CN218431711U - Rotor wing adjusting structure for high-altitude operation robot with fan blades - Google Patents
Rotor wing adjusting structure for high-altitude operation robot with fan blades Download PDFInfo
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- CN218431711U CN218431711U CN202222120714.9U CN202222120714U CN218431711U CN 218431711 U CN218431711 U CN 218431711U CN 202222120714 U CN202222120714 U CN 202222120714U CN 218431711 U CN218431711 U CN 218431711U
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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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The utility model discloses a rotor adjustment structure for fan blade high altitude operation robot, including the multiunit rotor, they divide to be listed as and set up in high altitude operation robot's the peripheral both sides in chassis the bottom surface on chassis is provided with detecting element, detecting element is used for detecting the focus position offset of whole high altitude robot and the distance information between the different positions in chassis and the fan blade, and every group rotor all links to each other with the chassis through respective rotary mechanism of accomodating, accomodate rotary mechanism and be used for adjusting slew velocity, the shrink and the extension of every group rotor. The utility model discloses a whole device structure is simple and convenient, and the reaction is rapid, and the facilitate promotion is used.
Description
Technical Field
The utility model belongs to the technical field of high altitude construction equipment, concretely relates to rotor adjustment structure for fan blade high altitude construction robot.
Background
With the increasingly prominent environmental protection problem and the increasingly tense energy supply, wind energy has been increasingly popular and paid attention to as a clean renewable energy. The wind driven generator can convert wind energy into electric energy, occupies less land, has less social dispute, is environment-friendly, can quickly realize scale and industrialization, and has higher economic benefit in developed renewable energy sources so far.
The blade is one of important components of a wind generating set, and the surface of the blade is often damaged due to sand damage, salt mist erosion, bird impact and the like, so that the operation safety of a fan and the power generation amount of a wind field are influenced. At present, the mode of adding manual work by an unmanned aerial vehicle is adopted mostly to detect and maintain the surface of the blade, so that the working efficiency is low, and certain threat is brought to the personal safety.
Chinese patent "CN114655326A" discloses an obstacle crossing robot capable of adapting to complex environment, which discloses an obstacle crossing robot capable of adapting to complex environment, including crawler walking climbing module, crawler walking module, etc., wherein, rotors are respectively installed on two sides of the robot, the main function is that when the mobile robot wants to cross large-scale obstacles, the chassis of the mobile robot can be driven to fly, which plays a role of lifting power, the flying direction is controlled by steering engine, although the robot realizes flying to cross large-scale obstacles by adding rotors, the rotor design makes the whole robot body larger, which can affect the moving and working range of the robot, if it is used at high altitude, because there are many uncertain factors at high altitude, the risk of robot working is increased.
SUMMERY OF THE UTILITY MODEL
The utility model provides a rotor adjustment structure for fan blade high altitude construction robot through adjusting the rotor, not only can adjust the slew velocity of each group's rotor, realizes the attitude adjustment to high altitude construction robot, can also accomodate the rotor implementation, reduces hoist and mount in-process and causes unnecessary to damage the rotor, solves high altitude construction robot because the work risk that rotor self increases.
The utility model discloses a following technical scheme realizes:
a rotor wing adjusting structure for a fan blade high-altitude operation robot comprises a plurality of groups of rotor wings which are arranged on two sides of the periphery of a chassis of the high-altitude operation robot in a row, each group of rotor wings are connected with the chassis through a respective storage rotating mechanism, and the storage rotating mechanisms are used for adjusting the rotating speed of each group of rotor wings and storing and extending the rotor wings to the chassis.
Further, the containing and rotating mechanism comprises a base, a first motor is arranged on the base, an output shaft of the first motor is connected with the corresponding rotor wing through a folding mechanism, the folding mechanism is used for realizing the folding of the rotor wings from the horizontal direction to the vertical direction or from the vertical direction to the horizontal direction, the containing of each group of rotor wings is realized, and the first motor is used for driving the folding mechanism and the corresponding rotor wings to rotate;
one side of the base is connected with one end of the connecting arm, the other end of the connecting arm is connected with the second motor, an output shaft of the second motor is fixedly connected with an opening of the U-shaped support, the closed end of the U-shaped support is connected with the chassis, and the second motor is used for driving the connecting arm to be folded together with the base from the horizontal direction to the vertical direction or from the vertical direction to the horizontal direction, so that the whole storage and rotation mechanism can be stored or extended towards the chassis.
Further, folding mechanism includes two splint of parallel arrangement, every the central authorities of splint all have with the output shaft complex through-hole of first motor, two the both ends in space respectively set up a third motor between the splint, every the output shaft of third motor all is connected with a rotor for drive rotor is from the folding of horizontal direction to vertical direction or vertical direction to horizontal direction.
Further, the second motor adopts a double-shaft output motor structure, and the third motor adopts a cylindrical structure.
Further, the connecting arm adopts an electric drive type telescopic structure.
The utility model discloses profitable technological effect as follows:
the robot has the advantages that the two sides of the four-rotor-wing split-row robot are adopted, the rotor wing storage and extension can be realized by means of the storage rotating mechanism connected with the robot, unnecessary damage to the rotor wing in the hoisting process can be reduced to the maximum extent, meanwhile, the rotor wing does not occupy space, the operation of mechanical arms is influenced, the storage function is realized by adopting the motor, the self-locking function is realized, the storage safety is ensured, meanwhile, the posture detection unit of the robot is matched, the rotating speed of each rotation is adjusted according to detection data, the posture adjustment of the high-altitude operation robot in the front-back and left-right directions can be completed, the high-altitude operation robot can be accurately positioned to the position needing to be repaired, and a foundation is provided for subsequent stable landing such as adsorption removal.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention in an extended state;
fig. 2 is a schematic view of the overall structure of the present invention in the storage state;
fig. 3 is a schematic structural view of the accommodating and rotating mechanism of the present invention;
fig. 4 is a schematic view of the installation state of the detection unit on the chassis;
the system comprises a rotor 1, a fan blade 2, a storage rotating mechanism 3, a base 31, a first motor 32, a clamping plate 33, a third motor 34, a connecting arm 35, a second motor 36, a U-shaped support 37, a movable support rod 38, a distance measuring sensor 4 and a chassis 5.
Detailed Description
The following detailed description of the preferred embodiments of the invention is provided with reference to the accompanying drawings.
As shown in fig. 1-4, the utility model provides a rotor wing adjustment structure for fan blade high altitude operation robot, including setting up the peripheral multiunit rotor wing 1 in high altitude operation robot's chassis 5, like each two sets of rotor wings 1 of split chassis 5 both sides, every group rotor wing 1 all links to each other with the chassis through accomodating rotary mechanism 3, should accomodate rotary mechanism 3 and be used for adjusting the slew velocity of every group rotor wing 1, and shrink and extend to the chassis, we can also be provided with the detecting element in chassis 5 bottom surface simultaneously, the detecting element is used for detecting the distance information between the different positions of chassis of whole high altitude robot and fan blade 2, the detecting element, accomodate rotary mechanism 3 and all link to each other with the treater, the treater still links to each other with high altitude operation robot's central control module, so the treater is according to the distance information that detecting element detected, through accomodating rotary mechanism 3 control the slew velocity of every group rotor wing 1, thereby adjust the distance between the different positions of chassis and fan blade 2, realize to high altitude operation robot's gesture adjustment, ensure can stably land on the fan blade, receive central control module's each rotor wing group's of group through accomodating rotary mechanism 3 control, thereby the follow-up and do the preparation for follow-up operation. The method comprises the following specific steps:
this accomodate rotary mechanism 3 includes base 31, be provided with first motor 32 on base 31, the output shaft of this first motor 32 passes through folding mechanism and links to each other with every group rotor 1, this folding mechanism is used for realizing rotor 1 from horizontal direction to vertical direction or vertical direction to the folding of horizontal direction, realize accomodating of every group rotor 1, this first motor 32 is used for driving folding mechanism and corresponds rotor 1 and rotates, this folding mechanism includes two splint 33 of parallel arrangement, the central authorities of every splint 33 all have with the output shaft complex through-hole of first motor, the both ends in space respectively set up a third motor 34 between two splint 33, the output shaft of every third motor 34 all is connected with a rotor 1, be used for driving rotor 1 from horizontal direction to vertical direction or vertical direction to the folding of horizontal direction, thereby realize accomodating and extending of rotor 1.
One side of this base 31 is connected with the one end of connecting arm 35, the other end of this connecting arm 35 links to each other with second motor 36, the opening part fixed connection of the output shaft of this second motor 36 and U-shaped support 37, the blind end of this U-shaped support 37 links to each other with the chassis, this second motor 36 is used for driving connecting arm 35 together with base 31 from the horizontal direction to vertical direction or vertical direction to the folding of horizontal direction, thereby realize whole taking in rotary mechanism and to accomodating or extending of chassis, also rotor 1 is accomodating or extending in the direction realization of whole connecting arm 35.
In order to save space, this first motor, the third motor, the base all adopts the cylinder structure of flat, this splint set up long structure, first motor sets up on the base, its output shaft passes the through-hole at two splint central authorities, rather than fixed connection, so that drive the rotor and rotate, and the third motor sets up in the clearance between two splint, can fix and set up on a splint, its output shaft passes through the bearing setting on another splint, and the rotor suit is on the output shaft, thereby under the drive of third motor, realize folding the accomodating of rotor.
This second motor adopts biax output structure, be convenient for and the open end cooperation of U-shaped support, can set up the second motor in a telescopic one end, this telescopic other end suit is on the other end of linking arm, can lock through the fastener, also convenient dismantlement and maintenance, the one end lug connection of this linking arm to the side of base, form an L shape structure together with folding mechanism, be convenient for fold when accomodating, still do not influence the rotation of rotor, simultaneously we can also set up one with linking arm 35 complex movable support rod 38, the one end of this movable support rod 38 is provided with C shape opening, can clamp on linking arm 35, the other end is provided with the rectangle frame, this rectangle frame can hold folding back every group rotor, after folding accomodating is accomplished, can hand push movable support rod 38 along linking arm 35, insert the rectangle frame with every group rotor, further improve the security of rotor.
When the rotor wing needs to work, the third motor drives the rotor wing to rotate to a position collinear with the clamping plate, and meanwhile, under the driving of the second motor, the connecting arm and the base are rotated towards a direction away from the chassis to be perpendicular to the side edge of the chassis, so that the whole accommodating rotating mechanism is extended, the first motor drives the clamping plate to rotate together with the rotor wing conveniently, and preparation is made for subsequent hoisting posture adjustment;
when not needing rotor during operation like the hoist and mount in-process, drive the rotor by the third motor and rotate to perpendicular just with the position of linking arm collineation with splint, accomplish the folding of rotor and accomodate, simultaneously under the drive of second motor, rotate linking arm and base to being close to the chassis direction, make its side parallel with the chassis, realize whole folding of accomodating rotary mechanism and accomodate, reduce occupation space, protect whole hoist and mount gesture adjusting device, the hoist and mount operation of equipment realization high altitude construction robot such as the hoist engine of being convenient for. In order to increase the supporting force for the storage rotating mechanism after storage, a supporting frame is arranged on the periphery of a chassis corresponding to the position of a connection arm after storage, and an opening of the supporting frame is matched with the connection arm to play a supporting role.
The detection unit comprises five groups of distance measuring sensors 4 which are respectively arranged at the front, the rear, the left, the right and the central positions of a chassis 5, and a group of rotors are respectively arranged at the positions corresponding to the front, the rear, the left and the right distance measuring sensors on the periphery of the chassis, so that lift force adjustment in the front, the rear, the left and the right directions can be realized according to distance tests of the high-altitude operation robot in the front, the rear, the left and the right directions, and further posture adjustment is completed. In consideration of the actual operation condition of the high-altitude operation robot, as shown in fig. 4, the chassis of the high-altitude operation robot in this embodiment is a rectangular parallelepiped structure, the front end of the chassis is used for assembling a traction rope for hoisting, the four groups of rotor wing 1 structures are only divided into two groups, distributed on the left and right sides of the periphery of the chassis, and are asymmetrically arranged, and the five groups of distance measuring sensors 4 are still located at the front, back, left, right and central positions of the chassis at this time, so as to be able to accurately detect the distance between the chassis and the blades, and the specific adjustment method thereof will be described in detail below.
With the progress of the robot working process, the situations that the gravity center of the whole robot is greatly changed include but are not limited to: 1) The position of the mechanical arm is not completely returned to the initial position; 2) When the robot works, partial materials are consumed, so that the center of gravity is changed; 3) In order to meet task needs, tools with different purposes are carried, the gravity center of the whole robot is changed, and the like, at the moment, the new gravity center position is located at the geometric center of the rotor as far as possible by adjusting the telescopic length of the rotor according to the gravity center position offset detected by the detection unit, so that the lift force of each rotor is balanced, and the problem of stability caused by the change of the gravity center position is solved.
In addition, consider only to rely on the lift that changes the rotor to satisfy the balance problem of robot, that will make the lift of rotor reserve great redundant space, not only make the size grow of rotor, make the power of rotor can not fully release moreover, simultaneously if because the robot focus is skew great, will make the rotor consume too much energy when the adjustment gesture, be unfavorable for the electric energy allotment of complete machine, influence the activity duration and the work efficiency of robot. Therefore, the utility model discloses the rotor that can also adopt asymmetric formula arranges the flexible power unit cooperation work of drive rotor to the attitude adjustment when reply focus skew is too big specifically as follows:
firstly, considering the arrangement of devices on a chassis of the high-altitude operation robot, the devices are not always uniform in many times, and therefore, each group of rotors can be arranged on the periphery of the chassis in an asymmetric structure;
secondly, the connecting arms in each rotary accommodating mechanism are of electric drive type telescopic structures, a gravity center position detection module is additionally arranged on the detection unit and used for detecting the offset of the gravity center position of the high-altitude operation robot, for example, weighing sensors are respectively arranged in the front, the back, the left end and the right end of the chassis 5, so that the gravity center position of the high-altitude operation robot changes along with the progress of the high-altitude operation robot, the detection data of the four weighing sensors will change at the moment, the gravity center position detection module and drivers of the connecting arms are all connected with a processor, the processor is used for receiving the offset of the gravity center position, the length of each group of the rotor wings can be adjusted by adjusting the lengths of the corresponding connecting arms through the drivers of the connecting arms, the change of the gravity center position can be adapted, the gravity center position is always located in the geometric centers of all the rotor wings, and the stability of the high-altitude operation robot in the posture adjustment process is ensured.
In addition, because the flexible function of linking arm 35, when carrying out whole accomodating rotary mechanism's accomodating, also can carry out the shrink of linking arm to further reduce whole volume of accomodating rotary mechanism, protect the rotor better and not receive accidental damage, make things convenient for the robot to carry out other operations such as walking, restoration etc. simultaneously.
When the rotor wing adjusting structure for the high-altitude operation robot of the fan blade is adopted for attitude adjustment, the processor receives a hoisting start instruction of the central control module, controls the corresponding rotor wing 1 to be stored through the storage rotating mechanism 3, the specific storage method is as described above, when the target position is reached, the processor receives a hoisting end instruction of the central control module, controls the corresponding rotor wing 1 to extend through the storage rotating mechanism 3, and then adjusts the rotating speed of the corresponding rotor wing 1 through the storage rotating mechanism 3 according to the distance information detected by the detection unit, so that the chassis is parallel to the corresponding position of the fan blade 2, and the high-altitude operation robot can be ensured to stably land on the fan blade 2; in addition, if according to the detection result of the detection unit, the gravity center position is found to be deviated, the distance between the corresponding rotor wing 1 and the periphery of the chassis 5 is adjusted by the storage rotating mechanism 3, so that the gravity center position is always positioned at the geometric center where all the rotor wings are positioned, and the corresponding position of the chassis 5 and the corresponding position of the fan blade 2 are parallel by adjusting the rotating speed of the corresponding rotor wing 1 by the storage rotating mechanism 3, thereby ensuring that the high-altitude operation robot can stably land on the fan blade.
Considering that the area of a chassis of the high-altitude operation robot is much smaller than that of a fan blade, when the posture is adjusted, distance information detected by a central position distance measuring sensor is taken as a reference, and a storage rotating mechanism adjusts the rotating speed of a corresponding rotor wing according to a set frequency, so that the difference values between the distance information detected by front, rear, left and right end distance measuring sensors and the reference are always within an acceptable range until the high-altitude operation robot can stably land on the fan blade.
If the distance information detected by the front, rear, left or right distance measuring sensors is small relative to the reference, and the distance information indicates that the corresponding end of the high-altitude operation robot is close to the fan blade, the rotating speed of the corresponding rotor wing is adjusted to be increased through the containing rotating mechanism, and the lifting force of the corresponding end is increased until the difference value between the lifting force and the reference is within an acceptable range; if the distance information detected by the front, rear, left or right distance measuring sensors is larger than the reference, which indicates that the corresponding end of the high-altitude operation robot is far away from the fan blade, the rotating speed of the corresponding rotor wing is adjusted to be reduced through the accommodating rotating mechanism, and the lift force of the corresponding end is reduced until the difference value with the reference is within an acceptable range.
When the gravity center position of the high-altitude operation robot changes, if the detection value of the weighing sensor in any direction is increased, the connecting arm of the corresponding rotor wing is lengthened, and if the detection value of the weighing sensor in any direction is decreased, the connecting arm of the corresponding rotor wing is shortened until the original measurement state can be basically recovered, at the moment, the gravity center position is positioned at the geometric center of all the rotor wings again, and the hoisting posture is adjusted as described above.
Although specific embodiments of the present invention have been described above, it will be appreciated by those skilled in the art that these embodiments are merely illustrative and various changes or modifications may be made therein without departing from the principles and spirit of the invention, and therefore, the scope of the invention is defined by the appended claims.
Claims (5)
1. The utility model provides a rotor adjusts structure for fan blade high altitude construction robot which characterized in that: the high-altitude operation robot comprises a plurality of groups of rotors which are arranged at two sides of the periphery of a chassis of the high-altitude operation robot in a row, each group of rotors is connected with the chassis through a respective storage rotating mechanism, and the storage rotating mechanisms are used for adjusting the rotating speed of each group of rotors and storing and extending the rotors to the chassis.
2. A rotor wing adjusting structure for a fan blade high altitude operation robot as claimed in claim 1 wherein: the accommodating and rotating mechanism comprises a base, a first motor is arranged on the base, an output shaft of the first motor is connected with the corresponding rotor wing through a folding mechanism, the folding mechanism is used for realizing the folding of the rotor wings from the horizontal direction to the vertical direction or from the vertical direction to the horizontal direction, so as to realize the accommodating of each group of rotor wings, and the first motor is used for driving the folding mechanism and the corresponding rotor wing to rotate;
one side of the base is connected with one end of the connecting arm, the other end of the connecting arm is connected with the second motor, an output shaft of the second motor is fixedly connected with an opening of the U-shaped support, the closed end of the U-shaped support is connected with the chassis, and the second motor is used for driving the connecting arm to be folded together with the base from the horizontal direction to the vertical direction or from the vertical direction to the horizontal direction, so that the whole storage and rotation mechanism can be stored or extended towards the chassis.
3. A rotor wing adjusting structure for a fan blade high-altitude operation robot as claimed in claim 2, wherein: folding mechanism includes two splint of parallel arrangement, every the central authorities of splint all have with the output shaft complex through-hole of first motor, two the both ends in space respectively set up a third motor between the splint, every the output shaft of third motor all is connected with a rotor for drive rotor is from the folding of horizontal direction to vertical direction or vertical direction to horizontal direction.
4. A rotor wing adjusting structure for a fan blade high altitude operation robot according to claim 3, characterized in that: the second motor adopts a double-shaft output motor structure, and the third motor adopts a cylindrical structure.
5. A rotor wing adjusting structure for a fan blade high altitude operation robot as claimed in claim 2 wherein: the connecting arm adopts an electric drive type telescopic structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222120714.9U CN218431711U (en) | 2022-08-12 | 2022-08-12 | Rotor wing adjusting structure for high-altitude operation robot with fan blades |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222120714.9U CN218431711U (en) | 2022-08-12 | 2022-08-12 | Rotor wing adjusting structure for high-altitude operation robot with fan blades |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218431711U true CN218431711U (en) | 2023-02-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222120714.9U Active CN218431711U (en) | 2022-08-12 | 2022-08-12 | Rotor wing adjusting structure for high-altitude operation robot with fan blades |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218431711U (en) |
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2022
- 2022-08-12 CN CN202222120714.9U patent/CN218431711U/en active Active
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