CN103056866A - Live-working robot of transformer substation - Google Patents

Live-working robot of transformer substation Download PDF

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Publication number
CN103056866A
CN103056866A CN2013100331654A CN201310033165A CN103056866A CN 103056866 A CN103056866 A CN 103056866A CN 2013100331654 A CN2013100331654 A CN 2013100331654A CN 201310033165 A CN201310033165 A CN 201310033165A CN 103056866 A CN103056866 A CN 103056866A
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China
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hydraulic
arm
mechanical arm
control
valve
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CN2013100331654A
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Chinese (zh)
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CN103056866B (en
Inventor
李健
鲁守银
赵玉良
王振利
吕曦晨
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山东电力集团公司电力科学研究院
国家电网公司
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Priority to CN201310033165.4A priority Critical patent/CN103056866B/en
Publication of CN103056866A publication Critical patent/CN103056866A/en
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Publication of CN103056866B publication Critical patent/CN103056866B/en

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Abstract

The invention relates to a live-working robot of a transformer substation. All signals of a control system are wirelessly transmitted, so that the operational safety performance is improved for operation personnel. The live-working robot comprises a work machine and a remote-control command vehicle; the work machine mainly comprises a power system, an actuating mechanism, a hydraulic control system and an operating system, the actuating mechanism mainly comprises a traveling mechanism, a rotating platform, a lifting platform and a hydraulic mechanical arm with six degrees of freedom, the lifting platform comprises a plurality of insulating arms, the rotating platform is mounted on the traveling mechanism, the lifting platform is connected with the rotating platform, and the hydraulic mechanical arm with six degrees of freedom is connected with the lifting platform; and the hydraulic control system comprises a hydraulic pump and is connected with the power system, and the hydraulic pump is further connected with an oil tank on the traveling mechanism and is respectively connected with a lower electromagnetic reversing valve bank A, a central crossover coupling, an upper electromagnetic reversing valve bank B, a mechanical arm hydraulic servo valve bank C, driving cylinders of the various insulating arms and a rotating motor by a distributing valve.

Description

Transformer station's hot line robot
Technical field
The present invention relates to a kind of robot for high-voltage hot-line work, relate in particular to transformer station's hot line robot that the 220kV operating environment needs.
Background technology
The important means that livewire work is power equipment test, maintenance, transform, it is for improving power supply reliability, reduces loss of outage, guarantees that power grid security made huge contribution.Livewire work requires very strict to operating personnel's technical merit and qualification, weather conditions, safety protective tools etc.Because worry potential safety hazard, to lack suitable personal safe protection's apparatus and livewire work technical training inadequate etc., limit transformer station's livewire work content some areas, cause transformer station's power failure operation frequent, defeated, distribution reliability index can not be finished, thereby brought very large economic loss to electric power enterprise, brought very large inconvenience for people's lives and production.
The equal operating personnel of field operation task such as the sub-zero value detection of spraying, charged insulating of at present large-scale substation charging equipment sleeve pipe cleaning and cleaning, the anti-pollution flashover material of equipment RTV, isolating switch rust cleaning protection use original tool manually to finish, and there is following defective:
1, substation equipment is owing to stay the open air, fills the air easily to be deposited on equipment surface in airborne industrial filth and natural filth and to form pollution layer, and these dunghills are subjected to the infringements such as mist, light rain, very easily cause pollution flashover accident.
2, the work such as spraying of the manual charged finishing equipment sleeve pipe cleaning of operating personnel and cleaning, the anti-pollution flashover material of equipment RTV, labour intensity is very big, and efficient is low, and automatization level is low.
3, it is very strict that artificial live-working safety protects, covers requirement, slightly do not note short circuit current occurring, causes great security incident, causes human casualty accident.
Artificial livewire work has its difficulty and limitation, utilizes therefore that to have that stronger security and adaptive robot replace manually carrying out high-risk environment livewire work be very necessary, meets the era development requirement.
The patent of applicant's application: ZL200510022502.5 once disclosed a kind of robot for disassembling work, it is characterized in that the equipment that is comprised of except head three arms, four hydraulic jacks and hydraulic detachment to install on the rotary support on power-actuated hydraulic crawler excavator chassis.When high-risk, high dangerous site environment operation, operating personnel are positioned at the safety zone, and straighforward operation makes hydraulic detachment remove head and finishes the work of getting rid of the danger of removing.Owing to adopt driven by power, must be connected with the operation field power supply by power cable, when robot for disassembling work walking or work, power cable will drag in the working machine back, as easy as rolling off a log cause power cable be stuck in robot for disassembling work walking mechanism below or with near object tangle up.In addition, adopt direct power taking type of drive, whether the working site has the power supply supply is also directly limited this robot for disassembling work and uses under the complex environment in the open air.Robot for disassembling work complete machine metal material does not adopt any insulating protection, and the operator can not carry out livewire work by its jacking system, so this robot for disassembling work can't be applied to the livewire work of substation equipment.
Summary of the invention
Purpose of the present invention is exactly not enough for solving above-mentioned prior art, solve that the artificial livewire work labour intensity of existing transformer station is large, operating efficiency and automatization level be low, there is potential safety hazard, causes the problems such as human casualty accident easily, a kind of Novel transformer substation hot line robot is provided, replace manually finishing the cleaning of substation live-line equipment sleeve pipe and cleaning, the sub-zero value detection of spraying, charged insulating of the anti-pollution flashover material of equipment RTV, the charged job task of isolating switch rust cleaning protection, improve operating personnel's handling safety performance.
To achieve these goals, the present invention adopts following technical scheme:
A kind of transformer station hot line robot, it comprises working machine and Remote command car, working machine mainly is comprised of dynamical system, executing agency, hydraulic control system and control system, wherein the hoistable platform, the six-freedom hydraulic mechanical arm that mainly are comprised of walking mechanism, revolving dial, more piece insulation arm of executing agency consists of, revolving dial is installed on the walking mechanism, the hoistable platform that the more piece insulation arm forms is connected with revolving dial, and the six-freedom hydraulic mechanical arm is connected with the hoistable platform that the more piece insulation arm forms; Hydraulic control system comprises hydraulic pump, it is connected with dynamical system, hydraulic pump also is connected with fuel tank on the walking mechanism, hydraulic pump, moves thereby drive whole executing agency respectively with bottom solenoid directional control valve A group, central crossover sub, upper dress solenoid directional control valve B group, mechanical arm hydraulic efficiency servo-valve C group and respectively save insulation arm and drive oil cylinder and is connected with rotation motor by distributing valve; Control system adopts the principal and subordinate to control formula, the operator is positioned at Remote command car driver's cabin, cross the motions such as car joystick control command car advances, retreats, turns to of commanding behind the scenes as the master control square tube, again can by working machine joystick wireless remote control carry out that working machine moves and elevating mechanism, video monitoring, live line tool etc. from the control of prosecutor, and by mechanical arm operation attitude on the image display panel Real Time Observation working machine, control main hand Remote mechanical arm clamping special equipment or instrument and finish transformer station's livewire work task.
Described walking mechanism adopts the crawler-type mobile chassis structure, mainly by the chassis, track frame, left and right sides running motor, driving wheel, BOGEY WHEEL, crawler belt, four hydraulic legs of tension buffer device and both sides form, left, right running motor, left side landing leg hydraulic cylinder I, left side landing leg hydraulic cylinder II, right side landing leg hydraulic cylinder I, right side landing leg hydraulic cylinder II all is connected with hydraulic pump by bottom solenoid directional control valve A group, joystick drives left by bottom solenoid directional control valve A group, right running motor, when two crawler belt speeds of service are identical, robot realizes advancing or setback, when two crawler belt speed not simultaneously, robot realizes divertical motion; Be provided with dynamical system, revolving dial and fuel tank on the chassis, on revolving dial, also be provided with the state display screen, be used for the state indications such as servo valve, joint are spacing, oil level, oil pressure, power supply.
Described revolving dial is connected with the chassis by pivoting support, under rotary motor drives, and 360 ° of continuous rotary motions of implementation platform and attached each parts thereof, rotary motor is connected with hydraulic pump by upper dress solenoid directional control valve B group.
Described hoistable platform comprises three joint insulation arm and robot manipulating task platforms, three joint insulation arms are installed on the revolving dial, be divided into large arm, linking arm, forearm, wherein large arm is hinged on the revolving dial, linking arm is articulated on the large arm, forearm is articulated on the linking arm, and the robot manipulating task platform is hinged on the forearm; Big arm cylinder, linking arm oil cylinder, forearm oil cylinder, balancing cylinder are articulated in respectively on large arm, linking arm, forearm and the robot manipulating task platform, and be connected with hydraulic pump by upper dress solenoid directional control valve B group, respectively save arm by working machine joystick remote wireless control hoistable platform in the car of commanding behind the scenes and move.
Described six-freedom hydraulic mechanical arm refers to the hydraulic machinery arm that U.S. kraft Telerobotics company produces, and described mechanical arm is connected with the Hydraulic servo drive control cabinet, and both are installed on above the robot manipulating task platform underframe by support insulator; Be provided with waist angling cylinder, large arm pitching oil cylinder, forearm pitching oil cylinder, wrist pitching oil cylinder, wrist oscillating oil cylinder, paw folding oil cylinder, wrist rotation motor at the six-freedom hydraulic mechanical arm, they all are connected with mechanical arm hydraulic efficiency servo-valve C group in the Hydraulic servo drive control cabinet, and mechanical arm hydraulic efficiency servo-valve C organizes and is connected with hydraulic pump; Control main hand and six-freedom hydraulic mechanical arm isomorphism.
Described robot manipulating task platform front end is installed tracking camera, is used for Real Time Observation six-freedom hydraulic mechanical arm operation situation; The six-freedom hydraulic mechanical arm adopts the duralumin, hard alumin ium alloy manufacturing and is provided with paw finishes the livewire work task, and stereo camera is installed in the paw rear end.
Described dynamical system is Diesel engine, links to each other with hydraulic pump by shaft coupling.
The described car of commanding behind the scenes adopts battery-driven wheel type mobile mechanism, and wheel type mobile mechanism is provided with insulation crust.
Described transformer station hot line robot electric control system comprises four parts: hydraulic machinery arm, working machine move and elevating mechanism, high-altitude video camera, live line tool.This robot control system all carries out the signal transmission by wireless, has guaranteed that operating personnel and high voltage electric field isolate fully.Wherein the hydraulic machinery arm is controlled by hydraulic servo controller, and working machine moves and elevating mechanism, high-altitude video camera, live line tool are controlled by bus control device.The operator is sitting in the Remote command car driver's cabin, by the motions such as car joystick control command car advances, retreats, turns to of commanding behind the scenes, can be undertaken that working machine moves and the control of elevating mechanism, video monitoring, live line tool by the working machine joystick again, and by mechanical arm operation attitude on the image display panel Real Time Observation working machine, control main hand Remote mechanical arm clamping special equipment or instrument and finish transformer station's livewire work task.
Described hydraulic pump is connected with fuel tank by oil-suction oil filter; Hydraulic pump is connected with safety valve, pressure meter switch, check valve respectively by pipeline, and safety valve is connected with return line; Check valve is connected with distributing valve, and distributing valve is connected with central crossover sub, upper dress control switch respectively, and central crossover sub is connected with bottom solenoid directional control valve A group, and solenoid directional control valve A group in bottom is connected with oil return pipe; Upper dress control switch is organized with upper dress solenoid directional control valve B, mechanical arm hydraulic efficiency servo-valve C group is connected, and upper dress solenoid directional control valve B group also is connected with oil return pipe; Mechanical arm hydraulic efficiency servo-valve C group then is connected with fuel tank by return oil filter; Pressure meter switch is connected with Pressure gauge.Its middle and lower part solenoid directional control valve A group, upper dress solenoid directional control valve B group, distributing valve, central crossover sub, upper dress control switch and hydraulic pump are controlled by bus control device.
Beneficial effect of the present invention:
1, according to 220kV livewire work technique and operating environment needs, design a kind of Novel transformer substation hot line robot device, main body is comprised of working machine and Remote command car, all control system carries out the signal transmission by wireless between working machine and the Remote command car, has guaranteed that operating personnel and high voltage electric field isolate fully.
2, the operator is positioned at Remote command car driver's cabin, crossing the car joystick control command car of commanding behind the scenes as the master control square tube advances, retreat, the motion such as turn to, can be undertaken by working machine joystick long-range wireless remote control again that working machine moves and elevating mechanism, video monitoring, live line tools etc. are from the control of prosecutor, and by mechanical arm operation attitude on the image display panel Real Time Observation working machine, control main hand long-range wireless remote control mechanical arm clamping special equipment or instrument and finish the cleaning of substation live-line equipment sleeve pipe and clean, the spraying of the anti-pollution flashover material of equipment RTV, the sub-zero value detection of charged insulating, isolating switch rust cleaning protection waits the livewire work task.
3, this device is considered from operating personnel's job safety angle, thereby utilize robot to replace manually finishing transformer station's livewire work task, operating personnel are positioned at the safety zone, avoid directly contacting high-tension apparatus, greatly improved operating personnel's live-working safety performance, and China transformer station operating type has been produced positive change effect.
Description of drawings
Fig. 1 is transformer station of the present invention hot line robot structural representation.
Fig. 2 is telecar structural representation of the present invention.
Fig. 3 is the hot line robot electric control theory figure of transformer station of the present invention.
Fig. 4 is the hot line robot hydraulic principle figure of transformer station of the present invention.
Among Fig. 1,1, crawler belt; 2, driving wheel; 3, BOGEY WHEEL; 4, tension buffer device; 5, hydraulic leg; 6, Diesel engine; 7, state display screen; 8, revolving dial; 9, big arm cylinder; 10, large arm; 11, linking arm oil cylinder; 12, linking arm; 13, forearm oil cylinder; 14, forearm; 15, balancing cylinder; 16, six-freedom hydraulic mechanical arm; 17, stereo camera; 18, Hydraulic servo drive control cabinet; 19, support insulator; 20, tracking camera; 21, robot manipulating task platform; 22, wheel type mobile mechanism; 23, battery; 24, insulation crust, 25, driver's cabin; 26, operator; 27, control main hand; 28, working machine joystick; 29, the car joystick of commanding behind the scenes; 30, image display panel; 31, safety valve; 32, pressure meter switch; 33, fuel tank; 34, hydraulic pump; 35, oil-suction oil filter; 36, shaft coupling; 37, engine; 38, return oil filter; 39, check valve; 40, mechanical arm hydraulic efficiency servo-valve C group; 41, waist angling cylinder; 42, large arm pitching oil cylinder; 43, forearm pitching oil cylinder; 44, wrist pitching oil cylinder; 45, wrist oscillating oil cylinder; 46, paw folding oil cylinder; 47, wrist rotation motor; 48, distributing valve; 49, large arm telescopic oil cylinder; 50, linking arm telescopic oil cylinder; 51, forearm telescopic oil cylinder; 52, leveling cyclinder; 53, rotary motor; 54, upper dress solenoid directional control valve B group; 55, upper dress control switch; 56, central crossover sub; 57, bottom solenoid directional control valve A group; 58, left lateral is walked hydraulic motor; 59, right lateral is walked hydraulic motor; 60, left side landing leg hydraulic cylinder I; 61, left side landing leg hydraulic cylinder II; 62, right side landing leg hydraulic cylinder I; 63, right side landing leg hydraulic cylinder II; 64, Pressure gauge.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing and embodiment.
Among Fig. 1, Fig. 2, a kind of transformer station hot line robot, main body is comprised of working machine and Remote command car.Wherein, working machine mainly is comprised of dynamical system, executing agency, control system and control system.Dynamical system is the power resources of robot work, and executing agency mainly is made of walking mechanism, revolving dial, hoistable platform, six-freedom hydraulic mechanical arm.The working machine control system mainly is made of hydraulic pump 34, bottom solenoid directional control valve A group 57, central crossover sub 56, upper dress solenoid directional control valve B group 54, mechanical arm hydraulic efficiency servo-valve C group 40 and each arm driving oil cylinder and rotation motor.The robot control system adopts the principal and subordinate to control formula, and the operator is positioned at the Remote command car, and by observing image display panel 30 and controlling main hand 27, long-range wireless remote control six-freedom hydraulic mechanical arm 16 is finished the livewire work task.
Dynamical system is that the power resources of robot work adopt Diesel engine 37.Transformer station's livewire work intelligent robot is self-powered, and adopting Diesel engine 37 is power, has solved the working site and has lacked the problem that power supply is supplied.Adopt variable piston hydraulic pump 34, link to each other with Diesel engine 37 by shaft coupling 36, the flow of its output can be controlled by the size of control accelerator open degree, guarantees the power output of engine and the bearing power optimum Match of hydraulic pump 34.
Two pairs of hydraulic legs 5 are respectively arranged about the chassis of transformer station's hot line robot, hydraulic cylinder all is housed on every pair of hydraulic leg 5, the action of supporting leg is by Driven by Hydraulic Cylinder.It stretches out or retracts by 57 controls of bottom solenoid directional control valve A group respectively for left side landing leg hydraulic cylinder I60, left side landing leg hydraulic cylinder II61 and right side landing leg hydraulic cylinder I62, right side landing leg hydraulic cylinder II63.Reversal valve all adopts M type Median Function, and oil circuit adopts series system, guarantee that the reliability that every supporting leg stretches out is most important, therefore each hydraulic cylinder is equipped with the bidirectional locking loop, to guarantee that supporting leg is pinned reliably, prevent from when operation, occuring voluntarily landing of supporting leg in " soft leg " phenomenon or the driving process.
Walking mechanism adopts the crawler-type mobile chassis structure, mainly is comprised of track frame, running motor, driving wheel 2, BOGEY WHEEL 3, crawler belt 1, tension buffer device 4; Walking mechanism walks hydraulic motor 58 by left lateral and right lateral is walked fluid motor-driven 59, and when two crawler belt speeds of service were identical, robot realized advancing or setback; When two crawler belt 1 speed not simultaneously, robot realizes divertical motion.
Revolving dial 8 is connected with the chassis by pivoting support, under rotary motor 53 drives, can realize 360 ° of continuous rotary motions of revolving dial 8 and attached each parts thereof, also is provided with state display screen 7 on revolving dial 8.
Hoistable platform comprises that three joint insulation arms and robot manipulating task platform 21 form.Three joint insulation arms are installed on the revolving dial 8, comprise large arm 10, linking arm 12, forearm 14; Each saves the continuous chain connection in insulation arm front and back, and large arm 10 is hinged on revolving dial 8 supports, and linking arm 12 is articulated on the large arm 10, and forearm 14 is articulated on the linking arm 12, and robot manipulating task platform 21 is hinged on the forearm 14; Big arm cylinder 9, linking arm oil cylinder 11, forearm oil cylinder 13, balancing cylinder 15 are articulated in respectively on large arm 10, linking arm 12, forearm 14 and the robot manipulating task platform 21.Each insulation arm superficies should scribble waterproof, anti-ultraviolet coating, and each insulation arm inner surface should have the hydrophobic measure, prevents that the globule from stopping on the surface.
Robot manipulating task platform 21 front ends are installed tracking camera 20, are used for Real Time Observation six-freedom hydraulic mechanical arm 16 clamping device operation situations.
Six-freedom hydraulic mechanical arm 16 is made by the duralumin, hard alumin ium alloy material, and Hydraulic servo drive control cabinet 18 is installed on above robot manipulating task platform 21 underframe by support insulator 19 together; Six-freedom hydraulic mechanical arm 16 adopts the duralumin, hard alumin ium alloy manufacturings, provide that waist revolution, large arm pitching, the motion of forearm pitching, wrist pitching, wrist wave, wrist rotate with parallel paw etc. a plurality of frees degree move.Stereo camera 17 is installed in six-freedom hydraulic mechanical arm 16 rear ends, and six-freedom hydraulic mechanical arm 16 is finished transformer station's livewire work task.
The Remote command car, adopt battery 23 driving wheel-type travel mechanisms 22, operator 26 is sitting in the driver's cabin 25, control the motions such as command car joystick 29 control command cars advance, retreat, turn to, by image display panel 30 Real Time Observation six-freedom hydraulic mechanical arms 16 operation attitudes, control main hand 27 Remote six-freedom hydraulic mechanical arms 16 and finish various livewire work, wheel type mobile mechanism 22 is provided with insulation crust 24.
Among Fig. 3, transformer station's hot line robot electric control system comprises four parts: six-freedom hydraulic mechanical arm 16, working machine move and elevating mechanism, high-altitude video camera, live line tool.This robot control system all carries out the signal transmission by wireless, has guaranteed that operating personnel and high voltage electric field isolate fully.Wherein six-freedom hydraulic mechanical arm 16 is controlled by Hydraulic servo drive control cabinet 18, and working machine moves and elevating mechanism, high-altitude video camera, live line tool are controlled by bus control device.Operator 26 is positioned at Remote command car driver's cabin, cross the motions such as car joystick 29 control command cars advance, retreat, turn to of commanding behind the scenes as the master control square tube, again can by working machine joystick 28 long-range wireless remote controls carry out that working machine moves and elevating mechanism, video monitoring, live line tool etc. from the control of prosecutor, and by the six-freedom hydraulic mechanical arm 16 operation attitudes on the image display panel 30 Real Time Observation working machines, control main hand 27 long-range wireless remote control mechanical arm clamping special equipments or instrument and finish transformer station's livewire work task.
Among Fig. 4, it is power that transformer station's hot line robot adopts Diesel engine 6, links to each other with hydraulic pump 34 by shaft coupling 36, considers transformer station's livewire work particular surroundings requirement, all adopts the dielectric force feed.Hydraulic oil enters the mechanical arm hydraulic control oil circuit from fuel tank 33 by oil-suction oil filter 35, flows back to fuel tank 33 through return oil filter 38 again.Wherein check valve 39 is used for the backflow of control fluid, and safety valve 31 has overload protection function, and Pressure gauge 64 links to each other with oil circuit by pressure meter switch 32, and shows in real time the oil circuit hydraulic fluid pressure.
Bottom solenoid directional control valve A organizes the forward and backward both sides landing leg stretching motion of 57 major control robots and working machine mobile platform walking movement, is connected with hydraulic pump 34 by central crossover sub 56, distributing valve 48;
Upper dress solenoid directional control valve B organizes the large arm 10 of 54 major controls, linking arm 12, forearm 14 pitching and 21 leveling of robot manipulating task platform and revolving dial 8 motions, is connected with hydraulic pump 34 through upper dress control switch 55, distributing valve 48;
Mechanical arm hydraulic efficiency servo-valve C organizes the motions such as the waist angling cylinder 41 of 40 major control six-freedom hydraulic mechanical arms 16, large arm pitching oil cylinder 42, forearm pitching oil cylinder 43, wrist pitching oil cylinder 44, wrist oscillating oil cylinder 45, paw folding oil cylinder 46 and wrist rotation motor 47, large arm telescopic oil cylinder 49, linking arm telescopic oil cylinder 50, forearm telescopic oil cylinder 51, leveling cyclinder 52, rotary motor 53, is connected with hydraulic pump 34 by upper dress control switch 55, distributing valve 48.
Central authorities' crossover sub 56 is the Hydraulic Elements that connect revolving dial 8 and chassis oil circuit, and after its guaranteed that revolving dial 8 rotations are arbitrarily angled, running motor can also normally be joined oil.
Main hand 27, six-freedom hydraulic mechanical arm 16, Hydraulic servo drive control cabinet 18, microcontroller, terminal control box and power supply are integrated etc. to be formed by controlling in the robotic arm manipulation system, six-freedom hydraulic mechanical arm 16 is isomorphisms with controlling main hand 27, the Remote parking stall is controlled main hand 27 hydraulic power is provided, controlling main hand 27 is master side, six-freedom hydraulic mechanical arm 16 is from the side, therefore controls the action of six-freedom hydraulic mechanical arm 16 by controlling main hand 27.Control main hand 27 and be installed in the Remote command car, Information Monitoring operates 16 motions of six-freedom hydraulic mechanical arm according to sensor.Controlling main hand 27 is isomorphisms with six-freedom hydraulic mechanical arm 16, and servo apply hydraulic pressure drives, and six-freedom hydraulic mechanical arm 16 can be followed fully and be controlled main hand 27 and move.The operator is sitting in the Remote command car driver's cabin 25, controls between main hand 27 and the six-freedom hydraulic mechanical arm 16 only by wireless telecommunications, guarantees that personnel isolate with high voltage electric field fully, have greatly improved operating personnel's hot line job security.Hydraulic servo drive control cabinet 18 is installed on support insulator 19 supports, is positioned at the six-freedom hydraulic mechanical arm 16 waists revolution outside, is the external interface of mechanical arm, for mechanical arm provides necessary power supply, instruction and observing and controlling information.Microcontroller places the Remote command car, and the system that controls main hand 27 controls and telecommunications functions is provided; Power supply is integrated to be comprised of lithium battery, inverter etc., provides reliable source of power for controlling main hand 27 operations.
Although above-mentioned by reference to the accompanying drawings to the invention the specific embodiment be described; but be not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection scope of the present invention.

Claims (9)

1. transformer station's hot line robot, it is characterized in that, it comprises working machine and Remote command car, working machine mainly is comprised of dynamical system, executing agency, hydraulic control system and control system, wherein the hoistable platform, the six-freedom hydraulic mechanical arm that mainly are comprised of walking mechanism, revolving dial, more piece insulation arm of executing agency consists of, revolving dial is installed on the walking mechanism, the hoistable platform that the more piece insulation arm forms is connected with revolving dial, and the six-freedom hydraulic mechanical arm is connected with the hoistable platform that the more piece insulation arm forms; Hydraulic control system comprises hydraulic pump, it is connected with dynamical system, hydraulic pump also is connected with fuel tank on the walking mechanism, hydraulic pump, moves thereby drive whole executing agency respectively with bottom solenoid directional control valve A group, central crossover sub, upper dress solenoid directional control valve B group, mechanical arm hydraulic efficiency servo-valve C group and respectively save insulation arm and drive oil cylinder and is connected with rotation motor by distributing valve; The operator is positioned at Remote command car driver's cabin, cross the motions such as car joystick control command car advances, retreats, turns to of commanding behind the scenes as the master control square tube, again can by working machine joystick long-range wireless remote control carry out that working machine moves and elevating mechanism, video monitoring, live line tool etc. from the control of prosecutor, and by mechanical arm operation attitude on the image display panel Real Time Observation working machine, control main hand long-range wireless remote control mechanical arm clamping special equipment or instrument and finish transformer station's livewire work task.
2. transformer station as claimed in claim 1 hot line robot, it is characterized in that, described walking mechanism adopts the crawler-type mobile chassis structure, mainly by the chassis, track frame, left and right sides running motor, driving wheel, BOGEY WHEEL, crawler belt, four hydraulic legs of tension buffer device and both sides form, left, right running motor, left side landing leg hydraulic cylinder I, left side landing leg hydraulic cylinder II, right side landing leg hydraulic cylinder I, right side landing leg hydraulic cylinder II all is connected with hydraulic pump by bottom solenoid directional control valve A group, joystick drives left by bottom solenoid directional control valve A group, right running motor, when two crawler belt speeds of service are identical, robot realizes advancing or setback, when two crawler belt speed not simultaneously, robot realizes divertical motion; Be provided with dynamical system, revolving dial and fuel tank on the chassis, on revolving dial, also be provided with the state display screen.
3. transformer station as claimed in claim 2 hot line robot, it is characterized in that, described revolving dial is connected with the chassis by pivoting support, under rotary motor drives, 360 ° of continuous rotary motions of implementation platform and attached each parts thereof, rotary motor is connected with hydraulic pump by upper dress solenoid directional control valve B group.
4. transformer station as claimed in claim 1 hot line robot, it is characterized in that, described hoistable platform comprises three joint insulation arm and robot manipulating task platforms, three joint insulation arms are installed on the revolving dial, be divided into large arm, linking arm, forearm, wherein large arm is hinged on the revolving dial, and linking arm is articulated on the large arm, forearm is articulated on the linking arm, and the robot manipulating task platform is hinged on the forearm; Big arm cylinder, linking arm oil cylinder, forearm oil cylinder, balancing cylinder are articulated in respectively that large arm, linking arm, forearm and robot manipulating task platform are connected and are connected with hydraulic pump by upper dress solenoid directional control valve B group.
5. transformer station as claimed in claim 1 hot line robot is characterized in that described six-freedom hydraulic mechanical arm is connected with the Hydraulic servo drive control cabinet, and both are installed on above the robot manipulating task platform underframe by support insulator; Be provided with waist angling cylinder, large arm pitching oil cylinder, forearm pitching oil cylinder, wrist pitching oil cylinder, wrist oscillating oil cylinder, paw folding oil cylinder, wrist rotation motor at the six-freedom hydraulic mechanical arm, they all are connected with mechanical arm hydraulic efficiency servo-valve C group in the Hydraulic servo drive control cabinet, and mechanical arm hydraulic efficiency servo-valve C organizes and is connected with hydraulic pump; Control main hand and six-freedom hydraulic mechanical arm isomorphism;
Described control system comprises the potentiometer that is installed in each joint of six-freedom hydraulic mechanical arm and the potentiometer of controlling each joint of main hand, control main when manually doing the potentiometer in each joint each joint shaft rotated the instruction of angle position change into voltage signal to the microcontroller of the car of commanding behind the scenes; Microcontroller passes through the wireless module transmission of information to hydraulic pressure servo drive control case with position command, the Hydraulic servo drive control cabinet is provided with control box signal is converted into voltage signal control mechanical arm hydraulic efficiency servo-valve C group, drives each joint motions of six-freedom hydraulic mechanical arm;
Each joint potentiometer output voltage signal of six-freedom hydraulic mechanical arm feeds back in the microcontroller by control box, forms position feedback, until the six-freedom hydraulic manipulator motion to control main palmistry and answer the position.
6. transformer station as claimed in claim 5 hot line robot is characterized in that, described robot manipulating task platform front end is installed tracking camera, is used for Real Time Observation six-freedom hydraulic mechanical arm operation situation; The six-freedom hydraulic mechanical arm adopts the duralumin, hard alumin ium alloy manufacturing and is provided with paw finishes the livewire work task, and stereo camera is installed in the paw rear end.
7. transformer station as claimed in claim 1 hot line robot is characterized in that described dynamical system is Diesel engine, links to each other with hydraulic pump by shaft coupling.
8. such as claim 1 or 5 described transformer station hot line robots, it is characterized in that the described car of commanding behind the scenes adopts battery-driven wheel type mobile mechanism, wheel type mobile mechanism is provided with insulation crust.
9. such as claim 1 or 2 or 3 or 4 or 5 or 7 described transformer station hot line robots, it is characterized in that described hydraulic pump is connected with fuel tank by oil-suction oil filter; Hydraulic pump is connected with safety valve, pressure meter switch, check valve respectively by pipeline, and safety valve is connected with return line; Check valve is connected with distributing valve, and distributing valve is connected with central crossover sub, upper dress control switch respectively, and central crossover sub is connected with bottom solenoid directional control valve A group, and solenoid directional control valve A group in bottom is connected with oil return pipe; Upper dress control switch is organized with upper dress solenoid directional control valve B, mechanical arm hydraulic efficiency servo-valve C group is connected, and upper dress solenoid directional control valve B group also is connected with oil return pipe; Mechanical arm hydraulic efficiency servo-valve C group then is connected with fuel tank by return oil filter; Pressure meter switch is connected with Pressure gauge.Its middle and lower part solenoid directional control valve A group, upper dress solenoid directional control valve B group, distributing valve, central crossover sub, upper dress control switch and hydraulic pump are controlled by bus control device.
CN201310033165.4A 2013-01-29 2013-01-29 Transformer station's hot line robot CN103056866B (en)

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CN103056866B CN103056866B (en) 2015-08-12

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CN103302217A (en) * 2013-05-17 2013-09-18 天津市天锻压力机有限公司 Hydraulic press control method based on video monitoring system
CN103376227A (en) * 2013-06-28 2013-10-30 国网电力科学研究院武汉南瑞有限责任公司 Novel hydrophobic online detection device
CN103433226A (en) * 2013-08-23 2013-12-11 山西汾西矿业(集团)有限责任公司设备修造厂 Coal mine hydraulic support high-pressure water jet cleaning robot
CN104476550A (en) * 2014-12-05 2015-04-01 济南鲁智电子科技有限公司 All-hydraulic autonomous moving manipulator and moving method thereof
CN104570895A (en) * 2014-12-12 2015-04-29 常熟市兴华机电设备安装工程有限责任公司 Remote monitoring system of electromechanical equipment
CN104858167A (en) * 2015-04-28 2015-08-26 国家电网公司 Safety protection system and method for electrified water washing robot for substation
CN104999449A (en) * 2014-09-10 2015-10-28 山东鲁能智能技术有限公司 Electrified water washing robot of wheel type substation
CN104998848A (en) * 2014-09-10 2015-10-28 国家电网公司 Electrification water washing robot of rail type transformer substation
CN105005332A (en) * 2014-09-10 2015-10-28 国家电网公司 Hydraulic servo driving system of live water washing robot for transformer station
CN104998847A (en) * 2014-09-10 2015-10-28 国家电网公司 High-pressure water spray system for electrification water washing robot of transformer substation
CN105014651A (en) * 2014-09-10 2015-11-04 国家电网公司 Transformer substation live washing robot and method
CN105013732A (en) * 2014-09-10 2015-11-04 山东鲁能智能技术有限公司 Transformer substation live washing robot for low-air insulators and method
CN105032805A (en) * 2014-09-10 2015-11-11 山东鲁能智能技术有限公司 Transformer station live-line water washing robot capable of doing accurate washing
CN105033984A (en) * 2014-09-10 2015-11-11 山东鲁能智能技术有限公司 Mobile self-water supply transformer station live-line water washing robot system
CN105234942A (en) * 2015-11-02 2016-01-13 国网山东省电力公司电力科学研究院 Control system and control method for heavy-weight hydraulic small boom
CN105437250A (en) * 2014-09-01 2016-03-30 赵德朝 Series engineering robot
CN105600323A (en) * 2016-01-28 2016-05-25 北京创世捷能机器人有限公司 Intelligent operation and maintenance system for photovoltaic power station
CN105700461A (en) * 2016-04-28 2016-06-22 孙文兵 Transformer substation live water washing robot control system
CN105751200A (en) * 2014-12-05 2016-07-13 济南鲁智电子科技有限公司 Action method of fully hydraulic autonomous moving mechanical arm
CN105751199A (en) * 2014-12-05 2016-07-13 济南鲁智电子科技有限公司 Action method of fully hydraulic autonomous moving mechanical arm
CN105772273A (en) * 2016-04-27 2016-07-20 南方电网科学研究院有限责任公司 Automatic spraying device used for spraying RTV coating
CN105965486A (en) * 2016-07-22 2016-09-28 广东电网有限责任公司电力科学研究院 Electric operation robot system
CN106003084A (en) * 2016-06-28 2016-10-12 张学衡 Maintenance-service robot for transformer substation
CN106094814A (en) * 2016-05-30 2016-11-09 国网山东省电力公司济南供电公司 A kind of full-automatic lightning arrester live-line test dolly
CN106093617A (en) * 2016-05-30 2016-11-09 国网山东省电力公司济南供电公司 A kind of monitor-type lightning arrester live-line test dolly
CN106093619A (en) * 2016-05-30 2016-11-09 国网山东省电力公司济南供电公司 A kind of adjustable lightning arrester live-line test dolly
CN106595762A (en) * 2016-12-09 2017-04-26 南京理工大学 Hot-line work robot tension insulator detection method
CN106695785A (en) * 2016-12-09 2017-05-24 南京理工大学 Hot-line work robot fall fuse detecting method
CN106695883A (en) * 2016-12-09 2017-05-24 南京理工大学 Method of detecting vacuum circuit breaker of live operation robot
CN106737548A (en) * 2016-12-09 2017-05-31 南京理工大学 A kind of hot line robot operation monitoring system
CN106863258A (en) * 2016-12-28 2017-06-20 长沙理工大学 A kind of cable duct crusing robot
CN106926256A (en) * 2017-05-09 2017-07-07 国网湖南省电力公司带电作业中心 A kind of transmission system living water washing, deicing implement and its application process
CN107017575A (en) * 2017-05-24 2017-08-04 北京送变电公司 The replacing options of power transmission and transformation system maintenance cart and breaker sleeve pipe
CN107053261A (en) * 2016-12-09 2017-08-18 南京理工大学 A kind of insulating protection system of the mechanical arm with camera
CN107639982A (en) * 2017-08-30 2018-01-30 国网辽宁省电力有限公司葫芦岛供电公司 A kind of water route Amphibious caterpillar can obstacle detouring cable lift tractor
CN108527427A (en) * 2018-04-25 2018-09-14 河南工程学院 A kind of mechanical automation grabbing device
CN108646603A (en) * 2018-06-08 2018-10-12 山东鲁能智能技术有限公司 The control system of substation's hot line robot live line tool
CN108714897A (en) * 2018-06-08 2018-10-30 山东鲁能智能技术有限公司 Live-line maintenance operation robot of substation insulation arm Pose Control system and method
CN109129394A (en) * 2018-08-08 2019-01-04 国网辽宁省电力有限公司葫芦岛供电公司 Climb wall type operation in narrow space robot
CN109261584A (en) * 2018-08-21 2019-01-25 武汉奋进电力技术有限公司 Integrated robot is washed away in a kind of electrification
CN111099391A (en) * 2019-12-31 2020-05-05 哈工大机器人智能制造有限公司 Mechanical arm system for coal cleaning
CN111923009A (en) * 2020-09-14 2020-11-13 天津滨电电力工程有限公司 IMU-based control device and method for live-wire work robot of distribution line

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CN103302217A (en) * 2013-05-17 2013-09-18 天津市天锻压力机有限公司 Hydraulic press control method based on video monitoring system
CN103302217B (en) * 2013-05-17 2015-12-23 天津市天锻压力机有限公司 Based on the hydraulic press control method of video monitoring system
CN103241300A (en) * 2013-05-23 2013-08-14 广东电网公司电力科学研究院 Carrier trolley device for live cleaning system
CN103376227A (en) * 2013-06-28 2013-10-30 国网电力科学研究院武汉南瑞有限责任公司 Novel hydrophobic online detection device
CN103433226A (en) * 2013-08-23 2013-12-11 山西汾西矿业(集团)有限责任公司设备修造厂 Coal mine hydraulic support high-pressure water jet cleaning robot
CN103433226B (en) * 2013-08-23 2015-09-16 山西汾西矿业(集团)有限责任公司设备修造厂 Coal mine hydraulic supporting high pressure water-jet cleaner device people
CN105437250A (en) * 2014-09-01 2016-03-30 赵德朝 Series engineering robot
CN104999449A (en) * 2014-09-10 2015-10-28 山东鲁能智能技术有限公司 Electrified water washing robot of wheel type substation
CN105033984B (en) * 2014-09-10 2017-04-05 山东鲁能智能技术有限公司 Mobile automatic water-supplying transformer station living water washing robot system
CN104998848A (en) * 2014-09-10 2015-10-28 国家电网公司 Electrification water washing robot of rail type transformer substation
CN105005332A (en) * 2014-09-10 2015-10-28 国家电网公司 Hydraulic servo driving system of live water washing robot for transformer station
CN104998847A (en) * 2014-09-10 2015-10-28 国家电网公司 High-pressure water spray system for electrification water washing robot of transformer substation
CN105014651A (en) * 2014-09-10 2015-11-04 国家电网公司 Transformer substation live washing robot and method
CN105013732A (en) * 2014-09-10 2015-11-04 山东鲁能智能技术有限公司 Transformer substation live washing robot for low-air insulators and method
CN105032805A (en) * 2014-09-10 2015-11-11 山东鲁能智能技术有限公司 Transformer station live-line water washing robot capable of doing accurate washing
CN105033984A (en) * 2014-09-10 2015-11-11 山东鲁能智能技术有限公司 Mobile self-water supply transformer station live-line water washing robot system
CN104999449B (en) * 2014-09-10 2017-05-10 山东鲁能智能技术有限公司 Electrified water washing robot of wheel type substation
CN104476550B (en) * 2014-12-05 2016-10-05 济南鲁智电子科技有限公司 The method of operating of all-hydraulic autonomous mechanical arm
CN105751200B (en) * 2014-12-05 2017-10-20 济南鲁智电子科技有限公司 The method of operating of all-hydraulic autonomous mechanical arm
CN104476550A (en) * 2014-12-05 2015-04-01 济南鲁智电子科技有限公司 All-hydraulic autonomous moving manipulator and moving method thereof
CN105751200A (en) * 2014-12-05 2016-07-13 济南鲁智电子科技有限公司 Action method of fully hydraulic autonomous moving mechanical arm
CN105751199A (en) * 2014-12-05 2016-07-13 济南鲁智电子科技有限公司 Action method of fully hydraulic autonomous moving mechanical arm
CN104570895A (en) * 2014-12-12 2015-04-29 常熟市兴华机电设备安装工程有限责任公司 Remote monitoring system of electromechanical equipment
CN104858167A (en) * 2015-04-28 2015-08-26 国家电网公司 Safety protection system and method for electrified water washing robot for substation
CN105234942B (en) * 2015-11-02 2018-08-10 国网山东省电力公司电力科学研究院 The control system and its control method of the big prudent small arm of hydraulic pressure
CN105234942A (en) * 2015-11-02 2016-01-13 国网山东省电力公司电力科学研究院 Control system and control method for heavy-weight hydraulic small boom
CN105600323A (en) * 2016-01-28 2016-05-25 北京创世捷能机器人有限公司 Intelligent operation and maintenance system for photovoltaic power station
CN105600323B (en) * 2016-01-28 2018-08-28 北京创世捷能机器人有限公司 A kind of photovoltaic plant intelligence operational system
CN105772273A (en) * 2016-04-27 2016-07-20 南方电网科学研究院有限责任公司 Automatic spraying device used for spraying RTV coating
CN105700461A (en) * 2016-04-28 2016-06-22 孙文兵 Transformer substation live water washing robot control system
CN106094814A (en) * 2016-05-30 2016-11-09 国网山东省电力公司济南供电公司 A kind of full-automatic lightning arrester live-line test dolly
CN106093619A (en) * 2016-05-30 2016-11-09 国网山东省电力公司济南供电公司 A kind of adjustable lightning arrester live-line test dolly
CN106093617A (en) * 2016-05-30 2016-11-09 国网山东省电力公司济南供电公司 A kind of monitor-type lightning arrester live-line test dolly
CN106003084A (en) * 2016-06-28 2016-10-12 张学衡 Maintenance-service robot for transformer substation
CN105965486A (en) * 2016-07-22 2016-09-28 广东电网有限责任公司电力科学研究院 Electric operation robot system
CN106695883A (en) * 2016-12-09 2017-05-24 南京理工大学 Method of detecting vacuum circuit breaker of live operation robot
CN106595762B (en) * 2016-12-09 2019-10-18 南京理工大学 A kind of hot line robot strain insulator detection method
CN106695883B (en) * 2016-12-09 2019-05-07 南京理工大学 A kind of hot line robot vacuum circuit breaker detection method
CN106695785B (en) * 2016-12-09 2019-05-07 南京理工大学 A kind of hot line robot fuse switch detection method
CN107053261A (en) * 2016-12-09 2017-08-18 南京理工大学 A kind of insulating protection system of the mechanical arm with camera
CN106595762A (en) * 2016-12-09 2017-04-26 南京理工大学 Hot-line work robot tension insulator detection method
CN106737548A (en) * 2016-12-09 2017-05-31 南京理工大学 A kind of hot line robot operation monitoring system
CN106695785A (en) * 2016-12-09 2017-05-24 南京理工大学 Hot-line work robot fall fuse detecting method
CN106863258A (en) * 2016-12-28 2017-06-20 长沙理工大学 A kind of cable duct crusing robot
CN106863258B (en) * 2016-12-28 2019-05-03 深圳昱拓智能有限公司 A kind of cable duct crusing robot
CN106926256A (en) * 2017-05-09 2017-07-07 国网湖南省电力公司带电作业中心 A kind of transmission system living water washing, deicing implement and its application process
CN106926256B (en) * 2017-05-09 2018-05-25 国网湖南省电力公司带电作业中心 A kind of transmission system living water washing, deicing implement and its application process
CN107017575A (en) * 2017-05-24 2017-08-04 北京送变电公司 The replacing options of power transmission and transformation system maintenance cart and breaker sleeve pipe
CN107639982A (en) * 2017-08-30 2018-01-30 国网辽宁省电力有限公司葫芦岛供电公司 A kind of water route Amphibious caterpillar can obstacle detouring cable lift tractor
CN108527427A (en) * 2018-04-25 2018-09-14 河南工程学院 A kind of mechanical automation grabbing device
CN108646603A (en) * 2018-06-08 2018-10-12 山东鲁能智能技术有限公司 The control system of substation's hot line robot live line tool
CN108714897A (en) * 2018-06-08 2018-10-30 山东鲁能智能技术有限公司 Live-line maintenance operation robot of substation insulation arm Pose Control system and method
CN109129394A (en) * 2018-08-08 2019-01-04 国网辽宁省电力有限公司葫芦岛供电公司 Climb wall type operation in narrow space robot
CN109261584A (en) * 2018-08-21 2019-01-25 武汉奋进电力技术有限公司 Integrated robot is washed away in a kind of electrification
CN111099391A (en) * 2019-12-31 2020-05-05 哈工大机器人智能制造有限公司 Mechanical arm system for coal cleaning
CN111923009A (en) * 2020-09-14 2020-11-13 天津滨电电力工程有限公司 IMU-based control device and method for live-wire work robot of distribution line

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