CN208439427U - A kind of screen of trees cleaning air-robot of rope suspension cutter - Google Patents
A kind of screen of trees cleaning air-robot of rope suspension cutter Download PDFInfo
- Publication number
- CN208439427U CN208439427U CN201820320269.1U CN201820320269U CN208439427U CN 208439427 U CN208439427 U CN 208439427U CN 201820320269 U CN201820320269 U CN 201820320269U CN 208439427 U CN208439427 U CN 208439427U
- Authority
- CN
- China
- Prior art keywords
- cutter
- trees
- robot
- screen
- air
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Harvester Elements (AREA)
Abstract
The utility model discloses a kind of screens of trees of rope suspension cutter to clear up air-robot, including platform support and operation cutter, platform support is symmetrically connected on body, multiple rotor assemblies are connected on platform support, organism bottom is connected to toolframe by lanyard, cutter motor, the output shaft connection operation cutter of cutter motor are fixedly connected on toolframe.The utility model passes through installation rotor assemblies on body and the horizontal operation cutter of lanyard connection to dangle naturally, it is suitable at the top of the screen of trees from top to bottom or implements " formula of having one's hair cut " large area from outer to inner from screen of trees side quickly cleaning, operating efficiency is high, avoid the high voltage transmission line at operator's close contact screen of trees, it operates safer, the efficiency of prune job can effectively be promoted and reduce operational risk, cutter is hung using flexible lanyard, automatically the vibration of operation cutter, impact are isolated, effectively improve the stability of air-robot gesture stability.
Description
Technical field
The utility model relates to a kind of screens of trees of rope suspension cutter applied to power circuit to clear up air-robot, especially
It is related to a kind of robot for being suitable for clearing up from the quick top of large area screen of trees and side, belongs to transmission line of electricity screen of trees cleaning plant
Technical field.
Background technique
Screen of trees is a kind of security risk existing for electric transmission line channel, shows as the continuous hyperplasia of trees in channel gradually prestige
Coerce the operational safety of transmission line of electricity.For this purpose, power departments at different levels will put into a large amount of human and material resources and financial resources to linchpin every year
Channel screen of trees in area carries out cleaning regulation.Current screen of trees cleaning depends on manual cleaning, and there is inefficient, peaces
Full blast nearly big deficiency, therefore need a kind of power circuit channel screen of trees and clear up air-robot automatically.
Summary of the invention
The technical issues of the utility model solves is: the screen of trees for providing a kind of rope suspension cutter applied to power circuit is clear
Air-robot is managed, is suitable for clearing up from the quick top of large area screen of trees and side, it is existing in the prior art artificial to solve
Cleaning efficiency is not high and the big problem of security risk.
The technical solution that the utility model is taken are as follows: a kind of screen of trees cleaning air-robot of rope suspension cutter, including it is flat
Platform bracket and operation cutter, platform support are symmetrically connected on body, and multiple rotor assemblies are connected on platform support, body
Bottom is connect by lanyard with toolframe, and cutter motor, the output shaft connection operation of cutter motor are fixedly connected on toolframe
Cutter.
Preferably, above-mentioned air-robot further includes the uncoupling rigging being arranged on lanyard.
Preferably, above-mentioned lanyard upper end is connected to organism bottom by Saving cortilage.
Preferably, above-mentioned Saving cortilage includes cylindrical core, cylindrical sleeve, spring and screw, during cylindrical core and cylindrical sleeve be
Hollow-cylindrical, cylindrical core upper end are fixedly connected on organism bottom, the top of cylindrical sleeve can slide axially, can relative rotation set
The connection of the lower part of cartridge form and cylindrical core, cylindrical sleeve lower end are fixedly connected with lanyard, and spring is cylinder, are installed in the form of package
The both ends of the outside of cylindrical core and cylindrical sleeve, spring are connected with cylindrical core and cylindrical sleeve respectively by two screws.
Preferably, above-mentioned platform support is connected to body by folding joint, and folding joint includes being set to platform support
The outer connecting lever of inner end, the interior connecting lever and locking device being connected with body, outer connecting lever is hinged by articulated shaft with interior connecting lever and passes through
Locking device locking.
Preferably, above-mentioned locking device includes being connected in interior connecting lever horizontal segment front end and the platform coaxial with interior connecting lever horizontal segment
Rank axis is connected in outer connecting lever horizontal segment rear end and the screw rod coaxial with outer connecting lever horizontal segment and the locking spiral shell being socketed on Step Shaft
Mother, the inner hole rear end of lock nut are equipped with convex step, and the front end of Step Shaft is equipped with the evagination step for preventing lock nut from falling off,
Lock nut by Step Shaft docking coaxial with screw rod and can lock.
Preferably, above-mentioned uncoupling rigging includes pedestal, steering engine, rocker arm, pull rod, telescopic rod and hangs tongue；Lanyard is two sections of knots
Structure, the top of pedestal and the lower end of lanyard upper section are connected, and the bottom of pedestal is pacified to two symmetrical boss, steering engine is had
Loaded on pedestal, one end of rocker arm is fixed on the output shaft of steering engine, and one end of the other end and pull rod is hinged, the other end of pull rod with
One end of telescopic rod is hinged, passes through to the other end horizontal anomalous movement of telescopic rod two boss, and rocker arm rotation driving telescopic rod is horizontal
Left and right is flexible；The upper end that lanyard lower section is arranged in tongue is hung, the top for hanging tongue is equipped with the lock hole of horizontal direction, hangs tongue and penetrates two
It is articulated on telescopic rod after groove among boss by lock hole.
Preferably, above-mentioned rotor assemblies include rotor and rotor motor, and rotor is fixedly connected on the output shaft of rotor motor
On, rotor motor is fixedly connected on platform support.
Preferably, the quantity of above-mentioned operation cutter is even number.
Preferably, the lower end of above-mentioned lanyard is fixedly connected with cutter power battery, and the lower end of cutter power battery is fixedly connected
Toolframe.
Preferably, above-mentioned organism bottom is provided with undercarriage.
The utility model has the beneficial effects that compared with prior art, the effect of the utility model is as follows:
1) the utility model installs the horizontal operation cutter of rotor assemblies and lanyard connection to dangle naturally on body,
It is suitable at the top of the screen of trees from top to bottom or implements " formula of having one's hair cut " large area from outer to inner from screen of trees side quickly cleaning, operation
It is high-efficient, the high voltage transmission line at operator's close contact screen of trees is avoided, operation is safer, can effectively promote cleaning and make
The efficiency of industry simultaneously reduces operational risk, solves that manual cleaning existing in the prior art is inefficient and security risk is big asks
Topic；
2) cutter is hung using flexible lanyard, the vibration of operation cutter, impact is isolated automatically, effectively improve sky
The stability of middle robot pose control；
3) using the air-robot of suspension cutter structure, cutter is always positioned at the lower section of rotor assemblies when operation, can have
Effect avoids interference of the screen of trees to rotor assemblies, reduces air crash risk, greatly improves the safety of air-robot operation；
4) operation cutter hangs on the lower section of air-robot center of gravity, reduces the whole center of gravity of robot, improves sky
The stability of middle robot flight；
5) platform support is connected using folding mode, and when storage can effectively reduce package size, convenient for storage and is carried；
Designed folding joint, structure is simple, and locking is reliable, operates respectively, it is easy to accomplish, it can effectively avoid vibrating caused locking
It loosens；
6) air-robot provides robot lift and centripetal force by rotor assemblies and implements attitude stabilization and position control,
The operation cutter of even slice compares odd number piece cutter, and stress is more balanced, and safety is more preferable；
7) cutter power battery is arranged on toolframe, further decreases machine gravity, promotes air-robot flight
Stability；Under identical lanyard tilt angle, the horizontal propulsive force of operation cutter can be effectively increased, promotes screen of trees cleaning efficiency；
In addition, also adding the whole inertia of lanyard lower part, the attitude stability of operation cutter is enhanced；
8) Saving cortilage set by has the mechanical damping freedom degree (stretch and reverse) of both direction, can effectively weaken
Influence of the screen of trees reaction force to air-robot flight attitude；
9) the utility model realizes body and body lower section using uncoupling rigging when operation cutter can not be detached from screen of trees
Part is rapidly separated, thus to flying platform protection with high safety.
Detailed description of the invention
Fig. 1 is the structural schematic diagram (cutter horizontal alignment) of the utility model；
Fig. 2 is the structural schematic diagram (cutter horizontal alignment, upper and lower coaxial double-oar) of the utility model；
Fig. 3 is uncoupling rigging structural schematic diagram；
Fig. 4 is folding joint structural schematic diagram；
Fig. 5 is Saving cortilage structural schematic diagram；
Fig. 6 is the structural schematic diagram (the vertical file of cutter) of the utility model.
In figure, 1-rotor, 2-rotor motors, 3-platform supports, 4-flight controllers, 5-bodies, 6-protection passes
Section, 7 --- uncoupling rigging, 8-lanyards, 9-cutter power batteries, 10-folding joints, 11-cutter motors, 12-operation knifes
Tool, 13-toolframes；
701-pedestals, 702-steering engines, 703-rocker arms, 704-pull rods, 705-telescopic rods, 706-boss, 707-hang
Tongue, 708-lock holes, 709-hanging holes；
1001-outer connecting levers, 1002-interior connecting levers, 1003-articulated shafts, 1004-Step Shafts, 1005-lock nuts,
1006-screw rods；
601-cylindrical cores, 602-cylindrical sleeves, 603-springs, 604-screws.
Specific embodiment
In the following, the utility model is described further in conjunction with attached drawing and specific embodiment.
Embodiment 1: as shown in Fig. 1-Fig. 5, a kind of screen of trees cleaning air-robot of rope suspension cutter, including platform branch
Frame 3 and operation cutter 12, platform support 3 are symmetrically connected on body 5, and multiple rotor assemblies, body are connected on platform support 3
5 bottom is connect by lanyard 8 with toolframe 13, and cutter motor 11 is fixedly connected on toolframe 13, and cutter motor 11 exports
Axis connection operation cutter 12；Cutter motor 11 is symmetrically equally distributed on 13 top of toolframe, and operation cutter 12 is located at toolframe 13
Lower section, further include positioned at 3 central upper of platform support flight controller 4, be used for transmission the logical of flying quality and onboard image
Letter module, the flying power battery in body 5 are fixed on or are built in toolframe 13 and implement revolving speed to cutter motor 11
The cutter controller of control, flight controller 4 is similar to existing multi-rotor unmanned aerial vehicle flight controller hardware, including inertia is surveyed
Measure unit (IMU), barometertic altimeter, satellite navigation receiver, flight-control computer；Cutter controller and flight controller 4
Connection, lanyard 8 is using the cable for including tension core material.
Preferably, above-mentioned air-robot further includes the uncoupling rigging 7 being arranged on lanyard 8.Uncoupling rigging 7 includes pedestal
701, steering engine 702, rocker arm 703, pull rod 704, telescopic rod 705, extension tongue 707；Lanyard 8 be two-stage structure, the top of pedestal 701 with
The lower end of 8 upper section of lanyard is connected, and the bottom of pedestal 701 is installed on to two symmetrical boss 706, steering engine 702 is had
On pedestal 701, one end of rocker arm 703 is fixed on the output shaft of steering engine 702, and one end of the other end and pull rod 704 is hinged, pull rod
One end of 704 other end and telescopic rod 705 is hinged, passes through two boss 706 to the other end horizontal anomalous movement of telescopic rod 705,
705 horizontal left and right of the rotation driving of rocker arm 703 telescopic rod are flexible；The upper end that 8 lower section of lanyard is arranged in tongue 707 is hung, upper part is equipped with
The lock hole 708 of horizontal direction is articulated on telescopic rod 705 after hanging the groove that tongue 707 penetrates among two boss 706；Lanyard 8
The upper end of lower section, which passes through hanging hole 709 and hangs 707 knot of tongue, to be connected.
Preferably, above-mentioned lanyard 8 connects 5 bottom of body by Saving cortilage 6, and Saving cortilage 6 includes cylindrical core 601, circle
Column sleeve 602, spring 603 and screw 604, cylindrical core 601 and cylindrical sleeve 602 are hollow cylindrical, and 601 upper end of cylindrical core passes through
Ring flange is fixedly connected on 5 bottom of body, the top of cylindrical sleeve 602 can slide axially, can relative rotation form of sleeve with
The lower part of cylindrical core 601 connects, and 602 lower end of cylindrical sleeve is fixedly connected with lanyard 8, and spring 603 is cylinder, is installed in the form of wrapping up
In the outside of cylindrical core 601 and cylindrical sleeve 602, the both ends of spring 603 by two screws 604 respectively with cylindrical core 601 and cylinder
Set 602 is connected.Saving cortilage 6 possesses axial and torsion both direction mechanical damping freedom degree, can effectively weaken screen of trees axial direction
Influence of the vibration of drawing force and torsional moment and operation cutter 12 to air-robot flight attitude.
The shaft position sensor of both perception axial relative movement amplitude is equipped between cylindrical sleeve 602 and cylindrical core 601
With the torsional angular displacement sensor of both perception relative twisting movement amplitude, therefore Saving cortilage 6 can perceive screen of trees and pass through operation
Cutter 12 is applied to pulling force and horizontal torsion torque on lanyard 8, can be used as tool feeding or exit, air-robot movement it is micro-
The control of tune inputs, and makes to control more accurate.Wherein, photoelectric encoder or potentiometer can be used in above-mentioned angular transducer, above-mentioned
Slide rheostat or grating scale can be used in displacement sensor, and two kinds of sensors are all connected to flight controller 4, active force or torque
Calculating: the tensible rigidity or torsion stiffness of the displacement and spring that are measured by displacement sensor or angular transducer are counted
It calculates and obtains axial dynamics (stretch or compress) or torsional moment.
Using scaling method calibration Saving cortilage 6 the opposite stress-displacement in both ends (cylindrical sleeve 602 and cylindrical core 601) or
By torque-angle curve, thus obtain the axial rigidity curve and torsion stiffness curve of Saving cortilage 6, it is bent by each rigidity
Line and corresponding displacement or angle can acquire the stress or torque at 6 both ends of Saving cortilage, when known to the torsion stiffness of lanyard
When, horizontal torsion torque suffered by operation cutter 12, which can pass through the perceived torsional moment of Saving cortilage 6 and calculate, to be obtained.
Flight controller 4 is directed to above-mentioned angular transducer and displacement sensor, is equipped with corresponding analog quantity (voltage or electricity
Stream) or the style interfaces such as digital quantity (including bus), pulsed quantity, frequency quantity, PWM is set also directed to rotor assemblies or bus connects
Mouthful, for communication module and cutter controller, bus interface is set.The bus includes CAN, RS-485/422/232, Ethernet
Or the types such as airborne-bus.
Preferably, above-mentioned platform support 3 connects body 5 by folding joint 10, and folding joint 10 includes being set to platform
The outer connecting lever 1001 of 3 inner end of bracket, the interior connecting lever 1002 and locking device being connected with body 5, outer connecting lever 1001 and interior connecting lever
1002 pass through articulated shaft 1003 hingedly and pass through locking device locking；Locking device includes before being connected in interior 1002 horizontal segment of connecting lever
Hold and the Step Shaft 1004 coaxial with interior 1002 horizontal segment of connecting lever, be connected in outer 1001 horizontal segment rear end of connecting lever and with outer connecting lever
The lock nut 1005 they 1001 horizontal segments coaxial screw rod 1006 and be socketed on Step Shaft 1004, the inner hole of lock nut 1005
Rear end is equipped with convex step, and the front end of Step Shaft 1004 is equipped with the evagination step for preventing lock nut 1005 from falling off, lock nut
1005 by the docking coaxial with screw rod 1006 of Step Shaft 1004 and can lock.Platform support 3 is connected using folding mode, and when storage can
Package size is effectively reduced, convenient for storage and is carried.
Preferably, above-mentioned rotor assemblies include rotor 1 and rotor motor 2 and machine governor, and rotor 1 is fixedly connected on
On the output shaft of rotor motor 2, rotor motor 2 is fixedly connected on above or below platform support 3, the rotor of adjacent rotor component
1 turns on the contrary；Machine governor receive flight controller 4 rotary speed instruction, and according to this driving rotor motor 2 rotate, generate to
On lift.The even number that the quantity of rotor assemblies is >=4.
Following coaxial double-oar mode also can be used in rotor assemblies: rotor 1, rotor motor 2 and motor tune in rotor assemblies
Fast device respectively has a pair, and two 2 tail portion of rotor motor is opposite, shaft is outside, the upper and lower coaxial outer end for being installed on platform support 3, and two
A rotor 1 is positive and reverse return to pairing, is respectively arranged in the shaft of two rotor motors 2, by adjusting machine governor and rotation
The polarity of 2 line of wing motor makes the lift of two rotors 1 of same rotor assemblies be upward.The number of rotor assemblies under which
Amount >=3.
Preferably, cutter motor 11 is built-in with the speed probe of perception 12 revolving speed of operation cutter, built in cutter controller
There is the current sensor of perception 11 operating current of cutter motor, speed probe uses photoelectric encoder or Hall sensor, electricity
Flow sensor uses current transformer, and the two is connect with cutter controller；Cutter controller customization is equipped with corresponding above-mentioned specific
The style interfaces such as the analog quantity or digital quantity of type sensor, pulsed quantity, frequency quantity.
Preferably, the quantity of above-mentioned operation cutter 12 is even number.
Preferably, the lower end of above-mentioned lanyard 8 is fixedly connected with cutter power battery 9, and the lower end of cutter power battery 9 is fixed to be connected
Connect toolframe 13.
Preferably, above-mentioned 5 bottom of body is provided with undercarriage.
Preferably, when above-mentioned rotor assemblies are odd number, it is all made of coaxial double-oar setting up and down.
Flight controller 4 realize function include:
1) information such as attitude angle, angular speed, acceleration, satellite positioning, height and speed of air-robot are acquired in real time,
Combined ground telecommand (passes through the wireless connection of flight controller and ground remote control device), calculates the rotary speed instruction of all rotors
And it exports to above-mentioned rotor assemblies, to realize the stabilization and control of air-robot posture and position；
2) course, height and the speed that air-robot is adjusted according to ground telecommand, make operation cutter 12 with appropriate
Angle, dynamics, preflow push speed, carry out the top cutting operation of horizontal " having one's hair cut " formula, or to screen of trees with speed appropriate
Operation cutter 12 is set to exit operation of removing obstacles；
3) screen of trees perceived by Saving cortilage 6 is applied to pulling force and torsional moment on lanyard 8 through operation cutter 12, and one
Denier meets or exceeds scheduled protection thresholding, i.e., automatically into protected mode: it enables operation cutter 12 first brake and inverts afterwards, same to time control
Air-robot processed backward, moved to the direction for reducing pulling force or torsional moment and exit operation；If above-mentioned power or torque are less than
Scheduled protection thresholding inputs the control as air-robot movement fine tuning, and control method is as follows:
A it sets the axial tension of the perception of Saving cortilage 6 when removing obstacles) as Z, is positive downwards, corresponding operation thresholding is λZ, it is ineffective
Quick area is δZ, wherein λZ> 0,0≤δZ< λZ, have:
If --- Z < λZ-δZ, control air-robot travels forward fine tuning, increases axial tension, realize it is horizontal automatically
Feeding；
If --- | Z- λZ|≤δZ, control air-robot holding hovering, horizontal feed amount is zero；
If --- Z > λZ+δZ, control air-robot and move fine tuning backward, reduce axial tension, realize horizontal automatic
It retracts.
B torsional moment suffered by the lanyard 8 that Saving cortilage 6 perceives when removing obstacles is set) as N, corresponding operation thresholding is λN, no
Sensitive volume is δN, for even number circular saw, λN=0, δN>=0, have:
If --- | N | > δN, control air-robot is to making | N | reduced direction carries out course fine tuning, realize course from
Dynamic balancing adjustment；
If --- | N |≤δN, the current course of control air-robot holding.
4) according to the current of electric and cutter rotary speed information of cutter controller acquisition, the mistake of operation cutter 12 is assessed in real time
Load, card resistance and faulted condition, appraisal procedure are as follows:
--- if current of electric is more than electric current predetermined threshold, can determine that the overload of operation cutter 12 or card resistance；
--- if cutter revolving speed is lower than revolving speed predetermined threshold, can determine that the overload of operation cutter 12 or card resistance；
--- if there is periodically pulsation in current of electric or cutter revolving speed, can determine that operation cutter 12 is had damage.Reason
It is, the cutter of working in reciprocating mode defect if it exists, dynamic balancing imbalance and the cyclically-varying of suffered screen of trees resistance will cause knife
Has the periodically pulsing of revolving speed and current of electric.
It first brakes and inverts afterwards to the output of cutter motor 11 quickly through cutter controller once there is any of the above-described situation
Instruction exports retrogressing instruction to air-robot, to realize that air-robot protectiveness is kept out of the way, while passing through the communication module
Personnel send security alarm information to the ground.
5) when operation cutter 12 can not be detached from screen of trees, sending instruction to uncoupling rigging 7 acts uncoupling rigging 7, realizes
7 lower part of uncoupling rigging is rapidly separated, to implement to the flying platform of the air-robot of uncoupling rigging 7 and its top
Safeguard protection.
Embodiment 2: as shown in fig. 6, a kind of screen of trees of rope suspension cutter clears up air-robot, on the basis of embodiment 1
On, toolframe 13 is vertically arranged to the lower section of cutter power battery 9, and the axial direction along toolframe 13 is from top to bottom with equidistant file side
Formula is fixedly connected with cutter motor 11, the output shaft connection operation cutter 12 of cutter motor 11, and operation cutter 12 is located at toolframe
In 13 medial launder.
Preferably, quantity >=1 of above-mentioned operation cutter 12.
Using the air-robot of the column fashion cutter structure, it is suitable for from screen of trees side from outer to inner to screen of trees reality
Apply fly-cutting cleaning.
Example above description is only a specific implementation of the present invention, the protection scope of the utility model not office
It is limited to this.Be familiar with the those skilled in the art within the technical scope disclosed by the utility model, can easily find variation or
Alternative, these should be covered within the scope of the utility model.For this purpose, the protection scope of the utility model should be with
Subject to the scope of protection of the claims.
Claims (10)
1. a kind of screen of trees of rope suspension cutter clears up air-robot, it is characterised in that: including platform support (3) and operation cutter
(12), platform support (3) is symmetrically connected on body (5), and multiple rotor assemblies are connected on platform support (3), body (5)
Bottom is connect by lanyard (8) with toolframe (13), and cutter motor (11), cutter motor are fixedly connected on toolframe (13)
(11) output shaft connection operation cutter (12).
2. a kind of screen of trees of rope suspension cutter according to claim 1 clears up air-robot, it is characterised in that: further include
The uncoupling rigging (7) being arranged on lanyard (8).
3. a kind of screen of trees of rope suspension cutter according to claim 1 clears up air-robot, it is characterised in that: lanyard
(8) upper end is connected to body (5) bottom by Saving cortilage (6).
4. a kind of screen of trees of rope suspension cutter according to claim 3 clears up air-robot, it is characterised in that: protection is closed
Section (6) includes cylindrical core (601), cylindrical sleeve (602), spring (603) and screw (604), cylindrical core (601) and cylindrical sleeve
(602) be hollow cylindrical, cylindrical core (601) upper end is fixedly connected on body (5) bottom, the top of cylindrical sleeve (602) with
Can slide axially, can the form of sleeve of relative rotation connect with the lower part of cylindrical core (601), cylindrical sleeve (602) lower end is fixed to be connected
It connects lanyard (8), spring (603) is cylinder, and the outside of cylindrical core (601) and cylindrical sleeve (602), bullet are installed in the form of package
The both ends of spring (603) are connected with cylindrical core (601) and cylindrical sleeve (602) respectively by two screws (604).
5. a kind of screen of trees of rope suspension cutter according to claim 1 clears up air-robot, it is characterised in that: platform branch
Frame (3) is connected to body (5) by folding joint (10), and folding joint (10) is including being set to the outer of platform support (3) inner end
Connecting lever (1001), the interior connecting lever (1002) and locking device being connected with body (5), outer connecting lever (1001) and interior connecting lever (1002) are logical
It crosses articulated shaft (1003) hingedly and is locked by locking device.
6. a kind of screen of trees of rope suspension cutter according to claim 5 clears up air-robot, it is characterised in that: locking dress
It sets including being connected in interior connecting lever (1002) horizontal segment front end and the Step Shaft (1004) coaxial with interior connecting lever (1002) horizontal segment, solid
It is connected in outer connecting lever (1001) horizontal segment rear end and the screw rod (1006) coaxial with outer connecting lever (1001) horizontal segment and is socketed in step
The inner hole rear end of lock nut (1005) on axis (1004), lock nut (1005) is equipped with convex step, Step Shaft (1004)
Front end be equipped with prevent lock nut (1005) from falling off evagination step, lock nut (1005) can be by Step Shaft (1004) and spiral shell
The coaxial docking of bar (1006) simultaneously locks.
7. a kind of screen of trees of rope suspension cutter according to claim 2 clears up air-robot, it is characterised in that: unhook machine
Structure (7) includes pedestal (701), steering engine (702), rocker arm (703), pull rod (704), telescopic rod (705), hangs tongue (707)；Lanyard
It (8) is two-stage structure, the lower end of the top of pedestal (701) and lanyard (8) upper section is connected, and the bottom of pedestal (701) is to having
Two symmetrical boss (706), steering engine (702) are installed on pedestal (701), and one end of rocker arm (703) is fixed on steering engine
(702) output shaft, the other end and the one end of pull rod (704) are hinged, and the one of the other end of pull rod (704) and telescopic rod (705)
End is hinged, passes through to the other end horizontal anomalous movement of telescopic rod (705) two boss (706), rocker arm (703) rotation driving telescopic rod
(705) horizontal left and right is flexible；Tongue (707) setting is hung in the upper end of lanyard (8) lower section, upper part is equipped with the lock hole of horizontal direction
(708), extension tongue (707) penetrates after the intermediate groove of two boss (706) and is articulated in telescopic rod (705) by lock hole (708)
On.
8. a kind of screen of trees of rope suspension cutter according to claim 1 clears up air-robot, it is characterised in that: rotor group
Part includes rotor (1) and rotor motor (2), and rotor (1) is fixedly connected on the output shaft of rotor motor (2), rotor motor (2)
It is fixedly connected on platform support (3).
9. a kind of screen of trees of rope suspension cutter according to claim 1 clears up air-robot, it is characterised in that: operation knife
The quantity for having (12) is even number.
10. a kind of screen of trees of rope suspension cutter according to claim 1 clears up air-robot, it is characterised in that: lanyard
(8) lower end is fixedly connected cutter power battery (9), and the lower end of cutter power battery (9) is fixedly connected with toolframe (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820320269.1U CN208439427U (en) | 2018-03-08 | 2018-03-08 | A kind of screen of trees cleaning air-robot of rope suspension cutter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820320269.1U CN208439427U (en) | 2018-03-08 | 2018-03-08 | A kind of screen of trees cleaning air-robot of rope suspension cutter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208439427U true CN208439427U (en) | 2019-01-29 |
Family
ID=65096995
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820320269.1U Active CN208439427U (en) | 2018-03-08 | 2018-03-08 | A kind of screen of trees cleaning air-robot of rope suspension cutter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208439427U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108423175A (en) * | 2018-03-08 | 2018-08-21 | 南京太司德智能科技有限公司 | A kind of screen of trees cleaning air-robot of rope suspension cutter |
| CN114557207A (en) * | 2022-04-02 | 2022-05-31 | 广西新南润电力科技有限公司 | Unmanned aerial vehicle tree obstacle trimming device with automatic separation function |
| JP7123457B1 (en) | 2022-03-30 | 2022-08-23 | 株式会社石川エナジーリサーチ | flight device |
-
2018
- 2018-03-08 CN CN201820320269.1U patent/CN208439427U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108423175A (en) * | 2018-03-08 | 2018-08-21 | 南京太司德智能科技有限公司 | A kind of screen of trees cleaning air-robot of rope suspension cutter |
| CN108423175B (en) * | 2018-03-08 | 2024-04-12 | 南京太司德智能科技有限公司 | Tree obstacle cleaning aerial robot with rope-suspended cutters |
| JP7123457B1 (en) | 2022-03-30 | 2022-08-23 | 株式会社石川エナジーリサーチ | flight device |
| JP2023148303A (en) * | 2022-03-30 | 2023-10-13 | 株式会社石川エナジーリサーチ | Flying device |
| CN114557207A (en) * | 2022-04-02 | 2022-05-31 | 广西新南润电力科技有限公司 | Unmanned aerial vehicle tree obstacle trimming device with automatic separation function |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108423175A (en) | A kind of screen of trees cleaning air-robot of rope suspension cutter | |
| CN108377781A (en) | A kind of screen of trees cleaning air-robot of suspension cutter structure | |
| CN208439427U (en) | A kind of screen of trees cleaning air-robot of rope suspension cutter | |
| CN108556067A (en) | A kind of screen of trees cleaning air-robot | |
| DE60124224T2 (en) | RPV, IN PARTICULAR FOR MONITORING OR INVESTIGATION | |
| CN104669964B (en) | A kind of land, water and air three are dwelt, and nobody investigates device | |
| CN107207088A (en) | Reconfigurable unmanned vehicle system | |
| CN1857965A (en) | Rotor shaft controllable tilting coaxial rotor wing helicopter | |
| WO2009032027A2 (en) | Harness with mounted engine frame | |
| CN108608512A (en) | A kind of work jibs can dynamic retractility screen of trees cleaning air-robot and adjusting method | |
| CN106184728B (en) | A kind of rotary telescopic variable-torque quadrotor | |
| CN208438461U (en) | A kind of screen of trees cleaning air-robot structure | |
| CN108353672B (en) | Tree obstacle cleaning aerial robot with rotatable cutter plane | |
| WO2010133471A1 (en) | Drive unit for a paraglider | |
| CN208113428U (en) | A kind of Saving cortilage structure for screen of trees cleaning air-robot | |
| CN108713411B (en) | Tree obstacle clearance aerial robot of duct structure | |
| CN208446135U (en) | A kind of screen of trees cleaning air-robot structure hanging cutter structure | |
| CN208434378U (en) | A kind of screen of trees cleaning air-robot structure of duct structure | |
| CN208446136U (en) | A kind of screen of trees cleaning air-robot structure can be rotated tool plane | |
| CN208434379U (en) | A kind of folding joint structure for screen of trees cleaning air-robot | |
| CN207983370U (en) | It is a kind of can buckling duct structure screen of trees clear up air-robot structure | |
| CN108214517A (en) | It is a kind of can buckling duct structure screen of trees cleaning air-robot | |
| CN108651048A (en) | A kind of Saving cortilage for screen of trees cleaning air-robot | |
| CN108556068A (en) | A kind of double saw cutting tool controlling devices and control method of screen of trees cleaning air-robot | |
| CN208675851U (en) | It is a kind of can buckling screen of trees clear up air-robot structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |