CN107891975A - A kind of aerial work robot - Google Patents
A kind of aerial work robot Download PDFInfo
- Publication number
- CN107891975A CN107891975A CN201711097058.2A CN201711097058A CN107891975A CN 107891975 A CN107891975 A CN 107891975A CN 201711097058 A CN201711097058 A CN 201711097058A CN 107891975 A CN107891975 A CN 107891975A
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- Prior art keywords
- work robot
- aerial work
- fuselage
- rotor system
- tranquilizer
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- 229940125725 tranquilizer Drugs 0.000 claims abstract description 35
- 239000003204 tranquilizing agent Substances 0.000 claims abstract description 35
- 230000002936 tranquilizing effect Effects 0.000 claims abstract description 35
- 238000000034 method Methods 0.000 claims abstract description 13
- 230000008569 process Effects 0.000 claims abstract description 7
- 230000001629 suppression Effects 0.000 claims description 13
- 230000003094 perturbing effect Effects 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims description 5
- 210000000245 forearm Anatomy 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 abstract description 13
- 238000013461 design Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 4
- 230000004913 activation Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000001464 adherent effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000002708 enhancing effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of aerial work robot, including：Duct, rotor system, fuselage, mechanical arm system and gyro tranquilizer；Wherein, duct is symmetrically arranged at front and rear sides of the fuselage along longitudinal direction using the double duct forms in longitudinal direction, two ducts；Rotor system includes preceding rotor system and rear rotor system, and preceding rotor system is correspondingly arranged in former and later two ducts respectively with rear rotor system；Control to body posture is realized by rotor system；Mechanical arm system is located at below fuselage, is stretched out from the side of fuselage during job state and carries out operation；During the Work robot Disturbance Rejection pattern unlatching in the air of gyro tranquilizer, the control moment for passing through offer suppresses interference of the operation process disturbance to aerial work robot.It can be seen that operation is stretched out from fuselage side by structure type of the application using the double ducts of file, design project mechanism, job area increases, and effective control loads of system are considerably increased using tranquilizer.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of aerial work robot.
Background technology
Traditional unmanned vehicle can only produce information exchange between physical environment, pass through the camera cradle head of outfit, sensing
Device etc. carries out information gathering work.With the development of unmanned vehicle, with environment can be physically contacted with interacting, to residing
The advantage that environment applies the new flying robot's platform actively influenceed increasingly highlights, huge so as to be produced at following three aspects
Application prospect：(1) in the unmanned scientific investigation of wide area, environmental monitoring and Disaster Assessment, the tasks such as sample collection are completed；(2) it is directed to
The particular surroundings such as city anti-terrorism, urban SOS, dangerous operation is carried out instead of people；(3) the infrastructure inspection in complex environment is completed
The task such as survey and maintenance, wall flaw detection, valve remote operation.
Aerial work robot platform is a kind of novel air platform, and citation form is that can add on hovering flight device platform
Operating mechanism is filled, so as to make it have the active operation ability in 3 D complex environment.At present, some existing aerial work machines
The conception of device people is suggested.But almost all of aerial work robot platform is using helicopter or four rotors as main body,
Disturbed by the way of directly mechanical arm is installed additional on existing flying platform, and without what the aerial contact operation of specially consideration was brought
Dynamic problem.
These aerial work robot platforms have the shortcomings that obvious：
(1) engagement capacity is poor, and security is low.Because fixed-wing formula aircraft can not hover, while helicopter type aircraft
Open rotor structure cause active operating system can not be from the side of object and lower section close to its body (under such as bridge
Side, vertical wall etc.), therefore in the air there is great limitation in AUTONOMOUS TASK field to conventional aircraft.In recent years, multiaxial type
Aircraft is quickly grown, and has benefited from its symmetrical configuration and part is simple, and the degree of coupling is relatively low between each manipulation passage control, at present
Have can operation unmanned vehicle underlying carrier is used as using it mostly.But this open more rotor structures, it is necessary during flight
Ensure environment spacious enough, complex environment (such as wall) can produce acutely interference to its rotor, show so as to which unstability occur
As even playing oar air crash when serious, therefore its stabilized flight requirement is apart from barrier at least one times of oar disk diameter.And aerial operation
The core of operation is due precisely to be physically contacted with being interacted with environment, and this will with the environment needed for conventional aircraft stabilized flight
Ask and necessarily lead to implacable contradiction, also indicate that four traditional rotors and helicopter structure are not suitable as aerial AUTONOMOUS TASK
The carrier of platform.
(2) passability is poor, and complex environment can not use.Aerial work often refers to complex use environment,
Detection and rescue is such as carried out in the dilapidated walls after earthquake, walked in narrow lane or building crack etc., this
The common ground of a little environment is to include small space.Topology layout and open rotor shape of the four traditional rotors due to symmetrical expression
Formula, required physical dimension and flight space are larger on the premise of certain payload is met, cause it to lead to small space
The property crossed extreme difference.Ensure that it, by property, is necessarily required to reduce aircraft size, so that making again to complex environment if necessary
Industry ability is had a greatly reduced quality.
(3) system rejection to disturbance ability, stability are low.Current flight job platform is nearly all using in existing four rotors
The mode of upper direct topping-off operation mechanism, because the vertical projection length and width dimensions of the platforms such as four rotors are close to square, and operation
Mechanism must be arranged at body center, thus its Working mechanism size must long enough could stretch out outside body and meet that operation will
Ask, inertia is very big when causing operation.Meanwhile physical contact can cause the power of Working mechanism end and torque generation to significantly change,
When operation mechanism operating amplitude is larger or load is larger, the state variable of system and the amplitude of variation of external disturbance will drastically increase
Add, and existing aerial work platform does not do special consideration for this unstability, so as to cause the big discounting of operation effectiveness
Button.
The content of the invention
It is an object of the invention to provide a kind of aerial work robot, to solve existing aerial work robotic contact ability
Difference, security is low, passability is poor, system rejection to disturbance ability, the problem of stability is low.
In order to solve the above technical problems, the present invention provides a kind of aerial work robot, including：Duct, rotor system, machine
Body, mechanical arm system and gyro tranquilizer；
Wherein, the duct is symmetrically arranged at the fuselage along longitudinal direction using the double duct forms in longitudinal direction, two ducts
Front and rear sides；The rotor system includes preceding rotor system and rear rotor system, the preceding rotor system and the rear rotation
Wing system is correspondingly arranged in former and later two ducts respectively；Control to body posture is realized by the rotor system；
The mechanical arm system is located at below the fuselage, stretches out during job state and is made from the side of the fuselage
Industry；
The gyro tranquilizer is arranged at fuselage platform top position, for Work robot Disturbance Rejection in the air
When pattern is opened, interference of the operation process disturbance to aerial work robot is suppressed by the control moment of offer.
Alternatively, the gyro tranquilizer includes：Servo-driven module, the gyro being connected with the servo-driven module
Device and control module；
Wherein, the control module is used for the current disturbing moment for obtaining aerial work robot platform, is worked as according to described
Preceding disturbing moment determines the angular velocity of precession size and Orientation of the gyroscopic apparatus needed for disturbance suppression, and generates the driving gyro
Device produces the driving instruction of corresponding control moment, sends to the servo-driven module；
The servo-driven module is used to receive the driving instruction, corresponding by driving the gyroscopic apparatus deflection to provide
Control moment, to suppress interference of the current ringing to aerial work robot pose.
Alternatively, the gyroscopic apparatus includes double-shaft flywheel, motor；Wherein, the double-shaft flywheel is symmetrical flywheel,
Rotation is carried out by the motor flywheel driven, sense of rotation is opposite.
Alternatively, the control module includes：Microprocessor, angular-rate sensor, servomotor controller；
Wherein, the angular-rate sensor is used for：When aerial work robot is by along the axial perturbing torque of X-axis,
Obtain X axis angular speed；
The microprocessor is used for flywheel in the gyroscopic apparatus according to needed for the X axis angular speed determines disturbance suppression and entered
The size of dynamic angular speed and direction, and export to the servomotor controller；
The servomotor controller is used for size and direction according to the angular velocity of precession, and generation sends and watched to described
Take the driving instruction of drive module.
Alternatively, the gyro tranquilizer also includes：Stop nut, for fix flywheel along machine shaft direction from
By spending.
Alternatively, the gyro tranquilizer also includes：Crust of the device, the fuselage is fixedly connected on by connection member
On platform.
Alternatively, the rotor system includes upper rotor, lower rotor, upper motor, lower motor, support, girder, rudder face, rudder
Deflecting facet steering wheel, rudder face rocking arm；
Wherein, the upper rotor is identical with the lower rotor structure, is fixed on jointly on the support, and with the girder
It is connected；The upper motor and the lower coaxial opposed installation of motor, it is oppositely oriented；The control surface deflection steering wheel can drive the rudder
Deflecting facet, for producing the control moment in rolling direction.
Alternatively, the mechanical arm system includes forearm, postbrachium, joint steering wheel, mechanical arm base and operation module；
Wherein, the mechanical arm base is connected with the fuselage, and the joint steering wheel is used for each joint to mechanical arm
Motion be controlled, to drive the operation module to reach specified location.
Aerial work robot provided by the present invention, including：Duct, rotor system, fuselage, mechanical arm system and top
Spiral shell tranquilizer；Wherein, duct is symmetrically arranged at fuselage along the front and rear of longitudinal direction using the double duct forms in longitudinal direction, two ducts
Both sides；Rotor system includes preceding rotor system and rear rotor system, and preceding rotor system is correspondingly arranged respectively with rear rotor system
In former and later two ducts；Control to body posture is realized by rotor system；Mechanical arm system is located at below fuselage, operation
Stretched out during state from the side of fuselage and carry out operation；Gyro tranquilizer is arranged at fuselage platform top position, in sky
When middle Work robot Disturbance Rejection pattern is opened, operation process is suppressed by the control moment of offer and disturbed to aerial work machine
The interference of device people.
It can be seen that the application combines the three-dimensional space motion ability of aircraft with the operation work capacity of robot,
Have the function of flight and operation concurrently, autonomous flight can be achieved and interacted with environment progress physics.Aerial work robot is using vertical
The structure type of the double ducts of row, lateral dimension significantly compress, and structure more simplifies and reliable, are providing same lift and performance
The lower bulk in basis is substantially reduced, required area reduction of taking off, aerial passability enhancing, and can be with close contact wall
The barriers such as wall, it is not necessary to spacious space, especially suitable for narrow street and lane walk with it is adherent in the case of physics
Operation.Especially, operation, job area increase are stretched out from fuselage side by design project mechanism, and operating system inertia reduces, system
Stability increase.Especially, the use of tranquilizer greatly improves the stability and antijamming capability during job manipulation,
So as to greatly increase effective control loads of system.
Brief description of the drawings
, below will be to embodiment or existing for the clearer explanation embodiment of the present invention or the technical scheme of prior art
The required accompanying drawing used is briefly described in technology description, it should be apparent that, drawings in the following description are only this hair
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of structural representation of embodiment of aerial work robot provided by the present invention；
Fig. 2 is that a kind of structure of embodiment of rotor system in aerial work robot provided by the present invention is shown
It is intended to；
Fig. 3 is a kind of structure of embodiment of mechanical arm system in aerial work robot provided by the present invention
Schematic diagram；
Fig. 4 is a kind of knot of embodiment of gyro tranquilizer in aerial work robot provided by the present invention
Structure schematic diagram；
Fig. 5 is a kind of embodiment structure of gyro tranquilizer in aerial work robot provided by the present invention
Block diagram.
Embodiment
In order that those skilled in the art more fully understand the present invention program, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.Obviously, described embodiment is only part of the embodiment of the present invention, rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, belongs to the scope of protection of the invention.
In a kind of embodiment of aerial work robot provided by the present invention, the robot can be wrapped specifically
Include：Duct 1, rotor system 2, fuselage 3, mechanical arm system 4 and gyro tranquilizer 5；
Wherein, the duct 1 is using the double duct forms in longitudinal direction, and two ducts are symmetrically arranged at the fuselage 3 along vertical
To front and rear sides；The rotor system 2 includes preceding rotor system and rear rotor system, the preceding rotor system with it is described after
Rotor system is correspondingly arranged in former and later two ducts respectively；The control to body posture is realized by the rotor system 2；
The mechanical arm system 4 stretches out positioned at the lower section of the fuselage 3, during job state from the side of the fuselage 3 to be carried out
Operation；
Gyro tranquilizer 5 is arranged at fuselage platform top position, for Work robot Disturbance Rejection mould in the air
When formula is opened, interference of the operation process disturbance to aerial work robot is suppressed by the control moment of offer.
Aerial work robot provided by the present invention, including：Duct, rotor system, fuselage, mechanical arm system and top
Spiral shell tranquilizer；Wherein, duct is symmetrically arranged at fuselage along the front and rear of longitudinal direction using the double duct forms in longitudinal direction, two ducts
Both sides；Rotor system includes preceding rotor system and rear rotor system, and preceding rotor system is correspondingly arranged respectively with rear rotor system
In former and later two ducts；Control to body posture is realized by rotor system；Mechanical arm system is located at below fuselage, operation
Stretched out during state from the side of fuselage and carry out operation；Gyro tranquilizer is arranged at fuselage platform top position, in sky
When middle Work robot Disturbance Rejection pattern is opened, operation process is suppressed by the control moment of offer and disturbed to aerial work machine
The interference of device people.
It can be seen that the application combines the three-dimensional space motion ability of aircraft with the operation work capacity of robot,
Have the function of flight and operation concurrently, autonomous flight can be achieved and interacted with environment progress physics.Aerial work robot is using vertical
The structure type of the double ducts of row, lateral dimension significantly compress, and structure more simplifies and reliable, are providing same lift and performance
The lower bulk in basis is substantially reduced, required area reduction of taking off, aerial passability enhancing, and can be with close contact wall
The barriers such as wall, it is not necessary to spacious space, especially suitable for narrow street and lane walk with it is adherent in the case of physics
Operation.Especially, operation, job area increase are stretched out from fuselage side by design project mechanism, and operating system inertia reduces, system
Stability increase.Especially, the use of tranquilizer greatly improves the stability and antijamming capability during job manipulation,
So as to greatly increase effective control loads of system..
In the prior art, physical contact can cause the power of Working mechanism end to be produced with torque and significantly change, and work as working rig
Structure manipulates that amplitude is larger or when load is larger, and the state variable of system and the amplitude of variation of external disturbance will sharply increase, and show
There is aerial work platform not do special consideration for this unstability, so as to cause operation effectiveness to be had a greatly reduced quality.
And gyro tranquilizer 5 can be used for auxiliary robot gesture stability in the embodiment of the present application, quickly provide long-range
In the control moment that unmanned plane body can be provided, so as to meet good Disturbance Rejection effect, further increase operation process
Stability and antijamming capability, so as to greatly increase effective control loads of system.
Fig. 1 shows a kind of structural representation of embodiment of aerial work robot provided by the present invention, should
Aerial work robot is mainly by duct 1, rotor system 2, fuselage 3, mechanical arm system 4, gyro tranquilizer 5, undercarriage 6 six
Part forms, and three dimensions flight can be achieved and interacted with environment progress physics.The lift of whole aerial work robot is by preceding
Four oar disks in latter two duct are provided, and the Torque Control body for producing by the speed discrepancy of front and rear rotor pitch orientation is bowed
Passage is faced upward, the roll channel of the Torque Control body in rolling direction is produced by control surface deflection, passes through in each duct upper and lower two
The jaw channel of difference in torque control body caused by individual oar disk is oppositely oriented, and then realize the gesture stability of body.Current duct
Rotor rotating speed reduces, and when rear duct rotor rotating speed raises, body flies before producing active force realization forward.Meanwhile mechanical arm
The auxiliary that the moment of torsion of joint moment of torsion and gyro tranquilizer also assists in posture controls.
Concrete structure progress below to each part of aerial work robot provided by the present invention is further detailed
It is thin to illustrate.
On the basis of any of the above-described embodiment, in aerial work robot provided by the present invention, rotor system 2 includes
Upper rotor, lower rotor, upper motor, lower motor, support, girder, rudder face, control surface deflection steering wheel, rudder face rocking arm；Wherein, on described
Rotor is identical with the lower rotor structure, using the form of coaxial derotation, is fixed on jointly on the support, and with the girder
It is connected；Upper motor installation opposed with the lower motor, it is oppositely oriented；The control surface deflection steering wheel can drive the rudder face inclined
Turn, for producing the control moment in rolling direction.
The structure of a kind of embodiment of rotor system in the aerial work robot provided by the present invention of reference picture 2
Schematic diagram, it is specifically included：Upper blade 201, upper propeller hub 202, upper motor 203, support 204, girder 205, lower motor 206, under
Propeller hub 207, lower blade 208, rudder face 209, control surface deflection steering wheel 210, rudder face rocking arm 211.Rotor system is using coaxial derotation
Structure type, two sets of rotor structures up and down in a duct are identical, and the upper and lower opposed installation of motor is oppositely oriented.Lower rotor group
Identical with upper rotor into part, two sets of rotor systems are fixed on the support 204 of centre jointly, and are connected with girder 205.Rudder
Deflecting facet steering wheel 210 can drive rudder face 209 to deflect, so as to produce the control moment in rolling direction.
On the basis of any of the above-described embodiment, in aerial work robot provided by the present invention, mechanical arm system bag
Include forearm, postbrachium, joint steering wheel, mechanical arm base and operation module；Wherein, the mechanical arm base is connected with the fuselage,
The motion that the joint steering wheel is used for each joint of mechanical arm is controlled, to drive the operation module to reach specific bit
Put.Operation module can need to carry out any matching according to job task, and gripper is one of which embodiment.
The knot of a kind of embodiment of mechanical arm system in the aerial work robot provided by the present invention of reference picture 3
Structure schematic diagram, it is specifically included：Base assembly 401, joint steering wheel 402, postbrachium 403, forearm 404, operation module mounting seat
405th, operation module 406.Mechanical arm base is connected with fuselage, and each joint can be appointed by corresponding joint servos control
The rotation for angle of anticipating, so as to drive operation module to reach specified location.It should be noted that the mechanical arm system is common
A kind of mechanical arm structure type, different types of mechanical arm or class machinery can be changed in actual use according to the demand of difference in functionality
The operating mechanism of arm, mechanical arm system signified in the present invention is belonged to, is not limited herein.
As a kind of embodiment, gyro tranquilizer 5 can specifically include：Servo-driven module, watch with described
Take the connected gyroscopic apparatus of drive module and control module.
Wherein, the control module is used for the current disturbing moment for obtaining aerial work robot platform, is worked as according to described
Preceding disturbing moment determines the angular velocity of precession size and Orientation of the gyroscopic apparatus needed for disturbance suppression, accordingly generates the driving top
Spiral shell device produces the driving instruction of corresponding control moment, sends to the servo-driven module；
The servo-driven module is used to receive the driving instruction, corresponding by driving the gyroscopic apparatus deflection to provide
Control moment, to suppress interference of the current ringing to aerial work robot pose.
Wherein, gyroscopic apparatus includes double-shaft flywheel, motor；Wherein, the double-shaft flywheel is symmetrical flywheel, passes through institute
State motor drive and carry out rotation, sense of rotation is opposite.
Control module includes：Microprocessor, angular-rate sensor, servomotor controller；
Wherein, the angular-rate sensor is used for：When aerial work robot is by along the axial perturbing torque of X-axis,
Obtain X axis angular speed；
The microprocessor is used for flywheel in the gyroscopic apparatus according to needed for the X axis angular speed determines disturbance suppression and entered
The size of dynamic angular speed and direction, and export to the servomotor controller；
The servomotor controller is used for size and direction according to the angular velocity of precession, and generation sends and watched to described
Take the driving instruction of drive module.
Further, the gyro tranquilizer can also include：Stop nut, for fixing flywheel along machine shaft side
To the free degree, the flywheel projects during avoiding rotating.In addition, gyro tranquilizer can also include：Crust of the device, pass through
Connection member is fixedly connected on the fuselage platform.
A kind of embodiment of gyro tranquilizer in the aerial work robot provided by the present invention of reference picture 4
Structural representation, it is specifically included：Crust of the device 501, connection center 502, flywheel coupling spindle 503, flywheel 504, servomotor
Arm 505, control system 506, connection rotating shaft 507, servomotor 508, stop nut 509, flywheel a set of cups 510, connecting rod 511, enter
Turn axle 512.
The shell of gyro tranquilizer connects whole double-shaft flywheel mechanism by two connection rotating shafts；Double-shaft flywheel system is
Symmetrical structure, by motor driven high speed rotation, stop nut is used to fix the free degree of the flywheel along machine shaft direction flywheel
Flywheel projects during avoiding rotating, and ensure that the security of system；Flywheel and motor are integrally placed in a set of cups, and pass through bolt
Fixed position.In servo electrical machinery system, servomotor connection servomotor arm carries out the control of precession angle；Servomotor arm leads to
Bolt is crossed to be connected with connecting rod；Connecting rod is locked in precession rotating shaft by bolt.Control system is fixed in connection by magic glue
The center of frame, including but not limited to microprocessor (CPU), angular-rate sensor, servomotor controller.Crust of the device passes through spiral shell
Tether and be connected on machine human organism.
A kind of embodiment knot of gyro tranquilizer in the aerial work robot provided by the present invention of reference picture 5
Structure block diagram, the operation principle of gyro tranquilizer are specially：Two gyroscopic apparatus flywheel initial positions are its rotation axis and institute
The Z axis for stating robot Disturbance Rejection device is parallel；The sense of rotation of two described flywheels is opposite；It is connected with the flywheel
Connection center rotating shaft it is parallel with the Y-axis of the robot Disturbance Rejection device, and respectively with two servo-driven modules
Connection.The disturbance device needs to be fixedly mounted with robot platform, and the device x-axis and robot platform equivalent disturbance torque
Direction is parallel.
The control system includes microprocessor (CPU), angular-rate sensor and servomotor controller, disturbance suppression
Under molding formula is closed, the motor stops operating, and with the joining center that couples of the flywheel in servomotor
The lower return initial makeup location of driving, i.e., it is parallel with the Z axis of the unmanned vehicle Disturbance Rejection device.
In actual use, can be that aerial work robot sets both of which, respectively independent Disturbance Rejection
Pattern and hybrid perturbation suppression mode.The course of work of the two patterns in activation is described further below,
Under independent Disturbance Rejection mode activation, the controller of the Disturbance Rejection device not with unmanned aerial vehicle onboard flight control system
Communication.Flywheel high-speed rotation under motor driving, when the nothing coupled with the unmanned vehicle Disturbance Rejection device
When people's aircraft is by along the unmanned vehicle Disturbance Rejection device X-axis axial perturbing torque, the angular-rate sensor
Read the X axis angular speed of the Disturbance Rejection device, X axis angle speed of the microprocessor based on the Disturbance Rejection device
Degree determines size and the direction of described two flywheel angular velocity of precessions needed for disturbance suppression, and exports to the servomotor control
Device processed, with by controlling the precession of described two flywheels to provide shadow of the corresponding torque come disturbance suppression to the attitude of flight vehicle
Ring.
Under the activation of hybrid perturbation suppression mode, the controller of the Disturbance Rejection device will be with unmanned aerial vehicle onboard flight control system
Communication.Flywheel high-speed rotation under motor driving, when the nothing coupled with the unmanned vehicle Disturbance Rejection device
When people's aircraft is by along the unmanned vehicle Disturbance Rejection device X-axis axial perturbing torque, the angular-rate sensor
The X axis angular speed of the Disturbance Rejection device is read, and the microprocessor passes through the machine with described unmanned vehicle
Flight control system is carried to be communicated to obtain the attitude information and system control information of described unmanned vehicle, the microprocessor
Attitude information and the system control of X axis angular speed and described unmanned vehicle of the device based on the Disturbance Rejection device
Information determines size and the direction of described two flywheel angular velocity of precessions needed for disturbance suppression, and exports to the servomotor
Controller, with by controlling the precession of described two flywheels to provide corresponding torque come disturbance suppression to the attitude of flight vehicle
Influence, and aid in the airborne flight control system of described unmanned vehicle to carry out gesture stability to described unmanned vehicle.
Gyro tranquilizer utilizes double-shaft flywheel system precession noiseproof feature, it is not necessary to which Working mechanism and unmanned plane are put down
Platform is reequiped, simple to operate, and structure is slim and graceful, is efficiently solved work opportunity device people's platform stance and is especially impacted by large disturbances and is disturbed
The problem of dynamic.Meanwhile precession angle and the direction of double-shaft flywheel are accurately controlled by servomotor, substantially increase system sound
The rapidity answered, further increase work machine task efficiency.
To sum up, among the operation work capacity of ground robot is extended to spatial domain by the application, geographical terrain bar can be broken through
Contact-type job task is completed in the limitation of part.In addition, the application proposes the double culvert type structures of unique file, solves tradition four
Flight space needed for rotary wind type flying robot is big, can not close contact object and barrier, payload be low, operation machine
The shortcomings that structure inertia is big.Further, the application also proposed gyro tranquilizer, the gesture stability of less important work robot,
The disturbance rejection and impact resistance of system are greatly improved, it is poor to efficiently solve conventional flight robot stabilization, antijamming capability
The shortcomings that difference, effective control loads are low.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be with it is other
The difference of embodiment, between each embodiment same or similar part mutually referring to.For dress disclosed in embodiment
For putting, because it is corresponded to the method disclosed in Example, so description is fairly simple, related part is referring to method part
Explanation.
Professional further appreciates that, with reference to the unit of each example of the embodiments described herein description
And algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software, the composition and step of each example are generally described according to function in the above description.These
Function is performed with hardware or software mode actually, application-specific and design constraint depending on technical scheme.Specialty
Technical staff can realize described function using distinct methods to each specific application, but this realization should not
Think beyond the scope of this invention.
Directly it can be held with reference to the step of method or algorithm that the embodiments described herein describes with hardware, processor
Capable software module, or the two combination are implemented.Software module can be placed in random access memory (RAM), internal memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
Aerial work robot provided by the present invention is described in detail above.Specific case used herein
The principle and embodiment of the present invention are set forth, the explanation of above example is only intended to help the side for understanding the present invention
Method and its core concept.It should be pointed out that for those skilled in the art, the principle of the invention is not being departed from
Under the premise of, some improvement and modification can also be carried out to the present invention, these are improved and modification also falls into the claims in the present invention
In protection domain.
Claims (8)
- A kind of 1. aerial work robot, it is characterised in that including：Duct, rotor system, fuselage, mechanical arm system and top Spiral shell tranquilizer；Wherein, the duct is using the double duct forms in longitudinal direction, before two ducts are symmetrically arranged at fuselage edge longitudinal direction Both sides afterwards；The rotor system includes preceding rotor system and rear rotor system, the preceding rotor system and the rear rotor system System is correspondingly arranged in former and later two ducts respectively；Control to body posture is realized by the rotor system；The mechanical arm system is located at below the fuselage, is stretched out from the side of the fuselage during job state and carries out operation；The gyro tranquilizer is arranged at fuselage platform top position, for Work robot Disturbance Rejection pattern in the air During unlatching, interference of the operation process disturbance to aerial work robot is suppressed by the control moment of offer.
- 2. aerial work robot as claimed in claim 1, it is characterised in that the gyro tranquilizer includes：Servo is driven Dynamic model block, the gyroscopic apparatus being connected with the servo-driven module and control module；Wherein, the control module is used for the current disturbing moment for obtaining aerial work robot platform, is currently disturbed according to described Kinetic moment determines the angular velocity of precession size and Orientation of the gyroscopic apparatus needed for disturbance suppression, and generates the driving gyroscopic apparatus The driving instruction of corresponding control moment is produced, is sent to the servo-driven module；The servo-driven module is used to receive the driving instruction, by driving the gyroscopic apparatus deflection to provide corresponding control Torque processed, to suppress interference of the current ringing to aerial work robot pose.
- 3. aerial work robot as claimed in claim 2, it is characterised in that the gyroscopic apparatus includes double-shaft flywheel, driven Dynamic motor；Wherein, the double-shaft flywheel is symmetrical flywheel, and rotation, sense of rotation are carried out by the motor flywheel driven Conversely.
- 4. aerial work robot as claimed in claim 3, it is characterised in that the control module includes：Microprocessor, angle Velocity sensor, servomotor controller；Wherein, the angular-rate sensor is used for：When aerial work robot is by along the axial perturbing torque of X-axis, X is obtained Axial angular speed；The microprocessor is used for flywheel angle of precession in the gyroscopic apparatus according to needed for the X axis angular speed determines disturbance suppression The size of speed and direction, and export to the servomotor controller；The servomotor controller is used for size and direction according to the angular velocity of precession, and generation sends to the servo and driven The driving instruction of dynamic model block.
- 5. aerial work robot as claimed in claim 4, it is characterised in that the gyro tranquilizer also includes：It is locking Nut, for fixing the free degree of the flywheel along machine shaft direction.
- 6. aerial work robot as claimed in claim 5, it is characterised in that the gyro tranquilizer also includes：Device Shell, it is fixedly connected on by connection member on the fuselage platform.
- 7. the aerial work robot as described in any one of claim 1 to 6, it is characterised in that the rotor system includes upper Rotor, lower rotor, upper motor, lower motor, support, girder, rudder face, control surface deflection steering wheel, rudder face rocking arm；Wherein, the upper rotor is identical with the lower rotor structure, is fixed on jointly on the support, and with the girder phase Even；The upper motor and the lower coaxial opposed installation of motor, it is oppositely oriented；The control surface deflection steering wheel can drive the rudder face Deflection, for producing the control moment in rolling direction.
- 8. the aerial work robot as described in any one of claim 1 to 6, it is characterised in that the mechanical arm system includes Forearm, postbrachium, joint steering wheel, mechanical arm base and operation module；Wherein, the mechanical arm base is connected with the fuselage, and the joint steering wheel is used for the fortune to each joint of mechanical arm It is dynamic to be controlled, to drive the operation module to reach specified location.
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| CN201711097058.2A CN107891975B (en) | 2017-11-09 | 2017-11-09 | Aerial work robot |
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| CN201711097058.2A CN107891975B (en) | 2017-11-09 | 2017-11-09 | Aerial work robot |
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| CN107891975B (en) | 2024-07-23 |
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