Three-coordinate adjustable truss mechanism of unmanned aerial vehicle battery grabbing robot on vehicle

Abstract

The utility model discloses a three-coordinate adjustable truss mechanism of an unmanned aerial vehicle battery grabbing robot on a vehicle, and relates to the technical field of automatic taking and placing of unmanned aerial vehicle batteries. The three-coordinate adjustable truss mechanism of the unmanned aerial vehicle battery grabbing robot on the vehicle comprises a first sliding assembly, and the sliding direction of the first sliding assembly is arranged in the horizontal direction; the second sliding assembly is arranged on the first sliding assembly, and the sliding direction of the second sliding assembly is arranged in the vertical direction; the third sliding assembly is arranged on the second sliding assembly, and the sliding direction of the third sliding assembly is perpendicular to the sliding direction of the first sliding assembly and the sliding direction of the second sliding assembly; and the grabbing mechanism is fixedly connected to the bottom of the third sliding assembly and used for grabbing the battery.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic picking and placing of UAV batteries, and particularly relates to a three-coordinate adjustable truss mechanism of a UAV battery grabbing robot on a vehicle. Background Technique

[0002] With the development of the times and the progress of technology, UAVs have entered multiple fields such as our production, life, and emergency rescue, and the application scenarios also include agricultural farmland, environmental protection ocean, building high altitude, transportation, etc.

[0003] However, in the fields of wild rescue or wild power equipment emergency rescue, UAVs require specific vehicle-mounted takeoff and landing platforms. The vehicle transports the UAV and the takeoff and landing platform to the designated destination, and completes a series of mechanical actions of the UAV on the vehicle body, including taking in and out, and the automatic picking and placing actions of battery charging. This increases the difficulty of realizing precise automatic operation in a narrow space. Content of the Utility Model

[0004] Therefore, the embodiment of the utility model provides a three-coordinate adjustable truss mechanism of a UAV battery grabbing robot on a vehicle to solve the problems in the above-mentioned technology that during the operation of a wild UAV, when the UAV runs out of power and returns to the vehicle for battery charging, the battery on the UAV is relatively heavy during the process of removing the battery, the installation position is complex, and manual operation is difficult.

[0005] In order to achieve the above object, the embodiment of the utility model provides the following technical solutions:

[0006] The three-coordinate adjustable truss mechanism of a UAV battery grabbing robot on a vehicle is characterized by comprising:

[0007] A first sliding component, the sliding direction of the first sliding component is set along the horizontal direction;

[0008] A second sliding component, the second sliding component is arranged on the first sliding component, and the sliding direction of the second sliding component is set along the vertical direction;

[0009] A third sliding component, the third sliding component is arranged on the second sliding component, and the sliding direction of the third sliding component is perpendicular to the sliding direction of the first sliding component and the sliding direction of the second sliding component;

[0010] A grabbing mechanism, the grabbing mechanism is fixedly connected to the bottom of the third sliding component and is used for grabbing the battery.

[0011] Optionally, the first sliding component includes a group of X-direction guide rails arranged in parallel, sliders are arranged on the X-direction guide rails, and the sliders are driven by motors to slide on the X-direction guide rails, and the second sliding component is arranged on the sliders.

[0012] Optionally, there are two X-direction guide rails provided.

[0013] Optionally, the second sliding assembly includes two Z-direction guide rails fixedly connected to the top of each slider. The top ends of the two Z-direction guide rails are inserted and slidably connected with a sliding rod. A cross bar is fixedly connected between the two Z-direction guide rails. A first lead screw is inserted and rotatably connected to the cross bar. The top end of the first lead screw is threadedly connected to the third sliding assembly. The third sliding assembly is fixedly installed on the sliding rod. The first lead screw is driven to rotate by a motor.

[0014] Optionally, the third sliding assembly includes a Y-direction guide rail fixedly connected between two groups of sliding rods. A sliding seat is slidably installed on the Y-direction guide rail. A positioning rod is installed between the two ends of the Y-direction guide rail. The first lead screw is threadedly connected to the positioning rod. A second lead screw is arranged between the two positioning rods. One end of the second lead screw is rotatably connected to the positioning rod. The other end of the second lead screw is driven to rotate by a motor. The sliding seat is threadedly connected to the second lead screw. The grasping mechanism is installed at the bottom of the sliding seat.

[0015] The utility model has at least the following beneficial effects:

[0016] By providing a first sliding assembly arranged horizontally, a second sliding assembly arranged vertically, and a third sliding assembly perpendicular to both the first sliding assembly and the second sliding assembly, and installing a grasping mechanism on the third sliding assembly, the grasping mechanism can adjust to grasp the drone battery according to the position of the drone through the driving of the first sliding assembly, the second sliding assembly, and the third sliding assembly, reducing the operating space required for manual battery replacement, making the automatic battery picking and placing mechanism compact and the action precise. Description of the Drawings

[0017] In order to more clearly illustrate the prior art and the present utility model, the drawings required for describing the prior art and the embodiments of the present utility model will be briefly introduced below. Obviously, the drawings in the following description are only exemplary. For those of ordinary skill in the art, other drawings can be obtained by further derivation based on the provided drawings without creative efforts.

[0018] The structures, ratios, sizes, etc. depicted in this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present utility model. Any modification of the structure, change of the proportional relationship, or adjustment of the size should still fall within the scope covered by the technical content disclosed in the present utility model without affecting the efficacy and the purpose that the present utility model can achieve.

[0019] Figure 1 It is a schematic diagram of the structure from the first perspective of an embodiment of the present utility model;

[0020] Figure 2 This is a schematic structural diagram of a second perspective of an embodiment of the present utility model.

[0021] Explanation of reference numerals in the drawings:

[0022] 1. First sliding assembly; 101. X-direction guide rail; 102. Slide block; 2. Second sliding assembly; 201. Z-direction guide rail; 202. Slide rod; 203. Cross bar; 204. First lead screw; 3. Third sliding assembly; 301. Y-direction guide rail; 302. Slide seat; 303. Positioning rod; 304. Second lead screw; 4. Gripping mechanism. Specific implementation manners

[0023] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0024] In the description of the present utility model, unless otherwise specified, the meaning of "a plurality of" is two or more. Terms such as "first", "second", "third", "fourth", etc. (if any) in the description and claims of the present utility model and the above-mentioned drawings are intended to distinguish the objects being referred to. For a solution with a time sequence process, this way of term expression does not have to be understood as describing a specific order or sequence, and for a solution of a device structure, this way of term expression also does not distinguish the importance level, positional relationship, etc.

[0025] In addition, the terms "comprising", "having" and any deformation thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not have to be limited to the clearly listed steps or units, but may also include other steps or units inherent to these processes, methods, products or devices that are not clearly listed, or steps or units added by further optimized solutions based on the concept of the present utility model.

[0026] As Figure 1 and Figure 2 shown, the three-coordinate adjustable truss mechanism of the UAV battery gripping robot on the vehicle disclosed by the present utility model includes:

[0027] The first sliding assembly 1, and the sliding direction of the first sliding assembly 1 is set along the horizontal direction;

[0028] The second sliding assembly 2, the second sliding assembly 2 is arranged on the first sliding assembly 1, and the sliding direction of the second sliding assembly 2 is set along the vertical direction;

[0029] The third sliding component 3 is disposed on the second sliding component 2, and the sliding direction of the third sliding component 3 is perpendicular to the sliding directions of the first sliding component 1 and the second sliding component 2;

[0030] The grasping mechanism 4 is fixedly connected to the bottom of the third sliding component 3 and is used for grasping the battery.

[0031] The above-mentioned first sliding component 1 includes a set of X-direction guide rails 101 arranged in parallel, generally two. The two X-direction guide rails 101 are fixedly and parallelly fixed at the designated position for disassembling the UAV battery. The distance between the two X-direction guide rails 101 allows the UAV to pass through completely. A slider 102 is arranged on the X-direction guide rail 101. The slider 102 is driven by a motor to slide on the X-direction guide rail 101. The second sliding component 2 is disposed on the slider 102. By driving the motor, the slider 102 can drive the second sliding component 2 to slide on the X-direction guide rail 101. According to the parking position of the UAV, the second sliding component 2 and the third sliding component 3 are adjusted so that the grasping mechanism 4 on the third sliding component 3 is located above the UAV battery.

[0032] The specific structure of the grasping mechanism 4 can adopt the existing device for disassembling and assembling the UAV battery, which will not be elaborated here.

[0033] Further, the second sliding component 2 includes two Z-direction guide rails 201 fixedly connected to the top of each slider 102. The top ends of the two Z-direction guide rails 201 are inserted and slidably connected with a sliding rod 202. A cross bar 203 is fixedly connected between the two Z-direction guide rails 201. A first lead screw 204 is inserted and rotatably connected to the cross bar 203. The top end of the first lead screw 204 is threadedly connected to the third sliding component 3. The third sliding component 3 is fixedly installed on the sliding rod 202. The first lead screw 204 is driven to rotate by a motor.

[0034] The above-mentioned second sliding assembly 2 fixes two vertical Z-direction guide rails 201 on each slider 102. The Z-direction guide rails 201 are fixed on the slider 102. The four Z-direction guide rails 201 on the two sliders 102 enclose a rectangular structure. A sliding rod 202 is inserted and slidably connected to the Z-direction guide rail 201. The sliding rod 202 can slide up and down along the Z-direction guide rail 201. The top of the sliding rod 202 is equipped with a third sliding assembly 3. By sliding the sliding rod 202 up and down on the Z-direction guide rail 201, the third sliding assembly 3 and the grasping mechanism 4 are driven to move up and down to approach the UAV battery for grasping or move away from the UAV battery for removal. The specific driving method of the sliding rod 202 is to fix a horizontally arranged cross bar 203 between the two Z-direction guide rails 201 on each slider 102, insert a first lead screw 204 on the cross bar 203, the first lead screw 204 is rotatably connected to the cross bar 203, and the top of the first lead screw 204 is threadedly connected to the third sliding assembly 3. By rotating the first lead screw 204, the third sliding assembly 3 is driven to slide up and down along the sliding rod 202.

[0035] Furthermore, the third sliding assembly 3 includes a Y-direction guide rail 301 fixedly connected between two groups of sliding rods 202. A sliding seat is slidably installed on the Y-direction guide rail 301. A positioning rod 303 is installed between the two ends of the Y-direction guide rail 301. The first lead screw 204 is threadedly connected to the positioning rod 303. A second lead screw 304 is arranged between the two positioning rods 303. One end of the second lead screw 304 is rotatably connected to the positioning rod 303, and the other end (bottom end) of the second lead screw 304 is driven to rotate by a motor (not shown in the figure). The sliding seat is threadedly connected to the second lead screw 304. The grasping mechanism 4 is installed at the bottom of the sliding seat.

[0036] The above-mentioned third sliding assembly 3 fixedly installs a Y-direction guide rail 301 between the two corresponding sliding rods 202 on the two sliders 102. The two Y-direction guide rails 301 are arranged in parallel. An I-shaped sliding seat is installed between the two Y-direction guide rails 301. The sliding seat slides on the two Y-direction guide rails 301 through the two parallel structures of the I-shape. The grasping mechanism 4 is installed at the bottom of the sliding seat. By driving the sliding seat to slide on the Y-direction guide rail 301, the grasping mechanism 4 is just above the battery removal position. The driving of the sliding seat is realized by setting a second lead screw 304. Positioning rods 303 are arranged between the two ends of the two Y-direction guide rails 301. The two positioning rods 303 and the two Y-direction guide rails 301 form a rectangular structure. The positioning rods 303 are fixedly arranged with the Y-direction guide rails 301. The two ends of the second lead screw 304 are rotatably connected to the two positioning rods 303. The middle part of the second lead screw 304 passes through the sliding seat or is indirectly connected to the sliding seat through a threaded ball. A motor (not shown in the figure) is arranged at one end of the second lead screw 304 to drive the second lead screw 304 to rotate, so that the sliding seat slides along the second lead screw 304 and the Y-direction guide rail 301 to adjust the position of the grasping structure.

[0037] The utility model can assist the robot in the process of replacing the battery of the UAV on the field operation vehicle to perform actions such as grasping the battery for battery replacement, power on and off, etc., reducing the mechanical movement structure, saving the operation space inside the vehicle, reducing the operation difficulty of workers, and saving costs at the same time.

[0038] It has a reasonable structure and stable operation. Through the three-coordinate adjustable truss mechanism of this application, a series of mechanical actions can be executed in the narrow space on the vehicle, reducing the internal mechanical structure, reducing the space required for automatic battery replacement of the UAV, saving the cost of the vehicle carrier, ensuring simple manual operation and precise actions, and making it easier to charge and replace the battery of the UAV inside the vehicle. The available operation time of the UAV in a day is increased.

[0039] Working principle:

[0040] When the UAV battery grasping robot on the vehicle is about to grasp the UAV battery, the battery grasping robot (i.e., the grasping mechanism 4) is installed on the third sliding component 3. The first sliding component 1 in the X-axis direction adjusts the second sliding component 2, the third sliding component 3, and the battery grasping robot together to a suitable X coordinate point through the combination of a linear guide rail and a slider 102; the battery grasping robot is adjusted to a suitable Y coordinate point through the third sliding component 3; and then the second sliding component 2, with the Z-direction guide rail as the carrier, adjusts the third sliding component 3 and the battery grasping robot to a suitable Z coordinate point. The three-coordinate positioning of the UAV battery grasping robot on the vehicle is realized. The first sliding component 1, the second sliding component 2, and the third sliding component 3 are all driven by driving motors, and the three coordinates for accurately determining the positioning point of the battery grasping robot can be realized for application.

[0041] The utility model can be realized in a field operation vehicle. This mechanism reduces the mechanical structure inside the vehicle, reduces the space required for the UAV battery grasping action, reduces the cost of the vehicle, makes the UAV battery grasping mechanism 4 more compact and delicate, and the action positioning more accurate and reliable.

[0042] The above several specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in some embodiments.

[0043] The technical features of the above embodiments can be combined arbitrarily (as long as there is no contradiction in the combination of these technical features). For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described; these embodiments not explicitly written should also be considered to be within the scope described in this specification.

[0044] In the foregoing, the present utility model has been described in a relatively specific and detailed manner through general descriptions and specific embodiments. It should be noted that, without departing from the concept of the present utility model, it is obvious that several modifications and improvements can still be made to these specific embodiments, and these all fall within the protection scope of this application. Therefore, the protection scope of the patent of this application shall be subject to the appended claims.

Claims

1. The three-coordinate adjustable truss mechanism of the UAV battery grasping robot on the vehicle, characterized in that Including: A first sliding component, the sliding direction of the first sliding component is arranged along the horizontal direction; A second sliding component, the second sliding component is arranged on the first sliding component, and the sliding direction of the second sliding component is arranged along the vertical direction; A third sliding component, the third sliding component is arranged on the second sliding component, and the sliding direction of the third sliding component is perpendicular to the sliding direction of the first sliding component and the sliding direction of the second sliding component; A grasping mechanism, the grasping mechanism is fixedly connected to the bottom of the third sliding component for grasping the battery.

2. The three-coordinate adjustable truss mechanism of the drone battery grabbing robot on the vehicle according to claim 1, characterized in that: The first sliding component includes a set of X-direction guide rails arranged in parallel. Sliders are arranged on the X-direction guide rails, and the sliders are driven by motors to slide on the X-direction guide rails. The second sliding component is arranged on the sliders.

3. The three-coordinate adjustable truss mechanism of the UAV battery grabbing robot on the vehicle according to claim 2, characterized in that: There are two X-direction guide rails.

4. The three-coordinate adjustable truss mechanism of the UAV battery grabbing robot on the vehicle according to claim 1, characterized in that: The second sliding component includes two Z-direction guide rails fixedly connected to the top of each slider. The top ends of the two Z-direction guide rails are inserted and slidably connected with sliding rods. A cross bar is fixedly connected between the two Z-direction guide rails. A first lead screw is inserted and rotatably connected to the cross bar. The top end of the first lead screw is threadedly connected to the third sliding component. The third sliding component is fixedly installed on the sliding rods. The first lead screw is driven to rotate by a motor.

5. The three-coordinate adjustable truss mechanism of the drone battery grabbing robot on the vehicle according to claim 1, characterized in that: The third sliding component includes a Y-direction guide rail fixedly connected between two sets of sliding rods. A sliding seat is slidably installed on the Y-direction guide rail. A positioning rod is installed between the two ends of the Y-direction guide rail. The first lead screw is threadedly connected to the positioning rod. A second lead screw is arranged between the two positioning rods. One end of the second lead screw is rotatably connected to the positioning rod. The other end of the second lead screw is driven to rotate by a motor. The sliding seat is threadedly connected to the second lead screw. The grasping mechanism is installed at the bottom of the sliding seat.

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