Battery replacing device of plant protection unmanned aerial vehicle

Abstract

The utility model discloses a plant protection unmanned aerial vehicle battery replacing device which comprises a battery replacing cabin and a C-shaped horizontal frame installed in the battery replacing cabin, a sliding table is installed on the upper surface of the C-shaped horizontal frame in a sliding mode, and a shutdown rotation unit is arranged at the top end of the sliding table. An X-axis pneumatic linear module used for driving the sliding table and the stopping rotation unit to move in the X-axis direction is installed on the outer wall of one side of the C-shaped horizontal frame, a double-axis position adjusting unit is installed on the inner wall of one side of the battery replacing cabin, and a CCD industrial camera used for detecting the position of a battery of the plant protection unmanned aerial vehicle is installed at the Z-axis moving end of the double-axis position adjusting unit. According to the utility model, a worker only needs to carry out preliminary setting and monitoring, and the subsequent battery replacement operation is completed by the mechanical arm, so that not only is the dependence on manpower reduced, but also the labor cost can be reduced, and especially in large-scale agricultural production, the risk of battery replacement operation errors caused by human factors is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of plant protection unmanned plane auxiliary instrument, concretely is plant protection unmanned plane battery replacement device. BACKGROUND

[0002] Plant protection unmanned plane plays a vital role in modern agriculture, mainly through improving work efficiency, precise pesticide application, reducing labor cost, real-time monitoring of crop health and promoting environment-friendly agriculture, etc., to improve the overall benefit of agricultural production. Unmanned plane can quickly complete the spraying task of large area farmland, reduce drug waste and reduce the impact on the environment. Plant protection unmanned plane equipped with high-definition camera and sensor can also monitor crop growth, soil moisture and pest situation in real time, provide decision basis for farmers, and thus improve the yield and quality of crops. At the same time, precise pesticide application technology can reduce the pollution of soil and water by pesticide, and promote the development of sustainable agriculture. For battery replacement of unmanned plane, special care is needed throughout the process to ensure stable operating environment, and power is turned off before replacement, and old battery is carefully removed to avoid damage to battery compartment. When installing new battery, it is necessary to ensure that the battery interface is clean and that the battery is fully inserted and firmly fixed. After completing battery replacement, check the battery indicator light to ensure that the new battery is working properly, and conduct a comprehensive check before flight to ensure that all functions of the unmanned plane are normal. However, due to the large size of plant protection unmanned plane, in order to maintain sufficient capacity, its battery module is also relatively heavy, so during the operation cycle of plant protection unmanned plane, the operator needs to replace the battery several times. Each time the battery is replaced, the operator needs to stop the current operation and perform battery replacement and system check, which not only occupies operation time, but also affects the continuity and smoothness of operation, especially when operating in large area farmland, frequent stop will significantly reduce the overall operation efficiency. SUMMARY

[0003] The utility model discloses a plant protection unmanned plane battery replacement device, which comprises an X-axis pneumatic linear module in a battery replacement cabin, a parking rotation unit and a plant protection unmanned plane waiting for battery replacement after flight. After the plant protection unmanned plane is parked, the X-axis pneumatic linear module moves the parking rotation unit and the plant protection unmanned plane to the lower side of a CCD industrial camera. A position memory mechanical arm performs battery replacement operation on the plant protection unmanned plane according to the memory path stored by the operator, so as to solve the problems in the above background technology.

[0004] In order to achieve the above object, the utility model provides the following technical scheme: the plant protection unmanned plane battery replacement device, including the battery replacement cabin and the C-shaped bed frame installed in the battery replacement cabin, and the upper surface of the C-shaped bed frame is slidably installed with a sliding table, the top of the sliding table is provided with a parking rotation unit, the outer wall of one side of the C-shaped bed frame is installed with an X-axis pneumatic linear module for driving the sliding table and the parking rotation unit to move along the X-axis, the inner wall of one side of the battery replacement cabin is installed with a double-shaft position adjusting unit, and the Z-axis moving end of the double-shault position adjusting unit is installed with a CCD industrial camera for detecting the position of the plant protection unmanned plane battery, one side of the top of the C-shaped bed frame is installed with a position memory mechanical arm, and the end position of the position memory mechanical arm is installed with an electric clamp, one side of the surface of the C-shaped bed frame is installed with an electric clamp, and the output end of the electric clamp is electrically connected with the input end of the X-axis pneumatic linear module, the parking rotation unit, the double-shaft position adjusting unit and the position memory mechanical arm, and the output end of the CCD industrial camera is electrically connected with the input end of the PLC control panel.

[0005] Preferably, the top of the C-shaped bed frame is provided with a rectangular hollow groove, two guide rails parallel to each other are installed at the top of the C-shaped bed frame on both sides of the rectangular hollow groove, and the bottom end of the sliding table is installed with a dovetail sliding sleeve for sliding cooperation with the guide rails.

[0006] Preferably, the parking rotation unit comprises a right-angle base fixed at the bottom end of the sliding table, a bracket installed on the outer wall of one side of the right-angle base, and a servo motor installed at the bottom end of the bracket, and the output shaft of the servo motor penetrates to the outside of the rectangular hollow groove and is installed with a parking disc.

[0007] Preferably, the parking disc is made of an alloy steel component.

[0008] Preferably, the double-shaft position adjusting unit comprises a Y-axis screw motor module installed on the inner wall of one side of the battery replacement cabin and a Z-axis screw motor module installed at the moving end of the Y-axis screw motor module, the CCD industrial camera is installed at the moving end of the Z-axis screw motor module, and the input end of the Y-axis screw motor module and the Z-axis screw motor module is electrically connected with the output end of the PLC control panel.

[0009] Preferably, the upper surface of the right-angle base and the top wall of the C-shaped bed frame are in sliding cooperation.

[0010] Compared with the prior art, the beneficial effects of the utility model are that: the battery replacing device of the plant protection unmanned plane can efficiently and accurately complete the battery replacing operation of the plant protection unmanned plane through the automatic battery replacing structure composed of the battery replacing cabin, the X-axis pneumatic linear module, the parking rotary unit, the CCD industrial camera, the position memory mechanical arm, the electric clamping jaw and the PLC control panel, the staff only needs to preliminarily set and monitor, and the subsequent battery replacing operation is completed by the mechanical arm, which not only reduces the dependence on manpower, but also reduces the manpower cost, especially in large-scale agricultural production, reduces the risk of battery replacing operation failure caused by human factors, and guarantees the continuity of the plant protection unmanned plane operation. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 It is a front view structural schematic diagram of the utility model;

[0012] Figure 2 It is a side view structural schematic diagram of the utility model;

[0013] Figure 3 It is a three-dimensional structural schematic diagram of the utility model Figure 1 ;

[0014] Figure 4 It is a three-dimensional structural schematic diagram of the utility model Figure 2 ;

[0015] Figure 5 It is a three-dimensional structural schematic diagram of the utility model Figure 3 .

[0016] In the drawing: 1, battery replacing cabin; 2, C-shaped horizontal frame; 201, rectangular hollow groove; 3, X-axis pneumatic linear module; 4, sliding table; 5, parking rotary unit; 501, right-angle base table; 502, support seat; 503, servo motor; 504, parking disc; 6, PLC control panel; 7, double-shaft position adjusting unit; 701, Y-axis screw electric module; 702, Z-axis screw electric module; 8, CCD industrial camera; 9, position memory mechanical arm; 10, electric clamping jaw. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the utility model will be clearly and completely described in combination with the drawings in the embodiments of the utility model. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor fall within the protection scope of the utility model.

[0018] Please refer to Figures 1-5The utility model provides an embodiment: plant protection unmanned plane battery replacement device, including the battery replacement cabin 1 and the C character lying frame 2 of battery replacement cabin 1 inside installation, and the upper surface of C character lying frame 2 is slidably installed with the slide platform 4, the top of slide platform 4 is provided with the stop machine rotary unit 5, the outer wall of one side of C character lying frame 2 is installed with the X axis pneumatic linear module 3 for driving slide platform 4, stop machine rotary unit 5 and carry out X axis movement, the inner wall of one side of battery replacement cabin 1 is installed with double shaft positioner unit 7, and the Z axis mobile end of double shaft positioner unit 7 is installed with the CCD industry camera 8 for detecting plant protection unmanned plane battery position, and one side of the top of C character lying frame 2 is installed with the position memory mechanical arm 9, the model of position memory mechanical arm 9 is BRTIRXZ0805A, and the end position of position memory mechanical arm 9 is installed with electric gripper 10, and one side of the surface of C character lying frame 2 is installed with electric gripper 10, the output of electric gripper 10 is electrically connected with the input of X axis pneumatic linear module 3, stop machine rotary unit 5, double shaft positioner unit 7 and position memory mechanical arm 9, and the output of CCD industry camera 8 is electrically connected with the input of PLC control panel 6,

[0019] Position memory mechanical arm 9 can carry out the battery replacement operation to plant protection unmanned plane according to the memory path of staff has stored, ensure that the battery replacement process can reach accurate positioning every time, and this accuracy reduces the battery contact failure or replacement failure caused by position deviation, ensures that unmanned plane can work normally in the next flight;

[0020] The top of C character lying frame 2 is provided with rectangular hollow groove 201, and the rectangular hollow groove 201 provides enough space for the X axis sliding of right angle base table 501 and pedestal 502, and the top of C character lying frame 2 on both sides of rectangular hollow groove 201 is installed with two parallel guide rails, and the bottom of slide platform 4 is installed with dovetail slide sleeve for sliding cooperation with guide rail;

[0021] Slide platform 4, stop machine rotary unit 5 and unmanned plane are driven by X axis pneumatic linear module 3 and move in X axis direction, so that unmanned plane enters or exits battery replacement cabin 1, and ensures that unmanned plane can move to battery replacement position under the drive of X axis pneumatic linear module 3;

[0022] The parking rotation unit 5 comprises a right-angle base 501 fixed at the bottom end of the sliding table 4, a bracket 502 installed on the outer wall of one side of the right-angle base 501, and a servo motor 503 installed at the bottom end of the bracket 502, the output shaft of the servo motor 503 penetrates through the outside of the rectangular hollow slot 201 and is installed with a parking disc 504, the parking disc 504 is made of alloy steel material, the upper surface of the right-angle base 501 and the top wall of the C-shaped horizontal frame 2 are in sliding fit, when the unmanned aerial vehicle is parked on the parking disc 504 and the body posture is detected to be incorrect by the CCD industrial camera 8, the servo motor 503 is controlled to work by the PLC control panel 6, then the servo motor 503 drives the parking disc 504 and the unmanned aerial vehicle to rotate until the correct body posture is reached;

[0023] The double-shaft positioning unit 7 comprises a Y-axis lead screw motor module 701 installed on the inner wall of one side of the battery replacement cabin 1 and a Z-axis lead screw motor module 702 installed at the moving end of the Y-axis lead screw motor module 701, the CCD industrial camera 8 is installed at the moving end of the Z-axis lead screw motor module 702, the input ends of the Y-axis lead screw motor module 701 and the Z-axis lead screw motor module 702 are electrically connected with the output end of the PLC control panel 6, and the Y-axis lead screw motor module 701 and the Z-axis lead screw motor module 702 can control the position of the CCD industrial camera 8 on the Y-axis and the Z-axis.

[0024] In use, the present application first returns to the battery replacement cabin 1 according to the preset flight path after completing the task, and the flight control system of the plant protection unmanned aerial vehicle ensures its safe landing on the designated parking rotation unit 5 through GPS and sensors. When the plant protection unmanned aerial vehicle is stably parked, the parking rotation unit 5 will start the motor through the instruction of the PLC control panel 6, ensure that the unmanned aerial vehicle is accurately positioned to the working area of the battery replacement cabin, and the X-axis pneumatic linear module 3 will move the parking rotation unit 5 and the plant protection unmanned aerial vehicle on it to the position directly below the CCD industrial camera 8 according to the preset path. After the unmanned aerial vehicle moves to the specified position, the CCD industrial camera 8 will perform image acquisition and analysis to ensure that the battery compartment cover of the unmanned aerial vehicle has been opened and the state of the battery is detected. Once the dual-axis positioning unit 7 confirms that the unmanned aerial vehicle is in the correct position, the position memory mechanical arm 9 will be activated. The position memory mechanical arm 9 moves to the battery compartment of the unmanned aerial vehicle according to the previously stored path data, and the electric clamping jaw 10 equipped with the position memory mechanical arm 9 will grab the battery of the unmanned aerial vehicle to ensure stable control of the battery during the entire battery replacement process. The design of the electric clamping jaw 10 enables it to maintain good gripping ability in different environmental conditions, avoiding failures caused by loose batteries. After the electric clamping jaw 10 clamps the battery, the position memory mechanical arm 9 easily disassembles the old battery from the unmanned aerial vehicle according to the preset motion trajectory and places it in the designated position of the battery replacement cabin. At the same time, the position memory mechanical arm 9 will take out a new battery from the battery replacement cabin 1 to ensure that it is connected with the battery interface of the unmanned aerial vehicle. After the new battery is installed, the CCD industrial camera 8 will monitor again to ensure the accuracy of the new battery installation. After the battery replacement is completed, the electric clamping jaw 10 and the position memory mechanical arm 9 will reset and ensure that all equipment is in a safe state, and the X-axis pneumatic linear module 3 will push the parking rotation unit 5 and the unmanned aerial vehicle to ensure that they can safely take off and continue to perform farmland work.

Claims

1. A battery replacement device for agricultural drones, characterized in that: Including the battery swap cabin (1) and the C-shaped bed frame (2) installed inside the battery swap cabin (1), and the upper surface of the C-shaped bed frame (2) is slidably installed with a sliding table (4), the top end of the sliding table (4) is provided with a parking rotation unit (5), one side of the outer wall of the C-shaped bed frame (2) is provided with an X-axis pneumatic linear module (3) for driving the sliding table (4) and the parking rotation unit (5) to move along the X-axis, the inner wall of one side of the battery swap cabin (1) is provided with a double-shaft positioning unit (7), and the Z-axis moving end of the double-shaft positioning unit (7) is provided with a CCD industrial camera (8) for detecting the position of the plant protection unmanned aerial vehicle battery, one side of the top end of the C-shaped bed frame (2) is provided with a position memory mechanical arm (9), and the end position of the position memory mechanical arm (9) is provided with an electric clamp jaw (10), one side of the surface of the C-shaped bed frame (2) is provided with an electric clamp jaw (10), and the output end of the electric clamp jaw (10) is electrically connected with the input end of the X-axis pneumatic linear module (3), the parking rotation unit (5), the double-shaft positioning unit (7) and the position memory mechanical arm (9), and the output end of the CCD industrial camera (8) is electrically connected with the input end of the PLC control panel (6).

2. The plant protection unmanned aerial vehicle battery replacement device according to claim 1, characterized in that: The top end of the C-shaped bed frame (2) is provided with a rectangular hollow groove (201), two guide rails parallel to each other are installed at the top end of the C-shaped bed frame (2) on both sides of the rectangular hollow groove (201), and the bottom end of the sliding table (4) is provided with a dovetail sliding sleeve for sliding cooperation with the guide rails.

3. The plant protection unmanned aerial vehicle battery replacement device according to claim 2, characterized in that: The parking rotation unit (5) comprises a right-angle base (501) fixed at the bottom end of the sliding table (4), a support (502) installed on one side of the outer wall of the right-angle base (501), and a servo motor (503) installed at the bottom end of the support (502), wherein the output shaft of the servo motor (503) penetrates to the outside of the rectangular hollow groove (201) and is provided with a parking disc (504).

4. The plant protection unmanned aerial vehicle battery replacement device according to claim 3, characterized in that: The parking disc (504) is made of alloy steel material.

5. The plant protection unmanned aerial vehicle battery replacement device according to claim 1, wherein: The double-shaft positioning unit (7) comprises a Y-axis screw motor module (701) installed on the inner wall of one side of the battery swap cabin (1) and a Z-axis screw motor module (702) installed at the moving end of the Y-axis screw motor module (701), and the CCD industrial camera (8) is installed at the moving end of the Z-axis screw motor module (702), and the input end of the Y-axis screw motor module (701) and the Z-axis screw motor module (702) is electrically connected with the output end of the PLC control panel (6).

6. The plant protection unmanned aerial vehicle battery replacement device according to claim 3, characterized in that: The upper surface of the right-angle base (501) and the top wall of the C-shaped bed frame (2) are in sliding cooperation.

Images