Cutter tilting mechanism for tree barrier cleaning flying robot

Abstract

The utility model discloses a cutter tilting mechanism for a tree barrier cleaning flying robot, which comprises a rotating motor connected below a bent pipe, a pitching motor is connected below the rotating motor, and the lower part of the pitching motor is connected with an operation cutter; the rotating motor can automatically or manually rotate the operation tool to the corresponding vertical angle according to the included angle between the target tree barrier and the horizontal plane, the pitching motor can adjust the pitching angle of the operation tool, and the target tree barrier is cut with the maximum efficiency. By means of the flying robot for removing the tree obstacles, the cutting efficiency of the tree obstacles in different directions can be guaranteed to the maximum extent.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of cutter tilting mechanism for electric power line tree barrier cleaning flying robot, especially a kind of flying robot suitable for quickly cleaning large-area tree barrier, belong to transmission line tree barrier cleaning device technical field. BACKGROUND

[0002] Tree barrier is a kind of safety hazard existing in transmission line passage, which gradually threatens the safe operation of transmission line as the continuous growth of trees in the passage. Therefore, the power departments at all levels invest a lot of manpower, material resources and financial resources in the passage tree barrier cleaning and rectification in their jurisdictions every year. The current tree barrier cleaning mainly relies on manual operation, which has the disadvantages of low efficiency and high safety risk, so an automatic tree barrier cleaning flying robot for electric power line passage is urgently needed.

[0003] The patent application CN118270235A "a tree barrier cleaning flying robot using rigid-flexible mixed suspension mechanism" disclosed on July 2, 2024 discloses a tree barrier cleaning flying robot using a bend pipe to connect a horizontal cutter or a vertical cutter at the bottom of the unmanned aerial vehicle. The flying robot connected with the horizontal cutter has great difficulty in cutting the side branches of the trees, and the flying robot connected with the vertical cutter cannot quickly cut the top of the trees, with low obstacle removal efficiency.

[0004] The above documents have the following deficiencies in the research of the working cutter for the tree barrier cleaning flying robot: the single horizontal cutter or vertical cutter has low efficiency; if the working cutter is manually changed after the flying robot lands, the work efficiency is reduced, and the workload of the staff is increased. Therefore, the current tree barrier cleaning robot cannot balance the cleaning efficiency of tree barriers in different directions. UTILITY MODEL CONTENT

[0005] The technical problem solved by the utility model is a cutter tilting mechanism for a tree barrier cleaning flying robot, which connects the working cutter through the cutter tilting mechanism mounted on the multi-rotor flying platform, realizes large-area and high-efficiency cleaning of the top or side of the tree barrier in the line passage, and meets the demand for safe operation of tree barrier cleaning in the transmission line environment.

[0006] The technical solution of the utility model is a cutter tilting mechanism for a tree barrier cleaning flying robot, which includes a rotary motor connected below the bend pipe, a pitch motor connected below the rotary motor, and a working cutter connected below the pitch motor; the rotary motor can rotate the working cutter around the bottom of the bend pipe to any angle, and the pitch motor can adjust the pitch angle of the working cutter.

[0007] Preferably, the rotary motor can rotate the working cutter to the corresponding vertical angle according to the included angle between the target tree barrier and the horizontal plane.

[0008] Preferably, the rotary motor can automatically adjust the angle of the working tool, or the angle can be manually changed.

[0009] Preferably, the pitch motor can automatically or manually adjust the pitch angle of the working tool to the corresponding angle according to the tilt angle of the target tree obstacle.

[0010] Preferably, the rotary motor and the pitch motor are servo motors with locking function, which automatically lock when rotated to the corresponding angle.

[0011] The beneficial effects of this utility model are as follows: Compared with the prior art, the effects of this utility model are as follows:

[0012] 1) The tool tilting mechanism can adjust the working tool to the corresponding vertical angle according to the tilt angle of the target tree obstacle and the angle with the horizontal plane, which greatly enhances the obstacle clearing efficiency.

[0013] 2) The angle of the working tool is automatically adjusted, eliminating the need to switch working tools after the flying robot lands, which improves work efficiency and reduces the burden on manual labor. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the tool tilting mechanism;

[0015] Figure 2 This is a schematic diagram of a flying robot cutting a tree in a horizontal cutting configuration;

[0016] Figure 3 This is a schematic diagram of a flying robot cutting a tree in vertical blade mode;

[0017] Figure 4 This is a schematic diagram of a flying robot cutting a tree in a slanted cutting configuration;

[0018] Figure 5 This is a schematic diagram of a flying robot cutting a tree in an upward-facing position.

[0019] In the diagram, 1—bend, 2—rotary motor, and 3—pitch motor. Detailed Implementation

[0020] The present invention will now be further described in conjunction with the accompanying drawings and specific implementation examples.

[0021] Implementation Case 1: For example Figures 1-5 As shown, a blade tilting mechanism for a tree-clearing flying robot includes a rotary motor 2 connected below a curved tube 1, a pitch motor 3 connected below the rotary motor 2, and a working blade connected below the pitch motor 3; the rotary motor 2 can rotate the working blade around the bottom of the curved tube 1 to any angle, and the pitch motor 3 can adjust the pitch angle of the working blade.

[0022] Preferably, the rotary motor 2 can rotate the working cutter to a corresponding vertical angle according to the included angle between the target tree barrier and the horizontal plane.

[0023] Preferably, the rotary motor 2 can automatically adjust the angle of the working cutter, and can also manually change the angle.

[0024] Preferably, the pitch motor 3 can automatically or manually adjust the pitch angle of the working cutter to a corresponding angle according to the inclination angle of the target tree barrier.

[0025] Preferably, the rotary motor 2 and the pitch motor 3 are servo motors with locking function, and when rotated to the corresponding angle, the rotary motor 2 and the pitch motor 3 will be automatically locked.

[0026] Preferably, the rotary motor 2 and the pitch motor 3 both adopt the integrated precision speed reducer servo unit of Muwei Technology Co., Ltd., the rotary motor 2 is of TS8036 type, with a rated speed of 88 rpm, a torque of 25 N.m, a peak power of 500 W, and a temperature monitoring function; the pitch motor 3 is of TS8025 type, with a rated speed of 45 rpm, a torque of 25 N.m, a peak power of 140 W, and a temperature monitoring function.

[0027] Preferably, the working mode of the utility model is that when the flying robot approaches the cutting target, the flight control will automatically send the corresponding angle to the rotary motor 2 according to the approximate angle of the cutting target detected by the on-board camera, the rotary motor 2 will be rotated to the corresponding position, then the flight control will automatically send the corresponding angle to the pitch motor 3 according to the inclination of the cutting target, at this time the pitch motor 3 will be rotated to the corresponding position, then the operating personnel can control the on-board holder to check the corresponding angle of the working cutter, and use the corresponding buttons of the remote controller to fine-tune the rotary motor 2 and the pitch motor 3, after adjustment, the flying robot is operated to cut the target.

[0028] The above is only a specific embodiment example of the utility model, and the protection scope of the utility model is not limited thereto. Those skilled in the art can easily find changes or replacement modes within the technical range disclosed by the utility model, and these should be covered within the protection scope of the utility model. Therefore, the protection scope of the utility model should be subject to the protection scope of the claims.

Claims

1. A tool tilting mechanism for a tree-barrier clearing flying robot, characterized by: It comprises a rotary motor (2) connected to the bottom of the elbow pipe (1), a pitching motor (3) connected to the bottom of the rotary motor (2), and a working tool connected to the bottom of the pitching motor (3); the rotary motor (2) can rotate the working tool to any angle around the bottom of the elbow pipe (1), and the pitching motor (3) can adjust the pitch angle of the working tool.

2. The tool tilting mechanism for tree barrier clearing flying robot according to claim 1, characterized in that: The rotary motor (2) can rotate the working tool to the corresponding vertical angle according to the angle between the target tree barrier and the horizontal plane.

3. The tool tilting mechanism for tree barrier clearing flying robot according to claim 1, characterized in that: The rotary motor (2) can automatically adjust the angle of the working tool, and can also manually change the angle.

4. The tool tilting mechanism for tree barrier clearing flying robot according to claim 1, characterized in that: The pitching motor (3) can automatically or manually adjust the pitch angle of the working tool to the corresponding angle according to the inclination angle of the target tree barrier.

5. The tool tilting mechanism for tree barrier clearing flying robot according to claim 1, wherein: The rotary motor (2) and the pitching motor (3) are servo motors with locking function, which will be automatically locked when rotated to the corresponding angle.

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