CN112158122A - Portable automatic unmanned aerial vehicle inspection platform - Google Patents
Portable automatic unmanned aerial vehicle inspection platform Download PDFInfo
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- CN112158122A CN112158122A CN202011025242.8A CN202011025242A CN112158122A CN 112158122 A CN112158122 A CN 112158122A CN 202011025242 A CN202011025242 A CN 202011025242A CN 112158122 A CN112158122 A CN 112158122A
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- 238000007689 inspection Methods 0.000 title claims abstract description 43
- 230000005540 biological transmission Effects 0.000 claims description 28
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- 238000007906 compression Methods 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims description 2
- 230000000712 assembly Effects 0.000 claims 1
- 238000000429 assembly Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 13
- 230000005611 electricity Effects 0.000 description 5
- 230000007613 environmental effect Effects 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 108010066278 cabin-4 Proteins 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
- B60P3/11—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P7/00—Securing or covering of load on vehicles
- B60P7/06—Securing of load
- B60P7/135—Securing or supporting by load bracing means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D33/00—Superstructures for load-carrying vehicles
- B62D33/04—Enclosed load compartments ; Frameworks for movable panels, tarpaulins or side curtains
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a portable unmanned aerial vehicle automatic inspection platform, wherein two sides of the upper surface of a carriage bottom plate are provided with vertically and upwardly extending placing racks, the upper part of each group of placing racks is provided with unmanned aerial vehicle bins distributed in an array manner, the lower part of each group of placing racks is provided with a battery bin assembly, and a battery replacing mechanical arm is arranged between the two groups of placing racks and can move along the length direction of the placing racks; be used for placing unmanned aerial vehicle in the unmanned aerial vehicle storehouse, battery storehouse subassembly includes battery compartment and the module of charging, and the battery compartment is used for placing the machine and carries the battery, and the module of charging is used for charging for the machine carries the battery, trades the electromechanical hand tip and is provided with the tongs unit, trades the electromechanical hand and is used for snatching the machine through the tongs unit and carries the battery and realize unmanned aerial vehicle's the operation of trading. This kind of automatic platform of patrolling and examining of portable unmanned aerial vehicle can solve the high-efficient automatic technical problem of trading the battery of concentrating of many unmanned aerial vehicles.
Description
Technical Field
The invention relates to the technical field of electric power system detection, in particular to a portable automatic inspection platform for an unmanned aerial vehicle.
Background
It is expected that national grid 110kV and above overhead transmission lines will be as long as 129 kilometres by 2020. The traditional manual inspection has the defects of low inspection efficiency, unstable inspection quality, high danger, high labor intensity and the like. The power transmission line inspection team of the national grid company has a severe situation that total shortage and structural shortage exist continuously, the shortage rate of overhead line inspection personnel reaches 47%, the power transmission inspection personnel are seriously insufficient in storage, the problem of 'gear failure' is prominent, and the contradiction between the continuous increase of equipment scale and the relative shortage of inspection personnel is increasingly prominent. In addition, the traditional manual inspection operation is difficult to meet the operation and maintenance requirements of the power grid, is limited by various factors such as terrain conditions, environmental factors and personnel quality, has the problems of difficult inspection, incomplete inspection range, low inspection efficiency and the like, and is difficult to adapt to lean management of equipment and high-quality development requirements of the power grid.
In recent years, unmanned aerial vehicle inspection becomes an important inspection means of power transmission lines, and inspection benefit and quality are remarkably improved compared with traditional manual inspection. But current unmanned aerial vehicle patrols and examines and need install unmanned aerial vehicle platform of taking off to ensure unmanned aerial vehicle normal flight, often can receive the influence of terrain condition, environmental factor when nevertheless unmanned aerial vehicle takes off the installation of platform, and fixed, be difficult to remove, lead to unmanned aerial vehicle to patrol and examine and be difficult to carry out, simultaneously, current unmanned aerial vehicle does not have supporting special concentrated battery system that trades, can only accomplish an unmanned aerial vehicle once and trade battery work, trades battery inefficiency.
Disclosure of Invention
The invention aims to provide a portable unmanned aerial vehicle automatic inspection platform, which can solve the technical problem of efficient and automatic centralized battery replacement of a plurality of unmanned aerial vehicles.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the utility model provides an automatic platform of patrolling and examining of portable unmanned aerial vehicle, includes the trailer, trailer bottom be provided with carriage bottom plate, its characterized in that: the battery replacing device comprises a carriage bottom plate, a battery replacing manipulator and a battery replacing manipulator, wherein the carriage bottom plate is provided with vertical and upward extending placing racks on two sides of the upper surface, the upper part of each placing rack is provided with unmanned machine bins distributed in an array mode, the lower part of each placing rack is provided with a battery bin assembly, the battery replacing manipulator is arranged between the two placing racks and movably arranged on the upper surface of the carriage bottom plate, and the battery replacing manipulator can move along the length direction of the;
the unmanned aerial vehicle cabin in be used for placing unmanned aerial vehicle, the battery compartment subassembly include battery compartment and the module of charging, the battery compartment be used for placing the airborne battery, the module of charging be used for the airborne battery to charge, trade electric manipulator tip be provided with the tongs unit, trade electric manipulator be used for snatching the airborne battery through the tongs unit and realize unmanned aerial vehicle trade the electricity operation.
The trailer is characterized in that a framework is arranged in the trailer, the placing rack is fixedly connected with the framework, the framework is used for fixing the placing rack, the bottom of the framework is fixedly connected with a base, the base is fixedly connected with a carriage bottom plate in an aligning manner, the placing rack comprises a plurality of upright posts which are vertically arranged, the upright posts are uniformly distributed along the length direction of the framework, the upright posts penetrate through a plurality of transverse plates, and adjacent transverse plates are parallel to each other and arranged at intervals;
unmanned aerial vehicle storehouse in be provided with unmanned engine base, unmanned engine base be used for spacing unmanned aerial vehicle, unmanned engine base fixed mounting on the upper surface of diaphragm.
Unmanned aerial vehicle include unmanned aerial vehicle supporting legs, unmanned aerial vehicle organism and airborne battery, the bottom fixed connection of unmanned aerial vehicle supporting legs and unmanned aerial vehicle organism, unmanned aerial vehicle supporting legs and unmanned engine base separable mounting, airborne battery trade electromechanical hand one side towards when unmanned aerial vehicle supporting legs is connected with unmanned engine base.
The battery compartment subassembly include the battery compartment frame, the battery compartment frame in the array be provided with a plurality of battery compartment, but install horizontal slip's battery tray in every group battery compartment, battery tray top be equipped with the opening for as the inserted hole of machine-carried battery, battery tray tail end middle part be provided with the through-hole for as the connector of charging module and machine-carried battery, battery tray tail end both sides be connected with battery tray push rod tip contact respectively, battery tray push rod be the elastic rod, battery tray push rod be in compression state, the opening both sides in battery compartment be provided with the battery buckle, the battery buckle be used for carrying on spacingly to the battery tray when the battery tray slides in the battery compartment inside completely.
The battery buckle include the hasp casing, hasp casing fixed mounting in the opening both sides in battery compartment, the hasp casing in be provided with slidable hasp button, the slip direction of hasp button be parallel with the slip direction of battery tray, hasp button one end pass the hasp casing and outwards extend, the hasp button other end is connected with button reset spring, hasp button and button reset spring link outside extend and be connected with hasp board tail end transmission, hasp board middle part be provided with changeing the round pin, the hasp board be used for using changeing the round pin to realize rotating as the center, hasp board top passes the hasp casing and forms hook-shaped structure, hasp board top be used for to battery tray edge separable connection, the contact surface of hasp button and hasp board be the wedge, hasp board tail end and hasp board reset spring be connected, the lock catch button can push the lock catch plate to rotate when sliding towards the inside of the lock catch shell, so that the top end of the lock catch plate is separated from the edge of the battery tray.
The battery cabin keep away from and trade electric manipulator one side and be provided with the backplate subassembly, the backplate subassembly include the backplate, the backplate on be provided with the module of charging with battery cabin one-to-one, the charging plug of module of charging be used for passing battery tray tail end through-hole when battery tray slides into battery cabin inside completely and charge for the airborne battery.
Trade electric manipulator include the manipulator base, the bottom of manipulator base be provided with the base slider, base slider and guide rail sliding connection, manipulator base bottom install translation drive gear, translation drive gear be connected with translation driving motor's output shaft transmission, translation driving motor fixed mounting in the manipulator base, translation drive gear and drive rack meshing transmission, the extending direction of drive rack and guide rail all be parallel with the length direction of rack, drive rack and guide rail fixed mounting at the upper surface of base.
The mechanical arm comprises a first rotary shaft, a second rotary shaft, a third rotary shaft, a fourth rotary shaft, a second rotary shaft and a gripper unit which are connected in sequence;
the rotary shaft is used for driving the second shaft to axially rotate along the rotary shaft;
the second shaft is rotatably connected with the rotating shaft in a vertical plane;
the third shaft and the second shaft are rotatably connected in a vertical plane;
the fourth shaft is rotatably connected with the third shaft, and the fourth shaft axially rotates along the fourth shaft;
the second rotary shaft and the fourth shaft are rotatably connected in the same plane;
the rotary two shafts are rotatably connected with the gripper unit in the same plane, and the rotary two shafts are used for driving the gripper unit to axially rotate along the rotary two shafts.
The gripper unit comprises a control motor and two groups of clamping jaws, and the control motor is used for driving the two groups of clamping jaws to move relatively or oppositely.
This kind of portable unmanned aerial vehicle automatic inspection platform can produce beneficial effect do: firstly, an unmanned aerial vehicle cabin and a battery cabin are arranged in the trailer, and unmanned aerial vehicles and unmanned aerial vehicle motor sets are stored in an array in batches, so that the mechanical arm can conveniently store and take battery packs and replace batteries of the unmanned aerial vehicles; the second, arm slidable installs on the guide rail, the application scope of arm has been enlarged, can cover whole rectangle inorganic storehouse and battery compartment on length direction, furthermore, through setting up the arm of being constituteed by gyration one, the second axle, the third axle, the fourth axle and gyration two axles, guaranteed that the arm stroke can realize covering to whole inorganic storehouses and battery compartment in the direction of height, wherein, the work orientation of arm can be controlled in the setting of gyration one, the length of stretching forward of arm can be controlled to the multiunit trip shaft, at least two sets of trip shaft has also guaranteed simultaneously that the tongs unit can be in the horizontality when pressing from both sides the group battery. Third, this kind of automatic platform of patrolling and examining of portable unmanned aerial vehicle can realize that the unmanned aerial vehicle of the many stands of multilayer realizes snatching the battery, changes new batteries and power centralized management, is fit for large-scale unmanned aerial vehicle performance, agricultural automation, military exercises etc..
Drawings
Fig. 1 is a schematic structural diagram of the automatic inspection platform of the portable unmanned aerial vehicle.
Fig. 2 is a side view of the automatic inspection platform of the portable unmanned aerial vehicle.
Fig. 3 is a structural distribution diagram of an unmanned aerial vehicle cabin and a battery cabin assembly of the automatic inspection platform of the portable unmanned aerial vehicle.
Fig. 4 is a schematic structural diagram of a power switching manipulator in the automatic inspection platform of the portable unmanned aerial vehicle.
Fig. 5 is a schematic structural diagram of an unmanned aerial vehicle cabin in the automatic inspection platform of the portable unmanned aerial vehicle.
Fig. 6 is a schematic structural diagram of a framework in the automatic inspection platform of the portable unmanned aerial vehicle.
Fig. 7 is a schematic diagram of the positions of a guide rail and a driving rack in the automatic inspection platform of the portable unmanned aerial vehicle.
Fig. 8 is a schematic structural diagram of a mechanical arm in the automatic inspection platform of the portable unmanned aerial vehicle.
Fig. 9 is a schematic transmission diagram of a third shaft in the automatic inspection platform of the portable unmanned aerial vehicle.
Fig. 10 is a schematic structural diagram of a gripper unit in the automatic inspection platform of the portable unmanned aerial vehicle.
Fig. 11 is a schematic structural diagram of a battery compartment in the automatic inspection platform of the portable unmanned aerial vehicle.
Fig. 12 is a schematic structural diagram of a battery buckle in the automatic inspection platform of the portable unmanned aerial vehicle.
Fig. 13 is a schematic diagram of the position of a battery buckle in the automatic inspection platform of the portable unmanned aerial vehicle.
Fig. 14 is a partial enlarged view of a battery buckle in the automatic inspection platform of the portable unmanned aerial vehicle.
Fig. 15 is a schematic structural diagram of a back plate assembly in the automatic inspection platform of the portable unmanned aerial vehicle.
The specification reference numbers: 1. a trailer; 2. a framework; 3. a battery replacement manipulator; 4. an unmanned aerial vehicle cabin; 5. a battery compartment assembly;
10. a bed floor; 20. a base; 21. placing a rack; 210. a column; 211. a transverse plate; 212. an unmanned aerial vehicle base; 22. a guide rail; 23. a drive rack; 30. a manipulator base; 301. a base slide block; 31. a translation drive motor; 32. a translation drive gear; 33. a robot arm; 330. a rotating shaft; 331. a second shaft; 332. a third axis; 333. a fourth axis; 334. a rotating two-shaft; 34. a gripper unit; 340. a clamping jaw; 40. supporting the unmanned aerial vehicle; 41. an unmanned aerial vehicle body; 42. an onboard battery; 50. a battery compartment frame; 51. a battery tray; 52. a battery compartment; 53. battery fastening; 530. a latch housing; 531. a locking plate; 532. a latch button; 533. a button return spring; 534. a latch plate return spring; 54. a back plate assembly; 540. a back plate; 541. a charging module; 543. a battery tray push rod; 3301. fixing the rotating shaft; 3302. rotating the base; 3303. a first rotating electrical machine; 3311. a first flipping motor; 3321. a second turnover motor; 3322. a rotating shaft; 3323. an extension plate; 3324. a drive plate; 3331. a first rotating shaft; 3332. a second rotating electrical machine; 3333. a first conveyor belt; 3334. a third turnover motor; 3335. a second conveyor belt; 3341. a third rotating electrical machine; 3342. a second rotation shaft; 3343. a fixed fork; 3344. a fourth flipping motor; 341. controlling the motor; 3401. a drive arm; 3402. a drive gear; 3403. and a limiting arm.
Detailed Description
The invention is further described below with reference to the drawings and specific preferred embodiments.
As shown in fig. 1, fig. 2 and fig. 6, an automatic platform of patrolling and examining of portable unmanned aerial vehicle, including trailer 1, trailer 1 bottom be provided with carriage bottom plate 10, its characterized in that: the two sides of the upper surface of the carriage bottom plate 10 are provided with placing frames 21 which extend vertically and upwards, the upper part of each group of placing frames 21 is provided with unmanned machine bins 4 which are distributed in an array manner, the lower part of each group of placing frames 21 is provided with a battery bin assembly 5, an electricity replacing mechanical arm 3 is arranged between the two groups of placing frames 21, the electricity replacing mechanical arm 3 is movably arranged on the upper surface of the carriage bottom plate 10, and the electricity replacing mechanical arm 3 can move along the length direction of the placing frames 21;
the unmanned aerial vehicle cabin 4 in be used for placing unmanned aerial vehicle, battery compartment subassembly 5 include battery compartment 52 and charging module 541, battery compartment 52 be used for placing airborne battery 42, charging module 541 be used for charging for airborne battery 42, the 3 tip of trade electric manipulator be provided with tongs unit 34, trade electric manipulator 3 be used for snatching airborne battery 42 through tongs unit 34 and realize unmanned aerial vehicle's trade electricity operation. The hand grip unit 34 adjusts the position between the battery compartment 52 and the unmanned aerial vehicle battery compartment through the grabber onboard battery 42, so as to realize the battery replacement operation of the unmanned aerial vehicle.
The internal structure of the trailer 1 in this embodiment is as shown in fig. 6, a framework 2 is arranged in the trailer 1, the frame 21 is fixedly connected with the framework 2, the framework 2 is used for fixing the frame 21, the bottom of the framework 2 is fixedly connected with the base 20, the base 20 is fixedly connected with the platform floor 10 in an alignment manner, the frame 21 includes a plurality of upright posts 210 which are vertically arranged, the upright posts 210 are uniformly distributed along the length direction of the framework 2, the upright posts 210 pass through a plurality of transverse plates 211, and the adjacent transverse plates 211 are parallel to each other and are arranged at intervals; unmanned aerial vehicle storehouse 4 in be provided with unmanned aerial vehicle seat 212, unmanned aerial vehicle seat 212 be used for spacing unmanned aerial vehicle, unmanned aerial vehicle seat 212 fixed mounting at the upper surface of diaphragm 211. The diaphragm between two adjacent stands 210 is used for placing unmanned aerial vehicle and then forms unmanned aerial vehicle storehouse 4, and the below of rack 21 is used for placing battery compartment subassembly 5, confirms the size of battery compartment subassembly 5 in rack 21 bottom space according to unmanned aerial vehicle quantity and airborne battery 42's size, and the distribution of unmanned aerial vehicle storehouse 4 and battery compartment subassembly 5 under general condition is as shown in fig. 3.
In this embodiment, as shown in fig. 5, the unmanned aerial vehicle includes unmanned aerial vehicle supporting legs 40, unmanned aerial vehicle organism 41 and airborne battery 42, the bottom fixed connection of unmanned aerial vehicle supporting legs 40 and unmanned aerial vehicle organism 41, unmanned aerial vehicle supporting legs 40 and unmanned aerial vehicle frame 212 separable mounting, airborne battery 42 towards trade electromechanical hand 3 one side when unmanned aerial vehicle supporting legs 40 is connected with unmanned aerial vehicle frame 212. The onboard battery 42 faces one side of the battery replacing manipulator 3, so that the battery replacing manipulator 3 can directly clamp the onboard battery 42.
In this embodiment, as shown in fig. 11, the battery compartment assembly 5 includes a battery compartment frame 50, a plurality of battery compartments 52 are arranged in the battery compartment frame 50 in an array manner, a battery tray 51 capable of horizontally sliding is installed in each battery compartment 52, an opening is arranged at the top end of the battery tray 51, used as an insertion opening for the on-board battery 42, the middle part of the tail end of the battery tray 51 is provided with a through hole, used as a connecting port of the charging module 541 and the on-board battery 42, two sides of the tail end of the battery tray 51 are respectively connected with the end part of the battery tray push rod 543 in a contact way, the battery tray push rod 543 is an elastic rod, the battery tray push rod 543 is in a compressed state, the battery compartment 52 is provided with battery buckles 53 at two sides of the opening, and the battery buckles 53 are used for limiting the battery tray 51 when the battery tray 51 completely slides into the battery compartment 52.
During operation, the battery compartment 52 is as the space that holds airborne battery 42, and under the promotion of trading electric manipulator 3, airborne battery 42 imbeds completely in the battery tray 51, and battery buckle 53 pops out, blocks airborne battery 42 edge, accomplishes spacing to airborne battery 42, and at this moment, battery tray push rod 543 is in compression state, and the module of charging 541 passes battery tray 51 tail end through-hole and is connected with airborne battery 42, charges. When the battery needs to be taken out, the battery buckle 53 is opened under the pushing of the battery replacing mechanical arm 3, and the battery in the battery compartment 52 is ejected under the action of the battery tray push rod 543.
In this embodiment, as shown in fig. 12, 13 and 14, the battery buckle 53 includes a buckle housing 530, the buckle housing 530 is fixedly installed at two sides of the opening of the battery compartment 52, a slidable buckle button 532 is installed in the buckle housing 530, the sliding direction of the buckle button 532 is parallel to the sliding direction of the battery tray 51, one end of the buckle button 532 extends outwards through the buckle housing 530, the other end of the buckle button 532 is connected with a button return spring 533, the connecting end of the buckle button 532 and the button return spring 533 extends outwards and is in transmission connection with the tail end of a buckle plate 531, a rotating pin is installed in the middle of the buckle plate 531, the buckle plate 531 is used for rotating around the rotating pin, the top end of the buckle plate 531 passes through the buckle housing 530 to form a hook structure, the top end of the buckle plate 531 is used for detachably connecting to the edge of the battery tray 51, the contact surface of the lock catch button 532 and the lock catch plate 531 is a wedge-shaped surface, the tail end of the lock catch plate 531 is connected with the lock catch plate return spring 534, the extension direction of the lock catch plate return spring 534 is tangential to the movement direction of the lock catch plate 531, and the lock catch button 532 can push the lock catch plate 531 to rotate when sliding towards the inside of the lock catch shell 530, so that the top end of the lock catch plate 531 is separated from the edge of the battery tray 51.
In this embodiment, as shown in fig. 15, a back plate assembly 54 is disposed on one side of the battery compartment 52, which is away from the battery replacing robot 3, the back plate assembly 54 includes a back plate 540, the back plate 540 is provided with charging modules 541 corresponding to the battery compartments 52 one to one, the battery tray push rods 543 are disposed on two sides of the charging modules 541, and the charging plugs of the charging modules 541 are used for charging the onboard batteries 42 by passing through the through holes at the tail ends of the battery trays 51 when the battery trays 51 completely slide into the battery compartment 52.
In this embodiment, as shown in fig. 4 and 7, the battery replacement manipulator 3 includes a manipulator base 30, the bottom of the manipulator base 30 is provided with a base slider 301, the base slider 301 is connected with a guide rail 22 in a sliding manner, the bottom of the manipulator base 30 is provided with a translation driving gear 32, the translation driving gear 32 is in transmission connection with an output shaft of a translation driving motor 31, the translation driving motor 31 is fixedly installed in the manipulator base 30, the translation driving gear 32 is in meshing transmission with a driving rack 23, the extending directions of the driving rack 23 and the guide rail 22 are both parallel to the length direction of the placement frame 21, and the driving rack 23 and the guide rail 22 are fixedly installed on the upper surface of the base 20. The rotating speed and the steering direction of the translation driving gear 32 are controlled by the translation driving motor 31, and the moving direction and the moving speed of the electric replacing mechanical hand 3 are further controlled.
In this embodiment, as shown in fig. 8 and 9, a robot arm 33 is mounted on the top end surface of the robot base 30, and the robot arm 33 includes a first rotating shaft 330, a second rotating shaft 331, a third rotating shaft 332, a fourth rotating shaft 333, a second rotating shaft 334, and a gripper unit 34, which are connected in sequence; the rotating shaft 330 is used for driving the second shaft 331 to axially rotate along the rotating shaft 330; the second shaft 331 is rotatably connected with the rotating shaft 330 in a vertical plane; the third shaft 332 is rotatably connected with the second shaft 331 in a vertical plane; the fourth shaft 333 is rotatably connected with the third shaft 332, and the fourth shaft 333 rotates axially along the fourth shaft 333; the second rotary shaft 334 and the fourth shaft 333 are rotatably connected in the same plane; the two rotary shafts 334 are rotatably connected with the gripper unit 34 in the same plane, and the two rotary shafts 334 are used for driving the gripper unit 34 to axially rotate along the two rotary shafts 334.
Further, the rotating shaft 330 includes a fixed rotating shaft 3301, the bottom end of the fixed rotating shaft 3301 is fixedly mounted on the upper surface of the robot base 30, the top end of the fixed rotating shaft 3301 is rotatably connected to the rotating base 3302, the rotating base 3302 is in transmission connection with a first rotating motor 3303, and the first rotating motor 3303 is used for driving the rotating base 3302 to rotate relative to the fixed rotating shaft 3301; the second shaft 331 is vertically arranged, one end of the second shaft 331 is rotatably connected to the rotating base 3302, one end of the second shaft 331 is connected to the first turning motor 3311 in a transmission manner, the first turning motor 3311 is used for driving the second shaft 331 to rotate relative to the rotating base 3302, the other end of the second shaft 331 is rotatably connected to the middle of the third shaft 332, the third shaft 332 is horizontally arranged, one end of the third shaft 332 is connected to the second turning motor 3321 in a transmission manner, the other end of the third shaft 332 is rotatably connected to the fourth shaft 333, one end of the fourth shaft 333 close to the third shaft 332 is fixedly connected to one end of the first rotating shaft 3331, the other end of the first rotating shaft 3331 is connected to an output shaft of the second rotating motor 3332 in a transmission manner through the first transmission belt 3333, the second rotating motor 3332 drives the first rotating shaft 3331 to rotate through the first transmission belt 3333, and further drives the fourth shaft, the fourth shaft 333 is far away from third shaft 332 one end and revolves two axle 334 one end rotatable coupling, but the second rotation axis 3342 of axial pivoted is installed to the second axle 334 other end of gyration, second rotation axis 3342 one end and third rotating electrical machines 3341 output shaft transmission be connected, the second rotation axis 3342 other end and fixed fork 3343 fixed connection, fixed fork 3343 tip install fourth upset motor 3344, fourth upset motor 3344 be used for driving the realization upset of tongs unit 34.
Further, as shown in fig. 9, one side of the third shaft 332, which is far from the fourth shaft 333, extends outward to form an extension plate 3323, an end of the extension plate 3323 is hinged to one end of the transmission shaft 3322, the other end of the transmission shaft 3322 is hinged to an end of the transmission plate 3324, the transmission plate 3324 is fixedly connected to an output shaft of the second flipping motor 3321, and the output shaft of the second flipping motor 3321 and the third shaft 332 are parallel to the hinge shaft of the second shaft 331. The joint of the third shaft 332 and the second shaft 331 is located between the joint of the third shaft 332 and the fourth shaft 333 and the joint of the extension plate 3323 and the transmission shaft 3322. The second upset motor 3321 drives the driving plate 3324 to rotate when rotating, and then drives the transmission shaft 3322 to move in the vertical direction, and the third shaft 332 is driven to overturn through the movement of the transmission shaft 3322 in the vertical direction.
Further, as shown in fig. 10, the gripper unit 34 includes a control motor 341 and two sets of clamping jaws 340, and the control motor 341 is configured to drive the two sets of clamping jaws 340 to move relatively or oppositely. The clamping jaws 340 comprise driving arms 3401, one end of each driving arm 3401 is provided with a driving gear 3402, the driving gears 3402 are meshed with gears fixed at the end parts of output shafts of the control motors 341, and the separation or the closing of the two groups of clamping jaws 340 is further controlled by controlling the rotation direction of the control motors 341. The middle part of the driving arm 3401 is hinged with one end of a limiting arm 3403, and the limiting arm 3403 is used for stabilizing and limiting the stroke of the driving arm 3401.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (9)
1. The utility model provides an automatic platform of patrolling and examining of portable unmanned aerial vehicle, includes trailer (1), trailer (1) bottom be provided with carriage bottom plate (10), its characterized in that: the battery replacing device is characterized in that placing frames (21) extending vertically and upwards are arranged on two sides of the upper surface of the carriage bottom plate (10), the upper parts of each group of placing frames (21) are unmanned bins (4) distributed in an array mode, the lower parts of each group of placing frames are battery bin assemblies (5), a battery replacing manipulator (3) is installed between the two groups of placing frames (21), the battery replacing manipulator (3) is movably installed on the upper surface of the carriage bottom plate (10), and the battery replacing manipulator (3) can move along the length direction of the placing frames (21);
unmanned aerial vehicle is used for placing in unmanned aerial vehicle storehouse (4), battery compartment subassembly (5) including battery compartment (52) and charging module (541), battery compartment (52) be used for placing airborne battery (42), charging module (541) be used for charging for airborne battery (42), trade electric manipulator (3) tip be provided with tongs unit (34), trade electric manipulator (3) be used for snatching airborne battery (42) through tongs unit (34) and realize unmanned aerial vehicle's the operation of trading.
2. The automatic platform of patrolling and examining of portable unmanned aerial vehicle of claim 1, characterized in that: the trailer is characterized in that a framework (2) is arranged in the trailer (1), the placing frame (21) is fixedly connected with the framework (2), the framework (2) is used for fixing the placing frame (21), the bottom of the framework (2) is fixedly connected with the base (20), the base (20) is fixedly connected with the carriage bottom plate (10) in an aligning mode, the placing frame (21) comprises a plurality of upright columns (210) which are vertically arranged, the upright columns (210) are uniformly distributed along the length direction of the framework (2), the upright columns (210) penetrate through a plurality of transverse plates (211), and adjacent transverse plates (211) are parallel to each other and are arranged at intervals; unmanned aerial vehicle storehouse (4) in be provided with unmanned aerial vehicle seat (212), unmanned aerial vehicle seat (212) be used for spacing unmanned aerial vehicle, unmanned aerial vehicle seat (212) fixed mounting at the upper surface of diaphragm (211).
3. The automatic inspection platform of portable unmanned aerial vehicle of claim 2, characterized in that: unmanned aerial vehicle include unmanned aerial vehicle supporting legs (40), unmanned aerial vehicle organism (41) and airborne battery (42), the bottom fixed connection of unmanned aerial vehicle supporting legs (40) and unmanned aerial vehicle organism (41), unmanned aerial vehicle supporting legs (40) and unmanned aerial vehicle frame (212) separable mounting, airborne battery (42) when unmanned aerial vehicle supporting legs (40) are connected with unmanned aerial vehicle frame (212) towards trade electromechanical hand (3) one side.
4. The automatic inspection platform of portable unmanned aerial vehicle of claim 2, characterized in that: battery compartment subassembly (5) including battery compartment frame (50), battery compartment frame (50) in the array be provided with a plurality of battery compartment (52), but install horizontal slip's battery tray (51) in every group battery compartment (52), battery tray (51) top be equipped with the opening for as the inserted hole of airborne battery (42), battery tray (51) tail end middle part be provided with the through-hole, be used for as the connector of charging module (541) and airborne battery (42), battery tray (51) tail end both sides respectively with battery tray push rod (543) end contact connection, battery tray push rod (543) be the elastic rod, battery tray push rod (543) be in compression state, the opening both sides of battery compartment (52) be provided with battery buckle (53), battery buckle (53) be used for carrying out battery tray (51) when battery tray (51) slide into battery compartment (52) inside completely and carry out battery tray (51) and buckle (53) And (5) limiting.
5. The automatic inspection platform of portable unmanned aerial vehicle of claim 4, characterized in that: the battery buckle (53) comprises a buckle shell (530), the buckle shell (530) is fixedly installed at two sides of an opening of the battery compartment (52), a slidable buckle button (532) is arranged in the buckle shell (530), the sliding direction of the buckle button (532) is parallel to that of the battery tray (51), one end of the buckle button (532) penetrates through the buckle shell (530) to extend outwards, the other end of the buckle button (532) is connected with a button return spring (533), the connecting end of the buckle button (532) and the button return spring (533) extends outwards and is in transmission connection with the tail end of a buckle plate (531), a rotating pin is arranged in the middle of the buckle plate (531), the buckle plate (531) is used for rotating by taking the rotating pin as the center, and the top end of the buckle plate (531) penetrates through the buckle shell (530) to form a hook-shaped structure, the battery tray edge separation type locking device is characterized in that the top end of the locking plate (531) is used for separably connecting the edge of the battery tray (51), the contact surface of the locking button (532) and the locking plate (531) is a wedge-shaped surface, the tail end of the locking plate (531) is connected with the locking plate return spring (534), and the locking button (532) can push the locking plate (531) to rotate to enable the top end of the locking plate (531) to be separated from the edge of the battery tray (51) when sliding towards the inside of the locking shell (530).
6. The automatic inspection platform of portable unmanned aerial vehicle of claim 5, characterized in that: the battery compartment (52) keep away from and trade electric manipulator (3) one side and be provided with backplate subassembly (54), backplate subassembly (54) include backplate (540), backplate (540) on be provided with charge module (541) with battery compartment (52) one-to-one, charge module (541) the charging plug be used for passing battery tray (51) tail end through-hole when battery tray (51) slide in battery compartment (52) inside completely and charge for airborne battery (42).
7. The automatic inspection platform of portable unmanned aerial vehicle of claim 2, characterized in that: trade electric manipulator (3) including manipulator base (30), the bottom of manipulator base (30) be provided with base slider (301), base slider (301) and guide rail (22) sliding connection, manipulator base (30) bottom install translation drive gear (32), translation drive gear (32) be connected with the output shaft transmission of translation driving motor (31), translation driving motor (31) fixed mounting in manipulator base (30), translation drive gear (32) and drive rack (23) meshing transmission, the extending direction of drive rack (23) and guide rail (22) all be parallel with the length direction of rack (21), drive rack (23) and guide rail (22) fixed mounting at the upper surface of base (20).
8. The automatic inspection platform of portable unmanned aerial vehicle of claim 7, characterized in that: a mechanical arm (33) is installed on the top end face of the mechanical arm base (30), and the mechanical arm (33) comprises a rotary shaft (330), a second shaft (331), a third shaft (332), a fourth shaft (333), a rotary shaft (334) and a gripper unit (34) which are connected in sequence;
the rotary shaft (330) is used for driving the second shaft (331) to axially rotate along the rotary shaft (330);
the second shaft (331) is rotatably connected with the rotating shaft (330) in a vertical plane;
the third shaft (332) is rotatably connected with the second shaft (331) in a vertical plane;
the fourth shaft (333) is rotatably connected with the third shaft (332), and the fourth shaft (333) axially rotates along the fourth shaft (333);
the two rotary shafts (334) and the fourth shaft (333) are rotatably connected in the same plane;
the rotary two-shaft mechanism is characterized in that the rotary two-shaft mechanism (334) is rotatably connected with the gripper unit (34) in the same plane, and the rotary two-shaft mechanism (334) is used for driving the gripper unit (34) to axially rotate along the rotary two-shaft mechanism (334).
9. The automatic inspection platform of portable unmanned aerial vehicle of claim 8, characterized in that: the gripper unit (34) comprises a control motor (341) and two groups of clamping jaws (340), wherein the control motor (341) is used for driving the two groups of clamping jaws (340) to move relatively or oppositely.
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| CN202011025242.8A CN112158122B (en) | 2020-09-25 | 2020-09-25 | Portable automatic unmanned aerial vehicle inspection platform |
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| CN202011025242.8A CN112158122B (en) | 2020-09-25 | 2020-09-25 | Portable automatic unmanned aerial vehicle inspection platform |
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| CN113093796A (en) * | 2021-03-31 | 2021-07-09 | 河海大学 | Dam unmanned aerial vehicle group autonomous inspection intelligent control system |
| CN113289302A (en) * | 2021-05-31 | 2021-08-24 | 中天长光(青岛)装备科技有限公司 | Hang rail formula system of patrolling and examining |
| CN113459879A (en) * | 2021-07-12 | 2021-10-01 | 于伟龙 | Quick-change battery structure and battery quick-change system of inspection unmanned aerial vehicle |
| CN114368423A (en) * | 2022-02-14 | 2022-04-19 | 厦门恒远智能科技有限公司 | Military foldable bats group suicide type unmanned aerial vehicle placing device |
| CN114407696A (en) * | 2022-02-23 | 2022-04-29 | 淮阴工学院 | Battery moving transport vehicle |
| CN114559872A (en) * | 2022-03-22 | 2022-05-31 | 江西翱翔星云科技有限公司 | Tailstock type vertical take-off and landing unmanned aerial vehicle lifting mechanism for unmanned aerial vehicle-mounted departure |
| CN115158143A (en) * | 2022-08-08 | 2022-10-11 | 青岛索尔汽车有限公司 | Mobile energy storage vehicle with fireproof performance |
| CN116280340A (en) * | 2023-03-17 | 2023-06-23 | 广州智飞科技有限公司 | Automatic motor field that trades of unmanned aerial vehicle |
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| CN114559872A (en) * | 2022-03-22 | 2022-05-31 | 江西翱翔星云科技有限公司 | Tailstock type vertical take-off and landing unmanned aerial vehicle lifting mechanism for unmanned aerial vehicle-mounted departure |
| CN114559872B (en) * | 2022-03-22 | 2023-07-14 | 江西翱翔星云科技有限公司 | Tailstock type vertical lifting unmanned aerial vehicle lifting mechanism for unmanned aerial vehicle to launch |
| CN115158143A (en) * | 2022-08-08 | 2022-10-11 | 青岛索尔汽车有限公司 | Mobile energy storage vehicle with fireproof performance |
| CN115158143B (en) * | 2022-08-08 | 2023-06-16 | 青岛索尔汽车有限公司 | Mobile energy storage vehicle with fireproof performance |
| CN116280340A (en) * | 2023-03-17 | 2023-06-23 | 广州智飞科技有限公司 | Automatic motor field that trades of unmanned aerial vehicle |
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