CN102593752B - Method for reconfiguring reconfigurable mobile robot for high-voltage transmission line module - Google Patents
Method for reconfiguring reconfigurable mobile robot for high-voltage transmission line module Download PDFInfo
- Publication number
- CN102593752B CN102593752B CN201210058630.5A CN201210058630A CN102593752B CN 102593752 B CN102593752 B CN 102593752B CN 201210058630 A CN201210058630 A CN 201210058630A CN 102593752 B CN102593752 B CN 102593752B
- Authority
- CN
- China
- Prior art keywords
- module
- robot
- stockbridge damper
- operation module
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a method for reconfiguring a reconfigurable mobile robot for a high-voltage transmission line module. According to the method, a mobile robot body module is used as an operation platform, and a mechanical arm module is reconfigured with an ice-removing module, a lead-repairing module and a shockproof hammer assembling and disassembling module by a proper mode, so that mobile robots respectively having ice-removing, lead-repairing and shockproof hammer assembling and disassembling functions are formed. Therefore, the method disclosed by the invention has the following advantages: by carrying out division and reconfiguration of the modules on the robot for the transmission line, the mobile robots suitable for different tasks can be assembled, so that the flexibility, the suitability and the working range of the robot are improved and the operation cost is reduced.
Description
Technical field
The present invention relates to a kind of Mobile working machine people reconstructing method, especially relate to a kind of method for reconfiguring reconfigurable mobile robot for high-voltage transmission line module.
Background technology
In order to ensure the normal operation of aerial high-voltage power transmission line, it is regular or irregular right to need
Wire carries out multiple Maintenance and Repair operation as circuit deicing, conducting wire mending, hardware fitting replacement etc.Current this kind of work is generally all completed by manual work, but manual work labour intensity is large, and difficulty is high, and operating efficiency is low and there is potential safety hazard.
At present, ultra-high-tension power transmission line Work robot is all developed according to specific application purpose,
For task-aware should be used for say, this robot can meet actual demand.But, along with the further in-depth of Study and appliance, the range of application of robot is more and more wider, and the configuration of Mei Zhong robot only can adapt to certain limited range, therefore the flexibility of robot can not meet the requirement of turn of the market, and solution to this problem develops Reconfigurable robot system exactly.The robot going out to be best suited for Given task by these module energy quick assembling that reconfigurable modular robot system is made up of a set of module with different size and performance characteristic. the domestic Patents about high voltage transmission line modular reconfigurable Mobile working machine people have not been reported at present.
Summary of the invention
The existing ultra-high-tension power transmission line Work robot that the present invention mainly solves existing for prior art is flexible not enough, the technical problem that range of application does not extensively wait; Provide and a kind ofly can assemble out the Mobile working machine people being adapted to not job task, improve the flexibility of robot, adaptive capacity and working range, reduce a kind of method for reconfiguring reconfigurable mobile robot for high-voltage transmission line module of operating cost.
Above-mentioned technical problem of the present invention is mainly solved by following technical proposals:
A kind of method for reconfiguring reconfigurable mobile robot for high-voltage transmission line module, based on mobile robot's body module, at least one mechanical arm module, deicing operation module, conducting wire mending operation module and stockbridge damper installing/dismounting operation module; It is characterized in that, comprise following selection step:
Select step 1: be arranged in mobile robot's body module by deicing operation module, drive deicing operation module to complete the removing operation of the icing on transmission pressure surface by mobile robot's body module.
At above-mentioned a kind of method for reconfiguring reconfigurable mobile robot for high-voltage transmission line module, also comprise and select step 2:
A mechanical arm module is arranged in mobile robot's body module, conducting wire mending operation module is arranged on mechanical arm module, is completed the transmission pressure repairing work of the impaired disconnected stock of transmission pressure by mobile robot's body module by mechanical arm module drive conducting wire mending operation module.
At above-mentioned a kind of method for reconfiguring reconfigurable mobile robot for high-voltage transmission line module, also comprise and select step 3:
Two mechanical arm modules are arranged on mobile robot's body module both sides, the clamping ends assembly of stockbridge damper installing/dismounting operation module and nutting connector assembly are arranged in two mechanical arm modules respectively, are completed the installation and removal operation of stockbridge damper on transmission pressure by mobile robot's body module by mechanical arm module drive stockbridge damper installing/dismounting operation module.
At above-mentioned a kind of method for reconfiguring reconfigurable mobile robot for high-voltage transmission line module, described robot body module is with power supply, and described mechanical arm module, deicing operation module, conducting wire mending operation module and stockbridge damper installing/dismounting operation module are all electrically connected with robot body module.
Therefore, tool of the present invention has the following advantages: by carrying out division and the reconstruct of module to transmission line operation robot, the Mobile working machine people being adapted to not job task can be assembled out, improve the flexibility of robot, adaptive capacity and working range, reduce operating cost.
Accompanying drawing explanation
Fig. 1 is the structural representation of robot body module in the present invention.
Fig. 2 is the structural representation of mechanical arm module in the present invention.
Fig. 3 is the structural representation of deicing operation module in the present invention.
Fig. 4 is the structural representation of conducting wire mending operation module in the present invention.
Fig. 5 a is the structural representation of clamping ends assembly in stockbridge damper installing/dismounting operation module of the present invention.
Fig. 5 b is the structural representation of nutting connector assembly in stockbridge damper installing/dismounting operation module of the present invention.
Fig. 6 is the structural representation of deicing Work robot in the present invention.
Fig. 7 is the structural representation of conducting wire mending Work robot in the present invention.
Fig. 8 is the structural representation of stockbridge damper installing/dismounting Work robot in the present invention.
Embodiment
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.In figure, mobile robot's body module, mechanical arm module, deicing operation module, conducting wire mending operation module, stockbridge damper installing/dismounting operation module.
Embodiment:
As shown in the figure, a kind of method for reconfiguring reconfigurable mobile robot for high-voltage transmission line module, based on mobile robot's body module, at least one mechanical arm module, deicing operation module, conducting wire mending operation module and stockbridge damper installing/dismounting operation module, robot body module is with power supply, and described mechanical arm module, deicing operation module, conducting wire mending operation module and stockbridge damper installing/dismounting operation module are all electrically connected with robot body module.
Comprise following selection step:
Step 1: Fig. 1 is selected to be robot body; Fig. 2 is mechanical arm.When needs perform transmission pressure deicing task, deicing operation module is as shown in Figure 3 installed on robot body mechanical arm, composition deicing Work robot as shown in Figure 6, along with robot body moves on wire, deicing module can by robot the icing on conducting line segment of passing through remove.
Select step 2: when wire breakage needs to perform conducting wire mending task, conducting wire mending operation module is as shown in Figure 4 installed in mechanical arm module, again mechanical arm module is installed on robot body module, composition conducting wire mending Work robot as shown in Figure 7.Robot body walks to the position that wire breakage needs to repair, and conducting wire mending operation module is lifted the height to needing by mechanical arm, and adjust to appropriate attitude, conducting wire mending operation module is the coated upper copper sheet of wire breakage, repairs wire.
Select step 3: be installed in robot body module by stockbridge damper installing/dismounting operation module as shown in Figure 5 respectively by two mechanical arm modules, composition stockbridge damper installing/dismounting Work robot as shown in Figure 8.When the stockbridge damper on transmission line occurs that loosening needs are fastening, robot walks to loosening stockbridge damper place, make two road wheels lay respectively at stockbridge damper both sides, stockbridge damper installing/dismounting operation module is lifted to appointment pose by two mechanical arm modules, by the stockbridge damper bolt tightening loosened; When wire somewhere stockbridge damper damages, need to change stockbridge damper, robot body walks to and damages stockbridge damper place, stockbridge damper installing/dismounting operation module is lifted to appointment pose by two mechanical arm modules, damage stockbridge damper is taken off, then lifts be installed on being equipped on stockbridge damper intact in robot body module on wire.
Robot body module is with power supply, and described mechanical arm module, deicing operation module, conducting wire mending operation module and stockbridge damper installing/dismounting operation module are all electrically connected with robot body module.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present invention or surmount the scope that appended claims defines.
Although more employ the terms such as mobile robot's body module, mechanical arm module, deicing operation module, conducting wire mending operation module, stockbridge damper installing/dismounting operation module herein, do not get rid of the possibility using other term.These terms are used to be only used to describe and explain essence of the present invention more easily; The restriction that they are construed to any one additional is all contrary with spirit of the present invention.
Claims (2)
1. a method for reconfiguring reconfigurable mobile robot for high-voltage transmission line module, based on mobile robot's body module, at least one mechanical arm module, deicing operation module, conducting wire mending operation module and stockbridge damper installing/dismounting operation module; It is characterized in that, comprise following selection step:
Select step 1: when needs perform transmission pressure deicing task, deicing operation module is installed on robot body mechanical arm, composition deicing Work robot, along with robot body moves on wire, the icing removing that institute of robot can pass through on conducting line segment by deicing operation module;
Select step 2: when wire breakage needs to perform conducting wire mending task, conducting wire mending operation module be installed in mechanical arm module, then mechanical arm module is installed on robot body module, composition conducting wire mending Work robot; Robot body walks to the position that wire breakage needs to repair, and conducting wire mending operation module is lifted the height to needing by mechanical arm, and adjust to appropriate attitude, conducting wire mending operation module is the coated upper copper sheet of wire breakage, repairs wire;
Select step 3: be installed in robot body module by stockbridge damper installing/dismounting operation module respectively by two mechanical arm modules, composition stockbridge damper installing/dismounting Work robot; When the stockbridge damper on transmission line occurs that loosening needs are fastening, robot walks to loosening stockbridge damper place, make two road wheels lay respectively at stockbridge damper both sides, stockbridge damper installing/dismounting operation module is lifted to appointment pose by two mechanical arm modules, by the stockbridge damper bolt tightening loosened; When wire somewhere stockbridge damper damages, need to change stockbridge damper, robot body walks to and damages stockbridge damper place, stockbridge damper installing/dismounting operation module is lifted to appointment pose by two mechanical arm modules, damage stockbridge damper is taken off, then lifts be installed on being equipped on stockbridge damper intact in robot body module on wire.
2. a kind of method for reconfiguring reconfigurable mobile robot for high-voltage transmission line module according to claim 1, it is characterized in that, described robot body module is with power supply, and described mechanical arm module, deicing operation module, conducting wire mending operation module and stockbridge damper installing/dismounting operation module are all electrically connected with robot body module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210058630.5A CN102593752B (en) | 2012-03-08 | 2012-03-08 | Method for reconfiguring reconfigurable mobile robot for high-voltage transmission line module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210058630.5A CN102593752B (en) | 2012-03-08 | 2012-03-08 | Method for reconfiguring reconfigurable mobile robot for high-voltage transmission line module |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102593752A CN102593752A (en) | 2012-07-18 |
| CN102593752B true CN102593752B (en) | 2015-02-18 |
Family
ID=46482084
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210058630.5A Active CN102593752B (en) | 2012-03-08 | 2012-03-08 | Method for reconfiguring reconfigurable mobile robot for high-voltage transmission line module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102593752B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103513151B (en) * | 2013-09-23 | 2015-11-18 | 武汉大学 | A kind of transmission line breakage detection device |
| CN105690404B (en) * | 2016-04-20 | 2017-07-11 | 武汉大学 | A kind of transmission line of electricity biped robot end robot device |
| CN106099746B (en) * | 2016-06-23 | 2019-01-01 | 云南电网有限责任公司楚雄供电局 | The stranded method studied for a second time courses one has flunked of overhead line is carried out using the stranded robot that studies for a second time courses one has flunked |
| CN108988197B (en) * | 2018-06-01 | 2020-01-03 | 南京理工大学 | Rapid reconstruction method for live working site of live working robot system |
| CN109038359B (en) * | 2018-07-19 | 2020-07-17 | 沈彦南 | Overhead transmission line ground wire damage restoration device and method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101574983A (en) * | 2009-06-12 | 2009-11-11 | 中国电力科学研究院 | Lead obstacle-crossing robot walking device |
| CN101579858A (en) * | 2009-06-18 | 2009-11-18 | 中国电力科学研究院 | Obstacle-crossing robot for transmission line operation and obstacle-crossing method thereof |
| CN101882765A (en) * | 2010-05-11 | 2010-11-10 | 湖南大学 | Traveling mechanism of robot on high voltage transmission line |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10248130A (en) * | 1997-02-28 | 1998-09-14 | Toshiba Corp | Stringing traveling unit and control method therefor |
-
2012
- 2012-03-08 CN CN201210058630.5A patent/CN102593752B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101574983A (en) * | 2009-06-12 | 2009-11-11 | 中国电力科学研究院 | Lead obstacle-crossing robot walking device |
| CN101579858A (en) * | 2009-06-18 | 2009-11-18 | 中国电力科学研究院 | Obstacle-crossing robot for transmission line operation and obstacle-crossing method thereof |
| CN101882765A (en) * | 2010-05-11 | 2010-11-10 | 湖南大学 | Traveling mechanism of robot on high voltage transmission line |
Non-Patent Citations (1)
| Title |
|---|
| 架空高压输电线路巡线机器人样机研制;吴功平等;《电力系统自动化》;20060710;第30卷(第13期);90-93，107 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102593752A (en) | 2012-07-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102593752B (en) | Method for reconfiguring reconfigurable mobile robot for high-voltage transmission line module | |
| KR20120060073A (en) | Structure for mounting battery for electric bus | |
| CN206864914U (en) | A kind of power distribution cabinet protective cover of easy disassembly | |
| CN110649507A (en) | Transmission line damper replacement system | |
| CN208759587U (en) | A kind of 3D vision industrial intelligent robot of environmental protection and energy saving | |
| CN104967283A (en) | Traction converter device box and vehicle | |
| CN102963803A (en) | Staircase front edge plate structure | |
| CN107600187B (en) | Stacked assembly type cabin platform bracket | |
| CN203431599U (en) | LED tunnel lamp and tunnel lamp support | |
| CN204917711U (en) | Device of driving current collection gas ware dual supply | |
| CN201887375U (en) | Insulated installing device for assembling and disassembling high-voltage line detection equipment | |
| CN104690465A (en) | Welding jig | |
| CN202906630U (en) | Generator carbon brush protection device | |
| CN208835938U (en) | Anti-interference motor brush controls route mechanism | |
| KR102107569B1 (en) | Structure for auto switch ground sign flag of transmission line | |
| CN202190166U (en) | Motor end shield | |
| CN104659904A (en) | Spare power automatic switching method, device and system | |
| CN212398453U (en) | Welding impurity removing mechanism for electric welding machine | |
| CN204408804U (en) | A kind of rotatable chassis electrical appliance kit fixture | |
| CN209516358U (en) | A kind of power distribution cabinet of anticollision good airproof performance | |
| CN209607950U (en) | A kind of wheel rim driven motor vehicle connection cables and a kind of electric vehicle | |
| CN212935680U (en) | Shockproof structure between motor end cover and motor shell | |
| CN205355766U (en) | Lightning protection installation device with adjustable overhead transmission line | |
| CN203434570U (en) | Reinforced stay wire hoops | |
| CN109245438A (en) | Anti-interference motor brush controls route mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210604 Address after: Unit 104 on the first floor and unit 201 on the second floor of keying International Industrial Park Phase I plant, No.7 Xinkai Road, Wusha community, Daliang street, Shunde District, Foshan City, Guangdong Province Patentee after: GUANGDONG KEYSTAR INTELLIGENCE ROBOT Co.,Ltd. Address before: 430072 Hubei city of Wuhan province Wuchang Wuhan University Luojiashan Patentee before: WUHAN University |