CN113459156A - Multi-joint telescopic mechanical arm structure - Google Patents
Multi-joint telescopic mechanical arm structure Download PDFInfo
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- CN113459156A CN113459156A CN202110801548.6A CN202110801548A CN113459156A CN 113459156 A CN113459156 A CN 113459156A CN 202110801548 A CN202110801548 A CN 202110801548A CN 113459156 A CN113459156 A CN 113459156A
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- telescopic
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- 239000000725 suspension Substances 0.000 claims abstract description 22
- 230000005484 gravity Effects 0.000 claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims description 16
- 238000000034 method Methods 0.000 claims description 5
- 210000000078 claw Anatomy 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 abstract description 8
- 230000001360 synchronised effect Effects 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003313 weakening effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multi-joint telescopic mechanical arm structure, which comprises a vertical suspension arm connected below a flight platform, a transverse pipe connected to a lower end pipe of the vertical suspension arm, a front working arm fixed at the front end of the transverse pipe and a rear working arm fixed at the rear end of the transverse pipe, wherein the transverse pipe is connected with a lower end pipe of the vertical suspension arm; the foremost end of the front working arm is provided with a mounting mechanism capable of replacing a working tool. According to the multi-joint telescopic mechanical arm structure, the length of the mechanical arm is adjusted, so that multi-position intelligent operation is completed; the front working arm and the rear working arm can automatically adjust the gravity center balance, so that the stability control difficulty of the robot is reduced; the invention is suitable for the aerial robot for cleaning the floating objects wound on the overhead line, ensures the safe distance between the flying platform and the overhead line, and has simple operation, safety and reliability.
Description
Technical Field
The invention relates to a multi-joint telescopic mechanical arm structure, and belongs to the technical field of overhead cable floater cleaning devices.
Background
The high-altitude floating objects such as kites, balloons and the like are wound on the overhead lines, so that potential safety hazards existing in power transmission line channels are caused, short circuit among the lines is easily caused, line burden is increased, and further the running safety of the power transmission lines is threatened. Therefore, each level of power departments need to invest a great amount of manpower, material resources and financial resources to clean and renovate the overhead cables in the district. The existing cable floater cleaning method mainly comprises manual cleaning, and has poor safety, low operation efficiency and certain limitation; and the mode that adopts unmanned aerial vehicle to carry the flaming device and burn the floater and clear away does not obtain wideling popularization because of very easily arousing the circuit damage or even because of the conflagration that the burning thing falls causes.
Therefore, a need exists for a multi-joint telescopic mechanical arm structure capable of being used for an aerial cable automatic cleaning flying robot, and having the characteristics of multi-position operation, automatic gravity center adjustment and the like.
Disclosure of Invention
The technical problem solved by the invention is as follows: the utility model provides a telescopic arm structure of many joints is through the length of adjusting the arm to accomplish multiposition intelligence operation, and can independently adjust the focus balance, reduce the steady accuse degree of difficulty of robot.
The technical scheme adopted by the invention is as follows: a multi-joint telescopic mechanical arm structure comprises a vertical suspension arm connected below a flight platform, a transverse pipe connected to a pipe at the lower end of the vertical suspension arm, a front working arm fixed at the front end of the transverse pipe and a rear working arm fixed at the rear end of the transverse pipe; the foremost end of the front working arm is provided with a mounting mechanism capable of replacing a working tool.
Preferably, the vertical suspension arm is a vertical telescopic working arm formed by M (M is more than or equal to 1) vertical rods which are bilaterally symmetrical relative to the flying platform.
Preferably, the front working arm and the rear working arm fixing point are located at the most middle position of the transverse pipe and are front and rear telescopic working arms.
Preferably, the vertical suspension arm, the front working arm and the rear working arm are both electric push rods with linear telescopic motion functions.
Preferably, the mounting mechanism incorporates a rotary motor, and the work tool is fixed at an arbitrary angle while being rotated around an axis.
Preferably, the work tool includes, but is not limited to, a gripper, scissors, a saw blade, a screwdriver, and a hook.
Preferably, a camera is arranged at the front end of the front working arm, so that visual assistance can be provided.
Preferably, a power supply system is arranged at the rearmost end of the rear working arm to provide power energy for the multi-joint telescopic mechanical arm and the working tool.
Preferably, the front working arm and the rear working arm synchronously extend back and forth, so that the center of gravity of the aerial robot is always positioned under the geometric center point of the flying platform, and the center of gravity balance is automatically adjusted.
Preferably, the front working arm and the rear working arm perform synchronous front-back telescopic motion, so that a center of gravity point of the aerial robot is always positioned right below a geometric center point of the flight platform, and the method for automatically adjusting the center of gravity balance comprises the following steps:
when the robot is not in operation, the gravity center point of the aerial robot is adjusted to be just below the geometric center point of the flight platform, and the hollow pipes of the front working arm and the rear working arm are approximately same in density, so that the aerial robot is set to be a pipe with uniform density when being stretched or stored.
At this time, it is obtained that the horizontal distance from the working tool, the mounting mechanism and the camera at the front end of the front working arm to the center is L1The total weight of the working tool, the mounting mechanism and the camera is g1The total weight of the front working arm tube is gFront side；
The horizontal distance from the power supply system at the rearmost end of the rear working arm to the center is L2Electric power supply systemTotal weight of the system is g2The total weight of the rear working arm tube is gRear end；
When the front working arm and the rear working arm move synchronously, the movement length of the front working arm is delta L1The movement length of the rear working arm is delta L2The following can be obtained:
from this it can be calculated that the front working arm moves Δ L when actually working1Is then the corresponding rear working arm moves in synchronism by Δ L2The distance of (c).
The invention has the beneficial effects that: compared with the prior art, the invention has the following effects:
1) the invention adopts a multi-joint telescopic mechanical arm structure, can ensure that the operation tool is put down to an operation position from a distance, ensures the safe distance between the flight platform and the overhead line, and has simple operation, safety and reliability;
2) the vertical suspension arm can intelligently adjust the up-down position of the working tool, so that the working tool is stabilized at a working point, and the position interference caused by fine adjustment of the pose of the airplane is reduced;
3) the front working arm and the rear working arm can synchronously regulate and control the front movement length and the rear movement length, so that the working tool arrives at a designated place, and the center of gravity of the aerial robot is always kept under the geometric center point of the flying platform, thereby reducing the operation difficulty and weakening the control precision requirement;
4) the installation mechanism is internally provided with a rotating motor, so that different operation angles of the operation tool under different environmental requirements are met;
5) the operation tool adopts mechanical claws, scissors, saw blades, screwdrivers or hooks, and meets different requirements of various applications;
6) the multi-joint telescopic mechanical arm adopting the electric push rod is simple in structure, retractable, small in size and convenient to store and store;
7) the camera can observe the operation target in real time, observe the cleaning process and provide image basis for the flying state of the robot and the operation of the mechanical arm.
Drawings
FIG. 1 is a schematic view of an unfolded structure of a flying robot (gripper);
FIG. 2 is a schematic deployment view of a flying robot (scissors);
FIG. 3 is a schematic view of the flying robot in an expanded configuration (saw blade);
FIG. 4 is a schematic view of the stowing of the flying robot (gripper);
FIG. 5 is an extended view of a multi-joint telescopic robot arm;
fig. 6 is a schematic drawing showing retraction of a multi-joint telescopic robot arm.
In the figure, 1-a flying platform, 2-a multi-joint telescopic mechanical arm, 3-a working tool, 4-a mounting mechanism, 5-a camera and 6-a power supply system;
201-vertical suspension arm, 202-transverse tube, 203-front working arm, 204-rear working arm.
Detailed Description
The invention will be further described with reference to the accompanying drawings and specific embodiments.
Example 1: a multi-joint telescopic mechanical arm comprises a vertical suspension arm 201 connected below a flight platform 1, a transverse pipe 202 connected to the lower end pipe of the vertical suspension arm 201, a front working arm 203 fixed at the front end of the transverse pipe 202 and a rear working arm 204 fixed at the rear end of the transverse pipe 202; the front working arm 203 is provided at its foremost end with a mounting mechanism 4 for a replaceable work tool 3.
Preferably, the vertical suspension arm 201 is formed by M (M is greater than or equal to 1) vertical rods symmetrically arranged with respect to the flying platform, and each vertical rod is an up-down telescopic working arm.
Preferably, the fixing points of the front working arm 203 and the rear working arm 204 are located at the most middle position of the transverse tube 202, and are front and rear telescopic working arms.
Preferably, the front working arm 203 and the rear working arm 204 perform synchronous front-back telescopic motion, so that the center of gravity of the aerial robot is always positioned right below the geometric center point of the flying platform 1, and the center of gravity balance is automatically adjusted. When the working tool 3 needs to work deeply, the front working arm 203 extends, and the rear working arm 204 responds synchronously, so that the balance of the whole gravity center is kept unchanged.
Preferably, the vertical suspension arm 201, the front working arm 203 and the rear working arm 204 are all electric push rods having a linear telescopic motion function.
Preferably, the attachment mechanism 4 incorporates a rotating motor, and allows the power tool 3 to be rotated around an axis and fixed at an arbitrary angle for operation.
Preferably, the work tool 3 includes, but is not limited to, a gripper, scissors, a saw blade, a screwdriver, and a hook.
Preferably, the working tools 3 can be used for cleaning the floating objects at high altitude wound on the overhead line such as kites, balloons and the like in a rapid and efficient manner by means of pulling with mechanical claws, cutting with scissors, splitting with saw blades and the like, respectively or in combination.
Preferably, a camera 5 is provided at the front end of the front working arm 203 to provide visual assistance.
Preferably, a power supply system 6 is provided at the rearmost end of the rear working arm 204, and the power supply system 6 supplies power to the articulated telescopic robot arm 2 and the working tool 3.
Example 2: as shown in fig. 1 to 6, an aerial work robot carrying a telescopic robot arm includes a flight platform 1, a multi-joint telescopic robot arm 2 fixedly connected below the flight platform 1, and a work tool 3 located at the foremost end of the multi-joint telescopic robot arm 2; the articulated telescopic mechanical arm 2 and the working tool 3 are connected through a mounting mechanism 4.
The multi-joint telescopic mechanical arm structure 2 comprises a vertical suspension arm 201 connected below the flying platform 1, a transverse pipe 202 connected to a pipe at the lower end of the vertical suspension arm 201, a front working arm 203 fixed at the front end of the transverse pipe 202 and a rear working arm 204 fixed at the rear end of the transverse pipe 202; the front working arm 203 is provided at its foremost end with a mounting mechanism 4 for a replaceable work tool 3.
Preferably, the vertical suspension arm 201 is formed by M (M is greater than or equal to 1) vertical rods symmetrically arranged with respect to the flying platform 1, and each vertical rod is an up-down telescopic working arm.
Preferably, the fixing points of the front working arm 203 and the rear working arm 204 are located at the most middle position of the transverse tube 202, and are front and rear telescopic working arms.
Preferably, the front working arm 203 and the rear working arm 204 perform synchronous front-back telescopic motion, so that the center of gravity of the aerial robot is always positioned right below the geometric center point of the flying platform 1, and the center of gravity balance is automatically adjusted. When the working tool 3 needs to work deeply, the front working arm 203 extends, and the rear working arm 204 responds synchronously, so that the balance of the whole gravity center is kept unchanged.
Preferably, the vertical suspension arm 201, the front working arm 203 and the rear working arm 204 are all electric push rods having a linear telescopic motion function.
Preferably, the attachment mechanism 4 incorporates a rotating motor, and allows the power tool 3 to be rotated around an axis and fixed at an arbitrary angle for operation.
Preferably, the work tool 3 includes, but is not limited to, a gripper, scissors, a saw blade, a screwdriver, and a hook.
Preferably, the working tools 3 can be used for cleaning the floating objects at high altitude wound on the overhead line such as kites, balloons and the like in a rapid and efficient manner by means of pulling with mechanical claws, cutting with scissors, splitting with saw blades and the like, respectively or in combination.
Preferably, a camera 5 is provided at the front end of the front working arm 203 to provide visual assistance.
Preferably, a power supply system 6 is provided at the rearmost end of the rear working arm 204, and the power supply system 6 supplies power to the articulated telescopic robot arm 2 and the working tool 3.
Preferably, the flying platform 1 is a multi-rotor aircraft with a symmetrical layout, and is not limited to any known four, six, eight, etc. multi-rotors.
The aerial work robot is further provided with an obstacle avoidance radar, the obstacle avoidance radar is connected to an aircraft controller of the flight platform, and the aircraft controller is further connected to a rotor wing driving motor, a camera, an electric vertical suspension arm 201 of the multi-joint telescopic mechanical arm, an electric front working arm 203, an electric rear working arm 204, a work tool, a rotating motor of an installation mechanism and the like.
Example 3: as shown in fig. 1 to 6, the front working arm 203 and the rear working arm 204 perform synchronous front-back telescopic motion, so that the center of gravity of the aerial robot is always located right below the geometric center of the flying platform 1, and the method for the front working arm 203 and the rear working arm 204 to automatically adjust the center of gravity balance is as follows:
when the robot is not in operation, the gravity center point of the aerial robot is adjusted to be right below the geometric center point of the flying platform 1, and the hollow pipes of the front working arm 203 and the rear working arm 204 are approximately same in density, so that the aerial robot is set as a uniform density pipe during expansion or storage;
at this time, the horizontal distance L from the center of the working tool 3, the attachment mechanism 4, and the camera 5 at the front end of the front arm 203 is obtained1The total weight of the working tool 3, the mounting mechanism 4, and the camera 5 is g1The total weight of the front working arm 203 tube is gFront side；
The rearmost end of the rear working arm 204 has a horizontal distance L from the center of the power supply system 62The total weight of the power supply system 6 is g2The total weight of the rear working arm 204 tube is gRear end；
When the front and rear working arms move synchronously, the movement length of the front working arm 203 is DeltaL1The length of movement of the rear working arm 204 is Δ L2The following can be obtained:
it can thus be calculated that the front working arm 203 moves Δ L when actually working1Is measured, then the corresponding rear working arm 204 moves in synchronism by al2The distance of (c).
The above description is only an example of the specific embodiments of the present invention, and the scope of the present invention is not limited thereto. Those skilled in the art can easily find out the modifications or alterations within the technical scope of the present disclosure, which should be covered by the protection scope of the present disclosure. For this reason, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. The utility model provides a telescopic arm structure of many joints which characterized in that: the device comprises a vertical suspension arm (201) connected below a flying platform (1), a transverse pipe (202) connected to the lower end of the vertical suspension arm (201), a front working arm (203) fixed at the front end of the transverse pipe (202) and a rear working arm (204) fixed at the rear end of the transverse pipe; the foremost end of the front working arm (203) is provided with an installation mechanism (4) capable of replacing the working tool (3).
2. The multi-joint telescopic mechanical arm structure of claim 1, wherein: the vertical suspension arms (201) are symmetrically arranged at left and right sides of the flying platform (1) by M vertical rods, each vertical rod is a vertical telescopic working arm, and M is larger than or equal to 1.
3. The multi-joint telescopic mechanical arm structure of claim 1, wherein: the fixing points of the front working arm (203) and the rear working arm (204) are located at the middlemost position of the transverse pipe (202), and are front and rear telescopic working arms.
4. The multi-joint telescopic mechanical arm structure of claim 1, wherein: the vertical suspension arm (201), the front working arm (203) and the rear working arm (204) are all electric push rods with linear telescopic motion functions.
5. The multi-joint telescopic mechanical arm structure of claim 1, wherein: the front end of the front working arm (203) is provided with a camera (5).
6. The multi-joint telescopic mechanical arm structure of claim 1, wherein: the rearmost end of the rear working arm (204) is provided with a power supply system (6), and the power supply system (6) is electrically connected to the multi-joint telescopic mechanical arm (2) and the working tool (3).
7. The multi-joint telescopic mechanical arm structure of claim 1, wherein: the mounting mechanism (4) is internally provided with a rotating motor for driving the mounting mechanism to rotate.
8. The multi-joint telescopic mechanical arm structure of claim 1, wherein: the working tool (3) comprises a mechanical claw, scissors, a saw blade, a screwdriver and a hook.
9. The multi-joint telescopic mechanical arm structure of claim 4, wherein: the front working arm (203) and the rear working arm (204) synchronously move back and forth in a telescopic mode, so that the center of gravity of the aerial robot is always located under the geometric center point of the flying platform (1), and the center of gravity balance is automatically adjusted.
10. The multi-joint telescopic robot arm structure of claim 9, wherein: the method for autonomously adjusting the center of gravity balance is as follows:
when the robot is not in operation, the gravity center point of the aerial robot is adjusted to be just below the geometric center point of the flying platform (1), and the hollow pipes of the front working arm (203) and the rear working arm (204) are approximately same in density, so that the telescopic pipe or the storage pipe is set as a uniform density pipe;
at this time, the horizontal distance from the working tool (3), the mounting mechanism (4) and the camera (5) at the front end of the front working arm (203) to the center is L1The total weight of the working tool (3), the mounting mechanism (4) and the camera (5) is g1The total weight of the front working arm (203) tube is gFront side；
The horizontal distance from the power supply system (6) at the rearmost end of the rear working arm (204) to the center is L2The total weight of the power supply system (6) is g2And the total weight of the rear working arm (204) tube is gRear end；
When the front working arm and the rear working arm synchronously move, the movement length of the front working arm (203) is delta L1The movement length of the rear working arm (204) is delta L2Obtaining:
it is thus calculated that the front working arm (203) moves by DeltaL when actually working1Is moved by the distance of (3), the corresponding rear working arm (204) is synchronizedMovement Δ L2The distance of (c).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110801548.6A CN113459156A (en) | 2021-07-15 | 2021-07-15 | Multi-joint telescopic mechanical arm structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110801548.6A CN113459156A (en) | 2021-07-15 | 2021-07-15 | Multi-joint telescopic mechanical arm structure |
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| WO2018042692A1 (en) * | 2016-09-02 | 2018-03-08 | 株式会社プロドローン | Robot arm and unmanned aircraft provided with same |
| WO2018071592A2 (en) * | 2016-10-13 | 2018-04-19 | Alexander Poltorak | Apparatus and method for balancing aircraft with robotic arms |
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| CN109896004A (en) * | 2019-03-25 | 2019-06-18 | 上海应用技术大学 | A kind of unmanned plane of scalable horn |
| CN112586218A (en) * | 2020-11-27 | 2021-04-02 | 南京太司德智能科技有限公司 | Tree obstacle clearing flying robot of hanging cutter system |
-
2021
- 2021-07-15 CN CN202110801548.6A patent/CN113459156A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018042692A1 (en) * | 2016-09-02 | 2018-03-08 | 株式会社プロドローン | Robot arm and unmanned aircraft provided with same |
| WO2018071592A2 (en) * | 2016-10-13 | 2018-04-19 | Alexander Poltorak | Apparatus and method for balancing aircraft with robotic arms |
| CN108321722A (en) * | 2018-03-08 | 2018-07-24 | 贵州电网有限责任公司 | Automatic obstacle-avoiding can buckling screen of trees cleaning air-robot and barrier-avoiding method |
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