阅读说明：本技术 一种高压线上取放北斗导航监测器的六旋翼无人机系统 (Six-rotor unmanned aerial vehicle system for taking and placing Beidou navigation monitor on high-voltage line ) 是由 刘晓黎 崔王旭 甄圣超 陈锋 于 2020-06-10 设计创作，主要内容包括：本发明涉及一种高压线上取放北斗导航监测器的六旋翼无人机系统,属于空中机器人技术领域。包括六旋翼无人机、机载控制系统和监测器挂装机构,六旋翼无人机本体的底部通过安装板固定设有抓取机械臂机构和双目相机；抓取机械臂机构为两轴机械臂,抓取目标物体的重量小于4kg；监测器挂装机构包括安装桶、一对挂臂和横杆。将北斗监测器放入安装桶,六旋翼无人机通过监测器挂装机构将北斗导航监测器挂装到高压线上；且通过自锁机构实现了在高压线上挂装北斗导航监测器的自锁。用于切割高压线上的缠绕物时,抓取机械臂机构夹住切割刀具的刀柄,切割刀具为星型切割器；通过机载控制系统确定高压线上缠绕物的位置,实施切割。(The invention relates to a six-rotor unmanned aerial vehicle system for picking and placing a Beidou navigation monitor on a high-voltage line, and belongs to the technical field of aerial robots. The unmanned aerial vehicle with six rotor wings comprises an unmanned aerial vehicle with six rotor wings, an airborne control system and a monitor hanging mechanism, wherein a grabbing mechanical arm mechanism and a binocular camera are fixedly arranged at the bottom of a body of the unmanned aerial vehicle with six rotor wings through a mounting plate; the grabbing mechanical arm mechanism is a two-axis mechanical arm, and the weight of the grabbed target object is less than 4 kg; the monitor hanging mechanism comprises a mounting barrel, a pair of hanging arms and a cross rod. The Beidou monitor is placed in the installation barrel, and the six-rotor unmanned aerial vehicle hangs the Beidou navigation monitor on a high-voltage line through the monitor hanging mechanism; and the self-locking of hanging the Beidou navigation monitor on the high-voltage line is realized through the self-locking mechanism. When the device is used for cutting the winding on the high-voltage wire, the grabbing mechanical arm mechanism clamps a cutter handle of a cutting tool, and the cutting tool is a star-shaped cutter; and determining the position of the winding on the high-voltage wire through an onboard control system to implement cutting.)

1. A six-rotor unmanned aerial vehicle system for taking and placing a Beidou navigation monitor on a high-voltage line comprises a six-rotor unmanned aerial vehicle body (1), six rotary vanes (2) and an airborne control system (3), wherein six cantilevers are uniformly distributed on the periphery of the six-rotor unmanned aerial vehicle body (1), and the six rotary vanes (2) are respectively and correspondingly arranged at the end parts of the six cantilevers; the airborne control system (3) comprises a ground control computer (12) and a control system; the maximum communication distance of the ground control computer (12) under the conditions of no interference and no blocking is 20km, and the method is characterized in that:

the bottom of the six-rotor unmanned aerial vehicle body (1) is fixedly provided with a grabbing mechanical arm mechanism (4) and a binocular camera (51) through a mounting plate;

the grabbing mechanical arm mechanism (4) is a two-axis mechanical arm and comprises a head end connecting piece (41), a joint connecting piece (42), a tail end connecting piece (43), a clamping jaw (44) and a tail end clamp (45) which are connected in sequence; the weight of the grabbed target object is less than 4kg, and the diameter of the grabbed part of the target object is 35-55 mm;

the automatic cutting device also comprises a monitor hanging mechanism or a cutting tool, wherein the monitor hanging mechanism comprises a mounting barrel (17), a pair of hanging arms (16) and a cross rod (15);

the Beidou monitor is placed in a mounting barrel (17) of a monitor hanging mechanism; when the monitor on the high-voltage wire is put and released for operation, images of a working area are obtained through a binocular camera (51), the control system determines that the position of the high-voltage wire is within the working range of the mechanical arm mechanism, and a tail end clamp (45) of the mechanical arm mechanism is grabbed to clamp a cross rod (15) of the monitor hanging mechanism; the airborne control system (3) controls the six-rotor unmanned aerial vehicle to reach a specified high-voltage line position, a tail end clamp (45) of the grabbing mechanical arm mechanism loosens a cross rod (15) of the monitor hanging mechanism, and the Beidou navigation monitor is hung on the high-voltage line through a pair of hanging arms (16);

when the automatic winding machine is used for cutting the winding on the high-voltage wire, a tail end clamp (45) of the grabbing mechanical arm mechanism clamps a cutter handle of the cutting cutter, the position of the winding on the high-voltage wire is determined to be in the cutting range of the cutting cutter through the control system, and the cutting cutter starts cutting work until the control system judges that the cutting task is finished; and the airborne control system (3) controls the six-rotor unmanned aerial vehicle to continue to execute the next cutting task.

2. The six-rotor drone with aerial mobile object grabbing function according to claim 1, characterized in that: the grabbing mechanical arm mechanism (4) is a two-shaft mechanical arm, and a motor in the two-shaft mechanical arm is a direct current motor; the maximum opening and closing stroke of a tail end clamp (45) of the grabbing mechanical arm mechanism (4) is 20mm, and the clamping force is 50-80N.

3. The six-rotor drone with aerial mobile object grabbing function according to claim 1, characterized in that: the clamping jaw (44) is an electric clamping jaw EFG-20.

4. The six-rotor drone with aerial mobile object grabbing function according to claim 1, characterized in that: the monitor hanging mechanism comprises a mounting barrel (17), a pair of hanging arms (16) and a cross bar (15); the pair of hanging arms (16) are fixedly arranged at two axial ends of the mounting barrel (17), a hook is arranged at the upper end of each hanging arm (16), and a locking mechanism is arranged on each hanging arm adjacent to the hook; the locking mechanism comprises a pull rod (161), a guide rail clamping plate (162), a connecting rod (163), a guide rail (164), a spring (165) and a clamping hook (166); the guide rail (164) is vertically arranged on a hanging arm (16) at the rear side of the hook, a guide rail clamping plate (162) is arranged at the upper part of the guide rail (164), and the pull rod (161) is inserted between the guide rail (164) and the guide rail clamping plate (162) and is matched with the guide rail (164); the lower end fixing edge of the pull rod (161) is connected with one end of the spring (165), and the other end of the spring (165) is fixed at the lower part of the hanging arm (16) through a pin; the two ends of the cross rod (15) are respectively and fixedly connected with the upper ends of pull rods (161) of a pair of locking mechanisms (16); the connecting rod (163) comprises a long connecting rod and a short connecting rod, one end of the long connecting rod is hinged with one end of the short connecting rod, the middle part of the long connecting rod is movably hinged on the hanging arm (16), and the other end of the short connecting rod is hinged with the lower end of the pull rod (161); one end of the hook (166) is movably hinged on the hanging arm (16) above the connecting rod (163), and the lower part of the other end of the hook (166) corresponds to the other end of the long connecting rod; the pair of pull rods (161) respectively move downwards along the guide rail (164) to drive the middle and short connecting rods of the connecting rod (163) to push the long connecting rod to rotate, the long connecting rod pushes the other end of the hook (166) to rotate around the movable end to be involuted towards the hook of the hanging arm (16), and the locking state is realized; under the action of a pair of springs (165), a pair of pull rods (161) respectively move upwards along a guide rail (164) to drive a middle and short connecting rod of a connecting rod (163) to reversely pull a long connecting rod to rotate, the long connecting rod is separated from a hook (166), the hook (166) reversely rotates around a movable end, and the hook is separated from a hook of a hanging arm (16) to realize an opening state.

5. The six-rotor drone with aerial mobile object grabbing function according to claim 4, characterized in that: the cutting tool is a star-shaped cutting knife.

Technical Field

The invention belongs to the technical field of aerial robots, and particularly relates to a six-rotor unmanned aerial vehicle system for taking and placing a Beidou navigation monitor on a high-voltage line.

Background

At present, big dipper satellite navigation positioning technique has wide application in fields such as transportation, basic survey and drawing, engineering survey, resource investigation, seismic monitoring, meteorological detection and marine survey, and the realization of these functions is not left the construction of the big dipper monitoring station of ground end, but the construction of the big dipper monitoring station of ground end needs to be installed on high altitude cable at present, needs the manual work to carry out the outage installation, wastes time and energy, and the danger coefficient is high, is unfavorable for the construction of big dipper monitoring station.

With the rapid development of the robot technology, the tasks undertaken by the robot become various, the research and development of the aerial robot technology are also getting hot, and the six-rotor unmanned aerial vehicle is an unmanned flight system and has the advantages of excellent hovering performance, compact mechanical structure, high reliability of parts and the like.

However, the existing six-rotor unmanned aerial vehicle only stays at the level of aerial photography, mapping and observation, and although there is a technology for loading mechanical arms and clamping jaws on the six-rotor unmanned aerial vehicle, the technology can complete the transfer of objects and some simpler tasks, but the existing technology cannot complete the tasks of carrying heavy objects on overhead cables and operating under complex environments.

Disclosure of Invention

In order to realize high-altitude fine operation of taking and placing the Beidou navigation monitor on a high-voltage line, the invention provides a six-rotor unmanned aerial vehicle system for taking and placing the Beidou navigation monitor on the high-voltage line.

A six-rotor unmanned aerial vehicle system for taking and placing a Beidou navigation monitor on a high-voltage line comprises a six-rotor unmanned aerial vehicle body 1, six rotary vanes 2 and an airborne control system 3, wherein six cantilevers are uniformly distributed on the periphery of the six-rotor unmanned aerial vehicle body 1, and the six rotary vanes 2 are respectively correspondingly arranged at the end parts of the six cantilevers; the airborne control system 3 comprises a ground control computer 12 and a control system; the maximum communication distance of the ground control computer 12 under the non-interference and non-blocking conditions is 20 km.

The bottom of the six-rotor unmanned aerial vehicle body 1 is fixedly provided with a grabbing mechanical arm mechanism and a binocular camera 51 through a mounting plate;

the grabbing mechanical arm mechanism is a two-axis mechanical arm and comprises a head end connecting piece 41, a joint connecting piece 42, a tail end connecting piece 43, a clamping jaw 44 and a tail end clamp 45 which are connected in sequence; the weight of the grabbed target object is less than 4kg, and the diameter of the grabbed part of the target object is 35-55 mm;

also comprises a monitor hanging mechanism or a cutting tool. The monitor hanging mechanism comprises a mounting barrel 17, a pair of hanging arms 16 and a cross bar 15;

putting the Beidou monitor into a mounting barrel 17 of a monitor hanging mechanism; when the monitor is put on and taken off on the high-voltage wire, the image of a working area is acquired through the binocular camera 51, the control system determines that the position of the high-voltage wire is within the working range of the mechanical arm mechanism, and the tail end clamp 45 of the mechanical arm mechanism is grabbed to clamp the cross rod 15 of the monitor hanging mechanism; the airborne control system 3 controls the six-rotor unmanned aerial vehicle to reach a specified high-voltage wire position, a tail end clamp 45 of the grabbing mechanical arm mechanism loosens a cross rod 15 of the monitor hanging mechanism, and the Beidou navigation monitor is hung on the high-voltage wire through a pair of hanging arms 16;

when the automatic winding machine is used for cutting the winding on the high-voltage wire, the tail end clamp 45 of the grabbing mechanical arm mechanism clamps a cutter handle of the cutting tool, the position of the winding on the high-voltage wire is determined to be in the cutting range of the cutting tool through the control system, and the cutting tool starts cutting work until the control system judges that the cutting task is finished; and the airborne control system 3 controls the six-rotor unmanned aerial vehicle to continue to execute the next cutting task.

The technical scheme for further limiting is as follows:

the grabbing mechanical arm mechanism 4 is a two-shaft mechanical arm, and a motor in the two-shaft mechanical arm is a permanent magnet synchronous motor, so that the grabbing mechanical arm mechanism has the advantages of high efficiency, simple structure, reliable operation, small size and light weight. The maximum opening and closing stroke of the tail end clamp 45 of the grabbing mechanical arm mechanism 4 is 20mm, and the clamping force is 50-80N.

The clamping jaw 44 is an electric clamping jaw EFG-20.

The monitor hanging mechanism comprises a mounting barrel 17, a pair of hanging arms 16 and a cross rod 15; the pair of hanging arms 16 are fixedly arranged at two axial ends of the mounting barrel 17, a hook is arranged at the upper end of each hanging arm 16, and a locking mechanism is arranged on each hanging arm adjacent to the hook; the locking mechanism comprises a pull rod 161, a guide rail clamping plate 162, a connecting rod 163, a guide rail 164, a spring 165 and a clamping hook 166; the guide rail 164 is vertically arranged on the hanging arm 16 at the rear side of the hook, a guide rail clamping plate 162 is arranged at the upper part of the guide rail 164, and the pull rod 161 is inserted between the guide rail 164 and the guide rail clamping plate 162 and matched with the guide rail 164; the lower end fixing edge of the pull rod 161 is connected with one end of the spring 165, and the other end of the spring 165 is fixed at the lower part of the hanging arm 16 through a pin; the two ends of the cross bar 15 are respectively and fixedly connected with the upper ends of pull rods 161 of a pair of locking mechanisms 16; the connecting rod 163 comprises a long connecting rod and a short connecting rod, one end of the long connecting rod is hinged with one end of the short connecting rod, the middle part of the long connecting rod is movably hinged on the hanging arm 16, and the other end of the short connecting rod is hinged with the lower end of the pull rod 161; one end of the hook 166 is movably hinged on the hanging arm 16 above the connecting rod 163, and the lower part of the other end of the hook 166 corresponds to the other end of the long connecting rod; the pair of pull rods 161 respectively move downwards along the guide rails 164 to drive the middle and short connecting rods of the connecting rods 163 to push the long connecting rod to rotate, the long connecting rod pushes the other end of the hook 166 to rotate around the movable end to be abutted against the hook of the hanging arm 16, and a locking state is realized; under the action of the pair of springs 165, the pair of pull rods 161 respectively move upwards along the guide rails 164 to drive the middle and short connecting rods of the connecting rods 163 to reversely pull the long connecting rod to rotate, the long connecting rod is separated from the hook 166, the hook 166 reversely rotates around the movable end, and is separated from the hook of the hanging arm 16 to realize an opening state.

The cutting tool is a star-shaped cutting knife.

The beneficial technical effects of the invention are embodied in the following aspects:

(1) according to the invention, the Beidou navigation monitor is hung on a high-voltage line by additionally arranging the two-shaft mechanical arm, the vision system and the monitor hanging mechanism on the six-rotor unmanned aerial vehicle. On the other hand, through the diaxon arm centre gripping cutting tool on the six rotor unmanned aerial vehicle for the winding on the cutting high-voltage line.

(2) The monitor hanging mechanism is provided with the self-locking mechanism, so that the self-locking of the Beidou navigation monitor hung on a high-voltage line is realized. The self-locking mechanism on the monitor hanging mechanism has the advantages of simple structure, stability, reliability and convenient operation.

Drawings

FIG. 1 is a schematic view of the structure of the present invention.

Fig. 2 is a schematic bottom view of fig. 1.

FIG. 3 is a schematic view of a vision system according to the present invention.

FIG. 4 is a schematic view of a two-axis robotic arm according to the present invention.

Fig. 5 is a schematic structural view of a monitor hanging mechanism.

Fig. 6 is a schematic view of the locking state of the monitor hanging mechanism.

Fig. 7 is a schematic structural view of the locking mechanism.

Fig. 8 is a schematic view of the locked state of the locking mechanism.

Fig. 9 is a schematic diagram of the beidou navigation monitor taken and placed on a high-voltage line.

Fig. 10 is a view of the right 150 degree turning state of the grabbing robot mechanism.

Fig. 11 is a diagram illustrating the state of the grabbing robot arm mechanism in a reversed 150-degree angle.

Fig. 12 is a state diagram of the grasping robot arm mechanism holding the cutting tool.

Sequence numbers in the upper figure: the six-rotor unmanned aerial vehicle comprises a six-rotor unmanned aerial vehicle body 1, rotary vanes 2, an airborne control system 3, a two-axis mechanical arm 4, a head end connecting piece 41, a joint connecting piece 42, a tail end connecting piece 43, a clamping jaw 44 and a tail end clamp 45; a vision system 5, a binocular camera 51, an image transmission module 52, and an image processing module 53; the device comprises a support frame 6, a mounting plate 7, a camera mounting plate 8, a mechanical arm control system 9, a transformation circuit board 10 and a ground control computer 12; the star cutter 14, the support rod 141, and the cutter head 142; the device comprises a cross rod 15, a hanging arm 16, a mounting barrel 17, a high-altitude cable 18, a pull rod 161, a guide rail clamping plate 162, a connecting rod 163, a guide rail 164, a spring 165 and a clamping hook 166.

Detailed Description

The present invention will be further described in embodiments 1 and 2 with reference to the drawings.