CN114715400A - High-altitude operation equipment based on tethered unmanned aerial vehicle and control method thereof - Google Patents
High-altitude operation equipment based on tethered unmanned aerial vehicle and control method thereof Download PDFInfo
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- CN114715400A CN114715400A CN202210485594.4A CN202210485594A CN114715400A CN 114715400 A CN114715400 A CN 114715400A CN 202210485594 A CN202210485594 A CN 202210485594A CN 114715400 A CN114715400 A CN 114715400A
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- 229910052742 iron Inorganic materials 0.000 claims description 14
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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
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F3/00—Ground installations specially adapted for captive aircraft
- B64F3/02—Ground installations specially adapted for captive aircraft with means for supplying electricity to aircraft during flight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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Abstract
The invention relates to the technical field of aerial work, in particular to aerial work equipment based on a tethered unmanned aerial vehicle and a control method thereof. The invention aims to provide equipment capable of replacing a construction worker to finish bolt tightening work during construction of an overhead power transmission tower, namely overhead working equipment based on a mooring unmanned aerial vehicle, and the technical scheme of the equipment comprises a ground support vehicle, the mooring unmanned aerial vehicle, an electric control sucker assembly and a six-axis robot which is used for executing a bolt tightening work task and is fixedly connected with the top side wall of a sucker cantilever; automatically controlled sucking disc subassembly includes automatically controlled sucking disc, sucking disc cantilever, sucking disc control box, and the one end parallel fixation of sucking disc cantilever is in unmanned aerial vehicle organism top surface, and the sucking disc control box is fixed in the unmanned aerial vehicle organism, the other end and the automatically controlled sucking disc vertical fixation of sucking disc cantilever. The aerial work equipment based on the mooring unmanned aerial vehicle can replace construction workers to finish aerial retightening work when an aerial transmission tower is constructed, reduces the frequency of climbing high places of the operation personnel, and improves the safety factor when in construction.
Description
Technical Field
The invention relates to the technical field of aerial work, in particular to the technical field of aerial work based on a tethered unmanned aerial vehicle, and specifically relates to aerial work equipment based on the tethered unmanned aerial vehicle and a control method thereof.
Background
Traditional high altitude transmission tower equipment's construction flow is mainly with the help of embracing the pole, hoist engine or crane accomplish lifting by crane of relevant equipment component, and climb to the high altitude by high altitude construction personnel, the work is built in manual completion assembly, and simultaneously, for ensuring high altitude transmission tower's security, after accomplishing the work is built in the assembly, need carry out bolt retightening work, at this moment, even this work is very simple, also need high altitude construction personnel to climb to the high altitude and go on, not only waste time and energy, also bring very big potential safety hazard for high altitude construction personnel simultaneously. Therefore, it is necessary to invent a device which can replace a constructor to complete relatively simple aloft work, namely, a device which can realize the bolt tightening task during the construction of an aloft power transmission iron tower.
Disclosure of Invention
The invention aims to provide equipment capable of replacing a bolt tightening task of a constructor during construction of an overhead power transmission tower, namely overhead operation equipment based on a mooring unmanned aerial vehicle and a control method.
The invention is realized by adopting the following technical scheme:
the high-altitude operation equipment based on the mooring unmanned aerial vehicle comprises a ground support vehicle, the mooring unmanned aerial vehicle, an electric control sucker assembly and a six-axis robot;
the mooring unmanned aerial vehicle comprises an unmanned aerial vehicle body, a rotor wing connecting rod and blades, wherein a pan-tilt camera is fixed on the bottom surface of the unmanned aerial vehicle body;
the electric control sucker assembly comprises an electric control sucker, a sucker cantilever and a sucker control box, one end of the sucker cantilever is fixed on the top surface of the unmanned aerial vehicle body in parallel, the sucker control box is fixed on the unmanned aerial vehicle body, and the other end of the sucker cantilever is exposed out of the unmanned aerial vehicle body and is vertically fixed with the electric control sucker;
the six-axis robot is used for executing a bolt re-tightening operation task and is fixedly connected with the top side wall of the sucker cantilever;
ground support car includes automobile body unit, action cell, power pack, the control unit, electrical unit, vision perception unit, and electrical unit links to each other with mooring unmanned aerial vehicle through mooring cable for supply power for mooring unmanned aerial vehicle and six robots.
Further, the six-axis robot comprises a mechanical claw, a small mechanical arm, a middle mechanical arm and a large mechanical arm, wherein a robot camera is arranged on the small mechanical arm, the mechanical claw is of a three-claw multi-link structure so as to realize grasping and releasing actions of the mechanical claw, an included angle of 120 degrees is formed in the inner wall of each claw head of the mechanical claw, and when the mechanical claw is in a fully-closed grasping state (when the fully-closed grasping state is the limit of the grasping state of the three claw heads of the mechanical claw, and when the semi-closed grasping state is a state between the limit of the grasping state and the limit of the releasing state of the three claw heads of the mechanical claw), the three claw heads of the mechanical claw enclose a hexagonal prism-shaped cavity which is coaxially arranged with the mechanical claw. The structure concretization of gripper, and this structure can be applicable to the bolt of retightening different size (realize through screwing up hexagon nut), simple structure and application scope are big.
Further, the unmanned aerial vehicle organism is flat eight prismatic column structure (flat eight prismatic column structure is the edge evagination of flat disc has eight prisms of equipartition promptly), the rotor connecting rod is six and respectively fixed connection in six wherein prism sides of unmanned aerial vehicle organism, six rotor connecting rods are whole to be radial arrangement and symmetrical equipartition in the both sides of the width direction of sucking disc cantilever as the center with the unmanned aerial vehicle organism simultaneously, sucking disc control box is located mooring unmanned aerial vehicle organism top surface middle part position, automatically controlled sucking disc is greater than the length of rotor connecting rod with its distance apart from the prism side that the unmanned aerial vehicle organism is nearest. Six robots and the top lateral wall fixed connection of the other end tip of sucking disc cantilever, when the big arm of machinery is folded to parallel with the sucking disc cantilever and be located the sucking disc cantilever top, the arm in the machinery of six robots, mechanical forearm and gripper can be folded and be a style of calligraphy and fold to the below of the big arm of machinery to make the arm in the machinery of six robots, mechanical forearm and gripper and sucking disc cantilever for sucking disc control box-shaped symmetrical structure, be favorable to mooring unmanned aerial vehicle flying stability.
Furthermore, a connecting shaft is further arranged between the other end of the sucker cantilever and the electric control sucker, one end of the connecting shaft and the other end of the sucker cantilever are connected in a relative rotation mode through an execution motor, and the other end of the connecting shaft is fixedly connected with the electric control sucker in a perpendicular mode, so that the six-axis robot can move more flexibly.
Further, the middle part top surface of the automobile body unit of ground support car is fixed with the unmanned aerial vehicle platform that takes off and land that is used for mooring unmanned aerial vehicle to stop, is equipped with six rotor connecting rods that are used for mooring unmanned aerial vehicle respectively on the unmanned aerial vehicle platform that takes off and land and can dismantle the rotor buckle that is fixed in on the unmanned aerial vehicle platform that takes off and land.
Further, be equipped with unmanned aerial vehicle battery and six robot batteries in the ground guarantee car, the unmanned aerial vehicle battery is for mooring unmanned aerial vehicle and automatically controlled sucking disc power supply through mooring the cable, and six robot batteries are the six robot power supplies through mooring the cable, and mooring unmanned aerial vehicle, automatically controlled sucking disc and six robot all adopt the mode of independent power supply simultaneously.
Further, the afterbody of ground guarantee car is equipped with back of the body storehouse, and unmanned aerial vehicle battery and six axis robot battery, mooring cable, capstan winch structure all set up in back of the body storehouse.
The control method of the aerial work equipment based on the tethered unmanned aerial vehicle comprises the following steps: 1) when the aerial working equipment does not perform aerial working tasks, the six-axis robot keeps an initial state, namely the mechanical large arm is folded to be parallel to the sucker cantilever and positioned above the sucker cantilever, and the mechanical middle arm, the mechanical small arm and the mechanical claw of the six-axis robot are folded to be in a straight shape and are folded to be positioned below the mechanical large arm, so that the mechanical middle arm, the mechanical small arm, the mechanical claw and the sucker cantilever of the six-axis robot are in a symmetrical structure relative to the sucker control box; 2) an operator designates a working place, and the ground guarantee vehicle automatically finishes environmental information acquisition and path planning and automatically drives to a destination; 3) the ground support vehicle is controlled to open the back cabin turnover cover, a rotor wing buckle used for fixing a rotor wing connecting rod of the mooring unmanned aerial vehicle on the unmanned aerial vehicle lifting platform is loosened, then the mooring unmanned aerial vehicle is electrified, the mooring unmanned aerial vehicle takes off, and meanwhile, a mooring cable is released by a winch mechanism; 4) an operator controls the tethered unmanned aerial vehicle to fly to a position of the high-altitude power transmission tower where bolt tightening is needed, the tethered unmanned aerial vehicle is in a hovering state at the moment, accurate position information of the tethered unmanned aerial vehicle and the high-altitude power transmission tower where bolt tightening is needed is collected in real time by a holder camera in the whole flying process, and the electric control sucker is not electrified until the electric control sucker loaded by the tethered unmanned aerial vehicle stops and contacts the position of the high-altitude power transmission tower where bolt tightening is needed; 5) when the mooring unmanned aerial vehicle stops and contacts the position of the high-altitude power transmission iron tower needing bolt tightening, the operator controls the sucker control box to electrify the electric control sucker, and the mooring unmanned aerial vehicle is adsorbed at the position of the high-altitude power transmission iron tower needing bolt tightening through the electric control sucker; 6) closing a power supply of the mooring unmanned aerial vehicle, controlling the six-axis robot by an operator according to camera information provided by a robot camera at the moment, accurately positioning the mechanical claw, clamping three claw heads of the mechanical claw on three nonadjacent corners of a hexagon nut, and then controlling the number of turns of rotation of the mechanical claw (known by technical personnel in the field, the specific number of turns of rotation of the mechanical claw is determined according to the suspension screwing condition when the hexagon nut is installed by high-altitude operators), thereby completing the bolt re-tightening task of the high-altitude power transmission iron tower; 7) after the bolt re-tightening task at the position is completed, the six-axis robot is controlled by an operator to be in an initial state, the mooring unmanned aerial vehicle is started, when the lifting force of the mooring unmanned aerial vehicle is large enough, the electric control sucker is controlled to cut off the power, the mooring unmanned aerial vehicle flies to the next high-altitude power transmission tower and needs the bolt re-tightening position to re-tighten the bolt until all the bolt re-tightening tasks of the high-altitude power transmission tower are completed, and finally, the bolt is returned and landed on the unmanned aerial vehicle landing platform of the ground support vehicle.
The beneficial effects produced by the invention are as follows: 1) the high-altitude operation equipment based on the mooring unmanned aerial vehicle can replace high-altitude operation personnel to finish bolt tightening work during construction of a high-altitude power transmission iron tower, reduces the frequency of the high-altitude operation personnel climbing high places, and improves the safety factor during construction of the power transmission iron tower; 2) according to the invention, a design scheme of the mooring unmanned aerial vehicle is adopted, the mooring unmanned aerial vehicle and the six-axis robot do not carry a power supply, but are supplied with electric energy by the ground support vehicle through the mooring cable, so that the system load capacity of the unmanned aerial vehicle is reduced, and the cruising ability of the unmanned aerial vehicle is greatly improved; 3) according to the invention, the ground guarantee vehicle carries the mooring unmanned aerial vehicle and the six-axis robot with the electric control sucker, so that the trafficability of the tracked vehicle is considered, the flight capability of the unmanned aerial vehicle is also realized, the six-axis robot can be conveniently transported to an aerial work place, and the transportation problem of the six-axis robot in a complex environment, especially the aerial work, is overcome; 4) the invention carries an electric control sucker with a cantilever on the mooring unmanned aerial vehicle, and the electric control sucker can be tightly adsorbed on the transmission tower under the action of the electric control sucker, which is equivalent to providing a stable acting point for the mooring unmanned aerial vehicle and the multi-axis robot, so that the six-axis robot can finish the operation contents of large force or moment, such as bolt re-tightening during the construction of the transmission tower; 4) the mooring unmanned aerial vehicle, the electric control sucking disc and the six-axis robot all adopt an independent power supply mode, when the mooring unmanned aerial vehicle works, the electric control sucking disc and the six-axis robot are not electrified, after the electric control sucking disc is close to a target, the electric control sucking disc is electrified and is adsorbed on the target, and the mooring unmanned aerial vehicle can be stopped at the moment, so that the endurance time of the mooring unmanned aerial vehicle is greatly prolonged.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the high-altitude operation equipment based on the tethered unmanned aerial vehicle;
fig. 2 is a structural schematic diagram of the tethered unmanned aerial vehicle carrying an electric control suction cup and a six-axis robot (initial state of the six-axis robot);
fig. 3 is a schematic top view of the tethered drone;
fig. 4 is a schematic view of the bottom view of the tethered drone;
FIG. 5 is a schematic view of the six-axis robot and the electric control chuck assembly;
FIG. 6 is a schematic view of the three jaw heads of the illustrated gripper;
FIG. 7 is a schematic structural view of the ground support vehicle;
FIG. 8 is a schematic view of the internal structure of the ground support vehicle;
FIG. 9 is a schematic structural view of the mooring line and winch mechanism;
fig. 10 is a schematic view of the flight process of the tethered drone;
FIG. 11 is a schematic view of the six-axis robotic arm in an expanded configuration;
figure 12 is a schematic view of the aerial work apparatus in use.
In the figure: 1-mooring unmanned aerial vehicle, 101-unmanned aerial vehicle body, 102-rotor connecting rod, 103-brushless motor, 104-blade, 105-pan-tilt camera, 106-cable slot, 107-fixing buckle, 2-electric control sucker component, 201-sucker cantilever, 202-electric control permanent magnetic sucker, 203-connecting shaft, 204-control cable, 205-sucker control box, 3-six-axis robot, 301-gripper, 302-mechanical small arm, 303-mechanical middle arm, 304-mechanical large arm, 305-robot camera, 306-push rod motor, 307-rotating motor, 308-first servo motor, 309-second servo motor, 310-third servo motor, 311-fourth servo motor, 312-fifth servo motor, 4-ground support vehicle, 401-vehicle body unit, 402-action unit, 403-power unit, 404-visual perception unit, 405-unmanned aerial vehicle take-off and landing platform, 406-back cabin, 407-communication antenna, 408-direct current motor, 409-power battery pack, 410-control unit, 411-winch mechanism, 412-mooring cable, 413-unmanned aerial vehicle storage battery, 414-battery pack, 415-six-axis robot storage battery, 416-distance sensor, 417-winch motor, 418-wire coil, 5-hexagon nut, and 6-power transmission tower.
Detailed Description
High altitude construction equipment based on mooring unmanned aerial vehicle mainly includes mooring unmanned aerial vehicle 1, automatically controlled sucking disc subassembly 2, six robots 3 and ground support car 4.
The tethered drone 1 comprises a drone body 101, a rotor link 102, a brushless motor 103, blades 104, a pan-tilt camera 105, a cable slot 106, and a fixed buckle 107.
Unmanned aerial vehicle organism 101 be flat eight prismatic column structures, be equipped with central controller in unmanned aerial vehicle organism 101's organism, the flight/attitude control of mooring unmanned aerial vehicle, video image acquisition, power supply management, long-range wireless communication all accomplish at central controller. Six edges of the unmanned aerial vehicle body 101 are respectively connected with a rotor wing connecting rod 102, and the number of the rotor wing connecting rods is 6. Every rotor connecting rod 102 adopts hinged joint with unmanned aerial vehicle organism 101, can fold rotor connecting rod 102 when mooring unmanned aerial vehicle 1 out of work in order to save high altitude construction space. Above every hinge of unmanned aerial vehicle organism 101, respectively there is a knob buckle, and its effect is when rotor connecting rod 102 during operation, expandes behind the rotor connecting rod and rotate the knob buckle, and the hinge is died by the card for rotor connecting rod 102 can't be folded, thereby has guaranteed the reliable work of mooring unmanned aerial vehicle 1. And 6 brushless motors 103 are respectively connected to one end of each rotor wing connecting rod 102 far away from the fuselage. The control wire of connecting brushless motor 103 passes rotor link 102 internal cavity and reaches the inside central controller of unmanned aerial vehicle organism 101. The input shaft direction of each brushless motor 103 is upwards, and a pair of blades 104 is concentrically installed on the output shaft of each brushless motor 103, and the lift force of the mooring unmanned aerial vehicle is realized by the high-speed rotation of 6 pairs of blades. At the bottom surface edge of unmanned aerial vehicle organism 101, the screw thread is equipped with a cloud platform camera 105, and cloud platform camera 105 not only can be with the image information of gathering to ground support car 4 or remote operation personnel through central controller remote transmission, also can regard as "eyes" when mooring unmanned aerial vehicle 1 accomplishes complicated accurate high altitude construction simultaneously. In the bottom surface central point of unmanned aerial vehicle organism 101 puts, is equipped with cable slot 106 for connect mooring cable 412, thereby realize the power supply to mooring unmanned aerial vehicle 1, automatically controlled permanent magnetism sucking disc 202 and six robots 3. At the top surface of unmanned aerial vehicle organism 101, be equipped with the fixed buckle 107 that is used for fixed automatically controlled permanent magnetism sucking disc 202.
Automatically controlled sucking disc subassembly 2 mainly include: the suction cup comprises a suction cup cantilever 201, an electric control permanent magnetic suction cup 202, a connecting shaft 203, a control cable 204, a suction cup control box 205 and the like.
The sucker cantilever 201 is of a hollow square tubular structure, so that the strength of the sucker cantilever 201 is guaranteed, and the weight of the sucker cantilever is greatly reduced. One end of the suction cup cantilever 201 is fixedly installed on the top surface of the unmanned aerial vehicle body 101 through the fixed buckle 107, the other end is rotatably installed with a connecting shaft 203, and the connecting shaft 203 is not fixedly connected with an electric control permanent magnetic suction cup 202 coaxially connected with the suction cup cantilever 201. One end of the control cable 204 is connected to the plurality of excitation coil sets inside the electrically controlled permanent magnetic chuck 202, and the other end is connected to the chuck control box 205. Suction cup control box 205 fixed mounting is in the top surface middle part position of unmanned aerial vehicle organism 101. The power supply of the suction cup control box 205 is controlled by a power supply management module inside the unmanned aerial vehicle body 101, and the unmanned aerial vehicle storage battery 413 of the ground support vehicle 4 is connected by a mooring cable 412. An independent switch is arranged in the suction cup control box 205, and the magnetization/demagnetization of the electric control permanent magnetic suction cup 202 is realized by controlling the on/off of the independent switch.
In specific implementation, the electric control permanent magnetic chuck 202 can be replaced by an electric control vacuum chuck, so that the adsorption function of a non-metal target is realized, and the purpose of the equipment is diversified.
The six-axis robot 3 comprises a mechanical claw 301, a mechanical small arm 302, a mechanical middle arm 303, a mechanical big arm 304, a robot camera 305 and a plurality of actuating motors.
The gripper 301 is a three-jaw multi-link structure, a push rod motor 306 is installed at the tail end of the gripper 301, and the gripping and releasing actions of the gripper 301 can be realized by controlling the extension and retraction of the push rod motor 306 to drive the multi-link mechanism. The inner wall of each claw head of the mechanical claw is provided with an included angle of 120 degrees, and when the mechanical claw is in a fully-closed grasping state, three claw heads of the mechanical claw form a hexagonal prism-shaped cavity in a surrounding mode. The structure concreteness of the mechanical claw can be applied to the tightening of the hexagon nuts 5 with different sizes, and the mechanical claw has simple structure and wide application range. A rotary motor 307 is attached to the head end of the mechanical arm 301 outside the pusher motor 306, and can rotate the mechanical claw 301. In specific implementation, the gripper 301 may be detachable, or may be replaced with another mechanism such as a pulley or a hook.
The small mechanical arm 302, the middle mechanical arm 303 and the large mechanical arm 304 are all hollow square tubular structures, so that the strength of the small mechanical arm is guaranteed, the weight of the small mechanical arm can be greatly reduced, and control and electrified cable connection of each execution motor are facilitated.
A first servo motor 308 is installed at the joint position between the small mechanical arm 302 and the middle mechanical arm 303, so as to realize the relative motion between the small mechanical arm 302 and the middle mechanical arm 303.
The tail end of the middle mechanical arm 303 is connected with a second servo motor 309, and a third servo motor 310 is installed at the joint position between the base of the second servo motor 309 and the large mechanical arm 304, so that two-degree-of-freedom motion between the middle mechanical arm 303 and the large mechanical arm 304 is realized.
The joint position between the mechanical large arm 304 and the suction cup cantilever 201 is provided with a fifth servo motor 312, the joint position between the servo motor base and the mechanical large arm 304 is also provided with a fourth servo motor 311, and the two-degree-of-freedom motion between the mechanical large arm 304 and the suction cup cantilever 201 is realized by the fourth servo motor 311.
Six axis robot's mechanical forearm 302, machinery in arm 303 and the big arm 304 of machinery can fold together, and with sucking disc cantilever 201, form "symmetrical structure", the purpose of doing so is in order to make its focus be close to mooring unmanned aerial vehicle 1's geometric centre as far as possible, combine six rotor connecting rods symmetry equipartition respectively in the both sides of sucking disc cantilever for six axis robot and mooring unmanned aerial vehicle, automatically controlled sucking disc subassembly whole form a relatively stable structure, be favorable to mooring unmanned aerial vehicle's flight stability.
The six-axis robot 3 adopts an independent power supply mode, and electric energy is sourced from a six-axis robot storage battery 415 of the ground support vehicle 4.
The body unit 401 is a main structure of the ground support vehicle 4, and is surrounded by a metal sheet. At automobile body unit 401's middle part top surface, install unmanned aerial vehicle platform 405 that takes off and land, on unmanned aerial vehicle platform 405 that takes off and land, be equipped with 6 rotor buckles, when mooring unmanned aerial vehicle 1 berths on unmanned aerial vehicle platform 405 that takes off and land, can fix rotor connecting rod 103 through the rotor buckle to guarantee mooring unmanned aerial vehicle 1 and ground support car 4's relatively stable. At the central point of unmanned aerial vehicle platform 405 that takes off and land, install a distance sensor 416, come the position relation that detects mooring unmanned aerial vehicle 1 and unmanned aerial vehicle platform 405 that takes off and land by it to mooring unmanned aerial vehicle 1 can stably berth on unmanned aerial vehicle platform 405 that takes off and land. At the head position of the body unit 401, a visual perception module 404 is screw-mounted. The vision perception module 404 adopts a binocular camera, can monitor an environmental target, transmits acquired environmental image information to the control unit 410, and makes a judgment by the control unit 410, so that a traveling route and a traveling mode of the ground support vehicle are planned, and a remote control or automatic traveling function can be realized. At the rear of the body unit 401, there is a rear compartment 406, in which rear compartment 406 are placed a battery pack 414, a mooring cable 412, and a winch mechanism 411, a force sensor. The back cabin 406 adopts an upper flip design, and when the tethered drone 1 takes off and works, the flip of the back cabin 406 needs to be opened in advance and the tethered cable 412 needs to be released by the winch mechanism 411. On the top surface of the rear portion of the body unit 401, a communication antenna 407 is also mounted.
The mobile unit 402 is two crawler mechanisms, and the two crawler mechanisms are respectively located at two sides of the vehicle body unit 401. The crawler mainly includes: the crawler, the driving wheel, the driven wheel, the bogie wheel, the bracket and the like have similar structures with the prior crawler vehicle. The track mechanism enables the ground support vehicle 4 to have good trafficability, and has good applicability to complex environments, particularly mountain areas and forest ground pavements.
The power unit 403 is located inside the body unit 401, and two dc motors 408 are mounted in the head of the body unit 401. The dc motor 408 is connected to a speed reducer, and an output shaft of the speed reducer is connected to a belt pulley and provides power for a driving wheel of the mobile unit 402 through belt transmission. The two dc motors 408 work independently, and the forward, backward, and steering actions of the ground support vehicle 4 can be realized by the differential rotation of the driving wheels of the two crawler mechanisms. In the middle of the body unit 401, there are two sets of power battery packs 409. Under the ordinary state, two sets of power battery packs 409 respectively supply power for the two direct current motors 408 and the speed reducer independently without mutual influence, and when one set of power battery pack 409 is in power shortage, the control unit 410 can switch to the sharing mode, so that the mobile unit 402 can normally work, and the unit reliability is improved.
The control unit 410 is located in the head of the vehicle body unit 401, in front of the dc motor 408, and is a brain of the ground support vehicle 4, and functions of visual perception, image acquisition, path planning, remote communication, and energy management of the ground support vehicle 4 are realized by the control unit.
The battery pack 414, the mooring cable 412, and the winch mechanism 411 are located in the rear compartment 406 of the body unit 401. A mooring cable 412 is wound around the winch mechanism 411, and one end of the mooring cable 412 is connected to the cable insertion slot 106 at the bottom of the body of the mooring drone 1, and the other end is connected to the battery pack 414. Winch mechanism 411 includes winch motor 417 and drum 418, and winch motor 417 mainly plays the effect of electron helping hand, can be according to the flight state of mooring unmanned aerial vehicle 1, and the flexible of automatic control mooring line 412. The battery pack 414 includes an unmanned aerial vehicle battery 413 and a six-axis robot battery 415 to ensure reliable and stable operation of the captive unmanned aerial vehicle 1 and the six-axis robot 3.
The control method of the aerial work equipment based on the tethered unmanned aerial vehicle comprises the following steps: 1) when the aerial working equipment does not carry out aerial working tasks, the six-axis robot keeps an initial state, namely the mechanical large arm is folded to be parallel to the sucker cantilever and located above the sucker cantilever, the mechanical middle arm, the mechanical small arm and the mechanical claw of the six-axis robot are folded to be in a straight line shape and folded to be below the mechanical large arm, and therefore the mechanical middle arm, the mechanical small arm, the mechanical claw and the sucker cantilever of the six-axis robot are in a symmetrical structure relative to a sucker control box; 2) an operator designates a working place, and the ground guarantee vehicle automatically finishes environmental information acquisition and path planning and automatically drives to a destination; 3) the ground support vehicle is controlled to open the back cabin turnover cover, a rotor wing buckle used for fixing a rotor wing connecting rod of the mooring unmanned aerial vehicle on the unmanned aerial vehicle lifting platform is loosened, then the mooring unmanned aerial vehicle is electrified, the mooring unmanned aerial vehicle takes off, and meanwhile, a mooring cable is released by a winch mechanism; 4) an operator controls the tethered unmanned aerial vehicle to fly to a position of the high-altitude power transmission iron tower 6 needing bolt tightening, the tethered unmanned aerial vehicle is in a hovering state at the moment, accurate position information of the tethered unmanned aerial vehicle and the high-altitude power transmission iron tower 6 needing bolt tightening is acquired by a pan-tilt camera in real time in the whole flying process, and the electric control permanent magnetic chuck 202 is not electrified until the electric control permanent magnetic chuck 202 loaded by the tethered unmanned aerial vehicle stops and contacts the position of the high-altitude power transmission iron tower 6 needing bolt tightening; 5) when the mooring unmanned aerial vehicle stops and contacts the position of the high-altitude power transmission iron tower 6 needing bolt tightening, the operator controls the sucker control box to electrify the electric control permanent magnetic sucker 202 at the moment, and the mooring unmanned aerial vehicle is adsorbed at the position of the high-altitude power transmission iron tower 6 needing bolt tightening through the electric control permanent magnetic sucker 202 at the moment; 6) closing a power supply of the mooring unmanned aerial vehicle, controlling the six-axis robot by an operator according to camera information provided by a robot camera at the moment, accurately positioning the mechanical claw, clamping three claws of the mechanical claw on three nonadjacent corners of a hexagonal nut 5 (the mechanical claw at the moment can be in a fully-closed clamping state or a semi-closed clamping state depending on the size of the hexagonal nut 5), and then controlling the number of turns of rotation of the mechanical claw (the specific number of turns of rotation of the mechanical claw is known by the technical personnel in the field and is determined according to the suspension screwing condition when the overhead working personnel installs the nut), thereby completing the bolt tightening task of the overhead power transmission tower 6; 7) after the bolt re-tightening task at the position is completed, the six-axis robot is controlled by an operator to be in an initial state, the mooring unmanned aerial vehicle is started, when the lift force of the mooring unmanned aerial vehicle is large enough, the electric control permanent magnetic chuck 202 is controlled to be powered off, the mooring unmanned aerial vehicle flies to the next high-altitude power transmission tower 6 to re-tighten the bolts at the position where the bolts need to be re-tightened until all the bolt re-tightening tasks of the high-altitude power transmission tower 6 are completed, and finally, the bolts are returned and landed on an unmanned aerial vehicle landing platform of the ground support vehicle.
Claims (10)
1. The high-altitude operation equipment based on the mooring unmanned aerial vehicle is characterized by comprising a ground support vehicle (4), the mooring unmanned aerial vehicle, an electric control sucker assembly (2) and a six-axis robot (3);
the mooring unmanned aerial vehicle (1) comprises an unmanned aerial vehicle body (101), a rotor wing connecting rod (102) and a blade (104), wherein a pan-tilt camera (105) is fixed on the bottom surface of the unmanned aerial vehicle body (101);
the electric control sucker assembly (2) comprises an electric control sucker, a sucker cantilever (201) and a sucker control box (205), one end of the sucker cantilever (201) is fixed to the top surface of the unmanned aerial vehicle body (101) in parallel, the sucker control box (205) is fixed to the unmanned aerial vehicle body (101), and the other end of the sucker cantilever (201) is exposed out of the unmanned aerial vehicle body (101) and is vertically fixed with the electric control sucker;
the six-axis robot (3) is used for executing a bolt tightening task and is fixedly connected with the top side wall of the sucker cantilever (201);
the ground support vehicle (4) comprises a vehicle body unit (401), a mobile unit (402), a power unit (403), a control unit (410), a power supply unit and a visual perception unit (404), wherein the power supply unit is connected with the mooring unmanned aerial vehicle (1) through a mooring cable (412) and used for supplying power to the mooring unmanned aerial vehicle (1) and the six-axis robot (3).
2. The mooring unmanned aerial vehicle-based aerial vehicle aerial work device as claimed in claim 1, wherein the unmanned aerial vehicle body (101) is of a flat octagonal prism structure, the number of the rotor links (102) is six, the six rotor links are respectively and fixedly connected to six prism side faces of the unmanned aerial vehicle body (101), the six rotor links (102) are integrally and radially arranged around the unmanned aerial vehicle body (101) and symmetrically and uniformly distributed on two sides of the width direction of the suction cup cantilever (201), the suction cup control box (205) is located in the middle position of the top face of the mooring unmanned aerial vehicle (1), and the distance between the electric control suction cup and the prism side face, which is closest to the unmanned aerial vehicle body (101), is greater than the length of the rotor links (102).
3. The aerial work equipment based on the tethered unmanned aerial vehicle of claim 2, wherein the six-axis robot (3) comprises a gripper (301), a small mechanical arm (302), a medium mechanical arm (303) and a large mechanical arm (304), the small mechanical arm (302) is equipped with a robot camera (305), the gripper (301) is a three-jaw multi-link structure to realize the grasping and releasing actions of the gripper (301), the inner wall of each jaw of the gripper (301) is provided with an included angle of 120 degrees, and when the gripper (301) is in a fully closed grasping state, three jaws of the gripper (301) enclose a hexagonal prism-shaped cavity coaxially arranged with the gripper (301).
4. The mooring unmanned aerial vehicle-based aerial vehicle high-altitude operation equipment as claimed in claim 3, wherein the six-axis robot (3) is fixedly connected with the top side wall of the other end part of the sucker cantilever (201), and when the large mechanical arm (304) is folded to be parallel to the sucker cantilever (201) and to be located above the sucker cantilever (201), the middle mechanical arm (303), the small mechanical arm (302) and the gripper (301) of the six-axis robot (3) can be folded to be in a straight shape and to be folded to be located below the large mechanical arm (304), so that the middle mechanical arm (303), the small mechanical arm (302) and the gripper (301) of the six-axis robot (3) and the sucker cantilever (201) form a symmetrical structure relative to the sucker control box (205).
5. The high-altitude operation equipment based on the tethered unmanned aerial vehicle of claim 1, 2, 3 or 4, wherein a connecting shaft (203) is further provided between the other end of the suction cup cantilever (201) and the electrically controlled suction cup, one end of the connecting shaft (203) and the other end of the suction cup cantilever (201) are connected in a relative rotation manner through an actuating motor, and the other end of the connecting shaft (203) is vertically and fixedly connected with the electrically controlled suction cup.
6. The mooring unmanned aerial vehicle-based aerial work platform device as claimed in claim 5, wherein the unmanned aerial vehicle landing platform (405) for mooring unmanned aerial vehicle to park is fixed to the middle top surface of the body unit (401) of the ground support vehicle (4), and six rotor fasteners for detachably fixing six rotor connecting rods (102) of the mooring unmanned aerial vehicle (1) on the unmanned aerial vehicle landing platform (405) are arranged on the unmanned aerial vehicle landing platform (405).
7. The mooring unmanned aerial vehicle-based aerial work equipment as claimed in claim 6, wherein the ground support vehicle (4) is internally provided with an unmanned aerial vehicle battery (413) and a six-axis robot battery (415), the unmanned aerial vehicle battery (413) supplies power to the mooring unmanned aerial vehicle (1) and the electric control sucker through a mooring cable (412), the six-axis robot battery (415) supplies power to the six-axis robot (3) through the mooring cable (412), and the mooring unmanned aerial vehicle (1), the electric control sucker and the six-axis robot (3) adopt an independent power supply mode.
8. The aerial work equipment based on the tethered unmanned aerial vehicle of claim 7, wherein the ground support vehicle (4) has a back compartment (406) at its rear, and the unmanned aerial vehicle battery (413), the six-axis robot battery (415), the tethered cable (412), and the winch structure are all disposed within the back compartment (406).
9. The tethered unmanned aerial vehicle-based aerial vehicle of claim 8, wherein the electrically controlled suction cup is an electrically controlled permanent magnet suction cup (202) or an electrically controlled vacuum suction cup.
10. Method for working at height with the tethered drone based aerial work device of claim 8, comprising the steps of: 1) when the aerial work equipment does not perform aerial work tasks, the six-axis robot (3) keeps an initial state, namely the mechanical large arm (304) is folded to be parallel to the sucker cantilever (201) and located above the sucker cantilever (201), the mechanical middle arm (303), the mechanical small arm (302) and the mechanical claw (301) of the six-axis robot (3) are folded to be in a straight shape and folded to be below the mechanical large arm (304), and therefore the mechanical middle arm (303), the mechanical small arm (302), the mechanical claw (301) and the sucker cantilever (201) of the six-axis robot (3) form a symmetrical structure relative to the sucker control box (205); 2) the operating personnel appoints a working place, and the ground guarantee vehicle (4) automatically finishes the collection of environmental information and the planning of a path and automatically drives to a destination; 3) controlling a ground support vehicle (4) to open a flip cover of a back cabin (406), loosening a rotor fastener on a take-off and landing platform (405) of the unmanned aerial vehicle for fixing a rotor connecting rod (102) of the tethered unmanned aerial vehicle (1), then electrifying the tethered unmanned aerial vehicle (1), taking off the tethered unmanned aerial vehicle (1), and releasing a tethered cable (412) by a winch mechanism (411); 4) an operator controls the tethered unmanned aerial vehicle (1) to fly to a position of the high-altitude power transmission tower (6) needing bolt tightening, the tethered unmanned aerial vehicle (1) is in a hovering state at the moment, accurate position information of the tethered unmanned aerial vehicle (1) and the high-altitude power transmission tower (6) needing bolt tightening is acquired in real time by a holder camera (105) in the whole flying process, and the electric control sucker is not electrified until the electric control sucker loaded by the tethered unmanned aerial vehicle (1) stops and contacts the position of the high-altitude power transmission tower (6) needing bolt tightening; 5) when the mooring unmanned aerial vehicle (1) stops and contacts the position of the high-altitude power transmission iron tower (6) needing bolt tightening, an operator controls the sucker control box (205) to electrify the electric control sucker at the moment, and the mooring unmanned aerial vehicle (1) is adsorbed at the position of the high-altitude power transmission iron tower (6) needing bolt tightening through the electric control sucker at the moment; 6) closing a power supply of the mooring unmanned aerial vehicle (1), controlling the six-axis robot (3) by an operator according to camera information provided by the robot camera (305), accurately positioning the mechanical claw (301), clamping three claw heads of the mechanical claw (301) on three nonadjacent corners of a hexagon nut, and controlling the mechanical claw (301) to rotate for the set number of turns so as to complete a bolt re-tightening task of the high-altitude power transmission iron tower (6); 7) after the bolt re-tightening task of the place is completed, the six-axis robot (3) is controlled by an operator to be in an initial state, the mooring unmanned aerial vehicle (1) is started, when the lift force of the mooring unmanned aerial vehicle (1) is large enough, the electric control sucker is controlled to cut off the power, the mooring unmanned aerial vehicle (1) flies to the next high-altitude power transmission tower (6) to re-tighten the bolts at the position where the bolts need to be re-tightened, until all the bolt re-tightening tasks of the high-altitude power transmission tower (6) are completed, and finally, the bolt re-tightening tasks are returned and landed on an unmanned aerial vehicle lifting platform (405) of a ground support vehicle (4).
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