CN114271119A - A clampable tree barrier cleaning device based on a lifting platform of a retractable mechanism - Google Patents

Abstract

The invention discloses a clampable tree barrier cleaning device based on a lifting platform of a scaling mechanism, which specifically includes a lifting platform of a scaling mechanism and a multi-degree-of-freedom mechanical arm, wherein the multi-degree-of-freedom mechanical arm is arranged on the top of the lifting platform of the scaling mechanism , the end of the multi-degree-of-freedom mechanical arm is provided with an end working tool, including a tree barrier cleaning device, a clamping device and an identification device. Multiple drive motors. The invention is based on the lifting platform of the telescopic mechanism, which is flexible and portable, stable in lifting and lowering, occupies a small area, and can be controlled remotely.

Description

A clampable tree barrier cleaning device based on a lifting platform of a retractable mechanism

technical field

The invention belongs to the research field of electric power maintenance, and particularly relates to a clampable tree barrier cleaning device based on a lifting platform of a telescopic mechanism.

Background technique

Transmission lines are an important part of the power network and have the characteristics of wide coverage and long transmission distances. With the continuous growth of the scale of the power grid and the country's vigorous promotion of ecological civilization construction, the forest coverage rate has continued to increase. The contradiction of "line tree" is becoming more and more prominent, and it is more difficult to manage tree barriers. Accidents such as line tripping, power grid blackouts and forest fires caused by tree barriers have occurred from time to time, which have seriously threatened the safe operation of transmission lines. Severe tree barrier hidden dangers need to be cleaned up in time. At present, the main tree barrier clearing is done by staff holding knives, hand saws and chainsaws, climbing trees, working at heights with boom trucks, or using extension poles. It mainly adopts manual manual operation, the work task is heavy, and there is a risk of falling from a height and electric shock during the cleaning process, the operation effect is unstable, and the work efficiency is not high. Therefore, it is of great use value to research a flexible and portable tree barrier cleaning device with small footprint, convenient operation and high work efficiency.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art, and to provide a clampable tree barrier cleaning device based on a lifting platform of a scaling mechanism. The land area is small, it can be controlled remotely, and it can flexibly clean up tree barriers between high branches and avoid the cleaned tree barriers from falling to the transmission line.

The object of the present invention is achieved through the following technical solutions:

A clampable tree barrier cleaning device based on a lifting platform of a scaling mechanism, comprising a lifting platform of a scaling mechanism and a multi-degree-of-freedom mechanical arm, the multi-degree-of-freedom mechanical arm being arranged on the top of the lifting platform of the scaling mechanism, and a multi-degree-of-freedom mechanical arm. The end of the arm is provided with an end working tool, including a tree barrier clearing device, a clamping device and an identification device;

The lifting platform of the expansion and contraction mechanism includes an upper support plate, a lower support plate, a triangular prism expansion mechanism and a hydraulic cylinder. The upper support plate and the lower support plate have the same structure, and there are three chutes on the plate. It is composed of a scissor-type basic scaling unit. The upper and lower ends of the triangular prism scaling mechanism are connected with the sliding buckle through the pin shaft. The sliding buckle is embedded in the sliding grooves of the upper supporting plate and the lower supporting plate. in the groove;

The multi-degree-of-freedom mechanical arm includes a base, a large arm, a small arm, a forearm and an end working tool that are connected in sequence, and the base, the large arm, the small arm and the forearm are linked by a rotary joint; the base and the base The drive motor is set on the upper support plate, the big arm is set on the base, the small arm is set at the end of the big arm, the forearm is set at the end of the forearm, and three motors are set at the end of the forearm, one is used to realize the front and rear extension of the forearm, and the other is It is used to realize the rotation of the forearm in the vertical plane, and one is used to realize the rotation of the forearm around its own axis; the end of the forearm is also provided with an end working tool, an identification device and a clamping device.

A big arm drive motor for realizing the rotation in the vertical plane of the big arm is arranged on the rotary joint between the big arm and the small arm, and the rotary joint between the small arm and the forearm is provided with a big arm driving motor for realizing the vertical rotation of the small arm. A forearm drive motor that rotates in a plane, the end of the forearm is provided with a forearm drive motor for realizing the vertical in-plane rotation of the forearm, and a forearm telescopic drive motor for realizing the forearm forward and backward telescopic and a forearm for realizing the rotation of the forearm around its own axis. The forearm rotates around the axis to drive the motor.

The tree barrier cleaning device is an electric saw for sawing branches, the clamping device is used for clamping the sawed branches, and the identification device is a camera for detecting and locating the target.

The clamping device consists of two upper and lower semicircular gripping claws.

The basic scaling units are connected by pins.

Compared with the prior art, the present invention has the following advantages and beneficial effects:

1. The invention has a small footprint, stable lifting, convenient transportation and storage, and can be remotely controlled.

2. A clamping device is installed at the end of the mechanical arm of the present invention, which can prevent the cleaned branches from falling to the power transmission line and increase the safety benefit.

3. The present invention adopts the lifting platform of the telescopic mechanism, which can be lifted and lowered smoothly in multiple stages, and the wind receiving area is small.

4. The end of the robot arm of the present invention is equipped with a camera, which can detect the surrounding environment and determine the position of the tree barrier, and the chainsaw at the end of the robot arm can effectively clean the tree barrier from multiple angles.

5. In the present invention, the height of the multi-degree-of-freedom mechanical arm can be adjusted under the action of the lifting platform of the scaling mechanism, and at the same time, the end can be rotated and moved back and forth, so the removal of tree barriers of any height can be realized.

Description of drawings

FIG. 1 is a schematic diagram of the overall structure of the device.

FIG. 2 is a schematic diagram of the lifting platform of the telescopic mechanism of the device.

FIG. 3 is a schematic diagram of a multi-degree-of-freedom robotic arm of the device.

FIG. 4 is a schematic structural diagram of the device during transportation or storage.

As shown in the picture: 1-lower support plate, 2-hydraulic cylinder, 3-slide buckle, 4-chute, 5-upper support plate, 6-scissor-type basic scaling unit, 7-pin shaft, 8-base Seat, 9-big arm drive motor, 10-big arm, 11- forearm, 12- forearm drive motor, 13- forearm telescopic drive motor, 14- forearm pivoting drive motor, 15-camera, 16-clamping Device, 17- Chainsaw, 18- Forearm, 19- Forearm Drive Motor, 20- Base Drive Motor.

Detailed ways

The structural principle and working principle of the present invention will be further described in detail below with reference to the accompanying drawings.

A liftable tree barrier cleaning device is designed according to the scaling mechanism. The scaling mechanism is novel in shape, light and portable, simple in structure, easy to transport and store, reusable and easy to install and dismantle. When the tree barrier cleaning device is in the working state, the lifting platform of the scaling mechanism rises to send the working tool at the end of the mechanical arm to the tree barrier position; when it is in the storage status, the lifting platform of the scaling mechanism shrinks and descends, reducing the volume of the entire device and saving space.

Referring to FIG. 1 , the present invention discloses a clampable tree barrier cleaning device based on a lifting platform of a scaling mechanism, including a lifting platform of a scaling mechanism and a multi-degree-of-freedom mechanical arm, and the multi-degree-of-freedom mechanical arm is arranged on the scaling mechanism On the top of the lifting platform, the end of the multi-degree-of-freedom mechanical arm is provided with a tree barrier cleaning device, a clamping device and an identification device.

Referring to Figure 2, the lifting platform of the scaling mechanism includes an upper support plate 5, a lower support plate 1, a triangular prism expansion mechanism and a hydraulic cylinder, etc. The lower support plate 1 has the same structure as the upper support plate 5, and each plate is provided with three sliding Slot 4, the main body of the triangular prism expansion mechanism is composed of a plurality of scissor-type basic expansion units 6, the basic units are connected by pins 7, and the upper and lower ends of the triangular prism expansion mechanism are connected with the slider 3 by pins 7 , the slide buckle 3 is then embedded in the chute 4, and the three hydraulic cylinders 2 are placed in the three chute of the lower support plate 1 respectively. When working, the hydraulic cylinder drives the slider to move linearly along the chute, and the movement of the slider causes the expansion and contraction mechanism to expand or contract, so as to achieve the function of lifting.

Referring to FIG. 3 , the multi-degree-of-freedom manipulator includes a base 8 connected in sequence, a large arm 10 , a small arm 11 , a forearm 18 , an end working tool and various motors. The base 8 and the base drive motor 20 are installed on the upper support plate 5 of the lifting device, driven by the base drive motor 20 and can rotate horizontally; the big arm 10 is installed on the base 8, the small arm 11 is installed on the end of the big arm, and the two The driving motors 9 and 12 are installed on their respective rotating joints, and the two are driven by the motors to rotate in a vertical plane; the forearm 18 is installed at the end of the forearm, and the forearm is driven by three motors, two of which are installed at the rear end of the forearm, The other one is installed on the forearm rotation joint. The first motor is the forearm telescopic drive motor 13, which makes the forearm rotate around its own axis. The second motor is the forearm rotation around the axis to drive the motor 14, which makes the forearm telescopic forward and backward. The third motor is the forearm. The driving motor 19 enables the forearm to rotate in a vertical plane; the forearm is provided with an end working tool, and the end working tool includes a camera 15, an electric saw 17 and a clamping device 16, and the clamping device 16 is installed on the other side of the electric saw 17, It consists of two upper and lower semi-circular gripping claws. The camera 15 is used to detect and locate the target, the electric saw 17 is used to cut branches, and the clamping device 16 is used to clamp the branches cut off by the saw to avoid falling to the line.

The concrete working process of the present invention is as follows:

The device is transported to the designated position by the transport vehicle, the hydraulic cylinder 2 is activated to move the slider 3 along the chute 4, and the expansion and contraction mechanism formed by the scissor unit 6 is expanded accordingly, so that the upper support plate 5 and the The multi-degree-of-freedom robotic arm rises, and the operator judges through the telescope or the camera 15 whether the working height is reached, and if so, the hydraulic cylinder 2 is shut down. Then start the driving motors of the mechanical arm to adjust the posture of the mechanical arm so that the electric saw 17 and the clamping device 16 reach the working position, start the electric saw to cut the branches, start the clamping device to clamp the branches, and after the sawing is completed, the clamping device continues to clamp Hold the cleaned branch and release the branch after adjusting the angle of the robotic arm to let it fall to a safe position.

The above-mentioned embodiments are only intended to illustrate the technical concept and characteristics of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly, and cannot limit the protection scope of the present invention. All modifications made according to the spirit and essence of the main technical solutions of the present invention should be covered within the protection scope of the present 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).

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