CN114583614B - Tree obstacle cleaning device - Google Patents
Tree obstacle cleaning device Download PDFInfo
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- CN114583614B CN114583614B CN202210213168.5A CN202210213168A CN114583614B CN 114583614 B CN114583614 B CN 114583614B CN 202210213168 A CN202210213168 A CN 202210213168A CN 114583614 B CN114583614 B CN 114583614B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 41
- 230000007246 mechanism Effects 0.000 claims abstract description 114
- 238000005520 cutting process Methods 0.000 claims abstract description 53
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000007306 turnover Effects 0.000 claims 2
- 230000004888 barrier function Effects 0.000 abstract description 14
- 230000000694 effects Effects 0.000 abstract description 7
- 238000004804 winding Methods 0.000 description 13
- 239000000725 suspension Substances 0.000 description 12
- 238000013138 pruning Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000009966 trimming Methods 0.000 description 5
- 206010014357 Electric shock Diseases 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000011810 insulating material Substances 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000002271 resection Methods 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
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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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- 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
- A01G3/085—Motor-driven saws for pruning or branching
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/40—Afforestation or reforestation
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Abstract
The invention discloses a tree obstacle cleaning device, which comprises a frame, a traveling mechanism, a hoisting mechanism, a cutting mechanism and a power supply control mechanism, wherein the traveling mechanism, the hoisting mechanism, the cutting mechanism and the power supply control mechanism are arranged on the frame; the power supply control mechanism is electrically connected with the travelling mechanism, the hoisting mechanism and the cutting mechanism respectively; each cutting mechanism comprises a bottom frame arranged on the frame, a swing frame which can be arranged on the bottom frame in a turning manner, a turning driving device for driving the swing frame to turn and swing, a mounting seat arranged on the swing frame, an electric saw fixedly arranged on the mounting seat, and a rotation driving device for driving the mounting seat and the electric saw to rotate. The cutting mechanism in the tree barrier cleaning device provided by the invention can switch the horizontal cutting mode and the vertical cutting mode according to the growth direction of the actual tree barrier, ensures that the tree barrier in the horizontal direction and the tree barrier in the vertical direction below the cable can be cleaned, greatly improves the cleaning effect and enlarges the cleaning range.
Description
The application is a divisional application of a patent application with the patent application number of 202010647123.X, the application date of "7 months and 7 days in 2020", and the name of "a tree obstacle clearing robot".
Technical Field
The invention relates to the field of power system maintenance, in particular to a tree barrier cleaning device.
Background
With the expansion of the scale of the power system and the improvement of the voltage level, the safe, reliable and economic operation of the power transmission line becomes more important, and tree obstacle pruning is one of the most effective means for improving the prevention of tree obstacle accidents. Because the manual pruning has the problems of missing scissors, less scissors, long operation time, high labor intensity, personnel having electric shock risks and the like, in order to improve the tree obstacle cleaning efficiency, the tree obstacle cleaning device is adopted to realize the automatic intelligent cleaning of the tree obstacle.
The invention patent with the prior publication number of CN110867773A discloses a device for removing high-voltage line tree barriers in an electrified way, wherein a cutting device in the device comprises a mounting seat, an electric saw fixedly arranged on the mounting seat and a rotating motor for driving the electric saw to rotate in the horizontal direction; in addition, the device can not prune some superelevation tree barriers, often needs the manual work to adopt the high branch to cut in the benefit, and the high branch cuts have following not enough in the use: 1. the high branch scissors are not insulated, so that trees which are not met with the safe distance and are protected by the high-voltage electrified facilities cannot be trimmed, and the application range is limited; 2. the direction of the scissor head of the common high branch scissors is single, the pruning effect on horizontal branches is good, the pruning effect on vertical branches is poor, and the operation is time-consuming and the cutter head is easy to break; 3. the common high branch shears have the problems that the cutter heads are blocked easily in the pruning process due to the pulley block labor-saving device, so that the operation cannot be continued; 4. the common high branch scissors head is fixed, and only relatively thin branches can be trimmed. Therefore, the high branch scissors have more defects in the use process, so that the high branch scissors are greatly limited in use, and the working efficiency is affected.
It can be seen that there is a need for improvements and improvements in the art.
Disclosure of Invention
In view of the shortcomings of the prior art, the invention aims to provide a tree obstacle cleaning device which aims to effectively cut off tree obstacles growing horizontally and vertically near cables, enlarge the tree obstacle cleaning range and improve the tree obstacle cleaning effect.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the tree obstacle cleaning device comprises a frame, a travelling mechanism, a hoisting mechanism, a cutting mechanism and a power supply control mechanism, wherein the travelling mechanism, the hoisting mechanism, the cutting mechanism and the power supply control mechanism are arranged on the frame; the power supply control mechanism is electrically connected with the travelling mechanism, the hoisting mechanism and the cutting mechanism respectively; the two groups of cutting mechanisms are respectively arranged at the left side and the right side of the travelling mechanism; each cutting mechanism comprises a bottom frame arranged on the frame, a swing frame which can be arranged on the bottom frame in a turning manner, a turning driving device for driving the swing frame to turn and swing, a mounting seat arranged on the swing frame, an electric saw fixedly arranged on the mounting seat, and a rotation driving device for driving the mounting seat and the electric saw to rotate.
The support comprises a bottom plate and two bearing seats oppositely arranged on the bottom plate, wherein the mounting seat is arranged between the two bearing seats, and each bearing seat is connected with the mounting seat through a connecting shaft.
The swing driving device is a first electric push rod, the electric saw is provided with a guide plate, and the end part of the push rod of the first electric push rod is hinged with the bottom of the guide plate; the shell end of the first electric push rod is hinged with the bottom plate.
The rotary driving device comprises a rotary motor fixedly arranged on the swing frame, a bearing seat arranged on the swing frame and a rotating shaft arranged in the bearing seat, wherein one end of the rotating shaft is in transmission connection with the output end of the rotary motor; the other end of the rotating shaft is fixedly connected with the bottom plate through a shaft sleeve.
The bottom of bottom plate is equipped with a plurality of downwardly extending's projection, be provided with the backup pad on the rocker, set up the stopper in the backup pad, the stopper is used for preventing the projection to continue to rotate.
The overturning driving device is a second electric push rod, and the end part of the push rod of the second electric push rod is hinged with the swing frame; the shell end of the second electric push rod is hinged with the underframe.
The machine frame comprises an upper machine frame and a lower machine frame, and the upper machine frame and the lower machine frame are connected in an insulating manner; the power supply control mechanism comprises an upper electric control box and a lower electric control box, the upper electric control box is electrically connected with the travelling mechanism and the hoisting mechanism, and the lower electric control box is electrically connected with the cutting mechanism; the upper electric cabinet, the travelling mechanism and the hoisting mechanism are arranged on the upper frame, the lower electric cabinet is arranged on the lower frame, and the two cutting mechanisms are respectively arranged on the left side and the right side of the lower frame.
The travelling mechanism comprises a travelling wheel, a travelling support, a travelling motor and a swinging cylinder; the walking motor is arranged on the walking bracket, and the wire wheel is arranged on one side of the upper end of the walking bracket and is connected with the output end of the walking motor; the lower end of the walking support is hinged with the upper frame, the other side of the upper end of the walking support is connected with the output end of the swinging cylinder, and the lower end of the swinging cylinder is hinged with the upper frame.
The hoisting mechanism comprises two suspension wheels symmetrically arranged at the top of the upper frame and a hoisting motor arranged corresponding to each suspension wheel; the hoisting motor is used for driving the corresponding suspension wheel to rotate, the suspension wheel is used for winding and unwinding a hanging strip, and the hanging strip is used for suspending the rack on the cable.
The tree obstacle cleaning device provided by the invention has the beneficial effects that the tree obstacle cleaning device replaces manual work to clean tree obstacles by using the high-branch scissors, so that the tree obstacle cleaning device can work normally under the condition that a cable is electrified, and economic loss caused by cable power failure and reliability of resident power supply are avoided; therefore, the problems of low efficiency and high operation risk (such as electric shock risk) of the traditional manual trimming are solved. Compared with the existing tree obstacle cleaning device, the tree obstacle cleaning device provided by the invention has the advantages that the cutting mechanisms are respectively arranged at the left side and the right side of the cable, each cutting mechanism is responsible for cleaning the tree obstacle near one side of the cable, so that the tree obstacle near the whole cable is better cleaned, and the conditions of missing cutting and less cutting are reduced; and moreover, the cutting mechanism can switch between a horizontal cutting mode and a vertical cutting mode according to the growth direction of an actual tree obstacle, so that the tree obstacle in the horizontal direction and the tree obstacle in the vertical direction below the cable can be cleaned, the cleaning effect is greatly improved, the cleaning range is enlarged, and the potential safety hazard caused by high-altitude branches touching the cable is better eliminated.
Drawings
Fig. 1 is a perspective view of a tree obstacle clearing device provided by the invention.
Fig. 2 is a schematic structural view of a cutting mechanism in a vertical cutting mode in the tree obstacle clearing device provided by the invention.
Fig. 3 is a schematic view of a structure of a cutting mechanism in a horizontal cutting mode in the tree obstacle clearing device provided by the invention.
Fig. 4 is a schematic diagram of a structure of a cutting mechanism in a horizontal cutting mode in the tree obstacle clearing device provided by the invention.
Fig. 5 is a perspective view of a traveling mechanism and a hoisting mechanism in the tree obstacle clearing device provided by the invention.
Description of main reference numerals: 100-rack, 110-upper rack, 120-lower rack, 400-cutting mechanism, 410-chassis, 420-swing frame, 430-turning drive, 440-mount, 450-electric saw, 451-guide, 460-rotation drive, 470-support, 471-bottom plate, 472-support, 473-connecting shaft, 452-limit bar, 461-rotating motor, 462-bearing seat, 463-rotating shaft, 481-boss, 482-support plate, 483-limit block, 490-swing drive, 300-running mechanism, 310-running wheel, 320-running bracket, 330-running motor, 340-swing cylinder, 500-winding mechanism, 510-hanging wheel, 520-winding motor, 600-hanging frame.
Detailed Description
The invention provides a tree obstacle cleaning device, which is used for making the purposes, technical schemes and effects of the invention clearer and more definite, and the invention is further described in detail below by referring to the accompanying drawings and the embodiments. It should be understood that the detailed description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1-5, the present invention provides a tree obstacle clearing device, which includes a frame 100, a travelling mechanism 300, a hoisting mechanism 500, a cutting mechanism 400 and a power supply control mechanism, wherein the travelling mechanism 300, the hoisting mechanism 500, the cutting mechanism 400 and the power supply control mechanism are arranged on the frame 100; the power supply control mechanism is respectively and electrically connected with the traveling mechanism 300, the hoisting mechanism 500 and the cutting mechanism 400; the two groups of cutting mechanisms 400 are arranged, and the two groups of cutting mechanisms 400 are symmetrically arranged at the left side and the right side of the travelling mechanism 300 respectively; each of the cutting mechanisms 400 includes a base frame 410 provided on the frame, a swing frame 420 provided on the base frame 410 in a reversible manner, a flip drive device 430 for driving the swing frame 420 to flip and swing, a mount 440 provided on the swing frame 420, a power saw 450 fixedly provided on the mount 440, and a rotation drive device 460 for driving the mount 440 and the power saw 450 to rotate. Here, the swing frame 420 is connected with the bottom frame 410 through the hinge seat 411, the electric saw 450 is detachably mounted on the mounting seat 440, the electric saw 450 is of the prior art, and can be purchased from the market, and the working principle thereof is not repeated here.
In practical application, the tree obstacle cleaning device provided by the invention replaces manual operation to clean tree obstacles by using the high-branch scissors, so that tree obstacles with different heights and orientations can be cleaned well, the tree obstacle cleaning device can work normally under the condition that a cable is electrified, and economic loss caused by cable power failure and reliability of resident power supply are avoided; therefore, the problems of low efficiency and high operation risk (such as electric shock risk) of the traditional manual trimming are solved.
In operation, the tree obstacle clearing device is lifted and lowered on the cable 700 by winding and unwinding a hanging belt (not shown in the figure) through the winding mechanism 500, and when the tree obstacle clearing device is lifted to the cable, the tree obstacle clearing device walks along the cable 700 through the walking mechanism 300. During walking, the electric saw 450 cleans up tree obstacles near the cable. Compared with the existing excision mechanism 400, the excision mechanism 400 provided by the invention has two excision modes, namely a horizontal excision mode and a vertical excision mode; see fig. 3 and 4, horizontal resection mode: the swing frame 420 is in a horizontal state (the swing frame 420 is parallel to the underframe 410), the electric saw 450 is also in a flat state, the tree obstacle cleaning device is in a walking process, the electric saw 450 moves transversely, the electric saw 450 easily cuts off the vertically growing branches, the rotating motor 461 can control the electric saw 450 on the mounting seat 440 to rotate, tree obstacles in different directions can be cleaned, and the cleaning range is wide. See fig. 2, vertical cut mode: the overturning driving device 430 drives the swinging frame 420 to overturn and swing, so that the swinging frame 420 is perpendicular to the underframe 410; the electric saw 450 is in a standing state, the tree obstacle cleaning device enables the electric saw 450 to move transversely in the walking process, the electric saw 450 easily cuts off branches growing transversely, the rotating motor 461 can control the electric saw 450 on the mounting seat 440 to rotate, and tree obstacles at different heights can be cleaned; and because the electric saw is raised by the swing frame, the electric saw can play a better role in pruning some ultrahigh branches, and pruning is not required to be performed manually by adopting a high branch scissors.
Compared with the existing tree obstacle cleaning device, the tree obstacle cleaning device has the advantages that the cutting mechanisms 400 are respectively arranged on the left side and the right side of the cable, each cutting mechanism 400 is responsible for cleaning the tree obstacle near one side of the cable, the tree obstacle near the whole cable is better cleaned, and the conditions of missing cutting and less cutting are reduced; and, the excision mechanism 400 can be switched according to the growth direction of actual tree barrier, ensures that the tree barrier on the horizontal direction below the cable and the tree barrier on the vertical direction can both be cleaned, greatly improves the cleaning effect and enlarges the cleaning range, and better eliminates the potential safety hazard brought by high-altitude branches touching the cable.
Specifically, the mounting base 440 is connected with the rotation driving device 460 through a support 470, the mounting base 440 can swing relative to the support 470, and the support 470 is provided with a swing driving device 490 for driving the mounting base 440 and the electric saw 450 to swing. When the electric saw 450 is used for pruning tree barriers, the swing driving device 490 drives the electric saw 450 to swing around the connection part of the mounting seat 440 and the support 470, so that the pruning range is increased.
By means of the arrangement, in the horizontal cutting mode, the extending end of the guide plate 451 of the electric saw 450 is not fixed lower than the whole tree obstacle cleaning device, the swing angle of the motor can be timely adjusted according to the on-site tree obstacle production condition, and some cut tree obstacles higher than the mounting seat 440 are removed; when the guide plate 451 of the electric saw 450 swings parallel to the horizontal, the electric saw 450 reaches a maximum lateral cut length; it should be noted that, in general, as shown in fig. 4, the extending end of the guide plate 451 of the electric saw 450 is lower than the whole tree obstacle cleaning device, and the cleaning range extends downward, so as to avoid the collision between the tree obstacle with insufficient pruning degree and the bottom of the tree obstacle cleaning device in the advancing process, and affect the normal operation of the tree obstacle cleaning device.
In the vertical cutting mode, the extending end of the guide plate 451 of the electric saw 450 may be disposed upward, and the swing driving device 490 may drive the extending end of the electric saw 450 to turn downward, so that the electric saw 450 may clean up tree barriers within a certain height range, and the trimming range is very wide, so that the tree barriers in the vertical direction are better ensured to be cleaned up. Of course, the swing driving device 490 may level the guide plate 451 of the electric saw 450, so that the electric saw 450 performs horizontal trimming at the current height, further increasing the trimming range.
Specifically, as shown in fig. 3, the support 470 includes a bottom plate 471, two receiving seats 472 oppositely disposed on the bottom plate 471, and the mounting seat 440 is disposed between the two receiving seats 472, and each receiving seat 472 is connected to the mounting seat 440 through a connection shaft 473. By this arrangement, the mount 440 swings smoothly with respect to the support 470 and the connection is reliable.
Further, the swing driving device 490 is a first electric push rod, the electric saw 450 is provided with a guide plate 451, and the push rod end of the first electric push rod is hinged with the bottom of the guide plate 451; the end of the first electric push rod is hinged with the bottom plate 471. The first electric push rod is driven by electric energy, so that the electric saw 450 can be precisely driven to swing to a proper position.
Further, because when the tree obstacle is cleaned, the electric saw 450 swings when contacting the tree branches, and the electric saw 450 is difficult to keep continuous contact with the tree branches, which is not beneficial to cleaning. In some embodiments, the guide plate 451 is provided with a plurality of spacing bars 452 at equal intervals, and the spacing bars 452 are transversely disposed and perpendicular to the guide plate 451. Through the arrangement, the swing amplitude of the tree branches is limited between the two limiting strips 452, the effective contact between the electric saw 450 and the tree branches is increased, and the cleaning efficiency is improved.
Preferably, the two ends of the limiting strips 452 are pointed, so that the tree branches can be conveniently guided between the two limiting strips 452.
Specifically, the rotation driving device 460 includes a rotating motor 461 fixedly disposed on the swing frame 420, a bearing seat 462 disposed on the swing frame 420, and a rotating shaft 463 disposed in the bearing seat 462, wherein one end of the rotating shaft 463 is in transmission connection with an output end of the rotating motor 461; the other end of the rotating shaft 463 is fixedly connected with the bottom plate 471 through a shaft sleeve. The rotating motor 461 controls the electric saw 450 on the mounting seat 440 to rotate, so that tree barriers in a certain working range can be cleaned. In addition, the bearing seat 462 and the rotating shaft 463 serve as a supporting support 470, the mounting seat 440 and the electric saw 450, so that the mounting seat 440 has enough space to swing without interfering with the swing frame 420.
Specifically, as shown in fig. 2 and 3, a plurality of downward extending protruding columns 481 are disposed at the bottom of the bottom plate 471, a support plate 482 and a limiting block 483 disposed on the support plate 482 are disposed on the swing frame 420, and the limiting block 483 is used for preventing the protruding columns 481 from continuing to rotate. In this embodiment, two protruding columns 481 are provided, and the cooperation of the two protruding columns 481 and the limiting block 483 limits the rotation range of the electric saw 450 to be between 0 ° and 180 ° so as to prevent the electric saw 450 from excessively large rotation and interfering with other components. Preferably, the support plate 482 is provided with a proximity switch 484, and the proximity switch 484 is used to detect the swing range of the power saw 450, so that the user can better determine the position of the power saw 450.
Preferably, the overturning driving device 430 is located on a second electric push rod, and the push rod end of the second electric push rod is hinged with the swing frame 420; the housing end of the second electric putter is hinged to the chassis 410. The second electric push rod is driven by electric energy, and can precisely drive the swing frame 420 to turn to a position perpendicular to the bottom frame 410.
As an embodiment, as shown in fig. 2, the swing frame 420 includes a first supporting beam 421, a second supporting beam 422 disposed parallel to the first supporting beam, and a first connecting beam 423 connecting the first supporting beam 421 and the second supporting beam 422, where the first supporting beam 421, the first connecting beam 423, and the second supporting beam 422 are sequentially connected to form a zigzag shape of the swing frame 420; the second supporting beam 422 is hinged to the chassis 410, a second connecting beam 424 perpendicular to the second supporting beam 422 is provided on the second supporting beam 422, and an output end of the turning driving device 430 is hinged to the second connecting beam 424. By such arrangement, the swing frame 420 has reasonable structure and light overall weight, and can be well lifted by the hoisting mechanism 500. Here, the chassis 410 and the swing frame 420 are made of aluminum profiles, so that the structural strength is good, and the overall weight is further reduced.
Specifically, in the present embodiment, the frame 100 includes an upper frame 110 and a lower frame 120, and the upper frame 110 and the lower frame 120 are connected in an insulating manner; the power supply control mechanism comprises an upper electric control box (not shown in the figure) and a lower electric control box 610, wherein the upper electric control box is electrically connected with the travelling mechanism 300 and the hoisting mechanism 500, and the lower electric control box 610 is electrically connected with the cutting mechanism 400; the upper electric cabinet, the traveling mechanism 300 and the hoisting mechanism 500 are arranged on the upper frame 110, the lower electric cabinet is arranged on the lower frame 120, and the two cutting mechanisms 400 are respectively arranged on the left side and the right side of the lower frame 120. By insulating the upper frame 110 from the lower frame 120, the running mechanism 300 and the winding mechanism 500 are separately powered from the cutting mechanism 400, so that the running mechanism 300 and the winding mechanism 500 which are in contact with cables are prevented from influencing the normal operation of the cutting mechanism 400 due to surface electrification, and the normal operation of the cutting mechanism 400 is ensured.
Specifically, in this embodiment, the upper frame 110 and the lower frame 120 are provided with fixing seats 140, the fixing seats 140 vertically correspond to each other, and are connected by insulating columns 130, and the insulating columns are made of insulating materials. In order to improve the structural strength and stability of the rack, three insulating columns 130 are provided, one insulating column 130 is vertically arranged and is positioned under the cable, and the other two insulating columns are obliquely and symmetrically arranged to form a tripod shape, so that the safe distance between the hoisting mechanism 500 and the running mechanism 300 on the upper rack 110 and the cutting mechanism 400 is ensured to be more than 0.7 m. The connection between the upper and lower frames 110 and 120 is not limited to the above connection, and may be connected by other insulating materials or connectors.
It should be noted that, the upper electric control box and the lower electric control box 610 are both provided with a control board and a storage battery, wherein, the control board can be controlled by a PLC or a single chip microcomputer, and the model of the single chip microcomputer is preferably SIM32 series.
In some embodiments, the running gear 300 includes a running wheel 310, a running support 320, a running motor 330, and a swing cylinder 340; the walking motor 330 is arranged on the walking bracket 320, and the walking wheel 310 is arranged on one side of the upper end of the walking bracket 320 and is connected with the output end of the walking motor 330; the lower end of the walking bracket 320 is hinged with the upper frame 110, the other side of the upper end of the walking bracket 320 is connected with the output end of the swinging cylinder 340, and the lower end of the swinging cylinder 340 is hinged with the upper frame 110. Through the arrangement, the running mechanism 300 is in an open state under normal conditions, when the hoisting mechanism 500 is lifted to a position where the running mechanism 300 is higher than the cable, the running support 320 is controlled to swing inwards through the work of the swinging cylinder 340, so that the wire wheel 310 is positioned right above the cable, and finally the hoisting mechanism 500 controls the device to descend, and the wire wheel 310 falls on the cable, so that the device can walk on the cable.
Preferably, in practical application, the walking mechanism 300 can be provided with a plurality of walking mechanisms to provide enough driving force for the device or keep the device balanced; in the present embodiment, one traveling mechanism 300 is provided at each of the front and rear sides of the upper frame 110.
Preferably, the winding mechanism 500 includes two suspension wheels 510 symmetrically disposed at the top of the upper frame 110, and a winding motor 520 disposed corresponding to each suspension wheel 510; the winding motor 520 is used for driving the corresponding suspension wheel 510 to rotate, the suspension wheel 510 is used for winding and unwinding a hanging strip, and the hanging strip (not shown) is used for hanging the rack 100 on the cable 700. The two hanging wheels 510 are respectively wound with two ends of the hanging strip, in particular, the hanging strip can be made of a relatively tough material, such as a woven strip, and the hanging strip with corresponding strength can be selected for use according to the weighing requirement. The sling is first pre-wound onto one of the suspension wheels 510, then the free end of the sling is pulled out, and the sling is wound around the cable from above and falls into the other suspension wheel 510 for winding by using a certain auxiliary work, such as an unmanned aerial vehicle or an ejector, until the suspension wheels 510 on both sides can safely perform winding operation on the sling. In addition, the hanging wire frame 800 can be sleeved on the hanging belt, so that the hanging wire frame 800 is hung on a cable, sliding abrasion caused by direct contact of the hanging belt and the cable is avoided, and the service life of the hanging belt is prolonged. Preferably, in order to improve the stability of lifting of the equipment in the hoisting process, the hoisting mechanism is provided with two groups.
Preferably, the upper frame 110 is provided with corresponding stability sensors, such as a gyroscope and a gravity sensor, and the rotation direction and the rotation speed of the two suspension wheels 510 are respectively controlled by feeding back signals to the control system and adjusting the control system in real time, so as to reduce the swing of the tree obstacle clearing device and realize the steady balance thereof.
It will be understood that equivalents and modifications will occur to those skilled in the art based on the present invention and its spirit, and all such modifications and substitutions are intended to be included within the scope of the present invention.
Claims (4)
1. A tree obstacle cleaning device comprises a frame, a traveling mechanism, a hoisting mechanism, a cutting mechanism and a power supply control mechanism, wherein the traveling mechanism, the hoisting mechanism, the cutting mechanism and the power supply control mechanism are arranged on the frame; the power supply control mechanism is electrically connected with the travelling mechanism, the hoisting mechanism and the cutting mechanism respectively; the cutting mechanism is characterized in that at least one cutting mechanism is arranged; each cutting mechanism comprises a chassis arranged on the frame, a swing frame which can be arranged on the chassis in a turnover way, a turnover driving device, a mounting seat arranged on the swing frame, an electric saw fixedly arranged on the mounting seat, and a rotation driving device for driving the mounting seat and the electric saw to rotate; the overturning driving device is used for driving the swing frame to overturn and swing so that the swing frame is perpendicular to the underframe; the electric saw is in an upright state; the mounting seat is connected with the rotation driving device through a support seat, the mounting seat can swing relative to the support seat, and the support seat is provided with a swing driving device for driving the mounting seat and the electric saw to swing; the support comprises a bottom plate and two bearing seats oppositely arranged on the bottom plate, the mounting seat is arranged between the two bearing seats, and each bearing seat is connected with the mounting seat through a connecting shaft; the swing driving device is a first electric push rod, the electric saw is provided with a guide plate, and the end part of the push rod of the first electric push rod is hinged with the bottom of the guide plate; the shell end of the first electric push rod is hinged with the bottom plate; the rotary driving device comprises a rotary motor fixedly arranged on the swing frame, a bearing seat arranged on the swing frame and a rotating shaft arranged in the bearing seat, wherein one end of the rotating shaft is in transmission connection with the output end of the rotary motor; the other end of the rotating shaft is fixedly connected with the bottom plate through a shaft sleeve; the overturning driving device is a second electric push rod, and the end part of the push rod of the second electric push rod is hinged with the swing frame; the shell end of the second electric push rod is hinged with the underframe.
2. The tree obstacle clearing device according to claim 1, wherein a plurality of downward extending convex columns are arranged at the bottom of the bottom plate, a supporting plate and a limiting block arranged on the supporting plate are arranged on the swing frame, and the limiting block is used for preventing the convex columns from continuing to rotate.
3. The tree obstacle clearing device according to claim 1, wherein a plurality of limit bars are arranged on the guide plate at equal intervals, the limit bars are transversely arranged and perpendicular to the guide plate, and two ends of the limit bars are pointed ends.
4. The tree obstacle clearing device according to claim 1, wherein the swing frame comprises a first supporting beam, a second supporting beam which is arranged in parallel with the first supporting beam, and a first connecting beam which connects the first supporting beam and the second supporting beam, and the first supporting beam, the first connecting beam and the second supporting beam are sequentially connected to enable the swing frame to form a Z shape; the second supporting beam is hinged with the underframe, a second connecting beam which is perpendicular to the second supporting beam is arranged on the second supporting beam, and the output end of the overturning driving device is hinged with the second connecting beam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210213168.5A CN114583614B (en) | 2020-07-07 | 2020-07-07 | Tree obstacle cleaning device |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN113796224B (en) * | 2021-09-29 | 2023-06-16 | 广东冠能电力科技发展有限公司 | Robot for removing tree obstacle |
| CN116114490B (en) * | 2022-12-27 | 2024-07-26 | 广东冠能电力科技发展有限公司 | Fast-assembling type tree obstacle cleaning robot |
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| Publication number | Publication date |
|---|---|
| CN111900662B (en) | 2022-06-21 |
| CN111900662A (en) | 2020-11-06 |
| CN114583614A (en) | 2022-06-03 |
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