High-voltage power transmission cable and power transmission tower bird nest hidden danger removing robot

Abstract

The utility model discloses a high-voltage power transmission cable and power transmission tower nest hidden danger removing robot, and relates to the technical field of robots, the high-voltage power transmission cable and power transmission tower nest hidden danger removing robot comprises a moving mechanism and a removing mechanism, the moving mechanism is arranged close to the lower part and comprises a vehicle body shell, a plurality of motors I and moving wheels, and the motors I are uniformly distributed on the periphery of the vehicle body shell; the first motor drives the moving wheels to rotate, and then the vehicle body shell is driven to automatically move on the high-voltage power transmission cable or the power transmission tower. The removing mechanism is arranged on the upper portion and comprises a first mechanical arm, a second mechanical arm, a flexible clamping jaw, a first steering engine, a second steering engine, a third steering engine, a fourth steering engine and a second motor, and the first mechanical arm and the second mechanical arm can be driven to deflect through linkage of the first steering engine, the second steering engine, the third steering engine, the fourth steering engine and the second motor; and then the flexible clamping jaw is driven to automatically remove the bird nest on the high-voltage power transmission cable or the power transmission tower. The robot works in cooperation with the unmanned aerial vehicle, bird nests can be rapidly removed, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot for removing hidden dangers of bird nests of high-voltage power transmission cables and power transmission towers. Background Art

[0002] In recent years, with the acceleration of urbanization, large tracts of forests have disappeared, and birds have lost their places to build nests, reproduce and live. Therefore, they began to build nests on the towers and crossarms of high-voltage transmission line towers.

[0003] Most high-voltage transmission lines and towers are located in the wild and high above the ground. When workers clean bird nests on towers and transmission lines during patrols, they usually climb up the towers or use the surrounding high ground to poke them down directly with insulating rods. This cleaning method requires workers to climb the towers repeatedly. Since the insulating rods are not cleaning tools, they need to be repeatedly operated when used. The cleaning process is time-consuming, which seriously affects the normal patrol work. Utility Model Content

[0004] The purpose of the utility model is to provide a robot for removing bird nest hazards of high-voltage transmission cables and transmission towers, so as to solve the above-mentioned defects caused by the prior art.

[0005] A robot for removing bird nest hazards from high-voltage transmission cables and transmission towers, including a moving mechanism and a removal mechanism, wherein:

[0006] The moving mechanism is arranged at the bottom and includes a vehicle body shell, a motor 1 and moving wheels. The motor 1 is provided with a plurality of motors and evenly distributed around the vehicle body shell. The motor 1 drives the moving wheels to rotate, thereby driving the vehicle body shell to automatically move on the high-voltage transmission cable or transmission tower. The surface of the moving wheel is provided with a circular groove;

[0007] The cleaning mechanism is arranged at the top and includes a mechanical arm 1, a mechanical arm 2, a flexible clamp, a servo 1, a servo 2, a servo 3, a servo 4 and a motor 2. The linkage of the servo 1, the servo 2, the servo 3, the servo 4 and the motor 2 can drive the mechanical arm 1 and the mechanical arm 2 to deflect, thereby driving the flexible clamp to automatically remove the bird's nest on the high-voltage transmission cable or the transmission tower.

[0008] Preferably, two pairs of body plates are symmetrically arranged at the bottom of the body shell, each of which is equipped with an articulated seat 2, and the body shell is equipped with an articulated seat 1 above each articulated seat 2, and a mounting tube is arranged on the side of each articulated seat 2, a connecting ear is arranged on the upper side of the mounting tube, and a shock absorber is connected between the adjacent connecting ear and the articulated seat 1, the inner end of the mounting tube is integrally connected with a connecting arm, and the connecting arm is hinged to the adjacent articulated seat 2, four motors are provided and correspondingly installed in each mounting tube, the output end of the motor is coaxially connected with a connecting shaft 1, and the outer end of the connecting shaft is integrally connected with a connecting disk 1, four moving wheels are provided and correspondingly installed on each connecting disk 1, a control circuit board is installed inside the body shell, a switch button is also installed on the top of the body shell, and a battery compartment is also installed on the bottom of the body shell, the control circuit board is electrically connected to the motor 1 and the battery compartment respectively, and the switch button is serially connected between the control circuit board and the battery compartment.

[0009] Preferably, the cleaning mechanism further comprises a covering plate, the covering plate is centrally mounted on the top of the vehicle body shell, a fixing ring is centrally mounted on the upper side of the covering plate, and a movable ring is rotatably connected in the fixing ring, a joint part 1 is coaxially connected to the upper side of the movable ring, the servo 1 is mounted on one end of the mechanical arm 1 through a fixing frame 1, and the output end of the servo 1 is connected to the joint part 1, a joint part 2 is mounted on the other end of the mechanical arm 1, the servo 2 is mounted on one end of the mechanical arm 2 through a fixing frame 2, and the output end of the servo 2 is connected to the joint part 2, the servo 3 is mounted on one end of the mechanical arm 2 through a fixing frame 2, and the output end of the servo 2 is connected to the joint part 2, Fixed frame three is installed at the other end of mechanical arm two, and is connected to joint part three at the output end of servo gear three, the motor two is vertically installed on joint part three, and the flexible clamp is connected to the output end of motor two, the servo gear four is installed inside the vehicle body shell through fixed frame four, the output end of the servo gear four is horizontally connected to a balance block, the upper side of the balance block is vertically connected to connecting shaft two, and the connecting shaft two and the output end of the servo gear four are coaxially distributed, the top end of the connecting shaft two is coaxially connected to a connecting disk two, the connecting disk two passes through the center of the covering plate and is coaxially connected to the lower side of the movable ring.

[0010] Preferably, two pairs of hook grooves are symmetrically arranged front and back on the top of the vehicle body shell, and hooks are hinged in the hook grooves.

[0011] Preferably, a placement box is connected to the side of the vehicle body shell, and a grid plate is hinged on the top of the placement box.

[0012] Preferably, light flow guide lights are evenly distributed on the top of the vehicle body shell, and the control circuit board is electrically connected to the light flow guide lights.

[0013] Preferably, a pair of high-definition cameras are symmetrically installed on the front and rear sides of the vehicle body shell, and the control circuit board is electrically connected to the high-definition cameras.

[0014] Preferably, a fixing frame is mounted on the side cantilever of the joint component 3, and an infrared sensor is mounted on the fixing frame, and the control circuit board is electrically connected to the infrared sensor.

[0015] Preferably, the outer side of the balancing block is covered with an arc-shaped supporting shell, the bottom of the supporting shell is evenly connected to a plurality of supporting legs, and the supporting legs are vertically connected to the bottom of the vehicle body shell.

[0016] Compared with the prior art, the utility model has the following advantages:

[0017] 1. Improve work efficiency: Robots working in conjunction with drones can quickly remove bird nests and improve work efficiency.

[0018] 2. Reduce risks: Robots work together with drones to reduce human intervention, reduce the risks of high-altitude operations, and improve safety.

[0019] 3. Reduce labor costs: Robots work together with drones to replace some manual work, reduce labor costs and improve economic benefits.

[0020] 4. Improve cleanliness: The robot can accurately remove bird nests, improve the cleanliness of transmission lines and towers, and reduce the possibility of equipment damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the utility model.

[0022] Figure 2 It is a schematic structural diagram of the utility model as a whole viewed from the front.

[0023] Figure 3 , Figure 4 It is a schematic diagram of the structure of the mobile mechanism in the utility model from different perspectives.

[0024] Figure 5 , Figure 6 It is a schematic diagram of the structure of the cleaning mechanism in the utility model from different perspectives.

[0025] in:

[0026] 10-mobile mechanism; 101-body shell; 101a-hook slot; 102-hook; 103-body plate; 104-articulated seat 1; 105-articulated seat 2; 106-installation tube; 107-connecting ear; 108-connecting arm; 109-shock absorber; 110-motor 1; 111-connecting shaft 1; 112-connecting plate 1; 113-moving wheel; 114-placing box; 115-grid plate; 116-control circuit board; 117-switch button; 118-light flow guide light; 120-high-definition camera; 121-battery compartment;

[0027] 20-clearing mechanism; 201-covering plate; 202-fixing ring; 203-movable ring; 204-joint part one; 205-mechanical arm one; 206-fixing frame one; 207-servo one; 208-joint part two; 209-mechanical arm two; 210-fixing frame two; 211-servo two; 212-fixing frame three; 213-servo three; 214-joint part three; 215-motor two; 216-flexible clamp; 217-fixing frame; 218-infrared sensor; 219-fixing frame four; 220-servo four; 221-balancing block; 222-connecting shaft two; 223-connecting disk two; 224-support shell; 225-support leg. DETAILED DESCRIPTION

[0028] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific implementation methods.

[0029] like Figures 1 to 6 As shown, the robot for removing bird nest hazards of high-voltage transmission cables and transmission towers includes a moving mechanism 10 and a removing mechanism 20, wherein:

[0030] The moving mechanism 10 is arranged at the bottom and includes a body shell 101, a motor 110 and moving wheels 113. The motor 110 is provided with a plurality of motors 110 and evenly distributed around the body shell 101. The motor 110 drives the moving wheels 113 to rotate, thereby driving the body shell 101 to automatically move on the high-voltage transmission cable or transmission tower. The surface of the moving wheel 113 is provided with a circular groove.

[0031] The cleaning mechanism 20 is arranged at the top and includes a robot arm 1 205, a robot arm 209, a flexible clamp 216, a servo 1 207, a servo 2 211, a servo 3 213, a servo 4 220 and a motor 2 215. Through the linkage of the servo 1 207, the servo 2 211, the servo 3 213, the servo 4 220 and the motor 2 215, the robot arm 1 205 and the robot arm 2 209 can be driven to deflect, thereby driving the flexible clamp 216 to automatically remove the bird's nest on the high-voltage transmission cable or transmission tower.

[0032] In this embodiment, two pairs of vehicle body panels 103 are symmetrically arranged at the bottom of the vehicle body shell 101, and each vehicle body panel 103 is installed with a hinge seat 105, and the vehicle body shell 101 is installed with a hinge seat 104 above each hinge seat 105, and a mounting tube 106 is arranged on the side of each hinge seat 105, and a connecting ear 107 is arranged on the upper side of the mounting tube 106, and a shock absorber 109 is connected between the adjacent connecting ear 107 and the hinge seat 104, and the inner end of the mounting tube 106 is integrally connected with a connecting arm 108, and the connecting arm 108 is hinged to the adjacent hinge seat 105, and the motor 110 is provided with four corresponding Installed in each installation tube 106, the output end of the motor 110 is coaxially connected with the connecting shaft 111, and the outer end of the connecting shaft 111 is integrally connected with a connecting disk 112, four moving wheels 113 are provided and correspondingly installed on each connecting disk 112, a control circuit board 116 is installed inside the body shell 101, a switch button 117 is also installed on the top of the body shell 101, and a battery compartment 121 is also installed at the bottom of the body shell 101, the control circuit board 116 is electrically connected to the motor 110 and the battery compartment 121 respectively, and the switch button 117 is connected in series between the control circuit board 116 and the battery compartment 121.

[0033] In this embodiment, the cleaning mechanism 20 also includes a covering plate 201, which is centrally mounted on the top of the vehicle body shell 101, a fixing ring 202 is centrally mounted on the upper side of the covering plate 201, and a movable ring 203 is rotatably connected in the fixing ring 202, a joint part 1 204 is coaxially connected to the upper side of the movable ring 203, the servo 1 207 is mounted on one end of the mechanical arm 1 205 through a fixing frame 1 206, and the output end of the servo 1 207 is connected to the joint part 1 204, a joint part 208 is mounted on the other end of the mechanical arm 1 205, the servo 211 is mounted on one end of the mechanical arm 209 through a fixing frame 210, and the output end of the servo 211 is connected to the joint part 208, and the servo 3 213 is connected to the joint part 208. It is installed on the other end of the mechanical arm 209 through a fixed frame 3 212, and is connected to a joint part 3 214 at the output end of the servo 3 213. The motor 215 is vertically installed on the joint part 3 214, and the flexible clamp 216 is connected to the output end of the motor 215. The servo 4 220 is installed inside the vehicle body shell 101 through a fixed frame 4 219. The output end of the servo 4 220 is horizontally connected to a balance block 221, and the upper side of the balance block 221 is vertically connected to a connecting shaft 222, and the connecting shaft 222 is coaxially distributed with the output end of the servo 4 220, and the top end of the connecting shaft 222 is coaxially connected to a connecting disk 223, and the connecting disk 223 passes through the center of the covering plate 201 and is coaxially connected to the lower side of the movable ring 203.

[0034] In this embodiment, two pairs of hooking grooves 101a are symmetrically arranged at the top of the body shell 101, and hooks 102 are hinged in the hooking grooves 101a. The robot can be hooked on the tripod of the drone through these hooks 102.

[0035] In this embodiment, a placement box 114 is connected to the side of the vehicle body shell 101, and a grid plate 115 is hinged on the top of the placement box 114. Before clearing the bird's nest, the placement box 114 can be used to temporarily store bird eggs, cubs or young birds in the bird's nest.

[0036] In this embodiment, light flow guide lights 118 are evenly distributed on the top of the vehicle body shell 101, and the control circuit board 116 is electrically connected to the light flow guide lights 118. The light flow guide lights 118 can guide the drone to land above the robot.

[0037] In this embodiment, a pair of high-definition cameras 120 are symmetrically mounted on the front and rear sides of the vehicle body shell 101, and the control circuit board 116 is electrically connected to the high-definition cameras 120. The pair of high-definition cameras 120 can capture the environment of the robot in real time.

[0038] In this embodiment, a fixing frame 217 is mounted on the side of the joint part 3 214, and an infrared sensor 218 is mounted on the fixing frame 217. The control circuit board 116 is electrically connected to the infrared sensor 218. The infrared sensor 218 can detect the environment of the flexible gripper 216 on the robot in real time.

[0039] In this embodiment, the outer side of the balancing block 221 is covered with an arc-shaped support shell 224, and a plurality of support legs 225 are evenly connected to the bottom of the support shell 224, and the support legs 225 are vertically connected to the bottom of the vehicle body shell 101. The balancing block 221 can be supported by the support shell 224 to prevent the balancing block 221 eccentrically connected to the steering gear 220 from bending or crushing the output shaft of the steering gear 220.

[0040] The working principle of this robot for removing bird nest hazards on high-voltage transmission cables and transmission towers:

[0041] S1: The robot guides the drone to land on top of the robot through the optical flow guide light on its body, and allows the hook 102 on the robot to hook onto the tripod of the drone. Then the drone brings the robot to the top of the high-voltage transmission cable where the bird nest needs to be removed.

[0042] S2: The drone releases the robot and places the mobile wheels 113 on the robot on two high-voltage transmission cables. At the same time, the drone senses the environment through the high-definition camera 120 and the infrared sensor 218 and starts to perform the bird nest removal operation.

[0043] S3: During the bird nest removal process, the bird nest must be removed in consideration of the need to maintain the safe and efficient operation of the high-voltage power transmission system. At the same time, considering that there may be national protected animals in the bird nest, for moral and ethical considerations, the safety of the birds, eggs or cubs in the removed bird nest must be ensured when performing the bird nest removal operation. To this end, before removing the bird nest, the bird eggs, cubs or birds can be placed in the placement box 114 and then brought back to the ground with the robot. After the birds and their soft eggs in the bird nest are emptied, the robot uses the flexible gripper 216 to remove the bird nest.

[0044] S4: After completing the bird nest removal operation, the drone hovers above the robot again, and allows the hook 102 on the robot to hook onto the tripod of the drone again, and finally the drone brings the robot back to the ground.

[0045] Therefore, the embodiments disclosed above are only illustrative in all aspects and are not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are included in the present invention.

Claims

1. A robot for removing bird nest hazards from high-voltage transmission cables and transmission towers, characterized by: It comprises a moving mechanism (10) and a clearing mechanism (20), wherein: The moving mechanism (10) is arranged at the bottom and comprises a vehicle body shell (101), a motor (110) and moving wheels (113); the motor (110) is provided with a plurality of motors (110) and evenly distributed around the vehicle body shell (101); the motor (110) drives the moving wheels (113) to rotate, thereby driving the vehicle body shell (101) to automatically move on the high-voltage transmission cable or transmission tower; and the surface of the moving wheel (113) is provided with a circular groove; The cleaning mechanism (20) is arranged on the top and comprises a mechanical arm 1 (205), a mechanical arm 2 (209), a flexible clamp (216), a steering gear 1 (207), a steering gear 2 (211), a steering gear 3 (213), a steering gear 4 (220) and a motor 2 (215). The mechanical arm 1 (205) and the mechanical arm 2 (209) can be driven to deflect through the linkage of the steering gear 1 (207), the steering gear 2 (211), the steering gear 3 (213), the steering gear 4 (220) and the motor 2 (215), thereby driving the flexible clamp (216) to automatically remove the bird's nest on the high-voltage transmission cable or the transmission tower.

2. The robot for removing bird nest hazards of high-voltage power transmission cables and power transmission towers according to claim 1 is characterized in that: The bottom of the vehicle body shell (101) is symmetrically provided with two pairs of vehicle body plates (103) in front and back, each vehicle body plate (103) is installed with a hinge seat 2 (105), and the vehicle body shell (101) is installed with a hinge seat 1 (104) above each hinge seat 2 (105), and a mounting tube (106) is provided on the side of each hinge seat 2 (105), and a connecting ear (107) is provided on the upper side of the mounting tube (106), and a shock absorber (109) is connected between the adjacent connecting ear (107) and the hinge seat 1 (104), and the inner end of the mounting tube (106) is integrally connected with a connecting arm (108), and the connecting arm (108) is hinged to the adjacent hinge seat 2 (105), and the motor 1 (110) is provided with four and is correspondingly installed on each hinge seat 2 (105). The vehicle body shell (101) is provided with a control circuit board (116), a switch button (117) is also installed on the top of the vehicle body shell (101), and a battery compartment (121) is also installed on the bottom of the vehicle body shell (101). The control circuit board (116) is electrically connected to the motor (110) and the battery compartment (121) respectively, and the switch button (117) is connected in series between the control circuit board (116) and the battery compartment (121).

3. The robot for removing bird nest hazards of high-voltage power transmission cables and power transmission towers according to claim 2 is characterized in that: The cleaning mechanism (20) further comprises a covering plate (201), the covering plate (201) being centrally mounted on the top of the vehicle body shell (101), a fixing ring (202) being centrally mounted on the upper side of the covering plate (201), and a movable ring (203) being rotatably connected inside the fixing ring (202), a joint member (204) being coaxially connected to the upper side of the movable ring (203), and the steering gear (207) being connected to the vehicle body shell (101) through a fixing frame (206). The first mechanical arm (205) is installed at one end, and the output end of the first steering gear (207) is connected to the first joint part (204). The other end of the first mechanical arm (205) is installed with the second joint part (208). The second steering gear (211) is installed at one end of the second mechanical arm (209) through the second fixing frame (210), and the output end of the second steering gear (211) is connected to the second joint part (208). The third steering gear (213) is installed at one end of the second mechanical arm (209) through the second fixing frame (210). The fixed frame 3 (212) is installed at the other end of the mechanical arm 2 (209), and is connected to the joint part 3 (214) at the output end of the servo gear 3 (213). The motor 2 (215) is vertically installed on the joint part 3 (214), and the flexible clamp (216) is connected to the output end of the motor 2 (215). The servo gear 4 (220) is installed inside the vehicle body shell (101) through the fixed frame 4 (219). The output end of the servo gear 4 (220) is horizontally connected to a balance block (221). The upper side of the balance block (221) is vertically connected to a connecting shaft 2 (222), and the connecting shaft 2 (222) and the output end of the servo gear 4 (220) are coaxially distributed. The top end of the connecting shaft 2 (222) is coaxially connected to a connecting disk 2 (223). The connecting disk 2 (223) passes through the center of the covering plate (201) and is coaxially connected to the lower side of the movable ring (203).

4. The robot for removing bird nest hazards of high-voltage power transmission cables and power transmission towers according to claim 2 is characterized in that: Two pairs of hook grooves (101a) are symmetrically arranged at the top of the vehicle body shell (101), and hooks (102) are hinged in the hook grooves (101a).

5. The robot for removing bird nest hazards of high-voltage power transmission cables and power transmission towers according to claim 2 is characterized in that: A placement box (114) is connected to the side of the vehicle body shell (101), and a grid plate (115) is hinged on the top of the placement box (114).

6. The robot for removing bird nest hazards of high-voltage transmission cables and transmission towers according to claim 2 is characterized in that: Light flow guide lights (118) are evenly distributed on the top of the vehicle body shell (101), and the control circuit board (116) is electrically connected to the light flow guide lights (118).

7. The robot for removing bird nest hazards of high-voltage power transmission cables and power transmission towers according to claim 2 is characterized in that: A pair of high-definition cameras (120) are symmetrically mounted on the front and rear sides of the vehicle body shell (101), and the control circuit board (116) is electrically connected to the high-definition cameras (120).

8. The robot for removing bird nest hazards of high-voltage power transmission cables and power transmission towers according to claim 3 is characterized by: A fixing frame (217) is mounted on the side of the joint part 3 (214) in a cantilevered manner, and an infrared sensor (218) is mounted on the fixing frame (217). The control circuit board (116) and the infrared sensor (218) are electrically connected.

9. The robot for removing bird nest hazards of high-voltage power transmission cables and power transmission towers according to claim 3 is characterized by: The outer side of the balancing block (221) is covered with an arc-shaped support shell (224), the bottom of the support shell (224) is evenly connected with a plurality of support legs (225), and the support legs (225) are vertically connected to the bottom of the vehicle body shell (101).

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