A tree pruning flying robot with a suspended reciprocating saw

Abstract

The present invention discloses a tree pruning flying robot with a suspended reciprocating saw, comprising a flying platform, a hanging mechanism connected to the bottom of the flying platform, and a reciprocating saw system connected to the bottom of the hanging mechanism; the hanging mechanism comprises L (L≥2) vertical rods arranged symmetrically, and a transverse reinforcing beam is provided between adjacent vertical rods; the reciprocating saw system comprises a tool motor, a reciprocating mechanism driven by the tool motor, a movable saw blade driven by the reciprocating mechanism to reciprocate, and a tool controller driving the tool motor; a decoupling device that can connect or separate the two is provided between the hanging mechanism and the reciprocating saw system or between the flying platform and the hanging mechanism. The tree pruning flying robot disclosed by the present invention is suitable for realizing large-scale and high-efficiency pruning of trees in gardens, orchards, roadways, power transmission line channels, etc., and meets the requirements of high safety, low risk, high efficiency, and easy use in tree pruning operations.

Description

Technical Field

[0001] The invention relates to a tree pruning flying robot with a suspended reciprocating saw, in particular to a flying robot suitable for rapidly pruning trees in a large area, and belongs to the technical field of tree pruning devices. Background Art

[0002] At present, there are three main ways to prune or clean trees (especially at high places) in gardens, orchards, roadways, power transmission line channels, etc.: 1) Manual pruning operations generally use special or specially made extended pruning tools, which have high safety risks and low operating efficiency; 2) Branch pruning operations based on ground automatic equipment are difficult to quickly prune high-altitude trees due to severe restrictions on the terrain environment and tree growth trends; 3) Tree pruning technology based on drones has shortcomings such as weak ability to resist tree interference, small single pruning range, and low operating efficiency.

[0003] Therefore, there is an urgent need to develop a flying robot that can automatically prune trees on a large scale in gardens, orchards, driveways and power transmission line channels. The reciprocating saw system it carries should have a large single pruning range, while avoiding the influence of cutting force on the posture of the flying robot itself, and have safety protection measures such as anti-jamming. Summary of the invention

[0004] The technical problem solved by the present invention is: to provide a tree pruning flying robot with a suspended reciprocating saw, which can achieve large-scale and high-efficiency pruning of trees in gardens, orchards, roadways, power transmission line channels, etc. by mounting a reciprocating saw system on a rotorcraft, thereby meeting the requirements of high safety, high efficiency and ease of use for tree pruning operations.

[0005] The technical solution of the present invention is: a tree pruning flying robot with a suspended reciprocating saw, comprising a flying platform, a hanging mechanism connected to the bottom of the flying platform and a reciprocating saw system connected to the bottom of the hanging mechanism; the hanging mechanism is a connecting rod of fixed length, or a telescopic hanging mechanism of variable length, comprising L (L≥2) vertical rods arranged symmetrically on the left and right, and a transverse reinforcing beam is provided between adjacent vertical rods; the reciprocating saw system comprises a tool holder connected to the hanging mechanism, a tool motor fixedly connected to the tool holder, a reciprocating mechanism driven by the tool motor, a movable saw blade driven to reciprocate by the reciprocating mechanism, and a tool controller driving the tool motor.

[0006] Preferably, a decoupling device is provided between the suspension mechanism and the reciprocating saw system or between the flying platform and the suspension mechanism, which can connect or separate the two.

[0007] Preferably, a pitch joint is provided between the suspension mechanism and the flying platform to enable the two to have relative pitch motion freedom.

[0008] Preferably, the above-mentioned suspension mechanism is a cable-type telescopic suspension mechanism, which is characterized in that: the vertical rod comprises H (H≥2) sections of continuously nested hollow tubes, numbered 1, 2, …, H from top to bottom. The upper end of the i-th (1≤i<H) section of hollow tube is provided with an upper limit stopper for restricting the overshoot of the movement of the (i + 1)-th section of hollow tube when it contracts upward, and the lower end is provided with a lower limit stopper for restricting the detachment of the movement of the (i + 1)-th section of hollow tube when it extends downward; the upper limit stopper of the first section of hollow tube is provided with a flange connected to the flight platform, the upper end of the H-th section of hollow tube is provided with an upper limit stopper, and the lower end is connected to the reciprocating saw system. The upper limit stopper of the H-th section of hollow tube is connected to a wire reel installed on the flight platform through a cable; the transverse strengthening beam is connected to the lower ends of the same section of hollow tubes of adjacent vertical rods.

[0009] Preferably, the above-mentioned suspension mechanism is a pulley-type telescopic suspension mechanism, which is characterized in that: the vertical rod comprises H (H≥3) sections of continuously nested hollow tubes, numbered 1, 2, …, H from top to bottom. The upper end of the i-th (1≤i<H) section of hollow tube is provided with an upper limit stopper for restricting the overshoot of the movement of the (i + 1)-th section of hollow tube when it contracts upward, and the lower end is provided with a lower limit stopper for restricting the detachment of the movement of the (i + 1)-th section of hollow tube when it extends downward; the upper limit stopper of the first section of hollow tube is provided with a flange connected to the flight platform, the upper end of the H-th section of hollow tube is provided with an upper limit stopper, and the lower end is connected to the reciprocating saw system. The upper limit stopper of the second section of hollow tube is connected to a wire reel installed on the flight platform through a cable; the vertical rod further comprises a movable pulley whose axis of rotation is horizontally fixed to the upper limit stopper of the j-th (2≤j<H) section of hollow tube and whose rotation plane passes through the vertical axis of the hollow tube, and a pulley cable that is wound around the upper side of the movable pulley and whose one end is fixedly connected to the lower limit stopper of the (j - 1)-th section of hollow tube and the other end is fixedly connected to the upper limit stopper of the (j + 1)-th section of hollow tube; the transverse strengthening beam is connected to the lower ends of the same section of hollow tubes of adjacent vertical rods.

[0010] Preferably, the above-mentioned vertical rod is an electric push rod with a linear telescopic movement function.

[0011] Preferably, the above-mentioned wire reel comprises a wire-reeling motor, a wire-reeling disc for reeling the cable, a rotary fork driven by the wire-reeling motor through a transmission gear, an upper travel switch for sensing that the suspension mechanism has risen to the limit position, and a lower travel switch for sensing that the suspension mechanism has descended to the limit position. The output signal lines of the upper travel switch and the lower travel switch and the control signal line of the wire-reeling motor are all connected to the main controller of the flight platform; a driving and self-locking relationship similar to that of a "worm - worm gear" is formed between the wire-reeling motor and the wire-reeling disc.

[0012] Preferably, the reciprocating mechanism comprises an inertia wheel driven to rotate by a tool motor, a connecting rod connected to the edge of the inertia wheel through a bearing, and a guide motion block connected to the other end of the connecting rod through a bearing and movable left and right, wherein the cross section of the guide motion block is wide at the top and narrow at the bottom, and the lower surface of the guide motion block is fixedly connected to a movable saw blade; the inertia wheel, the connecting rod, and the guide motion block constitute a multi-link mechanism, which converts the rotational motion of the tool motor into left and right reciprocating motion of the movable saw blade; a fixed saw blade is fixedly connected to the bottom of the tool holder, and the fixed saw blade is provided with a groove for accommodating the guide motion block for left and right reciprocating motion, and the longitudinal cross-section of the groove is wide at the top and narrow at the bottom, and the guide motion block is embedded therein to form a left and right sliding fit to prevent falling off; the tool controller is connected to the main controller of the flight platform through a communication bus; the tool motor is provided with a current sensor, a speed sensor, and a temperature sensor for sensing the current, speed, and temperature of the tool motor during operation, and the output signals of the current sensor, the speed sensor, and the temperature sensor are respectively connected to the tool controller.

[0013] Preferably, the unhooking device is a mechanical unhooking device or an electromagnetic unhooking device.

[0014] The unhooking device is a mechanical unhooking device, comprising an upper unhooking component and a lower unhooking component that can be mutually hung with the upper unhooking component; the upper unhooking component comprises an upper base, a linear servo fixedly connected to the upper base and with an output rod downward, an upper hook shaft fixedly connected to the upper base, an upper hook in an "L" shape with the upper hook shaft as a rotating shaft, a tension spring installed between the upper base and the ends of the transverse rods of the upper hook and capable of providing a counterclockwise restoring torque for the upper hook, and an upper electrical interface fixedly connected to the upper base, and a bearing is provided at the end of the output rod of the linear servo; the lower unhooking component comprises a lower base, a lower hanging buckle fixedly connected to the lower base and capable of forming an upper and lower hanging connection with the upper hook, and a lower electrical interface fixedly connected to the lower base; the upper electrical interface and the lower electrical interface The mouth forms a plug-in connection for transmitting electrical energy and control signals; the lower end of the upper hook is a right-facing hook, the lower right side of the hook is an oblique angle shape, and the upper left side of the lower hook has an oblique angle shape that is squeezed and pushed with the oblique outer contour of the hook of the upper hook; the lower hook is provided with a square hole that matches the hook of the upper hook, and once the hook of the upper hook is screwed into the square hole, the lower hook can be reliably connected to the upper hook; the lower unhooking assembly also includes an elastic gasket embedded between the lower base and the upper base and forming a close contact with the two; the linear servo is connected to the controller in the flight platform, and after receiving the command of the controller, the linear servo will drive its output rod to extend or contract, so that the upper hook can rotate clockwise or counterclockwise.

[0015] The decoupling device is an electromagnetic decoupling device, including an electromagnet and an armature respectively fixed to the parts connected at both ends of the decoupling device; when the electromagnet is energized, it is attracted to the armature, and the parts connected at both ends of the decoupling device are connected; when the electromagnet is deenergized, the armature is released, and the parts connected at both ends of the decoupling device are separated; the electromagnet is connected to the power supply on the flying robot through a switch. During the obstacle removal operation, when the reciprocating saw system is stuck relative to the branch and cannot be separated, the reciprocating saw system can be separated from the flying robot through the decoupling device, thereby implementing safety protection for the flying robot.

[0016] Preferably, the above-mentioned flight platform is a multi-rotor aircraft with a bilaterally symmetrical layout, and is not limited to any fixed known four, six, eight, etc. multi-rotors.

[0017] Preferably, a tilt motor capable of rotating the rotor relative to the axis of the corresponding rotor arm is provided between any pair of rotors of the multi-rotor aircraft and the respective rotor arms.

[0018] Preferably, the above-mentioned pitch joint includes a pitch joint seat, a pitch joint movable part that can rotate around the rotating axis of the pitch joint seat, and a pair of torsion springs installed on the rotating axis of the pitch joint seat and respectively located between the pitch joint movable part and the pitch joint seat; the two ends of the torsion spring are respectively fixed to the pitch joint seat and the pitch joint movable part.

[0019] Preferably, the above-mentioned flying platform is provided with a forward-looking camera and a downward-looking camera for observing the growth status of trees and the cutting status of the reciprocating saw system at close range.

[0020] The working method and control method of the tree pruning flying robot are as follows:

[0021] A method of operating a tree obstacle clearing flying robot with a suspended reciprocating saw is as follows:

[0022] The flying platform, the suspension mechanism and the reciprocating saw system are connected in sequence from top to bottom to form a flying robot as a whole; when the flying robot flies near the tree to be pruned, the length and the flying height of the suspension mechanism are adjusted first, and the tool system is directed toward the tree to be pruned, and then the flying robot is controlled to fly forward according to the received tree pruning remote control instructions, and the reciprocating saw system is used to cut and prune the tree below the flying robot.

[0023] A control method for a tree obstacle clearing flying robot with a suspended reciprocating saw:

[0024] It includes a control method for a suspension mechanism, a control method for a reciprocating saw system, and a control method for a decoupling device. The specific control methods are as follows:

[0025] 1) The control method of the suspension mechanism using a telescopic structure is as follows: the main controller of the flying platform dynamically changes the length of the pull rope by controlling the start and stop of the wire take-up device and the direction of wire reeling and releasing, thereby adjusting the length of the vertical rod, thereby changing the vertical distance of the reciprocating saw system relative to the flying platform.

[0026] 2) The control method of the reciprocating saw system is:

[0027] A) The tool controller collects the current, speed and temperature of the tool motor in real time and sends them to the main controller of the flight platform for monitoring;

[0028] B) Real-time evaluation of the working status of the reciprocating saw:

[0029] ① Assuming that the current threshold, speed threshold, and temperature threshold corresponding to the overload are known, if the current of the tool motor exceeds the current threshold, or the speed is lower than the speed threshold, or the temperature exceeds the temperature threshold, it can be determined that the reciprocating saw is overloaded;

[0030] ② Assuming that the current threshold, speed threshold, and temperature threshold corresponding to the jamming are known, if the current of the tool motor exceeds the current threshold, or the speed is lower than the speed threshold, or the temperature exceeds the temperature threshold, it can be determined that the reciprocating saw is jammed;

[0031] ③ If the current or speed of the tool motor pulsates periodically and the amplitude exceeds the preset threshold, it can be determined that the reciprocating saw is damaged.

[0032] C) Abnormal handling method of working status:

[0033] ① If it is determined to be overloaded, a hovering command is sent to the flight platform to stop cutting and feeding;

[0034] ② If it is determined to be stuck or damaged, the tool motor will be braked and a retraction command will be sent to the flight platform;

[0035] ③ For jamming, if the reciprocating saw is stuck by a branch and is difficult to break free, the unhooking device is activated to separate the reciprocating saw system from the flying robot, thereby maximizing the protection of the flying robot's safety and avoiding a crash.

[0036] 3) Control method of mechanical unhooking device:

[0037] A) When the unhooking device receives the "unhooking" command from the main controller in the flight platform, the output rod of the linear servo extends, driving the bearing to move downward, and the bearing is squeezed and contacted with the upper plane of the transverse rod of the upper hook, pushing the upper hook to rotate clockwise, so that the hook at the lower end of the upper hook is separated from the lower hook buckle, thereby realizing the mechanical unhooking of the components connected below the unhooking device and the components connected above the unhooking device, and also completing the separation of the electrical interface; after that, the output rod of the linear servo contracts, and the upper hook rotates counterclockwise to reset under the tension of the tension spring;

[0038] B) When hooking, the lower hook moves upward to squeeze the hook of the upper hook to the left, pushing the upper hook to rotate clockwise and retreat. When the lower hook moves upward to the right position, the hook of the upper hook quickly rotates into the square hole of the lower hook, thereby forming a stable and reliable hook between the components connected below the unhooking device and the components connected above the unhooking device, and also completing the connection of the electrical interface.

[0039] Beneficial effects of the present invention: Compared with the prior art, the effects of the present invention are as follows:

[0040] The present invention adopts a flying platform to suspend a reciprocating saw system, which is suitable for "shaving" large-area rapid pruning from the top or side of the tree, with high operating efficiency, avoiding operators from approaching the pruned tree and dangerous equipment around it, and can effectively reduce the operating risk of tree pruning, solving the problems of low cleaning efficiency and high safety risks in the prior art;

[0041] 2) For a flying robot with a suspended reciprocating saw system, the reciprocating saw system is always located below the rotor assembly during operation, which can effectively prevent trees from interfering with the rotor, reduce the risk of crashing, and improve the safety of the flying robot's operation;

[0042] 3) The suspension mechanism has multiple configurations such as fixed and telescopic to meet the diversity of working environments; in particular, the telescopic configuration of the vertical rod can dynamically adjust the distance between the reciprocating saw system and the flying platform, which is more flexible and maneuverable on the one hand, and can effectively reduce the difficulty of take-off and landing of the flying robot on the other hand, making it easy to store and transport;

[0043] 4) The suspension mechanism and reciprocating saw system are located below the flight platform, so that the center of gravity of the flying robot is directly below the flight platform, which improves the stability of the flying robot and reduces the difficulty of controlling the flying robot;

[0044] 5) The suspension mechanism adopts a left-right symmetrical structure, which is fixed to the bottom of the flight platform. At the same time, a transverse reinforcement beam is installed on the vertical rod, which makes the overall rigidity of the flying robot stronger and improves the stability and reliability of the system operation. When the suspension operation device is subjected to external force, compared with the single vertical rod method, it is less likely to cause the reciprocating saw system to twist in the direction of the flight platform, and it is difficult to cause deformation or breakage of the suspension mechanism, thus ensuring the safety of the operation of the flying robot;

[0045] 6) The reciprocating saw is placed horizontally along the length direction, with a large horizontal working width, a large operating range at one time, high cutting efficiency and good applicability;

[0046] 7) The tool motor is equipped with sensors to sense its working current, speed and temperature. The control system analyzes and processes the sensor data and implements protective retreat control on the flying robot, thus ensuring the safety of the flying robot's operation;

[0047] 8) The reciprocating saw system has a variety of shapes and tooth shapes. Combined with the robot's motion planning, it can meet the tree pruning needs under different operating objectives and working environments, which is convenient and reliable;

[0048] 9) When the reciprocating saw system is entangled in branches and leaves and cannot break free, the unhooking device can be manually or automatically activated to quickly "detach" the reciprocating saw system from the suspension mechanism or the suspension mechanism from the flight platform to ensure the safety of the flying robot and reduce the losses caused by the failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 A schematic diagram of a flying robot with a suspended linear reciprocating saw system;

[0050] Figure 2 It is a schematic diagram of the internal structure of the vertical rod of the rope-type suspension mechanism;

[0051] Figure 3 It is a schematic diagram of the extension and contraction state of the vertical rod of the suspension mechanism;

[0052] Figure 4 It is a schematic diagram of the structure of the wire take-up device;

[0053] Figure 5 It is a structural schematic diagram of a reciprocating saw system;

[0054] Figure 6 It is a schematic diagram of the internal structure of a linear reciprocating saw system;

[0055] Figure 7 It is a schematic diagram of the local structure of a linear reciprocating saw system;

[0056] Figure 8 It is a schematic diagram of the reciprocating mechanism of a linear reciprocating saw system;

[0057] Fig. 9 is a side cross-sectional schematic diagram of a linear reciprocating saw system;

[0058] Fig.10 It is a schematic diagram of the separation state of the mechanical unhooking device;

[0059] Fig.11 It is a schematic diagram of the hooking state of the mechanical unhooking device;

[0060] Fig.12 It is a schematic diagram of the internal structure of the vertical rod of the pulley type suspension mechanism;

[0061] Fig.13It is a schematic diagram of the structure of the electromagnetic unhooking device;

[0062] Fig.14 It is a schematic diagram of the tilt-rotor configuration;

[0063] Fig.15 It is a schematic diagram of the pitch joint structure;

[0064] Fig.16 It is a schematic diagram of a circular arc reciprocating saw system;

[0065] Fig.17 Schematic diagram of a flying robot with a suspended arc reciprocating saw system.

[0066] In the figure, 1—flying platform, 2—suspension mechanism, 3—reciprocating saw system, 4—unhooking device, 5—pitch joint;

[0067] 1011—rotor, 1012—rotor arm, 1013—tilt motor;

[0068] 201 - vertical rod, 202 - transverse reinforcing beam;

[0069] 2201—wire take-up device, 2202—pull rope, 2203—hollow tube, 2204—upper limiter, 2205—lower limiter, 2206—movable pulley, 2207—pulley rope, 2208—flange;

[0070] 22011—receiving motor, 22012—receiving reel, 22013—transmission gear, 22014—rotating fork, 22015—upper travel switch, 22016—lower travel switch;

[0071] 301 - tool holder, 302 - tool motor, 303 - inertia wheel, 304 - connecting rod, 305 - guide motion block, 306 - movable saw blade, 307 - fixed saw blade;

[0072] 41—upper unhooking assembly, 4101—upper base, 4102—linear servo, 4103—bearing, 4104—tension spring, 4105—upper hook, 4106—upper hook shaft, 4107—upper electrical interface;

[0073] 42—lower release assembly, 4201—lower base, 4202—lower hook, 4203—lower electrical interface, 4204—elastic gasket;

[0074] 401 - electromagnet, 402 - armature;

[0075] 501—pitch joint seat, 502—pitch joint movable part, 503—torsion spring. DETAILED DESCRIPTION

[0076] Next, the present invention will be further introduced in conjunction with the accompanying drawings and specific embodiments.

[0077] Embodiment 1: As Figures 1 to 11 shown, a tree pruning flying robot with a suspended reciprocating saw includes a flight platform 1, a suspension mechanism 2 connected below the flight platform 1, and a reciprocating saw system 3 connected below the suspension mechanism 2; the suspension mechanism 2 is a connecting rod with a fixed length or a telescopic suspension mechanism with a variable length, including L (L≥2) vertical rods 201 arranged symmetrically left and right, and a transverse strengthening beam 202 is provided between adjacent vertical rods 201; the reciprocating saw system 3 includes a tool holder 301 connected to the suspension mechanism 2, a tool motor 302 fixedly connected to the tool holder 301, a reciprocating mechanism driven by the tool motor 302, a movable saw blade 306 driven by the reciprocating mechanism to perform reciprocating motion, and a tool controller for driving the tool motor 302.

[0078] Preferably, a decoupling device 4 for hooking or separating the two is provided between the suspension mechanism 2 and the reciprocating saw system 3 or between the flight platform 1 and the suspension mechanism 2.

[0079] Preferably, the suspension mechanism 2 is a cable-driven telescopic suspension mechanism structure: the vertical rod 201 includes H (H≥2) sections of continuously nested hollow tubes 2203, numbered 1, 2,..., H from top to bottom in sequence. An upper limit stopper 2204 for restricting the overshoot of the upward contraction of the (i + 1)-th section of the hollow tube 2203 is provided at the upper end of the i-th (1≤i<H) section of the hollow tube 2203, and a lower limit stopper 2205 for restricting the movement and detachment of the (i + 1)-th section of the hollow tube 2203 during downward extension is provided at the lower end; a flange 2208 connected to the flight platform 1 is provided on the upper limit stopper 2204 of the first section of the hollow tube 2203, an upper limit stopper 2204 is provided at the upper end of the H-th section of the hollow tube 2203, and the lower end is connected to the reciprocating saw system 3; the upper limit stopper 2204 of the H-th section of the hollow tube 2203 is connected to a wire reel 2201 installed on the flight platform 1 through a pull rope 2202; the transverse strengthening beam 202 is connected to the lower ends of the same section of the hollow tubes 2203 of adjacent vertical rods 201.

[0080] If the wire reel 2201 winds up the pull rope 2202, the upper limit stopper 2204 of the H-th section of the hollow tube 2203 is pulled upward. When the upper limit stopper 2204 moves upward and contacts the upper limit stopper 2204 of the (H - 1)-th section of the hollow tube 2203, it will drive the (H - 1)-th section of the hollow tube 2203 to move upward. By analogy, the H - 2 sections of continuously nested hollow tubes 2203 move upward in sequence, and the vertical rod 201 contracts; if the wire reel 2201 releases the pull rope 2202, the H - 2 sections of the hollow tubes 2203 move downward in sequence under the action of gravity and the limit of the lower limit stoppers 2205 of each section of the hollow tubes 2203, so that the vertical rod 201 extends.

[0081] Preferably, the above-mentioned wire take-up device 2201 includes a wire take-up motor 22011, a wire take-up drum 22012 for winding up the pull rope 2202, a rotating fork 22014 driven to rotate by the wire take-up motor 22011 via a transmission gear 22013, an upper travel switch 22015 for sensing that the suspension mechanism 2 has risen to the limit position, and a lower travel switch 22016 for sensing that the suspension mechanism 2 has fallen to the limit position. The output signal lines of the upper travel switch 22015 and the lower travel switch 22016 and the control signal line of the wire take-up motor 22011 are all connected to the main controller of the flight platform 1; a driving and self-locking relationship similar to that of a "worm-worm gear" is formed between the wire take-up motor 22011 and the wire take-up drum 22012.

[0082] Preferably, the reciprocating mechanism comprises an inertia wheel 303 driven to rotate by a tool motor 302, a connecting rod 304 connected to the edge of the inertia wheel 303 through a bearing, and a guide motion block 305 connected to the other end of the connecting rod 304 through a bearing and movable left and right, wherein the cross section of the guide motion block 305 is wide at the top and narrow at the bottom, and a movable saw blade 306 is fixedly connected to its lower surface; the inertia wheel 303, the connecting rod 304, and the guide motion block 305 constitute a multi-link mechanism, which converts the rotational motion of the tool motor 302 into the left and right reciprocating motion of the movable saw blade 306; the lower end of the tool holder 301 is connected to the lower end of the tool holder 301, and the lower end of the tool holder 301 is connected to the lower end of the tool holder 301. The fixed saw blade 307 is fixedly connected to the tool motor 302, and the fixed saw blade 307 is provided with a groove for accommodating the guide motion block 305 to make left and right reciprocating motion. The profile of the longitudinal section of the groove is wide at the top and narrow at the bottom, and the guide motion block 305 is embedded in it to form a left and right sliding fit to prevent falling off; the tool controller is connected to the main controller of the flight platform 1 through a communication bus; the tool motor 302 is provided with a current sensor, a speed sensor and a temperature sensor for respectively sensing the current, speed and temperature thereof during operation, and the output signals of the current sensor, the speed sensor and the temperature sensor are respectively connected to the tool controller.

[0083] Preferably, the above-mentioned unhooking device 4 is a mechanical unhooking device, including an upper unhooking component 41 and a lower unhooking component 42 that can be connected to the upper unhooking component 41; the upper unhooking component 41 includes an upper base 4101, a linear servo 4102 fixedly connected to the upper base 4101 and with an output rod downward, an upper hook shaft 4106 fixedly connected to the upper base 4101, an upper hook 4105 with the upper hook shaft 4106 as a rotating shaft and in an "L" shape, and a lower hook installed on the upper base 4101 and the upper hook. The lower unhooking assembly 42 comprises a tension spring 4104 between the ends of the transverse rods of the upper hook 4105 and capable of providing a counterclockwise restoring torque for the upper hook 4105, and an upper electrical interface 4107 fixedly connected to the upper base 4101, and a bearing 4103 is provided at the end of the output rod of the linear servo 4102; the lower unhooking assembly 42 comprises a lower base 4201, a lower hook 4202 fixedly connected to the lower base 4201 and capable of forming an upper and lower hanging connection with the upper hook 4105, and a lower electrical interface 4107 fixedly connected to the lower base 4201. 203; the upper electrical interface 4107 and the lower electrical interface 4203 form a plug connection for transmitting electrical energy and control signals; the lower end of the upper hook 4105 is a rightward curved hook, the lower right side of the curved hook is an oblique shape, and the upper left side of the lower hook 4202 has an oblique shape that is squeezed and pushed with the outer contour of the curved hook of the upper hook 4105; the lower hook 4202 is provided with a square hole that matches the curved hook of the upper hook 4105. Once the curved hook of the upper hook 4105 is screwed into the square hole, the lower hook 4202 is provided with a square hole that matches the curved hook of the upper hook 4105. The hole can make the lower hook 4202 and the upper hook 4105 form a reliable connection; the lower unhooking component 42 also includes an elastic gasket 4204 embedded between the lower base 4201 and the upper base 4101, and forming a close contact with the two; the linear servo 4102 is connected to the main controller in the flight platform 1. After receiving the command of the main controller, the linear servo 4102 will drive its output rod to extend or contract, thereby driving the upper hook 4105 to rotate clockwise or counterclockwise.

[0084] Preferably, the flight platform 1 is a multi-rotor aircraft with a bilaterally symmetrical layout, and is not limited to any fixed known four, six, eight, etc. multi-rotors.

[0085] Preferably, the flying platform 1 is provided with a forward-looking camera and a downward-looking camera for observing the growth status of trees and the cutting status of the reciprocating saw system 3 at close range.

[0086] The working method and control method of the tree pruning flying robot with a suspended reciprocating saw system of the present invention are as follows:

[0087] A method of operating a tree obstacle clearing flying robot with a suspended reciprocating saw is as follows:

[0088] The flying platform 1, the suspension mechanism 2 and the reciprocating saw system 3 are connected in sequence from top to bottom to form a flying robot as a whole; when the flying robot flies to the vicinity of the tree to be pruned, the length and the flying height of the suspension mechanism 2 are first adjusted, and the reciprocating saw system 3 is directed toward the tree to be pruned, and then the flying robot is controlled to fly forward according to the received tree pruning remote control instructions, and the reciprocating saw system 3 is used to cut and prune the tree below the robot.

[0089] A control method for a tree obstacle clearing flying robot with a suspended reciprocating saw:

[0090] 1) The control method of the suspension mechanism 2 with a telescopic structure is as follows: the main controller of the flying platform 1 dynamically changes the length of the pull rope 2202 by controlling the start and stop of the wire take-up device 2201 and the direction of wire reeling and releasing, thereby adjusting the length of the vertical rod 201, thereby changing the vertical distance of the reciprocating saw system 3 relative to the flying platform 1.

[0091] 2) The control method of the reciprocating saw system 3 is:

[0092] A) The tool controller collects the current, speed and temperature of the tool motor 302 in real time when it is working, and sends it to the main controller of the flight platform 1 for monitoring;

[0093] B) Real-time evaluation of the working status of the active saw blade 306:

[0094] ① Assuming that the current threshold, speed threshold, and temperature threshold corresponding to the overload are known, if the current of the tool motor 302 exceeds the current threshold, or the speed is lower than the speed threshold, or the temperature exceeds the temperature threshold, it can be determined that the movable saw blade 306 is overloaded;

[0095] ② Assuming that the current threshold, speed threshold, and temperature threshold corresponding to the jamming are known, if the current of the tool motor 302 exceeds the current threshold, or the speed is lower than the speed threshold, or the temperature exceeds the temperature threshold, it can be determined that the movable saw blade 306 is jammed;

[0096] ③ If the current or speed of the tool motor 302 pulsates periodically and the amplitude exceeds a predetermined threshold, it can be determined that the movable saw blade 306 is damaged.

[0097] C) Abnormal handling method of working status:

[0098] ① If it is determined to be overloaded, a hovering command is sent to the flight platform 1 to stop cutting and feeding;

[0099] ② If it is determined to be blocked or damaged, the tool motor 302 is braked and a retreat command is sent to the flying platform 1;

[0100] ③ For jamming, if the movable saw blade 306 is stuck by a branch and is difficult to break free, the unhooking device 4 is activated to separate the reciprocating saw system 3 from the flying robot, thereby protecting the safety of the flying robot to the greatest extent and avoiding a crash.

[0101] 3) Control method of mechanical unhooking device 4:

[0102] A) When the unhooking device 4 receives the "unhooking" command from the main controller in the flight platform 1, the output rod of the linear servo 4102 extends, driving the bearing 4103 to move downward, and the bearing 4103 is pressed and contacted with the upper plane of the transverse rod of the upper hook 4105, pushing the upper hook 4105 to rotate clockwise, so that the bent hook at the lower end of the upper hook 4105 is separated from the lower hook 4202, thereby realizing the mechanical unhooking of the components connected below the unhooking device 4 and the components connected above the unhooking device 4, and also completing the separation of the electrical interface; afterwards, the output rod of the linear servo 4102 contracts, and the upper hook 4105 rotates counterclockwise to reset under the tension of the tension spring 4104;

[0103] B) When hooking, the lower hook 4202 moves upward to squeeze the hook of the upper hook 4105 to the left, pushing the upper hook 4105 to rotate clockwise and retreat. When the lower hook 4202 moves upward to the right position, the hook of the upper hook 4105 quickly screws into the square hole of the lower hook 4202, thereby forming a stable and reliable hooking between the component connected below the unhooking device 4 and the component connected above the unhooking device 4, and also completing the connection of the electrical interface.

[0104] Example 2: Fig.12As shown in the figure, a tree pruning flying robot with a suspended reciprocating saw, the suspension mechanism 2 adopts a pulley type telescopic suspension mechanism: the vertical rod 201 includes H (H≥3) sections of continuously nested hollow tubes 2203, numbered 1, 2, …, H from top to bottom. The upper end of the i-th (1≤i<H) section of the hollow tube 2203 is provided with an upper limit stopper 2204 to limit the overshoot of the upward contraction of the (i + 1)-th section of the hollow tube 2203, and the lower end is provided with a lower limit stopper 2205 to limit the movement and detachment of the (i + 1)-th section of the hollow tube 2203 when it extends downward; the upper limit stopper 2204 of the first section of the hollow tube 2203 is provided with a flange 2208 connected to the flight platform 1, the upper end of the H-th section of the hollow tube 2203 is provided with an upper limit stopper 2204, and the lower end is connected to the reciprocating saw system 3. The upper limit stopper 2204 of the second section of the hollow tube 2203 is connected to the wire reel 2201 installed on the flight platform 1 through a pull rope 2202; when the number of sections H of the hollow tube 2203 is ≥3, the vertical rod 201 further includes a movable pulley 2206 whose rotating shaft is horizontally fixed to the upper limit stopper 2204 of the j-th (2≤j<H) section of the hollow tube 2203 and whose rotation plane passes through the vertical axis of the hollow tube 2203, and a pulley pull rope 2207 that is wound around the upper side of the movable pulley 2206 and one end of which is fixedly connected to the lower limit stopper 2205 of the (j - 1)-th section of the hollow tube 2203 and the other end of which is fixedly connected to the upper limit stopper 2204 of the (j + 1)-th section of the hollow tube 2203; the transverse strengthening beam 202 is connected to the lower ends of the same section of the hollow tubes 2203 of adjacent vertical rods 201.

[0105] The suspension mechanism 2 rises: the main controller of the flight platform 1 outputs a forward rotation command to the wire reel motor 22011. The wire reel motor 22011 drives the wire reel 22012 to wind up the pull rope 2202 and makes the rotary fork 22014 rotate forward. The rising of the pull rope 2202 drives the second section of the hollow tube 2203 of the vertical rod 201 to move upward, and the movable pulley 2206 on this section of the hollow tube 2203 also moves upward, prompting the pulley pull rope 2207 that bypasses the movable pulley 2206 to drive the third section of the hollow tube 2203 to move upward synchronously. By analogy, it always drives the N-th section of the hollow tube 2203 to move upward synchronously; when all the vertical rods 201 act synchronously according to the above method, the suspension mechanism 2 will rise stably; when the suspension mechanism 2 rises to the limit position, the rotary fork 22014 triggers the upper travel switch 22015, and the main controller of the flight platform 1 outputs a stop command to the wire reel motor 22011 to stop the wire reel motor 22011, thereby implementing upward protection for the suspension mechanism 2.

[0106] The suspension mechanism 2 descends: the main controller of the flight platform 1 outputs a reverse command to the wire-receiving motor 22011, and the wire-receiving motor 22011 drives the wire-receiving reel 22012 to release the pull rope 2202 and make the rotating fork 22014 rotate in the opposite direction. Under the action of the movable hollow tube 2203 of the vertical rod 201 and the gravity of the load below, the second section of the hollow tube 2203 moves downward, and the movable pulley 2206 on the section of the hollow tube 2203 moves downward, prompting the pulley rope 2207 that bypasses the movable pulley 2206 to move downward. The third section of the hollow tube 2203 is also driven to move downward synchronously, and so on, until the Nth section of the hollow tube 2203 is driven to move downward synchronously; when all the vertical rods 201 are synchronously moved according to the above method, the suspension mechanism 2 will be able to descend stably; when the suspension mechanism 2 descends to the extreme position, the rotating fork 22014 triggers the lower travel switch 22016, and the main controller of the flying platform 1 outputs a stop command to the take-up motor 22011 to stop the take-up motor 22011, thereby implementing descent protection for the suspension mechanism 2.

[0107] Embodiment 3: A tree pruning flying robot with a suspended reciprocating saw, wherein the vertical rod 201 of the suspension mechanism 2 described in Embodiment 1 is an electric push rod with a linear motion function.

[0108] Embodiment 4: A tree pruning flying robot with a suspended reciprocating saw, wherein the unhooking device 4 is electromagnetic, including an electromagnet 401 and an armature 402 respectively fixed to the connecting parts at both ends of the unhooking device 4; the electromagnet 401 is connected to the power supply on the flying robot through a switch.

[0109] like Fig.13 As shown, after the electromagnet 401 is powered on, it is attracted to the armature 402, and the reciprocating saw system 3 is hung below the suspension mechanism 2; after the electromagnet 401 is powered off, the armature 402 is released, and the reciprocating saw system 3 is separated from the suspension mechanism 2. During the obstacle removal operation, when the reciprocating saw system 3 is stuck relative to the tree branch and cannot be separated, the reciprocating saw system 3 can be separated from the flying robot through the unhooking device 4, thereby implementing safety protection for the flying robot.

[0110] Example 5: Fig.14 As shown, a tree pruning flying robot with a suspended reciprocating saw is provided between any pair of rotors 1011 of the multi-rotor aircraft and their respective rotor arms 1012, and a tilt motor 1013 is provided to rotate the rotors 1011 relative to the axis of the corresponding rotor arms 1012, thereby realizing tilting of the rotors.

[0111] Based on the tilt-rotor, the flight platform 1 can generate a large heading moment to overcome the unbalanced reaction moment of the tree on the reciprocating saw system 3, and may achieve horizontal flight without changing the attitude.

[0112] Example 6: Fig.15As shown, a tree pruning flying robot with a suspended reciprocating saw is provided with a pitch joint 5 between the suspension mechanism 2 and the flying platform 1, which enables the two to have relative pitch motion freedom.

[0113] Preferably, the pitch joint 5 includes a pitch joint seat 501, a pitch joint movable part 502 that can rotate around the rotating axis of the pitch joint seat 501, and a pair of torsion springs 503 installed on the rotating axis of the pitch joint seat 501 and respectively located between the pitch joint movable part 502 and the pitch joint seat 501; the two ends of the torsion spring 503 are respectively fixed to the pitch joint seat 501 and the pitch joint movable part 502.

[0114] Example 7: Fig.16 and Fig.17 As shown, a tree pruning flying robot with a suspended reciprocating saw, the reciprocating saw system 3 is an arc-shaped reciprocating saw system, which can be used to prune trees into various shapes in accordance with the motion trajectory of the flying robot, for example:

[0115] 1) If the flying robot moves horizontally and linearly, the trees can be trimmed into an arc shape;

[0116] 2) If the flying robot rotates at a fixed point, the tree can be trimmed into a hemispherical appearance;

[0117] 3) If the flying robot moves horizontally and rotates, it can prune the trees into a spiral arc shape;

[0118] 4) If the flying robot moves horizontally, vertically, and rotationally, the trees can be pruned into more complex shapes.

[0119] Embodiment 8: A tree pruning flying robot with a suspended reciprocating saw. When the fixed saw blade of the reciprocating saw system 3 has no saw teeth, a reciprocating saw system based on a single-layer saw blade is obtained.

[0120] The above is only an example of a specific embodiment of the present invention, and the protection scope of the present invention is not limited thereto. A person skilled in the art can easily find variations or replacements within the technical scope disclosed in the present invention, and these should all be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A tree pruning flying robot with a suspended reciprocating saw, characterized in that: The invention comprises a flying platform (1), a suspension mechanism (2) connected to the bottom of the flying platform (1), and a reciprocating saw system (3) connected to the bottom of the suspension mechanism (2); the suspension mechanism (2) is a connecting rod of fixed length or a telescopic suspension mechanism of variable length, comprising L vertical rods (201) arranged symmetrically on the left and right, L≥2, and a transverse reinforcing beam (202) is provided between adjacent vertical rods (201); the reciprocating saw system (3) comprises a tool holder (301) connected to the suspension mechanism (2), a tool motor (302) fixedly connected to the tool holder (301), a reciprocating mechanism driven by the tool motor (302), a movable saw blade (306) driven to reciprocate by the reciprocating mechanism, and a tool controller driving the tool motor (302); Between the suspension mechanism (2) and the reciprocating saw system (3), or between the flying platform (1) and the suspension mechanism (2), there is a decoupling device (4) for connecting or disconnecting the two. The above-mentioned unhooking device (4) is a mechanical unhooking device, comprising an upper unhooking component (41) and a lower unhooking component (42) that can be connected to the upper unhooking component (41); the upper unhooking component (41) comprises an upper base (4101), a linear servo (4102) fixedly connected to the upper base (4101) and with an output rod pointing downward, an upper hook shaft (4106) fixedly connected to the upper base (4101), an upper hook (4105) in an "L" shape with the upper hook shaft (4106) as a rotating shaft, and a lower hook (4106) installed between the upper base (4101) and the upper hook. The lower unhooking component (42) comprises a lower base (4201), a lower hook (4202) which is fixed to the lower base (4201) and can form an upper and lower hanging connection with the upper hook (4105), and an upper electrical interface (4107) which is fixedly connected to the upper base (4101). The end of the output rod of the linear servo (4102) is provided with a bearing (4103); the lower unhooking component (42) comprises a lower base (4201), a lower hook (4202) which is fixedly connected to the lower base (4201) and can form an upper and lower hanging connection with the upper hook (4105), and a lower The electrical interface (4203) is provided with an upper electrical interface (4107) and a lower electrical interface (4203) which are connected in a plug-in manner to transmit electrical energy and control signals. The lower end of the upper hook (4105) is a rightward curved hook, and the lower right side of the curved hook is in an oblique shape. The upper left side of the lower hook (4202) has an oblique shape that is squeezed and pushed to match the outer contour of the curved hook of the upper hook (4105). The lower hook (4202) is provided with a square hole that matches the curved hook of the upper hook (4105). Once the curved hook of the upper hook (4105) is screwed in, The square hole can enable the lower hook (4202) to be reliably connected to the upper hook (4105); the lower hook-off assembly (42) further comprises an elastic gasket (4204) embedded between the lower base (4201) and the upper base (4101) and forming a close contact with the two; the linear servo (4102) is connected to a main controller in the flight platform (1); after receiving an instruction from the main controller, the linear servo (4102) drives its output rod to extend or contract, thereby driving the upper hook (4105) to rotate clockwise or counterclockwise.

2. A tree pruning flying robot with a suspended reciprocating saw according to claim 1, characterized in that: The above-mentioned suspension mechanism (2) is a cable-pulling type telescopic suspension mechanism: the vertical rod (201) includes H sections of continuously nested hollow tubes (2203), where H≥2, and the serial numbers from top to bottom are 1, 2, …, H. The upper end of the i-th section of the hollow tube (2203) is provided with an upper limit stop (2204) for restricting the overshoot of the movement of the (i + 1)-th section of the hollow tube (2203) when it contracts upward, 1≤i<H, and the lower end is provided with a lower limit stop (2205) for restricting the movement dropout of the (i + 1)-th section of the hollow tube (2203) when it extends downward; the upper limit stop (2204) of the first section of the hollow tube (2203) is provided with a flange (2208) connected to the flight platform (1), the upper end of the H-th section of the hollow tube (2203) is provided with an upper limit stop (2204), and the lower end is connected to the reciprocating saw system (3). The upper limit stop (2204) of the H-th section of the hollow tube (2203) is connected to the wire reel (2201) installed on the flight platform (1) through a cable (2202); the transverse strengthening beam (202) is connected to the lower ends of the same-section hollow tubes (2203) of adjacent vertical rods (201).

3. The tree pruning flying robot with a suspended reciprocating saw according to claim 1, characterized in that: The above-mentioned suspension mechanism (2) is a pulley type telescopic suspension mechanism: the vertical rod (201) includes H sections of continuously nested hollow tubes (2203), where H≥3, and the serial numbers from top to bottom are 1, 2, …, H. The upper end of the i-th section of the hollow tube (2203) is provided with an upper limit stop (2204) for restricting the overshoot of the movement of the (i + 1)-th section of the hollow tube (2203) when it contracts upward, 1≤i<H, and the lower end is provided with a lower limit stop (2205) for restricting the movement dropout of the (i + 1)-th section of the hollow tube (2203) when it extends downward; the upper limit stop (2204) of the first section of the hollow tube (2203) is provided with a flange (2208) connected to the flight platform (1), the upper end of the H-th section of the hollow tube (2203) is provided with an upper limit stop (2204), and the lower end is connected to the reciprocating saw system (3). The upper limit stop (2204) of the second section of the hollow tube (2203) is connected to the wire reel (2201) installed on the flight platform (1) through a cable (2202); the vertical rod (201) further includes a movable pulley (2206) with a horizontal rotation axis fixed to the upper limit stop (2204) of the j-th section of the hollow tube (2203) and a rotation plane passing through the vertical axis of the hollow tube (2203), and a pulley cable (2207) that is wound around the upper side of the movable pulley (2206) and has one end fixedly connected to the lower limit stop (2205) of the (j - 1)-th section of the hollow tube (2203) and the other end fixedly connected to the upper limit stop (2204) of the (j + 1)-th section of the hollow tube (2203), 2≤j<H; the transverse strengthening beam (202) is connected to the lower ends of the same-section hollow tubes (2203) of adjacent vertical rods (201).

4. The tree pruning flying robot with a suspended reciprocating saw according to claim 1, characterized in that: The reciprocating mechanism comprises an inertia wheel (303) driven to rotate by a tool motor (302), a connecting rod (304) connected to the edge of the inertia wheel (303) via a bearing, and a guide motion block (305) connected to the other end of the connecting rod (304) via a bearing and movable left and right. The cross section of the guide motion block (305) is wide at the top and narrow at the bottom, and a movable saw blade (306) is fixedly connected to its lower surface. The inertia wheel (303), the connecting rod (304), and the guide motion block (305) constitute a multi-link mechanism, which converts the rotational motion of the tool motor (302) into the left and right reciprocating motion of the movable saw blade (306). The tool holder A fixed saw blade (307) is fixedly connected to the lower part of (301), and the fixed saw blade (307) is provided with a groove for accommodating the guide motion block (305) to reciprocate left and right. The longitudinal cross-section of the groove is wide at the top and narrow at the bottom, and the guide motion block (305) is embedded therein to form a left and right sliding fit to prevent falling off; the tool controller is connected to the main controller of the flight platform (1) via a communication bus; the tool motor (302) is provided with a current sensor, a speed sensor and a temperature sensor for respectively sensing the current, speed and temperature of the tool motor during operation, and the output signals of the current sensor, the speed sensor and the temperature sensor are respectively connected to the tool controller.

5. The tree pruning flying robot with a suspended reciprocating saw according to claim 1, characterized in that: The flight platform (1) is a multi-rotor aircraft with a bilaterally symmetrical layout.

6. A tree pruning flying robot with a suspended reciprocating saw according to claim 5, characterized in that: A tilt motor (1013) is provided between any pair of rotors (1011) of the multi-rotor aircraft and their respective rotor arms (1012), which can rotate the rotors (1011) relative to the axis of the corresponding rotor arms (1012).

7. A method for operating and controlling a tree pruning flying robot with a suspended reciprocating saw according to claim 1, characterized in that: The working method of the tree obstacle clearing flying robot with a suspended reciprocating saw is as follows: The flying platform (1), the suspension mechanism (2) and the reciprocating saw system (3) are sequentially connected from top to bottom to form a flying robot as a whole; when the flying robot flies to the vicinity of a tree to be pruned, the length and the flying height of the suspension mechanism (2) are first adjusted, and the reciprocating saw system (3) is directed toward the tree to be pruned; then, according to a received tree pruning remote control instruction, the flying robot is controlled to fly forward, and the reciprocating saw system (3) is used to cut and prune the tree below the flying robot; Control method of a tree obstacle clearing flying robot with a suspended reciprocating saw: The invention comprises a control method of a suspension mechanism (2), a control method of a reciprocating saw system (3) and a control method of a decoupling device (4), wherein the specific control method is as follows: 1) A control method for a suspension mechanism (2) with a telescopic structure is as follows: a main controller of a flying platform (1) dynamically changes the length of a pull rope (2202) by controlling the start and stop of a wire take-up device (2201) and the direction of wire reeling and unreeling, thereby adjusting the length of a vertical rod (201), thereby changing the vertical distance of a reciprocating saw system (3) relative to the flying platform (1); 2) The control method of the reciprocating saw system (3) is: A) the tool controller collects the current, speed and temperature of the tool motor (302) in real time when it is working, and sends it to the main controller of the flight platform (1) for monitoring; B) Real-time evaluation of the working status of the movable saw blade (306): ① Assuming that the current threshold, speed threshold, and temperature threshold corresponding to the overload are known, if the current of the tool motor (302) exceeds the current threshold, or the speed is lower than the speed threshold, or the temperature exceeds the temperature threshold, it can be determined that the movable saw blade (306) is overloaded; ② Assuming that the current threshold, speed threshold, and temperature threshold corresponding to the jamming are known, if the current of the tool motor (302) exceeds the current threshold, or the speed is lower than the speed threshold, or the temperature exceeds the temperature threshold, it can be determined that the movable saw blade (306) is jammed; ③ If the current or speed of the tool motor (302) pulsates periodically and the amplitude exceeds a predetermined threshold, it can be determined that the movable saw blade (306) is damaged; C) Abnormal handling method of working status: ① If it is determined to be overloaded, a hovering command is sent to the flight platform (1) to stop cutting and feeding; ② If it is determined to be stuck or damaged, the tool motor (302) is braked and a retraction command is sent to the flying platform (1); ③ For jamming, if the movable saw blade (306) is stuck by a branch and is difficult to break free, the unhooking device (4) is activated to separate the reciprocating saw system (3) from the flying robot, thereby protecting the safety of the flying robot to the greatest extent and avoiding a crash; 3) Control method of mechanical unhooking device (4): A) When the unhooking device (4) receives the "unhooking" command from the main controller in the flight platform (1), the output rod of the linear servo (4102) extends, driving the bearing (4103) to move downward, and the bearing (4103) is pressed and contacted with the upper plane of the transverse rod of the upper hook (4105), pushing the upper hook (4105) to rotate clockwise, so that the bent hook at the lower end of the upper hook (4105) is separated from the lower hook (4202), thereby achieving mechanical unhooking of the components connected below the unhooking device (4) and the components connected above the unhooking device (4), and also completing the separation of the electrical interface; thereafter, the output rod of the linear servo (4102) contracts, and the upper hook (4105) rotates counterclockwise to reset under the tension of the tension spring (4104); B) When hooking, the lower hook (4202) moves upward to squeeze the hook of the upper hook (4105) to the left, pushing the upper hook (4105) to rotate clockwise and retreat. When the lower hook (4202) moves upward to the right position, the hook of the upper hook (4105) quickly rotates into the square hole of the lower hook (4202), thereby forming a stable and reliable hooking between the component connected below the unhooking device (4) and the component connected above the unhooking device (4), and also completing the connection of the electrical interface.

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