CN-224225318-U - Automatic balancing device and aerial operation robot

CN224225318UCN 224225318 UCN224225318 UCN 224225318UCN-224225318-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 flying disc, wherein the connecting seat is used for being connected with a foot rest of the aerial working robot; the motor is fixedly arranged on the connecting seat, the flying disc is fixedly connected with the motor rotating shaft, and the flying disc is used for rotating under the driving of the motor to provide power for balancing the aerial working robot. 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
WANG DONGJUN
FU YI
Dai Hailun
TANG YUQIAN
LI QIANG
XIAO RUI
ZHENG BO
LIU ZHENYANG
SHEN JING

Assignees

成都恒羽科技有限公司

Dates

Publication Date: 20260512
Application Date: 20250519

Claims (10)

1. The automatic balancing device is characterized by comprising a connecting seat, a motor and a flying disc, wherein the connecting seat is used for being fixed with a foot rest of an aerial operation robot, the motor is fixedly arranged on the connecting seat, the flying disc is fixed on a motor rotating shaft, and the flying disc is used for rotating under the driving of the motor to provide power for balancing the aerial operation robot.
2. The automatic balancing device of claim 1, wherein the connecting seat comprises a seat body and a clip, the seat body and the clip are combined to form a through hole for installing a cross rod of the foot rest, and the seat body and/or the clip are/is fixedly connected with the cross rod.
3. The automatic balancing device of claim 2, wherein the axis of the through hole is parallel to the axis of the motor rotating shaft, the axis of the through hole is parallel to an overhead line of the aerial working robot riding frame, and the flying disc is perpendicular to the overhead line.
4. The automatic balancing device of claim 2, wherein the base comprises an integral motor mounting frame and cross rod connecting part, a motor mounting frame is hollowed out, one side of the motor mounting frame is provided with a motor fixing panel, the motor is fixedly connected with the fixing panel, the fixing panel is provided with a bearing hole, and a notch for a motor rotating shaft to pass through is formed beside the bearing hole.
5. The automatic balancing device of claim 4, wherein the cross bar connecting portion is provided with a first arc-shaped groove, the clip is provided with a second arc-shaped groove, and the clip is fixed to the cross bar connecting portion such that the second arc-shaped groove and the first arc-shaped groove form the through hole.
6. The automatic balancing device of claim 5, wherein the cross bar connecting portion has first threaded holes communicating with the first arcuate recess at both ends and/or the clip has second threaded holes communicating with the second arcuate recess at both ends.
7. The automatic balancing device of any one of claims 1-6, wherein the flying disc is detachably connected with a rotating shaft of the motor, and a locknut for fastening the flying disc is connected to the top end of the rotating shaft of the motor.
8. The automatic balancing device of claim 1, wherein the connecting seat comprises a seat body and a clip, the seat body and the clip are combined to form a through hole for installing the tripod diagonal bracing rod, and the seat body and/or the clip are/is fixedly connected with the tripod diagonal bracing rod.
9. The 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 1-7 are arranged on the two cross bars, the two automatic balancing devices are reversely arranged or symmetrically arranged, and the automatic balancing devices are respectively electrically connected with the control module.
10. The aerial work robot of claim 9, 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 operation 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 adopted by the automatic balancing device for solving the technical problems is that the automatic balancing device comprises a connecting seat, a motor and a flying disc, wherein the connecting seat is used for being fixed with a foot rest of an aerial operation robot, the motor is fixedly arranged on the connecting seat, the flying disc is fixed on a motor rotating shaft, and the flying disc is used for rotating under the driving of the motor to provide power for balancing the aerial operation robot. 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, the flying disc is used for rotating under the drive of a motor to provide power for balancing the aerial operation robot, the flying disc can rotate at a high speed to generate enough moment for resisting the gravity center deviation caused by crosswind or moving on an aerial line, the gravity center deviation is avoided to interfere the aerial operation robot to operate on the aerial line, the stability and the safety of the aerial operation robot in walking on the aerial line are obviously improved, the aerial operation robot can adapt to more various environments and climate conditions, the application range and the time window of the aerial operation robot are enlarged, the automatic balancing device is more suitable for executing outdoor complex aerial line operation detection tasks, the automatic balancing device is favorable for accurately controlling the gesture of the aerial operation robot, the precision and the reliability of the aerial operation robot in fine operation are improved, the aerial operation robot can more flexibly execute diversified tasks, the aerial operation robot can be deflected by a certain angle beyond the barrier when the aerial operation robot body is deviated from a vertical plane, and the flexibility of executing the tasks is improved. Preferably, the connecting seat comprises a seat body and a clip, the seat body and the clip are combined to form a through hole for installing the cross rod of the foot rest, and the seat body and/or the clip are/is fixedly connected with the cross rod. The split structure of the clip and the seat body can facilitate the fixed installation of the automatic balancing device and the foot rest cro