CN208113428U - A kind of Saving cortilage structure for screen of trees cleaning air-robot - Google Patents

Abstract

The utility model discloses a kind of Saving cortilage structures for screen of trees cleaning air-robot, including fixation fork, cross axle, activity fork, cylindrical sleeve, spring and screw, fixation fork, activity fork, cylindrical sleeve is hollow cylindrical, cross axle passes through the one end of bearing and fixation fork respectively, the one end connection of activity fork, thus universal joint is constituted, the other end of fixation fork and Work machine arm are connected, the one end of cylindrical sleeve is can slide axially, can relative rotation form of sleeve with activity fork the other end connect, the other end of cylindrical sleeve and tool bar are connected, spring is cylinder, fixation fork is installed in the form of package, the outside of activity fork and cylindrical sleeve, the both ends of spring are connected with fixation fork and cylindrical sleeve respectively by two screws.The utility model can reaction force to trees and torque carry out mechanical damping and can effectively weaken the influence of screen of trees reaction force or torque to air-robot flight attitude to reduce its interference to air-robot attitude stabilization.

Description

A kind of Saving cortilage structure for screen of trees cleaning air-robot

Technical field

The utility model relates to a kind of Saving cortilage structures for screen of trees cleaning air-robot, belong to transmission line of electricity tree Hinder cleaning plant technical field.

Background technique

Screen of trees is a kind of security risk existing for electric transmission line channel, shows as the continuous hyperplasia of trees in channel gradually prestige Coerce the operational safety of transmission line of electricity.For this purpose, power departments at different levels will put into a large amount of human and material resources and financial resources to linchpin every year Channel screen of trees in area carries out cleaning regulation.Current screen of trees cleaning depends on manual cleaning, and there is inefficient, peaces Full blast nearly big deficiency, therefore need a kind of power circuit channel screen of trees and clear up air-robot automatically.

When air-robot carry out screen of trees cleaning when, front end cutter will receive trees axial reaction force and upper nutation It faces upward, control the moments of reaction such as yaw, rolling, be unfavorable for the stabilization and control of air-robot flight attitude.

Summary of the invention

The utility model solve the technical issues of be：A kind of Saving cortilage knot for screen of trees cleaning air-robot is provided Structure can be realized the stress buffering of robot manipulating task cutter, play the role of protecting operation cutter and convenient for stablizing and controlling The flight attitude of robot is controlled, to solve problems of the prior art.

The technical solution that the utility model is taken is：A kind of Saving cortilage structure for screen of trees cleaning air-robot, Including fixation fork, cross axle, movable fork, cylindrical sleeve, spring and screw, fixation fork, activity fork, cylindrical sleeve are hollow circuit cylinder Shape, cross axle passes through the one end connection of the one end of bearing and fixation fork, activity fork respectively, thus constitutes universal joint, fixed The other end of fork and Work machine arm are connected, the one end of cylindrical sleeve can slide axially, can relative rotation form of sleeve It is connect with the other end of activity fork, the other end of cylindrical sleeve and tool bar are connected, and spring is cylinder, are pacified in the form of wrapping up The both ends of outside loaded on fixation fork, activity fork and cylindrical sleeve, spring are connected with fixation fork and cylindrical sleeve respectively by two screws.

Preferably, the opposite course heading for rotating left and right amplitude of both perception is equipped between above-mentioned cross axle and fixation fork to pass Sensor, is equipped with the opposite pitch angle sensor for being rotated up and down amplitude of both perception between cross axle and activity fork, cylindrical sleeve with Both shaft position sensor and perception of both perception axial relative movement amplitude relative rotary motion is equipped between activity fork The roll angle sensor of amplitude.

The beneficial effects of the utility model：Compared with prior art, the effect of the utility model is as follows：

1) the utility model Saving cortilage possesses the mechanical damping freedom degree of four direction, can be to the axial reaction of trees Power and pitching, yaw, rolling reaction carry out mechanical damping, thus effectively weaken screen of trees reaction force or torque and Influence of the vibration of operation cutter to air-robot flight attitude；

It 2), can by shaft position sensor, course heading sensor, pitch angle sensor and roll angle sensor The reaction force and torque size of screen of trees suffered by cutter when perceiving operation, and as tool feeding or exit, air-robot appearance The control of state or high fine-tuning inputs, and making to remove obstacles, it is more accurate to control.

Detailed description of the invention

Fig. 1 is the structural schematic diagram (folding type operational arm) of air-robot；

Fig. 2 is the structural schematic diagram (drawing and pulling type work jibs) of air-robot；

Fig. 3 is damping device structure schematic diagram；

Fig. 4 is folding joint structural schematic diagram (stretching, extension use state)；

Fig. 5 is folding joint structural schematic diagram (folding storage state)；

Fig. 6 is Saving cortilage structural schematic diagram；

Fig. 7 is Saving cortilage overall schematic.

In figure, 1-rotor, 2-rotor motors, 3-platform supports, 4-bodies, 5-battery packs, 6-longitudinal thrusters, 7-shrouded propellers, 8-vibration absorbers, 9-postbrachiums, 10-folding joints, 11-forearms, 12-Saving cortilages, 13-cutters Bar, 14-cutter motors, 15-operation cutters, 16-connectors, 17-cameras, 18-lockers, 19-mechanical arms, 20-make Industry arm；

801-upper plates, 802-spring-dampers, 803-lower plates；

1001-preceding connecting levers, 1002-rear connecting levers, 1003-articulated shafts, 1004-Step Shafts, 1005-lock nuts, 1006-screw rods；

1201-fixation forks, 1202-cross axles, 1203-activity forks, 1204-cylindrical sleeves, 1205-springs, 1206- Screw.

Specific embodiment

In the following, the utility model is described further in conjunction with attached drawing and specific embodiment.

Embodiment 1：As shown in Fig. 1-Fig. 7, a kind of Saving cortilage structure for screen of trees cleaning air-robot, the protection Joint 12 includes fixation fork 1201, cross axle 1202, activity fork 1203, cylindrical sleeve 1204, spring 1205 and screw 1206, is fixed Fork 1201, activity fork 1203, cylindrical sleeve 1204 are hollow cylindrical, and cross axle 1202 passes through bearing and fixation fork 1201 respectively Front, activity fork 1203 rear portion connection, thus constitute have is rotated up and down (pitching) and left rotation and right rotation (course) freedom degree Universal joint, the rear portion of cylindrical sleeve 1204 can slide axially, can relative rotation (rolling) form of sleeve and activity fork 1203 Front connection, spring 1205 is cylinder, and fixation fork 1201, activity fork 1203 and cylindrical sleeve 1204 are installed in the form of package Outside, both ends are connected with fixation fork 1201 and cylindrical sleeve 1204 respectively by two screws 1206.

Preferably, the opposite boat for rotating left and right amplitude of both perception is equipped between above-mentioned cross axle 1202 and fixation fork 1201 To angular transducer, the opposite pitch angle for being rotated up and down amplitude of both perception is equipped between cross axle 1202 and activity fork 1203 Sensor is equipped with the shaft position sensor of both perception axial relative movement amplitude between cylindrical sleeve 1204 and activity fork 1203 With perception both relative rotary motion amplitude roll angle sensor, above-mentioned each angular transducer can be used photoelectric encoder or Slide rheostat or grating scale etc., the calculating of active force or torque can be used in potentiometer etc., upper displacement sensors：By everybody Tensible rigidity, bending stiffness and the torsion stiffness of displacement and spring that displacement sensor and angular transducer measure, are calculated Obtain each active force (stretch or compress) or torque (pitching moment, course torque, torsional moment).

Using the opposite stress-displacement in both ends (cylindrical sleeve 1204 and fixation fork 1201) of scaling method calibration Saving cortilage 12 Or by torque-angle curve, to show that the axial rigidity curve of Saving cortilage 12, pitch stiffness curve, course rigidity are bent Line and torsion stiffness curve, by each stiffness curve and corresponding displacement or angle, can acquire 12 both ends of Saving cortilage by Power or torque.

Embodiment 2：As shown in Fig. 1-Fig. 7, air-robot, packet are cleared up using a kind of screen of trees of above-mentioned Saving cortilage 12 Platform support 3 and operation cutter 15 are included, platform support 3 is symmetrically connected on body 4, and body 4 is located at 3 central part of platform support , multiple rotor assemblies are connected on platform support 3, installation is provided with front and back thrust power and symmetrical two on body 4 A longitudinal thruster 6, longitudinal thruster 6 be duct configuration, it is built-in can positive and negative rotation to provide the shrouded propeller of positive-reverse thrust 7,4 front end of body is connected to operation cutter 15 by work jibs 20, and longitudinal thruster 6 is installed towards 15 direction of operation cutter, makees Industry cutter 15 is connected with cutter motor 14, and cutter motor 14 is fixedly connected on the front end of work jibs 20；It further include being installed on platform On bracket 3 or body 4 for air-robot attitude stabilization and TRAJECTORY CONTROL flight controller, be used for transmission flying quality with The communication module of onboard image, wherein flight controller is similar to existing multi-rotor unmanned aerial vehicle flight controller hardware, including Inertial Measurement Unit (IMU), barometertic altimeter, satellite navigation receiver, flight-control computer.

Preferably, above-mentioned work jibs 20 include mechanical arm 19 and tool bar 13, and 19 one end of mechanical arm is fixedly connected on body 4 On, the other end is fixedly connected with tool bar 13 by connector 16, and connector 16 has mechanical and electric linkage function, is convenient for quick despatch Or replacement, storage are more convenient；Ring flange connection can be used in connector 16 or nut-screw rod quickly connects, and corresponding connecting portion is set There is electric connector head.

Preferably, camera 17, the camera lens of camera 17 are installed in above-mentioned platform support 3 or body 4 or work jibs 20 Towards 15 direction of operation cutter；Using socket frame when camera 17 is mounted in work jibs 20；Camera 17 is for monitoring front Formalness, the working condition for being cleaned situation, operation cutter 15 of screen of trees of screen of trees, are convenient for the feeding of operation cutter 15 Or exit control.

Preferably, cutter motor 14 is connected with the cutter controller of its rotation of driving, and cutter controller is built in work jibs 20 or body 4 in, and connect with flight controller；The speed probe of built-in perception 15 revolving speed of operation cutter of cutter motor 14, Cutter controller is built-in with the current sensor of perception 14 operating current of cutter motor, and photoelectric encoder can be used in speed probe Or current transformer can be used in Hall sensor, current sensor, the two is connect with cutter controller；Cutter controller customization The style interfaces such as analog quantity or digital quantity, pulsed quantity, frequency quantity equipped with the above-mentioned concrete type sensor of correspondence.

Preferably, above-mentioned mechanical arm 19 uses stretching structure or foldable structure, including forearm interconnected 11 and postbrachium 9, forearm 11 and postbrachium 9 are polygonal cross-section pipe or round tube；When for stretching structure, round tube is oriented to groove with anti-torsion.

Preferably, the rear end of above-mentioned forearm 11 is connected to the front end of postbrachium 9 by folding joint 10, as shown in Figure 4, Figure 5, Folding joint 10 includes the preceding connecting lever 1001 that 11 rear end of forearm is arranged in, the rear connecting lever 1002 that 9 front end of postbrachium is arranged in and locking Device, preceding connecting lever 1001 is hinged by articulated shaft 1003 with rear connecting lever 1002 and is locked by locking device；Locking device includes It is connected in 9 front end of postbrachium and the Step Shaft 1004 coaxial with postbrachium 9, is connected in 11 rear end of forearm and the screw rod coaxial with forearm 11 1006 and the lock nut 1005 that is socketed on Step Shaft 1004, the inner hole rear end of lock nut 1005 be equipped with convex step, platform The front end of rank axis 1004 be equipped with prevent lock nut 1005 from falling off evagination step, lock nut 1005 can by Step Shaft 1004 with The coaxial docking of screw rod 1006 simultaneously locks.The folding joint has the advantages of simple structure and easy realization, and can effectively avoid locking pine caused by vibrating It is de-, Quick extension locking or folding storage can be carried out to work jibs 20.

Preferably, it is socketed in the back end activity of above-mentioned forearm 11 front end of postbrachium 9 and is locked using locker 18, forearm 11 and 9 coaxial line of postbrachium, locker 18 includes one or more diameters relative to 20 axis of work jibs being arranged on socket outer tube To clamping screw.

Preferably, above-mentioned work jibs 20 are two-stage structure, and are connected as one by Saving cortilage 12,20 back segment of work jibs Front be fixedly connected with fixation fork 1201, the rear portion of 20 leading portion of work jibs is fixedly connected with cylindrical sleeve 1204；Built in Saving cortilage 12 Displacement sensor and angular transducer, be all connected to the flight controller of air-robot.

The flight controller be directed to above-mentioned angular transducer and displacement sensor, be equipped with corresponding analog quantity (voltage or Electric current) or the style interfaces such as digital quantity (including bus), pulsed quantity, frequency quantity, PWM is set also directed to rotor assemblies or bus connects Mouthful, for communication module and cutter controller, bus interface is set.The bus includes CAN, RS-485/422/232, Ethernet Or the types such as airborne-bus.

As shown in Figure 6, Figure 7, the effect of Saving cortilage 12 is as follows：

1) Saving cortilage 12 possess axial direction, pitching, course, rolling four direction mechanical damping freedom degree, can be in the sky The screen of trees reaction force or torque being subject to when robot manipulating task to cutter buffer, and can effectively weaken the vibration of operation cutter 15 The dynamic influence to air-robot flight attitude, when reaction force or torque are 0, Saving cortilage 12 is replied as former state；

2) displacement or the angular transducer of the axial direction built in Saving cortilage 12, pitching, course and rolling four direction, can use The reaction force or torque of the screen of trees suffered by perception operation cutter 15, and as tool feeding or exit, air-robot movement The control of fine tuning inputs, and makes to remove obstacles control more safety accurately.

Preferably, the thrust axis of above-mentioned longitudinal thruster 6 is overlapped with the Plane of rotation of operation cutter 15, so that longitudinal push away Feeding thrust forward direction into device 6 is applied on operation cutter 15, and the pitch attitude to air-robot is avoided to generate additional moment, To be conducive to the stabilization and control of air-robot.

Preferably, above-mentioned rotor assemblies include rotor 1 and rotor motor 2 and machine governor, and rotor 1 is fixedly connected on On the output shaft of rotor motor 2, rotor motor 2 is fixedly connected on platform support 3, and the rotor 1 of adjacent rotor component turns to phase Instead；Machine governor receives the rotary speed instruction of flight controller, and driving rotor motor 2 rotates according to this；The quantity of rotor assemblies For >=4 even number.

Following coaxial double-oar mode also can be used in rotor assemblies：Rotor 1, rotor motor 2 and motor tune in rotor assemblies Fast device respectively has a pair, and two 2 tail portion of rotor motor is opposite, shaft is outside, the upper and lower coaxial outer end for being installed on platform support 3；Two A rotor 1 is positive and reverse return to pairing, is respectively arranged in the shaft of two rotor motors 2, by adjusting machine governor and rotation The polarity of 2 line of wing motor makes the lift of two rotors 1 of same rotor assemblies be upward.The number of rotor assemblies under which Amount >=3.

Preferably, above-mentioned 4 lower end of body is provided with vibration absorber 8, as shown in figure 3, vibration absorber 8 include upper plate 801, under Plate 803 and spring-dampers 802, upper plate 801 and body 4 are connected, and lower plate 903 is distributed by one or more groups of bilateral symmetries Spring-dampers 802 are connected to upper plate 801, and postbrachium 9 is connect with lower plate 803.

Preferably, above-mentioned work jibs 20 are actively fixedly connected with across the lower plate of vibration absorber 8 and in its back-end battery pack 5, and work jibs 20 are locked on vibration absorber 8 using clamping screw, thus the whole center of gravity of air-robot can be carried out It adjusts.

Preferably, 8 rear end of vibration absorber is fixedly connected with battery pack 5 by telescopic rod, and using clamping screw to telescopic rod It is locked, thus the whole center of gravity of air-robot can be adjusted.

Preferably, battery pack 5 include to rotor assemblies power supply, to the power supply of longitudinal thruster 6, to cutter motor 14 and cutter Controller power supply, the battery powered to flight controller and airborne sensor.

Preferably, 4 bottom of body is additionally provided with undercarriage.

Preferably, flight controller is provided in body 4, the function of realization includes：

1) attitude angle, angular speed, acceleration, satellite positioning and the elevation information of air-robot are acquired in real time, in combination Face telecommand (passes through the wireless connection of flight controller and ground remote control device), calculates the rotary speed instruction of all rotors and output To above-mentioned rotor assemblies, to realize the stabilization and control of air-robot posture and position；

2) the output control instruction that longitudinal thruster 6 is generated according to ground telecommand realizes aerial machine when screen of trees cleaning Feeding forward under device people's horizontal attitude exits back control；

3) pass through screen of trees axial reaction force or pitching, course, rolling suffered by the operation cutter 15 that Saving cortilage 12 perceives The moment of reaction can determine that operation cutter 15 is in overload, even cutter once meeting or exceeding scheduled protection thresholding Controller and flight controller automatic synchronization enter protected mode：Control operation cutter 15 first brakes to be inverted afterwards, while controlling sky Middle robot moves exit operation backward；If above-mentioned reaction force or torque are less than scheduled protection thresholding, aerial machine will be used as Device people moves the control input of fine tuning, and the specific control method is as follows：

A it sets the axial force of the perception of Saving cortilage 12 when removing obstacles) as X, is positive backward, corresponding operation thresholding is λ_X, it is ineffective Quick area is δ_X, wherein λ_X> 0,0≤δ_X< λ_X, have：

If --- X<0, determine forward direction pulling force of the air-robot by screen of trees, flight controller can take following measure it One：The fine tuning 1. control air-robot travels forward, continues operation of currently removing obstacles if X forward direction increase, if X is constant or negative sense increases Add, goes to 2.；2. control air-robot enters floating state, while personnel send safety report to the ground by communication module Alert information, in the hope of manual intervention；

If --- X < λ_X-δ_X, flight controller control air-robot travels forward fine tuning, increases axial force, realization Axially self operation is fed；

If --- | X- λ_X|≤δ_X, flight controller control air-robot holding hovering, axial feeding zero；

If --- X > λ_X+δ_X, flight controller control air-robot move fine tuning backward, reduce axial force, realization Operation axially self retracts.

B the course torque of the perception of Saving cortilage 12 when removing obstacles is set) as N, vertical view is positive to the right, and corresponding operation thresholding is λ_N, dead band δ_N, wherein λ_N> 0,0≤δ_N< λ_N, have：

If --- | N | < λ_N-δ_N, flight controller controls air-robot to making | N | the direction of increase move fine tuning and navigates To the horizontal lateral automatic job feeding of realization；

If --- | | N |-λ_N|≤δ_N, the current course of flight controller control air-robot holding, the horizontal lateral amount of feeding It is zero；

If --- | N | > λ_N+δ_N, flight controller controls air-robot to making | N | reduced direction move fine tuning and navigates To realizing level, laterally automatic protection retracts.

C it sets the pitching moment of the perception of Saving cortilage 12 when removing obstacles) as M, is positive upwards, corresponding dead band is δ_M, In, δ_M>=0, have：

If --- | M | > δ_M, flight controller controls air-robot to making | M | reduced direction moves height-fine adjustment；

If --- | M |≤δ_M, flight controller control air-robot holding present level；

4) according to the current of electric and cutter rotary speed information of cutter controller acquisition, the mistake of operation cutter 15 is assessed in real time Load, card resistance and faulted condition, appraisal procedure are as follows：

--- if current of electric is more than electric current predetermined threshold, can determine that the overload of operation cutter 15 or card resistance；

--- if cutter revolving speed is lower than revolving speed predetermined threshold, can determine that the overload of operation cutter 15 or card resistance；

--- if there is periodically pulsation in current of electric or cutter revolving speed, can determine that operation cutter 15 is had damage.Reason It is, periodic pulsation phenomenon will be presented in defect, the resistance of suffered screen of trees to the operation cutter 15 of working in reciprocating mode if it exists, by This causes the periodically pulsing of current of electric or cutter revolving speed.

It first brakes and inverts afterwards to the output of cutter motor 14 quickly through cutter controller once there is any of the above-described situation Instruction exports deboost instruction to longitudinal thruster 6, to realize that air-robot protectiveness is kept out of the way, while by described logical Believe that personnel send security alarm information to module to the ground.

Above-mentioned air-robot has the following advantages that：

1) the utility model can be realized by installing rotor assemblies, longitudinal thruster and operation cutter on body Transmission line of electricity screen of trees quickly cleans in the air, avoids high voltage transmission line of the operator at screen of trees, and operation is safer, can Effectively promoted prune job efficiency simultaneously reduce operational risk, solve manual cleaning existing in the prior art it is inefficient and The big problem of security risk；

2) it is connected between air-robot forearm and postbrachium using folding mode or stretch mode, effectively reduces complete machine ruler It is very little, it convenient for storage and carries, stretch mode is also convenient for the adjustment of position of centre of gravity；

3) air-robot provides robot lift by rotor assemblies and implements attitude stabilization and position control, by longitudinally pushing away Implement the operation tool feeding removed obstacles into device and exit control, the control mode decoupling of this combination driving is advantageous to work Cheng Shixian；

4) air-robot overall structure is flat, is suitable for entering screen of trees and intensively or with conducting wire intersecting area implements work of removing obstacles Industry；

5) by camera can formalness to screen of trees, the effect of screen of trees cleaning carry out close-ups, monitor in real time The working condition of operation cutter；

6) Saving cortilage set by has the mechanical damping freedom degree of four direction, can effectively weaken screen of trees reaction force Or influence of the torque to air-robot flight attitude；

7) thrust axis of longitudinal thruster is arranged and is overlapped with the Plane of rotation of operation cutter, so that longitudinal thruster Feeding thrust forward direction is applied on operation cutter, avoids the pitch attitude to air-robot from generating additional moment, thus favorably In the stabilization and control of air-robot；

8) influence of the vibration to body of operation cutter can be effectively filtered out by vibration absorber；

9) battery pack is placed in the rear portion of air-robot, plays good counterweight effect, while work jibs can with respect to body Front and back is adjusted or battery pack by telescopic rod is connected to After-Body, it can be achieved that air-robot center of gravity is quickly adjusted；

10) this air-robot can be used for carrying out the operations such as high-altitude installation, cleaning or maintenance to large scale equipment and building.

Example above description is only a specific implementation of the present invention, the protection scope of the utility model not office It is limited to this.Be familiar with the those skilled in the art within the technical scope disclosed by the utility model, can easily find variation or Alternative, these should be covered within the scope of the utility model.For this purpose, the protection scope of the utility model should be with Subject to the scope of protection of the claims.

Claims (2)

1. a kind of Saving cortilage structure for screen of trees cleaning air-robot, it is characterised in that：Including fixation fork (1201), ten Word axis (1202), activity fork (1203), cylindrical sleeve (1204), spring (1205) and screw (1206), fixation fork (1201), activity Fork (1203), cylindrical sleeve (1204) are hollow cylindrical, and cross axle (1202) passes through bearing and fixation fork (1201) respectively The one end connection of one end, activity fork (1203), thus constitutes universal joint, the other end of fixation fork (1201) and working rig Tool arm be connected, the one end of cylindrical sleeve (1204) can slide axially, can relative rotation form of sleeve and activity fork (1203) The other end connection, the other end of cylindrical sleeve (1204) and tool bar be connected, and spring (1205) is cylinder, to wrap up shape Formula is installed on the outside of fixation fork (1201), activity fork (1203) and cylindrical sleeve (1204), and the both ends of spring (1205) pass through two Screw (1206) is connected with fixation fork (1201) and cylindrical sleeve (1204) respectively.

2. a kind of Saving cortilage structure for screen of trees cleaning air-robot according to claim 1, it is characterised in that： It is equipped between cross axle (1202) and fixation fork (1201) and perceives the opposite course heading sensor for rotating left and right amplitude of the two, ten The opposite pitch angle sensor for being rotated up and down amplitude of both perception, cylinder are equipped between word axis (1202) and activity fork (1203) Cover the shaft position sensor that both perception axial relative movement amplitude is equipped between (1204) and activity fork (1203) and perception The roll angle sensor of the two relative rotary motion amplitude.