CN111758416A - Unmanned aerial vehicle is pruned to high altitude branch - Google Patents
Unmanned aerial vehicle is pruned to high altitude branch Download PDFInfo
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- CN111758416A CN111758416A CN202010709882.4A CN202010709882A CN111758416A CN 111758416 A CN111758416 A CN 111758416A CN 202010709882 A CN202010709882 A CN 202010709882A CN 111758416 A CN111758416 A CN 111758416A
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- 230000007246 mechanism Effects 0.000 claims abstract description 61
- 230000003028 elevating effect Effects 0.000 claims abstract description 7
- 230000008878 coupling Effects 0.000 claims abstract description 5
- 238000010168 coupling process Methods 0.000 claims abstract description 5
- 238000005859 coupling reaction Methods 0.000 claims abstract description 5
- 230000008859 change Effects 0.000 claims abstract description 3
- 230000005540 biological transmission Effects 0.000 claims description 61
- 238000009434 installation Methods 0.000 claims description 10
- 238000009966 trimming Methods 0.000 claims description 6
- 230000006978 adaptation Effects 0.000 claims description 2
- 238000013138 pruning Methods 0.000 abstract description 21
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 238000012544 monitoring process Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000001788 irregular Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Remote Sensing (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses an unmanned aerial vehicle for pruning high-altitude branches, which comprises an unmanned aerial vehicle and is characterized in that: the unmanned aerial vehicle lower extreme is equipped with the work frame, and the work frame is connected with unmanned aerial vehicle through the coupling mechanism of the dismouting of being convenient for, and work frame one end is equipped with the cutting mechanism of being convenient for to change, and cutting mechanism one end is equipped with swing mechanism, and the work frame other end is equipped with elevating system, and elevating system one end is equipped with the fixture of centre gripping branch, the beneficial effect of this invention: the swinging mechanism can drive the circular saw to do arc motion, can provide enough transverse power for the circular saw, can cut thick branches, and improves the application range of the invention.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicles, relates to an unmanned aerial vehicle device, and particularly relates to an unmanned aerial vehicle for pruning high-altitude branches.
Background
Unmanned aerial vehicle relies on its flexibility all to have very big effect in each field, and the usage is extensive, nevertheless has the problem that unmanned aerial vehicle slope rocked. For this reason, long-term research has been conducted, and various solutions have been proposed.
For example, chinese patent document discloses an overhead branch pruning robot driven by an unmanned aerial vehicle [ application number: 201811081602.9], including unmanned aerial vehicle (1), but the staple bolt structure of frame (2) of this unmanned aerial vehicle (1) for the split and for this unmanned aerial vehicle (1) provides the total battery setting of power in the inner chamber of frame (2), its characterized in that: the frame (2) comprises a chain saw frame (3) on which a chain saw (5) is carried and a monitoring frame (4) on which a camera scanner (6) is carried, wherein the camera scanner (6) is used for monitoring the work completion condition of the chain saw (5); the chain saw frame (3) and the monitoring frame (4) are respectively provided with a flying assembly (7) capable of driving the chain saw frame (3) and the monitoring frame (4) to take off respectively, and the chain saw frame (3) and the monitoring frame (4) are linked and locked through a corresponding self-locking mechanism (10), so that the frame (2) can be tightly held on a trunk of a branch to be trimmed. The tree pruning machine can overcome the defects of unsafety and inconvenience in manual pruning of tall trees, and is convenient, fast and efficient.
Chain saw mechanism in the above-mentioned scheme passes through the cloud platform and is connected with the frame, and the cloud platform can't provide sufficient horizontal power for chain saw mechanism, can't cut the thick branch of diameter, has reduced application scope.
Disclosure of Invention
The invention aims to solve the problems, and provides an unmanned aerial vehicle for pruning branches at high altitudes, which can drive a circular saw to do arc motion by using a swing mechanism, can provide enough transverse power for the circular saw, can cut thicker branches, and improves the application range of the unmanned aerial vehicle.
In order to achieve the purpose, the invention adopts the following technical scheme: this unmanned aerial vehicle is pruned to high altitude branch includes unmanned aerial vehicle, its characterized in that: the unmanned aerial vehicle lower extreme is equipped with the work frame, the work frame through the coupling mechanism of the dismouting of being convenient for with unmanned aerial vehicle connects, work frame one end is equipped with the cutting mechanism of being convenient for to change, cutting mechanism one end is equipped with swing mechanism, the work frame other end is equipped with elevating system, elevating system one end is equipped with the fixture of centre gripping branch.
The invention creatively designs that the swing mechanism can drive the transmission shaft to move left and right, and the circular saw arranged on the transmission shaft is matched with the notch to make arc motion, so that the branch can be cut after the branch cutting device is fixed on the branch, the branch cutting device has higher stability than the branch cutting device for cutting the thick branch in the floating state of the unmanned aerial vehicle, and the practicability of the branch cutting device is improved.
In foretell unmanned aerial vehicle is pruned to high altitude branch, coupling mechanism includes first connecting pipe, first connecting pipe is located the unmanned aerial vehicle lower extreme, be equipped with the snap ring in the first connecting pipe, both ends respectively are equipped with the fixture block in the snap ring, the work rest upper end is equipped with the second connecting pipe, the second connecting pipe is located in the first connecting pipe, second connecting pipe both ends respectively are equipped with the fixed plate, the fixed plate is located fixture block upper end and laminating each other, first connecting pipe one end is equipped with the opening, snap ring one end is equipped with the driving lever, the driving lever passes through the opening extends to first connecting pipe outer end.
In the unmanned aerial vehicle for pruning high branches, the cutting mechanism comprises a first motor, one end of the working frame is provided with a power cavity, the first motor is arranged at one end in the power cavity, one end of the first motor is provided with a first power shaft, the other end of the first power shaft is provided with a main gear, one side of the main gear is provided with a pinion which is meshed with the pinion, a transmission shaft is connected in the pinion, one end of the power cavity is provided with an arc-shaped notch, the transmission shaft extends to the outer side of the working frame through the notch and is provided with a mounting plate, one side of the mounting plate is provided with a circular saw, one end of the mounting plate is provided with a plurality of fixing rods which are uniformly distributed, the other side of the circular saw is provided with a mounting cover, a fixing groove matched with the fixing rods is arranged in the mounting cover, the fixing, one end of the bolt is arranged in the transmission shaft.
In foretell high altitude branch pruning unmanned aerial vehicle, swing mechanism includes the second motor, the second motor is located power intracavity one end, second motor one end is equipped with second power shaft, the second power shaft other end is equipped with the gear, be equipped with the spout in the middle of the power chamber, be equipped with the rack in the spout, the rack with the gear meshes mutually, spout one end is equipped with logical groove, rack one end is equipped with the telescopic link, the telescopic link passes through logical groove and extends to transmission shaft one side and is equipped with flexible pipe, flexible pipe other end is located in the middle of the transmission shaft, the spout both ends respectively are equipped with the recess, be equipped with pressure sensor in the recess.
In the unmanned aerial vehicle for pruning high branches, the lifting mechanism comprises a third motor, a lifting cavity is arranged at the other end of the working frame, an installation platform is arranged in the lifting cavity, the third motor is arranged in the installation platform, a third power shaft is arranged at one end of the third motor, a first belt wheel is arranged at the other end of the third power shaft, a first transmission belt is sleeved at one end of the first belt wheel, a second belt wheel is arranged at the other end of the first transmission belt, a first threaded rod is connected in the second belt wheel, a first limiting wheel is arranged at one end of the first threaded rod, first limiting plates are respectively arranged at two ends of the first limiting wheel, a lifting frame is arranged at the lower end of the first threaded rod, the lifting frame is screwed with the first threaded rod, a second transmission belt is sleeved at the other end of the first belt wheel, a third belt wheel is arranged at the other end of the second transmission belt, and a second threaded rod, second threaded rod one end is equipped with the spacing wheel of second, the spacing wheel both ends of second respectively are equipped with the second limiting plate, the second threaded rod other end is located in the crane and the screw thread closes soon, crane one end is equipped with the straight flute, lift chamber one end is equipped with the baffle and locates in the straight flute.
In the unmanned aerial vehicle for pruning high branches, the clamping mechanism comprises a fourth motor, a transmission cavity is arranged in the lifting frame, the fourth motor is arranged in the transmission cavity, a fourth power shaft is arranged at one end of the fourth motor, a fourth belt wheel is arranged at the other end of the fourth power shaft, a third transmission belt is sleeved at the outer end of the fourth belt wheel, a fifth belt wheel is arranged at the other end of the third transmission belt, a first rotating shaft is connected in the fifth belt wheel, the other end of the first rotating shaft extends to the outer side of the transmission cavity and is provided with a first clamping plate, a first gear is arranged in the middle of the fourth power shaft, a second gear is arranged at one side of the first gear, an auxiliary shaft is connected in the second gear, a sixth belt wheel is arranged at the other end of the auxiliary shaft, a fourth transmission belt is sleeved at the outer end of the sixth belt wheel, and a seventh belt wheel is arranged, the seventh belt wheel is internally connected with a second rotating shaft, the other end of the second rotating shaft extends to the outer side of the transmission cavity and is provided with a second clamping plate, and the second clamping plate is arranged on one side of the first clamping plate.
Compared with the prior art, the invention has the advantages that:
1. the connecting mechanism in the invention enables the connection between the unmanned aerial vehicle and the working frame to be more flexible, and the locking state between the unmanned aerial vehicle and the working frame can be controlled by rotating the snap ring, so that the working frame is more convenient to disassemble and assemble, is convenient to replace or maintain, and improves the practicability of the invention.
2. The cutting mechanism improves the rotating speed of the circular saw through gear transmission, improves the cutting capacity of the circular saw, and meanwhile, the mounting cover is fixed on the transmission shaft through the bolt convenient to disassemble and assemble, so that the circular saw is more convenient to replace while the stability of the circular saw is improved, and the practicability of the circular saw is improved.
3. The swinging mechanism can drive the transmission shaft to move left and right, and the circular saw arranged on the transmission shaft is driven to do arc motion by matching with the notch, so that the branch can be cut after the branch cutting mechanism is fixed on the branch, the branch cutting mechanism has higher stability than that of an unmanned aerial vehicle in a floating state, thicker branches can be cut, and the practicability of the branch cutting mechanism is improved.
4. The lifting mechanism can control the lifting of the lifting frame, and the lifting frame can be retracted when the tree is not required to be fixed on a branch by using the clamping mechanism, so that the size of the tree is reduced, the tree can be more flexibly moved among tree crowns, and the practicability of the tree is improved.
5. The clamping mechanism can fix the tree branch cutting machine on a tree branch, the stability of the tree branch cutting machine can be effectively improved when a thicker tree branch is cut, the first clamping plate and the second clamping plate are independent, the tree branch cutting machine is convenient to clamp irregular tree branches, and the fixing effect of the clamping mechanism is improved.
Drawings
Fig. 1 is a front view of the high branch pruning unmanned aerial vehicle provided by the invention.
Fig. 2 is a bottom view of the high branch pruning unmanned aerial vehicle provided by the invention.
Fig. 3 is a bottom view of the high branch pruning unmanned aerial vehicle provided by the invention in a fixed state.
Fig. 4 is a partial sectional view of a section a of the high branch pruning unmanned aerial vehicle provided by the present invention.
Fig. 5 is a partial cross-sectional view of a section B of the high branch pruning unmanned aerial vehicle provided by the present invention.
Fig. 6 is a partial cross-sectional view of a section C of the high branch pruning drone provided by the present invention.
Fig. 7 is a partial cross-sectional view of a section of an aerial branch trimming drone D provided by the present invention.
Fig. 8 is a partial cross-sectional view of a section E of the high branch pruning drone provided by the present invention.
In the figure, 1, an unmanned aerial vehicle; 2. a working frame; 10. a connecting mechanism; 11. a first connecting pipe; 12. a snap ring; 13. a clamping block; 14. a second connecting pipe; 15. a fixing plate; 16. an opening; 17. a deflector rod; 20. a cutting mechanism; 21. a first motor; 22. a power cavity; 23. a first power shaft; 24. a main gear; 25. a pinion gear; 26. a drive shaft; 27. a notch; 28. mounting a plate; 29. a circular saw; 30. fixing grooves; 31. fixing the rod; 32. installing a cover; 33. a bolt; 40. a swing mechanism; 41. a second motor; 42. a second power shaft; 43. a gear; 44. a chute; 45. a rack; 46. a through groove; 47. a telescopic rod; 48. a telescopic pipe; 49. a groove; 50. a pressure sensor; 60. a lifting mechanism; 61. a third motor; 62. a lifting cavity; 63. an installation table; 64. a third power shaft; 65. a first pulley; 66. a first drive belt; 67. a second pulley; 68. a first threaded rod; 69. a first limit wheel; 70. a first limit plate; 71. a lifting frame; 72. a second belt; 73. a third belt pulley; 74. a second threaded rod; 75. a second limiting wheel; 76. a second limiting plate; 77. a straight groove; 80. a clamping mechanism; 81. a fourth motor; 82. a transmission cavity; 83. a fourth power shaft; 84. a fourth pulley; 85. a third belt; 86. a fifth belt pulley; 87. a first rotating shaft; 88. a first splint; 89. a first gear; 90. a second gear; 91. an auxiliary shaft; 92. a sixth pulley; 93. a fourth belt; 94. a seventh pulley; 95. a second rotation shaft; 96. a second splint.
Detailed Description
As shown in fig. 1 to 3, the high-altitude branch pruning unmanned aerial vehicle comprises an unmanned aerial vehicle 1, a working frame 2 is arranged at the lower end of the unmanned aerial vehicle 1, the working frame 2 is connected with the unmanned aerial vehicle 1 through a connecting mechanism 10 convenient for disassembly and assembly, a cutting mechanism 20 convenient for replacement is arranged at the front end of the working frame 2, a swing mechanism 40 is arranged at the upper end of the cutting mechanism 20, a lifting mechanism 60 is arranged at the rear end of the working frame 2, and a clamping mechanism 80 for clamping branches is arranged at the lower end of the lifting mechanism 60.
As shown in fig. 1 and 2, the connecting mechanism 10 includes a first connecting pipe 11, the first connecting pipe 11 is disposed at the lower end of the unmanned aerial vehicle 1, a snap ring 12 is disposed in the first connecting pipe 11, the snap ring 12 is rotatably connected with the first connecting pipe 11 through clearance fit, two ends of the snap ring 12 are respectively provided with a fixture block 13, a second connecting pipe 14 is disposed at the upper end of the work frame 2, the second connecting pipe 14 is disposed in the first connecting pipe 11, two ends of the second connecting pipe 14 are respectively provided with a fixing plate 15, the fixing plates 15 are disposed at the upper ends of the fixture blocks 13 and are mutually attached, an opening 16 is disposed at the front end of the first connecting pipe 11, a shift lever 17 is disposed at the front end of the snap ring 12, the shift lever 17 extends to the outer end of the. The connecting mechanism 10 enables the connection between the unmanned aerial vehicle 1 and the working frame 2 to be more flexible, the locking state between the unmanned aerial vehicle 1 and the working frame 2 can be controlled by rotating the snap ring 12, the working frame 2 is more convenient to disassemble and assemble, replacement or maintenance is convenient, and the practicability of the invention is improved.
As shown in fig. 1, 5 and 6, the cutting mechanism 20 includes a first motor 21, a power cavity 22 is disposed at the front end of the work frame 2, the first motor 21 is disposed at the rear end of the power cavity 22, a first power shaft 23 is disposed at the front end of the first motor 21, a main gear 24 is disposed at the front end of the first power shaft 23, the main gear 24 rotates synchronously with the first power shaft 23 through a threaded engagement, a secondary gear 25 is disposed at the lower side of the main gear 24 and is engaged with the primary gear 24, the diameter of the secondary gear 25 is smaller than that of the main gear 24, a transmission shaft 26 is connected in the secondary gear 25, the secondary gear 25 rotates synchronously with the transmission shaft 26 through a threaded engagement, an arc-shaped notch 27 is disposed at the front end of the power cavity 22, the transmission shaft 26 extends to the outer side of the work frame 2 through the notch 27 and is disposed with a mounting plate 28, the transmission shaft 26 is slidably engaged with the notch 27, a circular saw 29, the circular saw 29 front side is equipped with installation lid 32, is equipped with the fixed slot 30 with dead lever 31 looks adaptation in the installation lid 32, and in dead lever 31 extended to fixed slot 30 through circular saw 29, be equipped with bolt 33 in the middle of installation lid 32, in transmission shaft 26 was located to the bolt 33 rear end, bolt 33 passed through the screw thread and closes and transmission shaft 26 and installation lid 32 fixed connection soon. The cutting mechanism 20 improves the rotating speed of the circular saw 29 through gear transmission, the cutting capacity of the invention is improved, and meanwhile, the mounting cover 32 is fixed on the transmission shaft 26 through the bolt 33 which is convenient to disassemble and assemble, so that the circular saw 29 is more convenient to replace while the stability of the circular saw 29 is improved, and the practicability of the invention is improved.
The swing mechanism 40 includes a second motor 41, the second motor 41 is disposed at the upper end of the power cavity 22, a second power shaft 42 is disposed at the rear end of the second motor 41, a gear 43 is disposed at the rear end of the second power shaft 42, the gear 43 rotates synchronously with the second power shaft 42 through interference fit, a sliding groove 44 is disposed in the middle of the power cavity 22, a rack 45 is disposed in the sliding groove 44, the rack 45 is in sliding fit with the sliding groove 44, the rack 45 is engaged with the gear 43, a through groove 46 is disposed at the lower end of the sliding groove 44, a telescopic rod 47 is disposed at the lower end of the rack 45, the telescopic rod 47 extends to the upper side of the transmission shaft 26 through the through groove 46 and is provided with a telescopic tube 48, the lower end of the telescopic tube 48 is disposed. The swing mechanism 40 can drive the transmission shaft 26 to move left and right, and the circular saw 29 arranged on the transmission shaft 26 is in arc motion by matching with the notch 27, so that the branch can be cut after the branch cutting device is fixed on the branch, the branch cutting device has higher stability than the branch cutting device for cutting branches in a floating state of the unmanned aerial vehicle 1, thicker branches can be cut, and the practicability of the branch cutting device is improved.
As shown in fig. 2, 3 and 7, the lifting mechanism 60 includes a third motor 61, a lifting cavity 62 is disposed at the rear end of the working frame 2, a mounting table 63 is disposed in the lifting cavity 62, the third motor 61 is disposed in the mounting table 63, a third power shaft 64 is disposed at the upper end of the third motor 61, a first pulley 65 is disposed at the upper end of the third power shaft 64, the first pulley 65 rotates synchronously with the third power shaft 64 through interference fit, a first transmission belt 66 is sleeved on the upper end of the first pulley 65, a second pulley 67 is disposed at the rear end of the first transmission belt 66, a first threaded rod 68 is connected in the second pulley 67, the second pulley 67 rotates synchronously with the first threaded rod 68 through interference fit, the first threaded rod 68 is rotatably connected with the working frame 2 through a bearing, a first limit wheel 69 is disposed at the upper end of the first threaded rod 68, first limit wheels 69 are fixedly connected with the first threaded rod 68 through interference fit, first limit plates 70 are disposed at two ends of the first limit wheels 69, the upper end surface and the lower end surface of the first limit wheel 69 are made of smooth materials with small friction force, the lower end of the first threaded rod 68 is provided with a lifting frame 71, the lifting frame 71 is screwed with the first threaded rod 68 through threads, the lower end of the first belt wheel 65 is sleeved with a second transmission belt 72, the front end of the second transmission belt 72 is provided with a third belt wheel 73, a second threaded rod 74 is connected in the third belt wheel 73, the third belt wheel 73 and the second threaded rod 74 synchronously rotate through interference fit, the second threaded rod 74 is rotatably connected with the working frame 2 through a bearing, the upper end of the second threaded rod 74 is provided with a second limit wheel 75, the second limit wheel 75 is fixedly connected with the second threaded rod 74 through interference fit, the two ends of the second limit wheel 75 are respectively provided with a second limit plate 76, the upper end surface and the lower end surface of the second limit wheel 75 are made of smooth materials with small friction force, the lower end of the second threaded rod 74 is arranged, the front end of the lifting cavity 62 is provided with a baffle plate 78 and is arranged in the straight groove 77. The lifting mechanism 60 can control the lifting of the lifting frame 71, when the tree-shaped tree is not required to be fixed on a tree branch by using the clamping mechanism 80, the lifting frame 71 can be retracted, the size of the tree-shaped tree-.
As shown in fig. 3 and 8, the clamping mechanism 80 includes a fourth motor 81, a transmission cavity 82 is provided in the lifting frame 71, the fourth motor 81 is provided in the transmission cavity 82, a fourth power shaft 83 is provided at the front end of the fourth motor 81, the fourth power shaft 83 is rotatably connected to the lifting frame 71 through a bearing, a fourth pulley 84 is provided at the front end of the fourth power shaft 83, the fourth pulley 84 rotates synchronously with the fourth power shaft 83 through interference fit, a third transmission belt 85 is sleeved at the outer end of the fourth pulley 84, a fifth pulley 86 is provided at the left end of the third transmission belt 85, a first rotating shaft 87 is connected to the fifth pulley 86, the fifth pulley 86 rotates synchronously with the first rotating shaft 87 through interference fit, the first rotating shaft 87 is rotatably connected to the lifting frame 71 through a bearing, the rear end of the first rotating shaft 87 extends to the outside of the transmission cavity 82 through interference fit and is provided with a first clamping plate 88, the first clamping plate 88 rotates synchronously with the first rotating shaft 87 through fit, a first gear 89 is arranged in the middle of the fourth power shaft 83, the first gear 89 rotates synchronously with the fourth power shaft 83 through interference fit, a second gear 90 is arranged on the right side of the first gear 89, an auxiliary shaft 91 is connected in the second gear 90, the second gear 90 rotates synchronously with the auxiliary shaft 91 through interference fit, the auxiliary shaft 91 is rotatably connected with the lifting frame 71 through a bearing, a sixth belt pulley 92 is arranged at the front end of the auxiliary shaft 91, the sixth belt pulley 92 rotates synchronously with the auxiliary shaft 91 through interference fit, a fourth transmission belt 93 is sleeved at the outer end of the sixth belt pulley 92, a seventh belt pulley 94 is arranged at the right end of the fourth transmission belt 93, a second rotating shaft 95 is connected in the seventh belt pulley 94, the seventh belt pulley 94 rotates synchronously with the second rotating shaft 95 through interference fit, the second rotating shaft 95 is rotatably connected with the lifting frame 71 through a bearing, the rear end of the second rotating shaft 95 extends to the outer side of the transmission cavity 82 and is, the second clamp plate 96 rotates in synchronization with the second rotation shaft 95 by interference fit, and the second clamp plate 96 is provided on the first clamp plate 88 side. The clamping mechanism 80 can fix the tree pruning device on the tree branches, the stability of the tree pruning device can be effectively improved when the tree branches with vinegar are cut, the first clamping plate 88 and the second clamping plate 96 are independent, the tree pruning device is convenient to clamp the tree branches with irregular shapes, and the fixing effect of the clamping mechanism is improved.
The specific operation mode of the specific embodiment of the invention is as follows: the power supply of the invention is a storage battery arranged in an unmanned aerial vehicle 1, an internal circuit of a working frame 2 is connected with the internal circuit of the unmanned aerial vehicle 1 through a first connecting pipe 11 and a second connecting pipe 14, the unmanned aerial vehicle 1 is started to fly to the air, a first motor 21 is started to drive a first power shaft 23 to rotate, the first power shaft 23 drives a circular saw 29 fixed on a transmission shaft 26 through the meshing relation of a main gear 24 and a pinion 25, when the unmanned aerial vehicle 1 flies to the position of branches to be cut, the branches can be trimmed through the rotating circular saw 29, when thicker branches need to be cut, a third motor 61 is started to drive a third power shaft 64 to rotate, the third power shaft 64 respectively drives a second belt wheel 67 and a third belt wheel 73 to rotate through a first belt wheel 65, a first threaded rod 68 and a second threaded rod 74 drive a lifting frame 71 to descend through screwing, and simultaneously a fourth motor 81 is started to rotate to drive a fourth power shaft 83 to, the fourth power shaft 83 drives a first rotating shaft 87 connected with a fifth belt pulley 86 to rotate through a fourth belt pulley 84, the first rotating shaft 87 drives a first clamping plate 88 to rotate clockwise, the fourth power shaft 83 drives an auxiliary shaft 91 to rotate through the meshing relation of a first gear 89 and a second gear 90, the auxiliary shaft 91 drives a second rotating shaft 95 connected with a seventh belt pulley 94 to rotate through a sixth belt pulley 92, the second rotating shaft 95 drives a second clamping plate 96 to rotate clockwise, the first clamping plate 88 and the second clamping plate 96 are opened and then moved to the branch to be clamped and drive a fourth motor 81 to rotate reversely, the first clamping plate 88 and the second clamping plate 96 rotate anticlockwise to clamp the branch, the second motor 41 is started to rotate positively to drive the second power shaft 42 to rotate, the second power shaft 42 drives an expansion rod 47 to move to the left through the meshing relation of a gear 43 and a rack 45, the expansion rod 47 drives a transmission shaft 26 to move to the left through an expansion pipe 48, when the rack 45 contacts the left pressure sensor 50, the second motor 41 rotates reversely, so that the transmission shaft 26 moves to the right side, and the transmission shaft 26 moves left and right to cut branches, thereby completing the cutting action.
The specific embodiments described herein are merely illustrative of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Although the terms work frame, snap ring, retaining plate, notch, toggle lever, through slot, mounting cover, retaining rod, straight slot, through slot, circular saw, etc. are used more herein, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention and they are to be interpreted as any additional limitation which is not in accordance with the spirit of the present invention.
Claims (6)
1. The utility model provides an unmanned aerial vehicle is pruned to high altitude branch, includes unmanned aerial vehicle (1), its characterized in that: unmanned aerial vehicle (1) lower extreme is equipped with work frame (2), work frame (2) through coupling mechanism (10) of the dismouting of being convenient for with unmanned aerial vehicle (1) is connected, work frame (2) one end is equipped with cutting mechanism (20) of being convenient for to change, cutting mechanism (20) one end is equipped with swing mechanism (40), work frame (2) other end is equipped with elevating system (60), elevating system (60) one end is equipped with fixture (80) of centre gripping branch.
2. The aerial branch trimming unmanned aerial vehicle of claim 1, wherein: coupling mechanism (10) include first connecting pipe (11), first connecting pipe (11) are located unmanned aerial vehicle (1) lower extreme, be equipped with snap ring (12) in first connecting pipe (11), both ends respectively are equipped with fixture block (13) in snap ring (12), work frame (2) upper end is equipped with second connecting pipe (14), second connecting pipe (14) are located in first connecting pipe (11), second connecting pipe (14) both ends respectively are equipped with fixed plate (15), fixed plate (15) are located fixture block (13) upper end and laminate each other, first connecting pipe (11) one end is equipped with opening (16), snap ring (12) one end is equipped with driving lever (17), driving lever (17) pass through opening (16) extend to first connecting pipe (11) outer end.
3. The aerial branch trimming unmanned aerial vehicle of claim 1, wherein: cutting mechanism (20) includes first motor (21), workstation (2) one end is equipped with power chamber (22), first motor (21) are located one end in power chamber (22), first motor (21) one end is equipped with first power shaft (23), first power shaft (23) other end is equipped with master gear (24), master gear (24) one side is equipped with pinion (25) and intermeshing, pinion (25) in-connection has transmission shaft (26), power chamber (22) one end is equipped with curved notch (27), transmission shaft (26) pass through notch (27) extend to the workstation (2) outside and be equipped with mounting panel (28), mounting panel (28) one side is equipped with circular saw (29), mounting panel (28) one end is equipped with a plurality of evenly distributed's dead lever (31), circular saw (29) opposite side is equipped with installation lid (32), be equipped with in installation lid (32) with fixed slot (30) of dead lever (31) looks adaptation, dead lever (31) pass through circular saw (29) extend to in fixed slot (30), be equipped with bolt (33) in the middle of installation lid (32), bolt (33) one end is located in transmission shaft (26).
4. The aerial branch trimming unmanned aerial vehicle of claim 3, wherein: the swing mechanism (40) comprises a second motor (41), the second motor (41) is arranged at one end in the power cavity (22), one end of the second motor (41) is provided with a second power shaft (42), the other end of the second power shaft (42) is provided with a gear (43), a sliding groove (44) is arranged in the middle of the power cavity (22), a rack (45) is arranged in the sliding groove (44), the rack (45) is meshed with the gear (43), one end of the chute (44) is provided with a through groove (46), one end of the rack (45) is provided with a telescopic rod (47), the telescopic rod (47) extends to one side of the transmission shaft (26) through the through groove (46) and is provided with a telescopic pipe (48), the other end of the extension tube (48) is arranged in the middle of the transmission shaft (26), two ends of the sliding groove (44) are respectively provided with a groove (49), and a pressure sensor (50) is arranged in each groove (49).
5. The aerial branch trimming unmanned aerial vehicle of claim 1, wherein: elevating system (60) includes third motor (61), workstation (2) other end is equipped with lift chamber (62), be equipped with mount table (63) in lift chamber (62), third motor (61) are located in mount table (63), third motor (61) one end is equipped with third power shaft (64), the third power shaft (64) other end is equipped with first band pulley (65), a pot head of first band pulley (65) is equipped with first drive belt (66), the first drive belt (66) other end is equipped with second band pulley (67), second band pulley (67) in-connection has first threaded rod (68), first threaded rod (68) one end is equipped with first spacing wheel (69), first spacing wheel (69) both ends respectively are equipped with first limiting plate (70), first threaded rod (68) lower extreme is equipped with crane (71), crane (71) with first threaded rod (68) screw thread closes soon, first band pulley (65) other pot head is equipped with second drive belt (72), second drive belt (72) other end is equipped with third band pulley (73), third band pulley (73) in-connection has second threaded rod (74), second threaded rod (74) one end is equipped with spacing wheel of second (75), spacing wheel of second (75) both ends respectively are equipped with second limiting plate (76), second threaded rod (74) other end is located in crane (71) and screw thread closes soon, crane (71) one end is equipped with straight flute (77), lift chamber (62) one end is equipped with baffle (78) and locates in straight flute (77).
6. The aerial branch trimming unmanned aerial vehicle of claim 5, wherein: the clamping mechanism (80) comprises a fourth motor (81), a transmission cavity (82) is arranged in the lifting frame (71), the fourth motor (81) is arranged in the transmission cavity (82), a fourth power shaft (83) is arranged at one end of the fourth motor (81), a fourth belt wheel (84) is arranged at the other end of the fourth power shaft (83), a third transmission belt (85) is sleeved at the outer end of the fourth belt wheel (84), a fifth belt wheel (86) is arranged at the other end of the third transmission belt (85), a first rotating shaft (87) is connected in the fifth belt wheel (86), the other end of the first rotating shaft (87) extends to the outer side of the transmission cavity (82) and is provided with a first clamping plate (88), a first gear (89) is arranged in the middle of the fourth power shaft (83), a second gear (90) is arranged at one side of the first gear (89), an auxiliary shaft (91) is connected in the second gear (90), the auxiliary shaft (91) other end is equipped with sixth band pulley (92), sixth band pulley (92) outer pot head is equipped with fourth drive belt (93), the fourth drive belt (93) other end is equipped with seventh band pulley (94), seventh band pulley (94) in-connection has second rotation axis (95), second rotation axis (95) other end extends to the transmission chamber (82) outside is equipped with second splint (96), second splint (96) are located first splint (88) one side.
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| CN202010709882.4A CN111758416A (en) | 2020-07-22 | 2020-07-22 | Unmanned aerial vehicle is pruned to high altitude branch |
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| CN202010709882.4A CN111758416A (en) | 2020-07-22 | 2020-07-22 | Unmanned aerial vehicle is pruned to high altitude branch |
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