Visual bird nest cleaning robot capable of automatically climbing pole

Abstract

The invention relates to a visual bird nest cleaning robot capable of automatically climbing a pole, and the robot comprises a tower climbing mechanism which is of an inchworm structure and carries out the vertical climbing operation; the mechanical arm mechanism is arranged at one end of the tower climbing mechanism, a mechanical clamping jaw is arranged at the free end of the mechanical arm mechanism, the relative position of the mechanical clamping jaw is adjusted through the mechanical arm mechanism, the bird nest is damaged and removed through the mechanical clamping jaw, and a camera is arranged in the center of the mechanical clamping jaw; according to the visual bird nest cleaning robot capable of automatically climbing the pole, an operator stands under a pole tower, the pole-climbing robot is remotely controlled to carry out climbing operation, a mechanical arm can be controlled to work at any time through a mobile phone terminal, and the bird nest removing condition is known.

Description

Technical Field

[0001] The invention relates to the technical field of bird nest cleaning of power distribution lines, and in particular to a visual bird nest cleaning robot capable of automatically climbing a pole. Background Art

[0002] In recent years, the number of bird activities has continued to increase, and the number of bird nests has also increased sharply. The number of power system failures due to bird damage and bird nests has also increased year by year. When birds build nests on distribution network lines, since most of the nests are made of materials such as straw, shrubs, and even iron wire, it is easy to form conductive faults such as phase-to-phase short circuits and single-phase grounding when encountering humid weather such as rain and fog, which eventually leads to line tripping; because birds carry flammable items such as cigarette butts into the nests when building nests, fires are eventually caused to affect the safety of the distribution network over a large area, posing a huge safety hazard to the operation of the power grid.

[0003] Therefore, it is urgent to design a visual bird's nest cleaning operation platform that supports automatic pole climbing, combining automatic pole climbing robots, multi-degree-of-freedom remote-controlled robotic arms, visualization and other technologies to achieve intelligent cleaning of bird's nests in distribution networks without climbing. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a visual bird's nest cleaning robot that can automatically climb poles and can enable an operator to stand under a pole tower and remotely control a pole-climbing robot to perform climbing operations. The robot arm can be controlled at any time through a mobile phone to perform operations and the bird's nest removal status can be understood.

[0005] To solve the above problems, the technical solution adopted by the present invention is:

[0006] A visual bird's nest cleaning robot capable of automatically climbing a pole, comprising:

[0007] An upper clamping jaw mechanism, comprising a clamping jaw supporting block, two clamping jaws symmetrically arranged, a lead screw rotatably arranged on the clamping jaw supporting block, a lifting nut arranged on the lead screw, and a clamping jaw driving motor for controlling the rotation of the lead screw, wherein the clamping jaw is rotatably arranged on the clamping jaw supporting block and one end of the clamping jaw is hinged to the lifting nut;

[0008] A lower clamping jaw mechanism, the structure of which is the same as that of the upper clamping jaw mechanism;

[0009] An electric push rod, the base of which is arranged on the clamping jaw support block of the lower clamping jaw mechanism, and the free end of the telescopic rod of which is arranged on the clamping jaw support block of the upper clamping jaw mechanism;

[0010] The robotic arm mechanism comprises a robotic arm rotating platform arranged on the clamping claw support block of the upper clamping claw mechanism and a robotic arm component arranged on the robotic arm rotating platform. An electric clamping claw is arranged at the end of the robotic arm component. The robotic arm mechanism moves the electric clamping claw to the bird's nest to clamp the bird's nest component to dismantle the bird's nest.

[0011] As an embodiment of the present invention, the robotic arm assembly includes: a first servo arranged on the robotic arm rotating platform, a first arm rotatably arranged on the first servo, a second servo arranged at the end of the first arm, and a second arm rotatably arranged on the second servo, and the electric clamp is arranged at the end of the second arm.

[0012] As an implementation mode of the present invention, a camera is provided on the electric clamp to capture image information in front of the electric clamp.

[0013] As an embodiment of the present invention, the cross-section of the clamping jaw support block is U-shaped, the clamping jaw is rotatably arranged between the two vertical parts, the lead screw is rotatably arranged on the horizontal part, the clamping jaw drive motor is fixedly arranged on one side of the clamping jaw support block, and the output shaft of the clamping jaw drive motor is connected to the lead screw; the lifting nut is threadedly connected to the lead screw, and the lead screw rotates when driven by the clamping jaw drive motor, thereby driving the lifting nut to lift and lower to control the synchronous opening and closing of the two clamping jaws.

[0014] As an embodiment of the present invention, the telescopic rod of the electric push rod is telescoped to control the upper clamping mechanism and the lower clamping mechanism to move away from or closer to each other;

[0015] A slide rail plate is arranged on the side of the clamping support block of the upper clamping mechanism opposite to the upper clamping mechanism, and the end of the telescopic rod is slidably arranged on the slide rail plate. A radial driving push rod is arranged on the clamping support block of the upper clamping mechanism corresponding to the end of the telescopic rod, and the telescopic rod of the radial driving push rod is connected to the end of the telescopic rod. The extension and retraction of the telescopic rod of the radial driving push rod is used to control the upper clamping mechanism as a whole to approach or move away from the electric pole, thereby ensuring the stable climbing or descending of the robot.

[0016] As an embodiment of the present invention, a motor support seat is arranged on the side of the clamping support block of the upper clamping mechanism relative to the upper clamping mechanism, and the motor support seat includes an L-shaped base plate and a mounting plate arranged on one side of the base plate, the horizontal portion of the base plate is arranged on the clamping support block, the mounting plate is vertically arranged on one side of the vertical portion of the base plate, and the telescopic rod is arranged on the mounting plate.

[0017] As an embodiment of the present invention, the lower end of the clamping jaw support block of the lower clamping jaw mechanism is connected to a processor mechanism and a power supply mechanism, a communication module is arranged in the processor, and the communication module includes a receiving processor and a sending processor, the receiving processor is used to receive a signal sent by the sending processor of the main station, and the sending processor is used to send a signal to the receiving processor of the main station.

[0018] As an implementation mode of the present invention, the receiving processor of the communication module is connected to several execution modules in the processor.

[0019] The beneficial effects of adopting the above technical solution are:

[0020] The present invention performs pole climbing operation through a tower climbing mechanism, adjusts the relative position between a mechanical clamping claw and a bird's nest through a mechanical hand mechanism at the end of the tower climbing mechanism, and destroys and removes the bird's nest by clamping the bird's nest structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the present invention.

[0022] Figure 2 It is a schematic diagram of the transmission process of the present invention.

[0023] Among them: 100 poles;

[0024] 1. Gripper; 2. Lifting nut; 3. Gripper support block; 4. Gripper drive motor; 5. Electric push rod; 6. Telescopic rod; 7. Slide plate; 8. Radial drive push rod; 9. Motor support seat; 10. Robot arm rotating platform; 11. First servo; 12. Second servo; 13. Electric gripper; 14. Camera. DETAILED DESCRIPTION

[0025] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention is clearly and completely described below in conjunction with specific embodiments.

[0026] like Figure 1 The visual bird's nest cleaning robot shown in the figure can automatically climb a pole, and the robot comprises:

[0027] An upper clamping jaw mechanism, comprising a clamping jaw support block 3, two symmetrically arranged clamping jaws 1, a lead screw rotatably arranged on the clamping jaw support block 3, a lifting nut 2 arranged on the lead screw, and a clamping jaw driving motor 4 for controlling the rotation of the lead screw, wherein the clamping jaw 1 is rotatably arranged on the clamping jaw support block 3 and one end of the clamping jaw 1 is hinged to the lifting nut 2;

[0028] A lower clamping jaw mechanism, the structure of which is the same as that of the upper clamping jaw mechanism;

[0029] An electric push rod 5, whose base is arranged on the clamping jaw support block 3 of the lower clamping jaw mechanism, and whose telescopic rod 6 has a free end arranged on the clamping jaw support block 3 of the upper clamping jaw mechanism;

[0030] The robotic arm mechanism includes a robotic arm rotating platform 10 arranged on the clamp support block 3 of the upper clamp mechanism and a robotic arm component arranged on the robotic arm rotating platform 10. An electric clamp 13 is arranged at the end of the robotic arm component. The robotic arm mechanism moves the electric clamp 13 to the bird's nest to clamp the bird's nest component to dismantle the bird's nest.

[0031] The robotic arm assembly includes: a first servo 11 arranged on the robotic arm rotating platform 10, a first arm rotatably arranged on the first servo 11, a second servo 12 arranged at the end of the first arm, and a second arm rotatably arranged on the second servo 12, and the electric clamp 13 is arranged at the end of the second arm.

[0032] The electric gripper 13 is provided with a camera 14 to capture image information in front of the electric gripper 13 , which can be used to collect images in the direction of travel of the robot during crawling and images of the bird's nest.

[0033] The cross-section of the clamping jaw support block 3 is U-shaped, and the clamping jaw 1 is rotatably arranged between its two vertical parts, and the lead screw is rotatably arranged on its horizontal part. The clamping jaw driving motor 4 is fixedly provided on one side of the clamping jaw support block 3, and the output shaft of the clamping jaw driving motor 4 is connected to the lead screw; the lifting nut 2 is threadedly connected to the lead screw, and the lead screw rotates under the drive of the clamping jaw driving motor 4, thereby driving the lifting nut 2 to rise and fall to control the synchronous opening and closing of the two clamping jaws 1.

[0034] The telescopic rod 6 of the electric push rod 5 is telescopic to control the upper clamping mechanism and the lower clamping mechanism to move away from or approach to each other; a slide rail plate 7 is provided on the side of the clamping support block 3 of the upper clamping mechanism relative to the upper clamping mechanism, and the end of the telescopic rod 6 is slidably provided on the slide rail plate 7; a radial driving push rod 8 is provided on the end of the clamping support block 3 of the upper clamping mechanism corresponding to the telescopic rod 6; the telescopic rod of the radial driving push rod 8 is connected to the end of the telescopic rod 6; the telescopic rod of the radial driving push rod 8 is extended and retracted for controlling the upper clamping mechanism as a whole to move closer to or away from the electric pole 100, thereby ensuring the stable climbing or descending of the robot.

[0035] A motor support seat 9 is arranged on one side of the clamping support block 3 of the upper clamping mechanism relative to the upper clamping mechanism, and the motor support seat 9 includes an L-shaped base plate and a mounting plate arranged on one side of the base plate, the horizontal portion of the base plate is arranged on the clamping support block 3, and the mounting plate is vertically arranged on one side of the vertical portion of the base plate, and the telescopic rod 6 is arranged on the mounting plate.

[0036] See also Figure 2 The lower end of the clamping jaw support block 3 of the lower clamping jaw mechanism is connected with a processor mechanism and a power supply mechanism. A communication module is arranged in the processor. The communication module includes a receiving processor and a sending processor. The receiving processor receives a signal sent by the sending processor of the main station, and the sending processor sends a signal to the receiving processor of the main station. The receiving processor of the communication module is connected to several execution modules in the processor.

[0037] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A visual bird's nest cleaning robot that can automatically climb a pole, characterized in that: It includes: An upper clamping jaw mechanism comprises a clamping jaw support block (3), two clamping jaws (1) symmetrically arranged, a lead screw rotatably arranged on the clamping jaw support block (3), a lifting nut (2) arranged on the lead screw, and a clamping jaw drive motor (4) for controlling the rotation of the lead screw, wherein the clamping jaw (1) is rotatably arranged on the clamping jaw support block (3) and one end of the clamping jaw is hingedly connected to the lifting nut (2); A lower clamping jaw mechanism, the structure of which is the same as that of the upper clamping jaw mechanism; An electric push rod (5), the base of which is arranged on the clamping jaw support block (3) of the lower clamping jaw mechanism, and the free end of the telescopic rod (6) of which is arranged on the clamping jaw support block (3) of the upper clamping jaw mechanism; The mechanical arm mechanism comprises a mechanical arm rotating platform (10) arranged on a clamping claw support block (3) of the upper clamping claw mechanism and a mechanical arm component arranged on the mechanical arm rotating platform (10), wherein an electric clamping claw (13) is arranged at the end of the mechanical arm component, and the mechanical arm mechanism moves the electric clamping claw (13) to the bird's nest to clamp the bird's nest component to dismantle the bird's nest.

2. The automatic climbing pole visual bird nest cleaning robot according to claim 1, characterized in that: The mechanical arm assembly comprises: a first steering gear (11) arranged on the mechanical arm rotating platform (10), a first arm rod rotatably arranged on the first steering gear (11), a second steering gear (12) arranged at the end of the first arm rod, and a second arm rod rotatably arranged on the second steering gear (12), wherein the electric clamp (13) is arranged at the end of the second arm rod.

3. The visual bird's nest cleaning robot with automatic climbing pole according to claim 2 is characterized in that: The electric clamp (13) is provided with a camera (14) to capture image information in front of the electric clamp (13).

4. The automatic pole climbing visual bird nest cleaning robot according to claim 1, characterized in that: The cross section of the clamping jaw support block (3) is U-shaped, the clamping jaw (1) is rotatably arranged between its two vertical parts, and the lead screw is rotatably arranged on its horizontal part. The clamping jaw drive motor (4) is fixedly arranged on one side of the clamping jaw support block (3), and the output shaft of the clamping jaw drive motor (4) is connected to the lead screw; the lifting nut (2) is threadedly connected to the lead screw, and the lead screw rotates under the drive of the clamping jaw drive motor (4), thereby driving the lifting nut (2) to rise and fall to control the synchronous opening and closing of the two clamping jaws (1).

5. The automatic pole climbing visual bird nest cleaning robot according to claim 1, characterized in that: The telescopic rod (6) of the electric push rod (5) is telescopic to control the upper clamping jaw mechanism and the lower clamping jaw mechanism to move away from or closer to each other; A slide rail plate (7) is arranged on one side of the clamping jaw support block (3) of the upper clamping jaw mechanism relative to the upper clamping jaw mechanism, and the end of the telescopic rod (6) is slidably arranged on the slide rail plate (7). A radial driving push rod (8) is arranged on the clamping jaw support block (3) of the upper clamping jaw mechanism corresponding to the end of the telescopic rod (6), and the telescopic rod of the radial driving push rod (8) is connected to the end of the telescopic rod (6). The telescopic rod of the radial driving push rod (8) is used to control the upper clamping jaw mechanism as a whole to approach the electric pole (100) or to move away from the electric pole (100), thereby ensuring the stable climbing or descending of the robot.

6. The automatic pole climbing visual bird nest cleaning robot according to claim 5, characterized in that: A motor support seat (9) is arranged on one side of the clamping jaw support block (3) of the upper clamping jaw mechanism relative to the upper clamping jaw mechanism, and the motor support seat (9) includes an L-shaped base plate and a mounting plate arranged on one side of the base plate, the horizontal portion of the base plate is arranged on the clamping jaw support block (3), and the mounting plate is vertically arranged on one side of the vertical portion of the base plate, and the telescopic rod (6) is arranged on the mounting plate.

7. The automatic pole climbing visual bird nest cleaning robot according to claim 1, characterized in that: The lower end of the clamping jaw support block (3) of the lower clamping jaw mechanism is connected to a processor mechanism and a power supply mechanism. A communication module is arranged in the processor. The communication module includes a receiving processor and a sending processor. The receiving processor is used to receive signals sent by the sending processor of the main station, and the sending processor is used to send signals to the receiving processor of the main station.

8. The automatic pole climbing visual bird nest cleaning robot according to claim 7, characterized in that: The receiving processor of the communication module is connected to a plurality of execution modules in the processor.

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