An overhead line work robot self-balancing anti-disturbance foot frame

Abstract

The utility model discloses an overhead line operation robot self -balancing anti -disturbance foot stand, including with the leg of overhead line operation robot's fuselage connection, and the foot of assembly counterweight, leg is provided with upper inclined pole, and the foot is equipped with lower inclined pole, and the upper end of lower inclined pole and the lower end of corresponding upper inclined pole are through a rotary connection structure and its drive motor rotatory connection. Advantage is that self -balancing anti -disturbance foot stand assembly counterweight's foot rotatable, and the foot is rotatory connection with the leg of fuselage connection through rotary connection structure and its drive motor, and this drive motor drives rotary connection structure to rotate to drive the foot swing connected to eliminate the attitude deviation of fuselage under the control of controller, so that overhead line operation robot restores to the horizontal self -stabilizing state on overhead line, provides stable environment for overhead line operation robot accurate operation.

Description

Technical Field

[0001] This utility model relates to the field of aerial work robots, specifically a self-balancing anti-disturbance tripod for an overhead line 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 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.

[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, how to quickly adjust the aerial work robot's attitude during operations in strong winds to ensure it remains horizontally stable is a challenge for the practical application of aerial work robots along overhead lines and requires further development. 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 a self-balancing anti-disturbance footing for an overhead line operation robot. This self-balancing anti-disturbance footing can quickly respond to and correct the attitude deviation of the overhead line operation robot in the air, enabling the overhead line operation robot to maintain a horizontal and stable state on the overhead line, and providing a stable environment for the precise operation of the overhead line operation robot.

[0005] The technical solution adopted by this utility model to solve the technical problem is as follows: a self-balancing anti-disturbance footing for an overhead line operation robot, including legs connected to the body of the overhead line operation robot and feet equipped with counterweights; the legs are provided with an upper inclined bar, and the feet are provided with a lower inclined bar. The upper end of the lower inclined bar and the lower end of the corresponding upper inclined bar are rotatably connected through a rotating connection structure and its drive motor. The drive motor is used to drive the rotating connection structure to rotate under the control of the controller of the overhead line operation robot, so as to drive the connected feet to swing and eliminate the posture deviation of the body.

[0006] Compared with related technologies, this utility model has the following advantages: the self-balancing anti-disturbance leg assembly has a counterweight foot that can rotate. The foot is rotatably connected to the leg connected to the body through a rotating connection structure and its drive motor. The drive motor drives the rotating connection structure to rotate under the control of the controller, thereby causing the connected foot to swing and eliminating the posture deviation of the body. This allows the overhead line operation robot to return to a horizontal and self-stabilized state on the overhead line, providing a stable environment for the precise operation of the overhead line operation robot.

[0007] Preferably, the rotating connection structure includes a fixed connector and a rotating connector; the fixed connector includes a lower sleeve joint, a pivot seat, and a motor mounting bracket, the lower sleeve joint is fixedly connected to the upper inclined rod, the pivot seat is connected to the bottom end of the lower sleeve joint, the motor mounting bracket is disposed on one side of the pivot seat, and the drive motor is mounted on the motor mounting bracket; the rotating connector includes an upper sleeve joint and a pivot joint, the upper sleeve joint is fixedly connected to the lower inclined rod, the pivot joint is connected to the upper end of the upper sleeve joint, the pivot joint is pivotally connected to the pivot seat via a pivot shaft, the pivot joint is drively connected to the pivot shaft, and the pivot shaft is drively connected to the rotating shaft of the drive motor.

[0008] Preferably, the motor mounting bracket, pivot joint, and lower sleeve joint are integrated into one structure; the pivot joint and upper sleeve joint are also integrated into one structure. This reduces the number of parts and lowers production costs.

[0009] Preferably, the legs have four upper inclined bars; the feet have two, each foot has two lower inclined bars, the bottom ends of the lower inclined bars are connected by a crossbar, and the counterweight is installed on one of the lower inclined bars and is higher than the bottom end of the crossbar.

[0010] As an improvement, a crossbar is connected between the upper diagonal bars on the same side. This is used to enhance the stability of the self-balancing anti-disturbance tripod.

[0011] As an improvement, connecting rods are installed between the lower part of the upper diagonal bar and the fuselage to enhance the connection strength with the fuselage. Attached Figure Description

[0012] Figure 1 This is a 3D view of an overhead power line operation robot in an inclined position.

[0013] Figure 2 This is a 3D view of an overhead power line operation robot that is self-adjusting in a tilted position.

[0014] Figure 3 This is a 3D view of an overhead power line maintenance robot that is about to regain its balance.

[0015] Figure 4 This is a perspective view of the rotating connection structure and drive motor of this utility model.

[0016] Figure 5This is an exploded view of the rotating connection structure and drive motor of this utility model.

[0017] As shown in the figure:

[0018] 1. Fuselage; 2. Flight mechanism; 3. Self-balancing anti-disturbance landing gear; 31. Upper diagonal bar; 32. Lower diagonal bar; 33. Rotating connection structure; 331. Fixed connector; 3311. Lower sleeve joint; 3312. Pivot seat; 3313. Motor mounting bracket; 332. Rotating connector; 3321. Upper sleeve joint; 3322. Pivot joint; 333. Pivot; 34. Drive motor; 4. Counterweight; 5. Walking wheel mechanism; 100. Overhead line. Detailed Implementation

[0019] 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.

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0021] Overhead line operation robots, such as Figure 1 The system includes the fuselage (1), flight mechanism (2), self-balancing anti-disturbance landing gear (3), counterweight (4), wheel mechanism (5), attitude detection module, avionics system, power supply system, communication system, and obstacle avoidance system. When encountering crosswinds, due to its location on the overhead power line (100), it will tilt, increasing the difficulty of operation. To solve this problem, such as... Figure 2 and 3As shown, the self-balancing anti-disturbance foot 3 of the overhead line operation robot is designed to swing. According to the attitude deviation, the part of the self-balancing anti-disturbance foot 3 with the counterweight 4 can rotate to adjust the center of gravity of the overhead line operation robot, eliminate the attitude deviation of the body, and enable the overhead line operation robot to return to a horizontal and self-stabilized state on the overhead line 100, providing a stable environment for the precise operation of the overhead line operation robot. The self-balancing anti-disturbance footing 3 specifically includes legs connected to the body 1 of the overhead line operation robot and feet equipped with counterweights 4. The legs are provided with an upper inclined bar 31, and a crossbar is connected between the upper inclined bars 31 on the same side. The feet are provided with a lower inclined bar 32, and the upper end of the lower inclined bar 32 is rotatably connected to the lower end of the corresponding upper inclined bar 31 through a rotating connection structure 33 and its drive motor 34. The drive motor 34 is electrically connected to the controller of the overhead line operation robot. The attitude detection module (including a high-precision three-axis gyroscope and accelerometer) detects the roll angle of the overhead line operation robot in real time and feeds the data back to the controller. The controller calculates the attitude deviation based on the feedback data and controls the speed and angle of the relevant drive motor 34 to drive the rotating connection structure 33 to rotate, thereby causing the connected feet to swing, so that the center of gravity changes in the opposite direction to the attitude deviation, thereby eliminating the attitude deviation. The leg section has four upper inclined rods 31, with a crossbar connecting the two upper inclined rods 31 on the same side. The lower part of each upper inclined rod 31 is connected to the body by a vertical connecting rod. The foot section has two lower inclined rods 32, with the bottom ends of the lower inclined rods 32 connected by a crossbar. The counterweight 4 is installed on one of the lower inclined rods 32 and is higher than the bottom end of the crossbar.

[0022] In this embodiment, the rotating connection structure 33 includes a fixed connector 331 and a rotating connector 332; the fixed connector 331 includes a lower sleeve joint 3311, a pivot seat 3312, and a motor mounting bracket 3313. The lower sleeve joint 3311 is inserted and fixed to the upper inclined rod 31. The pivot seat 3312 is connected to the bottom end of the lower sleeve joint 3311. The motor mounting bracket 3313 is disposed on one side of the pivot seat 3312. The drive motor 34 is assembled on the motor mounting bracket 3313 by multiple bolts; the rotating connector 332 includes an upper sleeve joint 3321 and a pivot joint. 3322, the upper sleeve joint 3321 is inserted and fixed to the lower inclined rod 32, and the pivot joint 3322 is connected to the upper end of the upper sleeve joint 3321. The pivot joint 3322 is pivotally connected to the pivot seat 3312 through the pivot 333. The pivot joint 3322 is inserted into the pivot 333 through the central D-shaped hole to form a transmission connection. The pivot 333 is inserted into the protrusion on the rotating shaft of the drive motor 34 through the transmission disc at its end to form a transmission connection. Bearings are provided between the lugs on both sides of the pivot 333 and the pivot seat 3312. The bearings away from the drive motor 34 are limited by washers and positioning bolts. The lower sleeve joint 3311 and the upper inclined rod 31 can be reinforced and fixed by bolts, and the upper sleeve joint 3321 and the lower inclined rod 32 can also be reinforced and fixed by bolts. Of course, welding or other methods can also be used to reinforce and fix them.

[0023] Here, the motor mounting bracket 3313, the pivot seat 3312, and the lower sleeve connector 3311 are integrated into one structure; the pivot connector 3322 and the upper sleeve connector 3321 are also integrated into one structure, so as to reduce the number of parts, reduce production costs, and reduce assembly difficulty.

[0024] Therefore, 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. A self-balancing, disturbance-resistant leg for an overhead line operation robot, characterized in that, It includes legs connected to the body of the overhead line operation robot, and feet for mounting counterweights; the legs are equipped with upper inclined rods, and the feet are equipped with lower inclined rods. The upper end of the lower inclined rod is rotatably connected to the lower end of the corresponding upper inclined rod through a rotating connection structure and its drive motor. The drive motor is used to drive the rotating connection structure to rotate under the control of the controller of the overhead line operation robot, so as to drive the connected feet to swing and eliminate the posture deviation of the body.

2. The self-balancing, disturbance-resistant footing for an overhead line operation robot according to claim 1, characterized in that: The rotating connection structure includes a fixed connector and a rotating connector; the fixed connector includes a lower sleeve joint, a pivot seat, and a motor mounting bracket. The lower sleeve joint is fixedly connected to the upper inclined rod, the pivot seat is connected to the bottom end of the lower sleeve joint, the motor mounting bracket is located on one side of the pivot seat, and the drive motor is mounted on the motor mounting bracket; the rotating connector includes an upper sleeve joint and a pivot joint. The upper sleeve joint is fixedly connected to the lower inclined rod, the pivot joint is connected to the upper end of the upper sleeve joint, the pivot joint is pivotally connected to the pivot seat via a pivot shaft, the pivot joint is drive-connected to the pivot shaft, and the pivot shaft is drive-connected to the rotating shaft of the drive motor.

3. The self-balancing, disturbance-resistant footing for an overhead line operation robot according to claim 2, characterized in that: The motor mounting bracket, pivot seat, and lower sleeve joint are an integral structure; the pivot joint and upper sleeve joint are also an integral structure.

4. A self-balancing, disturbance-resistant landing gear for an overhead line operation robot according to any one of claims 1 to 3, characterized in that: The legs have four upper inclined bars; the feet have two, each foot has two lower inclined bars, the bottom ends of the lower inclined bars are connected by a crossbar, and the counterweight is installed on one of the lower inclined bars and is higher than the bottom end of the crossbar.

5. The self-balancing, disturbance-resistant footing for an overhead line operation robot according to claim 4, characterized in that: A crossbar connects the upper diagonal bars on the same side.

6. The self-balancing, disturbance-resistant footing for an overhead line operation robot according to claim 4, characterized in that: The lower part of the upper inclined rod is connected to the fuselage by a connecting rod.

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