CN109768499A - A kind of transmission line of electricity screen of trees cleaning snake-shaped robot device and snakelike method of climbing tree - Google Patents
A kind of transmission line of electricity screen of trees cleaning snake-shaped robot device and snakelike method of climbing tree Download PDFInfo
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- CN109768499A CN109768499A CN201910031739.1A CN201910031739A CN109768499A CN 109768499 A CN109768499 A CN 109768499A CN 201910031739 A CN201910031739 A CN 201910031739A CN 109768499 A CN109768499 A CN 109768499A
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- 230000005611 electricity Effects 0.000 title claims abstract description 27
- 230000005540 biological transmission Effects 0.000 title claims abstract description 24
- 230000009194 climbing Effects 0.000 title claims abstract description 21
- 238000004140 cleaning Methods 0.000 title claims abstract description 20
- 238000000034 method Methods 0.000 title claims abstract description 12
- 241000270295 Serpentes Species 0.000 claims abstract description 46
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 6
- 229910052744 lithium Inorganic materials 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 abstract 1
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 244000166124 Eucalyptus globulus Species 0.000 description 1
- 244000082204 Phyllostachys viridis Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 241000894007 species Species 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The invention discloses a kind of transmission line of electricity screens of trees to clear up snake-shaped robot device, including cutting part and portion of creeping, the cutting part includes blade, and blade is arranged on blade bearing, the blade bearing is flexibly connected with cutting motor, and cutting motor is connect by cutting motor rotating seat with the portion of creeping, camera is additionally provided on the cutting motor rotating seat, the portion of creeping includes several snakes section, and each snake internode is flexibly connected by joint shaft, joint torsional spring is additionally provided at the joint shaft, wheel is provided on the snake section, and wheel is connect with wheel motor, the wheel motor is connect with battery.Wheel movement is driven for wheel motor power supply wheel motor by battery according to the snakelike method of climbing tree of the snake-shaped robot device, wheel is made to creep upwards to designated position along the snakelike rolling of trees.The present invention can effectively chop at a tree instead of manually climbing tree, and improve screen of trees hidden danger cleaning efficiency and reduce operating personnel's risk, can check in real time to screen of trees cleaning.
Description
Technical field
The invention belongs to specialized robot technical fields, and in particular to a kind of transmission line of electricity screen of trees cleaning snake-shaped robot dress
It sets and snakelike method of climbing tree.
Background technique
The quick growing species of trees such as eucalyptus and bamboo class are always one of the important hidden danger for influencing transmission line of electricity stable operation, and screen of trees is hidden
The investigation of trouble is always to perplex the problem of operation maintenance personnel with cleaning.The screen of trees cleaning of transmission line of electricity is related to the peace of transmission line of electricity
Entirely, reliable and stable operation has a very important significance the safety and economy of electricity consumption reliability, power supply enterprise.It is existing
Transmission line of electricity screen of trees manner of cleaning up mostly using manually being cleared up, there is only low efficiencys, and to the work for clearing up screen of trees
It will cause certain danger as personnel, be unable to satisfy the demand of real work.
Summary of the invention
The purpose of the present invention is to provide a kind of transmission line of electricity screens of trees to clear up snake-shaped robot device and snakelike method of climbing tree,
To solve technical problem mentioned above in the background art.
In order to solve the above technical problems, the invention provides the following technical scheme: a kind of transmission line of electricity screen of trees clears up snakelike machine
Device people's device, including cutting part and portion of creeping, the cutting part includes blade, and blade is arranged on blade bearing, the blade
Seat is flexibly connected with cutting motor, and cutting motor is connect by cutting motor rotating seat with the portion of creeping, the cutting motor rotation
Camera is additionally provided on swivel base, the portion of creeping includes several snakes section, and each snake internode is flexibly connected by joint shaft,
It is additionally provided with joint torsional spring at the joint shaft, is provided with wheel on the snake section, and wheel is connect with wheel motor, the vehicle
Wheel motor is connect with battery.
As further improvement to above-mentioned technical proposal, the blade is provided with two groups, and it is flat to be located at blade bearing two sides
Row setting.
As further improvement to above-mentioned technical proposal, the camera is thermal camera.
As further improvement to above-mentioned technical proposal, the portion of creeping helically formula.
As further improvement to above-mentioned technical proposal, the portion of creeping is connected with 5-10 snake section.
As further improvement to above-mentioned technical proposal, the battery is lithium battery.
The snakelike method of climbing tree of a kind of transmission line of electricity screen of trees cleaning snake-shaped robot, comprising the following steps: S1: according to climbing tree
The difference of type selects suitable snake joint number amount；
S2: the snake section selected in S1 step is respectively mounted wheel, wheel motor, battery；
S3: by installed in S2 step wheel, wheel motor, battery each snake save and be connected by joint shaft, joint torsional spring；
S4: one end that the snake section to link together is combined in S3 is connected and fixed cutting electricity by cutting motor rotating seat
Machine, and cutting motor is flexibly connected with blade bearing, blade is installed on blade bearing；
S5: being the wheel motor power supply on snake section by the battery that snake is saved, drive vehicle wheel rotation by wheel motor, thus
Wheel is creeped to designated position upwards along trees are serpentine-like, drives blade bearing rotation by cutting motor, and then with cutting blade
Clear up screen of trees.
As further improvement to above-mentioned technical proposal, the quantity that snake is saved in the step S1 is 7 sections.
As further improvement to above-mentioned technical proposal, battery is lithium battery in the step S2.
As further improvement to above-mentioned technical proposal, helically formula after the connection of each snake section in the step S3.
Compared with prior art, the beneficial effects of the present invention are: the invention has the following advantages that 1) can effectively replace
It manually climbs tree and chops at a tree, improve screen of trees hidden danger cleaning efficiency and reduce operating personnel's risk；2) snake section can be realized in three-dimensional space
Movement, overcomes branch crotch problem well, improves practicability；3) high-definition camera or thermal camera volume used
It is small, reduce the resistance of climbing tree of single unit system；4) can real time inspection screen of trees clear up situation, controllability with higher.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of snake-shaped robot device in the present invention.
Fig. 2 is the usage state diagram of snake-shaped robot device in the present invention.
In figure: 11- blade；12- blade bearing；13- cutting motor rotating seat；14- cutting motor；15- camera；21- snake
Section；22- battery；The joint 23- torsional spring；24- wheel motor；25- joint shaft；26- wheel.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1
In conjunction with Fig. 1-2, a kind of transmission line of electricity screen of trees cleaning snake-shaped robot device, including cutting part and portion of creeping, specifically
Ground, the cutting part includes blade 11, and blade 11 is arranged on blade bearing 12, in order to improve screen of trees cleaning speed, blade 11
Two groups are provided with, and is located at 12 two sides of blade bearing and is arranged in parallel, is in 180 degree, the blade bearing 12 connects with 14 activity of cutting motor
It connects, drives the rotation of blade bearing 12 to cut down cleaning screen of trees with cutting blade 11 by cutting motor 14, cutting motor 14 is by cutting
It cuts motor rotating seat 13 to connect with the portion of creeping, drives cutting part to reach designated position by the portion of creeping and carry out screen of trees cleaning, in order to
Can real time inspection screen of trees clear up situation, camera 15 is additionally provided on the cutting motor rotating seat 13, camera 15 is excellent
Select thermal camera, it is possible to provide the image of high definition, additionally due to thermal camera is small in size, convenient for reducing climbing tree for whole device
Resistance, specifically, the portion of creeping includes several snakes section 21, the portion's of creeping helically formula, and passes through joint between each snake section 21
Axis 25 is flexibly connected, and convenient for the disassembly of each snake section, can be saved according to the snake for needing flexible choice quantity different climbed tree, the joint
Joint torsional spring 23 is additionally provided at axis 25, due to being provided with joint torsional spring 23, robot can be realized movement in three-dimensional space, very
Branch crotch problem is overcome well, while being provided with wheel 26 on snake section 21, and wheel 26 is connect with wheel motor 24,
The wheel motor 24 is connect with battery 22, and in order to ensure power is sufficient and energy-efficient, battery 22 is preferably lithium battery, is passed through
Battery 22 is the power supply of wheel motor 24 and then wheel motor 24 drives wheel 26 to move, and achievees the purpose that the trees that creep.
Further, the snake in the portion of creeping saves 21 quantity and can need oneself to select according to climbing tree, and general snake section 21 is 5-
10, preferably 7, to improve the performance of climbing tree of robot.
In use, selecting specific snake to save 21 quantity mutual by joint shaft 25, joint torsional spring 23 according to the concrete condition climbed tree
It is connected, and cutting part is connect by cutting motor rotating seat 13 with the snake of portion the top of creeping section 21, is by battery 22
The power supply of wheel motor 24 and then wheel motor 24 drives wheel 26 to move, makes the portion of creeping creep upwards along trees are snakelike, reaches finger
Positioning postpones, and drives the rotation of blade bearing 12 to cut down cleaning screen of trees with cutting blade 11 by cutting motor 14, reaches substitution people
Work clears up the purpose of transmission line of electricity screen of trees automatically, has the advantages that work efficiency is high, risk is low, intelligent operation is high.
Embodiment 2
The snakelike method of climbing tree of a kind of transmission line of electricity screen of trees cleaning snake-shaped robot, comprising the following steps: S1: according to climbing tree
The difference of type selects suitable snake joint number amount；
S2: the snake section selected in S1 step is respectively mounted wheel, wheel motor, battery；
S3: by installed in S2 step wheel, wheel motor, battery each snake save and be connected by joint shaft, joint torsional spring；
S4: one end that the snake section to link together is combined in S3 is connected and fixed cutting electricity by cutting motor rotating seat
Machine, and cutting motor is flexibly connected with blade bearing, blade is installed on blade bearing；
S5: being the wheel motor power supply on snake section by the battery that snake is saved, drive vehicle wheel rotation by wheel motor, thus
Wheel is creeped to designated position upwards along trees are serpentine-like, drives blade bearing rotation by cutting motor, and then with cutting blade
Clear up screen of trees.
Further, the quantity that snake is saved in the step S1 is 7 sections, improves performance of climbing tree.
Further, battery is lithium battery in the step S2, it is ensured that battery provides sufficient power, improves climbing tree property
Energy.
Further, helically formula after the connection of each snake section in the step S3, creeps convenient for serpentine-like along trees upwards.
It should be strongly noted that the place that above-described embodiment is not described in detail to the greatest extent is the skill of those skilled in the art's routine
Art, those skilled in the art can be realized, and therefore not to repeat here.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (10)
1. a kind of transmission line of electricity screen of trees clears up snake-shaped robot device, including cutting part and portion of creeping, it is characterised in that: described to cut
The portion of cutting includes blade (11), and blade (11) is arranged on blade bearing (12), and the blade bearing (12) and cutting motor (14) are living
Dynamic connection, and cutting motor (14) is connect by cutting motor rotating seat (13) with the portion of creeping, the cutting motor rotating seat
(13) it is additionally provided on camera (15), the portion of creeping includes several snakes section (21), and passes through pass between each snake section (21)
Nodal axisn (25) is flexibly connected, and is additionally provided with joint torsional spring (23) at the joint shaft (25), is provided with vehicle on the snake section (21)
It takes turns (26), and wheel (26) is connect with wheel motor (24), the wheel motor (24) connect with battery (22).
2. a kind of transmission line of electricity screen of trees clears up snake-shaped robot device according to claim 1, it is characterised in that: the blade
(11) two groups are provided with, and is located at blade bearing (12) two sides and is arranged in parallel.
3. a kind of transmission line of electricity screen of trees clears up snake-shaped robot device according to claim 1, it is characterised in that: the camera shooting
Head (15) is thermal camera.
4. a kind of transmission line of electricity screen of trees clears up snake-shaped robot device according to claim 1, it is characterised in that: described to creep
Portion's helically formula.
5. a kind of transmission line of electricity screen of trees clears up snake-shaped robot device according to claim 4, it is characterised in that: described to creep
Portion is connected with 5-10 snake section (21).
6. a kind of transmission line of electricity screen of trees clears up snake-shaped robot device according to claim 1, it is characterised in that: the battery
It (22) is lithium battery.
7. a kind of snakelike method of climbing tree of transmission line of electricity screen of trees cleaning snake-shaped robot, it is characterised in that: the following steps are included:
S1: according to the difference for type of climbing tree, suitable snake joint number amount is selected；
S2: the snake section selected in S1 step is respectively mounted wheel, wheel motor, battery；
S3: by installed in S2 step wheel, wheel motor, battery each snake save and be connected by joint shaft, joint torsional spring；
S4: being connected and fixed cutting motor by cutting motor rotating seat for the one end for combining the snake section to link together in S3, and
Cutting motor is flexibly connected with blade bearing, blade is installed on blade bearing；
S5: it is the wheel motor power supply on snake section by the battery that snake is saved, vehicle wheel rotation is driven by wheel motor, thus wheel
Creep upwards to designated position along trees are serpentine-like, blade bearing rotation is driven by cutting motor, and then clear up with cutting blade
Screen of trees.
8. a kind of snakelike method of climbing tree of transmission line of electricity screen of trees cleaning snake-shaped robot, feature exist according to claim 7
In: the quantity that snake is saved in the step S1 is 7 sections.
9. a kind of snakelike method of climbing tree of transmission line of electricity screen of trees cleaning snake-shaped robot, feature exist according to claim 7
In: battery is lithium battery in the step S2.
10. a kind of snakelike method of climbing tree of transmission line of electricity screen of trees cleaning snake-shaped robot, feature exist according to claim 7
In: helically formula after the connection of each snake section in the step S3.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910031739.1A CN109768499A (en) | 2019-01-14 | 2019-01-14 | A kind of transmission line of electricity screen of trees cleaning snake-shaped robot device and snakelike method of climbing tree |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910031739.1A CN109768499A (en) | 2019-01-14 | 2019-01-14 | A kind of transmission line of electricity screen of trees cleaning snake-shaped robot device and snakelike method of climbing tree |
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| CN109768499A true CN109768499A (en) | 2019-05-17 |
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| CN201910031739.1A Pending CN109768499A (en) | 2019-01-14 | 2019-01-14 | A kind of transmission line of electricity screen of trees cleaning snake-shaped robot device and snakelike method of climbing tree |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110235634A (en) * | 2019-07-10 | 2019-09-17 | 朱雯煜 | A kind of delimbing robot crawling device |
| CN110326445A (en) * | 2019-07-10 | 2019-10-15 | 朱雯煜 | A kind of delimbing robot capable of climbing trees |
| CN110480649A (en) * | 2019-08-09 | 2019-11-22 | 上海远通路桥工程有限公司 | A kind of quick climbing robot of rope and its climbing method |
| CN111347401A (en) * | 2020-03-29 | 2020-06-30 | 南京电博机器人技术有限公司 | Snakelike line climbing robot and line patrol method |
| CN111740345A (en) * | 2020-04-17 | 2020-10-02 | 国网上海市电力公司 | Power transmission line online inspection system and method with automatic obstacle crossing function |
| CN113785693A (en) * | 2021-10-15 | 2021-12-14 | 吉林省荣亨电子科技有限公司 | Automatic picking device of pine tree tower |
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| CN113785693A (en) * | 2021-10-15 | 2021-12-14 | 吉林省荣亨电子科技有限公司 | Automatic picking device of pine tree tower |
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