Working robot with foldable wings

Abstract

The utility model relates to the technical field of robots, in particular to an operation robot with foldable wings, which comprises a flying mechanism and actuating mechanisms symmetrically arranged along the flying mechanism. The flying mechanism comprises a main machine body and a wing assembly, the wing assembly comprises at least two fan blade assemblies and rotor wing protection frames, the rotor wing protection frames are arranged in a bilateral symmetry mode along the main machine body, the rotor wing protection frames are rotationally connected with the main machine body, and the fan blade assemblies are symmetrically installed in the rotor wing protection frames; the executing mechanism comprises a mechanical arm unit and a fixing frame, one end of the fixing frame is fixedly connected with the rotor wing protection frame, the other end of the fixing frame is connected with the mechanical arm unit, and a function executing unit is arranged on the side, away from the fixing frame, of the mechanical arm unit. The wing assemblies are arranged on the left side and the right side of the main machine body and rotationally connected with the main machine body, the wings of the unmanned aerial vehicle can be folded, the safety of the operation robot working on high-altitude equipment is improved, and in addition, the operation robot can be applied to different scenes by replacing different function execution units.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely relates to a work robot of foldable wing. BACKGROUND

[0002] With the development of social economy and the progress of science and technology, various infrastructure construction is increasingly complex and huge, especially for high-altitude equipment of power, communication and other industries, the safety and stability of its operation directly affect all aspects of social production and people's life. However, due to the high-altitude equipment is usually located in difficult to access location, such as high tower, telegraph pole, overhead line or the top of large industrial facilities. Once the high-altitude equipment fails, not only will cause direct economic loss, but also may cause safety accidents, endanger the safety of life and property of the public. For example, the failure of high-voltage transmission line may cause large area power failure, seriously affect the residents' life and social production; and the problem of communication base station will interrupt the communication service and hinder the information exchange.

[0003] The traditional manual inspection method needs to consume a lot of manpower and material resources, and is limited by weather conditions, and the workers face the danger of falling, electric shock and other dangers when checking and repairing; in addition, there is a way of unmanned aerial vehicle carrying work robot to inspect and maintain high-altitude equipment, such as the overhead line maintenance system provided in patent CN 117673948A, through the cable docking device carried on the unmanned aerial vehicle is docked with the overhead line in the air, the unmanned aerial vehicle can fly along the overhead line and repair the broken strand of the overhead line through the maintenance device. But in the above technical scheme, when the overhead line maintenance system repairs the broken strand, the unmanned aerial vehicle wing is easy to collide with the surrounding obstacles (such as cable support, insulator string) in the narrow environment such as overhead line bundle, which leads to poor operation stability and even damage. Especially when it stops on the overhead line bundle, the unfolded rotor will significantly increase the lateral size, which cannot meet the operation demand of complex terrain; and when the wind speed is large, the unmanned aerial vehicle is easy to slide or overturn when it stops on the overhead line bundle, causing damage to the unmanned aerial vehicle. UTILITY MODEL CONTENTS

[0004] The utility model aims at overcoming the deficiency of prior art, provides a work robot of foldable wing.

[0005] To achieve the above object, the utility model provides a kind of work robot of foldable wing, including flight mechanism and the execution mechanism along the symmetry of flight mechanism;The flight mechanism includes main body and wing assembly, and the wing assembly includes at least two fan blade assemblies and rotor protection frame, the rotor protection frame is along the symmetry of main body left and right, the rotor protection frame is rotatably connected with the main body, and the fan blade assembly is symmetrically installed in the rotor protection frame;The execution mechanism includes mechanical arm unit, fixed frame, one end of the fixed frame is fixedly connected with the rotor protection frame, the other end of the fixed frame is connected with the mechanical arm unit, and the side of the mechanical arm unit away from the fixed frame is provided with functional execution unit.

[0006] Further, it further includes rotating unit, the rotating unit is arranged on the both sides of the main body, the rotating unit includes first driving part and linkage shaft, the rotor protection frame is equipped with connecting piece, the main body is equipped with support frame, and the both sides of the support frame are equipped with guide slot;The connecting piece and the support frame are hinged by the linkage shaft, one end of the first driving part is connected with the linkage shaft, and the other end is connected with the connecting piece, and the linkage shaft slides in the guide slot by the first driving part.

[0007] Further, the mechanical arm unit includes connecting arm assembly and rotary forearm, the connecting arm assembly includes rotatably connected main mechanical arm, first connecting arm and second connecting arm, the main mechanical arm is electrically connected with electric control unit, and the electric control unit is fixed on the fixed frame, one end of the rotary forearm is rotatably connected with the second connecting arm, and the other end of the rotary forearm is connected with the functional execution unit, and the mechanical arm unit is arranged on the side of the rotor protection frame away from the main body.

[0008] Further, it further includes driving mechanism, and the driving mechanism includes groove wheel, mounting bracket and second driving part, the groove wheel is equipped with multiple, the mounting bracket is arranged on the lower side of the main body, the second driving part is fixed on the mounting bracket, the groove wheel is rotatably connected with the mounting bracket, and the second driving part drives at least one groove wheel to rotate.

[0009] Further, the driving mechanism further includes transmission unit, one end of the second driving part is provided with first connecting shaft, one end of the groove wheel is provided with second connecting shaft, and the first connecting shaft and the second connecting shaft are connected by the transmission unit.

[0010] Further, the rotary forearm and the second connecting arm are detachably connected, one end of the rotary forearm away from the second connecting arm is provided with connecting part, and the connecting part is assembled with different functional execution units.

[0011] Further, it further includes camera unit, and the camera unit is fixedly connected with the main body.

[0012] Further, the function execution unit is a cable repairing unit, the cable repairing unit comprises a wire straightening clamp and a repairing mechanism, and the wire straightening clamp and the repairing mechanism are fixedly installed on the rotating forearm.

[0013] Further, the work robot further comprises an auxiliary mounting bracket and a deicing unit, the deicing unit comprises a blade, a third driving member and a transmission rod, the auxiliary mounting bracket is fixedly connected with the main body, the third driving member is fixedly connected with the main body through the auxiliary mounting bracket, one end of the transmission rod is connected with the third driving member, and the other end of the transmission rod is fixedly connected with the blade.

[0014] Further, the function execution unit is a road walking mechanism, the road walking mechanism comprises a traveling wheel, one end of the rotating forearm away from the second connecting arm is connected with the traveling wheel, and a gear set and a driving motor are arranged in the rotating forearm, and the driving motor is connected with the traveling wheel through the gear set.

[0015] The work robot with foldable wings has the following beneficial technical effects:

[0016] 1. The wing assembly is arranged on the left and right sides of the main body and is rotationally connected with the main body, so that the foldability of the unmanned aerial vehicle wing is realized, when the work robot stays on the overhead line bundle to perform relevant work on the overhead line bundle, the wing assembly can be folded downward, so that the work robot assumes an inverted v shape, the center of gravity of the work robot is reduced, the safety of the work robot in operation on the high-altitude equipment is improved, the transverse size of the work robot is reduced, and the risk of collision of the work robot with surrounding obstacles during movement on the high-altitude equipment is avoided.

[0017] 2. The work robot has the advantages that the cooperation among the main mechanical arm, the first connecting arm, the second connecting arm and the rotating forearm can realize complex movement in multiple directions, each part can rotate independently, the mechanical arm unit can be flexibly operated in a narrow space, the work robot can complete fine operation tasks in various complex environments, the work efficiency is improved, and the work precision and stability are improved.

[0018] 3. The work robot has the capability of moving along the high-altitude equipment by itself through the driving mechanism, the work efficiency is improved, the dependence on the flight mechanism is reduced, and the work flexibility is improved.

[0019] 4. The rotating forearm and the second connecting arm are detachably arranged, work personnel can replace the corresponding function execution unit according to the specific application scene of the work robot, the multi-environment adaptability of the work robot is improved, and the application range of the work robot is greatly expanded.

[0020] 5. The combination of the foldable wing flying device, the mechanical arm unit and the function execution unit, which solves the technical defects of the prior art that the working robot must complete the environmental work through the conveying device, reduces the cost investment and the labor cost. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained according to the structures shown in the drawings without creative labor for those skilled in the art.

[0022] Figure 1 is a wing assembly unfolded structure schematic view of the specific embodiment of the present application;

[0023] Figure 2 is a wing assembly folded structure schematic view of the specific embodiment of the present application;

[0024] Figure 3 is a rotating unit structure schematic view of the present application;

[0025] Figure 4 is a driving mechanism structure schematic view of the present application;

[0026] Figure 5 is a unmanned aerial vehicle working structure schematic view of the second embodiment of the present application;

[0027] Figure 6 is a unmanned aerial vehicle ground patrol state structure schematic view of the third embodiment of the present application;

[0028] Figure 7 is a unmanned aerial vehicle overhead patrol state structure schematic view of the third embodiment of the present application;

[0029] Figure 8 is a rotating forearm and traveling wheel connection structure schematic view of the present application.

[0030] In the figure, 100, flight mechanism; 110, main body; 120, wing assembly; 121, fan blade assembly; 122, rotor protection frame; 210, mechanical arm unit; 211, main mechanical arm; 212, first connecting arm; 213, second connecting arm; 214, rotating forearm; 220, fixing frame; 310, cable repair unit; 311, wire straightening clamp; 312, repair mechanism; 320, deicing unit; 321, blade; 322, third driving piece; 323, transmission rod; 330, auxiliary mounting support; 340, traveling wheel; 341, gear set; 342, driving motor; 400, rotating unit; 410, connecting piece; 420, first driving piece; 430, linkage shaft; 431, limiting piece; 440, support frame; 441, guide groove; 500, electric control unit; 600, driving mechanism; 610, groove wheel; 611, second connecting shaft; 620, mounting frame; 630, second driving piece; 631, first connecting shaft; 640, transmission unit; 700, auxiliary fixing unit; 710, clamping piece; 720, antiskid rubber wheel; 800, camera unit. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be described in detail below with reference to the drawings. Figure 1 The accompanying drawings are used to further explain the technical solutions in the embodiments of the present application. Figure 8 The technical solutions in the embodiments of the present application will be described in detail below with reference to the drawings.

[0032] It should be noted that all directional indications, such as up, down, left, right, front, back, etc., are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0033] In addition, the description such as "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0034] In this application, unless otherwise clearly specified and limited, the terms "connection", "fixing" and the like should be understood in a broad sense, for example, "fixing" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through intermediate medium, can be the internal communication of two elements or the interaction relationship of two elements, unless otherwise clearly limited. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0035] In addition, the technical solutions of various embodiments of the present application can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, also not within the scope of protection claimed in the present application.

[0036] As shown in Figure 1 and Figure 2 The utility model discloses a work robot of foldable wing, including flight mechanism 100 and along the symmetrical arrangement of flight mechanism 100 and execute mechanism, wherein flight mechanism 100 includes main body 110 and wing assembly 120, wing assembly 120 includes at least two fan blade assembly 121 and rotor protection frame 122, rotor protection frame 122 along main body 110 left and right symmetry is arranged and is connected with main body 110 rotation, fan blade assembly 121 is symmetrically installed in rotor protection frame 122, execute mechanism includes mechanical arm unit 210, fixed frame 220, one end of fixed frame 220 is fixedly connected with rotor protection frame 122, and the other end is connected with mechanical arm unit 210, and one side of mechanical arm unit 210 away from fixed frame 220 is equipped with functional execution unit.

[0037] In the preferred embodiment of the utility model, flight mechanism 100 is constituted by main body 110 and wing assembly 120, wherein wing assembly 120 includes four fan blade assemblies 121 and rotor protection frame 122, and fan blade assembly 121 is symmetrically distributed on the left and right sides of main body 110 with rotor protection frame 122. By setting rotor protection frame 122 on the left and right sides of main body 110 and rotatingly connecting with main body 110, the foldability of the wing of the unmanned aerial vehicle is realized. When the working robot stays on high-altitude equipment (such as overhead cable), wing assembly 120 can be folded downward, flight mechanism 100 presents inverted v shape, thereby reducing the gravity center of the working robot, enhancing the stability of staying on high-altitude equipment, especially suitable for the inspection and maintenance work of the working robot on high-altitude equipment such as power facilities, while reducing the lateral dimension of the working robot, reducing the risk of collision with surrounding equipment or obstacles when the working robot moves on high-altitude equipment. In addition, rotor protection frame 122 not only can protect fan blade assembly 121 from damage by external factors, but also can reduce the risk of injury to the third party when the unmanned aerial vehicle accidentally contacts with surrounding objects, improving the safety of use.

[0038] In addition, wing assembly 120 can also be folded when the working robot is not used, which not only facilitates the carrying and storage of the working robot, but also reduces the damage risk caused by the transportation process. In addition, by optimizing the posture of the working robot when staying on high-altitude equipment (inverted v shape), the stability and safety of the working robot during work are further enhanced, providing strong support for high-altitude work, especially suitable for power inspection, building monitoring and other fields, and has broad application prospect.

[0039] The mechanical arm unit 210 is connected with the rotor protection frame 122 through the fixing frame 220, and is provided with a function execution unit at the end away from the fixing frame 220. The foldable wing working robot of the utility model realizes solving the technical defects that the working robot must complete the environmental work through the conveying device in the prior art, reduces the cost investment and labor cost. At the same time, based on the stable base provided by the wing unit and the main body 110, and the mechanical arm unit 210 can cooperate with the function execution unit to realize multi-task work.

[0040] In the preferred embodiment of the utility model, the rotor protection frame 122 is provided with a connecting piece 410, the main body 110 is provided with a supporting frame 440, and the connecting piece 410 and the supporting frame 440 are hinged through the rotating unit 400.

[0041] The rotating unit 400 comprises a first driving member 420 and a linkage shaft 430, the support frame 440 is provided with guide grooves 441 on both sides, the guide grooves 441 are connected with the connecting member 410 through the linkage shaft 430, one end of the first driving member 420 is connected with the linkage shaft 430, and the other end is connected with the support frame 440, and the first driving member 420 can drive the linkage shaft 430 to slide along the guide grooves 441.

[0042] As shown in Figures 1 to 3 The support frame 440 is hinged with the connecting member 410 through the rotating unit 400, so that the rotor protection frame 122 can be adjusted in angle according to operation requirements, the contraction and expansion of the wing assembly 120 are realized, and flexible operation space is provided for the unmanned aerial vehicle. Specifically, the support frame 440 is provided with guide grooves 441 on both sides, the guide grooves 441 are connected with the connecting member 410 through the linkage shaft 430, one end of the first driving member 420 is fixedly connected with the linkage shaft 430, and the other end is rotatably connected with the support frame 440. Through linear driving of the first driving member 420, the linkage shaft 430 can slide along the guide grooves 441, and then the angle or position of the rotor protection frame 122 is changed, so that the position and angle of the rotor protection frame 122 are accurately controlled, and the expansion or folding action of the rotor protection frame 122 relative to the main body 110 is realized.

[0043] In addition, the linkage shaft 430 can slide in the guide grooves 441, so that the rotor protection frame 122 can be expanded or folded in a stable manner. Further, in order to avoid the linkage shaft 430 from falling off from the guide grooves 441, limit members 431 are arranged at both ends of the linkage shaft 430. The accuracy and reliability of operation are ensured.

[0044] Through the innovative design of the rotating unit 400 and related components, the multifunctionality, safety and ease of use of the unmanned aerial vehicle are significantly improved, and solid technical support is provided for wider application fields.

[0045] It should be noted that the type of the first driving member 420 is not limited, and in the preferred embodiment, the first driving member 420 is a push rod motor, and in other embodiments, the first driving member 420 can also be a hydraulic cylinder.

[0046] In the preferred embodiment of the utility model, the mechanical arm unit 210 includes a connecting arm assembly and a rotating forearm 214, the connecting arm assembly includes a rotatably connected main mechanical arm 211, a first connecting arm 212 and a second connecting arm 213, the main mechanical arm 211 is connected with the electric control unit 500, the electric control unit 500 is fixed on the fixed frame 220, one end of the rotating forearm 214 is rotatably connected with the second connecting arm 213, the other end of the rotating forearm 214 is connected with the function execution unit, and the mechanical arm unit 210 is arranged on the side of the rotor protection frame 122 away from the main body 110.

[0047] As shown in Figures 1 to 2 The main mechanical arm 211, the first connecting arm 212 and the second connecting arm 213 are combined together in a rotatable connection mode, which provides a multi-degree-of-freedom operation capability, so that the mechanical arm can be flexibly moved in three-dimensional space. Specifically, the main mechanical arm 211 is directly connected with the electric control unit 500, which is mainly responsible for providing a basic vertical and horizontal movement range, the first connecting arm 212 is connected at the end of the main mechanical arm 211, the first connecting arm 212 increases the working radius of the mechanical arm and allows more complex motion paths, and the second connecting arm 213 further expands the operation range of the mechanical arm and provides a mounting point for the rotating forearm 214, one end of the rotating forearm 214 is rotatably connected with the second connecting arm 213, and the other end is connected with the function execution unit. Through the cooperative work among the main mechanical arm 211, the first connecting arm 212, the second connecting arm 213 and the rotating forearm 214, the mechanical arm unit 210 can realize complex motion in multiple directions. Each part can rotate independently, so that the mechanical arm can be flexibly operated in a small space. At the same time, the electric control unit 500 is fixed on the fixed frame 220 and is electrically connected with the mechanical arm unit 210, the electric control unit 500 can receive instructions from the operator or the automatic system and convert them into specific motor driving signals, so as to accurately control the action of each joint.

[0048] By setting the connecting arm assembly and the rotating forearm 214, the flexibility of the mechanical arm unit 210 is increased, the problem of inconvenient operation of the traditional robot when maintaining the high-altitude equipment such as the overhead wire harness is solved, so that it can complete fine operation tasks in various complex environments, improve the work efficiency, and also improve the work precision and stability.

[0049] It should be noted that the type of the electric control unit 500 is not limited in the utility model, and in one embodiment, the electric control unit 500 is a PLC.

[0050] In the preferred embodiment of the utility model, the work robot further includes a driving mechanism 600, the driving mechanism 600 includes a plurality of grooved wheels 610, a mounting frame 620 and a second driving part 630, the mounting frame 620 is arranged on the lower side of the main body 110, the second driving part 630 is fixedly arranged on the mounting frame 620, the grooved wheel 610 is rotatably connected with the mounting frame 620, and the second driving part 630 can drive at least one grooved wheel 610 to rotate.

[0051] As shown in Figure 1 、 Figure 4 In order to further enhance the moving ability and stability of the work robot on the high-altitude equipment, the utility model embodiment is provided with a driving mechanism 600 on the lower side of the main body 110. The driving mechanism 600 includes at least two grooved wheels 610, a mounting frame 620 and a second driving part 630, the mounting frame 620 is arranged on the lower side of the main body 110, and provides fixed support for the grooved wheel 610, the grooved wheel 610 is rotatably connected with the mounting frame 620, the second driving part 630 is fixedly arranged on the mounting frame 620, and can drive at least one grooved wheel 610 to rotate, the driving mechanism 600 enables the work robot to move along the high-altitude equipment, improves the working efficiency of the work robot, reduces the dependence on the flight mechanism 100, and enhances the work flexibility.

[0052] In the preferred embodiment of the utility model, the driving mechanism 600 further includes a transmission unit 640, one end of the second driving part 630 is provided with a first connecting shaft 631, one end of the grooved wheel 610 is provided with a second connecting shaft 611, and the first connecting shaft 631 is connected with the second connecting shaft 611 through the transmission unit 640. As shown in Figure 4 By arranging the transmission unit 640, the power of the second driving part 630 can be effectively transmitted to the grooved wheel 610, so that the work robot is driven to move on the high-altitude equipment (such as overhead cable), the position of the work robot on the high-altitude equipment can be more accurately controlled, which is particularly important for application scenarios requiring high-precision operation, and helps to improve the work quality and efficiency.

[0053] It should be noted that the type of the second driving part 630 and the transmission unit 640 is not limited in the utility model, in one embodiment, the second driving part 630 is a motor, and the transmission unit 640 can be a belt or a gear set 341.

[0054] In the preferred embodiment of the utility model, the rotary forearm 214 is detachably connected with the second connecting arm 213, one end of the rotary forearm 214 away from the second connecting arm 213 is provided with a connecting part, and the connecting part is assembled with different functional execution units.

[0055] In order to realize efficient and flexible application of the work robot in multiple scenes and multiple work environments, the adaptability and work efficiency of the work robot are enhanced, the rotary forearm 214 is detachably connected with the second connecting arm 213, and the function execution unit is directly fixed on the connecting portion of the rotary forearm 214. The work personnel can quickly replace different rotary forearms 214 according to actual needs, so that the rotary forearm 214 and the function execution unit thereon can be flexibly configured according to specific application scenes, and then the work robot can quickly adapt to different work environments and task requirements, greatly expand the application range, and improve the work efficiency of the work robot. Meanwhile, the modular design reduces the cost and complexity of overall maintenance of the system, when a certain function execution unit or rotary forearm 214 is damaged, only the corresponding module needs to be replaced, instead of the whole device, thereby reducing the maintenance cost and time cost. The detachable connection can be realized through various mechanisms, such as threaded connection, bolt, etc., to ensure the stability of the connection while considering the operation convenience.

[0056] In the preferred embodiment of the utility model, the work robot further comprises a camera unit 800, which is fixedly connected with the main body 110. By arranging the camera unit 800, the working environment of the work robot can be shot, so as to achieve high-precision visual information recording of the work robot, and in addition, the camera unit 800 can be closely integrated with the internal system (such as a control system and a data transmission system) of the main body 110, and the collected data can be processed and analyzed immediately.

[0057] It should be noted that the type of the camera unit 800 and the data transmission mode of the camera unit 800 and the internal system of the main body 110 are not limited in the utility model, in one embodiment, the camera unit 800 is an infrared camera, and the camera unit 800 and the internal system of the main body 110 are connected by electrical signals.

[0058] In the work robot with the foldable wing of the utility model, the rotary forearm 214 is replaced to realize switching of different function execution units, so that the work robot can be applied in different scenes. In one embodiment, the function execution unit is a cable repair unit 310, and the cable repair unit 310 comprises a wire straightening clamp 311 and a repair mechanism 312, and the wire straightening clamp 311 and the repair mechanism 312 are fixedly installed on the rotary forearm 214.

[0059] As Figures 1 to 2As shown, by replacing the rotating forearm 214 of the mechanical arm unit 210 with a rotating forearm 214 with a repair mechanism 312, the work robot can perform work such as broken strand repair on the overhead cable bundle. Specifically, the rotating forearm 214 is symmetrically arranged along the main body 110, the wire straightening clamp 311 and the repair mechanism 312 are arranged on the rotating forearm 214 respectively, the main body 110 is provided with a camera unit 800 on the side close to the cable repair unit 310, the camera unit 800 can capture and identify the broken strand part of the overhead cable bundle, and then the wire straightening clamp 311 and the repair mechanism 312 can automatically repair the broken strand of the overhead cable bundle. Through the cooperation of the repair mechanism 312, the mechanical arm unit 210 and the wire straightening clamp 311, the repair speed is fast and the precision is high, the maintenance difficulty is reduced, and the safety is improved.

[0060] In the second embodiment of the work robot of the foldable wing of the utility model, the work robot further comprises an auxiliary mounting bracket 330 and a deicing unit 320, the deicing unit 320 comprises a blade 321, a third driving member 322 and a transmission rod 323, the auxiliary mounting bracket 330 is fixedly connected with the main body 110, the third driving member 322 is fixedly connected with the main body 110 through the auxiliary mounting bracket 330, one end of the transmission rod 323 is connected with the third driving member 322, and the other end is fixedly connected with the blade 321.

[0061] As shown in the figure, Figure 5 The deicing unit 320 is fixedly connected with the main body 110 through the auxiliary mounting bracket 330, the third driving member 322 usually adopts the form of a motor or a hydraulic motor, can provide driving force for deicing operation, the transmission rod 323 can efficiently transmit the power generated by the third driving member 322 to the blade 321, so that the blade 321 rotates or reciprocates, thereby effectively removing the ice on the surface of the overhead cable bundle.

[0062] In this embodiment, the function execution unit is an auxiliary fixing unit 700, the auxiliary fixing unit 700 comprises a clamping piece 710 and an antiskid rubber wheel 720, the antiskid rubber wheel 720 is rotatably connected with the rotating forearm 214 through the clamping piece 710.

[0063] By setting the auxiliary fixing unit 700 as the function execution unit, the work robot can increase the friction between the work robot and the high-altitude equipment during work, thereby improving stability; in particular, when the work robot works in a complex environment or in bad weather, the additional grip provided by the antiskid rubber wheel 720 reduces the risk of sliding, thereby ensuring the safety of the equipment.

[0064] In the third embodiment of the work robot with foldable wings, the function execution unit is an on-road walking mechanism, the on-road walking mechanism comprises a traveling wheel 340, one end of the rotating forearm 214 away from the second connecting arm 213 is connected with the traveling wheel 340, the rotating forearm 214 is internally provided with a gear set 341 and a driving motor 342, and the driving motor 342 is connected with the traveling wheel 340 through the gear set 341.

[0065] As shown in the drawings, the rotating forearm 214 is detachably connected with the second connecting arm 213 in rotation, the rotating forearm 214 can rotate relative to the connecting arm assembly to adjust the folding state, and meanwhile, the angle between the rotating forearm 214 and the second connecting arm 213 can be adjusted to adapt to different terrains. Figures 6 to 8 The rotating forearm 214 is used for connecting the second connecting arm 213 and the traveling wheel 340, and the rotating forearm 214 is internally provided with the gear set 341 and the driving motor 342 to provide power support for the traveling wheel 340.

[0066] The third embodiment of the work robot is different from the first two embodiments, that is, by replacing the rotating forearm 214 matched with different function execution units, the work robot can not only fly in the air to perform tasks, but also can freely move on the ground, solves the deficiency of the traditional unmanned aerial vehicle or robot in the ground moving ability, enhances the multi-environment adaptability of the work robot, and greatly expands the application range of the work robot.

[0067] It should be noted that the type of the driving motor 342 is not limited in the utility model, and in one embodiment, the driving motor 342 is a direct current motor or a stepping motor.

[0068] The above only describes the preferred embodiments of the application, and does not limit the patent range of the application, and any equivalent structural transformation, direct / indirect application in other related technical fields under the inventive concept of the application and the contents of the drawings are included in the patent protection range of the application.

Claims

1. A work robot of a foldable wing, characterized by, The utility model relates to a kind of unmanned aerial vehicle, including: Flight mechanism (100) and execution mechanism arranged symmetrically along the flight mechanism (100); The flight mechanism (100) includes main body (110) and wing assembly (120), the wing assembly (120) includes at least two fan blade assemblies (121) and rotor protection frame (122), the rotor protection frame (122) is arranged symmetrically along the main body (110) left and right, the rotor protection frame (122) is rotatably connected with the main body (110), the fan blade assembly (121) is symmetrically mounted in the rotor protection frame (122); The execution mechanism includes mechanical arm unit (210) and fixed frame (220), one end of the fixed frame (220) is fixedly connected with the rotor protection frame (122), the other end of the fixed frame (220) is connected with the mechanical arm unit (210), and the side of the mechanical arm unit (210) away from the fixed frame (220) is provided with a function execution unit.

2. The foldable-wing work robot according to claim 1, characterized by, It also includes a rotating unit (400) arranged on both sides of the main body (110), the rotating unit (400) includes a first drive (420) and a linkage shaft (430), the rotor protection frame (122) is provided with a connecting piece (410), the main body (110) is provided with a support frame (440), and the support frame (440) is provided with a guide groove (441) on both sides thereof;The connecting piece (410) and the support frame (440) are hinged through the linkage shaft (430), one end of the first drive (420) is connected with the linkage shaft (430), and the other end is connected with the connecting piece (410), and the linkage shaft (430) slides in the guide groove (441) through the first drive (420).

3. The foldable-wing work robot according to claim 1, characterized by, The mechanical arm unit (210) includes a connecting arm assembly and a rotating forearm (214), the connecting arm assembly includes a rotatably connected main mechanical arm (211), a first connecting arm (212) and a second connecting arm (213), the main mechanical arm (211) is electrically connected with an electric control unit (500), the electric control unit (500) is fixedly arranged on the fixed frame (220), one end of the rotating forearm (214) is rotatably connected with the second connecting arm (213), and the other end is connected with the function execution unit, and the mechanical arm unit (210) is arranged on the side of the rotor protection frame (122) away from the main body (110).

4. The foldable-wing work robot according to claim 1, characterized by, It also includes a drive mechanism (600), the drive mechanism (600) includes a plurality of grooved wheels (610), a mounting bracket (620) and a second drive (630), the mounting bracket (620) is arranged on the lower side of the main body (110), the second drive (630) is fixedly arranged on the mounting bracket (620), the grooved wheel (610) is rotatably connected with the mounting bracket (620), and the second drive (630) drives at least one grooved wheel (610) to rotate.

5. The foldable winged work robot according to claim 4, characterized in that, The driving mechanism (600) further comprises a transmission unit (640), one end of the second driving member (630) is provided with a first connecting shaft (631), one end of the grooved wheel (610) is provided with a second connecting shaft (611), and the first connecting shaft (631) and the second connecting shaft (611) are connected through the transmission unit (640).

6. The foldable winged work robot according to claim 3, characterized in that, The rotation forearms (214) are detachably connected with the second connecting arms (213), one end of the rotation forearms (214) away from the second connecting arms (213) is provided with a connecting part, and the connecting part is provided with different functional execution units.

7. The foldable winged work robot according to any of claims 1-6, characterized in that, Further comprising a camera unit (800), and the camera unit (800) is fixedly connected with the main body (110).

8. The foldable winged work robot according to claim 6, characterized in that, The functional execution unit is a cable repairing unit (310), and the cable repairing unit (310) comprises a wire straightening clamp (311) and a repairing mechanism (312), and the wire straightening clamp (311) and the repairing mechanism (312) are fixedly installed on the rotation forearm (214).

9. The foldable winged work robot according to claim 6, characterized in that, The work robot further comprises an auxiliary mounting bracket (330) and a deicing unit (320), the deicing unit (320) comprises a blade (321), a third driving member (322) and a transmission rod (323), the auxiliary mounting bracket (330) is fixedly connected with the main body (110), the third driving member (322) is fixedly connected with the main body (110) through the auxiliary mounting bracket (330), one end of the transmission rod (323) is connected with the third driving member (322), and the other end of the transmission rod (323) is fixedly connected with the blade (321).

10. The foldable winged work robot according to claim 6, characterized in that, The functional execution unit is a road walking mechanism, the road walking mechanism comprises a traveling wheel (340), one end of the rotation forearm (214) away from the second connecting arm (213) is connected with the traveling wheel (340), a gear set (341) and a driving motor (342) are arranged in the rotation forearm (214), and the driving motor (342) is connected with the traveling wheel (340) through the gear set (341).

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