Along with town and country work, the development of agricultural, in electric transmission line channel, newly-increased tree planting etc. jeopardize circuit
The behavior of safe operation still will constantly occur.Power department line channel maintenance work will face sternly
High challenge, woods electricity contradiction is always the maximum hidden danger of transmission line of electricity safe and reliable operation, in recent years by
More and more higher in the requirement of quality supply and the grand style expense fallen trees, cause woods electricity contradictory problems
Increasingly protrude, bring the biggest hidden danger to the safe and stable operation of transmission line of electricity.
Along with electrical network density increases year by year, tree line contradiction becomes increasingly conspicuous, every year because of screen of trees cause direct
Economic loss is increasing, and the safety problem brought is increasingly severe, this old difficult problem, is just attracting more
Carry out the most new concerns.
And existing manually fall trees difficulty as follows:
1, the coordination difficulty of villager is big: villager asks for great number reparation and causes coordination difficulty, and some villagers are
Oneself private is refused to obey and is coordinated, and puts the person with power grid security in ignoring, be no matter first have circuit after have tree,
Have circuit after the most first having tree, they all attitude set up obstacles in every possible way by head and shoulders power department felling line under trees,
And ask an exorbitant price, seek great number reparation.
2, compensate costly: every strain trees are tens of to thousands of units.
3, personal security can not get ensureing: some branch is close to transmission line of electricity, and safe distance is inadequate,
Under the conditions of not having power failure operation, the life security of personnel can not get ensureing；The woods often have hornet's nest,
Once startle, arise that great personnel casualty accidents.
4, cut down very difficult: a lot of local cape cars cannot arrive, and artificial felling is difficult to.
In order to solve above-mentioned various problems, Chinese patent 201510277573.3 discloses a kind of built on stilts height
Pressure transmission line livewire work branch pruning machine people, to replace manual work, solves high-tension line and leads to
Road maintenance issues.It includes robot manipulating task platform, and the main shaft being fixed on robot manipulating task platform drives
Dynamic case, fixes, with main shaft drives case, the gravity adjusting device being connected, the behaviour being connected with gravity adjusting device
Make arm swing joint and be arranged on the end-of-arm tooling of motion arm swinging joint end；Wherein: described machine
Device people's job platform, including body, mechanical arm, road wheel, clamps jaw, and isoelectric level is taken turns, and compresses
Wheel；Described mechanical arm is arranged in body both sides with the equidistant form of antisymmetry, upper end connect road wheel and
Clamp jaw；Isoelectric level wheel is arranged in the side of clamp jaw；Described contact roller is arranged on the robotic arm
Being connected with feed screw nut's structure, motor drives leading screw and nut mechanism, drives contact roller, indulges at mechanical arm
Move along a straight line to direction, compress wire；Described driving box is connected by screw and is suspended on body
Middle；Described main shaft drives case includes driving box casing, main shaft, spindle drive turbine, worm screw, key,
Spindle drive motor, center of gravity regulation turbine, center of gravity regulation motor, travelling gear, gear end cap, axle
Socket end lid, spindle eccentricity set, box cover；Described main shaft is perpendicular to casing ground configuration and drives in main shaft
In dynamic case, it is connected with turbine by key, by the rotation of worm-and-wheel gear drive shaft；Described worm screw
Lateral arrangement, in spindle drive case, by a pair external gear pump transmission, is driven by motor；Worm screw
Two ends are held up by pair of horns contact ball bearing by wall box, are directly transmitted by the counteracting force born
On body；Described turbine is penetrated by main shaft, taper roll bearing isolate main shaft and hold up main shaft,
Ensure turbine under worm drive, can around main shaft independently rotated with main shaft without friction；Described main shaft is inclined
Heart set penetrates box cover, affixed by screw with body；Eccentric bushing passes through the axis of rolling in main shaft upper end
Holding, limiting main shaft will not topple over both sides.
Described end-of-arm tooling includes pitching joint, clamps joint, traversing joint, direct current electric saw；Described
End-of-arm tooling is connected by screw at insulation arm end；Swing with insulation arm；Pitching joint is installed
At the end of insulation motion arm, the connecting rod end in pitching joint is provided with clamping device, by being attached thereto
Leading screw and nut mechanism on pitching motor drive, traversing joint and direct current electric saw be arranged on clamping joint
End；Described pitching joint includes pitching motor, pitching feed screw, pitching nut, motor flange, bows
Face upward pull bar, pitching pedestal；Described pitching pull bar is driven by feed screw nut's structure, along with indulging of nut
Stretching motion is done to movement；Described clamping joint includes gripping base, sensor patch, jaw motor,
Jaw screw mandrel, electric motor end cap, motor flange, clamping pin, jaw nut, clamp connecting rod, holing clip
Pawl forms；Clamping leading screw and nut mechanism is driven by motor, moves along a straight line；Clamping jaw is by folder
ZHUANLIAN bar is connected with jaw nut, and along with moving before and after nut, carries out jaw and open dynamic with clamping
Make；Gripping base tail end and pitching pedestal are hinged, and front end and pitching pull bar are hinged；And along with pitching is drawn
The stretching motion of bar realizes the pitching in clamping joint, it is achieved terminal angle adjusts；Described traversing joint is wrapped
Include traversing pedestal, traversing motor, traversing screw mandrel, traversing nut, travelling gear, gear end cap, lead
Rail, slide unit, traversing slide；Traversing joint by external gear pump transmission, is driven screw mandrel spiral shell by motor
Mother does laterally rectilinear movement；Nut drives slide unit, it is achieved the transverse shifting of slide unit；Traversing pedestal connects
Gripping base and traversing slide, be provided with traversing screw mandrel and traversing nut, screw mandrel and electricity in traversing pedestal
By a pair gear drive between machine, by gear end cap seal；Guide rail is installed on traversing pedestal, horizontal
Move slide to laterally move along guide rail under the drive of traversing nut；Described electric saw is direct current electric saw, logical
Cross the DC source driving that end carries；Described electric saw is fixed in traversing slide unit lower end, along with slide unit is horizontal
Move the feed motion realizing electric saw.
It addition, Chinese patent 201510279013.1 sets bamboo certainly in disclosing a kind of overhead power transmission line passage
Moving and cut the system of cutting, it includes depopulated helicopter module (1), chain saw module (3) and surface control module (4)；
Described depopulated helicopter module (1) includes control unit on fuselage, laser ranging unit and machine；Described sharp
Ligh-ranging unit is connected with control unit on machine；Described chain saw module (3) includes chain saw main body and chain saw control
Unit processed；The bottom of the fuselage of described depopulated helicopter module (1) is hung by connection framework (2) and is connect chain saw mould
Block (3), on the machine of described depopulated helicopter module (1), control unit connects chain saw module (3) by data wire
Chain saw control unit；Described surface control module (4) is by cordless communication network and depopulated helicopter mould
Control unit communication connection on the machine of block (1)；Described surface control module (4) is for remotely controlling or ground
The state of flight of remotely pilotless helicopter module (1) and the duty of chain saw module (3).
Above-mentioned aerial high-voltage power transmission line livewire work branch pruning machine people and a kind of overhead transmission line
In passage, tree bamboo automatic sharpening cuts system, employing direct current electric saw or the chain saw instrument as pollard, this
There are the following problems on using to plant the instrument sawing class:
If 1 branch is the most relatively soft, electric saw or chain saw can whip branch and advance, it is impossible to effectively cuts off tree
If 2 branches are relatively slightly hard, electric saw or the unprotected measure of chain saw, saw forward simply,
It is easily caused electric saw or chain saw damages, even damage the miscellaneous part of trimming machine cuts people.
3, electric saw or the chain saw feed speed when pollard has certain limitation, prunes efficiency relatively
4, being one-way movement when electric saw or chain saw work, overhead transmission line Louis is carried by electric saw or chain saw
The impact of the torsional forces come.
In view of the drawbacks described above of existing branch pruning machine people, branch pruning machine people is entered by applicant
Row in-depth study, has this case to produce then.
Utility model content
The purpose of this utility model is to provide a kind of automatic pollard machine for overhead transmission line
The pruning tool of people, it has can effectively cut off branch, prune the feature that efficiency is higher, and makes somebody a mere figurehead
The torsional forces that transmission line of electricity is not brought by pruning tool is affected.
To achieve these goals, this utility model adopts the following technical scheme that
For the pruning tool of the automatic pollard robot of overhead transmission line, including the first blade
Lay and the corresponding setting of the edge of a knife with the second blade, this first blade and the second blade level one on the other
And rotate backward.
Described pruning tool also includes the first cutterhead and the second cutterhead, and described first, second cutterhead is upper and lower
Being horizontally disposed with and rotate backward, described first, second blade is respectively arranged in described first, second cutter
The week edge of dish.
Described first, second blade, all in semilune, is respectively provided with installation end and free end, and described
One, the installation end of the second blade corresponding week edge being articulated with described first, second cutterhead respectively, described
The week of first, second cutterhead is along the storage tank offered respectively for accommodating described first, second blade.
The knife face narrow width of free end described in the knife face width ratio of described installation end.
Described first, second blade all has more than two panels or two panels, each described first blade edge direction
Unanimously, each described second blade also edge of a knife direction is consistent, and each described first blade and each described second
Blade is crisscross arranged on horizontal plane successively.
Each described first blade is symmetrical on described first cutterhead, and each described second blade is in described
On second cutterhead symmetrical.
After using such scheme, this utility model is for the automatic pollard machine of overhead transmission line
The pruning tool of people, during work, first, second blade rotates backward formation " shears " and repaiies branch
Cut, no matter be soft or hard branch, be all that two-way pincer attack one is cut the most disconnected, can effectively cut off branch,
Prune efficiency higher.And, first, second blade rotates backward, and their reaction torque can be mutual
Offsetting, overhead transmission line will not be affected by the torsional forces that first, second blade brings.
As further improving, the semi-moon shaped first, second blade not used time can be placed in first,
Second cutterhead week edge storage tank in.And, first, second blade radial type is installed, during work
Automatically blade is opened by the centrifugal force rotated, when running into the most harder branch, if cannot cut off,
Blade can return self-protection automatically, will not damage blade and miscellaneous part.
As further improving, the cutter of the knife face width ratio free end of first, second blade installation end
Face narrow width, can obtain bigger inertia force so that blade is easier to open during work.
As further improving, first, second blade all has more than two panels or two panels, cutterhead every turn
Spending one week, first, second blade can form " shears " of four times or more than four times, improves pruning efficiency.
Detailed description of the invention
Use the automatic pollard machine for overhead transmission line of this utility model pruning tool
People, as shown in figs. 1-7, including control system and mobile body 200, control system includes that ground controls system
System 11 and aircraft mounted control system 12, aircraft mounted control system 12 includes tractor control module 121 and trimmer
Device hand control module 122, tractor control module 121 is installed on mobile body 200, trimming machine cuts hands
Control module 122 is installed on following cutting system 600, tractor control module 121 and trimming machine cuts hands
Control module 122 realizes data interaction by wireless data sending unit and ground control system 11 respectively and leads to
Mobile body 200 is provided with the first set of cells 300 and drives mobile body 200 at overhead transmission line
The running gear 500 of walking on road 400.It is running gear 500 and tractor control by the first set of cells 300
Molding block 121 is powered；The work of running gear 500 is controlled, by trimmer by tractor control module 121
Device hand control module 122 controls the work of following cutting system 600.
Mobile body 200 has mounting platform 21 and installs backboard 22, and mounting platform 21 is horizontally disposed with, peace
Dress backboard 22 is vertically connected at the side that mounting platform 21 is paralleled with overhead transmission line 400.First electricity
Pond group 300 is installed on the middle part of mounting platform 21.
In this utility model, for the ease of statement, it is front with the arrow direction in Fig. 1, with front phase
Dorsad be after.Mobile body 200 is with the one side shown in Fig. 2 as front, with the one side shown in Fig. 3 for the back of the body
Running gear 500 is provided with walking unit 51 and the common clamping frame of road wheel with this walking unit 51
The compressing unit 52 of empty transmission line of electricity 400.
Walking unit 51 includes being respectively arranged in the first direct current generator 511 installed on backboard 22, front walking
Wheel 512, rear walking wheel 513 and gear train, direct current generator 511, front walking wheel 512 and rear walking wheel 513
Being installed on the front installing backboard 22, gear train is installed on the back side installing backboard 22.Gear train
Including driving gear 514, travelling gear the 515, first driven gear 516 and the second driven gear 517,
The output shaft of the first direct current generator 511 connects driving gear 514, travelling gear 515 respectively with driving gear
514, the first driven gear 516 and the second driven gear 517 are meshed, the first driven gear 516 and
The wheel shaft of two driven gears 517 connects front walking wheel 512 and the wheel shaft of rear walking wheel 513 respectively.Front walking
Wheel 512 and rear walking wheel 513 are respectively equipped with for being set up in V shaped wheel groove on overhead transmission line 400.
Compressing unit 52 includes that at least one is positioned at the contact roller 521 below overhead transmission line and by this
Contact roller 521 is pressed in the elastic compression mechanism on the downside of overhead transmission line 400.Contact roller 521 is provided with voltage supply
It is located at the V shaped wheel groove on the downside of overhead transmission line 400.In the present embodiment, contact roller 521 has one, this
Contact roller 521 medium position between front walking wheel 512 and rear walking wheel 513 on fore-and-aft direction.
Certainly, it is possible to be respectively front walking wheel 512 and contact roller and elastic compression mechanism are set with rear walking wheel 513.
Elastic compression mechanism includes the connecting rod that compression spring 522 and the wheel shaft with contact roller 521 are coaxially disposed
523, backboard 22 to be installed and offers vertically arranged strip through-hole 221, the bottom of strip through-hole 221 has
Extension diameter section, connecting rod 523 is actively located in strip through-hole 221, and the first end of connecting rod 523 extend out to install
The front of backboard 22, the second end of connecting rod 523 extend out to install the back side of backboard 22, the of connecting rod 523
Having between one end and the second end and carry out hinged articulated section with installation backboard 22, this hinge point is in bar
On correct position between the two ends up and down of shape through hole 221；Compression spring 522 is positioned at installs backboard 22
The back side, the lower end of compression spring 522 is fixedly mounted on the lower section installing on backboard 22 and being positioned at connecting rod 523,
The upper end of compression spring 522 is connected to the second end of connecting rod 523, and the wheel shaft of contact roller 521 is articulated in connecting rod
First end of 523.
Mobile body 200 has hook 23, and hook 23 has hook portion 231 and bar portion 232, the hook portion of hook
231 exceed installation backboard 22, and the top in the bar portion 232 of hook offers spacing hole along its length
2321, it is respectively provided on two sides with out pertusate installation sheet before and after spacing hole 2321, a pin is (in figure
Not shown) pass the perforation of these two installation sheets and be actively located in spacing hole 2321.The bar of hook
Lower end, portion 232 is hinged with the second end of connecting rod 523.
Running gear 500 is additionally provided with prevent mobile body 200 from falling from overhead transmission line 400 anti-
Falling mechanism.In the present embodiment, falling-proof mechanism uses and is respectively arranged at both sides before and after installation backboard 22
Mechanical hand 53,54, during work, the paw 531,541 of mechanical hand 53,54 is buckled in loop-like void
On the corresponding site of overhead transmission line 400.
Mechanical hand in this utility model uses known mechanical hand, as long as it can meet in control instruction
Control under realize the paw of mechanical hand and open or be closed into ring-type void and be buckled on transmission line of electricity.
Cutting system 600 includes pruning tool 61, trimming machine cuts hand drive mechanism 62 and the second set of cells
63, the second set of cells 63 power for trimming machine cuts hand control module 122 and cutting system 600.Certainly,
In this utility model, it is possible to be trimming machine cuts hand control module 122 by the first set of cells 300 and prune system
System 600 power supply；Trimming machine cuts hand control module 122 is mountable on mobile body 200 also be mountable to repair
Cut in system 600.
Cutting system 600 is provided with mounting seat 60, mounting seat 60 in frame structure, have upper strata 601 and under
Layer 602, the second set of cells 64 is installed on the middle part on upper strata 601.Mounting seat 60 is by V-type insulation arm 700
Movable hanging is in the lower section of mobile body 200, and specifically, the upper end of the two-arm of V-type insulation arm 700 is respectively
Being movably articulated in both sides before and after the bottom of mounting platform 21, the top of mounting seat 60 is provided with flexible connection
Assembly 65, is flexibly connected pedestal 651, connection seat 652 and that assembly 65 includes the most from bottom to top arranging
Connect seat 653, connect seat 653 in triangular shape, base upper, drift angle under, V-type insulation arm 700
The lower end of two-arm is hingedly connected to connect the two ends on the base of seat 653 and (connects the two ends on the base of seat 653
Between very close to so that insulation arm is V-shaped), connect to be articulated with at the drift angle of seat 653 and connect seat 652
Top, the bottom connecting seat 652 is hinged with pedestal 651.
Pruning tool 61 includes the first blade the 611, second blade the 612, first cutterhead 613 and the second cutterhead
614, the first cutterhead 613 and the second cutterhead about 614 are horizontally disposed with, first blade the 611, second blade
612 are respectively arranged in the first cutterhead 613 and week edge of the second cutterhead 614.
Week of first, second cutterhead 613,614 along offer respectively for accommodating first, second blade 611,
The annular storage tank 6131,6141 of 612.First, second blade 611,612, all in semilune, all has
There are installation end and free end, and the knife face narrow width of the knife face width ratio free end of installation end.The first,
The installation end of the second blade 611, the 612 corresponding annular storage tank being articulated with first, second cutterhead respectively
6131, in 6141.
Trimming machine cuts hand drive mechanism 62 include the second direct current generator 620, the 3rd direct current generator 621,
One gear the 622, second gear 623, the 3rd gear 624, the 4th gear the 625, first rotating shaft 626 and
Two rotating shafts 627.
Second direct current generator 620 and the 3rd direct current generator 621 are divided into the second electricity in being installed on upper strata 601
The both sides of pond group 64, the output shaft of the second direct current generator 620 and the 3rd direct current generator 621 is each passed through
In the base plate of layer 601 extends lower floor 602 and connect the first gear 622 and the second gear 623 respectively, the 3rd
Gear 624 and the 4th gear 625 are meshed with the first gear 622 and the second gear 623 respectively.Second turn
The bottom of the first rotating shaft 626 is stretched out in the coaxial activity of axle 627 is set in the first rotating shaft 626 and lower end, the
One, the second cutterhead 613,614 is fixing with the lower end of first, second rotating shaft 626,627 respectively is connected.
The output shaft of the second direct current generator the 620, the 3rd direct current generator 621 is in trimming machine cuts hand control module 122
Rotate backward under control, by the first gear 622 and the 3rd gear the 624, second gear 623 and the 4th tooth
The transmission of wheel 625, drives first, second rotating shaft 626,627 to rotate backward, thus realize first, the
Two cutterheads 613,614 rotate backward.
In this utility model, first, second blade 611,612 can be the most a piece of, during work, the
One, the second cutterhead 613,614 often turns over one week, and first, second blade 611,612 is formed and once " cuts
As a preferred embodiment, first, second blade 611,612 all has a two panels, and each first
Blade 611 edge of a knife direction is consistent and symmetrical on the first cutterhead 613, each second blade 612 also edge of a knife
Direction is consistent and symmetrical on the second cutterhead 614, and each first blade 611 and each second blade 612
It is crisscross arranged successively on horizontal plane.In this embodiment, during work, first, second cutterhead 613,614
Often turning over one week, first, second blade 611,612 forms four times " shears ".
As the embodiment improved, first, second blade 611,612 can have more than two panels, each blade
Arrange similar with the above-mentioned embodiment being respectively arranged with two panels blade.
Use the automatic pollard machine for overhead transmission line of this utility model pruning tool
People, operation principle is as follows:
During installation, workman is sling whole pollard robot by hook 23, and now hook 23 will be even
Second end of bar 523 upwards carries, and compression spring 522 is pulled upwardly stretches, and contact roller 512 is to the bottom, it is simple to
Front walking wheel 512 and rear walking wheel 513 are set up in overhead transmission line 400, current line travelling wheel by workman
512 and rear walking wheel 513 set up, unclamp hook 23, now the second end of connecting rod 523 is compressed bullet
The restoring force of spring 522 pulls down, and is upwards pressed on by contact roller 512 on the downside of overhead transmission line 400, from
And complete the installment work of pollard robot.During dismounting, workman slings whole again by hook 23
Individual pollard robot, so that it may unclamp compression 512 and unload whole pollard robot, installing/dismounting
Process is the simplest.
During work, ground control system 11 sends work order to traction respectively by wireless data sending unit
Car control module 121 and trimming machine cuts hand control module 122, tractor control module 121 and trimming machine cuts
Hand control module 122 works according to setting sequencing contro running gear 500 and cutting system 600 respectively.Tool
Tractor control module 121 obtains work order, exports control signal, the first direct current generator 511
Obtaining control signal to start working, the output shaft of the first direct current generator 511 drives driving gear 514 to rotate,
Driving gear 514 drives the first driven gear 516 and the second driven gear respectively by travelling gear 515
517 rotate, thus drive front walking wheel 512 and rear walking wheel 513 to walk on overhead transmission line 400,
The mobile body 200 of final realization is walked on overhead transmission line 400.
During initial condition, the paw 531,541 of mechanical hand 53,54, in releasing orientation, during work, leads
Draw car control module 121 to export control signal and start working to mechanical hand 53,54, mechanical hand 53,54,
Its paw 531,541 forms loop-like void respectively and is buckled on the corresponding site of overhead transmission line 400.
Trimming machine cuts hand control module 122 obtains work order, exports control signal, and second, third is straight
Stream motor 620,621 obtains control signal and starts working, second, third direct current generator 620,621
Output shaft rotates backward and drives respectively first, second gear 622,623 to rotate, first, second tooth
Wheel 622,623 drives the three, the 4th gears 624,625 to rotate respectively, thus drive first respectively,
Second rotating shaft 626,627 rotates backward, then by first, second rotating shaft 626,627 drive first,
Second cutterhead 613,614 rotates backward, and when first, second cutterhead 613,614 rotates, is hinged on the
One, first, second blade 611 in the annular storage tank 6131,6141 of the second cutterhead 613,614,
612 open owing to centrifugal force is thrown out of, under the first, second counter-rotational driving of cutterhead 613,614,
Each first, second blade 611,612 is respectively formed once " shears " when meeting, and is pointed to overhead power transmission
Branch in circuit 400 passage is pruned.
Owing to first, second blade 611,612 uses articulated manner to install, when running into relatively slightly relatively
When hard branch cannot be cut off, first, second blade 611,612 can return self-protection automatically.
Further, this utility model can also be provided with image unit on the top installing backboard 22,
This image unit is connected with tractor control module 121.Walking can be monitored in real time by this image unit
System and the working condition of cutting system, and data are passed to ground control system, by ground handling people
Member does corresponding process according to the data passed back.
Above in conjunction with embodiment, this utility model is described in detail, but reality of the present utility model
The mode of executing is not limited merely to above-mentioned form, and those skilled in the art can be according to prior art to this reality
Making various forms of deformation with novel, these belong to protection domain of the present utility model.