An unmanned aerial vehicle for high altitude branch disposal

Abstract

The utility model discloses an unmanned plane of high altitude branch processing, including unmanned plane body, mechanical arm, the mechanical arm is located at unmanned plane body department, clamping mechanism, clamping mechanism includes clamping seat, two rows of clamping claw, two rows of drive wheels, and the first end surface of clamping seat is connected with mechanical arm, two rows of clamping claw are respectively hinged in the both sides of the side of clamping seat, and are connected first turnover power mechanism, two rows of drive wheels are respectively through turnover frame hinged in the both sides of the side of clamping seat, and are connected first turnover power mechanism, and drive wheel rotatably connects in turnover frame department, and the rotation axis of drive wheel is orthogonal with the hinge shaft of clamping claw, and drives rotation through rotary power mechanism, cutting mechanism, cutting mechanism includes electric saw and second turnover power mechanism, and electric saw is hinged in the second end surface department of clamping seat, and second turnover power mechanism is connected with electric saw. The utility model discloses can replace artificial post-disaster processing high altitude branch, has the advantages such as fast response speed, avoids high altitude operation risk, operation is swift.

Description

Technical Field

[0001] This application relates to the field of disaster relief equipment technology, specifically to a drone for handling debris from high altitudes. Background Technology

[0002] In coastal areas prone to natural disasters, the strong winds and torrential rains caused by typhoons often lead to fallen trees, broken power lines, and subsequent large-scale power outages and secondary disasters, such as traffic paralysis, communication disruptions, and obstruction of medical rescue, requiring timely post-disaster repairs.

[0003] Traditional disaster relief methods mainly rely on manual inspections and heavy machinery operations. Large-scale manual inspections of each area are time-consuming and slow to respond. In severe environments such as strong winds and heavy rain, the risk to workers is high when dealing with tall debris, including risks such as working at heights, electric shock, and secondary tree collapse. In severe weather, maintenance work is also difficult to carry out, making it hard to meet the needs of quickly restoring power and reducing disaster losses. Utility Model Content

[0004] Therefore, there is a need to provide a drone for handling debris at high altitudes, in order to solve the problems of slow response speed, high operational risk, and high operational difficulty in manual repair after typhoon disasters in the existing technology.

[0005] To achieve the above objectives, the inventors provide a drone for high-altitude debris handling, comprising:

[0006] The drone itself;

[0007] A robotic arm, which is located on the drone body;

[0008] The clamping mechanism includes a clamping base, two rows of grippers, and two rows of drive wheels. The first end face of the clamping base is connected to a robotic arm. The two rows of grippers are respectively hinged to both sides of the side of the clamping base and connected to a first flipping power mechanism. The two rows of drive wheels are respectively hinged to both sides of the side of the clamping base via a flipping frame and connected to the first flipping power mechanism. The drive wheels are rotatably connected to the flipping frame, and the rotation axis of the drive wheels is orthogonal to the hinge axis of the grippers. They are driven to rotate by a rotation power mechanism, thereby moving the residual branches axially.

[0009] The cutting mechanism includes an electric saw and a second flipping power mechanism. The electric saw is hinged to the second end face of the clamping seat. The second flipping power mechanism is connected to the electric saw to drive the cutting assembly to flip outside the end face of the clamping seat.

[0010] In some embodiments, the side of the clamping seat is provided with a groove that conforms to the side of the residual branch, and the groove is located between two rows of clamping claws.

[0011] In some embodiments, each row of grippers has a plurality of grippers, and the two rows of grippers are arranged alternately or one-to-one facing each other.

[0012] In some embodiments, the surface of the drive wheel is provided with anti-slip protrusions.

[0013] In some embodiments, the drive wheel is a gear.

[0014] In some embodiments, the drive wheel is fitted with an anti-slip sleeve.

[0015] In some embodiments, it also includes:

[0016] The control unit is equipped with a pressure detection mechanism on the surface of the drive wheel. The control unit is connected to the pressure detection mechanism and the first tilting power mechanism to receive the detection value of the pressure detection mechanism and control the first tilting drive mechanism.

[0017] In some embodiments, each side of the clamping seat is provided with a connecting shaft, the two rows of grippers are respectively hinged to the two connecting shafts, and the flipping frame of the two rows of drive wheels is respectively hinged to the two connecting shafts.

[0018] In some embodiments, the robotic arm includes a forearm, a main arm, and a telescopic arm that are hinged together in sequence. The forearm is connected to the drone body, and the telescopic arm is connected to the first end face of the gripper base.

[0019] In some embodiments, the drone body is equipped with a visual recognition mechanism, which includes a polarized light camera.

[0020] Unlike existing technologies, the drone described in the above technical solution for high-altitude branch processing uses a robotic arm to flexibly move the gripping mechanism precisely to the branch's location. Driven by a first flipping power mechanism, the two rows of grippers of the gripping mechanism flip towards each other, thus clamping the branch. While the branch is clamped, the two rows of drive wheels of the gripping mechanism also flip towards each other, until both rows of drive wheels contact the branch. Then, a rotational power mechanism is activated to rotate the drive wheels in the opposite direction, thereby moving the branch axially towards the cutting mechanism until the branch is positioned to be cut at the cutting mechanism. The second flipping power mechanism of the cutting mechanism drives the chainsaw to flip outside the end face of the clamping seat. At this time, the chainsaw can be started to cut the debris. With the robotic arm, clamping mechanism and cutting mechanism carried by the drone body, it can quickly reach the disaster area to perform cutting and removal tasks, which greatly shortens the power restoration time, reduces social and economic losses, can replace or assist manual labor in performing high-risk tasks, and ensure personnel safety. The drone body can operate stably in complex environments, reduce dependence on ground equipment, improve the flexibility and reliability of disaster response, and quickly restore power supply to avoid problems such as communication interruption, medical emergency obstruction and traffic paralysis caused by power outages, thus maintaining social order and stability.

[0021] The above description of the utility model is merely an overview of the technical solution of this application. In order to enable those skilled in the art to better understand the technical solution of this application and to implement it based on the description and drawings, and to make the above-mentioned objectives and other objectives, features and advantages of this application easier to understand, the following description is provided in conjunction with the specific embodiments and drawings of this application. Attached Figure Description

[0022] The accompanying drawings are only used to illustrate the principles, implementation methods, applications, features, and effects of specific embodiments of this application and other related content, and should not be considered as limitations on this application.

[0023] In the accompanying drawings of the instruction manual:

[0024] Figure 1 This is a structural diagram of the UAV used for high-altitude debris processing as described in a specific implementation method;

[0025] Figure 2 This is a connection structure diagram of the clamping mechanism and the cutting mechanism described in the specific implementation embodiment;

[0026] Figure 3 This is a connection structure diagram of the clamping mechanism and the cutting mechanism from another perspective of a specific implementation method;

[0027] Figure 4 A structural diagram of the robotic arm described in a specific embodiment;

[0028] Figure 5 This is a structural diagram of the UAV body described in a specific implementation method;

[0029] The reference numerals used in the above figures are explained as follows:

[0030] 1. The drone itself;

[0031] 100. Visual recognition agencies;

[0032] 101. Wing;

[0033] 2. Robotic arm;

[0034] 200. Forearm;

[0035] 201. Upper arm;

[0036] 202. Telescopic boom;

[0037] 203. The third hydraulic cylinder;

[0038] 3. Clamping mechanism;

[0039] 300, Clamping seat; 3000, First end face; 3001, Side face; 3002, Second end face; 3003, Groove; 3004, Connecting shaft;

[0040] 301. Gripper;

[0041] 302. First hydraulic cylinder;

[0042] 303. Drive wheel;

[0043] 3031, Anti-slip protrusions;

[0044] 304. Rotary power mechanism;

[0045] 305. Tilting rack;

[0046] 4. Cutting mechanism;

[0047] 400. Chainsaw;

[0048] 401. Second hydraulic cylinder. Detailed Implementation

[0049] To illustrate the possible application scenarios, technical principles, implementable specific solutions, and achievable objectives and effects of this application in detail, the following description, in conjunction with the listed specific embodiments and accompanying drawings, provides a detailed explanation. The embodiments described herein are merely illustrative of the technical solutions of this application and are therefore intended to limit the scope of protection of this application.

[0050] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.

[0051] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit this application.

[0052] In the description of this application, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " in this document generally indicates that the preceding and following objects have an "or" logical relationship.

[0053] In this application, terms such as “first” and “second” are used only to distinguish one entity or operation from another, and do not necessarily require or imply any actual quantity, hierarchy or order relationship between these entities or operations.

[0054] Unless otherwise specified, the use of terms such as “comprising,” “including,” “having,” or other similar expressions in this application is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a list of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.

[0055] As understood in the Examination Guidelines, in this application, expressions such as "greater than," "less than," and "exceeding" are understood to exclude the stated number; expressions such as "above," "below," and "within" are understood to include the stated number. Furthermore, in the description of the embodiments in this application, "multiple" means two or more (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups" and "multiple times," unless otherwise explicitly specified.

[0056] In the description of the embodiments of this application, the space-related expressions used, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or drawings. They are only for the purpose of describing the specific embodiments of this application or for the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0057] Unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this application, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two components or the interaction between two components. For those skilled in the art to which this application pertains, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0058] In coastal areas prone to natural disasters, the strong winds and torrential rains caused by typhoons often lead to fallen trees, broken power lines, and subsequent large-scale power outages and secondary disasters, such as traffic paralysis, communication disruptions, and obstruction of medical rescue, requiring timely post-disaster repairs.

[0059] Traditional disaster relief methods mainly rely on manual inspections and heavy machinery operations. Large-scale manual inspections of each area are time-consuming and slow to respond. In severe environments such as strong winds and heavy rain, the risk to workers is high when dealing with tall debris, including risks such as working at heights, electric shock, and secondary tree collapse. In severe weather, maintenance work is also difficult to carry out, making it hard to meet the needs of quickly restoring power and reducing disaster losses.

[0060] Therefore, this utility model provides a drone for high-altitude debris handling, which can replace manual inspection. It has a fast response speed, can quickly reach the site, and can operate at high altitudes, making it flexible and reliable.

[0061] Please see Figure 1 In a specific embodiment, the drone for processing high-altitude debris includes a drone body 1, a robotic arm 2, a clamping mechanism 3, and a cutting mechanism 4, with the robotic arm 2 located at the drone body 1.

[0062] Please see Figure 2 or Figure 3 The clamping mechanism 3 includes a clamping base 300, two rows of grippers 301, and two rows of drive wheels 303. The first end face 3000 of the clamping base 300 is connected to the robotic arm 2. The two rows of grippers 301 are respectively hinged to both sides of the side surface 3001 of the clamping base 300 and connected to the first flipping power mechanism. The two rows of drive wheels 303 are respectively hinged to both sides of the side surface 3001 of the clamping base 300 through a flipping frame 305 and connected to the first flipping power mechanism. The drive wheels 303 are rotatably connected to the flipping frame 305, and the rotation axis of the drive wheels 303 is orthogonal to the hinge axis of the grippers 301. They are driven to rotate by a rotation power mechanism 304, which drives the residual branches to move axially.

[0063] The cutting mechanism 4 includes an electric saw 400 and a second flipping power mechanism. The electric saw 400 is hinged to the second end face 3002 of the clamping seat 300. The second flipping power mechanism is connected to the electric saw 400 to drive the cutting assembly to flip outside the end face of the clamping seat 300.

[0064] The drone body 1 for high-altitude branch processing can be flexibly driven by the robotic arm 2 to precisely move the clamping mechanism 3 to the branch position. The two rows of grippers 301 of the clamping mechanism 3 are rotated towards each other under the drive of the first rotating power mechanism, thereby clamping the branch. While the branch is being clamped, the two rows of drive wheels 303 of the clamping mechanism 3 are also rotated towards each other under the drive of the first rotating power mechanism until both rows of drive wheels 303 contact the branch. Then, the rotation power mechanism 304 is activated to drive the drive wheels 303 to rotate in the opposite direction, thereby moving the branch axially towards the cutting mechanism 4 until the branch is moved to the cutting mechanism 4. The second rotating power mechanism of the cutting mechanism 4 drives the electric saw 400 to rotate outside the end face of the clamping seat 300. At this time, the electric saw 400 can be activated to cut the branch.

[0065] By equipping the drone body 1 with a robotic arm 2, a gripping mechanism 3, and a cutting mechanism 4, it can quickly reach the disaster area to perform cutting and removal tasks, significantly shortening the power restoration time, reducing socio-economic losses, replacing or assisting manual labor in performing high-risk tasks, ensuring personnel safety, and enabling the drone body 1 to operate stably in complex environments, reducing dependence on ground equipment, improving the flexibility and reliability of disaster response, and quickly restoring power supply can avoid problems such as communication interruptions, obstruction of medical emergency services, and traffic paralysis caused by power outages, thus maintaining social order and stability.

[0066] In some embodiments, the gripper 301 is curved and can fit into the columnar branch.

[0067] In some embodiments, the side 3001 of the clamping seat 300 is provided with a groove 3003 that fits the side 3001 of the residual branch. The groove 3003 is located between two rows of clamping claws 301, and the two rows of clamping claws 301 and the groove 3003 form a shape that is close to a circle.

[0068] In some embodiments, each row of grippers 301 is provided with a plurality of grippers 301, and the two rows of grippers 301 are staggered.

[0069] In some embodiments, each row of grippers 301 is provided with a plurality of grippers 301, and the two rows of grippers 301 are arranged one-to-one facing each other.

[0070] In a preferred embodiment, each row of grippers 301 has two grippers 301, and the two rows of grippers 301 are staggered. Each row of drive wheels 303 has one drive wheel 303, that is, there are two drive wheels 303. One drive wheel 303 is located between the two grippers 301 of one row of grippers 301, and the other drive wheel 303 is located between the two grippers 301 of another row of grippers 301, and the two drive wheels 303 are arranged facing each other.

[0071] In some embodiments, the clamping seat 300 has a connecting shaft 3004 on each side of its side 3001, and the two rows of grippers 301 are respectively hinged to the two connecting shafts 3004. The flipping frames 305 of the two rows of drive wheels 303 are respectively hinged to the two connecting shafts 3004.

[0072] In some embodiments, the fixed end of the gripper 301 has a hole or sleeve, and the gripper 301 is sleeved on the connecting shaft 3004 through the hole or sleeve so that it can be flipped relative to the connecting shaft 3004.

[0073] In some embodiments, the fixed end of the flipping frame 305 is also provided with a hole, and the flipping frame 305 is also sleeved on the connecting shaft 3004 through the hole so that it can be flipped relative to the connecting shaft 3004.

[0074] In some embodiments, the first and second tilting power mechanisms are cylinders or hydraulic cylinders.

[0075] Taking the first tilting power mechanism and the second tilting power mechanism as hydraulic cylinders, with the first tilting power mechanism's hydraulic cylinder being the first hydraulic cylinder 302 and the second tilting power mechanism's hydraulic cylinder being the second hydraulic cylinder 401, as an example:

[0076] It also includes an oil supply mechanism, the oil supply system including a hydraulic pump, a hydraulic tank, a pipeline for conveying hydraulic oil, a hydraulic control valve located at the hydraulic pipeline, and a control unit for controlling the hydraulic pump and the hydraulic control valve. The hydraulic pump supplies oil to the first cylinder 302 and the second cylinder 401 mentioned below through the pipeline, and the hydraulic control valve regulates the flow direction, flow rate and pressure of the hydraulic oil.

[0077] The body of the first hydraulic cylinder 302 that drives the gripper 301 is hinged to the gripper seat 300. The output end of the first hydraulic cylinder 302 is hinged to the fixed end of the gripper 301. By extending or shortening the output end of the first hydraulic cylinder 302, the gripper 301 is controlled to open or close, so as to hold the dead branch tightly or release the dead branch.

[0078] Similarly, the body of the first cylinder 302 of the drive tilting frame 305 is hinged to the clamping seat 300. The output end of the first cylinder 302 is hinged to the fixed end of the tilting frame 305. By extending or shortening the output end of the first cylinder 302, the opening or closing of the tilting frame 305 is controlled, so as to drive the drive wheel 303 to approach or move away from the residual branch.

[0079] The electric saw 400 is mounted on a base, which is hinged to the second end face 3002 of the clamping seat 300 via a pivot. The body of the second hydraulic cylinder 401 that drives the electric saw 400 is connected to the second end face 3002 of the clamping seat 300. The output end of the second hydraulic cylinder 401 is hinged to the base. By extending or shortening the output end of the second hydraulic cylinder 401, the base is driven to rotate, thereby causing the electric saw 400 to rotate outside the second end face 3002 of the clamping seat 300 to cut the debris.

[0080] In some embodiments, the rotating power mechanism 304 is a rotary motor, and each drive wheel 303 is connected to a rotary motor. The rotary motor is located at the tilting frame 305, and the output end of the rotary motor is connected to the shaft of the drive wheel 303 to drive the drive wheel 303 to rotate. The two rows of drive wheels 303 rotate in opposite directions to drive the residual branch to move along the axial direction toward the cutting mechanism 4 until the position of the residual branch to be cut moves to the adjacent position of the cutting mechanism 4.

[0081] In some embodiments, the drive wheel 303 has anti-slip protrusions 3031 on its surface to increase the friction of the drive surface and prevent slippage when driving the debris.

[0082] In some embodiments, the drive wheel 303 is a gear, and the teeth of the gear can hold the debris, ensuring that the debris can be driven stably.

[0083] In some embodiments, the drive wheel 303 is fitted with an anti-slip sleeve to increase the friction of the drive surface and prevent slippage when driving the debris.

[0084] In some embodiments, a control unit is also included. The surface of the drive wheel 303 is provided with a pressure detection mechanism. The control unit is connected to the pressure detection mechanism and the first flipping power mechanism to receive the detection value of the pressure detection mechanism and control the first flipping drive mechanism. When it is necessary to drive the axial movement of the branch, the first flipping drive mechanism is activated to drive the flipping frame 305 to flip, thereby driving the drive wheel 303 to flip. At the same time, the pressure detection mechanism (such as a pressure sensor) detects the pressure value on the surface of the drive wheel 303 in real time. When the pressure value reaches a certain value, the control unit controls the first flipping drive mechanism to stop driving. At this time, the rotation drive mechanism can be activated to drive the drive wheel 303 to rotate, thereby driving the branch to move axially.

[0085] In some embodiments, the chainsaw 400 is equipped with a power source, which includes a brushless motor and a transmission gear. The brushless motor is connected to the transmission gear, and the transmission gear meshes with the saw chain of the chainsaw 400. The brushless motor drives the transmission gear to rotate, thereby driving the saw chain of the chainsaw 400 to move at high speed to cut tree branches.

[0086] Please see Figure 4 In some embodiments, the robotic arm 2 includes a forearm 200, a main arm 201 and a telescopic arm 202 that are hinged together in sequence. The forearm 200 is connected to the UAV body 1 and the telescopic arm 202 is connected to the first end face 3000 of the gripper 301 seat.

[0087] In some embodiments, the robotic arm 2 further includes an arm drive mechanism, which drives the forearm 200 and the upper arm 201 to flip and the telescopic arm 202 to extend and retract.

[0088] In some embodiments, the arm drive mechanism is a third hydraulic cylinder 203. The third hydraulic cylinder 203 that drives the forearm 200 is hinged to the forearm 200, and the third hydraulic cylinder 203 that drives the upper arm 201 is hinged to the upper arm 201, so as to achieve the flipping of the forearm 200 and the flipping of the upper arm 201 respectively. The third hydraulic cylinder 203 that drives the telescopic arm 202 is connected to the telescopic arm 202, so as to drive the telescopic arm 202 to extend and retract.

[0089] Please see Figure 5 In some embodiments, the drone body 1 is a quadcopter drone, that is, the drone body 1 includes four sets of wings 101.

[0090] In some embodiments, the drone body 1 is provided with a visual recognition mechanism 100, which can acquire images of the location of the drone body 1. The visual recognition mechanism 100 includes a polarized light camera, which effectively suppresses the reflection interference of raindrops and snow by adding a linear polarization filter, thereby enhancing image clarity.

[0091] The UAV body 1 is equipped with sensor components, including a millimeter-wave radar (AWR1642) and a thermal imaging sensor (MLX90640), specifically designed for the rapid identification of fallen trees in adverse weather conditions (such as heavy rain, fog, and snow). The millimeter-wave radar uses 60GHz high-frequency electromagnetic waves to penetrate rain and snow and detect the 3D point cloud structure of trees; the thermal imaging sensor assists in target location by detecting temperature differences (the difference in thermal radiation between fallen trees and the environment).

[0092] Finally, it should be noted that although the above embodiments have been described in the text and drawings of this application, this should not limit the scope of patent protection of this application. Any technical solutions that are based on the essential concept of this application and utilize the content described in the text and drawings of this application, resulting in equivalent structural or procedural substitutions or modifications, as well as the direct or indirect application of the technical solutions of the above embodiments to other related technical fields, are all included within the scope of patent protection of this application.

Claims

1. A drone for high-altitude debris handling, characterized in that, include: The drone itself; A robotic arm, which is located on the drone body; The clamping mechanism includes a clamping base, two rows of grippers, and two rows of drive wheels. The first end face of the clamping base is connected to a robotic arm. The two rows of grippers are respectively hinged to both sides of the side of the clamping base and connected to a first flipping power mechanism. The two rows of drive wheels are respectively hinged to both sides of the side of the clamping base via a flipping frame and connected to the first flipping power mechanism. The drive wheels are rotatably connected to the flipping frame, and the rotation axis of the drive wheels is orthogonal to the hinge axis of the grippers. They are driven to rotate by a rotation power mechanism, thereby moving the residual branches axially. The cutting mechanism includes an electric saw and a second flipping power mechanism. The electric saw is hinged to the second end face of the clamping seat. The second flipping power mechanism is connected to the electric saw to drive the cutting assembly to flip outside the end face of the clamping seat.

2. The UAV for high-altitude debris handling according to claim 1, characterized in that, The side of the clamping seat is provided with a groove that fits the side of the residual branch, and the groove is located between two rows of clamping claws.

3. The UAV for high-altitude debris handling according to claim 1, characterized in that, Each row of grippers has several grippers, and the two rows of grippers are either staggered or directly opposite each other.

4. The UAV for high-altitude debris handling according to claim 1, characterized in that, The drive wheel has anti-slip protrusions on its surface.

5. The UAV for high-altitude debris handling according to claim 4, characterized in that, The drive wheel is a gear.

6. The UAV for high-altitude debris handling according to claim 1, characterized in that, The drive wheel is fitted with an anti-slip sleeve.

7. The UAV for high-altitude debris handling according to claim 1, characterized in that, Also includes: The control unit is equipped with a pressure detection mechanism on the surface of the drive wheel. The control unit is connected to the pressure detection mechanism and the first tilting power mechanism to receive the detection value of the pressure detection mechanism and control the first tilting drive mechanism.

8. The UAV for high-altitude debris handling according to claim 1, characterized in that, The clamping seat has connecting shafts on both sides of its side, and the two rows of grippers are respectively hinged to the two connecting shafts. The flipping frame of the two rows of drive wheels is respectively hinged to the two connecting shafts.

9. The UAV for high-altitude debris handling according to claim 1, characterized in that, The robotic arm includes a forearm, a main arm, and a telescopic arm that are hinged together in sequence. The forearm is connected to the drone body, and the telescopic arm is connected to the first end face of the gripper base.

10. The UAV for high-altitude debris handling according to claim 1, characterized in that, The drone body is equipped with a visual recognition mechanism, which includes a polarized light camera.

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