TW201917064A - Machine tool system carried by a copter drone - Google Patents

Abstract

A machine tool system carried by a copter drone includes a supporting mechanism, and a robot arm mechanism, a weight-distributing mechanism and a control device that are mounted to the supporting mechanism. The robot arm mechanism is disposed under and pivotally connected to a first end portion of the supporting mechanism in its lengthwise direction so as to be swingable relative to the supporting mechanism in the lengthwise direction. The weight-distributing mechanism is movably mounted to a second end portion of the supporting mechanism opposite to the first end portion in the lengthwise direction so as to be movable relative to the supporting mechanism in the lengthwise direction. The control device is configured to control operations of the robot arm mechanism and the weight-distributing mechanism so that, upon detecting that the center of gravity of the robot arm mechanism moves toward one of the first and second end portions of the supporting mechanism, the weight-distributing mechanism is controlled by the control device to move toward the other one of the first and second end portions of the supporting mechanism so as to balance the machine tool system in use, thereby enhancing flight stability of the copter drone carried with the machine tool.

Description

Machine tool system for rotorcraft

The present invention relates to a machine tool system, and more particularly to a machine tool system for a rotary wing drone.

With the continuous breakthrough of rotorless drone technology, rotary wing drones have become more and more common, and have been gradually applied to various technical fields, and have great potential for development and application. In addition to the camera for general airshots, the ability to hover in the air with a rotorless drone can be used to attach a robotic arm or power tool to assist in equipment installation where it is difficult for people to reach or at high risk. Or repair, such as high-voltage electric towers, cleaning and forest trimming.

However, when the robot arm or the electric machine tool is in operation, the center of gravity of the mechanical arm and the electric machine tool will be shifted, and the force and reaction force between the robot and the working object will be directly transmitted to the rotorcraft, which will affect the rotorcraft. The hovering stability, causing the flight load of the rotorcraft drone, and even causing the rotorless drone to crash out of control. Therefore, how to reduce or isolate the reaction force of the robotic arm or electric machine tool installed on the rotorcraft will be the key technology for the rotorcraft to replace the manpower of the aerial work.

Accordingly, it is an object of the present invention to provide a power tool system for a rotorcraft that improves upon at least one of the disadvantages of the prior art.

Thus, the machine tool system for a rotorcraft of the present invention is suitable for mounting a workpiece and includes a bracket mechanism for mounting on the rotor drone, and a mechanical arm mechanism and a weight attached to the bracket mechanism. The mechanism and a control device. The bracket mechanism has a first end portion and a second end portion opposite to each other in an extending direction, and the mechanical arm mechanism includes a mechanism that can be driven to be pivotally mounted to the first end portion in the extending direction An arm unit, and a workpiece driving unit that can be oscillated and attached to the robot arm unit, the workpiece driving unit can be used to mount the workpiece and can drive the workpiece to operate. The weight mechanism is attached to the second end portion so as to be reciprocally displaceable in the extending direction. The control device includes a pivoting drive unit coupled to the mechanical arm mechanism and capable of driving the mechanical arm mechanism to pivot relative to the bracket mechanism, a coupled to the weight mechanism and capable of driving the weight mechanism relative to the second end a displacement displacement driving unit, and a controller capable of synchronously controlling the displacement driver transmission when controlling the operation of the pivoting driving unit to drive the mechanical arm unit to drive the workpiece driving unit to shift the position of the center of gravity The weight mechanism is displaced in a direction opposite to the direction of movement of the center of gravity of the arm mechanism.

The utility model has the advantages that the controller can synchronously control the pivoting driving unit and the displacement driving unit to operate synchronously, and synchronously adjust the design of the center of gravity of the mechanical arm mechanism and the weighting mechanism, thereby greatly improving the entire machine tool system. The stability of the center of gravity during operation helps to improve the flight stability of the rotorless drone equipped with the machine tool system of the present invention.

The invention will be further illustrated by the following examples, but it should be understood that this embodiment is for illustrative purposes only and is not to be construed as limiting The number is indicated.

Referring to Figures 1, 2, and 3, an embodiment of the power tool system 200 for a rotary wing drone of the present invention is suitable for mounting on the rotor drone 900 and can be used to mount a workpiece 800, such as but not limited to The water spray valve and the saw blade, the machine tool system 200 can be carried off the ground by the rotor drone 900, and the workpiece 800 can be used for decoration or processing of specific articles, such as high-voltage electric tower cleaning and cleaning. Slice or trim trees, etc.

The power tool system 200 includes a bracket mechanism 3 for mounting on the rotor drone 900, and a robot arm mechanism 4 mounted to the bracket mechanism 3, a weight mechanism 6 and a control device 7, the robot arm mechanism 4 can be used to mount the workpiece 800.

The bracket mechanism 3 includes two rails 31 which are parallel to each other and which are horizontally and horizontally extending in the direction of the extending direction 300, and a plurality of jumper bars 32 which are spaced forward and backward and extend left and right between the rails 31. The bracket mechanism 3 has a first end portion 301 defined by the front end portions of the rail rods 31, a second end portion 302 defined by the rear end portions of the rail rods 31, and a second end portion 302 The intermediate portion of the equal rail 31 cooperates with the defined mounting portion 303. The first end portion 301, the mounting portion 303 and the second end portion 302 are sequentially arranged along the extending direction 300.

The robot arm mechanism 4 includes a robot arm unit 41 pivotally pivotally coupled to the first end portion 301 along the extending direction 300, and a robot arm unit operably coupled to the robot arm unit 41 The workpiece drive unit 42 of the unit 41. The arm unit 41 includes an arm assembly 411 pivotally pivoted to the first end portion 301 with its top end portion axially extending in the extending direction 300, and a left and right axially pivoted upper arm assembly Lower arm assembly 413 at the bottom end of 411. The upper arm assembly 411 includes two arms 412 extending vertically and symmetrically disposed, and the lower arm assembly 413 is pivotally disposed between the bottom ends of the arms 412. Since the type of the robot arm unit 41 is numerous, the implementation is not limited to the above.

The workpiece driving unit 42 includes a connecting module 421 extending forward and backward along the extending direction 300 and mounted on the lower arm assembly 413, and is respectively mounted on the front end and the rear end of the connecting module 421 and via the connecting module 421. One joint module 422 and one power module 423 are connected to each other. The joint module 422 and the power module 423 are respectively located on opposite sides of the extending direction of the lower arm assembly 413 and the upper arm assembly 411. The joint module 422 can be used for mounting the workpiece 800. The power module 423 is a motor component that can be controlled to start running, and the connector module 422 is driven by the connection module 421 to drive the workpiece 800 to operate, for example, to drive the workpiece 800 to rotate. Since the joint module 422 capable of mounting the workpiece 800 is of a large variety and is not an improvement of the present invention, it will not be described in detail.

2, 4, and 5, the weight mechanism 6 includes a sliding unit 61 that is movably mounted to the second end 302 in the extending direction, and a carrier 62 mounted under the sliding unit 61, and A weight member 63 is mounted below the carrier 62. The sliding unit 61 includes two pulley blocks 611 which are respectively slidably mounted to the rails 31. Each pulley block 611 has a seat body 612, and a plurality of pivots are disposed on the top side of the base body 612 and can be rolled forward and backward. The pulley 613 is inserted into the left and right sides of the respective rails 31 to the right and left. The carrier 62 is bridged between the seats 612, and the weight member 63 can be displaced along the second end portion 302 forward and backward through the pulley blocks 611. In this embodiment, the weight member 63 is a battery module, and can supply the power required for the control device 7 and the power module 423 to operate, and can further supply the power required for the rotor drone 900 to operate. However, in other embodiments of the present invention, the type of the weight member 63 is not limited thereto, and may also have a weight of a specific weight.

2, 6, and 7, the control device 7 is mounted on the mounting portion 303, and includes a pivoting driving unit 71 coupled to the mechanical arm mechanism 4 and a displacement driving unit 74 coupled to the weighting mechanism 6. And a signal is connected to the pivoting drive unit 71 and the controller 75 of the displacement drive unit 74.

The pivoting drive unit 71 includes a first drive module 72 coupled to the upper arm assembly 411 and a second drive module 73 coupled to the lower arm assembly 413. The first driving module 72 includes a swing driver 721 fixed to the mounting portion 303, a first driving wheel 722 that is pivotally mounted to the upper arm assembly 411 at the same pivotal end as the top end of the upper arm assembly 411, and a first driving module 722. A first transmission member 723 extending between the swing driver 721 and the first driving wheel 722 extends forward and backward.

The second driving module 73 includes a crank arm driver 731 fixed to the mounting portion 303, a deceleration wheel set 732 pivotally disposed at the first end portion 301 and spaced apart in front of the crank arm driver 731, and a The lower arm assembly 413 is pivotally mounted to the second drive wheel 733 coupled to the lower arm assembly 413, and a second transmission member 734 extending forwardly and circumferentially and coupled between the crank arm driver 731 and the reduction wheel set 732. And a third transmission member 735 extending between the reduction wheel set 732 and the second drive wheel 733. The crank arm driver 731 drives the reduction wheel set 732 via the second transmission member 734 to drive the reduction wheel set 732 to drive the second drive wheel 733 via the third transmission member 735, thereby enabling the second drive wheel The lower arm assembly 413 is pivoted forward and backward relative to the upper arm assembly 411, and the power module 423 and the joint module 422 of the workpiece driving unit 42 are swung up and down with respect to the bracket mechanism 3, thereby shifting back and forth. The position of the center of gravity of the arm mechanism 4.

In the present embodiment, the first transmission member 723, the second transmission member 734 and the third transmission member 735 are transmitted through the transmission belt, but in implementation, another embodiment of the present invention is implemented. In the middle, the transmission members can also be changed into chains, and the transmission structure of the relevant members can be adjusted correspondingly. Since the transmission belt and the chain are used as the transmission members as the conventional technology, they will not be described in detail.

The displacement driving unit 74 includes a displacement driver 741 mounted on the mounting portion 303, a steering wheel 742 mounted on the second end 302, and a coupling to the carrier 62, the steering wheel 742 and the displacement driver 741. Displacement transmission member 743. In the present embodiment, the displacement transmission member 743 is a transmission belt, and one end of the transmission transmission member 743 is fixed to the carrier 62, and then extends from the carrier 62 in the extending direction and is coupled to the steering wheel. 742 , further extending from the steering wheel 742 in the extending direction and back to the displacement driver 741 , and extending backward from the displacement driver 741 to be fixed to the carrier 62 at the other end thereof. The displacement driver 741 can drive the carrier 62 to be displaced back and forth along the second end 302 via the displacement transmission member 743. In practice, in another embodiment of the present invention, the displacement transmission member 743 can also be changed to a chain, and the displacement actuator 741 can also be used to drive the displacement transmission member 743 to drive the displacement of the carrier 62.

Referring to Figures 2, 3 and 6, the controller 75 synchronously controls the operation of the pivoting drive unit 71 and the displacement drive unit 74. The controller 75 controls the swing driver 721 and the crank arm driver 731 to operate. The mechanical arm unit 41 drives the workpiece driving unit 42 to swing back and forth, so that when the center of gravity of the mechanical arm mechanism 4 is displaced forward and backward relative to the bracket mechanism 3, the displacement driving unit 74 is synchronously controlled to drive the weight mechanism 6 relative to the bracket. The mechanism 3 is displaced back and forth along the extending direction 300, thereby shifting the position of the center of gravity of the weight mechanism 6 to maintain the center of gravity of the bracket mechanism 3 in the extending direction.

When the controller 75 drives the pivoting drive unit 71 to drive the mechanical arm mechanism 4 to swing forward, and the center of gravity of the mechanical arm mechanism 4 is moved forward, the controller 75 synchronously drives the displacement driving unit 74 to transmit the configuration. The weight mechanism 6 is moved backward relative to the bracket mechanism 3, and the center of gravity of the weight mechanism 6 is moved backward, so that the front end portion of the bracket mechanism 3 is balanced and stabilized, and the swinging pair of the robot arm mechanism 4 is lowered. The impact of flight stability on drone 900 (shown in Figure 1). Conversely, when the controller 75 drives the pivoting drive unit 71 to drive the mechanical arm mechanism 4 to swing backward, and the center of gravity of the mechanical arm mechanism 4 is moved backward, the controller 75 synchronously drives the displacement driving unit 74. The weight mechanism 6 is driven forward relative to the bracket mechanism 3, and the position of the center of gravity of the weight mechanism 6 is shifted forward, so that the front end portion of the bracket mechanism 3 can be balanced and stabilized.

Referring to Figures 1, 3 and 6, when the power tool system 200 for a rotorless drone of the present invention is used, the bracket mechanism 3 is directly mounted and fixed to the rotor drone 900, and the workpiece 800 to be used is mounted on the workpiece drive. The joint module 422 of the unit 42 can then remotely control the rotor drone 900 to take off work.

When the robot arm mechanism 4 mounted on the rotor drone 900 is to be used to move the workpiece 800 to perform processing on a specific article, the controller 75 can be remotely controlled to operate the swing actuator 721 and the crank arm driver 731. The upper arm assembly 411 is moved forward or backward relative to the bracket mechanism 3, and the lower arm assembly 413 is pivoted relative to the upper arm assembly 411 to drive the workpiece driving unit 42 forward or toward the bracket mechanism 3. The rear swing moves to the desired angular position. At the same time, the controller 75 synchronously controls the displacement driver 741 according to the change of the posture of the mechanical arm mechanism 4, thereby shifting the position of the center of gravity of the weight mechanism 6 to shift the center of gravity of the mechanical arm mechanism 4. Compensation is made to enable the entire power tool system 200 to maintain front and rear center of gravity balance while reducing the impact on flight stability of the rotorcraft 900.

In this embodiment, the displacement driving unit 74 transmits the front and rear displacement of the weight mechanism 6 through the transmission belt 743 of the transmission belt or the chain type, but in practice, the displacement transmission member 743 can be coupled to the displacement. The driver 741 extends rearwardly to the screw of the carrier 62. The displacement driver 741 drives the displacement transmission member 743 to rotate about the axis of the self, and the weight mechanism 6 of the transmission phase is coupled to the bracket mechanism 3 Positioning before and after displacement.

In summary, the structural design of the mechanical arm mechanism 4 and the weight mechanism 6 are respectively installed at the front and rear ends of the bracket mechanism 3, and the controller 75 synchronously controls the pivoting driving unit 71 and the displacement. The drive unit 74 is actuated, and the design of the center of gravity of the mechanical arm mechanism 4 and the weight mechanism 6 can be synchronously adjusted, and the front and rear center of gravity stability of the entire power tool system 200 during operation can be greatly improved, and the machine tool system 200 can be controlled. Maintaining balance of the rotor drone 900 during operation is an innovative machine tool system 200 design for the rotorcraft drone 900. Therefore, the object of the present invention can be achieved.

However, the above is only the embodiment of the present invention, and the scope of the invention is not limited thereto, and all the simple equivalent changes and modifications according to the scope of the patent application and the patent specification of the present invention are still Within the scope of the invention patent.

200‧‧‧Tooling machine system

3‧‧‧ bracket mechanism

300‧‧‧Extension direction

301‧‧‧ first end

302‧‧‧second end

303‧‧‧Installation Department

31‧‧‧ Tracks

32‧‧‧ Jumper

4‧‧‧ Robot arm mechanism

41‧‧‧Mechanical arm unit

411‧‧‧Upper arm assembly

412‧‧‧Bench

413‧‧‧ Lower arm assembly

42‧‧‧Workpiece drive unit

421‧‧‧Link Module

422‧‧‧Connector module

423‧‧‧Power Module

6‧‧‧weight mechanism

61‧‧‧Sliding unit

611‧‧‧ pulley block

612‧‧‧ body

613‧‧‧ pulley

62‧‧‧Hosting

63‧‧‧With weights

7‧‧‧Control device

71‧‧‧ pivoting drive unit

72‧‧‧First drive module

721‧‧‧Swing drive

722‧‧‧First drive wheel

723‧‧‧First transmission parts

73‧‧‧Second drive module

731‧‧‧Bracket drive

732‧‧‧Deceleration wheel set

733‧‧‧Second drive wheel

734‧‧‧Second transmission parts

735‧‧‧ Third transmission

74‧‧‧Displacement drive unit

741‧‧‧displacement drive

742‧‧‧Steering wheel

743‧‧‧displacement transmission parts

75‧‧‧ Controller

800‧‧‧Workpiece

900‧‧‧Rotor UAV

Other features and effects of the present invention will be apparent from the following description of the drawings, wherein: Figure 1 is an embodiment of the present invention for a rotary wing drone, which is mounted on a rotary wing drone. a perspective view in which a first transmission member, a second transmission member and a third transmission member are omitted; FIG. 2 is a perspective view of the embodiment, in which the first transmission member, the second transmission member and the third portion are omitted Figure 3 is a side view of the embodiment; Figure 4 is a plan view similar to Figure 3, showing a mechanical arm unit driving a workpiece drive unit forwardly relative to a support mechanism Figure 6 is a side cross-sectional view of Figure 4 taken along line AA; and Figure 7 is a side cross-sectional view of Figure 4 taken along line BB.

Claims (10)

A machine tool system for a rotary wing drone, suitable for mounting a workpiece, and comprising: a bracket mechanism for mounting on the rotor drone having a first end and a second opposite each other in an extending direction An arm mechanism comprising a robot arm unit that can be driven to reciprocally pivotally mounted to the first end portion in the extending direction, and a mechanical arm unit that can be pivotally mounted to the machine by the robot arm unit a workpiece driving unit of the arm unit, the workpiece driving unit is capable of mounting the workpiece and capable of driving the workpiece to operate; a weight mechanism capable of reciprocally displaceably mounted to the second end portion along the extending direction; and a control device Mounted in the bracket mechanism, comprising a pivoting drive unit coupled to the robot arm unit and capable of driving the mechanical arm unit to pivot relative to the bracket mechanism, and a connection to the weight mechanism and capable of driving the weight mechanism relative to the first a displacement drive unit with two end displacements, and a controller capable of controlling the operation of the pivot drive unit to drive the mechanical arm unit to drive the When the workpiece driving unit shifts the position of the center of gravity before and after shifting, the displacement driver drives the weight mechanism to shift in a direction opposite to the moving direction of the center of gravity of the mechanical arm mechanism. A machine tool system for a rotorcraft according to claim 1, wherein the bracket mechanism includes at least one rail extending in the extending direction and defining the second end, the weight mechanism including an energy along a sliding unit that is slidably mounted on the rail, a carrier mounted to the sliding unit and coupled to the displacement driving unit, and a weight member mounted on the carrier, the displacement driving unit can The carrier is driven to be displaced back and forth relative to the rail via the sliding unit. The machine tool system for a rotorcraft according to claim 2, wherein the bracket mechanism comprises two rails extending in the extending direction and spaced apart in parallel, the sliding unit comprising two front and rear sliding seats respectively In the pulley block of the rails, each pulley block has a seat body, and at least two pulleys mounted on the seat body and slidably displaced in the extending direction to be mounted on the respective rail rods, the carrier It is connected to the seats. The machine tool system for a rotorless drone according to claim 3, wherein the displacement drive unit comprises a displacement drive fixed to the bracket mechanism, and a extension drive coupled to the carrier and the displacement drive along the extending direction The displacement transmission member can drive the displacement transmission member to operate to drive the carrier to drive the sliding unit to be displaced along the rails. The power tool system for a rotorless drone according to claim 4, wherein the displacement transmission member is a screw that is coupled to the displacement drive and coupled to the carrier, and the displacement drive can drive the displacement. The transmission member causes the carrier of the transmission member to be screwed to be displaced back and forth. The power tool system for a rotorless drone according to claim 4, wherein the displacement drive unit further comprises a steering wheel fixed to the bracket mechanism, the steering wheel and the displacement drive being respectively located at the carrier On the opposite side of the direction, the displacement transmission member is a chain or a transmission belt, and one end is connected to the carrier, and then extends along the extending direction and is coupled to the steering wheel, and then the reverse rotation of the steering wheel is extended. The displacement driver is further retracted from the displacement driver and reconnected to the carrier at the other end. The machine tool system for a rotorcraft according to claim 1, wherein the robot arm unit comprises an upper arm assembly pivotally pivotable in the extending direction at a top end thereof. And an arm assembly pivotally pivotable along the extending direction of the upper arm assembly, the workpiece driving unit includes a connecting module that can be oscillated and attached to the lower arm assembly, and is mounted on the connecting module a joint module and a power module respectively disposed on opposite sides of the joint between the joint module and the pivoting portion of the mechanical arm mechanism, and a power module capable of mounting the workpiece, the power module being capable of driving The joint module drives the workpiece to operate. The machine tool system for a rotorless drone according to claim 7, wherein the pivoting drive unit includes a first driving die mounted to the bracket mechanism and coupled to the upper arm assembly to drive the upper arm assembly pivoting And a second driving module mounted on the bracket mechanism and coupled to the lower arm assembly and capable of driving the lower arm assembly to pivot the workpiece driving unit relative to the upper arm assembly. The machine tool system for a rotorless drone according to claim 8, wherein the first drive module comprises a swing drive mounted to the bracket mechanism, a first drive wheel coupled to the upper arm assembly, and a A first transmission member coupled to the swing drive and the first drive wheel extends in the extending direction, and the first transmission member can be driven by the swing drive to pivot the upper arm assembly via the first drive wheel. The machine tool system for a rotorless drone according to claim 9, wherein the second driving module comprises a crank arm driver mounted on the bracket mechanism, a deceleration wheel set pivoted to the bracket mechanism, and a a second driving wheel coupled to the lower arm assembly, a second transmission member coupled between the crank arm driver and the reduction wheel set, and a third transmission member coupled between the reduction wheel set and the second drive wheel The crank arm driver can drive the deceleration wheel set via the second transmission member, so that the deceleration wheel set drives the second drive wheel via the third transmission member, and the second drive wheel that is driven to drive the drive wheel The lower arm assembly pivots relative to the upper arm assembly.