Hoisting posture adjusting device of aerial working robot for fan blades and control method

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Hoisting posture adjusting device of aerial working robot for fan blades and control method

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FANG YU / LI YU / FAN DIQING / LIU XINRONG / ZHANG HAIFENG / SHA LING / YANG HAO / GAO WEIWEI / ZHANG AIHUA

The invention discloses a hoisting posture adjusting device for a fan blade high-altitude operation robot, which comprises a plurality of groups of rotor wings which are asymmetrically arranged on the periphery of a chassis of the high-altitude operation robot and are adjustable in spacing, and a detection unit is arranged on the bottom surface of the chassis. The detection unit is used for detecting distance information between different positions of the chassis and fan blades, each group of rotor wings are connected with the chassis through the storage rotating mechanism, the storage rotating mechanism is used for realizing rotation, contraction and extension of each group of rotor wings, and the detection unit and the storage rotating mechanism are both connected with the processor. The processor is further connected with a central control module of the aerial work robot and used for controlling the rotating speed of each set of rotor wings through the storage rotating mechanism according to distance information detected by the detection unit, so that the distances between different positions of the chassis and fan blades are adjusted, and posture adjustment of the aerial work robot is achieved. Meanwhile, a hoisting instruction of the central control module is received, and contraction or extension of each group of rotor wings is controlled through the storage rotating mechanism.

本发明公开了一种用于风机叶片高空作业机器人的吊装姿态调整装置，包括设置在高空作业机器人的底盘周边不对称布置且间距可调的多组旋翼，在底盘底面设置有检测单元，检测单元用于检测底盘不同位置和风机叶片之间的距离信息，每组旋翼均通过收纳旋转机构与底盘相连，收纳旋转机构用于实现每组旋翼的转动以及收缩和伸展，检测单元、收纳旋转机构均与处理器相连，处理器还与高空作业机器人的中央控制模块相连，用于根据检测单元检测的距离信息，通过收纳旋转机构控制每组旋翼的转动速度，从而调整底盘不同位置与风机叶片之间的距离，实现对高空作业机器人的姿态调整，同时接收中央控制模块的吊装指令，通过收纳旋转机构控制各组旋翼的收缩或者伸展。

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Title :

Hoisting posture adjusting device of aerial working robot for fan blades and control method

Additional title:

风机叶片高空作业机器人的吊装姿态调整装置及控制方法

Contributors:

FANG YU (author) / LI YU (author) / FAN DIQING (author) / LIU XINRONG (author) / ZHANG HAIFENG (author) / SHA LING (author) / YANG HAO (author) / GAO WEIWEI (author) / ZHANG AIHUA (author)

Publication date :

2022-12-09

Type of media :

Patent

Type of material :

Electronic Resource

Language :

Chinese

Classification :

IPC:

B64C AEROPLANES , Flugzeuge / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01M TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES , Prüfen der statischen oder dynamischen Massenverteilung rotierender Teile von Maschinen oder Konstruktionen