Automatic charging device of unmanned aerial vehicle

Abstract

The utility model discloses an automatic charging device of an unmanned aerial vehicle in the field of unmanned aerial vehicle charging, and aims to solve the problems of poor contact and slow charging caused by point contact between a charging device and an unmanned aerial vehicle charging rod in the prior art. The charging mechanical arm is fixed on the annular bracket; a clamping jaw is arranged on the charging mechanical arm, a charging copper electrode is arranged on the inner wall of the clamping jaw, and the charging copper electrode is of a chain type structure and is arranged on the inner wall of the whole clamping jaw. The chain type charging copper electrode is arranged in the clamping jaw, surface contact charging with the unmanned aerial vehicle charging rod is achieved, due to the fact that the charging copper electrode is in surface contact with the unmanned aerial vehicle charging rod, the problems of poor contact and slow charging due to point contact are avoided, and the clamping jaw is arranged on the charging mechanical arm with the direction capable of being adjusted; the position of the clamping jaw relative to the unmanned aerial vehicle can be adjusted to adapt to the parking angle of the unmanned aerial vehicle, a high-precision positioning device is not needed, and cost is reduced.

Description

Technical Field

[0001] The present application relates to the field of drone charging, and in particular to an automatic charging device for a drone. Background Art

[0002] With the development of technology, drones are gradually being used in various industries. However, the short flight time of most drones currently on the market limits their application. The demand for convenient drone charging is growing. However, existing charging devices on the market often rely on point contact with drone charging poles, resulting in poor contact and slow charging. Existing docking charging equipment requires high-precision positioning devices, which are costly. Utility Model Content

[0003] The purpose of this application is to provide an automatic charging device for a drone, which achieves charging through surface contact between the charging copper electrode in the clamp and the charging rod (landing gear) on the drone, avoiding the problems of poor contact and slow charging caused by point contact.

[0004] In order to solve the above technical problems, the following technical solutions are adopted:

[0005] The present application provides an automatic charging device for a drone, comprising a landing pad and a charging robot arm with adjustable direction, wherein the charging robot arm is fixed to a ring-shaped bracket, the landing pad and the ring-shaped bracket are supported by bracket legs, and the landing pad is arranged on the inner ring of the ring-shaped bracket;

[0006] The charging robotic arm is provided with an openable and closable clamping claw for clamping the drone charging rod, and the inner wall of the clamping claw is provided with a charging copper pole that contacts the charging rod for charging. The charging copper pole is a chain structure and is arranged on the inner wall of the entire clamping claw.

[0007] Optionally, the charging robotic arm includes a base, a first connecting rod, a second connecting rod, a first servo and a second servo, one end of the first connecting rod is connected to the base through the first servo, and the other end is connected to the second connecting rod through the second servo, the second connecting rod is connected to the clamp through a third servo, and the base is fixed on the annular bracket.

[0008] Optionally, a camera for obtaining the position of the drone is fixed on one end of the second connecting rod close to the clamping claw.

[0009] Optionally, the clamping jaw is arranged on a fourth servo, and the fourth servo is used to drive the clamping jaw to open and close.

[0010] Optionally, the clamp is connected to the output shaft of the fourth servo, and a clamp cover is provided at the connection between the clamp and the output shaft.

[0011] Optionally, the fourth servo is further provided with a limit switch, which is used to start charging after the charging copper electrode contacts the charging rod on the drone, and the charging robotic arm stops moving after charging is started.

[0012] Optionally, a spring is provided between the charging copper pole and the inner wall of the clamp, and the spring is used to buffer the force of the clamp clamping the drone charging rod.

[0013] Optionally, a strain gauge is provided on one end of the spring close to the charging copper electrode, and the strain gauge collects the force of the clamping claw clamping the drone charging rod. When the force reaches a set value, it indicates that the charging copper electrode is in full contact with the charging rod.

[0014] Optionally, two charging robotic arms are symmetrically provided on the annular bracket.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. This application realizes surface contact charging with the drone charging rod by setting a chain charging copper electrode in the clamp. Since the charging copper electrode is in surface contact with the drone charging rod, the problems of poor contact and slow charging due to point contact are avoided. The clamp is set on a charging mechanical arm that can adjust its direction. The position of the clamp relative to the drone can be adjusted to adapt to the parking angle of the drone. No high-precision positioning device is required, which reduces costs.

[0017] 2. A spring and a strain gauge are also provided between the clamping jaw and the charging copper pole of the present application. The spring buffers the force exerted by the clamping jaw on the charging pole of the drone, and the strain gauge transmits the force exerted by the clamping jaw on the charging pole to the control system to control the force of the fourth servo to drive the clamping jaw within an appropriate range to avoid damage to the drone charging pole.

[0018] 3. This application sets a camera at one end of the second connecting rod close to the clamp, and obtains the position of the drone parked on the apron through the camera to adjust the charging robotic arm to a suitable position, and the clamp at the end is connected to the drone charging rod for charging. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is the overall structure of the automatic charging device for the drone in Example 1 of the present application;

[0020] Figure 2 This is a schematic diagram of the structure of the charging robot arm in Example 1 of the present application;

[0021] Figure 3 This is a schematic diagram of the clamping structure in Example 1 of the present application;

[0022] Figure 4This is a schematic diagram of the installation of the fourth steering gear and the arc-shaped clamping plate in Example 2 of the present application;

[0023] Figure 5 This is a schematic diagram of the arc-shaped splint structure in Example 2 of the present application.

[0024] Description of reference numerals:

[0025] 1. Charging robot arm; 101. Base; 102. First connecting rod; 103. First servo; 104. Second connecting rod; 105. Second servo; 106. Third servo; 2. Gripper; 201. Arc-shaped splint; 202. Gripper cover; 203. Charging copper electrode; 204. Spring; 205. Strain gauge; 206. Fourth servo; 3. Helipad; 4. Ring bracket; 401. Bracket leg; 5. Camera; 6. Limit switch. DETAILED DESCRIPTION

[0026] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only some embodiments of the present application, rather than all embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present application, its application, or use. Example 1

[0027] like Figure 1-3 As shown, this embodiment provides an automatic charging device for a drone, including a charging robot arm 1, a helipad 3 and a ring bracket 4, wherein the ring bracket 4 is supported at a certain height by four bracket legs 401, and the helipad 3 is supported at a certain height by four bracket legs 401, and the helipad 3 is arranged in the inner circle of the ring bracket 4, and the ring bracket 4 and the helipad 3 are supported to the same height.

[0028] The charging robot arm 1 is provided with a clamping claw 2 at one end and fixed on the annular bracket 4 at the other end. The clamping claw 2 is composed of two arc-shaped splints 201. A charging copper pole 203 is fixed on the inner wall of the arc-shaped splint 201. The charging rod on the drone is clamped by the clamping claw 2, and the charging copper pole 203 contacts the charging pole to realize the charging of the drone. The charging copper pole 203 is a chain structure composed of multiple charging copper pole pieces. The two ends of the charging copper pole 203 are connected to a fixed plate, which is fixed to the inner wall of the arc-shaped splint 201 through the fixed plate to limit the charging copper pole 203 to the inner wall of the arc-shaped splint 201. The width of the charging copper pole 203 is smaller than the width of the arc-shaped splint 201.

[0029] The charging copper electrode 203 of the present application is a chain structure composed of multiple copper electrode pieces. When in contact with the drone charging pole, the contact surface is larger, there will be no poor contact, and the charging speed can also be increased. A robotic arm is used to adjust the position of the clamp 2 to facilitate the clamp 2 to clamp the charging pole. Example 2

[0030] like Figure 1-5 As shown, this embodiment provides an automatic charging device for a drone based on embodiment 1. The difference from embodiment 1 is that the charging robot arm 1 includes a base 101, a first connecting rod 102, a second connecting rod 104, a first servo 103 and a second servo 105. One end of the first connecting rod 102 is connected to the base 101 through the first servo 103, and the first servo 103 drives the first connecting rod 102 to swing up and down and left and right. The other end is connected to one end of the second connecting rod 104 through the second servo 105, and the second servo 105 drives the second connecting rod 104 to swing up and down. The other end of the second connecting rod 104 is connected to the clamping claw 2 through the third servo 106, and the third servo 106 drives the clamping claw 2 to swing up and down. The first servo 103 drives the first connecting rod 102, the second servo 105 drives the second connecting rod 104, and the third servo 106 drives the clamping claw 2 to adjust the relative position of the clamping claw 2 and the UAV on the helipad 3, so as to achieve contact and clamping of the clamping claw 2 with the charging rod on the UAV. The base 101 is fixed on the annular bracket 4, and the charging robot arm 1 is provided with two, which are symmetrically fixed on the annular bracket 4.

[0031] The arc-shaped clamping plate 201 is arranged on the fourth servo 206, and the fourth servo 206 drives the opening and closing of the clamping claw to stably clamp the charging rod on the drone. The end of the arc-shaped clamping plate 201 is fixed on the output shaft of the fourth servo 206. The connection between the arc-shaped clamping plate 201 and the output shaft is also provided with a clamping claw cover 202. The clamping claw cover 202 shields the connection between the clamping claw and the output shaft to avoid contamination affecting flexibility.

[0032] The fourth servo 206 is also equipped with a limit switch 6. This limit switch 6 is used to initiate charging after the charging copper electrode contacts the charging rod on the drone. After charging is initiated, the charging arm 1 stops moving and then appropriately clamps the charging rod with its gripper 2. A strain gauge 205 is also provided between the charging copper electrode 203 and the curved clamping plate 201. This strain gauge 205 is used to measure the clamping force of the gripper 2. The measured clamping force is analyzed by the control system, which controls the output of the fourth servo 206 to control the clamping force within a set appropriate range, ensuring that the gripper 2 can stably hold the charging rod and preventing damage to the charging rod due to excessive clamping force. When the charging copper electrode is not in contact with the drone's charging rod, the gripper at the end of the charging arm opens. The servo installed on the arm adjusts the gripper to contact the charging rod. After contact (a signal from the limit switch), the arm stops moving, the gripper closes, and charging is then initiated, with the gripper further gripping the charging rod.

[0033] The two ends of the charging copper pole 203 are connected to a fixed plate, and a spring 204 is provided between the fixed plate and the arc-shaped clamping plate 201. The strain gauge 205 is set at the end of the spring 204 close to the fixed plate. The spring 204 is used to buffer the force of the clamping claw 2 clamping the drone charging rod to avoid transient excessive clamping force that damages the charging rod.

[0034] The charging robot arm 1 is also provided with a camera 5, which is set on the end of the second connecting rod 104 close to the clamp 2. The camera 5 is used to obtain the position of the charging rod of the drone on the apron 3, and the control system specifically controls the adjustment of the charging robot arm 1 according to the position.

[0035] The helipad 3 is provided with a pattern for drone parking identification, which is a smiley face pattern, which is convenient for identifying the position of the helipad 3 when the drone is parked. When the drone is parked on the helipad 3, the parking position of the drone can be adjusted according to the specific parts of the smiley face pattern, such as the eyes and mouth, so that the charging pole on the drone is closer to the charging robotic arm 1, and the charging robotic arms 1 on both sides can better adjust the direction, and the gripper 2 can clamp the charging pole on the drone more quickly.

[0036] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. An automatic charging device for a drone, characterized in that: It includes a helipad and a charging robot arm with adjustable direction, wherein the charging robot arm is fixed on a ring-shaped bracket, the helipad and the ring-shaped bracket are supported by bracket legs, and the helipad is arranged on the inner ring of the ring-shaped bracket; The charging robotic arm is provided with an openable and closable clamping claw for clamping the drone charging rod, and the inner wall of the clamping claw is provided with a charging copper pole that contacts the charging rod for charging. The charging copper pole is a chain structure and is arranged on the inner wall of the entire clamping claw.

2. The automatic charging device for a drone according to claim 1, characterized in that: The charging robotic arm includes a base, a first connecting rod, a second connecting rod, a first servo and a second servo. One end of the first connecting rod is connected to the base through the first servo, and the other end is connected to the second connecting rod through the second servo. The second connecting rod is connected to the clamp through a third servo. The base is fixed on the annular bracket.

3. The automatic charging device for a drone according to claim 2, characterized in that: A camera for obtaining the position of the drone is fixed on one end of the second connecting rod close to the clamping claw.

4. The automatic charging device for a drone according to claim 1, characterized in that: The clamping jaw is arranged on a fourth steering gear, and the fourth steering gear is used for driving the clamping jaw to open and close.

5. The automatic charging device for a drone according to claim 4, characterized in that: The clamping claw is connected to the output shaft of the fourth steering gear, and a clamping claw cover plate is provided at the connection between the clamping claw and the output shaft.

6. The automatic charging device for a drone according to claim 4, characterized in that: The fourth servo is also provided with a limit switch, which is used to start charging after the charging copper electrode contacts the charging rod on the drone. After charging is started, the charging robotic arm stops moving.

7. The automatic charging device for a drone according to claim 1, characterized in that: A spring is provided between the charging copper pole and the inner wall of the clamp, and the spring is used to buffer the force of the clamp holding the drone charging rod.

8. The automatic charging device for a drone according to claim 7, characterized in that: A strain gauge is provided on one end of the spring close to the charging copper pole, and the strain gauge collects the force of the clamping claw clamping the drone charging rod.

9. The automatic charging device for a drone according to claim 1, characterized in that: Two charging robotic arms are symmetrically arranged on the annular bracket.

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