CN112470742B - A tree pruning flying robot with a suspended reciprocating saw - Google Patents
A tree pruning flying robot with a suspended reciprocating saw Download PDFInfo
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- CN112470742B CN112470742B CN202011358377.6A CN202011358377A CN112470742B CN 112470742 B CN112470742 B CN 112470742B CN 202011358377 A CN202011358377 A CN 202011358377A CN 112470742 B CN112470742 B CN 112470742B
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- 238000013138 pruning Methods 0.000 title claims abstract description 41
- 239000000725 suspension Substances 0.000 claims abstract description 61
- 230000003014 reinforcing effect Effects 0.000 claims abstract description 6
- 230000033001 locomotion Effects 0.000 claims description 35
- 238000000034 method Methods 0.000 claims description 33
- 230000000670 limiting effect Effects 0.000 claims description 11
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims description 3
- 238000011156 evaluation Methods 0.000 claims 1
- 230000002787 reinforcement Effects 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 7
- 239000002420 orchard Substances 0.000 abstract description 3
- 238000004804 winding Methods 0.000 description 19
- 238000009966 trimming Methods 0.000 description 6
- 230000000903 blocking effect Effects 0.000 description 5
- 238000001125 extrusion Methods 0.000 description 4
- 230000002829 reductive effect Effects 0.000 description 4
- 230000002146 bilateral effect Effects 0.000 description 3
- 244000141353 Prunus domestica Species 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000010349 pulsation Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 239000002356 single layer Substances 0.000 description 1
Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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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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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Harvester Elements (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a tree pruning flying robot for suspending a reciprocating saw, which comprises a flying platform, a suspension mechanism connected below the flying platform and a reciprocating saw system connected below the suspension mechanism, wherein the suspension mechanism comprises L (L is more than or equal to 2) vertical rods which are symmetrically arranged left and right, a transverse reinforcing beam is arranged between every two adjacent vertical rods, the reciprocating saw system comprises a cutter motor, a reciprocating mechanism driven by the cutter motor, a movable saw blade driven by the reciprocating mechanism to reciprocate, and a cutter controller for driving the cutter motor, and unhook devices capable of hooking or separating the suspension mechanism and the reciprocating saw system or between the flying platform and the suspension mechanism are arranged between the suspension mechanism and the flying platform. The tree pruning flying robot disclosed by the invention is suitable for pruning trees in gardens, orchards, traffic lanes, transmission line channels and the like in a large area with high efficiency, and meets the requirements of high safety, low risk, high efficiency and easiness in use of tree pruning operation.
Description
Technical Field
The invention relates to a tree pruning flying robot with a suspended reciprocating saw, in particular to a flying robot suitable for rapidly pruning large-area trees, and belongs to the technical field of tree pruning devices.
Background
At present, three modes of pruning or cleaning trees (particularly high positions) at gardens, orchards, traffic lanes, transmission line channels and the like mainly exist, namely 1) manual pruning operation is generally carried out by adopting special or special lengthened pruning cutters, the safety risk is high, the operation efficiency is low, 2) tree pruning operation based on ground automatic equipment is difficult to prune high-altitude trees quickly due to serious limitation of terrain environment and tree growth situation, and 3) the tree pruning technology based on unmanned aerial vehicles has the defects of weak tree interference resistance, small single pruning range, low operation efficiency and the like.
Therefore, it is needed to develop a flying robot capable of automatically trimming trees in gardens, fruit forests, traffic lanes and transmission line channels in a large range, wherein the mounted reciprocating saw system has a large single trimming range, can avoid the influence of cutting force on the posture of the flying robot body, and has safety protection measures such as anti-jamming and the like.
Disclosure of Invention
The invention solves the technical problem of providing the tree pruning flying robot with the suspended reciprocating saw, which is used for pruning trees in gardens, orchards, traffic lanes, transmission line channels and the like in a large area and with high efficiency by mounting a reciprocating saw system on a rotor wing type aircraft, so that the requirements of high safety, high efficiency and easiness in use of tree pruning operation are met.
The tree pruning flying robot comprises a flying platform, a hanging mechanism connected below the flying platform and a reciprocating saw system connected below the hanging mechanism, wherein the hanging mechanism is a connecting rod with a fixed length or a telescopic hanging mechanism with a variable length, the tree pruning flying robot comprises L (L is more than or equal to 2) vertical rods which are symmetrically arranged left and right, a transverse reinforcing beam is arranged between every two adjacent vertical rods, and the reciprocating saw system comprises a cutter frame connected with the hanging mechanism, a cutter motor fixedly connected with the cutter frame, a reciprocating mechanism driven by the cutter motor, a movable saw blade driven by the reciprocating mechanism to reciprocate, and a cutter controller for driving the cutter motor.
Preferably, a unhooking device capable of hooking or separating the suspension mechanism and the reciprocating saw system or the flying platform and the suspension mechanism is arranged between the suspension mechanism and the reciprocating saw system or between the flying platform and the suspension mechanism.
Preferably, a pitch joint is provided between the suspension mechanism and the flying platform, the pitch joint being capable of providing a degree of freedom in relative pitch motion.
The suspension mechanism is preferably a pull rope type telescopic suspension mechanism and is characterized in that the vertical rod comprises hollow pipes with H (H is more than or equal to 2) sections which are continuously nested, serial numbers of the hollow pipes are 1, 2, and are equal to or less than i < H from top to bottom, an upper limiter for limiting movement overshoot when the hollow pipe with the i+1th section is contracted upwards is arranged at the upper end of the hollow pipe with the i+1th section, a lower limiter for limiting movement falling off when the hollow pipe with the i+1th section is stretched downwards is arranged at the lower end of the hollow pipe with the 1 st section, a flange connected with a flying platform is arranged at the upper end of the hollow pipe with the H section, the lower end of the hollow pipe with the H section is connected with a wire collecting device arranged on the flying platform, and the upper limiter with the H section is connected with the lower end of the hollow pipe with the same section of the adjacent vertical rod through a pull rope.
The vertical rod comprises hollow pipes with H (H not less than 3) sections which are continuously nested, serial numbers of 1, 2 are sequentially equal to or higher than H, an upper limiter for limiting movement overshoot when the hollow pipe with i+1th section is contracted upwards is arranged at the upper end of the hollow pipe with i+1th section, a lower limiter for limiting movement shedding when the hollow pipe with i+1th section is stretched downwards is arranged at the lower end of the hollow pipe with 1 st section, a flange connected with a flying platform is arranged at the upper limiter of the hollow pipe with H section, the lower end of the hollow pipe with H section is connected with a wire collecting device arranged on the flying platform, the upper limiter with 2 nd section is connected with a wire collecting device arranged on the flying platform through a pull rope, the vertical rod further comprises a movable pulley with a rotating shaft horizontally fixed to the upper limiter with j (2 not more than j < H) section hollow pipe and a rotating plane passing through the vertical axis of the hollow pipe, a lower limiter hung around the movable pulley, one end of the upper limiter is fixedly connected with the hollow pipe with the lower limiter with the j+1th section, and the lower limiter with the j section is fixedly connected with the same horizontal beam and the lower limiter is fixedly connected with the straight rod.
Preferably, the vertical rod is an electric push rod with a linear telescopic motion function.
Preferably, the wire winding device comprises a wire winding motor, a wire winding disc for winding a pull rope, a rotary shifting fork driven to rotate by the wire winding motor through a transmission gear, an upper travel switch for sensing the lifting of the suspension mechanism to the limit position and a lower travel switch for sensing the lowering of the suspension mechanism to the limit position, wherein output signal wires of the upper travel switch and the lower travel switch and control signal wires of the wire winding motor are connected with a main controller of a flying platform, and a driving and self-locking relation similar to a worm-worm wheel is formed between the wire winding motor and the wire winding disc.
The reciprocating mechanism comprises an inertia wheel driven by a cutter motor to rotate, a connecting rod connected to the edge of the inertia wheel through a bearing, a guide motion block connected with the other end of the connecting rod through a bearing and capable of moving left and right, wherein the cross section of the guide motion block is wide at the upper part and narrow at the lower part, the lower surface of the guide motion block is fixedly connected with a movable saw blade, the inertia wheel, the connecting rod and the guide motion block form a multi-connecting rod mechanism to convert the rotary motion of the cutter motor into the left and right reciprocating motion of the movable saw blade, a fixed saw blade is fixedly connected below a cutter frame, the fixed saw blade is provided with a groove for accommodating the guide motion block to do the left and right reciprocating motion, the profile of the longitudinal section of the groove is wide at the lower part and narrow at the lower part, the guide motion block is embedded into the left and right sliding fit, the cutter controller is connected with a main controller of a flying platform through a communication bus, the cutter motor is provided with a current sensor, a rotation speed sensor and a temperature sensor for sensing the current, the rotation speed sensor and the temperature sensor during the operation, and output signals of the current sensor and the temperature sensor are respectively connected to the cutter controller.
Preferably, the unhooking device is a mechanical unhooking device or an electromagnetic unhooking device.
The unhooking device is a mechanical unhooking device and comprises an upper unhooking component and a lower unhooking component which can be mutually connected with the upper unhooking component in a hanging manner; the upper unhooking component comprises an upper base, a linear steering engine, an upper hook shaft, an upper hook, a tension spring and an upper electric interface, wherein the linear steering engine is fixedly connected to the upper base and is provided with an output rod downwards, the upper hook shaft is fixedly connected to the upper base, the upper hook shaft is used as a rotating shaft, the upper hook is arranged between the upper base and the tail end of a transverse rod of the upper hook and can provide anticlockwise restoring moment for the upper hook, the upper electric interface is fixedly connected to the upper base, the tail end of the output rod of the linear steering engine is provided with a bearing, the lower unhooking component comprises a lower base, a lower hanging buckle and a lower electric interface, the lower hanging buckle is fixedly connected to the lower base and can form an upper-lower hanging connection with the upper hook, the upper electric interface and the lower electric interface form an opposite inserting connection for transmitting electric energy and a control signal, the lower end of the upper hook is a right-hand hook, the right lower side of the hook is in an oblique angle shape, the left upper side of the lower hanging buckle is provided with an oblique angle shape matched with the upper hook in an extrusion pushing way, the oblique angle shape of the lower hook, the lower hanging buckle is provided with a square hole matched with the hook of the upper hook, once the lower hook is screwed into the square hole of the upper hook, the lower hook can form a clockwise connection with the lower hook, and the lower hook can form a clockwise connection with the upper hook and the linear steering engine or a control assembly and a control assembly is tightly connected with the lower hook.
The electromagnetic type unhooking device comprises an electromagnet and an armature which are respectively fixedly connected with parts connected with two ends of the unhooking device, the electromagnet is attracted with the armature after being electrified, the parts connected with the two ends of the unhooking device are connected in a hanging mode, the armature is released after the electromagnet is powered off, the parts connected with the two ends of the unhooking device are separated, and the electromagnet is connected with a power supply on the flying robot through a switch. In the obstacle clearing operation, when the reciprocating saw system is blocked relative to the branches and cannot be separated, the reciprocating saw system can be separated from the flying robot through the unhooking device, so that the flying robot is safely protected.
Preferably, the flying platform is a multi-rotor aircraft with bilateral symmetry, and is not limited to any known multi-rotor aircraft with four, six, eight and the like fixed.
Preferably, a tilt motor for rotating the rotor with respect to the axis of the corresponding rotor arm is provided between any pair of rotors and the respective rotor arms of the multi-rotor aircraft.
Preferably, the pitching joint comprises a pitching joint seat, a pitching joint moving part capable of rotating around a rotating shaft of the pitching joint seat, and a pair of torsion springs which are arranged on the rotating shaft of the pitching joint seat and are respectively positioned between the pitching joint moving part and the pitching joint seat, wherein two ends of each torsion spring are respectively fixed on the pitching joint seat and the pitching joint moving part.
Preferably, the flying platform is provided with a forward-looking camera and a downward-looking camera for closely observing the growth situation of the tree and the cutting state of the reciprocating saw system.
The working method and the control method of the tree pruning flying robot are as follows:
The working method of the tree obstacle clearing flying robot suspending the reciprocating saw comprises the following steps:
When the flying robot flies near the tree to be trimmed, firstly, the length and the flying height of the suspension mechanism are adjusted, the cutter system faces the tree to be trimmed, then, the flying robot is controlled to fly forward according to the received tree trimming remote control instruction, and the tree below the flying robot is cut and trimmed by the reciprocating saw system.
A control method of a tree obstacle clearing flying robot for hanging a reciprocating saw comprises the following steps:
the control method comprises a control method of a suspension mechanism, a control method of a reciprocating saw system and a control method of a unhooking device, wherein the specific control method comprises the following steps:
1) The control method of the suspension mechanism adopting the telescopic structure comprises the following steps that a main controller of the flying platform dynamically changes the length of a pull rope by controlling the start, stop and take-up and pay-off directions of a wire takeup device, so that the length of a vertical rod is adjusted, and the vertical distance between a reciprocating saw system and the flying platform is changed.
2) The control method of the reciprocating saw system comprises the following steps:
a) The cutter controller collects current, rotating speed and temperature of the cutter motor in real time when the cutter motor works, and sends the current, the rotating speed and the temperature to the main controller of the flying platform for monitoring;
B) Evaluating the working state of the reciprocating saw in real time:
① If the current of the cutter motor exceeds the current threshold, or the rotating speed is lower than the rotating speed threshold, or the temperature exceeds the temperature threshold, the overload occurrence of the reciprocating saw can be judged;
② If the current threshold, the rotating speed threshold and the temperature threshold corresponding to the blocking are known, if the current of the cutter motor exceeds the current threshold, or the rotating speed is lower than the rotating speed threshold, or the temperature exceeds the temperature threshold, the reciprocating saw can be judged to be blocked;
③ If the current or the rotating speed of the cutter motor has periodical pulsation and the amplitude exceeds a preset threshold, the damage of the reciprocating saw can be judged.
C) The abnormal processing method of the working state comprises the following steps:
① If overload is judged, a hover instruction is sent to the flight platform, and cutting feeding is stopped;
② If the blocking or damage is judged, the cutter motor is braked, and a back-off instruction is sent to the flying platform;
③ For the blocking, if the reciprocating saw is blocked by the branches and is difficult to break loose, the unhooking device is started to enable the reciprocating saw system to be separated from the flying robot, so that the safety of the flying robot is protected to the greatest extent, and the crash is avoided.
3) The control method of the mechanical unhooking device comprises the following steps:
A) When the unhooking device receives an unhooking instruction of a main controller in a flying platform, an output rod of the linear steering engine stretches to drive a bearing to move downwards, the bearing is in extrusion contact with an upper plane of a transverse rod of an upper hook, the upper hook is pushed to rotate clockwise, a hook at the lower end of the upper hook is separated from a lower hook buckle, and therefore mechanical unhooking of a part connected below the unhooking device and a part connected above the unhooking device is achieved, and separation of an electrical interface is completed;
B) When the lower hanging buckle is hung, the lower hanging buckle moves upwards to press the hook of the upper hanging buckle leftwards, the upper hanging buckle is pushed to rotate clockwise to return, when the lower hanging buckle moves upwards in place, the hook of the upper hanging buckle is quickly screwed into the square hole of the lower hanging buckle, so that stable and reliable hanging is formed between a part connected below the unhooking device and a part connected above the unhooking device, and meanwhile, the connection of an electrical interface is also completed.
Compared with the prior art, the invention has the following advantages:
The flying platform suspension reciprocating saw system is suitable for carrying out 'shaving type' large-area rapid pruning from the top or side surface of the tree, has high operation efficiency, avoids operators from approaching to the pruned tree and dangerous equipment around the pruned tree, can effectively reduce the operation risk of tree pruning, and solves the problems of low cleaning efficiency and high safety risk in the prior art;
2) The flying robot with the reciprocating saw system is hung, and the reciprocating saw system is always positioned below the rotor wing assembly during operation, so that interference of trees on the rotor wings can be effectively avoided, the risk of crash is reduced, and the operation safety of the flying robot is improved;
3) The suspension mechanism has various configurations such as fixing, telescoping and the like, and meets the diversity of the operation environment, particularly the telescoping configuration of the vertical rod can dynamically adjust the distance between the reciprocating saw system and the flying platform, so that the flying robot is more flexible and motorized in use on one hand, and the difficulty in taking off and landing of the flying robot can be effectively reduced on the other hand, and is easy to store and transport;
4) The suspension mechanism and the reciprocating saw system are positioned below the flying platform, so that the gravity center of the flying robot is positioned right below the flying platform, the stability of the flying robot is improved, and the control difficulty of the flying robot is reduced;
5) The suspension mechanism adopts a bilateral symmetrical structure and is fixedly connected to the lower part of the flying platform, and meanwhile, the vertical rod is additionally provided with the transverse stiffening beam, so that the flying robot has stronger rigidity as a whole, and the stability and reliability of system operation are improved. When the suspension operation device is subjected to external force, compared with a single vertical rod mode, the course torsion of the reciprocating saw system relative to the flying platform is difficult to occur, the deformation or fracture of the suspension mechanism is difficult to cause, and the operation safety of the flying robot is ensured;
6) The reciprocating saw is transversely arranged along the length direction, has larger transverse operation width, and has large one-time operation range, high cutting efficiency and good applicability;
7) The cutter motor is provided with a sensor for sensing the working current, the rotating speed and the temperature of the cutter motor, the control system analyzes and processes the sensor data, and protective back-off control is implemented on the flying robot, so that the operation safety of the flying robot is ensured;
8) The reciprocating saw system has various shapes and tooth shapes, combines the motion planning of the robot, can meet the tree pruning requirements under different operation targets and operation environments, and is convenient and reliable;
9) When the reciprocating saw system is wound by the branches and leaves and cannot break loose, the unhooking device can be manually or automatically started, so that the reciprocating saw system is quickly separated from the hanging mechanism or the hanging mechanism is quickly separated from the flying platform, the safety of the flying robot is ensured, and the loss caused by faults is reduced.
Drawings
FIG. 1 is a schematic illustration of a flying robot suspending a linear reciprocating saw system;
FIG. 2 is a schematic view of the internal structure of a vertical rod of the pull-cord type suspension mechanism;
FIG. 3 is a schematic view of the vertical rod of the suspension mechanism in an extended and retracted state;
FIG. 4 is a schematic diagram of a wire takeup device;
FIG. 5 is a schematic view of the construction of a reciprocating saw system;
FIG. 6 is a schematic view of the internal structure of a linear reciprocating saw system;
FIG. 7 is a schematic view of a partial construction of a linear reciprocating saw system;
FIG. 8 is a schematic view of a reciprocating mechanism of a linear reciprocating saw system;
FIG. 9 is a schematic side cross-sectional view of a linear reciprocating saw system;
FIG. 10 is a schematic view of the mechanical unhooking device in a disengaged state;
FIG. 11 is a schematic view of a mechanical unhooking device in a hanging state;
FIG. 12 is a schematic view of the internal structure of a vertical rod of the pulley-type suspension mechanism;
FIG. 13 is a schematic view of an electromagnetic unhooking apparatus;
FIG. 14 is a schematic view of a tiltrotor configuration;
FIG. 15 is a schematic view of a pitch joint configuration;
FIG. 16 is a schematic view of a circular arc reciprocating saw system;
FIG. 17 is a schematic illustration of a flying robot suspending a circular arc reciprocating saw system.
In the figure, a flying platform 1, a hanging mechanism 2, a reciprocating saw system 3, a unhooking device 4 and a pitching joint 5 are shown;
1011-rotor, 1012-rotor arm, 1013-tilting motor;
201-vertical rods, 202-transverse stiffening beams;
2201-a wire winder, 2202-a pull rope, 2203-a hollow tube, 2204-an upper limiter, 2205-a lower limiter, 2206-a movable pulley, 2207-a pulley pull rope and 2208-a flange;
22011-a wire-collecting motor, 22012-a wire-collecting disc, 22013-a transmission gear, 22014-a rotary shifting fork, 22015-an upper travel switch, 22016-a lower travel switch;
301-a cutter frame, 302-a cutter motor, 303-an inertia wheel, 304-a connecting rod, 305-a guiding moving block, 306-a movable saw blade, 307-a fixed saw blade;
41-upper unhooking components, 4101-upper base, 4102-linear steering engine, 4103-bearing, 4104-tension spring, 4105-upper hook, 4106-upper hook shaft, 4107-upper electrical interface;
42-lower unhook assembly, 4201-lower base, 4202-lower clasp, 4203-lower electrical interface, 4204-spring washer;
401-electromagnet, 402-armature;
501-a pitching joint seat, 502-a pitching joint moving part and 503-a torsion spring.
Detailed Description
The invention will be further described with reference to the drawings and specific examples.
Embodiment 1 as shown in fig. 1-11, the tree pruning flying robot for suspending a reciprocating saw comprises a flying platform 1, a suspension mechanism 2 connected below the flying platform 1 and a reciprocating saw system 3 connected below the suspension mechanism 2, wherein the suspension mechanism 2 is a fixed-length connecting rod or a variable-length telescopic suspension mechanism, L (L is greater than or equal to 2) vertical rods 201 which are symmetrically arranged left and right, a transverse reinforcing beam 202 is arranged between every two adjacent vertical rods 201, the reciprocating saw system 3 comprises a cutter frame 301 connected with the suspension mechanism 2, a cutter motor 302 fixedly connected with the cutter frame 301, a reciprocating mechanism driven by the cutter motor 302, a movable saw blade 306 driven by the reciprocating mechanism to reciprocate in a motion mode, and a cutter controller for driving the cutter motor 302.
Preferably, a unhooking device 4 is provided between the suspension mechanism 2 and the reciprocating saw system 3 or between the flying platform 1 and the suspension mechanism 2, and the unhooking device can be used for hooking or separating the suspension mechanism and the flying platform.
Preferably, the suspension mechanism 2 is a rope-pulling type telescopic suspension mechanism structure, wherein the vertical rod 201 comprises hollow tubes 2203 which are continuously nested in H (H is more than or equal to 2), serial numbers of the hollow tubes 2203 are sequentially 1,2, and H is equal to or less than i < H from top to bottom, an upper limiter 2204 which limits the movement overshoot of the i+1th hollow tube 2203 when the i+1th hollow tube 2203 contracts upwards is arranged at the upper end of the hollow tube 2203, a lower limiter 2205 which limits the movement falling of the i+1th hollow tube 2203 when the hollow tube 2203 stretches downwards is arranged at the lower end of the hollow tube 2203, a flange 2208 which is connected with the flying platform 1 is arranged at the upper end of the hollow tube 2203, an upper limiter 2204 is arranged at the upper end of the hollow tube 2203, the lower end of the hollow tube 2203 is connected with the reciprocating saw system 3, the upper limiter 2204 of the hollow tube 2203 of the H is connected with a wire collector 2201 which is arranged on the flying platform 1 through a rope, and the transverse reinforcing beam 202 is connected with the lower end of the same hollow tube 2203 of the adjacent vertical rod 201.
If the wire takeup 2201 winds the pull rope 2202, the upper limiter 2204 of the H-th hollow tube 2203 is pulled upwards, when the upper limiter 2204 moves upwards to contact the upper limiter 2204 of the H-1 th hollow tube 2203, the H-1 th hollow tube 2203 is driven to move upwards, and similarly, the H-2 th hollow tube 2203 which is continuously nested sequentially moves upwards, the vertical rod 201 is contracted, and if the wire takeup 2201 releases the pull rope 2202, the H-2 th hollow tube 2203 moves downwards sequentially under the action of gravity and the limiting effect of the lower limiter 2205 of each hollow tube 2203, so that the vertical rod 201 is stretched.
Preferably, the wire takeup device 2201 includes a wire takeup motor 22011, a wire takeup reel 22012 for winding a pull rope 2202, a rotary fork 22014 driven to rotate by the wire takeup motor 22011 via a transmission gear 22013, an upper travel switch 22015 for sensing the lifting of the suspension mechanism 2 to the limit position, and a lower travel switch 22016 for sensing the lowering of the suspension mechanism 2 to the limit position, wherein output signal wires of the upper travel switch 22015 and the lower travel switch 22016 and control signal wires of the wire takeup motor 22011 are connected with a main controller of the flying platform 1, and a driving and self-locking relationship similar to a worm-worm gear is formed between the wire takeup motor 22011 and the wire takeup reel 22012.
Preferably, the reciprocating mechanism comprises an inertia wheel 303 driven by a cutter motor 302 to rotate, a connecting rod 304 connected to the edge of the inertia wheel 303 through a bearing, a guide moving block 305 connected with the other end of the connecting rod 304 through a bearing and capable of moving left and right, wherein the cross section of the guide moving block 305 is wide at the upper part and narrow at the lower part, a movable saw blade 306 is fixedly connected to the lower surface of the guide moving block, the inertia wheel 303, the connecting rod 304 and the guide moving block 305 form a multi-connecting rod mechanism, the rotary motion of the cutter motor 302 is converted into the left and right reciprocating motion of the movable saw blade 306, a fixed saw blade 307 is fixedly connected to the lower part of the cutter frame 301, the fixed saw blade 307 is provided with a groove for accommodating the guide moving block 305 to do left and right reciprocating motion, the profile of the longitudinal section of the groove is wide at the upper part and narrow at the lower part, the guide moving block 305 is embedded into the groove to form a left and right sliding fit for preventing falling, the cutter controller is connected with a main controller of the flying platform 1 through a communication bus, the cutter motor 302 is provided with a current sensor, a rotation speed sensor and a temperature sensor for respectively sensing current, the rotation speed and the temperature sensor during working of the cutter motor 302 are respectively connected to the cutter controller.
Preferably, the unhooking device 4 is a mechanical unhooking device, and includes an upper unhooking component 41 and a lower unhooking component 42 that can be mutually connected with the upper unhooking component 41; the upper unhooking component 41 comprises an upper base 4101, a linear steering engine 4102 fixedly connected with the upper base 4101 and with a downward output rod, an upper hook shaft 4106 fixedly connected with the upper base 4101, an upper hook 4105 with the upper hook shaft 4106 as a rotating shaft and in an L shape, a tension spring 4104 installed between the upper base 4101 and the tail end of a transverse rod of the upper hook 4105 and capable of providing a counterclockwise restoring moment for the upper hook 4105, and an upper electric interface 4107 fixedly connected with the upper base 4101, wherein the tail end of the output rod of the linear steering engine 4102 is provided with a bearing 4103; the lower unhooking component 42 comprises a lower base 4201, a lower hanging buckle 4202 fixedly connected to the lower base 4201 and capable of forming an upper and lower hanging connection with the upper hanging buckle 4105, and a lower electrical interface 4203 fixedly connected to the lower base 4201, wherein the upper electrical interface 4107 and the lower electrical interface 4203 form an opposite connection for transmitting electric energy and control signals, the lower end of the upper hanging buckle 4105 is a right-hand bent hook, the right lower side of the bent hook is in a bevel shape, the left upper side of the lower hanging buckle 4202 is provided with a bevel shape which is in extrusion pushing fit with the bent hook bevel outline of the upper hanging buckle 4105, the lower hanging buckle 4202 is provided with a square hole which is matched with the bent hook of the upper hanging buckle 4105, once the bent hook of the upper hanging buckle 4105 is screwed into the square hole, the lower hanging buckle 4202 and the upper hanging buckle 4105 form a reliable connection, the lower unhooking component 42 further comprises an elastic gasket 4204 embedded between the lower base 4201 and the upper base 4101 and tightly contacted with the lower base 4101, the linear steering engine 4102 is connected with a controller in the flight platform 4101, the linear steering engine is driven by the linear controller and the linear controller is contracted or contracted to output a command, thereby driving the upper hook 4105 to rotate clockwise or counterclockwise.
Preferably, the flying platform 1 is a multi-rotor aircraft with bilateral symmetry, and is not limited to any known multi-rotor aircraft with four, six, eight and the like fixed.
Preferably, the flying platform 1 is provided with a forward-looking camera and a downward-looking camera for closely observing the growth situation of the tree and the cutting state of the reciprocating saw system 3.
The invention relates to a working method and a control method of a tree pruning flying robot of a suspended reciprocating saw system, which comprises the following steps:
The working method of the tree obstacle clearing flying robot suspending the reciprocating saw comprises the following steps:
When the flying robot flies near a tree to be trimmed, firstly, the length and the flying height of the suspension mechanism 2 are adjusted, the reciprocating saw system 3 faces the tree to be trimmed, then, the flying robot is controlled to fly forward according to a received tree trimming remote control instruction, and the reciprocating saw system 3 is used for cutting and trimming the tree below the robot.
A control method of a tree obstacle clearing flying robot for hanging a reciprocating saw comprises the following steps:
1) The control method of the suspension mechanism 2 adopting the telescopic structure is that the main controller of the flying platform 1 dynamically changes the length of the pull rope 2202 by controlling the start, stop, take-up and pay-off directions of the wire takeup 2201, thereby adjusting the length of the vertical rod 201 and changing the vertical distance of the reciprocating saw system 3 relative to the flying platform 1.
2) The control method of the reciprocating saw system 3 is as follows:
a) The cutter controller collects current, rotating speed and temperature of the cutter motor 302 during working in real time and sends the current, rotating speed and temperature to the main controller of the flying platform 1 for monitoring;
B) Evaluating in real time the operational status of the movable saw blade 306:
① If the current threshold, the rotation speed threshold and the temperature threshold corresponding to the overload are known, if the current of the cutter motor 302 exceeds the current threshold, or the rotation speed is lower than the rotation speed threshold, or the temperature exceeds the temperature threshold, the overload of the movable saw blade 306 can be judged;
② If the current threshold, the rotation speed threshold and the temperature threshold corresponding to the blocking are known, if the current of the cutter motor 302 exceeds the current threshold, or the rotation speed is lower than the rotation speed threshold, or the temperature exceeds the temperature threshold, the movable saw blade 306 can be judged to be blocked;
③ If the current or rotational speed of the cutter motor 302 is periodically pulsed and the magnitude exceeds a predetermined threshold, it may be determined that damage has occurred to the movable saw blade 306.
C) The abnormal processing method of the working state comprises the following steps:
① If overload is judged, a hover instruction is sent to the flying platform 1, and cutting feeding is stopped;
② If the blocking or damage is judged, the cutter motor 302 is braked, and a back-off instruction is sent to the flying platform 1;
③ For jamming, if the movable saw blade 306 is jammed by a branch and is difficult to break loose, the unhooking device 4 is started to separate the reciprocating saw system 3 from the flying robot, so that the safety of the flying robot is protected to the greatest extent, and the crash is avoided.
3) The control method of the mechanical unhooking device 4 comprises the following steps:
A) When the unhooking device 4 receives an unhooking instruction of a main controller in the flying platform 1, an output rod of the linear steering engine 4102 stretches to drive the bearing 4103 to move downwards, the bearing 4103 is in extrusion contact with an upper plane of a transverse rod of the upper hook 4105 to push the upper hook 4105 to rotate clockwise, a hook at the lower end of the upper hook 4105 is separated from the lower hook 4202, and therefore mechanical unhooking of a part connected below the unhooking device 4 and a part connected above the unhooking device 4 is achieved, and separation of an electrical interface is completed;
B) When the lower hook 4202 is hung, the upward movement of the lower hook 4202 presses the hook of the upper hook 4105 to the left, so that the upper hook 4105 is pushed to rotate clockwise to return, and when the lower hook 4202 moves upward, the hook of the upper hook 4105 is quickly screwed into the square hole of the lower hook 4202, thereby forming stable and reliable hanging between the component connected below the unhooking device 4 and the component connected above the unhooking device 4, and simultaneously completing the connection of the electrical interface.
In the embodiment 2, as shown in fig. 12, a tree pruning flying robot for suspending a reciprocating saw is adopted in the suspension mechanism 2, wherein the vertical rod 201 comprises a hollow pipe 2203 with H (H is more than or equal to 3) sections which are continuously nested, serial numbers of 1,2, and H are sequentially arranged from top to bottom, an upper limiter 2204 for limiting movement overshoot of the i+1th section hollow pipe 2203 when the i+1th section hollow pipe 2203 contracts upwards is arranged at the upper end of the hollow pipe 2203, a lower limiter 2205 for limiting movement falling off of the i+1th section hollow pipe 2203 when the i+1th section hollow pipe 2203 stretches downwards is arranged at the lower end of the hollow pipe 2204, a flange 2208 connected with a flying platform 1 is arranged at the upper end of the 1 st section hollow pipe 2204, the lower end of the H section hollow pipe 2203 is connected with the reciprocating system 3, the upper limiter 2204 of the 2 nd section hollow pipe 2203 is connected with a wire collector 2201 mounted on the flying platform through a pull rope, when the number of the hollow pipe 2203 is more than or equal to the vertical rod 3, the upper limiter 220j of the hollow pipe 2203 is fixedly connected with the lower end of the hollow pipe 2206 j of the hollow pipe 2203, and the upper limiter 2204 is fixedly connected with the lower end of the hollow pipe 2206 j of the hollow pipe 2203 at the lower end of the hollow pipe 2203, and the upper limiter 2204 is fixedly connected with the upper end of the hollow pipe 2203 by the upper limiter 2204.
The suspension mechanism 2 ascends, a main controller of the flying platform 1 outputs a forward rotation instruction to a winding motor 22011, the winding motor 22011 drives a winding drum 22012 to wind a pull rope 2202 and enable a rotary shifting fork 22014 to rotate forward, the pull rope 2202 ascends to drive a2 nd section hollow tube 2203 of a vertical rod 201 to move upwards, a movable pulley 2206 on the section hollow tube 2203 is involved in the ascending, a pulley pull rope 2207 bypassing the movable pulley 2206 drives a 3 rd section hollow tube 2203 to move upwards synchronously, the like is used for always driving an N section hollow tube 2203 to move upwards synchronously, when all the vertical rods 201 synchronously act according to the method, the suspension mechanism 2 stably ascends, when the suspension mechanism 2 ascends to a limit position, the rotary shifting fork 22014 triggers an upward travel switch 22015, and the main controller of the flying platform 1 outputs a stall instruction to the winding motor 22011 to enable the winding motor 22011 to stall, so that the suspension mechanism 2 is protected from ascending.
The suspension mechanism 2 descends, the main controller of the flying platform 1 outputs a reverse rotation instruction to the winding motor 22011, the winding motor 22011 drives the winding disc 22012 to release the pull rope 2202 and enable the rotary shifting fork 22014 to reversely rotate, the 2 nd section hollow tube 2203 moves downwards under the action of the movable hollow tube 2203 of the vertical rod 201 and the lower load, the movable pulley 2206 on the 2 nd section hollow tube 2203 moves downwards together, the pulley pull rope 2207 bypassing the movable pulley 2206 drives the 3 rd section hollow tube 2203 to synchronously move downwards, and the like, the N section hollow tube 2203 is always driven to synchronously move downwards, when all the vertical rods 201 synchronously move according to the method, the suspension mechanism 2 stably descends, when the suspension mechanism 2 descends to the limit position, the rotary shifting fork 22014 triggers the lower travel switch 22016, and the main controller of the flying platform 1 outputs a rotation instruction to the winding motor 22011, so that the winding motor 22011 stops rotating, and the suspension mechanism 2 is protected from descending.
Embodiment 3A tree pruning flying robot with a suspended reciprocating saw, the vertical rod 201 of the suspension mechanism 2 described in embodiment 1 is an electric push rod with a linear motion function.
Embodiment 4A tree pruning flying robot with a suspended reciprocating saw, wherein the unhooking device 4 is electromagnetic and comprises an electromagnet 401 and an armature 402 which are respectively fixedly connected with parts connected with two ends of the unhooking device 4, and the electromagnet 401 is connected with a power supply on the flying robot through a switch.
As shown in fig. 13, the electromagnet 401 is powered on to be attracted with the armature 402, the reciprocating saw system 3 is hung below the hanging mechanism 2, and the armature 402 is released after the electromagnet 401 is powered off, so that the reciprocating saw system 3 is separated from the hanging mechanism 2. In the obstacle clearing operation, when the reciprocating saw system 3 is blocked relative to the branches and cannot be separated, the reciprocating saw system 3 can be separated from the flying robot through the unhooking device 4, so that the flying robot is safely protected.
Embodiment 5 As shown in FIG. 14, a tree pruning flying robot with a reciprocating saw suspended therein is provided with a tilting motor 1013 for rotating a rotor 1011 with respect to the axis of a corresponding rotor arm 1012 between any pair of rotor 1011 and the respective rotor arm 1012, thereby realizing a tilting rotor.
Based on the tilting rotor, the flying platform 1 can generate larger heading moment to overcome the unbalanced reactive moment of the tree suffered by the reciprocating saw system 3, and horizontal flying can be realized on the premise of not changing the posture.
Embodiment 6 As shown in fig. 15, a tree pruning flying robot with a suspended reciprocating saw is characterized in that a pitching joint 5 capable of enabling the suspended reciprocating saw to have relative pitching freedom degrees is arranged between the suspended mechanism 2 and the flying platform 1.
Preferably, the pitch joint 5 includes a pitch joint seat 501, a pitch joint movable member 502 rotatable about a rotation axis of the pitch joint seat 501, and a pair of torsion springs 503 mounted on the rotation axis of the pitch joint seat 501 and respectively located between the pitch joint movable member 502 and the pitch joint seat 501, wherein both ends of the torsion springs 503 are respectively fixed to the pitch joint seat 501 and the pitch joint movable member 502.
Embodiment 7 as shown in fig. 16 and 17, a tree pruning flying robot with a suspended reciprocating saw, the reciprocating saw system 3 is a circular arc reciprocating saw system, and the tree pruning flying robot can prune trees into various appearance shapes by matching with the motion track of the flying robot, for example:
1) If the flying robot moves horizontally and linearly back and forth, the tree can be trimmed to be in a circular arc shape;
2) If the flying robot rotates at fixed points, the tree can be trimmed to be hemispherical in appearance;
3) If the flying robot moves horizontally and rotates, the tree can be trimmed into a spiral arc shape;
4) If the flying robot moves horizontally, vertically and rotationally, the tree can be trimmed into a more complex appearance shape.
Example 8A tree pruning flying robot with a suspended reciprocating saw, when the fixed saw blade of the reciprocating saw system 3 has no saw teeth, a reciprocating saw system based on a single-layer saw blade is obtained.
The above description is only an example of the embodiment of the present invention, and the scope of the present invention is not limited thereto. Variations and alternatives can be readily ascertained by one of ordinary skill in the art within the scope of the present disclosure, which is intended to be within the scope of the present disclosure. For this purpose, the scope of the invention shall be subject to the scope of the claims.
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| CN114128509A (en) * | 2021-11-22 | 2022-03-04 | 贵州电网有限责任公司 | Tree obstacle removing method |
| CN116406582A (en) * | 2023-05-16 | 2023-07-11 | 南京琨之杰机电设备有限公司 | Reciprocating type electric saw trimming device and dust collecting system |
| CN119429208B (en) * | 2024-12-23 | 2026-02-13 | 南方电网通用航空服务有限公司 | Tree trimming drone |
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| CN108370746B (en) * | 2018-03-08 | 2023-10-20 | 南京太司德智能科技有限公司 | A guide tool structure and control method for a tree obstacle clearing aerial robot |
| CN108423175B (en) * | 2018-03-08 | 2024-04-12 | 南京太司德智能科技有限公司 | Tree obstacle cleaning aerial robot with rope-suspended cutters |
| CN108377781B (en) * | 2018-03-08 | 2023-10-20 | 南京太司德智能科技有限公司 | Tree obstacle cleaning aerial robot with hanging cutter structure |
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