CN215074084U

CN215074084U - High-reliability auxiliary trimming equipment for plant unmanned aerial vehicle

Info

Publication number: CN215074084U
Application number: CN202022885602.3U
Authority: CN
Inventors: 蔡立本华; 葛中芹
Original assignee: Nanjing University
Current assignee: Nanjing University
Priority date: 2020-12-03
Filing date: 2020-12-03
Publication date: 2021-12-10
Anticipated expiration: 2030-12-03

Abstract

A high-reliability unmanned aerial vehicle auxiliary pruning device for plants comprises a base, wherein a cylinder barrel is fixedly installed on the base, a first telescopic barrel is slidably inserted in the cylinder barrel, a second telescopic barrel is slidably inserted in the first telescopic barrel, an air pump is fixedly connected to the lower portion of the cylinder barrel, a generator is fixedly installed on the upper surface of the base, a top rod is fixedly installed at the upper end of the second telescopic barrel, an installation block is fixedly installed at the lower surface center of the top rod, a radio receiver is fixedly installed at the lower end of the installation block, a rotating frame is sleeved outside the installation block in a sliding and rotating manner, a sliding rail is fixedly installed at the lower portion of the rotating frame, a sliding block is sleeved on the sliding rail in a sliding manner, a winding roller is installed on the sliding block, a power transmission line is wound on the winding roller, the lower end of the power transmission line is connected with an unmanned aerial vehicle body, the unmanned aerial vehicle body is electrically connected with the power transmission line, a radio transmitter is installed at the upper end of the unmanned aerial vehicle body, and a detachable hanging frame is fixedly installed at the middle portion of the lower surface of the unmanned aerial vehicle, and a power motor is fixedly arranged on the hanging frame and is in transmission with the cutter assembly through a transmission part.

Description

High-reliability auxiliary trimming equipment for plant unmanned aerial vehicle

Technical Field

The utility model relates to an unmanned air vehicle technique field is pruned to the plant, concretely relates to unmanned aerial vehicle auxiliary pruning equipment is pruned to high reliability plant.

Background

The garden gardeners trim plants with a common trimming tool in gardens, so that the appearances of flowers, plants and trees keep certain appreciation value. Pruning tool function singleness on the existing market to the pruning of the high big plant of dysmorphism molding such as cartoon image, the gardener need climb to the operation on the ladder when pruning the operation, because plant middle part position probably has sunkenly, the gardener need be pruned sunken in aerial slope health, prunes the operation and not only wastes time and energy, and work efficiency is low, still has the risk that the high altitude falls.

Among the prior art, patent of patent grant publication No. CN211152875U provides a technical scheme, including unmanned aerial vehicle, unmanned aerial vehicle's bottom sets up the control box, the bottom of control box sets up the motor, install the driving gear on the output shaft of motor, the installation pivot is rotated to the bottom of control box, respectively fixed mounting driven gear and pendulum rod in the pivot, driving gear and driven gear meshing, the pendulum rod bottom sets up first mounting bracket, install first cutting device on the first mounting bracket, the pendulum rod lateral part sets up the stiff end of second telescopic link perpendicularly, the expansion end of second telescopic link sets up the second mounting bracket perpendicularly, install second cutting device on the second mounting bracket. The device can replace the gardener to realize high altitude trimming work through unmanned aerial vehicle, and convenient and fast's completion is pruned the dysmorphism molding of tall and big plant, and labour saving and time saving just prunes efficiently, does not have personnel high altitude risk of falling.

Above-mentioned technical scheme has solved the problem that proposes in the above-mentioned background art to a certain extent, but its structural design is loaded down with trivial details relatively, need a lot of control element, and in the use, because trimming mechanism's motion, lead to the holistic focus skew of unmanned aerial vehicle, and then be not convenient for unmanned aerial vehicle control flight gesture, and its design needs the flight control that relies on unmanned aerial vehicle to rotate self and then control trimming structure's direction orientation plant, the control mode method is comparatively loaded down with trivial details, unmanned aerial vehicle's manufacturing cost and the used in fact degree of difficulty have greatly been increased, be unfavorable for popularizing and implementing.

There is therefore a need for a high reliability plant trimming drone that addresses the above problems.

The utility model has the following contents:

the utility model aims at providing a high reliability plant trimming unmanned aerial vehicle for overcoming the not enough of prior art. In particular to a device capable of automatically trimming plants into arc-shaped surfaces.

In order to achieve the above purpose, the utility model discloses a technical scheme is: a high-reliability unmanned aerial vehicle-assisted pruning device for plants is characterized by comprising a base, wherein a cylinder barrel is fixedly arranged on the base, a first telescopic barrel is slidably inserted in the cylinder barrel, a second telescopic barrel is slidably inserted in the first telescopic barrel, an air pump is fixedly connected to the lower part of the cylinder barrel, a generator is fixedly arranged on the upper surface of the base, a top rod is fixedly arranged at the upper end of the second telescopic barrel, an installation block is fixedly arranged at the lower surface center of the top rod, a radio receiver is fixedly arranged at the lower end of the installation block, a rotating frame is sleeved outside the installation block in a sliding and rotating manner, a sliding rail is fixedly arranged at the lower part of the rotating frame, a sliding block is sleeved on the sliding rail in a sliding manner, a winding roller is arranged on the sliding block, a power transmission line is wound on the winding roller, the lower end of the power transmission line is connected with an unmanned aerial vehicle body, the unmanned aerial vehicle body is electrically connected with the power transmission line, a radio transmitter is arranged at the upper end of the unmanned aerial vehicle body, and a detachable hanging frame is fixedly arranged at the middle part of the lower surface of the unmanned aerial vehicle, a power motor is fixedly arranged on the hanging frame and is in transmission with the cutter assembly through a transmission part;

the upper end of the unmanned aerial vehicle body is connected with the power transmission line through an extension rod;

a fixing frame is fixedly arranged at the lower part of the hanging frame, and the power motor and the cutter assembly are fixed on the hanging frame through the fixing frame; the power motor and the cutter assembly are fixed on a deflection shaft arranged on the hanging frame.

Further, the cutter assembly comprises an inner cutter blade and an outer cutter blade, and the inner cutter blade and the outer cutter blade are of mutually parallel straight cutter or arc cutter blade-shaped structures; the outer blade and the inner blade are respectively connected with a transmission device to rotate.

Further, the transmission structure does, power motor's power shaft lower extreme fixed mounting has a bevel gear, a bevel gear lower extreme fixed mounting has interior axle, the epaxial rotatable cover of interior is equipped with No. two bevel gears, the bevel gear in the middle of rotatable mounting on the mount, middle bevel gear and a bevel gear and No. two bevel gear interlocks, No. two bevel gear lower extreme fixed mounting has coaxial sleeve, the rotatable suit of coaxial sleeve is epaxial in the interior, coaxial sleeve lower part fixed mounting has many last rotation poles, interior axle lower extreme fixed mounting has many lower rotation poles, lower rotation pole both ends fixed mounting has interior blade, go up rotation pole both ends fixed mounting has outer blade.

Further, an output shaft is fixedly mounted at the output end of the power motor, a clamping groove is formed in the output shaft, an upper friction plate is sleeved on the output shaft in a sliding mode, a spring is fixedly connected to the upper surface of the upper friction plate, the upper end of the spring is fixedly connected with the output shaft, a temperature sensor is fixedly mounted on the fixing frame, the sensing end of the temperature sensor faces the upper friction plate, a power shaft is rotatably inserted into the fixing frame, a lower friction plate is fixedly mounted at the upper end of the power shaft, and the lower friction plate is tightly attached to the upper friction plate.

Further, the specific connection mode between the winding roller and the sliding block is as follows: the embedded power cable who is equipped with generator electric connection of slider, fixed surface installs rotary joint before the slider, rotary joint and power cable electric connection, the last wire winding roller that is connected with of rotary joint, it has the through wires hole to open on the wire winding roller, the power transmission line passes through the through wires hole and rotary joint electric connection and twines on the wire winding roller, wire winding roller surface middle part fixed mounting has the dead axle, the dead axle overcoat is equipped with clockwork spring, the clockwork spring external connection has the power house, power house and slider fixed connection, can hinder the winding roller to rotate when the winding roller passively rotates through clockwork spring, provide pivoted restoring force, the winding roller can reply the rotation and then wind the power transmission line back under the clockwork spring effect when the winding roller does not receive the power transmission line pulling rotation.

The unmanned aerial vehicle auxiliary pruning equipment has the beneficial effects that the unmanned aerial vehicle auxiliary pruning equipment is used for pruning tall plants and is used for modeling; the cutting plane that can form promptly to the cutter with the angle of fixing or deflecting simultaneously adjusts to utilize unmanned aerial vehicle's fixed orbit control to cut out required arc.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is an enlarged view of a body portion of the drone;

FIG. 3 is an enlarged view of a power motor;

FIG. 4 is an enlarged view of a portion of FIG. 3A;

FIG. 5 is a bottom view of the rotating lever;

FIG. 6 is a bottom view of the lower rotor shaft portion;

FIG. 7 is a cross-sectional view of the upper friction plate portion;

FIG. 8 is an enlarged view of a portion of the wind roller;

FIG. 9 is a side view of a wind roller section;

FIG. 10 is a schematic workflow diagram;

FIG. 11 is a schematic view of a control relationship;

fig. 12 shows a traction control flow (source of the set clipping shape).

Detailed Description

In the figure: the unmanned aerial vehicle comprises a base 1, a cylinder barrel 2, a telescopic barrel 3I, a telescopic rod 4 II, an air pump 5, a generator 6, a top rod 7, a mounting block 8, a radio receiver 9, a rotating frame 10, a sliding rail 11, a sliding block 12, a winding roller 13, a power transmission line 14, an unmanned aerial vehicle body 15, a radio transmitter 16, a hanging frame 17, a power motor 18, an outer blade 19, an inner blade 20, an extension rod 21, a buzzer 22, a fixed rod 23, an output shaft 24, a clamping groove 25, an upper friction plate 26, a spring 27, a fixed frame 28, a temperature sensor 29, a power shaft 30, a lower friction plate 31, a first bevel gear 32, an inner shaft 33, a second bevel gear 34, a middle bevel gear 35, a coaxial sleeve 36, an upper rotating rod 37, a lower rotating rod 38, a power cable 39, a rotating joint 40, a winding roller 41, a fixed shaft 42, a clockwork spring 43, a power chamber 44, a displacement sensor 45 and a threading hole.

As shown in the figure, the high-reliability unmanned aerial vehicle auxiliary pruning machine for plants comprises a base 1, wherein a cylinder barrel 2 is fixedly installed on the base 1, a first telescopic barrel 3 is slidably inserted in the cylinder barrel 2, a second telescopic barrel 4 is slidably inserted in the first telescopic barrel 3, an air pump 5 is fixedly connected to the lower part of the cylinder barrel 2, a generator 6 is fixedly installed on the upper surface of the base 1, a top rod 7 is fixedly installed at the upper end of the second telescopic barrel 4, an installation block 8 is fixedly installed at the lower surface center of the top rod 7, a radio receiver 9 is fixedly installed at the lower end of the installation block 8, a rotating frame 10 is rotatably sleeved outside the installation block 8, a slide rail 11 is fixedly installed at the lower part of the rotating frame 10, a slide block 12 is slidably sleeved on the slide rail 11, a winding roller 13 is installed on the slide block 12, a power transmission line 14 is wound on the winding roller 13, the lower end of the power transmission line is connected with an unmanned aerial vehicle body 15, and the unmanned aerial vehicle body 15 is electrically connected with the power transmission line, the upper end of the unmanned aerial vehicle body 15 is provided with a radio transmitter 16, the middle part of the lower surface of the unmanned aerial vehicle body 15 is fixedly, detachably and fixedly provided with a hanging frame 17, the hanging frame 17 is fixedly provided with a power motor 18, and the power motor 18 is connected with an outer blade 19 and an inner blade 20 through a series of transmission;

the upper end of the unmanned aerial vehicle body 18 is connected with the power transmission line 14 through an extension rod 21;

the hanging frame 17 is fixedly provided with a buzzer 22.

Can not add the deflection axle, can utilize curved blade (outer blade), just need not to change a direction of that cutting structure and minimize that unmanned aerial vehicle's action volume.

The cutting structure is not required to be inclined, when the arc-shaped bottom surface of the lower side of a plant is cut, the upper part of the arc-shaped blade is in contact cutting with the lower part of the branch, and when the arc-shaped upper surface of the plant is cut, the arc-shaped lower part is in contact cutting with the upper part of the branch. These can all be based on the orbit parameter that teaching reappearance or procedure calculated before of unmanned aerial vehicle's flight pivot of program control goes forward. The arc-shaped blade does not need to change one direction of the cutting structure to reduce the action amount of the unmanned aerial vehicle as much as possible, and if a deflecting mechanism is added, the deflecting direction is adjusted during deflecting, and the control is complicated. This work is achieved with the curved blades, all angles of a tangent line of a curve are possible, so that it is not necessary to tilt the cutting structure, the double curved blades may have poor reliability during operation, and the curved blades are susceptible to deformation due to the fact that the shearing moment of the outer blades is much greater.

When the dwang rotates and drives the inner blade and rotate, coaxial sleeve pipe drives and rotates the upper rotating rod, and the upper rotating rod rotates and drives the outer blade and rotate, and the counter-rotation of interior outer leaf forms shearing motion, and the counter-rotation has offset the rotation to unmanned aerial vehicle's reaction simultaneously, and then has avoided influencing unmanned aerial vehicle's flight attitude stability.

The lower part of the hanging frame 17 is fixed or a fixing frame 23 is arranged through a rotating shaft, and the power motor 18 is fixed on the hanging frame 17 through the fixing frame. Namely, the mounting frame 17 is provided with a rotating shaft at the position of the buzzer, so that the shearing effect is better when the inner blade and the outer blade are both straight blades (full-length blades) and rotate, the mounting frame is provided with a deflection shaft, and the cutter assembly is fixed on the deflection shaft. The required arc is cut out by using the fixed track control of the unmanned plane (which can be programmed). The deflection shaft deflects for several fixed gears (several angles), and the arc-shaped shearing effect on the plants is good. If a deflection axis is added and the angle of the deflection axis is fixed, the control program is not complicated much.

An output shaft 24 is fixedly arranged on the output end of the power motor 18, a clamping groove 25 is arranged on the output shaft 24, an upper friction plate 26 is sleeved on the output shaft 24 in a sliding manner, a spring 27 is fixedly connected to the upper surface of the upper friction plate 26, the upper end of the spring 27 is fixedly connected with the output shaft 24, a temperature sensor 29 is fixedly arranged on a fixing frame 28, the sensing end of the temperature sensor 29 faces the upper friction plate 26, a power shaft 30 is rotatably inserted on the fixing frame 28, a lower friction plate 31 is fixedly arranged on the upper end of the power shaft 30, the lower friction plate 31 is tightly attached to the upper friction plate 26, a first bevel gear 32 is fixedly arranged at the lower end of the power shaft 30, an inner shaft 33 is fixedly arranged at the lower end of the first bevel gear 32, a second bevel gear 34 is rotatably sleeved on the inner shaft 33, a middle bevel gear 35 is rotatably arranged on the fixing frame 28, the middle bevel gear 35 is meshed with the first bevel gear 32 and the second bevel gear 34, a coaxial sleeve 36 is fixedly arranged at the lower end of the second bevel gear 34, the coaxial sleeve 36 is rotatably sleeved on the inner shaft 33, a plurality of upper rotating rods 37 are fixedly arranged at the lower part of the coaxial sleeve 36, a plurality of lower rotating rods 38 are fixedly arranged at the lower end of the inner shaft 33, inner blades 20 are fixedly arranged at two ends of the lower rotating rods 38, and outer blades 19 are fixedly arranged at two ends of the upper rotating rods 37;

the inner blade 20 and the outer blade 19 are arc-shaped blade-shaped structures which are parallel to each other;

the specific connection mode between the winding roller 13 and the slider 12 is as follows:

a power cable 39 electrically connected with the generator 6 is embedded in the sliding block 12, a rotary joint 40 is fixedly installed on the front surface of the sliding block 12, the rotary joint 40 is electrically connected with the power cable 39, a winding roller 41 is connected to the rotary joint 40, a threading hole 46 is formed in the winding roller 41, the power line 14 is electrically connected with the rotary joint 40 through the threading hole 46 and wound on the winding roller 41, a fixed shaft 42 is fixedly installed in the middle of the outer surface of the winding roller 41, a clockwork spring 43 is sleeved outside the fixed shaft 42, a power chamber 44 is connected outside the clockwork spring 43, the power chamber 44 is fixedly connected with the sliding block 12, the clockwork spring 43 can block the rotation of the winding roller 41 when the winding roller 41 passively rotates to provide a rotating restoring force, and the winding roller 41 can restore to rotate under the action of the spring 43 to wind the power line 14 when the winding roller 41 is not pulled to rotate by the power line 14;

the working process (two modes can be selected, wherein the mode one is mainly used for pruning branches and the like, and the mode two is mainly used for pruning green belts and the like):

during working, the unmanned aerial vehicle is firstly transported to a working site, then the air pump 5 is used for inflating the cylinder barrel so as to lift the first telescopic cylinder 3 and the second telescopic cylinder 4 in the cylinder barrel, the top rod 7 is driven to lift, the lifting height of the top rod 7 can be judged through the stay cord displacement sensor 45, and the lifting height of the top rod 7 is higher than the height of a plant to be trimmed;

the first mode is as follows:

by carrying out manual or automatic flight control on the unmanned aerial vehicle body, the unmanned aerial vehicle body 15 drives the hanging frame 17 to move, parameters such as height and diameter of a plant to be trimmed can be input on site through a worker, and then a pattern to be trimmed is selected (by utilizing corresponding computer software to generate a model and an optimal path such as matlab or unmanned aerial vehicle special software such as a plant protection flyer), or a traction control flow is given according to fig. 12. During the flight, the unmanned aerial vehicle body is always kept in a horizontal state, during the operation, the power motor 18 rotates to drive the output shaft 24 to rotate, and then the output shaft drives the upper friction plate 26 to rotate through the clamping groove 25, the upper friction plate 26 drives the lower friction plate 31 to rotate under the action of the spring 27, the lower friction plate 31 rotates to drive the power shaft 30 to rotate, the power shaft 30 rotates to drive the first bevel gear 32 to rotate, the first bevel gear 32 rotates to drive the middle bevel gear 35 to rotate, the middle bevel gear 35 rotates to drive the second bevel gear 34 to rotate in a reverse direction relative to the first bevel gear 32, then the first bevel gear 32 drives the inner shaft 33 to rotate, the second bevel gear 34 drives the coaxial sleeve 36 to rotate, the inner shaft 33 rotates to drive the lower rotating rod 38 to rotate, the lower rotating rod 38 rotates to drive the inner blade 20 to rotate, the coaxial sleeve 36 drives the upper rotating rod 37 to rotate, the upper rotating rod 37 rotates to drive the outer blade 19 to rotate, and the inner and outer blades 20 rotate in a reverse direction to form a shearing motion, meanwhile, the reverse rotation counteracts the reaction of the rotation on the unmanned aerial vehicle, so that the influence on the stability of the flight attitude of the unmanned aerial vehicle is avoided;

through the cooperation of the inner blade 20 and the outer blade 19, the flying motion of the unmanned aerial vehicle body around the plant is erected, and then the plant is trimmed, in the trimming process, the unmanned aerial vehicle body 15 moves to drive the power transmission line 14, and then the sliding block is pulled to move on the sliding rail 11, and the rotating frame can passively rotate along with the flying of the unmanned aerial vehicle body 15, the power transmission line 14 and the power cable are connected with a generator, so that the generator 6 is used for directly supplying power for the flying and power motor 18 of the unmanned aerial vehicle, for example, a mobile power supply (such as a KW-level gasoline generator) is used for generating power, the problem that the existing unmanned aerial vehicle trimming only conceptually solves the trimming problem, but the problem that the power supply of the unmanned aerial vehicle is far insufficient for providing trimming power in the practical production and use is solved;

through the cooperation of radio transmitter 16 and radio receiver 9, can realize the height and the position judgement to unmanned aerial vehicle body 15 through judging radio direction of receipt and recept time, and then be convenient for realize the flight attitude control to unmanned aerial vehicle body 15, and further with radio receiver's high quantification through stay cord displacement sensor 45, further promoted flight control's accuracy nature, be convenient for utilize unmanned aerial vehicle to realize pruning the automation of plant through the remote control mode.

Wherein, go up friction disc 30 and friction disc 31 cooperation down, when interior blade 20 and outer blade 19 are blocked by branch or debris, can take place friction displacement between the friction disc, and then prevent to stall suddenly and lead to power motor 18 to burn out, when the friction disc friction is overheated, temperature sensor 29 induction temperature, and then the host computer judges the high temperature, and then control power motor 18 stop work, and bee calling organ 22 sends out sound warning simultaneously.

And 4, a deflection shaft of the hanging rack, and the cutter assembly is fixed on the deflection shaft. And the required arc is cut out by utilizing the fixed track control of the unmanned aerial vehicle.

And a second mode:

through install the mobile device additional on this device base, for example tracked vehicle, (all the other steps are about the same s with mode one) during operation, at first through the procedure of setting for, unmanned aerial vehicle flight 15 drives the trimming mechanism on the unmanned aerial vehicle and prunes out the arc of a vertical direction, then tracked vehicle is marchd a distance forward, and this distance equals trimming mechanism and prunes the width. This width can be based on trimming means's specification and actual work experience reachs, then the same length of synchronous removal of unmanned aerial vehicle, and then unmanned aerial vehicle begins to carry out the orbit of flying next time, analogize with this, through the accumulation of a plurality of flight orbits, and then can prune out the cambered surface of a rectangular shape, and then realize pruning of rectangular form greenbelt, this unmanned aerial vehicle can prune out different shapes in the position of difference for greenbelt trimming means among the prior art, it can only prune out fixed square or curved single shape to have solved current greenbelt trimming means. And the shapes of the positions are the same, so that the trimming styles are enriched, and the labor intensity of workers is reduced.

The utility model can also realize arc pruning by using an arc blade (an outer blade 19), and all angles in the range of one arc tangent line can be realized; the cutting structure may be non-inclined such that the arcuate upper portion contacts the lower portion of the limb when the base is to be cut and the arcuate lower portion contacts the upper portion of the limb when the surface is to be cut. These can all be based on the orbit parameter that teaching reappearance or procedure calculated before of unmanned aerial vehicle's flight pivot of program control goes forward.

Claims

1. A high-reliability unmanned aerial vehicle auxiliary pruning device for plants is characterized by comprising a base, wherein a cylinder barrel is fixedly arranged on the base, a first telescopic barrel is slidably inserted in the cylinder barrel, a second telescopic barrel is slidably inserted in the first telescopic barrel, an air pump is fixedly connected to the lower part of the cylinder barrel, a generator is fixedly arranged on the upper surface of the base, a top rod is fixedly arranged at the upper end of the second telescopic barrel, an installation block is fixedly arranged at the lower surface center of the top rod, a radio receiver is fixedly arranged at the lower end of the installation block, a rotating frame is sleeved outside the installation block in a sliding and rotating manner, a sliding rail is fixedly arranged at the lower part of the rotating frame, a sliding block is sleeved on the sliding rail in a sliding manner, a winding roller is arranged on the sliding block, a power transmission line is wound on the winding roller, the lower end of the power transmission line is connected with an unmanned aerial vehicle body, the unmanned aerial vehicle body is electrically connected with the power transmission line, a radio transmitter is arranged at the upper end of the unmanned aerial vehicle body, and a hanging frame is detachably arranged at the middle part of the lower surface of the unmanned aerial vehicle, a power motor is fixedly arranged on the hanging frame and is in transmission with the cutter assembly through a transmission part; the upper end of the unmanned aerial vehicle body is connected with the power transmission line through an extension rod;

2. The auxiliary trimming device for unmanned aerial vehicles according to claim 1, wherein the cutter assembly comprises an inner blade and an outer blade, the inner blade and the outer blade are of a straight blade or an arc blade-shaped structure parallel to each other; the outer blade and the inner blade are respectively connected with a transmission device to rotate.

3. The auxiliary unmanned aerial vehicle trimming device according to claim 2, wherein the transmission device is structured such that a first bevel gear is fixedly mounted at a lower end of a power shaft of the power motor, an inner shaft is fixedly mounted at a lower end of the first bevel gear, a second bevel gear is rotatably sleeved on the inner shaft, a middle bevel gear is rotatably mounted on the fixing frame and is engaged with the first bevel gear and the second bevel gear, a coaxial sleeve is fixedly mounted at a lower end of the second bevel gear, the coaxial sleeve is rotatably sleeved on the inner shaft, a plurality of upper rotating rods are fixedly mounted at lower portions of the coaxial sleeve, a plurality of lower rotating rods are fixedly mounted at lower ends of the inner shaft, inner blades are fixedly mounted at two ends of the lower rotating rods, and outer blades are fixedly mounted at two ends of the upper rotating rods.

4. The auxiliary trimming device for unmanned aerial vehicles according to claim 2 or 3, wherein the lower part of the hanging rack is fixed or a fixing rack is installed through a rotating shaft, and the power motor is fixed on the hanging rack through the fixing rack.

5. The unmanned aerial vehicle assisted trimming apparatus of claim 4, wherein the yaw axis is steered for a fixed number of angles.

6. The auxiliary trimming device for unmanned aerial vehicles according to any one of claims 1 to 3, wherein an output shaft is fixedly mounted on the output end of the power motor, a slot is formed on the output shaft, an upper friction plate is slidably sleeved on the output shaft, a spring is fixedly connected to the upper surface of the upper friction plate, the upper end of the spring is fixedly connected with the output shaft, a temperature sensor is fixedly mounted on the fixing frame, the sensing end of the temperature sensor faces the upper friction plate, the power shaft is rotatably inserted into the fixing frame, a lower friction plate is fixedly mounted on the upper end of the power shaft, and the lower friction plate is tightly attached to the upper friction plate.

7. The auxiliary trimming device for unmanned aerial vehicles according to any one of claims 1 to 3, wherein the winding roller and the slider are connected in a specific manner: the embedded power cable who is equipped with generator electric connection of slider, fixed surface installs rotary joint before the slider, rotary joint and power cable electric connection, the last wire winding roller that is connected with of rotary joint, it has the through wires hole to open on the wire winding roller, the power transmission line passes through the through wires hole and rotary joint electric connection and twines on the wire winding roller, wire winding roller surface middle part fixed mounting has the dead axle, the dead axle overcoat is equipped with clockwork spring, the clockwork spring external connection has the power house, power house and slider fixed connection, hinder the winding roller to rotate when the winding roller is rotated passively through clockwork spring, provide pivoted restoring force, when the winding roller does not receive the power transmission line pulling rotation under the clockwork spring can reply the rotation and then wind the power transmission line back.