CN108448478A - Automatic adjustment focus circuit foreign matter clearing device - Google Patents
Automatic adjustment focus circuit foreign matter clearing device Download PDFInfo
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- CN108448478A CN108448478A CN201711025562.1A CN201711025562A CN108448478A CN 108448478 A CN108448478 A CN 108448478A CN 201711025562 A CN201711025562 A CN 201711025562A CN 108448478 A CN108448478 A CN 108448478A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
本发明公开一种自动调整重心的线路异物清除装置，包括无人机、连接构件、机械关节、机械臂端、储能装置、平衡构件和重力感应器，其中：以无人机中心在连接构件的投影点为界点，连接构件的所述一端的力矩包括连接构件所述一端的本体、机械关节、机械臂端和重力感应器的力矩和，连接构件的所述另一端的力矩包括连接构件所述另一端的本体、连接构件所述另一端的延伸段、储能装置和平衡构件的力矩和，连接构件的所述一端的力矩与连接构件的所述另一端的力矩相等。本发明技术方案通过连接构件的所述一端的力矩与连接构件的所述另一端的力矩相等，自动化地解决了清除操作引起的重力改变，造成倾斜，甚至翻滚的问题。
The present invention discloses a line foreign body removal device capable of automatically adjusting the center of gravity, comprising a drone, a connecting member, a mechanical joint, a mechanical arm end, an energy storage device, a balancing member and a gravity sensor, wherein: taking the projection point of the drone center on the connecting member as the boundary point, the torque of one end of the connecting member comprises the sum of the torques of the body of the one end of the connecting member, the mechanical joint, the mechanical arm end and the gravity sensor, the torque of the other end of the connecting member comprises the sum of the torques of the body of the other end of the connecting member, the extension section of the other end of the connecting member, the energy storage device and the balancing member, and the torque of one end of the connecting member is equal to the torque of the other end of the connecting member. The technical solution of the present invention automatically solves the problem of gravity change caused by the removal operation, causing tilting or even rolling, by making the torque of one end of the connecting member equal to the torque of the other end of the connecting member.
Description
技术领域technical field
本发明涉及线路异物清除技术领域，特别涉及一种自动调整重心线路异物清除装置。The invention relates to the technical field of line foreign matter removal, in particular to a line foreign matter removal device for automatically adjusting the center of gravity.
背景技术Background technique
基于无人机带机械臂的输电线路异物清除装置，是利用无线电遥控装置操纵无人机及机械臂，在进行线路异物清除时，该装置的平衡往往因为清除操作引起的重力改变，而破坏了整个装置的平衡，导致整个装置的连接构件的左右两端重力不平衡，造成倾斜，甚至翻滚，进而影响了线路异物清除的细化操作。The transmission line foreign object removal device based on the UAV with the mechanical arm uses the radio remote control device to control the UAV and the mechanical arm. When removing foreign objects from the line, the balance of the device is often destroyed due to the gravity change caused by the removal operation. The balance of the whole device leads to the unbalanced gravity of the left and right ends of the connecting components of the whole device, causing tilting or even rolling, which in turn affects the refinement operation of line foreign matter removal.
发明内容Contents of the invention
本发明的主要目的是提出一种自动调整重心线路异物清除装置，旨在克服上述问题。The main purpose of the present invention is to propose a foreign matter removal device for automatically adjusting the center of gravity line, aiming at overcoming the above problems.
为实现上述目的，本发明提出的一种自动调整重心线路异物清除装置，包括无人机、连接构件、机械关节、机械臂端、储能装置、平衡构件和重力感应器，其中：以无人机中心在连接构件的投影点为界点，连接构件的所述一端的力矩包括连接构件所述一端的本体、机械关节、机械臂端和重力感应器的力矩和，连接构件的所述另一端的力矩包括连接构件所述另一端的本体、连接构件所述另一端的延伸段、储能装置和平衡构件的力矩和，连接构件的所述一端的力矩与连接构件的所述另一端的力矩相等。In order to achieve the above object, the present invention proposes a device for automatically adjusting the center of gravity line foreign matter removal device, including a drone, a connecting member, a mechanical joint, a mechanical arm end, an energy storage device, a balance member and a gravity sensor, wherein: the unmanned The projection point of the machine center on the connecting member is the boundary point, the moment of the one end of the connecting member includes the sum of the moment of the body, the mechanical joint, the end of the mechanical arm and the gravity sensor at the one end of the connecting member, the other end of the connecting member The moment includes the body of the other end of the connecting member, the extension of the other end of the connecting member, the energy storage device and the balance member, and the moment of the one end of the connecting member and the moment of the other end of the connecting member equal.
优选地，所述机械关节包括以无人机中心在连接构件上的投影点为原点，以连接构件为X轴沿Z轴方向摆动的第一舵机，第一舵机固定连接于连接构件的所述一端，第一舵机的输出轴与机械臂固定连接，所述平衡构件包括接收重力感应器的电信号驱动的第四舵机及其舵机臂，第四舵机以无人机中心在连接构件上的投影点为原点，以连接构件为X轴沿Y轴方向做相应地摆动。Preferably, the mechanical joint includes a projection point of the UAV center on the connecting member as the origin, and a first steering gear that swings along the Z axis with the connecting member as the X axis, and the first steering gear is fixedly connected to the connecting member. At one end, the output shaft of the first steering gear is fixedly connected to the mechanical arm, and the balance member includes a fourth steering gear and its steering gear arm driven by an electric signal received from a gravity sensor. The fourth steering gear is centered around the drone. The projection point on the connecting member is taken as the origin, and the connecting member is used as the X-axis to swing correspondingly along the Y-axis direction.
优选地，所述第一舵机以无人机中心在连接构件上的投影点为原点以连接构件为X轴沿Z轴方向的摆动角度与所述第四舵机以无人机中心在连接构件上的投影点为原点，以连接构件为X轴沿Y轴方向的摆动角度相等。Preferably, the first steering gear takes the projection point of the center of the UAV on the connecting member as the origin, takes the connecting member as the X axis, and connects the fourth steering gear with the center of the UAV as the swing angle along the Z axis. The projection point on the component is the origin, and the swing angle along the Y axis is equal to the connecting component as the X axis.
优选地，当所述第一舵机以连接构件为X轴沿Z轴的正半轴摆动时，第四舵机接收到重力感应器的相应电信号，以连接构件为X轴沿Y轴的负半轴摆动；当所述第一舵机以连接构件为X轴沿Z轴的负半轴摆动时，第四舵机接收到重力感应器的相应电信号，以连接构件为X轴沿Y轴的正半轴摆动。Preferably, when the first steering gear swings along the positive semi-axis of the Z axis with the connecting member as the X axis, the fourth steering gear receives the corresponding electrical signal from the gravity sensor, and moves along the Y axis with the connecting member as the X axis. Negative half-axis swing; when the first steering gear swings along the negative half-axis of the Z-axis with the connecting member as the X-axis, the fourth steering gear receives the corresponding electrical signal from the gravity sensor and moves along the Y-axis with the connecting member as the X-axis The positive semi-axis of the shaft oscillates.
优选地，所述平衡构件包括固定滑轨、移动滑轨、平衡连接件、第四舵机及其舵机臂，第四舵机固定于连接构件的所述另一端，第四舵机的输出轴与其舵机臂的一端固定连接，舵机臂的另一端可活动地连接于平衡连接件一端的端部，平衡连接件的一端固定于移动滑轨的靠近无人机侧，储能装置固定于移动滑轨的远离无人机侧，平衡连接件的另一端固定连接储能装置，移动滑轨设于固定滑轨上，且与固定滑轨相配合连接，固定滑轨固定于连接构件的另一端的延伸段。Preferably, the balance member includes a fixed slide rail, a moving slide rail, a balance connector, a fourth steering gear and its steering gear arm, the fourth steering gear is fixed on the other end of the connecting member, and the output of the fourth steering gear The shaft is fixedly connected to one end of the steering gear arm, and the other end of the steering gear arm is movably connected to the end of one end of the balance connector. On the side of the moving slide rail away from the UAV, the other end of the balance connector is fixedly connected to the energy storage device, the moving slide rail is set on the fixed slide rail, and is connected with the fixed slide rail, and the fixed slide rail is fixed on the connecting member extension at the other end.
优选地，所述平衡连接件呈等腰三角形状，该平衡三角架的顶角与储能装置固定连接，平衡三角架的顶角的平分线与连接构件的横向轴线重合。Preferably, the balance connector is in the shape of an isosceles triangle, the top corner of the balance tripod is fixedly connected to the energy storage device, and the bisector of the top corner of the balance tripod coincides with the transverse axis of the connecting member.
优选地，所述平衡连接件的底边设有滑槽，舵机臂的所述另一端设有滑轮，滑轮限位于滑槽，且随着舵机臂的摆动，在滑槽内滚动。Preferably, a chute is provided at the bottom of the balance connector, and a pulley is provided at the other end of the steering arm. The pulley is limited to the chute and rolls in the chute as the steering arm swings.
优选地，所述平衡三角架、舵机臂与第四舵机的输出轴设在同一水平线上。Preferably, the balance tripod, the arm of the steering gear and the output shaft of the fourth steering gear are arranged on the same horizontal line.
优选地，所述平衡构件还包括弹性件和定位件，所述定位件固定设于连接构件的靠近无人机侧，弹性件的一端与定位件固定连接，其另一端固定连接平衡三角架的底边。Preferably, the balance member also includes an elastic piece and a positioning piece, the positioning piece is fixedly arranged on the side of the connecting member close to the drone, one end of the elastic piece is fixedly connected to the positioning piece, and the other end is fixedly connected to the balance tripod. bottom edge.
优选地，所述弹性件具有一定强度，且呈拉伸状态安装。Preferably, the elastic member has a certain strength and is installed in a stretched state.
本发明技术方案还通过重力感应器感应机械臂摆动引起的重力差转换成相应电信号，驱动平衡构件做对应地移动，控制连接构件的所述一端的力矩与连接构件的所述另一端的力矩相等，特别是，利用了所述第一舵机以无人机中心在连接构件上的投影点为原点，以连接构件为X轴沿Z轴方向的摆动角度与所述第四舵机以无人机中心在连接构件上的投影点为原点，以连接构件为X轴沿Y轴方向的摆动角度相等，即简单又方便地自动化地解决了清除操作引起的重力改变，而破坏了整个装置的平衡，导致整个装置的连接构件的左右两端重力不平衡，造成倾斜，甚至翻滚的问题。The technical solution of the present invention also converts the gravity difference caused by the swing of the mechanical arm through the gravity sensor into a corresponding electrical signal, drives the balance member to move correspondingly, and controls the moment of the one end of the connecting member and the moment of the other end of the connecting member Equal, in particular, using the projection point of the center of the UAV on the connecting member as the origin of the first steering gear, and the swing angle along the Z axis with the connecting member as the X axis and the fourth steering gear in the same direction The projection point of the man-machine center on the connecting member is the origin, and the swing angle along the Y-axis is equal to the connecting member as the X-axis, that is, it is simple and convenient to automatically solve the gravity change caused by the cleaning operation, which destroys the entire device. Balance, resulting in unbalanced gravity at the left and right ends of the connecting member of the entire device, causing problems of tilting and even rolling.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to the structures shown in these drawings without creative effort.
图1为本发明一实施例在工作状态下的结构示意图；Fig. 1 is a schematic structural view of an embodiment of the present invention in a working state;
图2为所述平衡构件在非工作状态和工作状态下的结构示意图；Fig. 2 is a structural schematic diagram of the balance member in a non-working state and a working state;
图3为本发明一实施例在非工作状态下的结构示意图；Fig. 3 is a schematic structural diagram of an embodiment of the present invention in a non-working state;
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。The realization of the purpose of the present invention, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
需要说明，若本发明实施例中有涉及方向性指示(诸如上、下、左、右、前、后……)，则该方向性指示仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。It should be noted that if there is a directional indication (such as up, down, left, right, front, back...) in the embodiment of the present invention, the directional indication is only used to explain the position in a certain posture (as shown in the accompanying drawing). If the specific posture changes, the directional indication will also change accordingly.
参照图1-3，本发明提出的一种自动调整重心线路异物清除装置，一种自动调整重心线路异物清除装置，包括无人机、连接构件、机械关节、机械臂端、储能装置、平衡构件和重力感应器，其中：以无人机中心在连接构件的投影点为界点，连接构件的所述一端的力矩包括连接构件所述一端的本体、机械关节、机械臂端和重力感应器的力矩和，连接构件的所述另一端的力矩包括连接构件所述另一端的本体、连接构件所述另一端的延伸段、储能装置和平衡构件的力矩和，连接构件的所述一端的力矩与连接构件的所述另一端的力矩相等。Referring to Figures 1-3, the present invention proposes a device for automatically adjusting the center of gravity line for foreign matter removal, a device for automatically adjusting the center of gravity for line foreign matter removal, including a drone, a connecting member, a mechanical joint, a mechanical arm end, an energy storage device, a balance The component and the gravity sensor, wherein: taking the projection point of the center of the drone on the connecting component as the boundary point, the moment of the one end of the connecting component includes the body, the mechanical joint, the end of the mechanical arm and the gravity sensor at the one end of the connecting component The moment sum of the moment of the other end of the connecting member includes the body of the other end of the connecting member, the extension of the other end of the connecting member, the energy storage device and the moment sum of the balance member, and the moment of the said one end of the connecting member The moment is equal to the moment of said other end of the connecting member.
在本发明实施例中，本发明的机械臂端为线路异物清除操作端，机械臂端包括机械臂、切割机构等，以无人机中心在连接构件的投影点为界点，连接构件的所述一端的力矩包括连接构件所述一端的本体、机械关节、机械臂端和重力感应器的力矩和，连接构件的所述另一端的力矩包括连接构件所述另一端的本体、连接构件所述另一端的延伸段、储能装置和平衡构件的力矩和，连接构件的所述一端的力矩与连接构件的所述另一端的力矩相等。本发明技术方案通过在连接构件的机械臂的对向侧设置平衡构件，平衡构件将储能装置连接于连接构件，利用储能装置的重力，平衡连接构件两端的力矩。In the embodiment of the present invention, the end of the mechanical arm of the present invention is the operating end for removing foreign matter from the line, and the end of the mechanical arm includes a mechanical arm, a cutting mechanism, etc., with the projection point of the center of the drone on the connecting member as the boundary point, all the connecting members The torque at one end includes the sum of the body, the mechanical joint, the end of the mechanical arm and the gravity sensor at the one end of the connecting member, and the moment at the other end of the connecting member includes the body at the other end of the connecting member, the connecting member at the other end. The moment sum of the extension section at the other end, the energy storage device and the balance member, the moment at the one end of the connecting member is equal to the moment at the other end of the connecting member. The technical solution of the present invention arranges a balance member on the opposite side of the mechanical arm of the connecting member, the balancing member connects the energy storage device to the connecting member, and uses the gravity of the energy storage device to balance the moments at both ends of the connecting member.
优选地，所述机械关节包括以无人机中心在连接构件上的投影点为原点，以连接构件为X轴沿Z轴方向摆动的第一舵机，第一舵机固定连接于连接构件的所述一端，第一舵机的输出轴与机械臂固定连接，所述平衡构件包括接收重力感应器的电信号驱动的第四舵机及其舵机臂，第四舵机以无人机中心在连接构件上的投影点为原点，以连接构件为X轴沿Y轴方向做相应地摆动。Preferably, the mechanical joint includes a projection point of the UAV center on the connecting member as the origin, and a first steering gear that swings along the Z axis with the connecting member as the X axis, and the first steering gear is fixedly connected to the connecting member. At one end, the output shaft of the first steering gear is fixedly connected to the mechanical arm, and the balance member includes a fourth steering gear and its steering gear arm driven by an electric signal received from a gravity sensor. The fourth steering gear is centered around the drone. The projection point on the connecting member is taken as the origin, and the connecting member is used as the X-axis to swing correspondingly along the Y-axis direction.
优选地，所述第一舵机以无人机中心在连接构件上的投影点为原点以连接构件为X轴沿Z轴方向的摆动角度与所述第四舵机以无人机中心在连接构件上的投影点为原点，以连接构件为X轴沿Y轴方向的摆动角度相等。Preferably, the first steering gear takes the projection point of the center of the UAV on the connecting member as the origin, takes the connecting member as the X axis, and connects the fourth steering gear with the center of the UAV as the swing angle along the Z axis. The projection point on the component is the origin, and the swing angle along the Y axis is equal to the connecting component as the X axis.
优选地，当所述第一舵机以连接构件为X轴沿Z轴的正半轴摆动时，第四舵机接收到重力感应器的相应电信号，以连接构件为X轴沿Y轴的负半轴摆动；当所述第一舵机以连接构件为X轴沿Z轴的负半轴摆动时，第四舵机接收到重力感应器的相应电信号，以连接构件为X轴沿Y轴的正半轴摆动。Preferably, when the first steering gear swings along the positive semi-axis of the Z axis with the connecting member as the X axis, the fourth steering gear receives the corresponding electrical signal from the gravity sensor, and moves along the Y axis with the connecting member as the X axis. Negative half-axis swing; when the first steering gear swings along the negative half-axis of the Z-axis with the connecting member as the X-axis, the fourth steering gear receives the corresponding electrical signal from the gravity sensor and moves along the Y-axis with the connecting member as the X-axis The positive semi-axis of the shaft oscillates.
优选地，所述平衡构件包括固定滑轨、移动滑轨、平衡连接件、第四舵机及其舵机臂，第四舵机固定于连接构件的所述另一端，第四舵机的输出轴与其舵机臂的一端固定连接，舵机臂的另一端可活动地连接于平衡连接件一端的端部，平衡连接件的一端固定于移动滑轨的靠近无人机侧，储能装置固定于移动滑轨的远离无人机侧，平衡连接件的另一端固定连接储能装置，移动滑轨设于固定滑轨上，且与固定滑轨相配合连接，固定滑轨固定于连接构件的另一端的延伸段。Preferably, the balance member includes a fixed slide rail, a moving slide rail, a balance connector, a fourth steering gear and its steering gear arm, the fourth steering gear is fixed on the other end of the connecting member, and the output of the fourth steering gear The shaft is fixedly connected to one end of the steering gear arm, and the other end of the steering gear arm is movably connected to the end of one end of the balance connector. On the side of the moving slide rail away from the UAV, the other end of the balance connector is fixedly connected to the energy storage device, the moving slide rail is set on the fixed slide rail, and is connected with the fixed slide rail, and the fixed slide rail is fixed on the connecting member extension at the other end.
优选地，所述平衡连接件呈等腰三角形状，该平衡三角架的顶角与储能装置固定连接，平衡三角架的顶角的平分线与连接构件的横向轴线重合。Preferably, the balance connector is in the shape of an isosceles triangle, the top corner of the balance tripod is fixedly connected to the energy storage device, and the bisector of the top corner of the balance tripod coincides with the transverse axis of the connecting member.
优选地，所述平衡连接件的底边设有滑槽，舵机臂的所述另一端设有滑轮，滑轮限位于滑槽，且随着舵机臂的摆动，在滑槽内滚动。Preferably, a chute is provided at the bottom of the balance connector, and a pulley is provided at the other end of the steering arm. The pulley is limited to the chute and rolls in the chute as the steering arm swings.
优选地，所述平衡三角架、舵机臂与第四舵机的输出轴设在同一水平线上。Preferably, the balance tripod, the arm of the steering gear and the output shaft of the fourth steering gear are arranged on the same horizontal line.
优选地，所述平衡构件还包括弹性件和定位件，所述定位件固定设于连接构件的靠近无人机侧，弹性件的一端与定位件固定连接，其另一端固定连接平衡三角架的底边。Preferably, the balance member also includes an elastic piece and a positioning piece, the positioning piece is fixedly arranged on the side of the connecting member close to the drone, one end of the elastic piece is fixedly connected to the positioning piece, and the other end is fixedly connected to the balance tripod. bottom edge.
优选地，所述弹性件具有一定强度，且呈拉伸状态安装。Preferably, the elastic member has a certain strength and is installed in a stretched state.
在本发明实施例中，该设置有平衡构件的输电线路异物清除装置的无人机用于承载其他部件，巡航输电线路，将本装置送往存有异物的输电线路旁；连接构件是承载连接件，无人机固定于连接构件的两端之间，连接构件，一端通过机械关节连接机械臂，另一端连接储能装置和平衡构件，考虑到连接构件承载力，连接构件采用碳纤维复合材料浸入苯乙稀基聚脂树脂经加热固化拉挤、缠挠而成的碳纤维方管，碳纤维方管具有强度高，寿命长、耐腐蚀，质量轻、低密度等优点，减轻无人机的负载重量。In the embodiment of the present invention, the UAV of the power transmission line foreign matter removal device equipped with a balance member is used to carry other components, cruise the power transmission line, and send the device to the side of the power transmission line with foreign matter; the connecting member is a load-bearing connection The UAV is fixed between the two ends of the connecting member. One end of the connecting member is connected to the mechanical arm through a mechanical joint, and the other end is connected to the energy storage device and the balance member. Considering the bearing capacity of the connecting member, the connecting member is impregnated with carbon fiber composite material. Styrene-based polyester resin is heat-cured, pultruded, and twisted to form carbon fiber square tubes. Carbon fiber square tubes have the advantages of high strength, long life, corrosion resistance, light weight, and low density, which can reduce the load weight of drones. .
在连接构件的所述一端的重力包括以无人机中心在连接构件的投影点为界点的连接构件的所述一端的本体、机械关节、机械臂端和重力感应器的重力和，所述机械臂端，是进行线路异物清除操作端，在本实施例中，机械臂端承载且固定有切割机构，切割机构用于完成线路异物清除操作；所述机械关节，包括以连接构件为X轴沿Z轴方向摆动的第一舵机及第一固定连接架、以连接构件为X轴沿Y轴方向摆动的第二舵机及第二固定连接架，第一固定连接架将第一舵机固定连接于连接构件的所述一端，第二固定连接架将第二舵机固定连接于机械臂，第一舵机的输出轴通过第一固定连接架与第二舵机的本体固定，第二舵机的输出轴与机械臂固定连接，机械关节根据远程控制器发出的调整机械臂摆动方向的驱动信号驱动，并传动机械臂摆动；重力感应器设于机械臂端。The gravity at the one end of the connection member includes the gravity sum of the body, the mechanical joint, the end of the mechanical arm and the gravity sensor at the one end of the connection member with the center of the drone on the projection point of the connection member as the boundary point, the The end of the mechanical arm is the operation end for removing foreign matter from the line. In this embodiment, the end of the mechanical arm carries and is fixed with a cutting mechanism, which is used to complete the operation of removing foreign matter from the line; the mechanical joint includes a connecting member as the X-axis The first steering gear and the first fixed connection frame that swing along the Z axis direction, the second steering gear and the second fixed connection frame that swing along the Y axis direction with the connecting member as the X axis, the first fixed connection frame connects the first steering gear Fixedly connected to the one end of the connecting member, the second fixed connecting frame fixedly connects the second steering gear to the mechanical arm, the output shaft of the first steering gear is fixed to the body of the second steering gear through the first fixed connecting frame, and the second The output shaft of the steering gear is fixedly connected with the mechanical arm, and the mechanical joint is driven according to the driving signal sent by the remote controller to adjust the swing direction of the mechanical arm, and drives the swing of the mechanical arm; the gravity sensor is located at the end of the mechanical arm.
在连接构件的所述另一端的重力包括以无人机中心在连接构件的投影点为界点的连接构件的所述另一端的本体、连接构件的所述另一端的延伸段、储能装置和平衡构件的重力和，在本实施例中，储能装置除了用于向平衡构件和机械关节提供工作用电外，储能装置还用于重力调整的移动件，储能装置通过平衡构件可活动地连接于连接构件的所述另一端的延伸段。The gravity at the other end of the connecting member includes the body of the other end of the connecting member, the extension of the other end of the connecting member, and the energy storage device with the projection point of the center of the drone on the connecting member as the boundary point and the gravity of the balance member. In this embodiment, the energy storage device is not only used to provide working electricity to the balance member and mechanical joints, the energy storage device is also used for gravity adjustment of the moving parts, and the energy storage device can be used by the balance member. The extension section is movably connected to the other end of the connecting member.
在非工作状态下(即指连接构件的所述一端与其所述另一端处于水平的初始状态)，连接构件的所述一端的重力与连接构件的所述另一端的重力相等；在工作状态下，机械关节接收远程控制器发出的调整机械臂摆动方向的驱动信号驱动，并传动机械臂摆动，重力感应器将感应的机械臂端摆动引起的重力差转换成相应电信号，驱动平衡构件相对应地移动，以调整本发明的重力引起的平衡问题。In the non-working state (that is, the initial state in which the one end of the connecting member and the other end are horizontal), the gravity of the one end of the connecting member is equal to the gravity of the other end of the connecting member; , the mechanical joint receives the drive signal from the remote controller to adjust the swing direction of the manipulator, and drives the manipulator to swing. The gravity sensor converts the gravity difference caused by the sensed end swing of the manipulator into a corresponding electrical signal, and drives the balance member correspondingly. Move freely to adjust for gravity-induced balance problems of the present invention.
在本实施例中，平衡构件包括平衡连接件，平衡连接件为呈等腰三角形状的平衡三角架，该平衡三角架的顶角与储能装置固定连接，平衡三角架的顶角的平分线与连接构件的横向轴线重合，用于辅助调整本发明的平衡问题，当机械臂端发生Y轴方向的摆动时，平衡三角架用于产生防倾阻力，抑制本装置摇摆或偏转。In this embodiment, the balance member includes a balance connector, the balance connector is a balance tripod in the shape of an isosceles triangle, the top angle of the balance tripod is fixedly connected to the energy storage device, and the bisector of the top angle of the balance tripod Coincident with the transverse axis of the connecting member, it is used to assist in adjusting the balance problem of the present invention. When the end of the mechanical arm swings in the Y-axis direction, the balance tripod is used to generate anti-rolling resistance and restrain the device from swinging or deflecting.
平衡构件还包括固定滑轨、移动滑轨、第四舵机及其舵机臂，固定滑轨为定位件，将整个平衡构件定位于连接构件的所述另一端的延伸段，移动滑轨通过与固定滑轨的配合连接，储能装置固定于移动滑轨的远离无人机侧，平衡三角架的底边固定于移动滑轨的靠近无人机侧，储能装置、移动滑轨和平平衡三角架形成一个稳固的连接机构；舵机臂的所述另一端通过滑槽与滑轮的配合与平衡三角架的底边连接，第四舵机的输出轴与舵机臂的所述一端固定连接，传动第四舵机输出轴的摆动；第四舵机的本体固定于连接构件的所述另一端。当舵机臂以连接构件为X轴沿Y轴方向摆动时，平衡三角架和储能装置通过移动滑轨在固定滑轨上移动。The balance component also includes a fixed slide rail, a moving slide rail, a fourth steering gear and its steering gear arm, the fixed slide rail is a positioning piece, and the entire balance component is positioned on the extension of the other end of the connecting component, and the moving slide rail passes through Cooperate with the fixed slide rail, the energy storage device is fixed on the side of the moving slide rail away from the drone, the bottom edge of the balance tripod is fixed on the side of the moving slide rail close to the drone, the energy storage device, the moving slide rail and the balance The tripod forms a stable connection mechanism; the other end of the steering gear arm is connected with the bottom edge of the balance tripod through the cooperation of the chute and the pulley, and the output shaft of the fourth steering gear is fixedly connected with the said one end of the steering gear arm , to transmit the swing of the output shaft of the fourth steering gear; the body of the fourth steering gear is fixed to the other end of the connecting member. When the steering gear arm swings along the Y axis with the connecting member as the X axis, the balance tripod and the energy storage device move on the fixed slide rail through the moving slide rail.
考虑到舵机臂在平衡三角架的底边摆动时，会引起平衡三角架向上或向下的侧偏力，故设置弹性件和定位件，定位件固定于连接构件的靠近无人机侧，也可以是固定于第四舵机的靠近无人机侧，以通过第四舵机的本体的抵持力增强定位件的稳定效果；呈拉伸状态设置的弹性件的一端与定位件固定连接，弹性件的另一端与平衡三角架的底边连接；，这样，弹性件对平衡三角架始终保持一个横向拉力，即使在储能装置随着移动滑轨移向移动滑的减重端时，弹性件的初始状态也为拉伸状态，以抑制舵机臂的摆动作用于平衡三角架引起的侧偏力。Considering that when the steering arm swings at the bottom of the balance tripod, it will cause the upward or downward lateral force of the balance tripod, so the elastic part and the positioning part are arranged, and the positioning part is fixed on the side of the connecting member close to the drone. It can also be fixed on the side of the fourth steering gear close to the drone, so as to enhance the stabilizing effect of the positioning piece through the resistance force of the body of the fourth steering gear; one end of the elastic piece set in a stretched state is fixedly connected to the positioning piece , the other end of the elastic piece is connected to the bottom edge of the balance tripod; in this way, the elastic piece always maintains a transverse tension on the balance tripod, even when the energy storage device moves to the weight-reducing end of the moving slide along with the moving slide rail, The initial state of the elastic member is also a stretched state, so as to suppress the swing of the steering gear arm to balance the lateral force caused by the tripod.
为了弹性件的设置位置不会阻挡到舵机臂的摆动，故设置呈“└”型的连接件，上下错开弹性件与舵机臂；弹性件沿连接构件长度方向设置，以避免弹性件的拉力产生多余的侧偏力；紧靠连接构件，弹性件的拉力方向接近连接构件的横向中心线，以致弹性件的拉力方向的侧偏力可以忽略不记；因为所述弹性件需要始终保持拉伸状态，故弹性件需要具有一定强度来保持拉伸力的持续性；为了所述平衡三角架、舵机臂与第四舵机的输出轴之间的相互作用力免受侧偏力的影响，故此三者设在同一水平线上，即平衡三角架的顶角的纵向位置、平衡三角架的底边的纵向位置、舵机臂两端的纵向位置、第四舵机的输出轴的纵向位置处于同一水平线。In order to prevent the swing of the servo arm from being blocked by the installation position of the elastic piece, a "└"-shaped connecting piece is set up, and the elastic piece and the servo arm are staggered up and down; the elastic piece is set along the length of the connecting member to avoid the elastic piece The tension produces redundant lateral force; close to the connecting member, the tensile direction of the elastic member is close to the transverse centerline of the connecting member, so that the lateral force of the elastic member’s tensile direction can be neglected; because the elastic member needs to be kept in tension all the time Stretched state, so the elastic member needs to have a certain strength to maintain the continuity of the tensile force; in order to prevent the interaction force between the balance tripod, the steering gear arm and the output shaft of the fourth steering gear from the influence of the lateral force , so the three are located on the same horizontal line, that is, the longitudinal position of the top angle of the balance tripod, the longitudinal position of the bottom edge of the balance tripod, the longitudinal positions of the two ends of the steering gear arm, and the longitudinal position of the output shaft of the fourth steering gear are at same level.
所述第一舵机的摆动角度与第四舵机的摆动角度相等的原理如下：The principle that the swing angle of the first steering gear is equal to the swing angle of the fourth steering gear is as follows:
所述重力感应器，又称重力传感器，新型属传感器技术，它采用弹性敏感元件制成悬臂式位移器，与采用弹性敏感元件制成的储能弹性件来驱动电触点，完成从重力变化到电信号的转换。The gravity sensor, also known as the gravity sensor, is a new type of sensor technology. It uses elastic sensitive elements to make a cantilever displacement device, and uses elastic sensitive elements to make energy storage elastic parts to drive electrical contacts. to electrical signal conversion.
无人机中心在连接构件上的投影为O，O点到舵机2输出轴的距离LM，在距离LM上连接构件上的元件重心相对O点是固定的，这些元件的重力分别G1’、G2’、G3’……这些元件的重心对O点的距离分别为L1’、L2’、L3’……所有元件的重心对O点产生总的力矩为A，O点向第四舵机方向固定在连接构件上的、不会移动的元件重力对O点产生的力矩为B，为保持平衡，A要等于B。The projection of the center of the UAV on the connecting member is O, the distance L M from point O to the output shaft of the steering gear 2, the center of gravity of the components on the connecting member is fixed relative to point O at the distance L M , and the gravity of these components is G 1 ', G 2 ', G 3 '... The distances from the center of gravity of these components to point O are L 1 ', L 2 ', L 3 '... The total moment generated by the center of gravity of all components to point O is A, Point O is fixed on the connecting member in the direction of the fourth steering gear, and the component gravity that cannot move produces moment B on point O. In order to maintain balance, A will be equal to B.
机械关节中负责以无人机中心在连接构件上的投影点为原点，以连接构件为X轴沿Z轴方向摆动的是第一舵机，第一舵机带动机械臂沿Z轴方向或正半轴或负半轴摆动，机械臂上的所有元件重力对连接构件上的点的力矩将发生变化，此时无人机整体重心将失去平衡，对无人机稳定飞行造成较大影响。为使无人机整体重心在机械臂摆动过程中实时得到调整，需在O点向第四舵机方向的连接构件上安装移动重物G移，使其重力对无人机中心力矩进行调整。当机械臂向上或向下摆时，机械臂上的元件为G1、G2、G3……各元件与舵机2输出轴的距离分别是L1、L2、L3……机械臂与水平线夹角为α，机械臂上所有元件的重力对无人机中心产生的力矩为：In the mechanical joint, it is the first steering gear that is responsible for taking the projection point of the UAV center on the connecting member as the origin, and the connecting member as the X-axis along the Z-axis direction. The first steering gear drives the mechanical arm along the Z-axis direction or positive When the semi-axis or negative semi-axis swings, the moment of gravity of all components on the mechanical arm to the points on the connecting member will change. At this time, the overall center of gravity of the drone will lose balance, which will have a great impact on the stable flight of the drone. In order to adjust the overall center of gravity of the UAV in real time during the swinging process of the mechanical arm, it is necessary to install a moving weight G on the connecting member from point O to the direction of the fourth steering gear, so that its gravity can adjust the center moment of the UAV. When the mechanical arm swings upwards or downwards, the components on the mechanical arm are G 1 , G 2 , G 3 ... the distances between each component and the output shaft of the steering gear 2 are L 1 , L 2 , L 3 ... The mechanical arm and The angle between the horizontal line is α, and the moment generated by the gravity of all components on the robotic arm on the center of the drone is:
G1(LM+L1×cosα)+G2(LM+L2×cosα)+G3(LM++L3×cosα)+……＝(G1+G2+G3+……)LM+cosα(L1G1+L2G2+L3G3+……),G1(L M +L 1 ×cosα)+G2(L M +L 2 ×cosα)+G3(L M ++L 3 ×cosα)+…＝(G 1 +G 2 +G 3 +…) L M +cosα(L 1 G 1 +L 2 G 2 +L 3 G 3 +…),
安装在机械臂上的重力感应器产生了电信号并把信号发给第四舵机控制电路板，舵机控制电路板控制第四舵机转动一个角度，这个角度与机械臂沿Z轴方向或正半轴或负半轴摆动的角度相等，为α，第四舵机上的舵机臂转动，与舵机臂接触的平衡三角架在弹性件的拉力下向第四舵机方向滑动，假设第四舵机上的舵机臂的长度为L、O点到第四舵机输出轴的距离为LN，移动的重物G移对O点产生的力矩为：The gravity sensor installed on the mechanical arm generates an electrical signal and sends the signal to the fourth steering gear control circuit board. The steering gear control circuit board controls the fourth steering gear to rotate an angle, which is the same as that of the mechanical arm along the Z axis or The swinging angles of the positive half-axis and the negative half-axis are equal, which is α, the steering arm on the fourth steering gear rotates, and the balance tripod in contact with the steering gear arm slides in the direction of the fourth steering gear under the tension of the elastic member, assuming that the fourth steering gear The length of the steering arm on the four steering gear is L, the distance from point O to the output shaft of the fourth steering gear is L N , and the moment generated by the moving weight G on point O is:
G移(LN+L cosα)＝G移LN+G移L cosαG shift (L N + L cosα) = G shift L N + G shift L cosα
机械臂上所有元件的重力对O点产生的力矩与移动重物G移对O点产生的力矩要相等，无人机才能保持平衡，所以：The moment generated by the gravity of all components on the mechanical arm on point O is equal to the moment generated by the moving weight G on point O, so that the drone can maintain balance, so:
(G1+G2+G3+……)LM+cosα(L1G+L2G2+L3G3+……)＝G移LN+G移L cosα(G 1 +G 2 +G 3 +…)L M +cosα(L 1 G+L 2 G 2 +L 3 G 3 +…)＝G shift L N +G shift L cosα
当(G1+G2+G3+……)LM＝G移LN时，即O点到第四舵机输出轴的距离LN为：When (G 1 +G 2 +G 3 +…)L M =G shifted to L N , that is, the distance L N from point O to the output shaft of the fourth steering gear is:
LN＝(G1+G2+G3+……)LM/G移时L N ＝(G 1 +G 2 +G 3 +…)L M /G time shift
L＝cosα(L1G1+L2G2+L3G3+……)/G移cosα＝(L1G1+L2G2+L3G3+……)/G移 L=cosα(L 1 G 1 +L 2 G 2 +L 3 G 3 +…)/G shift cosα=(L 1 G 1 +L 2 G 2 +L 3 G 3 +…)/G shift
所以当第四舵机的安装位置和第四舵机的舵机臂的长度确定时，机械臂沿Z轴方向或正半轴或负半轴摆动时发生的重心变化，第四舵机都会自动拉动重物G进行相应的位移，以重心调整，使得无人机悬挂的机械臂的重心基本保持在无人机的中心位置。Therefore, when the installation position of the fourth steering gear and the length of the steering gear arm of the fourth steering gear are determined, the fourth steering gear will automatically change the center of gravity when the mechanical arm swings along the Z axis or the positive or negative half axis. Pull the weight G to make a corresponding displacement and adjust the center of gravity so that the center of gravity of the robotic arm suspended by the UAV is basically kept at the center of the UAV.
本发明技术方案通过在连接构件的机械臂对向侧设置平衡构件，特别是设有呈等腰三角形状的平衡三角架，该平衡三角架的顶角与储能装置固定连接，平衡三角架的顶角的平分线与连接构件的横向轴线重合，解决了在无人机飞行时，或者是在进行线路异物清除操作时，该装置的平衡往往因为飞行风力受阻，或者是因为清除操作引起的重力改变，而破坏了整个装置的平衡，导致整个装置摇摆不停，甚至翻滚的问题。The technical scheme of the present invention arranges a balance member on the opposite side of the mechanical arm of the connecting member, especially a balance tripod in the shape of an isosceles triangle, the top angle of the balance tripod is fixedly connected with the energy storage device, and the balance tripod The bisector of the top angle coincides with the transverse axis of the connecting member, which solves the problem that the balance of the device is often hindered by the flying wind or the gravity caused by the removal operation when the UAV is flying, or when the foreign body removal operation is performed on the line Change, and destroy the balance of the whole device, cause the problem that the whole device sways non-stop, even rolls over.
本发明技术方案还通过重力感应器感应机械臂摆动引起的重力差转换成相应电信号，驱动平衡构件做对应地移动，特别是，利用了所述第一舵机以无人机中心在连接构件上的投影点为原点，以连接构件为X轴沿Z轴方向的摆动角度与所述第四舵机以无人机中心在连接构件上的投影点为原点，以连接构件为X轴沿Y轴方向的摆动角度相等，自动化地解决了清除操作引起的重力改变，而破坏了整个装置的平衡，导致整个装置的连接构件的左右两端重力不平衡，造成倾斜，甚至翻滚的问题。The technical solution of the present invention also converts the gravity difference caused by the swing of the mechanical arm through the gravity sensor into a corresponding electrical signal, and drives the balance member to move correspondingly. In particular, the first steering gear is used to connect the member with the center of the drone The projection point above is the origin, the swing angle along the Z-axis direction with the connecting member as the X axis and the projection point of the fourth steering gear with the UAV center on the connecting member as the origin, and the connecting member as the X axis along the Y axis The swing angles in the axial direction are equal, which automatically solves the gravity change caused by the clearing operation, which destroys the balance of the entire device, resulting in unbalanced gravity at the left and right ends of the connecting components of the entire device, resulting in tilting and even rolling.
以上仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是在本发明的发明构思下，利用本发明说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本发明的专利保护范围内。The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Under the inventive concept of the present invention, the equivalent structural transformation made by using the description of the present invention and the contents of the accompanying drawings, or directly/indirectly used in other All relevant technical fields are included in the patent protection scope of the present invention.
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