CN116018951A - Balanced picking and tip removing device of unmanned aerial vehicle - Google Patents
Balanced picking and tip removing device of unmanned aerial vehicle Download PDFInfo
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- CN116018951A CN116018951A CN202310133200.3A CN202310133200A CN116018951A CN 116018951 A CN116018951 A CN 116018951A CN 202310133200 A CN202310133200 A CN 202310133200A CN 116018951 A CN116018951 A CN 116018951A
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Abstract
The invention discloses a balanced picking and tip removing device of an unmanned aerial vehicle, which comprises the unmanned aerial vehicle and the balanced tip removing device; the balanced type pin removing device comprises a base, a sliding table arranged on the base, a pin removing mechanism arranged on the sliding table and a linear driving mechanism for driving the sliding table to do linear motion so as to change the angle of the pin removing mechanism; the tip removing mechanism comprises a first connecting rod, a second connecting rod and a cutting mechanism arranged at the tail end of the first connecting rod; the upper end of the first connecting rod is rotationally connected to the sliding table, the upper end of the second connecting rod is rotationally connected to the base, and the lower end of the second connecting rod is rotationally connected to the middle part of the first connecting rod; the balanced picking and pin removing device can ensure the working safety of the unmanned aerial vehicle, improve the working fault tolerance of the unmanned aerial vehicle in the picking and pin removing process, maintain the balance of the unmanned aerial vehicle and avoid the phenomena of unbalance and out of control of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle picking, in particular to a balanced picking and tip removing device of an unmanned aerial vehicle.
Background
At present, the main domestic economic fruit tree crops belong to arbor, and the tree body is particularly high and large, such as litchi, longan, apple and other economic crops. Because of the growth characteristics of the arbor and fruit tree, tools such as ladders and the like are usually needed for manual picking and tip removal, the arbor and fruit tree belongs to high-altitude operation, certain danger exists, the labor intensity is high, and the labor cost is high. Along with the upgrading of rural planting industry technology, automatic management of fruit trees is increasingly promoted, the automatic picking robot technology is mature, and unmanned aerial vehicles are widely applied in agriculture. Aiming at the growth characteristics of the arbor fruit trees such as litchi, longan, apple and the like, a set of tip removing and picking device is designed to be carried on an unmanned aerial vehicle, and the problems of manual tip removing and fruit tree picking of the tall arbor fruit trees are effectively solved by utilizing the high-altitude characteristic of the unmanned aerial vehicle. However, the pin removing and picking device is carried on the unmanned aerial vehicle body, so that the gravity center of the unmanned aerial vehicle is easily deviated from the center, the normal operation of sensing elements such as a gyroscope is influenced, and further the control failure of the unmanned aerial vehicle in flight control is caused, so that the phenomena of shaking, unbalance and the like of the unmanned aerial vehicle are generated, and the pin removing and picking device of the unmanned aerial vehicle has key points and difficulties at present; and outdoor, unmanned aerial vehicle location can reach the centimetre level highest, and unmanned aerial vehicle removes under the world coordinate system and has the deviation of centimetre level promptly, leads to unmanned aerial vehicle to remove the near area of the position that issues work instruction point place only, and this often needs unmanned aerial vehicle multiple movement just can accurately reach accurate work area, greatly reduced work efficiency. In addition, unmanned aerial vehicle is at the removal in-process towards the fruit tree, and the branch can receive wind-force influence, and the phenomenon that the working area position can deviate takes place.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a balanced picking and tip removing device of an unmanned aerial vehicle, which can ensure the working safety of the unmanned aerial vehicle, improve the working fault tolerance of the unmanned aerial vehicle in the picking and tip removing process, maintain the balance of the unmanned aerial vehicle and avoid the phenomena of unbalance and out of control of the unmanned aerial vehicle.
The technical scheme for solving the technical problems is as follows:
the balanced picking and pin removing device of the unmanned aerial vehicle comprises the unmanned aerial vehicle and the balanced pin removing device arranged at the lower end of the unmanned aerial vehicle, wherein the balanced pin removing device comprises a base arranged at the lower end of a machine body of the unmanned aerial vehicle, a sliding table arranged on the base, a pin removing mechanism arranged on the sliding table and a linear driving mechanism used for driving the sliding table to do linear motion so as to change the angle of the pin removing mechanism, and the sliding table is arranged on the base through a linear sliding mechanism; the tip removing mechanism comprises a first connecting rod, a second connecting rod and a cutting mechanism arranged at the tail end of the first connecting rod, wherein the upper end of the first connecting rod is rotationally connected to the sliding table, the upper end of the second connecting rod is rotationally connected to the base, and the lower end of the second connecting rod is rotationally connected to the middle part of the first connecting rod.
Preferably, the cutting mechanism comprises a base plate arranged at the tail end of the first connecting rod, a plurality of groups of cutting blades arranged on the base plate and a rotary driving mechanism for driving the cutting blades to rotate.
Preferably, the rotary driving mechanism is a rotary motor, and the rotary motors are multiple groups and are in one-to-one correspondence with the multiple groups of cutting blades; the main shaft of each group of rotating motors is connected with the cutting blade.
Preferably, the end of the first connecting rod is further provided with an electric push rod for driving the bottom plate to do linear telescopic motion.
Preferably, the linear driving mechanism comprises a driving motor and a screw rod transmission mechanism, wherein one end of a screw rod in the screw rod transmission mechanism is rotationally connected to the front end of the base, and the other end of the screw rod is connected with a main shaft of the driving motor arranged at the rear end of the base; and a screw nut in the screw rod transmission mechanism is arranged on the sliding table.
Preferably, the bottom of unmanned aerial vehicle is provided with the support that rises and falls, the support that rises and falls is two sets of, and is located respectively the both sides of balanced type pin removal device.
Preferably, the two groups of linear sliding mechanisms are symmetrically arranged, each group of linear sliding mechanism comprises a sliding rod and a sliding hole arranged on the sliding table, and two ends of the sliding rod are respectively arranged at the front end and the rear end of the base.
Preferably, the base is of a stepped symmetrical structure, and the weight of the front end of the base is smaller than that of the rear end of the base.
Preferably, the front end of the base is connected with the first connecting rod by a soft spring, the connecting part is positioned at a position where the upper end of the first connecting rod is downward, and the soft spring is used for promoting the front end of the base to bear the weight of the first connecting rod and the cutting mechanism.
Compared with the prior art, the method has the following beneficial effects:
(1) The balanced picking and tip removing device of the unmanned aerial vehicle can ensure the working safety of the unmanned aerial vehicle, and when the unmanned aerial vehicle takes off and lands, the linear driving mechanism is used for ensuring that the cutting mechanism at the tail end of the first connecting rod is kept horizontal with the ground, so that the length of the tip removing mechanism can be greatly prolonged, and the safe distance between the blade of the unmanned aerial vehicle and the fruit tree can be kept by prolonging the length of the tip removing mechanism.
(2) The balanced picking and tip removing device of the unmanned aerial vehicle can improve the work fault tolerance of the unmanned aerial vehicle in the picking and tip removing process and avoid multiple displacements of the unmanned aerial vehicle. When the unmanned aerial vehicle is used for executing work, the position of a working area, namely fruit and tree tips, can be identified through a visual positioning system carried by the unmanned aerial vehicle, then the unmanned aerial vehicle is controlled to fly above the working area, and then the control system on the unmanned aerial vehicle is used for controlling the linear driving mechanism to act, so that the angle of a tip removing mechanism at the tail end of the first connecting rod is changed, and finally the unmanned aerial vehicle is enabled to work a large working area without the need of precisely flying the unmanned aerial vehicle to a working point; for unmanned aerial vehicle multiple movement flight reaches accurate operating point, through keeping unmanned aerial vehicle in the state of hovering to enlarged the working range of the de-tip mechanism in the unmanned aerial vehicle, reduced the removal that the branch receives unmanned aerial vehicle wind-force to influence, can improve the fault-tolerant rate of unmanned aerial vehicle work like this greatly, this is a more reasonable method of carrying on de-tip picking device on unmanned aerial vehicle.
(3) The balanced picking and tip removing device of the unmanned aerial vehicle can keep the balance of the unmanned aerial vehicle and avoid unbalance and out of control of the unmanned aerial vehicle. In the whole flight process of the unmanned aerial vehicle, based on the lever principle, proper weight blocks are mounted at the rear ends of the sliding table and the base according to the weight of the cutting mechanism, so that the unmanned aerial vehicle can always keep the gravity center of the unmanned aerial vehicle within the range of the central position when the cutting mechanism moves to any position in the horizontal plane in the whole flight process, the influence of gravity center offset of the unmanned aerial vehicle on the flight control of the unmanned aerial vehicle can be effectively reduced, and the unmanned aerial vehicle can be further ensured to fly safely and stably.
Drawings
Fig. 1-3 are schematic structural views of a balanced picking and tip removing device of an unmanned aerial vehicle according to the present invention, wherein fig. 1 and 2 are schematic perspective views of two different viewing angles, and fig. 3 is a side view.
Fig. 4 is a schematic perspective view of a cutting mechanism.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but embodiments of the present invention are not limited thereto.
Referring to fig. 1-4, the balanced picking and tip removing device of the unmanned aerial vehicle comprises an unmanned aerial vehicle 1 and a balanced tip removing device arranged at the lower end of the unmanned aerial vehicle 1, wherein the balanced tip removing device comprises a base 3 arranged at the lower end of a machine body of the unmanned aerial vehicle 1, a sliding table 10 arranged on the base 3, a tip removing mechanism arranged on the sliding table 10 and a linear driving mechanism for driving the sliding table 10 to do linear motion so as to change the angle of the tip removing mechanism, the linear driving mechanism comprises a driving motor 9 and a screw rod transmission mechanism, one end of a screw rod 7 in the screw rod transmission mechanism is rotatably connected at the front end of the base 3, and the other end of the screw rod 7 is connected with a main shaft of the driving motor 9 arranged at the rear end of the base 3; the screw nut is arranged on the sliding table 10; the sliding table 10 is arranged on the base 3 through a linear sliding mechanism 8; the two groups of linear sliding mechanisms 8 are symmetrically arranged, each group of linear sliding mechanism 8 comprises a sliding rod and a sliding hole arranged on the sliding table 10, wherein two ends of the sliding rod are respectively arranged at the front end and the rear end of the base 3; the tip removing mechanism comprises a first connecting rod 4, a second connecting rod 6 and a cutting mechanism 5 arranged at the tail end of the first connecting rod 4, wherein the upper end of the first connecting rod 4 is rotationally connected to the sliding table 10, the upper end of the second connecting rod 6 is rotationally connected to the base 3, and the lower end of the second connecting rod is rotationally connected to the middle part of the first connecting rod 4.
Referring to fig. 1-4, the cutting mechanism 5 includes a base plate 501 disposed at the end of the first link 4, a plurality of sets of cutting blades 502 disposed on the base plate 501, and a rotation driving mechanism 503 for driving the cutting blades 502 to rotate, wherein the rotation driving mechanism 503 is a rotating motor; in this embodiment, the rotating motors are multiple groups and are in one-to-one correspondence with multiple groups of cutting blades 502; the main shaft of each group of rotating motors is connected with the cutting blade 502 and is used for driving the cutting blade 502 to rotate so as to realize picking or tip removal; in addition, an electric push rod for driving the bottom plate 501 to do linear telescopic motion may be further disposed at the end of the first link 4.
Referring to fig. 1-4, a landing bracket 2 is arranged at the bottom of the unmanned aerial vehicle 1, and the landing brackets 2 are two groups and are respectively positioned at two sides of the balanced type pin removal device.
Referring to fig. 1-4, the base 3 has a stepped symmetrical structure, and the weight of the front end of the base 3 is smaller than that of the rear end.
Referring to fig. 1-4, the front end of the base 3 is connected to the first link 4 by a soft spring, and the connection part is located at a position where the upper end of the first link 4 is downward, and the soft spring is used for urging the front end of the base 3 to bear the weight of the first link 4 and the cutting mechanism 5.
Referring to fig. 1 to 4, the working principle of the balanced picking and tip removing device of the unmanned aerial vehicle is as follows:
when the unmanned aerial vehicle 1 works, the balance type pin removing device is driven to move to a working point, then, the driving motor 9 is controlled to rotate clockwise, so that the screw rod 7 is driven to rotate clockwise, the sliding table 10 on the screw rod 7 moves towards the rear end position of the base 3, at the moment, the distance between the sliding table 10 and the rear end of the base 3 is reduced, the upper end of the first connecting rod 4 moves to the rear end of the base 3 along with the sliding table 10, meanwhile, the lower end of the second connecting rod 6 is connected to the middle position of the first connecting rod 4 in a rotating mode, the upper end of the second connecting rod 6 is connected to the rear end of the base 3 in a rotating mode, the length of the second connecting rod 6 is always kept consistent, the distance between the connecting part of the second connecting rod 6 and the first connecting rod 4 and the sliding table 10 is equal, the second connecting rod 6 gives a pivot to the first connecting rod 4, and the lower end of the first connecting rod 4 is lifted, and the first connecting rod 4 is enabled to reach a horizontal forward state. Conversely, by controlling the driving motor 9 to rotate anticlockwise, the screw rod 7 is driven to rotate anticlockwise, and when the sliding table 10 on the screw rod 7 moves towards the opposite direction, the first connecting rod 4 reaches a vertical state; therefore, by controlling the forward and reverse rotation of the driving motor 9, the lifting and lowering of the first link 4 is realized, and the lifting and lowering of the cutting mechanism 5 is further realized.
The foregoing is illustrative of the present invention and is not to be construed as limiting thereof, but rather as various changes, modifications, substitutions, combinations, and simplifications which may be made therein without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (9)
1. The balanced picking and pin removing device of the unmanned aerial vehicle is characterized by comprising the unmanned aerial vehicle and the balanced pin removing device arranged at the lower end of the unmanned aerial vehicle, wherein the balanced pin removing device comprises a base arranged at the lower end of a machine body of the unmanned aerial vehicle, a sliding table arranged on the base, a pin removing mechanism arranged on the sliding table and a linear driving mechanism used for driving the sliding table to do linear motion so as to change the angle of the pin removing mechanism, and the sliding table is arranged on the base through a linear sliding mechanism; the tip removing mechanism comprises a first connecting rod, a second connecting rod and a cutting mechanism arranged at the tail end of the first connecting rod, wherein the upper end of the first connecting rod is rotationally connected to the sliding table, the upper end of the second connecting rod is rotationally connected to the base, and the lower end of the second connecting rod is rotationally connected to the middle part of the first connecting rod.
2. The balanced picking and tip removal device of an unmanned aerial vehicle of claim 1, wherein the cutting mechanism comprises a base plate disposed at an end of the first link, a plurality of sets of cutting blades disposed on the base plate, and a rotary drive mechanism for driving the cutting blades to rotate.
3. The balanced picking and tip removing device of the unmanned aerial vehicle according to claim 2, wherein the rotary driving mechanism is a rotary motor, and the rotary motors are multiple groups and are in one-to-one correspondence with multiple groups of cutting blades; the main shaft of each group of rotating motors is connected with the cutting blade.
4. The balanced picking and tip removing device of the unmanned aerial vehicle according to claim 3, wherein the tail end of the first connecting rod is further provided with an electric push rod for driving the bottom plate to do linear telescopic motion.
5. The balanced picking and tip removing device of the unmanned aerial vehicle according to claim 1, wherein the linear driving mechanism comprises a driving motor and a screw rod transmission mechanism, wherein one end of a screw rod in the screw rod transmission mechanism is rotationally connected to the front end of the base, and the other end of the screw rod is connected with a main shaft of the driving motor arranged at the rear end of the base; and a screw nut in the screw rod transmission mechanism is arranged on the sliding table.
6. The balanced picking and tip removing device of the unmanned aerial vehicle according to claim 1, wherein a lifting support is arranged at the bottom of the unmanned aerial vehicle, and the lifting supports are two groups and are respectively positioned at two sides of the balanced tip removing device.
7. The balanced picking and tip removing device of the unmanned aerial vehicle according to claim 1, wherein the two groups of linear sliding mechanisms are symmetrically arranged, each group of linear sliding mechanisms comprises a sliding rod and a sliding hole arranged on the sliding table, and two ends of the sliding rod are respectively arranged at the front end and the rear end of the base.
8. The balanced picking and tip removal device of claim 1, wherein the base is of a stepped symmetrical structure, and the weight of the front end of the base is less than the weight of the rear end.
9. The balanced picking and tip removing device of the unmanned aerial vehicle according to claim 1, wherein the front end of the base is connected with the first connecting rod by a soft spring, the connecting part is located at a position of the upper end of the first connecting rod downward, and the soft spring is used for promoting the front end of the base to bear the weight of the first connecting rod and the cutting mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310133200.3A CN116018951A (en) | 2023-02-20 | 2023-02-20 | Balanced picking and tip removing device of unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310133200.3A CN116018951A (en) | 2023-02-20 | 2023-02-20 | Balanced picking and tip removing device of unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116018951A true CN116018951A (en) | 2023-04-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310133200.3A Pending CN116018951A (en) | 2023-02-20 | 2023-02-20 | Balanced picking and tip removing device of unmanned aerial vehicle |
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| Country | Link |
|---|---|
| CN (1) | CN116018951A (en) |
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2023
- 2023-02-20 CN CN202310133200.3A patent/CN116018951A/en active Pending
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