A tool unhooking device for a tree obstacle clearing flying robot

Abstract

The present invention discloses a tool decoupling device for a tree obstacle clearing flying robot, which comprises an upper decoupling component fixedly connected to the lower end of a suspension mechanism and a lower decoupling component fixedly connected to the upper side of a tool system; the upper decoupling component includes an upper base, a linear servo fixedly connected to the upper base with an output rod extending downward, an upper hook shaft fixedly connected to the upper base, an upper hook pivoted on the upper hook shaft, a tension spring installed between the upper hook and the upper base and capable of providing a counterclockwise restoring moment 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 decoupling component includes a lower base, a lower hanging buckle fixedly connected to the lower base, and a lower electrical interface fixedly connected to the lower base. When the tree obstacle clearing flying robot is operating, once the tool system is stuck by a tree obstacle and cannot break free, the tree obstacle clearing flying robot can be quickly separated from the tool system through this decoupling device to maximize the safety of the flying robot.

Description

Technical Field

[0001] The present invention relates to a tool interface device for a tree obstacle clearing flying robot, and belongs to the technical field of transmission line tree obstacle clearing devices. Background Art

[0002] Tree obstacles are a safety hazard existing in the transmission line corridors, manifested as the continuous growth of trees in the corridors gradually threatening the operation safety of the transmission lines. Therefore, power departments at all levels have to invest a large amount of manpower, material resources and financial resources every year to clear and rectify the tree obstacles in their jurisdiction. At present, the tree obstacle clearing mainly relies on manual operations, which has the deficiencies of low efficiency and high safety risks. Therefore, there is an urgent need for a flying robot that can efficiently and quickly clear the tree obstacles in the power line corridors and is not easily restricted by the terrain environment. Among them, the tree obstacle clearing flying robot solution based on the rotor UAV platform and mounting a tool array through a suspension mechanism has good stability and maneuverability.

[0003] During the operation of the tool system mounted on the tree obstacle clearing flying robot, there is a situation where it is difficult to break free when caught by tree branches, which is extremely likely to cause safety accidents such as the crash of the tree obstacle clearing flying robot. Therefore, it is necessary to develop a decoupling device with a safety protection function. During normal mounting, the decoupling device should be able to bear the weight of the tool system and the pulling force of the tree obstacles, and transmit electrical energy and control signals to the tool system through the interface, and at the same time, it also has the functions of eliminating mechanical clearance and providing vibration damping; when abnormal decoupling is required, the decoupling device should be able to implement decoupling control on the tool system according to the control instruction, so as to maximize the protection of the safety of the flying robot and avoid accidents such as crashing. Summary of the Invention

[0004] The technical problem solved by the present invention is: to provide a tool decoupling device for a tree obstacle clearing flying robot, so as to solve the safety hazard problem in the prior art that once the tool system is caught by tree branches during operation and it is difficult for the tree obstacle clearing flying robot to break free.

[0005] The technical solution adopted by the present invention is as follows: A tool unhooking device for a tree obstacle clearing flying machine, the upper end of which is connected to the suspension mechanism at the lower end of the flying robot, and a tool system is fixedly connected to the lower end thereof. It includes an upper unhooking component fixedly connected to the lower end of the suspension mechanism and a lower unhooking component fixedly connected to the upper side of the tool system and capable of being hooked with the upper unhooking component; the upper unhooking component includes an upper base fixedly connected to the suspension mechanism, a linear servo motor 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 the rotation axis, a tension spring installed between the ends of the transverse rods of the upper base and the upper hook and capable of providing a counterclockwise restoring moment for the upper hook, and an upper electrical interface fixedly connected to the upper base; the lower unhooking component includes a lower base fixedly connected to the tool system, a lower hook that can be hooked with the upper hook up and down and fixedly connected to the lower base, and a lower electrical interface fixedly connected to the lower base; the upper electrical interface and the lower electrical interface are inserted and connected to each other for transmitting electric energy and control signals.

[0006] Preferably, the lower end of the upper hook is a hook bent to the right, and the lower right side of the hook has an oblique angle shape. The upper left side of the lower hook has an oblique angle shape that is in a squeezing and yielding fit with the oblique angle outer contour of the hook of the upper hook.

[0007] Preferably, the lower hook is provided with a square hole that matches the hook of the upper hook. Once the hook of the upper hook is screwed into the square hole, the lower hook and the upper hook can form a reliable connection.

[0008] Preferably, the lower unhooking component further includes an elastic washer embedded between the lower base and the upper base and in close contact with both of them.

[0009] Preferably, the linear servo motor is connected to the controller in the flying platform. After receiving the instruction from the controller, the linear servo motor will drive its output rod to extend or contract, so that the upper hook rotates clockwise or counterclockwise accordingly.

[0010] Preferably, a bearing is provided at the end of the output rod of the linear servo motor.

[0011] Preferably, the flying robot includes a flying platform, a suspension mechanism, and a tool system arranged from top to bottom. The suspension mechanism is fixedly connected to the lower end of the flying platform, and the tool system is connected to the suspension mechanism through an unhooking device; the flying platform is a single-rotor helicopter or a multi-rotor aircraft with a left-right symmetric layout. The multi-rotor aircraft is not limited to any known multi-rotor configurations such as four, six, or eight rotors; the suspension mechanism includes L (L≥2) vertical rods arranged symmetrically left and right, and a transverse strengthening beam is provided between adjacent vertical rods.

[0012] The working method of a tool unhooking device for a tree obstacle clearing flying robot according to the present invention is as follows:

[0013] 1) When the decoupling device receives the "decoupling" instruction from the controller in the flying platform, the output rod of the linear servo extends, driving the bearing to move downward. The bearing squeezes and contacts the upper plane of the cross bar of the upper hook, pushing the upper hook to rotate clockwise, so that the hook at the lower end of the upper hook disengages from the lower hanging buckle, thus realizing the mechanical decoupling of the tool system 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 and resets under the pulling force of the tension spring.

[0014] 2) When the tool system is hooked up, the upward movement of the lower hanging buckle forms a leftward extrusion on the hook of the upper hook, pushing the upper hook to rotate clockwise and yield. When the lower hanging buckle moves upward in place, the hook of the upper hook quickly rotates into the square hole of the lower hanging buckle, thus forming a stable and reliable hook-up and also completing the connection of the electrical interface. This method can also realize the hook-up of the tool system without power.

[0015] The beneficial effects of the present invention: Compared with the prior art, the effects of the present invention are as follows:

[0016] 1) This decoupling device is installed between the suspension mechanism of the flying robot and the tool system. When the tool system is stuck by branches and cannot be disengaged during operation, the tool can be separated from the tree obstacle clearing flying robot through a control instruction, improving the operation safety of the tree obstacle clearing flying robot.

[0017] 2) The electrical interface between the tool system and the flying robot controller is hidden, reducing the interference of the external environment on the electrical interface, improving the safety of electricity and control, increasing the aesthetics of the appearance and the reliability of the system.

[0018] 3) When decoupling, the output rod of the linear servo extends, and the bearing pushes the cross bar of the upper hook to move downward, causing the upper hook to rotate clockwise. The hook of the upper hook quickly exits the square hole of the lower hanging buckle, and the tool system automatically separates from the flying robot. After that, the output rod of the linear servo contracts, and the upper hook rotates counterclockwise and resets under the pulling force of the tension spring. When hooking up, the upward movement of the lower hanging buckle forms a leftward extrusion on the hook of the upper hook, pushing the upper hook to rotate clockwise. When reaching the limit position, the hook of the upper hook quickly rotates into the square hole of the lower hanging buckle, thus forming a stable and reliable hook-up. This method can realize the hook-up of the tool system without power.

[0019] 4) The elastic washer set between the lower base and the upper base forms a tight contact with the lower base and the upper base, playing a good role in sealing and vibration reduction.

[0020] 5) This decoupling device has a simple structure and is easy to implement, making the hook-up and decoupling of the tool system more convenient and fast. Once the tool system is damaged, it can be quickly replaced to ensure a high operation efficiency.

[0021] 6) This decoupling device separates the suspension mechanism and the tool system into independent modules, facilitating the storage and transportation of the tree obstacle clearing flying robot. Description of the Drawings

[0022] Figure 1 Schematic structural diagram of the decoupling device in the separated state;

[0023] Figure 2 Schematic diagram of the decoupling device in the airborne separated state;

[0024] Figure 3 Schematic diagram of the decoupling device in the airborne engaged state;

[0025] Figure 4 Schematic external view of the decoupling device in the airborne separated state;

[0026] Figure 5 Schematic diagram of the lower hook of the decoupling device;

[0027] Figure 6 Schematic diagram of the overall structure of the tree obstacle clearing flying robot applying this decoupling device.

[0028] In the figure, 1 - flying platform, 2 - suspension mechanism, 3 - tool system, 4 - decoupling device;

[0029] 41 - upper decoupling component, 4101 - upper base, 4102 - linear servo, 4103 - bearing, 4104 - tension spring, 4105 - upper hook, 4106 - upper hook shaft, 4107 - upper electrical interface;

[0030] 42 - lower decoupling component, 4201 - lower base, 4202 - lower hook, 4203 - lower electrical interface, 4204 - elastic washer. Detailed Embodiment

[0031] Next, the present invention will be further introduced in combination with the drawings and specific embodiments.

[0032] Embodiment 1: As Figures 1 to 6As shown in the figure, a tool unhooking device for a tree obstacle clearing flying robot, the upper end of which is connected to the suspension mechanism 2 at the lower end of the flying robot, and a tool system 3 is fixedly connected to the lower end thereof. The tool system 3 includes an upper unhooking component 41 fixedly connected to the lower end of the suspension mechanism 2 and a lower unhooking component 42 fixedly connected to the upper side of the tool system 3 and capable of being hooked with the upper unhooking component 41; the upper unhooking component 41 includes an upper base 4101 fixedly connected to the suspension mechanism 2, 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 the rotation axis and in an "L" shape, a tension spring 4104 installed between the end of the transverse rod of the upper base 4101 and the upper hook 4105 and capable of providing a counterclockwise restoring moment for the upper hook 4105, and an upper electrical interface 4107 fixedly connected to the upper base 4101 for transmitting electric energy and control signals; the lower unhooking component 42 includes a lower base 4201 fixedly connected to the tool system 3, a lower hook 4202 fixedly connected to the lower base 4201 and capable of forming an up-and-down hook connection with the upper hook 4105, and a lower electrical interface 4203 fixedly connected to the lower base 4201; the upper electrical interface 4107 and the lower electrical interface 4203 are in an inserted connection for transmitting electric energy and control signals.

[0033] Preferably, the lower end of the upper hook 4105 is a hook bent to the right, and the lower right side of the hook has an oblique angle shape. The upper left side of the lower hook 4202 has an oblique angle shape that is in an extrusion and yielding fit with the oblique angle outer contour of the hook of the upper hook 4105.

[0034] Preferably, the lower hook 4202 is provided with a square hole for cooperating with the hook of the upper hook 4105. Once the hook of the upper hook 4105 is screwed into the square hole, the lower hook 4202 and the upper hook 4105 can form a reliable hook connection.

[0035] Preferably, the lower unhooking component 42 further includes an elastic washer 4204 embedded between the lower base 4201 and the upper base 4101 and in close contact with both of them.

[0036] Preferably, the linear servo 4102 is connected to the controller in the flying platform 1. After receiving the instruction from the controller, the linear servo 4102 will drive its output rod to extend or contract, so that the upper hook 4105 rotates clockwise or counterclockwise followingly.

[0037] Preferably, a bearing 4103 is provided at the end of the output rod of the linear servo 4102.

[0038] Preferably, as Figure 5As shown in the figure, the flying robot includes a flying platform 1, a suspension mechanism 2, and a tool system 3 arranged from top to bottom. The suspension mechanism 2 is fixedly connected to the lower end of the flying platform 1, and the tool system 3 is connected to the suspension mechanism 2 through a decoupling device 4. The flying platform 1 is a single-rotor helicopter or a multi-rotor aircraft with a left-right symmetric layout. The multi-rotor aircraft is not limited to any known multi-rotor configurations such as four, six, eight, etc. The suspension mechanism 2 includes L (L≥2) vertical rods arranged symmetrically left and right, and transverse strengthening beams are provided between adjacent vertical rods.

[0039] The working method of a tool decoupling device for a flying robot used for tree obstacle clearing in the present invention is as follows:

[0040] 1) When the decoupling device 4 receives the "decoupling" instruction from the controller in the flying platform 1, the output rod of the linear servo 4102 extends, driving the bearing 4103 to move downward. The bearing 4103 squeezes and contacts the upper plane of the crossbar of the upper hook 4105, pushing the upper hook 4105 to rotate clockwise, so that the hook at the lower end of the upper hook 4105 is disengaged from the lower buckle 4202, thereby realizing the mechanical decoupling of the tool system 3 and also completing the separation of the electrical interface. After that, the output rod of the linear servo 4102 contracts, and the upper hook 4105 rotates counterclockwise and resets under the pulling force of the tension spring 4104.

[0041] 2) When the tool system 3 is hooked up, the upward movement of the lower buckle 4202 forms a leftward extrusion on the hook of the upper hook 4105, pushing the upper hook 4105 to rotate clockwise. When the upward movement of the lower buckle 4202 reaches the position, the hook of the upper hook 4105 quickly rotates into the square hole of the lower buckle 4202, thereby forming a stable and reliable hook-up and also completing the connection of the electrical interface. This method can realize the hook-up of the tool system 3 without power.

[0042] As described above, only the specific implementation examples of the present invention are given, and the protection scope of the present invention is not limited thereto. Those skilled in the art in this technical field can easily find variations or replacement methods within the technical scope disclosed by the present invention, and these should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A tool unhooking device for a tree obstacle clearing flying robot, the upper end of which is connected to the suspension mechanism (2) at the lower end of the flying robot, and a tool system (3) is fixedly connected to the lower end thereof, and is characterized in that: It includes an upper decoupling component (41) fixedly connected to the lower end of the suspension mechanism (2) and a lower decoupling component (42) fixedly connected to the upper side of the tool system (3) and capable of being hooked to the upper decoupling component (41); the upper decoupling component (41) includes an upper base (4101) fixedly connected to the suspension mechanism (2), a linear servo (4102) fixedly connected to the upper base (4101) with its output rod 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 the rotating shaft, a tension spring (4104) installed between the upper base (4101) and the end of the transverse rod of the upper hook (4105) and capable of providing a counterclockwise restoring moment for the upper hook (4105), and an upper electrical interface (4107) fixedly connected to the upper base (4101) for transmitting electric energy and control signals; the lower decoupling component (42) includes a lower base (4201) fixedly connected to the tool system (3), a lower hook (4202) fixedly connected to the lower base (4201) and capable of forming an up-and-down hook connection with the upper hook (4105), and a lower electrical interface (4203) fixedly connected to the lower base (4201); the upper electrical interface (4107) and the lower electrical interface (4203) are in plug-in connection for transmitting electric energy and control signals; The lower end of the upper hook (4105) is a hook bent to the right, and the lower right side of the hook has an oblique angle shape. The upper left side of the lower hook (4202) has an oblique angle shape that is in extrusion and yielding fit with the oblique angle outer contour of the hook of the upper hook (4105); The lower hook (4202) is provided with a square hole for mating with the hook of the upper hook (4105). Once the hook of the upper hook (4105) is screwed into the square hole, the lower hook (4202) and the upper hook (4105) can form a reliable hook connection; The above-mentioned lower decoupling component (42) further includes an elastic washer (4204) embedded between the lower base (4201) and the upper base (4101) and in close contact with both of them; The suspension mechanism (2) includes L vertical rods arranged symmetrically left and right, L≥2, and transverse strengthening beams are provided between adjacent vertical rods.

2. The tool unhooking device for a tree obstacle clearing flying robot according to claim 1, characterized in that: The linear servo (4102) is connected to the controller in the flying robot. After receiving the instruction from the controller, the linear servo (4102) will drive its output rod to extend or contract, so that the upper hook (4105) rotates clockwise or counterclockwise in follow-up.

3. The tool unhooking device for a tree obstacle clearing flying robot according to claim 2, characterized in that: A bearing (4103) is provided at the end of the output rod of the linear servo (4102).

4. The working method of the tool decoupling device for a flying robot for tree obstacle clearing described in claim 3, characterized in that: 1) When the tool decoupling device (4) receives the "decoupling" instruction from the controller in the flying robot, the output rod of the linear servo (4102) extends, driving the bearing (4103) to move downward. The bearing (4103) makes extrusion contact with the upper plane of the transverse rod of the upper hook (4105), pushing the upper hook (4105) to rotate clockwise, so that the hook at the lower end of the upper hook (4105) disengages from the lower hanging buckle (4202), thus realizing the mechanical decoupling of the tool system (3), and at the same time completing the separation of the electrical interface. After that, the output rod of the linear servo (4102) contracts, and the upper hook (4105) rotates counterclockwise and resets under the pulling force of the tension spring (4104). 2) When the tool system (3) is hooked up, the upward movement of the lower hanging buckle (4202) forms a leftward extrusion on the hook of the upper hook (4105), pushing the upper hook (4105) to rotate clockwise and yield. When the lower hanging buckle (4202) moves upward in place, the hook of the upper hook (4105) quickly rotates into the square hole of the lower hanging buckle (4202), thus forming a stable and reliable hook-up, and at the same time completing the connection of the electrical interface. This method can also realize the hook-up of the tool system (3) without power on.

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