Intelligent environment-friendly unmanned aerial vehicle bird nest cleaning device

Abstract

The invention relates to the technical field of unmanned aerial vehicle application, in particular to an intelligent environment-friendly unmanned aerial vehicle bird nest cleaning device which comprises an unmanned aerial vehicle body, an air cylinder A is mounted below the unmanned aerial vehicle body, and a grabbing mechanism is arranged at the output end of the air cylinder A. The grabbing mechanism comprises a mounting plate mounted at the output end of the air cylinder A; a vertical rod is fixed to the bottom end of the mounting plate, a moving block is slidably arranged on the outer wall of the vertical rod, an auxiliary plate is fixed to the bottom end of the mounting plate, and a clamping jaw is slidably arranged on the outer wall of the auxiliary plate. The pulling force required when the clamping jaw clamps the bird nest for cleaning subsequently is effectively reduced, the phenomenon that the whole bird nest is broken due to direct hard pulling is avoided, the smooth bird nest cleaning process is guaranteed, and the influence of scattering of bird nest fragments on the surrounding environment or power equipment can be reduced to the maximum extent.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle application, and particularly relates to an intelligent environment-friendly unmanned aerial vehicle bird nest cleaning device. BACKGROUND

[0002] With the wide construction of power facilities, high-voltage transmission towers, communication base station towers and other high-altitude structures become ideal places for birds to build nests. However, the birds building nests on power equipment will bring a series of safety hazards, for example, the nest material may cause line short circuit, equipment failure and even power failure, which seriously affects the safe operation of the power grid. In addition, the nest building on the communication tower and other equipment may also affect signal transmission and equipment maintenance.

[0003] At present, the cleaning of high-altitude bird nests mainly relies on manual methods, and the operating personnel need to use lifting equipment or climb the tower to operate at close range. This method not only has low efficiency and high cleaning cost, but also poses a great threat to the personal safety of the operating personnel, especially in high-voltage environments or adverse weather conditions, the risk is more prominent.

[0004] However, the existing unmanned aerial vehicle cleaning device mainly uses the direct pulling method to remove the bird nest, which is easy to cause the bird nest to break during the force process, not only incomplete cleaning, but also may cause the debris to scatter to the equipment or the surrounding environment, causing secondary pollution or equipment failure.

[0005] In view of the above problems, the existing problems are researched and improved, and an intelligent environment-friendly unmanned aerial vehicle bird nest cleaning device is provided, which aims to solve the problems and improve the practical value through the technology. SUMMARY

[0006] The purpose of the present application is to solve the shortcomings in the prior art and provide an intelligent environment-friendly unmanned aerial vehicle bird nest cleaning device.

[0007] In order to achieve the above purpose, the technical scheme adopted by the present application is as follows: an intelligent environment-friendly unmanned aerial vehicle bird nest cleaning device, comprising an unmanned aerial vehicle body, a gas cylinder A is installed below the unmanned aerial vehicle body, a grabbing mechanism is arranged at the output end of the gas cylinder A, the grabbing mechanism comprises a mounting plate installed at the output end of the gas cylinder A, a vertical rod is fixed at the bottom end of the mounting plate, a moving block is slidably arranged on the outer wall of the vertical rod, an auxiliary plate is fixed at the bottom end of the mounting plate, a clamping jaw is slidably arranged on the outer wall of the auxiliary plate, and a rotating rod is hingedly connected between the auxiliary plate and the clamping jaw.

[0008] A protection mechanism is arranged below the vertical rod, the protection mechanism comprises a gas bag installed below the vertical rod, and a gas supplementing assembly for inflating the gas bag is arranged on one side of the auxiliary plate.

[0009] The surface of the clamping jaw is provided with a vibration mechanism, the vibration mechanism comprises a sliding rail embedded in the inner wall of the clamping jaw, a plug rod is slidably arranged in the sliding rail, a connecting rod is fixed to the bottom end of the plug rod, a magnetic block A is arranged at the bottom end of the connecting rod, a rotating shaft is arranged on the surface of the clamping jaw, a rotating plate is sleeved on the outer wall of the rotating shaft through a one-way bearing, and magnetic blocks B are arranged at the two ends of the rotating plate.

[0010] One side of the rotating plate is provided with an adjusting mechanism, the adjusting mechanism comprises a sleeve mounted on the side wall of the clamping jaw, a screw rod is rotatably arranged in the sleeve, a circular plate is threadedly connected to the outer wall of the screw rod, a pull rod is fixed to the bottom end of the circular plate, and one end of the pull rod is slidably arranged in the limiting groove formed in the outer wall of the rotating plate.

[0011] Preferably, a gas cylinder B is arranged on the surface of the mounting plate, the output end of the gas cylinder B is fixedly connected with the top end of the moving block, and a motor is arranged at the top end of the rotating shaft.

[0012] Preferably, a sliding groove is formed in the surface of the vertical rod, and the moving block is slidably arranged in the sliding groove.

[0013] Preferably, the air supplementing assembly comprises a sleeve fixed to the side wall of the auxiliary plate, a piston is slidably arranged in the sleeve, a sleeve ring fixed to the side wall of the clamping jaw is slidably arranged on the outer wall of the sleeve, and a connecting pipe is arranged in communication between the air bag and the sleeve.

[0014] Preferably, a horizontal rod is fixed to the side wall of the clamping jaw, an arc-shaped plate is fixed to one end of the horizontal rod, and the arc-shaped plate is fixedly connected with the air bag.

[0015] Preferably, the piston and the sleeve ring are both made of magnetic material, and the piston and the sleeve ring are magnetically attracted to each other.

[0016] Preferably, the adjusting mechanism further comprises a gear and a rack, the gear is sleeved on the top end of the screw rod, and the rack is fixed to the side wall of the auxiliary plate.

[0017] Preferably, the outer wall of the rotating shaft is sleeved with a supporting plate through a one-way bearing, the bottom end of the rotating shaft is rotatably arranged with a bottom plate through a bearing, a spring is fixedly connected between the supporting plate and the bottom plate, and the rotating direction of the supporting plate is opposite to that of the rotating plate.

[0018] Preferably, the rotating plate and the supporting plate are both made of magnetic material, and the opposite surfaces of the supporting plate and the magnetic block A are magnetically different.

[0019] Compared with the prior art, the present application has the following advantages:

[0020] 1、The present application drives the moving block to slide downward along the vertical direction of the vertical rod through the output end of the cylinder B, and since the moving block and the clamping jaw are hinged through the rotating rod, the downward movement of the moving block will push the clamping jaw to slide along the surface of the auxiliary plate through the rotating rod, so as to realize the opening and closing of the clamping jaw, so as to adjust the grabbing range according to the actual size of the bird nest, so that the device can adapt to bird nests of different sizes, effectively improving the adaptability and flexibility in the cleaning process, and ensuring that all kinds of bird nests can be stably and reliably grabbed.

[0021] 2、When the magnetic block B moves to the position directly below the magnetic block A, an upward repulsive force is generated due to the repulsion of the same poles, which is transmitted to the inserting rod through the connecting rod, so that the inserting rod slides upward along the slide rail and drives the bird nest to move upward; after the magnetic block B is separated from the magnetic block A, the repulsive force disappears, and the inserting rod slides downward under the action of gravity, driving the bird nest to move downward, so that the bird nest produces a continuous slight vibration, so that the generated high-frequency small-amplitude force gradually acts on the adhesion between the bird nest and the wire tower rod and other attachment points, slowly loosens the adhesion structure, effectively reduces the pulling force required when the subsequent clamping jaw clamps the bird nest for cleaning, avoids the bird nest from being directly pulled and broken, ensures the smooth progress of the bird nest cleaning process, and minimizes the impact of bird nest fragments scattered on the surrounding environment or power equipment, while providing a more gentle treatment environment for the bird eggs that may exist in the bird nest, further improving the environmental protection and safety of the device.

[0022] 3、When the clamping jaw moves due to the adjustment of the grabbing range, the sleeve will move synchronously, so that the rotation of the gear will drive the coaxial lead screw to rotate synchronously inside the sleeve, the rotation of the lead screw will convert into the upward movement of the circular plate inside the sleeve, and the circular plate will drive the fixed pull rod at the bottom to move upward synchronously, the upward movement of the pull rod will pull the rotating plate to move upward, and the movement of the rotating plate will change the distance between the magnetic block A and the magnetic block B, the change of the distance will affect the repulsive force of the magnetic block B on the magnetic block A, thereby changing the amplitude of the inserting rod sliding up and down along the slide rail, and finally realizing the effect of self-adaptive adjustment of the vibration amplitude according to the size of the bird nest, so that the vibration mechanism can output adaptive vibration intensity when facing bird nests of different sizes, thereby ensuring the effectiveness of the vibration separation of the bird nest, and further improving the adaptability of the device to bird nests of different specifications.

[0023] 4、When the clamping jaw moves, the side wall sleeve ring will slide along the outer wall of the sleeve, the piston will slide synchronously and extrude the gas in the sleeve, the gas will enter the air bag through the connecting pipe to inflate the air bag, so that the inflated air bag can effectively cover the inside of the bird nest, providing buffer protection for the bird eggs in the bird nest during the grabbing process, avoiding damage to the bird eggs due to shaking during grabbing, improving the environmental protection of the cleaning process, and minimizing the harm to birds. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1The schematic diagram of the overall structure of the present application;

[0025] Figure 2 The schematic diagram of part of the structure of the present application;

[0026] Figure 3 The schematic diagram of the three-dimensional structure of the grabbing mechanism of the present application;

[0027] Figure 4 The schematic diagram of the overall structure of the present application; Figure 3 The schematic diagram of the enlarged structure of part A;

[0028] Figure 5 The schematic diagram of part of the structure of the present application;

[0029] Figure 6 The schematic diagram of the overall structure of the present application; Figure 5 The schematic diagram of the enlarged structure of part B;

[0030] Figure 7 The schematic diagram of the three-dimensional structure of the adjusting mechanism of the present application.

[0031] Legend:

[0032] 1, unmanned aerial vehicle body; 2, cylinder A; 3, grabbing mechanism; 31, mounting plate; 32, vertical rod; 33, moving block; 34, auxiliary plate; 35, clamping jaw; 36, rotating rod; 37, cylinder B; 4, protection mechanism; 41, air bag; 42, cross rod; 43, sleeve; 44, connecting pipe; 45, piston; 46, sleeve ring; 47, arc plate; 5, vibration mechanism; 51, slide rail; 52, insertion rod; 53, connecting rod; 54, magnetic block A; 55, rotating shaft; 56, rotating plate; 57, magnetic block B; 58, motor; 6, adjusting mechanism; 61, sleeve; 62, screw; 63, circular plate; 64, gear; 65, rack; 66, pull rod; 7, support plate; 8, bottom plate; 9, spring. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present application.

[0034] Reference Figures 1 to 7As shown, the present application provides a kind of intelligent environmental protection type unmanned aerial vehicle bird nest cleaning device, including unmanned aerial vehicle body 1, the lower portion of unmanned aerial vehicle body 1 is equipped with cylinder A2, the output end of cylinder A2 is equipped with grabbing mechanism 3, grabbing mechanism 3 includes the mounting plate 31 of being installed in the output end of cylinder A2, the bottom end of mounting plate 31 is fixed with vertical rod 32, and the outer wall of vertical rod 32 is slidably provided with moving block 33, the bottom end of mounting plate 31 is fixed with auxiliary plate 34, the outer wall of auxiliary plate 34 is slidably provided with clamping jaw 35, and rotary rod 36 is hinged between auxiliary plate 34 and clamping jaw 35;

[0035] It needs to be explained that when the bird nest on the electric wire tower pole needs to be cleaned, first, unmanned aerial vehicle body 1 is flown to the upper portion of the bird nest by controlling, then cylinder A2 installed below unmanned aerial vehicle body 1 is started, grabbing mechanism 3 is driven to move downward as a whole by the output end of cylinder A2 to approach the target bird nest, at this time, the size of the bird nest can be observed by the staff through the camera on the surface of unmanned aerial vehicle body 1, then cylinder B37 installed on the surface of mounting plate 31 in grabbing mechanism 3 is started, the output end of cylinder B37 drives moving block 33 to slide downward along the vertical direction of vertical rod 32, since moving block 33 and clamping jaw 35 are hinged through rotary rod 36, the downward movement of moving block 33 will push clamping jaw 35 to slide along the surface of auxiliary plate 34 through rotary rod 36, so as to realize the opening and closing of clamping jaw 35, so as to adjust the grabbing range according to the actual size of the bird nest, so that the device can adapt to bird nests of different sizes, effectively improve the adaptability and flexibility in the cleaning process, and ensure that various bird nests can be stably and reliably grabbed.

[0036] The lower portion of vertical rod 32 is provided with protection mechanism 4, and protection mechanism 4 includes air bag 41 installed below vertical rod 32, one side of auxiliary plate 34 is provided with air supplement assembly for inflating air bag 41;

[0037] The surface of clamping jaw 35 is provided with vibration mechanism 5, and vibration mechanism 5 includes slide rail 51 embedded in the inner wall of clamping jaw 35, plug rod 52 slidably arranged in the inner portion of slide rail 51, connecting rod 53 fixedly arranged at the bottom end of plug rod 52, magnetic block A 54 installed at the bottom end of connecting rod 53, rotating shaft 55 rotatably arranged on the surface of clamping jaw 35, rotating plate 56 sleeved with one-way bearing on the outer wall of rotating shaft 55, and magnetic block B 57 installed at both ends of rotating plate 56;

[0038] It should be noted that when the claw 35 adjusts the grasping range for the bird nest, the insertion rod 52 inside the claw 35 will first be inserted into the bird nest from the four sides, and then the motor 58 is started in the forward direction, the output end of the motor 58 will drive the rotating shaft 55 to rotate synchronously, and the rotating shaft 55 is sleeved with the rotating plate 56 through the one-way bearing, and the two groups of magnetic blocks B57 installed at both ends of the rotating plate 56 will also rotate with the rotating shaft 55, when the rotating magnetic block B57 moves directly below the magnetic block A54, because the opposite surfaces of the magnetic block A54 and the magnetic block B57 have the same magnetic properties, according to the magnetic principle of same polarity repulsion, the magnetic block B57 will generate an upward repulsive force on the magnetic block A54, and this repulsive force will be transmitted to the insertion rod 52 through the connecting rod 53, so that the insertion rod 52 slides upward along the inner slide rail 51, and then drives the bird nest in contact with it to move upward synchronously, and when the magnetic block B57 continues to rotate with the rotating plate 56 and is away from the relative position of the magnetic block A54, the repulsive force disappears, the insertion rod 52 slides downward along the slide rail 51 under the action of its own gravity and the gravity of the bird nest, and drives the bird nest to move downward synchronously, so that the bird nest produces a continuous slight vibration, so that the generated high-frequency small-amplitude force gradually acts on the adhesion between the bird nest and the wire tower rod and other attachment points, slowly loosens the adhesion structure, effectively reduces the pulling force required when the subsequent claw 35 clamps the bird nest for cleaning, avoids the bird nest from being directly pulled and broken, ensures the smooth progress of the bird nest cleaning process, and minimizes the impact of bird nest fragments scattered on the surrounding environment or power equipment, and also provides a more gentle treatment environment for the bird eggs that may exist in the bird nest, further improves the environmental protection and safety of the device.

[0039] One side of the rotating plate 56 is provided with an adjusting mechanism 6, the adjusting mechanism 6 includes a sleeve 61 installed on the side wall of the claw 35, a lead screw 62 is rotatably arranged in the sleeve 61, a circular plate 63 is threadedly connected to the outer wall of the lead screw 62, a pull rod 66 is fixed to the bottom end of the circular plate 63, and one end of the pull rod 66 slides in the limiting groove formed in the outer wall of the rotating plate 56.

[0040] It should be noted that when the clamping jaw 35 moves to adjust the grabbing range, the sleeve 61 will move synchronously, since the gear 64 at the top of the lead screw 62 is meshed with the rack 65 fixed on the side wall of the auxiliary plate 34, the movement of the sleeve 61 will cause the gear 64 to rotate along the surface of the rack 65, and the rotation of the gear 64 will cause the lead screw 62 coaxial with it to rotate synchronously inside the sleeve 61. Under the action of the limiting rod, the rotation of the lead screw 62 will be converted into the upward movement of the circular plate 63 along the inside of the sleeve 61, and at the same time the circular plate 63 will cause the pull rod 66 fixed at the bottom end to move upwards synchronously. Since one end of the pull rod 66 is slidingly connected in the limiting groove opened on the outer wall of the rotating plate 56, the upward movement of the pull rod 66 will pull the rotating plate 56 to move upwards, and the movement of the rotating plate 56 will change the distance between the magnetic block A 54 and the magnetic block B 57. According to the principle of magnetism, the repulsive force between the magnetic blocks is related to the distance, and the change of the distance will affect the repulsive force of the magnetic block B 57 on the magnetic block A 54, thereby changing the amplitude of the insertion rod 52 sliding up and down along the slide rail 51, and finally realizing the effect of self-adaptive adjustment of vibration amplitude according to the size of the bird nest. When facing different sizes of bird nests, the vibration mechanism 5 can output adaptive vibration intensity, thereby ensuring the effectiveness of the vibration separation of the bird nest and further improving the adaptability of the device to different specifications of bird nests.

[0041] Referring to Figures 3 to 6 As shown in the figure, the surface of the mounting plate 31 is provided with a cylinder B 37, the output end of the cylinder B 37 is fixedly connected with the top end of the moving block 33, and the top end of the rotating shaft 55 is provided with a motor 58.

[0042] Referring to Figure 3 As shown in the figure, the surface of the vertical rod 32 is provided with a sliding groove, and the moving block 33 slides in the sliding groove.

[0043] Referring to Figures 3 to 4 As shown in the figure, the supplementary plate 34 is provided with a sleeve 43 fixed on the side wall, a piston 45 sliding in the inside of the sleeve 43, a sleeve ring 46 sliding on the outer wall of the sleeve 43 fixed on the side wall of the clamping jaw 35, and a connecting pipe 44 communicating between the air bag 41 and the sleeve 43.

[0044] Referring to Figure 3 As shown in the figure, the side wall of the clamping jaw 35 is fixed with a horizontal rod 42, one end of the horizontal rod 42 is fixed with an arc-shaped plate 47, and the arc-shaped plate 47 is fixedly connected with the air bag 41.

[0045] Referring to Figure 4 As shown in the figure, the piston 45 and the sleeve ring 46 are made of magnetic material, and the piston 45 and the sleeve ring 46 are magnetically attracted.

[0046] It should be noted that when the clamping jaw 35 moves, the clamping jaw 35 will synchronously drive the sleeve ring 46 fixed on the side wall thereof to slide along the outer wall of the sleeve 43. Since the sleeve ring 46 and the piston 45 in the sleeve 43 are both magnetic materials and are attracted to each other, the movement of the sleeve ring 46 will drive the piston 45 to slide along the inside of the sleeve 43. During the sliding process of the piston 45, the gas in the sleeve 43 is extruded, so that the gas enters the inside of the air bag 41 through the connecting pipe 44 to inflate the air bag 41. Thus, the inflated air bag 41 can effectively cover the inside of the bird nest, providing buffer protection for the bird eggs in the bird nest during the grabbing process, avoiding damage to the bird eggs due to shaking during grabbing, improving the environmental protection of the cleaning process, and minimizing the harm to birds. At the same time, the clamping jaw 35 will also move the arc-shaped plate 47 through the side wall of the horizontal rod 42, which in turn pulls the air bag 41 to expand around the bird nest, realizing the self-adaptive adjustment of the coverage range of the air bag 41 according to the size of the bird nest. Thus, through the self-adaptive adjustment of the coverage range of the air bag 41, it is ensured that no matter the size of the bird nest, it can achieve comprehensive and close protection.

[0047] Referring to Figure 7 As shown, the adjusting mechanism 6 further includes a gear 64 and a rack 65. The gear 64 is sleeved on the top end of the lead screw 62, and the rack 65 is fixed on the side wall of the auxiliary plate 34.

[0048] Referring to Figure 7 As shown, the outer wall of the rotating shaft 55 is sleeved with a support plate 7 through a one-way bearing, and the one-way bearing is made of a magnetic material. The one-way bearing and the rotating shaft 55 attract each other. The bottom end of the rotating shaft 55 is rotatably connected with a bottom plate 8 through a bearing. The support plate 7 and the bottom plate 8 are fixedly connected with a spring 9. The rotating direction of the support plate 7 is opposite to that of the rotating plate 56. The support plate 7 and the rotating shaft 55 attract each other through the one-way bearing, so that the rotating plate 56 can slide along the surface of the rotating shaft 55, avoiding structural jamming or functional failure caused by motion conflict.

[0049] Referring to Figures 6 to 7 As shown, the rotating shaft 55 and the support plate 7 are made of a magnetic material, and the opposite surfaces of the support plate 7 and the magnetic block A 54 are magnetically different.

[0050] It should be noted that when the bird nest is completely grabbed by the grabbing mechanism 3, the whole grabbing mechanism 3 is first lifted by the unmanned aerial vehicle body 1 for a distance, so that the bird nest is separated from the original attachment point and is in a suspended state, and then the motor 58 is reversed, the output end of the motor 58 drives the rotating shaft 55 to reverse synchronously, and the support plate 7 sleeved with the one-way bearing on the outer wall of the rotating shaft 55 rotates synchronously with the rotating shaft 55 for half a circle. Since the support plate 7 and the magnetic block A54 on the opposite side are magnetically different, according to the magnetic principle of opposite poles attracting each other, when the support plate 7 rotates to the position close to the magnetic block A54, it will move a certain distance upward along the surface of the rotating shaft 55 under the action of magnetic force, until the support plate 7 contacts the bottom of the bird nest and forms a stable support, so that the bird nest can be lifted from the bottom after being grabbed and suspended, avoiding the bird nest from sliding out of the gap between the clamping jaws 35 due to the gravity of the bird nest itself or slight shaking during the flight of the unmanned aerial vehicle, further protecting the bird eggs inside the bird nest from falling damage due to instability in the suspended state.

[0051] Working principle: when the bird nest on the electric wire tower needs to be cleaned, first, the unmanned aerial vehicle body 1 is controlled to fly above the bird nest, and then the cylinder A2 installed below the unmanned aerial vehicle body 1 is started, and the output end of the cylinder A2 drives the whole grabbing mechanism 3 to move downward to approach the target bird nest. At this time, the worker can observe the size of the bird nest through the camera on the surface of the unmanned aerial vehicle body 1, and then start the cylinder B37 installed on the surface of the mounting plate 31 in the grabbing mechanism 3. The output end of the cylinder B37 drives the moving block 33 to slide downward along the vertical direction of the vertical rod 32. Since the moving block 33 and the clamping jaw 35 are hinged through the rotating rod 36, the downward movement of the moving block 33 will push the clamping jaw 35 to slide along the surface of the auxiliary plate 34 through the rotating rod 36, so as to realize the opening and closing of the clamping jaw 35;

[0052] When the clamping jaw 35 moves, the clamping jaw 35 will synchronously drive the sleeve ring 46 fixed on the side wall thereof to slide along the outer wall of the sleeve pipe 43. Since the sleeve ring 46 and the piston 45 in the sleeve pipe 43 are both magnetic materials and are magnetically attracted to each other, the movement of the sleeve ring 46 will drive the piston 45 to slide along the inside of the sleeve pipe 43. The piston 45 squeezes the gas in the sleeve pipe 43 during the sliding process, so that the gas enters the inside of the air bag 41 through the connecting pipe 44 to inflate the air bag 41. Therefore, the inflated air bag 41 can effectively cover the inside of the bird nest;

[0053] When the claw 35 is adjusted for the bird nest to grasp the scope, the plug rod 52 inside the claw 35 will first be inserted into the bird nest from the four around, and then the motor 58 is started in the positive direction, the output end of the motor 58 will drive the rotating shaft 55 to rotate synchronously, and the rotating plate 56 on the outer wall of the rotating shaft 55 through the one-way bearing sleeve will also rotate with the rotating shaft 55, and the two groups of magnetic blocks B57 installed at both ends of the rotating plate 56 will make circular motion around the axis of the rotating shaft 55, when the rotating magnetic block B57 moves directly below the magnetic block A54, because the opposite surface of the magnetic block A54 and the magnetic block B57 has the same magnetic property, according to the magnetic principle of same polarity repulsion, the magnetic block B57 will generate upward repulsion on the magnetic block A54, and this repulsion will be transmitted to the plug rod 52 through the connecting rod 53, so that the plug rod 52 slides upward along the inside of the slide rail 51, and then drives the bird nest in contact with it to move upward synchronously, and when the magnetic block B57 continues to rotate with the rotating plate 56 and is out of the relative position with the magnetic block A54, the repulsion disappears, the plug rod 52 slides downward along the slide rail 51 under the action of its own gravity and the gravity of the bird nest, and drives the bird nest to move downward synchronously, so that the bird nest produces continuous slight vibration;

[0054] When the claw 35 moves due to the adjustment of the grasping range, it will synchronously drive the sleeve 61 to move, because the gear 64 at the top of the lead screw 62 is sleeved with the gear 64 and the gear 65 fixed on the side wall of the auxiliary plate 34 is meshed with each other, the sleeve 61 will drive the gear 64 to rotate along the surface of the gear 65 during the movement, and the rotation of the gear 64 will drive the lead screw 62 coaxial with it to rotate synchronously inside the sleeve 61, under the action of the limiting rod, the rotation of the lead screw 62 will be converted into the upward movement of the circular plate 63 inside the sleeve 61, and at the same time the circular plate 63 will drive the pull rod 66 fixed at the bottom to move upward synchronously, because one end of the pull rod 66 is slidably connected in the limiting groove opened on the outer wall of the rotating plate 56, the upward movement of the pull rod 66 will pull the rotating plate 56 to move upward, and the movement of the rotating plate 56 will change the distance between the magnetic block A54 and the magnetic block B57, according to the magnetic principle, the repulsion between the magnetic blocks is related to the distance, and the change of the distance will affect the repulsion strength of the magnetic block B57 on the magnetic block A54, and then change the amplitude of the plug rod 52 sliding up and down along the slide rail 51;

[0055] When the bird nest is completely grasped by the grasping mechanism 3, the whole grasping mechanism 3 is first lifted by the unmanned aerial vehicle body 1 to a distance, so that the bird nest is separated from the original attachment point and is in a suspended state, and then the motor 58 is reversed, the output end of the motor 58 will drive the rotating shaft 55 to rotate reversely synchronously, and the support plate 7 on the outer wall of the rotating shaft 55 through the one-way bearing sleeve will rotate half a circle synchronously with the reverse rotation of the rotating shaft 55, because the opposite surface of the support plate 7 and the magnetic block A54 has different magnetic properties, according to the magnetic principle of opposite poles attracting each other, when the support plate 7 rotates to the position close to the magnetic block A54, it will move upward along the surface of the rotating shaft 55 under the action of magnetic force for a certain distance, until the support plate 7 contacts with the bottom of the bird nest and forms stable support.

[0056] Finally, it should be noted that the above only describes the preferred embodiments of the present application and is not intended to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art will appreciate that the technical solutions described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalent features, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An intelligent environment-friendly unmanned aerial vehicle nest cleaning device, comprising an unmanned aerial vehicle body (1), characterized in that: The lower part of the unmanned aerial vehicle body (1) is provided with a cylinder A (2), and the output end of the cylinder A (2) is provided with a grabbing mechanism (3), the grabbing mechanism (3) comprises a mounting plate (31) mounted on the output end of the cylinder A (2), the bottom end of the mounting plate (31) is fixedly provided with a vertical rod (32), the outer wall of the vertical rod (32) is slidably provided with a moving block (33), the bottom end of the mounting plate (31) is fixedly provided with an auxiliary plate (34), the outer wall of the auxiliary plate (34) is slidably provided with a clamping jaw (35), and the auxiliary plate (34) and the clamping jaw (35) are hingedly connected with a rotating rod (36). The lower part of the vertical rod (32) is provided with a protection mechanism (4), and the protection mechanism (4) comprises an air bag (41) mounted below the vertical rod (32), one side of the auxiliary plate (34) is provided with a gas supplement assembly for inflating the air bag (41) to the inside. The surface of the clamping jaw (35) is provided with a vibrating mechanism (5), the vibrating mechanism (5) comprises a sliding rail (51) embedded in the inner wall of the clamping jaw (35), the inside of the sliding rail (51) is slidably provided with a plug rod (52), the bottom end of the plug rod (52) is fixedly provided with a connecting rod (53), the bottom end of the connecting rod (53) is fixedly provided with a magnetic block A (54), the surface of the clamping jaw (35) is rotatably provided with a rotating shaft (55), the outer wall of the rotating shaft (55) is sleeved with a rotating plate (56) through a one-way bearing, and the two ends of the rotating plate (56) are fixedly provided with magnetic blocks B (57). One side of the rotating plate (56) is provided with an adjusting mechanism (6), the adjusting mechanism (6) comprises a sleeve (61) mounted on the side wall of the clamping jaw (35), the inside of the sleeve (61) is rotatably provided with a lead screw (62), the outer wall of the lead screw (62) is threadedly connected with a circular plate (63), the bottom end of the circular plate (63) is fixedly provided with a pull rod (66), and one end of the pull rod (66) is slidably arranged in the limiting groove formed in the outer wall of the rotating plate (56).

2. The intelligent environment-friendly unmanned aerial vehicle nest cleaning device according to claim 1, characterized in that: The surface of the mounting plate (31) is provided with a cylinder B (37), the output end of the cylinder B (37) is fixedly connected with the top end of the moving block (33), and the top end of the rotating shaft (55) is provided with a motor (58).

3. The intelligent environment-friendly unmanned aerial vehicle nest cleaning device according to claim 1, characterized in that: The surface of the vertical rod (32) is provided with a sliding groove, and the moving block (33) is slidably arranged in the sliding groove.

4. The intelligent environment-friendly unmanned aerial vehicle nest cleaning device according to claim 1, characterized in that: The gas supplement assembly comprises a sleeve (43) fixedly arranged on the side wall of the auxiliary plate (34), the inside of the sleeve (43) is slidably provided with a piston (45), the outer wall of the sleeve (43) is slidably provided with a sleeve ring (46) fixedly arranged on the side wall of the clamping jaw (35), and the air bag (41) and the sleeve (43) are communicated through a connecting pipe (44).

5. The intelligent environment-friendly unmanned aerial vehicle nest cleaning device according to claim 4, characterized in that: The side wall of the clamping jaw (35) is fixedly provided with a horizontal rod (42), one end of the horizontal rod (42) is fixedly provided with an arc-shaped plate (47), and the arc-shaped plate (47) is fixedly connected with the air bag (41).

6. The intelligent environment-friendly unmanned aerial vehicle nest cleaning device according to claim 4, characterized in that: The piston (45) and the sleeve ring (46) are both made of magnetic material, and the piston (45) and the sleeve ring (46) are magnetically attracted to each other.

7. The intelligent environment-friendly unmanned aerial vehicle nest cleaning device according to claim 1, characterized in that: The adjusting mechanism (6) further comprises a gear (64) and a rack (65), the gear (64) is sleeved at the top end of the screw rod (62), and the rack (65) is fixed to the side wall of the auxiliary plate (34). 8.The intelligent environment-friendly unmanned aerial vehicle nest cleaning device according to claim 1, characterized in that: The outer wall of the rotating shaft (55) is sleeved with a support plate (7) through a one-way bearing, the bottom end of the rotating shaft (55) is rotatably provided with a bottom plate (8) through a bearing, a spring (9) is fixedly connected between the support plate (7) and the bottom plate (8), and the rotating direction of the support plate (7) is opposite to that of the rotating plate (56). 9.The intelligent environment-friendly unmanned aerial vehicle nest cleaning device according to claim 7, characterized in that: The rotating plate (56) and the support plate (7) are both made of magnetic materials, and the support plate (7) is magnetically different from the opposite surface of the magnetic block A (54).

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