CN114557207A - Unmanned aerial vehicle tree obstacle trimming device with automatic separation function - Google Patents
Unmanned aerial vehicle tree obstacle trimming device with automatic separation function Download PDFInfo
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- CN114557207A CN114557207A CN202210350299.8A CN202210350299A CN114557207A CN 114557207 A CN114557207 A CN 114557207A CN 202210350299 A CN202210350299 A CN 202210350299A CN 114557207 A CN114557207 A CN 114557207A
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/22—Improving land use; Improving water use or availability; Controlling erosion
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Abstract
The invention discloses an unmanned aerial vehicle tree obstacle trimming device with an automatic separation function, which belongs to the technical field of tree obstacle trimming devices and comprises an unmanned aerial vehicle, a tree obstacle cutting device, a tree obstacle cutting support rod device, a clamping and sawing automatic separation device and a battery, wherein the clamping and sawing automatic separation device is arranged at the lower side of the unmanned aerial vehicle, a connecting support rod is arranged at the lower end of the clamping and sawing automatic separation device, and the left side of the connecting support rod is connected with the tree obstacle cutting support rod device. The availability ratio of the line is improved, and the safe and stable operation of the power grid is ensured.
Description
Technical Field
The invention relates to the technical field of tree obstacle trimming devices, in particular to an unmanned aerial vehicle tree obstacle trimming device with an automatic separation function.
Background
Eucalyptus and bamboo constant-speed tree species are always one of important hidden dangers influencing the stable operation of a power transmission line channel, and in daily line channel inspection, the effective measures for solving the contradiction of the line trees are that ultrahigh eucalyptus hidden dangers are found in time and timely felling can be carried out. However, in the process of clearing the tree obstacles, many tree owners lack knowledge on power supply safety, are reluctant to cooperate with the tree obstacle clearing work due to the benefit of maintaining own tree rights, and are not allowed to trim the tops and branches of trees, especially the trees which are not finished. Therefore, pruning the tree tops and branches becomes a trend of a tree obstacle clearing working method, and how to carry out the tree obstacle clearing work rapidly, efficiently and safely without power outage becomes a problem to be solved urgently in the power transmission operation and maintenance profession.
At present, the tree obstacle cleaning work is usually carried out by climbing by using a ladder and trimming by holding a chain saw or a manual saw. It is not easy to adopt the ladder to ascend a height and prune top of a tree, branch, especially eucalyptus, the bark outward appearance is smooth not climbing well, receives the place restriction, and ladder bottom and top can't be fixed can only lean on the special messenger's staircase, rocks when topping, though has to beat the safety belt, still has great potential safety hazard, leads to work increase consuming time, and intensity of labour aggravates. Therefore, it is necessary to research a new trimming operation means and a transmission line tree obstacle cleaning technology.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle tree obstacle trimming device with an automatic separation function, and aims to solve the problems that ladder climbing is adopted in the existing tree obstacle cleaning work in the background technology, a chain saw or a manual saw is held for trimming, great potential safety hazards exist, the work time is long, and the labor intensity is high.
In order to achieve the purpose, the invention provides the following technical scheme: an unmanned aerial vehicle tree obstacle trimming device with an automatic separation function comprises an unmanned aerial vehicle, a tree obstacle cutting device, a tree obstacle cutting support rod device, a clamping saw automatic separation device and a battery, the lower side of the unmanned aerial vehicle is provided with an automatic clamping and sawing separating device, the lower end of the automatic clamping and sawing separating device is provided with a connecting support rod, the left side of the connecting support rod is connected with a tree barrier cutting support rod device which is connected with a tree barrier cutting device, the right end of the connecting support rod is provided with a battery, the automatic clamping and sawing separating device comprises a fixing device, a separating device and a pull-back rope releasing device, a fixing device is arranged at the lower side of the unmanned aerial vehicle, a separating device is connected at the lower side of the fixing device, the utility model discloses an unmanned aerial vehicle, including separator, pull-back rope release, it is fixed with the joint support pole to go back to the pull-back rope release, the last unmanned aerial vehicle support that is provided with of unmanned aerial vehicle.
Preferably, the tree obstacle cutting support rod device comprises a first support rod, a second support rod, a wire connection male head fixing seat and a wire connection female head fixing seat, the left end of the connection support rod is connected with the first support rod, the left end of the first support rod is detachably connected with the second support rod, the first support rod is provided with the wire connection male head fixing seat, the wire connection male head is installed on the wire connection male head fixing seat, the male head is provided with the wire connection female head fixing seat, the wire connection female head is installed on the wire connection female head fixing seat, and cables are installed between a battery and a wire connection male head and between the wire connection male head and the wire connection female head and the tree obstacle cutting device.
Preferably, the left end of the first support rod is provided with a square connecting seat male seat, the right end of the second support rod is provided with a square connecting seat female seat, and a fixing screw is arranged between the square connecting seat male seat and the square connecting seat female seat.
Preferably, the tree barrier cutting device includes mounting box, saw dish, cutting motor and guide fork, install saw bit and saw bit fixer on the saw dish, be provided with the motor cabinet on the saw dish, install on the motor cabinet and be used for driving saw bit pivoted cutting motor, the saw dish left end is provided with the guide fork, the saw dish downside is connected with the mounting box, install the control PLC board in the mounting box.
Preferably, an intermediate connecting seat is installed on the tree barrier cutting supporting rod device, a saw disc connecting seat is arranged on the tree barrier cutting device, the tree barrier cutting supporting rod device and the tree barrier cutting device are fixedly connected through the intermediate connecting seat and the saw disc connecting seat, and a locking bolt is installed between the intermediate connecting seat and the saw disc connecting seat.
Preferably, fixing device includes unmanned aerial vehicle connecting seat and separation couple fixing base, the unmanned aerial vehicle connecting seat is installed to the unmanned aerial vehicle downside, unmanned aerial vehicle connecting seat downside is provided with the separation couple fixing base.
Preferably, the separating device comprises a hook automatic separating and combining device, a driving motor, a driving screw rod, a moving guide seat and an unmanned aerial vehicle separating and moving control rod, the hook automatic separating and combining device is provided with a separating and combining hook, the separating and combining hook is provided with a hook handle and is rotationally connected through a pin shaft, the separating and combining hook is connected with a rotating shaft and a hook synchronous connecting rod, the hook automatic separating and combining device is provided with the driving motor, the output end of the driving motor is connected with the driving screw rod, the driving screw rod is provided with a moving screw seat, one end of the moving guide seat is connected with the moving screw seat, the other end of the moving guide seat is connected with the hook synchronous connecting rod, the hook automatic separating and combining device is connected with the unmanned aerial vehicle separating and moving control rod, the hook automatic separating and combining device is provided with a compression spring, the movable screw seat is connected with an automatic pay-off device bin gate opening and closing hook, and the automatic pay-off device bin gate opening and closing hook is connected with an automatic pay-off device bin gate opening and closing seat.
Preferably, the upper end of the separation device is provided with a lower signal line magnetic absorption seat, the lower end of the fixing device is provided with an upper signal line magnetic absorption seat, and the lower signal line magnetic absorption seat and the upper signal line magnetic absorption seat are mutually absorbed.
Preferably, two switch induction pieces are installed on the movable screw seat, and a photoelectric switch is arranged in the separating device.
Preferably, the pull-back rope releasing device comprises an automatic pay-off device shell, an automatic pay-off device opening and closing door lock catch is arranged on the upper side of the automatic pay-off device shell, the side face of the automatic pay-off device shell is connected with an automatic pay-off device opening and closing door in a rotating mode, a pull-back rope wheel disc is placed in the automatic pay-off device shell, a pull-back rope is wound on the pull-back rope wheel disc, one end of the pull-back rope is fixed to the top of the automatic pay-off device shell, the other end of the pull-back rope wheel disc is connected with the pull-back rope wheel disc, and the automatic pay-off device opening and closing door lock catch and the automatic pay-off device door opening and closing seat are connected with an automatic pay-off device door opening and closing hook.
Compared with the prior art, the invention has the beneficial effects that:
1) the multi-rotor unmanned aerial vehicle carries the special trimming device, has a tree guiding control function, is strong in trimming adaptability, high in trimming efficiency and large in trimming operation radius, can prevent the unmanned aerial vehicle from falling down in the process of clearing the obstacles by using the special automatic clamping and sawing separation device, ensures safe operation and control operation in the process of trimming the obstacles, eliminates the hidden danger of a line channel in time, improves the availability of the line, and ensures safe and stable operation of a power grid;
2) the invention replaces the traditional ladder climbing, and the chain saw or the manual saw is held for trimming, thereby reducing the labor amount of workers, facilitating trimming operation and reducing potential safety hazard;
3) tree barrier cutting bracing piece device mainly used assembles the tree barrier cutterbar of different length with the multisection bracing piece fast, and simultaneously for convenient transportation, but back bracing piece split into multisection is accomplished in the operation, and convenient the accomodating is placed.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic structural diagram of a tree barrier cutting apparatus according to the present invention;
FIG. 3 is a schematic view of an internal structure of the cutting device for a tree barrier according to the present invention;
FIG. 4 is a schematic structural view of a tree barrier cutting support rod device according to the present invention;
FIG. 5 is a schematic cross-sectional view of the supporting rod device for cutting the tree barrier according to the present invention;
FIG. 6 is a schematic view of the connecting structure of the saw disc connecting seat of the present invention;
FIG. 7 is a schematic structural view of an automatic separation device for a card saw according to the present invention;
FIG. 8 is a schematic view of a fixing device according to the present invention;
FIG. 9 is a schematic view of the structure of the separation apparatus of the present invention;
FIG. 10 is a schematic sectional view of the separating apparatus of the present invention;
FIG. 11 is a schematic view of a pull-back cord release apparatus according to the present invention;
FIG. 12 is a schematic structural view of the automatic pay-off device of the present invention with the open/close door open;
FIG. 13 is a schematic view of the locking state of the automatic separation device for the jigsaw according to the present invention;
FIG. 14 is a cross-sectional view of the automatic separation device for a card saw according to the present invention;
FIG. 15 is a schematic cross-sectional view of the automatic separation device for a card saw of the present invention in a separated state;
FIG. 16 is a schematic view of the separation structure of the apparatus of the present invention.
In the figure: 1. an unmanned aerial vehicle; 11. an unmanned aerial vehicle support; 2. a battery; 3. connecting the supporting rods; 4. a card-saw automatic separation device; 41. a fixing device; 411. connecting a unmanned aerial vehicle seat; 412. separating the hook fixing seat; 413. an upper signal line magnetic attraction seat; 42. a separation device; 421. a lower signal line magnetic attraction seat; 422. the hook is automatically separated from the combining device; 423. a hook handle; 424. a drive motor; 425. driving the screw rod; 426. the automatic pay-off device bin gate opens and closes the seat; 427. the bin gate opening and closing hook of the automatic pay-off device; 428. moving the screw seat; 429. moving the guide seat; 4291. the unmanned aerial vehicle separates the mobile control rod; 4292. a combined hook is separated; 4293. a rotating shaft; 4294. a compression spring; 4295. a pin shaft; 4296. a hook synchronous connecting rod; 43. a pull back cord release; 431. an automatic pay-off device opens and closes the door; 432. an automatic pay-off device housing; 433. a rope pulling wheel disc is pulled back; 434. the automatic pay-off device opens and closes the door lock catch; 435. a rope pulling wheel disc is pulled back; 5. the tree barrier cutting support rod device; 51. the wire is connected with the female head fixing seat; 52. a wire connector female head; 53. the wire is connected with the male head fixing seat; 54. a male wire connector; 55. a second support bar; 551. a square connecting seat female seat; 56. a first support bar; 561. a square connecting seat male seat; 562. a fixing screw; 57. a cable; 6. a tree barrier cutting device; 61. a guide fork; 62. a saw blade; 63. a saw blade holder; 64. sawing a disc; 65. a motor base; 66. a saw disc connecting seat; 67. mounting a box; 68. cutting the motor; 69. controlling the PLC board; 7. a middle connecting seat; 8. and locking the bolt.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example (b):
referring to fig. 1-16, the present invention provides a technical solution: an unmanned aerial vehicle tree obstacle trimming device with an automatic separation function comprises an unmanned aerial vehicle 1, a tree obstacle cutting device 6, a tree obstacle cutting support rod device 5, a clamping saw automatic separation device 4 and a battery 2, wherein the clamping saw automatic separation device 4 is installed on the lower side of the unmanned aerial vehicle 1, a connecting support rod 3 is installed at the lower end of the clamping saw automatic separation device 4, the connecting support rod 3 is a square rod, the tree obstacle cutting support rod device 5 is connected to the left side of the connecting support rod 3, the tree obstacle cutting support rod device 5 is connected with the tree obstacle cutting device 6, the battery 2 is installed at the right end of the connecting support rod 3, the clamping saw automatic separation device 4 comprises a fixing device 41, a separation device 42 and a pull-back rope release device 43, the fixing device 41 is installed on the lower side of the unmanned aerial vehicle 1, the separation device 42 is connected to the lower side of the fixing device 41, the pull-back rope release device 43 is installed at the lower end of the separation device 42, the utility model discloses a multi-rotor unmanned aerial vehicle, including unmanned aerial vehicle 1, pull-back rope release 43, bracing piece 3, unmanned aerial vehicle 1 is last to be provided with unmanned aerial vehicle support 11, unmanned aerial vehicle 1 is many rotor unmanned aerial vehicle, have trees direction control function, it is strong to prune adaptability, prune efficiently, it is big to prune the operation radius, utilize special card saw autosegregation device 4, preventable unmanned aerial vehicle 1 takes place the air crash accident at clearance tree obstacle in-process, ensure to prune the in-process safety control operation at tree obstacle, in time eliminate line passageway hidden danger, improve the availability ratio of circuit, ensure the safety and stability operation of electric wire netting.
Tree barrier cutting bracing piece device 5 includes first bracing piece 56, second bracing piece 55, the public first fixing base 53 of connection of electric lines and female first fixing base 51 of connection of electric lines, 3 left ends of bracing piece are connected with first bracing piece 56, 56 left ends of first bracing piece detachable connections have second bracing piece 55, install the public first fixing base 53 of connection of electric lines on the first bracing piece 56, install the public first 54 of connection of electric lines on the public first fixing base 53 of connection of electric lines, public overhead female first fixing base 51 of connection of electric lines of installing, install the female first 52 of connection of electric lines on the female first fixing base 51 of connection of electric lines, between the public first 54 of battery 2 and connection of electric lines head, cable 57 is all installed to the female first 52 of connection of electric lines and tree barrier cutting device 6.
The left end of the first support rod 56 is provided with a square connecting seat male seat 561, the right end of the second support rod 55 is provided with a square connecting seat female seat 551, and a fixing screw 562 is arranged between the square connecting seat male seat 561 and the square connecting seat female seat 551.
Tree barrier cutting bracing piece device 5 mainly used assembles the tree barrier cutterbar of different length with the multisection bracing piece fast, and simultaneously for convenient transportation, but bracing piece split becomes the multisection after the operation is accomplished, conveniently accomodates and places.
The tree obstacle cutting device 6 comprises an installation box 67, a saw disc 64, a cutting motor 68 and a guide fork 61, a saw blade 62 and a saw blade fixer 63 are installed on the saw disc 64, a motor base 65 is arranged on the saw disc 64, the motor base 65 is provided with the cutting motor 68 used for driving the saw blade 62 to rotate, the left end of the saw disc 64 is provided with the guide fork 61, the lower side of the saw disc 64 is connected with the installation box 67, and a control PLC (programmable logic controller) board 69 is installed in the installation box 67.
The guide fork 61 guides the tree to be cut to enter the cutting position of the saw disc 64, and simultaneously, the tree barrier cutting device 6 is limited not to swing in the cutting process, when the saw disc 64 cuts the trunk, the tree barrier cutting device 6 is easy to swing due to the cutting centrifugal force of the saw disc 64, so that the cutting efficiency is low, and therefore the guide fork 61 is designed.
Install intermediate junction seat 7 on the tree barrier cutting bracing piece device 5, be provided with saw disc connecting seat 66 on the tree barrier cutting device 6, it is fixed with saw disc connecting seat 66 to connect through intermediate junction seat 7 between tree barrier cutting bracing piece device 5 and the tree barrier cutting device 6, install locking bolt 8 between intermediate junction seat 7 and the saw disc connecting seat 66, saw disc connecting seat 66 is equipped with round concave circular groove, can be according to the manual rotation of site conditions, adjustment saw disc 64 angle, and locking bolt 8 unscrews adjustable saw disc 64 angle, screws up then fixed saw disc 64.
Card saw autosegregation device 4 is mainly by separator 42, fixing device 41, it constitutes to pull back rope release 43, mainly play when unmanned aerial vehicle 1 clearance tree obstacle operation, run into the trunk and die the card of saw bit 62 and make unmanned aerial vehicle 1 can't fly away from, control system passes through automatic identification saw bit 62's rotational speed, in case identification saw bit 62 is in the card state of dying, automatic control card saw autosegregation device autosegregation's effect with unmanned aerial vehicle 1 and the device autosegregation that unmanned aerial vehicle 1 lower extreme carried promptly, with this ensure that unmanned aerial vehicle 1 can break away from the dangerous situation in the twinkling of an eye, be unlikely to arouse the crash accident.
Fixing device 41 includes unmanned aerial vehicle connecting seat 411 and separation couple fixing base 412, unmanned aerial vehicle connecting seat 411 is installed to the unmanned aerial vehicle downside, unmanned aerial vehicle connecting seat 411 downside is provided with separation couple fixing base 412, and separation couple fixing base 412 is used for realizing that unmanned aerial vehicle 1 carries out quick fixation and separation with the tree obstacle trimming means, is provided with the couple axle on the separation couple fixing base 412.
The separating device 42 comprises a hook automatic separating and combining device 422, a driving motor 424, a driving screw rod 425, a moving guide seat 429 and an unmanned aerial vehicle separating and moving control rod 4291, a separating and combining hook 4292 is installed in the hook automatic separating and combining device 422, a hook handle 423 is arranged on the separating and combining hook 4292, the separating and combining hook 4292 is rotatably connected through a pin roll 4295, the separating and combining hook 4292 is connected with a rotating shaft 4293 and a hook synchronous connecting rod 4296, the driving motor 424 is installed on the hook automatic separating and combining device 422, the output end of the driving motor 424 is connected with the driving screw rod 425, a moving screw seat 428 is installed on the driving screw rod 425, one end of the moving guide seat 429 is connected with the moving screw seat 428, the other end of the moving guide seat 429 is connected with the hook synchronous connecting rod 4296, the hook automatic separating and combining device 422 is connected with the unmanned aerial vehicle separating and moving control rod 4291, a compression spring 4294 is arranged in the hook automatic separation and combination device 422, the movable screw seat 428 is connected with an automatic pay-off device bin gate opening and closing hook 427, and the automatic pay-off device bin gate opening and closing hook 427 is connected with an automatic pay-off device bin gate opening and closing seat 426.
The movable screw seat 428 reciprocates to drive the two parts of the movable guide seat 429 and the automatic pay-off bin gate opening and closing hook 427 to synchronously move, the movable guide seat 429 drives the hook synchronous connecting rod 4296 and the automatic pay-off bin gate opening and closing hook 427 to reciprocate, and the hook synchronous connecting rod 4296 is driven to synchronously drive the hook automatic separation and combination devices 422 on the two sides of the hook synchronous connecting rod 4296 to perform separation and combination movement; the door opening and closing hook 427 of the automatic pay-off device is driven to reciprocate to control the opening and closing motion of the opening and closing door 431 of the automatic pay-off device.
The upper end of the separating device 42 is provided with a lower signal line magnetic suction seat 421, the lower end of the fixing device 41 is provided with an upper signal line magnetic suction seat 413, the lower signal line magnetic suction seat 421 and the upper signal line magnetic suction seat 413 are attracted, the connecting seat is connected with two signal lines for controlling the separation of the tree barrier cutting device and the unmanned aerial vehicle 1, a passage is formed by the magnetic suction of the lower signal line magnetic suction seat 421 and the upper signal line magnetic suction seat 413 in a magnetic suction manner, when the tree barrier cutting device 6 cleans the tree barriers, once the saw is clamped by the saw blade 62, the rotating speed of the cutting motor 68 is zero at the moment, the control system triggers the automatic separating device to separate, and the lower signal line magnetic suction seat 421 and the upper signal line magnetic suction seat 413 are separated instantly due to the self-gravity of the tree barrier cutting device, so that the purposes of connecting and separating the signal lines are achieved through the magnetic suction manner.
Two switch induction sheets are installed on the movable screw seat 428, and a photoelectric switch is arranged in the separation device 42. The two switch induction sheets are driven to reciprocate by the movable screw seat 428, the reciprocating travel of the switch induction sheets is controlled by the slot type photoelectric switches fixed on two sides, when the left switch induction sheet moves to the left slot type photoelectric switch slot, the switch induction sheet stops moving immediately, the separation combination hook 4292 is in a separation state, otherwise, when the right switch induction sheet moves to the right slot type photoelectric switch slot, the switch induction sheet stops moving immediately, and the separation combination hook 4292 is in a combination state.
The unmanned aerial vehicle 1 is controlled to be automatically separated from a mounted device thereof by monitoring and controlling the rotating speed of the tree barrier cutting motor 68 in real time through the unmanned aerial vehicle main control system, the rotating speed of the planned cutting motor 68 for normally cutting the trunk is about 5000 minutes/revolution, and when the saw blade 62 is caused to stop rotating instantly or the rotating speed of the saw blade 62 is reduced to 50 revolutions per minute due to the fact that the saw is stuck or other factors (the cutting motor 68 directly drives the saw blade 62 to rotate, the speed of the cutting motor 68 is consistent with that of the saw blade 62, and the rotating speed of the monitoring motor is equal to that of the saw blade 62), however, once the unmanned aerial vehicle main control system monitors the rotating speed of the motor to stop rotating instantly or the rotating speed of the saw blade 62 is reduced to 50 revolutions per minute, the system automatically controls the unmanned aerial vehicle to move backwards in parallel within the next 1 second, if the parallel backwards moving process is smooth, namely the separating device 42 cannot be triggered, and the original state is kept; if the parallel backward movement meets the resistance to the unmanned aerial vehicle being unable to move backward, and the cutting motor 68 is still in the stop rotating state, the system controls the instantaneous separation of the unmanned aerial vehicle and the device mounted at the lower end of the unmanned aerial vehicle, so as to ensure that the unmanned aerial vehicle is not damaged in the obstacle clearing process and cannot crash due to the clamping of the saw.
The pull-back rope releasing device 43 comprises an automatic paying-off device shell 432, an automatic paying-off device opening and closing door lock catch 434 is arranged on the upper side of the automatic paying-off device shell 432, the side face of the automatic paying-off device shell 432 is rotatably connected with an automatic paying-off device opening and closing door 431, a pull-back rope wheel disc 433 is placed in the automatic paying-off device shell 432, a pull-back rope 435 is wound on the pull-back rope wheel disc 433, one end of the pull-back rope 435 is fixed at the top of the automatic paying-off device shell 432, the other end of the pull-back rope 435 is connected with the pull-back rope wheel disc 433, and the automatic paying-off device opening and closing door lock catch 434 is connected with an automatic paying-off device bin door opening and closing seat 426 and an automatic paying-off device bin door opening and closing hook 427.
The pull-back rope releasing device 43 mainly plays a role in separating the device mounted at the lower end of the unmanned aerial vehicle 1 from the lower end of the unmanned aerial vehicle in the moment, the mounting device is in the self-gravity falling process, the device may fall on a high branch or fall on a high position, the ground personnel cannot be taken down, at the moment, the device can be recovered to the ground through the pull-back rope 435 rolling down from the shell 432 of the automatic pay-off device, the shell 432 of the automatic pay-off device is arranged on an inclined plane, and after the door 431 of the automatic pay-off device is opened, the pull-back rope sheave 433 can roll down to the ground along the inclined plane of the shell.
When the automatic separation device 4 of the card saw is in a locking state, as shown in the attached fig. 13 and 14.
When the device is accidentally stuck, the device is stuck saw automatic separation device 4, as shown in fig. 15, the hook automatic separation and combination device 422 is driven by the hook synchronization connecting rod 4296, and the two end separation and combination hook 4292 synchronously swings rightwards and is separated from the separation hook fixing seat 412.
The working principle is as follows: the multi-rotor unmanned aerial vehicle carries a special trimming device, has a tree guiding control function, is strong in trimming adaptability, high in trimming efficiency and large in trimming operation radius, can prevent the unmanned aerial vehicle 1 from falling down in the process of clearing tree obstacles by using the special automatic clamping and sawing separation device 4, ensures safe operation and control operation in the process of trimming the tree obstacles, eliminates hidden troubles of a line channel in time, improves the availability ratio of the line, ensures safe and stable operation of a power grid, reduces the labor capacity of workers, facilitates trimming operation and reduces the hidden troubles.
While there have been shown and described the fundamental principles and essential features of the invention and advantages thereof, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof; the present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not to be construed as limiting the claims.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides an unmanned aerial vehicle tree barrier trimming means who possesses autosegregation function, includes unmanned aerial vehicle (1), tree barrier cutting device (6), tree barrier cutting bracing piece device (5), card saw autosegregation device (4) and battery (2), its characterized in that: the automatic separation device for the card saw is installed on the lower side of the unmanned aerial vehicle (1), the connecting support rod (3) is installed at the lower end of the automatic separation device for the card saw (4), the tree obstacle cutting support rod device (5) is connected to the left side of the connecting support rod (3), the tree obstacle cutting support rod device (5) is connected with the tree obstacle cutting device (6), the battery (2) is installed at the right end of the connecting support rod (3), the automatic separation device for the card saw (4) comprises a fixing device (41), a separating device (42) and a pull-back rope releasing device (43), the fixing device (41) is installed on the lower side of the unmanned aerial vehicle (1), the separating device (42) is connected to the lower side of the fixing device (41), the pull-back rope releasing device (43) is installed at the lower end of the separating device (42), and the bottom of the pull-back rope releasing device (43) is fixed with the connecting support rod (3), be provided with unmanned aerial vehicle support (11) on unmanned aerial vehicle (1).
2. The unmanned aerial vehicle obstacle trimming device with the automatic separation function of the root saw claim 1, characterized in that: the tree barrier cutting support rod device (5) comprises a first support rod (56), a second support rod (55), a wire connecting male head fixing seat (53) and a wire connecting female head fixing seat (51), the left end of the connecting support rod (3) is connected with a first support rod (56), the left end of the first support rod (56) is detachably connected with a second support rod (55), the first supporting rod (56) is provided with a wire connecting male head fixing seat (53), the wire connecting male head fixing seat (53) is provided with a wire connecting head male head (54), the male head is provided with a wire connecting female head fixing seat (51), the wire connecting female head fixing seat (51) is provided with a wire connecting head female head (52), and cables (57) are arranged between the battery (2) and the wire connector male head (54) and between the wire connector female head (52) and the tree barrier cutting device (6).
3. The root saw claim 2, wherein the unmanned aerial vehicle obstacle pruning device with the automatic separation function is characterized in that: the left end of the first supporting rod (56) is provided with a square connecting seat male seat (561), the right end of the second supporting rod (55) is provided with a square connecting seat female seat (551), and a fixing screw (562) is installed between the square connecting seat male seat (561) and the square connecting seat female seat (551).
4. The unmanned aerial vehicle obstacle trimming device with the automatic separation function of the root saw claim 1, characterized in that: tree barrier cutting device (6) are including mounting box (67), saw disc (64), cutting motor (68) and guide fork (61), install saw bit (62) and saw bit fixer (63) on saw disc (64), be provided with motor cabinet (65) on saw disc (64), install on motor cabinet (65) and be used for driving saw bit (62) pivoted cutting motor (68), saw disc (64) left end is provided with guide fork (61), saw disc (64) downside is connected with mounting box (67), install control PLC board (69) in mounting box (67).
5. The unmanned aerial vehicle obstacle trimming device with the automatic separation function of the root saw claim 1, characterized in that: install intermediate junction seat (7) on tree barrier cutting bracing piece device (5), be provided with saw disc connecting seat (66) on tree barrier cutting device (6), it is fixed through intermediate junction seat (7) and saw disc connecting seat (66) to connect between tree barrier cutting bracing piece device (5) and tree barrier cutting device (6), install locking bolt (8) between intermediate junction seat (7) and saw disc connecting seat (66).
6. The unmanned aerial vehicle obstacle trimming device with the automatic separation function of the root saw claim 1, characterized in that: fixing device (41) include unmanned aerial vehicle connecting seat (411) and separation couple fixing base (412), unmanned aerial vehicle connecting seat (411) is installed to the unmanned aerial vehicle downside, unmanned aerial vehicle connecting seat (411) downside is provided with separation couple fixing base (412).
7. The root saw of claim 6, wherein the unmanned aerial vehicle obstacle pruning device with the automatic separation function is characterized in that: the separation device (42) comprises a hook automatic separation combination device (422), a driving motor (424), a driving screw rod (425), a movable guide seat (429) and an unmanned aerial vehicle separation movement control rod (4291), a separation combination hook (4292) is installed in the hook automatic separation combination device (422), a hook handle (423) is arranged on the separation combination hook (4292), the separation combination hook (4292) is rotatably connected through a pin shaft (4295), the separation combination hook (4292) is connected with a rotating shaft (4293) and a hook synchronization connecting rod (4296), the driving motor (424) is installed on the hook automatic separation combination device (422), the output end of the driving motor (424) is connected with the driving screw rod (425), the movable screw seat (428) is installed on the driving screw rod (425), one end of the movable guide seat (429) is connected with the movable screw seat (428), the other end of the automatic pay-off device cabin door opening and closing hook is connected with a hook synchronous connecting rod (4296), the hook automatic separation and combination device (422) is connected with an unmanned aerial vehicle separation and movement control rod (4291), a compression spring (4294) is installed in the hook automatic separation and combination device (422), the moving screw seat (428) is connected with an automatic pay-off device cabin door opening and closing hook (427), and the automatic pay-off device cabin door opening and closing hook (427) is connected with an automatic pay-off device cabin door opening and closing seat (426).
8. The unmanned aerial vehicle obstacle trimming device with the automatic separation function of the root saw claim 1, characterized in that: the upper end of the separating device (42) is provided with a lower signal line magnetic attraction seat (421), the lower end of the fixing device (41) is provided with an upper signal line magnetic attraction seat (413), and the lower signal line magnetic attraction seat (421) and the upper signal line magnetic attraction seat (413) are attracted mutually.
9. The unmanned aerial vehicle obstacle trimming device with the automatic separation function of the root saw claim 7, wherein: two switch induction sheets are installed on the movable screw seat (428), and a photoelectric switch is arranged in the separation device (42).
10. The unmanned aerial vehicle obstacle trimming device with the automatic separation function of the root saw claim 7, wherein: the back-pulling rope releasing device (43) comprises an automatic paying-off device shell (432), an automatic paying-off device opening and closing door lock catch (434) is arranged on the upper side of the automatic paying-off device shell (432), an automatic paying-off device opening and closing door (431) is connected to the side face of the automatic paying-off device shell (432) in a rotating mode, a back-pulling rope wheel disc (433) is placed in the automatic paying-off device shell (432), a back-pulling rope (435) is wound on the back-pulling rope wheel disc (433), one end of the back-pulling rope (435) is fixed to the top of the automatic paying-off device shell (432), the other end of the back-pulling rope wheel disc (433) is connected with the back-pulling rope wheel disc (433), and the automatic paying-off device opening and closing door lock catch (434) is connected with an automatic paying-off device bin door opening and closing seat (426) and an automatic paying-off device bin door opening and closing hook (427).
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| CN114557207B (en) | 2023-04-07 |
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