CN208434379U - A kind of folding joint structure for screen of trees cleaning air-robot - Google Patents

Abstract

The utility model discloses a kind of folding joint structures for screen of trees cleaning air-robot, including the preceding connecting lever of forearm rear end, the rear connecting lever that postbrachium front end is arranged in and stretching, extension locking device is arranged in, preceding connecting lever is hinged by articulated shaft with rear connecting lever, and storage locking device locking is passed through in folding joint storage using stretching, extension locking device locking in folding joint stretching, extension.The folding joint structure of the utility model is simple, it is easily achieved, the work jibs of robot can be carried out with Quick extension locking or folding storage locks, reduce storage occupied space, it is readily transported and places, it is big to solve the problems, such as that occupied space is placed in storage existing in the prior art, and has the characteristics that of simple structure and low cost and easy to operate.

Description

A kind of folding joint structure for screen of trees cleaning air-robot

Technical field

The utility model relates to a kind of folding joint structures for screen of trees cleaning air-robot, belong to transmission line of electricity tree Hinder cleaning plant technical field.

Background technique

Screen of trees is a kind of security risk existing for electric transmission line channel, shows as the continuous hyperplasia of trees in channel gradually prestige Coerce the operational safety of transmission line of electricity.For this purpose, power departments at different levels will put into a large amount of human and material resources and financial resources to linchpin every year Channel screen of trees in area carries out cleaning regulation.Current screen of trees cleaning depends on manual cleaning, and there is inefficient, peaces Full blast nearly big deficiency, therefore need a kind of power circuit channel screen of trees and clear up air-robot automatically.

For the air-robot of screen of trees cleaning, the work jibs of carrying operation cutter are generally longer, need to design one kind It takes into account stretching, extension and stores two states and the folding joint with locking ability, height when making work jibs that can reach stretching Strength criterion, and small size, anti-vibration, shock resistance and the requirement being readily transported being able to satisfy under folding storage state.

Summary of the invention

The technical issues of the utility model solves is: providing a kind of folding joint knot for screen of trees cleaning air-robot Structure, to solve the problems, such as that occupied space existing in the prior art is transported with inconvenience greatly.

The technical solution that the utility model is taken are as follows: a kind of folding joint structure for screen of trees cleaning air-robot, It is turned with after including the preceding connecting lever of forearm rear end, the rear connecting lever that postbrachium front end is arranged in and stretching, extension locking device, preceding connecting lever is arranged in Arm is hinged by articulated shaft, and passes through stretching, extension locking device locking in folding joint stretching, extension.

Preferably, above-mentioned stretching, extension locking device include be connected in postbrachium front end and the Step Shaft one coaxial with postbrachium, be connected In forearm rear end and the screw rod one coaxial with forearm and the lock nut one being socketed on Step Shaft one, the inner hole of lock nut one Rear end is equipped with convex step, and the front end of Step Shaft one is equipped with the evagination step for preventing lock nut one from falling off, and lock nut one can By the docking coaxial with screw rod one of Step Shaft one and lock.

Preferably, above-mentioned Step Shaft one is connected to postbrachium by threaded portion and is locked using lock nut one.

Preferably, above-mentioned preceding connecting lever and rear connecting lever pass through storage locking device locking when folding joint is stored.

Preferably, above-mentioned storage locking device include be connected in postbrachium bottom and the Step Shaft two vertical with postbrachium, be connected In forearm bottom and the screw rod two vertical with forearm and the lock nut two being socketed on Step Shaft two, the inner hole of lock nut two Rear end is equipped with convex step, and the front end of Step Shaft two is equipped with the evagination step for preventing lock nut two from falling off, and lock nut two can By the docking coaxial with screw rod two of Step Shaft two and lock.

Preferably, above-mentioned Step Shaft two and screw rod two are connected to postbrachium with before by dismountable thread connecting mode respectively Arm.

Preferably, the threaded portion of above-mentioned Step Shaft two is locked after being connected to postbrachium using lock nut two.

The utility model has the beneficial effects that compared with prior art, the effect of the utility model is as follows:

1) the folding joint structure of the utility model is simple, can carry out Quick extension locking or receipts to the work jibs of robot Receive locking, have the characteristics that it is low in cost, be easily achieved with it is easy to operate；It occupies little space when storage, is readily transported and places, Solve the problems, such as that it is big to place occupied space for storage in the prior art；

2) it uses one length of Step Shaft of threaded portion adjustable and is locked using lock nut one, is convenient for screw rod one against tight It is close；After being locked using lock nut one, the stretching, extension connection of folding joint is more reliable, can effectively avoid locking pine caused by vibrating It is de- and easy to operate；

3) using storage locking device by after folding storage work jibs and operation cutter fix, avoid shaking in transportational process The damage for leading to work jibs, operation cutter or even flying platform is moved, impacted and rocked, Transport Safety is effectively increased；

4) the storage locking device structure is simple, and fixed and release is convenient, and uses dismountable screw rod two and step Axis two is dismantled after work jibs stretching, extension, can reduce the weight of air-robot, reduces energy consumption；Again by it when needing to store Installation carries out storage locking.

Detailed description of the invention

Fig. 1 is the air-robot structural schematic diagram using the utility model；

Fig. 2 is damping device structure schematic diagram；

Fig. 3 is folding joint structural schematic diagram (stretching, extension lock state)；

Fig. 4 is folding joint structural schematic diagram (storage lock state)；

Fig. 5 is Saving cortilage structural schematic diagram.

In figure, 1-rotor, 2-rotor motors, 3-platform supports, 4-bodies, 5-battery packs, 6-are longitudinally propelling Device, 7-shrouded propellers, 8-vibration absorbers, 9-postbrachiums, 10-folding joints, 11-forearms, 12-Saving cortilages, 13- Tool bar, 14-cutter motors, 15-operation cutters, 16-connectors, 17-cameras, 19-mechanical arms, 20-work jibs；

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

1001-preceding connecting levers, 1002-rear connecting levers, 1003-articulated shafts, 1004-Step Shafts one, 1005-lock nuts One, 1006-screw rods one, 1007-lock nuts one, 1008-Step Shafts two, 1009-lock nuts two, 1010-screw rods Two, 1011-lock nuts two；

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

Specific embodiment

In the following, the utility model is described further in conjunction with attached drawing and specific embodiment.

Embodiment 1: as Figure 3-Figure 4, a kind of folding joint structure for screen of trees cleaning air-robot, the folding Joint 10 includes the preceding connecting lever 1001 that 11 rear end of forearm is arranged in, the rear connecting lever 1002 that 9 front end of postbrachium is arranged in and stretching, extension locking Device, preceding connecting lever 1001 is hinged by articulated shaft 1003 with rear connecting lever 1002, and when folding joint 10 is stretched using stretching, extension lock Determine device locking.

Preferably, above-mentioned stretching, extension locking device includes being connected in 9 front end of postbrachium and the Step Shaft one coaxial with postbrachium 9 1004, it is connected in 11 rear end of forearm and the screw rod one 1006 coaxial with forearm 11 and the locking spiral shell being socketed on Step Shaft 1 Mother 1, the inner hole rear end of lock nut 1 are equipped with convex step, and the front end of Step Shaft 1 is equipped with and prevents from locking The evagination step that nut 1 falls off, lock nut 1 can be by the docking coaxial with screw rod 1 of Step Shaft 1 simultaneously Locking.

Preferably, above-mentioned Step Shaft 1 is connected to postbrachium 9 by threaded portion and is locked using lock nut 1 Tightly.

The stretching, extension locking device can realize telescopic of the Step Shaft 1 with respect to postbrachium 9, be convenient for Step Shaft one 1004 with screw rod 1 against close；After being locked using lock nut 1, the connection of device is more reliable, can effectively avoid Lock release caused by vibrating；Step Shaft 1 carries out length locking by lock nut 1, easy to operate.This Outside, it when stretching, extension locking, (is defaulted to same by adjusting the adjustable in length forearm 11 of Step Shaft 1 and the concentricity of postbrachium 9 Axis).

Preferably, above-mentioned preceding connecting lever 1001 passes through storage locking device lock when folding joint 10 is stored with rear connecting lever 1002 It is fixed.

Preferably, above-mentioned storage locking device includes being connected in 9 bottom of postbrachium and the Step Shaft two vertical with postbrachium 9 1008, it is connected in 11 bottom of forearm and the screw rod two 1010 vertical with forearm 11 and the locking spiral shell being socketed on Step Shaft 2 1008 Mother 2 1009, the inner hole rear end of lock nut 2 1009 are equipped with convex step, and the front end of Step Shaft 2 1008 is equipped with and prevents from locking The evagination step that nut 2 1009 falls off, lock nut 2 1009 can be by the docking coaxial with screw rod 2 1010 of Step Shaft 2 1008 simultaneously Locking.

Preferably, above-mentioned Step Shaft 2 1008 is connected by dismountable thread connecting mode respectively with screw rod 2 1010 To postbrachium 9 and forearm 11.Therefore, when folding joint 10 stretches, Step Shaft 2 1008 and screw rod 2 1010 can be disassembled, with Mitigate weight and reduces energy consumption.

Preferably, the threaded portion of above-mentioned Step Shaft 2 1008 is locked after being connected to postbrachium 9 using lock nut 2 1011.

The storage locking device can realize telescopic of the Step Shaft 2 1008 with respect to postbrachium 9, be convenient for Step Shaft two 1008 with screw rod 2 1010 against close；After being locked using lock nut 2 1009, the connection of device is more reliable, can effectively avoid Lock release caused by vibrating；Step Shaft 2 1008 carries out length locking by lock nut 2 1011, easy to operate.This Outside, it when folding storage, (is defaulted to flat by adjusting the adjustable in length forearm 11 of Step Shaft 2 1008 and the depth of parallelism of postbrachium 9 Row).

Embodiment 2: as Figure 1-Figure 5, above-mentioned folding joint clears up air-robot for screen of trees, which includes Platform support 3 and operation cutter 15, platform support 3 are symmetrically connected on body 4, and body 4 is located at the central part of platform support 3 , multiple rotor assemblies are connected on platform support 3, installation is provided with front and back thrust power and symmetrical two on body 4 A longitudinal thruster 6, longitudinal thruster 6 be duct configuration, it is built-in can positive and negative rotation to provide the shrouded propeller of positive-reverse thrust 7, the front end of body 4 is connected to operation cutter 15 by work jibs 20, and longitudinal thruster 6 is installed towards 15 direction of operation cutter, Operation cutter 15 is connected with cutter motor 14, and cutter motor 14 is fixedly connected on the front end of work jibs 20；Further include be installed on it is flat It is used for the flight controller of air-robot attitude stabilization and TRAJECTORY CONTROL on platform bracket 3 or body 4, is used for transmission flying quality With the communication module of onboard image, wherein flight controller is similar to existing multi-rotor unmanned aerial vehicle flight controller hardware, packet Include Inertial Measurement Unit (IMU), barometertic altimeter, satellite navigation receiver, flight-control computer.

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

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

Preferably, cutter motor 14 is connected with the cutter controller of its rotation of driving, and cutter controller is built in work jibs 20 or body 4 in, and connect with flight controller；Cutter controller is equipped with motor driven interface, and passes for cutter correlation The style interfaces such as the analog quantity or digital quantity, pulsed quantity, frequency quantity of sensor signal input, the sensor include perception motor electricity Stream, perception cutter revolving speed and the sensor for perceiving tool temperature.

Preferably, above-mentioned mechanical arm 19 uses foldable structure, including forearm interconnected 11 and postbrachium 9；11 He of forearm Postbrachium 9 is polygonal cross-section pipe or round tube.

Preferably, the front end of above-mentioned postbrachium 9 is connected to the rear end of forearm 11 by folding joint 10, and folding joint 10 can be right Work jibs 20 carry out Quick extension locking or folding storage.

Preferably, above-mentioned work jibs 20 are two-stage structure, and are connected as one by Saving cortilage 12；As shown in figure 5, protecting Protect joint 12 have stress buffering with operation dynamics perceptional function, including fixation fork 1201, cross axle 1202, activity fork 1203, Cylindrical sleeve 1204, spring 1205 and screw 1206, fixation fork 1201, activity fork 1203, cylindrical sleeve 1204 are hollow cylindrical, Cross axle 1202 is connect by bearing with the rear portion of the front of fixation fork 1201, activity fork 1203 respectively, is thus constituted with upper Lower rotation (pitching) and the universal joint for rotating left and right (course) freedom degree, the rear portion of fixation fork 1201 and the back segment of work jibs 20 are solid Even, the leading portion of the front of cylindrical sleeve 1204 and work jibs 20 is connected, the rear portion of cylindrical sleeve 1204 can slide axially, can be opposite The form of sleeve for rotating (rolling) is connect with the front of activity fork 1203, and spring 1205 is cylinder, is installed in the form of package The outside of fixation fork 1201, activity fork 1203 and cylindrical sleeve 1204, it is respectively and solid that the both ends of spring 1205 pass through two screws 1206 Fixed fork 1201 and cylindrical sleeve 1204 are connected.Saving cortilage 12 possesses the mechanical damping freedom degree of four direction, can effectively weaken tree Hinder influence of the vibration of reaction force or torque and operation cutter 15 to air-robot flight attitude.

The opposite course angle for rotating left and right (course) amplitude of both perception is equipped between cross axle 1202 and fixation fork 1201 Sensor is spent, the opposite pitch angle for being rotated up and down (pitching) amplitude of both perception is equipped between cross axle 1202 and activity fork 1203 Sensor is spent, the axial position of both perception axial relative movement (axial direction) amplitude is equipped between cylindrical sleeve 1204 and activity fork 1203 The roll angle sensor of both displacement sensor, perception relative rotary motion (rolling) amplitude, therefore Saving cortilage 12 can perceive The screen of trees reaction force or torque of four direction suffered by operation cutter 15, and as tool feeding or exit, air-robot fortune The control input of dynamic fine tuning, making to remove obstacles, it is more accurate to control.Wherein, photoelectric encoder or electricity can be used in above-mentioned each angular transducer Position device, upper displacement sensors can be used slide rheostat or grating scale, the calculating of active force or torque: pass through each displacement sensing Tensible rigidity, bending stiffness and the torsion stiffness of displacement and spring that device and angular transducer measure calculate acquisition respectively A active force (stretch or compress) or torque (pitching moment, course torque, torsional moment).

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

The flight controller be directed to above-mentioned angular transducer and displacement sensor, be equipped with corresponding analog quantity (voltage or Electric current) or the style interfaces such as digital quantity (including bus), pulsed quantity, frequency quantity, PWM is set also directed to rotor assemblies or bus connects Mouthful, for communication module and cutter controller, bus interface is set.The bus includes CAN, RS-485/422/232, Ethernet Or the types such as airborne-bus.

Preferably, the thrust axis of above-mentioned longitudinal thruster 6 is overlapped with the Plane of rotation of operation cutter 15, so that longitudinal push away Feeding thrust forward direction into device 6 is applied on operation cutter 15, and the pitch attitude to air-robot is avoided to generate additional moment, To be conducive to the stabilization and control of air-robot.

Preferably, above-mentioned rotor assemblies include rotor 1 and rotor motor 2 and machine governor, and rotor 1 is fixedly connected On the output shaft of rotor motor 2, rotor motor 2 is fixedly connected on platform support 3, and the rotor 1 of adjacent rotor component turns to On the contrary；Machine governor receives the rotary speed instruction of flight controller, and driving rotor motor 2 rotates according to this；The number of rotor assemblies The even number that amount is >=4.

Following coaxial double-oar mode also can be used in rotor assemblies: rotor 1, rotor motor 2 and motor tune in rotor assemblies Fast device respectively has a pair, and two 2 tail portion of rotor motor is opposite, shaft is outside, the upper and lower coaxial outer end for being installed on platform support 3, and two A rotor 1 is positive and reverse return to pairing, is respectively arranged in the shaft of two rotor motors 2, by adjusting machine governor and rotation The polarity of 2 line of wing motor makes the lift of two rotors 1 of same rotor assemblies be upward.The number of rotor assemblies under which Amount >=3.

Preferably, the lower end of above-mentioned body 4 is provided with vibration absorber 8, and work jibs 20 are connected to machine by vibration absorber 8 The lower end of body 4.As shown in Fig. 2, vibration absorber 8 includes upper plate 801, lower plate 803 and spring-dampers 802, upper plate 801 and machine Body 4 is connected, and the spring-dampers 802 that lower plate 803 is distributed by one or more groups of bilateral symmetries are connected to upper plate 801, postbrachium 9 It is connect with lower plate 803.

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

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

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

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

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

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

1) attitude angle, the angular speed, acceleration, satellite positioning, elevation information of air-robot, combined ground are acquired in real time Telecommand (passes through the wireless connection of flight controller and ground remote control device), calculate the rotary speed instruction of all rotors and export to Above-mentioned rotor assemblies, to realize the stabilization and control of air-robot posture and position；

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

3) pass through screen of trees axial reaction force or pitching, course, rolling suffered by the operation cutter 15 that Saving cortilage 12 perceives The moment of reaction can determine that operation cutter 15 is in overload, even knife once meeting or exceeding scheduled protection thresholding Tool controller and flight controller automatic synchronization enter protected mode: control operation cutter 15 first brakes to be inverted afterwards, is controlled simultaneously Air-robot moves exit operation backward；It, will be as aerial if above-mentioned reaction force or torque are less than scheduled protection thresholding The control input of robot motion's fine tuning, the specific control method is as follows:

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

--- if there is periodically pulsation in current of electric or cutter revolving speed, can determine that operation cutter 15 is had damage.Reason It is, periodic pulsation phenomenon will be presented in defect, the resistance of suffered screen of trees to the operation cutter 15 of working in reciprocating mode if it exists, by This causes the periodically pulsing of current of electric or cutter revolving speed.

It first brakes and inverts afterwards to the output of cutter motor 14 quickly through cutter controller once there is any of the above-described situation Instruction exports deboost instruction to longitudinal thruster 6, to realize that air-robot protectiveness is kept out of the way, while by described logical Believe that personnel send security alarm information to module to the ground.

Above-mentioned air-robot has the advantages that

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

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

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

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

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

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

7) thrust axis of longitudinal thruster is arranged and is overlapped with the Plane of rotation of operation cutter, so that longitudinal thruster Feeding thrust forward direction is applied on operation cutter, avoids the pitch attitude to air-robot from generating additional moment, thus favorably In the stabilization and control of air-robot；

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

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

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

Example above description is only a specific implementation of the present invention, the protection scope of the utility model not office It is limited to this.Be familiar with the those skilled in the art in the technical scope that the utility model discloses, can easily find variation or Alternative, these should be covered within the scope of the utility model.For this purpose, the protection scope of the utility model should be with Subject to the scope of protection of the claims.

Claims (7)

1. a kind of folding joint structure for screen of trees cleaning air-robot, it is characterised in that: including being arranged in forearm (11) Rear connecting lever (1002) and stretching, extension locking device of the preceding connecting lever (1001), setting of rear end in postbrachium (9) front end, preceding connecting lever (1001) Pass through articulated shaft (1003) hingedly with rear connecting lever (1002), and when folding joint (10) are stretched using stretching, extension locking device lock It is fixed.

2. a kind of folding joint structure for screen of trees cleaning air-robot according to claim 1, it is characterised in that: The stretching, extension locking device include be connected in postbrachium (9) front end and the Step Shaft one (1004) coaxial with postbrachium (9), be connected in front of Arm (11) rear end and the screw rod one (1006) coaxial with forearm (11) and the lock nut one being socketed on Step Shaft one (1004) (1005), the inner hole rear end of lock nut one (1005) is equipped with convex step, and the front end of Step Shaft one (1004) is equipped with and prevents from locking Determine the evagination step that nut one (1005) falls off, lock nut one (1005) can be by Step Shaft one (1004) and screw rod one (1006) Coaxial docking simultaneously locks.

3. a kind of folding joint structure for screen of trees cleaning air-robot according to claim 2, it is characterised in that: Step Shaft one (1004) is connected to postbrachium (9) by threaded portion and is locked using lock nut one (1007).

4. a kind of folding joint structure for screen of trees cleaning air-robot according to claim 1, it is characterised in that: Preceding connecting lever (1001) and rear connecting lever (1002) pass through storage locking device locking when folding joint (10) are stored.

5. a kind of folding joint structure for screen of trees cleaning air-robot according to claim 4, it is characterised in that: The storage locking device include be connected in postbrachium (9) bottom and the Step Shaft two (1008) vertical with postbrachium (9), be connected in front of Arm (11) bottom and the screw rod two (1010) vertical with forearm (11) and the lock nut two being socketed on Step Shaft two (1008) (1009), the inner hole rear end of lock nut two (1009) is equipped with convex step, and the front end of Step Shaft two (1008) is equipped with and prevents from locking Determine the evagination step that nut two (1009) falls off, lock nut two (1009) can be by Step Shaft two (1008) and screw rod two (1010) Coaxial docking simultaneously locks.

6. a kind of folding joint structure for screen of trees cleaning air-robot according to claim 5, it is characterised in that: Step Shaft two (1008) and screw rod two (1010) are connected to postbrachium (9) and forearm by dismountable thread connecting mode respectively (11)。

7. a kind of folding joint structure for screen of trees cleaning air-robot according to claim 6, it is characterised in that: The threaded portion of Step Shaft two (1008) is connected to postbrachium (9) and is locked afterwards using lock nut two (1011).