CN216452055U - But centre gripping barrier cleaning device based on mechanism's lift platform zooms out - Google Patents
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- CN216452055U CN216452055U CN202123381302.2U CN202123381302U CN216452055U CN 216452055 U CN216452055 U CN 216452055U CN 202123381302 U CN202123381302 U CN 202123381302U CN 216452055 U CN216452055 U CN 216452055U
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Abstract
The utility model discloses a but centre gripping tree barrier cleaning device based on mechanism's lift platform zooms in, specifically include mechanism's lift platform zooms in and the multi freedom arm, the multi freedom arm sets up at mechanism's lift platform top zooms in, and the multi freedom arm end is provided with terminal operation instrument, including tree barrier cleaning device, clamping device and recognition device, the multi freedom arm is provided with a plurality of driving motor including consecutive base, big arm, forearm. The utility model discloses based on scaling mechanism lift platform, nimble portable, the lift is stable, and area is little, can remote control, can clear up the tree obstacle in a flexible way and avoid the tree obstacle after the clearance to fall to transmission line between eminence branch.
Description
Technical Field
The utility model belongs to electric power maintenance research field, in particular to but centre gripping tree barrier cleaning device based on mechanism's lift platform that contracts zooms.
Background
The transmission line is an important component of the power network and has the characteristics of wide coverage and long transmission distance. With the continuous increase of the scale of the power grid and the vigorous promotion of ecological civilization construction by the country, the forest coverage rate is continuously improved. The contradiction of the 'line tree' is more and more prominent, the management difficulty of the tree obstacle is increased, accidents such as line tripping, power grid power failure, forest fire and the like caused by the tree obstacle occur at the same time, the safe operation of the power transmission line is seriously threatened, and the tree obstacle hidden danger of the serious degree needs to be timely cleaned. At present, the main obstacle clearing is completed by a worker holding a cutter, a handsaw and a chain saw in hand, climbing operation through trees, taking a bucket arm vehicle for high-altitude operation or through an extension rod and the like. It mainly adopts artifical manually operation mode, and the work task is heavy and there is the eminence to fall and the risk of electrocuting at clearance in-process personnel, and the operation effect is unstable, and work efficiency is also not high. Therefore, the study on the tree obstacle cleaning device which is flexible and portable, small in occupied area, convenient to operate and high in working efficiency has great use value.
Disclosure of Invention
The utility model aims at overcoming prior art's shortcoming and not enough, but provide a but centre gripping barrier cleaning device based on mechanism's lift platform that zooms, the device is based on mechanism's lift platform that zooms, and is nimble portable, goes up and down stably, and area is little, can remote control, can clear up the barrier in a flexible way and avoid the barrier after the clearance to fall to transmission line between eminence branch.
The purpose of the utility model is realized through the following technical scheme:
a clamping tree obstacle cleaning device based on a telescopic mechanism lifting platform comprises the telescopic mechanism lifting platform and a multi-degree-of-freedom mechanical arm, wherein the multi-degree-of-freedom mechanical arm is arranged at the top of the telescopic mechanism lifting platform, and a tail end operation tool is arranged at the tail end of the multi-degree-of-freedom mechanical arm and comprises a tree obstacle cleaning device, a clamping device and an identification device;
the telescopic mechanism lifting platform comprises an upper supporting plate, a lower supporting plate, a triangular prism telescopic mechanism and a hydraulic cylinder, wherein the upper supporting plate and the lower supporting plate are the same in structure, three sliding grooves are formed in the plates, the triangular prism telescopic mechanism is composed of a plurality of scissor type basic telescopic units, the upper end and the lower end of the triangular prism telescopic mechanism are connected with a sliding buckle through a pin shaft, the sliding buckle is embedded into the sliding grooves of the upper supporting plate and the lower supporting plate, and the hydraulic cylinder is arranged in the sliding grooves of the lower supporting plate;
the multi-degree-of-freedom mechanical arm comprises a base, a large arm, a small arm, a front arm and a tail end operation tool which are sequentially connected, wherein the base, the large arm, the small arm and the front arm are connected through rotary joints; the base and the base driving motor are arranged on the upper supporting plate, the large arm is arranged on the base, the small arm is arranged at the tail end of the large arm, the front arm is arranged at the tail end of the small arm, the tail end of the front arm is provided with three motors, one motor is used for realizing front-back expansion of the front arm, the other motor is used for realizing rotation of the front arm in a vertical plane, and the other motor is used for realizing rotation of the front arm around the axis of the front arm; the tail end of the forearm is also provided with a tail end working tool, a recognition device and a clamping device.
Be provided with the big arm driving motor who is used for realizing the vertical in-plane internal rotation of big arm on the revolute joint between big arm and the forearm, be provided with the forearm driving motor who is used for realizing the vertical in-plane internal rotation of forearm on the revolute joint between forearm and the forearm, the forearm end is provided with and is used for realizing that the vertical in-plane internal rotation of forearm is forearm driving motor, still is provided with the flexible driving motor of forearm that is used for realizing the forearm around the forearm and is used for realizing the forearm around the rotatory forearm of self axis around axis rotation driving motor.
The tree obstacle cleaning device is an electric saw used for sawing branches, the clamping device is used for clamping the branches cut off by the saw, and the recognition device is a camera used for detecting and positioning targets.
The clamping device consists of an upper semicircular holding claw and a lower semicircular holding claw.
The basic zooming units are connected through pin shafts.
Compared with the prior art, the utility model, following advantage and beneficial effect have:
1. the utility model discloses area is little, and it is stable to go up and down, but remote control is convenient for transport and storage.
2. The utility model discloses a clamping device is installed to the arm end, can avoid the branch after the clearance to fall to transmission line, has increased the safety benefit.
3. The utility model discloses a scaling mechanism lift platform can multistage steady lift, and the area that receives the wind is little.
4. The utility model discloses the camera is equipped with to the arm end, detectable surrounding environment and definite tree barrier position, and the terminal electric saw of arm can carry out effectual tree barrier clearance at a plurality of angles.
5. The utility model discloses well multi freedom arm height-adjustable under the effect of mechanism's that zooms lift platform, the end can rotate and seesaw simultaneously, consequently can realize cleaing away of barrier to arbitrary high tree.
Drawings
Fig. 1 is a schematic view of the overall structure of the device.
Fig. 2 is a schematic view of the lifting platform of the scaling mechanism of the device.
FIG. 3 is a schematic view of the multi-degree of freedom mechanical arm of the present apparatus.
Fig. 4 is a schematic structural view of the device in transportation or storage.
Shown in the figure: 1-lower support plate, 2-hydraulic cylinder, 3-slide fastener, 4-chute, 5-upper support plate, 6-scissor basic telescopic unit, 7-pin shaft, 8-base, 9-big arm driving motor, 10-big arm, 11-small arm, 12-small arm driving motor, 13-forearm telescopic driving motor, 14-forearm rotating driving motor around axis, 15-camera, 16-clamping device, 17-electric saw, 18-forearm, 19-forearm driving motor and 20-base driving motor.
Detailed Description
The structure and operation of the present invention will be described in detail with reference to the accompanying drawings.
Designed a liftable tree barrier cleaning device according to mechanism of zooming, mechanism of zooming novel in shape, the light is portable, simple structure, be convenient for transportation and storage, repeatedly usable and be convenient for installation and dismantlement. When the tree obstacle cleaning device is in a working state, the lifting platform of the scaling mechanism rises to convey a working tool at the tail end of the mechanical arm to the position of the tree obstacle; when the device is in a storage state, the lifting platform of the scaling mechanism is contracted and descended, the size of the whole device is reduced, and the space is saved.
Referring to fig. 1, the utility model discloses a but centre gripping tree barrier cleaning device based on mechanism's lift platform zooms in, including mechanism's lift platform zooms in and the multi freedom arm, the multi freedom arm sets up at mechanism's lift platform top zooms in, and the multi freedom arm end is provided with tree barrier cleaning device, clamping device and recognition device.
Referring to the attached drawing 2, the scaling mechanism lifting platform comprises an upper supporting plate 5, a lower supporting plate 1, a triangular prism scaling mechanism, hydraulic cylinders and the like, wherein the lower supporting plate 1 and the upper supporting plate 5 are identical in structure, three sliding grooves 4 are formed in the plates respectively, a main body of the triangular prism scaling mechanism comprises a plurality of scissor-type basic scaling units 6, the basic units are connected through pin shafts 7, the upper end and the lower end of the triangular prism scaling mechanism are connected with sliding buckles 3 through the pin shafts 7, the sliding buckles 3 are embedded into the sliding grooves 4, and the three hydraulic cylinders 2 are arranged in the three sliding grooves of the lower supporting plate 1 respectively. When the telescopic lifting mechanism works, the hydraulic cylinder drives the slide fastener to linearly move along the sliding groove, and the slide fastener moves to cause the telescopic mechanism to extend or contract, so that the lifting function is achieved.
Referring to fig. 3, the multi-degree-of-freedom mechanical arm comprises a base 8, a large arm 10, a small arm 11, a front arm 18, a tail end working tool and motors which are connected in sequence. The base 8 and the base driving motor 20 are arranged on the upper supporting plate 5 of the lifting device, are driven by the base driving motor 20 and can horizontally rotate; the large arm 10 is arranged on the base 8, the small arm 11 is arranged at the tail end of the large arm, the driving motors 9 and 12 of the large arm and the small arm are arranged on respective rotating joints, and the large arm and the small arm can rotate in a vertical plane under the driving of the motors; the front arm 18 is arranged at the tail end of the small arm, the front arm is driven by three motors, two motors are arranged at the rear end of the front arm, the other motor is arranged at a front arm rotating joint, the first motor is a front arm stretching driving motor 13 and enables the front arm to rotate around the axis of the front arm, the second motor is a front arm rotating driving motor 14 and enables the front arm to stretch back and forth, and the third motor is a front arm driving motor 19 and enables the front arm to rotate in a vertical plane; the front arm is provided with a tail end operation tool, the tail end operation tool comprises a camera 15, a power saw 17 and a clamping device 16, the clamping device 16 is arranged on the other side of the power saw 17 and consists of an upper semicircular holding claw and a lower semicircular holding claw, the camera 15 is used for detecting and positioning a target, the power saw 17 is used for sawing branches, and the clamping device 16 is used for clamping the branches cut off by the saw so as to prevent the branches from falling to a circuit.
The utility model discloses specific working process as follows:
the device is conveyed to a designated position by a transport vehicle, the hydraulic cylinder 2 is started to enable the slide fastener 3 to move along the chute 4, the scaling mechanism formed by the scissor unit 6 is unfolded along with the slide fastener, the upper supporting plate 5 and the multi-degree-of-freedom mechanical arm arranged on the upper supporting plate are lifted, an operator judges whether the working height is reached through the telescope or the camera 15, and if the working height is reached, the hydraulic cylinder 2 is stopped. Then, each driving motor of the mechanical arm is started to adjust the pose of the mechanical arm, so that the electric saw 17 and the clamping device 16 reach the operation position, the electric saw is started to saw the branches, the clamping device is started to clamp the branches, the clamping device continues to clamp the cleared branches after the saw cutting is completed, and the branches are loosened to enable the branches to fall to a safe position after the angle of the mechanical arm is adjusted.
The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose of the embodiments is to enable those skilled in the art to understand the contents of the present invention and to implement the present invention, which cannot limit the protection scope of the present invention. All modifications made according to the spirit of the main technical scheme of the present invention shall be covered within the protection scope of the present invention.
Claims (5)
1. The utility model provides a but centre gripping barrier cleaning device based on mechanism's lift platform that contracts, its characterized in that:
the multi-degree-of-freedom mechanical arm is arranged at the top of the lifting platform of the scaling mechanism, and the tail end of the multi-degree-of-freedom mechanical arm is provided with a tail end operation tool which comprises a tree obstacle cleaning device, a clamping device (16) and a recognition device;
the scaling mechanism lifting platform comprises an upper supporting plate (5), a lower supporting plate (1), a triangular prism scaling mechanism and a hydraulic cylinder (2), the upper supporting plate (5) and the lower supporting plate (1) are identical in structure, three sliding grooves (4) are formed in the plates, the triangular prism scaling mechanism is composed of a plurality of scissor-type basic scaling units (6), the upper end and the lower end of the triangular prism scaling mechanism are connected with a sliding buckle (3) through a pin shaft (7), the sliding buckle (3) is embedded into the sliding grooves (4) of the upper supporting plate (5) and the lower supporting plate (1), and the hydraulic cylinder (2) is arranged in the sliding groove (4) of the lower supporting plate (1);
the multi-degree-of-freedom mechanical arm comprises a base (8), a large arm (10), a small arm (11), a front arm (18) and a tail end operation tool which are sequentially connected, wherein the base (8), the large arm (10), the small arm (11) and the front arm (18) are connected through a rotary joint; the base (8) and a base driving motor (20) are arranged on the upper supporting plate (5), the large arm (10) is arranged on the base (8), the small arm (11) is arranged at the tail end of the large arm (10), the front arm (18) is arranged at the tail end of the small arm (11), three motors are arranged at the tail end of the front arm (18), one motor is used for realizing front-back stretching of the front arm (18), the other motor is used for realizing rotation of the front arm (18) in a vertical plane, and the other motor is used for realizing rotation of the front arm (18) around the axis of the front arm (18); the end of the front arm (18) is also provided with an end working tool, a recognition device and a clamping device (16).
2. The device for cleaning the clampable tree obstacle based on the telescopic mechanism lifting platform as claimed in claim 1, wherein:
be provided with big arm driving motor (9) that are used for realizing big arm (10) vertical plane internal rotation on the rotary joint between big arm (10) and forearm (11), be provided with forearm driving motor (12) that are used for realizing forearm (11) vertical plane internal rotation on the rotary joint between forearm (11) and forearm (18), forearm (18) end is provided with and is used for realizing forearm (18) vertical plane internal rotation is forearm driving motor (19), still is provided with and is used for realizing flexible forearm flexible driving motor (13) around forearm (18) and is used for realizing forearm (18) around the axis rotation of self around axis rotation driving motor (14).
3. The device for cleaning the clampable tree obstacle based on the telescopic mechanism lifting platform as claimed in claim 2, wherein:
the tree obstacle cleaning device is an electric saw (17) used for sawing branches, the clamping device (16) is used for clamping the branches cut off by the saw, and the recognition device is a camera (15) used for detecting and positioning targets.
4. The device for cleaning the clampable tree obstacle based on the telescopic mechanism lifting platform as claimed in claim 3, wherein:
the clamping device (16) consists of an upper semicircular gripper jaw and a lower semicircular gripper jaw.
5. The device for cleaning the clampable tree obstacle based on the telescopic mechanism lifting platform as claimed in claim 4, wherein:
the basic zooming units are connected through a pin shaft (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123381302.2U CN216452055U (en) | 2021-12-30 | 2021-12-30 | But centre gripping barrier cleaning device based on mechanism's lift platform zooms out |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123381302.2U CN216452055U (en) | 2021-12-30 | 2021-12-30 | But centre gripping barrier cleaning device based on mechanism's lift platform zooms out |
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| Publication Number | Publication Date |
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| CN216452055U true CN216452055U (en) | 2022-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202123381302.2U Active CN216452055U (en) | 2021-12-30 | 2021-12-30 | But centre gripping barrier cleaning device based on mechanism's lift platform zooms out |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114271119A (en) * | 2021-12-30 | 2022-04-05 | 陕西科技大学 | But centre gripping barrier cleaning device based on mechanism's lift platform zooms out |
| CN115399157A (en) * | 2022-09-30 | 2022-11-29 | 国网山东省电力公司莒南县供电公司 | Overhead transmission line tree barrier cleaning device |
-
2021
- 2021-12-30 CN CN202123381302.2U patent/CN216452055U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114271119A (en) * | 2021-12-30 | 2022-04-05 | 陕西科技大学 | But centre gripping barrier cleaning device based on mechanism's lift platform zooms out |
| CN115399157A (en) * | 2022-09-30 | 2022-11-29 | 国网山东省电力公司莒南县供电公司 | Overhead transmission line tree barrier cleaning device |
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