CN112025720B - Remote-controlled robot for cleaning bird nest - Google Patents
Remote-controlled robot for cleaning bird nest Download PDFInfo
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- CN112025720B CN112025720B CN202010770171.8A CN202010770171A CN112025720B CN 112025720 B CN112025720 B CN 112025720B CN 202010770171 A CN202010770171 A CN 202010770171A CN 112025720 B CN112025720 B CN 112025720B
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- main body
- fan
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- trunk
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention relates to the technical field of electric power facility protection devices and robots, and discloses a remote control robot for cleaning bird nests. The climbing rod module is arranged on the front side of the trunk of the main body; the fan module comprises a fan, a motor and a fan bracket and is arranged on the back of the trunk of the main body; the control module comprises a control box and a central controller, is fixedly arranged on the back of the trunk of the main body and is positioned below the fan module; the power supply module comprises a power supply box and a storage battery, is fixedly arranged on the back of the trunk of the main body and is positioned below the control module. Carry out the clearance of nest through this robot, reduced fortune dimension personnel and stepped on the risk of falling that the pole clearance exists, also avoid the electric shock danger that the maloperation brought simultaneously. The robot is supported by the line rod, so that the operation stability of the robot can be improved; the single bird nest hidden danger treatment can be realized, the working efficiency is improved, and the loss of operation and maintenance units on manpower and material resources is reduced.
Description
Technical Field
The invention relates to the technical field of electric power facility protection devices and robots, in particular to a remote control robot for cleaning bird nests.
Background
Because most of the overhead transmission lines in China run in the field and are not easily monitored by manpower in time, the overhead transmission lines are greatly influenced by bird activities, accidents such as short circuit, tripping and the like caused by nesting and inhabitation of birds on iron towers tend to rise year by year according to statistics of relevant departments of national power grids, and bird nest cleaning also becomes an important component for controlling line tripping. At the present stage, the clearance of nest mainly relies on the circuit fortune dimension personnel to step on the pole, uses dedicated instrument clearance nest, has the people body and falls, risks such as maloperation. The frequent occurrence of bird accidents not only causes great loss of manpower and material resources to the operation and maintenance units, but also seriously threatens the safe operation of the power grid.
The invention with the publication number of CN109006799A relates to a robot with the functions of driving birds, driving snakes and clearing bird nests, and the robot is suspended in the air by means of propellers and utilizes mechanical arms to clear the bird nests. However, the robot is suspended by a propeller, the requirement on the stability in the air is high, the difficulty in cleaning the bird nest of the air operation robot is increased, and in addition, the mechanical arm of the robot is short, so that misoperation is easily caused, and a fault is caused by touching a wire; meanwhile, the endurance of the robot is limited, and the bird nest cannot be cleaned in a short time. In addition, the robot is controlled to carry out flight training on a specially-assigned person, the cost is high, the number of personnel is small, and great pressure is applied to frequent cleaning work.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provide a remote control robot for cleaning bird nests.
In order to solve the technical problems, the invention adopts the technical scheme that: a remote-controlled robot for cleaning bird nests comprises a pole-climbing module, a main body trunk, a control module, a power supply module, a fan module and a remote control box. The pole climbing module comprises two sets of the same climbing devices and driving devices, each climbing device comprises two mechanical arms, and the climbing devices and the driving devices are installed on the front side of the trunk of the main body. The back of the main body is provided with a convex structure; the fan module comprises a fan, a motor and a fan bracket, the fan is arranged on the upper side surface of the convex structure through the fan bracket, and the motor is arranged in the center of the back surface of the fan; the control module comprises a control box and a central controller, is fixedly arranged on the back of the trunk of the main body and is positioned below the protruding structure; the power supply module comprises a power supply box and a storage battery, is fixedly arranged on the back of the trunk of the main body and is positioned below the control module.
Furthermore, the front side surface of the trunk of the main body is a concave surface and is matched with the line rod; the concave side of main part truck is equipped with the cavity, and the vertical polished rod of installing in the cavity, the both sides of cavity still respectively are equipped with two arm activity breachs of mutual symmetry.
Furthermore, four mechanical arms of the climbing devices in the climbing rod module are all arc-shaped, guide rail holes are formed in one end of each mechanical arm, the mechanical arms in the two groups of climbing devices are sleeved on the polished rod through the guide rail holes, and one ends of the two mechanical arms in the same group, which are close to the guide rail holes, are meshed and connected through insections; the inside of arm is installed the gyro wheel. The driving device comprises opening and closing driving and lifting driving of the mechanical arms, is arranged in a cavity of the main body, is positioned on the inner side of the polished rod, and is respectively connected with the central controller, the storage battery and the two groups of mechanical arms through circuits.
Further, the control box is fixedly installed on the back of the trunk of the main body through bolts, and the central controller is fixedly installed in the control box and connected with the driving device and the fan module through lines.
Furthermore, the fan bracket is Y-shaped, is movably arranged on the upper side of the convex structure of the main body and can rotate for 360 degrees; the fan is arranged at the opening end of the fan bracket and can rotate 0-90 degrees.
Further, the power supply box is fixedly arranged on the back of the trunk of the main body, and the storage battery is fixedly arranged in the power supply box and provides required electric energy for the driving device, the central controller and the motor.
Further, the remote control box is connected with the central remote controller through a 15-meter remote control line, and the remote control box is arranged in the hand of an operator.
Preferably, the lower side of the trunk of the main body is further provided with a braking device.
Preferably, the power supply box is also internally provided with a power supply line which can extend to the ground for charging connection.
Preferably, the remote control box is controlled by wireless remote control, the signal transmitter is arranged on the remote control box, and the corresponding signal receiver is arranged in the control box.
Compared with the prior art, the invention has the following beneficial effects: carry out the clearance of nest through the robot, reduced fortune dimension personnel and stepped on the risk of falling that the pole clearance exists, also avoid the electric shock danger that the maloperation brought simultaneously. The robot is supported by the line rod, so that the operation stability of the robot is improved; by utilizing remote control, the operation personnel can be used by the first hand only by simple training, and the single bird nest hidden danger treatment can be realized. The remote control robot uses the storage battery, so that the cruising ability is improved, and the working efficiency is improved. The loss of the operation maintenance unit on manpower and material resources is reduced.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is a left side view of the present invention;
FIG. 3 is a front view of the present invention;
FIG. 4 is a top view of the present invention;
FIG. 5 is a block diagram of a set of robotic arms according to the present invention;
in the figure: 1. the device comprises a main body, a climbing rod module, a fan module, a control module, a power supply module and a power supply module, wherein the main body comprises a main body 2, the climbing rod module 3, the fan module 4, the control module and a power supply module 5;
11. the convex square column 12, the cavity 13, the polish rod 14 and the mechanical arm movable gap;
21. the device comprises a mechanical arm 22, a roller 23, a lifting drive 24, an opening and closing drive 25, guide rail holes 26, connecting lugs 27, connecting grooves 28 and insections;
31. fan, 32, motor, 33, fan support, 34, fan base, 35, support abrupt post.
Detailed Description
It should be noted that, in the present invention, the terms such as "upper", "lower", "front", "rear", and the like indicate the orientation or the positional relationship based on the drawings, and the terms are only the relational terms determined for describing the structural relationship of the components of the present invention, are not specific to any components of the present invention, and are not to be construed as limiting the present invention. The drawings show the structure of the invention, the size and the proportion of the structure are not distributed according to actual proportion, and the actual manufacture and assembly are determined according to the field size.
The following detailed description of embodiments of the invention is provided in conjunction with the appended drawings:
as shown in fig. 1, a remote-controlled robot for cleaning bird nests comprises a main body trunk 1, a pole-climbing module 2, a fan module 3, a control module 4, a power supply module 5 and a remote control box. The main body 1 is made of light metal, the left side surface of the main body is a concave surface so as to meet the mutual fit between the main body and the wire rod, and meanwhile, the concave surface of the main body 1 is pasted with an insulating material so as to prevent electricity from passing; one side of the 1 sunken face of main part truck still is equipped with a rectangle cavity 12, and fixed mounting has a vertical polished rod 13 in the cavity 12, installs two sets of climbing devices on the polished rod 13, and every group climbing device includes two arms 21, and for convenience of opening and shutting of arm 21, the left and right sides of cavity 12 is equipped with two arm activity breach 14 respectively. The pole climbing module 2 comprises two groups of climbing devices and driving devices with the same structure, and two mechanical arms 21 in each group of climbing devices are matched with each other to form an encircling structure. Referring to fig. 5, the robot arms 21 are arc-shaped, and rollers 22 are installed inside the robot arms; one end of arm 21 is equipped with guide rail hole 25, and two arms 21 in the same group climbing device are close to the one end intermeshing in guide rail hole 25, and this end of one of them arm 21 is connecting lug 26, and this end of another arm 21 is connecting groove 27, all be equipped with insection 28 on the lateral wall of connecting lug 26 and on connecting groove 27's the inside wall, two arms 21 are put together and are formed the internal gearing, and arm 21 passes through guide rail hole 25 suit on polished rod 13 corresponds the position. The mechanical arms 21 in the two groups of climbing devices are consistent in structure and matching. The driving means includes a lifting drive 23 and an opening and closing drive 24 of the robot arm 21, both mounted in the cavity 12, inside the polished rod 13. The lifting drive 23 is connected with the mechanical arm 21 through a line, and mainly controls the roller 22 to roll to drive the mechanical arm 21 to enable the whole robot to move up and down along a line rod; the opening and closing drive 24 is connected with one end of the mechanical arm 21 provided with the guide rail hole 25 through a line, and controls the two mechanical arms 21 in the same group to open and close through the meshed insections 28.
The back of the main body trunk 1 is also provided with a convex square column 11 near the upper end thereof, the upper end surface of the convex square column 11 is provided with a fan module 3, and the fan module 3 comprises a fan 31, a motor 32 and a fan bracket 33. The fan bracket 33 is Y-shaped, the bottom end of the Y shape is provided with a base, the base is fixedly arranged on the convex square column 11, and the fan bracket 33 is movably connected with the base; two symmetrical support protruding columns 35 are arranged on the inner side of the opening end of the fan support 33, two fan bases 34 symmetrical to the fan support are arranged on the side edge of the fan 31, the fan 31 is movably mounted on the corresponding support protruding columns 35 through the fan bases 34, corresponding insections are arranged on the outer walls of the support protruding columns 35 and the inner side of the fan bases 34, the fan 31 can rotate 0-90 degrees to the ground through the insections, and a protective cover is arranged on the front side of the fan 31. The motor 32 is installed at a rear center of the fan 31 to provide kinetic energy to the fan 31.
The power supply module 5 comprises a power supply box and a storage battery, the power supply box is fixedly installed on the main body trunk 1 below the control box through bolts, the storage battery is installed in the power supply box and provides required electric energy for the driving device, the central controller and the motor 32, and the storage battery is selected to be an integrated lithium battery and is portable. Two independent spaces are further arranged inside the power supply box, and a power supply line is arranged inside one of the two independent spaces and can extend to the ground so as to charge the storage battery in time; the other inside is equipped with automatic coiling device, and 15 meters remote control lines freely stretch out and draw back through coiling device, and remote control line connects central controller and remote control box. The remote control box can also be in wireless remote control, the signal emitter is arranged on the remote control box, and the corresponding signal receiver is arranged in the control box.
During the use, reach the outdoor line pole department that needs clear up, at first open and shut arm 21 among the drive 24 control two sets of climbing devices and open, place the robot on the line pole, arm 21 is closed, and the main part truck 1 and the line pole of robot are laminated mutually. The lifting drive 23 is operated by controlling a key or an operating rod on the remote control box, the robot climbs along the line rod under the action of the lifting drive 23, and the opening and closing drive 24 automatically regulates and controls the closing degree of the mechanical arm 21 in the climbing process due to the thin and thick structure of the line rod, so that the robot firmly climbs on the line rod. When the robot reaches a working position, the brake device hidden at the bottom of the main body 1 is put down to clamp the wire pole so as to stabilize the whole structure of the robot. The remote control box is controlled to enable the fan support 33 to rotate relative to the base, the fan support 33 can rotate 360 degrees, the fan 31 can also rotate in an adjusting mode of 0-90 degrees, the fan 31 is aligned to the bird nest on the wire rod, the motor 32 works, and the bird nest is blown down by high wind power.
Finally, it should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention, and the present invention is not limited to the above-mentioned examples, and those skilled in the art should also make changes, modifications, additions or substitutions within the spirit and scope of the present invention.
Claims (10)
1. The utility model provides a clearance nest's remote-controlled robot which characterized in that: the remote control device comprises a pole climbing module, a main body, a control module, a power supply module, a fan module and a remote control box; the climbing rod module consists of two groups of same climbing devices and driving devices, each group of climbing devices comprises two mechanical arms, and the climbing devices and the driving devices are arranged on the front side of the trunk of the main body; the back of the main body is provided with a convex structure; the fan module comprises a fan, a motor and a fan bracket, the fan is arranged on the upper side surface of the convex structure through the fan bracket, and the motor is arranged in the center of the back surface of the fan; the control module comprises a control box and a central controller, is fixedly arranged on the back of the trunk of the main body and is positioned below the protruding structure; the power supply module comprises a power supply box and a storage battery, is fixedly arranged on the back of the trunk of the main body and is positioned below the control module.
2. The remote-controlled robot for nest cleaning according to claim 1, characterized in that: the front side surface of the main body is a concave surface and is matched with the line pole; the concave side of main part truck is equipped with the cavity, and the vertical polished rod of installing in the cavity, the both sides of cavity still respectively are equipped with two arm activity breachs of mutual symmetry.
3. A remote-controlled robot for nest cleaning according to claim 2, wherein: four mechanical arms of the climbing devices in the climbing rod module are all arc-shaped, guide rail holes are formed in one end of each mechanical arm, the mechanical arms in the two groups of climbing devices are sleeved on the polished rod through the guide rail holes, and one ends, close to the guide rail holes, of the two mechanical arms in the same group are meshed and connected through insections; the inner side of the mechanical arm is provided with a roller; the driving device comprises opening and closing driving and lifting driving of the mechanical arms, is arranged in a cavity of the main body, is positioned on the inner side of the polished rod, and is respectively connected with the central controller, the storage battery and the two groups of mechanical arms through circuits.
4. The remote-controlled robot for nest cleaning according to claim 1, characterized in that: the control box is fixedly arranged on the back of the trunk of the main body through bolts, and the central controller is fixedly arranged in the control box and is connected with the driving device and the fan module through a circuit.
5. The remote-controlled robot for nest cleaning according to claim 1, characterized in that: the fan bracket is Y-shaped, is movably arranged on the upper side of the convex structure of the main body and can rotate 360 degrees; the fan is arranged at the opening end of the fan bracket and can rotate 0-90 degrees.
6. The remote-controlled robot for nest cleaning according to claim 1, characterized in that: the power supply box is fixedly arranged on the back of the trunk of the main body, and the storage battery is fixedly arranged in the power supply box and provides required electric energy for the driving device, the central controller and the motor.
7. The remote-controlled robot for nest cleaning according to claim 1, characterized in that: the remote control box is connected with a central remote controller through a 15-meter remote control line and is arranged in the hand of an operator.
8. The remote-controlled robot for nest cleaning according to claim 1, characterized in that: the lower side of the main body is also provided with a braking device.
9. The remote controlled robot for nest cleaning according to claim 6, wherein: the power supply box is internally provided with a power supply line which can extend to the ground for charging connection.
10. The remote controlled robot for nest cleaning according to claim 7, wherein: the remote control box is controlled by wireless, the signal emitter is arranged on the remote control box, and the corresponding signal receiver is arranged in the control box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010770171.8A CN112025720B (en) | 2020-08-04 | 2020-08-04 | Remote-controlled robot for cleaning bird nest |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010770171.8A CN112025720B (en) | 2020-08-04 | 2020-08-04 | Remote-controlled robot for cleaning bird nest |
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| Publication Number | Publication Date |
|---|---|
| CN112025720A CN112025720A (en) | 2020-12-04 |
| CN112025720B true CN112025720B (en) | 2021-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010770171.8A Active CN112025720B (en) | 2020-08-04 | 2020-08-04 | Remote-controlled robot for cleaning bird nest |
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| Country | Link |
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| CN (1) | CN112025720B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112670894B (en) * | 2020-12-17 | 2022-04-08 | 淮北云端文化传媒有限公司 | Bird nest removing device for maintaining high-speed rail power supply line |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012223082A (en) * | 2011-04-14 | 2012-11-12 | Chugoku Electric Power Co Inc:The | Tool for removal of bird nest and tool for indirect hot-line construction |
| CN204809748U (en) * | 2015-07-03 | 2015-11-25 | 国网山东夏津县供电公司 | Power line clears up specialized tool |
| CN105644646A (en) * | 2015-12-31 | 2016-06-08 | 广东工业大学 | Wheel type pole-climbing robot |
| CN105870823A (en) * | 2016-06-15 | 2016-08-17 | 国网福建省电力有限公司 | Tool for removing bird nest in pedestal on circuit breaker/isolating switch in a hot-line manner |
| CN106335565A (en) * | 2016-10-26 | 2017-01-18 | 江苏蒲公英无人机有限公司 | The electric power tower climbing robot |
| CN106451202A (en) * | 2016-09-12 | 2017-02-22 | 国网浙江苍南县供电有限责任公司 | Foreign matter clearer of power line |
| CN206748258U (en) * | 2017-05-17 | 2017-12-15 | 国网青海省电力公司海南供电公司 | A kind of power circuit bird's nest removal tool |
| CN208862472U (en) * | 2018-11-06 | 2019-05-14 | 国家电网有限公司 | A kind of substation's O&M electric pole bird's nest remover |
-
2020
- 2020-08-04 CN CN202010770171.8A patent/CN112025720B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012223082A (en) * | 2011-04-14 | 2012-11-12 | Chugoku Electric Power Co Inc:The | Tool for removal of bird nest and tool for indirect hot-line construction |
| CN204809748U (en) * | 2015-07-03 | 2015-11-25 | 国网山东夏津县供电公司 | Power line clears up specialized tool |
| CN105644646A (en) * | 2015-12-31 | 2016-06-08 | 广东工业大学 | Wheel type pole-climbing robot |
| CN105870823A (en) * | 2016-06-15 | 2016-08-17 | 国网福建省电力有限公司 | Tool for removing bird nest in pedestal on circuit breaker/isolating switch in a hot-line manner |
| CN106451202A (en) * | 2016-09-12 | 2017-02-22 | 国网浙江苍南县供电有限责任公司 | Foreign matter clearer of power line |
| CN106335565A (en) * | 2016-10-26 | 2017-01-18 | 江苏蒲公英无人机有限公司 | The electric power tower climbing robot |
| CN206748258U (en) * | 2017-05-17 | 2017-12-15 | 国网青海省电力公司海南供电公司 | A kind of power circuit bird's nest removal tool |
| CN208862472U (en) * | 2018-11-06 | 2019-05-14 | 国家电网有限公司 | A kind of substation's O&M electric pole bird's nest remover |
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| CN112025720A (en) | 2020-12-04 |
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