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A kind of unmanned plane relay
CN206485585U
China
Description
translated from Chinese
技术领域technical field
本实用新型涉及无人机的中继站服务系统，特别是涉及一种无人机中继装置。The utility model relates to a relay station service system of an unmanned aerial vehicle, in particular to an unmanned aerial vehicle relay device.
背景技术Background technique
近年来，随着无人机技术的成熟和发展，多旋翼无人机因其垂直起降、自由悬停、操控方便、适应性强等特点被广泛应用于电力巡线、管路巡检、森林防火巡查、边境巡检、农田信息获取等领域。In recent years, with the maturity and development of UAV technology, multi-rotor UAVs have been widely used in power line inspection, pipeline inspection, Forest fire prevention inspection, border inspection, farmland information acquisition and other fields.
在导航及定位技术方面，多旋翼无人机飞控系统具有无线通信、传感器集成和空间定位等功能，其中，差分GPS定位技术(双频RTK)能够达到厘米级的定位精度，磁罗盘的定向精度误差在±5°以内，气压高度计、声纳、红外测距结合的高度探测模块的测距精度在±1％～±5％以内。此外，在专业航拍用视觉系统的辅助下，多旋翼无人机的降落精度能够进一步得到保证。In terms of navigation and positioning technology, the multi-rotor UAV flight control system has functions such as wireless communication, sensor integration and spatial positioning. Among them, differential GPS positioning technology (dual-frequency RTK) can achieve centimeter-level positioning accuracy, and the orientation of magnetic compass The accuracy error is within ±5°, and the ranging accuracy of the altitude detection module combined with barometric altimeter, sonar, and infrared ranging is within ±1% to ±5%. In addition, with the assistance of a vision system for professional aerial photography, the landing accuracy of the multi-rotor UAV can be further guaranteed.
在电池技术方面，现有的多旋翼无人机主要采用锂聚合物电池，电池的搭载方式多为水平挂载式，电池容量为10000mA·h～15000mA·h，由于受到现有电池技术下电池能量密度和充电效率的制约，无人机所需的充电及冷却时间约为1.2小时，而充满电再起飞的续航时间也仅为30分钟左右，极大的降低了无人机的巡航效率。因此，探索为无人机提供续航中继并同时避免充电带来的低效率问题已成为本领域技术人员亟待解决的技术问题。In terms of battery technology, the existing multi-rotor drones mainly use lithium polymer batteries. Due to the constraints of energy density and charging efficiency, the charging and cooling time required by the UAV is about 1.2 hours, and the flight time after fully charging and then taking off is only about 30 minutes, which greatly reduces the cruising efficiency of the UAV. Therefore, it has become a technical problem to be solved urgently by those skilled in the art to explore providing a battery life relay for the UAV while avoiding the inefficiency problem caused by charging.
目前，使用充电中继站为无人机续航是一种可行方案，可以克服最大巡航半径的限制。但是，无人机在充电中继站需停放约1.2小时进行充电，效率很低，仍未从真正意义上摆脱航程限制，无法实现高效地对大范围区域进行巡航。此外，充电中继站适用机型比较单一，不具有通用性。At present, using a charging relay station for UAV battery life is a feasible solution, which can overcome the limitation of the maximum cruising radius. However, the UAV needs to be parked at the charging relay station for about 1.2 hours to charge, which is very inefficient, and it has not really gotten rid of the range limitation in the true sense, and cannot efficiently cruise a large area. In addition, the applicable models of charging relay stations are relatively single and not universal.
除使用充电中继站外，也可以在有人中继站通过人工手动更换电池，这种技术方案成本高，效率也很低。In addition to using a charging relay station, the battery can also be manually replaced at a manned relay station. This technical solution is costly and inefficient.
发明内容Contents of the invention
本实用新型就是为了解决现有多旋翼无人机无法实现持续、高效地对大范围区域进行巡航，现有中继技术适用机型单一，无人机必须进行长时间的充电等待的技术问题，提供了一种能够持续、高效地对大范围区域进行巡航，通用性强的无人机中继装置。The utility model aims to solve the technical problem that the existing multi-rotor UAV cannot continuously and efficiently cruise a large area, the existing relay technology is applicable to a single model, and the UAV must wait for a long time for charging. An unmanned aerial vehicle relay device capable of continuously and efficiently cruising a large-scale area and having strong versatility is provided.
本实用新型的技术方案是，提供一种无人机中继装置，包括停机坪、限位固定机构、电池坞和电池更换机构；The technical solution of the utility model is to provide a drone relay device, including an apron, a limit fixing mechanism, a battery dock and a battery replacement mechanism;
停机坪包括连接在一起的停机坪甲板和停机坪支撑框架；The apron consists of the apron deck and the apron support frame joined together;
限位固定机构包括第一V型夹板、第二V型夹板和相对运动传动装置，第一V型夹板设有第一V型挤压部，第二V型夹板设有第二V型挤压部；第一V型夹板和第二V型夹板分别与相对运动传动装置连接，相对运动传动装置用于带动第一V型夹板和第二V型夹板相对运动；The limit fixing mechanism includes a first V-shaped splint, a second V-shaped splint and a relative motion transmission device. The first V-shaped splint is provided with a first V-shaped extrusion part, and the second V-shaped splint is provided with a second V-shaped extrusion. The first V-shaped splint and the second V-shaped splint are respectively connected with the relative motion transmission device, and the relative motion transmission device is used to drive the first V-shaped splint and the second V-shaped splint to move relatively;
第一V型夹板和第二V型夹板相对设置并位于停机坪甲板的上方；The first V-shaped splint and the second V-shaped splint are arranged opposite and located above the apron deck;
电池更换机构包括水平方向线性模组、垂直方向线性模组、悬臂和电磁铁，水平方向线性模组设有水平方向滑块，垂直方向线性模组设有垂直方向滑块；垂直方向线性模组的末端与水平方向滑块连接，悬臂与垂直方向滑块连接，电磁铁与悬臂连接；The battery replacement mechanism includes a horizontal linear module, a vertical linear module, a cantilever and an electromagnet. The horizontal linear module is provided with a horizontal slider, and the vertical linear module is provided with a vertical slider; the vertical linear module The end of the end is connected with the slider in the horizontal direction, the cantilever is connected with the slider in the vertical direction, and the electromagnet is connected with the cantilever;
电池坞设有电池槽，电池坞位于所述电池更换机构和停机坪之间。The battery dock is provided with a battery slot, and the battery dock is located between the battery replacement mechanism and the apron.
优选地的技术方案是，停机坪甲板设有两个相对设置的引导孔道，是第一引导孔道和第二引导孔道；The preferred technical solution is that the apron deck is provided with two oppositely arranged guide tunnels, which are the first guide tunnel and the second guide tunnel;
相对运动传动装置包括直线导轨组件、连接块、伸缩装置、第一连杆、第二连杆、第一V型夹板连接件和第二V型夹板连接件；直线导轨组件设有第一滑块和第二滑块，第一V型夹板通过第一V型夹板连接件与第一滑块连接，第二V型夹板通过第二V型夹板连接件与第二滑块连接，连接块通过第一连杆与第一滑块连接，连接块通过第二连杆与第二滑块连接，伸缩装置设有伸缩杆，伸缩杆与连接块连接；第一V型夹板连接件穿过第一引导孔道，第二V型夹板连接件穿过第二引导孔道。The relative motion transmission device includes a linear guide rail assembly, a connecting block, a telescopic device, a first connecting rod, a second connecting rod, a first V-shaped splint connector and a second V-shaped splint connector; the linear guide rail assembly is provided with a first slider And the second slider, the first V-shaped splint is connected with the first slider through the first V-shaped splint connector, the second V-shaped splint is connected with the second slider through the second V-shaped splint connector, and the connecting block is connected through the first V-shaped splint A connecting rod is connected with the first slider, and the connecting block is connected with the second slider through the second connecting rod. The telescopic device is provided with a telescopic rod, and the telescopic rod is connected with the connecting block; Hole, the second V-shaped splint connector passes through the second guiding hole.
进一步优选地的技术方案是，第一V型挤压部的两端分别连接有挡边，第二V型挤压部的两端分别连接有挡边。A further preferred technical solution is that ribs are respectively connected to both ends of the first V-shaped extruded part, and ribs are respectively connected to both ends of the second V-shaped extruded part.
进一步优选地的技术方案是，第一V型挤压部的中线和第二V型挤压部的中线在同一直线上。A further preferred technical solution is that the centerline of the first V-shaped extrusion part and the centerline of the second V-shaped extrusion part are on the same straight line.
进一步优选地的技术方案是，电池坞包括电池放置筒体、电机、底座和连接轴；连接轴的一端与电池放置筒体连接，另一端通过轴承与底座连接；电机通过传动机构与连接轴连接，电池放置筒体从上到下设有至少一列电池槽组，电池槽组设有至少两个电池槽；A further preferred technical solution is that the battery dock includes a battery housing, a motor, a base, and a connecting shaft; one end of the connecting shaft is connected to the battery housing, and the other end is connected to the base through a bearing; the motor is connected to the connecting shaft through a transmission mechanism , the battery housing cylinder is provided with at least one battery slot group from top to bottom, and the battery slot group is provided with at least two battery slots;
电池槽包括壳体、后板、触片和两个弹簧碰珠，后板与壳体的后端连接，壳体的前端开口，两个弹簧碰珠分别连接在壳体的两侧；触片与后板的内侧连接，后板上设有走线孔。The battery slot includes a shell, a back plate, a contact piece and two spring touch beads, the back plate is connected to the rear end of the shell, the front end of the shell is open, and the two spring touch beads are respectively connected to both sides of the shell; the contact piece It is connected to the inner side of the rear panel, and the rear panel is provided with wiring holes.
进一步优选地的技术方案是，电池放置筒体从上到下设有三列电池槽组，相邻两列电池槽组之间的夹角是120°，每列电池槽组设有三个电池槽。A further preferred technical solution is that the battery housing cylinder is provided with three rows of battery slots from top to bottom, the angle between two adjacent rows of battery slots is 120°, and each row of battery slots is provided with three battery slots.
进一步优选地的技术方案是，还包括控制柜，控制柜包括中央处理器、电源模块和无线通讯模块，电源模块与中央处理器连接，无线通讯模块与中央处理器连接；中央处理器的电源输出信号端与电磁铁连接；中央处理器的驱动信号端分别与伸缩装置、电机、水平方向线性模组和垂直方向线性模组连接。A further preferred technical solution is to also include a control cabinet, the control cabinet includes a central processing unit, a power supply module and a wireless communication module, the power supply module is connected to the central processing unit, the wireless communication module is connected to the central processing unit; the power output of the central processing unit The signal terminal is connected with the electromagnet; the driving signal terminal of the central processing unit is respectively connected with the expansion device, the motor, the horizontal linear module and the vertical linear module.
本实用新型的有益效果是：The beneficial effects of the utility model are:
(1)实现了自动化更换电池作业，无人机在中继装置上停留时间不超过5分钟，大大缩短了停留时间，而且因空驶带来的电能损耗低，通过合理布放中继点真正实现通过一架无人机对大范围区域的高效巡航。(1) The automatic battery replacement operation is realized. The UAV stays on the relay device for no more than 5 minutes, which greatly shortens the stay time, and the power loss caused by empty driving is low. It is truly realized through the reasonable layout of relay points. Efficient cruising of a large area by a drone.
(2)更换电池的技术方案具有通用性，适用于所有设置起落架的无人机。(2) The technical solution for battery replacement is universal and applicable to all drones with landing gear.
本实用新型进一步的特征，将在以下具体实施方式的描述中，得以清楚地记载。Further features of the present utility model will be clearly recorded in the following description of specific embodiments.
附图说明Description of drawings
图1是无人机中继装置的立体图；Fig. 1 is the three-dimensional view of unmanned aerial vehicle relay device;
图2是无人机中继装置的主视图；Fig. 2 is the front view of the drone relay device;
图3是无人机中继装置的左视图；Fig. 3 is the left side view of unmanned aerial vehicle relay device;
图4是无人机中继装置的俯视图；Fig. 4 is the top view of unmanned aerial vehicle relay device;
图5是停机坪的立体图；Figure 5 is a perspective view of the apron;
图6是停机坪的主视图；Figure 6 is a front view of the apron;
图7是停机坪的左视图；Fig. 7 is the left view of apron;
图8是停机坪的俯视图；Figure 8 is a top view of the apron;
图9是限位固定机构的结构示意图；Fig. 9 is a structural schematic diagram of a limit fixing mechanism;
图10是限位固定机构的结构示意图；Fig. 10 is a structural schematic diagram of a limit fixing mechanism;
图11第一V型夹板连接件的结构示意图；Fig. 11 is a schematic structural view of the first V-shaped splint connector;
图12是第一V型夹板连接件、第二V型夹板连接件分别从第一引导孔道、第二引导孔道穿过的示意图；Fig. 12 is a schematic diagram of the first V-shaped splint connector and the second V-shaped splint connector passing through the first guide hole and the second guide hole respectively;
图13是第一V型夹板的结构示意图；Fig. 13 is a schematic structural view of the first V-shaped splint;
图14是第一V型夹板安装滚轮的结构示意图；Fig. 14 is a schematic structural view of the installation roller of the first V-shaped splint;
图15是电池坞的立体图；Figure 15 is a perspective view of the battery dock;
图16是电池坞的主视图；Figure 16 is a front view of the battery dock;
图17是电池坞的左视图；Figure 17 is a left side view of the battery dock;
图18是电池坞的电池槽结构示意图；Fig. 18 is a schematic diagram of the structure of the battery slot of the battery dock;
图19是电池坞的剖视图；Figure 19 is a sectional view of the battery dock;
图20是电池坞去掉顶盖的内部示意图；Figure 20 is an internal schematic view of the battery dock with the top cover removed;
图21是电池槽的立体图；Figure 21 is a perspective view of the battery tank;
图22是电池槽的主视图；Figure 22 is a front view of the battery holder;
图23是电池槽的左视图；Figure 23 is a left side view of the battery tank;
图24是电池槽的右视图；Figure 24 is a right side view of the battery holder;
图25是电池槽的爆炸图；Figure 25 is an exploded view of the battery slot;
图26是电池组件的立体图；Figure 26 is a perspective view of a battery assembly;
图27是电池组件的主视图；Figure 27 is a front view of the battery pack;
图28是电池组件左视图；Figure 28 is a left side view of the battery assembly;
图29是电池组件右视图；Figure 29 is a right view of the battery pack;
图30是电池组件的爆炸图；Figure 30 is an exploded view of the battery assembly;
图31是电池更换机构的立体图；Figure 31 is a perspective view of the battery replacement mechanism;
图32是电池更换机构的主视图；Figure 32 is a front view of the battery replacement mechanism;
图33是电池更换机构的右视图；Figure 33 is a right side view of the battery replacement mechanism;
图34是电池更换机构的俯视图；Figure 34 is a top view of the battery replacement mechanism;
图35是控制柜的示意图；Figure 35 is a schematic diagram of the control cabinet;
图36是机柜的立体图；Figure 36 is a perspective view of the cabinet;
图37是机柜打开状态下的示意图；Figure 37 is a schematic diagram of the cabinet in an open state;
图38是机柜打开状态下的俯视图；Figure 38 is a top view of the cabinet in an open state;
图39是多旋翼无人机降落在停机坪甲板上的状态示意图；Figure 39 is a schematic diagram of the state of the multi-rotor UAV landing on the apron deck;
图40是限位固定机构对多旋翼无人机调中固定过程状态的俯视图；Fig. 40 is a top view of the centering and fixing process state of the multi-rotor UAV by the limit fixing mechanism;
图41是限位固定机构对多旋翼无人机调中固定过程状态的立体图；Fig. 41 is a perspective view of the centering and fixing process state of the multi-rotor UAV by the limit fixing mechanism;
图42是限位固定机构将多旋翼无人机调中固定好状态下的俯视图；Figure 42 is a top view of the multi-rotor UAV centered and fixed by the limit fixing mechanism;
图43是限位固定机构将多旋翼无人机调中固定好状态下的立体图。Fig. 43 is a perspective view of the multi-rotor UAV in the state of being centered and fixed by the position-limiting and fixing mechanism.
图中符号说明：Explanation of symbols in the figure:
100.停机坪；200.限位固定机构；300.电池坞；400.电池组件；500.电池更换机构；600.控制柜；700.机柜；800.多旋翼无人机；110.停机坪甲板；111.第一引导孔道；112.第二引导孔道；120.停机坪支撑框架；130.停机坪底板；210.第一V型夹板；220.第二V型夹板；211.第一V型挤压部；212.第一挡边；213.第二挡边；230.直线导轨组件；231.第一滑块；232.第二滑块；240.连接块；250.伸缩装置固定板；260.伸缩装置；270a.第一连杆；270b.第二连杆；280a.第一L型立板；280b.第二L型立板；290a.第一V型夹板连接件；290b.第二V型夹板连接件；310.电池放置筒体，320.步进电机；330.同步带传动机构；340.底座；350.连接轴；360.电池槽；361.上壳体；362.下壳体；363.后板；364.弹簧碰珠；365.触片；410.上电池壳；420.下电池壳；430.磁铁吸片；440.触片；421.磁铁吸片安装槽；422.锁止槽；510.水平方向线性模组；520.垂直方向线性模组；530.悬臂；540.抓取臂；550.电磁铁；610.中央处理器；620.电源模块；630.无线通讯模块；640.蓄电池；650.充电模块；660.无人机电池组件充电器；710.柜体；720.太阳能电池板外罩；810.起落架。100. Apron; 200. Limit fixing mechanism; 300. Battery dock; 400. Battery assembly; 500. Battery replacement mechanism; 600. Control cabinet; 700. Cabinet; 800. Multi-rotor UAV; ; 111. the first guide channel; 112. the second guide channel; 120. the apron support frame; 130. the apron floor; 210. the first V-shaped splint; 220. the second V-shaped splint; Extrusion part; 212. First rib; 213. Second rib; 230. Linear guide rail assembly; 231. First slider; 232. Second slider; 240. Connection block; 250. Telescopic device fixing plate; 260. telescopic device; 270a. first connecting rod; 270b. second connecting rod; 280a. first L-shaped vertical plate; 280b. second L-shaped vertical plate; 290a. first V-shaped splint connector; Two V-shaped splint connectors; 310. battery placement cylinder, 320. stepping motor; 330. synchronous belt transmission mechanism; 340. base; 350. connecting shaft; 360. battery slot; Shell; 363. Rear plate; 364. Spring bead; 365. Contact piece; 410. Upper battery case; 420. Lower battery case; 430. Magnet suction piece; 440. Contact piece; 422. Locking groove; 510. Horizontal linear module; 520. Vertical linear module; 530. Cantilever; 540. Grabbing arm; 550. Electromagnet; 610. Central processing unit; 620. Power module; 630. Wireless communication module; 640. Battery; 650. Charging module; 660. UAV battery component charger; 710. Cabinet body; 720. Solar panel cover; 810. Landing gear.
具体实施方式detailed description
以下参照附图，以具体实施例对本实用新型作进一步详细说明。Referring to the accompanying drawings, the utility model will be further described in detail with specific embodiments.
如图1-4所示，无人机中继装置包括停机坪100、限位固定机构200、电池坞300、电池更换机构500、控制柜600。As shown in FIGS. 1-4 , the UAV relay device includes an apron 100 , a limit fixing mechanism 200 , a battery dock 300 , a battery replacement mechanism 500 , and a control cabinet 600 .
停机坪100用于停放无人机。限位固定机构200用于对不同型号无人机的调中、对齐和固定，通过调中、对齐动作将无人机移动至停机坪100的中央并将电池头部正对电池更换机构500。电池坞300的功能是存放满电电池和为取出的机上无电电池充电。控制柜600作为整个中继装置的控制部分，负责控制其他组成部分动作。The apron 100 is used to park drones. The limit fixing mechanism 200 is used for centering, aligning and fixing different types of drones, and the drone is moved to the center of the apron 100 through the centering and aligning actions and the battery head is facing the battery replacement mechanism 500 . The function of the battery dock 300 is to store fully-charged batteries and to charge the empty batteries that have been taken out. The control cabinet 600, as the control part of the entire relay device, is responsible for controlling the actions of other components.
如图5-8所示，停机坪100包括停机坪甲板110、停机坪支撑框架120、停机坪底板130，停机坪甲板110与停机坪支撑框架120的顶部连接，停机坪底板130与停机坪支撑框架120的底部连接。停机坪甲板110设有两个相对设置的引导孔道，分别是第一引导孔道111和第二引导孔道112。优选地，第一引导孔道111和第二引导孔道112在同一直线上。As shown in Figures 5-8, the apron 100 includes an apron deck 110, an apron support frame 120, and an apron floor 130. The bottom of the frame 120 is attached. The apron deck 110 is provided with two opposite guide tunnels, namely a first guide tunnel 111 and a second guide tunnel 112 . Preferably, the first guiding hole 111 and the second guiding hole 112 are on the same straight line.
如图9所示，限位固定机构200包括第一V型夹板210、第二V型夹板220、直线导轨组件230、连接块240、伸缩装置固定板250、伸缩装置260、第一连杆270a、第二连杆270b、第一L型立板280a、第二L型立板280b、第一V型夹板连接件290a、第二V型夹板连接件290b。直线导轨组件230固定安装在停机坪支撑框架120上，直线导轨组件230上连接有两个滑块，分别是第一滑块231和第二滑块232。第一L型立板280a与第一滑块231连接，第二L型立板280b与第二滑块232连接。第一V型夹板210通过第一V型夹板连接件290a与第一L型立板280a连接，第二V型夹板220通过第二V型夹板连接件290b与第二L型立板280b连接。如图10-11所示，第一V型夹板连接件290a的上部与第一V型夹板210连接，下部与第一L型立板280a连接。第二V型夹板连接件290b与第一V型夹板连接件290a的结构相同。如图12所示，第一V型夹板连接件290a的下部从第一引导孔道111穿过，第二V型夹板连接件290b的下部从第二引导孔道112穿过(需要说明的是，第一V型夹板连接件290a的下部可以不穿过第一引导孔道111，而是从停机坪甲板110的侧面绕过；同理，第二V型夹板连接件290b的下部可以不穿过第二引导孔道112，而是从停机坪甲板110的侧面绕过。这种情况下，就不需要在停机坪甲板110上设置第一引导孔道111和第二引导孔道112)。第一V型夹板210和第二V型夹板220位于停机坪甲板110的正面向上的空间位置处，第一V型夹板210、第二V型夹板220在水平面上相对设置。连接块240通过第一连杆270a与第一L型立板280a连接，连接块240通过第二连杆270b与第二L型立板280b连接。伸缩装置260的伸缩杆与连接块240连接，伸缩装置260固定安装在伸缩装置固定板250上。伸缩装置固定板250固定连接在停机坪甲板110的背面，伸缩装置固定板250用于固定安装伸缩装置260。伸缩装置固定板250也可以固定在停机坪支撑框架120上。As shown in Figure 9, the limit fixing mechanism 200 includes a first V-shaped splint 210, a second V-shaped splint 220, a linear guide rail assembly 230, a connecting block 240, a telescopic device fixing plate 250, a telescopic device 260, and a first connecting rod 270a , the second connecting rod 270b, the first L-shaped vertical plate 280a, the second L-shaped vertical plate 280b, the first V-shaped splint connector 290a, and the second V-shaped splint connector 290b. The linear guide rail assembly 230 is fixedly installed on the support frame 120 of the apron, and two sliders are connected to the linear guide rail assembly 230 , namely a first slider 231 and a second slider 232 . The first L-shaped vertical plate 280 a is connected to the first slider 231 , and the second L-shaped vertical plate 280 b is connected to the second slider 232 . The first V-shaped splint 210 is connected to the first L-shaped vertical plate 280a through the first V-shaped splint connector 290a, and the second V-shaped splint 220 is connected to the second L-shaped vertical plate 280b through the second V-shaped splint connector 290b. As shown in Figures 10-11, the upper part of the first V-shaped splint connector 290a is connected to the first V-shaped splint 210, and the lower part is connected to the first L-shaped vertical plate 280a. The structure of the second V-shaped splint connector 290b is the same as that of the first V-shaped splint connector 290a. As shown in Figure 12, the bottom of the first V-shaped splint connector 290a passes through the first guide hole 111, and the bottom of the second V-shaped splint connector 290b passes through the second guide hole 112 (it should be noted that the second V-shaped splint connector 290b passes through the second guide hole 112). The bottom of a V-shaped splint connector 290a may not pass through the first guide tunnel 111, but bypasses the side of the apron deck 110; likewise, the bottom of the second V-shaped splint connector 290b may not pass through the second Instead, the guide tunnel 112 bypasses the side of the apron deck 110. In this case, there is no need to set the first guide tunnel 111 and the second guide tunnel 112 on the apron deck 110). The first V-shaped splint 210 and the second V-shaped splint 220 are located at the space position where the front of the apron deck 110 faces upward, and the first V-shaped splint 210 and the second V-shaped splint 220 are oppositely arranged on the horizontal plane. The connecting block 240 is connected to the first L-shaped vertical plate 280a through the first connecting rod 270a, and the connecting block 240 is connected to the second L-shaped vertical plate 280b through the second connecting rod 270b. The telescopic rod of the telescopic device 260 is connected with the connection block 240 , and the telescopic device 260 is fixedly installed on the telescopic device fixing plate 250 . The telescoping device fixing plate 250 is fixedly connected to the back side of the apron deck 110 , and the telescoping device fixing plate 250 is used for fixing and installing the telescoping device 260 . The telescoping device fixing plate 250 can also be fixed on the apron support frame 120 .
如图13所示，第一V型夹板210包括第一V型挤压部211，第一V型挤压部211的两端分别连接有第一挡边212、第二挡边213。第一V型挤压部211的V型角度α为110°～150°。第一挡边212、第二挡边213的作用是避免多旋翼无人机脱离停机坪甲板110。As shown in FIG. 13 , the first V-shaped splint 210 includes a first V-shaped extruded portion 211 , and two ends of the first V-shaped extruded portion 211 are respectively connected with a first rib 212 and a second rib 213 . The V-shaped angle α of the first V-shaped pressing portion 211 is 110°˜150°. The function of the first rib 212 and the second rib 213 is to prevent the multi-rotor UAV from detaching from the apron deck 110 .
第二V型夹板220的结构与第一V型夹板210相同，设有第二V型挤压部，第二V型挤压部的两端分别连接有挡边。The structure of the second V-shaped splint 220 is the same as that of the first V-shaped splint 210 , and a second V-shaped extruded part is provided, and ribs are respectively connected to both ends of the second V-shaped extruded part.
需要说明的是，第一V型夹板210和第二V型夹板220设置挡边是最佳方案，可以只设置V型挤压部不设置挡边，也能完成相应功能。It should be noted that it is the best solution to set ribs on the first V-shaped splint 210 and second V-shaped splint 220 , and the corresponding functions can also be completed by only setting the V-shaped extruded part without setting the ribs.
为了提高对无人机调中的准确性，可以使第一V型挤压部211的中线和第二V型夹板220的第二V型挤压部的中线在同一直线上，如图8中所示的两条虚线代表两条中线。In order to improve the accuracy of the centering of the drone, the centerline of the first V-shaped extrusion part 211 and the centerline of the second V-shaped extrusion part of the second V-shaped splint 220 can be on the same straight line, as shown in Figure 8 The two dashed lines shown represent the two midlines.
总之，设置直线导轨组件230、连接块240、伸缩装置260、第一连杆270a、第二连杆270b、第一L型立板280a、第二L型立板280b、第一V型夹板连接件290a、第二V型夹板连接件290b以及使第一V型夹板连接件290a、第二V型夹板连接件290b分别穿过第一引导孔道111、第二引导孔道112的结构，其目的是带动第一V型夹板210、第二V型夹板220相对运动，也就是使第一V型夹板210、第二V型夹板220进行靠拢、张开的往复运动。因此，只要能够实现该功能的相对运动传动装置都适用。In a word, the linear guide rail assembly 230, the connection block 240, the telescopic device 260, the first connecting rod 270a, the second connecting rod 270b, the first L-shaped vertical plate 280a, the second L-shaped vertical plate 280b, and the first V-shaped splint are provided to connect 290a, the second V-shaped splint connector 290b and the structure that the first V-shaped splint connector 290a and the second V-shaped splint connector 290b pass through the first guide hole 111 and the second guide hole 112 respectively. Driving the first V-shaped splint 210 and the second V-shaped splint 220 to move relative to each other, that is, to make the first V-shaped splint 210 and the second V-shaped splint 220 move closer and apart. Therefore, as long as the relative motion transmission device that can realize this function is applicable.
如图14所示，为了使第一V型夹板210、第二V型夹板220更平稳顺畅的移动，可以在其背面安装两个滚轮。滚轮支撑在停机坪甲板110上。As shown in FIG. 14 , in order to make the first V-shaped splint 210 and the second V-shaped splint 220 move more smoothly, two rollers can be installed on their backs. The rollers are supported on the apron deck 110 .
伸缩装置260可以是电动推杆组件、油缸组件或气缸组件。The telescoping device 260 may be an electric push rod assembly, an oil cylinder assembly or an air cylinder assembly.
如图15-20所示，电池坞300包括电池放置筒体310、步进电机320、同步带传动机构330、底座340、连接轴350，连接轴350的一端与电池放置筒体310连接，另一端通过轴承与底座340连接，步进电机320通过同步带传动机构330与连接轴350连接。电池放置筒体310由本体、顶盖和底板连接而成。底座340安装在停机坪100的停机坪底板130上，步进电机320也通过支架安装在停机坪底板130上。电池放置筒体31的底板上连接有三个立板，在每个立板从上到下安装有一列电池槽组，一共有三列电池槽组(定义第一列电池槽组是A，第二列电池槽组是B，第三列电池槽组是C)，相邻两列电池槽组之间的夹角是120°，每列电池槽组由三个用于放置电池组件的电池槽360组成。As shown in Figures 15-20, the battery dock 300 includes a battery placement cylinder 310, a stepping motor 320, a synchronous belt transmission mechanism 330, a base 340, and a connecting shaft 350. One end of the connecting shaft 350 is connected to the battery placement cylinder 310, and the other One end is connected to the base 340 through a bearing, and the stepper motor 320 is connected to the connecting shaft 350 through a synchronous belt transmission mechanism 330 . The battery housing cylinder 310 is formed by connecting a body, a top cover and a bottom plate. The base 340 is installed on the apron floor 130 of the apron 100, and the stepper motor 320 is also installed on the apron floor 130 through a bracket. The bottom plate of the battery placement cylinder 31 is connected with three vertical plates, and a row of battery cells is installed on each vertical plate from top to bottom, and there are three rows of battery cells (defining that the first row of battery cells is A, and the second is A). The first row of battery slots is B, the third row of battery slots is C), the angle between two adjacent rows of battery slots is 120°, and each row of battery slots consists of three battery slots 360° for placing battery components. composition.
需要说明的是，电池槽组不限于三列，可以是一列、两列或者更多列。每列不限于设置三个电池槽，可以是两个或者更多个。电池槽的具体数量可以根据中继装置布放地点附近的无人机数量以及无人机更换电池的频率来确定。It should be noted that the battery compartment group is not limited to three rows, and may be one row, two rows or more rows. Each column is not limited to three battery slots, but may be two or more. The specific number of battery slots can be determined according to the number of drones near the location where the relay device is deployed and the frequency of battery replacement of the drones.
如图21-25所示，电池槽360包括上壳体361、下壳体362、后板363、两个弹簧碰珠364以及六个触片365，上壳体361和下壳体362连接在一起组成壳体，后板363与该壳体的后端连接，该壳体的前端开口。两个弹簧碰珠364分别连接在下壳体362的两侧。后板363的内侧设有六个触片安装槽，六个触片365连接在触片安装槽中，六个触片365用于给电池组件400充电。后板363上设有六个走线孔。后板363的外侧与电池放置筒体31的底板上的立板连接。六根充电线缆一头穿过后板363上的六个走线孔与六个触片365连接，另一头穿过连接轴350的中心通孔连接到控制柜600中的无人机电池组件充电器660。As shown in Figures 21-25, the battery slot 360 includes an upper case 361, a lower case 362, a rear plate 363, two spring beads 364 and six contact pieces 365, and the upper case 361 and the lower case 362 are connected on Together they form a housing, the rear plate 363 is connected to the rear end of the housing, and the front end of the housing is open. The two spring bumpers 364 are respectively connected to two sides of the lower casing 362 . The inner side of the rear plate 363 is provided with six contact piece installation slots, and the six contact pieces 365 are connected in the contact piece installation grooves, and the six contact pieces 365 are used for charging the battery assembly 400 . The rear plate 363 is provided with six routing holes. The outer side of the rear plate 363 is connected with the vertical plate on the bottom plate of the battery placement cylinder 31 . One end of the six charging cables passes through the six wiring holes on the rear plate 363 to connect with the six contacts 365, and the other end passes through the central through hole of the connecting shaft 350 to connect to the UAV battery unit charger 660 in the control cabinet 600 .
步进电机320动作，在同步带传动机构330的作用下带动连接轴350转动，连接轴350转动带动电池放置筒体310转动，从而调整三列电池槽组的方位。The stepping motor 320 moves, drives the connecting shaft 350 to rotate under the action of the synchronous belt transmission mechanism 330, and the rotating of the connecting shaft 350 drives the battery placement cylinder 310 to rotate, thereby adjusting the orientation of the three rows of battery tanks.
需要说明的是，电池坞300不限于安装在停机坪100的停机坪底板130上，也可以安装在停机坪100的外侧，靠近电池更换机构500处。It should be noted that the battery dock 300 is not limited to be installed on the apron floor 130 of the apron 100 , and can also be installed on the outside of the apron 100 , close to the battery replacement mechanism 500 .
如图26-30所示，多旋翼无人机中的电池组件400包括上电池壳410、下电池壳420、磁铁吸片430、触片440，上电池壳410和下电池壳420连接在一起组成电池壳体，下电池壳420的前端设有磁铁吸片安装槽421，下电池壳420的两侧分别设有锁止槽422。触片440安装在下电池壳420的后端，磁铁吸片430安装在磁铁吸片安装槽421内。电池壳体内设有电池芯体，触片440与电池芯体连接。触片440的数量可以设置为六个，其中两个用于放电时使用，充电时用六个。As shown in Figures 26-30, the battery assembly 400 in the multi-rotor drone includes an upper battery case 410, a lower battery case 420, a magnet suction piece 430, and a contact piece 440, and the upper battery case 410 and the lower battery case 420 are connected together To form a battery case, the front end of the lower battery case 420 is provided with a magnet suction piece mounting groove 421 , and the two sides of the lower battery case 420 are respectively provided with locking grooves 422 . The contact piece 440 is mounted on the rear end of the lower battery case 420 , and the magnet suction piece 430 is installed in the installation groove 421 of the magnet suction piece. A battery core is arranged inside the battery case, and the contact piece 440 is connected with the battery core. The number of contact pieces 440 can be set to six, two of which are used for discharging and six for charging.
将电池组件400插入到电池坞300的电池槽360中时，电池槽360的两个弹簧碰珠364与锁止槽422匹配，以固定住电池组件400。触片440与电池槽360的触片365接触，这样就形成了充电回路，控制柜600中的无人机电池组件充电器660就可以给电池组件400充电了。When the battery assembly 400 is inserted into the battery slot 360 of the battery dock 300 , the two spring bumps 364 of the battery slot 360 match with the locking groove 422 to fix the battery assembly 400 . The contact piece 440 is in contact with the contact piece 365 of the battery slot 360 , thus forming a charging circuit, and the drone battery component charger 660 in the control cabinet 600 can charge the battery component 400 .
多旋翼无人机上容纳电池组件400的电池仓，可以用现有常规技术手段对电池组件进行固定，也可以使用如图25中上壳体361、下壳体362和两个弹簧碰珠364组成的结构。多旋翼无人机上用于和电池组件的触片接触的结构，采用现有常规技术即可。The battery compartment containing the battery assembly 400 on the multi-rotor UAV can be fixed by existing conventional technical means, or can be composed of an upper casing 361, a lower casing 362 and two spring bumpers 364 as shown in Figure 25 Structure. The structure used for contacting the contacts of the battery components on the multi-rotor UAV can adopt the existing conventional technology.
如图31-34所示，电池更换机构500包括水平方向线性模组510、垂直方向线性模组520、悬臂530、抓取臂540、电磁铁550，水平方向线性模组510设有水平方向滑块，垂直方向线性模组520的末端与水平方向滑块连接，垂直方向线性模组520设有垂直方向滑块，悬臂530与垂直方向滑块连接，抓取臂540与悬臂530连接，电磁铁550与抓取臂540连接。需要说明的是，电磁铁550也可以直接和悬臂530连接。As shown in Figures 31-34, the battery replacement mechanism 500 includes a horizontal linear module 510, a vertical linear module 520, a cantilever 530, a gripping arm 540, and an electromagnet 550. The horizontal linear module 510 is provided with a horizontal slide block, the end of the vertical linear module 520 is connected with the horizontal slider, the vertical linear module 520 is provided with a vertical slider, the cantilever 530 is connected with the vertical slider, the grabbing arm 540 is connected with the cantilever 530, and the electromagnet 550 is connected to the grabbing arm 540 . It should be noted that the electromagnet 550 may also be directly connected to the cantilever 530 .
水平方向线性模组510和垂直方向线性模组520构成X轴方向、Z轴方向移动机构，悬臂530设置在Y轴方向。The linear module 510 in the horizontal direction and the linear module 520 in the vertical direction constitute a moving mechanism in the direction of the X-axis and the direction of the Z-axis, and the cantilever 530 is arranged in the direction of the Y-axis.
水平方向线性模组510可以是由电机驱动的丝杆副，该电机可以是步进电机或伺服电机。垂直方向线性模组520可以是由电机驱动的丝杆副，该电机可以是步进电机或伺服电机。The horizontal linear module 510 may be a screw pair driven by a motor, and the motor may be a stepping motor or a servo motor. The vertical linear module 520 may be a screw pair driven by a motor, and the motor may be a stepping motor or a servo motor.
如图35所示，控制柜600包括中央处理器610、电源模块620、无线通讯模块630、蓄电池640、充电模块650、无人机电池组件充电器660，电源模块620与中央处理器610连接，无线通讯模块630与中央处理器610连接。蓄电池640与中央处理器610连接，充电模块650与蓄电池640连接。无人机电池组件充电器660与电源模块620连接。As shown in Figure 35, the control cabinet 600 includes a central processing unit 610, a power supply module 620, a wireless communication module 630, a storage battery 640, a charging module 650, and a drone battery component charger 660, and the power supply module 620 is connected to the central processing unit 610, The wireless communication module 630 is connected with the CPU 610 . The storage battery 640 is connected to the central processing unit 610 , and the charging module 650 is connected to the storage battery 640 . The drone battery pack charger 660 is connected to the power module 620 .
中央处理器610的驱动信号端与步进电机320、伸缩装置260连接，中央处理器610电源输出信号端与电磁铁550连接。中央处理器610的驱动信号端与用于驱动水平方向线性模组510、垂直方向线性模组520的电机连接。The driving signal terminal of the central processing unit 610 is connected with the stepper motor 320 and the telescopic device 260 , and the power output signal terminal of the central processing unit 610 is connected with the electromagnet 550 . The drive signal end of the CPU 610 is connected to the motors for driving the horizontal linear module 510 and the vertical linear module 520 .
无线通讯模块630的作用是，接收多旋翼无人机发送的降落到达信号，并将该信号传送给中央处理器610，然后中央处理器610控制限位固定机构200的伸缩装置260动作。The role of the wireless communication module 630 is to receive the landing arrival signal sent by the multi-rotor UAV, and transmit the signal to the central processing unit 610, and then the central processing unit 610 controls the action of the retractable device 260 of the limit fixing mechanism 200.
如图36-38所示，机柜700包括柜体710和两块太阳能电池板外罩720，两块太阳能电池板外罩720与柜体710的顶部连接。在传动机构的作用下，两块太阳能电池板外罩720合在一起时可以将柜体710遮盖住，两块太阳能电池板外罩720分开时可以留出让无人机进入柜体710内部的入口。As shown in FIGS. 36-38 , the cabinet 700 includes a cabinet body 710 and two solar panel covers 720 , and the two solar panel covers 720 are connected to the top of the cabinet body 710 . Under the action of the transmission mechanism, the cabinet 710 can be covered when the two solar panel covers 720 are combined, and the entrance for the drone to enter the cabinet 710 can be reserved when the two solar panel covers 720 are separated.
太阳能电池板外罩720的电流输出端与充电模块650连接，最终给蓄电池640充电。The current output end of the solar panel cover 720 is connected to the charging module 650 to finally charge the storage battery 640 .
两块太阳能电池板外罩720不仅能够提供部分电能，同时可充当挡雨板。The two solar panel covers 720 can not only provide part of the electric energy, but also act as a rain shield.
使用机柜700时，将无人机中继装置安装在机柜700内即可。When the cabinet 700 is used, the drone relay device can be installed in the cabinet 700 .
下面描述无人机中继装置的工作过程：The following describes the working process of the UAV relay device:
初始状态下，如图9所示，限位固定机构200的第一V型夹板210和第二V型夹板220位于停机坪甲板110相对的两个侧边位置。如图1所示，电池更换机构500的垂直方向线性模组520位于最左侧，远离停机坪100；悬臂530位于最上端。结合图1和18所示，电池坞300的第一列电池槽组A的下面两个A2、A3电池槽放置好满电电池组件(被电池坞300充满电)，最上面的A1电池槽空着，不放满电电池组件，两个满电电池组件面向悬臂530的方向。另外两列电池槽组B、C中的电池槽均放置好满电电池组件。第二列电池槽组B从上到下依次是B1电池槽、B2电池槽、B3电池槽，第三列电池槽组C从上到下依次是C1电池槽、C2电池槽、C3电池槽。In the initial state, as shown in FIG. 9 , the first V-shaped splint 210 and the second V-shaped splint 220 of the position-limiting and fixing mechanism 200 are located at two opposite sides of the apron deck 110 . As shown in FIG. 1 , the vertical linear module 520 of the battery replacement mechanism 500 is located on the far left, away from the apron 100 ; the cantilever 530 is located on the uppermost end. As shown in Figures 1 and 18, fully charged battery components (fully charged by the battery dock 300) are placed in the lower two A2 and A3 battery slots of the first row of battery slots A of the battery dock 300, and the topmost A1 battery slot is empty. Then, the fully charged battery assemblies are not placed, and the two fully charged battery assemblies face the direction of the cantilever 530 . The battery slots in the other two rows of battery slot groups B and C are all placed with fully charged battery components. The second battery slot group B is B1 battery slot, B2 battery slot, B3 battery slot from top to bottom, and the third battery slot group C is C1 battery slot, C2 battery slot, C3 battery slot from top to bottom.
第一步：如图39所示，将多旋翼无人机800降落在停机坪甲板110上，使无电电池组件面向电池更换机构500。通常情况下，多旋翼无人机800不会正好降落在停机坪甲板110的中心位置，多旋翼无人机800位于第一V型夹板210和第二V型夹板220之间，此时多旋翼无人机800的起落架与第一V型夹板210和第二V型夹板220不接触。Step 1: As shown in FIG. 39 , land the multi-rotor UAV 800 on the apron deck 110 so that the dead battery assembly faces the battery replacement mechanism 500 . Normally, the multi-rotor UAV 800 will not just land on the center of the apron deck 110, and the multi-rotor UAV 800 is located between the first V-shaped splint 210 and the second V-shaped splint 220. At this time, the multi-rotor UAV 800 The landing gear of the drone 800 is not in contact with the first V-shaped splint 210 and the second V-shaped splint 220 .
多旋翼无人机800向控制柜600的无线通讯模块630发送到达信号，该信号被传送给中央处理器610。The multi-rotor drone 800 sends an arrival signal to the wireless communication module 630 of the control cabinet 600 , and the signal is transmitted to the central processing unit 610 .
第二步：中央处理器610接收多旋翼无人机800发送的信号后，首先控制限位固定机构200对多旋翼无人机800进行调中、固定。Step 2: After the central processing unit 610 receives the signal sent by the multi-rotor UAV 800 , it first controls the position-limiting and fixing mechanism 200 to center and fix the multi-rotor UAV 800 .
具体过程是，中央处理器610控制伸缩装置260动作，伸缩装置260的伸缩杆伸出推动连接块240向左移动(图9中的方向)，连接块240通过第一连杆270a带动第一L型立板280a和第一滑块231向直线导轨组件230的中心移动，同时连接块240通过第二连杆270b带动第二L型立板280b和第二滑块232向直线导轨组件230的中心移动。第一L型立板280a带动第一V型夹板连接件290a和第一V型夹板210向直线导轨组件230的中心移动(第一V型夹板连接件290a沿着第一引导孔道111移动)，同时第二L型立板280b带动第二V型夹板连接件290b和第二V型夹板220向直线导轨组件230的中心移动(第二V型夹板连接件290b沿着第二引导孔道112移动)，也就是说，第一V型夹板210和第二V型夹板220同时向停机坪甲板110的中心位置靠拢。The specific process is that the central processing unit 610 controls the action of the telescopic device 260, and the telescopic rod of the telescopic device 260 stretches out to push the connecting block 240 to move to the left (direction in FIG. 9 ), and the connecting block 240 drives the first L through the first connecting rod 270a. L-shaped vertical plate 280a and the first slider 231 move to the center of the linear guide rail assembly 230, while the connecting block 240 drives the second L-shaped vertical plate 280b and the second slider 232 to the center of the linear guide rail assembly 230 through the second connecting rod 270b move. The first L-shaped vertical plate 280a drives the first V-shaped splint connector 290a and the first V-shaped splint 210 to move toward the center of the linear guide rail assembly 230 (the first V-shaped splint connector 290a moves along the first guide hole 111), At the same time, the second L-shaped vertical plate 280b drives the second V-shaped splint connector 290b and the second V-shaped splint 220 to move toward the center of the linear guide rail assembly 230 (the second V-shaped splint connector 290b moves along the second guide hole 112) , that is to say, the first V-shaped splint 210 and the second V-shaped splint 220 move closer to the center of the apron deck 110 at the same time.
如图40和41所示，在第一V型夹板210和第二V型夹板220移动的过程中，第一V型夹板210逐渐与邻近的多旋翼无人机800的起落架810接触，第二V型夹板220也逐渐与邻近的起落架接触。如图42和43所示，第一V型夹板210和第二V型夹板220移动一定距离后，第一V型夹板210的V型挤压部211的两个斜边与两个相邻的起落架接触，同时第二V型夹板220的V型挤压部的两个斜边与另一侧两个相邻的起落架接触，这样，多旋翼无人机800就被调整到停机坪甲板110的中心位置，并且被夹紧固定住。As shown in Figures 40 and 41, during the movement of the first V-shaped splint 210 and the second V-shaped splint 220, the first V-shaped splint 210 gradually contacts the landing gear 810 of the adjacent multi-rotor UAV 800, and the second Two V-shaped splints 220 also gradually come into contact with the adjacent landing gear. As shown in Figures 42 and 43, after the first V-shaped splint 210 and the second V-shaped splint 220 have moved a certain distance, the two hypotenuses of the V-shaped extruded part 211 of the first V-shaped splint 210 and the two adjacent The landing gear is in contact, and at the same time, the two hypotenuses of the V-shaped extruded portion of the second V-shaped splint 220 are in contact with the two adjacent landing gears on the other side, so that the multi-rotor UAV 800 is adjusted to the apron deck 110 center position, and is clamped in place.
第三步：多旋翼无人机800被调中固定好后，由中央处理器610控制电池更换机构500动作，将多旋翼无人机800上的无电电池组件取出并放入电池坞300，再从电池坞300取出满电的电池组件插入多旋翼无人机800中。Step 3: After the multi-rotor drone 800 is centered and fixed, the central processing unit 610 controls the battery replacement mechanism 500 to take out the dead battery assembly on the multi-rotor drone 800 and put it into the battery dock 300, Then take out the fully charged battery assembly from the battery dock 300 and insert it into the multi-rotor UAV 800 .
具体过程是，结合图1、4和31所示，水平方向线性模组510上的水平方向滑块带动垂直方向线性模组520从初始状态下向多旋翼无人机800方向移动，与此同时，垂直方向线性模组520上的垂直方向滑块带动悬臂530从初始状态自上向下移动，这样就使悬臂530上连接的电磁铁550在X轴方向向多旋翼无人机800的电池仓位置移动，在Z轴方向向多旋翼无人机800的电池仓位置移动。在Y轴方向，悬臂530的长度以及电磁铁550的安装位置是预先根据实验设置好的。总之，在水平方向线性模组510和垂直方向线性模组520的配合动作下，电磁铁550移动至多旋翼无人机800的电池仓位置，靠近无电电池组件。The specific process is, as shown in Figures 1, 4 and 31, the horizontal slider on the horizontal linear module 510 drives the vertical linear module 520 to move from the initial state to the direction of the multi-rotor UAV 800, and at the same time , the vertical slider on the vertical linear module 520 drives the cantilever 530 to move from top to bottom from the initial state, so that the electromagnet 550 connected to the cantilever 530 moves toward the battery compartment of the multi-rotor UAV 800 The position moves, moving to the position of the battery compartment of the multi-rotor UAV 800 in the Z-axis direction. In the Y-axis direction, the length of the cantilever 530 and the installation position of the electromagnet 550 are set in advance according to experiments. In short, under the cooperation of the horizontal linear module 510 and the vertical linear module 520, the electromagnet 550 moves to the battery compartment of the multi-rotor UAV 800, close to the non-electric battery assembly.
当电磁铁550靠近电池组件时，在中央处理器610的控制下给电磁铁550通电，电磁铁550吸住无电电池组件上的磁铁吸片，然后电磁铁550在水平方向线性模组510和垂直方向线性模组520的配合动作下移动到电池坞300位置，将无电电池组件放入电池坞300中空的A1电池槽中(无电电池组件的触片与电池槽上的触片接触，开始充电)，紧接着给电磁铁550断电，再驱动电磁铁550移动到满电电池组件处(空的A1电池槽下方A2电池槽处)，再给电磁铁550通电从而吸住满电电池组件上的电磁吸片，随后在水平方向线性模组510和垂直方向线性模组520的配合动作下，将满电电池组件取出并插入多旋翼无人机800的电池仓中。最后，给电磁铁550断电，使水平方向线性模组510和垂直方向线性模组520回到初始位置。When the electromagnet 550 is close to the battery assembly, under the control of the central processing unit 610, the electromagnet 550 is energized, and the electromagnet 550 sucks the magnet suction piece on the battery assembly without electricity, and then the electromagnet 550 moves linearly between the module 510 and the battery assembly in the horizontal direction. The vertical direction linear module 520 is moved to the position of the battery dock 300 under the cooperative action, and the empty battery assembly is put into the hollow A1 battery slot of the battery dock 300 (the contact piece of the empty battery assembly is in contact with the contact piece on the battery slot, Start charging), then power off the electromagnet 550, then drive the electromagnet 550 to move to the fully charged battery assembly (the A2 battery slot below the empty A1 battery slot), and then power on the electromagnet 550 to attract the fully charged battery The electromagnetic suction sheet on the component then takes out the fully charged battery component and inserts it into the battery compartment of the multi-rotor UAV 800 under the cooperation of the horizontal linear module 510 and the vertical linear module 520 . Finally, the electromagnet 550 is powered off, so that the horizontal linear module 510 and the vertical linear module 520 return to their initial positions.
第四步，限位固定机构200的伸缩装置260的伸缩杆缩回，使第一V型夹板210和第二V型夹板220张开，向停机坪甲板110的两个侧边移动，回到初始状态。In the fourth step, the telescopic rod of the telescopic device 260 of the limit fixing mechanism 200 is retracted, so that the first V-shaped splint 210 and the second V-shaped splint 220 are opened, and move to the two sides of the apron deck 110, and return to initial state.
进行下一次更换电池组件动作时，将多旋翼无人机无电的电池组件放入空置的A2电池槽内充电，取出A3电池槽内满电电池组件放入多旋翼无人机中。When replacing the battery components next time, put the unpowered battery components of the multi-rotor drone into the empty A2 battery slot for charging, and take out the fully charged battery components in the A3 battery slot and put them into the multi-rotor drone.
再下一次更换电池组件时，取出多旋翼无人机无电电池组件放入空置的A3电池槽内充电，之后由步进电机320驱动电池放置筒体310旋转120°，将第二列电池槽组B面向电磁铁550，取出B1电池槽中的满电电池组件放入多旋翼无人机中。之后以此类推。When replacing the battery components next time, take out the non-electric battery components of the multi-rotor UAV and put them into the empty A3 battery slots for charging, and then the stepper motor 320 will drive the battery placement cylinder 310 to rotate 120° to place the battery slots in the second row Group B faces the electromagnet 550, take out the fully charged battery assembly in the battery slot of B1 and put it into the multi-rotor drone. And so on.
当第三列电池槽组C的C3电池槽中的满电电池组件被取走3小时(电池组件满充电需要的最大时间)后，无人机电池组件充电器660将自动断电，节约能源。When the fully charged battery assembly in the C3 battery slot of the third row of battery slot group C is taken away for 3 hours (the maximum time required for full charging of the battery pack), the UAV battery pack charger 660 will automatically power off to save energy .
以上所述仅对本实用新型的优选实施例而已，并不用于限制本实用新型，对于本领域的技术人员来说，本实用新型可以有各种更改和变化。The above descriptions are only preferred embodiments of the utility model, and are not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes.