CN112389653B - Intelligent rope threading device - Google Patents
Intelligent rope threading device Download PDFInfo
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- CN112389653B CN112389653B CN202011331963.1A CN202011331963A CN112389653B CN 112389653 B CN112389653 B CN 112389653B CN 202011331963 A CN202011331963 A CN 202011331963A CN 112389653 B CN112389653 B CN 112389653B
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- arm
- rope threading
- threading device
- mechanical arm
- control unit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
Abstract
An intelligent rope threading device. Relate to an intelligence threading ware that is used for unmanned aerial vehicle wire rope handling. The intelligent rope threading device is safe, reliable, simple and convenient to operate and capable of greatly improving the working efficiency. The rope threading device is used for rope threading operation of the unmanned aerial vehicle and comprises a mechanical arm, a balance arm and a control unit box, wherein the mechanical arm and the balance arm are telescopic arms, a rope threading device control unit and a built-in power supply are arranged in the control unit box, the built-in power supply is used for supplying power to the rope threading device, and the rope threading device control unit is used for controlling the rope threading device to act; the control unit box is connected the balance arm, the balance arm is connected the one end of arm, the other end of arm is equipped with the palm, be equipped with laser radar and clamping jaw on the palm.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an intelligent rope threading device for rope threading operation of an unmanned aerial vehicle.
Background
In recent years, the unmanned aerial vehicle technology is rapidly developed, and the unmanned aerial vehicle is introduced to operate in the construction process of rope unfolding. Rope exhibition is usually aerial operation, and widely appears in many application scenarios such as high altitude rescue, electric power maintenance, outdoor exhibition, road and bridge engineering, mountain body development.
In the prior art, the rope threading operation of the unmanned aerial vehicle generally adopts the following two methods: firstly, a rope is buckled on an unmanned aerial vehicle, and then a constructor ascends to cooperate and manually thread the rope and then continues the next threading operation; the method requires the cooperation of ascending a height of constructors, so that the labor intensity is high, and potential safety hazards exist in ascending operation;
secondly, the rope threading is realized only by carrying the rope by the unmanned aerial vehicle and throwing the rope to the rope threading operation position without the cooperation of ascending the height of constructors; the method needs a larger rope threading operation space and is difficult to adapt to fine rope threading operation in a narrow operation space; meanwhile, the method has higher requirements on the control skills of the unmanned aerial vehicle control personnel, and the stringing failure is easy to occur under the influence of visual angles, distances and the like, so that the working efficiency is low.
Therefore, how to simply, safely and efficiently realize the rope threading operation of the unmanned aerial vehicle becomes a technical problem to be solved urgently.
Disclosure of Invention
Aiming at the problems, the invention provides the intelligent rope threading device which is safe, reliable, simple and convenient to operate and capable of greatly improving the working efficiency.
The technical scheme of the invention is as follows:
an intelligent rope threading device is used for the rope threading operation of an unmanned plane,
the stringing device comprises a mechanical arm, a balance arm and a control unit box,
the rope threading device comprises a mechanical arm, a balance arm, a rope threading device control unit and a built-in power supply, wherein the mechanical arm and the balance arm are telescopic arms;
the control unit box is connected with the balance arm, the balance arm is connected with one end of the mechanical arm, the other end of the mechanical arm is provided with a palm, and the palm is provided with a laser radar and a clamping jaw;
the clamping jaw is two enclosed semi-rings, and a travel switch A is arranged on the inner side of the clamping jaw, so that the travel switch A is triggered when the clamping jaw is closed;
the end part of the clamping jaw is provided with a pair of hemispherical stringing ball shells, namely a first half shell and a second half shell, a pair of electromagnetic relays are arranged in the stringing ball shells, one electromagnetic relay is positioned in the first half shell, the other electromagnetic relay is positioned in the second half shell, and the electromagnetic relays are used for sucking the stringing ball to the stringing ball shells on the same side; travel switches B are arranged in the first half shell and the second half shell, and when the stringing ball is sucked on one side of the stringing ball shell, the travel switches B on the same side are triggered;
the laser radar, the travel switch A, the travel switch B and the electromagnetic relay are connected with the rope threading device control unit.
Further, the mechanical arm comprises a rear arm, a middle arm, a front arm and a wrist which are connected in sequence, the mechanical arm has at least two degrees of freedom, the middle arm rotates around the rear arm to form a first degree of freedom, and the front arm rotates around the middle arm to form a second degree of freedom.
Further, the palm rotates around the wrist to form a third degree of freedom of the mechanical arm.
Further, a gyroscope is further arranged in the control unit box and connected with the rope threading device control unit.
Further, the bottom of arm is equipped with circular shape supporting seat, the top of supporting seat is equipped with annular rotatory rack, arm fixedly connected with rotating electrical machines, rotating electrical machines are connected with rotary gear, rotary gear with rotatory rack meshes mutually.
Furthermore, an anti-collision ring is arranged at the bottom of the supporting seat, and an undercarriage and/or a reinforcing frame are fixedly connected to the bottom of the anti-collision ring.
Further, a dust cover is connected to the supporting seat in a sliding mode.
Further, a travel switch C is arranged on the mechanical arm, the travel switch C is triggered when the mechanical arm retracts fully after the rope threading operation is finished, and the travel switch C is connected with the rope threading device control unit.
According to the intelligent rope threading device, the end of the mechanical arm clamping jaw is provided with the rope threading ball shell which can be opened and closed, the rope threading ball for carrying and fixing a rope is arranged in the rope threading ball shell, and fine rope threading operation is realized by controlling the difference of suction positions of the rope threading ball in the rope threading ball shell.
The rope threading device is reasonable in structure and simple and convenient to operate, and potential safety hazards caused by ascending cooperation of personnel in traditional rope threading operation are eliminated; simultaneously, because of the skill dependence to unmanned aerial vehicle control personnel is lower, be favorable to the extensive popularization of rope handling operation technique, improve work efficiency, be suitable for the application demand of multiple trade.
Drawings
Figure 1 is a schematic view of the structure of the present invention,
figure 2 is a cross-sectional view a-a of figure 1,
figure 3 is a top view of figure 1,
figure 4 is a schematic view of the fully extended robot arm of the present invention,
figure 5 is a schematic view of the fully retracted robot of the present invention,
figure 6 is a schematic view of the configuration of the shell of the tethered ball of the present invention,
figure 7 is a schematic view of the configuration of the tethered ball of the present invention,
fig. 8 is a schematic diagram of the present invention.
In the figure: 1-mechanical arm, 10-rotating motor, 100-rotating gear, 11-big arm, 12-small arm, 13-back arm, 14-middle arm, 15-front arm, 16-wrist, 17-palm, 171-laser radar, 18-clamping jaw, 19-rope penetrating ball shell, 191-half shell one, 192-half shell two; 2-a balance arm; 3-a control unit box; 41-travel switch A, 42-travel switch B; 5-an electromagnetic relay; 6-threading a rope ball; 7-a support seat, 70-a rotating rack, 71-an anti-collision ring, 711-a landing gear, 712-a reinforcing frame and 72-a mounting frame; 8-a dust cover;
r-rope;
the broken line in fig. 4 is a schematic structural view of the working state of the robot arm.
Detailed Description
The invention is further described below with reference to fig. 1-8.
The intelligent rope threading device is used for rope threading operation of an unmanned aerial vehicle, a hanging mechanism is arranged at the top of the rope threading device, and the rope threading device is hung on the unmanned aerial vehicle through the hanging mechanism;
the stringing device comprises a mechanical arm 1, a balance arm 2 and a control unit box 3,
the mechanical arm 1 and the balance arm 2 are both telescopic arms (the electric telescopic arm technology is the prior art, is usually realized by gear pair transmission, and is not described herein), a rope threading device control unit and a built-in power supply are arranged in the control unit box 3, the built-in power supply is used for supplying power to the rope threading device, and the rope threading device control unit is used for controlling the action of the rope threading device; the control unit box 3 can also be provided with an indicator light for displaying whether the rope threading device enters a normal working state or not; the initial state of the mechanical arm 1 before the unmanned aerial vehicle takes off is a full retraction state, the mechanical arm extends out by a proper length during rope threading operation, and after the rope threading is finished, the mechanical arm 1 retracts fully and returns to the initial state to prepare for rope threading operation at the next position;
the control unit box 3 is connected with the balance arm 2, the balance arm 2 is connected with one end of the mechanical arm 1, the other end of the mechanical arm 1 is provided with a palm 17, and the palm 17 is provided with a laser radar 171 and a clamping jaw 18; the control unit box 3 is used for moving the balance arm 2 to a proper position for balancing weight through stretching when the mechanical arm 1 acts, so that the horizontal balance of the mechanical arm 1 is ensured, and the end of the mechanical arm 1 at the end of the control unit box 3 can be provided with a back balance weight cover to reduce the adjustment amount of the control unit box 3; the laser radar 171 is used for measuring the distance between the palm 17 and the work place;
the clamping jaw 18 is two enclosed semi-rings, the opening and closing control is realized through a motor, a travel switch A41 is arranged on the inner side of the clamping jaw 18, so that the travel switch A41 is triggered when the clamping jaw 18 is closed, the travel switch A41 sends a signal to the rope threading device control unit, and the rope threading device control unit controls the electromagnetic relay 5 to perform opening and closing switching;
the end part of the clamping jaw 18 is provided with a pair of hemispherical stringing ball shells 19, namely a first half shell 191 and a second half shell 192, a pair of electromagnetic relays 5 are arranged in the stringing ball shells 19, one electromagnetic relay 5 is positioned on the first half shell 191, the other electromagnetic relay 5 is positioned on the second half shell 192, the electromagnetic relays 5 are used for attracting the stringing ball 6 to the stringing ball shells 19 on the same side, and the stringing ball 6 is attracted to the first half shell 191 side or the second half shell 192 side by controlling the on-off of the electromagnetic relays 5; travel switches B42 are arranged in the half shell I191 and the half shell II 192, when the stringing ball 6 is sucked on one side of the stringing ball shell 19, the travel switch B42 on the same side is triggered, and a signal is sent to the stringing device control unit;
the laser radar 171, the travel switch a41, the travel switch B42, and the electromagnetic relay 5 are connected to the reeder control unit.
The mechanical arm 1 comprises a large arm 11, a small arm 12, a rear arm 13, a middle arm 14, a front arm 15 and a wrist 16 which are connected in sequence, referring to fig. 4, the large arm 11 is a fixed part, and the part between the small arm 12 and the wrist 16 is a telescopic part which can extend to a specific length according to the operation requirement; the mechanical arm 1 has at least two degrees of freedom, the degrees of freedom are realized by arranging a joint motor, the middle arm 14 rotates around the rear arm 13 to form a first degree of freedom, and the front arm 15 rotates around the middle arm 14 to form a second degree of freedom.
The palm 17 rotates around the wrist 16 forming a third degree of freedom of the robot arm 1.
A gyroscope is also arranged in the control unit box 3 and is connected with the rope threading device control unit. The gyroscope is used for measuring real-time space attitude parameters of the mechanical arm 1, and the feeding rope threading device control unit controls the balance arm 2 to stretch to a proper position for balancing weight and carrying out balance compensation.
The bottom of arm 1 is equipped with circular shape supporting seat 7, the center of supporting seat 7 is equipped with tube-shape mounting bracket 72, arm 1 runs through and fixed connection is on mounting bracket 72, the mechanism that hangs of rope handling ware sets up in the top of mounting bracket 72, the top of supporting seat 7 is equipped with annular rotatory rack 70, arm 1's side fixedly connected with rotating electrical machines 10, rotating electrical machines 10 is connected with rotary gear 100, rotary gear 100 meshes with rotatory rack 70 mutually, rotating electrical machines 10 during operation, drive arm 1 rotates around the center of supporting seat 7.
The bottom of the supporting seat 7 is provided with an anti-collision ring 71, and the bottom of the anti-collision ring 71 is fixedly connected with a landing gear 711 and/or a reinforcing frame 712. The mechanical strength of the rope threading device is enhanced, and the rope threading device is prevented from being damaged due to collision during takeoff and landing of the unmanned aerial vehicle or operation.
The supporting seat 7 is connected with a dust cover 8 in a sliding mode, the dust cover 8 is located on two sides of the mechanical arm 1 and is in two enclosed semi-circles, and the dust cover can rotate along with the mechanical arm 1.
The mechanical arm 1 is provided with a travel switch C, the travel switch C is triggered when the mechanical arm 1 retracts after the rope threading operation is finished, and the travel switch C is connected with a rope threading device control unit; after the travel switch C is triggered, a rope threading success signal is sent to the rope threading device control unit, and the unmanned aerial vehicle drives the intelligent rope threading device to continuously fly to the next place for rope threading operation.
The disclosure of the present application also includes the following points:
(1) the drawings of the embodiments disclosed herein only relate to the structures related to the embodiments disclosed herein, and other structures can refer to general designs;
(2) in case of conflict, the embodiments and features of the embodiments disclosed in this application can be combined with each other to arrive at new embodiments;
the above embodiments are only examples disclosed in the present application, but the scope of the present disclosure is not limited thereto, and those skilled in the art should be able to change some of the technical features of the present disclosure within the scope of the present application.
Claims (8)
1. An intelligent rope threading device for rope threading operation of an unmanned aerial vehicle, which is characterized in that,
the stringing device comprises a mechanical arm, a balance arm and a control unit box,
the rope threading device comprises a mechanical arm, a balance arm, a rope threading device control unit and a built-in power supply, wherein the mechanical arm and the balance arm are telescopic arms;
the control unit box is connected with the balance arm, the balance arm is connected with one end of the mechanical arm, the other end of the mechanical arm is provided with a palm, and the palm is provided with a laser radar and a clamping jaw;
the clamping jaw is two enclosed semi-rings, and a travel switch A is arranged on the inner side of the clamping jaw, so that the travel switch A is triggered when the clamping jaw is closed;
the end part of the clamping jaw is provided with a pair of hemispherical stringing ball shells, namely a first half shell and a second half shell, a pair of electromagnetic relays are arranged in the stringing ball shells, one electromagnetic relay is positioned in the first half shell, the other electromagnetic relay is positioned in the second half shell, and the electromagnetic relays are used for sucking the stringing ball to the stringing ball shells on the same side; travel switches B are arranged in the first half shell and the second half shell, and when the stringing ball is sucked on one side of the stringing ball shell, the travel switches B on the same side are triggered;
the laser radar, the travel switch A, the travel switch B and the electromagnetic relay are connected with the rope threading device control unit.
2. The intelligent rope threading device of claim 1, wherein the mechanical arm comprises a rear arm, a middle arm, a front arm and a wrist connected in sequence, the mechanical arm has at least two degrees of freedom, the middle arm rotates around the rear arm to form a first degree of freedom, and the front arm rotates around the middle arm to form a second degree of freedom.
3. An intelligent roping attachment according to claim 2, characterized in that said palm is rotated around said wrist, forming a third degree of freedom of said mechanical arm.
4. The intelligent rope threading device of claim 2, wherein a gyroscope is further arranged in the control unit box, and the gyroscope is connected with the rope threading device control unit.
5. The intelligent rope threading device of claim 1, wherein a circular support base is arranged at the bottom of the mechanical arm, an annular rotating rack is arranged at the top of the support base, a rotating motor is fixedly connected to the mechanical arm, a rotating gear is connected to the rotating motor, and the rotating gear is meshed with the rotating rack.
6. The intelligent rope threading device according to claim 5, wherein an anti-collision ring is arranged at the bottom of the supporting seat, and a landing gear and/or a reinforcing frame are fixedly connected to the bottom of the anti-collision ring.
7. The intelligent rope threading device of claim 5, wherein a dust cover is slidably connected to the support base.
8. The intelligent rope threading device of claim 1, wherein a travel switch C is arranged on the mechanical arm, the travel switch C is triggered when the mechanical arm is fully retracted after rope threading operation is finished, and the travel switch C is connected with the rope threading device control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011331963.1A CN112389653B (en) | 2020-11-24 | 2020-11-24 | Intelligent rope threading device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011331963.1A CN112389653B (en) | 2020-11-24 | 2020-11-24 | Intelligent rope threading device |
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| Publication Number | Publication Date |
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| CN112389653A CN112389653A (en) | 2021-02-23 |
| CN112389653B true CN112389653B (en) | 2022-01-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011331963.1A Active CN112389653B (en) | 2020-11-24 | 2020-11-24 | Intelligent rope threading device |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4328952A (en) * | 1979-12-13 | 1982-05-11 | Chapman Claude L | Apparatus and methods for line stringing |
| CN204304316U (en) * | 2015-01-05 | 2015-04-29 | 河南华通电缆有限公司 | Overhead line installation |
| KR20170087340A (en) * | 2016-01-20 | 2017-07-28 | 한국전력공사 | System and method for connection power line using dron |
| CN109683629A (en) * | 2019-01-09 | 2019-04-26 | 燕山大学 | Unmanned plane electric stringing system based on integrated navigation and computer vision |
| CN110467062A (en) * | 2019-08-16 | 2019-11-19 | 国网江苏省电力有限公司扬州供电分公司 | A kind of UAV Intelligent wire dispenser |
| CN111470056A (en) * | 2020-04-14 | 2020-07-31 | 国网江苏省电力有限公司扬州供电分公司 | Intelligent pulley and working method thereof |
-
2020
- 2020-11-24 CN CN202011331963.1A patent/CN112389653B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4328952A (en) * | 1979-12-13 | 1982-05-11 | Chapman Claude L | Apparatus and methods for line stringing |
| CN204304316U (en) * | 2015-01-05 | 2015-04-29 | 河南华通电缆有限公司 | Overhead line installation |
| KR20170087340A (en) * | 2016-01-20 | 2017-07-28 | 한국전력공사 | System and method for connection power line using dron |
| CN109683629A (en) * | 2019-01-09 | 2019-04-26 | 燕山大学 | Unmanned plane electric stringing system based on integrated navigation and computer vision |
| CN110467062A (en) * | 2019-08-16 | 2019-11-19 | 国网江苏省电力有限公司扬州供电分公司 | A kind of UAV Intelligent wire dispenser |
| CN111470056A (en) * | 2020-04-14 | 2020-07-31 | 国网江苏省电力有限公司扬州供电分公司 | Intelligent pulley and working method thereof |
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| CN112389653A (en) | 2021-02-23 |
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