CN206250676U - The powered mechanical arm for obstacle removing of 10kV distribution lines - Google Patents

The powered mechanical arm for obstacle removing of 10kV distribution lines Download PDF

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Publication number
CN206250676U
CN206250676U CN201621410030.0U CN201621410030U CN206250676U CN 206250676 U CN206250676 U CN 206250676U CN 201621410030 U CN201621410030 U CN 201621410030U CN 206250676 U CN206250676 U CN 206250676U
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China
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joint
servo
draw
arm
groove
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Withdrawn - After Issue
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CN201621410030.0U
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Chinese (zh)
Inventor
丛宝松
马开明
韩先国
陈静
王�琦
郭祥
刘阳
高山
解厚喜
施淮生
刘强
甄武东
夏炜
江广克
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State Grid Corp of China SGCC
Anhui University of Science and Technology
Huainan Power Supply Co of State Grid Anhui Electric Power Co Ltd
Original Assignee
State Grid Corp of China SGCC
Anhui University of Science and Technology
Huainan Power Supply Co of State Grid Anhui Electric Power Co Ltd
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Application filed by State Grid Corp of China SGCC, Anhui University of Science and Technology, Huainan Power Supply Co of State Grid Anhui Electric Power Co Ltd filed Critical State Grid Corp of China SGCC
Priority to CN201621410030.0U priority Critical patent/CN206250676U/en
Application granted granted Critical
Publication of CN206250676U publication Critical patent/CN206250676U/en
Withdrawn - After Issue legal-status Critical Current
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Abstract

The utility model discloses a kind of powered mechanical arm for obstacle removing of 10kV distribution lines, including basic machine, control system, electric power system, basic machine is six axle six degree of freedom joint tandem type mechanical arms, including pedestal, five joint arm bodies, six joints, end effector, pedestal is the rotation platform being fixedly mounted in the manned working bucket of high-voltage hot-line work car, arm is as hollow cavity, by direct current generator servo-drive, connected by six joints between pedestal and five joint arm bodies, robot arm end effector is direct current drive chain saw, it is connected with the 6th joint output end by draw-in groove, actuator itself has an independent joint;Control system includes master controller, remote-control receiver, industrial remote controller, servo unit, monitoring unit, servo unit uses driver and direct current generator, monitoring unit includes shock sensor, Power frequency field strength meter, and electric power system is the straight-flow system of batteries composition.The utility model substitutes and artificial carry out trees in adverse circumstances and in the case of powered and remove obstacles.

Description

The powered mechanical arm for obstacle removing of 10kV distribution lines
Technical field
The utility model is related to electric power maintenance field, more particularly to a kind of powered mechanical arm for obstacle removing of 10kV distribution lines.
Background technology
10kV distributions are the electric power networks that region be directly facing user, under the overall situation that power system flourishes, 10kV cities City's distribution realizes overhead conductor insulation substantially by transforming for many years and building, and substantially increases power supply reliability and safety Property.But as economic and society development, urban environmental protection are also lifted energetically, landscape tree coverage rate changes year by year Kind, this brings very big hidden danger to urban distribution network safe operation.
At present, urban distribution network circuit is basic is set up along urban road, and most of circuit extended and walked in the woods.Although frame Ceases to be busy road use it is mostly be insulated conductor, insulated conductor often occurs but due to navigating within the woods mostly, in operation is ground by branch Break insulated hull and electric discharge sparking and disconnection fault occur, problems are particularly dashed forward especially when the special weathers such as heavy rain strong wind are run into Go out.Found after being analyzed through the 10kV distribution lines tripping operation of Duo Jia prefecture-level companies and disconnection fault, more than 90% insulation is led Line broken string is caused due to screen of trees.Strong convection bad weather is run into, line tripping fault often occurs, and this is greatly reduced 10kV distributions reliability of operation, security and economy.
In order to reduce distribution trip-out rate, trees are removed obstacles the annual important production task of Shi Ge electric companies.Due to work safety The requirement of property, major part is removed obstacles and needs line outage and by manually implementing, and other part part of path is manually implemented trees and removed obstacles Also it is difficult to.Therefore a kind of new 10kV distribution line trees barrier clearing devices of offer are needed badly to solve the above problems.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of powered mechanical arm for obstacle removing of 10kV distribution lines, can Substitute artificial carry out trees and removes obstacles in adverse circumstances and in the case of powered.
In order to solve the above technical problems, the technical scheme that the utility model is used is:A kind of 10kV is provided with netting twine The powered mechanical arm for obstacle removing in road, including basic machine, control system, the electric power system powered for basic machine, control system;
Basic machine is six axle six degree of freedom joint tandem type mechanical arms, including pedestal, five joint arm bodies, chain saw, draw-in groove, six Individual joint and draw-in groove joint, the first servo electric jar, the second servo electric jar;Pedestal is to be fixedly mounted on high-voltage hot-line work car Manned working bucket on rotation platform, arm connected between pedestal and five joint arm bodies as hollow cavity by six joints, six Joint is respectively the first joint to the 6th joint, and wherein pedestal is the first joint, and the 3rd joint and the 4th joint are bionical dislocation Joint, the 5th joint is wagging gesture, and the 6th joint is roll attitude;Draw-in groove is in dustpan shape, is fixed on the 6th joint Output end, draw-in groove joint is collectively formed with the second servo electric jar, and the first servo electric jar is arranged on pedestal and the first joint arm body Between;
Control system includes master controller, remote-control receiver, industrial remote controller, servo unit, monitoring unit;Main control Device, remote-control receiver are installed in pedestal, and servo unit includes driving six the six of joint servomotors, drives servomotor Joint servo motor driver, drive chain saw chain saw motor and draw-in groove motor, the soft start driver of driving chain saw motor, Drive the current limiting driver of draw-in groove motor;The vibrations that monitoring unit includes being installed in the middle part of the second joint arm body, three joint arms body are passed Sensor, the Power frequency field strength meter being installed on the inside of draw-in groove, driver, soft start driver, current limiting driver, shock sensor, work Frequency field intensity meter, remote-control receiver are connected with master controller;
Electric power system is the straight-flow system of the batteries composition being installed in manned working bucket.
In one preferred embodiment of the utility model, one end of the first servo electric jar is fixed on the cross of pedestal extension On universal drive shaft, the other end is connected by bulb bearing with the first arm body;One end of second servo electric jar by bulb bearing with Draw-in groove is fixed, the other end is fixed by the afterbody of bulb bearing and chain saw.Due to mechanical arm during trees are removed obstacles torque compared with Big and the larger reaction force of generation and vibration, the support mechanical arm arm body that the first servo electric jar can be consolidated, and can Power-off mechanical self-latching, two bulb bearings of the second servo electric jar are installed in rubber base, can so be effectively blocked chain Interference during saw vibrations to prime shock sensor.
In one preferred embodiment of the utility model, the first joint is 360 ° in the angle of revolution of horizontal plane, and second closes The angular range that section does elevating movement is 0-85 °, and the angular range that elevating movement is done in the 3rd joint is 0-270 °, the 4th joint It is 0-180 ° to do the angular range of elevating movement, and it is-90 °-90 ° that the angular range for swinging is done in the 5th joint, and the 6th closes The roll angle of section is 360 °, and the cutting stroke angles in the 7th joint are 0-100 °, so that the operating area of mechanical arm is reachable 7.6 meters, at the same the 5th joint swing with the rolling in the 6th joint cope with it is various complexity thick forests and trees it is each Plant form.
In one preferred embodiment of the utility model, chain saw starts direct current electric saw using high-power soft, with speed it is fast, The characteristics of moment of torsion is big, vibrations are small, can be inverted and be freed with rotating in stall, substantially increase the stabilization of mechanical arm operation Property.
In one preferred embodiment of the utility model, the material of arm body is aircraft aluminum, and intensity is big, can bear larger Pressure.
In one preferred embodiment of the utility model, the voltage class of electric power system includes 24V, 48V, 220V, 220V Not altogether, 48V voltages are powered for driver, and 220V voltages are powered for chain saw for voltage and 24V, 48V.24V voltages are the machinery Other parts of arm are powered.
The beneficial effects of the utility model are:The utility model replaces artificial implementation method with mechanical arm for obstacle removing, solves The work of removing obstacles of 10kV distribution line trees need to have a power failure by manually implementing and part part of path manually implements the problem that is difficult to, can Removed obstacles with carrying out trees in the case of being manually difficult to carry out and be powered, so as to greatly improve distribution reliability of operation, completeness And economy, with safety very high, economic worth, while can be used to process each to robot livewire work project development The complicated livewire work of class operating environment, with good development prospect.
Brief description of the drawings
Fig. 1 is the use state figure of the utility model 10kV distribution lines powered mechanical arm for obstacle removing one preferred embodiment;
Fig. 2 is the structural representation of the powered mechanical arm for obstacle removing of 10kV distribution lines;
Fig. 3 is the top view of Fig. 2;
Fig. 4 is the structured flowchart of the control system;
Fig. 5 is the structural representation in the bionical dislocation joint;
Fig. 6 is the system block diagram of the servo-control system;
The mark of each part is as follows in accompanying drawing:1st, pedestal, 2, arm body, the 21, first joint arm body, the 22, second joint arm body, 23, Three joint arms body, the 25, the 5th joint arm body, 3, joint, the 31, first joint, 32, second joint, the 33, the 3rd joint, the 34, the 4th closes Section, the 35, the 5th joint, the 36, the 6th joint, 37, draw-in groove joint, 4, chain saw, the 5, first servo electric jar, the 6, second servo-electric Cylinder, 7, manned working bucket, 8, draw-in groove, 90, conduit under fluid pressure, 91, lock plate draw-in groove, 911, lock plate cursor sensor, 912, change Fuel tap door, 92, piston, 93, friction plate, 94, lock plate draw-in groove cavity, 95, lock plate, 951, left disk, 952, right circle Disk, 96, reductor, 97, servomotor, the 981, first lock plate mounting flange, the 982, second lock plate mounting flange, 99, subtract Fast machine output flange.
Specific embodiment
Preferred embodiment of the present utility model is described in detail below in conjunction with the accompanying drawings, so that advantage of the present utility model Can be easier to be readily appreciated by one skilled in the art with feature, it is apparent clear and definite so as to be made to protection domain of the present utility model Define.
Fig. 1 to Fig. 3 is referred to, the utility model embodiment includes:
A kind of powered mechanical arm for obstacle removing of 10kV distribution lines, including basic machine, control system, be basic machine, control The electric power system of system power supply.
Basic machine is six axle six degree of freedom articulated manipulators, including pedestal 1, five joint arm bodies 2, chain saw 4, draw-in groove 8, six Individual joint and draw-in groove joint 37, the first servo electric jar 5, the second servo electric jar 6.Pedestal 1 is to be fixedly mounted on electrification in high voltage Rotation platform in the manned working bucket 7 of Operation Van, rotatable one week of top.Arm body 2 is hollow cavity, by direct current generator servo Drive, it is preferable that the arm body 2 is processed into hollow cavity using aircraft aluminum, though length is up to 3.8 meters, but whole this body weight Amount is also only 95kg, the far smaller than rated load of the vehicle-mounted people's working bucket 7 of high-voltage hot-line work.Chain saw 4 is that mechanical arm tail end is held Row device, direct current electric saw is started using high-power soft, with speed is fast, moment of torsion big, the characteristics of shake small, can be with rotating, stifled Can be inverted when turning and freed, be greatly improved the stability of mechanical arm operation.Draw-in groove 8 is in dustpan shape, is fixed on the 6th joint 36 Output end, is the folding and unfolding sheath of chain saw 4.
Connected by six joints 3 between pedestal 1 and five joint arm bodies 2, each joint 3 is uniaxial joint, respectively first closes 31 to the 6th joints 36 of section, the realization of manipulator motion is linked completion by six joints 3, the first joint 31, the 3rd joint 33, the Four joints 34, the 5th joint 35, the 6th joint 36 are RV-E reductors, and such reductor has that gear range is big, reverses Rigidity is big, transmission efficiency small volume the advantages of.Pedestal 1 is the first joint 31, can turn round 360 °, second joint 32 in horizontal plane It is 0-85 ° to do the angular range of elevating movement, and the angular range that elevating movement is done in the 3rd joint 33 is 0-270 °, the 4th joint 34 angular ranges for doing elevating movement are 0-180 °, and it is-90 °-90 ° that the angular range for swinging is done in the 5th joint 35, the The roll angle in six joints 36 is 360 °, and the cutting stroke angles in the 7th joint 37 are 0-100 °, so that the operation of mechanical arm Region up to 7.6 meters, while the 5th joint swing with the rolling in the 6th joint cope with it is various complexity thick forests and The various forms of trees.The servo electric jar 6 of draw-in groove 8 and second collectively forms draw-in groove joint 37, and trunk is by during sawed-off Can drop, manned working bucket 7 also has elastic displacement, therefore the spring function of draw-in groove joint small range can make chain saw 4 work It is smooth, prevent chain saw 4 from stall occurring.
First servo electric jar 5 is arranged between the joint arm body 21 of pedestal 1 and first, and its one end is fixed on the extension of pedestal 1 Crossed universal shaft on, the other end be slidably connected with the first joint arm body 21 by bulb bearing, for support the first joint arm body 21; Second servo electric jar 6 is arranged between draw-in groove 8 and chain saw 4, and its one end is fixed by bulb bearing and draw-in groove 8, the other end leads to Cross bulb bearing to be fixed with the afterbody of chain saw 4, two bulb bearings for supporting chain saw 4, the second servo electric jar 6 are respectively mounted In rubber base, can so be effectively blocked interference to prime shock sensor when chain saw shakes, prevent the 3rd joint 33 with Dislocation structure misoperation in 4th joint 34.Due to mechanical arm, torque is larger and generation is larger during trees are removed obstacles Reaction force and vibration, the support mechanical arm arm body 2 that the first servo electric jar 5 can be consolidated, and mechanical self-latching can be powered off.It is excellent Choosing, the selection of the first servo electric jar 5 48V/500W, the electric cylinder that push-pull effort is 10000N, push-and-pull speed is 4mm/s, second The selection of servo electric jar 6 24V/45W, the electric cylinder that push-pull effort is 750N, push-and-pull speed is 3mm/s.
Fig. 4 is referred to, control system includes that master controller, remote-control receiver, industrial remote controller, servo unit, monitoring are single Unit.Servo unit includes driving six the six of joint 3 servomotors (M1-M6), drives the joint servo motor of servomotor Driver, the chain saw motor and draw-in groove motor (M7) that drive chain saw 4, the soft start driver for driving chain saw motor, driving draw-in groove The current limiting driver of motor.Servomotor M1 controls the first joint 31 to do gyration, and servomotor M2, M3, M4 are controlled respectively Elevating movement is done in second joint 32, the 3rd joint 33, the 4th joint 34, and servomotor M5 controls the 5th joint 35 to do deflection fortune Dynamic, servomotor M6 controls the 6th joint 36 to do rolling movement, and the 7th joint 37 is controlled the cutting row of chain saw 4 by draw-in groove motor M7 Journey.Master controller, remote-control receiver are installed in pedestal 1, and monitoring unit includes being installed on the second joint arm body 22, three joint arms body Shock sensor in 23, the Power frequency field strength meter for being installed on the inner side of draw-in groove 8, master controller as control system core component, Driver, soft start driver, current limiting driver, shock sensor, Power frequency field strength meter, remote-control receiver with master controller phase Even.Shock sensor is installed on the inside cavities middle part of the second joint arm body 22 and three joint arms body 23, amplifying effect herein compared with It is good.3rd joint 33 and the 4th joint 34 are bionical dislocation joint, with dislocation function, when falling the hit mechanical arm of larger trunk When, moment shock sensor feedback information to controller computing is recognized, is clashed into kinetic energy and is more than mechanical arm maximum instantaneous load then position Work is intervened in the dislocation mechanism of the second joint arm body 22 and three joint arms body 23, mechanical arm takes advantage of a situation freely sagging, so as to protect machine Tool arm and the manned working bucket 7 and insulation arm of Operation Van.Scene remove obstacles operation when, for prevent mechanical arm accidentally injure power line and set Put system alarm and latch functions, when Power frequency field strength meter detect mechanical arm to power line guard against apart from when, by feedback of the information To master controller, make mechanical arm locking, be simultaneously emitted by alarm signal.
Electric power system is the straight-flow system of the batteries composition being installed in manned working bucket 7, there is 24V, 48V, 220V Three Estate, 48V powers for driver, and 220V specializes in chain saw work, and, 24V is other parts of mechanical arm with 24V, 48V not altogether Power supply.The operation energy consumption of mechanical arm is all provided by battery, whole system is connected without conductor with ground, and operation safety can Lean on.
The 26S Proteasome Structure and Function in the bionical dislocation joint is specifically described with reference to Fig. 5 and Fig. 6, is with the 3rd joint herein Example illustrates that the 26S Proteasome Structure and Function in the 4th joint is similarly.
The joint includes basic machine, servo-control system.
Basic machine includes U-shaped lock plate draw-in groove 91, lock plate 95, the first lock plate mounting flange 981, the second locking Disk mounting flange 982, servomotor 97, reductor 96, reductor output flange 99.Lock plate draw-in groove 91 is provided with hydraulic-driven Device, fluid pressure drive device is used to assist lock plate 95 to realize stremma, and it includes servo electric jar (not shown), liquid Pressure pipeline 90, hydraulic oil, piston 92.The two-port of lock plate draw-in groove 91 is relative, and is sealed by piston 92, and 92, piston is provided with and rubs Pad 93, is filled with hydraulic oil in the cavity 94 of lock plate draw-in groove 91, valve of changing oil is additionally provided with the top of lock plate draw-in groove 91 912, one end of conduit under fluid pressure 90 is arranged on the connection of the side of cavity 94 of lock plate draw-in groove 91, the other end and servo electric jar.Chamber The side of body 94 is provided with conduit under fluid pressure 90, and valve 912 of changing oil is additionally provided with the top of lock plate draw-in groove 91.Lock plate 95 is justified by two panels Disk is coaxially connected to be formed, respectively left disk 951, right disk 952, and is stretched into lock plate draw-in groove 91, its top both sides Face is in contact with friction plate 93, and friction plate 93 increased the frictional force between lock plate 95 and lock plate draw-in groove 91 so that joint It is more firm after reset.The material of lock plate 95 is steel, and two panels disc set installs complete back axis and fix, can mutually slide but Can not separate.Lock plate mounting flange is located on the axle of lock plate 95, the second lock plate mounting flange 982 and lock plate draw-in groove 91 It is fixed on the shell of the second joint arm body 22, conduit under fluid pressure 90, servo electric jar is arranged in the housing of the second joint arm body 22, the One lock plate mounting flange 981 is fixed on the flange face of reductor output flange 99, and servomotor 97 is installed with reductor 96 In the housing of the first joint arm body 21.
With reference to Fig. 6, servo-control system uses PLC servo closed control systems, is independently of a control of mechanical arm System, it includes sensor, the motor servo driver that controller (PLC), servo electric jar, power panel are connected with controller, The output end of motor servo driver is connected with servo electric jar, output end and controller, the motor servo driver of power panel It is connected, the power panel is powered by the electric power system of mechanical arm.Controller is located inside the second joint arm body 22.Power panel is control Device provides 24V voltages, for motor servo driver provides 48V voltages.Servo electric jar as fluid pressure drive device engine Structure, have the advantages that to be swift in motion, noise is low, energy-conservation, clean, high rigidity, extra long life, and can in the presence of a harsh environment without reason Barrier work, degree of protection can reach IP65.Sensor is including the shock sensor in arm body center lumen body, positioned at hydraulic pressure Liquid pressure sensor on pipeline 90, the lock plate cursor sensor 911 for being set in outer edge in lock plate draw-in groove 91.It is preferred that , shock sensor is in the center lumen body of the second joint arm body 22 positioned at right arm body, and it is used in monitoring of environmental to mechanical arm arm The impact external force of body, liquid pressure sensor is used for monitoring the hydraulic oil pressure of servo electric jar;Lock plate cursor sensor 911 95 two relative positions of disk of lock plate are monitored with light is received by transmitting, accordingly, in left circle of lock plate 95 Prism cursor (not shown) is embedded with disk 951, prism cursor is used to reflect the light of the transmitting of lock plate cursor sensor 911 Line, so as to realize embolia.Motor servo driver includes that joint servo motor driver, electric cylinder servomotor drive Device, the output end connection servomotor 97 of joint servo motor driver, the output end connection of electric cylinder motor servo driver Servo electric jar (is denoted as M8) in Fig. 6.
The bionical dislocation joint of robot realizes that what is dislocated and reset comprises the following steps that:
(1) when mechanical arm body or joint are subject to external impacts, shock sensor is sampled, and it clashes into kinetic energy values;
(2) controller according to shock sensor transmission come shock kinetic energy values converse torque value, if exceed mechanical arm sheet The moment limiting value of body or set joint, controller control electric cylinder motor servo driver runs M8;
(3) servo-electric cylinder working, hydraulic oil drop of pressure, piston 92 loosens, left disk 951 of lock plate 95 and the right side Piece disk 952 can be slided by axis opposite direction rotating of E, that is, realize stremma function;
(4) after confirming safety, servomotor 97 starts to rotate, and reductor output flange 99 drives left circle of lock plate 95 Disk 951 starts rotation, finds sensing station, and the feedback signal of lock plate cursor sensor 911 is to PLC when seeking in place, and servo is electric Dynamic cylinder is counter to be pushed away, and piston 92 is clamped, and lock plate 95 is positioned, and joint servo motor driver driving M3 makes the embolia.
The setting of hydraulic oil pressure P value should meet the pressure of the generation of piston 92 so that left disk 951 and right disk The joint moment of torsion that stiction between 952 is transmitted is approximately equal to the instantaneous peak torque of reductor 96.When there is bigger kinetic energy Clash into or controller has little time computing when the bigger shock wave of acceleration is destroyed, miss peak value, this moment left disk 951 and right Disk 952 can slide in opposition, i.e. joint passive type dislocation.
The bionical dislocation joint mechanism is consolidated, and servo-control system good reliability, control accuracy are high, Operation and Maintenance Simply;The bionic joint dislocation function that it has, can solve the problem that obstacle removing robot works in the presence of a harsh environment and is easily damaged joint Problem, effectively protection obstacle removing robot body construction safety;The joint positive return function having, can make machine of removing obstacles People is carried out continuously operation of removing obstacles, and is removed obstacles the reliability and security of operation so as to substantially increase obstacle removing robot, with very high Economic worth.
The operation of the powered mechanical arm for obstacle removing of 10kV distribution lines is used distant by remote control equipment control by operating personnel Control device remote control, after remote-control receiver receives instruction, master controller controls servo control mechanism according to instruction output control signal Work.In addition, the mechanical arm is additionally provided with ground surveillance device, the video shadow that mechanical arm is returned can be observed by ground surveillance device Picture, is easy to the remote control of operating personnel.
When using, to comprising the following steps that the trees on 10kV distribution lines are removed obstacles:
(1) after Live working Aerial Device sails operation area of removing obstacles into, feed cable is connected, power supply of remote controller, machine is opened in order Tool arm power supply, monitor power supply, system carry out self-inspection.
(2) working bucket is risen into reasonable spatial domain, the ten thousand of Ground Operation personnel manipulation industrial remote controller emitter after finishing The 5th joint 35 close to target is directly guided according to spatial domain and target operating condition to handle, what handle was provided is the motion of target direction Instruction, rather than the three-dimensional coordinate parameter of impact point.After remote-control receiver receives instruction, master controller is exported simultaneously according to instruction The control signal control servo control mechanism work in each joint, driver control motor M1, M2, M3, M4, operation cause the first joint 31st, second joint 32, the 3rd joint 33, the 4th joint 34 are linked.
(3) operator is according to the situation in the 5th joint 35, with remote control finely tune the 5th joint 35 occur to swing, the Six joint 36 occurs rolling makes the rolling of the 5th joint arm body 25, so that the cut surface of chain saw 4 is perpendicular to target trunk, simultaneously Face monitor receives the target image of camera passback, and tree condition needs to adjust repeatedly when complicated, because each joint 3 can also be independent Corner is manipulated with industrial remote controller, therefore other joints 3 can also be rotated sometimes and get to aiming station.
(4) remote control sends cutoff signal startup chain saw 4 and works, and the soft start of chain saw 4 reaches chain saw draw-in groove after rated speed Joint 37 could rotate, and complete cutting action.
(5) operation finishes rear mechanical arm and packs up, and all of arm body 2 is longitudinal folding into horizontal.
The utility model replaces artificial implementation method with mechanical arm for obstacle removing, solves 10kV distribution line trees and removes obstacles work Need to have a power failure by manually implementing and part part of path manually implements the problem that is difficult to, can be difficult to carry out and powered feelings manually Trees are carried out under condition to remove obstacles, so as to greatly improve distribution reliability of operation, completeness and economy, with safety very high, Economic worth, while can be used to process the complicated livewire work of all kinds of operating environments to robot livewire work project development, With good development prospect.
Embodiment of the present utility model is the foregoing is only, the scope of the claims of the present utility model is not thereby limited, it is every The equivalent structure or equivalent flow conversion made using the utility model specification and accompanying drawing content, or be directly or indirectly used in Other related technical fields, are similarly included in scope of patent protection of the present utility model.

Claims (6)

1. a kind of powered mechanical arm for obstacle removing of 10kV distribution lines, including basic machine, control system, be basic machine, control system The electric power system of system power supply, it is characterised in that
Basic machine be six axle six degree of freedom joint tandem type mechanical arms, including pedestal, five joint arm bodies, chain saw, draw-in groove, six pass Section and draw-in groove joint, the first servo electric jar, the second servo electric jar;Pedestal is the load for being fixedly mounted on high-voltage hot-line work car Rotation platform in people's working bucket, arm is connected between pedestal and five joint arm bodies as hollow cavity by six joints, six joints Respectively the first joint to the 6th joint, wherein pedestal are the first joint, and the 3rd joint and the 4th joint are bionical dislocation joint, 5th joint is wagging gesture, and the 6th joint is roll attitude;Draw-in groove is in dustpan shape, is fixed on the output in the 6th joint End, draw-in groove joint is collectively formed with the second servo electric jar, and the first servo electric jar is arranged between pedestal and the first joint arm body;
Control system includes master controller, remote-control receiver, industrial remote controller, servo unit, monitoring unit;It is master controller, distant Control receiver is installed in pedestal, and servo unit includes driving six the six of joint servomotors, drives the pass of servomotor Section motor servo driver, the chain saw motor and draw-in groove motor that drive chain saw, the soft start driver for driving chain saw motor, driving The current limiting driver of draw-in groove motor;Monitoring unit include being installed on shock sensor in the middle part of the second joint arm body, three joint arms body, It is installed on the Power frequency field strength meter on the inside of draw-in groove, driver, soft start driver, current limiting driver, shock sensor, frequency field intensity Instrument, remote-control receiver are connected with master controller;
Electric power system is the straight-flow system of the batteries composition being installed in manned working bucket.
2. the powered mechanical arm for obstacle removing of 10kV distribution lines according to claim 1, it is characterised in that the first servo electric jar One end be fixed on the crossed universal shaft of pedestal extension, the other end is connected by bulb bearing with the first arm body;Second servo One end of electric cylinder is fixed by bulb bearing and draw-in groove, the other end is fixed by the afterbody of bulb bearing and chain saw.
3. the powered mechanical arm for obstacle removing of 10kV distribution lines according to claim 1, it is characterised in that the first joint is in level The angle of revolution in face is 360 °, and the angular range that second joint does elevating movement is 0-85 °, and elevating movement is done in the 3rd joint Angular range is 0-270 °, the angular range of elevating movement is done for 0-180 ° in the 4th joint, and what is swung done in the 5th joint Angular range is-90 °-90 °, and the roll angle in the 6th joint is 360 °, and the cutting stroke angles in the 7th joint are 0-100 °.
4. the powered mechanical arm for obstacle removing of 10kV distribution lines according to claim 1, it is characterised in that chain saw is using high-power Soft start direct current electric saw.
5. the powered mechanical arm for obstacle removing of 10kV distribution lines according to claim 1, it is characterised in that the material of arm body is boat Empty aluminium.
6. the powered mechanical arm for obstacle removing of 10kV distribution lines according to claim 1, it is characterised in that the voltage of electric power system Grade includes 24V, 48V, 220V, and not altogether, 48V voltages are powered for driver for 220V voltages and 24V, 48V, and 220V voltages are chain Saw power supply.
CN201621410030.0U 2016-12-21 2016-12-21 The powered mechanical arm for obstacle removing of 10kV distribution lines Withdrawn - After Issue CN206250676U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106711847A (en) * 2016-12-21 2017-05-24 国网安徽省电力公司淮南供电公司 10kV distribution network line live obstacle clearing mechanical arm
CN109049150A (en) * 2018-08-29 2018-12-21 宜昌市慧成知识产权运营有限责任公司 Sawing apparatus
CN110741827A (en) * 2018-07-23 2020-02-04 保利斯塔光力公司-Cpfl System for mechanized pruning in urban areas

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106711847A (en) * 2016-12-21 2017-05-24 国网安徽省电力公司淮南供电公司 10kV distribution network line live obstacle clearing mechanical arm
CN110741827A (en) * 2018-07-23 2020-02-04 保利斯塔光力公司-Cpfl System for mechanized pruning in urban areas
CN109049150A (en) * 2018-08-29 2018-12-21 宜昌市慧成知识产权运营有限责任公司 Sawing apparatus
CN109049150B (en) * 2018-08-29 2021-11-16 南京瑞贻电子科技有限公司 Wood sawing device

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