CN108713411A - A kind of screen of trees cleaning air-robot of duct structure - Google Patents
A kind of screen of trees cleaning air-robot of duct structure Download PDFInfo
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- CN108713411A CN108713411A CN201810192096.4A CN201810192096A CN108713411A CN 108713411 A CN108713411 A CN 108713411A CN 201810192096 A CN201810192096 A CN 201810192096A CN 108713411 A CN108713411 A CN 108713411A
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- robot
- trees
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- screen
- cutter
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
- A01G3/085—Motor-driven saws for pruning or branching
- A01G3/088—Circular saws
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- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
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- Forests & Forestry (AREA)
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Abstract
The invention discloses a kind of screens of trees of duct structure to clear up air-robot, including main platform body and operation cutter, multiple vertical ducts are set in main platform body, it is provided with rotor assemblies in each vertical duct, main platform body tail end is equipped with longitudinal thruster, and machine platform body front end is connected to operation cutter by work jibs, and longitudinal thruster is installed towards operation tool orientation, operation cutter is connected with cutter motor, and cutter motor is fixedly connected on the front end of work jibs.The present invention can realize that the aerial of transmission line of electricity screen of trees quickly cleans, avoid high voltage transmission line of the operating personnel at screen of trees, operation is safer, the efficiency of prune job can effectively be promoted and reduce operational risk, using whole duct structure, rotor assemblies, longitudinal thruster have anti-collision capacity, it can effectively prevent branch and leaf involve in rotor or propeller and equipment damage or robot is caused to be crashed, be conducive to air-robot and enter tight space operation, safety is good, and operating efficiency is high.
Description
Technical field
The present invention relates to a kind of screens of trees of duct structure to clear up air-robot, belongs to transmission line of electricity screen of trees cleaning plant skill
Art field.
Background technology
Screen of trees is a kind of security risk existing for electric transmission line channel, shows as the gradual prestige of continuous hyperplasia of trees in channel
Coerce the operational safety of transmission line of electricity.For this purpose, power departments at different levels will put into a large amount of human and material resources with financial resources to linchpin every year
Channel screen of trees in area carries out cleaning regulation.Current screen of trees cleaning depends on manual cleaning, and there is inefficient, peaces
Full blast nearly big deficiency, therefore there is an urgent need for a kind of power circuit channel screens of trees to clear up air-robot automatically.
Invention content
Present invention solves the technical problem that being：A kind of screen of trees cleaning air-robot of duct structure is provided, there is anti-collision
Function is hit, to solve the problems, such as that manual cleaning existing in the prior art is inefficient and security risk is big.
The technical solution that the present invention takes is：A kind of screen of trees cleaning air-robot of duct structure, including main platform body
With operation cutter, multiple vertical ducts are set in main platform body, rotor assemblies, main platform body tail end are equipped in each vertical duct
Longitudinal thruster is installed, main platform body front end is connected to operation cutter by work jibs, and longitudinal thruster is towards operation cutter
Direction is installed, and operation cutter is connected with cutter motor, and cutter motor is fixedly connected on the front end of work jibs.
Preferably, above-mentioned work jibs include mechanical arm and tool bar, and mechanical arm one end is fixedly connected in main platform body, separately
One end is fixedly connected with tool bar.
Preferably, above-mentioned longitudinal thruster can be also mounted at left and right sides of main platform body.
Preferably, above-mentioned mechanical arm uses foldable structure or stretching structure, includes the forearm and postbrachium of interconnection.
Preferably, the rear end of above-mentioned forearm is connected to the front end of postbrachium by folding joint.
Preferably, it is socketed in the back end activity of above-mentioned forearm the front end of postbrachium and is locked using locker.
Preferably, above-mentioned work jibs are two-stage structure, and are connected as one by Saving cortilage, and Saving cortilage includes fixing
Fork, cross axle, movable fork, cylindrical sleeve, spring and screw, fixation fork, activity fork, cylindrical sleeve are hollow cylindrical, cross axle
It is connected respectively by the rear portion of the front of bearing and fixation fork, activity fork, thus constitutes universal joint, the rear portion of fixation fork and operation
The back segment of arm is connected, and the front of cylindrical sleeve and the leading portion of work jibs are connected, the rear portion of cylindrical sleeve can slide axially, can opposite rotation
The form of sleeve turned is connect with the front of activity fork, and spring is cylinder, and fixation fork, activity fork and circle are installed in the form of package
The both ends of the outside of column sleeve, spring are connected with fixation fork and cylindrical sleeve respectively by two screws.
Preferably, the thrust axis of above-mentioned longitudinal thruster is overlapped with the Plane of rotation of operation cutter.
Preferably, above-mentioned rotor assemblies include rotor and rotor motor, and rotor is fixedly connected on the output shaft of rotor motor
On, rotor motor is fixedly connected on flight support arm, and flight support arm is fixedly connected on main platform body.
Preferably, above-mentioned folding joint include be arranged forearm rear end preceding connecting lever, rear connecting lever in postbrachium front end is set
And locking device, preceding connecting lever are hinged by articulated shaft with rear connecting lever and locking device are used to lock；Locking device includes being connected in
Postbrachium front end and the Step Shaft coaxial with postbrachium are connected in forearm rear end and the screw rod coaxial with forearm and are socketed on Step Shaft
Lock nut, the endoporus rear end of lock nut is equipped with convex step, and the front end of Step Shaft, which is equipped with, prevents lock nut from falling off
Evagination step, lock nut by Step Shaft docking coaxial with screw rod and can lock.The folding joint has the advantages of simple structure and easy realization,
It can effectively avoid vibrating caused lock release, Quick extension locking or folding storage can be carried out to work jibs.
Beneficial effects of the present invention：Compared with prior art, effect of the invention is as follows：
1) present invention installs rotor assemblies, longitudinal thruster and operation cutter on body, can realize transmission line of electricity
The aerial of screen of trees quickly cleans, and avoids high voltage transmission line of the operating personnel at screen of trees, operation is safer, can effectively be promoted
The efficiency of prune job simultaneously reduces operational risk, solves that manual cleaning existing in the prior art is inefficient and security risk
Big problem；
2) for air-robot using whole duct structure design, shape is flat, and rotor assemblies, longitudinal thruster have anti-
Collision energy, can effectively prevent branch and leaf involves in rotor or propeller and equipment damage or robot is caused to be crashed, favorably
Enter tight space operation in air-robot, safety is good, and operating efficiency is high；
3) add longitudinal thruster to combine type of drive using rotor assemblies, provided robot lift by rotor assemblies and implemented
Attitude stabilization and position control, and are removed obstacles by longitudinal thruster implementation and exit control into giving protection, control mode decouples, extremely has
Conducive to Project Realization；
4) it is connected using folding mode or stretch mode between air-robot forearm and postbrachium, effectively reduces complete machine ruler
It is very little, it convenient for storage and carries, stretch mode also allows for the adjustment of position of centre of gravity；
5) Saving cortilage set by has the mechanical damping degree of freedom of four direction, can effectively weaken screen of trees reaction force
Or influence of the vibration of torque and operation cutter to air-robot flight attitude；
6) thrust axis of longitudinal thruster is arranged and is overlapped with the Plane of rotation of operation cutter so that longitudinal thruster
Feeding thrust forward direction is applied on operation cutter, avoids the pitch attitude to air-robot from generating additional moment, to advantageous
Stabilization in air-robot and control；
7) battery pack is placed in the rear portion of air-robot, plays good counterweight effect, while work jibs are with respect to body
It front and back can adjust, it can be achieved that air-robot center of gravity is quickly adjusted；
8) folding joint that the present invention uses has the advantages of simple structure and easy realization, and can effectively avoid vibrating caused lock release,
Quick extension locking or folding storage can be carried out to work jibs；
9) this air-robot can be used for carrying out the operations such as high-altitude installation, cleaning or repair to large scale equipment and building.
Description of the drawings
Fig. 1 is the structural diagram of the present invention (telescopic work jibs)；
Fig. 2 is the structural schematic diagram of the present invention (longitudinal thruster is located at main platform body both sides)；
Fig. 3 is the structural schematic diagram (folding type operational arm) of the present invention；
Fig. 4 is folding joint structural schematic diagram (stretching, extension use state)；
Fig. 5 is folding joint structural schematic diagram (folding storage state)；
Fig. 6 is Saving cortilage structural schematic diagram；
Fig. 7 is Saving cortilage overall schematic.
In figure, 1-rotor, 2-rotor motors, 3-flight support arms, 4-main platform bodies, 5-flight controllers, 6-
Battery pack, 7-longitudinal thrusters, 8-are longitudinally propelling motor, and 9-are longitudinally propelling propeller, 10-folding joints, 11-forearms,
12-Saving cortilages, 13-tool bars, 14-cutter motors, 15-operation cutters, 16-connectors, 17-lockers, 18-hang down
Straight duct, 19-mechanical arms, 20-work jibs, 21-postbrachiums；
1001-preceding connecting levers, 1002-rear connecting levers, 1003-articulated shafts, 1004-Step Shafts, 1005-lock nuts,
1006-screw rods；
1201-fixation forks, 1202-cross axles, 1203-activity forks, 1204-cylindrical sleeves, 1205-springs, 1206-
Screw.
Specific implementation mode
In the following, the present invention is described further in conjunction with attached drawing and specific embodiment.
Embodiment 1：As shown in Fig. 1-Fig. 7, a kind of screen of trees cleaning air-robot of duct structure, including main platform body 4
With operation cutter 15；Symmetrical multiple vertical ducts 18 are set in main platform body 4, rotor is equipped in each vertical duct 18
Component；The installation of 4 tail end of main platform body is provided with propulsion or retreats power and symmetrical two longitudinal thrusters 7, machine platform
4 front end of main body is connected to operation cutter 15 by work jibs 20；Longitudinal thruster 7 is installed towards 15 direction of operation cutter, operation
Cutter 15 is connected with cutter motor 14, and cutter motor 14 is fixedly connected on the front end of work jibs 20；Pacify in 4 centre of main platform body
Equipped with flight controller 5,4 rear portion centre position of main platform body is equipped with battery pack 6, and battery pack 6 is located in two longitudinal thrusters 7
Between；Inertial Measurement Unit (IMU), satellite navigation receiver, barometertic altimeter and flight control calculate built in flight controller 5
Machine further includes being installed on the communication module that flying quality and onboard image are used for transmission in main platform body 4.
The fixed output shaft in center of longitudinal thruster 7 be equipped be longitudinally propelling propeller 9 be longitudinally propelling motor 8, indulge
It can be rotated forward or backwards to propelling screws 9, thus under the premise of keeping air-robot horizontal attitude and constant height,
Operation of accurately removing obstacles for it provides forward or backward power.
Preferably, cutter motor 14 is connected with the cutter controller of its rotation of driving, and cutter controller is built in work jibs
20 or main platform body 4 in, and connect with flight controller；The revolution speed sensing of built-in 15 rotating speed of perception operation cutter of cutter motor 14
Device, cutter controller are built-in with the current sensor of 14 operating current of perception cutter motor, and speed probe uses photoelectric coding
Device or Hall sensor, current sensor use current transformer, the two to be connect with cutter controller；Cutter controller is fixed
Meter is set up, the style interfaces such as analog quantity or pulsed quantity, the digital quantity of corresponding above-mentioned concrete type sensor are equipped with.
Preferably, above-mentioned work jibs 20 include mechanical arm 19 and tool bar 13, and 19 one end of mechanical arm is fixedly connected on platform
In main body 4, the other end is fixedly connected with tool bar 13 by connector 16；Connector 16 has mechanical and electrical dual linkage function, just
In quick despatch or replacement, storage is more convenient, and connector 16 is connected using ring flange or nut-screw rod quickly connects, and connects accordingly
Socket part position is equipped with electric connector head.
Preferably, above-mentioned longitudinal thruster 7 can also be mounted on 4 left and right sides of main platform body to substitute tail portion mounting means.
Preferably, above-mentioned mechanical arm 19 uses foldable structure or stretching structure, includes the forearm 11 and postbrachium of interconnection
21, postbrachium 21 is fixedly connected on 4 front end of main platform body；Stretching structure can make the whole center of gravity and main platform body 4 of air-robot
The projection at center overlaps, and also allows for storing；Forearm 11 and postbrachium 21 are polygonal cross-section pipe or pipe, when for stretching structure,
Pipe is oriented to groove with anti-torsion.
Preferably, the rear end of above-mentioned forearm 11 is connected to the front end of postbrachium 21 by folding joint 10, such as Fig. 4, Fig. 5 institute
Show, folding joint 10 include be arranged 11 rear end of forearm preceding connecting lever 1001,1002 and of rear connecting lever in 21 front end of postbrachium is set
Locking device, preceding connecting lever 1001 is hinged by articulated shaft 1003 with rear connecting lever 1002 and is locked by locking device；Locking device
Including being connected in 21 front end of postbrachium and the Step Shaft 1004 coaxial with postbrachium 21, being connected in 11 rear end of forearm and coaxial with forearm 11
Screw rod 1006 and the lock nut 1005 that is socketed on Step Shaft 1004, the endoporus rear end of lock nut 1005 be equipped with inner convex platform
Rank, the front end of Step Shaft 1004, which is equipped with, prevents the evagination step that lock nut 1005 falls off, lock nut 1005 can be by Step Shaft
1004 docking coaxial with screw rod 1006 simultaneously lock.The folding joint has the advantages of simple structure and easy realization, and can effectively avoid caused by vibration
Lock release can carry out Quick extension locking or folding storage to work jibs 20.
Preferably, it is socketed in the back end activity of above-mentioned forearm 11 front end of postbrachium 21 and is locked using locker 17, it is preceding
21 coaxial line of arm 11 and postbrachium, locker 17 include be arranged socket outer tube on one or more relative to 20 axis of work jibs
Radial clamping screw.
Preferably, above-mentioned work jibs 20 are two-stage structure, and are connected as one by Saving cortilage 12；Such as Fig. 6, Fig. 7 institute
Show, Saving cortilage 12 has stress buffering and operation dynamics perceptional function, including fixation fork 1201, cross axle 1202, activity fork
1203, cylindrical sleeve 1204, spring 1205 and screw 1206, fixation fork 1201, activity fork 1203, cylindrical sleeve 1204 are hollow circle
Cylindricality, cross axle 1202 are connect by bearing with the rear portion of the front of fixation fork 1201, activity fork 1203 respectively, thus constitute tool
Have a universal joint for being rotated up and down (pitching) and rotating left and right (course) degree of freedom, the rear portion of fixation fork 1201 with after work jibs 20
Section is connected, and the front of cylindrical sleeve 1204 and the leading portion of work jibs 20 are connected, the rear portion of cylindrical sleeve 1204 can slide axially, can phase
The form of sleeve of rotation (rolling) is connect with the front of activity fork 1203, spring 1205 is cylinder, is installed in the form of wrapping up
In the outside of fixation fork 1201, activity fork 1203 and cylindrical sleeve 1204, the both ends of spring 1205 by two screws 1206 respectively with
Fixation fork 1201 and cylindrical sleeve 1204 are connected.Saving cortilage 12 possesses the mechanical damping degree of freedom of four direction, can effectively weaken
Influence of the vibration of screen of trees reaction force or torque and operation cutter 15 to air-robot flight attitude.
The opposite course angle for rotating left and right (course) amplitude of both perception is equipped between cross axle 1202 and fixation fork 1201
Sensor is spent, the opposite pitch angle for being rotated up and down (pitching) amplitude of both perception is equipped between cross axle 1202 and activity fork 1203
Sensor is spent, the axial position of both perception axial relative movement (axial direction) amplitude is equipped between cylindrical sleeve 1204 and activity fork 1203
The roll angle sensor of both displacement sensor, perception relative rotary motion (rolling) amplitude, therefore Saving cortilage 12 can perceive
The screen of trees reaction force or torque of four direction suffered by operation cutter 15, and as tool feeding or exit, air-robot appearance
The control of state or high fine-tuning inputs, and making to remove obstacles, it is more accurate to control.Wherein, photoelectricity volume can be used in above-mentioned each angular transducer
Slide rheostat or grating scale etc., active force or Calculating Torque during Rotary can be used in code device or potentiometer etc., upper displacement sensors：Pass through
Bending stiffness, torsion stiffness and the tensible rigidity of displacement and spring that each angular transducer and displacement sensor measure are counted
It calculates and obtains each active force (stretching or compressing force) or torque (course torque, pitching moment, torsional moment).
Opposite stress-the displacement in both ends (cylindrical sleeve 1204 and fixation fork 1201) of Saving cortilage 12 is demarcated using scaling method
Or the curve by torque-angle, the axial rigidity curve, pitch stiffness curve, course rigidity to obtain Saving cortilage 12 are bent
Line and torsion stiffness curve pass through each stiffness curve and corresponding displacement or angle, you can acquire 12 both ends of Saving cortilage by
Power or torque.
The flight controller be directed to above-mentioned angular transducer and displacement sensor, be equipped with corresponding analog quantity (voltage or
Electric current) or the style interfaces such as digital quantity (including bus), pulsed quantity, frequency quantity, PWM is set also directed to rotor assemblies or bus connects
Mouthful, for communication module and cutter controller, bus interface is set.The bus includes CAN, RS-485/422/232, Ethernet
Or the types such as airborne-bus.
Preferably, the thrust axis of above-mentioned two longitudinal thruster 7 is overlapped with the Plane of rotation of operation cutter 15 so that vertical
It is applied on operation cutter 15 to the feeding thrust forward direction of propeller 7, avoids the pitch attitude to air-robot from generating additional
Torque, to be conducive to stabilization and the control of air-robot.
Preferably, above-mentioned rotor assemblies include rotor 1 and rotor motor 2 and machine governor, and rotor 1 is fixedly connected on
On the output shaft of rotor motor 2, rotor motor 2 is fixedly connected on flight support arm 3, and flight support arm 3 is fixedly connected on flat
The rotor 1 of platform main body 4, adjacent rotor component turns to the speed controling signal on the contrary, machine governor reception flight controller 5,
Rotor motor 2 is driven to rotate, to provide lift for air-robot and realize attitude stabilization and the control of air-robot.Rotation
The even number that the quantity of wing component is >=4.
Following coaxial double-oar mode also can be used in rotor assemblies：Rotor 1, rotor motor 2 in rotor assemblies and motor tune
Fast device respectively has a pair, and two 2 tail portion of rotor motor is opposite, shaft is outside, the upper and lower coaxial outer end for being installed on flight support arm 3,
Two rotors 1 be positive and negative rotation direction pairing, be respectively arranged in the shaft of two rotor motors 2, by adjusting machine governor with
The polarity of 2 line of rotor motor makes the lift of two rotors 1 of same rotor assemblies be upward.Rotor assemblies under which
Quantity >=3.
Preferably, camera is installed, the camera lens of camera is towards 15 side of operation cutter in main platform body 4 or work jibs 20
To；Camera is used for the formalness to screen of trees, the effect that screen of trees is cleared up, the working condition of operation cutter 15 and carries out short distance sight
It examines, control is fed or exit convenient for the safety of operation cutter 15.
Preferably, battery pack 6 include to rotor assemblies power supply, to the power supply of longitudinal thruster 7, to cutter motor 14 and cutter
Controller power supply, the battery powered to flight controller 5 and airborne sensor.
Preferably, the outside of cutter structure is equipped with the safety guard plate for preventing being flown after branches and leaves splashing or saw blade fragmentation.
Preferably, 4 bottom of above-mentioned main platform body is provided with undercarriage.
Preferably, the function of the realization of flight controller 5 includes：
1) information such as attitude angle, angular speed, acceleration, satellite positioning, height and speed of air-robot are acquired in real time,
Combined ground telecommand (passes through the wireless connection of flight controller and ground remote control device), calculates the rotary speed instruction of all rotors
And it exports to above-mentioned rotor assemblies, to realize stabilization and the control of air-robot posture and position；
2) the output control instruction that longitudinal thruster 7 is generated according to ground telecommand realizes aerial machine when screen of trees cleaning
Feeding forward under device people's horizontal attitude exits back control；
3) the screen of trees reaction force (axial direction) or torque (pitching, boat suffered by operation cutter 15 are perceived by Saving cortilage 12
To, rolling), once reaction force or torque meet or exceed scheduled protection thresholding, it can determine that cutter is in overload, i.e.,
Cutter controller and flight controller automatic synchronization is enabled to enter protected mode：Control operation cutter 15 first brakes to be inverted afterwards, simultaneously
Control air-robot moves backward exits operation；If above-mentioned reaction force or torque are less than scheduled protection thresholding, by conduct
The control input of air-robot movement fine tuning, specific control method are as follows：
A the axial force of the perception of Saving cortilage 12 when removing obstacles) is set as X, backward for just, corresponding operation thresholding is λX, it is ineffective
Quick area is δX, wherein λX> 0,0≤δX< λX, have：
If --- X<0, judgement air-robot by screen of trees forward direction pulling force, flight controller can take following measure it
One：The fine tuning 1. control air-robot travels forward, continues operation of currently removing obstacles if X forward direction increases, if X is constant or negative sense increases
Add, goes to 2.；2. control air-robot enters floating state, while earthward personnel send safety report by communication module
Alert information, in the hope of manual intervention；
If --- X < λX-δX, flight controller control air-robot travels forward fine tuning, so that axial force is increased, realization
Axially self operation is fed；
If --- | X- λX|≤δX, flight controller control air-robot holding hovering, axial feeding zero；
If --- X > λX+δX, flight controller control air-robot move fine tuning backward, so that axial force is reduced, realization
Axially self protection retracts.
B the course torque of the perception of Saving cortilage 12 when removing obstacles) is set as N, and it is just that corresponding operation thresholding is to the right to overlook
λN, dead band δN, wherein λN> 0,0≤δN< λN, have：
If --- | N | < λN-δN, flight controller controls air-robot to making | N | increased direction move fine tuning and navigates
To the horizontal lateral automatic job feeding of realization；
If --- | N |-λN|≤δN, the current course of flight controller control air-robot holding, the horizontal lateral amount of feeding
It is zero；
If --- | N | > λN+δN, flight controller controls air-robot to making | N | the direction of reduction move fine tuning and navigates
To realizing level, laterally automatic protection retracts.
C the pitching moment of the perception of Saving cortilage 12 when removing obstacles) is set as M, upwards for just, corresponding dead band is δM,
In, δM>=0, have：
If --- | M | > δM, flight controller controls air-robot to making | M | the direction of reduction moves height-fine adjustment；
If --- | M |≤δM, flight controller control air-robot holding present level.
4) according to the current of electric and cutter rotary speed information of cutter controller acquisition, the mistake of operation cutter 15 is assessed in real time
Load, card resistance and faulted condition, appraisal procedure are as follows：
--- if current of electric is more than electric current predetermined threshold, can determine that the overload of operation cutter 15 or card resistance；
--- if cutter rotating speed is less than rotating speed predetermined threshold, can determine that the overload of operation cutter 15 or card resistance；
--- if there is periodically pulsation in current of electric or cutter rotating speed, can determine that operation cutter 15 has damage.Reason
It is, if the cutter of working in reciprocating mode will cause knife there are defect, dynamic balancing imbalance and the cyclically-varying of suffered screen of trees resistance
Has the periodically pulsing of rotating speed and current of electric.
Once there are above-mentioned steps 4) in either case i.e. quickly through cutter controller to cutter motor 14 output first stop
Toggling command after vehicle exports deboost instruction to longitudinal thruster 7, to realize that air-robot protectiveness is kept out of the way, leads to simultaneously
Crossing the communication module, earthward personnel send security alarm information.
The above description is merely a specific embodiment example, scope of protection of the present invention is not limited thereto.It is ripe
It knows the those skilled in the art in the technical scope disclosed by the present invention, change or replacement mode can be easily found, these
It should be covered by the protection scope of the present invention.For this purpose, protection scope of the present invention should be with the protection model of the claim
Subject to enclosing.
Claims (10)
1. a kind of screen of trees of duct structure clears up air-robot, it is characterised in that：Including main platform body (4) and operation cutter
(15), multiple vertical ducts (18) are set in main platform body (4), rotor assemblies, platform master are equipped in each vertical duct (18)
Body (4) tail end is equipped with longitudinal thruster (7), and main platform body (4) front end is connected to operation cutter (15) by work jibs (20),
Longitudinal thruster (7) is installed towards operation cutter (15) direction, and operation cutter (15) is connected with cutter motor (14), cutter motor
(14) it is fixedly connected on the front end of work jibs (20).
2. a kind of screen of trees of duct structure according to claim 1 clears up air-robot, it is characterised in that：Work jibs
(20) include mechanical arm (19) and tool bar (13), mechanical arm (19) one end is fixedly connected in main platform body (4), and the other end is solid
Surely connection tool bar (13).
3. a kind of screen of trees of duct structure according to claim 1 clears up air-robot, it is characterised in that：It is longitudinally propelling
Device (7) can be also mounted at left and right sides of main platform body (4).
4. a kind of screen of trees of duct structure according to claim 2 clears up air-robot, it is characterised in that：Mechanical arm
(19) foldable structure or stretching structure are used, the forearm (11) and postbrachium (21) of interconnection are included.
5. a kind of screen of trees of duct structure according to claim 4 clears up air-robot, it is characterised in that：Forearm (11)
Rear end the front ends of postbrachium (21) is connected to by folding joint (10).
6. a kind of screen of trees of duct structure according to claim 4 clears up air-robot, it is characterised in that：Forearm (11)
Back end activity be socketed in postbrachium (21) front end and using locker (17) lock.
7. a kind of screen of trees of duct structure according to claim 1 clears up air-robot, it is characterised in that：Work jibs
(20) it is two-stage structure, and is connected as one by Saving cortilage (12), Saving cortilage (12) includes fixation fork (1201), cross
Axis (1202), activity fork (1203), cylindrical sleeve (1204), spring (1205) and screw (1206), fixation fork (1201), activity fork
(1203), cylindrical sleeve (1204) is hollow cylindrical, cross axle (1202) respectively by bearing and fixation fork (1201) before
The rear portion connection in portion, activity fork (1203), thus constitutes universal joint, the back segment at the rear portion and work jibs (20) of fixation fork (1201)
Be connected, the front of cylindrical sleeve (1204) and the leading portion of work jibs (20) are connected, the rear portion of cylindrical sleeve (1204) can slide axially,
Can relative rotation form of sleeve with activity fork (1203) front connect, spring (1205) be cylinder, in the form of wrapping up peace
Outside loaded on fixation fork (1201), activity fork (1203) and cylindrical sleeve (1204), the both ends of spring (1205) pass through two screws
(1206) it is connected respectively with fixation fork (1201) and cylindrical sleeve (1204).
8. a kind of screen of trees of duct structure according to claim 1 clears up air-robot, it is characterised in that：It is longitudinally propelling
The thrust axis of device (7) is overlapped with the Plane of rotation of operation cutter (15).
9. a kind of screen of trees of duct structure according to claim 1 clears up air-robot, it is characterised in that：Rotor assemblies
Including rotor (1) and rotor motor (2), rotor (1) is fixedly connected on the output shaft of rotor motor (2), and rotor motor (2) is solid
Surely it is connected on flight support arm (3), flight support arm (3) is fixedly connected on main platform body (4).
10. a kind of screen of trees of duct structure according to claim 5 clears up air-robot, it is characterised in that：It folds and closes
Save (10) include setting forearm (11) rear end preceding connecting lever (1001), setting postbrachium (21) front end rear connecting lever (1002) and
Locking device, preceding connecting lever (1001) is hinged by articulated shaft (1003) with rear connecting lever (1002) and is locked using locking device；Lock
It includes being connected in postbrachium (21) front end and the Step Shaft (1004) coaxial with postbrachium (21), being connected in forearm (11) rear end to determine device
And the screw rod (1006) coaxial with forearm (11) and the lock nut (1005) that is socketed on Step Shaft (1004), lock nut
(1005) endoporus rear end is equipped with convex step, and the front end of Step Shaft (1004) is outer equipped with preventing lock nut (1005) from falling off
Boss rank, lock nut (1005) by Step Shaft (1004) docking coaxial with screw rod (1006) and can lock.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810192096.4A CN108713411B (en) | 2018-03-08 | 2018-03-08 | Tree obstacle clearance aerial robot of duct structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810192096.4A CN108713411B (en) | 2018-03-08 | 2018-03-08 | Tree obstacle clearance aerial robot of duct structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108713411A true CN108713411A (en) | 2018-10-30 |
| CN108713411B CN108713411B (en) | 2023-10-20 |
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ID=63898746
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| CN201810192096.4A Active CN108713411B (en) | 2018-03-08 | 2018-03-08 | Tree obstacle clearance aerial robot of duct structure |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111377003A (en) * | 2020-03-30 | 2020-07-07 | 滁州贝安智能机器人科技有限公司 | Prevent toppling wall climbing robot |
| CN114488795A (en) * | 2021-12-30 | 2022-05-13 | 贵州电网有限责任公司 | Active-disturbance-rejection control method for multi-rotor aerial robot for tree obstacle clearing operation |
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| CN114488795A (en) * | 2021-12-30 | 2022-05-13 | 贵州电网有限责任公司 | Active-disturbance-rejection control method for multi-rotor aerial robot for tree obstacle clearing operation |
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