CN205694496U - Automatic pollard robot for overhead transmission line - Google Patents

Abstract

The utility model discloses a kind of automatic pollard robot for overhead transmission line, it includes control system and mobile body, and mobile body is provided with power supply, running gear and cutting system；Cutting system includes the corresponding setting of the edge of a knife and the first blade that up and down level is laid and the second blade, and drives described first, second blade counter-rotational trimming machine cuts hand drive mechanism.During work, first, second blade rotates backward formation " shears " and prunes branch, no matter is soft or hard branch, is all that two-way pincer attack one is cut the most disconnected, can effectively cut off branch, prunes efficiency higher.And, first, second blade rotates backward, and their reaction torque can cancel each other, and overhead transmission line will not be affected by the torsional forces that first, second blade brings.

Description

Automatic pollard robot for overhead transmission line

Technical field

This utility model relates to overhead power transmission line passage area of maintenance, specifically one and is used for making somebody a mere figurehead defeated The pollard robot of electric line livewire work.

Background technology

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 Branch.

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 Low.

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 People, it has can effectively cut off branch, prune the feature that efficiency is higher, and overhead transmission line is not The torsional forces brought by pruning tool is affected.

To achieve these goals, this utility model adopts the following technical scheme that

For the automatic pollard robot of overhead transmission line, including control system and mobile body, Described control system includes ground control system and the airborne control system being arranged on described mobile body System, described aircraft mounted control system realizes data by wireless data sending unit and described ground control system and hands over Mutually with communicate；It is additionally provided with the first power supply on described mobile body and drives described mobile body built on stilts defeated The running gear of walking in electric line, the cutting system for pollard is installed on described mobile body Lower section；It is described running gear, described cutting system and described airborne control by described first power supply System power supply；Described running gear and the work of described cutting system is controlled by described aircraft mounted control system； Described cutting system includes the corresponding setting of the edge of a knife and the first blade of level laying up and down and the second cutter Sheet, and drive described first, second blade counter-rotational trimming machine cuts hand drive mechanism.

Described trimming machine cuts hand drive mechanism includes the first rotating shaft, the second rotating shaft, the first cutterhead and second Cutterhead, described second rotating shaft coaxially activity is set in described first rotating shaft and lower end stretches out described first The bottom of rotating shaft, described first, second axis of rotation is in opposite direction, described first, second cutterhead It is horizontally disposed with up and down and fixes with the lower end of described first, second rotating shaft respectively and be connected；Described first, Second blade is respectively arranged in the week edge of described first, second cutterhead.

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.

Described cutting system passes through V-type insulation arm movable hanging in the bottom of described mobile body.

Described running gear is provided with walking unit and the road wheel with this walking unit compresses built on stilts defeated jointly The compressing unit of electric line；Described compressing unit includes that at least one is positioned at below overhead transmission line Contact roller and this contact roller is pressed in the elastic compression mechanism on the downside of overhead transmission line.

The road wheel of described walking unit has front walking wheel and rear walking wheel, and described contact roller has one, This contact roller medium position between described front walking wheel and rear walking wheel on fore-and-aft direction.

Described elastic compression mechanism includes the company that compression spring and the wheel shaft with described contact roller are coaxially disposed Bar, described connecting rod has the articulated section being hinged with described mobile body, and this hinge point is in described company Between the two ends of bar；One end of described compression spring is fixedly mounted on described mobile body and is positioned at institute Stating the lower section of connecting rod, the other end of described compression spring is connected to one end of described connecting rod, described compression The wheel shaft of wheel is articulated in the other end of described connecting rod.

Described running gear is provided with prevent described mobile body from falling from overhead transmission line dropproof Mechanism.

Described mobile body has hook, and described hook has hook portion and bar portion, the hook portion of described hook Exceeding described mobile body, bar subordinate's end of described hook is connected with described connecting rod described compression spring One end be hinged.

The top of described mobile body is provided with image unit, and this image unit with described airborne control is System is connected.

After using such scheme, this utility model is for the automatic pollard machine of overhead transmission line People, during work, is sent work order by ground control system, controls walking by aircraft mounted control system System and cutting system work, driven mobile body and cutting system at overhead transmission line by running gear Walk in road, cutting system the branch being pointed in overhead power transmission line passage is pruned.This practicality In novel, cutting system includes the corresponding setting of the edge of a knife and the first blade and second that level is laid up and down Blade, and drive first, second blade counter-rotational trimming machine cuts hand drive mechanism.This practicality Cutting system in novel, during work, first, second blade rotates backward formation " shears " and enters branch Row is pruned, and no matter is soft or hard branch, is all that two-way pincer attack one is cut the most disconnected, can effectively cut off Branch, prunes efficiency higher.And, first, second blade rotates backward, and their reaction torque can To cancel each other, 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.

As further improving, cutting system passes through V-type insulation arm movable hanging in described moving machine The lower section of body, on the one hand achieves the insulation between cutting system and overhead transmission line, on the other hand By V-type insulation arm in the formed below firm triangle of mobile body, play stable cutting system Effect.

As further improving, by elastic compression, contact roller is pressed in overhead transmission line by mechanism Downside, can make contact roller be pressed on the downside of overhead transmission line all the time with suitable dynamics, thus Ensure that pollard robot can set up on overhead transmission line securely, will not retreat during climbing.

As further improving, contact roller be positioned on fore-and-aft direction front walking wheel and rear walking wheel it Between medium position, front walking wheel can be compressed with rear walking wheel by a contact roller simultaneously.

As further improving, mobile body can be prevented from overhead transmission line by falling-proof mechanism On fall.

As further improving, image unit is set on the top of mobile body, single by this shooting Unit can monitor the working condition of running gear and paint finishing in real time, and data pass to ground control system System, is done corresponding process by surface personnel according to the data passed back.

Accompanying drawing explanation

Fig. 1 is overall structure schematic diagram of the present utility model；

Fig. 2 is the Facad structure schematic diagram of mobile body in this utility model；

Fig. 3 is the structure schematic diagram of mobile body in this utility model；

Fig. 4 is the structure schematic diagram of mobile another angle of body in this utility model；

Fig. 5 is the structural representation of cutting system in this utility model；

Fig. 6 is the structural representation of another angle of cutting system in this utility model；

Fig. 7 is control principle schematic diagram of the present utility model.

Detailed description of the invention

This utility model is for the automatic pollard robot of overhead transmission line, as shown in figs. 1-7, Including control system and mobile body 200, control system includes that ground control system 11 and airborne control are System 12, aircraft mounted control system 12 includes tractor control module 121 and trimming machine cuts hand control module 122, Tractor control module 121 is installed on mobile body 200, and trimming machine cuts hand control module 122 is installed on On following cutting system 600, tractor control module 121 and trimming machine cuts hand control module 122 are led to respectively Cross wireless data sending unit and realize data interaction and communication with ground control system 11.

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 Face.

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 the corresponding setting of the edge of a knife and the first blade 61 that up and down level is laid and the Two blades 62, drive first, second blade 61,62 counter-rotational trimming machine cuts hand drive mechanisms 63, And second set of cells 64.It is trimming machine cuts hand control module 122 and cutting system by the second set of cells 64 600 power supplies.Certainly, in this utility model, it is possible to be trimming machine cuts hand control by the first set of cells 300 Module 122 and cutting system 600 are powered；Trimming machine cuts hand control module 122 is mountable to mobile body Also it is mountable on cutting system 600 on 200.

Specifically:

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.

Trimming machine cuts hand drive mechanism 63 include the second direct current generator 630, the 3rd direct current generator 631, One gear the 632, second gear 633, the 3rd gear 634, the 4th gear the 635, first rotating shaft 636, Two rotating shaft the 637, first cutterhead 638 and the second cutterheads 639.

Second direct current generator 630 and the 3rd direct current generator 631 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 630 and the 3rd direct current generator 631 is each passed through In the base plate of layer 601 extends lower floor 602 and connect the first gear 632 and the second gear 633 respectively, the 3rd Gear 634 and the 4th gear 635 are meshed with the first gear 632 and the second gear 633 respectively.Second turn The bottom of the first rotating shaft 636 is stretched out in the coaxial activity of axle 637 is set in the first rotating shaft 636 and lower end, the One, the second cutterhead 638, about 639 be horizontally disposed with and respectively with first, second rotating shaft 636,637 Lower end is fixing to be connected.The output shaft of the second direct current generator the 630, the 3rd direct current generator 631 is in trimming machine cuts Rotate backward under the control of hand control module 122, by the first gear 632 and the 3rd gear 634, second Gear 633 and the transmission of the 4th gear 635, drive first, second rotating shaft 636,637 to rotate backward, Thus realize first, second cutterhead 638,639 and rotate backward.

Week of first, second cutterhead 638,639 along offer respectively for accommodating first, second blade 61, The annular storage tank 6381,6391 of 62.First, second blade 61,62, all in semilune, is respectively provided with 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 two blades 61,62 respectively corresponding be articulated with first, second cutterhead annular storage tank 6381, In 6391.

In this utility model, first, second blade 61,62 can be the most a piece of, during work, first, Second cutterhead 638,639 often turns over one week, and first, second blade 61,62 is formed once " shears ".

As a preferred embodiment, first, second blade 61,62 all has two panels, each first cutter Sheet 61 edge of a knife direction is consistent and symmetrical on the first cutterhead 638, each second blade 62 also edge of a knife direction Consistent and symmetrical on the second cutterhead 639, and each first blade 61 and each second blade 62 are in level It is crisscross arranged successively on face.In this embodiment, during work, first, second cutterhead 638,639 every turn Spending one week, first, second blade 61,62 forms four times " shears ".

As the embodiment improved, first, second blade 61,62 can have more than two panels, each blade Arrange similar with the above-mentioned embodiment being respectively arranged with two panels blade.

Automatic pollard robot for overhead transmission line of the present utility model, operation principle is such as Under:

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 Body ground:

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 630,631 obtains control signal and starts working, second, third direct current generator 630,631 Output shaft rotates backward and drives respectively first, second gear 632,633 to rotate, first, second tooth Wheel 632,633 drives the three, the 4th gears 634,635 to rotate respectively, thus drive first respectively, Second rotating shaft 636,637 rotates backward, then by first, second rotating shaft 636,637 drive first, Second cutterhead 638,639 rotates backward, and when first, second cutterhead 638,639 rotates, is hinged on the One, first, second blade 61 in the annular storage tank 6381,6391 of the second cutterhead 638,639, 62 open owing to centrifugal force is thrown out of, under the first, second counter-rotational driving of cutterhead 638,639, Each first, second blade 61,62 is respectively formed once " shears " when meeting, and is pointed to overhead transmission line Branch in the passage of road 400 is pruned.

Owing to first, second blade 61,62 uses articulated manner to install, the most harder when running into Branch when cannot cut off, first, second blade 61,62 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.

Claims (13)

1. for the automatic pollard robot of overhead transmission line, including control system and movement Body, described control system includes ground control system and the airborne control being arranged on described mobile body System processed, described aircraft mounted control system realizes number by wireless data sending unit and described ground control system According to alternately with communicate；It is additionally provided with the first power supply on described mobile body and drives described mobile body at frame The running gear of walking on empty transmission line of electricity, the cutting system for pollard is installed on described movement The lower section of body；It is described running gear, described cutting system and described airborne by described first power supply Control system is powered；Described running gear and described cutting system is controlled by described aircraft mounted control system Work；It is characterized in that: described cutting system includes what the corresponding setting of the edge of a knife and upper and lower level were laid First blade and the second blade, and drive the described first, second counter-rotational trimming machine cuts of blade Hand drive mechanism.

Automatic pollard robot for overhead transmission line the most according to claim 1, It is characterized in that: described trimming machine cuts hand drive mechanism includes the first rotating shaft, the second rotating shaft, the first cutter Dish and the second cutterhead, described second rotating shaft coaxially activity is set in described first rotating shaft and lower end is stretched out The bottom of described first rotating shaft, described first, second axis of rotation is in opposite direction, described first, Second cutterhead is horizontally disposed with up and down and fixes with the lower end of described first, second rotating shaft respectively and is connected；Institute State first, second blade and be respectively arranged in the week edge of described first, second cutterhead.

Automatic pollard robot for overhead transmission line the most according to claim 2, It is characterized in that: described first, second blade, all in semilune, is respectively provided with installation end and free end, And the installation end of the described first, second blade corresponding week being articulated with described first, second cutterhead respectively Edge, the week of described first, second cutterhead is along offering respectively for accommodating described first, second blade Storage tank.

Automatic pollard robot for overhead transmission line the most according to claim 3, It is characterized in that: the knife face narrow width of free end described in the knife face width ratio of described installation end.

5. according to the automatic pollard for overhead transmission line according to any one of claim 2-4 Robot, it is characterised in that: described first, second blade all has more than two panels or two panels, each described First blade edge direction is consistent, and each described second blade also edge of a knife direction is consistent, and each described first Blade is crisscross arranged on horizontal plane successively with each described second blade.

Automatic pollard robot for overhead transmission line the most according to claim 5, It is characterized in that: each described first blade is symmetrical on described first cutterhead, each described second cutter Sheet is symmetrical on described second cutterhead.

Automatic pollard robot for overhead transmission line the most according to claim 1, It is characterized in that: described cutting system passes through V-type insulation arm movable hanging under described mobile body Portion.

Automatic pollard robot for overhead transmission line the most according to claim 1, It is characterized in that: described running gear is provided with walking unit and the road wheel with this walking unit is pressed jointly The compressing unit of tight overhead transmission line；Described compressing unit includes that at least one is positioned at overhead transmission line Contact roller below road and this contact roller is pressed in the elastic compression mechanism on the downside of overhead transmission line.

Automatic pollard robot for overhead transmission line the most according to claim 8, It is characterized in that: the road wheel of described walking unit has front walking wheel and rear walking wheel, described compression Wheel have one, this contact roller on fore-and-aft direction between described front walking wheel and rear walking wheel in Position, portion.

Automatic pollard robot for overhead transmission line the most according to claim 8, It is characterized in that: described elastic compression mechanism includes compression spring and coaxial with the wheel shaft of described contact roller The connecting rod arranged, described connecting rod has the articulated section being hinged with described mobile body, this hinge point Between the two ends of described connecting rod；One end of described compression spring is fixedly mounted on described mobile body And it is positioned at the lower section of described connecting rod, the other end of described compression spring is connected to one end of described connecting rod, The wheel shaft of described contact roller is articulated in the other end of described connecting rod.

The 11. automatic pollard robots for overhead transmission line according to claim 1, It is characterized in that: described running gear is provided with and prevents described mobile body from falling from overhead transmission line Falling-proof mechanism.

The 12. automatic pollard robots for overhead transmission line according to claim 10, It is characterized in that: described mobile body has hook, described hook has hook portion and bar portion, described extension The hook portion of hook exceeds described mobile body, bar subordinate's end of described hook be connected with described connecting rod have described One end of compression spring is hinged.

The 13. automatic pollard robots for overhead transmission line according to claim 1, It is characterized in that: the top of described mobile body is provided with image unit, this image unit and described machine Borne control system is connected.