CN-224225314-U - Automatic balancing device and aerial work robot

CN224225314UCN 224225314 UCN224225314 UCN 224225314UCN-224225314-U

Abstract

The utility model discloses an automatic balancing device and an aerial working robot, wherein 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 rest of the aerial working robot, the ducted fan is fixedly arranged on the connecting seat, the motor and the ducted fan are fixed and drive a propeller of the ducted fan to rotate, and the ducted fan is used for forming power for balancing the aerial working robot in the air pushed by the rotation of the propeller. The automatic balancing device is compact in structure and controllable in cost, is installed on a foot rest of an aerial operation robot, and is used for resisting gravity center deviation caused by crosswind or movement on an overhead line, so that the gravity center deviation is prevented from interfering the aerial operation robot to operate on the overhead line, and the stability and the safety of the aerial operation robot in walking on the overhead line are remarkably improved.

Inventors

LIU HENG
TANG LEI
ZHANG WEI
FU YI
TANG YUQIAN
PENG JIPING
LI QIANG
XIAO RUI
ZHENG BO
Dai Hailun

Assignees

成都恒羽科技有限公司

Dates

Publication Date: 20260512
Application Date: 20250519

Claims (8)

1. The utility model provides an automatic balancing unit, its characterized in that includes connecting seat, motor and the ducted fan that is used for with aerial work robot foot rest fixed, the ducted fan fixed mounting is on the connecting seat, the motor is fixed and drive its screw rotation with the ducted fan, the ducted fan is arranged in the rotatory power that forms balanced aerial work robot in the promotion air of screw.
2. The automatic balancing device of claim 1, wherein the connecting seat comprises a detachable connecting seat body and a clip, the seat body and the clip are combined to form a through hole for installing the foot rest cross rod and are fixedly connected with the foot rest cross rod, and a circumferential limiting structure is arranged between the seat body and/or the clip and the foot rest cross rod.
3. The automatic balancing device of claim 2, wherein the axis of the through hole is parallel to an overhead line of the aerial working robot riding frame, and the axis of the through hole is perpendicular to the axis of the motor rotating shaft.
4. The automatic balancing device of claim 2, wherein the base comprises a connecting part of an integrated ducted fan mounting frame and a cross rod, the ducted fan mounting frame is hollowed out, two sides of a ducted body of the ducted fan are provided with lug plates, the lug plates are fixed with the outer end of the ducted fan mounting frame, and a part of the ducted body is accommodated in the ducted fan mounting frame.
5. The automatic balancing device of claim 4, wherein the clip is provided with a first arcuate slot, the cross bar connecting portion is provided with a second arcuate slot, and the clip is secured to the cross bar connecting portion such that the first arcuate slot mates with the second arcuate slot to form the through hole.
6. The automatic balancing device of claim 5, wherein the clip is provided with a first threaded hole communicating with a first arcuate groove at both ends and/or a second threaded hole communicating with a second arcuate groove at both ends of the cross bar connecting portion.
7. An aerial working robot comprises a control module, a gesture detection module and a foot rest, wherein the gesture detection module is electrically connected with the control module, and the aerial working robot is characterized in that symmetrical cross bars are arranged on the foot rest, the automatic balancing devices according to any one of claims 1-6 are arranged on the two cross bars, the two automatic balancing devices are symmetrically arranged, and the automatic balancing devices are respectively electrically connected with the control module.
8. The aerial work robot of claim 7, wherein an upper protrusion is provided in the middle of the cross bar, the distance between the upper protrusion and the bottom is greater than the height of the automatic balancing device, and the automatic balancing device is installed in the middle of the upper protrusion.

Description

Automatic balancing device and aerial work robot Technical Field The utility model relates to the field of aerial working robots, in particular to an automatic balancing device and a self-balancing aerial working robot. Background The aerial work robot can walk along the overhead line and perform maintenance work. The principle of self-stabilizing walking on the overhead line is mainly that the gravity center of the whole machine is lower than the overhead line, and the gravity center is far away from the overhead line as far as possible. The low gravity center design can effectively reduce the toppling risk of the aerial working robot during walking or working, especially under the condition of strong wind or uneven lines. In some cases, in order to ensure the operation safety of the aerial operation robot, a compression wheel or a compression structure is designed, so that an overhead line can be firmly gripped, and falling is prevented. In addition, the friction force of the travelling wheel can be increased due to the design of the compression wheel, and the climbing angle can be increased. The self-stabilization mode on the overhead line is realized by the design mode of lowering the gravity center, and is a passive self-stabilization scheme. When the aerial work robot works, the center of gravity of the whole machine is offset due to the movement of the aerial work robot, the aerial work robot can deflect a certain angle to one side, or when the aerial work robot encounters cross wind, the aerial work robot can deflect a certain angle to one side due to the influence of the cross wind. In some precision maintenance operations, these rotations along the overhead line can increase the difficulty of the operation. Therefore, how to quickly adjust the posture of the aerial working robot in the windy working process and ensure that the aerial working robot is always in a horizontal self-stable state is a difficulty in practical application of the aerial working robot of the overhead line. Disclosure of utility model The application aims to overcome the defects of the related art, and provides an automatic balancing device and a self-balancing aerial working robot, wherein the automatic balancing device can quickly respond and correct the attitude deviation of the aerial working robot in the air, so that the aerial working robot always keeps a horizontal self-stable state on an overhead line, and a stable environment is provided for precise operation of the aerial working robot on the overhead line. The technical scheme includes that the automatic balancing device comprises a connecting seat, a motor and a ducted fan, wherein the connecting seat is used for being fixed with a foot rest of an aerial operation robot, the ducted fan is fixedly arranged on the connecting seat, the motor and the ducted fan are fixed and drive 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 by rotating the propeller. Compared with the prior art, the automatic balancing device has the advantages that the whole structure is compact, the cost is controllable, the automatic balancing device is arranged on a foot rest of an aerial operation robot, a propeller of a ducted fan rotates under the drive of a motor, blades on the propeller push air to provide power for balancing the aerial operation robot, the blades push air under high-speed rotation of the propeller can generate enough moment for resisting gravity center deviation caused by crosswind or movement on an overhead line, the gravity center deviation is avoided to interfere the aerial operation robot to operate on the overhead line, the stability and the safety of the aerial operation robot in walking on the overhead line are obviously improved, the aerial operation robot can adapt to various environments and weather conditions, the application range and the time window of the aerial operation robot are enlarged, the aerial operation robot is more suitable for executing an outdoor complex aerial line operation detection task, the automatic balancing device is favorable for accurately controlling the gesture of the aerial operation robot, the accuracy and the reliability of the aerial operation robot in fine operation are improved, the aerial operation robot can also flexibly execute diversified tasks, the aerial operation robot can deviate from a vertical plane, the aerial operation robot can deflect the aerial operation robot by a certain angle to deflect the robot to execute the task, and the machine body can deflect the robot beyond a certain angle to execute the aerial operation. Preferably, the connecting seat comprises a detachable connecting seat body and a clip, the seat body and the clip are combined to form a through hole for installing the foot rest cross rod and are fixedly connected with the foot rest cross rod, and the seat body and/or the clip are limited in the circumferential