CN208446136U - A kind of screen of trees cleaning air-robot structure can be rotated tool plane - Google Patents

Abstract

The utility model discloses a kind of screens of trees that can be rotated tool plane to clear up air-robot structure, including platform support and operation cutter, platform support is symmetrically connected on body, multiple rotor assemblies are connected on platform support, longitudinal thruster is installed on body, body front end is connected to operation cutter by work jibs, longitudinal thruster is installed towards operation tool orientation, operation cutter is connected with cutter motor, cutter motor is fixedly connected on the front end of work jibs, and work jibs are equipped with the rotary joint of the interior centrally-mounted driving along its longitudinal axis rotation.The utility model is by installing rotor assemblies, longitudinal thruster and the vibratile operation cutter of tool plane on body, it can be realized quickly cleaning in the air for transmission line of electricity screen of trees, avoid high voltage transmission line of the operator at screen of trees, it operates safer, work jibs are equipped with rotary joint, the antero posterior axis that operation cutter can be made to make industry arm is arbitrarily rotated and is locked, it is thus possible to which the screen of trees branch for cutting any growth form is removed obstacles high-efficient.

Description

A kind of screen of trees cleaning air-robot structure can be rotated tool plane

Technical field

The utility model relates to a kind of screens of trees that can be rotated tool plane to clear up air-robot structure, belong 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: providing a kind of screen of trees cleaning air-robot that can be rotated tool plane Structure, cutter can arbitrarily be rotated around work jibs, to adapt to the cutting task of various growing way screen of trees branches, to solve existing skill Manual cleaning is inefficient in art and the big problem of security risk.

A kind of technical solution that the utility model is taken are as follows: screen of trees cleaning air-robot knot that can be rotated tool plane Structure, including platform support and operation cutter, platform support are symmetrically connected on body, and multiple rotor groups are connected on platform support Part, is equipped with longitudinal thruster on body, and body front end is connected to operation cutter by work jibs, and longitudinal thruster is towards operation Tool orientation installation, operation cutter are connected with cutter motor, and cutter motor is fixedly connected on the front end of work jibs, sets in work jibs There is the rotary joint of the interior centrally-mounted driving along its longitudinal axis rotation.

Preferably, above-mentioned work jibs include mechanical arm and tool bar, and mechanical arm one end is fixedly connected on body, the other end It is fixedly connected with tool bar.

Preferably, above-mentioned mechanical arm use foldable structure or stretching structure, including from front to back sequentially connected forearm, in Arm and postbrachium.

Preferably, the rear end of above-mentioned forearm is connected to the front end of middle arm by rotary joint.

Preferably, the rear end of arm is connected to the front end of postbrachium by folding joint among the above.

Preferably, it is socketed in the back end activity of arm the front end of postbrachium among the above and is locked using locker.

Preferably, above-mentioned work jibs are two-stage structure, and are connected as one by Saving cortilage, and Saving cortilage includes fixing Fork, cross axle, movable fork, cylindrical sleeve, spring and screw, fixation fork, activity fork, cylindrical sleeve are hollow cylindrical, cross axle It is connected respectively by the rear portion of the front of bearing and fixation fork, activity fork, thus constitutes universal joint, the rear portion of fixation fork and operation The back segment of arm is connected, and the front of cylindrical sleeve and the leading portion of work jibs are connected, the rear portion of cylindrical sleeve can slide axially, can opposite rotation The form of sleeve turned is connect with the front of activity fork, and spring is cylinder, and fixation fork, activity fork and circle are installed in the form of package The both ends of the outside of column sleeve, spring are connected with fixation fork and cylindrical sleeve respectively by two screws.

Preferably, camera is installed, the camera lens of camera is towards operation in above-mentioned platform support or body or work jibs Tool orientation.

Preferably, above-mentioned work jibs are connected to the lower end of body by vibration absorber.

Preferably, above-mentioned work jibs actively pass through vibration absorber and are fixedly connected with battery pack or vibration damping dress in its back-end It postpones end and battery pack is fixedly connected with by telescopic rod.

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.

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 can be realized by installing rotor assemblies, longitudinal thruster and operation cutter on body Transmission line of electricity screen of trees quickly cleans in the air, avoids high voltage transmission line of the operator at screen of trees, and operation is safer, can Effectively promoted prune job efficiency simultaneously reduce operational risk, solve manual cleaning existing in the prior art it is inefficient and The big problem of security risk；

2) it is connected between arm and postbrachium using folding mode or stretch mode in air-robot, effectively reduces complete machine ruler It is very little, it convenient for storage and carries, stretch mode is also convenient for the adjustment of position of centre of gravity；

3) work jibs are equipped with rotary joint, and the antero posterior axis that operation cutter can be made to make industry arm is arbitrarily rotated and locked, because And the screen of trees branch of any growth form can be cut, it removes obstacles high-efficient；

4) air-robot provides robot lift by rotor assemblies and implements attitude stabilization and position control, by longitudinally pushing away Implement the operation tool feeding removed obstacles into device and exit control, the control mode decoupling of this combination driving is advantageous to work Cheng Shixian；

5) air-robot overall structure is flat, is suitable for entering screen of trees and intensively or with conducting wire intersecting area implements work of removing obstacles Industry；

6) by camera can formalness to screen of trees, the effect of screen of trees cleaning carry out close-ups, monitor in real time The working condition of operation cutter；

7) Saving cortilage set by has the mechanical damping freedom degree of four direction, can effectively weaken screen of trees reaction force Or influence of the vibration of torque and operation cutter to air-robot flight attitude；

8) influence of the vibration to body of operation cutter can be effectively filtered out by vibration absorber；

9) battery pack is placed in the rear portion of air-robot, plays good counterweight effect, while work jibs can with respect to body Front and back is adjusted or battery pack by telescopic rod is connected to After-Body, it can be achieved that air-robot center of gravity is quickly adjusted；

10) this air-robot can be used for carrying out the operations such as high-altitude installation, cleaning or maintenance to large scale equipment and building.

Detailed description of the invention

Fig. 1 is the structural schematic diagram (folding type operational arm, Saving cortilage are preposition) of the utility model；

Fig. 2 is the structural schematic diagram (telescopic work jibs, Saving cortilage are preposition) of the utility model；

Fig. 3 is the partial structure diagram (Saving cortilage postposition) of the utility model；

Fig. 4 is damping device structure schematic diagram；

Fig. 5 is folding joint structural schematic diagram (stretching, extension use state)；

Fig. 6 is folding joint structural schematic diagram (folding storage state)；

Fig. 7 is Saving cortilage structural schematic diagram.

In figure, 1-rotor, 2-rotor motors, 3-platform supports, 4-bodies, 5-battery packs, 6-longitudinal thrusters, 7-shrouded propellers, 8-vibration absorbers, 9-postbrachiums, 10-folding joints, 11-middle arms, 12-Saving cortilages, 13-cutters Bar, 14-cutter motors, 15-operation cutters, 16-connectors, 17-cameras, 18-lockers, 19-mechanical arms, 20-make Industry arm, 21-rotary joints, 22-forearms；

801-upper plates, 802-spring-dampers, 803-lower plates；

1001-preceding connecting levers, 1002-rear connecting levers, 1003-articulated shafts, 1004-Step Shafts, 1005-lock nuts, 1006-screw rods；

1201-fixation forks, 1202-cross axles, 1203-activity forks, 1204-cylindrical sleeves, 1205-springs, 1206- Screw.

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. 7, a kind of screen of trees cleaning air-robot structure can be rotated tool plane, packet Platform support 3 and operation cutter 15 are included, platform support 3 is symmetrically connected on body 4, and body 4 is located at the central part of platform support 3 , multiple rotor assemblies are connected on platform support 3, installation is provided with front and back thrust power and symmetrical two on body 4 A longitudinal thruster 6, the front end of body 4 are connected to operation cutter 15 by work jibs 20, and longitudinal thruster 6 is towards operation cutter The installation of 15 directions, operation cutter 15 are connected with cutter motor 14, and cutter motor 14 is fixedly connected on the front end of work jibs 20, operation Arm 20 is equipped with the rotary joint 21 of the interior centrally-mounted driving along its longitudinal axis rotation, and it is man-machine that rotary joint 21 is similar to machine Rotary joint on tool arm；It further include being installed on platform support 3 or body 4 to control for air-robot attitude stabilization and track The flight controller of system, the communication module for being used for transmission flying quality and onboard image, wherein flight controller and existing more Rotor wing unmanned aerial vehicle flight controller hardware is similar, including Inertial Measurement Unit (IMU), barometertic altimeter, satellite navigation receiver, Flight-control computer.

Longitudinal thruster 6 is duct configuration, it is built-in can positive and negative rotation to provide the shrouded propeller 7 of positive-reverse thrust, can be Under the premise of keeping air-robot horizontal attitude and height constant, operation of accurately removing obstacles for it provides the dynamic of forward or backward Power.

Preferably, above-mentioned work jibs 20 include mechanical arm 19 and tool bar 13, and 19 one end of mechanical arm is fixedly connected on body 4 On, the other end is fixedly connected with tool bar 13 by connector 16, and connector 16 has mechanical and electrical dual linkage function, convenient for quick Handling or replacement, storage are more convenient；Connector 16 is connected using ring flange or nut-screw rod quickly connects, corresponding connecting portion Equipped with electric connector head.

Preferably, camera 17, the camera lens of camera 17 are installed in above-mentioned platform support 3 or body 4 or work jibs 20 Towards 15 direction of operation cutter；Using socket frame when camera 17 is mounted in work jibs 20；Camera 17 is for monitoring front Formalness, the working condition for being cleaned situation, operation cutter 15 of screen of trees of screen of trees, are convenient for the feeding of operation cutter 15 Or exit control.

Preferably, cutter motor 14 is connected with the cutter controller of its rotation of driving, and cutter controller is built in work jibs 20 or body 4 in, and connect with flight controller；The speed probe of built-in perception 15 revolving speed of operation cutter of cutter motor 14, Cutter controller is built-in with the current sensor of perception 14 operating current of cutter motor, speed probe using photoelectric encoder or Hall sensor, current sensor use current transformer, and the two is connect with cutter controller；Cutter controller customization is equipped with The style interfaces such as the analog quantity or digital quantity, pulsed quantity, frequency quantity of corresponding above-mentioned concrete type sensor.

Preferably, above-mentioned mechanical arm 19 uses stretching structure or foldable structure, including sequentially connected forearm from front to back 22, middle arm 11 and postbrachium 9；Stretching structure can be such that the whole center of gravity of air-robot and the projection at 3 center of platform support is overlapped, Convenient for storage；Forearm 22, middle arm 11 and postbrachium 9 are polygonal cross-section pipe or round tube, and when for stretching structure, round tube has anti-torsion It transduces to groove.

Preferably, the rear end of above-mentioned forearm 22 is connected to the front end of middle arm 11 by rotary joint 21, and operation cutter 15 can Antero posterior axis around work jibs 20 is arbitrarily rotated and is locked, it is thus possible to cut the screen of trees branch of any growth form, target adapts to Property is good, removes obstacles high-efficient.

Preferably, above-mentioned postbrachium 9 is connected to body 4 by rotary joint 21, and rotary joint 21 passes through work jibs when operation 20 drive the rotation of operation cutter.

Preferably, the rear end of arm 11 passes through the front end that folding joint 10 is connected to postbrachium 9 among the above, as shown in Figure 5, Figure 6, Folding joint 10 includes the preceding connecting lever 1001 that middle 11 rear end of arm is arranged in, the rear connecting lever 1002 that 9 front end of postbrachium is arranged in and locking Device, preceding connecting lever 1001 is hinged by articulated shaft 1003 with rear connecting lever 1002 and is locked by locking device；Locking device includes It is connected in 9 front end of postbrachium and the Step Shaft 1004 coaxial with postbrachium 9, is connected in middle 11 rear end of arm and the screw rod coaxial with middle arm 11 1006 and the lock nut 1005 that is socketed on Step Shaft 1004, the inner hole rear end of lock nut 1005 be equipped with convex step, platform The front end of rank axis 1004 be equipped with prevent lock nut 1005 from falling off evagination step, lock nut 1005 can by Step Shaft 1004 with The coaxial docking of screw rod 1006 simultaneously locks.The folding joint has the advantages of simple structure and easy realization, and can effectively avoid locking pine caused by vibrating It is de-, Quick extension locking or folding storage can be carried out to work jibs 20.

Preferably, it is socketed in the back end activity of arm 11 front end of postbrachium 9 among the above and is locked using locker 18, middle arm 11 and 9 coaxial line of postbrachium, locker 18 includes one or more diameters relative to 20 axis of work jibs being arranged on socket outer tube To clamping screw.

Preferably, above-mentioned work jibs 20 are two-stage structure, and are connected as one by Saving cortilage 12；As shown in fig. 7, protecting Protect joint 12 have stress buffering with operation dynamics perceptional function, including fixation fork 1201, cross axle 1202, activity fork 1203, Cylindrical sleeve 1204, spring 1205 and screw 1206, fixation fork 1201, activity fork 1203, cylindrical sleeve 1204 are hollow cylindrical, Cross axle 1202 is connect by bearing with the rear portion of the front of fixation fork 1201, activity fork 1203 respectively, is thus constituted with upper Lower rotation (pitching) and the universal joint for rotating left and right (course) freedom degree, the rear portion of fixation fork 1201 and the back segment of work jibs 20 are solid Even, the leading portion of the front of cylindrical sleeve 1204 and work jibs 20 is connected, the rear portion of cylindrical sleeve 1204 can slide axially, can opposite rotation The form of sleeve for turning (rolling) is connect with the front of activity fork 1203, and spring 1205 is cylinder, is installed in the form of package solid The outside of fixed fork 1201, activity fork 1203 and cylindrical sleeve 1204, the both ends of spring 1205 by two screws 1206 respectively with fixation Fork 1201 and cylindrical sleeve 1204 are connected.Saving cortilage 12 possesses the mechanical damping freedom degree of four direction, can effectively weaken screen of trees Influence of the vibration of reaction force or torque and operation cutter 15 to air-robot flight attitude.

The opposite course angle for rotating left and right (course) amplitude of both perception is equipped between cross axle 1202 and fixation fork 1201 Sensor is spent, the opposite pitch angle for being rotated up and down (pitching) amplitude of both perception is equipped between cross axle 1202 and activity fork 1203 Sensor is spent, the axial position of both perception axial relative movement (axial direction) amplitude is equipped between cylindrical sleeve 1204 and activity fork 1203 The roll angle sensor of both displacement sensor, perception relative rotary motion (rolling) amplitude, therefore Saving cortilage 12 can perceive The screen of trees reaction force or torque of four direction suffered by operation cutter 15, and as tool feeding or exit, air-robot appearance The control of state or high fine-tuning inputs, and making to remove obstacles, it is more accurate to control.Wherein, photoelectricity volume can be used in above-mentioned each angular transducer Slide rheostat or grating scale etc. can be used in code device or potentiometer etc., upper displacement sensors, the calculating of active force or torque: logical Tensible rigidity, bending stiffness and the torsion stiffness for crossing displacement and spring that each displacement sensor or angular transducer measure, into Row, which calculates, obtains each active force (stretch or compress) or torque (pitching moment, course torque, torsional moment).

Using the opposite stress-displacement in both ends (cylindrical sleeve 1204 and fixation fork 1201) of scaling method calibration Saving cortilage 12 Or by torque-angle curve, to show that the axial rigidity curve of Saving cortilage 12, pitch stiffness curve, course rigidity are bent Line and torsion stiffness curve, by each stiffness curve and corresponding displacement or angle, can acquire 12 both ends of Saving cortilage by Power or torque.

The flight controller be directed to above-mentioned angular transducer and displacement sensor, be equipped with corresponding analog quantity (voltage or Electric current) 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 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 platform support 3, and the rotor 1 of adjacent rotor component turns to phase Instead；Machine governor receives the rotary speed instruction of flight controller, and driving rotor motor 2 rotates according to this；The quantity of rotor assemblies For >=4 even number.

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, the lower end of above-mentioned body 4 is provided with vibration absorber 8, and work jibs 20 are connected to body by vibration absorber 8 4 lower end.As shown in figure 4, vibration absorber 8 includes upper plate 801, lower plate 803 and spring-dampers 802, upper plate 801 and body 4 It is connected, the spring-dampers 802 that lower plate 803 is distributed by one or more groups of bilateral symmetries are connected to upper plate 801, and postbrachium 9 is under Plate 803 connects.

Preferably, above-mentioned work jibs 20 are actively fixedly connected with across the lower plate 803 of vibration absorber 8 and in its back-end battery Work jibs 20, can be locked on vibration absorber 8 by group 5 by clamping screw, thus can whole center of gravity to air-robot into Row is adjusted.

Preferably, 8 rear end of vibration absorber is fixedly connected with battery pack 5 by telescopic rod, and using clamping screw to telescopic rod It is locked, thus the whole center of gravity of air-robot can be adjusted.

Preferably, battery pack 5 include to rotor assemblies power supply, to the power supply of longitudinal thruster 6, to cutter motor 14 and cutter Controller power supply, the battery powered to flight controller and airborne sensor.

Preferably, the outside of cutter structure is equipped with the safety guard plate for preventing flying after branches and leaves splashing or saw blade fragmentation.

Preferably, 4 bottom of body is additionally provided with undercarriage.

Preferably, flight controller is provided in body 4, the function of realization includes:

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) the output control instruction that longitudinal thruster 6 is generated according to ground telecommand realizes aerial machine when screen of trees cleaning Feeding forward under device people's horizontal attitude exits back control；

3) it according to ground telecommand or screen of trees shoot growth shape, controls rotary joint 21 and rotates, make operation cutter 15 Branch is cut with vertical angle or shortest cut path；

4) screen of trees reaction force (axial direction) or torque (pitching, boat suffered by operation cutter 15 are perceived by Saving cortilage 12 To, rolling), once reaction force or torque meet or exceed scheduled protection thresholding, it can determine that cutter is in overload, i.e., Enable cutter controller and flight controller automatic synchronization enter protected mode: control operation cutter 15 first brakes to be inverted afterwards, simultaneously Control air-robot moves backward exits operation；If above-mentioned reaction force or torque are less than scheduled protection thresholding, by conduct The control input of air-robot movement fine tuning, specific control method are as follows:

1. the case where being placed on rotary joint 21 (as shown in Figure 3) for Saving cortilage 12:

A it sets the axial force of the perception of Saving cortilage 12 when removing obstacles) as X, is positive backward, corresponding operation thresholding is λ_X, it is ineffective Quick area is δ_X, wherein λ_X> 0,0≤δ_X< λ_X, have:

--- if X < 0 determines forward direction pulling force of the air-robot by screen of trees, flight controller can take following measure it One: 1. controlling air-robot and travel forward fine tuning, continue operation of currently removing obstacles if X forward direction increase, if X is constant or negative sense increasing Add, goes to 2.；2. control air-robot enters floating state, while personnel send safety report to the ground by communication module Alert information, in the hope of manual intervention；

If --- X < λ_X-δ_X, flight controller control air-robot travels forward fine tuning, increases axial force, realization Axially self operation is fed；

If --- | X- λ_X|≤δ_X, flight controller control air-robot holding hovering, axial feeding zero；

If --- X > λ_X+δ_X, flight controller control air-robot move fine tuning backward, reduce axial force, realization Axially self protection retracts.

B the course torque of the perception of Saving cortilage 12 when removing obstacles is set) as N, vertical view is positive to the right, and corresponding operation thresholding is λ_N, dead band δ_N, wherein λ_N> 0,0≤δ_N< λ_N, have:

If --- | N | < λ_N-δ_N, flight controller controls air-robot to making | N | the direction of increase move fine tuning and navigates To the horizontal lateral automatic job feeding of realization；

If --- | | N |-λ_N|≤δ_N, the current course of flight controller control air-robot holding, the horizontal lateral amount of feeding It is zero；

If --- | N | > λ_N+δ_N, flight controller controls air-robot to making | N | reduced direction move fine tuning and navigates To realizing level, laterally automatic protection retracts.

C it sets the pitching moment of the perception of Saving cortilage 12 when removing obstacles) as M, is positive upwards, corresponding dead band is δ_M, In, δ_M>=0, have:

If --- | M | > δ_M, flight controller controls air-robot to making | M | reduced direction moves height-fine adjustment；

If --- | M |≤δ_M, flight controller control air-robot holding present level.

2. preposition for Saving cortilage 12 in rotary joint 21 (as shown in Figure 1 and Figure 2) the case where:

A) axial force is with 1. middle situation, and corresponding air-robot control method is the same as 1.；

B) rotary joint 21 is relative to the rotation angle of body 4 it is known that therefore coordinates rotating algorithm can be used by Saving cortilage 12 The course torque and pitching moment perceived, is converted to the course torque 2 and pitching moment 2 of opposite body 4, then uses in 1. Method carries out movement fine tuning control to air-robot.

5) according to the current of electric and cutter rotary speed information of cutter controller acquisition, the mistake of operation cutter 15 is assessed in real time Load, card resistance and faulted condition, appraisal procedure are as follows:

1. can determine that the overload of operation cutter 15 or card resistance if current of electric is more than electric current predetermined threshold；

2. can determine that the overload of operation cutter 15 or card resistance if cutter revolving speed is lower than revolving speed predetermined threshold；

3. can determine that operation cutter 15 is had damage if periodically pulsation occur in current of electric or cutter revolving speed.Reason exists In, 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 cutter The periodically pulsing of revolving speed and current of electric；

Once occur it is above-mentioned 1. -3. in either case i.e. quickly through cutter controller to cutter motor 14 output first brake Afterwards toggling command, to longitudinal thruster 6 export deboost instruction, to realize that air-robot protectiveness is kept out of the way, pass through simultaneously Personnel send security alarm information to the communication module to the ground.

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 in the technical scope that the utility model discloses, 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 that can be rotated tool plane clears up air-robot structure, it is characterised in that: including platform support (3) and Operation cutter (15), platform support (3) are symmetrically connected on body (4), and platform support is connected with multiple rotor assemblies on (3), It is equipped on body (4) longitudinal thruster (6), body (4) front end is connected to operation cutter (15) by work jibs (20), longitudinal Propeller (6) is installed towards operation cutter (15) direction, and operation cutter (15) is connected with cutter motor (14), cutter motor (14) It is fixedly connected on the front end of work jibs (20), work jibs (20) are equipped with the rotation of the interior centrally-mounted driving along its longitudinal axis rotation Turn joint (21).

2. a kind of screen of trees that can be rotated tool plane according to claim 1 clears up air-robot structure, feature exists In: work jibs (20) include mechanical arm (19) and tool bar (13), and mechanical arm (19) one end is fixedly connected on body (4), separately One end is fixedly connected with tool bar (13).

3. a kind of screen of trees that can be rotated tool plane according to claim 2 clears up air-robot structure, feature exists Use foldable structure or stretching structure in: mechanical arm (19), including from front to back sequentially connected forearm (22), middle arm (11) and Postbrachium (9).

4. a kind of screen of trees that can be rotated tool plane according to claim 3 clears up air-robot structure, feature exists In: the rear end of forearm (22) passes through the front end that rotary joint (21) are connected to middle arm (11).

5. a kind of screen of trees that can be rotated tool plane according to claim 3 clears up air-robot structure, feature exists In: the rear end of middle arm (11) passes through the front end that folding joint (10) are connected to postbrachium (9).

6. a kind of screen of trees that can be rotated tool plane according to claim 3 clears up air-robot structure, feature exists In: it is socketed in the back end activity of middle arm (11) front end of postbrachium (9) and is locked using locker (18).

7. a kind of screen of trees that can be rotated tool plane according to claim 1 clears up air-robot structure, feature exists In: work jibs (20) are two-stage structure, and are connected as one by Saving cortilage (12), and Saving cortilage (12) includes fixation fork (1201), cross axle (1202), activity fork (1203), cylindrical sleeve (1204), spring (1205) and screw (1206), fixation fork (1201), activity fork (1203), cylindrical sleeve (1204) are hollow cylindrical, and cross axle (1202) passes through bearing and fixation respectively The front of (1201), the rear portion connection of activity fork (1203) are pitched, universal joint, the rear portion of fixation fork (1201) and operation are thus constituted The back segment of arm (20) is connected, and the front of cylindrical sleeve (1204) and the leading portion of work jibs (20) are connected, the rear portion of cylindrical sleeve (1204) Can slide axially, can the form of sleeve of relative rotation connect with the front of activity fork (1203), spring (1205) be it is cylindrical, Be installed in the form of package fixation fork (1201), activity fork (1203) and cylindrical sleeve (1204) outside, the two of spring (1205) End is connected with fixation fork (1201) and cylindrical sleeve (1204) respectively by two screws (1206).

8. a kind of screen of trees that can be rotated tool plane according to claim 1 clears up air-robot structure, feature exists In: it is equipped with camera (17) in platform support (3) or body (4) or work jibs (20), the camera lens direction of camera (17) is made Industry cutter (15) direction.

9. a kind of screen of trees that can be rotated tool plane according to claim 1 clears up air-robot structure, feature exists In: work jibs (20) pass through the lower end that vibration absorber (8) are connected to body (4).

10. a kind of screen of trees that can be rotated tool plane according to claim 9 clears up air-robot structure, feature exists Actively vibration absorber (8) are passed through in: work jibs (20) and are fixedly connected with battery pack (5) or vibration absorber (8) in its back-end Rear end is fixedly connected with battery pack (5) by telescopic rod.