CN108448478A - Automatic adjustment focus circuit foreign matter clearing device - Google Patents
Automatic adjustment focus circuit foreign matter clearing device Download PDFInfo
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- CN108448478A CN108448478A CN201711025562.1A CN201711025562A CN108448478A CN 108448478 A CN108448478 A CN 108448478A CN 201711025562 A CN201711025562 A CN 201711025562A CN 108448478 A CN108448478 A CN 108448478A
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- 230000005484 gravity Effects 0.000 claims abstract description 74
- 238000004146 energy storage Methods 0.000 claims abstract description 30
- 230000013011 mating Effects 0.000 claims description 3
- 238000005303 weighing Methods 0.000 claims 1
- 238000005096 rolling process Methods 0.000 abstract description 5
- 230000008859 change Effects 0.000 abstract description 2
- 238000004140 cleaning Methods 0.000 abstract 1
- 230000005611 electricity Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- UHOVQNZJYSORNB-UHFFFAOYSA-N Benzene Chemical compound C1=CC=CC=C1 UHOVQNZJYSORNB-UHFFFAOYSA-N 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 241000380131 Ammophila arenaria Species 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229920000180 alkyd Polymers 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 208000020442 loss of weight Diseases 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
The invention discloses a line foreign matter removing device capable of automatically adjusting the gravity center, which comprises an unmanned aerial vehicle, a connecting component, a mechanical joint, a mechanical arm end, an energy storage device, a balancing component and a gravity sensor, wherein: use unmanned aerial vehicle center at the projection point of connecting element as the boundary point, the connecting element the moment of one end includes the connecting element the body of one end, mechanical joint, mechanical arm end and gravity inductor the moment with, the connecting element the moment of the other end includes the connecting element the body of the other end, the connecting element the extension section of the other end, energy memory and balance member the moment with, the connecting element the moment of one end and the connecting element the moment of the other end equals. According to the technical scheme, the moment of one end of the connecting member is equal to the moment of the other end of the connecting member, so that the problems of inclination and even rolling caused by gravity change caused by cleaning operation are automatically solved.
Description
Technical field
The present invention relates to circuit foreign matter clearance technique field, more particularly to a kind of adjust automatically center of gravity circuit foreign matter removes dress
It sets.
Background technology
The electric line foreign matter remove device with mechanical arm based on unmanned plane, is to manipulate nobody using beeper
Machine and mechanical arm, when being removed into row line foreign matter, the balance of the device often changes because of gravity caused by clear operation, and
The balance for destroying whole device leads to the left and right ends gravity unbalance of the connecting elements of whole device, causes to tilt, even
Rolling, and then affect the Refinement operation of circuit foreign matter removing.
Invention content
The main object of the present invention is to propose a kind of adjust automatically center of gravity circuit foreign body eliminating apparatus, it is intended to overcome above-mentioned ask
Topic.
To achieve the above object, a kind of adjust automatically center of gravity circuit foreign body eliminating apparatus proposed by the present invention, including nobody
Machine, connecting elements, mechanical joint, mechanical arm end, energy storage device, balance component and gravity sensor, wherein：With unmanned plane center
Be boundary's point in the subpoint of connecting elements, the torque of described one end of connecting elements include the ontology of one end described in connecting elements,
Mechanical joint, mechanical arm end and gravity sensor torque and, the torque of the other end of connecting elements includes connecting elements
The extended segment of the other end, the torque of energy storage device and balance component described in the ontology of the other end, connecting elements and, connect structure
The torque of described one end of part is equal with the torque of the other end of connecting elements.
Preferably, the mechanical joint includes subpoint using unmanned plane center on connecting elements as origin, with connection
Component is the first steering engine that X-axis is swung along Z-direction, and the first steering engine is fixedly connected on described one end of connecting elements, the first rudder
The output shaft of machine is fixedly connected with mechanical arm, and the balance component includes the 4th rudder of the electric signal driving for receiving gravity sensor
Machine and its steering engine arm, the 4th steering engine is using subpoint of the unmanned plane center on connecting elements as origin, using connecting elements as X-axis edge
Y direction, which is done, correspondingly to be swung.
Preferably, first steering engine is with connecting elements as origin using subpoint of the unmanned plane center on connecting elements
X-axis along Z-direction swing angle and the 4th steering engine using subpoint of the unmanned plane center on connecting elements as origin, with
Connecting elements is that X-axis is equal along the swing angle of Y direction.
Preferably, when first steering engine is swung as X-axis along the positive axis of Z axis using connecting elements, the 4th steering engine receives
To the corresponding electric signal of gravity sensor, the negative semiaxis using connecting elements as X-axis along Y-axis is swung；When first steering engine is with even
When connection member is that X-axis is swung along the negative semiaxis of Z axis, the 4th steering engine receives the corresponding electric signal of gravity sensor, to connect structure
Part is that X-axis is swung along the positive axis of Y-axis.
Preferably, the balance component includes fixed rack, shifting sledge, balance connector, the 4th steering engine and its steering engine
Arm, the 4th steering engine are fixed on the other end of connecting elements, and the output shaft of the 4th steering engine is fixed with one end of its steering engine arm to be connected
It connects, the other end of steering engine arm is movably connected in the end of balance connector one end, and shifting is fixed in the one end for balancing connector
The close unmanned pusher side of dynamic sliding rail, energy storage device are fixed on the separate unmanned pusher side of shifting sledge, balance the other end of connector
It is fixedly connected with energy storage device, shifting sledge is set on fixed rack, and in mating connection with fixed rack, and fixed rack is fixed on
The extended segment of the other end of connecting elements.
Preferably, the balance connector is in isosceles triangle shape, and apex angle and the energy storage device of the balance tripod are fixed
Connection, the top bisector of angle of balance tripod are overlapped with the transverse axis of connecting elements.
Preferably, the bottom edge of the balance connector is equipped with sliding slot, and the other end of steering engine arm is equipped with pulley, pulley limit
Positioned at sliding slot, and with the swing of steering engine arm, rolled in sliding slot.
Preferably, the output shaft of the balance tripod, steering engine arm and the 4th steering engine is set in the same horizontal line.
Preferably, the balance component further includes elastic component and locating piece, and the locating piece is fixed at connecting elements
Close to unmanned pusher side, one end of elastic component is fixedly connected with locating piece, and the other end is fixedly connected with the bottom edge of balance tripod.
Preferably, the elastic component has some strength, and is installed in tensional state.
Gravitational difference is converted into corresponding electricity caused by technical solution of the present invention also incudes mechanical arm swing by gravity sensor
Signal, driving balance component do and accordingly move, control described one end of connecting elements torque and connecting elements it is described another
The torque of one end is equal, in particular, it is original that first steering engine, which is utilized, with subpoint of the unmanned plane center on connecting elements
Point, using connecting elements as X-axis along Z-direction swing angle and the 4th steering engine with unmanned plane center on connecting elements
Subpoint is origin, equal along the swing angle of Y direction by X-axis of connecting elements, i.e., simple easily automatically to solve again
Gravity caused by clear operation of having determined changes, and destroys the balance of whole device, leads to a left side for the connecting elements of whole device
Right both ends gravity unbalance, causes to tilt, or even the problem of rolling.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the structural schematic diagram of one embodiment of the invention in the operating condition；
Fig. 2 is structural schematic diagram of the balance component under off working state and working condition；
Fig. 3 is the structural schematic diagram of one embodiment of the invention in a non-operative state；
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained without creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
If it is to be appreciated that related in the embodiment of the present invention directionality instruction (such as up, down, left, right, before and after ...),
Then directionality instruction be only used for explaining relative position relation under a certain particular pose (as shown in the picture) between each component,
Motion conditions etc., if the particular pose changes, directionality instruction also correspondingly changes correspondingly.
Referring to Fig.1-3, a kind of adjust automatically center of gravity circuit foreign body eliminating apparatus proposed by the present invention, a kind of adjust automatically weight
Heart circuit foreign body eliminating apparatus, including unmanned plane, connecting elements, mechanical joint, mechanical arm end, energy storage device, balance component and
Gravity sensor, wherein：Using unmanned plane center connecting elements subpoint as boundary's point, the torque of described one end of connecting elements
The torque of ontology, mechanical joint, mechanical arm end and gravity sensor including one end described in connecting elements and, the institute of connecting elements
The torque for stating the other end includes the ontology of the other end described in connecting elements, the extended segment of the other end described in connecting elements, energy storage dress
It sets and the torque of balance component and the torque phase of the torque of described one end of connecting elements and the other end of connecting elements
Deng.
In embodiments of the present invention, mechanical arm end of the invention is circuit foreign matter clear operation end, and mechanical arm end includes machine
Tool arm, cutting mechanism etc., using unmanned plane center connecting elements subpoint as boundary's point, the torque of described one end of connecting elements
The torque of ontology, mechanical joint, mechanical arm end and gravity sensor including one end described in connecting elements and, the institute of connecting elements
The torque for stating the other end includes the ontology of the other end described in connecting elements, the extended segment of the other end described in connecting elements, energy storage dress
It sets and the torque of balance component and the torque phase of the torque of described one end of connecting elements and the other end of connecting elements
Deng.Balance component is arranged by the oncoming lane of the mechanical arm in connecting elements in technical solution of the present invention, and balance component fills energy storage
It sets and is connected to connecting elements, utilize the gravity of energy storage device, the torque at balance connecting elements both ends.
Preferably, the mechanical joint includes subpoint using unmanned plane center on connecting elements as origin, with connection
Component is the first steering engine that X-axis is swung along Z-direction, and the first steering engine is fixedly connected on described one end of connecting elements, the first rudder
The output shaft of machine is fixedly connected with mechanical arm, and the balance component includes the 4th rudder of the electric signal driving for receiving gravity sensor
Machine and its steering engine arm, the 4th steering engine is using subpoint of the unmanned plane center on connecting elements as origin, using connecting elements as X-axis edge
Y direction, which is done, correspondingly to be swung.
Preferably, first steering engine is with connecting elements as origin using subpoint of the unmanned plane center on connecting elements
X-axis along Z-direction swing angle and the 4th steering engine using subpoint of the unmanned plane center on connecting elements as origin, with
Connecting elements is that X-axis is equal along the swing angle of Y direction.
Preferably, when first steering engine is swung as X-axis along the positive axis of Z axis using connecting elements, the 4th steering engine receives
To the corresponding electric signal of gravity sensor, the negative semiaxis using connecting elements as X-axis along Y-axis is swung；When first steering engine is with even
When connection member is that X-axis is swung along the negative semiaxis of Z axis, the 4th steering engine receives the corresponding electric signal of gravity sensor, to connect structure
Part is that X-axis is swung along the positive axis of Y-axis.
Preferably, the balance component includes fixed rack, shifting sledge, balance connector, the 4th steering engine and its steering engine
Arm, the 4th steering engine are fixed on the other end of connecting elements, and the output shaft of the 4th steering engine is fixed with one end of its steering engine arm to be connected
It connects, the other end of steering engine arm is movably connected in the end of balance connector one end, and shifting is fixed in the one end for balancing connector
The close unmanned pusher side of dynamic sliding rail, energy storage device are fixed on the separate unmanned pusher side of shifting sledge, balance the other end of connector
It is fixedly connected with energy storage device, shifting sledge is set on fixed rack, and in mating connection with fixed rack, and fixed rack is fixed on
The extended segment of the other end of connecting elements.
Preferably, the balance connector is in isosceles triangle shape, and apex angle and the energy storage device of the balance tripod are fixed
Connection, the top bisector of angle of balance tripod are overlapped with the transverse axis of connecting elements.
Preferably, the bottom edge of the balance connector is equipped with sliding slot, and the other end of steering engine arm is equipped with pulley, pulley limit
Positioned at sliding slot, and with the swing of steering engine arm, rolled in sliding slot.
Preferably, the output shaft of the balance tripod, steering engine arm and the 4th steering engine is set in the same horizontal line.
Preferably, the balance component further includes elastic component and locating piece, and the locating piece is fixed at connecting elements
Close to unmanned pusher side, one end of elastic component is fixedly connected with locating piece, and the other end is fixedly connected with the bottom edge of balance tripod.
Preferably, the elastic component has some strength, and is installed in tensional state.
In embodiments of the present invention, the unmanned plane of the electric line foreign matter remove device for being provided with balance component is for holding
Other component is carried, cruise transmission line of electricity, and the present apparatus is sent to by the transmission line of electricity for having foreign matter；Connecting elements is bearer connection
Part, unmanned plane are fixed between the both ends of connecting elements, connecting elements, and one end connects mechanical arm, the other end by mechanical joint
Connect energy storage device and balance component, it is contemplated that connecting elements bearing capacity, connecting elements immerse benzene using carbon fibre composite
The heated solidification pultrusion of the dilute base alkyd resin of second, twine scratch made of carbon fiber square tube, carbon fiber square tube has intensity high, the service life
It is long, corrosion-resistant, the advantages that light weight, low-density, mitigate the load weight of unmanned plane.
Gravity in described one end of connecting elements include using unmanned plane center connecting elements subpoint as boundary's point
The ontology of described one end of connecting elements, mechanical joint, mechanical arm end and gravity sensor gravity and, the mechanical arm end,
It is into row line foreign matter clear operation end, in the present embodiment, mechanical arm end carries and be fixed with cutting mechanism, and cutting mechanism is used
In completion circuit foreign matter clear operation；The mechanical joint includes the first rudder swung along Z-direction as X-axis using connecting elements
Machine and first be fixedly connected with frame, the second steering engine and second that are swung along Y direction as X-axis using connecting elements are fixedly connected with frame,
One is fixedly connected with described one end that the first steering engine is fixedly connected on connecting elements by frame, and second, which is fixedly connected with frame, consolidates the second steering engine
Surely it is connected to mechanical arm, the ontology that the output shaft of the first steering engine is fixedly connected with frame and the second steering engine by first is fixed, the second rudder
The output shaft of machine is fixedly connected with mechanical arm, the drive for the adjustment mechanical arm swaying direction that mechanical joint is sent out according to remote controllers
Dynamic signal driving, and gearing arm swing；Gravity sensor is set to mechanical arm end.
The gravity of the other end of connecting elements include using unmanned plane center connecting elements subpoint as boundary's point
The ontology of the other end of connecting elements, connecting elements the other end extended segment, energy storage device and balance component
Gravity and, in the present embodiment, energy storage device is other than being used to provide work electricity consumption to balance component and mechanical joint, energy storage
Device is additionally operable to the moving member of gravity adjustment, and energy storage device is movably connected by balance component in the described another of connecting elements
The extended segment of one end.
(the described one end and its described other end for referring to connecting elements are in horizontal initial shape in a non-operative state
State), the gravity of described one end of connecting elements is equal with the gravity of the other end of connecting elements；In the operating condition, machine
Tool joint receives the drive signal driving for the adjustment mechanical arm swaying direction that remote controllers are sent out, and gearing arm swing,
Gravitational difference caused by gravity sensor swings the mechanical arm end of induction is converted into corresponding electric signal, and driving balance component is corresponding
Ground moves, with equilibrium problem caused by the gravity of the adjustment present invention.
In the present embodiment, balance component includes balance connector, and balance connector is the balance in isosceles triangle shape
The apex angle of tripod, the balance tripod is fixedly connected with energy storage device, the top bisector of angle of balance tripod with connect structure
The transverse axis of part overlaps, the equilibrium problem for assisting the adjustment present invention, when the swing of Y direction occurs for mechanical arm end,
Balance tripod inhibits the present apparatus to wave or deflect for generating anti-dumping resistance.
Balance component further includes fixed rack, shifting sledge, the 4th steering engine and its steering engine arm, and fixed rack is locating piece,
Entire balance component is positioned to the extended segment of the other end of connecting elements, shifting sledge passes through the cooperation with fixed rack
Connection, energy storage device are fixed on the separate unmanned pusher side of shifting sledge, and leaning on for shifting sledge is fixed on the bottom edge of balance tripod
Nearly unmanned pusher side, energy storage device, shifting sledge peace balance tripod form a firm bindiny mechanism；Steering engine arm it is described
The other end is connected by the cooperation of sliding slot and pulley and the bottom edge of balance tripod, the output shaft of the 4th steering engine and the institute of steering engine arm
It states one end to be fixedly connected, is driven the swing of the 4th steering engine output shaft；The ontology of 4th steering engine is fixed on the described another of connecting elements
One end.When steering engine arm is swung as X-axis along Y direction using connecting elements, balance tripod and energy storage device pass through shifting sledge
It is moved on fixed rack.
In view of steering engine arm is when the bottom edge of balance tripod is swung, the lateral deviation of balance tripod upward or downward can be caused
Power, therefore elastic component and locating piece are set, locating piece is fixed on the close unmanned pusher side of connecting elements, can also be to be fixed on the 4th
The close unmanned pusher side of steering engine enhances the stablizing effect of locating piece to pass through the resist force of the ontology of the 4th steering engine；In stretching shape
One end of the elastic component of state setting is fixedly connected with locating piece, and the other end of elastic component and the bottom edge of balance tripod connect；, this
Sample, elastic component remains a lateral pull to balance tripod, even if in energy storage device as shifting sledge shifts to movement
When sliding loss of weight end, the original state of elastic component is also tensional state, to inhibit the swing of steering engine arm to act on balance tripod
Caused lateral deviation power.
In order to which the installation position of elastic component will not stop the swing of steering engine arm, therefore the connector in " └ " type is set, on
Under be staggered elastic component and steering engine arm；Elastic component is arranged along connecting elements length direction, extra to avoid the pulling force generation of elastic component
Lateral deviation power；Against connecting elements, the direction of pull of elastic component close to connecting elements cross central line so that the drawing of elastic component
The lateral deviation power of force direction, which can be ignored, not to be remembered；Because the elastic component needs to remain tensional state, therefore elastic component needs to have
There is some strength to keep the duration of drawing force；In order to the balance tripod, steering engine arm and the 4th steering engine output shaft it
Between interaction force from lateral deviation power influence, so three sets in the same horizontal line, i.e. the apex angle of balance tripod
The lengthwise position on the bottom edge of lengthwise position, balance tripod, the lengthwise position at steering engine arm both ends, the 4th steering engine output shaft it is vertical
It is in same horizontal line to position.
The principle that the swing angle of first steering engine is equal with the swing angle of the 4th steering engine is as follows：
The gravity sensor, also known as gravity sensor, novel category sensor technology, it is made of elastic sensing element
Cantilevered shifter drives electric contact with using store elastic part made of elastic sensing element, complete from Gravity changer to
The conversion of electric signal.
Unmanned plane center is projected as O, distance L of the O points to 2 output shaft of steering engine on connecting elementsM, in distance LMUpper company
Element center of gravity on connection member is fixed with respect to O points, and the gravity of these elements distinguishes G1’、G2’、G3' ... these elements
Center of gravity is respectively L to the distance of O points1’、L2’、L3' ... it is A that the center of gravity of all elements generates total torque to O points, and O points are to the
It is B to the torque that O points generate that four steering engine directions, which are fixed on element gravity on connecting elements, will not moving, to keep balancing,
A will be equal to B.
It is responsible for the subpoint using unmanned plane center on connecting elements in mechanical joint as origin, using connecting elements as X-axis
What it is along Z-direction swing is the first steering engine, and the first steering engine drives mechanical arm to be swung along Z-direction or positive axis or negative semiaxis, machine
All element gravity on tool arm will change to the torque of the point on connecting elements, and unmanned plane entirety center of gravity will lose at this time
Balance, affects greatly unmanned plane stabilized flight.To make unmanned plane entirety center of gravity is real-time in mechanical arm swing process to obtain
To adjustment, moving heavy object G need to be installed on connecting elements of the O points to the 4th steering engine directionIt moves, make its gravity to unmanned plane central force
Square is adjusted.When mechanical arm is put upward or downward, the element on mechanical arm is G1、G2、G3... each element and steering engine 2 are defeated
The distance of shaft is L respectively1、L2、L3... mechanical arm and horizontal line angle are α, and the gravity of all elements is to nobody on mechanical arm
Machine center generate torque be：
G1(LM+L1×cosα)+G2(LM+L2×cosα)+G3(LM++L3× cos α)+...=(G1+G2+G3+……)LM
+cosα(L1G1+L2G2+L3G3+……),
The gravity sensor of installation on the robotic arm produces electric signal and signal is issued the 4th helm control circuit plate,
Helm control circuit plate controls the 4th steering engine and rotates an angle, this angle along Z-direction or positive axis or is born with mechanical arm
The angle that semiaxis is swung is equal, is α, and the steering engine arm rotation on the 4th steering engine, the balance tripod with steering engine arm contact is in elasticity
It is slided to the 4th steering engine direction under the pulling force of part, it is assumed that the length of the steering engine arm on the 4th steering engine is that L, O point are defeated to the 4th steering engine
The distance of shaft is LN, mobile weight G moves the torque generated to O points and is：
GIt moves(LN+ L cos α)=GIt movesLN+GIt movesL cosα
The gravity of all elements moves the torque generated to O points with moving heavy object G to the torque that O points generate and wants phase on mechanical arm
Deng, unmanned plane could keep balancing, so：
(G1+G2+G3+……)LM+cosα(L1G+L2G2+L3G3+ ...)=GIt movesLN+GIt movesL cosα
As (G1+G2+G3+……)LM=GIt movesLNWhen, i.e. the distance L of O points to the 4th steering engine output shaftNFor：
LN=(G1+G2+G3+……)LM/GIt movesWhen
L=cos α (L1G1+L2G2+L3G3+……)/GIt movesCos α=(L1G1+L2G2+L3G3+……)/GIt moves
So when the length of the installation site of the 4th steering engine and the steering engine arm of the 4th steering engine determines, mechanical arm is along Z axis side
To or positive axis or negative semiaxis swing when the gravity center shift that occurs, the 4th steering engine can all pull weight G to carry out corresponding position automatically
It moves, with centre of gravity adjustment so that the center of gravity of the mechanical arm of unmanned plane suspension substantially remains in the center of unmanned plane.
Technical solution of the present invention by the mechanical arm oncoming lane of connecting elements be arranged balance component, especially be equipped in etc.
The apex angle of the balance tripod of lumbar triangle shape, the balance tripod is fixedly connected with energy storage device, the apex angle of balance tripod
Bisector overlapped with the transverse axis of connecting elements, solve in unmanned plane during flying, or clear into row line foreign matter
When division operation, the balance of the device is often obstructed because of flight wind-force, or because gravity caused by clear operation changes, and
The balance for destroying whole device causes whole device to be waved and does not stop, or even the problem of rolling.
Gravitational difference is converted into corresponding electricity caused by technical solution of the present invention also incudes mechanical arm swing by gravity sensor
Signal, driving balance component, which is done, accordingly to be moved, in particular, first steering engine is utilized with unmanned plane center in connecting elements
On subpoint be origin, using connecting elements be X-axis along Z-direction swing angle and the 4th steering engine with unmanned plane center
Subpoint on connecting elements is origin, equal along the swing angle of Y direction by X-axis of connecting elements, is automatically solved
Gravity caused by clear operation of having determined changes, and destroys the balance of whole device, leads to a left side for the connecting elements of whole device
Right both ends gravity unbalance, causes to tilt, or even the problem of rolling.
It these are only the preferred embodiment of the present invention, be not intended to limit the scope of the invention, it is every in the present invention
Inventive concept under, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/be used in it indirectly
His relevant technical field is included in the scope of patent protection of the present invention.
Claims (10)
1. a kind of circuit foreign body eliminating apparatus of adjust automatically center of gravity, which is characterized in that including unmanned plane, connecting elements, machinery
Joint, mechanical arm end, energy storage device, balance component and gravity sensor, wherein：With unmanned plane center connecting elements projection
Point is boundary's point, and the torque of described one end of connecting elements includes the ontology of one end described in connecting elements, mechanical joint, mechanical arm end
With the torque of gravity sensor and, the torque of the other end of connecting elements include the ontology of the other end described in connecting elements,
The extended segment of the other end described in connecting elements, the torque of energy storage device and balance component and, the power of described one end of connecting elements
Square is equal with the torque of the other end of connecting elements.
2. adjust automatically center of gravity circuit foreign body eliminating apparatus as described in claim 1, which is characterized in that the mechanical joint packet
The subpoint using unmanned plane center on connecting elements is included as origin, the first rudder swung along Z-direction as X-axis using connecting elements
Machine, the first steering engine are fixedly connected on described one end of connecting elements, and the output shaft of the first steering engine is fixedly connected with mechanical arm, described
Balance component includes the 4th steering engine and its steering engine arm for the electric signal driving for receiving gravity sensor, and the 4th steering engine is in unmanned plane
Subpoint of the heart on connecting elements is origin, is done along Y direction as X-axis using connecting elements and is correspondingly swung.
3. adjust automatically center of gravity circuit foreign body eliminating apparatus as claimed in claim 2, which is characterized in that first steering engine with
Subpoint of the unmanned plane center on connecting elements be origin by X-axis of connecting elements along the swing angle of Z-direction with it is described
4th steering engine is X-axis along the swing of Y direction using connecting elements using subpoint of the unmanned plane center on connecting elements as origin
Angle is equal.
4. adjust automatically center of gravity circuit foreign body eliminating apparatus as claimed in claim 2, which is characterized in that when first steering engine
When being swung along the positive axis of Z axis as X-axis using connecting elements, the 4th steering engine receives the corresponding electric signal of gravity sensor, with even
Connection member is that X-axis is swung along the negative semiaxis of Y-axis；When negative semiaxis of first steering engine using connecting elements as X-axis along Z axis is swung
When, the 4th steering engine receives the corresponding electric signal of gravity sensor, and the positive axis using connecting elements as X-axis along Y-axis is swung.
5. adjust automatically center of gravity circuit foreign body eliminating apparatus according to any one of claims 1-4, which is characterized in that described flat
Weighing apparatus component includes that fixed rack, shifting sledge, balance connector, the 4th steering engine and its steering engine arm, the 4th steering engine are fixed on connection
The other end of component, the output shaft of the 4th steering engine are fixedly connected with one end of its steering engine arm, and the other end of steering engine arm can live
It is connected to the end of balance connector one end dynamicly, the close unmanned pusher side of shifting sledge is fixed in the one end for balancing connector,
Energy storage device is fixed on the separate unmanned pusher side of shifting sledge, and the other end for balancing connector is fixedly connected with energy storage device, mobile
Sliding rail is set on fixed rack, and in mating connection with fixed rack, and fixed rack is fixed on prolonging for the other end of connecting elements
Stretch section.
6. adjust automatically center of gravity circuit foreign body eliminating apparatus as claimed in claim 5, which is characterized in that the balance connector
In isosceles triangle shape, the apex angle of the balance tripod is fixedly connected with energy storage device, the top bisector of angle of balance tripod
It is overlapped with the transverse axis of connecting elements.
7. adjust automatically center of gravity circuit foreign body eliminating apparatus as claimed in claim 5, which is characterized in that the balance connector
Bottom edge be equipped with sliding slot, the other end of steering engine arm is equipped with pulley, and pulley is limited in sliding slot, and with the swing of steering engine arm,
It is rolled in sliding slot.
8. adjust automatically center of gravity circuit foreign body eliminating apparatus as claimed in claim 5, which is characterized in that the balance triangle
The output shaft of frame, steering engine arm and the 4th steering engine is set in the same horizontal line.
9. adjust automatically center of gravity circuit foreign body eliminating apparatus as claimed in claim 5, which is characterized in that the balance component is also
Including elastic component and locating piece, the locating piece be fixed at connecting elements close to unmanned pusher side, one end of elastic component with it is fixed
Position part is fixedly connected, and the other end is fixedly connected with the bottom edge of balance tripod.
10. adjust automatically center of gravity circuit foreign body eliminating apparatus as claimed in claim 9, which is characterized in that the elastic component tool
There is some strength, and is installed in tensional state.
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| CN201711025562.1A CN108448478B (en) | 2017-10-27 | 2017-10-27 | Automatic adjust focus circuit foreign matter clearing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711025562.1A CN108448478B (en) | 2017-10-27 | 2017-10-27 | Automatic adjust focus circuit foreign matter clearing device |
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| CN108448478A true CN108448478A (en) | 2018-08-24 |
| CN108448478B CN108448478B (en) | 2024-01-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109866924A (en) * | 2019-03-25 | 2019-06-11 | 西安科技大学 | A kind of power overhead network defect elimination unmanned plane and its defect elimination method |
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| CN108448478B (en) | 2024-01-05 |
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