CN108377781B - Tree obstacle cleaning aerial robot with hanging cutter structure - Google Patents
Tree obstacle cleaning aerial robot with hanging cutter structure Download PDFInfo
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- CN108377781B CN108377781B CN201810192091.1A CN201810192091A CN108377781B CN 108377781 B CN108377781 B CN 108377781B CN 201810192091 A CN201810192091 A CN 201810192091A CN 108377781 B CN108377781 B CN 108377781B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
- A01G3/085—Motor-driven saws for pruning or branching
- A01G3/088—Circular saws
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
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Abstract
The invention discloses a tree obstacle clearing aerial robot with a hanging cutter structure, which comprises a platform support and a working cutter, wherein the platform support is symmetrically connected to a machine body, a plurality of rotor wing assemblies are connected to the platform support, the bottom of the machine body is connected to a cutter frame through a connecting rod, a cutter motor is fixedly connected to the cutter frame, and an output shaft of the cutter motor is connected with the working cutter. The rotor wing assembly and the hanging operation cutter are arranged on the machine body, so that the novel tree obstacle cleaning machine is suitable for carrying out 'shaving type' large-area rapid cleaning from top to bottom or from the side surface of the tree obstacle from outside to inside, is high in operation efficiency, avoids operators from closely contacting high-voltage transmission lines at the tree obstacle, is safer to operate, can effectively improve the cleaning operation efficiency and reduce the operation risk, and solves the problems of low manual cleaning efficiency and high safety risk in the prior art.
Description
Technical Field
The invention relates to a tree obstacle clearing aerial robot applied to a hanging cutter structure of a power line, in particular to a robot suitable for clearing the upper part and the side face of a large-area tree obstacle, and belongs to the technical field of tree obstacle clearing devices of power transmission lines.
Background
The tree barrier is a potential safety hazard existing in the transmission line channel, and is manifested in that the continuous proliferation of trees in the channel gradually threatens the operation safety of the transmission line. Therefore, a great amount of manpower, material resources and financial resources are input into each electric power department every year to clean and repair the passage tree barriers in the jurisdiction. The existing tree obstacle cleaning mainly depends on manual cleaning, and has the defects of low efficiency and high safety risk, so that an automatic air robot for cleaning the tree obstacle of the power line channel is needed.
Disclosure of Invention
The invention solves the technical problems that: the tree obstacle clearing aerial robot with the suspended cutter structure is applicable to a large-area tree obstacle, and is suitable for clearing the upper part and the side face of the large-area tree obstacle, so that the problems of low manual clearing efficiency and high safety risk in the prior art are solved.
The technical scheme adopted by the invention is as follows: the utility model provides a tree barrier clearance aerial robot of suspension cutter structure, includes platform support and operation cutter, platform support symmetry connects on the organism, is connected with a plurality of rotor assemblies on the platform support, and the bottom of organism is connected with the cutter frame through vertical connecting rod, fixedly connected with cutter motor on the cutter frame, the output shaft of cutter motor operation cutter.
Preferably, the above-mentioned further comprises a unhooking mechanism, and the connecting rod is connected to the bottom of the machine body through the unhooking mechanism.
Preferably, the connecting rod comprises an upper connecting rod and a lower connecting rod, and the upper connecting rod and the lower connecting rod are connected up and down through a protection joint.
Preferably, the protection joint comprises a cylindrical core, a cylindrical sleeve, a spring and a screw, wherein the cylindrical core and the cylindrical sleeve are hollow cylinders, the upper part of the cylindrical core is fixedly connected with the upper connecting rod, the upper part of the cylindrical sleeve is connected with the lower part of the cylindrical core in a sleeve mode capable of axially sliding and rotating relatively, the lower part of the cylindrical sleeve is fixedly connected with the lower connecting rod, the spring is cylindrical and is arranged outside the cylindrical core and the cylindrical sleeve in a wrapping mode, and two ends of the spring are respectively fixedly connected with the cylindrical core and the cylindrical sleeve through two screws.
Preferably, the platform support is connected to the machine body through a folding joint, the folding joint comprises an outer crank arm arranged at the inner end of the platform support, an inner crank arm fixedly connected with the machine body and a locking device, and the outer crank arm is hinged with the inner crank arm through a hinge shaft and is locked through the locking device.
Preferably, the locking device comprises a step shaft fixedly connected to the front end of the inner crank arm horizontal section and coaxial with the inner crank arm horizontal section, a screw rod fixedly connected to the rear end of the outer crank arm horizontal section and coaxial with the outer crank arm horizontal section, and a locking nut sleeved on the step shaft, wherein an inner boss step is arranged at the rear end of an inner hole of the locking nut, an outer boss step for preventing the locking nut from falling off is arranged at the front end of the step shaft, and the locking nut can coaxially butt-joint and lock the step shaft and the screw rod.
Preferably, the unhooking mechanism comprises a base, a steering engine, a rocker arm, a pull rod, a telescopic rod, a hanging tongue and a rolling shaft; the top of the base is fixedly connected with the lower end of the machine body, two bosses which are symmetrical left and right are arranged downwards at the bottom of the base, the steering engine is arranged on the base, one end of the rocker arm is fixedly connected with an output shaft of the steering engine, the other end of the rocker arm is hinged with one end of the pull rod, the other end of the pull rod is hinged with one end of the telescopic rod, the other end of the telescopic rod horizontally and movably passes through the two bosses, and the rocker arm rotationally drives the telescopic rod to horizontally stretch left and right; the upper part of the hanging tongue is provided with a locking hole in the horizontal direction, the lower part of the hanging tongue is hinged with the upper end of the connecting rod through a rolling shaft, and the hanging tongue is hung on the telescopic rod through the locking hole after penetrating into a groove in the middle of the two bosses, and the rolling shaft is perpendicular to the telescopic rod.
Preferably, the rotor assembly comprises a rotor and a rotor motor, wherein the rotor is fixedly connected to an output shaft of the rotor motor, and the rotor motor is fixedly connected to the platform bracket.
Preferably, the number of the working tools is an even number.
Preferably, the lower end of the connecting rod is fixedly connected with a cutter power battery, and the lower end of the cutter power battery is fixedly connected with a cutter frame.
Preferably, the bottom of the machine body is provided with a landing gear.
The invention has the beneficial effects that: compared with the prior art, the invention has the following effects:
1) The rotor wing assembly and the hanging operation cutter are arranged on the machine body, so that the machine body is suitable for carrying out 'shaving type' large-area rapid cleaning from top to bottom or from the side surface of the tree barrier from outside to inside, the operation efficiency is high, the condition that operators closely contact with high-voltage transmission lines at the tree barrier is avoided, the operation is safer, the cleaning operation efficiency can be effectively improved, the operation risk is reduced, and the problems of low manual cleaning efficiency and high safety risk in the prior art are solved;
2) The aerial robot with the suspended cutter structure is adopted, and the cutter is always positioned below the rotor wing assembly during operation, so that interference of tree barriers on the rotor wing assembly can be effectively avoided, the crash risk is reduced, and the operation safety of the aerial robot is greatly improved;
3) The driving component (comprising a cutter power battery) related to the operation cutter is hung below the gravity center of the aerial robot, so that the integral gravity center of the robot is reduced, and the flying stability of the aerial robot is improved;
4) The platform support is connected in a folding way, so that the size of the whole machine can be effectively reduced during storage, and the storage and the carrying are convenient; the designed folding joint has the advantages of simple structure, reliable locking, separate operation and easy realization, and can effectively avoid locking looseness caused by vibration;
5) The aerial robot provides a lifting force and a feeding force of the robot by the rotor wing assembly, realizes stable posture and position control, and has more balanced stress and better safety compared with an even-numbered working cutter;
6) The cutter power battery is arranged on the cutter frame, so that the gravity center of the whole machine is further reduced, and the flying stability of the aerial robot is improved; under the condition of the same inclination angle of the connecting rod, the horizontal propelling force of the operation cutter can be effectively increased, and the tree obstacle cleaning efficiency is improved; in addition, the integral inertia of the part below the connecting rod is increased, and the posture stability of the working cutter is enhanced;
7) The provided protection joint has mechanical buffer degrees of freedom (axial direction and torsion) in two directions, and can effectively weaken the influence of tree barrier reaction force or moment on the flying gesture of the aerial robot;
8) When the working cutter cannot separate from the tree obstacle, the quick separation of the machine body and the parts below the machine body is realized by adopting the unhooking mechanism, so that the safety protection is implemented on the flying platform.
Drawings
FIG. 1 is a schematic view of the structure of the present invention (with the tools horizontally juxtaposed);
FIG. 2 is a schematic view of the structure of the present invention (with the cutters horizontally juxtaposed, with upper and lower coaxial paddles);
FIG. 3 is a schematic view of the unhooking mechanism;
FIG. 4 is a schematic view of a folding joint structure;
FIG. 5 is a schematic view of a protected joint configuration;
fig. 6 is a schematic view of the structure of the present invention (vertical column of tools).
In the figure, a 1-rotor, a 2-rotor motor, a 3-platform bracket, a 4-flight controller, a 5-machine body, a 6-cutter power battery, a 7-unhooking mechanism, an 8-upper connecting rod, a 9-lower connecting rod, a 10-folding joint, a 11-cutter frame, a 12-protection joint, a 13-cutter motor, a 14-operation cutter and a 15-connecting rod;
701-a base, 702-a steering engine, 703-a rocker arm, 704-a pull rod, 705-a telescopic rod, 706-a boss, 707-a hanging tongue, 708-a locking hole and 709-a rolling shaft;
1001-an outer crank arm, 1002-an inner crank arm, 1003-a hinge shaft, 1004-a step shaft, 1005-a locking nut, 1006-a screw rod;
1201-cylindrical core, 1202-cylindrical sleeve, 1203-spring, 1204-screw.
Detailed Description
The invention will be further described with reference to the drawings and specific examples.
Example 1: as shown in fig. 1-5, the tree obstacle clearing aerial robot with a hanging cutter structure comprises a platform bracket 3 and operation cutters 14, wherein the platform bracket 3 is symmetrically connected to a machine body 5, a plurality of rotor wing assemblies are connected to the platform bracket 3, the bottom of the machine body 5 is connected with a cutter frame 11 through a vertical connecting rod 15, a cutter motor 13 is fixedly connected to the cutter frame 11, an output shaft of the cutter motor 13 is connected with the operation cutters 14, the cutter motor 13 is symmetrically and equidistantly distributed above the cutter frame 11, and the operation cutters 14 are positioned below the cutter frame 11; the system also comprises a flight controller 4 positioned at the upper part of the center of the platform bracket 3, a communication module for transmitting flight data and airborne images, a flight power battery positioned in the machine body 5, and a cutter controller which is fixed on or arranged in the cutter frame 11 and used for controlling the rotating speed of the cutter motor 13, wherein the flight controller 4 is similar to the existing multi-rotor unmanned aerial vehicle flight controller in hardware and comprises an Inertial Measurement Unit (IMU), an air pressure altimeter, a satellite navigation receiver and a flight control computer; the cutter controller is connected with the flight controller 4.
Preferably, the above-mentioned obstacle clearing aerial robot further comprises a unhooking mechanism 7, and the connecting rod 15 is connected to the bottom of the machine body 5 through the unhooking mechanism 7.
Preferably, the connecting rod 15 includes an upper connecting rod 8 and a lower connecting rod 9, the upper connecting rod 8 and the lower connecting rod 9 are connected up and down through a protection joint 12, and the protection joint 12 has the functions of stress buffering and operation force sensing.
Preferably, the protection joint 12 includes a cylindrical core 1201, a cylindrical sleeve 1202, a spring 1203, and a screw 1204, where the cylindrical core 1201 and the cylindrical sleeve 1202 are hollow cylinders, the upper part of the cylindrical core 1201 is fixedly connected with the upper connecting rod 8, the upper part of the cylindrical sleeve 1202 is connected with the lower part of the cylindrical core 1201 in a sleeve form capable of sliding axially and rotating relatively, the lower part of the cylindrical sleeve 1202 is fixedly connected with the lower connecting rod 9, the spring 1203 is cylindrical, and is mounted outside the cylindrical core 1201 and the cylindrical sleeve 1202 in a wrapping form, and two ends of the spring 1203 are fixedly connected with the cylindrical core 1201 and the cylindrical sleeve 1202 through two screws 1204. The protection joint 12 has mechanical buffering degrees of freedom in the axial direction and the heading direction, and can effectively weaken the influence of tree barrier reaction force or moment and vibration of the working tool 14 on the flying gesture of the aerial robot.
An axial displacement sensor for sensing the axial relative motion amplitude of the cylindrical sleeve 1202 and the cylindrical core 1201 and a rolling angle sensor for sensing the relative torsion motion amplitude of the cylindrical sleeve 1201 are arranged between the cylindrical sleeve and the cylindrical core, so that the protection joint 12 can sense the axial force (upward pressure or downward pulling) and the torsion moment of the tree obstacle applied on the connecting rod 15 by the working cutter 14 and serve as the control input for cutter feeding or withdrawing and fine adjustment of the movement of the aerial robot, and obstacle clearance control is more accurate. Wherein, the angle sensor can adopt photoelectric encoder or potentiometer, the displacement sensor can adopt slide rheostat or grating ruler, and the calculation of acting force or moment: the axial force (stretching or compressing) or torsion moment is obtained by calculating the displacement measured by the displacement sensor or the angle sensor and the stretching rigidity or torsion rigidity of the spring.
The axial stiffness curve and the torsional stiffness curve of the protection joint 12 are obtained by calibrating the curves of the relative stress-displacement or stress moment-angle of the two ends (the cylindrical sleeve 1202 and the cylindrical core 1201) of the protection joint 12 by a calibration method, and the stress or moment of the two ends of the protection joint 12 can be obtained through each stiffness curve and the corresponding displacement or angle.
The flight controller 4 is provided with corresponding analog quantity (voltage or current) or digital quantity (including bus), pulse quantity, frequency quantity and other types of interfaces aiming at the angle sensor and the displacement sensor, PWM (pulse width modulation) or bus interfaces aiming at the rotor assembly, and bus interfaces aiming at the communication module and the cutter controller. The bus comprises CAN, RS-485/422/232, ethernet or an onboard bus and the like.
Preferably, the platform bracket 3 is connected to the machine body 5 through a folding joint 10, the folding joint 10 comprises an outer crank arm 1001 arranged at the inner end of the platform bracket 3, an inner crank arm 1002 fixedly connected with the machine body 5 and a locking device, and the outer crank arm 1001 is hinged with the inner crank arm 1002 through a hinge shaft 1003 and is locked through the locking device; the locking device comprises a step shaft 1004 fixedly connected to the front end of the horizontal section of the inner crank arm 1002 and coaxial with the horizontal section of the inner crank arm 1002, a screw rod 1006 fixedly connected to the rear end of the horizontal section of the outer crank arm 1001 and coaxial with the horizontal section of the outer crank arm 1001, and a locking nut 1005 sleeved on the step shaft 1004, wherein an inner boss step is arranged at the rear end of an inner hole of the locking nut 1005, an outer convex step for preventing the locking nut 1005 from falling off is arranged at the front end of the step shaft 1004, and the locking nut 1005 can coaxially butt-joint and lock the step shaft 1004 with the screw rod 1006. The platform bracket 3 is connected in a folding way, so that the size of the whole machine can be effectively reduced during storage, and the storage and the carrying are convenient.
Preferably, the unhooking mechanism 7 includes a base 701, a steering engine 702, a rocker 703, a pull rod 704, a telescopic rod 705, a hanging tongue 707, and a rolling shaft 709; the top of the base 701 is fixedly connected with the lower end of the machine body 5, two bosses 706 which are bilaterally symmetrical are downwards arranged at the bottom of the base 701, the steering engine 702 is arranged on the base 701, one end of the rocker 703 is fixedly connected with an output shaft of the steering engine 702, the other end of the rocker is hinged with one end of the pull rod 704, the other end of the pull rod 704 is hinged with one end of the telescopic rod 705, the other end of the telescopic rod 705 horizontally movably passes through the two bosses 706, and the rocker 703 rotationally drives the telescopic rod 705 to horizontally stretch left and right; the upper part of the hanging tongue 707 is provided with a locking hole 708 in the horizontal direction, the lower part is hinged with the upper end of the connecting rod 15 through a rolling shaft 709, the hanging tongue 707 is hung on the telescopic rod 705 through the locking hole 708 after penetrating into a groove in the middle of the two bosses 706, when the telescopic rod 705 is retracted under the driving of the steering engine 702, the hanging tongue 707 is separated from the groove to realize the unhooking function, and the rolling shaft 709 is perpendicular to the telescopic rod 705.
The unhooking mechanism 7 is preferably mounted below the geometric center of the machine body 5, coincident with the horizontal projection of the center of gravity of the aerial robot. In particular, the unhooking mechanism 7 realizes the function of a universal joint, so that the lower part of the unhooking mechanism has freedom degrees of pitching back and forth and rolling left and right relative to the machine body 5, and the influence of pitching (back and forth) and rolling (left and right) moment of the tree barrier acting on the working cutter 14 on the machine body 5 is eliminated; meanwhile, when the space robot flies flat, the front-back left-right inclination of the machine body 5 has no influence on the posture of the working tool 14.
Preferably, the rotor assembly comprises a rotor 1, a rotor motor 2 and a motor speed regulator, wherein the rotor 1 is fixedly connected to an output shaft of the rotor motor 2, the rotor motor 2 is fixedly connected above or below the platform bracket 3, and the directions of the rotors 1 of adjacent rotor assemblies are opposite; the motor speed regulator receives the rotating speed instruction of the flight controller 4 and drives the rotor motor 2 to rotate accordingly, so as to generate upward lifting force. The number of rotor assemblies is an even number greater than or equal to 4.
The rotor assembly may also employ the following coaxial dual-bladed approach: the rotor 1, the rotor motor 2 and the motor speed regulator in the rotor assembly are respectively provided with a pair, the tail parts of the two rotor motors 2 are opposite, the rotating shafts are outwards and vertically coaxially arranged at the outer end of the platform bracket 3, the two rotors 1 are paired in the forward and reverse directions and are respectively arranged on the rotating shafts of the two rotor motors 2, and the lifting force of the two rotors 1 of the same rotor assembly is upwards through adjusting the polarity of the connecting line of the motor speed regulator and the rotor motor 2. The number of rotor wing components in the mode is more than or equal to 3.
Preferably, a rotating speed sensor for sensing the rotating speed of the working cutter 14 is arranged in the cutter motor 13, a current sensor for sensing the working current of the cutter motor 13 is arranged in the cutter controller, the rotating speed sensor adopts a photoelectric encoder or a Hall sensor, and the current sensor adopts a current transformer which are connected with the cutter controller; the cutter controller is custom-provided with an analog quantity or digital quantity, pulse quantity, frequency quantity and other types of interfaces corresponding to the specific types of sensors.
Preferably, the number of the working tools 14 is an even number.
Preferably, the lower end of the connecting rod 15 is fixedly connected with the cutter power battery 6, and the lower end of the cutter power battery 6 is fixedly connected with the cutter frame 11.
Preferably, the bottom of the body 5 is provided with a landing gear.
Preferably, when the rotor assemblies are odd, the upper and lower coaxial double-oar arrangement is adopted.
The functions performed by the flight controller 4 include:
1) Acquiring information such as attitude angle, angular velocity, acceleration, satellite positioning, height and speed of the aerial robot in real time, calculating rotating speed instructions of all rotors by combining ground remote control instructions (through wireless connection of a flight controller and a ground remote controller) and outputting the rotating speed instructions to the rotor assemblies so as to realize the stability and control of the attitude and the position of the aerial robot;
2) According to the ground remote control instruction, the heading, the height and the speed of the aerial robot are adjusted, so that the operation cutter 14 can perform horizontal 'shaving' type top cutting operation on the tree obstacle at a proper angle, a proper force and a proper forward propulsion speed, or the operation cutter 14 can withdraw from the obstacle clearance operation at a proper speed;
3) The tree barrier perceived by the protection joint 12 automatically enters the protection mode as soon as the axial force (pressing up or pulling down) and the torque exerted on the connecting rod 15 by the working tool 14 reach or exceed a predetermined protection threshold: the working cutter 14 is braked and then reversed, and the air robot is controlled to move backwards and in the direction of reducing the torsion moment or the axial force to withdraw from the operation; if the reaction force or moment is smaller than the preset protection threshold, the reaction force or moment is used as the control input of the fine adjustment of the movement of the aerial robot, and the control method is as follows:
a) When the obstacle clearance is set, the axial force born by the connecting rod 15 perceived by the protection joint 12 is Z, the pulling force is positive, and the corresponding operation threshold lambda is adopted Z The dead zone is delta Z Wherein lambda is Z ＞0，0≤δ Z ＜λ Z The method comprises the following steps:
if Z is less than 0, the connecting rod 15 is subjected to axial pressure, and the aerial robot is controlled to slightly adjust the height upwards;
-if Z < lambda Z -δ Z The forward movement fine adjustment of the aerial robot is controlled, so that the axial force is increased, and the horizontal automatic feeding is realized;
-if |Z-lambda Z |≤δ Z Controlling the aerial robot to maintain hovering, wherein the horizontal feeding amount is zero;
-if Z > lambda Z +δ Z And controlling the air robot to move backwards for fine adjustment, so that the axial force is reduced, and horizontal automatic retraction is realized.
B) The torsion moment perceived by the connecting rod 15 by the protection joint 12 when the obstacle clearance is set is N, and the corresponding operation threshold is lambda N The dead zone is delta N For an even number of circular saws, lambda N ＝0，δ N Not less than 0, there are:
-if |N| > delta N The aerial robot is controlled to conduct course fine adjustment in the direction of enabling the absolute value N to be reduced, and automatic course balance adjustment is achieved;
if |N| is less than or equal to delta N The aerial robot is controlled to maintain the current heading.
4) According to motor current and cutter rotating speed information collected by the cutter controller, the overload, blocking and damage states of the working cutter 14 are evaluated in real time, and the evaluation method is as follows:
-if the motor current exceeds the current predetermined threshold, determining that the working tool 14 is overloaded or blocked;
-if the tool rotational speed is below the rotational speed predetermined threshold, determining that the working tool 14 is overloaded or blocked;
if periodic pulsation occurs in the motor current or the tool rotational speed, it can be determined that the working tool 14 is damaged. The reason is that if the cutter which is in reciprocating work has defects, the dynamic balance of the cutter is out of balance, and the periodical change of the tree barrier resistance is caused, so that the periodical pulsation of the rotating speed of the cutter and the motor current is caused.
Once any situation of the step 4) occurs, a braking-before-reversing instruction is output to the cutter motor 13 through the cutter controller, a backing instruction is output to the aerial robot, so that the protective backing of the aerial robot is realized, and meanwhile, safety alarm information is sent to ground personnel through the communication module.
5) When the working tool 14 cannot separate from the tree obstacle, an instruction is sent to the unhooking mechanism 7 to enable the unhooking mechanism 7 to act, so that the components below the unhooking mechanism 7 are quickly separated, and safety protection is implemented on the unhooking mechanism 7 and an aerial robot flying platform above the unhooking mechanism 7.
Example 2: as shown in fig. 6, on the basis of embodiment 1, a tool rack 11 is vertically installed below a tool power battery 6, a plurality of tool motors 13 are fixedly connected in equidistant longitudinal rows along the top-down direction of the tool rack 11, the output shafts of the tool motors 13 are connected with a working tool 14, and the working tool 14 is located in a middle groove of the tool rack 11.
Preferably, the number of the working tools 14 is equal to or greater than 1.
The aerial robot adopting the cutter structure in the longitudinal mode is suitable for rapidly cutting and cleaning the tree obstacle from the side surface of the tree obstacle from outside to inside.
The above description is only an example of the embodiment of the present invention, and the scope of the present invention is not limited thereto. Variations and alternatives can be readily ascertained by one skilled in the art within the scope of the present disclosure, which is intended to be within the scope of the present disclosure. For this purpose, the scope of the invention shall be subject to the scope of the claims.
Claims (8)
1. The utility model provides a tree obstacle clearance aerial robot of suspension cutter structure which characterized in that: the device comprises a platform bracket (3) and an operation cutter (14), wherein the platform bracket (3) is symmetrically connected to a machine body (5), a plurality of rotor wing assemblies are connected to the platform bracket (3), the bottom of the machine body (5) is connected with a cutter frame (11) through a vertical connecting rod (15), a cutter motor (13) is fixedly connected to the cutter frame (11), an output shaft of the cutter motor (13) is connected with the operation cutter (14), the connecting rod (15) comprises an upper connecting rod (8) and a lower connecting rod (9), and the upper connecting rod (8) and the lower connecting rod (9) are connected up and down through a protection joint (12); the protection joint (12) comprises a cylindrical core (1201), a cylindrical sleeve (1202), a spring (1203) and a screw (1204), wherein the cylindrical core (1201) and the cylindrical sleeve (1202) are hollow cylinders, the upper part of the cylindrical core (1201) is fixedly connected with an upper connecting rod (8), the upper part of the cylindrical sleeve (1202) is connected with the lower part of the cylindrical core (1201) in a sleeve mode capable of axially sliding and rotating relatively, the lower part of the cylindrical sleeve (1202) is fixedly connected with a lower connecting rod (9), the spring (1203) is cylindrical and is arranged outside the cylindrical core (1201) and the cylindrical sleeve (1202) in a wrapping mode, and two ends of the spring (1203) are fixedly connected with the cylindrical core (1201) and the cylindrical sleeve (1202) through two screws (1204) respectively; an axial displacement sensor for sensing the axial relative motion amplitude of the cylindrical sleeve (1202) and the cylindrical core (1201) and a rolling angle sensor for sensing the relative torsion motion amplitude of the cylindrical sleeve and the cylindrical core are arranged between the cylindrical sleeve and the cylindrical core; the tree obstacle sensed by the protection joint automatically enters a protection mode once the axial force and the torsion moment applied to the connecting rod by the working cutter reach or exceed the preset protection threshold: the operation tool is braked and then reversed, and the air robot is controlled to move backwards and in the direction of reducing the torsion moment or the axial force to withdraw from the operation; if the axial force or torsion moment applied by the tree barrier perceived by the protection joint on the connecting rod through the working cutter is smaller than a preset protection threshold, the tree barrier is used as the control input for fine adjustment of the movement of the aerial robot, and the specific control method is as follows:
a) When the obstacle clearance is set, the axial force born by the connecting rod (15) perceived by the protection joint (12) is Z, the pulling force is positive, and the corresponding operation threshold lambda is adopted Z The dead zone is delta Z Wherein lambda is Z ＞0，0≤δ Z ＜λ Z The method comprises the following steps:
-if Z <0, the connecting rod (15) is subjected to axial pressure, controlling the aerial robot to fine-tune the height upwards;
-if Z < lambda Z -δ Z Controlling the aerial robot to move forwardThe motion is finely adjusted, so that the axial force is increased, and horizontal automatic feeding is realized;
-if Z-lambda Z ≤δ Z Controlling the aerial robot to maintain hovering, wherein the horizontal feeding amount is zero;
-if Z > lambda Z +δ Z The air robot is controlled to move backwards for fine adjustment, so that the axial force is reduced, and horizontal automatic rollback is realized;
b) The torsion moment perceived by the connecting rod (15) which is sensed by the protection joint (12) when the obstacle clearance is arranged is N, and the corresponding operation threshold is lambda N The dead zone is delta N For an even number of circular saws, lambda N ＝0，δ N Not less than 0, there are:
-if N > delta N The aerial robot is controlled to conduct course fine adjustment in the direction of enabling N to be reduced, and automatic course balance adjustment is achieved;
if N is less than or equal to delta N The aerial robot is controlled to maintain the current heading.
2. The tree obstacle clearing aerial robot of a suspended knife structure of claim 1, wherein: the utility model also comprises a unhooking mechanism (7), and a connecting rod (15) is connected to the bottom of the machine body (5) through the unhooking mechanism (7).
3. The tree obstacle clearing aerial robot of a suspended knife structure of claim 1, wherein: the platform bracket (3) is connected to the machine body (5) through a folding joint (10), and the folding joint (10) comprises an outer crank arm (1001) arranged at the inner end of the platform bracket (3), an inner crank arm (1002) fixedly connected with the machine body (5) and a locking device, wherein the outer crank arm (1001) is hinged with the inner crank arm (1002) through a hinge shaft (1003) and is locked through the locking device.
4. A tree obstacle clearing aerial robot of a hanging knife construction according to claim 3, wherein: the locking device comprises a step shaft (1004) fixedly connected with the front end of the horizontal section of the inner crank arm (1002) and coaxial with the horizontal section of the inner crank arm (1002), a screw rod (1006) fixedly connected with the rear end of the horizontal section of the outer crank arm (1001) and coaxial with the horizontal section of the outer crank arm (1001), and a locking nut (1005) sleeved on the step shaft (1004), wherein an inner boss step is arranged at the rear end of an inner hole of the locking nut (1005), an outer boss step for preventing the locking nut (1005) from falling off is arranged at the front end of the step shaft (1004), and the locking nut (1005) can coaxially butt-joint and lock the step shaft (1004) with the screw rod (1006).
5. The tree obstacle clearing aerial robot of a suspended knife structure of claim 2, wherein: the unhooking mechanism (7) comprises a base (701), a steering engine (702), a rocker arm (703), a pull rod (704), a telescopic rod (705), a hanging tongue (707) and a rolling shaft (709); the top of the base (701) is fixedly connected with the lower end of the machine body (5), two bosses (706) which are bilaterally symmetrical are downwards arranged at the bottom of the base, the steering engine (702) is arranged on the base (701), one end of the rocker arm (703) is fixedly connected with an output shaft of the steering engine (702), the other end of the rocker arm is hinged with one end of the pull rod (704), the other end of the pull rod (704) is hinged with one end of the telescopic rod (705), the other end of the telescopic rod (705) horizontally movably passes through the two bosses (706), and the rocker arm (703) rotationally drives the telescopic rod (705) to horizontally stretch left and right; the upper part of the hanging tongue (707) is provided with a locking hole (708) in the horizontal direction, the lower part is hinged with the upper end of the connecting rod (15) through a rolling shaft (709), the hanging tongue (707) is hung on the telescopic rod (705) through the locking hole (708) after penetrating into a groove between the two bosses (706), and the rolling shaft (709) is perpendicular to the telescopic rod (705).
6. The tree obstacle clearing aerial robot of a suspended knife structure of claim 1, wherein: the rotor assembly comprises a rotor (1) and a rotor motor (2), wherein the rotor (1) is fixedly connected to an output shaft of the rotor motor (2), and the rotor motor (2) is fixedly connected to the platform support (3).
7. The tree obstacle clearing aerial robot of a suspended knife structure of claim 1, wherein: the number of working tools (14) is even.
8. The tree obstacle clearing aerial robot of a suspended knife structure of claim 1, wherein: the lower end of the connecting rod (15) is fixedly connected with the cutter power battery (6), and the lower end of the cutter power battery (6) is fixedly connected with the cutter frame (11).
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| CN201810192091.1A CN108377781B (en) | 2018-03-08 | 2018-03-08 | Tree obstacle cleaning aerial robot with hanging cutter structure |
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| CN201810192091.1A CN108377781B (en) | 2018-03-08 | 2018-03-08 | Tree obstacle cleaning aerial robot with hanging cutter structure |
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| CN108377781B true CN108377781B (en) | 2023-10-20 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109526447B (en) * | 2019-01-18 | 2023-10-24 | 吉林大学 | Unmanned emasculation machine |
| CN111418375A (en) * | 2020-05-07 | 2020-07-17 | 南京电博机器人技术有限公司 | High-altitude tree obstacle cleaning device for power transmission line |
| CN112586217A (en) * | 2020-11-27 | 2021-04-02 | 南京太司德智能科技有限公司 | A circular saw cutter system for barrier clearance flying robot |
| CN112586218A (en) * | 2020-11-27 | 2021-04-02 | 南京太司德智能科技有限公司 | Tree obstacle clearing flying robot of hanging cutter system |
| CN114557207B (en) * | 2022-04-02 | 2023-04-07 | 广西新南润电力科技有限公司 | Unmanned aerial vehicle tree obstacle trimming device with automatic separation function |
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