CN210101982U - Posture adjustment system for enhancing reaction force and equipment thereof - Google Patents
Posture adjustment system for enhancing reaction force and equipment thereof Download PDFInfo
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- CN210101982U CN210101982U CN201920576167.0U CN201920576167U CN210101982U CN 210101982 U CN210101982 U CN 210101982U CN 201920576167 U CN201920576167 U CN 201920576167U CN 210101982 U CN210101982 U CN 210101982U
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Abstract
The utility model relates to an attitude adjustment system field of equipment discloses an attitude adjustment system of reinforcing reaction force and equipment thereof. The attitude adjusting system comprises a propeller, a driver, an object stage, a base, a transverse adjusting mechanism and a longitudinal driving mechanism. The screw is installed on the driver, and the driver is fixed on the objective table, and the objective table rotates with the base through pivot one to be connected, and the base rotates with the base through pivot two to be connected, and pivot one and pivot two mutually perpendicular. The transverse adjusting mechanism drives the objective table to rotate around the first rotating shaft, and the longitudinal driving mechanism drives the base to rotate around the second rotating shaft to control the thrust direction of the propeller, so that the effect of enhancing the reaction force is achieved, and the reaction force generated by complex environments such as strong wind, cross wind, turbulent flow and the like under high-altitude operation can be responded. The utility model discloses a diversified reaction force can be overcome to single screw, reaches stable operation, energy-conserving safe technological effect.
Description
Technical Field
The utility model relates to an attitude adjustment system field of equipment especially relates to an attitude adjustment system of reinforcing reaction force and equipment thereof.
Background
Nowadays, with the continuous expansion of social intelligence and application fields, more and more high-altitude operations are replaced by robots and other equipment, such as building outer wall cleaning, outer wall painting, large-scale equipment outer facade cleaning, hull shell rust removal maintenance and the like. In order to satisfy the requirement that equipment such as a robot can stably run in the above scene, an attitude adjustment system is indispensable.
According to investigation, the larger the volume and the higher the height of a building or large-scale equipment are, the more easily the surface of the building or the large-scale equipment generates complex environmental factors such as strong wind, cross wind, turbulent flow and the like, and most of the equipment generates reaction force in complex operations such as cleaning, painting, rust removal and the like. Therefore, in order to meet the operation requirements, the equipment is required to be provided with an attitude adjustment system to deal with complex environmental factors such as strong wind, cross wind, turbulent flow and the like, and a special reaction force providing system is required. However, the conventional reaction force system and attitude adjustment system are combined by a plurality of power devices such as blades or centrifugal fans, so that the size cannot be reduced, and the power consumption is extremely remarkable. Taking 2216 type motor driving ten-inch propeller as an example, more than 100w of power is needed to provide 1kg of thrust, and often, the equipment needs a plurality of power units with large thrust to resist complex environmental factors and the acting force of the equipment, so that the equipment is difficult to adopt a battery for power supply. If the off-line power supply is adopted, only a high-voltage low-current mode can be adopted, which not only consumes energy, but also can cause the danger of electric shock in operation.
In view of the above problems, there is a need for an efficient and energy-saving posture adjustment system that can enhance the reaction force and provide resistance to complex environmental factors such as strong wind, cross wind, turbulence, and the like.
SUMMERY OF THE UTILITY MODEL
To current technical problem, the utility model provides an gesture adjustment system and equipment of reinforcing reaction force can provide the thrust unanimous, opposite direction with the effort size under high altitude environment.
The utility model discloses a following technical scheme realizes:
an attitude adjustment system for enhancing reaction force, comprising:
a propeller that provides a reaction force by rotation;
the propeller is arranged on the driver and is driven by the driver to rotate;
the attitude adjustment system further includes:
the driver is fixed on the objective table;
a base; the objective table is rotationally connected to the base through a rotating shaft;
the base is rotatably connected to the base through a second rotating shaft, and the first rotating shaft is perpendicular to the second rotating shaft;
the transverse driving mechanism is used for driving the objective table to rotate around the rotating shaft;
and the longitudinal driving mechanism is used for driving the base to rotate around the second rotating shaft.
Further, the lateral driving mechanism includes:
the transverse adjusting steering engine is arranged on the base;
and the two ends of the connecting rod assembly are fixedly connected with an output shaft of the transverse adjusting steering engine and the objective table respectively.
Further, the connecting rod assembly comprises a rudder arm, a linkage rod and a third rotating shaft; one end of the rudder arm is fixedly connected with an output shaft of the transverse adjusting steering engine, and the other end of the rudder arm is rotatably connected to the linkage rod through a rotating shaft III; and one end of the linkage rod, which is far away from the rudder arm, is fixedly connected with the objective table.
Further, the longitudinal driving mechanism includes:
the longitudinal adjusting steering engine is arranged on the base;
a connecting rod component II; the two ends of the steering gear are respectively and fixedly connected with an output shaft and a base of the longitudinal adjusting steering gear.
Further, the second connecting rod component comprises a second rudder arm, a second linkage rod and a fourth rotating shaft; one end of the rudder arm II is fixedly connected with an output shaft of the longitudinal adjusting steering engine, and the other end of the rudder arm II is rotatably connected to the linkage rod II through the rotating shaft IV; and one end of the linkage rod II, which is far away from the rudder arm II, is fixedly connected with the base.
Furthermore, one side of the objective table, which is far away from the driver, is provided with two shaft seats I; one side of the base, which is close to the first shaft seat, is provided with a first shaft sleeve, and the first shaft sleeve is arranged between the two first shaft seats; the first rotating shaft is accommodated in the first shaft sleeve, and two ends of the first rotating shaft are fixedly connected with the corresponding first shaft seats respectively.
Furthermore, a second shaft sleeve is arranged on the base, one side of the base, which is close to the second shaft sleeve, is provided with two second shaft seats, and the second shaft sleeve is arranged between the two second shaft seats; the second rotating shaft is accommodated in the second shaft sleeve, and two ends of the second rotating shaft are fixedly connected with the corresponding second shaft seats respectively.
Further, a fixed propeller cap used for limiting the propeller is arranged on the driving shaft of the driver.
Further, the attitude adjustment system further includes:
the gyroscope sensor is used for detecting and collecting the azimuth information of the attitude adjusting system in real time;
the acceleration sensor is used for detecting and collecting motion information of the attitude adjusting system in real time;
the air pressure sensor is used for detecting and collecting air pressure information in the environment where the attitude adjusting system is located in real time;
and the processor is used for collecting azimuth information and motion information of the attitude adjusting system and air pressure information in the environment where the attitude adjusting system is located in real time, and driving the driver, the transverse adjusting steering engine and the longitudinal adjusting steering engine to receive power supply so as to generate thrust with the same magnitude and the opposite direction with the high-altitude acting force through the propeller.
An apparatus having an attitude adjustment system, said apparatus being equipped with at least one set of the reaction force-intensifying attitude adjustment system described in any one of the above.
The utility model has the advantages that:
at first, can't satisfy the problem that reaction force produced the demand to prior art in high altitude construction, the utility model discloses a set up horizontal actuating mechanism and vertical actuating mechanism, adjust the rotation angle of screw, reduce unnecessary power pack, single power pack can satisfy the ability that promotes reaction force and resist complex environmental factor, compares prior art greatly reduced the equipment consumption, realizes multiple miniaturization and the lightweight that hangs operation equipment.
And secondly, due to the fact that power is greatly reduced, the equipment can use a power supply mode which does not exceed safe voltage without adopting a high-voltage low-current mode, and the trend development of intelligent equipment towards energy conservation, high efficiency, safety and environmental protection is met. And, by control of sensors equipped with an electronic gyroscope, an accelerometer, a barometer, etc., the vector power unit is efficiently controlled to provide accurate attitude stabilization control.
Finally, the utility model discloses develop application market, if adopt a plurality of power pack, not only can promote reaction force and maintain the performance of gesture, can pass through the angle change of vector motor base even, let equipment have the ability of flight, provide new possibility for the innovation of this kind of equipment and application scene.
Drawings
Fig. 1 is an exploded view of an attitude adjustment system according to an embodiment of the present invention.
Fig. 2 is a side view of an attitude adjustment system according to an embodiment of the present invention.
Fig. 3 is a perspective view of an attitude adjustment system according to an embodiment of the present invention.
Description of the main symbols:
1-a propeller; 2-a driver; 3-an objective table; 31-axle seat I; 4-a base; 41-rotating shaft I; 42-shaft sleeve I; 43-shaft sleeve II; 5-a base; 51-a second rotating shaft; 52-shaft seat II; 6-a transverse driving mechanism; 61-transversely adjusting the steering engine; 62-a linkage assembly; 621-rudder arm; 622-trace; 623-rotating shaft three; 7-longitudinal driving mechanism; 71-longitudinally adjusting the steering engine; 72-connecting rod assembly two; 721-rudder arm II; 722-linkage bar two; 723-shaft four; 8-fixing the pulp cap.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
The present embodiment provides a reaction force-enhancing posture adjustment system that is installed in an apparatus having the posture adjustment system. As shown in fig. 1, the posture adjustment system includes: the propeller 1, the driver 2, the object stage 3, the base 4, the base 5, the transverse driving mechanism 6, the longitudinal driving mechanism 7 and the fixed slurry cap 8.
The propeller 1 is mounted on a driver 2 and is driven to rotate by the driver 2, and the driver 2 is fixed on a stage 3. The attitude adjustment system provides a reaction force by the rotation of the propeller 1. In the present embodiment, the driver 2 is a brushless motor, but in other embodiments, various motors capable of driving the propeller 1 to rotate, such as a servo motor, may be used. In order to further improve the stability of the attitude adjustment system, the present embodiment is further provided with a fixed paddle cap 8 for limiting the propeller 1 on the drive shaft of the driver 2.
The object stage 3 is rotatably connected to the base 4 through a first rotating shaft 41, as shown in fig. 1-2, in this embodiment, one side of the object stage 3, which is away from the driver 2, is provided with two first shaft seats 31, one side of the base 4, which is close to the first shaft seats 31, is provided with a first shaft sleeve 42, the first shaft sleeve 42 is disposed between the two first shaft seats 31, the first rotating shaft 41 is accommodated in the first shaft sleeve 42, and two ends of the first rotating shaft 41 are fixedly connected to the corresponding first shaft seats 31, respectively.
In other embodiments, the two shaft seats 31 and the shaft sleeve 42 may not be provided, for example, a through hole may be formed in the base 4, and then the rotating shaft 41 penetrates through the through hole and the two ends of the rotating shaft 41 are fixedly connected to the object stage 3, so that the object stage 3 is rotatably connected to the base 4 through the rotating shaft 41.
The base 4 is rotatably connected to the base 5 through a second rotating shaft 51, and the first rotating shaft 41 is perpendicular to the second rotating shaft 51. As shown in fig. 1-2, in this embodiment, a second shaft sleeve 43 is disposed on the base 4, two second shaft seats 52 are disposed on one side of the base 5 close to the second shaft sleeve 43, the second shaft sleeve 43 is disposed between the two second shaft seats 52, the second rotating shaft 51 is accommodated in the second shaft sleeve 43, and two ends of the second rotating shaft 51 are respectively fixedly connected to the corresponding second shaft seats.
In other embodiments, the two shaft seats 52 and the second shaft sleeve 43 may not be provided, for example, a through hole may be formed in the base 5, and then the second rotating shaft 51 penetrates through the through hole and two ends of the second rotating shaft 51 are fixedly connected to the base 4, so that the base 4 is rotatably connected to the base 5 through the second rotating shaft 51.
The transverse driving mechanism 6 is used for driving the object stage 3 to rotate around the first rotating shaft 41, and as shown in fig. 1, in this embodiment, the transverse driving mechanism comprises a transverse adjusting steering engine 61 and a connecting rod assembly 62. The transverse adjustment steering engine 61 is arranged on the base 4, in this embodiment, a screw connection and connection mode is specifically adopted, and two ends of the connecting rod assembly 62 are respectively and fixedly connected with an output shaft of the transverse adjustment steering engine 61 and the objective table 3. As shown in fig. 2, the link assembly 62 includes a rudder arm 621, a linkage 622, and a third rotating shaft 623, one end of the rudder arm 621 is fixedly connected to the output shaft of the transverse adjustment steering engine 61, the other end of the rudder arm 621 is rotatably connected to the linkage 622 through the third rotating shaft 623, and one end of the linkage 622 away from the rudder arm 621 is fixedly connected to the objective table 3.
After the transverse adjustment steering engine 61 is opened, the output shaft of the transverse adjustment steering engine 61 drives the rudder arm 621 to rotate, and the objective table 3 is controlled to rotate around the first rotating shaft 41 through the transmission of the rudder arm 621 and the linkage rod 622, so that the angle change of the propeller 1 in the transverse direction is realized.
And the longitudinal driving mechanism 7 is used for driving the base 4 to rotate around the second rotating shaft 51, as shown in fig. 1, in this embodiment, the longitudinal driving mechanism 7 includes a longitudinal adjusting steering engine 71 and a second connecting rod assembly 72, the longitudinal adjusting steering engine 71 is arranged on the base 5, and in this embodiment, a bolt connection manner is specifically adopted. Two ends of the second connecting rod assembly 72 are fixedly connected with an output shaft of the longitudinal adjusting steering engine 71 and the base 5 respectively. As shown in fig. 2, the second connecting rod assembly 72 includes a second rudder arm 721, a second linkage 722 and a fourth rotating shaft 723, one end of the second rudder arm 721 is fixedly connected to the output shaft of the longitudinal adjustment steering engine 71, and the other end thereof is rotatably connected to the second linkage 722 through the fourth rotating shaft 723; one end of the linkage rod two 722 far away from the rudder arm two 721 is fixedly connected with the base 5.
After the adjusting steering engine 71 is turned on, the output shaft of the adjusting steering engine 71 drives the second rudder arm 721 to rotate, and then the base 4 is controlled to rotate around the second rotating shaft 51 through the transmission of the second rudder arm 721 and the second linkage 722, so that the angle change of the propeller 1 in the longitudinal direction is realized. The adjusting steering engine 71 is used in cooperation with the transverse adjusting steering engine 61, and can adjust the thrust generated by the propeller 1 to an angle opposite to the direction of the acting force.
When the posture adjusting system provided by the embodiment is used, the 2-brushless motor is controlled to drive the 1-propeller to rotate to a certain rotating speed, required thrust can be generated, reaction force is provided for working equipment, and then the angle of the 2-brushless motor is controlled through the 6-transverse adjusting steering engine and the 7-longitudinal adjusting steering engine, so that the thrust with the same magnitude and the opposite direction as the action force is generated, and the purpose of improving the reaction force at the highest efficiency is finally achieved.
In the embodiment, the propeller attitude is accurately controlled by the electronic gyroscope, the accelerometer, the barometer and other sensors.
And the gyroscope sensor is used for detecting and collecting the azimuth information of the attitude adjusting system in real time. The acceleration sensor is used for detecting and collecting motion information of the attitude adjusting system in real time. The air pressure sensor is used for detecting and collecting air pressure information in the environment where the posture adjusting system is located in real time to obtain height information of the posture adjusting system. The processor is used for collecting azimuth information and motion information of the attitude adjusting system and air pressure information in the environment where the attitude adjusting system is located in real time, and driving the driver 2, the transverse adjusting steering engine 61 and the longitudinal adjusting steering engine 71 to receive power supply so as to generate thrust with the same magnitude and the opposite direction of high-altitude acting force through the propeller 1.
In this embodiment, the barometer may obtain the altitude information through atmospheric pressure, and when the gyroscope and the accelerometer may read the motion information of the device, and when the gyroscope detects that the device is tilted to the left, the reaction force system may also rotate the propeller slightly to the left until the accelerometer detects that the leftward acceleration reaches an opposite preset value, and when the device is attached to the working plane again, the device may slowly return the propeller to a normal angle, and the same principle applies to tilting to the right, tilting forward, and tilting backward.
The multiple groups of attitude adjusting systems for enhancing the reaction force can form a multi-axis aircraft, and the multi-axis aircraft realizes multi-axis flight by controlling the angle, the rotating direction and the rotating speed difference of the driver 2 in the multiple groups of attitude adjusting systems. The attitude or direction is changed through the speed difference of a plurality of propellers on a traditional multi-axis aircraft, but the vector reaction force system is different from the traditional multi-axis aircraft in that the multi-axis aircraft is required to be an aircraft, firstly, the propellers are required to be downward by the angles of all reaction force modules, the propellers rotating oppositely are required to be used by adjacent modules so as to reduce the reaction force of the propellers, the thrust direction is changed through the angle change of the propellers so as to control the change of attitude adjustment and direction adjustment, and the flying height is controlled through the rotating speed of the propellers.
The control device may be rotated by tilting the propellers at both ends of the aircraft slightly in the direction of rotation to create a force in the direction of rotation. The forward and backward movement can be realized by changing the rotating speed of all the propellers, and the preset inclination angle can be simultaneously reached by the forward or backward movement of a plurality of groups of propellers, so that the forward or backward force is generated.
When a plurality of groups of posture adjusting systems for enhancing the reaction force operate together, the large-scale equipment operation can be met, and the multi-axis aircraft with the vector module can be assembled by changing the angle and the rotating direction of the 2-brushless motor and the rotating speed difference of the plurality of groups of 2-brushless motors.
The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. An attitude adjustment system for enhancing reaction force, comprising:
a propeller (1) that provides a reaction force by rotation;
the propeller (1) is arranged on the driver (2) and is driven by the driver (2) to rotate;
characterized in that, the attitude adjustment system further comprises:
the objective table (3), the driver (2) is fixed on the objective table (3);
a base (4); the objective table (3) is rotationally connected to the base (4) through a first rotating shaft (41);
the base (5) is rotatably connected to the base (5) through a second rotating shaft (51), and the first rotating shaft (41) is perpendicular to the second rotating shaft (51);
the transverse driving mechanism (6) is used for driving the objective table (3) to rotate around the first rotating shaft (41);
and the longitudinal driving mechanism (7) is used for driving the base (4) to rotate around the second rotating shaft (51).
2. The reaction-force-enhanced attitude adjustment system according to claim 1, wherein the lateral drive mechanism (6) includes:
the transverse adjusting steering engine (61) is arranged on the base (4);
and the two ends of the connecting rod component (62) are fixedly connected with an output shaft of the transverse adjusting steering engine (61) and the objective table (3) respectively.
3. The reaction force enhanced attitude adjustment system according to claim 2, wherein the link assembly (62) includes a rudder arm (621), a linkage (622), and a rotating shaft three (623); one end of the rudder arm (621) is fixedly connected with an output shaft of the transverse adjusting steering engine (61), and the other end of the rudder arm is rotatably connected to the linkage rod (622) through a rotating shaft III (623); one end of the linkage rod (622) far away from the rudder arm (621) is fixedly connected with the objective table (3).
4. The reaction force-enhanced attitude adjustment system according to claim 1, wherein the longitudinal drive mechanism (7) includes:
a longitudinal adjusting steering engine (71) arranged on the base (5);
a second connecting rod assembly (72); the two ends of the steering gear are respectively and fixedly connected with an output shaft of a longitudinal adjusting steering gear (71) and a base (5).
5. The enhanced reaction force attitude adjustment system according to claim 4, wherein the link assembly two (72) comprises a rudder arm two (721), a linkage two (722) and a rotating shaft four (723); one end of the second rudder arm (721) is fixedly connected with an output shaft of the longitudinal adjusting steering engine (71), and the other end of the second rudder arm is rotatably connected to the second linkage rod (722) through a fourth rotating shaft (723); one end of the linkage rod II (722) far away from the rudder arm II (721) is fixedly connected with the base (5).
6. The enhanced reaction force attitude adjustment system according to claim 1, wherein the side of the stage (3) remote from the actuator (2) is provided with two shaft seats one (31); one side of the base (4) close to the first shaft seats (31) is provided with a first shaft sleeve (42), and the first shaft sleeve (42) is arranged between the two first shaft seats (31); the first rotating shaft (41) is accommodated in the first shaft sleeve (42), and two ends of the first rotating shaft (41) are fixedly connected with the corresponding first shaft seats (31) respectively.
7. The posture adjustment system for enhancing the reaction force as claimed in claim 1, wherein the base (4) is provided with a second shaft sleeve (43), one side of the base (5) close to the second shaft sleeve (43) is provided with two second shaft seats (52), and the second shaft sleeve (43) is arranged between the two second shaft seats (52); the second rotating shaft (51) is accommodated in the second shaft sleeve (43), and two ends of the second rotating shaft (51) are fixedly connected with the corresponding second shaft seats (52) respectively.
8. Reaction force enhanced attitude adjustment system according to claim 1, characterized in that a fixed paddle cap (8) for limiting the propeller (1) is provided on the drive shaft of the driver (2).
9. The reaction force-enhancing attitude adjustment system according to claim 1, further comprising:
the gyroscope sensor is used for detecting and collecting the azimuth information of the attitude adjusting system in real time;
the acceleration sensor is used for detecting and collecting motion information of the attitude adjusting system in real time;
the air pressure sensor is used for detecting and collecting air pressure information in the environment where the posture adjusting system is located in real time to obtain height information of the posture adjusting system;
and the processor is used for collecting azimuth information and motion information of the attitude adjusting system and air pressure information in the environment where the attitude adjusting system is located in real time, and driving the driver (2), the transverse adjusting steering engine (61) and the longitudinal adjusting steering engine (71) to receive power supply so as to generate thrust with the same magnitude and the opposite direction with the high-altitude acting force through the propeller (1).
10. An apparatus having an attitude adjustment system, characterized in that the apparatus is equipped with at least one set of the reaction force-intensifying attitude adjustment system according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920576167.0U CN210101982U (en) | 2019-04-25 | 2019-04-25 | Posture adjustment system for enhancing reaction force and equipment thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920576167.0U CN210101982U (en) | 2019-04-25 | 2019-04-25 | Posture adjustment system for enhancing reaction force and equipment thereof |
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| Publication Number | Publication Date |
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| CN210101982U true CN210101982U (en) | 2020-02-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920576167.0U Active CN210101982U (en) | 2019-04-25 | 2019-04-25 | Posture adjustment system for enhancing reaction force and equipment thereof |
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| CN (1) | CN210101982U (en) |
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Effective date of registration: 20201231 Address after: 518000 Room 201, building A, No. 1, Qian Wan Road, Qianhai Shenzhen Hong Kong cooperation zone, Shenzhen, Guangdong (Shenzhen Qianhai business secretary Co., Ltd.) Patentee after: Dianshi Technology (Shenzhen) Co.,Ltd. Address before: 3-10, building 1, No. 2988, Moganshan Road, Liangzhu street, Yuhang District, Hangzhou City, Zhejiang Province Patentee before: Dianshi Technology (Zhejiang) Co.,Ltd. |