CN113796224B - Robot for removing tree obstacle - Google Patents
Robot for removing tree obstacle Download PDFInfo
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- CN113796224B CN113796224B CN202111153358.4A CN202111153358A CN113796224B CN 113796224 B CN113796224 B CN 113796224B CN 202111153358 A CN202111153358 A CN 202111153358A CN 113796224 B CN113796224 B CN 113796224B
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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 tree barrier removing robot which comprises an opening and closing mechanism, a cutting mechanism capable of swinging up and down, a hoisting mechanism and a plurality of wiring mechanisms, wherein the front side of the opening and closing mechanism is provided with two cutting mechanisms, the hoisting mechanism and the plurality of wiring mechanisms are respectively arranged at the rear side of the opening and closing mechanism, and the plurality of wiring mechanisms are distributed at two sides of the hoisting mechanism; the opening and closing mechanism is used for driving the two cutting mechanisms to perform relative opening and closing actions; when the tree obstacle is cleaned, the opening and closing mechanisms control the two cutting mechanisms to perform relative opening and closing movements to form a large-range cutting area surrounding the periphery of the distribution network line, and the cutting mechanisms increase the space range of the cutting area by adjusting the up-and-down swing amplitude, so that the cutting mechanisms, the opening and closing mechanisms and the wiring mechanisms are matched to form an obstacle clearance channel surrounding the periphery of the distribution network line, and the clearance efficiency of the tree obstacle close to the distribution network line is improved.
Description
Technical Field
The invention relates to the technical field of automatic robots, in particular to a robot for removing tree barriers.
Background
The distribution network line is frequently subjected to trouble of tree barriers outdoors, the power transmission work of the distribution network line is easily affected by trees with faster growth, the branches and leaves with too fast growth can cause serious damage to the distribution network line, the current tree barrier cleaning operation is divided into manual cleaning and automatic cleaning of the tree barrier cleaning robot, the manual cleaning is low in working efficiency and has larger safety risk, the cutting range and the cutting distance of the existing tree barrier cleaning robot are limited, the tree barrier on the periphery of the distribution network line can be cleaned generally, the tree barrier close to the edge of the distribution network line is difficult to clean, and the tree barrier cannot be cleaned.
It can be seen that there is a need for improvements and improvements in the art.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention aims to provide a robot for removing tree barriers, which can remove tree barriers adjacent to the edge of a distribution network line, and has high safety and reliability.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the tree obstacle removing robot comprises an opening and closing mechanism, a cutting mechanism capable of swinging up and down, a winding mechanism and a plurality of wiring mechanisms, wherein two cutting mechanisms are arranged on the front side of the opening and closing mechanism, the winding mechanism and the plurality of wiring mechanisms are respectively arranged on the rear side of the opening and closing mechanism, and the plurality of wiring mechanisms are distributed on two sides of the winding mechanism; the opening and closing mechanism is used for driving the two cutting mechanisms to do relative opening and closing actions.
In the tree obstacle removing robot, the tree obstacle removing robot further comprises a stop mechanism arranged on the front side of the opening and closing mechanism, and the stop mechanism is used for limiting the rotation angle of the cutting mechanism.
In the tree obstacle removing robot, the opening and closing mechanism comprises a shell, two track toothed plates, a driving gear and a driving device, wherein the two track toothed plates are respectively arranged in the shell through rotating shafts, two ends of each rotating shaft are respectively connected with the shell in a rotating mode, the driving gear is arranged between the two track toothed plates and is respectively meshed with the two track toothed plates, the driving device is arranged on the inner side of the shell, and an output shaft of the driving device is fixedly connected with the driving gear; the cutting mechanism is arranged on the outer side of the shell, and the bottoms of the two cutting mechanisms are respectively connected with the two rotating shafts.
In the tree obstacle removing robot, one end of the rotating shaft is provided with a rod sleeve; the cutting mechanism comprises a rotating part and a cutting part, the bottom of the rotating part is fixedly connected with the rod sleeve, and the cutting part is arranged at the top of the rotating part and is rotationally connected with the rotating part.
In the tree obstacle removing robot, the stop mechanism is arranged on the outer side of the shell, the rod sleeve is positioned between the stop mechanism and the shell, and a plurality of limiting rods are arranged between the stop mechanism and the shell; the limiting rod is used for limiting the rotation angle of the rod sleeve.
In the tree obstacle removing robot, the rotating part comprises a connecting rod and a rotating head, and the cutting part comprises a swinging rod, a cutting disc and a cutting motor; the bottom of connecting rod with the pole cover links firmly, the rotating head sets up the top of connecting rod, the bottom of swinging arms with the rotating head is articulated, the cutting dish with the cutting motor sets up respectively the top of swinging arms, the output shaft of cutting motor with the cutting dish links firmly.
In the tree obstacle removing robot, a plurality of anti-sputtering frames are distributed on the periphery of the cutting disc, and one end of each anti-sputtering frame is fixedly connected with the swinging rod.
In the tree obstacle removing robot, the tree obstacle removing robot further comprises a rotation stopping mechanism, wherein the rotation stopping mechanism is arranged on the inner side of the shell and is connected with the rotating shaft, and the rotation stopping mechanism is electrically connected with the driving device; the rotation stopping mechanism is used for preventing the two cutting parts from transitionally opening and closing.
In the tree obstacle removing robot, a convex ring is arranged in the rotation stopping mechanism and fixedly connected with the rotating shaft, and travel switches are respectively arranged on the upper side and the lower side of the convex ring; the two travel switches are respectively and electrically connected with the driving device.
In the tree obstacle removing robot, the tree obstacle removing robot further comprises a seat plate, the opening and closing mechanism is arranged on one side of the seat plate, the hoisting mechanism and the wiring mechanisms are respectively arranged on the seat plate, and two sides of the hoisting mechanism are respectively connected with the opening and closing mechanism and the seat plate in a reinforcing mode through top supporting frames.
The beneficial effects are that:
the invention provides a tree obstacle removing robot, when a tree obstacle is removed, an opening and closing mechanism controls two cutting mechanisms to perform relative opening and closing movement to form a large-range cutting area surrounding the periphery of a distribution network line, and the cutting mechanism increases the space range of the cutting area by adjusting the up-and-down swing amplitude, so that the cutting mechanism, the opening and closing mechanism and a wiring mechanism are matched to form an obstacle removing channel surrounding the periphery of the distribution network line, and the removing efficiency of the tree obstacle adjacent to the distribution network line is improved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a robot for removing tree obstacle according to the present invention;
FIG. 2 is a schematic diagram of the overall structure of the obstacle removing robot according to the present invention;
FIG. 3 is a schematic view of the structure of the cutting mechanism in the robot for removing a tree obstacle according to the present invention;
FIG. 4 is a schematic diagram of the internal structure of the opening and closing mechanism of the robot for removing tree obstacle according to the present invention;
fig. 5 is an enlarged schematic view of the area a in fig. 4.
Description of main reference numerals: 1-opening and closing mechanism, 2-cutting mechanism, 3-hoisting mechanism, 4-wiring mechanism, 5-stopping mechanism, 6-rotation stopping mechanism, 7-seat board, 8-equipotential mechanism, 9-in-place detecting mechanism, 10-hanging tool, 101-distribution network line, 11-shell, 12-track toothed plate, 13-rotating shaft, 14-driving gear, 15-driving device, 21-rotating part, 22-cutting part, 41-wiring arm, 42-push-pull device, 51-limiting rod, 61-convex ring, 62-travel switch, 71-top support, 131-rod sleeve, 211-connecting rod, 212-rotating head, 221-swinging rod, 222-cutting disc, 223-cutting motor, 224-sputtering-preventing frame, 212 a-rotating seat and 212 b-rotating motor.
Detailed Description
The invention provides a robot for removing tree barriers, which aims to make the purposes, technical schemes and effects of the robot clearer and more definite, and further details the robot by referring to the attached drawings and the embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the azimuth or positional relationship indicated by the terms "middle", "inside", "outside", etc. are the azimuth or positional relationship of the present invention based on the drawings, and are merely for convenience of description of the present invention and simplification of the description. In addition, the terms "first," "second," "third," are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.
Referring to fig. 1 to 5, the present invention provides a robot for removing a tree obstacle, which comprises an opening and closing mechanism 1, a cutting mechanism 2 capable of swinging up and down, a winding mechanism 3 and a plurality of wire-moving mechanisms 4, wherein the front side of the opening and closing mechanism 1 is provided with two cutting mechanisms 2, the winding mechanism 3 and the plurality of wire-moving mechanisms 4 are respectively arranged at the rear side of the opening and closing mechanism 1, and the plurality of wire-moving mechanisms 4 are distributed at two sides of the winding mechanism 3; the opening and closing mechanism 1 is used for driving the two cutting mechanisms 2 to perform relative opening and closing actions.
When in actual use, the winding mechanism 3 is internally wound with a traction rope (not shown in the figure), the winding mechanism 3 is used for winding and unwinding the traction rope to realize lifting on the distribution network line 101, when the winding mechanism is lifted to the distribution network line 101, the distribution network line 101 is clasped by the wire-moving mechanism 4 to finish wire-hanging action, and the wire-moving mechanism 4 is used for moving along the distribution network line 101, when a tree obstacle is cleaned, the opening and closing mechanism 1 controls the two cutting mechanisms 2 to relatively open and close to form a large-range cutting area encircling the periphery of the distribution network line 101, and the cutting mechanism 2 is used for enlarging the space range of the cutting area by adjusting the amplitude of up-down swinging, so that the cutting mechanism 2, the opening and closing mechanism 1 and the wire-moving mechanism 4 are matched to form an obstacle clearance channel encircling the periphery of the distribution network line, and the clearance efficiency of the tree obstacle approaching the distribution network line is improved.
In this embodiment, as shown in fig. 2, the tree obstacle removing robot further includes a hanging tool 10, a hook portion for hooking the net distribution line 101 is provided at the top of the hanging tool 10, the hanging tool 10 is disposed above the winding mechanism 3 and connected with the winding mechanism 3 through a traction rope, the hanging tool 10 is hung on the net distribution line 101 through an unmanned aerial vehicle, that is, the traction rope is hung on the net distribution line 101 through the hanging tool 10, so that hanging of the traction rope is achieved, and the winding mechanism 3 enables the tree obstacle removing robot to lift along the traction rope by winding and unwinding the traction rope.
In this embodiment, as shown in fig. 1 and fig. 2, the tree-barrier removing robot further includes an equipotential mechanism 8, where the equipotential mechanism 8 is disposed at the top of the winding mechanism 3, and when the equipotential mechanism 8 contacts the distribution network line 101 during use, the equipotential mechanism 8 rapidly forms an equipotential field between the tree-barrier removing robot and the distribution network line 101, so as to reduce the influence of electromagnetic interference generated by high voltage on the tree-barrier removing robot, and improve the operation stability of the tree-barrier removing robot.
In this embodiment, as shown in fig. 2, the tree obstacle removing robot further includes an in-place detection mechanism 9, where the in-place detection mechanism 9 is disposed at the top of the winding mechanism 3, where the in-place detection mechanism 9 is electrically connected with the winding mechanism 3 and the routing mechanism 4, where the in-place detection mechanism 9 is used to detect an in-place condition of the distribution network line 101, and when the in-place detection mechanism 9 detects the distribution network line 101 above, the in-place detection mechanism 9 sends a control signal to the winding mechanism 3 and the routing mechanism 4, so that the winding mechanism 3 stops climbing, and controls the routing mechanism 4 to complete the wire hanging action, thereby implementing an automatic wire hanging task of the tree obstacle removing robot.
As shown in fig. 1 and 3, the tree obstacle removing robot further comprises a stop mechanism 5 arranged at the front side of the opening and closing mechanism 1, wherein the stop mechanism 5 is used for limiting the rotation angle of the cutting mechanism 2; if the opening and closing mechanism 1 is subject to the failure of the strong electromagnetic interference control, the opening and closing mechanism 1 has the problem of excessive opening and closing, which easily results in the collision of the two cutting mechanisms 2, so that the rotation angle of the cutting mechanisms 2 is limited by the stop mechanism 5, the problem of excessive opening and closing of the two cutting mechanisms 2 is avoided, and the use safety is improved.
As shown in fig. 1 to 4, further, the opening and closing mechanism 1 includes a housing 11, a track toothed plate 12, a driving gear 14 and a driving device 15, two track toothed plates 12 are respectively disposed in the housing 11 through a rotating shaft 13, two ends of the rotating shaft 13 are respectively rotatably connected with the housing 11, the driving gear 14 is disposed between the two track toothed plates 12 and respectively meshed with the two track toothed plates 12, the driving device 15 is disposed at an inner side of the housing 11, and an output shaft of the driving device 15 is fixedly connected with the driving gear 14; the cutting mechanisms 2 are arranged on the outer side of the shell 11, and the bottoms of the two cutting mechanisms 2 are respectively connected with the two rotating shafts 13; through the arrangement, the opening and closing mechanism 1 can drive the two cutting mechanisms 2 to rotate at the same time, so that the relative opening and closing actions of the two cutting mechanisms 2 are realized, and only one driving device 15 is provided to drive the two cutting mechanisms 2 at the same time, so that the overall weight of the tree obstacle removing robot is greatly reduced, the design of the tree obstacle removing robot is more reasonable, and the burden on the distribution network line 101 is reduced; in one embodiment, the driving device 15 is a servo motor.
As shown in fig. 1 to 4, further, one end of the rotating shaft 13 is provided with a rod sleeve 131; the cutting mechanism 2 comprises a rotating part 21 and a cutting part 22, wherein the bottom of the rotating part 21 is fixedly connected with the rod sleeve 131, and the cutting part 22 is arranged at the top of the rotating part 21 and is rotationally connected with the rotating part 21; the cutting portion 22 is driven to swing up and down by the rotating portion 21, thereby adjusting the cutting angle and cutting range of the cutting portion 22.
As shown in fig. 1 and 3, further, the stop mechanism 5 is disposed outside the housing 11, the rod sleeve 131 is located between the stop mechanism 5 and the housing 11, and a plurality of limit rods 51 are disposed between the stop mechanism 5 and the housing 11; the limiting rod 51 is used for limiting the rotation angle of the rod sleeve 131; the limiting rods 51 are respectively located above and below the inner side of the rod sleeve 131, the rod sleeve 131 is stopped by the limiting rods 51, the two cutting mechanisms 2 are prevented from collision due to transitional opening and closing of the rod sleeve 131, and the use safety is improved.
As shown in fig. 3, further, the rotating part 21 includes a connecting rod 211 and a rotating head 212, and the cutting part 22 includes a swing lever 221, a cutting disk 222, and a cutting motor 223; the bottom of the connecting rod 211 is fixedly connected with the rod sleeve 131, the rotating head 212 is arranged at the top of the connecting rod 211, the bottom of the swinging rod 221 is hinged with the rotating head 212, the cutting disc 222 and the cutting motor 223 are respectively arranged at the top of the swinging rod 221, and the output shaft of the cutting motor 223 is fixedly connected with the cutting disc 222; the rotary head 212 drives the cutting part 22 to swing up and down, so that the cutting angle and the cutting range of the cutting disc 222 are adjusted; cutting the tree obstacle through the cutting disc 222 can reduce moment, lighten the load born by the rotating part 21 and the cutting part 22 when cutting, avoid the shaking of the cutting part 22 when cutting, improve the stability of the cutting part 22, for example: if the saw chain is used for cutting the tree obstacle, the moment arm is larger, so that the moment is increased, the problem that the saw chain shakes during cutting can be caused, and the cutting precision and efficiency are reduced.
As shown in fig. 3, the rotating head 212 includes a rotating seat 212a, a rotating motor 212b, a driving wheel (not shown in the drawing), a toothed belt (not shown in the drawing), a driven wheel (not shown in the drawing), and a worm (not shown in the drawing), the rotating motor 212b is disposed at one side of the rotating seat 212a, the worm is disposed in the rotating seat 212a, the driving wheel is fixedly connected with an output shaft of the rotating motor 212b, the driven wheel is meshed with the worm, the driving wheel and the driven wheel are connected through the toothed belt, and a bottom of the swinging rod 221 is connected with the worm; the up-and-down swing of the cutting portion 22 is achieved by the above arrangement.
As shown in fig. 3, further, a plurality of anti-sputtering frames 224 are distributed on the periphery of the cutting disc 222, and one end of each anti-sputtering frame 224 is fixedly connected with the corresponding swinging rod 221; the cutting disc 222 may have a problem of chipping after a long time use, and fragments in high-speed rotation are easily sputtered outward, and the fragments of the cutting disc 222 are prevented from being sputtered outward by the sputter preventing frame 224, improving the use safety of the cutting disc 222.
As shown in fig. 2, 4 and 5, the tree obstacle removing robot further includes a rotation stopping mechanism 6, the rotation stopping mechanism 6 is disposed inside the housing 11 and connected to the rotating shaft 13, and the rotation stopping mechanism 6 is electrically connected to the driving device 15; the rotation stopping mechanism 6 is used for preventing the two cutting parts 22 from being transitionally opened and closed; the anti-rotation mechanism 6 further prevents the problem that the two cutting mechanisms 2 are excessively cohesive, when the rotating shaft 13 excessively rotates, the rotating shaft 13 triggers the anti-rotation mechanism 6, and the anti-rotation mechanism 6 controls the driving device 15 to stop working, so that the two cutting mechanisms 2 are prevented from collision.
As shown in fig. 5, further, a convex ring 61 is disposed in the rotation stopping mechanism 6, the convex ring 61 is fixedly connected with the rotating shaft 13, and travel switches 62 are respectively disposed on the upper and lower sides of the convex ring 61; the two travel switches 62 are respectively electrically connected with the driving device 15; the upper and lower travel switches 62 are triggered by the convex ring 61, and if the convex ring 61 touches any one of the travel switches 62, the travel switch 62 sends a stop command to the driving device 15 to avoid collision of the two cutting mechanisms 2, thereby improving use safety.
As shown in fig. 1 and 2, further, the tree obstacle removing robot further includes a seat board 7, the opening and closing mechanism 1 is disposed on one side of the seat board 7, the winding mechanism 3 and the plurality of routing mechanisms 4 are respectively disposed on the seat board 7, and two sides of the winding mechanism 3 are respectively connected with the opening and closing mechanism 1 and the seat board 7 in a reinforcing manner through a top bracket 71; the top support 71 can counteract the reaction force of the cutting mechanism 2 when cutting tree barriers, and prevent the opening and closing mechanism 1 from bending backwards.
Wherein, as shown in fig. 2, the wire mechanism 4 includes a wire arm 41 and a push-pull device 42, the bottoms of the wire arm 41 and the push-pull device 42 are respectively hinged with the seat plate 7, and an output shaft of the push-pull device 42 is hinged with the wire arm 41; the push-pull device 42 stretches or retracts to realize the cohesion of the wiring arm 41 to the distribution network line 101; in one embodiment, the push-pull device 42 is a telescopic cylinder.
In summary, when the tree obstacle is cleaned, the opening and closing mechanism 1 controls the two cutting mechanisms 2 to perform relative opening and closing movements, so as to form a large-range cutting area surrounding the periphery of the distribution network line 101, and the cutting mechanism 2 increases the space range of the cutting area by adjusting the up-and-down swing amplitude, so that the cutting mechanism 2, the opening and closing mechanism 1 and the routing mechanism 4 cooperate to form an obstacle clearance channel surrounding the periphery of the distribution network line, thereby improving the cleaning efficiency of the tree obstacle adjacent to the distribution network line.
It will be understood that equivalents and modifications will occur to those skilled in the art in light of the present invention and their spirit, and all such modifications and substitutions are intended to be included within the scope of the present invention as defined in the following claims.
Claims (7)
1. The tree obstacle removing robot is characterized by comprising an opening and closing mechanism, a cutting mechanism capable of swinging up and down, a hoisting mechanism and a plurality of wiring mechanisms, wherein the front side of the opening and closing mechanism is provided with two cutting mechanisms, the hoisting mechanism and the plurality of wiring mechanisms are respectively arranged at the rear side of the opening and closing mechanism, and the plurality of wiring mechanisms are distributed at two sides of the hoisting mechanism; the opening and closing mechanism is used for driving the two cutting mechanisms to perform relative opening and closing actions; the cutting mechanism, the opening and closing mechanism and the wiring mechanism are matched to form an obstacle clearance channel which surrounds the periphery of the distribution network line; the tree obstacle removing robot further comprises a stop mechanism arranged on the front side of the opening and closing mechanism, wherein the stop mechanism is used for limiting the rotation angle of the cutting mechanism; the opening and closing mechanism comprises a shell, two track toothed plates, a driving gear and a driving device, wherein the two track toothed plates are respectively arranged in the shell through rotating shafts, two ends of each rotating shaft are respectively connected with the shell in a rotating mode, the driving gear is arranged between the two track toothed plates and respectively meshed with the two track toothed plates, the driving device is arranged on the inner side of the shell, and an output shaft of the driving device is fixedly connected with the driving gear; the cutting mechanisms are arranged on the outer side of the shell, and the bottoms of the two cutting mechanisms are respectively connected with the two rotating shafts; one end of the rotating shaft is provided with a rod sleeve; the cutting mechanism comprises a rotating part and a cutting part, the bottom of the rotating part is fixedly connected with the rod sleeve, and the cutting part is arranged at the top of the rotating part and is rotationally connected with the rotating part.
2. The robot of claim 1, wherein the stop mechanism is disposed outside the housing, the rod sleeve is disposed between the stop mechanism and the housing, and a plurality of stop rods are disposed between the stop mechanism and the housing; the limiting rod is used for limiting the rotation angle of the rod sleeve.
3. The robot of claim 1, wherein the rotating part comprises a connecting rod and a rotating head, and the cutting part comprises a swing rod, a cutting disc and a cutting motor; the bottom of connecting rod with the pole cover links firmly, the rotating head sets up the top of connecting rod, the bottom of swinging arms with the rotating head is articulated, the cutting dish with the cutting motor sets up respectively the top of swinging arms, the output shaft of cutting motor with the cutting dish links firmly.
4. A robot for removing a tree obstacle as claimed in claim 3, wherein a plurality of sputter preventing frames are distributed on the periphery of the cutting disc, and one end of each sputter preventing frame is fixedly connected with the swing rod.
5. The robot of claim 1, further comprising a rotation stopping mechanism disposed inside the housing and connected to the shaft, the rotation stopping mechanism being electrically connected to the driving device; the rotation stopping mechanism is used for preventing the two cutting parts from transitionally opening and closing.
6. The robot for removing tree obstacle as claimed in claim 5, wherein a convex ring is arranged in the rotation stopping mechanism, the convex ring is fixedly connected with the rotating shaft, and travel switches are respectively arranged on the upper side and the lower side of the convex ring; the two travel switches are respectively and electrically connected with the driving device.
7. The robot of claim 1, further comprising a seat plate, wherein the opening and closing mechanism is arranged on one side of the seat plate, the winding mechanism and the plurality of wiring mechanisms are respectively arranged on the seat plate, and two sides of the winding mechanism are respectively connected with the opening and closing mechanism and the seat plate in a reinforcing manner through a top support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111153358.4A CN113796224B (en) | 2021-09-29 | 2021-09-29 | Robot for removing tree obstacle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111153358.4A CN113796224B (en) | 2021-09-29 | 2021-09-29 | Robot for removing tree obstacle |
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| CN113796224A CN113796224A (en) | 2021-12-17 |
| CN113796224B true CN113796224B (en) | 2023-06-16 |
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| CN114847027B (en) * | 2022-05-25 | 2024-01-23 | 武汉戎汇电通科技有限公司 | Folding and telescopic integrated power transmission and distribution line tree obstacle removing robot |
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| JP2001128553A (en) * | 1999-11-08 | 2001-05-15 | Fujikura Ltd | Branching machine |
| CN200997257Y (en) * | 2006-10-23 | 2007-12-26 | 张凌元 | Turnover vehicle electronic display screen |
| CN101794974B (en) * | 2009-12-30 | 2012-06-27 | 北京深浪电子技术有限公司 | Gripper type intelligent obstacle removing robot for electric transmission line |
| CN104477272B (en) * | 2014-12-10 | 2017-02-22 | 武汉大学 | Line patrol robot capable of climbing poles and towers and climbing method |
| CN106374384B (en) * | 2016-09-27 | 2017-11-28 | 武汉大学 | A kind of end-of-arm tooling and method that high voltage transmission line foreign matter is removed for robot |
| CN107086489B (en) * | 2017-05-31 | 2019-04-30 | 武汉理工大学 | A kind of separable obstacle detouring mechanical arm applied to aerial high voltage power line robot |
| CN108376938A (en) * | 2018-03-29 | 2018-08-07 | 武汉大学 | A kind of HV Transmission Line Routing Inspection robot system and control method that unmanned plane is compound |
| CN109412089B (en) * | 2018-11-21 | 2024-03-15 | 国网福建省电力有限公司泉州供电公司 | Intelligent repair robot for equipotential of transmission line conductor |
| CN109449824A (en) * | 2018-12-10 | 2019-03-08 | 国家电网有限公司 | A kind of self-propelled route barrier clearing device |
| CN110605725A (en) * | 2019-09-26 | 2019-12-24 | 国网河南省电力公司濮阳供电公司 | Six-degree-of-freedom high-branch grasping manipulator |
| CN213259540U (en) * | 2020-07-05 | 2021-05-25 | 苏州市凯成塑胶有限公司 | High-strength mechanical arm for injection molding library bookshelf |
| CN111900662B (en) * | 2020-07-07 | 2022-06-21 | 广东冠能电力科技发展有限公司 | Tree obstacle cleaning robot |
| CN112498721A (en) * | 2020-11-27 | 2021-03-16 | 南京太司德智能科技有限公司 | Telescopic suspension mechanism for tree obstacle clearing flying robot |
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