CN206344999U - One kind can flight formula work high above the ground robot - Google Patents
One kind can flight formula work high above the ground robot Download PDFInfo
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- CN206344999U CN206344999U CN201621377844.9U CN201621377844U CN206344999U CN 206344999 U CN206344999 U CN 206344999U CN 201621377844 U CN201621377844 U CN 201621377844U CN 206344999 U CN206344999 U CN 206344999U
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Abstract
The utility model discloses one kind can flight formula work high above the ground robot, including aviation mechanism and Working mechanism, the aviation mechanism includes being provided with the first controller in flying body, flying body, and flying body is connected with several horns, and each horn is connected with rotor；First controller is by controlling rotor drive module to drive rotor to work；The Working mechanism includes being provided with second controller in electric cabinet, electric cabinet, and second controller is used to control the Working mechanism to act；The flying body is used to carry Working mechanism to setting position, can be after flight formula work high above the ground robot reaches setting position, and both described aviation mechanism and Working mechanism keep cooperation state or both state that separately works independently.
Description
Technical field
The utility model belongs to Working mechanism field, more particularly to one kind can flight formula work high above the ground robot.
Background technology
High-rise working refers to the operation that eminence of the people on the basis of certain position is carried out.Standard GB/T/T 3608-2008
《High-rise working is classified》Regulation：" it is all to carry out operation in more than height of fall reference plane 2m (the containing 2m) eminences for being possible to fall, all
Referred to as high-rise working." according to this regulation, the scope that high-rise working is related in construction industry is quite extensive.In building
In thing during operation, if being operated on more than 2m shelf, as high-rise working.
Traditional work high above the ground is that operating personnel operates in person, and carry out climbing operation when operating personnel due to not having
Job platform, can only climb can operation on the shelf by thing, to be climbed by proficiency, a pin hooks or keeps flat with waist rope
Weighing apparatus, centre of body weight vertical line is not by underfooting, and task difficulty is big, dangerous big, if having may fall accidentally.
Below by taking walking operation robot as an example：At present, inspection robot is increasingly being used in Electric Power Patrol operation neck
Domain, instead of work such as artificial monitoring, the maintenance for carrying out power circuit.During Electric Power Patrol, when insulator occurs for power circuit
During the failures such as flashover, partial short-circuit, most directly performance is that local temperature is too high.In addition, power circuit also exist it is stranded, attached
Part such as comes off at the failure.Therefore, power circuit line walking monitoring is a very the key link.Traditional inspection robot is due to height
Line ball road and tower structure are complicated, and inspection robot will not only complete tour, service work, also want the knot in continuous span line
Structure obstacle, influences the operating efficiency of inspection robot.
In recent years, with the lifting of unmanned air vehicle technique, unmanned plane is also more and more used for line walking.Unmanned plane has flexible
Efficiently, the advantage not constrained by line environment, but using unmanned plane, there is also obvious shortcoming merely：Unmanned plane continuation of the journey is usual
It is shorter, it is necessary to continually charge, the effective time is limited；To ensure safety, unmanned plane is unable to that distance line is too near, and this just leads
Cause some complex regions to might have the monitoring project of omission, leave potential safety hazard.
There is following defect in existing work high above the ground robot：Work high above the ground robot needs to carry by external force or equipment
Working mechanism relevant work place, when work high above the ground point geographical environment is complicated, is difficult to set the structure such as shelf or hoist cable so that
Work high above the ground robot is influenceed by geogen, and the place that can not be applied to all geographical environments is operated.In addition,
The general floor space of work high above the ground robot is big, and weight is big, and the energy of consumption is more, when Working mechanism needs to cross over large-scale or complexity
Barrier when, it may occur that failure, at this time, it may be necessary to artificially work high above the ground robot is unloaded, expend substantial amounts of manpower and
Material resources, reduce work high above the ground machine task efficiency.
Utility model content
In order to solve the shortcoming of prior art, the purpose of this utility model is to provide one kind can flight formula work high above the ground machine
People.
One kind of the present utility model can flight formula work high above the ground robot, including：Aviation mechanism and Working mechanism, it is described to fly
Row mechanism includes being provided with the first controller in flying body, flying body, and flying body is connected with several horns, each horn
It is connected with rotor；First controller is by controlling rotor drive module to drive rotor to work；The Working mechanism includes automatically controlled
Second controller is provided with case, electric cabinet, second controller is used to control the Working mechanism to act；
The flying body is used to carry Working mechanism to aerial setting position, can the arrival of flight formula work high above the ground robot
After setting position, both described aviation mechanism and Working mechanism keep cooperation state or both the shape that separately works independently
State.
Further, the bottom of electric cabinet, which is additionally provided with cylinder-type lock stop, lock part, is provided with electric control lock, electric control lock
It is connected with the first controller；
The upper surface of aviation mechanism is additionally provided with recessed case, and recessed case is cone barrel structure wide at the top and narrow at the bottom；The recessed case is used to hold
The Working mechanism electric cabinet matched with it is carried, and so that described can keep balance during flight formula work high above the ground robot flight；
The bottom of recessed case is additionally provided with up-narrow and down-wide cylindricality platform, and cylindricality platform is used to accommodate lock part；
When both aviation mechanism and Working mechanism need cooperation, the first controller control electric control lock is in shape of locking
State so that both aviation mechanism and Working mechanism are combined；When Working mechanism needs separate operaton, the control of the first controller is automatically controlled
In unlocking condition so that Working mechanism departs from the aviation mechanism and worked independently.
The utility model is by recessed box structure, by aviation mechanism and Working mechanism cooperation or separated autonomous working：When
When both aviation mechanism and Working mechanism need cooperation, the first controller control electric control lock is in locking state so that fly
Both row mechanism and Working mechanism are combined；When Working mechanism needs separate operaton, the control of the first controller is automatically controlled in unlocking
State so that Working mechanism departs from the aviation mechanism and worked independently.On the one hand the utility model, which mitigates, bears a heavy burden, and saves energy
Consumption；On the other hand, the complexity of system is reduced, reduces the probability for producing failure；When Working mechanism needs to cross over large-scale or complexity
Barrier when, aviation mechanism can Working mechanism combine.
Further, the bottom of electric cabinet is additionally provided with magnetosphere；Magnechuck is also equipped with the flying body, its
It is connected with the first controller；Magnechuck is used to carry the Working mechanism and so that described can flight formula work high above the ground robot
Balance is kept during flight；
When both aviation mechanism and Working mechanism need common operational, the first controller control magnechuck, which is powered, to be produced
Magnetic field so that magnechuck absorption has magnetospheric electric cabinet, reaches the purpose that both aviation mechanism and Working mechanism are combined；
When Working mechanism needs separate operaton, the control magnechuck power-off of the first controller eliminates magnetic field so that magnechuck departs from
With magnetospheric electric cabinet, the purpose that both aviation mechanism and Working mechanism depart from is reached.
The utility model utilizes magnechuck structure, the unmanned plane with magnechuck is powered and produces magnetic field so that electricity
Magnetic-disc absorption has magnetospheric electric cabinet, finally realizes the stable effect for carrying attached magnetic element of aviation mechanism；Pass through control
Circuit processed makes the aviation mechanism with magnechuck power off elimination magnetic field so that magnechuck and adsorbed magnetic element point
From finally realizing aviation mechanism and the effect with magnetospheric electric cabinet quick separating carried.
Further, the aviation mechanism also includes mechanical grip mechanism, and mechanical grip mechanism includes base and platform, bottom
Seat is installed on flying body, and platform is fixedly connected on base；The external articulation of platform has clamping jaw structure；If clamping jaw structure includes
Dry clamping jaw, clamping jaw is used for the fixed electric cabinet fallen into its enclosing region；Clamping jaw drive is installed between the base and platform
Dynamic device, clamping jaw drive device is connected with the first controller；
Institute is when both aviation mechanism and Working mechanism need common operational, and the first controller controls the clamping jaw driving dress
Put to drive clamping jaw to simultaneously clamp on electric cabinet so that both aviation mechanism and Working mechanism are combined；When Working mechanism needs individually
During operation, the first controller controls the clamping jaw drive device to drive clamping jaw while opening so that Working mechanism departs from described
Aviation mechanism.
Mechanical grip mechanism of the present utility model is applied to stable grab and presss from both sides bulky object, and the object being grasped can be proper
In the range of the clamping jaw for falling into mechanical grip mechanism well；Moreover, clamping jaw drive device is fixedly mounted between base and platform, save
The space-consuming of whole mechanical grip mechanism, reduces the volume of whole mechanical grip mechanism；In the drive of clamping jaw drive device
Under action is used so that driving clamping jaw is simultaneously clamped on or opened, realize that object is combined or rapid disengaging with mechanical grip mechanism stable,
Improve the operating efficiency of mechanical grip mechanism.
Further, the horn is also connected with horn drive module, the horn drive module and the first controller phase
Even, first controller is used to control horn drive module to drive rotor to fold.So prevent from hindering mechanical arm work, when
When inspection robot needs flight, rotor can deploy from frame.
Wherein, the Working mechanism is power circuit walking operation robot or high-altitude cleaning robot.
Further, the power circuit walking operation robot includes frame, and the electric cabinet is installed on the frame
Bottom；First image capture module and the second image capture module are installed in the frame, are respectively used to monitor line walking machine
The power circuit running status image information of people's direction of advance and opposite direction is simultaneously sent to second controller；
The power circuit walking operation robot also includes walking mechanism and mechanical arm Working mechanism.The walking mechanism
Including walking wheel arm, road wheel and walking mechanism control module.The mechanical arm Working mechanism include mechanical arm drive module and
Mechanical arm, the walking mechanism control module and mechanical arm drive module are connected with second controller, the end of the mechanical arm
It is provided with the 3rd image capture module；Under the control action of second controller, the motion of mechanical arm drive module driving mechanical arm
To adjust the monitoring angle of the 3rd image capture module, conduct monitoring at all levels of the inspection robot to power circuit is finally realized.
Further, the end of the mechanical arm is provided with end effector, and the end effector includes reducing gear,
The reducing gear is connected with motor drive module, and the motor drive module is connected with second controller.
Further, the end of the mechanical arm is provided with manipulator, and the 3rd image capture module is installed on machinery
On hand；
Under the control action of second controller, the motion of drive module driving mechanical arm, and then driving mechanical hands movement is next
Adjust the monitoring angle of the 3rd image capture module on manipulator, the blind area for monitoring power circuit.
The beneficial effects of the utility model are：
It is of the present utility model can flight formula work high above the ground robot aviation mechanism and Working mechanism, can be fixed together
Or separately work independently, when can flight formula work high above the ground robot need in work high above the ground when, aviation mechanism carry Working mechanism
To relevant work place, and it is temporarily disengaged from Working mechanism and flies back ground, on the one hand mitigates and bear a heavy burden, save energy consumption；On the other hand, drop
The complexity of low system, reduces the probability for producing failure；When Working mechanism needs to cross over large-scale or complicated barrier, flight
Mechanism can Working mechanism combination.
Brief description of the drawings
Fig. 1 be it is a kind of can flight formula work high above the ground robot the structural representation of embodiment one.
Fig. 2 is the electric cabinet structure schematic diagram of Working mechanism.
Fig. 3 is electric control lock structure schematic diagram.
Fig. 4 is recessed box structure schematic diagram.
Fig. 5 be it is a kind of can flight formula work high above the ground robot the structural representation of embodiment two.
Fig. 6 be it is a kind of can flight formula work high above the ground robot the structural representation of embodiment three.
Fig. 7 be it is a kind of can flight formula work high above the ground robot end effector structures schematic diagram.
Wherein, 1 flying body, 2 horns, 3 rotors, 4 recessed casees, 41 cylindricality platforms, 5 Working mechanisms, 6 electric cabinets, 61 lock parts,
62 dead bolts, 63 electric control locks, 7 mechanical grip mechanisms, 8 mechanical arms, 9 reducing gears, 10 motor drive modules, 11 the 3rd IMAQs
Module.
Embodiment
The technical solution of the utility model is clearly and completely described with embodiment below in conjunction with the accompanying drawings, it is clear that institute
The embodiment of description is a part of embodiment of the present utility model, rather than whole embodiments.
, it is necessary to explanation in description of the present utility model, term " on ", " under ", " vertical ", " level ", " interior ",
The orientation or position relationship of instructions such as " outer " are, based on orientation shown in the drawings or position relationship, to be for only for ease of and describe this reality
Described with new with simplified, rather than indicate or imply that the device or element of meaning must be with specific orientation, with specific
Azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " first ", " second " are only used for
Purpose is described, and it is not intended that indicating or implying relative importance.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connection " should be interpreted broadly, for example, it may be being fixedly connected with or dismantling connection, or be integrally connected；Can be with
It is mechanical connection or electrical connection；Can be directly connected to, can also be indirectly connected with by intermediary, can be two
The connection of individual element internal.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood in this reality
With the concrete meaning in new.
As long as in addition, technical characteristic involved in the utility model described below difference way of example is each other
Not constituting conflict can just be combined with each other.
Working mechanism of the present utility model be power circuit walking operation robot, high-altitude cleaning robot or it is existing its
The robot of his structure.
Illustrate below by taking power circuit walking operation robot as an example it is of the present utility model can flight formula work high above the ground machine
Device people.The first involved controller and second controller are the controller or processor of current version below, such as PLC,
FPGA or other programmable controllers or processor.
Embodiment one
As shown in figure 1, work high above the ground robot is by taking power circuit walking operation robot as an example, it is of the present utility model to fly
Line power circuit walking operation robot, including：Aviation mechanism and Working mechanism 5, the aviation mechanism include flying body
1, the flying body 1 is interior to be provided with the first controller, and the flying body 1 is connected with several horns 2, and each horn 2 is connected
There is rotor 3；First controller is connected with rotor drive module, first controller by control rotor drive module come
Drive rotor work.
Working mechanism 5 in the present embodiment is power circuit walking operation robot, and the robot includes electric cabinet 6, institute
State and second controller is provided with electric cabinet 6, the second controller is used to control the Working mechanism to act.
As shown in Fig. 2 the structure of electric cabinet is：The bottom of electric cabinet 6 is additionally provided with cylinder-type lock stop 61, the locking
Electric control lock 63 is installed, the electric control lock is connected with the first controller in portion 61.
The electric cabinet of Working mechanism employs the structure for the similar round platform that top is wide, bottom is narrow, for using round platform completely
Structure is unfavorable for the installation of internal cell, control panel, therefore the side of electric cabinet is flat shape；The combination of plane and arc surface
Part rounding, reducing collisions.
As shown in figure 3, electric control lock 63 is arranged on the bottom surface inside electric cabinet 6, two dead bolts 62 are respectively outside electric cabinet 6
The hole of shell both sides is stretched out.The structure of electric control lock is existing structure, and its operation principle is：
When first controller is controlled with the power cut-off of electric control lock, dead bolt is internally ejected under spring effect, now to be upper
Lock status；When first controller controls the power supply energization with electric control lock, dead bolt is collapsible into electric control lock under electromagnetic attraction effect
Portion, is now unlocking condition.
The upper surface of flying body 1 is additionally provided with recessed case 4. wherein, and the structure of recessed case is as shown in Figure 4.
Recessed case 4 is cone barrel structure wide at the top and narrow at the bottom；The recessed case 4 is used to carry the electric cabinet 6 matched with it, and causes
It is described to keep balance during flight formula work high above the ground robot flight；The bottom of recessed case 4 is additionally provided with up-narrow and down-wide cylindricality platform
41, cylindricality platform 41 is used to accommodate lock part 61.
Aviation mechanism and Working mechanism can cooperation, can also separate and work independently；When the aviation mechanism and working rig
When both structures need common operational, the first controller control electric control lock is in locking state so that aviation mechanism and Working mechanism
Both combine；When Working mechanism needs separate operaton, the control of the first controller is automatically controlled to be in unlocking condition so that Working mechanism
Depart from the aviation mechanism.
In specific implementation process, buffer layer is also equipped with inside recessed case 4.When so can slow down object and falling into recessed case
Produced collision, it is to avoid physical damage.Buffer layer is made up of sponge, foam or other vibration-absorptive materials.
Range sensor is also provided with the edge of opening of recessed case 4, detects recessed case with waiting using range sensor
Enter in recessed case the distance between object information and be sent to the first controller.
Range sensor can be realized using laser detector.
Further, image capture module is additionally provided with any horn 2, image capture module is used to gather the flight
Image information and the first controller is sent to around mechanism.In specific implementation process, image capture module can be using shooting
Head or infrared image acquisition instrument are realized.
Further, the first controller is in communication with each other with remote server, the remote server and monitor terminal phase
Mutual communication.So the recessed case 4 of remote real-time monitoring and it can wait to fall into the distance between object information in recessed case, additionally it is possible to accurately sentence
Whether disconnected object is completely into recessed case.
The present embodiment is smoothly slid into casing and locked for ease of the electric cabinet of robot, and the recessed case on aviation mechanism is used
The cone barrel structure of rule, inside dimension is slightly larger than the electric cabinet of Working mechanism；Electric cabinet bottom is to provide space for electric control lock
There is one cylindrical section, the wall of cylinder certain gradient, dead bolt to be contacted after stretching out with the wall, play a part of locking.
When aviation mechanism and Working mechanism are coupled situation, electric control lock power-off, dead bolt stretches out, and is stuck in the recessed case of aviation mechanism
On the inclined wall of bottom, now Working mechanism will not be because some external force or unmanned plane are rolled and are slided from the recessed case of aviation mechanism
Go out；When Working mechanism needs separate operaton, electric control lock is powered, bolt retraction, and now the electric cabinet of robot can be with flying machine
The recessed case of structure departs from.
The present embodiment is by taking the inspection robot of the mechanical arm with four frees degree as an example：It is respectively：1) upper arm level face
It is interior to rotate；2) the vertical rotation in surface of upper arm；3) forearm is rotated relative to upper arm；4) end effector is overturn.In this 4 frees degree
Under support, the arbitrary region that this camera module can be reached in working range implements monitoring.
As shown in figure 5, the end of the mechanical arm 8 of power circuit walking operation robot is provided with end effector, it is described
End effector includes reducing gear 9, and the reducing gear 9 is connected by reducing gear with motor drive module 10, the electricity
Machine drive module 10 is connected with second controller.
Reducing gear 9 and motor drive module 10 are existing structure, will be not repeated herein.
Power circuit walking operation robot can use following three embodiment：
The first power circuit walking operation robot includes frame, and electric cabinet is arranged on bottom of the frame；The electric cabinet
It is provided with second controller, the frame and the first image capture module and the second image capture module is installed, is respectively used to
Monitor the power circuit running status image information of inspection robot direction of advance and opposite direction；
Walking mechanism, it includes mechanical arm drive module and mechanical arm, the mechanical arm drive module and second controller
It is connected, the end of the mechanical arm is provided with the 3rd image capture module；Under the control action of second controller, mechanical arm drives
Dynamic model block driving mechanical arm moves to adjust the monitoring angle of the 3rd image capture module 11, finally realizes inspection robot to electricity
The conduct monitoring at all levels on line of force road.
Second of power circuit walking operation robot includes：Frame, its bottom is provided with electric cabinet；The electric cabinet is set
It is equipped with second controller, the frame and the first image capture module and the second image capture module is installed, is respectively used to prison
Survey the power circuit running status image information of inspection robot direction of advance and opposite direction；
Walking mechanism, it includes mechanical arm drive module and mechanical arm, the mechanical arm drive module and second controller
It is connected, the end of the mechanical arm is provided with manipulator, and the 3rd image capture module 11 is installed on manipulator；
Under the control action of second controller, the motion of mechanical arm drive module driving mechanical arm, and then driving mechanical hand
Move to adjust the monitoring angle of the 3rd image capture module 11 on manipulator, the blind area for monitoring power circuit.
To ensure the compactedness of system, the 3rd image capture module 11 is installed on a robotic arm, this mode will not change
The overall structure of inspection robot, additionally it is possible to monitor the blind area of power circuit.The 3rd IMAQ mould on a robotic arm is installed
Block 11 takes certain safeguard procedures, it is to avoid manipulator is directly contacted during maintenance, block removing with circuit or annex, to the 3rd
Image capture module causes to damage.
The third power circuit walking operation robot includes：Frame, its bottom is provided with electric cabinet；The electric cabinet is set
It is equipped with second controller, the frame and the first image capture module and the second image capture module is installed, is respectively used to prison
Survey the power circuit running status image information of inspection robot direction of advance and opposite direction；Image is also placed with the frame
Acquisition Instrument；
Walking mechanism, it includes mechanical arm drive module and mechanical arm, the mechanical arm drive module and second controller
It is connected, the end of the mechanical arm is provided with manipulator；Under the control action of second controller, mechanical arm drive module drives
Manipulator motion, and then manipulator is captured and is clamped the image capture instrument in frame, by the prison for adjusting image capture instrument
Measuring angle, finally realizes conduct monitoring at all levels of the inspection robot to power circuit.
Wherein, the structure of electric cabinet is existing structure.
Mechanical arm drive module can be realized using motor, it would however also be possible to employ other existing drive mechanisms are come real
It is existing.
Wherein, the first image capture module, the second image capture module and the 3rd image capture module are shooting head mould
Group, the camera module includes infrared camera and visible image capturing head.
Infrared camera is used for thermometric, it is seen that light video camera head is used for monitoring the virtual condition of circuit and annex.
First image capture module, the second image capture module and the 3rd image capture module with second controller phase
Even, the second controller is in communication with each other with ground monitoring server.
Wherein, second controller can be realized using single-chip microcomputer or PLC, it would however also be possible to employ other chips are realized.
First image capture module, the second image capture module and the 3rd image capture module transport the power circuit of collection
Row state image information is sent to second controller, then is sent to ground monitoring server, ground monitoring clothes by second controller
Business device, which can be resent on monitor terminal, to be shown, is easy to comprehensive 360 degree of the staff on ground to be monitored without dead angle
Power circuit running status.
Shown in Fig. 1 can the operation principle of flight formula work high above the ground robot be：
First controller is by controlling rotor drive module to drive rotor to work so that aviation mechanism is in flight shape
State；
The Working mechanism electric cabinet that matches with it of recessed case carrying of the upper surface of aviation mechanism so that it is described can flight formula
Balance is kept during the flight of work high above the ground robot；
When both aviation mechanism and Working mechanism need common operational, the first controller control electric control lock is in shape of locking
State so that both aviation mechanism and Working mechanism are combined；
When Working mechanism needs separate operaton, the control of the first controller is automatically controlled to be in unlocking condition so that Working mechanism
Depart from the aviation mechanism and work independently.
It is of the present utility model can flight formula work high above the ground robot aviation mechanism and Working mechanism, can be fixed together
Or separately work independently, when can flight formula work high above the ground robot need in work high above the ground when, aviation mechanism carry Working mechanism
To relevant work place, and it is temporarily disengaged from Working mechanism and flies back ground, on the one hand mitigates and bear a heavy burden, save energy consumption；On the other hand, drop
The complexity of low system, reduces the probability for producing failure；When Working mechanism needs to cross over large-scale or complicated barrier, flight
Mechanism can Working mechanism combination.
Embodiment two
Fig. 5 be it is a kind of can flight formula work high above the ground robot the structural representation of embodiment two.One kind of the present embodiment can
Working mechanism 5 in flight formula work high above the ground robot is by taking power-line patrolling Work robot as an example：
As shown in figure 5, the present embodiment can flight formula work high above the ground robot, including：Aviation mechanism and Working mechanism 5,
The aviation mechanism includes being provided with the first controller in flying body 1, the flying body 1, if the flying body 1 is connected with
Dry horn 2, each horn 2 is connected with rotor 3；First controller is connected with rotor drive module, first control
Device is by controlling rotor drive module to drive rotor to work.
Working mechanism includes being provided with second controller in electric cabinet, the electric cabinet, and the second controller is used to control
Make the Working mechanism action；The bottom of electric cabinet is additionally provided with magnetosphere.
Magnechuck is also equipped with flying body, it is connected with the first controller；Magnechuck is used to carry the work
Industry mechanism and described to keep balance during flight formula work high above the ground robot flight；When both aviation mechanism and Working mechanism
When needing common operational, the first controller control magnechuck, which is powered, produces magnetic field so that magnechuck absorption has magnetosphere
Electric cabinet, reach both aviation mechanism and Working mechanism combine purpose；When Working mechanism needs separate operaton, the first control
Device control magnechuck power-off processed eliminates magnetic field so that magnechuck, which departs from, has magnetospheric electric cabinet, reaches aviation mechanism
The purpose departed from both Working mechanisms.
Wherein, magnechuck of the present utility model, including coil, the coil is connected with control circuit, the control electricity
Road is configured as control coil and is powered or powers off, and then produces magnetic field or eliminate magnetic field；
Magnetic conduction panel, it is layed on the magnetic flux face of coil.
Wherein, the structure of control circuit can be realized using a variety of circuit structures, and a kind of embodiment is listed below：
A kind of embodiment of control circuit of the present utility model：
Circuit is controlled to include power switch element, the power switch element is serially connected between coil and power supply, the electricity
Source switch element is also connected with the first controller, and first controller is configured as controlling power switch element break-make.
Control circuit of the present utility model controls the break-make of power switch element by the first controller, to realize coil
Power on/off, finally realize the absorption of magnechuck and magnetic element and separate.
The shape of magnetic conduction panel can also set circular, square, rectangle, rhombus or other shapes.
When coil is conductive, to produce magnetic field and then adsorbing magnetic element.
When the electric cabinet bottom of inspection robot is provided with magnetosphere, then magnechuck adsorbs the electric cabinet 3 of inspection robot
Bottom.
The structure of inspection robot is existing structure, will be not repeated herein.
Further, range sensor is additionally provided with magnechuck, for detecting magnechuck and adsorbed magnetic
The adhesive degree of element is simultaneously sent to the first controller.
Further, image collecting device is also equipped with rotor wing unmanned aerial vehicle, described image harvester, which is used to detect, to be revolved
Wing unmanned plane external environment image information is simultaneously sent to the first controller.
Further, the first controller is also in communication with each other with remote server, the remote server and monitor terminal
It is in communication with each other.So the operating personnel on ground can pass through remote monitoring terminal real time inspection magnetic conduction panel and the line walking machine
The state of the electric cabinet bottom real-time contact of people.
The present embodiment electromagnetic principle, produces magnetic field by controlling circuit the unmanned plane with magnechuck is powered, makes
Magnechuck absorption magnetic element is obtained, the stable effect for carrying attached magnetic element of aviation mechanism is finally realized；By controlling circuit
Power off the aviation mechanism with magnechuck and eliminate magnetic field so that magnechuck is separated with adsorbed magnetic element, finally
Realize aviation mechanism with being carried the effect of attached magnetic element quick separating.
The present embodiment is by taking the power-line patrolling Work robot of the mechanical arm with four frees degree as an example：It is respectively：1) on
The horizontal rotation in surface of arm；2) the vertical rotation in surface of upper arm；3) forearm is rotated relative to upper arm；4) end effector is overturn.At this 4
Under the support of the free degree, the arbitrary region that this camera module can be reached in working range implements monitoring.
As shown in fig. 7, the end of the mechanical arm 8 of power circuit walking operation robot is provided with end effector, it is described
End effector includes reducing gear 9, and the reducing gear 9 is connected with motor-driven mechanism 10, the motor-driven mechanism 10
It is connected with second controller.
Reducing gear 9 and motor-driven mechanism 10 are existing structure, will be not repeated herein.
Power circuit walking operation robot can use following three embodiment：
The first power circuit walking operation robot includes frame, and electric cabinet is arranged on bottom of the frame；The electric cabinet
It is provided with second controller, the frame and the first image capture module and the second image capture module is installed, is respectively used to
Monitor the power circuit running status image information of inspection robot direction of advance and opposite direction；
Walking mechanism, it includes mechanical arm drive module and mechanical arm, the mechanical arm drive module and second controller
It is connected, the end of the mechanical arm is provided with the 3rd image capture module；Under the control action of second controller, mechanical arm drives
Dynamic model block driving mechanical arm moves to adjust the monitoring angle of the 3rd image capture module 9, finally realizes inspection robot to electricity
The conduct monitoring at all levels on line of force road.
Second of power circuit walking operation robot includes：Frame, its bottom is provided with electric cabinet；The electric cabinet is set
It is equipped with second controller, the frame and the first image capture module and the second image capture module is installed, is respectively used to prison
Survey the power circuit running status image information of inspection robot direction of advance and opposite direction；
Walking mechanism, it includes mechanical arm drive module and mechanical arm, the mechanical arm drive module and second controller
It is connected, the end of the mechanical arm is provided with manipulator, and the 3rd image capture module is installed on manipulator；
Under the control action of second controller, the motion of mechanical arm drive module driving mechanical arm, and then driving mechanical hand
Move to adjust the monitoring angle of the 3rd image capture module on manipulator, the blind area for monitoring power circuit.
To ensure the compactedness of system, the 3rd image capture module is installed on a robotic arm, this mode, which will not change, patrols
The overall structure of line robot, additionally it is possible to monitor the blind area of power circuit.The 3rd image capture module 8 on a robotic arm is installed
Take certain safeguard procedures, it is to avoid manipulator is directly contacted during maintenance, block removing with circuit or annex, to the 3rd image
Acquisition module causes to damage.
The third power circuit walking operation robot includes：Frame, its bottom is provided with electric cabinet；The electric cabinet is set
It is equipped with second controller, the frame and the first image capture module and the second image capture module is installed, is respectively used to prison
Survey the power circuit running status image information of inspection robot direction of advance and opposite direction；Image is also placed with the frame
Acquisition Instrument；
Walking mechanism, it includes mechanical arm drive module and mechanical arm, the mechanical arm drive module and second controller
It is connected, the end of the mechanical arm is provided with manipulator；Under the control action of second controller, mechanical arm drive module drives
Manipulator motion, and then manipulator is captured and is clamped the image capture instrument in frame, by the prison for adjusting image capture instrument
Measuring angle, finally realizes conduct monitoring at all levels of the inspection robot to power circuit.
Wherein, the structure of electric cabinet is existing structure.
Mechanical arm drive module can be realized using motor, it would however also be possible to employ other existing drive mechanisms are come real
It is existing.
Wherein, the first image capture module, the second image capture module and the 3rd image capture module are shooting head mould
Group, the camera module includes infrared camera and visible image capturing head.
Infrared camera is used for thermometric, it is seen that light video camera head is used for monitoring the virtual condition of circuit and annex.
First image capture module, the second image capture module and the 3rd image capture module with second controller phase
Even, the second controller is in communication with each other with ground monitoring server.
Wherein, second controller can be realized using single-chip microcomputer or PLC, it would however also be possible to employ other chips are realized.
First image capture module, the second image capture module and the 3rd image capture module transport the power circuit of collection
Row state image information is sent to second controller, then is sent to ground monitoring server, ground monitoring clothes by second controller
Business device, which can be resent on monitor terminal, to be shown, is easy to comprehensive 360 degree of the staff on ground to be monitored without dead angle
Power circuit running status.
Embodiment three
Fig. 6 be it is a kind of can flight formula work high above the ground robot the structural representation of embodiment three.The working rig of the present embodiment
Structure is by taking power-line patrolling Work robot as an example：
As shown in fig. 6, one kind of the present embodiment can flight formula work high above the ground robot, including：Aviation mechanism and working rig
Structure 5, the aviation mechanism includes being provided with the first controller in flying body 1, the flying body 1, the body of flight sheet 1 connection
There are several horns 2, each horn 2 is connected with rotor 3；First controller is connected with rotor drive module, and described first
Controller is by controlling rotor drive module to drive rotor to work；
Working mechanism includes being provided with second controller in electric cabinet, the electric cabinet, and the second controller is used to control
Make the Working mechanism action.
The aviation mechanism also includes mechanical grip mechanism 7.Wherein, mechanical grip mechanism 7 of the present utility model includes：Bottom
On seat and platform, floor installation flying body, platform is fixedly connected on base by support column；The external articulation of platform has folder
Pawl structure；Clamping jaw structure includes several clamping jaws, and clamping jaw is used for the fixed electric cabinet fallen into its enclosing region；The base with
Clamping jaw drive device is installed between platform, clamping jaw drive device is connected with the first controller；When aviation mechanism and operation
When both mechanisms need common operational, the first controller controls the clamping jaw drive device automatically controlled to drive clamping jaw to simultaneously clamp on
Case so that both aviation mechanism and Working mechanism are combined；When Working mechanism needs separate operaton, the control of the first controller is described
Clamping jaw drive device drives clamping jaw while opening so that Working mechanism departs from the aviation mechanism.
Wherein, in a particular embodiment, platform may be configured as cuboid, and the clamping jaw structure includes four clamping jaws, and this four
Individual clamping jaw is hingedly connected to left surface, right flank, preceding surface and the rear surface of the platform.
In addition, when platform is cuboid, the quantity of clamping jaw can also be more than four in clamping jaw structure, be fixed in order to stable
The object fallen into these clamping jaw enclosing regions, sets at least to four.
In addition, platform is it can also be provided that other shapes.
Preferably, platform is set to cylinder, and clamping jaw structure includes at least three clamping jaws, and the clamping jaw is articulated with equal intervals
The outside of the platform.The fixed object fallen into these clamping jaw enclosing regions can so be stablized.
Further, the inner surface of clamping jaw is provided with non-slip process.Clamping jaw can so be strengthened and be grasped between object
Frictional force.
Preferably, clamping jaw drive device includes several clamping jaw drive modules, number and the clamping jaw number of clamping jaw drive module
Amount is equal；Each clamping jaw drive module includes motor, and motor is connected by shaft coupling with screw mechanism so that driving
Motor driving screw mechanism rotation；
Screw mechanism is connected by nut body with linkage, and the clamping jaw of linkage and respective direction is hinged, in silk
Under the rotation driving of thick stick mechanism, make nut body with linkage coordinate to realize clamping jaw clamping or open.The clamping jaw drive device
Clamping jaw clamping is realized using the cooperation between motor, screw mechanism, nut body and linkage or opened, it is ensured that
The stability of jaw action.
Wherein, screw mechanism, nut body and linkage are existing structure.
Further, the nut body is the nut body with latching characteristics.The self-locking performance of screw-nut body, this
Sample can ensure that mechanical grip mechanism can stably and firmly firmly grasp object, it is to avoid clamping jaw scope of the object from mechanical clip claw mechanism
Inside come off.
The mechanical grip mechanism of the present embodiment is applied to stable grab and presss from both sides bulky object, and the object being grasped can be lucky
In the range of the clamping jaw for falling into mechanical grip mechanism；Moreover, clamping jaw drive device is fixedly mounted between base and platform, save
The space-consuming of whole mechanical grip mechanism, reduces the volume of whole mechanical grip mechanism；In the driving of clamping jaw drive device
Under effect so that driving clamping jaw is simultaneously clamped on or opened, realize that object is combined or rapid disengaging with mechanical grip mechanism stable, carry
The high operating efficiency of mechanical grip mechanism.
In addition, clamping jaw driving device structure in mechanical grip mechanism of the present utility model can also using it is existing other
Structure type is realized.
The base of mechanical grip mechanism is provided with base installing hole, and mechanical grip mechanism is solid by screw and base installing hole
It is scheduled on body.
When mechanical grip mechanism captures inspection robot electric cabinet, the first controller controls the clamping jaw drive device
Driving clamping jaw simultaneously clamps on or opened inspection robot electric cabinet.
It is also soft in the inner surface setting rubber-like of clamping jaw in order to prevent the clamping jaw of mechanical grip mechanism from damaging inspection robot
Property material layer.
Wherein, be additionally provided with electric cabinet mounting hole on inspection robot electric cabinet, inspection robot electric cabinet by screw and
Electric cabinet mounting hole is fixed on inspection robot.
Further, range sensor is additionally provided with platform, the range sensor is used for detection platform and the platform
The distance between the object of upper carrying information is simultaneously sent to the first controller.
Further, the first controller is also in communication with each other with remote server, the remote server and monitor terminal
It is in communication with each other.
The aviation mechanism of the present embodiment is combined with mechanical grip mechanism so that under the control of the first controller, control
Clamping jaw drive device drives clamping jaw to simultaneously clamp on or open, it is ensured that mechanical grip mechanism stable firmly grasps object securely, is taken
Object carrier flies, moreover it is possible to avoid object from being come off during carrying flight in the range of the clamping jaw of mechanical clip claw mechanism.
The present embodiment is by taking the inspection robot of the mechanical arm with four frees degree as an example：It is respectively：1) upper arm level face
It is interior to rotate；2) the vertical rotation in surface of upper arm；3) forearm is rotated relative to upper arm；4) end effector is overturn.In this 4 frees degree
Under support, the arbitrary region that this camera module can be reached in working range implements monitoring.
As shown in fig. 7, the end of the mechanical arm 8 of power circuit walking operation robot is provided with end effector, it is described
End effector includes reducing gear 9, and the reducing gear 9 is connected with motor-driven mechanism 10, the motor-driven mechanism 10
It is connected with second controller.
Reducing gear 9 and motor-driven mechanism 10 are existing structure, will be not repeated herein.
Power circuit walking operation robot can use following three embodiment：
The first power circuit walking operation robot includes frame, and electric cabinet is arranged on bottom of the frame；The electric cabinet
It is provided with second controller, the frame and the first image capture module and the second image capture module is installed, is respectively used to
Monitor the power circuit running status image information of inspection robot direction of advance and opposite direction；
Walking mechanism, it includes mechanical arm drive module and mechanical arm, the mechanical arm drive module and second controller
It is connected, the end of the mechanical arm is provided with the 3rd image capture module；Under the control action of second controller, mechanical arm drives
Dynamic model block driving mechanical arm moves to adjust the monitoring angle of the 3rd image capture module, finally realizes inspection robot to electric power
The conduct monitoring at all levels of circuit.
Second of power circuit walking operation robot includes：Frame, its bottom is provided with electric cabinet；The electric cabinet is set
It is equipped with second controller, the frame and the first image capture module and the second image capture module is installed, is respectively used to prison
Survey the power circuit running status image information of inspection robot direction of advance and opposite direction；
Walking mechanism, it includes mechanical arm drive module and mechanical arm, the mechanical arm drive module and second controller
It is connected, the end of the mechanical arm is provided with manipulator, and the 3rd image capture module 11 is installed on manipulator；
Under the control action of second controller, the motion of mechanical arm drive module driving mechanical arm, and then driving mechanical hand
Move to adjust the monitoring angle of the 3rd image capture module on manipulator, the blind area for monitoring power circuit.
To ensure the compactedness of system, the 3rd image capture module is installed on a robotic arm, this mode, which will not change, patrols
The overall structure of line robot, additionally it is possible to monitor the blind area of power circuit.The 3rd image capture module on a robotic arm is installed
11 take certain safeguard procedures, it is to avoid manipulator is directly contacted during maintenance, block removing with circuit or annex, to the 3rd figure
As acquisition module causes to damage.
The third power circuit walking operation robot includes：Frame, its bottom is provided with electric cabinet；The electric cabinet is set
It is equipped with second controller, the frame and the first image capture module and the second image capture module is installed, is respectively used to prison
Survey the power circuit running status image information of inspection robot direction of advance and opposite direction；Image is also placed with the frame
Acquisition Instrument；
Walking mechanism, it includes mechanical arm drive module and mechanical arm, the mechanical arm drive module and second controller
It is connected, the end of the mechanical arm is provided with manipulator；Under the control action of second controller, mechanical arm drive module drives
Manipulator motion, and then manipulator is captured and is clamped the image capture instrument in frame, by the prison for adjusting image capture instrument
Measuring angle, finally realizes conduct monitoring at all levels of the inspection robot to power circuit.
Wherein, the structure of electric cabinet is existing structure.
Mechanical arm drive module can be realized using motor, it would however also be possible to employ other existing drive mechanisms are come real
It is existing.
Further, worm-and-wheel gear has self-locking performance so that the 3rd image capture module keeps certain posture, with
Avoid any swing.
Wherein, the first image capture module, the second image capture module and the 3rd image capture module are shooting head mould
Group, the camera module includes infrared camera and visible image capturing head.
Infrared camera is used for thermometric, it is seen that light video camera head is used for monitoring the virtual condition of circuit and annex.
First image capture module, the second image capture module and the 3rd image capture module with second controller phase
Even, the second controller is in communication with each other with ground monitoring server.
Wherein, second controller can be realized using single-chip microcomputer or PLC, it would however also be possible to employ other chips are realized.
First image capture module, the second image capture module and the 3rd image capture module transport the power circuit of collection
Row state image information is sent to second controller, then is sent to ground monitoring server, ground monitoring clothes by second controller
Business device, which can be resent on monitor terminal, to be shown, is easy to comprehensive 360 degree of the staff on ground to be monitored without dead angle
Power circuit running status.
The other structures of aviation mechanism and Working mechanism of the present utility model are existing structure, will be not repeated herein.
It is not new to this practicality although above-mentioned embodiment of the present utility model is described with reference to accompanying drawing
The limitation of type protection domain, one of ordinary skill in the art should be understood that on the basis of the technical solution of the utility model, ability
Field technique personnel need not pay the various modifications that creative work can make or deform still in protection model of the present utility model
Within enclosing.
Claims (9)
1. one kind can flight formula work high above the ground robot, it is characterised in that including：Aviation mechanism and Working mechanism, the flight
Mechanism includes being provided with the first controller in flying body, flying body, and flying body is connected with several horns, and each horn connects
It is connected to rotor；First controller is by controlling rotor drive module to drive rotor to work；The Working mechanism includes electric cabinet,
Second controller is provided with electric cabinet, second controller is used to control the Working mechanism to act；
The flying body is used to carry Working mechanism to setting position, can flight formula work high above the ground robot arrival setting position
Afterwards, both described aviation mechanism and Working mechanism keep cooperation state or both the state that separately works independently.
2. one kind as claimed in claim 1 can flight formula work high above the ground robot, it is characterised in that the bottom of electric cabinet is also set
It is equipped with cylinder-type lock stop, lock part and electric control lock is installed, electric control lock is connected with the first controller；
The upper surface of aviation mechanism is additionally provided with recessed case, and recessed case is cone barrel structure wide at the top and narrow at the bottom；The recessed case be used for carry with
Its Working mechanism electric cabinet matched, and so that described can keep balance during flight formula work high above the ground robot flight；Recessed case
Bottom be additionally provided with up-narrow and down-wide cylindricality platform, cylindricality platform is used to accommodate lock part；
When both aviation mechanism and Working mechanism need cooperation, the first controller control electric control lock is in locking state,
So that both aviation mechanism and Working mechanism are combined；When Working mechanism needs separate operaton, the first controller controls automatically controlled place
In unlocking condition so that Working mechanism departs from the aviation mechanism and worked independently.
3. one kind as claimed in claim 1 can flight formula work high above the ground robot, it is characterised in that the bottom of electric cabinet is also set
It is equipped with magnetosphere；Magnechuck is also equipped with the flying body, it is connected with the first controller；Magnechuck is used to carry
The Working mechanism and described to keep balance during flight formula work high above the ground robot flight；
When both aviation mechanism and Working mechanism need common operational, the first controller control magnechuck, which is powered, produces magnetic
So that magnechuck absorption has magnetospheric electric cabinet, reaches the purpose that both aviation mechanism and Working mechanism are combined；When
When Working mechanism needs separate operaton, the control magnechuck power-off of the first controller eliminates magnetic field so that magnechuck departs from tool
Be magnetic the electric cabinet of layer, reaches the purpose that both aviation mechanism and Working mechanism depart from.
4. one kind as claimed in claim 1 can flight formula work high above the ground robot, it is characterised in that the aviation mechanism is also wrapped
Mechanical grip mechanism is included, mechanical grip mechanism is included on base and platform, floor installation flying body, and platform is fixedly connected on bottom
On seat；The external articulation of platform has clamping jaw structure；Clamping jaw structure includes several clamping jaws, and clamping jaw, which is used to fix, falls into its encirclement area
Electric cabinet in domain；Clamping jaw drive device, clamping jaw drive device and the first controller phase are installed between the base and platform
Even；
Institute is when both aviation mechanism and Working mechanism need common operational, and the first controller controls the clamping jaw drive device
Driving clamping jaw simultaneously clamps on electric cabinet so that both aviation mechanism and Working mechanism are combined；When Working mechanism needs separate operaton
When, the first controller controls the clamping jaw drive device to drive clamping jaw while opening so that Working mechanism departs from the flight
Mechanism.
5. one kind as claimed in claim 1 can flight formula work high above the ground robot, it is characterised in that the horn also with horn
Drive module is connected, and the horn drive module is connected with the first controller, and first controller is used to control horn to drive
Module drives the rotor to fold.
6. one kind as claimed in claim 1 can flight formula work high above the ground robot, it is characterised in that the Working mechanism is electricity
Line of force road walking operation robot or high-altitude cleaning robot.
7. one kind as claimed in claim 6 can flight formula work high above the ground robot, it is characterised in that the power circuit line walking
Work robot includes frame, and the electric cabinet is installed on the bottom of the frame；First IMAQ is installed in the frame
Module and the second image capture module, are respectively used to monitor the power circuit operation shape of inspection robot direction of advance and opposite direction
State image information is simultaneously sent to second controller；
The power circuit walking operation robot also includes walking mechanism, and it includes mechanical arm drive module and mechanical arm, institute
State mechanical arm drive module with second controller to be connected, the end of the mechanical arm is provided with the 3rd image capture module；
Under the control action of two controllers, mechanical arm drive module driving mechanical arm moves to adjust the monitoring of the 3rd image capture module
Angle, finally realizes conduct monitoring at all levels of the inspection robot to power circuit.
8. one kind as claimed in claim 7 can flight formula work high above the ground robot, it is characterised in that the end of the mechanical arm
End effector is installed, the end effector includes reducing gear, and the reducing gear is connected with motor-driven mechanism, institute
Motor-driven mechanism is stated with second controller to be connected；
3rd image capture module is installed on reducing gear, under the control action of second controller, motor driving machine
Structure drives reducing gear motion, then adjusts by reducing gear and mechanical arm routing motion the monitoring angle of the 3rd image capture module
Degree, the blind area for monitoring power circuit.
9. one kind as claimed in claim 7 can flight formula work high above the ground robot, it is characterised in that the end of the mechanical arm
Manipulator is installed, the 3rd image capture module is installed on manipulator；
Under the control action of second controller, the motion of drive module driving mechanical arm, and then driving mechanical hands movement adjusts
The monitoring angle of 3rd image capture module on manipulator, the blind area for monitoring power circuit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621377844.9U CN206344999U (en) | 2016-12-15 | 2016-12-15 | One kind can flight formula work high above the ground robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106542092A (en) * | 2016-12-15 | 2017-03-29 | 济南舜风科技有限公司 | One kind can flight formula work high above the ground robot and its method |
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2016
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106542092A (en) * | 2016-12-15 | 2017-03-29 | 济南舜风科技有限公司 | One kind can flight formula work high above the ground robot and its method |
| CN106542092B (en) * | 2016-12-15 | 2018-02-27 | 济南舜风科技有限公司 | One kind can flight formula work high above the ground robot and its method |
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