WO2023075096A1

WO2023075096A1 - Drone for forest industry provided with hammer having anti-vibration structure

Info

Publication number: WO2023075096A1
Application number: PCT/KR2022/011838
Authority: WO
Inventors: 배대원
Original assignee: 배대원
Priority date: 2021-10-27
Filing date: 2022-08-09
Publication date: 2023-05-04
Also published as: KR20230060190A

Abstract

A drone for the forest industry, the drone being provided with a hammer having an anti-vibration structure, according to the present invention comprises: a drone (100) which is capable of unmanned autonomous flying and comprises an upper frame (110), a plurality of bars (120) radially coupled to the upper frame (110), a motor installed on the bars, rotation wings (130) rotated by the motor, leg units (140) fixed to both sides of the upper frame (110) and installed downward for landing, a lower frame (150) which is spaced downward from the upper frame (110) and fixed to the leg units (140), and a battery for supplying power to the motor; a pine nut harvesting portion (300) which is installed on the lower portion of the lower frame (150) to harvest pine nuts by colliding with pine nuts on branches of a nut pine tree and dropping the pine nuts, and comprises a pair of upper rods (310), of which one end portions are fixed to the lower portion of the lower frame (150) in a hinged manner, a pair of lower rods (320), of which one end portions are respectively fixed to the other end portions of the upper rods (310) in a hinged manner, a motor bracket (330), of which both sides are respectively fixed to the other end portions of the lower rods (320) in a hinged manner to be symmetrical with respect to the center thereof and of which the upper center has a wire end portion of a winch portion (200) fixed thereto, a hammer rotating motor (340) attached to the motor bracket (330), and a hammer (350) which is rotatably installed on the lower portion of the motor bracket (330) and is coupled to the hammer rotating motor (340) to be rotated; and the winch portion (200) which is provided on the lower frame (150) of the drone (100) and moves up/down the motor bracket (330) by unwinding or winding a wire (210) that is coupled to the motor bracket (330).

Description

Forestry drone equipped with a dust-proof hammer

In the present invention, the link for installing the hammer to be spaced apart from the lower part of the drone has an anti-vibration structure, thereby preventing vibration during rotation of the hammer, maintaining flight stability, and providing a hammer with an anti-vibration structure that enables take-off and landing. It is about a drone for the forestry industry.

Drones capable of unmanned autonomous flight, the core technology of the 4th industrial revolution, are on the rise.

These drones are used for various purposes such as industry, agriculture, military, and logistics.

In particular, for agriculture and forestry, it is used for control drones that need to spray pesticides, or for forest control or monitoring in the forestry field.

On the other hand, pine nut is a slightly yellowish white seed inside a large cluster shaped like a pine cone. It has a good texture because it is soft and fluffy. Basically, it tastes savory and plain like other nuts, and it tastes good because it is clean and has a unique scent and flavor. However, the production is small and the labor required to collect pine nuts is very expensive, so they are treated as a high-end food among nuts.

These pine nuts are found in pine nuts, but pine nuts are originally tall and the height of the pine nuts is quite high, so it is very annoying and dangerous for people to climb up and pick them. In order to harvest these pine nuts, it is common to climb directly up a tree as high as about 20 m and use a long pole to strike and drop the pine nuts.

A method of using a helicopter to drop pine nuts using the helicopter's wind has also been tried, but it is not very effective, so people are still picking them up directly.

Because a person climbs up and picks it up like this, he is constantly exposed to the risk of safety accidents. Drones for harvesting pine nuts to prevent such safety accidents include Korean Patent Publication No. 10-2017-0118641 (Title of Invention: Electric Shears Device for Attaching Drones) and Korean Patent Registration No. 10-1999478 (Invention of Name: A drone for harvesting fruits and a system including the same) has been disclosed.

In the drone disclosed in Korean Patent Publication No. 10-2017-0118641 (title of invention: Electric shears for drone attachment), since the scissors are installed eccentrically from the center of the drone body, it is difficult to fly stably and it is difficult to harvest pine nuts using scissors. Because of this, the yield is low.

The drone disclosed in Korean Patent Registration No. 10-1999478 (Name of Invention: Drone for Fruit Harvesting and System Including the Same) approaches the branch of a pine tree and uses a horizontally installed sawtooth blade to collect pine nuts by rotating the sawtooth blade. However, since the pine branches grow obliquely upward and the sawtooth blades are installed horizontally, in order to collect the pine nuts opened on the pine branches, the drone must fly at a height close to the pine branches, making it difficult to get close to the pine trees. It is not easy, and there are problems with drone flight, such as the drone getting caught on the branch of a pine tree and falling when collecting pine nuts from the inner branch.

In order to improve these problems, Korean Registered Patent No. 10-2187942 (title of invention: LPG engine type hybrid drone for collecting pine nuts) filed and registered by the applicant of the present invention has been proposed.

The LPG engine type hybrid drone for collecting pine nuts includes a drone capable of unmanned autonomous flight; An engine unit installed under the drone; an LPG engine unit disposed in the engine unit to generate power; a generator connected to the LPG engine to generate electricity; a battery that stores the electricity generated by the power generation unit and supplies the stored electricity to allow the drone to fly; A pine nut collecting unit installed at the lower part of the drone to collide with a pine nut opened on a branch of a pine tree and drop the pine nut to collect the pine nuts; It is characterized by comprising a.

The pine nut harvester is installed at the lower part of the drone and collides with the pine nut opened on the branch of the pine nut tree to collect the pine nut by dropping the pine nut. It is installed on and includes a pine nut collision rotation part 72 that collides with a pine nut opened on a branch of a pine tree by rotation and collects it by dropping the pine nut. In addition, the rod 71 can be folded to be positioned higher than the leg unit 22 or unfolded to be positioned lower than the leg unit 22 during takeoff and landing of the drone. At this time, the rods 71 are made of a pair, as shown in FIG. 1, and each rod 71 includes a vertical rod 71a spaced apart from each other and installed in a vertical direction, and a vertical rod ( 71a) is connected to each other and is composed of a horizontal rod installed in a horizontal direction, and the vertical rod 71a is divided into two parts, an upper vertical rod 71a' and a lower vertical rod 71a", The lower end of the upper vertical rod 71a' and the upper end of the lower vertical rod 71a" are hinged and foldable, and the upper vertical rod 71a' and the lower end of the vertical rod 71a A vertical rod rotation motor 71b is provided to rotate either of the upper vertical rod 71a' and the lower vertical rod 71a" so that the vertical rod 71a" can be automatically folded or unfolded. And, in order to rotate any one of the upper vertical rod (71a') and the lower vertical rod (71a") by the vertical rod rotating motor (71b), of the vertical rod rotating motor (71b) A gear is provided on the motor shaft, and a ring gear whose inner periphery meshes with the gear is provided on one of the upper vertical rod 71a' and the lower vertical rod 71a", and the drone 100 During take-off, the vertical rod 71a is unfolded so that the pine nut impact rotation part 72 installed at the lower part of the rod 71 is positioned lower than the leg unit 22 to collect pine nuts, When the drone 100 lands, the vertical direction rod 71a is folded, and the nut impact rotation part 72 installed at the lower part of the rod 71 is positioned higher than the leg unit 22, so that the drone (100) to allow landing.

The LPG engine-type hybrid drone for pine nut harvesting configured as above can increase the flight time by using a small LPG engine, increase the pine nut harvesting rate, make it easy for the pine nut harvesting device to access the pine branch, and It has the effect of making it easy to fly. However, the drone takes a lot of time to unfold and fold the rod, resulting in a delay in landing time in an emergency, and the rod is long, so the distance between the drone 100 and the pine nut impact rotation part 72 is long, so the pine nut impact rotation part 72 Since even a small vibration in the vibration gives a large vibration to the drone 100, it greatly affects the flight of the drone 100, so there are many problems in which the drone 100 crashes.

The present invention has been made to solve the above problems, and an object of the present invention is to reduce the time to unfold and fold the rod to improve problems such as delay in landing time in an emergency, and to prevent the rod from folding To provide a drone for the forestry industry equipped with a hammer of an anti-vibration structure that enables stable flight of the drone by reducing the vibration transmitted from the pine nut collision rotating part to the drone.

In order to achieve the above object, the forestry drone having a vibration-proof hammer of the present invention is capable of unmanned autonomous flight, and includes an upper frame 110 and a plurality of bars radially coupled to the upper frame 110. 120, a motor installed on the bar 120, a rotary blade 130 rotated by the motor, and a leg unit 140 fixed to both sides of the upper frame 110 and installed at the bottom to land ), a lower frame 150 spaced apart from the lower part of the upper frame 110 and fixed to the leg unit 140, and a lower frame 150 provided on the upper frame 110 or the lower frame 150 and connected to the motor Drone 100 equipped with a battery for supplying power; A pair of upper rods 310 installed at the lower part of the lower frame 150 and colliding with pine nuts opened on a branch of a pine tree to collect pine nuts by dropping them, one end of which is hinged to the lower part of the lower frame 150 ), a pair of lower rods 320 whose one end is hinged to the other end of the upper rod 310, and both sides are symmetrical from the center Motors hinged to the other end of the rod 320 A bracket 330, a hammer rotation motor 340 mounted on the motor bracket 330, and rotatably installed at the bottom of the motor bracket 330 and coupled to the hammer rotation motor 340 to rotate A pine nut collecting unit 300 made of a hammer 350; A winch that is provided on the lower frame 150 of the drone 100 and lifts and lowers the motor bracket 330 by unwinding or winding a wire 210 whose end is fixed to the upper center of the motor bracket 330. Part 200; characterized in that it is made including.

In addition, the upper rod 310 is detachable by detachable fitting from the lower frame 150 and the hinge coupling portion, so that the pine nut harvester 300 is detachable from the drone 100. , It is characterized in that the movement is possible in a state in which the drone 100 and the pine nut harvester 300 are separated.

In addition, the lower frame 150 has an upper rod rotation limiting jaw or an upper rod rotation limiting stopper 311 for limiting the rotation angle at which the upper end of the upper rod 310 is rotated downward from the lower frame 150 to 90 degrees. ) is provided, and the motor bracket 330 has a lower rod rotation limiting jaw or lower rod rotation limiting stopper so that the rotation angle at which the lower end of the lower rod 320 is rotated from the motor bracket 330 is limited to 90 degrees. (321) is characterized in that it is provided.

In addition, the upper rod 310 and the lower rod 320 are rotated upward to allow the drone 100 to take off and land, and when returned to the original position, the upper rod 310 and the lower rod 320 It is characterized in that it is located higher than the lower end of the leg unit 140.

In addition, the hammer 350 has a bar shape and has a rotation plate 351 whose center portion is fixed to the motor shaft of the hammer rotation motor 340, and a plurality of rotation plates 351 at the lower end portion of the rotation plate 351. It is characterized in that it consists of a protruding portion 352 formed to protrude.

In addition, when the winch unit 200 unwinds the wire 210 by the rotation of the winding roller 220, the motor bracket 330 connected to the end of the wire 210 is lowered by its own weight, , When the wire 210 is wound by the rotation of the winding roller 220, it is characterized in that it serves to raise the motor bracket 330.

In addition, one end of the upper rod 310 is hinged to the lower portion of the lower frame 150, and is hinged symmetrically from the center of the lower frame 150 to both left and right sides of the lower frame 150 And, the lower rod 320, one end is hinged to the other end of the upper rod 310, respectively, on both left and right sides of the motor bracket 330 symmetrically from the center of the motor bracket 330 Characterized in that it is hinged.

The forestry drone equipped with a hammer of the anti-vibration structure of the present invention according to the above configuration reduces the time required to unfold and fold the rod to improve problems such as delay in landing time in case of an emergency, and impact and By preventing the rod from being folded due to vibration, the shock and vibration transmitted to the drone are reduced, thereby enabling stable flight of the drone.

1 is a view showing a conventional drone for collecting pine nuts.

2 and 3 are perspective views showing a drone for the forestry industry having a hammer having an anti-vibration structure according to the present invention, and are views showing an operating state.

4 is a bottom perspective view showing a drone for the forestry industry having a hammer of an anti-vibration structure according to the present invention.

Hereinafter, a drone for the forestry industry equipped with a hammer of an anti-vibration structure according to the present invention will be described in detail with reference to the drawings.

2 and 3 are perspective views of a forestry drone equipped with an anti-vibration structure hammer according to the present invention, and are views showing an operating state, and FIG. 4 shows a forest industry drone equipped with an anti-vibration structure hammer according to the present invention. Bottom side is a perspective view.

A forestry drone having a hammer with an anti-vibration structure according to the present invention includes a drone 100; Pine nut harvesting unit 300; Winch unit 200; is made including.

The drone 100 is known to be capable of unmanned autonomous flight. The drone 100 includes an upper frame 110, a plurality of bars 120 radially coupled to the upper frame 110, a motor installed on the bar, and rotary blades 130 rotated by the motor. And, a leg unit 140 fixed to both sides of the upper frame 110 and installed at the bottom to allow the drone 100 to land, and spaced apart from the lower part of the upper frame 110 and the leg unit 140 A lower frame 150 fixed to and a battery (not shown) provided on the upper frame 110 or the lower frame 150 and supplying power to the motor is provided.

The drone 100 can rotate the rotor blades by a motor to achieve unmanned autonomous flight, and Korean Registered Patent No. 10-2187942 (title of the invention: LPG for collecting pine nuts) filed and registered by the applicant of the present invention engine-type hybrid drone) or a known engine such as Korea Patent Registration No. 10-2013065 (title of invention: engine-type hybrid drone with vibration and noise reduction device) filed and registered by the applicant of the present invention It can be generated by the engine using a lamp, and the rotating blades of the drone can be rotated by the generated electricity.

In the case of using an engine, the engine and generator are mounted on the upper frame 110.

It is provided on the upper frame 110 or the lower frame 150 and a battery (not shown) for supplying power to the motor is mounted.

When the engine is used in the drone 100, the battery is supplied with power from the generator, and when the engine is not used in the drone 100, the battery charged in the upper frame 110 or the lower frame 150 is detachable to supply electricity to the motor for flight of the drone 100.

In addition, the lower frame 150 is provided with a winch unit 200 for unwinding or winding the wire. The winch unit 200 is composed of a wire 210, a winding roller 220, and a winch motor 230 for normal and reverse rotation of the winding roller 220.

The end of the wire 210 is connected to the central upper part of the motor bracket 330 to which the hammer rotation motor 340 for rotating the hammer is mounted. The winch unit 200 rotates the winding roller 220 by the operation of the winch motor 230 to unwind or wind the wire. When the wire 210 is unwound by the rotation of the winding roller 220, the motor bracket 330 connected to the end of the wire 210 is lowered by its own weight, and the winding roller 220 rotates. When winding the wire 210 by, it serves to raise the motor bracket 330.

It is preferable that the operation of unwinding or winding the wire by the winch unit 200 is operated by a remote controller.

The pine nut collecting unit 300 is installed below the lower frame 150 and collides with the pine nuts opened on the branch of the pine nut tree to collect the pine nuts by dropping them.

The pine nut extractor 300 includes a pair of upper rods 310, one end of which is hinged to the lower portion of the lower frame 150, and one end of which is hinged to the other end of the upper rod 310, respectively. A pair of lower rods 320, both of which are hinged to the other end of the lower rod 320 symmetrically from the center, and a motor bracket 330 to which the wire end of the winch unit 200 is fixed to the upper center The hammer rotation motor 340 mounted on the motor bracket 330 and the hammer 350 rotatably installed in the lower part of the motor bracket 330 and coupled to the hammer rotation motor 340 to rotate It is done.

The upper rod 310 has one end portion hinged to the lower portion of the lower frame 150, and is hinged symmetrically from the center of the lower frame 150 to both left and right sides of the lower frame 150. The upper rod 310 rotates directly below the lower frame 150 .

The lower rod 320 is hinged at one end to the other end of the upper rod 310, and is hinged symmetrically from the center of the motor bracket 330 on both left and right sides of the motor bracket 330. do. The lower rod 320 rotates directly downward from the upper rod 310 .

The motor bracket 330 is hinged to the other end of the lower rod 320 so that both sides are symmetrical from the center, and the end of the wire 210 of the winch unit 200 is fixed to the upper center. A motor 340 for rotating the hammer is mounted on the motor bracket 330.

When the winding roller 220 is rotated positively by the winch motor 230 of the winch unit 200 and the wire 210 is unwound from the winding roller 220, fixed to the end of the wire 210 The motor bracket 330 is lowered by its own weight, and the lower rod 320 hinged to the motor bracket 330 is rotated downward due to the lowering by the weight of the motor bracket 330. At the same time, the upper rod 310 hinged with the lower rod 320 rotates downward, respectively. 2 is a state in which the motor bracket 330 is completely lowered as the wire 210 is unwound from the winding roller 220.

The upper rod 310 and the lower rod 320 are installed long in the lower center of the drone 100, so that the hammer 350 installed in the lower part of the upper rod 310 and the lower rod 320 Since is separated from the drone, the pine nut picking device makes it easy to access the pine tree branches and does not significantly affect the flight of the drone when collecting pine nuts, so that it is possible to collect pine nuts stably.

In addition, the upper rod 310 is detachable by detachable fitting from the lower frame 150 and the hinge coupling portion, so that the pine nut harvester 300 is detachable from the drone 100. In a state where the drone 100 and the pine nut extractor 300 are separated, movement is possible, so that ease of movement can be realized.

In addition, when the lowering by the weight of the motor bracket 330 is completed, it is preferable that the lower rod 320 and the upper rod 310 form a date.

To this end, the lower frame 150 has an upper rod rotation limiting jaw or an upper rod rotation limiting stopper that limits the rotation angle at which the upper end of the upper rod 310 is rotated downward from the lower frame 150 to 90 degrees ( 311) is provided, and the motor bracket 330 has a lower rod rotation limiting jaw or a lower rod rotation limiter that limits the rotation angle at which the lower end of the lower rod 320 is rotated from the motor bracket 330 to 90 degrees. A stopper 321 is provided.

In a state in which the lower rod 320 and the upper rod 310 are each rotated downward by the lowering by the weight of the motor bracket 330, for the upward rotation of the lower rod 320 and the upper rod 310, When the winding roller 220 is reversely rotated by the winch motor 230 of the winch unit 200 and the wire 210 is wound from the winding roller 220, it is fixed to the end of the wire 210. The motor bracket 330 is raised, and the lower rod 320 hinged to the motor bracket 330 is rotated upward by the rising of the motor bracket 330, and at the same time, the lower rod ( 320) and the hinged upper rod 310 are rotated upward, respectively, and are returned to their original positions. 3 and 4 is a state in which the wire 210 is wound around the winding roller 220 and the motor bracket 330 is lifted.

At this time, the state in which the upper rod 310 and the lower rod 320 are rotated upward and returned to the original position is the upper rod 310 and the lower rod 320 to allow the drone 100 to take off and land. ) is positioned higher than the lower end of the leg unit 140.

The drone lands in a state in which the upper rod 310 and the lower rod 320 are rotated upward and returned to their original positions.

The motor 340 for rotating the hammer is mounted on the motor bracket 330. At this time, the motor shaft of the motor for rotating the hammer 340 is mounted on the motor bracket 330 so as to be positioned directly below the motor bracket 330.

The hammer 350 is rotatably installed at the bottom of the motor bracket 330 and rotates by being coupled with the motor 340 for rotating the hammer.

The center of the hammer 350 is fixed to the motor shaft of the hammer rotation motor 340, and collides with pine nuts opened on a branch of a pine tree by rotation to collect pine nuts by dropping them.

The hammer 350 has a bar shape, and a rotation plate 351 fixed to the motor shaft of the hammer rotation motor 340 at the center and a plurality of protruding parts formed at the lower end of the rotation plate 351. It consists of a protrusion (352).

Electricity supply for rotation of the hammer by the hammer rotation motor 340 is supplied from the battery. In particular, when an engine is used in a drone, the electricity generated by the power generation unit that converts the mechanical energy converted by the engine into electrical energy is stored in the battery, so the flight time and pine nut collection time can be increased, thereby increasing the yield of pine nuts. can increase

In addition, when the lowering by the weight of the motor bracket 330 is completed, the lower rod 320 and the upper rod 310 are rotated by 90 degrees, respectively, so that the lower rod 320 and the upper rod 310 are straight. It is preferable to form, for this purpose, it is preferable to prevent the lower rod 320 and the upper rod 310 from rotating at an obtuse angle.

In order to prevent the lower rod 320 and the upper rod 310 from rotating at an obtuse angle, the upper rod 310 is placed outside the hinge joint between the upper rod 310 and the lower rod 320. An extension portion 312 extending to is formed, and an extension plate 313 vertically coupled to the upper rod 310 is provided at an end of the extension portion 312, and the extension plate 313 has the lower portion A seating groove 314 in which one side of the outer periphery of the lower rod 320 is received and seated in contact with the rod 320 is formed. At this time, the lower rod 320 becomes a circular rod.

One side of the outer periphery of the lower rod 320 is accommodated and seated in the seating groove 314, so that the lower rod 320 can be prevented from shaking from side to side from the upper rod 310. As such, since the lower rod 320 is prevented from shaking left and right by the seating groove 314, stable harvesting of pine nuts is possible by the rotation of the hammer 350, and shaking of the upper rod 310 is also reduced. Since shaking transmitted to the drone 100 is also reduced, stable flight of the drone 100 is possible.

The upper rods 310 may be two left and right pairs in total, and the lower rods 320 may be two or four left and right pairs. In the drawing, it is shown that the lower rods 320 are a total of four pairs of right and left sides.

When the lower rods 320 are two left and right pairs, the upper rods 310 and the lower rods 320 are positioned on the same line, and when the lower rods 320 are four left and right pairs, the upper rods 310 and the lower rods 320 are positioned on the same line. The lower rod 320 is hinged to both sides of the upper rod 310, respectively.

Vibration transmitted from the lower rod 320 to the upper rod 310 can be reduced when the number of lower rods 320 is four in a left and right pair compared to the case in which the number of lower rods 320 is two in a left and right pair. there is.

In the case where there are four lower rods 320 in a left and right pair, the extension plate 313 is lengthened so that both sides of the extension plate 313 are in contact with the lower rod 320, and one side of the outer circumference of the lower rod 320 Seating grooves 314 are formed so that the lower rods 320 are seated in the seating grooves 314 when the lower rods 320 are rotated downward.

In a state in which the lower rod 320 and the upper rod 310 are each rotated downward by the lowering by the weight of the motor bracket 330, for the upward rotation of the lower rod 320 and the upper rod 310, The winding roller 220 is reversely rotated by the winch motor 230 of the winch unit 200 so that the wire 210 is wound from the winding roller 220, and the upper rod 310 rotates upward. At the completion point, the upper rod 310 rotates upward to come into contact with the lower portion of the upper frame 110. At this time, in order to prevent shock caused by the collision of the upper rod 310 with the lower part of the upper frame 110, the lower part of the upper frame 110 has an upper part of the outer circumference at the time when the upward rotation of the upper rod 310 is completed. It is preferable that a buffer cylinder 151 is further provided to prevent the upper rod 310 from colliding with the lower portion of the upper frame 110 in contact with the upper frame 110 .

Technical ideas should not be interpreted as being limited to the above-described embodiments of the present invention. Not only the scope of application is diverse, but also various modifications and implementations are possible at the level of those skilled in the art without departing from the gist of the present invention claimed in the claims. Therefore, such improvements and changes fall within the protection scope of the present invention as long as they are obvious to those skilled in the art.

Claims

Unmanned autonomous flight is possible, an upper frame 110, a plurality of bars 120 radially coupled to the upper frame 110, a motor installed on the bar 120, and rotation rotated by the motor The wing 130, the leg unit 140 fixed to both sides of the upper frame 110 and installed at the lower portion to allow landing, and spaced apart from the lower portion of the upper frame 110, are attached to the leg unit 140. A drone 100 equipped with a fixed lower frame 150 and a battery provided on the upper frame 110 or the lower frame 150 and supplying power to the motor;

A pair of upper rods 310 installed at the lower part of the lower frame 150 and colliding with pine nuts opened on a branch of a pine tree to collect pine nuts by dropping them, one end of which is hinged to the lower part of the lower frame 150 ), a pair of lower rods 320 whose one end is hinged to the other end of the upper rod 310, and both sides are symmetrical from the center Motors hinged to the other end of the rod 320 A bracket 330, a hammer rotation motor 340 mounted on the motor bracket 330, and rotatably installed at the bottom of the motor bracket 330 and coupled to the hammer rotation motor 340 to rotate A pine nut collecting unit 300 made of a hammer 350;

A winch that is provided on the lower frame 150 of the drone 100 and lifts and lowers the motor bracket 330 by unwinding or winding a wire 210 whose end is fixed to the upper center of the motor bracket 330. A drone for the forestry industry having a hammer with an anti-vibration structure, characterized in that it comprises a; part 200.
According to claim 1,

The upper rod 310 is detachable by detachable fitting from the lower frame 150 and the hinge coupling portion so that the pine nut harvester 300 is detachable from the drone 100, so that the A drone for the forestry industry with a hammer with an anti-vibration structure, characterized in that it can move while the drone 100 and the pine nut harvester 300 are separated.
According to claim 1,

The lower frame 150 has an upper rod rotation limiting jaw or an upper rod rotation limiting stopper 311 so that the rotation angle at which the upper end of the upper rod 310 is rotated downward from the lower frame 150 is limited to 90 degrees to make it available,

The motor bracket 330 has a lower rod rotation limiting jaw or a lower rod rotation limiting stopper 321 so that the rotation angle at which the lower end of the lower rod 320 is rotated from the motor bracket 330 is limited to 90 degrees. Equipped with A forestry drone equipped with a hammer having a dustproof structure, characterized in that.
According to claim 1,

In order to allow the drone 100 to take off and land, the upper rod 310 and the lower rod 320 are rotated upward and when returned to the original position, the upper rod 310 and the lower rod 320 are positioned on the legs. A forestry drone equipped with a hammer of an anti-vibration structure, characterized in that located higher than the lower end of the unit 140.
According to claim 1,

The hammer 350 has a bar shape and protrudes in plurality from the lower end portion of the rotation plate 351, the center of which is fixed to the motor shaft of the hammer rotation motor 340, and the rotation plate 351. A drone for the forestry industry having a hammer with an anti-vibration structure, characterized in that it consists of a formed protrusion (352).
According to claim 1,

When the winch unit 200 unwinds the wire 210 by the rotation of the winding roller 220, the motor bracket 330 connected to the end of the wire 210 is lowered by its own weight. When the wire 210 is wound by the rotation of the winding roller 220, the forestry drone equipped with a hammer of anti-vibration structure, characterized in that it serves to raise the motor bracket 330.
According to claim 1,

The upper rod 310 has one end hinged to the lower portion of the lower frame 150, and is hinged symmetrically from the center of the lower frame 150 to both left and right sides of the lower frame 150,

The lower rod 320 is hinged at one end to the other end of the upper rod 310, and is hinged symmetrically from the center of the motor bracket 330 on both left and right sides of the motor bracket 330. A forestry drone equipped with a hammer having a dustproof structure, characterized in that being.