Automatic balancing device and aerial operation robot

Abstract

The utility model discloses an automatic balancing device and an aerial operation robot. The automatic balancing device comprises a connecting seat, a motor and a ducted fan, wherein the connecting seat is used for being connected with a foot stool of the aerial operation robot; the ducted fan is fixedly installed on the connecting base, the motor is fixed to the ducted fan and drives a propeller of the ducted fan to rotate, and the ducted fan is used for forming power for balancing the aerial operation robot in air pushed by rotation of the propeller. The automatic balancing device is compact in structure and controllable in cost, is mounted on a foot stool of the aerial operation robot, and is used for resisting center-of-gravity shift caused by crosswind or movement on an overhead line, so that interference of the center-of-gravity shift on operation of the aerial operation robot on the overhead line is avoided; the walking stability and safety of the aerial operation robot on the overhead line are remarkably improved.

Description

Technical Field

[0001] This utility model relates to the field of aerial work robots, specifically an automatic balancing device and a self-balancing aerial work robot. Background Technology

[0002] Aerial work robots can move along overhead power lines to perform maintenance tasks. The principle behind their self-stabilizing movement on overhead lines is primarily that the robot's center of gravity is lower than the overhead line and kept as far away from it as possible. This low center of gravity design effectively reduces the risk of tipping over during movement or operation, especially in strong winds or on uneven lines. In some cases, to ensure the robot's safety, clamping wheels or clamping structures are designed to firmly grip the overhead line and prevent detachment. Additionally, the clamping wheels increase the friction of the walking wheels, helping to increase the climbing angle.

[0003] Achieving self-stabilization along overhead lines by lowering the center of gravity is a passive self-stabilization solution. During operation, the movement of the aerial work robot causes a shift in the overall center of gravity, resulting in the robot turning to one side at a certain angle; similarly, crosswinds can also cause this turning. In some precision maintenance operations, this rotation along the overhead lines increases the difficulty. Therefore, quickly adjusting the aerial work robot's attitude in strong winds to ensure it remains horizontally stable is a key challenge for the practical application of aerial work robots along overhead lines. Utility Model Content

[0004] One technical problem this application aims to solve is to overcome the deficiencies of the above-mentioned related technologies and provide an automatic balancing device and a self-balancing aerial work robot. The automatic balancing device can quickly respond to and correct the attitude deviation of the aerial work robot in the air, so that the aerial work robot can always maintain a horizontal and stable state on the overhead line, providing a stable environment for the aerial work robot to operate accurately on the overhead line.

[0005] The technical solution adopted by this automatic balancing device to solve the technical problem is as follows: an automatic balancing device, including a connecting base for fixing to the foot of an aerial work robot, a motor and a ducted fan, wherein the ducted fan is fixedly installed on the connecting base, the motor is fixed to the ducted fan and drives its propeller to rotate, and the ducted fan is used to generate power to balance the aerial work robot by pushing the air in the rotation of the propeller.

[0006] Compared with related technologies, this automatic balancing device has the following advantages: It features a compact overall structure and controllable cost. Mounted on the legs of the aerial work robot, the ducted fan propeller rotates under the drive of a motor. The blades on the propeller push air to provide power for balancing the aerial work robot. The high-speed rotation of the propeller generates sufficient torque to resist crosswinds or center of gravity shifts caused by movement on overhead lines, preventing center of gravity shifts from interfering with the aerial work robot's operation on overhead lines. This significantly improves the stability and safety of the aerial work robot's movement on overhead lines, enabling it to adapt to more diverse environmental and climatic conditions, expanding its application range and time window, and making it more suitable for performing complex outdoor high-altitude line maintenance tasks. The automatic balancing device helps to precisely control the attitude of the aerial work robot, improving its accuracy and reliability when performing delicate tasks. Furthermore, the automatic balancing device allows the aerial work robot to perform diverse tasks more flexibly. For example, when encountering obstacles deviating from the vertical plane, the robot can be tilted at a certain angle to overcome the obstacle, improving the flexibility of task execution.

[0007] Preferably, the connecting seat includes a detachable connecting seat body and a clip. The seat body and the clip fit together to form a through hole for mounting the tripod crossbar and are fixedly connected to the tripod crossbar. The seat body and / or the clip are circumferentially limited by the tripod crossbar. The separate connection structure of the clip and the seat body facilitates the fixed installation of the automatic balancing device and the tripod crossbar of the aerial work robot.

[0008] Preferably, the axis of the through hole is parallel to the overhead line of the aerial work robot's frame; the axis of the through hole is perpendicular to the axis of the motor shaft. This facilitates the calculation of the torque generated by the high-speed rotation of the ducted fan and reduces the difficulty of self-balancing control of the aerial work robot.

[0009] As an improvement, the base includes an integrated ducted fan mounting frame and a crossbar connection portion, with the ducted fan mounting frame having a hollow design. The duct body of the ducted fan has ear plates on both sides, which are fixed to the outer ends of the ducted fan mounting frame, and a portion of the duct body is housed within the ducted fan mounting frame. The hollow design of the ducted fan mounting frame reduces the weight of the base and decreases wind resistance.

[0010] Preferably, the clip has a first arc-shaped groove, and the crossbar connecting part has a second arc-shaped groove. The clip is fixed to the crossbar connecting part so that the first arc-shaped groove and the second arc-shaped groove fit together to form the through hole.

[0011] Preferably, the clamp has a first threaded hole at both ends that communicates with the first arc-shaped groove, and / or the crossbar connecting part has a second threaded hole at both ends that communicates with the second arc-shaped groove. By driving screws into the first threaded hole and / or the second threaded hole to fix it to the crossbar, a circumferential limit is formed between the connecting seat and the crossbar, and the movement of the connecting seat along the axis of the middle part of the crossbar is restricted.

[0012] The technical solution adopted by this aerial work robot to solve the technical problem is as follows: an aerial work robot, including a control module, an attitude detection module and a foot. The attitude detection module is electrically connected to the control module. The foot is provided with symmetrical crossbars. The above-mentioned automatic balancing device is installed on both crossbars. The two automatic balancing devices are symmetrically arranged and are electrically connected to the control module respectively.

[0013] Compared with related technologies, this aerial work robot has the following advantages: The automatic balancing device fixedly installed on the robot's legs, driven by a motor, uses the propeller of the ducted fan to rotate, its blades pushing air to provide power for balancing the robot. The high-speed rotation of the propeller generates sufficient torque to resist crosswinds or center-of-gravity shifts caused by movement on overhead lines, preventing these shifts from interfering with the robot's operation. This significantly improves the stability and safety of the robot's movement on overhead lines, allowing it to adapt to more diverse environments and climates, expanding its application range and time window, and making it more suitable for performing complex outdoor high-altitude line maintenance tasks. The automatic balancing device also helps to precisely control the robot's posture, improving accuracy and reliability when performing delicate tasks. Furthermore, it allows the robot to perform diverse tasks more flexibly; for example, when encountering obstacles deviating from the vertical plane, the robot can deflect at a certain angle to overcome them, increasing the flexibility of task execution.

[0014] Preferably, the crossbar has an upward protrusion in the middle, and the distance between the upward protrusion and the bottom is greater than the height of the automatic balancing device. The automatic balancing device is installed in the middle of the upward protrusion. This is to prevent the installation of the automatic balancing device from obstructing the landing of the aerial work robot. Attached Figure Description

[0015] Figure 1 This is a perspective view of the automatic balancing device of this utility model.

[0016] Figure 2 This is an exploded view of the automatic balancing device of this utility model.

[0017] Figure 3 This is a perspective view of the self-balancing aerial work robot of this utility model (without an automatic balancing device). Detailed Implementation

[0018] First, those skilled in the art should understand that these embodiments are merely used to explain the technical principles of the embodiments of this application and are not intended to limit the scope of protection of the embodiments of this application. Those skilled in the art can make adjustments as needed to adapt to specific application scenarios.

[0019] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0020] The self-balancing aerial work robot 100 in this embodiment is as follows: Figure 3 As shown, the system includes a power module, a control module, a flight module, an attitude detection module, a camera module, a work module, and a landing gear. The flight module, attitude detection module, camera module, and work module are electrically connected to the control module. The landing gear has symmetrical crossbars that are parallel to the overhead lines of the aerial work robot 100's frame. These crossbars are connected between the bottom ends of two diagonal support rods on the same side of the landing gear. The crossbars have an upper protrusion in the middle, and the distance between the upper protrusion and its bottom is greater than the height of the automatic balancing device. The automatic balancing device is installed in the middle of the upper protrusion and is symmetrically arranged. The automatic balancing device is electrically connected to the control module. This design avoids the automatic balancing device from touching the ground during landing while also meeting the requirement of lowering the center of gravity of the aerial work robot 100.

[0021] In this embodiment, the automatic balancing device is as follows: Figure 1 and 2 As shown, the system includes a connecting base 1 for fixing to the footrest of the aerial work robot 100, a motor 2, and a ducted fan 3. The ducted fan 3 is fixedly mounted on the connecting base 1. The motor 2 is fixed to the rear connecting frame of the duct body 31 of the ducted fan 3 by bolts. The rotating shaft of the motor 2 is fixed to the propeller 32 and drives its rotation. The ducted fan 3 is used to generate power to balance the aerial work robot 100 by the rotation of the propeller 32 and the resulting airflow. The motor 2 is a brushless motor, characterized by high efficiency, high speed, and long lifespan. The propeller 32 blades draw air into the duct body 31 during rotation and accelerate it before expelling it, thus generating thrust. The duct body 31 can constrain the airflow, causing it to flow axially and reducing disordered airflow diffusion, thereby improving aerodynamic efficiency. The duct body 31 provides physical protection for the propeller 32 blades, preventing collisions with external objects and improving system safety. It effectively suppresses the formation of tip vortices in the propeller 32 blades, reducing airflow impact noise and resulting in lower noise during operation of the ducted fan.

[0022] Preferably, the connecting seat 1 includes a seat body 11 and a clamp 12. The seat body 11 and the clamp 12 fit together to form a through hole 13 for mounting the crossbar of the tripod. The lugs on both sides of the seat body 11 and the lugs on both sides of the clamp 12 are fixedly connected to the crossbar of the tripod by bolts. A circumferential limiting structure is provided between the seat body 11 and / or the clamp 12 and the crossbar of the tripod. The axis of the through hole 13 is parallel to the overhead line of the aerial work robot 100; the axis of the through hole 13 is perpendicular to the axis of the motor 2 shaft. The axis of the motor 2 shaft can be set horizontally or at a certain angle to the vertical.

[0023] Preferably, the base 11 includes an integral duct fan mounting frame and a crossbar connection part, and the duct fan mounting frame is hollowed out; the duct body 31 of the duct fan 3 is provided with ear plates on both sides, the ear plates are fixed to the outer end of the duct fan mounting frame, and a part of the duct body 31 is accommodated in the duct fan mounting frame.

[0024] Preferably, the clip 12 is provided with a first arc-shaped groove, and the crossbar connecting part is provided with a second arc-shaped groove. The clip 12 is fixed to the crossbar connecting part so that the first arc-shaped groove and the second arc-shaped groove are matched to form the through hole.

[0025] Preferably, the clamp 12 has a first threaded hole 121 at both ends that communicates with the first arc-shaped groove, and / or the crossbar connecting part has a second threaded hole at both ends that communicates with the second arc-shaped groove. Screws are driven into the first threaded hole 121 and / or the second threaded hole to fix the crossbar to the tripod, which forms a circumferential limit between the connecting seat 1 and the tripod crossbar, and restricts the connecting seat 1 from moving along the axis of the upper protrusion of the tripod crossbar.

[0026] During the operation of the aerial work robot 100 on the overhead line, the attitude detection module continuously monitors the attitude changes of the aerial work robot 100, collects attitude data monitored by high-precision sensors such as three-axis gyroscopes and accelerometers, and transmits it to the control module. The control module calculates the magnitude and direction of the torque that needs to be adjusted based on the attitude data, sends control commands to the automatic balancing devices on both sides, adjusts the speed and rotation direction of the ducted fan 3, and adjusts the attitude of the aerial work robot 100 on the overhead line back to balance.

[0027] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An automatic balancing device, characterized in that, It includes a mounting base for fixing to the footrest of an aerial work robot, a motor, and a ducted fan. The ducted fan is fixedly mounted on the mounting base, and the motor is fixed to the ducted fan and drives its propeller to rotate. The ducted fan is used to generate power to balance the aerial work robot by pushing air in the rotation of the propeller.

2. The automatic balancing device according to claim 1, characterized in that: The connecting seat includes a detachable connecting seat body and a clip. The seat body and the clip are combined to form a through hole for installing the crossbar of the tripod and are fixedly connected to the crossbar of the tripod. A circumferential limiting structure is provided between the seat body and / or the clip and the crossbar of the tripod.

3. The automatic balancing device according to claim 2, characterized in that: The axis of the through hole is parallel to the overhead line of the aerial work robot's frame; the axis of the through hole is perpendicular to the axis of the motor shaft.

4. The automatic balancing device according to claim 2, characterized in that: The base includes an integral duct fan mounting frame and a crossbar connection part, the duct fan mounting frame is hollowed out; the duct body of the duct fan is provided with ear plates on both sides, the ear plates are fixed to the outer end of the duct fan mounting frame, and a part of the duct body is accommodated in the duct fan mounting frame.

5. The automatic balancing device according to claim 4, characterized in that: The clip has a first arc-shaped groove, and the crossbar connecting part has a second arc-shaped groove. The clip is fixed to the crossbar connecting part so that the first arc-shaped groove and the second arc-shaped groove fit together to form the through hole.

6. The automatic balancing device according to claim 5, characterized in that: The clamp has a first threaded hole at both ends that connects to the first arc-shaped groove, and / or the crossbar connecting part has a second threaded hole at both ends that connects to the second arc-shaped groove.

7. An aerial work robot, comprising a control module, an attitude detection module, and a landing gear, wherein the attitude detection module is electrically connected to the control module, characterized in that: The stand is provided with symmetrical crossbars, and each of the two crossbars is equipped with an automatic balancing device as described in any one of claims 1 to 6. The two automatic balancing devices are arranged symmetrically, and the automatic balancing devices are electrically connected to the control module respectively.

8. The aerial work robot according to claim 7, characterized in that: The crossbar has an upper protrusion in the middle, and the distance between the upper protrusion and the bottom is greater than the height of the automatic balancing device. The automatic balancing device is installed in the middle of the upper protrusion.

Images