CN116714791A - Obstacle-removing unmanned aerial vehicle - Google Patents

Abstract

The invention relates to the technical field of unmanned aerial vehicle structures and discloses an obstacle-removing unmanned aerial vehicle, which comprises an unmanned aerial vehicle assembly, a cutting device and a power source, wherein the power source comprises a first driving device, a second driving device and a third driving device, the cutting device comprises a lower clamping part, an upper clamping support and a cutting tool, the lower clamping part comprises a lower clamping support, the lower clamping support is rotationally connected with the upper clamping support, the third driving device drives the upper clamping support to rotate so as to clamp a target, the lower clamping support is rotationally connected with the cutting tool, the second driving device drives the cutting tool to rotate so as to cut the target, the unmanned aerial vehicle assembly is rotationally connected with the lower clamping part, and the first driving device drives the lower clamping part to rotate so as to adjust the working position of the cutting device. According to the invention, the first driving device is arranged to realize the function of adjusting the working position of the cutting device to cut the target, so that the cleaning effect of the unmanned aerial vehicle on complex tree barriers is improved.

Description

Obstacle-removing unmanned aerial vehicle

Technical Field

The invention relates to the technical field of unmanned aerial vehicle structures, in particular to an obstacle-removing unmanned aerial vehicle.

Background

In recent years, fast-growing forests are planted in a large area, so that the situation that the tripping of a power transmission line is caused by insufficient line tree safety distance can occur in power grid enterprises each year, and the safety and stability operation and the power supply reliability of the power grid are greatly threatened. How to clean up tree barriers along a transmission line with insufficient safety distance is always a difficult problem for operators of the transmission line.

The means of solving this difficult problem among the prior art includes using the unmanned aerial vehicle that carries on cutting module to clear away trees, security and work efficiency are not less than manual work clearance, but generally the cutting module of obstacle-removing unmanned aerial vehicle and unmanned aerial vehicle itself fixed connection, its cutting mode is very fixed, unmanned aerial vehicle all need pass through the relative position of flight adjustment cutting module and tree obstacle at every turn in order to clear away the obstacle, for example when cutting module includes chain saw, wheel saw, unmanned aerial vehicle is to make cutting module and tree obstacle carry out the mutual contact in order to clear away the obstacle through the flight, before the unmanned aerial vehicle clearance obstacle, in the clearance of obstacle, after the clearance of obstacle and the relative position of tree obstacle are all different, this kind of cutting mode is very clumsy, not flexible enough, not good to the clearance effect of complicated tree obstacle.

Disclosure of Invention

The purpose of the invention is that: the technical problem that the complex tree obstacle clearing effect of the existing inspection unmanned aerial vehicle is poor is solved.

In order to achieve the above object, the invention provides an obstacle clearing unmanned aerial vehicle, which comprises an unmanned aerial vehicle assembly, a cutting device and a power source, wherein the power source comprises a first driving device, a second driving device and a third driving device, the cutting device comprises a lower clamping part, an upper clamping support and a cutting tool, the lower clamping part comprises a lower clamping support, the lower clamping support is rotationally connected with the upper clamping support, the third driving device drives the upper clamping support to rotate so as to clamp a target, the lower clamping support is rotationally connected with the cutting tool, the second driving device drives the cutting tool to rotate so as to cut the target, the unmanned aerial vehicle assembly is rotationally connected with the lower clamping part, and the first driving device drives the lower clamping part to rotate so as to adjust the working position of the cutting device.

Optionally, the lower clamping support, the upper clamping support and the cutting tool are staggered.

Optionally, the lower clamping part still includes the cross revolving frame, unmanned aerial vehicle assembly and cross revolving frame rotate to be connected, first drive arrangement drive cross revolving frame rotates in order to adjust cutting device's working position, the power supply still includes fourth drive arrangement, cross revolving frame and lower clamping support rotate to be connected, the fourth drive arrangement drive lower clamping support rotates in order to adjust cutting device's working position, be equipped with the contained angle that the angle is greater than 0 between the plane of rotation of cross revolving frame and lower clamping support and the plane of rotation of cross revolving frame and unmanned aerial vehicle assembly.

Optionally, the fixed a plurality of centre gripping lugs that are equipped with of lower centre gripping support and/or last centre gripping support to the stability of reinforcing lower centre gripping support and last centre gripping support centre gripping target, go up the centre gripping support and be close to and go up centre gripping support and rotate with lower centre gripping support and connect one end and be last centre gripping top, go up the centre gripping support and keep away from last centre gripping support and lower centre gripping support and rotate and connect one end and be last centre gripping end, the interval distance between the protruding height of centre gripping lug and the centre gripping lug increases progressively along last centre gripping top to last terminal direction of centre gripping.

Optionally, the cutting tool includes baffle and sawtooth, lower centre gripping support and baffle rotate to be connected, second drive arrangement drives the baffle and rotates in order to be close to the target, the sawtooth sets up around the edge activity of baffle, the power supply still includes fifth drive arrangement, fifth drive arrangement drives the sawtooth and rotates around the baffle in order to cut the target.

Optionally, a plurality of cutting tools are arranged on the lower clamping support, a plurality of cutting tools are respectively arranged on two sides of the upper clamping support, and each second driving device is independently driven corresponding to one cutting tool.

Optionally, the unmanned aerial vehicle assembly body is equipped with the storage tank, storage tank and cutting device's shape phase-match, a drive arrangement drives cutting device and rotates in order to receive cutting device into storage tank or roll out storage tank and adjust cutting device's working position.

Optionally, the unmanned aerial vehicle assembly body still includes unmanned aerial vehicle body and runing rest, runing rest and cutting device rotate to be connected, first drive arrangement cutting device rotates, the power supply still includes sixth drive arrangement, the runing rest cover is established outside the unmanned aerial vehicle body, unmanned aerial vehicle body and runing rest rotate to be connected, sixth drive arrangement runing rest rotates in order to adjust cutting device's working position.

Optionally, the runing rest is equipped with the commentaries on classics chamber, it is equipped with intrados and a plurality of transmission internal tooth to change the intracavity, the unmanned aerial vehicle body is equipped with the extrados, intrados and extrados's shape assorted, unmanned aerial vehicle body and runing rest pass through intrados and extrados and rotate to be connected, the transmission internal tooth radially sets up along extrados's shape, the unmanned aerial vehicle assembly still includes interior transmission element and outer transmission element, interior transmission element and unmanned aerial vehicle body rotate to be connected, outer transmission element and unmanned aerial vehicle body rotate to be connected, unmanned aerial vehicle body and runing rest rotate to be connected with interior transmission element and unmanned aerial vehicle body rotate to be concentric, sixth drive arrangement is fixed to be established in order to drive interior transmission element rotation on unmanned aerial vehicle body, interior transmission element and outer transmission element drive to be connected, outer transmission element is equipped with the transmission external tooth, outer transmission element and runing rest pass through transmission external tooth and transmission internal tooth meshing drive to be connected.

Optionally, the intrados is a circular ring surface greater than one half and the rotary support is a ring structure less than three-quarters.

Compared with the prior art, the obstacle clearing unmanned aerial vehicle has the beneficial effects that:

1. according to the invention, the first driving device for driving the lower clamping part to rotate is arranged to realize the function of cutting the target by adjusting the working position of the cutting device under the condition that the relative position of the cutting device and the tree is not adjusted by the unmanned aerial vehicle, so that the flexibility of obstacle clearance of the unmanned aerial vehicle is enhanced, and the effect and efficiency of clearance of the unmanned aerial vehicle on complex tree obstacles are improved;

2. according to the invention, the transverse rotating frame for transverse rotation is arranged between the lower clamping frame and the unmanned aerial vehicle assembly body, so that the cutting device can rotate in the direction perpendicular to the rotation plane of the unmanned aerial vehicle assembly body and the cutting device, the adjustable working position of the cutting device is enlarged, the function of enlarging the cutting range of the cutting device is realized, the flexibility of obstacle removal of the unmanned aerial vehicle is enhanced, and the cleaning effect and the cleaning efficiency of the unmanned aerial vehicle on complex tree obstacles are improved;

3. according to the invention, the lower clamping support and/or the upper clamping support are/is provided with the clamping convex blocks so as to enhance the stability of the clamping action, ensure that the cutting action is smoothly carried out and prevent the target from falling off when the cutting is completed;

4. according to the invention, the height of the protrusion of the clamping convex block increases gradually along the direction from the upper clamping initial end to the upper clamping final end so as to enhance the stability of the clamping action, ensure that the cutting action is smoothly carried out and prevent the target from falling when the cutting is completed;

5. according to the invention, the rotating support is arranged between the unmanned aerial vehicle body and the cutting device so as to enlarge the adjustable working position of the cutting device, so that the function of enlarging the cutting range of the cutting device is realized, the flexibility of obstacle clearance of the unmanned aerial vehicle is enhanced, and the cleaning effect and the cleaning efficiency of the unmanned aerial vehicle on complex tree obstacles are improved.

Drawings

FIG. 1 is a schematic view of a configuration of an obstacle-removing unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 2 is a schematic view of the mechanism of a cutting device according to an embodiment of the present invention;

FIG. 3 is a schematic view of the structure of a cutting device and a rotating support according to an embodiment of the present invention;

FIG. 4 is an exploded view of an obstacle clearing drone according to an embodiment of the present invention;

fig. 5 is a cross-sectional view 1 of an obstacle clearing unmanned aerial vehicle according to an embodiment of the invention.

Fig. 6 is a schematic structural diagram of a unmanned aerial vehicle body according to an embodiment of the present invention.

Fig. 7 is a cross-sectional view 2 of the obstacle clearing drone of an embodiment of the present invention.

Reference numerals: 1. an unmanned aerial vehicle assembly; 11. an unmanned aerial vehicle body; 111. an outer cambered surface; 112. a battery assembly; 113. a base assembly; 114. a conductive contact; 115. a power receiving groove; 12. a rotating bracket; 121. an intrados surface; 122. driving internal teeth; 13. a storage groove; 14. an outer transmission element; 15. an inner transmission element; 16. an electrical contact; 17. a conductive groove; 2. a cutting device; 21. a lower clamping member; 211. a transverse rotating frame; 212. a lower clamping bracket; 22. a cutting tool; 221. saw teeth; 222. a guide plate; 23. an upper clamping bracket; 24. the clamping lug.

Detailed Description

The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.

The term "target" as used in the examples refers to a tree barrier that is required to be trimmed, including tree limbs.

As shown in fig. 1 to 7, the obstacle clearing unmanned aerial vehicle comprises a unmanned aerial vehicle assembly 1, a cutting device 2 and a power source, wherein the power source comprises a first driving device, a second driving device and a third driving device, the cutting device 2 comprises a lower clamping part 21, an upper clamping bracket 23 and a cutting tool 22, the lower clamping part 21 comprises a lower clamping bracket 212, the lower clamping bracket 212 and the upper clamping bracket 23 are in rotary connection, the third driving device drives the upper clamping bracket 23 to rotate so as to clamp a target, the lower clamping bracket 212 and the cutting tool 22 are in rotary connection, the second driving device drives the cutting tool 22 to rotate so as to cut the target, the unmanned aerial vehicle assembly 1 and the lower clamping part 21 are in rotary connection, and the first driving device drives the lower clamping part 21 to rotate so as to adjust the working position of the cutting device 2.

Based on the above technical solution, the unmanned aerial vehicle assembly 1 includes an unmanned aerial vehicle body 11, and the components of the unmanned aerial vehicle body 11 at least include unmanned aerial vehicles with general functions on the market, where the unmanned aerial vehicle is unmanned aerial vehicle equipment capable of flying independently, supplying power independently, having navigation, wireless control, image recognition, image transmission and other functions that are conventional in the art; the cutting tool 22 is a device capable of performing at least a cutting function on a target, and specifically, may be a device for cutting including a chainsaw blade, a wheel blade, an electric control clamp, and the like; the power source is a device for driving the two parts connected in a rotating way to rotate and has braking and locking functions, and when the power source rotates the two parts to a designated relative position, the power source can brake and lock the relative positions of the two parts; the power sources may all be motors; the power source comprises a first driving device, a second driving device, a … … and an N driving device, wherein the serial numbers of the first driving device, the second driving device, the … … and the N driving device are serial numbers used for distinguishing driving devices arranged among different rotating connecting parts; when part a and part B are in the following states: the A and the B are rotationally connected, and the power source drives the A or the B to rotate; the connection relation of the power sources can be as follows: the power source is fixedly connected with the A, and the power source is in transmission connection with the B so as to rotate the B; the power source is fixedly connected with the B, and the power source is in transmission connection with the A so as to rotate the A.

The cutting tool 22 is driven to rotate by the second driving device so as to reduce the included angle between the lower clamping bracket 212 and the cutting tool 22, and when the included angle between the lower clamping bracket 212 and the cutting tool 22 is reduced to a certain angle, a target is cut; the third driving device drives the upper clamping bracket 23 to rotate so as to reduce the included angle between the lower clamping bracket 212 and the upper clamping bracket 23, the lower clamping bracket 212 and the upper clamping bracket 23 clamp the target when the included angle is reduced to a certain angle, and the stability and the safety of cutting operation can be improved by cutting the clamped target.

Further, the lower clamping bracket 212, the upper clamping bracket 23 and the cutting tool 22 are arranged in a staggered manner.

The staggered arrangement of the lower clamping bracket 212, the upper clamping bracket 23 and the cutting tool 22 can enable the upper clamping bracket 23 and the cutting tool 22 to rotate by 360 degrees, so that clamping and cutting actions are more flexible, damage caused by touching among the lower clamping bracket 212, the upper clamping bracket 23 and the cutting tool 22 can be prevented, and the lower clamping bracket 212, the upper clamping bracket 23 and the cutting tool 22 can be conveniently hidden and stored in a non-working state.

Further, the lower clamping component 21 further comprises a transverse rotating frame 211, the unmanned aerial vehicle assembly body 1 and the transverse rotating frame 211 are rotationally connected, the first driving device drives the transverse rotating frame 211 to rotate so as to adjust the working position of the cutting device 2, the power source further comprises a fourth driving device, the transverse rotating frame 211 and the lower clamping support 212 are rotationally connected, the fourth driving device drives the lower clamping support 212 to rotate so as to adjust the working position of the cutting device 2, and an included angle with an angle larger than 0 is arranged between the rotating surfaces of the transverse rotating frame 211 and the lower clamping support 212 and the rotating surface of the transverse rotating frame 211 and the unmanned aerial vehicle assembly body 1.

The transverse rotating frame 211 enables the cutting device 2 to rotate towards the direction perpendicular to the rotation plane of the unmanned aerial vehicle assembly body 1 and the cutting device 2, so that the function of expanding the operable position of the cutting device 2 is realized, and the dimension of adjusting the rotation position of the cutting device 2 is expanded; taking an XYZ coordinate system as an example (the included angle between the X axis, the Y axis and the Z axis is greater than 0, but not necessarily 90 °), the rotation axis where the unmanned aerial vehicle assembly 1 and the gimbal 211 are rotationally connected is set to the Z axis, the first driving device drives the gimbal 211 to rotate and can adjust the working position of the cutting device 2 only to rotate with the Z axis as the rotation axis, and because the included angle between the rotation surfaces of the gimbal 211 and the lower clamping bracket 212 and the rotation surfaces of the gimbal 211 and the unmanned aerial vehicle assembly 1 is greater than 0, the fourth driving device drives the lower clamping bracket 212 to rotate and can adjust the working position of the cutting device 2 to rotate with the X axis or the Y axis as the rotation axis.

Further, the lower clamping bracket 212 and/or the upper clamping bracket 23 are/is fixedly provided with a plurality of clamping convex blocks 24 to enhance the stability of the clamping targets of the lower clamping bracket 212 and the upper clamping bracket 23, one end, which is rotationally connected with the upper clamping bracket 23 and the lower clamping bracket 212, of the upper clamping bracket 23 is an upper clamping initial end, one end, which is rotationally connected with the upper clamping bracket 23 and the lower clamping bracket 212, of the upper clamping bracket 23 is an upper clamping terminal end, and the height of the convex of the clamping convex block 24 and the interval distance between the clamping convex blocks 24 are gradually increased along the direction from the upper clamping initial end to the upper clamping terminal end.

When the clamping action is performed, the clamping convex blocks 24 are inserted and embedded into the target to increase the clamping stability and prevent unstable clamping; the grip tab 24 is provided with a spike to better embed in the target; the upper end surface and the lower end surface of the lower clamping bracket 212 and the upper clamping bracket 23 can be provided with clamping lugs 24 so that the upper clamping bracket 23 can clamp anticlockwise and clockwise; the lower clamping bracket 212 and the upper clamping bracket 23 may be provided with a plurality of clamping protrusions 24 at intervals along the length direction to increase the area where clamping can be stably performed.

When the object is clamped closer to the clamping starting end, the outline of the object is smaller, and the clamping convex blocks 24 with small protrusion heights and small spacing distances are used for being embedded into the object more easily, so that the clamping is more stable; when the object is clamped closer to the clamping end, the outline of the object is larger, and the clamping convex blocks 24 with large protrusion heights and large spacing distances are used for being embedded into the object more easily, so that the clamping is more stable.

Further, the cutting tool 22 includes a guide plate 222 and saw teeth 221, the lower clamping bracket 212 is rotatably connected with the guide plate 222, the second driving device drives the guide plate 222 to rotate to approach the target, the saw teeth 221 are movably arranged around the edge of the guide plate 222, and the power source further includes a fifth driving device which drives the saw teeth 221 to rotate around the guide plate 222 to cut the target.

The cutting tool 22 may be a chain saw blade.

Further, the lower clamping bracket 212 is provided with a plurality of cutting tools 22, the plurality of cutting tools 22 are respectively arranged at two sides of the upper clamping bracket 23, and each second driving device independently corresponds to one cutting tool 22 for driving.

The plurality of cutting tools 22 are respectively driven by independent second driving devices and are arranged at two sides of the upper clamping bracket 23 so as to cut any side of the target independently; because the cut branches are easy to smash the unmanned aerial vehicle, other things or people after cutting, the cutting device 2 can only cut the branches close to one side of the trunk, so that any branch cannot fall off immediately after cutting operation, and then the cut trunk which is clamped on the cutting device 2 is moved to a proper position and loosened; the plurality of cutting tools 22 are arranged at two sides of the upper clamping bracket 23 to promote the flexibility of cutting work, and the left and right positions of the unmanned aerial vehicle relative to the tree do not need to be considered before clamping.

Further, the unmanned aerial vehicle assembly body 1 is provided with a storage groove 13, the storage groove 13 is matched with the shape of the cutting device 2, and the first driving device drives the cutting device 2 to rotate so as to store the cutting device 2 into the storage groove 13 or rotate out of the storage groove 13 and adjust the working position of the cutting device 2.

The accommodating groove 13 is used for accommodating the cutting device 2 so as to improve the compactness and the safety of the unmanned aerial vehicle in a non-working state.

Further, the rotation connection center of the unmanned aerial vehicle assembly body 1 and the cutting device 2 is arranged on the storage groove 13.

The rotating connection center is arranged on the accommodating groove 13, so that the compactness of the unmanned aerial vehicle structure can be further improved, and parts are prevented from protruding out of the outer side of the unmanned aerial vehicle assembly body 1 in the accommodating state.

Further, the cutting device 2 has an arc-shaped structure in the storage state, and further, the lower clamping member 21, the upper clamping bracket 23 and the cutting tool 22 have arc-shaped structures.

Compared with a rectangular structure or other irregular structures, the arc-shaped structure can reduce the complexity of the unmanned aerial vehicle assembly 1 for accommodating the cutting device 2, the longer the cutting device 2 is, the more serious the problem is, and the compactness of the unmanned aerial vehicle assembly 1 can be reduced to be bulked; when the cutting device 2 is of an arc-shaped structure, the outer side of the unmanned aerial vehicle assembly body 1 which is designed to be a ring body for reducing the volume and increasing the structural compactness can be provided with a containing groove 13 which is matched with the shape of the cutting device 2 along the outer shape of the unmanned aerial vehicle assembly body; the arc-shaped structure of the cutting device 2 can also increase the contact area between the upper clamping bracket 23 and the lower clamping bracket 212 and the target during the clamping operation, so as to increase the stability of the clamping and cutting operations.

Further, the unmanned aerial vehicle assembly body 1 further comprises an unmanned aerial vehicle body 11 and a rotating support 12, the rotating support 12 is rotationally connected with the cutting device 2, the first driving device cutting device 2 rotates, the power source further comprises a sixth driving device, the rotating support 12 is covered outside the unmanned aerial vehicle body 11, the unmanned aerial vehicle body 11 is rotationally connected with the rotating support 12, and the sixth driving device rotating support 12 rotates to adjust the working position of the cutting device 2.

The rotary support 12 is used for expanding the adjustable working position of the cutting device 2; the rotating connection part of the rotating bracket 12 and the cutting device 2 is positioned at a position close to the outer side of the unmanned aerial vehicle assembly body 1, so that the cutting range of the cutting device 2 is outwards extended by taking the rotating connection part of the rotating bracket 12 and the cutting device 2 as a center, and the rotating connection of the unmanned aerial vehicle body 11 and the rotating bracket 12 has a certain limitation, so that the relative position of the rotating connection part of the rotating bracket 12 and the cutting device 2 and the unmanned aerial vehicle body 11 is changed, the working position of the cutting device 2 can reach more places to cover the working range to more positions, and the function of expanding the adjustable working position of the cutting device 2 to expand the working range of the cutting device 2 is realized.

Further, runing rest 12 is equipped with the commentaries on classics chamber, it is equipped with intrados 121 and a plurality of transmission internal tooth 122 to change the intracavity, unmanned aerial vehicle body 11 is equipped with extrados 111, intrados 121 and extrados 111's shape assorted, unmanned aerial vehicle body 11 and runing rest 12 rotate through intrados 121 and extrados 111 and are connected, transmission internal tooth 122 radially sets up along extrados 111's shape, unmanned aerial vehicle assembly 1 still includes interior transmission element 15 and outer transmission element 14, interior transmission element 15 and unmanned aerial vehicle body 11 rotate to be connected, outer transmission element 14 and unmanned aerial vehicle body 11 rotate to be connected, unmanned aerial vehicle body 11 and runing rest 12 rotate to be connected with interior transmission element 15 and unmanned aerial vehicle body 11 rotate to be concentric, sixth drive arrangement is fixed to be established on unmanned aerial vehicle body 11 in order to drive interior transmission element 15 rotate, interior transmission element 15 and outer transmission element 14 are connected, outer transmission element 14 is equipped with the transmission external tooth, outer transmission element 14 and runing rest 12 are connected through transmission internal tooth and transmission.

The inner transmission element 15 and the outer transmission element 14 may be gears, the outer transmission teeth may be outer gear teeth, the inner transmission teeth 122 may be inner gear teeth, and the inner transmission element 15 and the outer transmission element 14 may be in transmission connection through a belt, a gear or a chain; the radial direction refers to the rotation direction of the rotation connection of the unmanned aerial vehicle body 11 and the rotary bracket 12; the radial arrangement of the transmission internal teeth 122 along the shape of the external cambered surface 111 means that the addendum circle of the internal teeth surrounded by each transmission internal tooth 122 is matched with the shape of the external cambered surface 111; the rotating support 12 and the unmanned aerial vehicle body 11 can be provided with a bulge and a groove on the outer cambered surface 111 and the inner cambered surface 121 to limit the rotation center shaft upwards, and the side wall of the bulge and the side wall of the groove are propped against to prevent the rotating support 12 and the unmanned aerial vehicle body 11 from falling off.

Further, the intrados 121 is a circular ring with a diameter greater than one half, and the rotating bracket 12 is a ring with a diameter less than three-quarters.

The circular ring surface which is more than one half of the circular ring surface can ensure that the unmanned aerial vehicle can stably run.

When the rotary bracket 12 is of a three-quarter ring structure, the unmanned aerial vehicle can be lightened, and other components can be conveniently installed.

Further, the outer arc surface 111 and the inner arc surface 121 are provided with an electrical contact 16 and a conductive groove 17, the conductive groove 17 is radially arranged along the shape of the outer arc surface 111, and the unmanned aerial vehicle body 11 and the rotating support 12 are electrically connected through the electrical contact 16 and the conductive groove 17.

The above arrangement may be that the outer arc surface 111 is provided with an electrical contact 16, the inner arc surface 121 is provided with a conductive groove 17, or the outer arc surface 111 is provided with a conductive groove 17, and the inner arc surface 121 is provided with an electrical contact 16; in the process of rotating the unmanned aerial vehicle body 11 and the rotary support 12, the electrical contact 16 and the conductive groove 17 keep in contact so as to ensure that the unmanned aerial vehicle body 11 can supply power to the rotary support 12 and a power source on the cutting device 2 and send out working signals; the electrical contacts 16 are bump blocks.

Further, the unmanned aerial vehicle body 11 includes a battery assembly 112 and a base assembly 113, the base assembly 113 and the battery assembly 112 are slidingly connected, the base assembly 113 and the battery assembly 112 are provided with a conductive contact 114 and a power receiving groove 115, the length direction of the power receiving groove 115 is consistent with the sliding connection direction of the base assembly 113 and the battery assembly 112, and the battery assembly 112 and the base assembly 113 are in contact electrical connection with the power receiving groove 115 through the conductive contact 114; the base assembly 113 and the battery assembly 112 may be slidably coupled by a wedge structure, and the locking after the sliding coupling may be achieved by means of electromagnetic coupling, tilt clamping, fastening, etc.

The battery assembly 112 is an assembly for supplying power in the unmanned aerial vehicle body 11, the base assembly 113 is an assembly for installing other assemblies including the battery assembly 112, a control assembly and the like, and when the length direction of the power receiving groove 115 is consistent with the sliding connection direction of the base assembly 113 and the battery assembly 112 so that the base assembly 113 and the battery assembly 112 are installed in a sliding connection manner, the conductive contact 114 and the power receiving groove 115 are also contacted in the sliding connection process so as to realize the electrical connection between the battery assembly 112 and the base assembly 113; the conductive contacts 114 are bump blocks.

The working process realized by the embodiment of the invention is as follows:

(S1) determining a specific position of a target by the unmanned aerial vehicle body 11, wherein the unmanned aerial vehicle body 11 flies around the target, the first driving device drives the cutting device 2 to rotate out of the storage groove 13, the third driving device drives the upper clamping bracket 23 to rotate around the lower clamping bracket 212, the second driving device drives the cutting tool 22 to rotate around the lower clamping bracket 212 to spread out the cutting device 2, the first driving device drives the transverse rotating frame 211 to rotate, the fourth driving device drives the lower clamping bracket 212 to rotate, and the sixth driving device drives the rotating bracket 12 to rotate to adjust the working position of the cutting device 2 so as to enable the target to enter a clamping and cutting range according to the relative position between the unmanned aerial vehicle body 11 and the target, which is determined by the unmanned aerial vehicle body 11;

(S2) the third driving means drives the upper clamping bracket 23 to rotate to a clamping target, the fifth driving means drives the saw teeth 221 to rotate around the guide plate 222, the second driving means drives the cutting tool 22 at one side close to the trunk to rotate to be close to the target, and the cutting tool 22 cuts the target;

(S3) after the cutting is completed, the fifth driving device stops driving the saw tooth 221, the unmanned aerial vehicle flies to a safe position, the first driving device drives the transverse rotating frame 211 to rotate, the fourth driving device drives the lower clamping bracket 212 to rotate, the sixth driving device drives the rotating bracket 12 to rotate to adjust the position of the target in the clamping state to a state that the target can be discarded (i.e. ensuring that no unmanned aerial vehicle component, other objects and people exist in the vertical direction of the target), and the third driving device drives the upper clamping bracket 23 to reversely rotate to loosen the target, and the target drops to the safe position;

(S4), finally, the third driving device drives the upper clamping bracket 23 to rotate, the second driving device drives the cutting tool 22 to rotate until the cutting device 2 is in a retracted state, that is, the included angle between the upper clamping bracket 23, the cutting tool 22 and the lower clamping bracket 212 is 0 °, and then, the first driving device drives the cutting device 2 to rotate to the retraction slot 13.

In summary, the embodiment of the invention provides an obstacle-removing unmanned aerial vehicle, which has the technical effects that:

1. according to the invention, the first driving device for driving the lower clamping part to rotate is arranged to realize the function of cutting the target by adjusting the working position of the cutting device under the condition that the relative position of the cutting device and the tree is not adjusted by the unmanned aerial vehicle, so that the flexibility of obstacle clearance of the unmanned aerial vehicle is enhanced, and the effect and efficiency of clearance of the unmanned aerial vehicle on complex tree obstacles are improved;

2. according to the invention, the transverse rotating frame for transverse rotation is arranged between the lower clamping frame and the unmanned aerial vehicle assembly body, so that the cutting device can rotate in the direction perpendicular to the rotation plane of the unmanned aerial vehicle assembly body and the cutting device, the adjustable working position of the cutting device is enlarged, the function of enlarging the cutting range of the cutting device is realized, the flexibility of obstacle removal of the unmanned aerial vehicle is enhanced, and the cleaning effect and the cleaning efficiency of the unmanned aerial vehicle on complex tree obstacles are improved;

3. according to the invention, the lower clamping support and/or the upper clamping support are/is provided with the clamping convex blocks so as to enhance the stability of the clamping action, ensure that the cutting action is smoothly carried out and prevent the target from falling off when the cutting is completed;

4. according to the invention, the height of the protrusion of the clamping convex block increases gradually along the direction from the upper clamping initial end to the upper clamping final end so as to enhance the stability of the clamping action, ensure that the cutting action is smoothly carried out and prevent the target from falling when the cutting is completed;

5. according to the invention, the rotating support is arranged between the unmanned aerial vehicle body and the cutting device so as to enlarge the adjustable working position of the cutting device, so that the function of enlarging the cutting range of the cutting device is realized, the flexibility of obstacle clearance of the unmanned aerial vehicle is enhanced, and the cleaning effect and the cleaning efficiency of the unmanned aerial vehicle on complex tree obstacles are improved.

The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present invention, and these modifications and substitutions should also be considered as being within the scope of the present invention.

Claims (10)

1. The utility model provides an obstacle clearance unmanned aerial vehicle, its characterized in that, includes unmanned aerial vehicle assembly, cutting device and power supply, the power supply includes first drive arrangement, second drive arrangement and third drive arrangement, cutting device includes down clamping part, goes up clamping support and cutting tool, down clamping part includes down clamping support, lower clamping support and last clamping support rotate to be connected, the third drive arrangement drive goes up clamping support and rotates in order to centre gripping target, lower clamping support and cutting tool rotate to be connected, second drive arrangement drive cutting tool rotates in order to cut the target, unmanned aerial vehicle assembly and lower clamping part rotate to be connected, clamping part rotates in order to adjust cutting device's working position under the drive of first drive arrangement.

2. The unmanned obstacle clearing robot of claim 1, wherein the lower clamping bracket, the upper clamping bracket and the cutting tool are staggered.

3. The unmanned aerial vehicle of claim 1, wherein the lower clamping component further comprises a transverse rotating frame, the unmanned aerial vehicle assembly body is rotationally connected with the transverse rotating frame, the first driving device drives the transverse rotating frame to rotate so as to adjust the working position of the cutting device, the power source further comprises a fourth driving device, the transverse rotating frame is rotationally connected with the lower clamping support, the fourth driving device drives the lower clamping support to rotate so as to adjust the working position of the cutting device, and an included angle with an angle larger than 0 is arranged between the rotating surfaces of the transverse rotating frame and the lower clamping support and the rotating surfaces of the transverse rotating frame and the unmanned aerial vehicle assembly body.

4. The obstacle clearing unmanned aerial vehicle according to claim 1, wherein the lower clamping bracket and/or the upper clamping bracket are/is fixedly provided with a plurality of clamping convex blocks so as to enhance the stability of the clamping targets of the lower clamping bracket and the upper clamping bracket, one end, which is close to the upper clamping bracket and the lower clamping bracket, of the upper clamping bracket and is rotationally connected is an upper clamping initial end, one end, which is far away from the upper clamping bracket and the lower clamping bracket, of the upper clamping bracket is rotationally connected is an upper clamping tail end, and the height of the convex of the clamping convex blocks and the interval distance between the clamping convex blocks are gradually increased along the direction from the upper clamping initial end to the upper clamping tail end.

5. The unmanned obstacle clearing robot of claim 1, wherein the cutting tool comprises a guide plate and saw teeth, the lower clamping bracket is rotatably connected with the guide plate, the second driving device drives the guide plate to rotate to be close to the target, the saw teeth are movably arranged around the edge of the guide plate, and the power source further comprises a fifth driving device which drives the saw teeth to rotate around the guide plate to cut the target.

6. The unmanned obstacle clearing machine according to claim 1, wherein a plurality of cutting tools are arranged on the lower clamping bracket, the plurality of cutting tools are respectively arranged on two sides of the upper clamping bracket, and each second driving device independently corresponds to one cutting tool for driving.

7. The obstacle clearing unmanned aerial vehicle according to claim 1, wherein the unmanned aerial vehicle assembly is provided with a storage groove, the storage groove is matched with the shape of the cutting device, and the first driving device drives the cutting device to rotate so as to store the cutting device in the storage groove or rotate out of the storage groove and adjust the working position of the cutting device.

8. The obstacle clearing unmanned aerial vehicle according to claim 1 or 7, wherein the unmanned aerial vehicle assembly further comprises an unmanned aerial vehicle body and a rotating bracket, the rotating bracket is rotationally connected with the cutting device, the first driving device is rotationally driven by the cutting device, the power source further comprises a sixth driving device, the rotating bracket is covered outside the unmanned aerial vehicle body, the unmanned aerial vehicle body is rotationally connected with the rotating bracket, and the sixth driving device is rotationally driven by the rotating bracket to adjust the working position of the cutting device.

9. The obstacle clearing unmanned aerial vehicle according to claim 8, wherein the rotating support is provided with a rotating cavity, an inner cambered surface and a plurality of transmission internal teeth are arranged in the rotating cavity, the unmanned aerial vehicle body is provided with an outer cambered surface, the shapes of the inner cambered surface and the outer cambered surface are matched, the unmanned aerial vehicle body and the rotating support are rotationally connected through the inner cambered surface and the outer cambered surface, the transmission internal teeth are radially arranged along the shape of the outer cambered surface, the unmanned aerial vehicle assembly further comprises an inner transmission element and an outer transmission element, the inner transmission element is rotationally connected with the unmanned aerial vehicle body, the outer transmission element is rotationally connected with the unmanned aerial vehicle body, the rotating connection of the unmanned aerial vehicle body and the rotating support is rotationally connected with the inner transmission element and the unmanned aerial vehicle body concentrically, the sixth driving device is fixedly arranged on the unmanned aerial vehicle body to drive the inner transmission element to be in transmission connection with the outer transmission element, the outer transmission element is provided with transmission external teeth, and the outer transmission element and the rotating support are in transmission connection with transmission external teeth and internal teeth.

10. The unmanned aerial vehicle of claim 9, wherein the intrados is a more than one-half and the swivel mount is a less than three-quarters ring structure.