Tree barrier pruning drone

Abstract

The application relates to a tree barrier pruning unmanned aerial vehicle, which comprises an unmanned aerial vehicle, a pruning mechanism and an unhooking mechanism. The pruning mechanism is connected with the unmanned aerial vehicle through the unhooking mechanism. 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 has a supporting position and a avoiding position. In the supporting position, the supporting frame supports the second mounting frame, so that the second mounting frame is locked to the first mounting frame. In the avoiding position, the supporting frame releases the second mounting frame, so that the second mounting frame is separated from the first mounting frame. The driving assembly is used for driving the supporting frame to move between the supporting position and the avoiding position. When the pruning mechanism and the tree barrier are entangled and collide, the unmanned aerial vehicle and the pruning mechanism can be separated, so that the unmanned aerial vehicle and the tree barrier are prevented from colliding and being damaged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tree barrier pruning devices, in particular to a tree barrier pruning unmanned aerial vehicle. BACKGROUND

[0002] Tree barriers have always been one of the important hidden dangers affecting the stable operation of power transmission line channels, so in daily line channel inspection, timely discovery of ultra-high tree barrier hidden dangers and timely pruning are effective measures to ensure the stable operation of power transmission line channels. At present, the tree barrier cleaning work is usually carried out by climbing a ladder, holding a chain saw or manually sawing to prune. Climbing a ladder to prune the top of the tree and branches is not easy, especially for eucalyptus trees, which are slippery and difficult to climb. The bottom and top of the ladder cannot be fixed and can only be supported by a dedicated person, which causes shaking during top pruning, although safety belts are used, there are still great safety hazards, resulting in increased time consumption and increased labor intensity.

[0003] With the development of unmanned aerial vehicle technology, tree barrier pruning unmanned aerial vehicles equipped with pruning mechanisms and designed for pruning high trees or tree barriers have gradually emerged. However, in related technologies, during the pruning process of the tree barrier pruning unmanned aerial vehicle, the pruning mechanism and the tree barrier are prone to entanglement and collision, which causes the unmanned aerial vehicle and the pruning mechanism to collide with the tree barrier at the same time, causing damage. SUMMARY

[0004] Therefore, it is necessary to provide a tree barrier pruning unmanned aerial vehicle that can separate the unmanned aerial vehicle and the pruning mechanism when the pruning mechanism and the tree barrier entangle and collide, to solve the problem of the unmanned aerial vehicle and the pruning mechanism colliding with the tree barrier at the same time.

[0005] The tree barrier pruning unmanned aerial vehicle of the present application includes an unmanned aerial vehicle and a pruning mechanism, the pruning mechanism is connected to the unmanned aerial vehicle through an unhooking mechanism, and the unhooking mechanism includes:

[0006] a first mounting bracket connected to the unmanned aerial vehicle;

[0007] a second mounting bracket connected to the pruning mechanism;

[0008] a support bracket movably connected to the first mounting bracket, the support bracket has a supporting position and an avoiding position, in the supporting position, the support bracket supports the second mounting bracket, so that the second mounting bracket is locked to the first mounting bracket; in the avoiding position, the support bracket releases the second mounting bracket, so that the second mounting bracket is separated from the first mounting bracket; and

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

[0010] The technical solutions are 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 with the first mounting frame, the other end of the guide column extends in an inclined upward direction, the support frame is provided with a guide slot, and the slot wall of the guide slot is in sliding fit with the guide column; the driving assembly is used to drive the support frame to reciprocate along the guide column, so as to switch the support frame between the support position and the avoiding position.

[0012] In one of the embodiments, the driving assembly comprises:

[0013] A jacking member is arranged on the first mounting frame, an output shaft of the jacking member is connected with a jacking block, the jacking block is located between the first mounting frame and the support frame, the cross section of the jacking block is wedge-shaped, and the side of the support frame close to the jacking block is provided with an inclined surface in contact with the jacking block; the jacking member is used to drive the jacking block to lift or drop, so as to drive the support frame to enter and be locked in the support position or to be unlocked from the support frame;

[0014] A first elastic member is connected with the first mounting frame at one end and connected with the support frame at the other end, and is used to drive the support frame to enter the avoiding position when the jacking block is unlocked from the support frame.

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

[0016] In one of the embodiments, the positioning assembly comprises:

[0017] A positioning column is fixed on the side of the first mounting frame away from the support frame;

[0018] A positioning plate is connected with the positioning column in sliding mode at one end, and is provided with a positioning protrusion at the other end, and the second mounting frame is provided with a positioning hole matched with the positioning protrusion;

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

[0020] In one of the embodiments, 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 support frame and at least one driving assembly, and in the support position, the support frames on the two first mounting frames are respectively supported on two sides of the second mounting frame, and the second mounting frame is located between the two first mounting frames.

[0021] In one of the embodiments, the tree barrier pruning unmanned aerial vehicle further comprises a lifting mechanism connected with the unmanned aerial vehicle and the unhooking mechanism, and the lifting mechanism is used to drive the pruning mechanism to make lifting movement.

[0022] A connecting frame is connected with the unmanned aerial vehicle.

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

[0024] A hanging rope is wound on the winding shaft at one end, and the other end of the hanging rope is connected with the first mounting frame.

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

[0026] A connecting shaft is connected with the connecting frame, the connecting shaft is located below the connecting shaft, and the extension direction of the connecting shaft is the same as the extension direction of the winding shaft.

[0027] A moving frame is slidably connected with the connecting shaft at one end, and the other end of the moving frame extends in the direction close to the hanging rope.

[0028] A roller frame is connected with the moving frame, and the roller frame is provided with a roller in rolling cooperation with the hanging rope.

[0029] A sliding sleeve is connected with the moving frame through a connecting rod, the sliding sleeve is sleeved on the hanging rope and located below the roller, and both ends of the sliding sleeve are in flared structure.

[0030] In one of the embodiments, the tree barrier pruning unmanned aerial vehicle further comprises a hook installed on the second mounting frame and hung in cooperation with the pruning mechanism, the hook is provided with an inlet and outlet for the pruning mechanism to enter and exit, and the inlet and outlet are provided with an anti-exit mechanism for limiting the pruning mechanism to exit.

[0031] In one of the embodiments, the anti-detaching mechanism comprises:

[0032] An adapter frame fixedly connected with one end of the hook;

[0033] An adapter block connected with the other end of the hook, and a limiting groove arranged on the side of the adapter block away from the adapter frame;

[0034] An adapter frame rotatably connected with one end of the adapter frame, and a sliding groove arranged in the adapter frame and extending from the adapter frame to the adapter block;

[0035] An adjusting rod movably arranged in the sliding groove, and capable of being moved to be clamped with the groove wall of the limiting groove, one end of the adjusting rod being provided with a boss part limitedly matched with one side of the adapter frame, and the other end of the adjusting rod being threadedly connected with a locking piece for locking the adjusting rod in the limiting groove.

[0036] In the above-mentioned tree pruning unmanned aerial vehicle, the anti-detaching mechanism is arranged between the unmanned aerial vehicle and the pruning mechanism, and the support frame is driven by the driving assembly to enter the supporting position, so that the support frame supports the second mounting frame, so that the second mounting frame is locked with the first mounting frame, thereby ensuring the stable connection between the pruning mechanism and the unmanned aerial vehicle, so that the pruning mechanism can fly to a high place under the carrying of the unmanned aerial vehicle, and prune and clean the branches of the tree or other obstacles at the high place. When the pruning mechanism is entangled with the tree barrier, the support frame is driven by the control driving assembly to enter the avoiding position, 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 separated from the unmanned aerial vehicle, thereby avoiding the problem that the unmanned aerial vehicle is damaged by colliding with the tree barrier under the dragging of the pruning mechanism. Moreover, the anti-detaching mechanism of the present application drives the support mechanism to move between the supporting position and the avoiding position by the driving assembly, so as to realize the connection and separation of the first mounting frame and the second mounting frame, and further realize the connection and separation of the unmanned aerial vehicle and the pruning mechanism, which is simple in structure, stable in control and low in cost. BRIEF DESCRIPTION OF DRAWINGS

[0037] The accompanying drawings, which form a part of the present application, are intended to provide further understanding of the present application, and the illustrative embodiments of the present application and their description serve the purpose of explaining the present application. The present application should not be limited by the accompanying drawings.

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0039] In addition, the drawings are not drawn in the ratio of 1:1, and the relative sizes of various elements are only exemplarily drawn in the drawings, but not necessarily drawn in the true ratio. In the drawings:

[0040] Figure 1 Structure diagram of a tree pruning unmanned aerial vehicle according to an embodiment.

[0041] Figure 2 Structure diagram of a tree pruning unmanned aerial vehicle according to an embodiment. Figure 1 View from below of the tree pruning unmanned aerial vehicle shown in

[0042] Figure 3 Structure diagram of an unhooking mechanism according to an embodiment.

[0043] Figure 4 Structure diagram of an unhooking mechanism according to an embodiment. Figure 3 Partial view of the unhooking mechanism shown in

[0044] Figure 5 Side view of the unhooking mechanism shown in Figure 3

[0045] Figure 6 Partial view of the unhooking mechanism shown in Figure 3

[0046] Structure diagram of a lifting mechanism according to an embodiment. Figure 7

[0047] Figure 8 Partial enlarged view of the A part shown in Figure 7

[0048] Figure 9 Structure diagram of a lifting hook and anti-unhooking mechanism according to an embodiment.

[0049] Explanation of reference signs:

[0050] ​​​1, unmanned aerial vehicle; 2, pruning 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, jacking piece; 342, top block; 343, first elastic piece; 344, first guide rail; 35, positioning assembly; 351, positioning column; 352, positioning plate; 353, positioning protrusion; 354, second elastic piece; 355, second guide rail; 4, lifting mechanism; 41, connecting frame; 42, motor; 43, winding shaft; 44, hanging rope; 45, connecting shaft; 46, moving frame; 47, roller frame; 471, roller; 472, protective sleeve; 481, connecting rod; 482, sliding sleeve; 5, hook; 61, connection frame; 62, connection frame; 621, sliding groove; 63, connection block; 631, limiting groove; 64, adjusting rod; 641, boss part; 642, locking piece; 643, protective ring. DETAILED DESCRIPTION

[0051] In order to make the above objectives, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below. In the following description, a large number of specific details are set forth in order to fully understand 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 departing from the spirit of the present application, therefore the present application is not limited to the specific embodiments disclosed below.

[0052] In the description of the present application, it should be understood that if these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0053] In addition, if these terms "first", "second" appear, these terms are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, if the term "a plurality of" appears, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0054] In the present application, unless specifically defined otherwise, if there are terms such as "mount", "connect", "connect", "fix" and the like, these terms should be understood in a broad sense. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0055] In the present application, unless specifically defined otherwise, if there are similar descriptions such as "on" or "below" the first feature of the second feature, it means that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the second feature, or only indicates that the first feature is higher than the second feature in horizontal height. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the second feature, or only indicates that the first feature is lower than the second feature in horizontal height.

[0056] It should be noted that if an element is referred to as "fixed to" or "provided to" another element, it can be directly on another element or there can be a middle element. If an element is considered to be "connected" to another element, it can be directly connected to another element or there can be a middle element. If present, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in the present application are for illustrative purposes only and are not the only embodiment.

[0057] An embodiment of the present application provides a tree obstacle pruning unmanned aerial vehicle for pruning tree branches, which can also be used for pruning other obstacles located at high places, which is not limited here. Specifically, referring to Figure 1 and Figure 2 An embodiment of the tree obstacle pruning unmanned aerial vehicle includes an unmanned aerial vehicle 1, a pruning mechanism 2, and an unhooking mechanism 3. The pruning mechanism 2 is connected to the unmanned aerial vehicle 1 through the unhooking mechanism 3, wherein the unmanned aerial vehicle 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 obstacles at high places. For example, the pruning mechanism 2 can use existing rotating blades, laser cutting devices or electric trimmers that can prune branches or other obstacles on the market, which will not be described here. The unhooking mechanism 3 is used to separate the unmanned aerial vehicle 1 from the pruning mechanism 2 when the pruning mechanism 2 and the tree obstacle collide, so as to prevent the unmanned aerial vehicle 1 and the pruning mechanism 2 from colliding and damaging the tree obstacle at the same time.

[0058] Specifically, referring toFigures 2 to 5 In one embodiment, the unhooking mechanism 3 includes a first mounting frame 31, a second mounting frame 32, a support frame 33, and a drive assembly 34. 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 support frame 33 is movably connected to the first mounting frame 31 and has a supporting position and a retraction position. In the supporting position, the support frame 33 supports the second mounting frame 32, locking the second mounting frame 32 to the first mounting frame 31. In the retraction position, the support frame 33 releases the second mounting frame 32, separating it from the first mounting frame 31. The drive assembly 34 is disposed on the first mounting frame 31 and connected to the support frame 33, and is used to drive the support frame 33 to move between the supporting position and the retraction position.

[0059] In the aforementioned tree-pruning drone, a disengagement mechanism 3 is provided between the drone 1 and the pruning mechanism 2. The disengagement mechanism 3, through a drive component 34, drives the support frame 33 into a support position, allowing the support frame 33 to support the second mounting frame 32. This locks the second mounting frame 32 onto the first mounting frame 31, ensuring a stable connection between the pruning mechanism 2 and the drone 1. This allows the pruning mechanism 2 to fly to a high altitude on the drone 1 and prune and clear branches or other obstacles at higher elevations. When the pruning mechanism 2 becomes entangled or collides with a tree obstacle, the drive component 34 can be controlled to drive the support frame 33 into an avoidance position, releasing the second mounting frame 32 and separating it from the first mounting frame 31. This allows the entangled pruning mechanism 2 to actively detach from the drone 1, preventing damage to the drone 1 from collisions with tree obstacles while being dragged by the pruning mechanism 2. Furthermore, the unhooking mechanism 3 of this application drives the support mechanism to move between the support position and the avoidance position through the drive component 34, thereby realizing the connection and separation of the first mounting frame 31 and the second mounting frame 32, and thus realizing the connection and separation of the drone 1 and the trimming mechanism 2. The structure is simple, the control is stable, and the cost is low.

[0060] See Figure 2 There are two first mounting brackets 31, which are spaced apart. Each first mounting bracket 31 is provided with at least one support bracket 33 and at least one drive assembly 34. In the supported position, the support brackets 33 on the two first mounting brackets 31 support the two sides of the second mounting bracket 32 ​​respectively, and the second mounting bracket 32 ​​is located between the two first mounting brackets 31.

[0061] Specifically, the support frame 33 on the two first mounting frames 31 supports the second mounting frame 32 together, which ensures that the second mounting frame 32 is balanced in force, and further ensures that the trimming mechanism 2 can be stably connected with the unmanned aerial vehicle 1 when the tree barrier trimming unmanned aerial vehicle works normally. Meanwhile, the second mounting frame 32 is arranged between the two first mounting frames 31, which avoids that the second mounting frame 32 is directly connected with the first mounting frame 31, and further ensures that the second mounting frame 32 can quickly separate from the first mounting frame 31 after the support frame 33 enters the avoiding position. Exemplarily, the cross section of the first mounting frame 31 is in an inverted L-shaped structure, and the support frame 33 and the driving assembly 34 are arranged on the bottom side of the first mounting frame 31, so as 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 the support frame 33 is in the supporting position.

[0062] Referring to Figure 6 In an embodiment, the first mounting frame 31 is provided with a guide column 311, one end of the guide column 311 is connected with the first mounting frame 31, the other end of the guide column 311 extends in an obliquely upward direction, the support frame 33 is provided with a guide groove 332, and the groove wall of the guide groove 332 is in sliding fit with the guide column 311; and the driving assembly 34 is configured to drive the support frame 33 to reciprocate along the guide column 311, so as to switch the support frame 33 between the supporting position and the avoiding position.

[0063] Specifically, the support frame 33 can move obliquely upward along the guide column 311 relative to the first mounting frame 31 under the driving of the driving assembly 34 to enter the supporting position. The support frame 33 can also move obliquely downward along the guide column 311 relative to the first mounting frame 31 under the driving of the driving assembly 34 to enter the avoiding position. Through the sliding fit of the guide column 311 and the guide groove 332 of the support frame 33, the stability and accuracy of the movement of the support frame 33 between the supporting position and the avoiding position can be improved, so as to ensure that the support frame 33 can stably and accurately enter the supporting position or the avoiding position under the driving of the driving assembly 34. In addition, the guide column 311 extending obliquely upward can also support the support frame 33, so as to ensure that the support frame 33 can be stably arranged on the first mounting frame 31.

[0064] Referring to Figure 4 and Figure 5In an embodiment, the driving assembly 34 comprises a jacking member 341 and a first elastic member 343. The jacking member 341 is arranged on the first mounting frame 31, and an output shaft of the jacking member 341 is connected with a jacking block 342. The jacking block 342 is located between the first mounting frame 31 and the support frame 33. The jacking block 342 has a wedge-shaped cross section. The support frame 33 is provided with a slope 331 on a side close to the jacking block 342, and the slope 331 is in contact with the jacking block 342. The jacking member 341 is used to drive the jacking block 342 to lift or drop, so that the jacking block 342 drives the support frame 33 to enter and lock in the supporting position or to release the locking of the support frame 33. One end of the first elastic member 343 is connected with the first mounting frame 31, and the other end of the first elastic member 343 is connected with the support frame 33. The first elastic member 343 is used to drive the support frame 33 to enter the avoiding position when the jacking block 342 releases the locking of the support frame 33.

[0065] Specifically, the first mounting frame 31 is provided with a first guide rail 344 extending in the vertical direction. The jacking block 342 is in sliding cooperation with the first guide rail 344. The jacking block 342 can move upward along the first guide rail 344 under the lifting of the jacking member 341. Since the jacking block 342 has a wedge-shaped cross section, the jacking block 342 will gradually press the support frame 33 during the upward movement, so that the support frame 33 moves upward and inclines along the guide column 311, and finally the support frame 33 enters and locks in the supporting position. When the trimming mechanism 2 collides with the tree barrier, the jacking member 341 is controlled by an electric signal to drive the jacking block 342 to move downward along the first guide rail 344, so that the jacking block 342 releases the pressing of 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 avoiding position. At this time, the second mounting frame 32 and the trimming mechanism 2 can be separated from the first mounting frame 31, so as to avoid the damage of the unmanned aerial vehicle 1 and the trimming mechanism 2 caused by the collision with the tree barrier.

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

[0067] Referring to Figure 3Optionally, in an embodiment, the first mounting frame 31 is further provided with a positioning assembly 35, and when the support frame 33 is in the supporting position, the support frame 33 is supported on one side of the second mounting frame 32, and the positioning assembly 35 is in limiting cooperation with the other side of the second mounting frame 32. Specifically, when the support frame 33 is in the supporting position, the support frame 33 is supported on the bottom side of the second mounting frame 32, and the positioning assembly 35 is in limiting cooperation with the top side of the second mounting frame 32. In this way, the support frame 33 and the positioning assembly 35 can limit the two sides of the second mounting frame 32 respectively, so that the second mounting frame 32 cannot be displaced or detached when the trimming mechanism 2 is normally trimming, thereby ensuring that the trimming mechanism 2 can stably and accurately trim the tree barrier.

[0068] Specifically, referring to Figure 5 In an 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 in sliding connection with the positioning column 351, 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 matched with the positioning protrusion 353, and the second elastic member 354 is sleeved on the positioning column 351 and connected with 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 make the positioning protrusion 353 inserted into the positioning hole 321, so as to limit the second mounting frame 32.

[0069] For example, in combination with Figure 3 In an embodiment, each first mounting frame 31 is provided with two spaced positioning assemblies 35, and the second mounting frame 32 is provided with four positioning holes 321, which are arranged at four corners of the second mounting frame 32 respectively. The four positioning holes 321 are arranged one by one corresponding to the four positioning assemblies 35. In this way, the positioning protrusions 353 on the four positioning assemblies 35 are inserted one by one into the four positioning holes 321, which further improves the limiting stability of the second mounting frame 32.

[0070] Further, continuing to refer to Figure 5 The circumferential surface of the positioning column 351 is provided with a second guide rail 355 extending in the axial direction thereof, and one end of the positioning plate 352 is sleeved on the fixed column and in sliding cooperation with the second guide rail 355, so as to ensure that the positioning plate 352 can only move in the axial direction of the positioning column 351, and prevent the positioning plate 352 from rotating relative to the positioning column 351. In this way, 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, and the limiting effect of the positioning assembly 35 on the second mounting frame 32 is ensured.

[0071] Referring to Figure 1In an embodiment, the tree pruning unmanned aerial vehicle further comprises a lifting mechanism 4 connected to the unmanned aerial vehicle 1 and the unhooking mechanism 3, the lifting mechanism 4 is used to drive the pruning mechanism 2 to make lifting movement, the height of the pruning mechanism 2 can be adjusted by using the lifting mechanism 4, which facilitates the pruning mechanism 2 to prune the tree barriers of different heights.

[0072] Specifically, referring to Figure 7 In an embodiment, the lifting mechanism 4 comprises a connecting frame 41, a motor 42 and a lifting rope 44, wherein the connecting frame 41 is connected to the unmanned aerial vehicle 1, the motor 42 is arranged on the connecting frame 41, and the output shaft of the motor 42 is connected with a winding shaft 43; one end of the lifting rope 44 is wound on the winding shaft 43, and the other end of the lifting rope 44 is connected to the first mounting frame 31, so that the height of the unhooking mechanism 3 and the pruning mechanism 2 can be raised or lowered by driving the winding shaft 43 to wind or release the lifting rope 44 through the motor 42.

[0073] Exemplarily, the number of the motor 42 is two, the two motors 42 are arranged on the two sides of the connecting frame 41 respectively, and each motor 42 is connected with one winding shaft 43 at both ends, and each winding shaft 43 is wound with the lifting rope 44, that is, the lifting mechanism 4 has four lifting ropes 44 in total, wherein the two lifting ropes 44 on the motor 42 on one side of the connecting frame 41 are connected to the two ends of one first mounting frame 31 respectively, and the two lifting ropes 44 on the motor 42 on the other side of the connecting frame 41 are connected to the two ends of the other first mounting frame 31 respectively, so as to ensure that the two first mounting frames 31 are balanced in force, and further ensure the stability of the lifting of the pruning mechanism 2.

[0074] Referring to Figure 8 The lifting mechanism 4 further comprises 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 extension direction of the connecting shaft 45 is the same as the extension direction of the winding shaft 43. Specifically, the number of the connecting shaft 45 is the same as the number of the winding shaft 43, and the connecting shaft 45 and the winding shaft 43 are arranged one by one.

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

[0077] The roller frame 47 is connected with the moving frame 46, and the roller frame 47 is provided with a roller 471 in rolling cooperation with the lifting rope 44. Exemplarily, two rollers 471 are arranged on the roller frame 47, and the lifting rope 44 is arranged between the two rollers 471 and is in rolling cooperation with the two rollers 471. Specifically, the roller 471 can guide and protect the sliding of the lifting rope 44. The lifting rope 44 is prevented from being wound and knotted. Further, the roller 471 is provided with a protective sleeve 472, so as to reduce the wear of the roller 471.

[0078] The sliding sleeve 482 is connected with the moving frame 46 through the connecting rod 481, the sliding sleeve 482 is sleeved on the lifting rope 44 and is located below the roller 471, and both ends of the sliding sleeve 482 are in flared structure. Specifically, the sliding sleeve 482 below the roller 471 can clean and protect the surface of the lifting rope 44, which helps the long-time use of the lifting rope 44 and prevents the impurities such as leaves adhered on the surface of the lifting rope 44 from entering the roller 471 and the winding shaft 43, so as to ensure the smooth rotation of the roller 471 and the winding shaft 43. Both ends of the sliding sleeve 482 are in flared structure, which can avoid scratching the lifting rope 44 by the sliding sleeve 482. Exemplarily, the sliding sleeve 482 is made of hard alloy material, so as to ensure the long-time use of the sliding sleeve 482 and avoid deformation.

[0079] Referring to Figure 9 In an embodiment, the hedge pruning unmanned aerial vehicle further comprises a hook 5, the hook 5 is installed on the second mounting frame 32 and is hung in cooperation with the pruning mechanism 2, the hook 5 is provided with an inlet and outlet for the pruning mechanism 2 to enter and exit, and the inlet and outlet are provided with a anti-exit mechanism for limiting the exit of the pruning mechanism 2. The pruning mechanism 2 can be quickly connected through the hook 5, and the pruning mechanism 2 is convenient to disassemble and assemble. The anti-exit mechanism arranged at the inlet and outlet of the hook 5 can prevent the pruning mechanism 2 from being separated from the hook 5 during work.

[0080] Specifically, continuing to refer to Figure 9In an embodiment, the anti-disengagement mechanism comprises a connecting frame 61, a connecting block 63, a connecting frame 62 and an adjusting rod 64. The connecting frame 61 is fixedly connected to one end of the hook 5. The connecting block 63 is connected to the other end of the hook 5, and a limiting groove 631 is arranged on the side of the connecting block 63 away from the connecting frame 61. One end of the connecting frame 62 is rotatably connected to the connecting frame 61, and a sliding groove 621 is arranged in the connecting frame 62 and extends in the direction from the connecting frame 61 to the connecting block 63. The adjusting rod 64 is movably arranged in the sliding groove 621, and the adjusting rod 64 can be moved in the sliding groove 621 to be clamped with the groove wall of the limiting groove 631. One end of the adjusting rod 64 is provided with a boss portion 641 which is limitedly matched with one side of the connecting frame 62, that is, the adjusting rod 64 is in the shape of a "T". The other end of the adjusting rod 64 is threadedly connected with a locking member 642 which locks the adjusting rod 64 in the limiting groove 631. Further, the end of the adjusting rod 64 away from the boss portion 641 is sleeved with a protective ring 643 which is used to abut against the locking member 642.

[0081] Specifically, when connecting the trimming mechanism 2 and the hook 5, first, the connecting frame 62 is turned to the side where the connecting frame 61 is located to open the inlet and outlet of the hook 5, then the lifting ring of the trimming mechanism 2 is put into the hook 5, then the connecting frame 62 is turned again to connect the end of the connecting frame 62 away from the connecting frame 61 to the connecting block 63, then the adjusting rod 64 is pulled to slide along the sliding groove 621 until the adjusting rod 64 is clamped with the limiting groove 631 of the connecting block 63, then the locking member 642 at one end of the adjusting rod 64 is rotated to lock the adjusting rod 64 by extruding and limiting, thereby locking the connecting frame 62, and closing the inlet and outlet of the hook 5 to avoid the lifting ring of the trimming mechanism 2 from being disengaged from the inlet and outlet of the hook 5.

[0082] The technical features of the above embodiments can be combined in any manner. To make the description concise, all possible combinations of the technical features in the above embodiments are not described, but as long as the combinations of the technical features do not exist contradictions, they shall be considered as the scope of the present disclosure.

[0083] The above embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it shall not be understood as a limitation on the patent scope of the present application. It should be pointed out that for ordinary skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these shall be within the protection scope of the present application. Therefore, the patent protection scope of the present application shall be subject to the appended claims.

Claims

1. A tree-pruning drone, characterized in that, The system includes a drone and a trimming mechanism, wherein the trimming mechanism is connected to the drone via a disengagement mechanism, the disengagement mechanism comprising: A first mounting bracket is connected to the drone; A second mounting bracket is connected to the trimming mechanism; A support frame, movably connected to the first mounting frame, has a supporting position and a clearance position. In the supporting position, the support frame supports the second mounting frame, locking the second mounting frame to the first mounting frame; in the clearance position, the support frame releases the second mounting frame, separating it from the first mounting frame. A drive assembly is disposed on the first mounting bracket and connected to the support bracket, the drive assembly being used to drive the support bracket to move between the support position and the avoidance position; wherein: The first mounting bracket is provided with a guide post, one end of which is connected to the first mounting bracket, and the other end of which extends in an inclined upward direction. The support bracket is provided with a guide groove, and the groove wall of the guide groove is slidably engaged with the guide post. The driving assembly is used to drive the support bracket to reciprocate along the guide post so that the support bracket can switch between the supporting position and the avoidance position. The driving component includes: A lifting component is provided, which is mounted on the first mounting frame. The output shaft of the lifting component is connected to a top block, which is located between the first mounting frame and the support frame. The top block has a wedge-shaped cross-section, and the support frame has an inclined surface on the side near the top block that contacts and engages with the top block. The lifting component is used to drive the top block to rise or fall, so that the top block can drive the support frame into and lock it in the support position or release the lock on the support frame. A first elastic element, one end of which is connected to the first mounting bracket and the other end of which is connected to the support frame, is used to drive the support frame into an avoidance position when the top block releases its lock on the support frame. The first mounting bracket is further provided with a positioning component, and when the support bracket is in the supported position, the support bracket is supported on one side of the second mounting bracket, and the positioning component is limited to the other side of the second mounting bracket; The positioning component includes: A positioning post, which is fixed to the side of the first mounting bracket away from the support bracket; A positioning plate, one end of which is slidably connected to the positioning post, and the other end of which is provided with a positioning protrusion; the second mounting bracket is provided with a positioning hole that matches the positioning protrusion. The second elastic element is sleeved on the positioning post and connected to the positioning plate. The second elastic element is used to drive the positioning plate to abut against the side of the second mounting bracket away from the support frame, and to insert the positioning protrusion into the positioning hole.

2. The tree-pruning drone according to claim 1, characterized in that, The number of first mounting brackets is two, and the two first mounting brackets are spaced apart. Each first mounting bracket is provided with at least one support bracket and at least one drive assembly. In the supported position, the support brackets on the two first mounting brackets are respectively supported on both sides of the second mounting bracket, and the second mounting bracket is located between the two first mounting brackets.

3. The tree-pruning drone according to claim 1, characterized in that, The tree trimming drone also includes a lifting mechanism connecting the drone to the unhooking mechanism, the lifting mechanism being used to drive the trimming mechanism to perform lifting movements; the lifting mechanism includes: A connecting frame, which is connected to the drone; An electric motor is mounted on a connecting frame, and the output shaft of the motor is connected to a take-up shaft; A hoisting rope, one end of which is wound onto the winding shaft, and the other end of which is connected to the first mounting frame.

4. The tree-pruning drone according to claim 3, characterized in that, The lifting mechanism also includes: A connecting shaft is connected to the connecting frame, the connecting shaft is located below the take-up shaft and the extending direction of the connecting shaft is the same as the extending direction of the take-up shaft; A movable frame, one end of which is slidably connected to the connecting shaft, and the other end of which extends in the direction close to the suspension rope; A roller frame, which is connected to the movable frame, is provided with rollers that cooperate with the rolling of the suspension rope; A sliding sleeve is connected to the movable frame via a connecting rod. The sliding sleeve is fitted onto the suspension rope and located below the roller. Both ends of the sliding sleeve have a flared structure.

5. The tree-pruning drone according to claim 1, characterized in that, The tree trimming drone also includes a hook, which is installed on the second mounting frame and engaged with the trimming mechanism. The hook has an inlet and outlet for the trimming mechanism to enter and exit, and the inlet and outlet are equipped with an anti-detachment mechanism to prevent the trimming mechanism from detaching.

6. The tree-pruning drone according to claim 5, characterized in that, The anti-loosening mechanism includes: A connecting frame, which is fixedly connected to one end of the hook; A connecting block is connected to the other end of the hook, and a limiting groove is provided on the side of the connecting block away from the connecting frame; A connecting frame, one end of which is rotatably connected to the connecting bracket, and the connecting frame has a sliding groove that extends along the direction from the connecting bracket to the connecting block; An 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 that limits and cooperates with one side of the connecting frame. The other end of the adjusting rod is threadedly connected to a locking member, which is used to lock the adjusting rod in the limiting groove.

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