CN212290326U - Six-rotor unmanned aerial vehicle system for taking and placing Beidou navigation monitor on high-voltage line - Google Patents
Six-rotor unmanned aerial vehicle system for taking and placing Beidou navigation monitor on high-voltage line Download PDFInfo
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- CN212290326U CN212290326U CN202021058230.0U CN202021058230U CN212290326U CN 212290326 U CN212290326 U CN 212290326U CN 202021058230 U CN202021058230 U CN 202021058230U CN 212290326 U CN212290326 U CN 212290326U
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Abstract
The utility model relates to a get six rotor unmanned aerial vehicle systems of putting big dipper navigation monitor on high-voltage line belongs to aerial robot technical field. The unmanned aerial vehicle with six rotor wings comprises an unmanned aerial vehicle with six rotor wings, an airborne control system and a monitor hanging mechanism, wherein a grabbing mechanical arm mechanism and a binocular camera are fixedly arranged at the bottom of a body of the unmanned aerial vehicle with six rotor wings through a mounting plate; the grabbing mechanical arm mechanism is a two-axis mechanical arm, and the weight of the grabbed target object is less than 4 kg; the monitor hanging mechanism comprises a mounting barrel, a pair of hanging arms and a cross rod. The Beidou monitor is placed in the installation barrel, and the six-rotor unmanned aerial vehicle hangs the Beidou navigation monitor on a high-voltage line through the monitor hanging mechanism; and the self-locking of hanging the Beidou navigation monitor on the high-voltage line is realized through the self-locking mechanism. When the device is used for cutting the winding on the high-voltage wire, the grabbing mechanical arm mechanism clamps a cutter handle of a cutting tool, and the cutting tool is a star-shaped cutter; and determining the position of the winding on the high-voltage wire through an onboard control system to implement cutting.
Description
Technical Field
The utility model belongs to the technical field of aerial robot, concretely relates to get on high-voltage line and put six rotor unmanned aerial vehicle systems of big dipper navigation monitor.
Background
At present, big dipper satellite navigation positioning technique has wide application in fields such as transportation, basic survey and drawing, engineering survey, resource investigation, seismic monitoring, meteorological detection and marine survey, and the realization of these functions is not left the construction of the big dipper monitoring station of ground end, but the construction of the big dipper monitoring station of ground end needs to be installed on high altitude cable at present, needs the manual work to carry out the outage installation, wastes time and energy, and the danger coefficient is high, is unfavorable for the construction of big dipper monitoring station.
With the rapid development of the robot technology, the tasks undertaken by the robot become various, the research and development of the aerial robot technology are also getting hot, and the six-rotor unmanned aerial vehicle is an unmanned flight system and has the advantages of excellent hovering performance, compact mechanical structure, high reliability of parts and the like.
However, the existing six-rotor unmanned aerial vehicle only stays at the level of aerial photography, mapping and observation, and although there is a technology for loading mechanical arms and clamping jaws on the six-rotor unmanned aerial vehicle, the technology can complete the transfer of objects and some simpler tasks, but the existing technology cannot complete the tasks of carrying heavy objects on overhead cables and operating under complex environments.
SUMMERY OF THE UTILITY MODEL
Get the meticulous operation in high altitude of putting big dipper navigation monitor in order to realize on the high-voltage line, the utility model provides a get six rotor unmanned aerial vehicle systems of putting big dipper navigation monitor on the high-voltage line.
A six-rotor unmanned aerial vehicle system for taking and placing a Beidou navigation monitor on a high-voltage line comprises a six-rotor unmanned aerial vehicle body 1, six rotary vanes 2 and an airborne control system 3, wherein six cantilevers are uniformly distributed on the periphery of the six-rotor unmanned aerial vehicle body 1, and the six rotary vanes 2 are respectively correspondingly arranged at the end parts of the six cantilevers; the airborne control system 3 comprises a ground control computer and a control system; the maximum communication distance of the ground control computer under the conditions of no interference and no blocking is 20 km.
The bottom of the six-rotor unmanned aerial vehicle body 1 is fixedly provided with a grabbing mechanical arm mechanism and a binocular camera 51 through a mounting plate;
the grabbing mechanical arm mechanism is a two-axis mechanical arm and comprises a head end connecting piece 41, a joint connecting piece 42, a tail end connecting piece 43, a clamping jaw 44 and a tail end clamp 45 which are connected in sequence; the weight of the grabbed target object is less than 4kg, and the diameter of the grabbed part of the target object is 35-55 mm;
also comprises a monitor hanging mechanism or a cutting tool. The monitor hanging mechanism comprises a mounting barrel 17, a pair of hanging arms 16 and a cross bar 15;
putting the Beidou monitor into a mounting barrel 17 of a monitor hanging mechanism; when the monitor is put on and taken off on the high-voltage wire, the image of a working area is acquired through the binocular camera 51, the control system determines that the position of the high-voltage wire is within the working range of the mechanical arm mechanism, and the tail end clamp 45 of the mechanical arm mechanism is grabbed to clamp the cross rod 15 of the monitor hanging mechanism; the airborne control system 3 controls the six-rotor unmanned aerial vehicle to reach a specified high-voltage wire position, a tail end clamp 45 of the grabbing mechanical arm mechanism loosens a cross rod 15 of the monitor hanging mechanism, and the Beidou navigation monitor is hung on the high-voltage wire through a pair of hanging arms 16;
when the automatic winding machine is used for cutting the winding on the high-voltage wire, the tail end clamp 45 of the grabbing mechanical arm mechanism clamps a cutter handle of the cutting tool, the position of the winding on the high-voltage wire is determined to be in the cutting range of the cutting tool through the control system, and the cutting tool starts cutting work until the control system judges that the cutting task is finished; and the airborne control system 3 controls the six-rotor unmanned aerial vehicle to continue to execute the next cutting task.
The technical scheme for further limiting is as follows:
the motor in the two-shaft mechanical arm is a permanent magnet synchronous motor, and the two-shaft mechanical arm has the advantages of high efficiency, simple structure, reliable operation, small size and light weight. The maximum opening and closing stroke of the tail end clamp 45 of the grabbing mechanical arm mechanism 4 is 20mm, and the clamping force is 50-80N.
The clamping jaw 44 is an electric clamping jaw EFG-20.
The monitor hanging mechanism comprises a mounting barrel 17, a pair of hanging arms 16 and a cross rod 15; the pair of hanging arms 16 are fixedly arranged at two axial ends of the mounting barrel 17, a hook is arranged at the upper end of each hanging arm 16, and a locking mechanism is arranged on each hanging arm adjacent to the hook; the locking mechanism comprises a pull rod 161, a guide rail clamping plate 162, a connecting rod 163, a guide rail 164, a spring 165 and a clamping hook 166; the guide rail 164 is vertically arranged on the hanging arm 16 at the rear side of the hook, a guide rail clamping plate 162 is arranged at the upper part of the guide rail 164, and the pull rod 161 is inserted between the guide rail 164 and the guide rail clamping plate 162 and matched with the guide rail 164; the lower end fixing edge of the pull rod 161 is connected with one end of the spring 165, and the other end of the spring 165 is fixed at the lower part of the hanging arm 16 through a pin; the two ends of the cross rod 15 are respectively and fixedly connected with the upper ends of pull rods 161 of a pair of locking mechanisms; the connecting rod 163 comprises a long connecting rod and a short connecting rod, one end of the long connecting rod is hinged with one end of the short connecting rod, the middle part of the long connecting rod is movably hinged on the hanging arm 16, and the other end of the short connecting rod is hinged with the lower end of the pull rod 161; one end of the hook 166 is movably hinged on the hanging arm 16 above the connecting rod 163, and the lower part of the other end of the hook 166 corresponds to the other end of the long connecting rod; the pair of pull rods 161 respectively move downwards along the guide rails 164 to drive the middle and short connecting rods of the connecting rods 163 to push the long connecting rod to rotate, the long connecting rod pushes the other end of the hook 166 to rotate around the movable end to be abutted against the hook of the hanging arm 16, and a locking state is realized; under the action of the pair of springs 165, the pair of pull rods 161 respectively move upwards along the guide rails 164 to drive the middle and short connecting rods of the connecting rods 163 to reversely pull the long connecting rod to rotate, the long connecting rod is separated from the hook 166, the hook 166 reversely rotates around the movable end, and is separated from the hook of the hanging arm 16 to realize an opening state.
The cutting tool is a star-shaped cutting knife.
The beneficial technical effects of the utility model are embodied in the following aspects:
(1) the utility model discloses an add diaxon arm, visual system, monitor hanging mechanism and realized hanging big dipper navigation monitor on the high-voltage line on six rotor unmanned aerial vehicle. On the other hand, through the diaxon arm centre gripping cutting tool on the six rotor unmanned aerial vehicle for the winding on the cutting high-voltage line.
(2) The utility model discloses a monitor is hung and is equipped with self-locking mechanism on the dress mechanism, has realized hanging the auto-lock of dress big dipper navigation monitor on the high-voltage line. The self-locking mechanism on the monitor hanging mechanism has the advantages of simple structure, stability, reliability and convenient operation.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic bottom view of fig. 1.
Fig. 3 is a schematic view of the structure of the vision system of the present invention.
Fig. 4 is the schematic view of the structure of the two-axis mechanical arm of the present invention.
Fig. 5 is a schematic structural view of a monitor hanging mechanism.
Fig. 6 is a schematic view of the locking state of the monitor hanging mechanism.
Fig. 7 is a schematic structural view of the locking mechanism.
Fig. 8 is a schematic view of the locked state of the locking mechanism.
Figure 9 is the utility model is a get on the high-voltage line and put the schematic diagram of big dipper navigation monitor.
Fig. 10 is a view of the right 150 degree turning state of the grabbing robot mechanism.
Fig. 11 is a diagram illustrating the state of the grabbing robot arm mechanism in a reversed 150-degree angle.
Fig. 12 is a state diagram of the grasping robot arm mechanism holding the cutting tool.
Sequence numbers in the upper figure: the six-rotor unmanned aerial vehicle comprises a six-rotor unmanned aerial vehicle body 1, rotary vanes 2, an airborne control system 3, a two-axis mechanical arm 4, a head end connecting piece 41, a joint connecting piece 42, a tail end connecting piece 43, a clamping jaw 44 and a tail end clamp 45; a vision system 5, a binocular camera 51, an image transmission module 52, and an image processing module 53; the device comprises a support frame 6, a mounting plate 7, a camera mounting plate 8, a mechanical arm control system 9, a transformation circuit board 10, a star-shaped cutter 14, a support rod 141 and a cutter head 142; the device comprises a cross rod 15, a hanging arm 16, a mounting barrel 17, a high-altitude cable 18, a pull rod 161, a guide rail clamping plate 162, a connecting rod 163, a guide rail 164, a spring 165 and a clamping hook 166.
Detailed Description
The present invention will be further explained by way of embodiment 1 and embodiment 2 with reference to the drawings.
Example 1
Referring to fig. 1, a get on high-tension line and put six rotor unmanned aerial vehicle systems of big dipper navigation monitor include six rotor unmanned aerial vehicle bodies 1, six rotor blades 2 and machine and carry control system 3. Six cantilevers are installed to the equipartition on six rotor unmanned aerial vehicle body 1's the periphery, and six vanes 2 correspond respectively and install in the tip of six cantilevers.
The airborne control system 3 comprises a ground control computer and a control system. The maximum communication distance of the ground control computer under the conditions of no interference and no blocking is 20 km. The control system comprises a vision control system 5, a mechanical arm control system 9 and a transformation circuit board 10. The vision control system 5 includes a binocular camera 51, an image transmission module 52, and an image processing module 53.
Referring to fig. 3, a binocular camera 51 is installed in the middle of the bottom surface of the camera mounting plate 8, an image transmission module 52 and an image processing module 53 are respectively installed on the top surface of the camera mounting plate 8, and an inverted U-shaped clamp plate is further installed on the top surface of the camera mounting plate 8. Visual control system 5 passes through camera mounting panel 8 fixed mounting in bottom one side of six rotor unmanned aerial vehicle bodies 1, see figure 2.
Referring to fig. 4, the grabbing robot mechanism is a two-axis robot 4, and includes a head end connector 41, a joint connector 42, a tail end connector 43, a clamping jaw 44 and a tail end clamp 45, which are connected in sequence. The weight of the object to be grabbed is less than 4kg, and the diameter of the object to be grabbed is 35-55 mm. Snatch arm mechanism and pass through head end connecting piece 41 fixed mounting on the bottom surface of mounting panel 7, arm control system 9 and vary voltage circuit board 10 are installed respectively on mounting panel 7, snatch arm mechanism and pass through mounting panel 7 fixed mounting at the bottom opposite side of six rotor unmanned aerial vehicle bodies 1, see figure 2.
Referring to fig. 5 and 6, the monitor hanging mechanism is further included. The monitor hanging mechanism comprises a mounting barrel 17, a pair of hanging arms 16, a pair of locking mechanisms and a cross rod 15.
Referring to fig. 5, a pair of hanging arms 16 are fixedly installed at both axial ends of a mounting barrel 17. The upper end of the hanging arm 16 is provided with a hook, and each hanging arm adjacent to the hook is provided with a locking mechanism. Referring to fig. 7, the locking mechanism includes a pull rod 161, a rail catch plate 162, a connecting rod 163, a rail 164, a spring 165, and a catch 166. The guide rail 164 is vertically arranged on the hanging arm 16 at the rear side of the hook, and a guide rail clamping plate 162 is fixedly arranged at the upper part of the guide rail 164; the tie rod 161 is inserted between the guide rail 164 and the rail catch plate 162 and engages with the guide rail 164. The lower end fixing edge of the pull rod 161 is connected to one end of a spring 165, and the other end of the spring 165 is fixed to the lower portion of the hanger arm 16 by a pin. The cross bar 15 is fixedly connected to the upper ends of a pair of pull rods 161. The connecting rod 163 comprises a long connecting rod and a short connecting rod, one end of the long connecting rod is hinged with one end of the short connecting rod, the middle part of the long connecting rod is movably hinged on the hanging arm 16, and the other end of the short connecting rod is hinged with the lower end of the pull rod 161; one end of the hook 166 is movably hinged to the hanging arm 16 above the connecting rod 163, and the other end of the hook 166 corresponds to the other end of the long connecting rod below. The pair of pull rods 161 respectively move downwards along the guide rails 164 to drive the short connecting rod in the connecting rods 163 to push the long connecting rod to rotate, and the long connecting rod pushes the other end of the hook 166 to rotate around the movable end to be involuted towards the hook of the hanging arm 16, so as to realize a locking state, as shown in fig. 6 and 8; under the action of the pair of springs 165, the pair of pull rods 161 respectively move upwards along the guide rails 164 to drive the short connecting rod of the connecting rods 163 to reversely pull the long connecting rod to rotate, the long connecting rod is separated from the hook 166, the hook 166 reversely rotates around the movable end, and is separated from the hook of the hanging arm 16 to realize an opening state, which is shown in fig. 7.
Referring to fig. 9, when the monitor is stored and released on the high-voltage line, the Beidou monitor is placed in the mounting barrel 17 of the monitor hanging and mounting mechanism, the total weight of the Beidou monitor and the monitor is 3kg, and the diameter of the grabbed cross rod 15 is 40 mm. Acquiring an image of a working area through a binocular camera 51, and determining that the position of a high-voltage wire is within the working range of the mechanical arm grabbing mechanism through a control system; the tail end clamp 45 of the grabbing mechanical arm mechanism clamps the cross rod 15 of the monitor hanging mechanism; at this time, when the cross bar 15 is pulled upward, the pair of pull rods 161 respectively move upward along the guide rails 164, and the short link of the connecting rods 163 is driven to reversely pull the long link to rotate, so that the long link is disengaged from the hook 166, and the hook 166 reversely rotates around the movable end, and is separated from the hook of the hanging arm 16. Machine carries control system 3 control six rotor unmanned aerial vehicle and reachs appointed high-voltage line position, snatch terminal anchor clamps 45 of mechanical arm mechanism and make a pair of couple of hanging arm 16 contact high-voltage line 18, and propelling movement horizontal pole 15, horizontal pole 15 promotes a pair of pull rod 161 and follows guide rail 164 downstream respectively, it rotates to drive the short connecting rod of connecting rod 163 in promotes long connecting rod, long connecting rod promotes the other end of pothook 166 and rotates around the expansion end and to closing towards the couple of hanging arm 16, realize locking state, make big dipper navigation monitor hang and adorn on high-voltage line 18.
Example 2
Referring to fig. 12, when cutting a winding on a high voltage wire, the end clamp 45 of the mechanical grasping arm mechanism clamps the shank of a cutting tool, which is a star-shaped cutter 14 and includes a support rod 141 and a cutter head 142. Determining that the position of the winding on the high-voltage wire is in the cutting range of the cutting tool through the control system, and starting cutting work by the cutting tool until the control system judges that the cutting task is finished; and the airborne control system 3 controls the six-rotor unmanned aerial vehicle to continue to execute the next cutting task.
Example 3
Referring to fig. 10, the grabbing mechanical arm mechanism is a two-shaft mechanical arm, and a motor in the two-shaft mechanical arm is a permanent magnet synchronous motor, so that the grabbing mechanical arm mechanism has the advantages of high efficiency, simple structure, reliable operation, small size and light weight. The maximum opening and closing stroke of the tail end clamp 45 of the grabbing mechanical arm mechanism 4 is 20mm, and the clamping force is 50-80N. The operation is implemented when the two axes of the grabbing mechanical arm mechanism are bent at an angle of 150 degrees. Referring to fig. 11, the two-axis turning of the grabbing robot arm mechanism is performed in a state of reverse 150 degrees.
The above description is not intended to limit the present invention in any way on its structure or shape. Any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention all still fall within the scope of the technical solution of the present invention.
Claims (5)
1. A six-rotor unmanned aerial vehicle system for taking and placing a Beidou navigation monitor on a high-voltage line comprises a six-rotor unmanned aerial vehicle body (1), six rotary vanes (2) and an airborne control system (3), wherein six cantilevers are uniformly distributed on the periphery of the six-rotor unmanned aerial vehicle body (1), and the six rotary vanes (2) are respectively and correspondingly arranged at the end parts of the six cantilevers; the airborne control system (3) comprises a ground control computer and a control system; the maximum communication distance of the ground control computer under the conditions of no interference and no blocking is 20km, and the ground control computer is characterized in that:
the bottom of the six-rotor unmanned aerial vehicle body (1) is fixedly provided with a grabbing mechanical arm mechanism (4) and a binocular camera (51) through a mounting plate;
the grabbing mechanical arm mechanism (4) is a two-axis mechanical arm and comprises a head end connecting piece (41), a joint connecting piece (42), a tail end connecting piece (43), a clamping jaw (44) and a tail end clamp (45) which are connected in sequence; the weight of the grabbed target object is less than 4kg, and the diameter of the grabbed part of the target object is 35-55 mm;
the automatic cutting device also comprises a monitor hanging mechanism or a cutting tool, wherein the monitor hanging mechanism comprises a mounting barrel (17), a pair of hanging arms (16) and a cross rod (15);
the Beidou monitor is placed in a mounting barrel (17) of a monitor hanging mechanism; when the monitor on the high-voltage wire is put and released for operation, images of a working area are obtained through a binocular camera (51), the control system determines that the position of the high-voltage wire is within the working range of the mechanical arm mechanism, and a tail end clamp (45) of the mechanical arm mechanism is grabbed to clamp a cross rod (15) of the monitor hanging mechanism; the airborne control system (3) controls the six-rotor unmanned aerial vehicle to reach a specified high-voltage line position, a tail end clamp (45) of the grabbing mechanical arm mechanism loosens a cross rod (15) of the monitor hanging mechanism, and the Beidou navigation monitor is hung on the high-voltage line through a pair of hanging arms (16);
when the automatic winding machine is used for cutting the winding on the high-voltage wire, a tail end clamp (45) of the grabbing mechanical arm mechanism clamps a cutter handle of the cutting cutter, the position of the winding on the high-voltage wire is determined to be in the cutting range of the cutting cutter through the control system, and the cutting cutter starts cutting work until the control system judges that the cutting task is finished; and the airborne control system (3) controls the six-rotor unmanned aerial vehicle to continue to execute the next cutting task.
2. The system of claim 1, wherein the six-rotor unmanned aerial vehicle system for taking and placing the Beidou navigation monitor on the high voltage line comprises: the motor in the two-shaft mechanical arm is a direct current motor; the maximum opening and closing stroke of a tail end clamp (45) of the grabbing mechanical arm mechanism (4) is 20mm, and the clamping force is 50-80N.
3. The system of claim 1, wherein the six-rotor unmanned aerial vehicle system for taking and placing the Beidou navigation monitor on the high voltage line comprises: the clamping jaw (44) is an electric clamping jaw EFG-20.
4. The system of claim 1, wherein the six-rotor unmanned aerial vehicle system for taking and placing the Beidou navigation monitor on the high voltage line comprises: the monitor hanging mechanism comprises a mounting barrel (17), a pair of hanging arms (16) and a cross bar (15); the pair of hanging arms (16) are fixedly arranged at two axial ends of the mounting barrel (17), a hook is arranged at the upper end of each hanging arm (16), and a locking mechanism is arranged on each hanging arm adjacent to the hook; the locking mechanism comprises a pull rod (161), a guide rail clamping plate (162), a connecting rod (163), a guide rail (164), a spring (165) and a clamping hook (166); the guide rail (164) is vertically arranged on a hanging arm (16) at the rear side of the hook, a guide rail clamping plate (162) is arranged at the upper part of the guide rail (164), and the pull rod (161) is inserted between the guide rail (164) and the guide rail clamping plate (162) and is matched with the guide rail (164); the lower end fixing edge of the pull rod (161) is connected with one end of the spring (165), and the other end of the spring (165) is fixed at the lower part of the hanging arm (16) through a pin; the two ends of the cross rod (15) are respectively and fixedly connected with the upper ends of pull rods (161) of a pair of locking mechanisms; the connecting rod (163) comprises a long connecting rod and a short connecting rod, one end of the long connecting rod is hinged with one end of the short connecting rod, the middle part of the long connecting rod is movably hinged on the hanging arm (16), and the other end of the short connecting rod is hinged with the lower end of the pull rod (161); one end of the hook (166) is movably hinged on the hanging arm (16) above the connecting rod (163), and the lower part of the other end of the hook (166) corresponds to the other end of the long connecting rod; the pair of pull rods (161) respectively move downwards along the guide rail (164) to drive the middle and short connecting rods of the connecting rod (163) to push the long connecting rod to rotate, the long connecting rod pushes the other end of the hook (166) to rotate around the movable end to be involuted towards the hook of the hanging arm (16), and the locking state is realized; under the action of a pair of springs (165), a pair of pull rods (161) respectively move upwards along a guide rail (164) to drive a middle and short connecting rod of a connecting rod (163) to reversely pull a long connecting rod to rotate, the long connecting rod is separated from a hook (166), the hook (166) reversely rotates around a movable end, and the hook is separated from a hook of a hanging arm (16) to realize an opening state.
5. The system of claim 4, wherein the six-rotor unmanned aerial vehicle system for taking and placing the Beidou navigation monitor on the high voltage line comprises: the cutting tool is a star-shaped cutting knife.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021058230.0U CN212290326U (en) | 2020-06-10 | 2020-06-10 | Six-rotor unmanned aerial vehicle system for taking and placing Beidou navigation monitor on high-voltage line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021058230.0U CN212290326U (en) | 2020-06-10 | 2020-06-10 | Six-rotor unmanned aerial vehicle system for taking and placing Beidou navigation monitor on high-voltage line |
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| CN212290326U true CN212290326U (en) | 2021-01-05 |
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