Intelligent high-altitude branch pruning device and pruning method thereof

Abstract

The invention belongs to the technical field of distribution network electric power operation and maintenance equipment, and particularly relates to an intelligent high-altitude branch pruning device and a pruning method.The pruning method comprises the following steps that an electric impact high branch saw is fixedly installed at the front end of a mechanical arm of a robot walking along the line, and remote control is adopted; the along-line walking robot is in adsorption butt joint with the lifting unmanned aerial vehicle through the electromagnet, the unmanned aerial vehicle lifts the along-line walking robot to the overhead wire to be placed, the along-line walking robot is remotely controlled to advance and retreat along the overhead wire, and the robot arm is controlled to complete all-angle operation. And starting and stopping of the lopper saw operation are controlled and implemented. The along-line walking robot works along the line, electric shock accidents caused by high-altitude close-range contact of operators with high-voltage wires are avoided, high-altitude falling is prevented, the life safety of the operators is guaranteed, the labor intensity is reduced, and the automation level of distribution network maintenance is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of power distribution network operation and maintenance equipment, and in particular to an intelligent high-altitude tree branch pruning device and a pruning method thereof. Background Art

[0002] Planting trees along the distribution lines can beautify the environment, stabilize the soil, prevent poles and towers from tilting and collapsing, ensure power supply safety, and shield the noise from the operation of distribution equipment and prevent wind, sand and dust from invading equipment. However, tree branches also need to maintain a safe distance from distribution lines. Otherwise, trees are too tall and grow too densely. They may touch the wires in windy and rainy weather, causing power supply failures such as short circuits, tripping, and even fires. In order to ensure the stability of the power supply and to facilitate operation and maintenance personnel to regularly observe the appearance of the wires and guide subsequent maintenance and replacement of parts, it is necessary to regularly trim branches along the line that exceed the safe distance.

[0003] At present, high-altitude tree branch pruning is all done manually, using professional tools such as high-branch saws, high-altitude pruning shears, oil saws, etc., with the help of lifts and aerial work vehicles. Workers need to come into close contact with high-voltage wires, and if they are not careful, they may touch the wires and cause electric shock accidents. Every year, there are many cases of casualties among power workers due to touching wires when pruning branches, posing a huge threat to life safety. Workers work at heights of several meters or even more than ten meters. Once protective measures are not in place, physical exhaustion or sudden weather conditions occur, they are very likely to fall from a height and cause serious injuries.

[0004] As the mileage of distribution lines continues to grow, the range of branches that need to be pruned along the lines continues to expand. Relying on manual pruning, the labor cost remains high, bringing a heavy economic burden to power supply companies.

[0005] At the same time, manual pruning is slow and the labor intensity of operators is high. When faced with complex terrain and bad weather, operators' movements are hindered and it is difficult for them to respond quickly to branch pruning needs. When encountering urgent tree obstacle hazards, it is difficult to eliminate them in time, affecting the reliability of power supply. Summary of the invention

[0006] The purpose of the present invention is to provide an intelligent high-altitude branch pruning device and a pruning method thereof in response to the problems raised in the above-mentioned background technology, including a lifting drone, a walking robot along the line, an electric impact high-branch saw, and a remote control platform.

[0007] The lifting drone is a four-rotor drone with an integrated fuselage and landing gear, which can take off and land vertically. A mounting plate is provided in the middle of the fuselage, on which a power system, a control system, a communication system, a balance lifting slide bar, a sensor, and a circular adsorption electromagnet are installed.

[0008] The motor of the power system is powered by a lithium battery, and the speed and torque are controlled by an electronic speed regulator, which is transmitted to the four rotors to generate lift and thrust. The control system has functions such as attitude control, heading control, altitude control, automatic flight, anti-collision system, Beidou positioning, etc. The communication system transmits data with the remote control system. The sensor is installed at the upper end of the balanced lifting slide bar to monitor the flight attitude, altitude and position information in real time. The circular adsorption electromagnet is installed at the bottom of the balanced lifting slide bar to adsorb the circular iron block on the top of the robot walking along the line; telescopic rods are provided on both sides of the circular electromagnet, which can be extended to play the role of anti-fall insurance. The balanced lifting slide bar is composed of four carbon fiber lightweight tubes and steel wires. Under the action of the winch motor, the steel wire is rolled up to drive the carbon fiber tube to slide axially along the sliding sleeve on the mounting plate. When it is necessary to adsorb and connect the robot walking along the line, the balanced lifting slide bar drops to the lowest position, and the circular adsorption electromagnet extends out of the landing gear to facilitate docking and prevent collision.

[0009] During flight, the balance lift slider rises to the highest position to assist in flight balance. The sensor on the top monitors the flight status. When the drone flies above the overhead wires, the balance lift slider drops, placing the walking robot along the wires on the overhead wires, and then rises and flies away.

[0010] The line-walking robot comprises a line-walking device, a mechanical arm fixed on the upper side of the device, a data acquisition module, a robot control module and a power supply module.

[0011] Furthermore, the walking device along the line includes a ∧-shaped frame with a cross-section, a lifting assembly, a V-shaped roller, a servo motor, and a counterweight. The lifting assembly is installed directly above the ∧-shaped frame. The bottom is a round iron block used for lifting and adsorption. Above the iron block is an inverted cone-shaped trumpet-shaped round box, which guides the UAV lifting interface for positioning and docking. There are plug-in plates with holes on both sides above the trumpet. After the UAV lifting interface is adsorbed and docked, cross bars extend from both sides and are inserted into the holes of the plug-in plate to prevent the walking robot along the line from falling due to insufficient adsorption force caused by power outages and other factors. A Beidou space position generator is installed in the trumpet-shaped round box to control the precise lifting of the UAV.

[0012] Two V-shaped rollers are installed in parallel at the top of the ∧-shaped frame. Driven by two servo motors, they roll synchronously just above the overhead wires to achieve walking along the wires.

[0013] Counterweights are installed at the lower ends of both sides of the ∧-shaped frame. Under the action of gravity, the line-walking robot will not tip over when working on the overhead wires.

[0014] The robotic arm includes multiple sets of rotating joints and a motor drive system. The rotating joints allow the robotic arm connecting rod to rotate around the axis to achieve full-angle posture changes and telescopic movements, driving the front-end electric impact high-branch saw to complete all sawing operations within the operating range.

[0015] The power module provides power for joint movement through the motor drive system, and the servo motor accurately controls the angle, speed and torque of the joint.

[0016] A data acquisition module and a robot control module are installed on one side above the ∧-shaped frame. The data acquisition module includes a camera and a data sensor to capture environmental images, assist in positioning, identify objects, and sense contact force.

[0017] The robot control module is connected to the remote control platform through wireless signal transmission, receives platform instructions, and regulates the drive system, allowing the robotic arm to perform intelligent and precise cutting operations.

[0018] The electric impact high-branch saw comprises an operating mechanism and a sawing control module and a rechargeable battery located thereon.

[0019] Furthermore, the operating mechanism includes a saw seat, a sawing motor, an impact transmission mechanism and a circular cutting saw blade.

[0020] A flange is installed at the bottom of the saw seat and connected to the mechanical arm of the walking device along the line. A circular cutting saw blade is installed on one side of the front end, and a saw blade guard is provided to ensure the safe use of the saw blade. A motor is installed on the other side. The battery drives the motor to rotate, and the rotation is transmitted to the circular saw blade through the impact transmission mechanism to perform the cutting operation.

[0021] Furthermore, the impact transmission mechanism includes a transmission shaft a of the sawing motor, a compression spring, an impact structure fixing seat, an impact transmission mechanism, a transmission shaft b, and a transmission bevel gear set.

[0022] During operation, the sawing motor outputs torque through the transmission shaft a, and transmits the torque to the transmission bevel gear set through the impact transmission mechanism in the impact structure fixing seat and the transmission shaft b above, thereby driving the saw blade to rotate.

[0023] When the hardness of the branch is high and the saw is stuck, the compression spring, the impact structure fixing seat and the impact transmission mechanism rotate with each other and produce internal collisions, causing the disc cutting saw blade to vibrate and prompt the saw blade to break free from the restraint of the branch.

[0024] The sawing control module is composed of a driving circuit, a speed regulation circuit and a communication interface. The remote control platform analyzes all collected data according to a preset program, calculates the speed and direction of the motor, and issues corresponding control instructions. The communication interface receives the instructions to control the motor operation.

[0025] The remote control platform includes a microprocessor, a memory, a display screen, a signal transmitter, a signal receiver, an input and output interface, an operating handle component and buttons, etc.

[0026] The signal receiver receives signals from the drone communication system, the walking robot control module and the electric impact high-branch saw cutting control module, analyzes and calculates them through the microprocessor, manually operates the handle components and buttons and issues relevant instructions, which are transmitted through the signal transmitter. All information is stored in the memory, and human-computer information interaction is carried out through the display screen.

[0027] The present invention also provides an intelligent high-altitude branch pruning method, comprising the following steps:

[0028] S1. Fixed installation of electric impact high-branch saw

[0029] Use the fastening bolts to install the electric impact high-branch saw on the front end of the robot arm walking along the line, with the adsorbed round iron block facing upwards.

[0030] S2. Hoisting of walking robots along the line

[0031] The remote-controlled lifting drone takes off and flies to hover just above the walking robot along the line. The balancing lifting slide bar is lowered to the lowest position. The circular adsorption electromagnet extends out of the outside of the landing gear and adsorbs and docks with the circular iron block of the walking robot along the line. The telescopic rods on both sides of the electromagnet extend out and are inserted into the holes of the plug plate to prevent it from falling due to failure.

[0032] The balance lift slider rises to the highest position, the robot is hoisted into the landing gear, and then rises to hover above the overhead wires. The balance lift slider drops to the lowest position, the robot is placed on the overhead wires, the two rollers contact the overhead wires, the telescopic rod is retracted, and the electromagnet is de-energized for desorption.

[0033] The lifting drone flies away from the overhead wires, the balance lift slider rises to the highest position and stops back on the ground.

[0034] S3, control the robot walking along the line

[0035] According to the information from the data acquisition module, the pruning range of the branches on both sides of the overhead wires where the walking robot is located is determined, and a cutting plan is formulated based on the 3D image on the display screen of the remote control platform.

[0036] S4, Electric impact high branch saw operation

[0037] Turn on the electric impact high-branch saw to start the branch sawing operation. After completing all the sawing within the pruning range, the walking robot moves forward or backward along the line, and based on the information from the data acquisition module, redefines the pruning range and starts the operation.

[0038] S5. Replace the line

[0039] Control the lifting drone to fly directly above the walking robot along the line, press S2 to lift the walking robot along the line to other overhead wires that need branch pruning, and press the above S3 and S4 to restart the operation.

[0040] S6. The robot walking along the line is hoisted back to the ground

[0041] After all the operations are completed, the lifting drone is controlled to lift the walking robot along the line back to the ground, and the electric impact high-branch saw is disassembled and stored.

[0042] Beneficial effects of the present invention:

[0043] 1. Use walking robots to work along the line to avoid electric shock accidents caused by close contact with high-voltage wires at high altitudes, prevent falling from high altitudes, ensure the safety of workers, reduce labor intensity, and improve the level of automation of distribution network maintenance.

[0044] 2. Using a lifting drone for high-altitude lifting, instead of using a lift or aerial work vehicle to carry out manual work, can improve work efficiency, reduce travel equipment, and be more conducive to branch pruning in complex terrain in the wild. In case of severe weather conditions, it can quickly respond to emergency tree obstacle rescue and ensure power supply reliability.

[0045] 3. The sensor technology is mature and the image sensor is highly accurate. It can accurately measure the pruning range of branches, generate high-precision 3D models, accurately determine the position of branches, and guide the electric impact high-branch saw to perform precise sawing operations.

[0046] 4. Remote monitoring, real-time data transmission, and precise intelligent control can be further enabled by artificial intelligence algorithms so that robots walking along the line can complete automated pruning.

[0047] 5. The driving mechanism of the electric impact high-branch saw adopts an impact transmission mechanism. When the branches are hard and stuck in the saw, the saw body will impact and vibrate to free the cutting saw blade from the restraint and complete the operation smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a schematic diagram of the overall structure of an intelligent high-altitude branch pruning device proposed by the present invention (the balance lifting slide bar rises to the highest position);

[0049] Figure 2 This is a schematic diagram of the overall structure of an intelligent high-altitude branch pruning device proposed by the present invention (the balance lifting slide bar is lowered to the lowest position);

[0050] Figure 3 A schematic diagram of the structure of an intelligent high-altitude tree branch pruning device proposed by the present invention when operating on an overhead wire;

[0051] Figure 4A schematic diagram of the structure of a lifting drone for an intelligent high-altitude branch pruning device proposed by the present invention;

[0052] Figure 5 yes Figure 4 Enlarged view of point A in the middle;

[0053] Figure 6 This is a schematic diagram of the overall structure of a line-walking robot of an intelligent high-altitude branch pruning device proposed by the present invention;

[0054] Figure 7 A schematic diagram of the inner structure of a ∧-shaped frame of an intelligent high-altitude branch pruning device proposed by the present invention;

[0055] Figure 8 A schematic diagram of the structure of an electric impact high-branch saw of an intelligent high-altitude branch pruning device proposed by the present invention;

[0056] Fig. 9 A schematic diagram of the structure of an impact transmission mechanism of an intelligent high-altitude branch pruning device proposed by the present invention;

[0057] Fig.10 The present invention provides a flow chart of an intelligent high-altitude branch pruning method.

[0058] Description of the markings in the figure:

[0059] 1. Lifting drones; 2. Robots walking along the line; 3. Electric impact high-branch saws; 4. Overhead wires;

[0060] 101, fuselage; 102, landing gear; 103, mounting plate; 104, power system; 105, control system; 106, communication system; 107, balance lift slide bar; 108, sensor; 109, motor; 110, electronic speed regulator; 111, round electromagnet; 112, telescopic rod; 113, rotor; 114, winch; 115, steel wire;

[0061] 201, robotic arm; 202, data acquisition module; 203, robot control module; 204, ∧-shaped frame; 205, V-shaped roller; 206, servo motor; 207, counterweight; 208, round iron block; 209, flared round box; 210, plug-in board with holes; 211, power module; 212, rotary joint;

[0062] 301, sawing control module; 302, rechargeable battery; 303, saw seat; 304, sawing motor; 305, impact transmission mechanism; 306, disc cutting saw blade; 307, transmission bevel gear a; 308, saw blade guard; 309, flange;

[0063] 3051, transmission shaft a; 3052, compression spring; 3053, impact structure fixing seat; 3054, transmission block; 3055, transmission shaft b; 3056, transmission bevel gear b. DETAILED DESCRIPTION

[0064] The following examples are for illustrative purposes only and are not intended to limit the scope of the present invention.

[0065] Reference Figure 1 , an intelligent high-altitude branch pruning device, comprising a lifting drone 1, a line-walking robot 2, an electric impact high-branch saw 3, and a remote control platform. When the device is flying, a balance lift slide bar 107 rises to the highest position to assist in flight balance, and a sensor 108 at the top monitors the flight state. The line-walking robot 2 and the electric impact high-branch saw 3 are inside the landing gear, and the mechanical arm 201 is in the maximum retracted state;

[0066] Reference Figure 2 When the lifting drone 1 and the walking robot 2 along the line are adsorbed and connected or desorbed and separated, the steel wire 115 is completely loosened, and the balance lifting slide bar 107 is lowered to the lowest position to facilitate docking or separation and prevent collision;

[0067] Reference Figure 3 , the line-walking robot 2 is hoisted onto the overhead wire 4, the hoisting drone 1 flies away, the line-walking robot 2 can move forward or backward along the overhead wire 4, the mechanical arm 201 can extend and rotate, and the electric impact high-branch saw 3 can perform full-angle sawing operations within the line operation range;

[0068] Reference Figure 4 and Figure 5 The fuselage 101 and the landing gear 102 of the hoisting UAV 1 are an integrated structure. The power system 104, the control system 105, and the communication system 106 are installed on the mounting plate 103 in the middle. Four balanced lifting slide bars 107 are set in the middle of the mounting plate 103, and a winch 114 is installed on the lower surface. The motor 109 is powered by the battery of the power system 104, and the speed and torque are controlled by the electronic speed regulator 110, which is transmitted to the four rotors 113 to generate lift and thrust, so as to realize the vertical take-off and landing and flight of the hoisting UAV 1;

[0069] The balance lift slide bar 107 can slide and rise along the mounting plate 103, and a sensor 108 is installed on the upper end to collect flight data and monitor the flight attitude, altitude and position information in real time. The communication system 106 is connected to the remote control system for communication and transmission of data and instructions. The control system 105 executes the instructions issued by the remote control system to implement attitude control, heading control, altitude control, automatic flight, collision avoidance system, Beidou positioning and other functions;

[0070] A circular electromagnet 111 is installed at the bottom of the balance lifting slide bar 107, which is adsorbed and connected to the circular iron block 208 on the top of the walking robot 2 along the line. The telescopic rods 112 on both sides can be extended and inserted into the plug plate with holes 210 to prevent falling. Under the action of the winch 114, the steel wire 115 is wound up to drive the balance lifting slide bar 107 to slide axially along the mounting plate 103;

[0071] Reference Figure 6 and Figure 7 The walking device of the walking robot 2 includes a frame 204 with a ∧-shaped cross section, a mechanical arm 201 fixed on the upper side, a data acquisition module 202 and a robot control module 203 installed at one end of the upper surface, a power module 211 installed on the inner side, and two V-shaped rollers 205 installed in parallel at the top of the inner side;

[0072] Two servo motors 206 drive two V-shaped rollers 205 to roll synchronously above the overhead wires, and the line-walking robot 2 realizes walking along the line, and its forward and backward movement is controlled by the rotation direction of the servo motor 206;

[0073] Counterweights 207 are installed at the lower ends of both sides of the ∧-shaped frame 204. Under the action of gravity, the line-walking robot 2 will not roll over when working on the overhead wires 4.

[0074] The mechanical arm 201 includes a plurality of sets of rotating joints 212, and the power module 211 provides power for the movement of the rotating joints 212, so as to realize full-angle posture change and telescopic movement, and drive the electric impact high-branch saw 3 at the front end to complete the precise sawing operation within the working range;

[0075] The data acquisition module 202 includes a camera and a data sensor to capture environmental images, assist in positioning, identify objects, and sense contact force. The robot control module 203 transmits data to the remote control platform through wireless signals, receives platform instructions, and regulates the drive system, so that the robot arm can achieve intelligent cutting operations.

[0076] A hoisting assembly is installed directly above the ∧-shaped frame 204, the bottom of which is a round iron block 208, which is adsorbed and docked with the round electromagnet 111, and the top is an inverted cone-shaped trumpet-shaped round box 209, which guides the round electromagnet 111 to perform positioning docking. Both sides of the trumpet-shaped round box 209 are equipped with plug-in plates 210 with holes. After adsorption and docking, both sides of the telescopic rod 112 extend out and insert into the holes of the plug-in plates to prevent the walking robot 2 along the line from falling due to insufficient adsorption force caused by power failure or other factors;

[0077] Reference Figure 8The bottom of the electric impact high-branch saw 3 is a flange 309, which is connected to the front end of the mechanical arm 201; a saw seat 303 is installed at the front end of the flange 309, a sawing control module 301, a disc cutting saw blade 306 and a saw blade guard 308 are installed on one side, and a rechargeable battery 302 and an impact transmission mechanism 305 are installed on the other side;

[0078] The rechargeable battery 302 drives the sawing motor 304 to rotate, and through the linear transmission of the impact transmission mechanism 305 and the variable direction transmission of the bevel gear 307, the circular saw blade 306 is axially rotated to perform the cutting operation;

[0079] The sawing control module 301 includes a driving circuit, a speed regulating circuit and a communication interface. The remote control platform analyzes all received data, calculates the speed and direction of the sawing motor 304, and issues corresponding control instructions to control the operation of the sawing motor 304;

[0080] Reference Fig. 9 , the impact transmission mechanism 305 includes a transmission shaft a 3051 of the sawing motor 304, a compression spring 3052, an impact structure fixing seat 3053, a transmission block 3054, a transmission shaft b 3055, and a transmission bevel gear b 3056;

[0081] During sawing operation, the sawing motor 304 outputs torque through the transmission shaft a 3051, and transmits the torque to the transmission bevel gear 3056 through the transmission block 3054 in the impact structure fixing seat 3053 and the transmission shaft b 3055 above, thereby driving the circular saw blade 306 to rotate;

[0082] When the hardness of the branch is high and the saw is stuck, the compression spring 3052, the impact structure fixing seat 3053 and the transmission block 3054 rotate with each other and produce internal collisions, causing the disc cutting saw blade 306 to vibrate, prompting the saw blade to break free from the restraint of the branch.

[0083] Reference Fig.10 The embodiment of the present invention provides an intelligent high-altitude branch pruning method, comprising the following steps:

[0084] S1, Electric impact high branch saw 3 fixed installation

[0085] The electric impact high-branch saw 3 is mounted on the front end of the mechanical arm 201 of the line-traveling robot 2 using fastening bolts, with the adsorbed round iron block 208 facing upward.

[0086] S2, hoisting of robot 2 walking along the line

[0087] The remote-controlled lifting drone 1 takes off and flies to hover just above the walking robot 2 along the line. The balancing lifting slide bar 107 is lowered to the lowest position, and the circular adsorption electromagnet 111 extends out of the outside of the landing gear 102 and adsorbs and docks with the circular iron block 208 of the walking robot 2 along the line. The telescopic rods 112 on both sides of the electromagnet 111 extend out and are inserted into the holes of the perforated plug plate 210 to prevent it from falling due to a malfunction.

[0088] The balance lifting slide bar 107 rises to the highest position, and the line-walking robot 2 is hoisted into the landing gear 102, and then rises to hover just above the overhead wire 4. The balance lifting slide bar 107 descends to the lowest position, and the line-walking robot 2 is placed on the overhead wire 4, and the two rollers 206 are in contact with the overhead wire 4. The telescopic rod 112 is retracted, and the electromagnet 111 is de-energized for desorption.

[0089] The hoisting drone 1 flies away from the overhead wire 4, and the balance lifting slide bar 107 rises to the highest position and stops back on the ground.

[0090] S3, control the robot walking along the line 2

[0091] According to the information of the data acquisition module 202, the trimming range of the branches on both sides of the overhead wire 4 where the walking robot 2 is located is determined, and a trimming plan is formulated according to the 3D image on the display screen of the remote control platform.

[0092] S4, electric impact high branch saw 3 sawing operation

[0093] The electric impact high-branch saw 3 is turned on to perform branch sawing operations. After all the sawing in the pruning range is completed, the line-walking robot 2 moves forward or backward along the overhead wires, and redetermines the pruning range and starts the operation based on the information of the data acquisition module 202.

[0094] S5. Replace the line

[0095] The lifting drone 1 is controlled to fly to the top of the line-walking robot 2, and S2 is pressed to lift the line-walking robot 2 to other overhead wires 4 that need branch pruning, and the operation is restarted according to the above S3 and S4.

[0096] S6: The walking robot 2 along the line is hoisted back to the ground

[0097] After all the operations are completed, the lifting drone 1 is controlled to lift the walking robot 2 along the line back to the ground, and the electric impact high-branch saw 3 is disassembled and stored.

[0098] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent high-altitude branch pruning device, characterized in that: include: A lifting drone (1), the lifting drone (1) comprising a fuselage (101) and a landing gear (102), a mounting plate (103) being provided in the middle of the fuselage (101), a power system (104), a control system (105) and a communication system (106) being provided on the mounting plate (103), four balancing lifting slide bars (107) being provided in the middle of the mounting plate (103), a sensor (108) and a circular electromagnet (111) being provided at the top and bottom of the balancing lifting slide bars (107), four motors (109) being provided on the fuselage (101), and rotors (113) being provided on the four motors (109); A line-walking robot (2), the line-walking robot (2) comprising a ∧-shaped frame (204), a mechanical arm (201) being arranged on the upper side of the ∧-shaped frame (204), a data acquisition module (202) and a robot control module (203) being arranged at one end of the upper surface of the ∧-shaped frame (204), a power supply module (211) being arranged on the inner side of the ∧-shaped frame (204), two servo motors (206) being arranged on the inner side of the ∧-shaped frame (204), and a V-shaped roller (205) being arranged at the output end of the servo motor (206); An electric impact high-branch saw (3), wherein the electric impact high-branch saw (3) is arranged on a mechanical arm (201); A remote control platform is connected to the communication system (106) for communicating data and instructions.

2. The intelligent high-altitude branch pruning device according to claim 1 is characterized in that: A winch (114) is provided on the lower surface of the mounting plate (103), a steel wire (115) is provided on the winch (114), and an output end of the steel wire (115) is fixed to the top of the balancing lifting slide bar (107).

3. The intelligent high-altitude branch pruning device according to claim 1 is characterized in that: A hanging assembly is arranged directly above the ∧-shaped frame (204), and the hanging assembly comprises a bell-shaped round box (209) fixed on the upper surface of the ∧-shaped frame (204) and in an inverted cone shape; a round iron block (208) for adsorbing and docking with a round electromagnet (111) is arranged at the bottom of the bell-shaped round box (209); a plug plate (210) with a hole is arranged on the bell-shaped round box (209); and a telescopic rod (112) matched with a plug hole on the plug plate 210 is arranged on the round electromagnet (111).

4. The intelligent high-altitude branch pruning device according to claim 1, characterized in that: The electric impact high-branch saw (3) comprises a flange (309) connected to the output end of a mechanical arm (201); a saw seat (303) is provided at the front section of the flange (309); a sawing control module (301), a circular cutting saw blade (306) and a saw blade guard (308) are provided on one side of the saw seat (303); a transmission bevel gear a (307) is provided on the central axis of the circular cutting saw blade (306); a rechargeable battery (302) and a sawing motor (304) are provided on the other side of the saw seat (303); and an impact transmission mechanism (305) is provided at the output end of the sawing motor (304).

5. The intelligent high-altitude branch pruning device according to claim 4, characterized in that: The impact transmission mechanism (305) comprises a transmission shaft a (3051) of a sawing motor (304), a compression spring (3052), an impact structure fixing seat (3053), a transmission block (3054), a transmission shaft b (3055), and a transmission bevel gear b (3056), wherein the transmission bevel gear b (3056) is meshed with the transmission bevel gear a (307).

6. The intelligent high-altitude branch pruning device according to claim 1, characterized in that: Counterweight blocks (207) are provided at the lower ends of both sides of the ∧-shaped frame (204), and when the line-walking robot (2) is operating on the overhead wire, it will not tip over due to the gravity of the counterweight blocks (207).

7. The intelligent high-altitude branch pruning device according to claim 1, characterized in that: The mechanical arm (201) comprises a plurality of sets of rotating joints (212), and the power supply module (211) provides power for the rotating joints (212), thereby achieving full-angle posture change and telescopic movement.

8. The intelligent high-altitude branch pruning device according to claim 1, characterized in that: The motor (109) is powered by a battery of a power system (104). An electronic speed regulator (110) is provided at the bottom of the motor (109). The electronic speed regulator (110) is used to control the rotation speed and torque of the motor (109).

9. A method for high-altitude branch pruning applied to an intelligent high-altitude branch pruning device according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1. Fixing and installing the electric impact high-branch saw (3): Use fastening bolts to install the electric impact high-branch saw (3) on the front end of the mechanical arm (201) of the robot (2) walking along the line, with the adsorbed round iron block (208) facing upward. S2. Lifting of the line-walking robot (2): The lifting drone (1) is remotely controlled to take off and fly to hover above the line-walking robot (2). The balancing lifting slide bar (107) is lowered to the lowest position. The circular adsorption electromagnet 111 extends out of the outside of the landing gear (102) and adsorbs and docks with the circular iron block (208) of the line-walking robot (2). The telescopic rods (112) on both sides of the circular electromagnet (111) are extended and inserted into the holes of the plug plate with holes (210) to prevent the robot from falling due to a fault. The balance lifting slide bar (107) rises to the highest position, and the line-walking robot (2) is hoisted into the landing gear (102), and then rises to hover just above the overhead wire (4). The balance lifting slide bar (107) falls to the lowest position, and the line-walking robot (2) is placed on the overhead wire (4), and the two rollers 206 are in contact with the overhead wire (4). The telescopic rod (112) is retracted, and the electromagnet 111 is powered off for desorption. The hoisting drone (1) flies away from the overhead wire (4), and the balance lifting slide bar (107) rises to the highest position and stops back on the ground. S3, controlling the line-walking robot (2): according to the information of the data acquisition module (202), determining the pruning range of branches on both sides of the overhead wire (4) where the line-walking robot (2) is located, and formulating a pruning plan according to the 3D image on the display screen of the remote control platform. S4, operation of the electric impact high-branch saw (3): the electric impact high-branch saw (3) is turned on to perform a branch sawing operation. After all the sawing within the pruning range is completed, the line-walking robot (2) moves forward or backward along the overhead wires, and based on the information from the data acquisition module (202), the pruning range is re-determined and the operation is started. S5. Change the line: control the lifting drone (1) to fly to the top of the walking robot (2) along the line, press S2 to lift the walking robot (2) along the line to other overhead wires (4) that need branch pruning, and restart the operation according to the above S3 and S4. S6. Hoisting the line-walking robot (2) back to the ground: After all operations are completed, the hoisting drone (1) is controlled to hoist the line-walking robot (2) back to the ground, and the electric impact high-branch saw (3) is disassembled and stored.

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