A barrier removing unmanned aerial vehicle

Abstract

The application relates to the technical field of unmanned aerial vehicle structures, and discloses a barrier clearing unmanned aerial vehicle which comprises an unmanned aerial vehicle assembly, a cutting device and a power source, the power source comprises first driving devices, second driving devices and third driving devices, the cutting device comprises a lower clamping component, an upper clamping support and a cutting tool, the lower clamping component comprises a lower clamping support, the lower clamping support and the upper clamping support are rotationally connected, the third driving devices drive the upper clamping support to rotate so as to clamp a target, the lower clamping support and the cutting tool are rotationally connected, the second driving devices drive the cutting tool to rotate so as to cut the target, the unmanned aerial vehicle assembly and the lower clamping component are rotationally connected, and the first driving devices drive the lower clamping component to rotate so as to adjust the working position of the cutting device. The first driving devices are arranged to realize the function of adjusting the working position of the cutting device to cut the target, and the cleaning effect of the unmanned aerial vehicle on complex tree barriers is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle structure, and particularly relates to a barrier clearing unmanned aerial vehicle. BACKGROUND

[0002] In recent years, fast-growing forests are planted on a large scale, so that power grid enterprises will have the situation of insufficient line-tree safety distance leading to transmission line tripping every year, which has caused great threat to the safe and stable operation of power grid and power supply reliability. How to clear the trees along the transmission line with insufficient safety distance has been a difficult problem for transmission line operation personnel.

[0003] The means for solving the problem in the prior art include using unmanned aerial vehicles carrying cutting modules to remove trees, and the safety and work efficiency are much higher than manual barrier clearing, but the cutting module of the general barrier clearing unmanned aerial vehicle is fixedly connected with the unmanned aerial vehicle itself, the cutting mode is very fixed, the unmanned aerial vehicle needs to adjust the relative position of the cutting module and the tree barrier every time by flying to clear the barrier, for example, when the cutting module includes a chain saw and a wheel saw, the unmanned aerial vehicle needs to fly to make the cutting module and the tree barrier contact each other to clear the barrier, and the relative positions of the unmanned aerial vehicle before, during and after clearing the barrier and the tree barrier are different. This cutting mode is very clumsy and not flexible, and the cleaning effect of complex tree barriers is not good. SUMMARY

[0004] The purpose of the present application is to provide a barrier clearing unmanned aerial vehicle to solve the technical problem of poor effect of existing inspection unmanned aerial vehicles in cleaning complex tree barriers.

[0005] In order to achieve the above-mentioned purpose, the present application provides a barrier clearing unmanned aerial vehicle, which comprises an unmanned aerial vehicle assembly, a cutting device and a power source, the power source comprises a first driving device, a second driving device and a third driving device, the cutting device comprises a lower clamping component, an upper clamping support and a cutting tool, the lower clamping component comprises a lower clamping support, the lower clamping support and the upper clamping support are rotationally connected, the third driving device drives the upper clamping support to rotate to clamp a target, the lower clamping support and the cutting tool are rotationally connected, the second driving device drives the cutting tool to rotate to cut the target, the unmanned aerial vehicle assembly and the lower clamping component are rotationally connected, and the first driving device drives the lower clamping component to rotate to adjust the working position of the cutting device.

[0006] Optionally, the lower clamping support, the upper clamping support and the cutting tool are staggered.

[0007] Optionally, the lower clamping component further comprises a horizontal rotating frame, the unmanned aerial vehicle assembly and the horizontal rotating frame are rotationally connected, the first driving device drives the horizontal rotating frame to rotate to adjust the working position of the cutting device, the power source further comprises a fourth driving device, the horizontal rotating frame and the lower clamping support are rotationally connected, the fourth driving device drives the lower clamping support to rotate to adjust the working position of the cutting device, and an included angle between the rotation faces of the horizontal rotating frame and the lower clamping support and the rotation faces of the horizontal rotating frame and the unmanned aerial vehicle assembly is greater than 0.

[0008] Optionally, the lower clamping support and / or the upper clamping support are fixedly provided with a plurality of clamping protrusions to enhance the stability of the lower clamping support and the upper clamping support in clamping the target, the upper clamping support is provided with an upper clamping starting end close to one end of the upper clamping support and the lower clamping support rotationally connected, and an upper clamping terminal end away from the other end of the upper clamping support and the lower clamping support rotationally connected, and the protrusion height of the clamping protrusions and the interval distance between the clamping protrusions increase in the direction from the upper clamping starting end to the upper clamping terminal end.

[0009] Optionally, the cutting tool comprises a guide plate and a sawtooth, the lower clamping support and the guide plate are rotationally connected, the second driving device drives the guide plate to rotate to approach the target, the sawtooth is movably arranged around the edge of the guide plate, and the power source further comprises a fifth driving device, the fifth driving device drives the sawtooth to rotate around the guide plate to cut the target.

[0010] Optionally, the lower clamping support is provided with a plurality of cutting tools, and the plurality of cutting tools are respectively arranged on both sides of the upper clamping support, and each second driving device independently drives one cutting tool.

[0011] Optionally, the unmanned aerial vehicle assembly is provided with a receiving groove, the receiving groove and the cutting device are matched in shape, the first driving device drives the cutting device to rotate to receive the cutting device into the receiving groove or rotate out of the receiving groove and adjust the working position of the cutting device.

[0012] Optionally, the unmanned aerial vehicle assembly further comprises an unmanned aerial vehicle body and a rotating support, the rotating support and the cutting device are rotationally connected, the first driving device is used to drive the cutting device to rotate, the power source further comprises a sixth driving device, the rotating support is arranged outside the unmanned aerial vehicle body, the unmanned aerial vehicle body and the rotating support are rotationally connected, and the sixth driving device drives the rotating support to rotate to adjust the working position of the cutting device.

[0013] Optionally, the rotating support is provided with a rotating cavity, the rotating cavity is provided with an inner arc surface and a plurality of transmission inner teeth, the UAV body is provided with an outer arc surface, the inner arc surface and the outer arc surface are matched in shape, the UAV body and the rotating support are rotationally connected through the inner arc surface and the outer arc surface, the transmission inner teeth are arranged radially along the shape of the outer arc surface, the UAV assembly further comprises an inner transmission element and an outer transmission element, the inner transmission element is rotationally connected with the UAV body, the outer transmission element is rotationally connected with the UAV body, the rotational connection between the UAV body and the rotating support is concentric with the rotational connection between the inner transmission element and the UAV body, the sixth driving device is fixedly arranged on the UAV body to drive the inner transmission element to rotate, the inner transmission element and the outer transmission element are in transmission connection, the outer transmission element is provided with transmission outer teeth, and the outer transmission element and the rotating support are in meshing transmission connection through the transmission outer teeth and the transmission inner teeth.

[0014] Optionally, the inner arc surface is a circular ring surface greater than one-half, and the rotating support is a ring-like body structure less than three-quarters.

[0015] Compared with the prior art, the clearing UAV has the following beneficial effects:

[0016] 1. The first driving device is arranged to drive the lower clamping part to rotate, so that the UAV can adjust the working position of the cutting device to cut the target without adjusting the relative position of the UAV and the tree, the flexibility of the UAV in clearing obstacles is enhanced, and the clearing effect and efficiency of the UAV on complex tree obstacles are improved.

[0017] 2. The horizontal rotating frame is arranged between the lower clamping frame and the UAV assembly to enable the cutting device to rotate in a direction perpendicular to the rotating plane of the UAV assembly and the cutting device, the adjustable working position of the cutting device is expanded, the cutting range of the cutting device is expanded, the flexibility of the UAV in clearing obstacles is enhanced, and the clearing effect and efficiency of the UAV on complex tree obstacles are improved.

[0018] 3. The clamping protrusions are arranged on the lower clamping support and / or the upper clamping support to enhance the stability of the clamping action, ensure smooth cutting action, and prevent the target from falling after cutting is completed.

[0019] 4. The protrusion height of the clamping protrusions increases from the upper clamping starting end to the upper clamping ending end, so as to enhance the stability of the clamping action, ensure smooth cutting action, and prevent the target from falling after cutting is completed.

[0020] 5. The rotating support is arranged between the UAV body and the cutting device to expand the adjustable working position of the cutting device, expand the cutting range of the cutting device, enhance the flexibility of the UAV in clearing obstacles, and improve the clearing effect and efficiency of the UAV on complex tree obstacles.BRIEF DESCRIPTION OF DRAWINGS BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a structural schematic diagram of a clearing unmanned aerial vehicle according to an embodiment of the present application;

[0022] Figure 2 is a structural schematic diagram of a cutting device according to an embodiment of the present application;

[0023] Figure 3 is a structural schematic diagram of a cutting device and a rotating support according to an embodiment of the present application;

[0024] Figure 4 is an exploded view of a clearing unmanned aerial vehicle according to an embodiment of the present application;

[0025] Figure 5 is a sectional view of a clearing unmanned aerial vehicle according to an embodiment of the present application; Figure 1 .

[0026] Figure 6 is a structural schematic diagram of an unmanned aerial vehicle body according to an embodiment of the present application.

[0027] Figure 7 is a sectional view of a clearing unmanned aerial vehicle according to an embodiment of the present application; Figure 2 .

[0028] Reference signs: 1, unmanned aerial vehicle assembly; 11, unmanned aerial vehicle body; 111, outer arc surface; 112, battery assembly; 113, base assembly; 114, electrically conductive contact; 115, power receiving slot; 12, rotating support; 121, inner arc surface; 122, transmission inner teeth; 13, receiving slot; 14, outer transmission element; 15, inner transmission element; 16, electrically conductive contact; 17, electrically conductive slot; 2, cutting device; 21, lower clamping component; 211, horizontal trolley; 212, lower clamping support; 22, cutting tool; 221, sawtooth; 222, guide plate; 23, upper clamping support; 24, clamping protrusion. DETAILED DESCRIPTION

[0029] The specific embodiments of the present application will be further described in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application, but are not used to limit the scope of the present application.

[0030] The "target" referred to in the examples refers to a tree barrier that needs to be pruned, and the tree barrier includes tree branches.

[0031] As Figures 1 to 7As shown, the obstacle removing unmanned aerial vehicle of the present application comprises an unmanned aerial vehicle assembly 1, a cutting device 2 and a power source, the power source comprises a first driving device, a second driving device and a third driving device, the cutting device 2 comprises a lower clamping component 21, an upper clamping support 23 and a cutting tool 22, the lower clamping component 21 comprises a lower clamping support 212, the lower clamping support 212 and the upper clamping support 23 are rotationally connected, the third driving device drives the upper clamping support 23 to rotate to clamp the target, the lower clamping support 212 and the cutting tool 22 are rotationally connected, the second driving device drives the cutting tool 22 to rotate to cut the target, the unmanned aerial vehicle assembly 1 and the lower clamping component 21 are rotationally connected, and the first driving device drives the lower clamping component 21 to rotate to adjust the working position of the cutting device 2.

[0032] Based on the above technical solution, the unmanned aerial vehicle assembly 1 comprises an unmanned aerial vehicle body 11, and the unmanned aerial vehicle body 11 at least comprises a general unmanned aerial vehicle with general functions on the market. Such an unmanned aerial vehicle is an unmanned aerial vehicle device capable of independent flight, independent power supply, navigation, wireless control, image recognition, image transmission and other conventional functions in the field. The cutting tool 22 is a device that can at least realize the function of cutting the target. Specifically, it can be a device for cutting, including a chain saw, a wheel cutter, an electric control clamp, etc. The power source is a device for driving two rotationally connected components to rotate on the structure, and all have the functions of braking and locking. When the power source rotates the two components to a specified relative position, the power source can brake and lock the relative position of the two components. The power source can all be motors. The power source comprises a first driving device, a second driving device, …, an Nth driving device, where the serial number is used to distinguish the driving devices arranged between different rotationally connected components. When components A and B are in the following state: A and B are rotationally connected, the power source drives A or B to rotate. The connection relationship of the power source can be: the power source and A are fixedly connected, and the power source and B are transmissionally connected to rotate B. The power source and B are fixedly connected, and the power source and A are transmissionally connected to rotate A.

[0033] The second driving device drives the cutting tool 22 to rotate to reduce the included angle between the lower clamping support 212 and the cutting tool 22. When the included angle between the lower clamping support 212 and the cutting tool 22 is reduced to a certain angle, the target is cut. The third driving device drives the upper clamping support 23 to rotate to reduce the included angle between the lower clamping support 212 and the upper clamping support 23. When the included angle between the lower clamping support 212 and the upper clamping support 23 is reduced to a certain angle, the target is clamped. Clamping the target before cutting can improve the stability and safety of the cutting operation.

[0034] Further, the lower clamping support 212, the upper clamping support 23 and the cutting tool 22 are arranged staggered.

[0035] The staggered arrangement of the lower clamping support 212, the upper clamping support 23 and the cutting tool 22 allows the upper clamping support 23 and the cutting tool 22 to rotate 360°, making the clamping and cutting actions more flexible, preventing the lower clamping support 212, the upper clamping support 23 and the cutting tool 22 from touching each other and being damaged, and facilitating the hiding and storage of the lower clamping support 212, the upper clamping support 23 and the cutting tool 22 in a non-working state by minimizing the included angle between the lower clamping support 212, the upper clamping support 23 and the cutting tool 22 and making the profile shapes of the three in the axial direction of the rotating shaft overlap as much as possible.

[0036] Further, the lower clamping member 21 further comprises a horizontal rotating frame 211, the unmanned aerial vehicle assembly 1 and the horizontal rotating frame 211 are rotationally connected, the first driving device drives the horizontal rotating frame 211 to rotate to adjust the working position of the cutting device 2, the power source further comprises a fourth driving device, the horizontal rotating frame 211 and the lower clamping support 212 are rotationally connected, and the fourth driving device drives the lower clamping support 212 to rotate to adjust the working position of the cutting device 2, the rotating surfaces of the horizontal rotating frame 211 and the lower clamping support 212 and the rotating surfaces of the horizontal rotating frame 211 and the unmanned aerial vehicle assembly 1 are arranged at an included angle greater than 0.

[0037] The horizontal rotating frame 211 allows the cutting device 2 to rotate in a direction perpendicular to the rotating plane of the unmanned aerial vehicle assembly 1 and the cutting device 2, thereby expanding the working position of the cutting device 2 and expanding the dimension of the rotating position of the cutting device 2. Taking the XYZ coordinate system as an example (the included angle between the X axis, the Y axis and the Z axis is greater than 0, but not necessarily 90°), the rotating shaft of the rotationally connected unmanned aerial vehicle assembly 1 and horizontal rotating frame 211 is set as the Z axis, the first driving device drives the horizontal rotating frame 211 to rotate to adjust the working position of the cutting device 2 only in the position of rotating around the Z axis, and because the rotating surfaces of the horizontal rotating frame 211 and the lower clamping support 212 and the rotating surfaces of the horizontal rotating frame 211 and the unmanned aerial vehicle assembly 1 are arranged at an included angle greater than 0, the fourth driving device drives the lower clamping support 212 to rotate to adjust the working position of the cutting device 2 in the position of rotating around the X axis or the Y axis.

[0038] Further, the lower clamping support 212 and / or the upper clamping support 23 is fixedly provided with a plurality of clamping protrusions 24 to enhance the stability of the lower clamping support 212 and the upper clamping support 23 clamping the target. The upper clamping support 23 is rotatably connected to the lower clamping support 212 at one end, which is the upper clamping start end. The upper clamping support 23 is rotatably connected to the lower clamping support 212 at the other end, which is the upper clamping end. The protrusion height of the clamping protrusions 24 and the interval distance between the clamping protrusions 24 increase from the upper clamping start end to the upper clamping end.

[0039] When the clamping action is performed, the clamping protrusions 24 are inserted into and embedded in the target to increase the stability of clamping and prevent unstable clamping. The clamping protrusions 24 are provided with sharp parts to better embed in the target. The upper end surface and the lower end surface of the lower clamping support 212 and the upper clamping support 23 can be provided with clamping protrusions 24 to enable the upper clamping support 23 to perform counterclockwise clamping and clockwise clamping. The lower clamping support 212 and the upper clamping support 23 can be provided with a plurality of clamping protrusions 24 along the length direction to increase the area that can be stably clamped.

[0040] When the target is closer to the clamping start end for clamping, the target has a smaller contour, and the clamping protrusions 24 with a smaller protrusion height and a smaller interval distance are more easily embedded in the target, making the clamping more stable. When the target is closer to the clamping end for clamping, the target has a larger contour, and the clamping protrusions 24 with a larger protrusion height and a larger interval distance are more easily embedded in the target, making the clamping more stable.

[0041] Further, the cutting tool 22 includes a guide plate 222 and a sawtooth 221. The lower clamping support 212 is rotatably connected to the guide plate 222. The second driving device drives the guide plate 222 to rotate to approach the target. The sawtooth 221 is movably arranged around the edge of the guide plate 222. The power source further includes a fifth driving device. The fifth driving device drives the sawtooth 221 to rotate around the guide plate 222 to cut the target.

[0042] The cutting tool 22 can be a chain saw blade.

[0043] Further, the lower clamping support 212 is provided with a plurality of cutting tools 22. The plurality of cutting tools 22 are respectively arranged on both sides of the upper clamping support 23. Each second driving device independently drives one cutting tool 22.

[0044] The plurality of cutting tools 22 are respectively driven by independent second driving devices and arranged on both sides of the upper clamping support 23 to facilitate cutting of the target on either side individually; since after cutting, the cut branches are likely to hit the UAV itself, other objects or people, the cutting device 2 will only cut the branches close to the side of the trunk to ensure that no branches will fall immediately after cutting, and then the cut and clamped branches on the cutting device 2 are moved to a suitable position, and the branches are released; the plurality of cutting tools 22 arranged on both sides of the upper clamping support 23 are to improve the flexibility of cutting work, without considering the left and right positions of the UAV relative to the tree before clamping.

[0045] Further, the UAV assembly 1 is provided with a receiving groove 13, the receiving groove 13 and the cutting device 2 are matched in shape, and the first driving device drives the cutting device 2 to rotate to receive the cutting device 2 into the receiving groove 13 or rotate out of the receiving groove 13 and adjust the working position of the cutting device 2.

[0046] The receiving groove 13 is used to receive the cutting device 2 to improve the compactness and safety of the UAV in the non-working state.

[0047] Further, the rotation connection center of the UAV assembly 1 and the cutting device 2 is arranged on the receiving groove 13.

[0048] The rotation connection center arranged on the receiving groove 13 can further improve the compactness of the UAV structure, avoiding the protrusion of parts outside the UAV assembly 1 in the receiving state.

[0049] Further, the cutting device 2 is in an overall arc structure in the receiving state, and further, the lower clamping part 21, the upper clamping support 23 and the cutting tool 22 are all arc structures.

[0050] The arc structure can reduce the complexity of the UAV assembly 1 designed to receive the cutting device 2, and the longer the cutting device 2 is, the more serious the problem is, and it will reduce the compactness of the UAV assembly 1, making it bloated; when the cutting device 2 is in an arc structure, the outer side of the UAV assembly 1 designed as a ring-shaped body to reduce the volume and increase the structural compactness can be provided with a receiving groove 13 matched with the shape of the cutting device 2 along its outer shape; the arc structure of the cutting device 2 can also increase the contact area of the upper clamping support 23 and the lower clamping support 212 with the target during clamping to increase the stability of clamping and cutting work.

[0051] Further, the unmanned aerial vehicle assembly 1 further comprises an unmanned aerial vehicle body 11 and a rotating bracket 12, the rotating bracket 12 and the cutting device 2 are rotationally connected, the first driving device is used for driving the cutting device 2 to rotate, the power source further comprises a sixth driving device, the rotating bracket 12 is covered outside the unmanned aerial vehicle body 11, the unmanned aerial vehicle body 11 and the rotating bracket 12 are rotationally connected, and the sixth driving device rotates the rotating bracket 12 to adjust the working position of the cutting device 2.

[0052] The rotating bracket 12 is used for expanding the adjustable working position of the cutting device 2; the rotationally connected position of the rotating bracket 12 and the cutting device 2 is located close to the outside of the unmanned aerial vehicle assembly 1, so that the cutting range of the cutting device 2 extends outwardly with the rotationally connected position of the rotating bracket 12 and the cutting device 2 as the center, and has certain limitations; the rotationally connected position of the rotating bracket 12 and the cutting device 2 and the unmanned aerial vehicle body 11 are changed by the rotationally connected position of the unmanned aerial vehicle body 11 and the rotating bracket 12, so that the working position of the cutting device 2 can reach more places to cover more positions in the working range, and the function of expanding the adjustable working position of the cutting device 2 to expand the working range of the cutting device 2 is realized.

[0053] Further, the rotating bracket 12 is provided with a rotating cavity, the rotating cavity is provided with an inner arc surface 121 and a plurality of transmission inner teeth 122, the unmanned aerial vehicle body 11 is provided with an outer arc surface 111, the shapes of the inner arc surface 121 and the outer arc surface 111 are matched, the unmanned aerial vehicle body 11 and the rotating bracket 12 are rotationally connected through the inner arc surface 121 and the outer arc surface 111, the transmission inner teeth 122 are arranged radially along the shape of the outer arc surface 111, the unmanned aerial vehicle assembly 1 further comprises an inner transmission element 15 and an outer transmission element 14, the inner transmission element 15 and the unmanned aerial vehicle body 11 are rotationally connected, the outer transmission element 14 and the unmanned aerial vehicle body 11 are rotationally connected, the rotationally connected position of the unmanned aerial vehicle body 11 and the rotating bracket 12 is concentric with the rotationally connected position of the inner transmission element 15 and the unmanned aerial vehicle body 11, the sixth driving device is fixedly arranged on the unmanned aerial vehicle body 11 to drive the inner transmission element 15 to rotate, the inner transmission element 15 and the outer transmission element 14 are in transmission connection, the outer transmission element 14 is provided with transmission outer teeth, and the outer transmission element 14 and the rotating bracket 12 are in meshing transmission connection through the transmission outer teeth and the transmission inner teeth 122.

[0054] The inner transmission element 15 and the outer transmission element 14 can be gears, the transmission outer teeth can be outer gear teeth, the transmission inner teeth 122 can be inner gear teeth, the inner transmission element 15 and the outer transmission element 14 can be connected by a belt, a gear or a chain transmission; the rotation direction in which the radial direction points the unmanned aerial vehicle body 11 and the rotating support 12 are rotationally connected; the transmission inner teeth 122 are radially arranged along the shape of the outer arc surface 111, and the inner gear tooth tip circle surrounded by each transmission inner tooth 122 matches the shape of the outer arc surface 111; the rotating support 12 and the unmanned aerial vehicle body 11 can be limited in the axial direction of the rotation center by the protrusions and the grooves provided on the outer arc surface 111 and the inner arc surface 121, and the side surface of the protrusion and the side wall of the groove abut to prevent the rotating support 12 and the unmanned aerial vehicle body 11 from falling off.

[0055] Further, the inner arc surface 121 is a greater than one-half circular ring surface, and the rotating support 12 is a less than three-quarters ring body structure.

[0056] The greater than one-half circular ring surface can ensure that the unmanned aerial vehicle can run stably.

[0057] When the rotating support 12 is a less than three-quarters ring body structure, the unmanned aerial vehicle can be lightweight, and the installation of other components is facilitated.

[0058] Further, the outer arc surface 111 and the inner arc surface 121 are provided with electrical contacts 16 and conductive grooves 17, the conductive grooves 17 are radially arranged along the shape of the outer arc surface 111, and the unmanned aerial vehicle body 11 and the rotating support 12 are electrically connected by the electrical contacts 16 and the conductive grooves 17.

[0059] The above arrangement can be that the outer arc surface 111 is provided with electrical contacts 16, the inner arc surface 121 is provided with conductive grooves 17, or the outer arc surface 111 is provided with conductive grooves 17, and the inner arc surface 121 is provided with electrical contacts 16; during rotation of the unmanned aerial vehicle body 11 and the rotating support 12, the electrical contacts 16 and the conductive grooves 17 remain in contact to ensure that the unmanned aerial vehicle body 11 can supply power to the power source on the rotating support 12 and the cutting device 2 and send a work signal; the electrical contacts 16 are protruding blocks.

[0060] Further, the unmanned aerial vehicle body 11 comprises a battery assembly 112 and a base assembly 113, the base assembly 113 and the battery assembly 112 are slidingly connected, the base assembly 113 and the battery assembly 112 are provided with a conductive contact 114 and a power receiving groove 115, the length direction of the power receiving groove 115 is consistent with the sliding connection direction of the sliding connection of the base assembly 113 and the battery assembly 112, and the battery assembly 112 and the base assembly 113 are electrically connected by the contact of the conductive contact 114 and the power receiving groove 115; the base assembly 113 and the battery assembly 112 can be slidingly connected through a wedge structure, and the locking after the sliding connection can be realized through electromagnetic connection, slope clamping, fastener connection and the like.

[0061] The battery assembly 112 is a component for power supply in the unmanned aerial vehicle body 11, the base assembly 113 is a component for mounting other components including the battery assembly 112, a control assembly and the like, the length direction of the power receiving groove 115 is consistent with the sliding connection direction of the sliding connection of the base assembly 113 and the battery assembly 112, so that the conductive contact 114 and the power receiving groove 115 are also in contact during the sliding connection to realize the electrical connection of the battery assembly 112 and the base assembly 113 when the base assembly 113 and the battery assembly 112 are slidingly connected and mounted; the conductive contact 114 is a protruding block.

[0062] The working process realized by the embodiment of the present application is as follows:

[0063] (S1), the unmanned aerial vehicle body 11 determines the specific position of the target, the unmanned aerial vehicle body 11 flies to the surroundings of the target, the first driving device drives the cutting device 2 to turn out of the storage groove 13, the third driving device drives the upper clamping support 23 to rotate around the lower clamping support 212, the second driving device drives the cutting tool 22 to rotate around the lower clamping support 212 to expand the cutting device 2, according to the relative position between the unmanned aerial vehicle body 11 and the target determined by the unmanned aerial vehicle body 11, the first driving device drives the horizontal turn 211 to rotate, the fourth driving device drives the lower clamping support 212 to rotate, and the sixth driving device drives the rotating support 12 to rotate to adjust the working position of the cutting device 2 so that the target enters the clamping and cutting range;

[0064] (S2), the third driving device drives the upper clamping support 23 to rotate to clamp the target, the fifth driving device drives the sawtooth 221 to rotate around the guide plate 222, the second driving device drives the cutting tool 22 on the side close to the trunk to rotate to be close to the target, and the cutting tool 22 cuts the target;

[0065] (S3), after cutting is completed, the fifth driving device stops driving the sawtooth 221, the unmanned aerial vehicle flies to a safe position, the first driving device drives the horizontal rotating frame 211 to rotate, the fourth driving device drives the lower clamping support 212 to rotate, the sixth driving device drives the rotating support 12 to rotate to an adjustable clamping state of the target position to a discardable state (i.e. ensuring that there is no unmanned aerial vehicle component, other object and person in the vertical direction of the target), the third driving device drives the upper clamping support 23 to rotate in the opposite direction to loosen the target, and the target falls to a safe position;

[0066] (S4), finally, the third driving device drives the upper clamping support 23 to rotate, the second driving device drives the cutting tool 22 to rotate to a retracted state of the cutting device 2, and the retracted state is that the included angle between the upper clamping support 23, the cutting tool 22 and the lower clamping support 212 is 0°, and then the first driving device drives the cutting device 2 to rotate to be received in the storage groove 13.

[0067] In summary, the embodiment of the present application provides a clearing unmanned aerial vehicle, and the technical effects are as follows:

[0068] 1. The first driving device for driving the lower clamping component to rotate is arranged to realize the function of adjusting the working position of the cutting device to cut the target without adjusting the relative position of the unmanned aerial vehicle and the tree, enhance the flexibility of the unmanned aerial vehicle in clearing obstacles, and improve the clearing effect and efficiency of the unmanned aerial vehicle on complex tree obstacles.

[0069] 2. The horizontal rotating frame arranged between the lower clamping frame and the unmanned aerial vehicle assembly is used for horizontal rotation, so that the cutting device can rotate in a direction perpendicular to the rotating plane of the unmanned aerial vehicle assembly and the cutting device, the adjustable working position of the cutting device is expanded, the function of expanding the cuttable range of the cutting device is realized, the flexibility of the unmanned aerial vehicle in clearing obstacles is enhanced, and the clearing effect and efficiency of the unmanned aerial vehicle on complex tree obstacles are improved.

[0070] 3. The clamping protrusions arranged on the lower clamping support and / or the upper clamping support are used to enhance the stability of the clamping action, ensure the smooth cutting action, and prevent the target from falling after cutting is completed.

[0071] 4. The protrusion height of the clamping protrusion increases in the direction from the upper clamping start end to the upper clamping end, so as to enhance the stability of the clamping action, ensure the smooth cutting action, and prevent the target from falling after cutting is completed.

[0072] 5. The rotating support arranged between the unmanned aerial vehicle body and the cutting device is used to expand the adjustable working position of the cutting device, realize the function of expanding the cuttable range of the cutting device, enhance the flexibility of the unmanned aerial vehicle in clearing obstacles, and improve the clearing effect and efficiency of the unmanned aerial vehicle on complex tree obstacles.

[0073] The above merely describes the preferred embodiments of the present application, and it should be pointed out that, for those skilled in the art, several improvements and replacements can be made without departing from the technical principles of the present application, and these improvements and replacements should also be considered as the protection scope of the present application.

Claims

1. A clearing unmanned aerial vehicle, characterized in that, The unmanned aerial vehicle assembly includes a cutting device and a power source, the power source includes a first driving device, a second driving device and a third driving device, the cutting device includes a lower clamping component, an upper clamping support and a cutting tool, the lower clamping component includes a lower clamping support, the lower clamping support and the upper clamping support are rotationally connected, the third driving device drives the upper clamping support to rotate to clamp a target, the lower clamping support and the cutting tool are rotationally connected, the second driving device drives the cutting tool to rotate to cut the target, the unmanned aerial vehicle assembly and the lower clamping component are rotationally connected, and the first driving device drives the lower clamping component to rotate to adjust the working position of the cutting device. The unmanned aerial vehicle assembly further includes an unmanned aerial vehicle body and a rotating support, the rotating support and the cutting device are rotationally connected, the first driving device is used to drive the cutting device to rotate, and the power source further includes a sixth driving device, the rotating support is covered outside the unmanned aerial vehicle body, the unmanned aerial vehicle body and the rotating support are rotationally connected, and the sixth driving device drives the rotating support to rotate to adjust the working position of the cutting device. The rotating support is provided with a rotating cavity, the rotating cavity is provided with an inner arc surface and a plurality of transmission inner teeth, the unmanned aerial vehicle body is provided with an outer arc surface, the shapes of the inner arc surface and the outer arc surface are matched, the unmanned aerial vehicle body and the rotating support are rotationally connected through the inner arc surface and the outer arc surface, the transmission inner teeth are arranged radially along the shape of the outer arc surface, the unmanned aerial vehicle assembly further includes an inner transmission element and an outer transmission element, the inner transmission element and the unmanned aerial vehicle body are rotationally connected, the outer transmission element and the unmanned aerial vehicle body are rotationally connected, the rotational connection between the unmanned aerial vehicle body and the rotating support is concentric with the rotational connection between the inner transmission element and the unmanned aerial vehicle body, the sixth driving device is fixedly arranged on the unmanned aerial vehicle body to drive the inner transmission element to rotate, the inner transmission element and the outer transmission element are in transmission connection, the outer transmission element is provided with transmission outer teeth, and the outer transmission element and the rotating support are in meshing transmission connection through the transmission outer teeth and the transmission inner teeth.

2. The obstacle clearing drone of claim 1, wherein, The lower clamping support, the upper clamping support and the cutting tool are arranged staggeredly.

3. The obstacle clearing drone of claim 1, wherein, The lower clamping component further includes a horizontal rotating support, the unmanned aerial vehicle assembly and the horizontal rotating support are rotationally connected, the first driving device drives the horizontal rotating support to rotate to adjust the working position of the cutting device, the power source further includes a fourth driving device, the horizontal rotating support and the lower clamping support are rotationally connected, and the fourth driving device drives the lower clamping support to rotate to adjust the working position of the cutting device.

4. The obstacle clearing drone of claim 1, wherein, The lower clamping support and / or the upper clamping support is fixedly provided with a plurality of clamping protrusions to enhance the stability of the lower clamping support and the upper clamping support in clamping the target, the upper clamping support is provided with an upper clamping starting end close to one end of the rotational connection between the upper clamping support and the lower clamping support, the upper clamping support is provided with an upper clamping ending end away from the other end of the rotational connection between the upper clamping support and the lower clamping support, and the protruding height of the clamping protrusions and the interval distance between the clamping protrusions increase in the direction from the upper clamping starting end to the upper clamping ending end.

5. The obstacle clearing drone of claim 1, wherein, The cutting tool comprises a guide plate and a sawtooth, the lower clamping support and the guide plate are rotationally connected, the second driving device drives the guide plate to rotate to approach the target, the sawtooth is movably arranged around the edge of the guide plate, the power source further comprises a fifth driving device, the fifth driving device drives the sawtooth to rotate around the guide plate to cut the target.

6. The obstacle clearing drone of claim 1, wherein, A plurality of cutting tools are arranged on the lower clamping support, the plurality of cutting tools are arranged on both sides of the upper clamping support respectively, and each second driving device independently drives a cutting tool.

7. The obstacle clearing drone of claim 1, wherein, The unmanned aerial vehicle assembly is provided with a receiving groove, the receiving groove and the cutting device are matched in shape, the first driving device drives the cutting device to rotate to receive the cutting device into the receiving groove or rotate out of the receiving groove and adjust the working position of the cutting device.

8. The obstacle clearing drone of claim 1, wherein, The inner arc surface is a circular ring surface greater than one-half, and the rotating support is a ring-like body structure less than three-quarters.

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