Intelligent tree barrier cleaning robot

Abstract

The invention discloses an intelligent tree barrier cleaning robot which comprises a mounting plate, a base is arranged on the mounting plate, a disc is arranged at the upper end of the base, a first rotating shaft is rotationally arranged between the disc and the base, a supporting arm is arranged on the disc, a second rotating shaft is rotationally arranged between the supporting arm and the disc, and an L-shaped block is arranged at the end, away from the disc, of the supporting arm. A third rotating shaft is rotationally arranged between the L-shaped block and the supporting arm, the end, away from the supporting arm, of the L-shaped block is connected with the electric saw through a connecting arm, a fourth rotating shaft is rotationally arranged between the connecting arm and the L-shaped block, a fifth rotating shaft is rotationally arranged between the electric saw and the connecting arm, and the second rotating shaft, the third rotating shaft and the fourth rotating shaft are all perpendicular to the first rotating shaft. Compared with the prior art, each rotating shaft has one degree of freedom, the electric saw on the robot can rotate, swing, stretch and the like through five degrees of freedom, and the robot can adapt to various complex environments, so that tree sawing at most angles can be completed in the space near the mounting plate, and the tree sawing effect is good.

Description

Technical Field

[0001] The invention relates to the technical field of tree obstacle clearing, and in particular to an intelligent tree obstacle clearing robot. Background Art

[0002] To meet the growing electricity demand of the people, the power network is in a period of accelerated construction, and its maintenance and safety issues are becoming more and more prominent. Transmission lines are an important part of the power network, which has the characteristics of wide coverage and long transmission distance. The surrounding environment of these places is relatively complex, and there are a large number of trees growing near the transmission lines, which poses a risk of causing power grid safety accidents. High-voltage lines are different from the wires we use in our daily lives. They are not wrapped in an insulating layer and are directly exposed to the air. Once the trees near the high-voltage lines come into contact with them or are too close to them, there will be a risk of line discharge. Therefore, these trees need to be cleared, which is called tree barrier clearing. At present, workers are generally taken to the area where the tree barriers need to be cleared for clearing operations. The workers are located in the pod, which is connected to the lift vehicle through a support arm. In this mode, the operator can generally only lift and lower through the lift vehicle, and the degree of freedom is insufficient, making it difficult to saw trees in a complex environment.

[0003] Therefore, it is necessary to provide a new intelligent tree obstacle clearing robot to solve the above-mentioned technical problems. Summary of the invention

[0004] The technical problem to be solved by the present invention is to address the deficiencies in the above-mentioned prior art and disclose an intelligent tree barrier clearing robot to solve the problem that the existing workers have poor flexibility and difficulty in adapting to complex environments when clearing tree barriers using a lifting vehicle.

[0005] The technical solution adopted by the present invention to solve its technical problems is: an intelligent tree obstacle clearing robot comprises a mounting plate, the mounting plate is provided with a base, the upper end of the base is provided with a disc, a first rotating shaft is rotatably arranged between the disc and the base, a support arm is provided on the disc, a second rotating shaft is rotatably arranged between the support arm and the disc, an L-shaped block is provided at one end of the support arm away from the disc, a third rotating shaft is rotatably arranged between the L-shaped block and the support arm, an end of the L-shaped block away from the support arm is connected to an electric saw through a connecting arm, a fourth rotating shaft is rotatably arranged between the connecting arm and the L-shaped block, a fifth rotating shaft is rotatably arranged between the electric saw and the connecting arm, the first rotating shaft is perpendicular to the mounting plate, the second rotating shaft, the third rotating shaft and the fourth rotating shaft are all perpendicular to the first rotating shaft, the fifth rotating shaft is coaxially arranged with the connecting arm, and the first rotating shaft, the second rotating shaft, the third rotating shaft, the fourth rotating shaft and the fifth rotating shaft are all connected to a driving mechanism.

[0006] Preferably, a support plate is fixed to the upper end of the disc, the support arm and the first motor are respectively arranged on both sides of the support plate, one end of the first rotating shaft is fixed to the support arm, and the other end passes through the support plate and is connected to the first motor, and the first rotating shaft is rotatably arranged at the upper end of the support plate.

[0007] Preferably, the first rotating shaft is arranged on the front side of the supporting plate.

[0008] Preferably, a first protective cover is provided on a side of the support plate away from the support arm, and a portion of the first motor is located in the first protective cover.

[0009] Preferably, a weight-reducing groove is provided in the middle section of the support arm, and a plurality of reinforcing plates are provided in the weight-reducing groove.

[0010] Preferably, the support arm and the second motor are respectively arranged on both sides of the L-shaped block, one end of the third rotating shaft is rotatably connected to the support arm, and the other end passes through the L-shaped block to be connected to the second motor, and the third rotating shaft is fixedly connected to the L-shaped block.

[0011] Preferably, a U-shaped groove is provided at one end of the L-shaped block close to the connecting arm, and the connecting arm is rotatably disposed in the U-shaped groove via a fourth rotating shaft.

[0012] Preferably, the connecting arm is fixed with a connecting plate, the connecting plate is fixed with a first limit plate and a second limit plate, the electric saw is arranged between the first limit plate and the second limit plate, the third motor of the electric saw passes through the second limit plate, and a handle is fixed on the third motor located on the outer side of the second limit plate, and the other end of the handle is fixed on the electric saw between the first limit plate and the second limit plate.

[0013] Preferably, it further comprises a remote controller, on which a plurality of buttons are provided, one of which is an emergency stop button.

[0014] Preferably, a protective plate is fixed on the electric saw, and the protective plate is located at an end of the second limiting plate away from the connecting plate.

[0015] Compared with the prior art, in the present invention, the electric saw can rotate around the axis of the connecting arm through the fifth rotating shaft, which is convenient for the electric saw to adjust the cutting angle; the trees around the disc can be cut by rotating the first rotating shaft around the axis of the disc; and trees at various heights can be cut by cooperating with the second rotating shaft, the third rotating shaft and the fourth rotating shaft. In the present invention, each rotating shaft is a degree of freedom, and the electric saw on the robot can realize rotation, swinging, extension and other actions through five degrees of freedom, and can adapt to various complex environments, so that it can complete the tree sawing at most angles in the space near the mounting plate, and the tree sawing effect is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic structural diagram of an implementation mode of the present invention.

[0017] Figure 2 A structural schematic diagram of another perspective of an embodiment of the present invention.

[0018] Figure 3 Schematic diagram of the structure of a remote controller according to an embodiment of the present invention.

[0019] Figure 4 This is a physical picture of the robot in an embodiment of the present invention.

[0020] Figure 5 The figure is a physical picture of the remote control in the embodiment of the present invention.

[0021] Description of reference numerals:

[0022] 1. Mounting plate, 2. Base, 3. Disc, 4. Support arm, 5. L-shaped block, 6. Connecting arm, 100. Electric saw, 7. Support plate, 8. First motor, 9. First protective cover, 10. Weight reduction groove, 11. Reinforcement plate, 12. Second motor, 13. U-shaped groove, 14. Connecting plate, 15. First limit plate, 16. Second limit plate, 17. Third motor, 18. Handle, 19. Remote control, 20. Button, 21. Protective plate, 22. Second protective cover, 23. Avoidance groove, 24. Closing plate, 25. Saw blade, 26. Bolt. DETAILED DESCRIPTION

[0023] The present invention is described in detail below in conjunction with the various embodiments shown in the accompanying drawings, but it should be noted that these embodiments are not limitations of the present invention, and any equivalent transformations or substitutions in functions, methods, or structures made by ordinary technicians in the field based on these embodiments are all within the scope of protection of the present invention.

[0024] The following is combined with Figure 1-2To further illustrate the present invention, an intelligent tree obstacle clearing robot includes a mounting plate 1, the mounting plate 1 is provided with a base 2, a disc 3 is provided at the upper end of the base 2, a first rotating shaft is rotatably arranged between the disc 3 and the base 2, a support arm 4 is provided on the disc 3, a second rotating shaft is rotatably arranged between the support arm 4 and the disc 3, an L-shaped block 5 is provided at one end of the support arm 4 away from the disc 3, a third rotating shaft is rotatably arranged between the L-shaped block 5 and the support arm 4, the end of the L-shaped block 5 away from the support arm 4 is connected to the electric saw 100 through a connecting arm 6, a fourth rotating shaft is rotatably arranged between the connecting arm 6 and the L-shaped block 5, a fifth rotating shaft is rotatably arranged between the electric saw 100 and the connecting arm 6, the first rotating shaft is perpendicular to the mounting plate 1, the second rotating shaft, the third rotating shaft and the fourth rotating shaft are all perpendicular to the first rotating shaft, the fifth rotating shaft is coaxially arranged with the connecting arm 6, and the first rotating shaft, the second rotating shaft, the third rotating shaft, the fourth rotating shaft and the fifth rotating shaft are all connected to a driving mechanism. Each rotating shaft is one degree of freedom. The robot provided by the present invention has five degrees of freedom. The electric saw 100 on the robot can realize actions such as rotation, swinging, and stretching, so that it can complete tree sawing at most angles in the space near the mounting plate 1, with good tree sawing effect and adaptability to a variety of environments.

[0025] As another embodiment of the present invention: a support plate 7 is fixed to the upper end of the disc 3, the support arm 4 and the first motor 8 are respectively arranged on both sides of the support plate 7, one end of the first rotating shaft is fixed to the support arm 4, and the other end passes through the support plate 7 and is connected to the main shaft of the first motor 8, the first rotating shaft is rotatably arranged at the upper end of the support plate 7, and the first motor 8 is fixed on the support plate 7.

[0026] As another embodiment of the present invention: the first rotating shaft is arranged on the front side of the support plate 7, and the first motor 8 is arranged on the front side of the support plate 7. Through this structural design, when the electric saw 100 is extended forward, the extension distance can be effectively increased.

[0027] As another embodiment of the present invention: a first protective cover 9 is provided on the side of the support plate 7 away from the support arm 4 , and the front end of the first motor 8 is located in the first protective cover 9 . This arrangement can partially protect the first motor 8 .

[0028] As another embodiment of the present invention: a weight-reducing groove 10 is provided in the middle section of the support arm 4, and a plurality of reinforcing plates 11 are provided in the weight-reducing groove 10. This structure replaces the solid support arm 4 with the reinforcing plates 11 and the weight-reducing groove 10, which can effectively reduce the weight of the support arm 4.

[0029] Specifically, the thickness of the two ends of the support arm 4 is smaller than the thickness of the middle section. Increasing the thickness of the middle section of the support arm 4 is beneficial to improving the structural strength of the support arm 4 .

[0030] As another embodiment of the present invention: the support arm 4 and the second motor 12 are respectively arranged on both sides of the L-shaped block 5, one end of the third rotating shaft is rotatably connected to the support arm 4, and the other end passes through the L-shaped block 5 and is connected to the main shaft of the second motor 12, the third rotating shaft is fixedly connected to the L-shaped block 5, and the rotation of the third rotating shaft drives the L-shaped block 5 to rotate.

[0031] As another embodiment of the present invention: a second protective cover 22 is provided on the L-shaped block 5 , and the front end of the second motor 12 is located in the second protective cover 22 . This arrangement can partially protect the second motor 12 .

[0032] As another embodiment of the present invention: a U-shaped groove 13 is provided at one end of the L-shaped block 5 close to the connecting arm 6, and the connecting arm 6 is rotatably arranged in the U-shaped groove 13 through a fourth rotating shaft. A fourth motor connected to the fourth rotating shaft is arranged in the L-shaped block 5, and the fourth motor is connected to the fourth rotating shaft through a chain or a belt.

[0033] As another embodiment of the present invention: the connecting arm 6 is fixed with a connecting plate 14, and a first limiting plate 15 and a second limiting plate 16 are fixed on the connecting plate 14, and the first limiting plate 15 and the second limiting plate 16 are arranged side by side, and the electric saw 100 is arranged between the first limiting plate 15 and the second limiting plate 16, and the third motor 17 of the electric saw 100 passes through the second limiting plate 16, and a handle 18 is fixed to the tail of the third motor 17, and the other end of the handle 18 is fixed to the electric saw 100 between the first limiting plate 15 and the second limiting plate 16, and the connecting plate 14, the first limiting plate 15 and the second limiting plate 16 constitute a limiting assembly, and the electric saw 100 is limited between the first limiting plate 15 and the second limiting plate 16. The electric saw 100 is installed on the connecting arm 6, and limiting the electric saw 100 by the limiting assembly can further improve the firmness of the connection between the electric saw 100 and the connecting arm 6.

[0034] As another embodiment of the present invention: the first limiting plate 15 and the second limiting plate 16 are fixed by a plurality of bolts 26. This arrangement can connect the first limiting plate 15 and the second limiting plate 16 into a whole, which is beneficial to improving the structural strength of the limiting assembly and making it have a better limiting effect on the electric saw 100.

[0035] Specifically, the second limit plate 16 is provided with an avoidance groove 23, the third motor 17 passes through the avoidance groove 23, the second limit plate 16 is provided with a sealing plate 24, and the bolts 26 connecting the first limit plate 15 and the second limit plate 16 pass through the sealing plate 24 to fix the three together. When installing the electric saw 100, the third motor 17 enters the avoidance groove 23 from the notch of the avoidance groove 23, and then the notch of the avoidance groove 23 is sealed by the sealing plate 24. This arrangement makes it convenient to install the electric saw 100 in the limit assembly.

[0036] As another embodiment of the present invention: a protective plate 21 is fixed on the electric saw 100, and the protective plate 21 is located at one end of the second limiting plate 16 away from the connecting plate 14, and the protective plate 21 is arranged between the saw blade 25 and the second limiting plate 16. The protective plate 21 is provided to facilitate the protection of the rear motor, connecting arm 6 and other components.

[0037] Specifically, the protection plate 21 is a curved plate.

[0038] As another embodiment of the present invention: a plurality of screw holes are provided on the mounting plate 1, and the robot is mounted on other mobile tools through the screw holes.

[0039] Specifically, the driving mechanism includes a servo motor, and the first rotating shaft, the second rotating shaft, the third rotating shaft, the fourth rotating shaft and the fifth rotating shaft are all driven to rotate by the servo motor.

[0040] Refer to the attached Figure 3 The present embodiment further includes a remote controller 19, on which a plurality of buttons 20 are provided, one of which is an emergency stop button. The remote controller 19 is connected to the robot for communication, and the robot is controlled by the remote controller 19, which is convenient for the staff to operate. The emergency stop button is provided to facilitate rapid shutdown in an emergency. The present invention integrates various tree sawing modes of the electric saw 100 into different buttons 20, such as a right-cutting button, a left-cutting button, a U-shaped sweeping button, a flat sweeping button, a middle-cutting button, a point-cutting button, a front vertical sweeping button, a front upper sweeping button, a bottom horizontal sweeping button, etc. The staff only needs to press the corresponding button 20 to execute the corresponding tree sawing mode, and this setting simplifies the difficulty of operation.

[0041] In the present invention, the electric saw 100 can rotate around the axis of the connecting arm 6 through the fifth rotating shaft, so that the electric saw 100 can adjust the cutting angle conveniently; the trees around the disc 3 can be cut by rotating the first rotating shaft around the axis of the disc 3; the trees at various heights can be cut by cooperating with the second rotating shaft, the third rotating shaft and the fourth rotating shaft. In the present invention, each rotating shaft is a degree of freedom, and the electric saw 100 on the robot can realize rotation, swinging, extension and other actions through five degrees of freedom, and can adapt to various complex environments, so that it can complete the tree sawing at most angles in the space near the mounting plate 1, and the tree sawing effect is good.

[0042] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

[0043] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An intelligent tree obstacle clearing robot, characterized in that: It includes a mounting plate, the mounting plate is provided with a base, the upper end of the base is provided with a disc, a first rotating shaft is rotatably arranged between the disc and the base, a support arm is provided on the disc, a second rotating shaft is rotatably arranged between the support arm and the disc, an L-shaped block is provided at one end of the support arm away from the disc, a third rotating shaft is rotatably arranged between the L-shaped block and the support arm, the end of the L-shaped block away from the support arm is connected to the electric saw through a connecting arm, a fourth rotating shaft is rotatably arranged between the connecting arm and the L-shaped block, a fifth rotating shaft is rotatably arranged between the electric saw and the connecting arm, the first rotating shaft is perpendicular to the mounting plate, the second rotating shaft, the third rotating shaft and the fourth rotating shaft are all perpendicular to the first rotating shaft, the fifth rotating shaft is coaxially arranged with the connecting arm, and the first rotating shaft, the second rotating shaft, the third rotating shaft, the fourth rotating shaft and the fifth rotating shaft are all connected to a driving mechanism.

2. The intelligent tree obstacle clearing robot according to claim 1, characterized in that: A support plate is fixed to the upper end of the disc, the support arm and the first motor are respectively arranged on both sides of the support plate, one end of the first rotating shaft is fixed to the support arm, and the other end passes through the support plate and is connected to the first motor, and the first rotating shaft is rotatably arranged at the upper end of the support plate.

3. The intelligent tree obstacle clearing robot according to claim 2, characterized in that: The first rotating shaft is arranged on the front side of the supporting plate.

4. The intelligent tree obstacle clearing robot according to claim 3, characterized in that: A first protective cover is provided on one side of the support plate away from the support arm, and a part of the first motor is located in the first protective cover.

5. The intelligent tree obstacle clearing robot according to claim 1, characterized in that: A weight-reducing groove is provided in the middle section of the support arm, and a plurality of reinforcing plates are provided in the weight-reducing groove.

6. The intelligent tree obstacle clearing robot according to claim 1, characterized in that: The support arm and the second motor are respectively arranged on both sides of the L-shaped block, one end of the third rotating shaft is rotatably connected to the support arm, and the other end passes through the L-shaped block and is connected to the second motor, and the third rotating shaft is fixedly connected to the L-shaped block.

7. The intelligent tree obstacle clearing robot according to claim 6, characterized in that: A U-shaped groove is provided at one end of the L-shaped block close to the connecting arm, and the connecting arm is rotatably arranged in the U-shaped groove via a fourth rotating shaft.

8. The intelligent tree obstacle clearing robot according to claim 7, characterized in that: The connecting arm is fixed with a connecting plate, and the connecting plate is fixed with a first limiting plate and a second limiting plate. The electric saw is arranged between the first limiting plate and the second limiting plate. The third motor of the electric saw passes through the second limiting plate. A handle is fixed on the third motor located on the outer side of the second limiting plate, and the other end of the handle is fixed on the electric saw between the first limiting plate and the second limiting plate.

9. The intelligent tree obstacle clearing robot according to claim 1, characterized in that: The device also includes a remote controller, on which a plurality of buttons are arranged, one of which is an emergency stop button.

10. The intelligent tree obstacle clearing robot according to claim 8, characterized in that: A protection plate is fixed on the electric saw, and the protection plate is located at an end of the second limiting plate away from the connecting plate.

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