Aerial reciprocating motion equipment

Abstract

The invention relates to an air oscillation device or a device capable of reciprocating in the air, in particular to a fruit picking device. By the adoption of the technical scheme, a person can pick fruits, saw off branches and the like only through remote control on the ground, and the risk of high-altitude operation does not need to be borne.

Description

Technical Field

[0001] The present invention relates to an aerial oscillating device or a device capable of reciprocating motion in the air (referred to as aerial reciprocating motion device), in particular to a fruit picking device, such as a pine cone picking device. Background Art

[0002] At present, the main way to pick pine cones is to climb trees, but some red pine trees in Northeast China are very tall, which not only reduces the efficiency of picking, but also poses safety risks. There are also people who use hydrogen balloons to pull people up and pick them manually, but the diameter of hydrogen balloons is generally 8-10 meters, and the wind resistance is poor. There are often news reports of balloons (including people) being blown away, which also poses safety risks. Summary of the invention

[0003] In view of the above problems, the present invention is proposed. The present invention provides an aerial reciprocating motion device that can be used for picking pine cones without the need for personnel to climb up to work.

[0004] The aerial reciprocating motion device provided by the present invention comprises: (1) UAVs that can hover (hereinafter referred to as hoverable UAVs), including rotor-type UAVs, such as quad-rotor, hexacopter, or octo-rotor UAVs. Preferably, the blades of the rotor-type UAV are protected by a protective structure to prevent foreign objects from contacting the blades. For example, to prevent leaves from contacting the blades when the UAV is flying. As a further preferred embodiment, the protective structure is a mesh, and the mesh includes but is not limited to a mesh composed of wire mesh and rope. Preferably, the hoverable UAV includes an obstacle avoidance module to ensure safe flight. The structure of the rotor-type UAV is common knowledge and is not described in detail here. The hoverable UAV also includes a tilt-rotor UAV or a compound wing UAV.

[0005] (2) An electric mechanism, which refers to a mechanism that can drive an object to move. The electric mechanism is installed on the hovering drone. The electric mechanism can be used to pick or knock down fruits (including pine cones). The electric mechanism includes but is not limited to one or more of a reciprocating device, a clamping mechanism, and a shearing device. The function of the electric mechanism is not limited to picking fruits. For example, a shearing device can be used to cut off branches to make the fruits fall. Preferably, the electric mechanism includes a motor and a rod installed on the motor shaft. The rotation of the motor drives the rotation of the rod, and the rotation of the rod can be used to hit the fruits to make them fall. As a further preference, blades are fixed on the rod to increase the effective area. As a further preference, another rod perpendicular to it is fixed on the rod, which is conducive to hitting branches or fruits. As a further preference, a hook is fixed on the rod, which is conducive to hooking the fruits.

[0006] The reciprocating device (including a vibration device, such as a vibration motor; also including a device that drives a rod-shaped object to move back and forth through a motor) refers to a mechanism that can output reciprocating motion, including but not limited to a device that can realize one or more of the following functions: a swing guide rod mechanism, a crank rocker mechanism. Through the reciprocating mechanism, a striking action can be performed, thereby knocking the pine cone off the branch. Preferably, the reciprocating mechanism includes a hook-shaped object, and the hook-shaped object collides with the branch or pine cone, so that the pine cone is separated from the branch. Preferably, the reciprocating device includes a clamping mechanism I (such as a mechanical claw), and the clamping mechanism I is used to grasp the pine branch, and then the clamping mechanism I is driven to reciprocate by controlling the reciprocating mechanism, so that the ripe fruit (for example, pine cone) can fall. Preferably, the reciprocating device includes a clamping mechanism I and the vibration device, and the branch or pine cone is clamped by the clamping mechanism I, and then the vibration device is vibrated, so that the pine cone is separated from the branch.

[0007] The clamping mechanism includes a mechanical claw, and the pine cone can be separated from the pine branch by controlling the clamping mechanism to perform one or more of the following movements: clamping, clamping and displacement, and clamping and twisting.

[0008] Preferably, the electric mechanism comprises a shearing device, such as a pair of scissors or a saw, and the scissors or the saw can be remotely controlled to perform a shearing operation.

[0009] Preferably, the electric mechanism includes a clamping mechanism II, which is installed on the frame and can be clamped on tree branches when there is wind to prevent the aerial reciprocating motion device from being blown away by the wind.

[0010] Preferably, the aerial reciprocating motion device includes a camera, which is used to observe the working environment and facilitate the fruit picking device to aim at the target position.

[0011] Preferably, the aerial reciprocating device includes a lighting system, such as a searchlight, for operating in poor light or at night.

[0012] Preferably, the aerial reciprocating device includes a loudspeaker for speaking to the ground.

[0013] Preferably, the aerial reciprocating motion device contains a balloon filled with a gas with a density lower than that of air, such as hydrogen or helium. In this way, the buoyancy generated by the balloon can reduce the burden of the hovering drone during flight. Preferably, the buoyancy of the balloon is less than the gravity of the hovering drone; preferably, the buoyancy of the balloon is less than the sum of the gravity of the hovering drone and the electric mechanism and greater than 70% of the sum of the gravity of the hovering drone and the electric mechanism. The balloon contains a plurality of drawstrings, which are tied to the frame of the hovering drone. Preferably, the geometric center of gravity of the projection of the plurality of drawstrings of the balloon on the horizontal plane is close to the projection of the center of gravity of the hovering drone on the horizontal plane, and the distance between the two is less than 1 / 4 of the wheelbase of the drone. More preferably, the geometric center of gravity of the projection of the plurality of drawstrings on the horizontal plane is close to the projection of the center of gravity of the hovering drone on the horizontal plane, and the distance between the two is less than 1 / 8 of the wheelbase of the drone. As a further preferred embodiment, the geometric center of gravity of the projections of the plurality of pull ropes on the horizontal plane coincides with the projection of the center of gravity of the hovering drone on the horizontal plane. The purpose is to keep the pull ropes as far away from the installation positions of the propellers as possible and close to the center of gravity of the drone, so that the pull ropes will interfere as little as possible with the attitude adjustment of the hovering drone, such as forward, backward, left turn, right turn, etc.

[0014] Preferably, the aerial reciprocating motion device contains a propeller capable of providing horizontal power, that is, the thrust generated when the propeller rotates is parallel to the horizontal direction; and is driven by a motor.

[0015] As a further preference, the aerial reciprocating motion device contains two or more balloons, including a balloon having the following characteristics: the balloon is connected to the aerial reciprocating motion device through an ABA-type mechanism, and the ABA-type mechanism can be controlled by remote control to combine the balloon with the aerial reciprocating motion device, or to separate the balloon from the aerial reciprocating motion device. For example, the rope of the balloon can be put on the lock rod of the servo lock, and the balloon put on the lock rod of the servo lock can be released by moving the lock rod of the servo lock. The purpose is that when encountering a sudden strong wind, the aerial reciprocating motion device can be landed on the ground more easily by releasing the balloon. The definition of the ABA-type mechanism and the servo lock refers to the patent applied by the applicant in June 2022. As a preference, one of them is a main balloon with a relatively large volume, and the other balloons are relatively small, and the smaller balloons can be released by remote control to reduce buoyancy.

[0016] Preferably, the aerial reciprocating motion device includes a release device, which is used to release the balloon. For example, the balloon can be released by controlling the release device (see the patent applied by the applicant on June 1, 2022) to release the rope holding the balloon. The release device includes but is not limited to a throwing device, a lock, and a steering gear lock (the definition of the lock and the steering gear lock is referred to the patent applied by the applicant on June 1, 2022).

[0017] Preferably, the aerial reciprocating motion device is equipped with a satellite positioning device, so that the location of the aerial reciprocating motion device can be known at any time to prevent loss.

[0018] Preferably, the aerial reciprocating motion device includes a mechanical claw and a reciprocating motion device, and the mechanical claw grasps the branch, and then the reciprocating motion device hits the branch or the fruit, so that the fruit can be shaken off or knocked down. At the same time, since the branch is grasped by the mechanical claw, when the reaction force of the hitting drives the aerial reciprocating motion device away from the branch, the pulling force of the mechanical claw can prevent the aerial reciprocating motion device from moving away from the branch. Alternatively, the branch is grasped by the mechanical claw, and the branch is shaken by the reciprocating motion device to shake the ripe fruit off. The mechanical claw and the reciprocating motion device are both controlled by a remote controller.

[0019] Preferably, the aerial reciprocating motion device includes an electric saw, which is controlled by a remote control. The electric saw is connected to the hovering drone by a long pole, and is placed below the hovering drone when in the air. As a further preference, the long pole is connected to the optional drone by a hinge, and as a further preference, the hovering drone is also equipped with a steering gear lock, and the rotation of the long pole can be restricted by the locking rod of the steering gear lock. For example, the long pole contains a hole, and when the long pole is in a natural droop, the position of the steering gear lock is set so that the locking rod of the steering gear lock can enter and exit the hole, and the rotation of the long pole can be restricted by the steering gear lock. As a further preference, the aerial reciprocating motion device also includes a mechanical claw, which is arranged above the electric saw and close to the saw blade of the electric saw, and is used to clamp the branch on the saw blade for easy sawing; at the same time, it can also grab and release the sawed branch. The mechanical claw is controlled by a remote control.

[0020] Preferably, the mechanical claw of the present application uses a steering gear to control the opening and closing of the mechanical claw, and the rotation of the steering gear is controlled by a remote controller.

[0021] Adopt the technical scheme of the present invention, people just can carry out the operation such as picking fruit, sawing off branches as long as they are remotely controlled on the ground, without taking the risk of high-altitude operation. Because it is not necessary to carry people, the weight of the whole aerial reciprocating motion device is small, and cost is low. Although the aerial reciprocating motion device described in the foregoing is used for beating pine cones, it is obvious that the technical scheme of the present invention can be used for the picking of other fruits or other aerial operation fields, and these are all within the protection scope of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of an aerial reciprocating motion device provided by one embodiment of the present invention;

[0023] Figure 2 A schematic diagram of the structural relationship between the steering gear lock 32 and the connecting rod 31 provided in one embodiment of the present invention;

[0024] Figure 3 for Figure 1 A magnified view of the power system 3;

[0025] Figure 4 A schematic structural diagram of a power system 3 provided in another embodiment of the present invention from another angle;

[0026] Figure 5 A schematic structural diagram of a reciprocating mechanism 4 provided in one embodiment of the present invention;

[0027] Figure 6 A schematic diagram of the structure of an aerial reciprocating motion device provided by one embodiment of the present invention;

[0028] Figure 7 A schematic diagram of the structure of a mechanical claw 5 provided in one embodiment of the present invention;

[0029] Figure 8 A schematic structural diagram of another aerial reciprocating motion device provided by an embodiment of the present invention;

[0030] Fig. 9 A schematic structural diagram of another aerial reciprocating motion device provided by an embodiment of the present invention;

[0031] Fig.10 A schematic diagram of the structure of a drone 62 provided in one embodiment of the present invention;

[0032] Fig.11 A schematic diagram of the structure of a drone 62 provided by an embodiment of the present invention from another angle;

[0033] Fig.12 A schematic diagram of the structure of a striking device 7 provided in one embodiment of the present invention;

[0034] Fig.13A schematic structural diagram of another striking device provided by an embodiment of the present invention;

[0035] Fig.14 A schematic diagram of the structure of an aerial reciprocating motion device provided by one embodiment of the present invention;

[0036] Fig.15 A schematic diagram of the assembly relationship of the steering gear lock 86, the plate 832, the connecting plate 46 of the reciprocating mechanism 84, the rod 87, and the drone 83 provided in one embodiment of the present invention;

[0037] Fig.16 A schematic structural diagram of a limit rod 833 provided in one embodiment of the present invention;

[0038] Fig.17 A schematic diagram of the structure of a hole 871 on a rod 87 provided in an embodiment of the present invention;

[0039] Fig.18 A schematic diagram of the structure of an aerial reciprocating motion device provided by one embodiment of the present invention;

[0040] Fig.19 Schematic diagram of the assembly relationship of a long pole 941, an electric saw 942, an electric gripper 943, and an electric saw bracket 944 provided in one embodiment of the present invention. DETAILED DESCRIPTION In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention. It should be noted that the reference to "embodiment" in this article means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present invention. It is explicitly and implicitly understood by those skilled in the art that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict. These combinations are also within the scope of protection of the technical solution of the present invention. Unless otherwise defined in the present invention, all technical and scientific terms used herein have the same meaning as those generally understood by technicians in the technical field of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0042] In one embodiment of the present invention, an aerial reciprocating motion device 1 is provided, such as Figure 1The invention comprises a balloon 1, a balloon 2, a power system 3, and a reciprocating mechanism 4; wherein the diameter of the balloon 1 is 4 meters, the diameter of the balloon 2 is 3 meters, and the balloons are filled with helium. The balloon 1 is connected to four steering gear locks through four pull ropes 11, and the four steering gear locks 32 are fixed to four connecting rods 31 of the main device 3. The balloon 2 is connected to the four connecting rods 31 through four pull ropes 21. The reciprocating mechanism 4 is installed on the main device 3, and the rod 41 at the end thereof can reciprocate and can be used for hitting.

[0043] The structural relationship between the steering gear lock 32 and the connecting rod 31 is as follows: Figure 2 The steering gear lock 32 is fixed on the connecting rod 31. The pull rope 11 is sleeved on the lock rod of the lock slot, and the lock rod is controlled to exit the lock slot, then the pull rope 11 can be released, and the balloon 1 can be released.

[0044] Figure 1 The enlarged view of the power system 3 is shown in Figure 3 As shown. Includes: The main frame 30, four connecting rods 31, two rotors 32 rotating in opposite directions to provide upward power; two rotors 33 rotating in opposite directions to provide downward power; two rotors 34 rotating in opposite directions to provide forward (right) power; two rotors 35 rotating in opposite directions to provide upward and backward (left); rotors 36 providing clockwise rotation power (looking from top to bottom), and rotors 37 providing counterclockwise rotation power. The movement direction of the entire device can be controlled by the rotation of the motor and the rotors.

[0045] Another perspective of the structure of the power system 3 is as follows Figure 4 shown.

[0046] The structure of the reciprocating mechanism 4 is as follows Figure 5 shown.

[0047] The motor 42 drives the rocker arm 43 to rotate, and the rocker arm 43 drives the straight rod 45 to reciprocate on the axis of the linear bearing 46 through the connecting rod 44, thereby driving the rod 41 to reciprocate. The reciprocating mechanism 4 is fixed to the main frame 30 through the connecting plate 46.

[0048] In one embodiment of the present invention, an aerial reciprocating motion device is provided, such as Figure 6 The device is Figure 1 On the basis of the structure of the embodiment, a mechanical grab 5 is added, and the mechanical grab 5 is fixed to the main frame 30 through a mounting plate 51. The mechanical grab 5 can grab the branch, and then the rod 41 of the reciprocating mechanism 4 can be used to hit the branch or fruit.

[0049] The structure of the mechanical claw 5 is as follows Figure 7The mechanical gripper 5 includes a mounting plate 51 for fixing on the main frame 30; the other parts of the mechanical gripper 5 are the mechanical gripper in Patent 2022106156111.

[0050] In one embodiment of the present invention, an aerial reciprocating motion device is provided, such as Figure 8 As shown. Figure 1 On the basis of the structure of the embodiment of the present invention, a mechanical grab 5 is added, and the mechanical grab 5 is coaxially fixed on the straight rod 45 of the reciprocating mechanism 4. In this way, the branch can be grasped by the mechanical grab 5 and shaken, so that the fruit is shaken to the ground.

[0051] In one embodiment of the present invention, an aerial reciprocating motion device is provided, such as Fig. 9 As shown. It includes: a balloon 60, a pull rope 61, and a drone 62 ( Figure 10-11 )、Strike device 7( Fig.12 ). The balloon 60 is a helium balloon with a diameter of 3 meters. The drone 62 includes a frame 621, four rotors and a motor 622, two rotors and a motor 623 that assist in providing forward power, two rotors and a motor 625 that assist in providing backward power, a rotor and a motor 624 that assist in providing left-turning force, and a rotor and a motor 626 that assist in providing right-turning force. All motors and rotors are connected to an electronic speed regulator and to the drone flight control. One end of the four pull ropes is connected to the balloon 60, and the other end is connected to the drone 62. When the bottom surface of the frame 621 is placed horizontally, the connection part of the pull rope is on the same vertical line as the center of gravity of the drone 62. The striking device 7 is installed on the drone frame 621 through a connecting rod 71, the motor 72 is fixed on the connecting rod 71, and the striking rod 73 is installed on the shaft of the motor 72.

[0052] In this way, after installing the battery in the drone 62, the drone can be controlled to fly by the remote controller, and the motor 72 can be controlled to rotate by the remote controller, and the fruit can be knocked down by the striking rod 73. The total weight of the drone 62 (including the battery) plus the weight of the striking device 7 provides 115-125% of the lift of the balloon. In this way, the balloon can bear most of the gravity of the entire system, and the drone 62 can fly in the air for a longer time and can change various flight postures.

[0053] In one embodiment of the present invention, a device is provided, the structure of which is relative to Fig. 9 In terms of the invention, two rotors and motors 623 for assisting in providing forward power, two rotors and motors 625 for assisting in providing backward power, a rotor and motor 624 for assisting in providing leftward rotation power, and a rotor and motor 626 for assisting in providing rightward rotation power are reduced. Fig. 9 same.

[0054] In one embodiment of the present invention, a striking device is provided, such as Fig.13 Its structure is relative to Fig.12 For example, the striking component 74 is used instead of Fig.12 The striking rod 73 in the middle. The striking part 74 includes a plate 741 and a rod 742, so that when the motor 72 rotates, the striking range is larger than the striking rod 73, making it easier to knock down the fruit.

[0055] In one embodiment of the present invention, an aerial reciprocating motion device is provided, such as Fig.14 As shown. It includes a balloon 81, a pull rope 82, a quadcopter drone 83, a reciprocating mechanism 84, and an electric grab 85. The difference between the reciprocating mechanism 84 and the reciprocating mechanism 4 is that there is no rod 41 in the reciprocating mechanism 84, and the other structures are the same. One end of the four pull ropes 82 is fixed to the balloon 81, and the other end is fixed to the geometric center position of the upper surface of the drone 83. The reciprocating mechanism 84 is fixed to the geometric center position of the lower surface of the drone 83 through the connecting plate 46, and the electric grab 85 is connected to the straight rod 45 ( Figure 5 )superior.

[0056] The motor 42 of the reciprocating mechanism 84 drives the rocker arm 43 to rotate, and the rocker arm 43 drives the straight rod 45 to reciprocate on the axis of the linear bearing 46 through the connecting rod 44, and then the mechanical claw 85 reciprocates. The opening and closing of the electric gripper 85 can be controlled by the remote control to grab branches or fruits, and the reciprocating mechanism 84 can be controlled by the remote control to move, thereby controlling the electric gripper to reciprocate and shake the fruits off.

[0057] like Fig.15 As shown, the steering gear lock 86 is fixed on the plate 832, the connecting plate 46 of the reciprocating mechanism 84 is fixedly connected to the rod 87, and the rod 87 is hingedly connected to the plates 831 and 832 fixed on the lower surface of the frame of the drone 83. When the rod 87 rotates, it contacts the limit rod 833 ( Fig.16 ), the rod 87 is in a naturally drooping state, and at this time, the lock rod 861 of the steering gear lock 86 can just pass through the hole 871 on the rod 87 ( Fig.15 , 17 ).

[0058] In this way, before taking off, the rotation angle of the rod 87 can be manually controlled so that the drone 83 can be placed on the ground. After taking off, the electric grip 85 can be held and the rod 87 can be rotated to make the rod 87 abut against the limit rod 833, and then the servo lock 86 can be remotely controlled to insert the lock rod 861 into the hole 871 of the rod 87, so that the rod 871 will not rotate freely in the air.

[0059] In this way, the electric gripper 85 can be remotely controlled to grab an object in the air, and the reciprocating mechanism 84 can be remotely controlled to drive the electric gripper 85 to reciprocate.

[0060] In one embodiment of the present invention, an aerial reciprocating motion device is provided, such as Fig.18 As shown. It includes a balloon 91, a pull rope 92, a four-rotor drone 93, and a chainsaw system 94. The chainsaw system 94 includes a long pole 941, a chainsaw 942, an electric gripper 943, and a chainsaw bracket 944. The connection method between the long pole 941 and the drone 93 is the same as that of the previous embodiment. The long pole 941, the chainsaw 942, and the electric gripper 943 are fixed on the chainsaw bracket 944 ( Fig.19 ). The opening and closing of the four grippers 9431 of the electric gripper 943 are controlled by the servos 9432 and 9433. The electric gripper can be used to push the branches against the saw blade 9421 of the electric saw 942, making it easier to saw the branches. At the same time, the electric gripper 943 can be used to grab the sawed branches and the fruits on the branches.

[0061] The above-mentioned mechanism design is for the convenience of description. Those skilled in the art can easily make optimizations based on the technical solution, and these optimization solutions are also within the protection scope of the present invention.

[0062] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the above embodiments are only partial embodiments of the present invention. The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. The technical solutions of the present invention also include any combination of various embodiments. Although the present invention has been described in detail with reference to the aforementioned embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the aforementioned embodiments, or combine the recorded technical solutions, or perform equivalent replacements on some of the technical features therein; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention, so these modifications or replacements are still within the scope of protection of the present invention.

Claims

1. A device, characterized in that: The device comprises: a hovering drone and an electric mechanism; the electric mechanism comprises a reciprocating device, and the electric mechanism is installed on the drone.

2. The device according to claim 1, characterized in that The device includes a balloon containing multiple pull ropes, which are tied to the frame of the hovering drone.

3. The device according to claim 1, characterized in that The reciprocating device includes a clamping mechanism.

4. The device according to claim 1, characterized in that The reciprocating device is a mechanical claw.

5. The device according to claim 1, characterized in that The device includes a camera.

6. The device according to claim 1, characterized in that The device comprises a release device.

7. The device according to claim 1, characterized in that The device contains a paddle capable of providing power in a horizontal direction.

8. The device according to claim 2, characterized in that The buoyancy of the balloon is less than the gravity of the hovering drone.

9. The device according to claim 2, characterized in that The buoyancy of the balloon is less than the sum of the gravity of the hovering drone and the electric mechanism and is greater than 70% of the sum of the gravity of the hovering drone and the electric mechanism.

10. The device according to claim 2, characterized in that The geometric center of gravity of the projections of the multiple pull ropes of the balloon on the horizontal plane is close to the projection of the center of gravity of the hovering drone on the horizontal plane, and the distance between the two is less than 1 / 4 of the wheelbase of the drone.

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