Tree obstacle pruning unmanned aerial vehicle

Abstract

The invention relates to a tree barrier pruning unmanned aerial vehicle which comprises an unmanned aerial vehicle body, a pruning mechanism and an unhooking mechanism, and the pruning mechanism is connected with the unmanned aerial vehicle body through the unhooking mechanism. Wherein the unhooking mechanism comprises a first mounting frame, a second mounting frame, a supporting frame and a driving assembly, the first mounting frame is connected with the unmanned aerial vehicle, and the second mounting frame is connected with the pruning mechanism. The supporting frame is movably connected with the first mounting frame, the supporting frame is provided with a supporting position and an avoiding position, and under the supporting position, the supporting frame supports the second mounting frame so that the second mounting frame can be locked to the first mounting frame; in the avoiding position, the supporting frame releases the second mounting frame so that the second mounting frame can be separated from the first mounting frame, and the driving assembly is used for driving the supporting frame to move between the supporting position and the avoiding position. According to the tree barrier pruning unmanned aerial vehicle, when the pruning mechanism and the tree barrier are wound and collided, the unmanned aerial vehicle can be separated from the pruning mechanism, so that the unmanned aerial vehicle and the tree barrier are prevented from being collided and damaged.

Description

Technical Field

[0001] The present application relates to the technical field of tree barrier pruning devices, and in particular to a tree barrier pruning drone. Background Art

[0002] Tree obstacles have always been one of the major hidden dangers that affect the stable operation of power transmission line channels. Therefore, in daily line channel inspections, timely detection of super-high tree obstacles and timely pruning are effective measures to ensure the stable operation of power transmission line channels. At present, tree obstacle clearance work usually uses ladders to climb up and hand-held chain saws or hand saws for pruning. It is not easy to use ladders to climb up and prune tree tops and branches, especially eucalyptus trees, which have smooth bark and are difficult to climb. Due to site restrictions, the bottom and top of the ladder cannot be fixed and can only be held by a dedicated person. The ladder shakes when repairing the top. Although safety belts are worn, there are still major safety hazards, which increases the time spent on work and the labor intensity.

[0003] With the development of drone technology, tree barrier pruning drones equipped with pruning mechanisms, which are specially designed for pruning high trees or tree barriers, have gradually emerged. However, in the related technology, during the process of pruning tree barriers by tree barrier pruning drones, it is easy for the pruning mechanisms and the tree barriers to become entangled and collided, which may cause the drone and the pruning mechanisms to collide and be damaged by the tree barriers at the same time. Summary of the invention

[0004] Based on this, it is necessary to provide a tree barrier pruning drone, which can separate the drone from the pruning mechanism when a collision occurs between the pruning mechanism and the tree barrier, so as to solve the problem of the drone and the pruning mechanism being damaged by colliding with the tree barrier at the same time.

[0005] The present application discloses a tree barrier trimming drone, comprising a drone and a trimming mechanism, wherein the trimming mechanism is connected to the drone via a decoupling mechanism, and the decoupling mechanism comprises:

[0006] a first mounting frame, the first mounting frame being connected to the drone;

[0007] a second mounting frame connected to the trimming mechanism;

[0008] a support frame, the support frame being movably connected to the first mounting frame, the support frame having a supporting position and an avoidance position, in which the support frame supports the second mounting frame so that the second mounting frame is locked to the first mounting frame; in the avoidance position, the support frame releases the second mounting frame so that the second mounting frame is separated from the first mounting frame; and

[0009] A driving assembly is disposed on the first mounting frame and connected to the supporting frame, and the driving assembly is used to drive the supporting frame to move between the supporting position and the avoiding position.

[0010] The technical solution is further described below:

[0011] In one of the embodiments, the first mounting frame is provided with a guide column, one end of the guide column is connected to the first mounting frame, the other end of the guide column extends in an inclined upward direction, and the support frame is provided with a guide groove, the groove wall of the guide groove is slidably matched with the guide column; the driving assembly is used to drive the support frame to reciprocate along the guide column so that the support frame can be switched between the supporting position and the avoidance position.

[0012] In one embodiment, the drive assembly comprises:

[0013] A lifting member, the lifting member is arranged on the first mounting frame, the output shaft of the lifting member is connected with a lifting block, the lifting block is located between the first mounting frame and the supporting frame, the cross section of the lifting block is wedge-shaped, and the side of the supporting frame close to the lifting block is provided with an inclined surface contacting and cooperating with the lifting block; the lifting member is used to drive the lifting block to lift or lower, so that the lifting block drives the supporting frame to enter and lock it in the supporting position or release the locking of the supporting frame;

[0014] A first elastic member, one end of which is connected to the first mounting frame, and the other end of which is connected to the support frame, wherein the first elastic member is used to drive the support frame to enter an avoidance position when the top block releases the lock on the support frame.

[0015] In one embodiment, the first mounting frame is further provided with a positioning assembly, and when the support frame is in the supporting position, the support frame is supported on one side of the second mounting frame, and the positioning assembly is limitedly matched with the other side of the second mounting frame.

[0016] In one embodiment, the positioning component includes:

[0017] A positioning column, the positioning column is fixed to a side of the first mounting frame away from the supporting frame;

[0018] A positioning plate, one end of which is slidably connected to the positioning column, the other end of which is provided with a positioning protrusion, and the second mounting frame is provided with a positioning hole adapted to the positioning protrusion;

[0019] A second elastic member, wherein the first elastic member is sleeved on the positioning column and connected to the positioning plate, and the second elastic member is used to drive the positioning plate to abut against a side of the second mounting frame away from the support frame, and to insert the positioning protrusion into the positioning hole.

[0020] In one embodiment, the number of the first mounting frames is two, the two first mounting frames are arranged at intervals, each of the first mounting frames is provided with at least one supporting frame and at least one driving assembly, and in the supporting position, the supporting frames on the two first mounting frames are respectively supported on both sides of the second mounting frame, and the second mounting frame is located between the two first mounting frames.

[0021] In one embodiment, the tree barrier pruning drone further includes a lifting mechanism connecting the drone and the decoupling mechanism, the lifting mechanism being used to drive the pruning mechanism to perform lifting motion; the lifting mechanism includes:

[0022] A connecting frame, the connecting frame being connected to the drone;

[0023] A motor, wherein the motor is arranged on a connecting frame, and an output shaft of the motor is connected to a winding shaft;

[0024] A sling rope, one end of which is wound on the winding shaft, and the other end of which is connected to the first mounting bracket.

[0025] In one of the embodiments, the lifting mechanism further comprises:

[0026] A connecting shaft, the connecting shaft is connected to the connecting frame, the connecting shaft is located below the connecting shaft and the extending direction of the connecting shaft is the same as the extending direction of the reeling shaft;

[0027] A movable frame, one end of which is slidably connected to the connecting shaft, and the other end of which extends in a direction close to the suspension rope;

[0028] A roller frame, the roller frame is connected to the moving frame, and the roller frame is provided with a roller that rolls with the suspension rope;

[0029] A sliding sleeve is connected to the movable frame through a connecting rod, the sliding sleeve is sleeved on the suspension rope and is located below the roller, and both ends of the sliding sleeve are flared structures.

[0030] In one embodiment, the tree barrier pruning drone also includes a hook, which is mounted on the second mounting frame and is hooked and cooperated with the pruning mechanism. The hook is provided with an entrance and exit for the pruning mechanism to enter and exit, and the entrance and exit are provided with an anti-slip mechanism for limiting the pruning mechanism from slipping out.

[0031] In one embodiment, the anti-slip mechanism comprises:

[0032] A connecting frame, the connecting frame is fixedly connected to one end of the hook;

[0033] A connecting block, the connecting block is connected to the other end of the hook, and a limiting groove is provided on a side of the connecting block away from the connecting frame;

[0034] A connecting frame, one end of which is rotatably connected to the connecting frame, the connecting frame is provided with a slide groove, and the slide groove extends from the connecting frame to the connecting block;

[0035] An adjusting rod, the adjusting rod is movably inserted into the slide groove, the adjusting rod can move along the slide groove to engage with the groove wall of the limiting groove, one end of the adjusting rod is provided with a boss portion which cooperates with one side of the connecting frame, and the other end of the adjusting rod is threadedly connected with a locking piece, and the locking piece is used to lock the adjusting rod in the limiting groove.

[0036] In the above-mentioned tree barrier pruning drone, a decoupling mechanism is provided between the drone and the pruning mechanism. The decoupling mechanism can drive the support frame into the supporting position through the driving component, so that the support frame supports the second mounting frame, so that the second mounting frame is locked to the first mounting frame, thereby ensuring the stable connection between the pruning mechanism and the drone, so that the pruning mechanism can fly to a high place under the support of the drone, and prune and clean the branches or other high obstacles. When the pruning mechanism and the tree barrier are entangled and collided, the support frame can be driven into the avoidance position by controlling the driving component, so that the support frame releases the second mounting frame, so that the second mounting frame is separated from the first mounting frame, so that the entangled pruning mechanism can be actively detached from the drone, avoiding the problem of the drone being damaged by colliding with the tree barrier under the dragging of the pruning mechanism. In addition, the decoupling mechanism of the present application drives the support mechanism to move between the supporting position and the avoidance position through the driving component, so as to realize the connection and separation of the first mounting frame and the second mounting frame, and then realize the connection and separation of the drone and the pruning mechanism, with a simple structure, stable control and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application.

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] In addition, the drawings are not drawn to a 1:1 scale, and the relative sizes of the various elements are drawn only as examples in the drawings and are not necessarily drawn according to the true scale.

[0040] FIG1 is a schematic structural diagram of a tree barrier trimming drone according to an embodiment of the present invention.

[0041] FIG. 2 is a bottom view of the tree barrier trimming drone shown in FIG. 1 .

[0042] FIG. 3 is a schematic structural diagram of a decoupling mechanism according to an embodiment.

[0043] FIG. 4 is a partial schematic diagram of the decoupling mechanism shown in FIG. 3 .

[0044] FIG. 5 is a side view of the decoupling mechanism shown in FIG. 3 .

[0045] FIG. 6 is a partial cross-sectional view of the decoupling mechanism shown in FIG. 3 .

[0046] FIG. 7 is a schematic structural diagram of a lifting mechanism according to an embodiment.

[0047] FIG. 8 is a partial enlarged view of the portion A shown in FIG. 7 .

[0048] FIG. 9 is a schematic structural diagram of a hook and an anti-slip mechanism according to an embodiment of the present invention.

[0049] Description of reference numerals:

[0050] 1. UAV; 2. Trimming mechanism; 3. Unhooking mechanism; 31. First mounting frame; 311. Guide column; 32. Second mounting frame; 321. Positioning hole; 33. Support frame; 331. Inclined surface; 332. Guide groove; 34. Driving assembly; 341. Lifting member; 342. Lifting block; 343. First elastic member; 344. First guide rail; 35. Positioning assembly; 351. Positioning column; 352. Positioning plate; 353. Positioning protrusion; 354. Second elastic member; 35 5. Second guide rail; 4. Lifting mechanism; 41. Connecting frame; 42. Motor; 43. Winding shaft; 44. Lifting rope; 45. Connecting shaft; 46. Moving frame; 47. Roller frame; 471. Roller; 472. Protective cover; 481. Connecting rod; 482. Sliding sleeve; 5. Hook; 61. Connecting frame; 62. Connecting frame; 621. Slide groove; 63. Connecting block; 631. Limiting groove; 64. Adjusting rod; 641. Boss portion; 642. Locking piece; 643. Protective ring. DETAILED DESCRIPTION

[0051] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0052] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0053] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0054] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0055] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0056] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0057] An embodiment of the present application provides a tree barrier pruning drone, which is used for pruning tree branches, and can also be used for pruning other obstacles located at high places, without limitation here. Specifically, referring to Figures 1 and 2, a tree barrier pruning drone of an embodiment includes a drone 1, a pruning mechanism 2, and a decoupling mechanism 3, wherein the pruning mechanism 2 is connected to the drone 1 via the decoupling mechanism 3, wherein the drone 1 is used to carry the pruning mechanism 2 to fly to a high place. The pruning mechanism 2 is used to prune tree branches or other high obstacles. Exemplarily, the pruning mechanism 2 can adopt a mechanism that is available on the market, such as a rotary blade, a laser cutting device, or an electric pruner, which is capable of pruning tree branches or other obstacles, and will not be described in detail here. The decoupling mechanism 3 is used to separate the drone 1 from the pruning mechanism 2 when a collision occurs between the pruning mechanism 2 and the tree barrier, so as to prevent the drone 1 and the pruning mechanism 2 from colliding with the tree barrier at the same time and being damaged.

[0058] Specifically, referring to Figures 2 to 5, the unhooking mechanism 3 of one embodiment includes a first mounting frame 31, a second mounting frame 32, a supporting frame 33 and a driving assembly 34, wherein the first mounting frame 31 is connected to the drone 1, and the second mounting frame 32 is connected to the trimming mechanism 2. The supporting frame 33 is movably connected to the first mounting frame 31, and the supporting frame 33 has a supporting position and an avoidance position. In the supporting position, the supporting frame 33 supports the second mounting frame 32 so that the second mounting frame 32 is locked to the first mounting frame 31; in the avoidance position, the supporting frame 33 releases the second mounting frame 32 so that the second mounting frame 32 is separated from the first mounting frame 31. The driving assembly 34 is disposed on the first mounting frame 31 and connected to the supporting frame 33, and the driving assembly 34 is used to drive the supporting frame 33 to move between the supporting position and the avoidance position.

[0059] In the above-mentioned tree barrier pruning drone, a decoupling mechanism 3 is provided between the drone 1 and the pruning mechanism 2. The decoupling mechanism 3 can drive the support frame 33 into the supporting position through the driving component 34, so that the support frame 33 supports the second mounting frame 32, so that the second mounting frame 32 is locked to the first mounting frame 31, thereby ensuring the stable connection between the pruning mechanism 2 and the drone 1, so that the pruning mechanism 2 can fly to a high place under the support of the drone 1, and prune and clean the branches or other high obstacles. When the pruning mechanism 2 and the tree barrier are entangled and collided, the driving component 34 can be controlled to drive the support frame 33 into the avoidance position, so that the support frame 33 releases the second mounting frame 32, so that the second mounting frame 32 is separated from the first mounting frame 31, so that the entangled pruning mechanism 2 can actively detach from the drone 1, avoiding the problem that the drone 1 collides with the tree barrier and is damaged under the drag of the pruning mechanism 2. In addition, the uncoupling mechanism 3 of the present application drives the supporting mechanism to move between the supporting position and the avoiding position through the driving component 34, thereby realizing the connection and separation of the first mounting frame 31 and the second mounting frame 32, and then realizing the connection and separation of the drone 1 and the trimming mechanism 2. It has a simple structure, stable control and low cost.

[0060] Referring to FIG. 2 , there are two first mounting frames 31 , which are spaced apart from each other. Each first mounting frame 31 is provided with at least one supporting frame 33 and at least one driving assembly 34 . In the supporting position, the supporting frames 33 on the two first mounting frames 31 are respectively supported on both sides of the second mounting frame 32 , and the second mounting frame 32 is located between the two first mounting frames 31 .

[0061] Specifically, the support frames 33 on the two first mounting frames 31 are used to jointly support the second mounting frame 32, ensuring that the force on the second mounting frame 32 is balanced, thereby ensuring that the pruning mechanism 2 can be stably connected to the drone 1 when the tree barrier pruning drone is working normally. At the same time, the second mounting frame 32 is arranged between the two first mounting frames 31, avoiding the direct connection between the second mounting frame 32 and the first mounting frame 31, thereby ensuring that the second mounting frame 32 can quickly detach from the first mounting frame 31 after the support frame 33 enters the avoidance position. Exemplarily, the cross-section of the first mounting frame 31 is an inverted L-shaped structure, and the support frame 33 and the drive assembly 34 are both arranged on the bottom side of the first mounting frame 31 to ensure that the support frame 33 can support the second mounting frame 32 from the bottom side of the second mounting frame 32 when it is in the supporting position.

[0062] Referring to Figure 6, in one embodiment, the first mounting frame 31 is provided with a guide column 311, one end of the guide column 311 is connected to the first mounting frame 31, and the other end of the guide column 311 extends in an inclined upward direction. The support frame 33 is provided with a guide groove 332, and the groove wall of the guide groove 332 is slidably matched with the guide column 311; the driving assembly 34 is used to drive the support frame 33 to reciprocate along the guide column 311 so that the support frame 33 can be switched between the supporting position and the avoidance position.

[0063] Specifically, the support frame 33 can move obliquely upward along the guide column 311 relative to the first mounting frame 31 to enter the supporting position under the drive of the driving assembly 34. The support frame 33 can also move obliquely downward along the guide column 311 relative to the first mounting frame 31 to enter the avoidance position under the drive of the driving assembly 34. The sliding cooperation between the guide column 311 and the guide groove 332 of the support frame 33 can improve the stability and accuracy of the movement of the support frame 33 between the supporting position and the avoidance position, ensuring that the support frame 33 can stably and accurately enter the supporting position or the avoidance position under the drive of the driving assembly 34. In addition, the guide column 311 extending obliquely upward can also support the support frame 33, ensuring that the support frame 33 can be stably on the first mounting frame 31.

[0064] Referring to Figures 4 and 5, in one embodiment, the driving assembly 34 includes a lifting member 341 and a first elastic member 343. The lifting member 341 is arranged on the first mounting frame 31. The output shaft of the lifting member 341 is connected to a lifting block 342. The lifting block 342 is located between the first mounting frame 31 and the support frame 33. The cross-section of the lifting block 342 is wedge-shaped. A side of the support frame 33 close to the lifting block 342 is provided with an inclined surface 331 that contacts and cooperates with the lifting block 342. The lifting member 341 is used to drive the lifting block 342 to lift or lower, so that the lifting block 342 drives the support frame 33 to enter and lock it in the supporting position or release the lock on the support frame 33. One end of the first elastic member 343 is connected to the first mounting frame 31, and the other end of the first elastic member 343 is connected to the support frame 33. The first elastic member 343 is used to drive the support frame 33 to enter the avoidance position when the lifting block 342 releases the lock on the support frame 33.

[0065] Specifically, the first mounting frame 31 is provided with a first guide rail 344 extending vertically, and the top block 342 is slidably matched with the first guide rail 344. The top block 342 can move upward along the first guide rail 344 under the lifting of the lifting member 341. Since the cross-section of the top block 342 is wedge-shaped, the support frame 33 will be gradually squeezed during the upward movement of the top block 342, so that the support frame 33 moves upward obliquely along the guide column 311, and finally the support frame 33 is entered and locked in the supporting position. When the trimming mechanism 2 and the tree barrier are entangled and collided, the lifting member 341 is controlled by an electrical signal to drive the top block 342 to move downward along the first guide rail 344, so that the top block 342 can release the squeeze on the support frame 33. At this time, the support frame 33 can move obliquely downward along the guide column 311 under the pulling force of the first elastic member 343, so that the support frame 33 enters the avoidance position. At this time, the second mounting frame 32 and the trimming mechanism 2 can be detached from the first mounting frame 31, so as to prevent the drone 1 and the trimming mechanism 2 from colliding with the tree barrier and being damaged.

[0066] Exemplarily, the first elastic member 343 is a tension spring. Two first elastic members 343 are disposed on each first mounting frame 31. The two first elastic members 343 are respectively connected to the two ends of the support frame 33, so as to ensure that the support frame 33 is subjected to balanced force.

[0067] Referring to FIG. 3 , optionally, in one embodiment, the first mounting frame 31 is further provided with a positioning assembly 35, and when the supporting frame 33 is in the supporting position, the supporting frame 33 is supported on one side of the second mounting frame 32, and the positioning assembly 35 is limitedly matched with the other side of the second mounting frame 32. Specifically, when the supporting frame 33 is in the supporting position, the supporting frame 33 is supported on the bottom side of the second mounting frame 32, and the positioning assembly 35 is limitedly matched with the top side of the second mounting frame 32. In this way, the supporting frame 33 and the positioning assembly 35 can limit the two sides of the second mounting frame 32 respectively, so as to prevent the second mounting frame 32 from shifting or falling off when the pruning mechanism 2 is pruning normally, thereby ensuring that the pruning mechanism 2 can prune the tree barrier stably and accurately.

[0068] Specifically, referring to FIG. 5 , in one embodiment, the positioning assembly 35 includes a positioning column 351, a positioning plate 352, and a second elastic member 354, wherein the positioning column 351 is fixed to the side of the first mounting frame 31 away from the support frame 33. One end of the positioning plate 352 is slidably connected to the positioning column 351, and the other end of the positioning plate 352 is provided with a positioning protrusion 353. The second mounting frame 32 is provided with a positioning hole 321 adapted to the positioning protrusion 353. The second elastic member 354 is sleeved on the positioning column 351 and connected to the positioning plate 352. The second elastic member 354 is used to drive the positioning plate 352 to abut against the side of the second mounting frame 32 away from the support frame 33, and to insert the positioning protrusion 353 into the positioning hole 321, so as to limit the second mounting frame 32.

[0069] Exemplarily, in combination with Figure 3, in one embodiment, each first mounting frame 31 is provided with two spaced apart positioning components 35, and the second mounting frame 32 is provided with four positioning holes 321, and the four positioning holes 321 are respectively arranged at the four corners of the second mounting frame 32, and the four positioning holes 321 are arranged one-to-one with the four positioning components 35. In this way, the positioning protrusions 353 on the four positioning components 35 are inserted into the four positioning holes 321 one-to-one, thereby further improving the limiting stability of the second mounting frame 32.

[0070] Furthermore, referring to FIG5 , the circumferential surface of the positioning column 351 is convexly provided with a second guide rail 355 extending along its axial direction, and one end of the positioning plate 352 is sleeved on the fixed column and slidably cooperates with the second guide rail 355, thereby ensuring that the positioning plate 352 can only move along the axial direction of the positioning column 351, preventing the positioning plate 352 from rotating relative to the positioning column 351, thereby ensuring that the positioning plate 352 can be driven by the second elastic member 354 to make the positioning protrusion 353 accurately inserted into the positioning hole 321, thereby ensuring the limiting effect of the positioning assembly 35 on the second mounting frame 32.

[0071] Referring to Figure 1, in one embodiment, the tree barrier pruning drone also includes a lifting mechanism 4 connecting the drone 1 and the uncoupling mechanism 3. The lifting mechanism 4 is used to drive the pruning mechanism 2 to perform lifting and lowering movements. The lifting mechanism 4 can be used to adjust the height of the pruning mechanism 2, making it convenient for the pruning mechanism 2 to prune tree barriers of different heights.

[0072] Specifically, referring to Figure 7, in one embodiment, the lifting mechanism 4 includes a connecting frame 41, a motor 42 and a suspension rope 44, wherein the connecting frame 41 is connected to the drone 1, the motor 42 is arranged on the connecting frame 41, and the output shaft of the motor 42 is connected to the winding shaft 43; one end of the suspension rope 44 is wound on the winding shaft 43, and the other end of the suspension rope 44 is connected to the first mounting frame 31. In this way, the winding shaft 43 is driven to rotate by the motor 42 so that the winding shaft 43 can reel in or release the suspension rope 44, thereby raising or lowering the height of the unhooking mechanism 3 and the trimming mechanism 2.

[0073] Exemplarily, there are two motors 42, which are respectively arranged on both sides of the connecting frame 41, and each motor 42 is connected to a winding shaft 43 at both ends, and each winding shaft 43 is wound with a lifting rope 44, that is, the lifting mechanism 4 has a total of four lifting ropes 44, wherein the two lifting ropes 44 on the motor 42 located on one side of the connecting frame 41 are respectively connected to the two ends of a first mounting frame 31, and the two lifting ropes 44 on the motor 42 located on the other side of the connecting frame 41 are respectively connected to the two ends of another first mounting frame 31, thereby ensuring that the two first mounting frames 31 are subjected to balanced forces, thereby ensuring the smooth lifting and lowering of the trimming mechanism 2.

[0074] 8 , the lifting mechanism 4 further includes a connecting shaft 45 , a moving frame 46 , a roller frame 47 and a sliding sleeve 482 .

[0075] The connecting shaft 45 is connected to the connecting frame 41, and the connecting shaft 45 is located below the connecting shaft 45, and the extending direction of the connecting shaft 45 is the same as the extending direction of the reeling shaft 43. Specifically, the number of the connecting shafts 45 is the same as the number of the reeling shafts 43, and the connecting shafts 45 and the reeling shafts 43 are arranged one by one.

[0076] One end of the moving frame 46 is slidably connected to the connecting shaft 45, and the other end of the moving frame 46 extends in a direction close to the suspension rope 44. In this way, the moving frame 46 can move on the connecting shaft 45 according to the position of the suspension rope 44.

[0077] The roller frame 47 is connected to the mobile frame 46, and the roller frame 47 is provided with a roller 471 that rolls with the suspension rope 44. Exemplarily, two rollers 471 are provided on the roller frame 47, and the suspension rope 44 is inserted between the two rollers 471 and rolls with the two rollers 471. Specifically, the roller 471 can guide and protect the sliding of the suspension rope 44. Prevent the suspension rope 44 from being entangled and knotted. Further, the roller 471 of the roller 471 is provided with a protective cover 472, so as to reduce the wear of the roller 471.

[0078] The sliding sleeve 482 is connected to the mobile frame 46 through the connecting rod 481. The sliding sleeve 482 is sleeved on the suspension rope 44 and is located below the roller 471. The two ends of the sliding sleeve 482 are flared structures. Specifically, the surface of the suspension rope 44 can be cleaned and protected with the help of the sliding sleeve 482 below the roller 471, which helps the suspension rope 44 to be used and operated for a long time, and also prevents impurities such as leaves adhering to the surface of the suspension rope 44 from entering the roller 471 and the reeling shaft 43, ensuring the smooth rotation of the roller 471 and the reeling shaft 43. The two ends of the sliding sleeve 482 are flared structures, which can prevent the sliding sleeve 482 from scratching the suspension rope 44. Exemplarily, the sliding sleeve 482 is made of cemented carbide, which ensures that the sliding sleeve 482 can be used for a long time and avoids deformation.

[0079] Referring to FIG. 9 , in one embodiment, the tree barrier trimming drone further includes a hook 5, which is mounted on the second mounting frame 32 and is connected to the trimming mechanism 2. The hook 5 is provided with an inlet and outlet for the trimming mechanism 2 to enter and exit, and an anti-slip mechanism is provided at the inlet and outlet to prevent the trimming mechanism 2 from slipping out. The trimming mechanism 2 can be quickly connected to the hook 5, which facilitates the assembly and disassembly of the trimming mechanism 2. The anti-slip mechanism is provided at the inlet and outlet of the hook 5 to prevent the trimming mechanism 2 from slipping out of the hook 5 during operation.

[0080] Specifically, referring to FIG. 9 , in one embodiment, the anti-slip mechanism includes a connection frame 61, a connection block 63, a connection frame 62, and an adjustment rod 64, wherein the connection frame 61 is fixedly connected to one end of the hook 5. The connection block 63 is connected to the other end of the hook 5, and a limiting groove 631 is provided on the side of the connection block 63 away from the connection frame 61. One end of the connection frame 62 is rotatably connected to the connection frame 61, and the connection frame 62 is provided with a slide groove 621, and the slide groove 621 extends from the connection frame 61 to the connection block 63. The adjustment rod 64 is movably arranged in the slide groove 621, and the adjustment rod 64 can move along the slide groove 621 to be clamped with the groove wall of the limiting groove 631, and one end of the adjustment rod 64 is provided with a boss portion 641 that is limitedly matched with one side of the connection frame 62, that is, the adjustment rod 64 is in a "T" shape. The other end of the adjustment rod 64 is threadedly connected with a locking member 642, and the locking member 642 is used to lock the adjustment rod 64 in the limiting groove 631. Furthermore, a protective ring 643 is sleeved on one end of the adjustment rod 64 away from the boss portion 641 , and the protective ring 643 is used to abut against the locking member 642 .

[0081] Specifically, when connecting the trimming mechanism 2 and the hook 5, first flip the connecting frame 62 to the side where the connecting frame 61 is located to open the entrance and exit of the hook 5, then put the hanging ring of the trimming mechanism 2 into the hook 5, and then flip the connecting frame 62 so that the end of the connecting frame 62 away from the connecting frame 61 is connected to the connecting block 63, and then pull the adjusting rod 64 to let the adjusting rod 64 slide along the sliding groove 621 until the adjusting rod 64 is clamped and fixed with the limiting groove 631 of the connecting block 63, and then rotate the locking piece 642 at one end of the adjusting rod 64 to squeeze and limit the adjusting rod 64 through the locking piece 642 to lock the adjusting rod 64, thereby locking the connecting frame 62, so that the connecting frame 62 closes the entrance and exit of the hook 5, and prevents the hanging ring of the trimming mechanism 2 from falling out of the entrance and exit of the hook 5.

[0082] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0083] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A tree barrier pruning drone, characterized in that: It includes a drone and a trimming mechanism, wherein the trimming mechanism is connected to the drone via a decoupling mechanism, and the decoupling mechanism includes: a first mounting frame, the first mounting frame being connected to the drone; a second mounting frame connected to the trimming mechanism; a support frame, the support frame being movably connected to the first mounting frame, the support frame having a supporting position and an avoiding position, in which the support frame supports the second mounting frame so that the second mounting frame is locked to the first mounting frame; in the avoiding position, the support frame releases the second mounting frame so that the second mounting frame is separated from the first mounting frame; and A driving assembly is disposed on the first mounting frame and connected to the supporting frame, and the driving assembly is used to drive the supporting frame to move between the supporting position and the avoiding position.

2. The tree barrier trimming drone according to claim 1, characterized in that: The first mounting frame is provided with a guide column, one end of which is connected to the first mounting frame, and the other end of which extends in an inclined upward direction. The support frame is provided with a guide groove, and the groove wall of the guide groove is slidably matched with the guide column; the driving assembly is used to drive the support frame to reciprocate along the guide column so that the support frame can be switched between the supporting position and the avoidance position.

3. The tree barrier trimming drone according to claim 2, characterized in that: The drive assembly comprises: A lifting member, the lifting member is arranged on the first mounting frame, the output shaft of the lifting member is connected with a lifting block, the lifting block is located between the first mounting frame and the supporting frame, the cross section of the lifting block is wedge-shaped, and the side of the supporting frame close to the lifting block is provided with an inclined surface contacting and cooperating with the lifting block; the lifting member is used to drive the lifting block to lift or lower, so that the lifting block drives the supporting frame to enter and lock it in the supporting position or release the locking of the supporting frame; A first elastic member, one end of which is connected to the first mounting frame, and the other end of which is connected to the support frame, wherein the first elastic member is used to drive the support frame to enter an avoidance position when the top block releases the lock on the support frame.

4. The tree barrier trimming drone according to claim 2, characterized in that: The first mounting frame is further provided with a positioning assembly, and when the supporting frame is in the supporting position, the supporting frame is supported on one side of the second mounting frame, and the positioning assembly is limitedly matched with the other side of the second mounting frame.

5. The tree barrier trimming drone according to claim 4, characterized in that: The positioning component comprises: A positioning column, the positioning column is fixed to a side of the first mounting frame facing away from the supporting frame; A positioning plate, one end of which is slidably connected to the positioning column, the other end of which is provided with a positioning protrusion, and the second mounting frame is provided with a positioning hole adapted to the positioning protrusion; A second elastic member is sleeved on the positioning column and connected to the positioning plate, and the second elastic member is used to drive the positioning plate to abut against a side of the second mounting frame away from the support frame, and to insert the positioning protrusion into the positioning hole.

6. The tree barrier trimming drone according to any one of claims 1 to 5, characterized in that: There are two first mounting frames, and the two first mounting frames are arranged at intervals. Each of the first mounting frames is provided with at least one supporting frame and at least one driving assembly. In the supporting position, the supporting frames on the two first mounting frames are respectively supported on both sides of the second mounting frame, and the second mounting frame is located between the two first mounting frames.

7. The tree barrier trimming drone according to claim 1, characterized in that: The tree barrier trimming UAV further comprises a lifting mechanism connecting the UAV and the decoupling mechanism, wherein the lifting mechanism is used to drive the trimming mechanism to perform a lifting movement; the lifting mechanism comprises: A connecting frame, the connecting frame being connected to the drone; A motor, wherein the motor is arranged on a connecting frame, and an output shaft of the motor is connected to a winding shaft; A sling rope, one end of which is wound on the winding shaft, and the other end of which is connected to the first mounting bracket.

8. The tree barrier trimming drone according to claim 7, characterized in that: The lifting mechanism also includes: A connecting shaft, the connecting shaft is connected to the connecting frame, the connecting shaft is located below the connecting shaft and the extending direction of the connecting shaft is the same as the extending direction of the reeling shaft; A movable frame, one end of which is slidably connected to the connecting shaft, and the other end of which extends in a direction close to the suspension rope; A roller frame, the roller frame is connected to the moving frame, and the roller frame is provided with a roller that rolls with the suspension rope; A sliding sleeve is connected to the movable frame through a connecting rod, the sliding sleeve is sleeved on the suspension rope and is located below the roller, and both ends of the sliding sleeve are flared structures.

9. The tree barrier trimming drone according to claim 1, characterized in that: The tree barrier trimming drone also includes a hook, which is installed on the second mounting frame and is hooked and cooperated with the trimming mechanism. The hook is provided with an inlet and outlet for the trimming mechanism to enter and exit, and the inlet and outlet are provided with an anti-slip mechanism for limiting the trimming mechanism from slipping out.

10. The tree barrier trimming drone according to claim 9, characterized in that: The anti-slip mechanism comprises: A connecting frame, the connecting frame is fixedly connected to one end of the hook; A connecting block, the connecting block is connected to the other end of the hook, and a limiting groove is provided on a side of the connecting block away from the connecting frame; A connecting frame, one end of which is rotatably connected to the connecting frame, the connecting frame is provided with a slide groove, and the slide groove extends from the connecting frame to the connecting block; An adjusting rod, the adjusting rod is movably inserted into the slide groove, the adjusting rod can move along the slide groove to engage with the groove wall of the limiting groove, one end of the adjusting rod is provided with a boss portion which cooperates with one side of the connecting frame, and the other end of the adjusting rod is threadedly connected with a locking piece, and the locking piece is used to lock the adjusting rod in the limiting groove.

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