Search

CN-121973962-A - Rotor component, robot body, and aerial work robot system

CN121973962ACN 121973962 ACN121973962 ACN 121973962ACN-121973962-A

Abstract

The application relates to the field of operation equipment, and provides a rotor component, a robot body and an aerial operation robot system, wherein the rotor component comprises at least four rotor power assemblies, each rotor power assembly rotor, a motor and an electronic speed regulator, the rotor generates controllable thrust during operation, the thrust generated by each rotor has thrust vectors, at least four thrust vectors jointly drive a controlled object to generate controllable linear displacement and/or angular displacement, the synthesized thrust has adjustable components in at least two mutually perpendicular directions, and the moment of the gravity center of the controlled object generated by at least four rotor power assemblies generates adjustable non-zero synthesized moment in the normal direction of a thrust projection plane.

Inventors

  • Mei Canwen

Assignees

  • 珠海简弘智能科技有限公司

Dates

Publication Date
20260505
Application Date
20260214

Claims (10)

  1. 1. A rotor assembly comprising at least four rotor power packs, characterized in that: Each rotor power kit comprises a rotor, a motor and an electronic speed regulator, wherein the rotor generates controllable thrust when in work, the thrust generated by each rotor is provided with a thrust vector, at least four thrust vectors jointly drive a controlled object to generate controllable linear displacement and/or angular displacement, and the projection of the thrust vector on a thrust projection plane is an in-plane thrust component; the action line of the thrust component in the plane is a thrust axis, wherein at least one group of four thrust axes form a convex quadrilateral thrust axis group; The at least four in-plane thrust components are vector-superimposed in a thrust projection plane to form a composite thrust, and the composite thrust has adjustable components in at least two mutually perpendicular directions; The in-plane thrust components of the at least two sets of rotor power kits have components in opposite directions in the X-axis direction of the thrust projection plane coordinate system, the in-plane thrust components of the at least two sets of rotor power kits have components in opposite directions in the Y-axis direction of the thrust projection plane coordinate system, and the in-plane thrust components of the at least two sets of rotor power kits respectively generate moment components in opposite directions relative to the gravity center of the controlled object; The rotor component is connected with an external carrier through a gesture stabilizing component, and the gesture stabilizing component is used for maintaining the dynamic gesture stability of the rotor component relative to a thrust projection plane under a working state, so that the projection relation of the thrust vector in the thrust projection plane is kept dynamically stable in a control process.
  2. 2. The rotor component according to claim 1, wherein at least two pairs of thrust axes are symmetrically or approximately symmetrically arranged with the center of gravity of the controlled object as a reference point, and form thrust axis pairs, wherein an included angle between each pair of thrust axes is smaller than or equal to a first preset angle, and wherein a thrust direction of one thrust axis and a thrust direction of the other thrust axis can be adjusted to be opposite or approximately opposite, and wherein an included angle between a thrust component in a plane corresponding to one thrust axis and a thrust component in a plane corresponding to the other thrust axis is larger than or equal to a second preset angle.
  3. 3. A rotor component according to claim 2, wherein at least one pair of thrust axes is parallel to each other, forming a parallel pair of thrust axes, and there is additionally at least one pair of thrust axes, the two thrust axes of which respectively intersect but do not coincide with the two parallel thrust axes of the parallel pair of thrust axes.
  4. 4. A rotor assembly according to any one of claims 2 and 3, wherein there are at least two pairs of thrust axes such that the centre of gravity of the controlled object has centre of gravity orthogonal projection points on each thrust axis, the distance between the two centre of gravity orthogonal projection points of each pair of thrust axes being the axis pair-to-projection point spacing of the thrust axis pairs, wherein the ratio of the two axis pair-to-projection point spacing is within a predetermined range of values.
  5. 5. The rotor assembly of claim 4 wherein there are at least two axes equidistant from the proxels.
  6. 6. The rotor assembly of claim 1 wherein at least four rotor power packs each form at least four power pack projections in the thrust projection plane, at least two power pack projections having overlapping portions, the overlapping portions being located above an apex of a convex quadrilateral to which at least one set of convex quadrilateral thrust axis groups corresponds.
  7. 7. The rotor assembly of claim 1 wherein the at least four rotor power packs each form at least four power pack projections on the thrust projection plane that are distributed on a same side of a straight line as one of the diagonals of the convex quadrilaterals corresponding to the at least one set of convex quadrilateral thrust axes.
  8. 8. The rotor component of claim 1, wherein the at least four rotor power packs respectively form at least four power pack projections on the thrust projection plane, the four power pack projections are respectively distributed in four areas formed by mutually separating two straight lines respectively where two diagonals of a convex quadrangle corresponding to at least one group of convex quadrangle thrust axis groups are respectively located; Or the at least four rotor wing power sleeve parts respectively form at least four power sleeve part projections in the thrust projection plane, and at least two power sleeve part projections are respectively positioned in two non-adjacent areas in the four areas.
  9. 9. A robot body comprising a body structure and the rotor component according to any one of claims 1 to 8 mounted on the body structure by a lockable position/posture connection mechanism, wherein the connection mechanism comprises at least one of a rigid connection type, a manual adjustable locking type, and a power driven locking type.
  10. 10. An aerial work robot system comprising the robot body of claim 9.

Description

Rotor component, robot body, and aerial work robot system Technical Field The application relates to the field of operation equipment, in particular to a rotor wing part, a robot body and an aerial operation robot system. Background Along with the continuous promotion of the urban process, the number of high-rise and super high-rise buildings is continuously increased, and various outer elevation structures such as glass curtain walls, metal curtain walls, stone curtain walls and the like are widely applied to urban buildings. The demands for cleaning, detecting, maintaining, locally repairing and other operations of building facades are increasing. The traditional high-altitude operation mode relying on artificial lifting ropes or scaffolds has low operation efficiency and high labor intensity, and has obvious personal safety risks, so that the requirements of modern cities on operation safety, efficiency and standardized management are difficult to meet. In this context, high-altitude working equipment based on unmanned, automated concepts is becoming a research and application hotspot. However, the existing high-altitude working equipment still has the defects in the aspects of working plane suitability, structural complexity, spanning capability, continuous covering capability, comprehensive safety and the like, and is difficult to realize efficient, stable and safe unmanned working in complex and diverse urban building environments. Therefore, there is a need for an elevated working solution that combines environmental adaptability, flexibility of operation and overall safety and reliability, so as to better replace the traditional manual method and overcome the limitations of the prior art. Disclosure of Invention The application mainly aims at providing a rotor wing part, a robot body and an aerial work robot system, and aims at providing equipment which can adapt to diversified aerial work scenes. In a first aspect, the present application provides a rotor assembly comprising at least four rotor power packs, wherein: Each rotor power kit comprises a rotor, a motor and an electronic speed regulator, wherein the rotor generates controllable thrust when in work, the thrust generated by each rotor is provided with a thrust vector, at least four thrust vectors jointly drive a controlled object to generate controllable linear displacement and/or angular displacement, and the projection of the thrust vector on a thrust projection plane is an in-plane thrust component; the action line of the thrust component in the plane is a thrust axis, wherein at least one group of four thrust axes form a convex quadrilateral thrust axis group; The at least four in-plane thrust components are vector-superimposed in a thrust projection plane to form a composite thrust, and the composite thrust has adjustable components in at least two mutually perpendicular directions; The in-plane thrust components of the at least two sets of rotor power kits have components in opposite directions in the X-axis direction of the thrust projection plane coordinate system, the in-plane thrust components of the at least two sets of rotor power kits have components in opposite directions in the Y-axis direction of the thrust projection plane coordinate system, and the in-plane thrust components of the at least two sets of rotor power kits respectively generate moment components in opposite directions relative to the gravity center of the controlled object; The rotor component is connected with an external carrier through a gesture stabilizing component, and the gesture stabilizing component is used for maintaining the dynamic gesture stability of the rotor component relative to a thrust projection plane under a working state, so that the projection relation of the thrust vector in the thrust projection plane is kept dynamically stable in a control process. In some embodiments, at least two pairs of thrust axes are symmetrically or approximately symmetrically arranged with the center of gravity of the controlled object as a reference point, and the thrust axes are formed, wherein an included angle between each pair of thrust axes is smaller than or equal to a first preset angle, and a thrust direction of one thrust axis and a thrust direction of the other thrust axis can be adjusted to be opposite or approximately opposite, wherein an included angle between a thrust component in a plane corresponding to one thrust axis and a thrust component in a plane corresponding to the other thrust axis is larger than or equal to a second preset angle. In some embodiments, at least one pair of thrust axes is parallel to each other, constituting a parallel pair of thrust axes, and there is additionally at least one pair of thrust axes, two of which respectively intersect with but do not coincide with the two parallel thrust axes of the parallel pair of thrust axes. In some embodiments, there are at least two pairs of thrust axes, such that the center of gra