CN105746198B - The cutting system of automatic pollard robot for overhead transmission line - Google Patents

The cutting system of automatic pollard robot for overhead transmission line Download PDF

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Publication number
CN105746198B
CN105746198B CN201610254732.2A CN201610254732A CN105746198B CN 105746198 B CN105746198 B CN 105746198B CN 201610254732 A CN201610254732 A CN 201610254732A CN 105746198 B CN105746198 B CN 105746198B
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China
Prior art keywords
blade
transmission line
cutterhead
cutting
overhead transmission
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CN105746198A (en
Inventor
傅朝义
洪志生
游江平
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Quanzhou Intelligence Bravely Reaches Electric Ltd
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Quanzhou Intelligence Bravely Reaches Electric Ltd
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    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01GHORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G3/00Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
    • A01G3/08Other tools for pruning, branching or delimbing standing trees

Abstract

The invention discloses a kind of cutting systems of automatic pollard robot for overhead transmission line, it includes the corresponding setting of the edge of a knife and the first blade and the second blade of horizontal layout, and driving the first, second blade counter-rotational trimming machine cuts hand-drive mechanism up and down.When work, the first, second blade, which rotates backward, to be formed " scissors " and trims to branch, either soft or hard branch, and it is i.e. disconnected to be that two-way pincer attack one is cut, and can effectively cut branch, the pruning efficiency is higher.Moreover, the first, second blade rotates backward, their reaction torque can offset each other, and overhead transmission line will not be influenced by the first, second blade bring torsional forces.

Description

The cutting system of automatic pollard robot for overhead transmission line
Technical field
It is specifically a kind of to be used for overhead transmission line livewire work the present invention relates to overhead power transmission line passage maintenance area Pollard robot cutting system.
Background technique
It increases tree planting etc. newly with the continuous development of town and country work, agricultural, in electric transmission line channel and jeopardizes line security operation Behavior will still continuously emerge.The maintenance work of power department line channel will be faced with formidable challenges, and woods electricity contradiction is always The maximum hidden danger of transmission line safety reliability service, in recent years due to the requirement of quality supply and the grand style expense fallen trees It is higher and higher, it causes woods electricity contradictory problems increasingly to protrude, very big hidden danger is brought to the safe and stable operation of transmission line of electricity.
As power grid density increases year by year, tree line contradiction has become increasingly conspicuous, every year because of direct economic loss caused by screen of trees Increasing, bring safety problem is increasingly severe, this old problem, is just attracting more and more new concerns.
And it is existing manually fall trees difficulty it is as follows:
1, the coordination difficulty of villager is big: villager asks for great number reparation and causes that coordination is difficult, and some villagers are for oneself private Refuse to obey and coordinate, sets the person and power grid security in ignoring, have tree after either first having route, have route after still first having tree, they All attitudes are set up obstacles in every possible way trees under power department felling line by head and shoulders, and ask an exorbitant price, great number is sought to compensate.
2, it is high to compensate expense: every plant of trees are tens of to be differed to thousands of members.
3, personnel safety cannot ensure: for some branches close to transmission line of electricity, safe distance is inadequate, in no power failure operation Under the conditions of, the life security of personnel cannot ensure;The woods often have hornet's nest, once startling, just will appear great personnel Casualty accident.
4, cut down very difficult: many place cape vehicles can not reach, and artificial felling is difficult.
Above-mentioned various in order to solve the problems, such as, Chinese patent 201510277573.3 discloses a kind of aerial high voltage power line Livewire work branch pruning machine people in road solves high-tension line channel maintenance issues to replace manual work.It includes robot Job platform, the main shaft drives case being fixed on robot manipulating task platform, the center of gravity being fixedly connected with main shaft drives case adjust dress It sets, the motion arm swinging joint being connect with gravity adjusting device and the end-of-arm tooling that motion arm swinging joint end is set; Wherein: the robot manipulating task platform, including body, mechanical arm, traveling wheel clamp clamping jaw, equipotential wheel, contact roller;It is described Mechanical arm is arranged in body two sides in the form of antisymmetry is equidistant, and upper end connects traveling wheel and clamp clamping jaw;Equipotential wheel arrangement In the side of clamp clamping jaw;The contact roller arrangement is connect with feed screw nut's structure on the robotic arm, motor driven feed screw nut Mechanism drives contact roller, moves along a straight line in mechanical arm longitudinal direction, compresses conducting wire;The driving box is connected by screw to It is suspended on the centre of body;The main shaft drives case includes driving box body, main shaft, spindle drive turbine, worm screw, key, main shaft Driving motor, center of gravity adjust turbine, and center of gravity adjusts motor, transmission gear, gear end cap, bearing (ball) cover, spindle eccentricity set, cabinet Cover board;The main shaft in main shaft drives case, is connect by key with turbine, by worm gear mechanism perpendicular to cabinet ground configuration The rotation of driving spindle;The worm screw lateral arrangement is driven by a pair of of external gear pump, is driven by motor in spindle drive case It is dynamic;Worm screw both ends pass through a pair of of angular contact ball bearing by wall box and hold up, and the reaction force of receiving is directly delivered to body On;The turbine is penetrated by main shaft, and main shaft is isolated by tapered roller bearing and holds up main shaft, guarantee turbine under worm drive, It can independently be rotated around main shaft and main shaft is without friction;The spindle eccentricity set penetrates box cover, affixed by screw with body; Eccentric bushing in main shaft upper end by rolling bearing, limit main shaft will not two sides topple over.
The end-of-arm tooling includes pitching joint, clamps joint, traversing joint, direct current electric saw;The end-of-arm tooling passes through Screw is connected to insulation arm end;It is swung with insulation arm;Pitching joint is mounted on the end of insulation motion arm, pitching joint Connecting rod end clamping device is installed, driven by the pitching motor on the leading screw and nut mechanism that is attached thereto, traversing joint and Direct current electric saw is mounted on clamping joint end;The pitching joint includes pitching motor, pitching feed screw, pitching nut, and motor connects Disk, pitching pull rod, pitching pedestal;The pitching pull rod is driven by feed screw nut's structure, is done and is stretched with the longitudinal movement of nut Contracting movement;The clamping joint includes gripping base, sensor patch, clamping jaw motor, clamping jaw screw rod, electric motor end cap, and motor connects Disk, clamping pin, clamping jaw nut clamp connecting rod, clamping clamping jaw composition;Clamping leading screw and nut mechanism is driven by motor, and carries out straight line Movement;Clamping clamping jaw is connect by clamping jaw connecting rod with clamping jaw nut, and with the back-and-forth motion of nut, is carried out clamping jaw and opened and folder Hold movement;Gripping base tail end and pitching pedestal are hinged, and front end and pitching pull rod are hinged;And with the stretching motion of pitching pull rod It realizes the pitching in clamping joint, realizes terminal angle adjustment;The traversing joint includes traversing pedestal, traversing motor, traversing silk Bar, traversing nut, transmission gear, gear end cap, guide rail, slide unit, traversing slide;Traversing joint passes through external gear pump by motor Transmission, driving feed screw nut do lateral linear movement;Nut drives slide unit, realizes the transverse shifting of slide unit;Traversing pedestal connection Gripping base and traversing slide are equipped with traversing screw rod and traversing nut in traversing pedestal, pass through a pair between screw rod and motor Gear drive, by gear end cap seal;Guide rail is installed, traversing slide is under the drive of traversing nut along guide rail on traversing pedestal It laterally moves;The electric saw is direct current electric saw, is driven by the DC power supply that end carries;The electric saw is fixed in traversing cunning Platform lower end realizes the feed motion of electric saw as slide unit is traversing.
In addition, Chinese patent 201510279013.1 discloses tree bamboo automatic sharpening in a kind of overhead power transmission line passage and cuts is System comprising unmanned helicopter module (1), chain saw module (3) and ground control module (4);The unmanned helicopter module (1) Including control unit on fuselage, laser ranging unit and machine;The laser ranging unit is connected with control unit on machine;The oil Sawing module (3) includes chain saw main body and chain saw control unit;The bottom of the fuselage of the unmanned helicopter module (1) passes through connection Framework (2), which is hung, to be connect chain saw module (3), and control unit connects chain saw by data line on the machine of the unmanned helicopter module (1) The chain saw control unit of module (3);The ground control module (4) network and unmanned helicopter module (1) by wireless communication Machine on control unit communication connection;The ground control module (4) is for remotely control or ground remote control unmanned helicopter mould The state of flight of block (1) and the working condition of chain saw module (3).
It is set in above-mentioned aerial high-voltage power transmission line livewire work branch pruning machine people and a kind of overhead power transmission line passage Bamboo automatic sharpening cuts system, the tool using direct current electric saw or chain saw as pollard, and the tool of this saw class is deposited in use In following problem:
If 1, branch is relatively thin relatively soft, electric saw or chain saw can whip branch advance, can not effectively cut branch.
2, if branch is relatively thick harder, electric saw or chain saw do not have safeguard measure, saw forward simply, are easy to cause electric saw Or chain saw damage, or even the other component of damage trimming machine cuts people.
3, electric saw or the chain saw feed speed in pollard have certain limitation, and the pruning efficiency is lower.
It 4, is one-way movement when electric saw or chain saw work, overhead transmission line is vulnerable to torsional forces brought by electric saw or chain saw Influence.
In view of the drawbacks described above of existing branch pruning machine people, applicant carries out deep grind to branch pruning machine people Study carefully, there is this case generation then.
Summary of the invention
The object of the present invention is to provide a kind of cutting system of automatic pollard robot for overhead transmission line, It has the characteristics that can effectively to cut branch, the pruning efficiency higher, and overhead transmission line is not by brought by pruning tool The influence of torsional forces.
To achieve the goals above, the present invention adopts the following technical scheme:
The cutting system of automatic pollard robot for overhead transmission line, including the edge of a knife it is corresponding setting and on The first blade and the second blade of lower horizontal layout, and the driving counter-rotational trimming machine cuts hand of the first, second blade Driving mechanism.
Trimming machine cuts hand-drive mechanism includes first rotating shaft, the second shaft, the first cutterhead and the second cutterhead, and described The coaxial activity of two shafts is set in the lower end that the first rotating shaft is stretched out in the first rotating shaft and lower end, and described first, the Two shaft rotation directions are on the contrary, first, second cutterhead is horizontally disposed with up and down and respectively and under first, second shaft End is fixedly connected;First, second blade is respectively arranged in all edges of first, second cutterhead.
First, second blade is in semilune, all has installation end and free end, and first, second blade Installation end respectively correspond all edges for being articulated with first, second cutterhead, week of first, second cutterhead along opening up respectively There is the accommodation groove for accommodating first, second blade.
The knife face width of the installation end is narrower than the knife face width of the free end.
First, second blade has two panels or two panels or more, and each first blade edge direction is consistent, each described Also edge of a knife direction is consistent for second blade, and each first blade is set with each second blade in successively interlocking on horizontal plane It sets.
Each first blade is in symmetrical on first cutterhead, and each second blade is on second cutterhead It is symmetrical.
The cutting system is by V-type insulation arm movable hanging in the lower part of the mobile body.
After adopting the above scheme, cutting system of the present invention for the automatic pollard robot of overhead transmission line, When work, the first, second blade, which rotates backward, to be formed " scissors " and trims to branch, either soft or hard branch, It is i.e. disconnected to be that two-way pincer attack one is cut, and can effectively cut branch, the pruning efficiency is higher.Moreover, the first, second blade rotates backward, Their reaction torque can offset each other, and overhead transmission line will not be influenced by the first, second blade bring torsional forces.
As a further improvement, semi-moon shaped first, second blade can be placed in the week of the first, second cutterhead when not used In the accommodation groove on edge.Moreover, the first, second blade radial type is installed, blade is opened by the centrifugal force of rotation automatically when work, When encountering relatively thick harder branch, if can not cut, blade can retract self-protection automatically, will not damage blade and other portions Part.
As a further improvement, the knife face width of the first, second blade installation end is narrower than the knife face width of free end, work As when can get biggish inertia force so that blade be easier open.
As a further improvement, the first, second blade has two panels or a two panels or more, and cutterhead often turns over one week, first, Second blade can be formed four times or " scissors " more than four times, improves the pruning efficiency.
As a further improvement, cutting system by V-type insulation arm movable hanging in the lower section of the mobile body, one Aspect realizes the insulation between cutting system and overhead transmission line, on the other hand by V-type insulation arm in mobile body Lower section forms firm triangle, plays the role of stable cutting system.
Detailed description of the invention
Fig. 1 is the overall structure diagram using the pollard robot of cutting system of the present invention;
Fig. 2 is the positive structure schematic using the mobile body of the pollard robot of cutting system of the present invention;
Fig. 3 is the structure schematic diagram using the mobile body of the pollard robot of cutting system of the present invention;
Fig. 4 is to be shown using the backside structure of another angle of mobile body of the pollard robot of cutting system of the present invention It is intended to;
Fig. 5 is the structural schematic diagram of cutting system of the invention;
Fig. 6 is the structural schematic diagram of another angle of cutting system of the invention;
Fig. 7 is the control principle schematic diagram using the pollard robot of cutting system of the present invention.
Specific embodiment
Using 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, airborne control System 12 includes tractor control module 121 and trimming machine cuts hand control module 122, and tractor control module 121 is installed on shifting On motivation body 200, trimming machine cuts hand control module 122 is installed on following cutting systems 600,121 He of tractor control module Trimming machine cuts hand control module 122 realizes data interaction and communication by wireless data sending unit and ground control system 11 respectively.
Mobile body 200 is equipped with the first battery pack 300 and drives mobile body 200 in 400 uplink of overhead transmission line The running gear 500 walked.It is that running gear 500 and tractor control module 121 are powered by the first battery pack 300;By tractor Control module 121 controls the work of running gear 500, controls following cutting systems 600 by trimming machine cuts hand control module 122 Work.
Mobile body 200 has mounting platform 21 and installation backboard 22, and mounting platform 21 is horizontally disposed, and installation backboard 22 hangs down It is direct-connected to be connected to the side parallel with overhead transmission line 400 of mounting platform 21.First battery pack 300 is installed on mounting platform 21 Middle part.
It is and preceding opposite to after being before being with the arrow direction in Fig. 1 for the ease of statement in the present invention.It is mobile Body 200 is front with one side shown in Fig. 2, using one side shown in Fig. 3 as the back side.
Running gear 500 is equipped with walking unit 51 and compresses overhead transmission line jointly with the traveling wheel of this walking unit 51 400 compressing unit 52.
Walking unit 51 include be respectively arranged in installation backboard 22 on the first direct current generator 511, front walking wheel 512, after Traveling wheel 513 and gear set, direct current generator 511, front walking wheel 512 and rear walking wheel 513 are installed on the front of installation backboard 22 On, gear set is installed on the back side of installation backboard 22.Gear set includes that driving gear 514, transmission gear 515, first are driven Gear 516 and the second driven gear 517, the output axis connection driving gear 514 of the first direct current generator 511, transmission gear 515 divides It is not meshed with driving gear 514, the first driven gear 516 and the second driven gear 517, the first driven gear 516 and second The wheel shaft of driven gear 517 is separately connected the wheel shaft of front walking wheel 512 and rear walking wheel 513.Front walking wheel 512 and rear walking wheel 513 are respectively equipped with for being set up in V shaped wheel slot on overhead transmission line 400.
Compressing unit 52 includes that at least one is located at contact roller 521 below overhead transmission line and by this contact roller 521 It is pressed in the elastic compression mechanism of 400 downside of overhead transmission line.Contact roller 521 is equipped with pressure supply and is set under overhead transmission line 400 The V shaped wheel slot of side.In the present embodiment, contact roller 521 has one, this contact roller 521 on front-rear direction be located at front walking wheel 512 With the medium position between rear walking wheel 513.Certainly, it also may respectively be front walking wheel 512 and contact roller be arranged in rear walking wheel 513 With elastic compression mechanism.
Elastic compression mechanism includes compressed spring 522 and the connecting rod 523 with the wheel shaft coaxial arrangement of contact roller 521, installation Backboard 22 offers vertically arranged strip through-hole 221, and the lower part of strip through-hole 221 has extension diameter section, and 523 activity of connecting rod is worn In in strip through-hole 221, the first end of connecting rod 523 extend out to the front of installation backboard 22, and the second end of connecting rod 523 extend out to peace The back side for filling backboard 22 has between the first end and second end of connecting rod 523 and carries out hinged articulated section with installation backboard 22, this Hinge point is on the suitable position between the upper and lower ends of strip through-hole 221;Compressed spring 522 is located at the back of installation backboard 22 Face, the lower end of compressed spring 522 be fixedly mounted on installation backboard 22 on and be located at connecting rod 523 lower section, compressed spring 522 it is upper End 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, and hook 23 has hook portion 231 and bar portion 232, and the hook portion 231 of hook is higher by peace Backboard 22 is filled, the top of the bar portion 232 of hook offers limit hole 2321, the front and rear sides of limit hole 2321 along its length It is respectively equipped with out pertusate installation sheet, a pin (not shown) passes through the perforation of this two installation sheets and is actively located in In limit hole 2321.232 lower end of bar portion of hook and the second end of connecting rod 523 are hinged.
Running gear 500 is additionally provided with the falling-proof mechanism for preventing mobile body 200 from falling from overhead transmission line 400. In the present embodiment, falling-proof mechanism is using the manipulator 53,54 for being respectively arranged at installation 22 front and rear sides of backboard, when work, machine The gripper 531,541 of tool hand 53,54 is buckled on the corresponding site of overhead transmission line 400 in loop-like void.
Manipulator in the present invention uses well known manipulator, as long as it, which is able to satisfy, realizes machine under the control of control instruction The gripper of tool hand, which opens, or closure is circlewise empty detains on the transmission line.
Cutting system 600 includes the first blade 61 and the second blade 62 of the corresponding setting of the edge of a knife and upper and lower horizontal layout, Drive the first, second blade 61,62 counter-rotational trimming machine cuts hand-drive mechanisms 63 and the second battery pack 64.By second Battery pack 64 is that trimming machine cuts hand control module 122 and cutting system 600 are powered.It certainly, can also be by the first battery in the present invention Group 300 is powered for trimming machine cuts hand control module 122 and cutting system 600;Trimming machine cuts hand control module 122 is mountable to move It is also mountable on cutting system 600 on motivation body 200.
Specifically:
Cutting system 600 be equipped with mounting base 60, mounting base 60 be in frame structure, have upper layer 601 and lower layer 602, second Battery pack 64 is installed on the middle part on upper layer 601.Mounting base 60 is by 700 movable hanging of V-type insulation arm under mobile body 200 Side, specifically, the upper end of the two-arm of V-type insulation arm 700 is movably articulated in the front and rear sides of the bottom of mounting platform 21 respectively, peace The top for filling seat 60 is equipped with connected components 65, and connected components 65 include the pedestal 651 being successively from bottom to top arranged, connect Joint chair 652 and attachment base 653, attachment base 653 are in triangular shape, and bottom edge is upper, and apex angle is under, under the two-arm of V-type insulation arm 700 End is hingedly connected to the both ends on the bottom edge of attachment base 653 (very close to so that insulation arm between the both ends on the bottom edge of attachment base 653 It is V-shaped), the vertex of attachment base 653 is articulated with the top of attachment base 652, and lower part and the pedestal 651 of attachment base 652 are hinged.
Trimming machine cuts hand-drive mechanism 63 include the second direct current generator 630, third direct current generator 631, first gear 632, Second gear 633, third gear 634, the 4th gear 635, first rotating shaft 636, the second shaft 637, the first cutterhead 638 and second Cutterhead 639.
Second direct current generator 630 and third direct current generator 631, which are installed on, is divided into the two of the second battery pack 64 in upper layer 601 The bottom plate that the output shaft of side, the second direct current generator 630 and third direct current generator 631 is each passed through upper layer 601 extends in lower layer 602 And be separately connected first gear 632 and second gear 633, third gear 634 and the 4th gear 635 respectively with first gear 632 It is meshed with second gear 633.The coaxial activity of second shaft 637 is set in first rotating shaft 636 and first rotating shaft is stretched out in lower end 636 lower end, the first, second cutterhead 638, about 639 are horizontally disposed and respectively and under the first, second shaft 636,637 End is fixedly connected.Second direct current generator 630, third direct current generator 631 output shaft trimming machine cuts hand control module 122 control It rotates backward under system, by the transmission of first gear 632 and third gear 634, second gear 633 and the 4th gear 635, drives First, second shaft 636,637 rotates backward, to realize that the first, second cutterhead 638,639 rotates backward.
The week of first, second cutterhead 638,639 holds along the annular offered respectively for the first, second blade 61,62 of accommodating Set slot 6381,6391.First, second blade 61,62 is in semilune, all has installation end and free end, and the knife of installation end Face width is narrower than the knife face width of free end.The installation end of first, second blade 61,62, which respectively corresponds, is articulated with first, second In the annular accommodation groove 6381,6391 of cutterhead.
In the present invention, the first, second blade 61,62 can be only a piece of, and when work, the first, second cutterhead 638,639 is every It turns over one week, the first, second blade 61,62 forms primary " scissors ".
As a preferred embodiment, the first, second blade 61,62 has two panels, each first blade, 61 edge of a knife direction Consistent and in symmetrical on the first cutterhead 638, also edge of a knife direction is consistent and in symmetrical on the second cutterhead 639 for each second blade 62 Distribution, and each first blade 61 and each second blade 62 on horizontal plane in being successively staggered.In this embodiment, when work, One, the second cutterhead 638,639 often turns over one week, and the first, second blade 61,62 forms four times " scissors ".
As improved embodiment, the first, second blade 61,62 can have a two panels or more, the setting of each blade and above-mentioned each There is the embodiment of two panels blade similar.
Using the automatic pollard robot for overhead transmission line of cutting system of the present invention, working principle is such as Under:
When installation, worker slings entire pollard robot by hook 23, links up with 23 at this time for the second of connecting rod 523 End mentions upwards, and compressed spring 522, which is pulled upwardly, stretches, and contact roller 512 is walked convenient for worker by front walking wheel 512 and afterwards to the bottom Wheel 513 is set up in overhead transmission line 400, and current traveling wheel 512 and rear walking wheel 513, which are set up, to be completed, and unclamps hook 23, at this time The second end of connecting rod 523 is pulled down by the restoring force of compressed spring 522, and contact roller 512 is pressed on overhead transmission line upwards 400 downsides, to complete the installment work of pollard robot.When disassembly, worker slings again by hook 23 and entirely repairs Poll robot, so that it may unclamp compression 512 and unload entire pollard robot, installing and dismounting process very simple.
When work, ground control system 11 issues work order by wireless data sending unit respectively and gives tractor control module 121 and trimming machine cuts hand control module 122, tractor control module 121 and trimming machine cuts hand control module 122 are respectively according to setting Determine timing control running gear 500 and cutting system 600 works.Specifically:
Tractor control module 121 obtains work order, output control signal, and the first direct current generator 511 obtains control letter It number starts to work, the output shaft of the first direct current generator 511 drives driving gear 514 to rotate, and driving gear 514 passes through transmission gear 515 drive the first driven gear 516 and the second driven gear 517 to rotate respectively, to drive front walking wheel 512 and rear walking wheel 513 walk on overhead transmission line 400, final to realize that mobile body 200 is walked on overhead transmission line 400.
When reset condition, the gripper 531,541 of manipulator 53,54 is in releasing orientation, when work, tractor control module 121 export control signal to manipulator 53,54, and manipulator 53,54 is started to work, and gripper 531,541 is respectively formed loop-like Void is buckled on the corresponding site of overhead transmission line 400.
Trimming machine cuts hand control module 122 obtains work order, exports and controls signal, second, third direct current generator 630, 631, which obtain control signal, starts to work, and the output shaft of second, third direct current generator 630,631 rotates backward and drives the respectively One, second gear 632,633 rotates, and the first, second gear 632,633 drives third, the rotation of the 4th gear 634,635 respectively, To driving the first, second shaft 636,637 to rotate backward respectively, then by the first, second shaft 636,637 drive first, Second cutterhead 638,639 rotates backward, and when the first, second cutterhead 638,639 rotates, is hinged on the first, second cutterhead 638,639 Annular accommodation groove 6381,6391 in the first, second blade 61,62 opening is thrown out of due to centrifugal force, in the first, second knife Under disk 638,639 counter-rotational drivings, primary " scissors " is respectively formed when the first, second blade 61,62 meets every time, to being located at Branch in 400 channel of overhead transmission line is trimmed.
Since the first, second blade 61,62 is installed using articulated manner, can not be cut when encountering relatively thick harder branch When disconnected, the first, second blade 61,62 can retract self-protection automatically.
Further, the present invention can also installation backboard 22 top be provided with camera unit, this camera unit with lead Draw vehicle control module 121 to be connected.The working condition of running gear and cutting system can be monitored in real time by this camera unit, and Data are passed into ground control system, do corresponding processing according to the data passed back by surface personnel.
The present invention is described in detail above in conjunction with embodiment, but embodiments of the present invention are not limited merely to Above-mentioned form, those skilled in the art can make various forms of deformations to the present invention according to the prior art, these are belonged to Protection scope of the present invention.

Claims (5)

1. the cutting system of the automatic pollard robot for overhead transmission line, it is characterised in that: opposite including the edge of a knife It should be arranged and the first blade and the second blade of upper and lower horizontal layout, and driving first, second blade are counter-rotational Trimming machine cuts hand-drive mechanism;
Trimming machine cuts hand-drive mechanism includes first rotating shaft, the second shaft, the first cutterhead and the second cutterhead, and described second turn The coaxial activity of axis is set in the lower end that the first rotating shaft is stretched out in the first rotating shaft and lower end, and described first, second turn Rotational axis direction is on the contrary, first, second cutterhead is horizontally disposed up and down and solid with the lower end of first, second shaft respectively Fixed connection;First, second blade is respectively arranged in all edges of first, second cutterhead;
First, second blade is in semilune, all has installation end and free end, and the peace of first, second blade Dress end respectively corresponds all edges for being articulated with first, second cutterhead, and the week edge of first, second cutterhead offers confession respectively Accommodate the accommodation groove of first, second blade.
2. the cutting system of the automatic pollard robot according to claim 1 for overhead transmission line, special Sign is: the knife face width of the installation end is narrower than the knife face width of the free end.
3. repairing for the automatic pollard robot of overhead transmission line described in any one of -2 according to claim 1 Cut system, it is characterised in that: first, second blade has two panels or more, and each first blade edge direction is consistent, respectively Also edge of a knife direction is consistent for second blade, and each first blade and each second blade on horizontal plane in successively interlocking Setting.
4. the cutting system of the automatic pollard robot according to claim 3 for overhead transmission line, special Sign is: each first blade is in symmetrical on first cutterhead, and each second blade is on second cutterhead It is symmetrical.
5. the cutting system of the automatic pollard robot according to claim 1 for overhead transmission line, special Sign is: the cutting system is by V-type insulation arm movable hanging in the lower part of mobile body.
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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

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