CN115741659A - Rope-driven unmanned aerial vehicle based on inertia flywheel attitude adjustment - Google Patents

Abstract

The invention relates to a rope-driven unmanned aerial vehicle based on attitude adjustment of an inertial flywheel, which includes at least three anchors arranged on a building; a mobile platform capable of moving inside the building, and the mobile platform is respectively Connected with each anchor, the mobile platform includes a bracket, a rope assembly arranged on the bracket and used for retracting each rope, and at least two groups of attitude control assemblies; the at least two groups of attitude control assemblies respectively limit the bracket when moving Rotation angles of the first horizontal axis and the second horizontal axis, the first horizontal axis and the second horizontal axis are perpendicular to each other. The rope passes through the rope hole at the center of the top of the mobile platform, so that the exit point of the rope and the center of mass of the mobile platform are set on the same vertical line, which reduces the inclination angle of the mobile platform when the rope is retracted, and can limit the rotation of the mobile platform. The tilted attitude control components enable smooth and high-precision operation, ensuring that the terminal equipment carried runs in a stable environment.

Description

A Rope Driven UAV Based on Inertia Flywheel Attitude Adjustment

technical field

The invention relates to the technical field of robots, in particular to a rope-driven unmanned aerial vehicle based on inertial flywheel attitude adjustment.

Background technique

With the development of China's economy, in recent years, the demand for robots in the market has grown rapidly, not only in the industrial field such as dispensing, handling and inspection, but also in the fields of live broadcast of sports events and household and commercial services. The application is also becoming more and more extensive. At the same time, robot technology is of great significance to improving the level of China's manufacturing industry and promoting the development of China's productivity.

Traditional series robots with rigid links not only have limited load capacity, but also have very limited work space, which can only be applied in some specific scenarios, while rope-driven robots use ropes as drives, and the drive capacity has been improved. Therefore, the research enthusiasm of rope-driven robots, especially rope-driven parallel robots, is getting higher and higher. Rope-driven parallel robots belong to the field of parallel robots and have the advantages of parallel robots such as strong carrying capacity and fast response speed. Due to the characteristics of lightness and lightness, it has been widely used in the fields of assembly, handling, microgravity simulation and medical rehabilitation in large spaces.

However, the traditional redundant constraint rope-driven parallel robot is prone to interference with obstacles in the living space, and the drive device and end effector are arranged separately, which brings great inconvenience to the replacement of application scenarios and layout space; under-constrained rope-driven parallel robot Although the robot is not easy to interfere in a large space, the horizontal tilt angle of the robot is uncontrollable during the movement process, and the movement accuracy will be relatively poor. For the drones that are currently widely used for inspection and shooting, there is no navigation signal in the indoor space, so it may not be possible to accurately complete the task.

Now it is necessary to propose a new technical solution to solve the above-mentioned problems in the prior art.

Contents of the invention

The invention provides a rope-driven unmanned aerial vehicle based on inertial flywheel attitude adjustment, aiming to solve at least one of the technical problems existing in the prior art.

The technical solution of the present invention is a rope-driven unmanned aerial vehicle based on inertial flywheel attitude adjustment, including: at least three anchor joints arranged on the building; a mobile platform capable of moving inside the building, the mobile platform A corresponding number of ropes are respectively connected to each anchoring piece, wherein the mobile platform includes a bracket, a rope assembly arranged on the bracket and used for retracting each of the ropes, and at least two groups of attitude control assemblies; wherein wherein at least two groups of the attitude control assemblies respectively limit the rotation angles of the first horizontal axis and the second horizontal axis when the bracket moves, and the first horizontal axis and the second horizontal axis are perpendicular to each other.

Further, the bracket includes: a motor support plate; a winch support plate, the twisted rope support plate is connected to the first surface of the motor support plate through a first connecting column, and the middle part of the winch support plate is provided along the circumference for passing There are at least three rope outlet holes for the rope; at least three groups of the rope assemblies are arranged on the motor support plate along the circumference, and each set of rope assemblies includes: a rope receiving motor, and the rope receiving motor is fixed on the motor support plate; and The winch connected to the output end of the rope receiving motor; wherein, one end of the rope passes through the rope outlet hole and is fixed on the rim of the winch.

Further, the rope receiving motor is arranged on the second surface of the motor support plate, the output shaft of the rope receiving motor passes through the first surface of the motor support plate and is connected with the winch shaft, and the first surface and the second surface are connected to each other. is the opposite side; the mobile platform also includes a steering assembly, and the steering assembly includes: a steering bracket arranged on the second surface of the winch support plate, and the steering bracket is located between at least three winches; and the steering bracket A steering pulley having a supporting relationship, the steering pulley is arranged on the second surface of the steering bracket; wherein, the rope between the rope outlet hole and the winch bypasses the steering pulley.

Further, the steering assembly also includes: at least three first rope guide holes arranged on the outside of the steering bracket, the first rope guide holes are respectively facing each winch, and the rope between the steering pulley and the winch is passed through the In the first rope guide hole; the second rope guide hole is arranged in the middle of the steering bracket, the first rope guide hole corresponds to the rope outlet hole, and the rope between the steering pulley and the rope outlet hole is passed through the second guide rope hole. In the rope hole; wherein, the distance between the central axis of the first rope guide hole and the first surface of the motor support plate is equal to the distance between the middle part of the winch wheel rim and the first surface of the motor support plate; the first rope guide hole The central axis of the first rope hole and the central axis of the second rope guide hole are perpendicular to each other, and the axis of the first rope guide hole and the axis of the second rope guide hole are respectively tangent to the outer edge of the diverting pulley.

Further, the rope guide hole, the first rope guide hole and the second rope guide hole are respectively provided with guide rope rings, the guide rope rings are in the shape of steps, and the ends of the guide rope rings with smaller outer diameters are respectively inserted into the The rope outlet hole, the first rope guide hole and the second rope guide hole, the end of the rope guide ring with a larger outer diameter is exposed outside the ends of the rope outlet hole, the first rope guide hole and the second rope guide hole .

Further, the winch is connected with a rotating fulcrum at the axis away from the first surface of the motor support plate, and the end of the rotating fulcrum passes through the winch support plate and is connected with a pressure cap; between the pressure cap and the winch support plate There are pressure bearings on the rotating fulcrum between the winch and the winch support plate, and on the output end of the rope receiving motor between the winch and the motor support plate;

Further, the bracket includes a support plate, and the support support plate is connected to the second surface of the motor support plate through a second connecting column; each group of the attitude control components includes: respectively connected to the motor support plate and the motor support plate. The side frame supporting the outer periphery of the support plate; the flywheel motor arranged on the side frame, the output shaft of the flywheel motor faces the outside of the support, and the output shaft of the flywheel motor is perpendicular to the second surface of the motor support plate; and through The inertia flywheel that the coupling is connected to the output shaft of the flywheel motor; wherein, the output shafts of the flywheel motors of the two adjacent groups of attitude control components are respectively oriented to the first horizontal axis and the second horizontal axis.

Further, the bracket also includes a bottom plate, and the bottom plate is connected to the second surface of the supporting support plate through a third connecting column; the attitude control assembly also includes a posture control device arranged on the first surface of the bottom plate close to the supporting support plate. The control board and the second power supply, the attitude control board is electrically connected to the second power supply and the flywheel motor respectively.

Further, the bracket also includes a main control bracket, the main control bracket is connected to the second surface of the motor support plate, and the main control bracket is located between at least three rope-drawing motors; the mobile platform also includes a main control device and the first power supply, the main control device is arranged on the first surface of the main control bracket close to the motor support plate, the first power supply is arranged on the first surface of the supporting support plate, and the main control power supply is respectively connected to the first 1. Power supply, attitude control board and electrical connection of the rope-retracting motor.

Further, the rope-driven UAV includes: a housing composed of at least two shells that are rotationally symmetrical along the circumference of the bracket; each of the shells includes: surrounding the winch support plate, the motor support plate and the bearing The ring part outside the support plate; the accommodation part arranged on the outside of the ring part, and the inner side of the accommodation part is provided with an avoidance chamber for accommodating the inertia flywheel; wherein, the ring part is provided with a buttress against the edge of the first surface of the winch support plate ring edge; each said ring portion is provided with an avoidance ear toward the inside of the housing along one side of the circumferential direction of the housing, and said avoidance ear is provided with a nut placement groove, and the edge adjacent to said ring portion is provided with a nut placement groove Corresponding mounting holes.

The beneficial effects of the present invention are:

The rope assembly for retracting and retracting the rope is integrated into the mobile platform, while the external building only needs a simple structure anchoring piece that can fix and lock the rope, optimize the structure and weight of the anchoring piece, improve portability and facilitate disassembly and assembly Layout to reduce the difficulty of robot reconfiguration;

Integrating the rope assembly for retracting the rope into the mobile platform will improve the integration of the robot;

Pass the ropes through the rope outlet holes around the center of the top of the mobile platform. When the mobile platform is circumferentially symmetrical, make the exit points of at least three ropes and the center of mass of the mobile platform almost on the same vertical line, and reduce the retraction of each rope. The impact on the inclination angle of the mobile platform during release, combined with the attitude control assembly that can limit the rotation and tilt of the mobile platform along the first horizontal axis and the second horizontal axis during the movement process, keeps the rope-driven UAV of the present invention capable of It operates smoothly and with high precision, thus ensuring that the terminal equipment carried on the mobile platform operates in a stable environment.

Description of drawings

Fig. 1 is a partial structural diagram of a rope-driven parallel robot running in a building according to the present invention.

Fig. 2 is an enlarged view of A in Fig. 1 .

Fig. 3 is a front view of the mobile platform connected with the driving rope according to the embodiment of the present invention.

Fig. 4 is a perspective view of the mobile platform connected with the driving rope according to the embodiment of the present invention.

Fig. 5 is an exploded view of the structure of the mobile platform according to the embodiment of the present invention.

Fig. 6 is a bottom view of the structure of the mobile platform with part hidden according to the embodiment of the present invention.

Figure 7 is an exploded view of a steering assembly in an embodiment according to the invention.

Fig. 8 is a schematic cross-sectional structure diagram of a part of the rope assembly of the mobile platform according to an embodiment of the present invention.

Fig. 9 is a perspective view of a winch in an embodiment according to the present invention.

Fig. 10 is a perspective view of the rope-driven parallel robot according to the present invention when the casing is installed.

Fig. 11 is a perspective view of a housing in an embodiment according to the present invention.

In the above figure, 1000, building; 2000, anchor joint; 3000, mobile platform; 3100, bracket; 3110, winch support plate; 3111, first connecting column; 3112, rope outlet hole; 3115, fan-shaped hole; 3120, motor support plate; 3121, second connecting column; 3122, through hole; 3123, oblong hole; 3130, support plate; 3131, third connecting column; 3132, the first 3140, bottom plate; 3150, main control bracket; 3200, rope assembly; 3210, pressure bearing; 3220, winch; 3221, fixed shaft; 3222, first spoke; 3223, first rim; Side; 3225, perforation; 3226, locking hole; 3230, rotating support shaft; 3231, pressing cap; 3230, rope receiving motor; 3240, ESC; 3300, steering assembly; 3310, steering bracket; 3311, first guide rope Hole; 3312, second guide rope hole; 3313, rotating seat; 3320, guide rope ring; 3330, steering pulley; 3400, attitude control assembly; 3410, flywheel motor; 3420, side frame; 3430, coupling; 3440, Inertia flywheel; 3441, second spoke; 3442, second rim; 3450, attitude control board; 3460, second power supply; 3500, main control device; 3600, first power supply; 4000, rope; 5000, shell; 5100, Ring part; 5110, ring edge; 5120, avoidance ear; 5121, nut placement groove; 5130, fastening hole; 5200, accommodation part;

Detailed ways

The idea, specific structure and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

It should be noted that, unless otherwise specified, when a feature is called "fixed" or "connected" to another feature, it can be directly fixed and connected to another feature, or indirectly fixed and connected to another feature. on a feature. In addition, descriptions such as up, down, left, right, top, and bottom used in the present invention are only relative to the mutual positional relationship of the components of the present invention in the drawings.

Also, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terms used in the specification herein are for describing specific embodiments only, and are not intended to limit the present invention. As used herein, the term "and/or" includes any combination of one or more of the associated listed items.

It should be understood that although the terms first, second, third etc. may be used in the present disclosure to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish elements of the same type from one another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present disclosure.

Referring to FIG. 1 , in some embodiments, a rope-driven UAV based on an inertial flywheel attitude adjustment according to the present invention includes at least three anchors 2000 arranged on a building 1000, wherein The number of anchors 2000 on 1000 is preferably 4 (the following embodiments all take 4 anchors 2000 as an example to describe the technical solution); the mobile platform 3000 that can move inside the building 1000, the mobile The platform 3000 is respectively connected to each anchoring member 2000 through a corresponding number of ropes 4000, wherein the mobile platform 3000 includes a bracket 3100, a rope assembly 3200 arranged on the bracket 3100 and used for retracting each of the ropes 4000 and at least two sets of attitude control assemblies 3400; wherein, at least two sets of attitude control assemblies 3400 respectively limit the rotation angles of the first horizontal axis and the second horizontal axis of the bracket 3100 when moving, and the first horizontal axis perpendicular to the second horizontal axis. Therefore, the number of rope assemblies 3200 and the number of ropes 4000 is equal to the number of anchoring parts 2000, so that the ropes 4000 redundantly drive the mobile platform 3000 inside the building 1000 to move to carry the mobile platform 3000 in rotation mobile terminal equipment.

In the embodiment of the present invention, the rope assembly 3200 for retracting and retracting the rope 4000 is integrated on the mobile platform 3000, while the external building 1000 only needs an anchoring piece 2000 with a simple structure that can fix and lock the rope 4000, optimizing the anchoring The structure and weight of the part 2000 improve portability and ease of disassembly and arrangement, and reduce the difficulty of reconfiguration of the robot; integrating the rope assembly 3200 of the retractable rope 4000 into the mobile platform 3000 will improve the integration of the robot.

It should be mentioned that, as shown in FIG. 1, the building 1000 can be a steel structure or a wall, etc., which can be installed to support the anchor 2000. The anchor 2000 can preferably be a fastening bolt as shown in FIG. 2, The other end of the rope 4000 is wound on the fastening bolt and connected to the building 1000 through the fastening bolt. The anchor 2000 can also be other forms that can realize the fixed connection between the other end of the driving rope 4000 and the building 1000. It is not limited in this application, the fixed position of the anchoring member 2000 is preferably such that the included angle between every two of the four driving ropes 4000 is 90°.

3 to 6, in this embodiment, the bracket 3100 includes: a motor support plate 3120; On the surface, the middle part of the winch support plate 3110 is provided with at least three rope outlet holes 3112 along the circumference for passing the rope 4000 (in this embodiment, according to the number of anchoring parts 2000 and ropes 4000, the number of rope outlet holes 3112 is preferably 4 The angle between each adjacent two rope outlet holes 3112 and the centroid point of the winch support plate 3110 is 90°); that is, 4 groups of the rope assemblies 3200 are arranged on the motor support plate 3120 along the circumference, and each group of rope assemblies 3200 includes: a rope receiving motor 3230, which is fixed on the motor support plate 3120; a winch 3220 connected to the output end of the rope receiving motor 3230; wherein, one end of the rope 4000 passes through the rope outlet hole 3112 and be fixed on the rim of the winch 3220. Specifically, the rope receiving motor 3230 drives the winch 3220 to retract the rope 4000, and the rope 4000 is passed through the rope outlet hole 3112 around the center of the top of the mobile platform 3000. When the mobile platform 3000 is circumferentially symmetrical, at least three ropes 4000 The exit point and the center of mass of the mobile platform 3000 are set on the same vertical line, reducing the influence of each rope 4000 on the tilt angle of the mobile platform 3000 when retracting and retracting, and the cooperation can limit the movement of the mobile platform 3000 along the first horizontal axis. The attitude control assembly 3400 that is tilted to the second horizontal axis keeps the rope-driven drone of the present invention running smoothly and with high precision, thereby ensuring that the terminal equipment carried on the mobile platform 3000 operates in a stable environment .

In the embodiment of the present application, the horizontal bottom surface facing the ground of the motor support plate 3120 is defined as the second surface, and the horizontal top surface facing the motor support plate 3120 is defined as the first surface (the above-mentioned first surface is used in the following embodiments. and the orientation of the second surface as an example to describe the technical solution), considering that 4 sets of rope assemblies 3200 are arranged on the motor support plate 3120, and the mobile platform 3000 must maintain compactness and balance, as shown in Figure 4 and Figure 5 , so four groups of rope assemblies 3200 are distributed symmetrically along the center of the motor support plate 3120 and winch support plate 3110, and the heavier rope-retracting motor 3230 in the rope assembly 3200 is arranged on the second surface of the motor support plate 3120, and the rope-retracting motor The output shaft of 3230 passes through the first surface of the motor support plate 3120 and is connected with the shaft of the lighter winch 3220. The first surface and the second surface are opposite to each other, so that the weight of the rope 4000 motor is evenly distributed on the motor support plate The bottom of 3120 ensures that the center of gravity of the mobile platform 3000 will not change greatly when moving; and in order to cooperate with the rope 4000 motor and winch 3220 arranged vertically on the axis, the mobile platform 3000 also includes a steering assembly 3300, and the steering assembly 3300 Including: a steering bracket 3310 arranged on the second surface of the winch support plate 3110, the steering bracket 3310 is located between the four winches 3220; a steering pulley 3330 having a supporting relationship with the steering bracket 3310, the steering pulley 3330 Set on the second surface of the steering bracket 3310, specifically, the second surface of the bracket 3100 is provided with four rotating seats 3313, and the steering pulley 3330 is rotatably connected to the corresponding rotating seats 3313; wherein, the rope outlet hole 3112 and the winch The rope 4000 between 3220 goes around the diverting pulley 3330. The rope 4000 released horizontally from the winch 3220 becomes vertically released after bypassing the diverting pulley 3330 and passes through the rope hole of the winch support plate 3110. In summary, the structural cooperation effectively reduces the lateral volume of the mobile platform 3000.

5 to 7, in order to prevent the rope 4000 from falling off from the steering pulley 3330 or the winch 3220 during the winch 3220 retracting the rope 4000 and causing the robot to malfunction, the steering assembly 3300 also includes: a first guide rope hole 3311, the first guide rope hole 3311 faces each winch 3220 respectively, the rope 4000 between the steering pulley 3330 and the winch 3220 is passed through the first guide rope hole 3311; The second rope guide hole 3312 in the middle of the bracket 3310, the first rope guide hole 3311 corresponds to the rope outlet hole 3112, and the rope 4000 between the diverting pulley 3330 and the rope outlet hole 3112 is passed through the second rope guide hole 3312 Inside; wherein, the distance between the central axis of the first rope guide hole 3311 and the first surface of the motor support plate 3120 is equal to the distance between the middle part of the rim of the winch 3220 and the first surface of the motor support plate 3120; the first guide The central axes of the rope hole 3311 and the second rope hole 3312 are perpendicular to each other, and the axes of the first rope hole 3311 and the second rope hole 3312 are respectively tangent to the outer edge of the diverting pulley 3330 . Specifically, the middle part of the rim of the winch 3220, the central axis of the first rope guide hole 3311 and the outer edge of the diverting pulley 3330 keep the same level to prevent the rope 4000 from falling, and the first rope guide hole 3311 and the second guide rope The hole 3312 is tangent to the outer edge of the diverting pulley 3330, so that the sliding friction between the rope 4000 and the first rope guide hole 3311 and the second guide rope hole 3312 becomes smaller, so that the rope 4000 turns more smoothly and reduces the friction of the rope 4000. wear and tear.

Specifically, referring to Fig. 5 and Fig. 7, the winch 3220 is preferably made of lightweight and high-strength aluminum alloy material, which includes a fixed shaft 3221 connected to the output end of the motor, and passes through the first spoke 3222 in the circumferential direction. The first rim 3223 connected to the outer circumference of the fixed shaft 3221, the outer diameter of the first rim 3223 is preferably 50 mm, which can provide sufficient yield strength, and the upper and lower sides of the first rim 3223 are provided There is a rib 3224, the thickness of the rib 3224 is 0.5mm, and the outer diameter of the rib 3224 is 60mm, that is, the height of the rib 3224 at the outer periphery of the first rim 3223 is 5mm, so that the outer periphery of the first rim 3223 can be formed A groove for accommodating a certain amount of rope 4000, so as to further avoid the phenomenon that the rope 4000 falls outside the first rim 3223 during the rope assembly 3200. At the same time, the middle part of the first rim 3223 is provided with a perforation 3225. A locking hole 3226 is provided on the spoke 3222 , and one end of the rope 4000 fixedly connected with the winch 3220 passes through the through hole 3225 and is fastened in the locking hole 3226 .

Referring to Figures 2 to 4, the second surface of the motor support plate 3120 is provided with an ESC 3240 on the outer periphery of the rope 4000 motor, which is equal in number to the rope 4000 motor, and the ESC 3240 is electrically connected to the opposite rope 4000 motor. The ESC 3240 model It is preferably C610, and the rope 4000 motor preferably adopts the model M2006 brushless DC motor (other types of brushless DC motors can also be selected according to the environment in which the robot is used), and the output shaft output torque of the rope 4000 motor is 1N.m. The first rim 3223 of the winch 3220 can output a 40N rope 4000 pulling force. In this embodiment, the rope 4000 motor is set to drive the winch 3220 to rotate clockwise to release the rope, and to rotate counterclockwise to receive the rope; and the rope 4000 motor has its own internal The photoelectric encoder can read the position information of the motor of the rope 4000 in real time, and the motor can run according to the requirements of the environment through the drive of the electric regulator 3240, so as to realize the precise control of the distance of the winch 3220 to retract and release the rope 4000.

In addition, the diameter of the outer edge of the steering pulley 3330 is 11 mm, and the outer edge is provided with a V-shaped groove with a groove depth of 1 mm to further reduce the risk of the rope 4000 falling off.

5 to 7, in order to further reduce the friction force when the rope 4000 passes through the rope outlet hole 3112, the first rope guide hole 3311 and the second rope guide hole 3312, the rope outlet hole 3112, the first rope guide hole 3311 and the second guide rope hole 3312 are respectively provided with a guide rope ring 3320, the guide rope ring 3320 is made of a material with a lower surface friction coefficient, the described guide rope ring 3320 is stepped, and the outer diameter of the described guide rope ring 3320 is smaller The small end is inserted into the rope outlet hole 3112, the first rope guide hole 3311 and the second rope guide hole 3312 respectively, and the end with a larger outer diameter of the rope guide ring 3320 is exposed to the rope outlet hole 3112, the first rope guide hole 3112, and the first rope guide hole 3312. The ends of the hole 3311 and the second rope guide hole 3312 are outside.

With reference to Fig. 8, in order to improve the rotational stability of capstan 3220, described capstan 3220 is far away from the axle center of rope 4000 motor support plate 3120 and is connected with rotating fulcrum 3230, and the end of described rotating fulcrum 3230 passes through capstan The support plate 3110 is also connected with a pressure cap 3231, that is, the fixed shaft 3221 of the winch 3220 and the output shaft of the rope 4000 motor cooperate together, so that the rotation of the winch 3220 is that the two ends of the fixed shaft 3221 are evenly stressed, and avoid due to unilateral tension during the rotation process. Shaking caused by slight deformation when the shaft is connected reduces the generation of vibration when the robot moves, thereby achieving smooth and smooth movement; On the shaft 3230 and on the output end of the rope receiving motor 3230 between the winch 3220 and the motor support plate 3120, a pressure bearing 3210 is arranged; The fixed shaft 3221 of the winch 3220 becomes a simply supported beam structure, which improves the connection strength between the winch support plate 3110 and the motor support plate 3120, thereby enhancing the overall rigidity of the mobile platform 3000, and the pressure bearing 3210 is preferably a thrust ball bearing. Thrust ball bearings, avoid the frictional resistance caused by the contact between the fixed shaft 3221 of the winch 3220 and the winch support plate 3110 and the motor support plate 3120, and between the pressure cap 3231 and the winch support plate 3110 when the fixed shaft 3221 rotates, and prevent the cable assembly from being stuck 3200 The possibility of the failure of the retractable rope.

Specifically, referring to Fig. 8 and Fig. 9, a connection hole is provided at the center of the fixed shaft 3221, and the output ends of the rotation support shaft 3230 and the rope 4000 motor are respectively connected to the two ends of the connection hole, while the fixed shaft 3221 is provided with The locking holes 3226 at both ends of the connecting hole are connected respectively, and the rotating support shaft 3230 and the output end of the motor are fastened to the fixed shaft 3221 through the locking holes 3226 through bolts.

3 to 5, the bracket 3100 includes a support plate 3130, the support plate 3130 is connected to the second surface of the motor support plate 3120 through the second connecting column 3121; each group of the attitude control assembly 3400 It includes: side frames 3420 respectively connected to the outer periphery of the motor support plate 3120 and the supporting support plate 3130; a flywheel motor 3410 arranged on the side frame 3420, specifically, the flywheel motor 3410 is arranged on the inner side of the side frame 3420, and the flywheel The output shaft of the motor 3410 passes through the side frame 3420 and faces the outside of the bracket 3100, and the output shaft of the flywheel motor 3410 is perpendicular to the second surface of the motor support plate 3120; An inertial flywheel 3440 connected by a shaft; wherein, the output shafts of the flywheel motors 3410 of the adjacent two groups of attitude control assemblies 3400 are respectively oriented to the first horizontal axis and the second horizontal axis. Specifically, the posture control components 3400 in this application can be divided into two groups, but the adjacent two groups of posture control components 3400 are likely to make the center of mass of the robot deviate from the center vertical line, and the control ability is limited, and the adjustment burden of the inertial flywheel during operation It is very large, so in the embodiment of the present application, preferably there are 4 sets of attitude control assemblies 3400, and the 4 sets of attitude control assemblies 3400 are distributed rotationally symmetrically along the vertical line of the center of mass center of the bracket 3100, and the clamps between each set of attitude control assemblies 3400 The angle is 90°, so that there are two sets of attitude control assemblies 3400 on the first horizontal axis and the second horizontal axis, which improves the control ability. When the position of the rope-driven UAV changes, the flywheel motor 3410 changes the rotational speed of the inertial flywheel 3440, which brings about a change in angular momentum, causing the mobile platform 3000 to generate reverse motions along the first horizontal axis and the second horizontal axis. moment, so that the mobile platform 3000 is stabilized on the original posture.

It should be mentioned that the inertia flywheel 3440 is made of 6061 aluminum alloy material, and also adopts the spoke structure, including the second spoke 3441 and the second rim 3442, the thickness of the second rim 3442 is 4mm, and the outer surface of the second rim 3442 is The diameter is 150mm, the inner diameter is 134mm, and the width of the second spoke 3441 is 6mm, so as to control the mass of the entire inertia flywheel 3440 to concentrate on the second rim 3442, so as to ensure that a larger moment of inertia can be obtained under the premise of lighter weight; the flywheel The motor 3410 is preferably a NIDEC brushless DC motor. The adjustable speed range of the flywheel motor 3410 is plus or minus 6000rpm, and the power supply voltage is 24V. , to facilitate speed control.

In addition, the side frame 3420 adopts the form of an X-shaped frame to be respectively fixed to the outer periphery of the motor support plate 3120 and the supporting support plate 3130, so as to ensure the light weight design on the basis of connection strength, and reduce the weight of the mobile platform 3000 of the side frame 3420.

2 to 4, in order to facilitate the control of each group of the attitude control group, the bracket 3100 also includes a bottom plate 3140, the bottom plate 3140 is connected to the second surface of the supporting support plate 3130 through the third connecting column 3131; The attitude control assembly 3400 also includes an attitude control board 3450 and a second power supply 3460 arranged on the first surface of the base plate 3140 close to the supporting support plate 3130, and the attitude control board 3450 is electrically connected to the second power supply 3460 and the flywheel motor 3410 respectively. sexual connection. Specifically, the flywheel motor 3410 is driven by PWM waves. The power line and the encoder communication line of the flywheel motor 3410 are connected to the attitude control board 3450. One attitude control board 3450 can load up to four flywheel motors 3410. The 3450 calculates the required acceleration and changes the duty cycle of the PWM to adjust the acceleration and deceleration speed of the flywheel motor 3410 , while the second power supply 3460 supplies power to the attitude control board 3450 and the flywheel motor 3410 .

In order to facilitate the control of the mobile platform 3000, the support 3100 also includes a main control support 3150, the main control support 3150 is connected to the second surface of the motor support plate 3120, and the main control support 3150 is located between at least four rope-drawing motors 3230 Between; the mobile platform 3000 also includes a main control device 3500 and a first power supply 3600, the main control device 3500 is arranged on the first surface of the main control bracket 3150 close to the motor support plate 3120, and the first power supply 3600 is arranged on On the first surface of the support plate 3130, the main control power supply is electrically connected to the first power supply 3600, the attitude control board 3450 and the rope receiving motor 3230 respectively. Specifically, the main control device 3500 preferably adopts the Robomaster development board type A, which is lightweight, highly integrated and rich in interfaces, and basically all the hardware required to drive the robot is concentrated on the development board. The motion algorithm program of the robot is driven by the STM32F427 chip on the A-type board, and the CAN command sent by the chip is used to control the ESC 3240 of the driving device to change the speed and position of the rope 4000 motor, thereby controlling the overall rope-driven drone. Sports; there are 24V and 12V power supply ports on the board, which can directly provide 24V voltage for the ESC 3240 and 12V voltage for the gimbal and other equipment. There are also multiple PWM terminals on the board, which can output PWM waves to control the gimbal The direction of rotation and the speed of the flywheel of the balance device; there is a Bluetooth interface on the development board, and the movement of the robot can be remotely controlled through other Bluetooth devices by connecting the Bluetooth module.

4 to 6, in order to further reduce the weight of the bracket 3100, a first weight reduction hole is hollowed out on the winch support plate 3110, and the first weight reduction hole includes a first circle between the corresponding winch 3220 and the first rope passing hole. The hole 3114 corresponds to the fan-shaped hole 3115 on the outside of the winch 3220. On the other hand, the first weight-reducing hole is also convenient for the user to observe the working state of the robot. For example, through the first round hole 3114, the retractable situation of the rope 4000 and whether there is a jam can be observed. Through the fan-shaped hole 3115, the operation of the winch 3220 and the state of the rope 4000 on the winch 3220 can be observed. The fan-shaped hole 3115 can also be used to rewind the rope when the rope 4000 is separated from the winch 3220, which brings many advantages to the debugging of the robot. Convenient; and several rectangular holes 3113 are also set on the winch 3220 support plate, which can be used to fix the additional Bluetooth module; and the motor support plate 3120 is provided with a through hole 3122 at the center so that the main control device 3500 can be loaded and Take it out, and set an oblong hole 3123 on the outside of the rope 4000 motor to facilitate the passing of the electric regulator 3240.

In addition, a second weight-reducing hole 3132 capable of reducing weight is also provided on the supporting support plate 3130 , so as to further reduce the weight of the mobile platform 3000 .

It should be mentioned that the winch support plate 3110 , the motor support plate 3120 , the supporting support plate 3130 and the bottom plate 3140 are all preferably made of lightweight carbon fiber material.

Referring to Fig. 10 and Fig. 11, in order to protect the mobile platform 3000 from being hit by external objects during operation and causing failure, the rope-driven UAV includes: surrounded by at least two shells 5000 that are rotationally symmetrical along the circumference of the bracket 3100 Composite housing; each of the shells 5000 includes: a ring portion 5100 surrounding the winch support plate 3110, a motor support plate 3120 and a support support plate 3130; a housing portion 5200 located outside the ring portion 5100, the The inner side of the receiving part 5200 is provided with an avoidance cavity 5210 for accommodating the inertia flywheel 3440; wherein, the ring part 5100 is provided with a ring edge 5110 abutting against the edge of the first surface of the winch support plate 3110; each of the ring parts 5100 is along the shell One side in the circumferential direction is provided with an avoidance ear 5120 toward the inside of the housing, and the avoidance ear 5120 is provided with a nut placement groove 5121, and the edge adjacent to the ring portion 5100 is provided with a fixing hole 5130 corresponding to the nut placement groove 5121 . Specifically, after a plurality of shells 5000 form a casing, the ring part 5100 wraps around the bracket 3100, and the avoidance cavity 5210 of the receiving part 5200 provides a working space for the inertia flywheel 3440, and by setting the nut on the nut placement groove 5121, the The screws passing through the fastening holes 5130 can be threaded to fasten the entire housing.

The above is only a preferred embodiment of the present invention, and the present invention is not limited to the above-mentioned embodiment, as long as it achieves the technical effect of the present invention by the same means, within the spirit and principles of the present disclosure, any Any modification, equivalent replacement, improvement, etc., shall be included within the protection scope of the present disclosure. All should belong to the protection scope of the present invention. Various modifications and changes may be made to the technical solutions and/or implementations within the protection scope of the present invention.

Claims (10)

1. The utility model provides an unmanned aerial vehicle is driven to rope based on inertia flywheel gesture is adjusted which characterized in that includes:

at least three anchorages (2000) arranged on a building (1000);

the mobile platform (3000) can move inside the building (1000), the mobile platform (3000) is respectively connected with each anchoring piece (2000) through a corresponding number of ropes (4000), wherein the mobile platform (3000) comprises a bracket (3100), a rope assembly (3200) which is arranged on the bracket (3100) and is used for collecting and releasing each rope (4000) and at least two groups of attitude control assemblies (3400);

wherein the rotation angles of the bracket (3100) in a first horizontal axis direction and a second horizontal axis direction, which are perpendicular to each other, are respectively limited by at least two groups of the attitude control assemblies (3400) in the moving process.

2. The inertia flywheel (3440) attitude adjustment based rope driven drone of claim 1, wherein the mount (3100) comprises:

a motor support plate (3120);

the winch support plate (3110) is connected to the first face of the motor support plate (3120) through a first connecting column (3111), and at least three rope outlet holes (3112) for allowing a rope (4000) to pass through are formed in the middle of the winch support plate (3110) along the circumference;

at least three sets of the rope subassembly (3200) along the circumference setting on the motor extension board (3120), each set of rope subassembly (3200) includes:

the rope winding motor (3230), the rope winding motor (3230) is fixed on the motor support plate (3120);

the winch (3220) is connected with an output end shaft of the rope collecting motor (3230);

wherein one end of the rope (4000) passes through the rope outlet hole (3112) and is fixed on the first rim (3223) of the winch (3220).

3. The rope driven unmanned aerial vehicle based on inertial flywheel (3440) attitude adjustment of claim 2,

the rope winding motor (3230) is arranged on the second surface of the motor support plate (3120), an output shaft of the rope winding motor (3230) penetrates through the first surface of the motor support plate (3120) and is connected with the shaft of the winch (3220), and the first surface and the second surface are opposite to each other;

the mobile platform (3000) further comprises a steering assembly (3300), the steering assembly (3300) comprising:

a steering support (3310) disposed on a second side of the winch plate (3110), the steering support (3310) being located between at least three winches (3220);

a diverting pulley (3330) in supporting relationship with the diverting bracket (3310), the diverting pulley (3330) being arranged on a second face of the diverting bracket (3310);

wherein the rope (4000) between the rope outlet opening (3112) and the winch (3220) is passed around the diverting pulley (3330).

4. The rope driven drone based on inertia flywheel (3440) attitude adjustment according to claim 3, characterized in that the steering assembly (3300) further comprises:

at least three first rope guiding holes (3311) arranged at the outer side of the steering bracket (3310), wherein the first rope guiding holes (3311) respectively face each winch (3220), and a rope (4000) between the steering pulley (3330) and the winch (3220) is arranged in the first rope guiding holes (3311) in a penetrating manner;

a second rope guide hole (3312) arranged in the middle of the steering support (3310), wherein the first rope guide hole (3311) corresponds to the rope outlet hole (3112), and a rope (4000) between the steering pulley (3330) and the rope outlet hole (3112) penetrates through the second rope guide hole (3312);

the distance between the central shaft of the first rope guide hole (3311) and the first surface of the motor support plate (3120) is equal to the distance between the middle part of the rim of the winch (3220) and the first surface of the motor support plate (3120);

the central axis of the first rope guiding hole (3311) is vertical to the central axis of the second rope guiding hole (3312), and the axial line of the first rope guiding hole (3311) and the axial line of the second rope guiding hole (3312) are respectively tangent to the outer edge of the diverting pulley (3330).

5. The rope driven drone based on inertia flywheel (3440) attitude adjustment according to claim 4, characterized in that,

go out and be equipped with rope guide ring (3320) on rope hole (3112), first rope guide hole (3311) and second rope guide hole (3312) respectively, rope guide ring (3320) are the echelonment, rope guide ring (3320) the less one end of external diameter is inserted respectively and is gone out rope hole (3112), first rope guide hole (3311) and second rope guide hole (3312), the great one end of rope guide ring (3320) external diameter expose in go out the tip of rope hole (3112), first rope guide hole (3311) and second rope guide hole (3312).

6. The rope driven drone based on inertia flywheel (3440) attitude adjustment according to claim 3, characterized in that,

a rotating fulcrum shaft (3230) is connected to the axis of the winch (3220) away from the first surface of the motor support plate (3120), and the end of the rotating fulcrum shaft (3230) penetrates through the winch support plate (3110) and is connected with a pressing cap (3231);

pressure bearings (3210) are arranged on output ends of a rope retracting motor (3230) between the pressure cap (3231) and the winch support plate (3110), on a rotating fulcrum shaft (3230) between the winch (3220) and the winch support plate (3110) and between the winch (3220) and the motor support plate (3120).

7. The rope driven drone based on inertia flywheel (3440) attitude adjustment of claim 2, characterized in that,

the support (3100) comprises a bearing support plate (3130), and the bearing support plate (3130) is connected with the second surface of the motor support plate (3120) through a second connecting column (3121);

each set of the attitude control assemblies (3400) comprising:

side frames (3420) respectively connected to the peripheries of the motor support plate (3120) and the bearing support plate (3130);

the flywheel motor (3410) is arranged on the side frame (3420), an output shaft of the flywheel motor (3410) faces the outer side of the support frame (3100), and an output shaft of the flywheel motor (3410) is perpendicular to the second surface of the motor support plate (3120);

and an inertia flywheel (3440) connected to an output shaft of the flywheel motor (3410) by a coupling (3430);

wherein, the output shafts of the flywheel motors (3410) of two adjacent groups of the attitude control assemblies (3400) face to a first horizontal axial direction and a second horizontal axial direction respectively.

8. The rope driven drone based on inertia flywheel (3440) attitude adjustment of claim 7, wherein,

the support (3100) further comprises a bottom plate (3140), and the bottom plate (3140) is connected with the second surface of the bearing support plate (3130) through a third connecting column (3131);

the attitude control assembly (3400) further comprises an attitude control plate (3450) and a second power supply (3460), wherein the attitude control plate (3450) and the second power supply are arranged on a first surface, close to the supporting support plate (3130), of the base plate (3140), and the attitude control plate (3450) is electrically connected with the second power supply (3460) and the flywheel motor (3410) respectively.

9. The rope driven drone based on inertia flywheel (3440) attitude adjustment of claim 7, wherein,

the support (3100) further comprises a main control support (3150), the main control support (3150) is connected with the second surface of the motor support plate (3120), and the main control support (3150) is located among the at least three rope collecting motors (3230);

the movable platform (3000) further comprises a main control device (3500) and a first power supply (3600), wherein the main control device (3500) is arranged on a first surface of the main control support (3150) close to the motor support plate (3120), the first power supply (3600) is arranged on a first surface of the bearing support plate (3130), and the main control power supply is electrically connected with the first power supply (3600), the posture control plate (3450) and the rope winding motor (3230) respectively.

10. The inertia flywheel (3440) attitude adjustment based rope driven drone of claim 7, comprising:

a shell body enclosed by at least two shells (5000) which are rotationally symmetrical along the circumference of the support (3100);

each of the housings (5000) includes:

the ring part (5100) is arranged outside the winch support plate (3110), the motor support plate (3120) and the bearing support plate (3130) in a surrounding mode;

the device comprises an accommodating part (5200) arranged at the outer side of a ring part (5100), wherein an avoidance cavity (5210) for accommodating an inertia flywheel (3440) is arranged at the inner side of the accommodating part (5200):

wherein the ring portion (5100) is provided with a ring edge (5110) which is abutted against the edge of the first surface of the winch support plate (3110);

each ring portion (5100) is provided with an avoiding lug (5120) towards the shell along one side of the circumferential direction of the shell, a nut placing groove (5121) is formed in each avoiding lug (5120), and a fixing hole (5130) corresponding to the nut placing groove (5121) is formed in the edge of the adjacent ring portion (5100).

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