CN219019642U - Automatic tree climbing pruning robot in power transmission line corridor - Google Patents
Automatic tree climbing pruning robot in power transmission line corridor Download PDFInfo
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- CN219019642U CN219019642U CN202223083314.1U CN202223083314U CN219019642U CN 219019642 U CN219019642 U CN 219019642U CN 202223083314 U CN202223083314 U CN 202223083314U CN 219019642 U CN219019642 U CN 219019642U
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Abstract
The utility model discloses an automatic tree climbing pruning robot in a power transmission line corridor, which comprises clamping devices, telescopic devices and cutting devices, wherein the clamping devices are at least provided with three groups which are arranged up and down, the telescopic devices are connected between the adjacent clamping devices, each group of clamping devices can be independently opened and closed to hold one side of a trunk, the telescopic devices can realize self-locking after the telescopic actions are performed to change the heights of the clamping devices, the clamping devices are provided with blades, the branches on the climbing side can be cut off in the climbing process, and the cutting devices can be detachably arranged on the outer side of one group of clamping devices and can cut and push down the tree tips. The utility model can not only trim the branches close to the line side, but also trim the tree tops at high positions which have influence on the line, so as to better maintain the safe and stable operation of the power transmission line.
Description
Technical Field
The utility model belongs to the field of operation and maintenance of power transmission lines, and particularly relates to an automatic tree climbing pruning robot in a power transmission line corridor.
Background
Automatic equipment exists for pruning branches and tree tops of transmission line hallways. For example, an automatic standing tree pruning machine produced by the Japanese SEIREI company adopts a password-submerged digital anti-interference wireless remote control technology, a saw chain sawing mechanism with a counterforce device, a low-pressure tire tree climbing mechanism and the like, and the remote controller is used for controlling the machine to climb up a trunk to perform pruning work, but the machine has certain limitation, has higher requirements on the straightness of the trunk, can not cross obstacles, directly cuts all the trunks, and can not realize the pruning function of the tree tips. The advaligno PATAS pruning robot of German company is provided with an internal combustion engine and a hydraulic crawler belt driven device, and can cut branches with different sizes, complete pruning within 8-10 seconds, has high working efficiency, has large mass, can reach 50kg in a single cutting head part, can only be used for short trees, and can prune all the branches. Amacan tree climbing robot in india has eight wheels, can climb up and down the tree, and can rotate around the trunk. However, the robot cannot be applied to higher tree species and cannot complete cutting operations. The utility model relates to a minimum and most flexible tree climbing robot which is invented by Shenzhen university of hong Kong Chinese, a college of academy Xu Yangsheng and team in China, is similar to a certain insect in appearance, consists of a flexible and multidirectional bending original moving device and a mechanical claw, is also provided with a touch sensor, can spontaneously explore the environment and makes a crawling line. However, the robot is too small in load, cannot carry the saw disc, can only finish the work of checking, insect pest prevention and the like, and cannot cut and trim the tree tips of branches.
Disclosure of Invention
The utility model aims to provide an automatic tree climbing pruning robot which not only can prune branches close to a line side, but also can prune tree tops influencing the line, so as to better maintain safe and stable operation of a power transmission line.
The automatic tree climbing pruning robot in the power transmission line corridor comprises clamping devices, telescopic devices and cutting devices, wherein the clamping devices are at least provided with three groups which are arranged up and down, the telescopic devices are connected between the adjacent clamping devices, each group of clamping devices can be independently opened and closed to hold one side of a trunk, the telescopic devices can realize self-locking after the telescopic actions are executed to change the heights of the clamping devices, the clamping devices are provided with blades, the branches on the climbing side can be cut off in the climbing process, and the cutting devices can be detachably arranged on the outer side of one group of clamping devices and can cut and push down the tree tips.
In one embodiment of the robot, the clamping device comprises arc plates, clamping jaw members and a gear driving device, the two arc plates are arranged up and down and are connected through a positioning column, the clamping jaw members comprise arc clamping jaws and cylindrical gears connected with the inner ends of the arc clamping jaws, the two arc clamping jaw members are symmetrically arranged between the two arc plates, the two cylindrical gears are meshed, a wheel shaft is connected with the arc plates through bearings, the gear driving device comprises a servo motor and a driving gear connected with an output shaft of the servo motor, the servo motor is arranged downwards through the output shaft and is fixed on the arc plates through a mounting seat and a fastening piece, and the driving gear is meshed with the outer side of one of the cylindrical gears.
In one embodiment of the robot, the electric telescopic device is an electric servo cylinder.
In one embodiment of the robot, the three clamping devices are provided, two sets of telescopic devices are respectively arranged between the adjacent clamping devices, and the two sets of telescopic devices are symmetrically connected to two end parts of the arc-shaped plate.
In one embodiment of the robot, the inner sides of the arc-shaped clamping jaws of the three groups of clamping devices are respectively provided with a profiling alloy blade, and the middle position of the first arc-shaped plate of the first group of clamping devices is provided with the profiling alloy blade.
In one embodiment of the above robot, the cutting device comprises a mounting frame, a gear motor, a swing arm, a cutting saw disc and a servo electric cylinder, wherein the mounting frame is provided with a horizontal middle mounting plate and a top mounting plate, the gear motor is arranged upwards with an output shaft and fixed on the middle mounting plate, the swing arm comprises a vertical arm and a horizontal arm vertically connected with the bottom of the vertical arm, the output shaft of the gear motor penetrates through the middle mounting plate and then is connected with the vertical arm of the swing arm through a bearing, a bearing is arranged between the upper end of the vertical arm and the bottom surface of the top mounting plate, the cutting saw disc is horizontally arranged, the lower end of a rotating shaft of the cutting saw disc is fixedly connected with the tail end of the horizontal arm of the swing arm, and the servo electric cylinder is fixed on the top surface of the top mounting plate and used for pushing down the trimming part above the cutting saw disc.
In one embodiment of the robot, the bottom of the mounting frame is mounted outside the middle clamping device by a fastener.
The multiple groups of clamping devices can be independently opened and closed, and the robot can climb and descend along one side of the trunk by matching with the telescopic movement of the telescopic device. The clamping device is provided with a cutting blade and is carried with the cutting device, the robot can cut off branches at the climbing side through the cutting blade in the climbing process, stably holds the trunk after climbing to a designated position, and cuts and pushes down the tree tip at the high position through the cutting device. Therefore, the utility model can well realize the purposes of: not only can branch close to the side of the line be trimmed, but also the tree tip at the high position with influence on the line can be trimmed, so that the safe and stable operation of the power transmission line can be better maintained.
Drawings
FIG. 1 is a schematic diagram of an axial structure according to an embodiment of the present utility model.
Fig. 2 is a schematic diagram of another axial structure of the present embodiment (the cutting device is not shown).
Detailed Description
As shown in fig. 1 and 2, the automatic tree climbing pruning robot in the power transmission line corridor disclosed by the embodiment comprises a clamping device a, a telescopic device B and a cutting device C, wherein three groups of clamping devices are arranged up and down, two sets of telescopic devices are arranged between adjacent clamping devices, and the cutting device is connected to the outer side of the middle clamping device. Each group of clamping devices can be independently opened and closed, and the height position is changed through the telescopic movement of the upper telescopic device and the lower telescopic device.
The clamping device a comprises an arcuate plate, a jaw member and a gear drive.
The two arc plates A1 are arranged up and down and are connected through a positioning column, and two protruding parts are arranged on the outer sides of the arc plates and are respectively arranged on the gear driving device and the cutting device.
The jaw member includes an arcuate jaw A2 and a cylindrical gear A3 connected at its inner end.
The two clamping jaw members are symmetrically arranged between the two arc-shaped plates A1, the two cylindrical gears A3 are meshed with each other, and the wheel shaft is connected with the arc-shaped plates A1 through bearings.
The gear driving device comprises a servo motor A4 and a driving gear A5 which is connected with the output shaft of the servo motor A4, the servo motor A4 is arranged downwards with the output shaft, the servo motor A4 is fixed on the extending part on the outer side of the arc-shaped plate A1 through a mounting seat and a fastening piece, and the driving gear A5 is meshed with the outer side of one of the cylindrical gears A3.
The top and the bottom of the inner sides of the clamping jaws of the three groups of clamping devices are respectively provided with a clamping jaw square alloy blade A6, and the middle position of the upper arc-shaped plate of the uppermost clamping device is provided with an arc-shaped plate profiling alloy blade A7.
The telescopic device B adopts a servo electric cylinder, and the telescopic rod of the telescopic device B can be self-locked after telescopic action.
The telescoping device of lower part is with the stiff end up, the expansion end is arranged downwards, and the telescoping device of upper portion is with the stiff end down, and the expansion end is arranged upwards, and telescoping device symmetry connects between the both ends of arc.
The cutting device C comprises a mounting frame C1, a gear motor C2, a swing arm C3, a cutting saw disc C4 and a servo electric cylinder C5.
The mounting frame C1 is provided with a horizontal middle mounting plate and a top mounting plate.
The gear motor C2 is arranged with an output shaft upwards and is fixed on the middle mounting plate.
The swing arm C3 includes a vertical arm and a horizontal arm whose bottom is vertically connected.
The output shaft of the gear motor C2 passes through the middle mounting plate and then is connected with the vertical arm of the swing arm C3 through a bearing, and a bearing is arranged between the upper end of the vertical arm and the bottom surface of the top mounting plate.
The cutting saw disc C4 is horizontally arranged, and the lower end of the rotating shaft of the cutting saw disc C4 is fixedly connected with the tail end of the horizontal arm of the swing arm C3.
The servo cylinder C5 is fixed on the top surface of the top mounting plate and is positioned above the cutting saw disc.
The arc outside is used for installing cutting device's extension position to set up vertical connecting plate, and the bottom and the connecting plate of cutting device mounting bracket pass through the fastener and connect fixedly.
The tree climbing process of the robot is as follows:
(1) The robot hugs the trunk tightly through three groups of clamping devices;
(2) The uppermost clamping device loosens the trunk, and the upper telescopic device extends upwards to push the loosened clamping device upwards for one stroke;
(3) The ascending clamping device in the step (2) is tightly held by the trunk;
(4) The middle clamping device is loosened, the upper telescopic device is contracted, and the lower electric push rod is extended, so that the middle clamping device is lifted by one stroke;
(5) Tightly holding the trunk by the middle clamping device;
(6) Loosening the trunk by the lowest clamping device, and retracting the lower telescopic device to pull the lowest clamping device upwards for one stroke;
(7) The lowest clamping device is tightly held on the trunk, and the robot finishes climbing action once until the trunk is held tightly;
after climbing actions for many times, the robot reaches the designated height. In the climbing process, the robot can cut off branches at the climbing side through the profiling alloy blade on the clamping device.
The tree tip pruning process by the robot is as follows:
(1) The three groups of clamping devices of the robot are all used for tightly holding the trunk, the telescopic devices at the upper part and the lower part are in a contracted state, and the robot is in the most stable tightly holding state on the trunk at the moment;
(2) The gear motor works to enable the horizontal arm of the swing arm to carry the cutting saw disc to perform cutting action;
(3) When the cutting saw disc cuts off the tree tip quickly, the servo electric cylinder at the top of the mounting frame stretches out to push over the tree tip which is trimmed above the cutting saw disc.
After the tree tip is trimmed, the robot falls back down from the trunk, and the working process is performed reversely with reference to the climbing process.
According to the structure and the working process of the robot, the profiling blade arranged on the clamping jaw can cut off branches on the climbing side in the climbing process of the robot, the trunk can be stably held after the robot climbs to a designated position, and the tree tips at high positions are cut and pushed down by the cutting device, so that the robot has the functions of not only pruning branches close to the line side, but also pruning the tree tips at high positions which have influence on the line.
Claims (7)
1. An automatic tree pruning robot of climbing in transmission line corridor, its characterized in that: the robot comprises clamping devices, a telescopic device and a cutting device, wherein the clamping devices are at least provided with three groups which are vertically arranged, the telescopic device is connected between every two adjacent clamping devices, each group of clamping devices can be independently opened and closed to hold one side of a trunk, the clamping devices are provided with blades, branches on the climbing side can be cut off in the climbing process, the telescopic device performs telescopic action to realize self-locking after the height of the clamping devices is changed, and the cutting device can be detachably arranged on the outer side of one group of clamping devices and can cut and push down tree tips.
2. The automatic tree climbing pruning robot in a transmission line corridor as set forth in claim 1, wherein: the clamping device comprises arc plates, clamping jaw members and a gear driving device, wherein the two arc plates are arranged up and down and are connected through a positioning column, the clamping jaw members comprise arc clamping jaws and cylindrical gears connected with the inner ends of the arc clamping jaws, the two arc clamping jaw members are symmetrically arranged between the two arc plates, the two cylindrical gears are meshed, a wheel shaft is connected with the arc plates through bearings, the gear driving device comprises a servo motor and a driving gear connected with an output shaft of the servo motor, the servo motor is arranged downwards through the output shaft and is fixed on the arc plates through a mounting seat and a fastening piece, and the driving gear is meshed with the outer side of one of the cylindrical gears.
3. The automatic tree climbing pruning robot in a transmission line corridor as set forth in claim 2, wherein: the telescopic device adopts an electric servo cylinder.
4. The automatic tree climbing pruning robot in a transmission line corridor according to claim 3, wherein: the clamping devices are three groups, two sets of telescopic devices are respectively arranged between the adjacent clamping devices, and the two sets of telescopic devices are symmetrically connected to the two end parts of the arc-shaped plate.
5. The automatic tree climbing pruning robot in a transmission line corridor as set forth in claim 4, wherein: profiling alloy blades are arranged on the inner sides of the arc-shaped clamping jaws of the three groups of clamping devices, and profiling alloy blades are arranged in the middle of the first arc-shaped plate of the first group of clamping devices.
6. The automatic tree climbing pruning robot in a transmission line corridor as set forth in claim 1, wherein: cutting device includes mounting bracket, gear motor, swing arm, cutting saw dish and servo electricity jar, the mounting bracket is equipped with horizontally middle part mounting panel and top mounting panel, gear motor is arranged up with the output shaft, be fixed in on the middle part mounting panel, the swing arm includes vertical arm and the horizontal arm that its bottom is connected perpendicularly, gear motor's output shaft passes through the vertical arm of bearing connection swing arm behind the middle part mounting panel, set up the bearing between the upper end of vertical arm and the top mounting panel bottom surface, cutting saw dish horizontal arrangement, its pivot lower extreme is fixed with the horizontal arm end-to-end connection of swing arm, servo electricity jar is fixed in top mounting panel top surface for the pruning part of cutting saw dish top is fallen in the thrust.
7. The automatic tree climbing pruning robot in a transmission line corridor as set forth in claim 6, wherein: the bottom of the mounting frame is mounted on the outer side of the middle clamping device through a fastener.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223083314.1U CN219019642U (en) | 2022-11-21 | 2022-11-21 | Automatic tree climbing pruning robot in power transmission line corridor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223083314.1U CN219019642U (en) | 2022-11-21 | 2022-11-21 | Automatic tree climbing pruning robot in power transmission line corridor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219019642U true CN219019642U (en) | 2023-05-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223083314.1U Active CN219019642U (en) | 2022-11-21 | 2022-11-21 | Automatic tree climbing pruning robot in power transmission line corridor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219019642U (en) |
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2022
- 2022-11-21 CN CN202223083314.1U patent/CN219019642U/en active Active
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