Dissociable self-feeding saw cutting device based on unmanned aerial vehicle mounting

Abstract

The application provides a detachable self-feeding sawing device based on a UAV mounting, and belongs to the technical field of electric power operation and maintenance equipment, and comprises: a mounting adaptation module, which is used for realizing detachable mechanical connection and angle adjustment with the UAV; a self-feeding sawing module, which is used for clamping and sawing target branches; a wireless module, which is used for receiving wireless instructions and controlling the actions of the mounting adaptation module and the self-feeding sawing module; and a power supply module, which is used for supplying power to the sawing device; the mounting adaptation module and the self-feeding sawing module are detachably connected, and the mounting adaptation module comprises a docking and detaching unit, which is used for controlling the mechanical separation and docking of the whole sawing device and the UAV body. The advantage lies in that the UAV carrying device approaches the operation, and is remotely controlled by an operator, so that the operator does not need to enter a high-voltage electric field or perform high-risk climbing operation, thereby effectively avoiding the main safety risks in traditional operations, such as electric shock and high-altitude falling.

Description

Technical Field

[0001] This invention belongs to the field of power operation and maintenance equipment technology, specifically relating to a detachable self-feeding sawing device mounted on a drone. Background Technology

[0002] The safe operation of high-voltage transmission lines is directly related to the stable power supply of the power grid, while tree obstructions around the lines are a prominent hidden danger threatening their reliability. Tree obstructions usually refer to the safety hazards formed by the branches and trunks of trees along the line growing close to or in contact with the conductors. They can easily cause short circuits, leading to line tripping, equipment damage, and even large-scale power outages and safety accidents, posing a continuous threat to power grid stability and public safety.

[0003] Currently, tree obstruction removal mainly relies on manual labor and insulated vehicles, but this method has certain limitations. On the one hand, the operation process is cumbersome, time-consuming, requires significant manpower and equipment investment, and involves considerable power outage losses, resulting in high overall costs. On the other hand, manual labor and vehicles cannot easily access areas with complex terrain such as deep mountains, cliffs, and swamps, making it impossible to achieve full coverage maintenance of the power line corridor. In addition, workers often need to work at heights in high-voltage electric fields, directly facing multiple safety risks such as electric shock and falls, further restricting the safety and efficiency of the tree obstruction removal work. Summary of the Invention

[0004] In view of the above, this invention addresses the shortcomings of existing technologies by providing a detachable self-feeding sawing device mounted on a UAV. To solve the aforementioned technical problems, the technical solution adopted by this invention includes: a mounting adapter module for detachable mechanical connection and angle adjustment with the UAV; a self-feeding sawing module for clamping and sawing target tree branches; a wireless module for receiving wireless commands and controlling the actions of the mounting adapter module and the self-feeding sawing module; and a power supply module for supplying power to the sawing device. The mounting adapter module and the self-feeding sawing module are detachable, and the mounting adapter module includes a docking / disconnection unit for controlling the mechanical separation and docking of the entire sawing device from the UAV body.

[0005] Furthermore, the mounting adapter module also includes: The drone connection unit includes a threaded connection structure for connecting to the drone mounting point; An angle adjustment unit includes at least one set of electric joint structures driven by a joint motor for adjusting the working angle of the sawing device; The docking and disengagement unit includes an electromechanical claw driven by a motor and a lead screw. The self-feed sawing module is equipped with a claw connector that cooperates with the claw, which is used to realize the separation and docking between the sawing device and the UAV.

[0006] Furthermore, the angle adjustment unit is equipped with two sets of electric joint structures independently driven by joint motors.

[0007] Furthermore, the self-feed sawing module includes: a mounting frame, a rotating joint for driving the self-feed sawing module to rotate is provided near one end of the rotating axis of the mounting frame, the power supply module and the wireless module are installed inside the mounting frame, and a clamping arm drive unit installed on the mounting frame includes at least one set of clamping arms driven by a motor to open and close for clamping the sawing target. The sawing unit mounted on the mounting frame includes a motor and a reciprocating saw blade driven therefrom; The self-feeding mechanism mounted on the mounting frame includes an electric lead screw structure mounted on the clamping arm for driving the sawing unit to feed in a set direction.

[0008] Furthermore, the clamping arm drive unit is provided with two sets of clamping arms, which are driven by two sets of motors respectively. The two sets of clamping arms are located on both sides of the sawing unit and are used to move the cut branches after the branches are sawn.

[0009] Furthermore, the sawing unit is equipped with a visual unit for clamping and positioning the clamping arm drive unit and observing the sawing progress, and its signal is transmitted to the control terminal through a wireless module.

[0010] A method for clearing tree obstructions, based on the detachable self-feeding sawing device mounted on a UAV as described above, is characterized by comprising: The drone carrying the device flew to the work area; Adjust the angle of the device and align it with the target tree branch; The control arm drive unit clamps the target tree branch; The control docking disengagement unit separates the device from the drone; The self-feeding mechanism drives the sawing unit to cut the tree branches. Control the drone to return and dock with the device, then withdraw.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. Reduce the risk of personnel being directly exposed to high-voltage dangerous environments. By using drones to carry equipment to work close to the field and remotely control the operation by the operator, the workers do not need to enter the high-voltage electric field or perform high-risk climbing operations, thus effectively avoiding the main safety risks in traditional operations such as electric shock and falls from heights.

[0012] 2. This application demonstrates good flexibility in terms of environmental adaptability and operating range. The drone can easily reach complex terrain areas such as deep mountains, swamps, and cliffs that are difficult for vehicles and personnel to access. Combined with the detachable design, the sawing device can be independently fixed on the tree branches for stable operation, overcoming the limitations of drone endurance and hovering stability, thereby helping to achieve full coverage and blind spot maintenance of power transmission line corridors. Attached Figure Description

[0013] The present invention will now be described in further detail with reference to the accompanying drawings.

[0014] Figure 1 : A three-dimensional structural schematic diagram of Embodiment 1 of the present invention; Figure 2 : A schematic diagram of the structure of the adapter module in Embodiment 1 of the present invention; Figure 3 : A schematic diagram of the structure of the self-feed sawing module in Embodiment 1 of the present invention; Figure 4 : A schematic diagram of the mounting bracket in Embodiment 1 of the present invention; Figure 5 : A schematic diagram of the sawing unit and the self-feed sawing module in Embodiment 1 of the present invention; Figure 6 : A schematic diagram of the clamping arm drive unit in Embodiment 1 of the present invention; Figure 7 : A schematic diagram of the wireless module control process in Embodiment 1 of the present invention; Figure 8 : A three-dimensional structural schematic diagram of Embodiment 3 of the present invention; The components include: 1. Mounting adapter module; 2. Self-feed sawing module; 5. Docking and undocking unit; 6. UAV connection unit; 7. Angle adjustment unit; 8. Mounting bracket; 9. Clamping arm drive unit; 10. Sawing unit; 11. Self-feeding mechanism; and 12. Visual unit. Detailed Implementation

[0015] To better understand the present invention, the content of the invention is further clearly illustrated below with reference to embodiments and accompanying drawings. However, the scope of protection of the present invention is not limited to the embodiments described below. Numerous specific details are set forth in the following description to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the present invention can be practiced without one or more of these details.

[0016] Example 1: See Figure 1-7 This embodiment provides a detachable self-feeding sawing device mounted on a drone, which includes a mounting adapter module 1, a self-feeding sawing module 2, a wireless module, and a power supply module. See Figure 1The mounting adapter module 1 is a key mechanism for connecting, adjusting, and separating the sawing device from the UAV. Its main body is a rigid frame with integrated control circuitry. This module mainly includes: Drone connection unit 6: Located on top of mount adapter module 1, its core is a standard quick-release interface or a set of precision threaded connection structures, used to achieve a firm and reliable mechanical connection and electrical communication with the mounting point pre-installed on the bottom of the drone. Angle adjustment unit 7: Composed of at least one set (preferably two sets) of series-connected electric joints. Each joint contains a high-precision servo motor or stepper motor, a reducer, and a high-rigidity bearing. This unit is connected below the UAV connection unit 6 and can receive commands from the wireless module to drive the entire sawing device to rotate independently around the roll and pitch axes, thereby precisely adjusting the spatial attitude of the self-feeding sawing module 2 below when the UAV is hovering, aligning its sawing plane with the target tree branch; Docking and disengagement unit 5: In a preferred embodiment, it is a motor-driven mechanical claw mechanism. This unit includes an openable claw driven by a micro motor and a lead screw. At a corresponding position on the top of the self-feed sawing module 2, a claw connector matching the shape of the claw is provided (e.g., a spherical connector or a spherical connector with a smooth protrusion having a groove or lug matching the claw's gripping part, so that after the claw grips, the smooth protrusion can guide the claw to slide into the groove and prevent the self-feed sawing module 2 from rotating radially). When the claw is closed, the connector can be tightly locked to achieve connection; when separation is required, the motor moves in the opposite direction, driving the claw to open, thus releasing the entire self-feed sawing module 2.

[0017] See Figure 3 The self-feed sawing module 2 is the execution terminal for performing tree cutting tasks. Its main body is a robust mounting frame 8, which is made of high-strength aluminum alloy or composite materials to balance lightweight design and structural strength. The internal cavity of the mounting frame 8 houses the power supply module and the wireless module, with wiring harnesses led out through openings. The wireless module integrates a wireless receiver, a main control MCU, and related drive circuitry. The mounting frame 8 is connected to the upper mounting adapter module 1 via a rotating joint. This joint can be locked, or in some embodiments, it can be axially adjusted by a motor. See Figure 3 Mounting bracket 8 is equipped with: Clamping Arm Drive Unit 9: This unit has at least one set, and in this embodiment, two sets, consisting of motor-driven mechanical clamping arms that open and close. Each set of clamping arms is pulled by a miniature drive motor (such as a worm gear motor or push rod motor), which controls the opening and closing of the clamping arms, generating sufficient clamping force to firmly fix branches of different diameters. The two independent sets of clamping arms are located on both sides of the sawing path. During operation, one set of clamping arms (fixed section clamping arms) clamps the branch close to the trunk side, while the other set (detached section clamping arms) clamps the branch at the far end, providing more stable fixation. After cutting, the movement of the detached section clamping arms can be controlled to actively guide the cut branch segments to tilt or move in a safe direction, preventing them from falling disorderly and snagging on the guide wire below.

[0018] See Figure 5 The sawing unit 10 serves as the cutting power source, comprising a high-speed brushless motor or reciprocating motor, and a high-speed steel reciprocating saw blade driven by it, suitable for rapid cutting of wood materials. The sawing unit 10 is mounted on the clamping arm or mounting bracket 8 via a slider or guide rail.

[0019] See Figure 5 The self-feeding mechanism 11 is used to drive the sawing unit 10 to feed smoothly and complete the cutting. One embodiment employs an electric lead screw mechanism. A precision lead screw is driven to rotate by a stepper motor and is fixedly installed to the sawing unit 10 via a nut that mates with the lead screw. When the motor is working, the rotational motion is converted into linear motion of the sawing unit 10 along a direction perpendicular to the branch through the lead screw and nut, thereby achieving controllable and uniform feed sawing.

[0020] See Figure 3 The visual unit 12 is a module integrating a miniature high-definition camera and an LED supplementary light. It is typically installed at the front end of the mounting bracket 8 or near the sawing unit 10, with the lens pointed at the work area. Its functions are twofold: first, to provide a first-person view for the remote operator, assisting in the precise positioning and clamping of the gripper arm; and second, to allow real-time observation of the sawing progress and cut status. The video signals collected by the visual unit 12 are transmitted in real-time to the ground control terminal via a wireless module. The wireless module is responsible for communicating with the ground control station, receiving all control commands including start, clamping, sawing, separation, and docking, and transmitting back device status data, including battery voltage, motor load, and video feeds. The communication protocol can use 2.4G / 5.8GHz wireless signals or 4G / 5G networks.

[0021] The power supply module provides power to all motors, control circuits, sensors and communication modules in the device, ensuring that it can independently complete at least one complete cutting task after being separated from the drone.

[0022] Technical effects of this embodiment: 1. By remotely carrying and controlling the device via drone, and with the detachable design of the device and the drone itself, operators can complete the cutting operation in the tree canopy area without entering a high-voltage electric field or climbing to a height; this helps to reduce the safety risks of electric shock and falls from heights that are directly faced in traditional operations, and provides safety protection for operators.

[0023] 2. The drone platform can flexibly reach complex terrain areas, including deep mountains, cliffs, and swamps. The design of the device, which can operate independently and stably on tree branches after being separated from the drone, overcomes the limitations of drone endurance and hovering accuracy on long-term, high-precision cutting tasks, thereby improving the feasibility of tree obstacle removal operations in difficult locations.

[0024] 3. This application simplifies the process from site survey to cutting, and is expected to enable rapid deployment and live-line work, reducing unplanned power outages and economic losses caused by tree obstruction. Simultaneously, drone operations combined with automated cutting reduce reliance on large on-site manpower for each operation, helping to lower long-term maintenance costs for manpower, large equipment rental, and overall management.

[0025] Example 2: A tree obstacle removal method, based on a detachable self-feeding sawing device mounted on a drone as described in Example 1, comprising: S1. Arrival and Positioning: The drone carrying the sawing device flies to the work area where there are tree obstacles. The operator confirms the target tree branch by transmitting images back through the drone's image transmission and the visual unit 12 on the device.

[0026] S2, Posture Adjustment: The operator sends a control command to adjust the device posture through the angle adjustment unit 7 of the adapter module 1, so that the clamping arm opening of the self-feed sawing module 2 faces the target tree branch and the sawing plane is in the predetermined position.

[0027] S3, Clamping and Fixing: Control the action of the clamping arm drive unit 9 to firmly clamp the target tree branch with the two sets of clamping arms (fixed section clamping arm and detached section clamping arm).

[0028] S4. Device Separation: Control the motor of the docking and disengagement unit 5 to open the mechanical grippers, thereby achieving complete separation of the entire self-feeding sawing module 2 from the UAV and its mounting adapter module 1. The UAV can then fly away to a safe area to hover or land.

[0029] S5. Autonomous Sawing: The device operates independently on the tree branch. First, the motor controlling the self-feeding mechanism 11 starts, driving the saw blade of the sawing unit 10 to begin reciprocating motion and feeding at a constant speed until the branch is completely cut off. The operator can monitor the entire process through the visual unit 12.

[0030] S6. Branch Handling and Retrieval: After cutting, the drone flies back to the device and controls the grappling hook of the docking and disengagement unit 5 to close, re-locking with the grappling hook connector on the top of the device. The controllable disengagement arm moves a short distance to the safe side, guiding the cut branch segment to detach and fall outside the line protection zone. Finally, the controllable arm releases, and the drone carrying the device returns, completing the operation.

[0031] Example 3: A detachable self-feeding sawing device based on UAV mounting. Unlike Example 1, a radial rotation joint is provided between the mounting frame 8 and the rotation joint. The radial rotation joint can be locked and an initial radial angle is set. This sacrifices the space of the power supply module but gives the self-feeding sawing module 2 more flexible adjustment space.

[0032] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solutions of the present invention, as long as they do not depart from the spirit and scope of the technical solutions of the present invention, should be covered within the scope of the claims of the present invention.

Claims

1. A detachable self-feeding sawing device mounted on a UAV, characterized in that, include: The adapter module (1) is mounted to enable a detachable mechanical connection and angle adjustment with the UAV; Self-feed sawing module (2) is used to clamp and saw the target tree branch; The wireless module is used to receive wireless commands and control the actions of the mounting adapter module (1) and the self-feed sawing module (2); A power supply module is used to supply power to the sawing device; The mounting adapter module (1) can be detached from the self-feed sawing module (2). The mounting adapter module (1) includes a docking and disengagement unit (5) for controlling the mechanical separation and docking of the sawing device as a whole with the UAV body.

2. The detachable self-feeding sawing device based on a UAV as described in claim 1, characterized in that, The mounting adapter module (1) also includes: The UAV connection unit (6) includes a threaded connection structure for connecting to the UAV mounting point; Angle adjustment unit (7) includes at least one set of electric joint structures driven by a joint motor for adjusting the working angle of the sawing device; The docking and disengagement unit (5) includes an electromechanical claw driven by a motor and a lead screw. The self-feed sawing module (2) is provided with a claw connector that cooperates with the claw, which is used to realize the separation and docking between the sawing device and the UAV.

3. The detachable self-feeding sawing device based on a UAV as described in claim 2, characterized in that, The angle adjustment unit (7) is equipped with two sets of electric joint structures driven independently by joint motors.

4. The detachable self-feeding sawing device based on a UAV as described in claim 1, characterized in that, The self-feed sawing module (2) includes: a mounting frame (8), and a rotating joint for driving the self-feed sawing module (2) to rotate is provided near one end of the rotating axis of the mounting frame (8). The power supply module and the wireless module are installed inside the mounting frame (8). The clamping arm drive unit (9) mounted on the mounting bracket (8) includes at least one set of clamping arms driven by a motor to open and close, for clamping the sawing target; The sawing unit (10) mounted on the mounting frame (8) includes a motor and a reciprocating saw blade driven therefrom; The self-feeding mechanism (11) mounted on the mounting bracket (8) includes an electric lead screw structure mounted on the clamping arm for driving the sawing unit (10) to feed in a set direction.

5. The detachable self-feeding sawing device based on a UAV as described in claim 4, characterized in that, The clamping arm drive unit (9) has two sets of clamping arms, which are driven by two sets of motors respectively. The two sets of clamping arms are located on both sides of the sawing unit (10) and are used to move the cut branches after the branches are sawn.

6. The detachable self-feeding sawing device based on a UAV as described in claim 1, characterized in that, The sawing unit (10) is equipped with a visual unit (12) for clamping and positioning the clamping arm drive unit (9) and observing the sawing progress. Its signal is transmitted to the control terminal through a wireless module.

7. A method for clearing tree obstacles, based on a detachable self-feeding sawing device mounted on a drone as described in claim 4, characterized in that, include: The drone carrying the device flew to the work area; Adjust the angle of the device and align it with the target tree branch; Control the clamping arm drive unit (9) to clamp the target tree branch; The control docking disengagement unit (5) separates the device from the UAV; The self-feeding mechanism (11) drives the sawing unit (10) to saw off the branches; Control the drone to return and dock with the device, then withdraw.

Images