CN108551905B - Folding joint for tree obstacle cleaning aerial robot - Google Patents
Folding joint for tree obstacle cleaning aerial robot Download PDFInfo
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- CN108551905B CN108551905B CN201810192082.2A CN201810192082A CN108551905B CN 108551905 B CN108551905 B CN 108551905B CN 201810192082 A CN201810192082 A CN 201810192082A CN 108551905 B CN108551905 B CN 108551905B
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- 238000004140 cleaning Methods 0.000 title claims description 15
- 230000004888 barrier function Effects 0.000 claims description 13
- 238000006243 chemical reaction Methods 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 5
- 230000002441 reversible effect Effects 0.000 claims description 4
- 230000003139 buffering effect Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 4
- 238000013016 damping Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
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- 238000013459 approach Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000035755 proliferation Effects 0.000 description 1
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- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
- A01G3/085—Motor-driven saws for pruning or branching
- A01G3/088—Circular saws
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- Biodiversity & Conservation Biology (AREA)
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- Forests & Forestry (AREA)
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- Manipulator (AREA)
Abstract
The invention discloses a folding joint for a tree obstacle clearing aerial robot, which comprises a front crank arm arranged at the rear end of a front arm, a rear crank arm arranged at the front end of a rear arm and an extension locking device, wherein the front crank arm is hinged with the rear crank arm through a hinge shaft, the folding joint is locked by the extension locking device when being extended, and the folding joint is locked by the storage locking device when being stored. The folding joint is simple in structure and easy to realize, can be used for rapidly stretching and locking or folding, storing and locking the working arm of the robot, reduces the storage occupied space, is convenient to transport and place, solves the problem of large storage and placement occupied space in the prior art, and has the characteristics of simple structure, low cost and convenience in operation.
Description
Technical Field
The invention relates to a folding joint for an overhead robot for clearing tree barriers, and belongs to the technical field of power transmission line tree barrier clearing devices.
Background
The tree barrier is a potential safety hazard existing in the transmission line channel, and is manifested in that the continuous proliferation of trees in the channel gradually threatens the operation safety of the transmission line. Therefore, a great amount of manpower, material resources and financial resources are input into each electric power department every year to clean and repair the passage tree barriers in the jurisdiction. The existing tree obstacle cleaning mainly depends on manual cleaning, and has the defects of low efficiency and high safety risk, so that an automatic air robot for cleaning the tree obstacle of the power line channel is needed.
The aerial robot for cleaning tree barriers is generally long in working arm carrying working cutters, and needs to design a folding joint which has locking capability and can be used in both stretching and accommodating states, so that the working arm can reach high-strength standard in stretching operation, and the requirements of small volume, vibration resistance, shock resistance and convenience in transportation in the folding and accommodating states can be met.
Disclosure of Invention
The invention solves the technical problems that: the folding joint for the tree obstacle clearing aerial robot is provided, so that the problems of large occupied space and inconvenience in transportation in the prior art are solved.
The technical scheme adopted by the invention is as follows: a folding joint for obstacle clearance aerial robot, including setting up the preceding turning arm at the forearm rear end, setting up the back turning arm and the locking device that stretches at the back turning arm front end, preceding turning arm is articulated through the articulated shaft with the back turning arm to stretch locking device locking when folding joint stretches.
Preferably, the stretching locking device comprises a first step shaft fixedly connected to the front end of the rear arm and coaxial with the rear arm, a first screw rod fixedly connected to the rear end of the front arm and coaxial with the front arm, and a first locking nut sleeved on the first step shaft, wherein an inner boss step is arranged at the rear end of an inner hole of the first locking nut, an outer boss step for preventing the first locking nut from falling off is arranged at the front end of the first step shaft, and the first step shaft and the first screw rod can be coaxially abutted and locked by the first locking nut.
Preferably, the first stepped shaft is connected to the rear arm by a screw portion and is locked by a lock nut.
Preferably, the front crank arm and the rear crank arm are locked by a storage locking device when the folding joint is stored.
Preferably, the storage locking device comprises a second step shaft fixedly connected to the bottom of the rear arm and perpendicular to the rear arm, a second screw rod fixedly connected to the bottom of the front arm and perpendicular to the front arm, and a second locking nut sleeved on the second step shaft, wherein an inner convex step is arranged at the rear end of an inner hole of the second locking nut, an outer convex step for preventing the second locking nut from falling off is arranged at the front end of the second step shaft, and the second step shaft and the second screw rod can be coaxially butted and locked by the second locking nut.
Preferably, the second step shaft and the second screw are connected to the rear arm and the front arm by a detachable threaded connection.
Preferably, the threaded portion of the second step shaft is connected to the rear arm and then locked by a second lock nut.
The invention has the beneficial effects that: compared with the prior art, the invention has the following effects:
1) The folding joint is simple in structure, can be used for rapidly stretching and locking or accommodating and locking the operation arm of the robot, and has the characteristics of low cost, easiness in implementation and convenience in operation; the occupied space is small during storage, so that the storage is convenient to transport and place, and the problem of large occupied space during storage and placement in the prior art is solved;
2) The first step shaft adopting the threaded part is adjustable in length and is locked by the first locking nut, so that the first step shaft can be conveniently abutted against the first screw rod; after the first locking nut is adopted for locking, the expansion connection of the folding joint is more reliable, the locking looseness caused by vibration can be effectively avoided, and the operation is convenient and quick;
3) The folding and storing operation arm and the operation cutter are fixed by adopting the storing and locking device, so that the operation arm, the operation cutter and even the flying platform are prevented from being damaged due to vibration, impact and shaking in the transportation process, and the transportation safety is effectively improved;
4) The accommodating and locking device is simple in structure, convenient to fix and release, and the detachable screw rod II and the step shaft II are adopted, and the working arm is detached after being stretched, so that the weight of the aerial robot can be reduced, and the energy consumption is reduced; when the storage is needed, the storage is carried out by installing the storage device.
Drawings
FIG. 1 is a schematic diagram of an aerial robot incorporating the present invention;
FIG. 2 is a schematic view of a vibration damping device;
FIG. 3 is a schematic view of a folding joint structure (extended locked state);
fig. 4 is a schematic view of a folding joint structure (storage locked state);
fig. 5 is a schematic view of a protected joint structure.
In the figure, a 1-rotor, a 2-rotor motor, a 3-platform bracket, a 4-machine body, a 5-battery pack, a 6-longitudinal propeller, a 7-ducted propeller, an 8-vibration damper, a 9-rear arm, a 10-folding joint, a 11-front arm, a 12-protection joint, a 13-cutter bar, a 14-cutter motor, a 15-working cutter, a 16-joint, a 17-camera, a 19-mechanical arm and a 20-working arm;
801-upper plate, 802-spring-damper, 803-lower plate;
1001-front crank arm, 1002-rear crank arm, 1003-hinge shaft, 1004-step shaft one, 1005-lock nut one, 1006-screw one, 1007-lock nut one, 1008-step shaft two, 1009-lock nut two, 1010-screw two, 1011-lock nut two;
1201-fixed fork, 1202-cross shaft, 1203-movable fork, 1204-cylindrical sleeve, 1205-spring, 1206-screw.
Detailed Description
The invention will be further described with reference to the drawings and specific examples.
Example 1: as shown in fig. 3 to 4, a folding joint for an obstacle-removing aerial robot, the folding joint 10 includes a front crank arm 1001 provided at a rear end of a front arm 11, a rear crank arm 1002 provided at a front end of a rear arm 9, and an extension locking device, the front crank arm 1001 and the rear crank arm 1002 being hinged by a hinge shaft 1003 and locked by the extension locking device when the folding joint 10 is extended.
Preferably, the above-mentioned expansion locking device includes a first step shaft 1004 fixedly connected to the front end of the rear arm 9 and coaxial with the rear arm 9, a first screw 1006 fixedly connected to the rear end of the front arm 11 and coaxial with the front arm 11, and a first locking nut 1005 sleeved on the first step shaft 1004, wherein the rear end of the inner hole of the first locking nut 1005 is provided with an inner boss step, the front end of the first step shaft 1004 is provided with an outer protruding step for preventing the first locking nut 1005 from falling off, and the first locking nut 1005 can coaxially butt-joint and lock the first step shaft 1004 with the first screw 1006.
Preferably, the first step shaft 1004 is connected to the rear arm 9 by a screw portion and locked by a first locking nut 1007.
The extension locking device can realize the length extension of the step shaft I1004 relative to the rear arm 9, so that the step shaft I1004 can be conveniently abutted against the screw rod I1006 tightly; after the first locking nut 1005 is adopted for locking, the device is more reliably connected, and the locking looseness caused by vibration can be effectively avoided; the first step shaft 1004 is locked in length through the first locking nut 1007, and the operation is convenient and quick. In addition, when the lock is extended, the coaxiality (default coaxiality) of the front arm 11 and the rear arm 9 can be adjusted by adjusting the length of the step shaft one 1004.
Preferably, the front lever 1001 and the rear lever 1002 are locked by a storage locking device when the folding joint 10 is stored.
Preferably, the storage locking device comprises a second step shaft 1008 fixedly connected to the bottom of the rear arm 9 and perpendicular to the rear arm 9, a second screw 1010 fixedly connected to the bottom of the front arm 11 and perpendicular to the front arm 11, and a second locking nut 1009 sleeved on the second step shaft 1008, wherein an inward convex step is arranged at the rear end of an inner hole of the second locking nut 1009, an outward convex step for preventing the second locking nut 1009 from falling off is arranged at the front end of the second step shaft 1008, and the second locking nut 1009 can coaxially butt-joint and lock the second step shaft 1008 and the second screw 1010.
Preferably, the second step shaft 1008 and the second screw 1010 are connected to the rear arm 9 and the front arm 11 by detachable screw connection. Accordingly, the step shaft two 1008 and the screw two 1010 can be disassembled when the folding joint 10 is extended, to reduce weight and power consumption.
Preferably, the threaded portion of the second step shaft 1008 is coupled to the rear arm 9 and then locked by the second lock nut 1011.
The storage locking device can realize the length extension of the second step shaft 1008 relative to the rear arm 9, so that the second step shaft 1008 can be conveniently abutted against the second screw 1010 tightly; after the second locking nut 1009 is adopted for locking, the connection of the device is more reliable, and the locking looseness caused by vibration can be effectively avoided; the second step shaft 1008 is locked in length through the second locking nut 1011, and the operation is convenient and quick. In addition, when the folding and storage are performed, the parallelism (default parallelism) between the front arm 11 and the rear arm 9 can be adjusted by adjusting the length of the step shaft two 1008.
Example 2: as shown in fig. 1-5, the folding joint is used for a robot in the air for cleaning a tree obstacle, the robot comprises a platform bracket 3 and a working cutter 15, the platform bracket 3 is symmetrically connected to a machine body 4, the machine body 4 is positioned at the central part of the platform bracket 3, a plurality of rotor wing assemblies are connected to the platform bracket 3, two longitudinal propellers 6 which provide forward and backward propulsion power and are bilaterally symmetrical are arranged on the machine body 4, the longitudinal propellers 6 are in a ducted configuration, a ducted propeller 7 which can rotate positively and negatively to provide forward and backward thrust is arranged in the longitudinal propellers 6, the front end of the machine body 4 is connected to the working cutter 15 through a working arm 20, the longitudinal propellers 6 are arranged towards the direction of the working cutter 15, the working cutter 15 is connected with a cutter motor 14, and the cutter motor 14 is fixedly connected to the front end of the working arm 20; the system also comprises a flight controller and a communication module, wherein the flight controller is arranged on the platform bracket 3 or the machine body 4 and used for stabilizing the attitude and controlling the track of the aerial robot, and the communication module is used for transmitting flight data and airborne images, wherein the flight controller is similar to the existing multi-rotor unmanned aerial vehicle flight controller in hardware and comprises an Inertial Measurement Unit (IMU), an barometric altimeter, a satellite navigation receiver and a flight control computer.
Preferably, the working arm 20 includes a mechanical arm 19 and a cutter bar 13, one end of the mechanical arm 19 is fixedly connected to the machine body 4, the other end is fixedly connected to the cutter bar 13 through a joint 16, the joint 16 has a mechanical and electrical connection function, and is convenient to rapidly assemble and disassemble or replace and more convenient to store; the connector 16 is connected by a flange or a screw cap-screw rod fast connection, and an electric plug is arranged at the corresponding connection position.
Preferably, the platform bracket 3, the machine body 4 or the working arm 20 is provided with a camera 17, and a lens of the camera 17 faces the direction of the working cutter 15; the camera 17 is mounted on the working arm 20 by a sleeving frame; the camera 17 is used for monitoring the external form of the front tree obstacle, the cleaned state of the tree obstacle and the working state of the working cutter 15, so as to facilitate the feeding or withdrawing control of the working cutter 15.
Preferably, the cutter motor 14 is connected with a cutter controller for driving the cutter motor to rotate, and the cutter controller is built in the working arm 20 or the machine body 4 and is connected with a flight controller; the cutter controller is provided with a motor driving interface and an analog or digital quantity, pulse quantity, frequency quantity and other interfaces used for inputting signals of related sensors of the cutter, wherein the sensors comprise sensors for sensing motor current, sensing cutter rotating speed and sensing cutter temperature.
Preferably, the mechanical arm 19 adopts a folding structure, and comprises a front arm 11 and a rear arm 9 which are connected with each other; the front arm 11 and the rear arm 9 are polygonal cross-section tubes or round tubes.
Preferably, the front end of the rear arm 9 is connected to the rear end of the front arm 11 through a folding joint 10, and the folding joint 10 can perform quick expansion locking or folding storage on the working arm 20.
Preferably, the working arm 20 has a two-stage structure and is integrally connected through the protection joint 12; as shown in fig. 1 and 5, the protection joint 12 has stress buffering and operation force sensing functions, and comprises a fixed fork 1201, a cross shaft 1202, a movable fork 1203, a cylindrical sleeve 1204, a spring 1205 and a screw 1206, wherein the fixed fork 1201, the movable fork 1203 and the cylindrical sleeve 1204 are hollow cylindrical, the cross shaft 1202 is respectively connected with the front part of the fixed fork 1201 and the rear part of the movable fork 1203 through bearings, thereby forming a universal joint with freedom degrees of up-down rotation (pitching) and left-right rotation (heading), the rear part of the fixed fork 1201 is fixedly connected with the rear section of the operation arm 20, the front part of the cylindrical sleeve 1204 is fixedly connected with the front section of the operation arm 20, the rear part of the cylindrical sleeve 1204 is connected with the front part of the movable fork 1203 in a sleeve form capable of axially sliding and relatively rotating (rolling), the spring 1205 is cylindrical and is arranged outside the fixed fork 1201, the movable fork 1203 and the cylindrical sleeve 1204 in a wrapping form, and two ends of the spring 1205 are respectively fixedly connected with the fixed fork 1201 and the cylindrical sleeve 1204 through two screws 1206. The protection joint 12 has four mechanical buffer degrees of freedom, and can effectively weaken the influence of tree barrier reaction force or moment and vibration of the working cutter 15 on the flying attitude of the aerial robot.
A course angle sensor for sensing the relative left-right rotation (course) amplitude is arranged between the cross shaft 1202 and the fixed fork 1201, a pitch angle sensor for sensing the relative up-down rotation (pitch) amplitude is arranged between the cross shaft 1202 and the movable fork 1203, an axial displacement sensor for sensing the axial relative movement (axial) amplitude of the cylindrical sleeve 1204 and the movable fork 1203, and a roll angle sensor for sensing the relative rotation (roll) amplitude of the cylindrical sleeve 1204 and the movable fork 1203 are arranged between the cylindrical sleeve 1204 and the movable fork 1203, so that the protection joint 12 can sense tree barrier reaction forces or moments in four directions to which the working cutter 15 is subjected and can be used as a control input for cutter feeding or withdrawing and air robot motion fine adjustment, and obstacle clearance control is more accurate. Wherein, each angle sensor can adopt photoelectric encoder or potentiometer, the displacement sensor can adopt slide rheostat or grating ruler, and the calculation of acting force or moment: the displacement measured by each displacement sensor and the angle sensor and the tensile stiffness, bending stiffness and torsional stiffness of the spring are calculated to obtain each acting force (tensile or compression) or moment (pitching moment, heading moment and torsional moment).
The axial stiffness curve, the pitching stiffness curve, the heading stiffness curve and the torsional stiffness curve of the protection joint 12 are obtained by calibrating the curves of the relative stress-displacement or stress moment-angle of the two ends (the cylindrical sleeve 1204 and the fixed fork 1201) of the protection joint 12 by a calibration method, and the stress or moment of the two ends of the protection joint 12 can be obtained through each stiffness curve and the corresponding displacement or angle.
The flight controller is provided with corresponding analog quantity (voltage or current) or digital quantity (including bus), pulse quantity, frequency quantity and other types of interfaces aiming at the angle sensor and the displacement sensor, PWM (pulse width modulation) or bus interfaces aiming at the rotor wing assembly, and bus interfaces aiming at the communication module and the cutter controller. The bus comprises CAN, RS-485/422/232, ethernet or an onboard bus and the like.
Preferably, the thrust axis of the longitudinal propeller 6 coincides with the rotation plane of the working tool 15, so that the feeding thrust of the longitudinal propeller 6 is positively applied to the working tool 15, and an additional moment is avoided to be generated on the pitching attitude of the aerial robot, thereby being beneficial to the stability and control of the aerial robot.
Preferably, the rotor assembly comprises a rotor 1, a rotor motor 2 and a motor speed regulator, wherein the rotor 1 is fixedly connected to an output shaft of the rotor motor 2, the rotor motor 2 is fixedly connected to a platform bracket 3, and the directions of the rotors 1 of adjacent rotor assemblies are opposite; the motor speed regulator receives the rotating speed instruction of the flight controller and drives the rotor motor 2 to rotate according to the rotating speed instruction; the number of rotor assemblies is an even number greater than or equal to 4.
The rotor assembly may also employ the following coaxial dual-bladed approach: the rotor 1, the rotor motor 2 and the motor speed regulator in the rotor assembly are respectively provided with a pair, the tail parts of the two rotor motors 2 are opposite, the rotating shafts are outwards and vertically coaxially arranged at the outer end of the platform bracket 3, the two rotors 1 are paired in the forward and reverse directions and are respectively arranged on the rotating shafts of the two rotor motors 2, and the lifting force of the two rotors 1 of the same rotor assembly is upwards through adjusting the polarity of the connecting line of the motor speed regulator and the rotor motor 2. The number of rotor wing components in the mode is more than or equal to 3.
Preferably, the lower end of the body 4 is provided with a vibration damper 8, and the arm 20 is connected to the lower end of the body 4 through the vibration damper 8. As shown in fig. 2, the vibration damping device 8 includes an upper plate 801, a lower plate 803, and a spring-damper 802, the upper plate 801 is fixedly connected to the machine body 4, the lower plate 803 is connected to the upper plate 801 through one or more groups of spring-dampers 802 distributed in bilateral symmetry, and the rear arm 9 is connected to the lower plate 803.
Preferably, the working arm 20 movably passes through the lower plate 803 of the vibration damping device 8 and is fixedly connected with the battery pack 5 at the rear end thereof, and the working arm 20 can be locked on the vibration damping device 8 by a locking bolt, thereby adjusting the overall center of gravity of the space robot.
Preferably, the rear end of the vibration damper 8 is fixedly connected with the battery pack 5 through a telescopic rod, and the telescopic rod is locked by a locking bolt, so that the whole gravity center of the air robot can be adjusted.
Preferably, the battery pack 5 comprises batteries that power the rotor assembly, the longitudinal propeller 6, the cutter motor 14 and cutter controller, and the flight controller and on-board sensors.
Preferably, the outer side of the cutter structure is provided with a safety protection cover for preventing branches and leaves from splashing or flying after the saw blade is broken.
Preferably, the bottom of the machine body 4 is also provided with a landing gear.
Preferably, the body 4 is provided with a flight controller, and the functions implemented include:
1) Acquiring attitude angle, angular velocity, acceleration, satellite positioning and height information of the aerial robot in real time, calculating rotating speed instructions of all rotors by combining ground remote control instructions (through wireless connection of a flight controller and a ground remote controller) and outputting the rotating speed instructions to the rotor components so as to realize the stability and control of the attitude and the position of the aerial robot;
2) Generating an output control instruction of the longitudinal propeller 6 according to the ground remote control instruction, and realizing forward feeding or backward exiting control of the robot in the horizontal posture in the tree obstacle clearing process;
3) By protecting the pitch, yaw, roll reaction torque or the tree barrier axial reaction force experienced by the joint 12 by the working tool 15, once a predetermined protection threshold is met or exceeded, it may be determined that the working tool 15 is in an overload condition, i.e., the tool controller and the flight controller are automatically synchronized into a protection mode: the operation cutter 15 is controlled to brake and then reverse, and the aerial robot is controlled to move backwards to exit the operation; if the reaction force or moment is smaller than the preset protection threshold, the reaction force or moment is used as a control input for fine adjustment of the movement of the aerial robot, and the specific control method is as follows:
a) The axial force sensed by the protection joint 12 is X, the backward force is positive, and the corresponding operation threshold is lambda when the obstacle clearance is set X The dead zone is delta X Wherein lambda is X ＞0，0≤δ X ＜λ X The method comprises the following steps:
if X <0, judging that the aerial robot receives forward pulling force of the tree obstacle, and taking one of the following measures by the flight controller: (1) controlling the aerial robot to move forward for fine adjustment, if X increases positively, continuing the current obstacle clearing operation, and if X does not change or increases negatively, turning to (2); (2) controlling the aerial robot to enter a hovering state, and simultaneously sending safety alarm information to ground personnel through a communication module so as to ask for manual intervention;
-if X < lambda X -δ X The flying controller controls the aerial robot to move forward for fine adjustment, so that the axial force is increased, and the axial automatic operation feeding is realized;
-if |X-lambda X |≤δ X The flying controller controls the aerial robot to keep hovering, and the axial feeding amount is zero;
-if X > lambda X +δ X Flight controller controlThe air robot moves backwards to finely adjust, so that the axial force is reduced, and the axial automatic rollback of the operation is realized.
B) The heading moment perceived by the protection joint 12 when the obstacle clearance is set is N, the overlooking right is positive, and the corresponding operation threshold is lambda N The dead zone is delta N Wherein lambda is N ＞0，0≤δ N ＜λ N The method comprises the following steps:
-if |N| < lambda N -δ N The flight controller controls the aerial robot to move in the direction of increasing the |N| to finely adjust the heading, so that horizontal lateral automatic operation feeding is realized;
-if it is N-lambda N |≤δ N The flying controller controls the aerial robot to keep the current course, and the horizontal lateral feed is zero;
-if |N| > λ N +δ N The flight controller controls the aerial robot to move in the direction of reducing the |N| to finely adjust the heading, so that the horizontal lateral automatic protection rollback is realized.
C) When the obstacle clearance is set, the pitching moment perceived by the protection joint 12 is M, the upward direction is positive, and the corresponding insensitive area is delta M Wherein delta M Not less than 0, there are:
-if |M| > delta M The flight controller controls the aerial robot to move in a direction of reducing the absolute value M to slightly adjust the height;
if M is less than delta M The flying controller controls the aerial robot to keep the current height;
4) According to motor current and cutter rotating speed information collected by the cutter controller, the overload, blocking and damage states of the working cutter 15 are evaluated in real time, and the evaluation method is as follows:
-if the motor current exceeds the current predetermined threshold, it is determined that the working tool 15 is overloaded or blocked;
-if the tool rotational speed is lower than the rotational speed predetermined threshold, it is determined that the working tool 15 is overloaded or jammed;
if periodic pulsation occurs in the motor current or the tool rotational speed, it can be determined that the working tool 15 is damaged. The reason is that if there is a defect in the reciprocating working tool 15, the resistance of the tree barrier will show periodic pulsation, thereby causing periodic pulsation of the motor current or the tool rotation speed.
Once any of the conditions is met, a braking-before-reversing instruction is output to the cutter motor 14 through the cutter controller, a reverse thrust instruction is output to the longitudinal propeller 6, so that the air robot can realize protective backoff, and meanwhile, safety alarm information is sent to ground personnel through the communication module.
The aerial robot has the following advantages:
1) According to the invention, the rotor wing assembly, the longitudinal propeller and the operation cutter are arranged on the machine body, so that the overhead quick cleaning of the tree obstacle of the power transmission line can be realized, the situation that an operator approaches to the high-voltage power transmission line at the position of the tree obstacle is avoided, the operation is safer, the cleaning operation efficiency can be effectively improved, the operation risk is reduced, and the problems of low manual cleaning efficiency and high safety risk in the prior art are solved;
2) The front arm and the rear arm of the aerial robot are connected in a folding mode or a telescopic mode, so that the size of the whole robot is effectively reduced, the aerial robot is convenient to store and carry, and the telescopic mode is also convenient for adjusting the gravity center position;
3) The aerial robot provides a lifting force of the robot by the rotor wing assembly, realizes gesture stabilization and position control, and realizes feeding and exiting control of the obstacle-removing operation cutter by the longitudinal propeller, and the control mode of combined driving is decoupled, so that the aerial robot is very beneficial to engineering realization;
4) The aerial robot has a flat overall structure and is suitable for entering a region where tree barriers are dense or intersected with a wire to perform barrier removal operation;
5) The external form of the tree obstacle and the cleaning effect of the tree obstacle can be closely observed through the camera, and the working state of the working cutter can be monitored in real time;
6) The protection joint has four mechanical buffer degrees of freedom, and can effectively weaken the influence of tree barrier reaction force or moment on the flying gesture of the aerial robot;
7) The thrust axis of the longitudinal propeller is arranged to coincide with the rotation plane of the working cutter, so that the feeding thrust of the longitudinal propeller is positively applied to the working cutter, and the generation of additional moment on the pitching attitude of the aerial robot is avoided, thereby being beneficial to the stability and control of the aerial robot;
8) The vibration of the working cutter can be effectively filtered by the vibration reduction device to influence the machine body;
9) The battery pack is arranged at the rear part of the aerial robot, so that a good counterweight effect is achieved, and meanwhile, the working arm can be adjusted back and forth relative to the machine body or the battery pack is connected to the rear part of the machine body through a telescopic rod, so that the center of gravity of the aerial robot can be quickly adjusted;
10 The aerial robot can be used for high-altitude installation, cleaning or maintenance of large-scale equipment and buildings.
The above description is only an example of the embodiment of the present invention, and the scope of the present invention is not limited thereto. Variations and alternatives can be readily ascertained by one of ordinary skill in the art within the scope of the present disclosure, which is intended to be within the scope of the present disclosure. For this purpose, the scope of the invention shall be subject to the scope of the claims.
Claims (4)
1. A folding joint for obstacle clearance aerial robot, its characterized in that: the folding device comprises a front crank arm (1001) arranged at the rear end of a front arm (11), a rear crank arm (1002) arranged at the front end of a rear arm (9) and an extension locking device, wherein the front crank arm (1001) is hinged with the rear crank arm (1002) through a hinge shaft (1003) and is locked by adopting the extension locking device when a folding joint (10) extends; the stretching locking device comprises a first step shaft (1004) fixedly connected to the front end of the rear arm (9) and coaxial with the rear arm (9), a first screw rod (1006) fixedly connected to the rear end of the front arm (11) and coaxial with the front arm (11), and a first locking nut (1005) sleeved on the first step shaft (1004), wherein an inner boss step is arranged at the rear end of an inner hole of the first locking nut (1005), a convex step for preventing the first locking nut (1005) from falling off is arranged at the front end of the first step shaft (1004), and the first locking nut (1005) can coaxially butt-joint and lock the first step shaft (1004) with the first screw rod (1006); the front crank arm (1001) and the rear crank arm (1002) are locked by a storage locking device when the folding joint (10) is stored; the accommodating locking device comprises a second step shaft (1008) fixedly connected to the bottom of the rear arm (9) and perpendicular to the rear arm (9), a second screw rod (1010) fixedly connected to the bottom of the front arm (11) and perpendicular to the front arm (11), and a second locking nut (1009) sleeved on the second step shaft (1008), wherein an inward convex step is arranged at the rear end of an inner hole of the second locking nut (1009), an outward convex step for preventing the second locking nut (1009) from falling off is arranged at the front end of the second step shaft (1008), and the second step shaft (1008) and the second screw rod (1010) can be coaxially butted and locked by the second locking nut (1009);
the front arm (11) is of a two-section structure and is connected into a whole through the protection joint (12), the protection joint (12) has stress buffering and operation force sensing functions, the protection joint comprises a fixed fork (1201), a cross shaft (1202), a movable fork (1203), a cylindrical sleeve (1204), a spring (1205) and a screw (1206), the fixed fork (1201), the movable fork (1203) and the cylindrical sleeve (1204) are hollow cylinders, the cross shaft (1202) is respectively connected with the front part of the fixed fork (1201) and the rear part of the movable fork (1203) through bearings, so that a universal joint with the degrees of freedom of up-down rotation and left-right rotation is formed, the rear part of the fixed fork (1201) is fixedly connected with the rear part of the operation arm (20), the front part of the cylindrical sleeve (1204) is fixedly connected with the front part of the operation arm (20), the rear part of the cylindrical sleeve (1204) is connected with the front part of the movable fork (1203) in an axially slidable and relatively rotatable sleeve form, the spring (1205) is in a cylindrical form and is arranged outside the fixed fork (1201), the movable fork (1203) and the cylindrical sleeve (1204) is fixedly connected with the two ends of the cylindrical sleeve (1204) through the two ends of the spring (1204) respectively;
a course angle sensor for sensing the relative left-right rotation amplitude is arranged between the cross shaft (1202) and the fixed fork (1201), a pitch angle sensor for sensing the relative up-down rotation amplitude is arranged between the cross shaft (1202) and the movable fork (1203), and an axial displacement sensor for sensing the axial relative movement amplitude and a roll angle sensor for sensing the relative rotation amplitude are arranged between the cylindrical sleeve (1204) and the movable fork (1203); the working cutter (15) is perceived by the protection joint (12) to be subjected to tree barrier axial reaction force or pitch, course and roll reaction moment, and once the preset protection threshold is met or exceeded, the working cutter can be judged to be in an overload state, namely, the cutter controller and the flight controller automatically synchronously enter a protection mode: controlling the operation cutter to brake and then reverse, and simultaneously controlling the aerial robot to move backwards to exit the operation; if the axial reaction force or reaction moment is smaller than a preset protection threshold, the axial reaction force or reaction moment is used as a control input for fine adjustment of the movement of the aerial robot, and the specific control method is as follows:
a) The axial force sensed by the protection joint (12) is X, the backward direction is positive, and the corresponding operation threshold is lambda when the obstacle clearance is set X The dead zone is delta X Wherein lambda is X ＞0，0≤δ X ＜λ X The method comprises the following steps:
if X <0, judging that the aerial robot receives forward pulling force of the tree obstacle, and taking one of the following measures by the flight controller: (1) controlling the aerial robot to move forward for fine adjustment, if X increases positively, continuing the current obstacle clearing operation, and if X does not change or increases negatively, turning to (2); (2) controlling the aerial robot to enter a hovering state, and simultaneously sending safety alarm information to ground personnel through a communication module so as to ask for manual intervention;
-if X < lambda X -δ X The flying controller controls the aerial robot to move forward for fine adjustment, so that the axial force is increased, and the axial automatic operation feeding is realized;
-if |X-lambda X |≤δ X The flying controller controls the aerial robot to keep hovering, and the axial feeding amount is zero;
-if X > lambda X +δ X The flying controller controls the air robot to move backwards for fine adjustment, so that the axial force is reduced, and the axial automatic rollback of the operation is realized;
b) The course moment perceived by the protection joint (12) is N, the overlooking right is positive, and the corresponding operation threshold is lambda when the obstacle clearance is set N The dead zone is delta N Wherein lambda is N ＞0，0≤δ N ＜λ N The method comprises the following steps:
-if |N| < lambda N -δ N The flight controller controls the aerial robot to move in the direction of increasing the |N| to finely adjust the heading, so that horizontal lateral automatic operation feeding is realized;
-if it is N-lambda N |≤δ N The flying controller controls the aerial robot to keep the current course, and the horizontal lateral feed is zero;
-if |N| > λ N +δ N The flight controller controls the aerial robot to move in a direction of reducing the |N| to finely adjust the heading, so that horizontal lateral automatic protection rollback is realized;
c) When the obstacle clearance is set, the pitching moment perceived by the protection joint (12) is M, the upward direction is positive, and the corresponding insensitive area is delta M Wherein delta M Not less than 0, there are:
-if |M| > delta M The flight controller controls the aerial robot to move in a direction of reducing the absolute value M to slightly adjust the height;
if M is less than delta M The flight controller controls the aerial robot to maintain the current altitude.
2. A folding joint for an obstacle-cleaning aerial robot as recited in claim 1, wherein: the first step shaft (1004) is connected to the rear arm (9) by a screw portion and locked by a first lock nut (1007).
3. A folding joint for an obstacle-cleaning aerial robot as recited in claim 1, wherein: the step shaft II (1008) and the screw II (1010) are respectively connected to the rear arm (9) and the front arm (11) through detachable threaded connection modes.
4. A folding joint for an obstacle-cleaning aerial robot as recited in claim 1, wherein: the threaded part of the step shaft II (1008) is connected to the rear arm (9) and then locked by adopting a lock nut II (1011).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810192082.2A CN108551905B (en) | 2018-03-08 | 2018-03-08 | Folding joint for tree obstacle cleaning aerial robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810192082.2A CN108551905B (en) | 2018-03-08 | 2018-03-08 | Folding joint for tree obstacle cleaning aerial robot |
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| CN108551905A CN108551905A (en) | 2018-09-21 |
| CN108551905B true CN108551905B (en) | 2024-03-26 |
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| CN101503115A (en) * | 2009-03-20 | 2009-08-12 | 中兵光电科技股份有限公司 | Folding unmanned plane ejection system |
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| CN108551905A (en) | 2018-09-21 |
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Effective date of registration: 20211216 Address after: No.17 Binhe Road, Nanming District, Guiyang City, Guizhou Province Applicant after: Guizhou Power Grid Co.,Ltd. Address before: No.17 Binhe Road, Nanming District, Guiyang City, Guizhou Province Applicant before: Guizhou Power Grid Co.,Ltd. Applicant before: NANJING TAISIDE INTELLIGENT TECHNOLOGY Co.,Ltd. |
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