inside the detachable battery swap charging device can judge according to the picture whether theUAV battery box 2 has fallen into the freeUAV battery box 2 storage location directly below it, if theUAV battery box 2 has fallen into the storage location, proceed to the next step;

(7)装置控制系统控制卡爪复位弹簧33复位，使得卡爪32收拢，夹紧无人机电池盒2，飞行控制系统使无人机下降，使得无人机电池盒2相对于无人机电池连接装置1向上移动一小段距离，装置控制系统控制换接旋转盘31绕轴向旋转一定角度，将无人机电池盒2从无人机电池连接装置1中旋出，并旋入新的无人机电池盒至无人机电池连接装置1中，此时铜极13压缩，使得新的可拆卸电池装置2与铜极23相接；(7) The device control system controls theclaw return spring 33 to reset, so that theclaws 32 are drawn in, and thedrone battery box 2 is clamped, and the flight control system makes the drone drop, so that thedrone battery box 2 is relative to the drone. Thebattery connection device 1 moves upward for a short distance, and the device control system controls the switchingrotating disk 31 to rotate a certain angle around the axis, unscrew theUAV battery box 2 from the UAVbattery connection device 1, and screw in a new one. The UAV battery box is connected to the UAVbattery connection device 1. At this time, thecopper pole 13 is compressed, so that the newdetachable battery device 2 is connected to thecopper pole 23;

(8)飞行控制系统控制无人机竖直起飞，起飞过程中无人机电池盒2相对于无人机电池连接装置1向下移动一小段距离，此时第二限位块16卡入两块电池盒限位块22的中间，电池盒限位块22与第一限位块14相抵接，通过第一限位块14可限制电池盒相对无人机电池连接装置1竖向向下的移动，通过电池盒限位块22与第二限位块16配合可限制电池盒相对无人机电池连接装置1旋转方向与横向方向上的移动，从而将无人电池盒2固定于无人机电池连接装置1上，拆换过程完成，无人机可再次工作。(8) The flight control system controls the drone to take off vertically. During the take-off process, thebattery box 2 of the drone moves down a short distance relative to thebattery connection device 1 of the drone. At this time, the second limitingblock 16 snaps into two In the middle of the batterybox limit block 22, the batterybox limit block 22 abuts against thefirst limit block 14, and the vertical downward movement of the battery box relative to the dronebattery connection device 1 can be limited by thefirst limit block 14. Movement, through the cooperation of the batterybox limit block 22 and thesecond limit block 16, the movement of the battery box relative to the dronebattery connection device 1 in the rotation direction and the lateral direction can be limited, thereby fixing theunmanned battery box 2 to the drone On thebattery connection device 1, the replacement process is completed, and the drone can work again.

以上所述仅为本发明的较佳实施例，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.

Claims (10)

1. An unmanned aerial vehicle battery rotary replacing device is characterized by comprising an unmanned aerial vehicle battery connecting device (1), an unmanned aerial vehicle battery box (2) and a battery changing and rotating device (3); the battery switching rotating device (3) comprises a switching rotating disc (31), an unmanned aerial vehicle battery box (2) storage position, a claw (32) and a claw return spring (33);

the clamping jaws (32) are symmetrically distributed at two ends of a storage position of the battery box (2) of the unmanned aerial vehicle, and the battery box (2) of the unmanned aerial vehicle is tightly connected to the battery switching rotating device (3) through the clamping jaws (32); the claw return spring (33) is positioned in the switching rotary disc (31), the claw (32) is connected with the claw return spring (33), and the claw return spring (33) stretches to realize the folding and the dispersion of the claw (32);

the unmanned aerial vehicle battery connecting device (1) is arranged at the bottom of the unmanned aerial vehicle; the unmanned aerial vehicle battery connecting device (1) comprises an unmanned aerial vehicle battery connecting frame (11), a copper electrode telescopic bin (12), a first copper electrode (13), a first limiting block (14), a return spring (15) and a second limiting block (16); the battery connecting device (1) is of a frame body structure and is formed by vertically extending two cuboids at the same side along the longitudinal section of the cuboid at two ends of one cuboid; the copper electrode telescopic bin (12) is located at the first end of the unmanned aerial vehicle battery connecting frame, and the first copper electrode (13) is located in the middle of the copper electrode telescopic bin (12) and is divided into a positive copper electrode and a negative copper electrode; the first copper pole (13) is connected with the bin wall of the copper pole telescopic bin (12) through a return spring (15), and can realize reciprocating motion; the first limiting blocks (14) are symmetrically distributed on the left side and the right side of the first copper pole (13), and the second limiting blocks (16) are arranged on the right upper side of the first copper pole (13); the inner side of the second end of the unmanned aerial vehicle battery connecting frame (11) is not provided with a first copper electrode (13), and a first limiting block (14) and a second limiting block (16) which have the same structure and distribution with the inner side of the first end of the unmanned aerial vehicle battery connecting frame (11) are arranged;

the unmanned aerial vehicle battery box (2) comprises a battery bin (21), a battery box limiting block (22), a second copper electrode (23) and a clamping block (24); the clamping block (24) is a rectangular block and is positioned below the second copper electrode (23), and the length of the clamping block is equal to the width of the battery bin (21); the battery bin (21) can store batteries in the bin body; patterns which can be used for the visual module to identify are arranged at the bottom of the battery bin (21); the second copper electrode (23) is positioned at the first end of the battery bin (21) and is connected with a battery in the battery bin (21) through a lead; at the second end of battery compartment (21), do not be equipped with second copper pole (23), be equipped with the first end looks isostructure of battery compartment (21) and distribute battery case stopper (22) and joint piece (24).

2. The device for the rotary replacement of battery of unmanned aerial vehicle according to claim 1, wherein the switching rotary disk (31) is a cylindrical structure with a symmetrical center, and a hole for installing the rotary shaft is reserved on the central shaft.

3. A device for the rotary exchange of battery for unmanned aerial vehicles according to claim 1, wherein the storage locations for the battery compartment (2) of the unmanned aerial vehicle are circumferentially and evenly distributed on the change-over rotary disk (31) for a total of 5.

4. An unmanned aerial vehicle battery rotary exchange device as claimed in claim 1, wherein the claw (32) is of an "L" shape.

5. The battery rotary exchanging device as claimed in claim 1, wherein the first stopper (14) has a rectangular shape with a rounded corner in longitudinal section.

6. The battery rotary exchanging device as set forth in claim 1, wherein the second stopper (16) has a rectangular shape in longitudinal section with rounded corners at both corners.

7. The battery rotary replacing device as claimed in claim 1, wherein 2 battery box limiting blocks (22) are arranged above the second copper pole (23) and are symmetrically distributed along the vertical symmetry axis of the second copper pole (23) with a certain distance in between.

8. The rotary battery replacing device as claimed in claim 1, wherein the battery compartment (21) is a hollow rectangular parallelepiped structure.

9. The rotary battery replacing device as claimed in claim 1 or 8, wherein two side walls of the battery compartment (21) are rectangular hollow structures, and the hollow structures can reduce the weight of the battery compartment.

10. The battery rotary replacement device according to claim 1, wherein the battery box limiting block (22) is a rectangular block, and the cross section of the rectangular block is at a certain angle with the longitudinal section of the battery compartment (21), so that the battery box (2) of the unmanned aerial vehicle can be smoothly screwed out.

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