CN105746198A - Pruning system of automatic branch pruning robot for overhead transmission line - Google Patents
Pruning system of automatic branch pruning robot for overhead transmission line Download PDFInfo
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- CN105746198A CN105746198A CN201610254732.2A CN201610254732A CN105746198A CN 105746198 A CN105746198 A CN 105746198A CN 201610254732 A CN201610254732 A CN 201610254732A CN 105746198 A CN105746198 A CN 105746198A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
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Abstract
The invention discloses a pruning system of an automatic branch pruning robot for an overhead transmission line.The pruning system comprises a first blade and a second blade which are arranged up and down in the horizontal direction and a pruning robot arm driving mechanism for driving the first blade and the second blade to reversely rotate.A cutting edge of the first blade corresponds to a cutting edge of the second blade.In the work process, the first blade and the second blade reversely rotate to form scissors to prune branches, whether the branches are soft or hard, the branches are attacked from two sides and are broken once pruned, the branches can be effectively clipped, and pruning efficiency is high.The first blade and the second blade rotate reversely, reaction torque of the first blade and reaction torque of the second blade can offset, and therefore the overhead transmission line cannot be influenced by torque force brought by the first blade and the second blade.
Description
Technical field
The present invention relates to overhead power transmission line passage area of maintenance, specifically the cutting system of a kind of pollard robot for overhead transmission line livewire work.
Background technology
Along with the development of town and country work, agricultural, the interior newly-increased tree planting of electric transmission line channel etc. jeopardizes the behavior of line security operation still will constantly be occurred.Power department line channel maintenance work will be faced with formidable challenges, woods electricity contradiction is always up the maximum hidden danger of transmission line of electricity safe and reliable operation, in recent years owing to the requirement of quality supply and the grand style expense fallen trees are more and more higher, cause woods electricity contradictory problems increasingly to protrude, bring very big hidden danger to the safe and stable operation of transmission line of electricity.
Along with electrical network density increases year by year, tree line contradiction becomes increasingly conspicuous, and the direct economic loss caused because of screen of trees every year is increasing, and the safety problem brought is increasingly severe, this old difficult problem, is just attracting increasing new pay close attention to.
And existing manually fall trees difficulty as follows:
1, the coordination difficulty of villager is big: villager asks for great number reparation and causes coordination difficulty, some villagers refuse to obey coordination for oneself private, put the person with power grid security in ignoring, no matter it is have tree after first having circuit, still there is circuit after first having tree, they all attitude set up obstacles in every possible way by head and shoulders trees under power department felling line, and ask an exorbitant price, seek great number reparation.
2, compensate costly: every strain trees are tens of to thousands of units not etc..
3, personal security can not get ensureing: some branch is close to transmission line of electricity, and safe distance is inadequate, and when not having power failure operation, the life security of personnel can not get ensureing；The woods often have hornet's nest, once startle, arise that great personnel casualty accidents.
4, cut down very difficult: a lot of local cape cars cannot arrive, and artificial felling is difficult to.
In order to solve above-mentioned various problems, Chinese patent 201510277573.3 discloses a kind of aerial high-voltage power transmission line livewire work branch pruning machine people, to replace manual work, solves high-tension line passage maintenance issues.It includes robot manipulating task platform, it is fixed on the main shaft drives case on robot manipulating task platform, the gravity adjusting device being connected is fixed, the motion arm swinging joint being connected with gravity adjusting device and the end-of-arm tooling being arranged on motion arm swinging joint end with main shaft drives case；Wherein: described robot manipulating task platform, including body, mechanical arm, road wheel, clamping jaw, isoelectric level is taken turns, contact roller；Described mechanical arm is arranged in body both sides with the equidistant form of antisymmetry, and upper end connects road wheel and clamp jaw；Isoelectric level wheel is arranged in the side of clamp jaw；Described contact roller is arranged and is connected with feed screw nut's structure on the robotic arm, and motor drives leading screw and nut mechanism, drives contact roller, carries out rectilinear motion at mechanical arm longitudinal direction, compresses wire；Described driving box is connected by screw the centre being suspended on body；Described main shaft drives case includes driving box casing, main shaft, spindle drive turbine, worm screw, key, spindle drive motor, and center of gravity regulates turbine, and center of gravity regulates motor, travelling gear, gear end cap, bearing (ball) cover, spindle eccentricity set, box cover；Described main shaft is perpendicular to casing ground configuration in main shaft drives case, is connected with turbine by key, by the rotation of worm-and-wheel gear drive shaft；Described worm screw lateral arrangement, in spindle drive case, by a pair external gear pump transmission, is driven by motor；Worm screw two ends are held up by pair of horns contact ball bearing by wall box, are directly delivered on body by the counteracting force born；Described turbine is penetrated by main shaft, taper roll bearing isolate main shaft hold up main shaft, it is ensured that turbine is under worm drive, it is possible to around main shaft independently rotated with main shaft without friction；Described spindle eccentricity set penetrates box cover, affixed by screw with body；Eccentric bushing is in main shaft upper end by rolling bearing, and limiting main shaft will not topple over both sides.
Described end-of-arm tooling includes pitching joint, clamps joint, traversing joint, direct current electric saw；Described end-of-arm tooling is connected by screw at insulation arm end；Swing with insulation arm；Pitching joint is arranged on the end of insulation motion arm, and the connecting rod end in pitching joint is provided with clamping device, the pitching motor on the leading screw and nut mechanism being attached thereto drive, and traversing joint and direct current electric saw are arranged on clamping joint end；Described pitching joint includes pitching motor, pitching feed screw, pitching nut, motor flange, pitching pull bar, pitching pedestal；Described pitching pull bar is driven by feed screw nut's structure, along with vertically moving of nut does stretching motion；Described clamping joint includes gripping base, sensor patch, jaw motor, jaw screw mandrel, electric motor end cap, motor flange, clamping pin, jaw nut, clamps connecting rod, clamping jaw composition；Clamping leading screw and nut mechanism is driven by motor, carries out rectilinear motion；Clamping jaw is connected with jaw nut by jaw connecting rod, and moving forward and backward along with nut, carries out jaw and opens and holding action；Gripping base tail end and pitching pedestal are hinged, and front end and pitching pull bar are hinged；And along with the stretching motion of pitching pull bar realizes the pitching in clamping joint, it is achieved terminal angle adjustment；Described traversing joint includes traversing pedestal, traversing motor, traversing screw mandrel, traversing nut, travelling gear, gear end cap, guide rail, slide unit, traversing slide；Traversing joint by external gear pump transmission, is driven feed screw nut to do horizontal rectilinear movement by motor；Nut drives slide unit, it is achieved the transverse shifting of slide unit；Traversing pedestal connects gripping base and traversing slide, is provided with traversing screw mandrel and traversing nut in traversing pedestal, by a pair gear drive between screw mandrel and motor, by gear end cap seal；Being provided with guide rail on traversing pedestal, traversing slide laterally moves along guide rail under the drive of traversing nut；Described electric saw is direct current electric saw, and the DC source carried by end is driven；Described electric saw is fixed in traversing slide unit lower end, realizes the feed motion of electric saw along with slide unit is traversing.
It addition, Chinese patent 201510279013.1 discloses tree bamboo automatic sharpening in a kind of overhead power transmission line passage cuts system, it includes depopulated helicopter module (1), chain saw module (3) and surface control module (4)；Described depopulated helicopter module (1) includes control unit on fuselage, laser ranging unit and machine；Described laser ranging unit is connected with control unit on machine；Described chain saw module (3) includes chain saw main body and chain saw control unit；The bottom of the fuselage of described depopulated helicopter module (1) is hung by connection framework (2) and is connect chain saw module (3), and on the machine of described depopulated helicopter module (1), control unit connects the chain saw control unit of chain saw module (3) by data wire；Described surface control module (4) is by control unit communication connection on the machine of cordless communication network and depopulated helicopter module (1)；Described surface control module (4) is used for the state of flight of remotely control or ground remote control depopulated helicopter module (1) and the duty of chain saw module (3).
In above-mentioned aerial high-voltage power transmission line livewire work branch pruning machine people and a kind of overhead power transmission line passage, tree bamboo automatic sharpening cuts system, adopts direct current electric saw or chain saw as the instrument of pollard, and there are the following problems on using for the instrument of this saw class:
If 1 branch is more relatively soft, electric saw or chain saw can whip branch and advance, it is impossible to effectively cuts off branch.
If 2 branches relatively thick harder time, electric saw or chain saw do not have protective measure, saw forward simply, it is easy to cause that electric saw or chain saw damage, even damage the miscellaneous part of trimming machine cuts people.
3, electric saw or the chain saw feed speed when pollard has certain limitation, prunes inefficient.
4, it is one-way movement when electric saw or chain saw work, the impact of the torsional forces that overhead transmission line is subject to electric saw or chain saw brings.
In view of the drawbacks described above of existing branch pruning machine people, branch pruning machine people is carried out deep research by applicant, then has this case to produce.
Summary of the invention
It is an object of the invention to provide the cutting system of a kind of automatic pollard robot for overhead transmission line, it has can effectively cut off branch, prune the higher feature of efficiency, and the impact of torsional forces that overhead transmission line is not brought by pruning tool.
To achieve these goals, the present invention adopts the following technical scheme that
For the cutting system of the automatic pollard robot of overhead transmission line, including the corresponding setting of the edge of a knife and level is laid up and down the first blade and the second blade, and drive described first, second blade counter-rotational trimming machine cuts hand drive mechanism.
Described trimming machine cuts hand drive mechanism includes the first rotating shaft, the second rotating shaft, the first cutterhead and the second cutterhead, described second rotating shaft coaxially activity is set in described first rotating shaft and the bottom of described first rotating shaft is stretched out in lower end, described first, second axis of rotation is in opposite direction, and described first, second cutterhead is horizontally disposed with up and down and fixes with the lower end of described first, second rotating shaft respectively and is connected；Described first, second blade is respectively arranged in the week edge of described first, second cutterhead.
Described first, second blade is all in semilune, it is respectively provided with installation end and free end, and the installation end of the described first, second blade corresponding week edge being articulated with described first, second cutterhead respectively, the week of described first, second cutterhead is along the storage tank offered respectively for accommodating described first, second blade.
The knife face narrow width of free end described in the knife face width ratio of described installation end.
Described first, second blade all has more than two panels or two panels, and each described first blade edge direction is consistent, and each described second blade also edge of a knife direction is consistent, and each described first blade is crisscross arranged on horizontal plane successively with each described second blade.
Each described first blade is symmetrical on described first cutterhead, and each described second blade is symmetrical on described second cutterhead.
Described cutting system passes through V-type insulation arm movable hanging in the bottom of described mobile body.
After adopting such scheme, the present invention is for the cutting system of the automatic pollard robot of overhead transmission line, during work, first, second blade rotates backward formation " shears " and branch is pruned, it it is no matter soft or hard branch, it is all that two-way pincer attack one is cut and namely broken, can effectively cut off branch, prune efficiency higher.And, first, second blade rotates backward, and their reaction torque can cancel each other, the impact of the torsional forces that overhead transmission line will not be brought by first, second blade.
As further improvement, the semi-moon shaped first, second blade not used time can be placed in first, second cutterhead week edge storage tank in.And, first, second blade radial type is installed, and during work, the centrifugal force by rotating opens blade automatically, and when running into more harder branch, if cannot cut off, blade can return self-protection automatically, is damaged from blade and miscellaneous part.
As further improvement, the knife face narrow width of the knife face width ratio free end of first, second blade installation end, bigger inertia force can be obtained during work so that blade is easier to open.
As further improvement, first, second blade all has more than two panels or two panels, and cutterhead often turns over one week, and first, second blade can form " shears " of four times or more than four times, improves pruning efficiency.
As further improvement, cutting system passes through V-type insulation arm movable hanging in the lower section of described mobile body, achieve the insulation between cutting system and overhead transmission line on the one hand, on the other hand by V-type insulation arm in the formed below firm triangle of mobile body, play the effect of stable cutting system.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the pollard robot using cutting system of the present invention；
Fig. 2 is the Facad structure schematic diagram of the mobile body of the pollard robot using cutting system of the present invention；
Fig. 3 is the structure schematic diagram of the mobile body of the pollard robot using cutting system of the present invention；
Fig. 4 is the structure schematic diagram of mobile another angle of body of the pollard robot using cutting system of the present invention；
Fig. 5 is the structural representation of the cutting system of the present invention；
Fig. 6 is the structural representation of another angle of cutting system of the present invention；
Fig. 7 is the control principle schematic diagram of the pollard robot using cutting system of the present invention.
Detailed description of the invention
Use the automatic pollard robot for overhead transmission line of cutting system of the present invention, as shown in figs. 1-7, including control system and mobile body 200, control system includes ground control system 11 and aircraft mounted control system 12, aircraft mounted control system 12 includes tractor and controls module 121 and trimming machine cuts hand control module 122, tractor controls module 121 and is installed on mobile body 200, trimming machine cuts hand control module 122 is installed on following cutting system 600, tractor controls module 121 and trimming machine cuts hand control module 122 and realizes data interaction respectively through wireless data sending unit with ground control system 11 and communicate.
Mobile body 200 is provided with the first set of cells 300 and the running gear 500 driving mobile body 200 to walk on overhead transmission line 400.Controlled module 121 by the first set of cells 300 for running gear 500 and tractor to power；Controlled module 121 by tractor and control the work of running gear 500, trimming machine cuts hand control module 122 control the work of following cutting system 600.
Mobile body 200 has mounting platform 21 and installs backboard 22, and mounting platform 21 is horizontally disposed with, and installs backboard 22 and is vertically connected at the side that mounting platform 21 is paralleled with overhead transmission line 400.First set of cells 300 is installed on the middle part of mounting platform 21.
In the present invention, for the ease of statement, with the arrow direction in Fig. 1 for front, with front opposing to be after.Mobile body 200 is with the one side shown in Fig. 2 for front, with the one side shown in Fig. 3 for the back side.
Running gear 500 is provided with walking unit 51 and jointly compresses the compressing unit 52 of overhead transmission line 400 with this road wheel walking unit 51.
Walking unit 51 includes being respectively arranged in the first direct current generator 511, front walking wheel 512, rear walking wheel 513 and the gear train installed on backboard 22, direct current generator 511, front walking wheel 512 and rear walking wheel 513 are installed on the front installing backboard 22, and gear train is installed on the back side installing backboard 22.Gear train includes driving gear 514, travelling gear the 515, first driven gear 516 and the second driven gear 517, the output shaft of the first direct current generator 511 connects driving gear 514, travelling gear 515 is meshed with driving gear the 514, first driven gear 516 and the second driven gear 517 respectively, and the wheel shaft of the first driven gear 516 and the second driven gear 517 connects front walking wheel 512 and the wheel shaft of rear walking wheel 513 respectively.Front walking wheel 512 and rear walking wheel 513 are respectively equipped with for being set up on overhead transmission line 400 V shaped wheel groove.
Compressing unit 52 includes at least one and is positioned at the contact roller 521 below overhead transmission line and this contact roller 521 is pressed in the elastic compression mechanism on the downside of overhead transmission line 400.Contact roller 521 is provided with voltage supply and is located at the V shaped wheel groove on the downside of overhead transmission line 400.In the present embodiment, contact roller 521 has one, this contact roller 521 medium position between front walking wheel 512 and rear walking wheel 513 on fore-and-aft direction.Certainly, it is possible to respectively front walking wheel 512 and rear walking wheel 513 arrange contact roller and elastic compression mechanism.
Elastic compression mechanism includes compression spring 522 and the connecting rod 523 that is coaxially disposed of the wheel shaft with contact roller 521, backboard 22 is installed and offers vertically arranged strip through-hole 221, the bottom of strip through-hole 221 has extension diameter section, connecting rod 523 is actively located in strip through-hole 221, first end of connecting rod 523 extend out to the front installing backboard 22, second end of connecting rod 523 extend out to the back side installing backboard 22, have between first end and second end of connecting rod 523 and carry out hinged articulated section with installation backboard 22, this hinge point is on the correct position between two ends up and down of strip through-hole 221；Compression spring 522 is positioned at the back side installing backboard 22, the lower end of compression spring 522 is fixedly mounted on the lower section installing on backboard 22 and being positioned at connecting rod 523, the upper end of compression spring 522 is connected to the second end of connecting rod 523, and the wheel shaft of contact roller 521 is articulated in the first end of connecting rod 523.
Mobile body 200 has hook 23, hook 23 has hook portion 231 and bar portion 232, the hook portion 231 of hook exceeds installation backboard 22, the top in the bar portion 232 of hook offers spacing hole 2321 along its length, the front and back of spacing hole 2321 are respectively provided on two sides with out pertusate installation sheet, and a pin (not shown) is passed the perforation of these two installation sheets and is actively located in spacing hole 2321.The lower end, bar portion 232 of hook is hinged with the second end of connecting rod 523.
Running gear 500 is additionally provided with the falling-proof mechanism preventing mobile body 200 from falling from overhead transmission line 400.In the present embodiment, falling-proof mechanism adopts to be respectively arranged at installs the mechanical hand 53,54 of both sides before and after backboard 22, and during work, the paw 531,541 of mechanical hand 53,54 is buckled on the corresponding site of overhead transmission line 400 in loop-like void.
Mechanical hand in the present invention adopts known mechanical hand, opens or is closed into ring-type void be buckled on transmission line of electricity as long as it can meet the paw realizing mechanical hand under the control of control instruction.
Cutting system 600 includes the corresponding setting of the edge of a knife and the first blade 61 and the second blade 62 that up and down level is laid, drives first, second blade 61,62 counter-rotational trimming machine cuts hand drive mechanisms 63 and the second set of cells 64.Powered for trimming machine cuts hand control module 122 and cutting system 600 by the second set of cells 64.Certainly, in the present invention, it is possible to powered for trimming machine cuts hand control module 122 and cutting system 600 by the first set of cells 300；Trimming machine cuts hand control module 122 is mountable on mobile body 200 be also mountable on cutting system 600.
Specifically:
Cutting system 600 is provided with mounting seat 60, and mounting seat 60, in frame structure, has upper strata 601 and lower floor 602, and the second set of cells 64 is installed on the middle part on upper strata 601.Mounting seat 60 passes through V-type insulation arm 700 movable hanging in the lower section of mobile body 200, specifically, the upper end of the two-arm of V-type insulation arm 700 is movably articulated in the both sides, front and back of the bottom of mounting platform 21 respectively, the top of mounting seat 60 is provided with flexible connection assembly 65, it is flexibly connected the pedestal 651 that assembly 65 includes from bottom to top arranging successively, connect seat 652 and connect seat 653, connect seat 653 in triangular shape, base is upper, drift angle under, the lower end of the two-arm of V-type insulation arm 700 be hingedly connected to connect seat 653 base two ends (connect seat 653 base two ends between very close to, make the insulation arm V-shaped), the drift angle place connecting seat 653 is articulated with the top connecting seat 652, the bottom connecting seat 652 is hinged with pedestal 651.
Trimming machine cuts hand drive mechanism 63 includes the second direct current generator the 630, the 3rd direct current generator the 631, first gear the 632, second gear the 633, the 3rd gear the 634, the 4th gear the 635, first rotating shaft the 636, second rotating shaft the 637, first cutterhead 638 and the second cutterhead 639.
Second direct current generator 630 and the 3rd direct current generator 631 are installed in upper strata 601 to be divided into the both sides of the second set of cells 64, the output shaft of the second direct current generator 630 and the 3rd direct current generator 631 is each passed through the base plate on upper strata 601 and extends in lower floor 602 and connect the first gear 632 and the second gear 633 respectively, and the 3rd gear 634 and the 4th gear 635 are meshed with the first gear 632 and the second gear 633 respectively.The second coaxial activity of rotating shaft 637 is set in the first rotating shaft 636 and the bottom of the first rotating shaft 636 is stretched out in lower end, and first, second cutterhead 638, about 639 is horizontally disposed with and fixes with the lower end of first, second rotating shaft 636,637 respectively and is connected.The output shaft of the second direct current generator the 630, the 3rd direct current generator 631 rotates backward under the control of trimming machine cuts hand control module 122, transmission by the first gear 632 and the 3rd gear the 634, second gear 633 and the 4th gear 635, driving first, second rotating shaft 636,637 to rotate backward, rotating backward thus realizing first, second cutterhead 638,639.
The week of first, second cutterhead 638,639 is along offering respectively for the annular storage tank 6381,6391 housing first, second blade 61,62.First, second blade 61,62, all in semilune, is respectively provided with installation end and free end and the knife face narrow width of the knife face width ratio free end of installation end.The installation end of first, second blade 61,62 is corresponding respectively to be articulated with in the annular storage tank 6381,6391 of first, second cutterhead.
In the present invention, first, second blade 61,62 can be all only a piece of, and during work, first, second cutterhead 638,639 often turns over one week, and first, second blade 61,62 is formed once " shears ".
As a preferred embodiment, first, second blade 61,62 all has two panels, each first blade 61 edge of a knife direction is consistent and symmetrical on the first cutterhead 638, each second blade 62 also edge of a knife direction is consistent and symmetrical on the second cutterhead 639, and each first blade 61 is crisscross arranged on horizontal plane successively with each second blade 62.In this embodiment, during work, first, second cutterhead 638,639 often turns over one week, and first, second blade 61,62 forms four times " shears ".
As the embodiment improved, first, second blade 61,62 can have more than two panels, and arranging of each blade is similar with the above-mentioned embodiment being respectively arranged with two panels blade.
Using the automatic pollard robot for overhead transmission line of cutting system of the present invention, operation principle is as follows:
During installation, workman slings whole pollard robot by linking up with 23, now link up with 23 by the second end of connecting rod 523 to lifting up, compression spring 522 is pulled upwardly to be stretched, contact roller 512 is to the bottom, it is easy to workman and front walking wheel 512 and rear walking wheel 513 are set up in overhead transmission line 400, current line travelling wheel 512 and rear walking wheel 513 have set up, unclamp hook 23, now the second end of connecting rod 523 is pulled down by the restoring force compressing spring 522, contact roller 512 is upwards pressed on the downside of overhead transmission line 400, thus completing the installment work of pollard robot.During dismounting, workman slings whole pollard robot again by hook 23, so that it may unclamping compression 512 and unload whole pollard robot, installing/dismounting process is very simple.
During work, ground control system 11 sends work order respectively by wireless data sending unit and controls module 121 and trimming machine cuts hand control module 122 to tractor, and tractor controls module 121 and trimming machine cuts hand control module 122 works according to setting sequencing contro running gear 500 and cutting system 600 respectively.Specifically:
Tractor controls module 121 and obtains work order, output control signal, first direct current generator 511 obtains control signal and starts working, the output shaft of the first direct current generator 511 drives driving gear 514 to rotate, driving gear 514 drives the first driven gear 516 and the second driven gear 517 to rotate by travelling gear 515 respectively, thus driving front walking wheel 512 and rear walking wheel 513 to walk on overhead transmission line 400, the mobile body 200 of final realization is walked on overhead transmission line 400.
During initial condition, the paw 531,541 of mechanical hand 53,54 is in releasing orientation, during work, tractor controls module 121 and exports control signal to mechanical hand 53,54, mechanical hand 53,54 is started working, and its paw 531,541 forms loop-like void respectively and is buckled on the corresponding site of overhead transmission line 400.
nullTrimming machine cuts hand control module 122 obtains work order，Output control signal，Second、3rd direct current generator 630、631 obtain control signal starts working，Second、3rd direct current generator 630、The output shaft of 631 rotates backward and drives first respectively、Second gear 632、633 rotate，First、Second gear 632、633 drive the 3rd respectively、4th gear 634、635 rotate，Thus driving first respectively、Second rotating shaft 636、637 rotate backward，Again through first、Second rotating shaft 636、637 drive first、Second cutterhead 638、639 rotate backward，First、Second cutterhead 638、During 639 rotation，It is hinged on first、Second cutterhead 638、The annular storage tank 6381 of 639、In 6391 first、Second blade 61、62 open owing to centrifugal force is thrown out of，First、Second cutterhead 638、Under 639 counter-rotational drivings，Each first、Second blade 61、62 are respectively formed once " shears " when meeting，The branch being pointed in overhead transmission line 400 passage is pruned.
Owing to first, second blade 61,62 adopts articulated manner to install, when running into more harder branch and cannot cut off, first, second blade 61,62 can return self-protection automatically.
Further, the present invention can also be provided with image unit on the top installing backboard 22, and this image unit controls module 121 with tractor and is connected.By this image unit can the working condition of monitor in real time running gear and cutting system, and data are passed to ground control system, surface personnel do corresponding process according to the data passed back.
Above in conjunction with embodiment, the present invention is described in detail; but embodiments of the present invention are not limited merely to above-mentioned form; the present invention can be made various forms of deformation according to prior art by those skilled in the art, and these belong to protection scope of the present invention.
Claims (7)
1. for the cutting system of the automatic pollard robot of overhead transmission line, it is characterized in that: include the corresponding setting of the edge of a knife and the first blade that up and down level is laid and the second blade, and drive described first, second blade counter-rotational trimming machine cuts hand drive mechanism.
2. the automatic pollard robot for overhead transmission line according to claim 1, it is characterized in that: described trimming machine cuts hand drive mechanism includes the first rotating shaft, the second rotating shaft, the first cutterhead and the second cutterhead, described second rotating shaft coaxially activity is set in described first rotating shaft and the bottom of described first rotating shaft is stretched out in lower end, described first, second axis of rotation is in opposite direction, and described first, second cutterhead is horizontally disposed with up and down and fixes with the lower end of described first, second rotating shaft respectively and is connected；Described first, second blade is respectively arranged in the week edge of described first, second cutterhead.
3. the automatic pollard robot for overhead transmission line according to claim 2, it is characterized in that: described first, second blade is all in semilune, it is respectively provided with installation end and free end, and the installation end of the described first, second blade corresponding week edge being articulated with described first, second cutterhead respectively, the week of described first, second cutterhead is along the storage tank offered respectively for accommodating described first, second blade.
4. the automatic pollard robot for overhead transmission line according to claim 3, it is characterised in that: the knife face narrow width of free end described in the knife face width ratio of described installation end.
5. the automatic pollard robot for overhead transmission line according to any one of claim 2-4, it is characterized in that: described first, second blade all has more than two panels or two panels, each described first blade edge direction is consistent, each described second blade also edge of a knife direction is consistent, and each described first blade is crisscross arranged on horizontal plane successively with each described second blade.
6. the automatic pollard robot for overhead transmission line according to claim 5, it is characterised in that: each described first blade is symmetrical on described first cutterhead, and each described second blade is symmetrical on described second cutterhead.
7. the automatic pollard robot for overhead transmission line according to claim 1, it is characterised in that: described cutting system passes through V-type insulation arm movable hanging in the bottom of described mobile body.
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| CN201610254732.2A CN105746198B (en) | 2016-04-22 | 2016-04-22 | The cutting system of automatic pollard robot for overhead transmission line |
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| CN201610254732.2A CN105746198B (en) | 2016-04-22 | 2016-04-22 | The cutting system of automatic pollard robot for overhead transmission line |
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| CN108605558A (en) * | 2018-03-16 | 2018-10-02 | 昆明理工大学 | a kind of self-propelled rose pruning machine |
| CN108673464A (en) * | 2018-04-10 | 2018-10-19 | 昆明理工大学 | A kind of automatic pruning device of rose |
| CN112482836A (en) * | 2020-11-30 | 2021-03-12 | 温州堡司家具科技有限公司 | Sentry box for property security |
| CN112864940A (en) * | 2021-01-11 | 2021-05-28 | 郑州工业应用技术学院 | Power transmission line foreign matter removing method based on manipulator |
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