CN114271119A - But centre gripping barrier cleaning device based on mechanism's lift platform zooms out - Google Patents
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- CN114271119A CN114271119A CN202111642943.0A CN202111642943A CN114271119A CN 114271119 A CN114271119 A CN 114271119A CN 202111642943 A CN202111642943 A CN 202111642943A CN 114271119 A CN114271119 A CN 114271119A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 42
- 238000004140 cleaning Methods 0.000 title claims abstract description 21
- 230000004888 barrier function Effects 0.000 title claims description 5
- 210000000245 forearm Anatomy 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 abstract description 6
- 210000000078 claw Anatomy 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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Abstract
The invention discloses a clamping tree obstacle cleaning device based on a telescopic mechanism lifting platform, which particularly comprises the telescopic mechanism lifting platform and a multi-degree-of-freedom mechanical arm, wherein the multi-degree-of-freedom mechanical arm is arranged at the top of the telescopic mechanism lifting platform, the tail end of the multi-degree-of-freedom mechanical arm is provided with a tail end operation tool, the multi-degree-of-freedom mechanical arm comprises a tree obstacle cleaning device, a clamping device and a recognition device, and the multi-degree-of-freedom mechanical arm comprises a base, a large arm, a small arm and a front arm which are sequentially connected, and is provided with a plurality of driving motors. The lifting platform based on the scaling mechanism is flexible and portable, stable in lifting, small in occupied area, capable of being remotely controlled, and capable of flexibly cleaning tree obstacles among branches at high positions and preventing the cleaned tree obstacles from falling to a power transmission line.
Description
Technical Field
The invention belongs to the field of electric power maintenance research, and particularly relates to a clamping tree obstacle cleaning device based on a telescopic mechanism lifting platform.
Background
The transmission line is an important component of the power network and has the characteristics of wide coverage and long transmission distance. With the continuous increase of the scale of the power grid and the vigorous promotion of ecological civilization construction by the country, the forest coverage rate is continuously improved. The contradiction of the 'line tree' is more and more prominent, the management difficulty of the tree obstacle is increased, accidents such as line tripping, power grid power failure, forest fire and the like caused by the tree obstacle occur at the same time, the safe operation of the power transmission line is seriously threatened, and the tree obstacle hidden danger of the serious degree needs to be timely cleaned. At present, the main obstacle clearing is completed by a worker holding a cutter, a handsaw and a chain saw in hand, climbing operation through trees, taking a bucket arm vehicle for high-altitude operation or through an extension rod and the like. It mainly adopts artifical manually operation mode, and the work task is heavy and there is the eminence to fall and the risk of electrocuting at clearance in-process personnel, and the operation effect is unstable, and work efficiency is also not high. Therefore, the study on the tree obstacle cleaning device which is flexible and portable, small in occupied area, convenient to operate and high in working efficiency has great use value.
Disclosure of Invention
The device is based on the telescopic mechanism lifting platform, is flexible and portable, is stable in lifting, occupies a small area, can be remotely controlled, can flexibly clean tree obstacles among branches at high positions, and avoids the cleaned tree obstacles from falling to a power transmission line.
The purpose of the invention is realized by the following technical scheme:
a clamping tree obstacle cleaning device based on a telescopic mechanism lifting platform comprises the telescopic mechanism lifting platform and a multi-degree-of-freedom mechanical arm, wherein the multi-degree-of-freedom mechanical arm is arranged at the top of the telescopic mechanism lifting platform, and a tail end operation tool is arranged at the tail end of the multi-degree-of-freedom mechanical arm and comprises a tree obstacle cleaning device, a clamping device and an identification device;
the telescopic mechanism lifting platform comprises an upper supporting plate, a lower supporting plate, a triangular prism telescopic mechanism and a hydraulic cylinder, wherein the upper supporting plate and the lower supporting plate are the same in structure, three sliding grooves are formed in the plates, the triangular prism telescopic mechanism is composed of a plurality of scissor type basic telescopic units, the upper end and the lower end of the triangular prism telescopic mechanism are connected with a sliding buckle through a pin shaft, the sliding buckle is embedded into the sliding grooves of the upper supporting plate and the lower supporting plate, and the hydraulic cylinder is arranged in the sliding grooves of the lower supporting plate;
the multi-degree-of-freedom mechanical arm comprises a base, a large arm, a small arm, a front arm and a tail end operation tool which are sequentially connected, wherein the base, the large arm, the small arm and the front arm are connected through rotary joints; the base and the base driving motor are arranged on the upper supporting plate, the large arm is arranged on the base, the small arm is arranged at the tail end of the large arm, the front arm is arranged at the tail end of the small arm, the tail end of the front arm is provided with three motors, one motor is used for realizing front-back expansion of the front arm, the other motor is used for realizing rotation of the front arm in a vertical plane, and the other motor is used for realizing rotation of the front arm around the axis of the front arm; the tail end of the forearm is also provided with a tail end working tool, a recognition device and a clamping device.
Be provided with the big arm driving motor who is used for realizing the vertical in-plane internal rotation of big arm on the revolute joint between big arm and the forearm, be provided with the forearm driving motor who is used for realizing the vertical in-plane internal rotation of forearm on the revolute joint between forearm and the forearm, the forearm end is provided with and is used for realizing that the vertical in-plane internal rotation of forearm is forearm driving motor, still is provided with the flexible driving motor of forearm that is used for realizing the forearm around the forearm and is used for realizing the forearm around the rotatory forearm of self axis around axis rotation driving motor.
The tree obstacle cleaning device is an electric saw used for sawing branches, the clamping device is used for clamping the branches cut off by the saw, and the recognition device is a camera used for detecting and positioning targets.
The clamping device consists of an upper semicircular holding claw and a lower semicircular holding claw.
The basic zooming units are connected through pin shafts.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the invention has small floor area, stable lifting, convenient transportation and storage and remote control.
2. The clamping device is arranged at the tail end of the mechanical arm, so that the cleaned branches can be prevented from falling to the power transmission line, and the safety benefit is increased.
3. The invention adopts the lifting platform of the scaling mechanism, can stably lift in multiple stages and has small wind area.
4. The camera is arranged at the tail end of the mechanical arm, so that the surrounding environment can be detected and the position of the tree obstacle can be determined, and the electric saw at the tail end of the mechanical arm can effectively clean the tree obstacle at multiple angles.
5. The multi-degree-of-freedom mechanical arm is adjustable in height under the action of the lifting platform of the scaling mechanism, and meanwhile, the tail end of the multi-degree-of-freedom mechanical arm can rotate and move back and forth, so that tree barriers at any height can be removed.
Drawings
Fig. 1 is a schematic view of the overall structure of the device.
Fig. 2 is a schematic view of the lifting platform of the scaling mechanism of the device.
FIG. 3 is a schematic view of the multi-degree of freedom mechanical arm of the present apparatus.
Fig. 4 is a schematic structural view of the device in transportation or storage.
Shown in the figure: 1-lower support plate, 2-hydraulic cylinder, 3-slide fastener, 4-chute, 5-upper support plate, 6-scissor basic telescopic unit, 7-pin shaft, 8-base, 9-big arm driving motor, 10-big arm, 11-small arm, 12-small arm driving motor, 13-forearm telescopic driving motor, 14-forearm rotating driving motor around axis, 15-camera, 16-clamping device, 17-electric saw, 18-forearm, 19-forearm driving motor and 20-base driving motor.
Detailed Description
The structural and operational principles of the present invention are explained in further detail below with reference to the accompanying drawings.
Designed a liftable tree barrier cleaning device according to mechanism of zooming, mechanism of zooming novel in shape, the light is portable, simple structure, be convenient for transportation and storage, repeatedly usable and be convenient for installation and dismantlement. When the tree obstacle cleaning device is in a working state, the lifting platform of the scaling mechanism rises to convey a working tool at the tail end of the mechanical arm to the position of the tree obstacle; when the device is in a storage state, the lifting platform of the scaling mechanism is contracted and descended, the size of the whole device is reduced, and the space is saved.
The invention discloses a clamping tree obstacle cleaning device based on a telescopic mechanism lifting platform, which comprises a telescopic mechanism lifting platform and a multi-degree-of-freedom mechanical arm, wherein the multi-degree-of-freedom mechanical arm is arranged at the top of the telescopic mechanism lifting platform, and a tree obstacle cleaning device, a clamping device and a recognition device are arranged at the tail end of the multi-degree-of-freedom mechanical arm.
Referring to the attached drawing 2, the lifting platform of the scaling mechanism comprises an upper supporting plate 5, a lower supporting plate 1, a triangular prism scaling mechanism, hydraulic cylinders and the like, wherein the lower supporting plate 1 is identical to the upper supporting plate 5 in structure, three sliding grooves 4 are respectively formed in the plate, a main body of the triangular prism scaling mechanism is composed of a plurality of scissor-type basic scaling units 6, the basic units are connected through pin shafts 7, the upper end and the lower end of the triangular prism scaling mechanism are connected with sliding buckles 3 through pin shafts 7, the sliding buckles 3 are embedded into the sliding grooves 4 again, and the three hydraulic cylinders 2 are respectively arranged in the three sliding grooves of the lower supporting plate 1. When the telescopic lifting mechanism works, the hydraulic cylinder drives the slide fastener to linearly move along the sliding groove, and the slide fastener moves to cause the telescopic mechanism to extend or contract, so that the lifting function is achieved.
Referring to fig. 3, the multi-degree-of-freedom mechanical arm comprises a base 8, a large arm 10, a small arm 11, a front arm 18, a tail end working tool and motors which are connected in sequence. The base 8 and the base driving motor 20 are arranged on the upper supporting plate 5 of the lifting device, are driven by the base driving motor 20 and can horizontally rotate; the large arm 10 is arranged on the base 8, the small arm 11 is arranged at the tail end of the large arm, the driving motors 9 and 12 of the large arm and the small arm are arranged on respective rotating joints, and the large arm and the small arm can rotate in a vertical plane under the driving of the motors; the front arm 18 is arranged at the tail end of the small arm, the front arm is driven by three motors, two motors are arranged at the rear end of the front arm, the other motor is arranged at a front arm rotating joint, the first motor is a front arm stretching driving motor 13 and enables the front arm to rotate around the axis of the front arm, the second motor is a front arm rotating driving motor 14 and enables the front arm to stretch back and forth, and the third motor is a front arm driving motor 19 and enables the front arm to rotate in a vertical plane; the front arm is provided with a tail end operation tool, the tail end operation tool comprises a camera 15, a power saw 17 and a clamping device 16, the clamping device 16 is arranged on the other side of the power saw 17 and consists of an upper semicircular holding claw and a lower semicircular holding claw, the camera 15 is used for detecting and positioning a target, the power saw 17 is used for sawing branches, and the clamping device 16 is used for clamping the branches cut off by the saw so as to prevent the branches from falling to a circuit.
The specific working process of the invention is as follows:
the device is conveyed to a designated position by a transport vehicle, the hydraulic cylinder 2 is started to enable the slide fastener 3 to move along the chute 4, the scaling mechanism formed by the scissor unit 6 is unfolded along with the slide fastener, the upper supporting plate 5 and the multi-degree-of-freedom mechanical arm arranged on the upper supporting plate are lifted, an operator judges whether the working height is reached through the telescope or the camera 15, and if the working height is reached, the hydraulic cylinder 2 is stopped. Then, each driving motor of the mechanical arm is started to adjust the pose of the mechanical arm, so that the electric saw 17 and the clamping device 16 reach the operation position, the electric saw is started to saw the branches, the clamping device is started to clamp the branches, the clamping device continues to clamp the cleared branches after the saw cutting is completed, and the branches are loosened to enable the branches to fall to a safe position after the angle of the mechanical arm is adjusted.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose of the embodiments is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All modifications made according to the spirit of the main technical scheme of the invention are covered in the protection scope of the invention.
Claims (5)
1. The utility model provides a but centre gripping barrier cleaning device based on mechanism's lift platform that contracts, its characterized in that:
the multi-degree-of-freedom mechanical arm is arranged at the top of the lifting platform of the scaling mechanism, and the tail end of the multi-degree-of-freedom mechanical arm is provided with a tail end operation tool which comprises a tree obstacle cleaning device, a clamping device (16) and a recognition device;
the scaling mechanism lifting platform comprises an upper supporting plate (5), a lower supporting plate (1), a triangular prism scaling mechanism and a hydraulic cylinder (2), the upper supporting plate (5) and the lower supporting plate (1) are identical in structure, three sliding grooves (4) are formed in the plates, the triangular prism scaling mechanism is composed of a plurality of scissor-type basic scaling units (6), the upper end and the lower end of the triangular prism scaling mechanism are connected with a sliding buckle (3) through a pin shaft (7), the sliding buckle (3) is embedded into the sliding grooves (4) of the upper supporting plate (5) and the lower supporting plate (1), and the hydraulic cylinder (2) is arranged in the sliding groove (4) of the lower supporting plate (1);
the multi-degree-of-freedom mechanical arm comprises a base (8), a large arm (10), a small arm (11), a front arm (18) and a tail end operation tool which are sequentially connected, wherein the base (8), the large arm (10), the small arm (11) and the front arm (18) are connected through a rotary joint; the base (8) and the base driving motor (20) are arranged on the upper supporting plate (5), the large arm (10) is arranged on the base (8), the small arm (11) is arranged at the tail end of the large arm (10), the front arm (18) is arranged at the tail end of the small arm (11), three motors are arranged at the tail end of the front arm (18), one motor is used for realizing front-back stretching of the front arm (18), the other motor is used for realizing rotation of the front arm (18) in a vertical plane, and the other motor is used for realizing rotation of the front arm (18) around the axis of the front arm (18); the end of the front arm (18) is also provided with an end working tool, a recognition device and a clamping device (16).
2. The device for cleaning the clampable tree obstacle based on the telescopic mechanism lifting platform as claimed in claim 1, wherein:
be provided with big arm driving motor (9) that are used for realizing big arm (10) vertical plane internal rotation on the revolute joint between big arm (10) and forearm (11), be provided with forearm driving motor (12) that are used for realizing forearm (11) vertical plane internal rotation on the revolute joint between forearm (11) and forearm (18), forearm (18) end is provided with and is used for realizing forearm (18) vertical plane internal rotation is forearm driving motor (19), still is provided with and is used for realizing flexible driving motor (13) of forearm (18) front and back and is used for realizing forearm (18) around the rotatory forearm axis rotation driving motor (14) of self axis.
3. The device for cleaning the clampable tree obstacle based on the telescopic mechanism lifting platform as claimed in claim 2, wherein:
the tree obstacle cleaning device is an electric saw (17) used for sawing branches, the clamping device (16) is used for clamping the branches cut off by the saw, and the recognition device is a camera (15) used for detecting and positioning targets.
4. The device for cleaning the clampable tree obstacle based on the telescopic mechanism lifting platform as claimed in claim 3, wherein:
the clamping device (16) consists of an upper semicircular gripper jaw and a lower semicircular gripper jaw.
5. The device for cleaning the clampable tree obstacle based on the telescopic mechanism lifting platform as claimed in claim 2, wherein:
the basic zooming units are connected through a pin shaft (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111642943.0A CN114271119A (en) | 2021-12-30 | 2021-12-30 | But centre gripping barrier cleaning device based on mechanism's lift platform zooms out |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111642943.0A CN114271119A (en) | 2021-12-30 | 2021-12-30 | But centre gripping barrier cleaning device based on mechanism's lift platform zooms out |
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| CN114271119A true CN114271119A (en) | 2022-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111642943.0A Pending CN114271119A (en) | 2021-12-30 | 2021-12-30 | But centre gripping barrier cleaning device based on mechanism's lift platform zooms out |
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| CN (1) | CN114271119A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115399157A (en) * | 2022-09-30 | 2022-11-29 | 国网山东省电力公司莒南县供电公司 | Overhead transmission line tree barrier cleaning device |
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| CN201290279Y (en) * | 2008-11-19 | 2009-08-19 | 北京理工大学 | High big garden-trees trimming machine |
| CN104823731A (en) * | 2015-05-27 | 2015-08-12 | 武汉大学 | Branch pruning robot for overhead high-voltage transmission line live working |
| CN105248161A (en) * | 2015-11-03 | 2016-01-20 | 国网山东济南市历城区供电公司 | Electric power maintenance tree obstacle clearing vehicle |
| CN106239489A (en) * | 2016-08-26 | 2016-12-21 | 国网山东省电力公司鄄城县供电公司 | Device removed by transmission line of electricity bird's nest |
| CN208955564U (en) * | 2018-11-26 | 2019-06-07 | 广州市极臻智能科技有限公司 | A kind of high-voltage line intelligence screen of trees cleaning plant based on Multi-shaft mechanical arm hoistable platform |
| CN113557861A (en) * | 2021-06-04 | 2021-10-29 | 刘昌灏 | Trimming platform capable of leveling power transmission line |
| CN216452055U (en) * | 2021-12-30 | 2022-05-10 | 陕西科技大学 | But centre gripping barrier cleaning device based on mechanism's lift platform zooms out |
-
2021
- 2021-12-30 CN CN202111642943.0A patent/CN114271119A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201290279Y (en) * | 2008-11-19 | 2009-08-19 | 北京理工大学 | High big garden-trees trimming machine |
| CN104823731A (en) * | 2015-05-27 | 2015-08-12 | 武汉大学 | Branch pruning robot for overhead high-voltage transmission line live working |
| CN105248161A (en) * | 2015-11-03 | 2016-01-20 | 国网山东济南市历城区供电公司 | Electric power maintenance tree obstacle clearing vehicle |
| CN106239489A (en) * | 2016-08-26 | 2016-12-21 | 国网山东省电力公司鄄城县供电公司 | Device removed by transmission line of electricity bird's nest |
| CN208955564U (en) * | 2018-11-26 | 2019-06-07 | 广州市极臻智能科技有限公司 | A kind of high-voltage line intelligence screen of trees cleaning plant based on Multi-shaft mechanical arm hoistable platform |
| CN113557861A (en) * | 2021-06-04 | 2021-10-29 | 刘昌灏 | Trimming platform capable of leveling power transmission line |
| CN216452055U (en) * | 2021-12-30 | 2022-05-10 | 陕西科技大学 | But centre gripping barrier cleaning device based on mechanism's lift platform zooms out |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115399157A (en) * | 2022-09-30 | 2022-11-29 | 国网山东省电力公司莒南县供电公司 | Overhead transmission line tree barrier cleaning device |
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