CN103259217A - Robot for repairing and maintaining electric transmission lines - Google Patents
Robot for repairing and maintaining electric transmission lines Download PDFInfo
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- CN103259217A CN103259217A CN 201310114011 CN201310114011A CN103259217A CN 103259217 A CN103259217 A CN 103259217A CN 201310114011 CN201310114011 CN 201310114011 CN 201310114011 A CN201310114011 A CN 201310114011A CN 103259217 A CN103259217 A CN 103259217A
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- operated valve
- electromagnetically operated
- processor
- controller
- gas tank
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Abstract
The invention relates to a robot for repairing and maintaining electric transmission lines, in particular to the robot for repairing and maintaining the electric transmission lines by using line-crimping mechanical hands. The robot for repairing and maintaining the electric transmission lines solves the problem that lines cannot be repaired with electricity automatically. When a monitoring center (106) confirms that a transmission line breaks, the monitoring center (106) sends a control command to a wireless communication module (104) through a wireless network (105), the wireless module (104) sends the control command to a processor (102), the processor (102) calls a line repair program in the processor (102) according to a repair command, and the transmission line is repaired under the operation of the mechanical hands (103). The robot for repairing and maintaining the electric transmission lines further comprises a first gas tank (201), a second gas tank (202), a controller (207), a first electromagnetic valve (203), a second electromagnetic valve (204), a tin solder (205), mechanical arms (206), a mixed gas output pipeline (208) and an igniter (209), wherein the first gas tank (201) is filled with liquefied combustible gas such as methane and acetylene, and the second gas tank (202) is filled with oxygen.
Description
One, technical field
This patent relates to a kind of power transmission lines overhauling, maintaining robot, and particularly a kind of line ball manipulator that utilizes is realized power transmission lines overhauling, maintaining robot.
Two, background technology
The overhead transmission line repair based on condition of component is a kind of science maintenance pattern of overhauling at the running status of transmission facility self and defective failure condition.The multidate information of transmission line directly reflects equipment running status, comprises fault and hidden danger information, defect information, geographical environment climatic information etc., and the multidate information that accurately obtains transmission line is basis and the prerequisite that realizes repair based on condition of component.And the high pressure overhead power line corridor often needs to pass through the geographical environment of various complexity, and transport and communication is extremely undeveloped, and this just causes obtaining the equipment multidate information very big difficulty.The development of inspection robot technology and maturation have well solved this difficult problem.The inspection robot technology is maked an inspection tour detection technique as a kind of emerging transmission line, utilize robot as mobile platform, along the omnidistance walking of transmission line, accurately obtain the multidate information of circuit by the checkout equipment that carries, provide the foundation of science for implementing the transmission line repair based on condition of component.
Three, summary of the invention
The problem that solves: solve existing difficulty that can not charged automatic benefit line.
Technical scheme:
As shown in Figure 1, video camera (101), processor (102), manipulator (103), wireless communication module (104), wireless network (105), Surveillance center (106); Video camera (101) connects processor (102); Manipulator (103) connects processor (102); Processor (102) connects wireless communication module (104);
When walking along transmission line, video camera (101) gives processor (102) with the image of transmission line, pattern recognition program by processor (102) is handled the image of the transmission line of input, if transmission line has broken string, to produce alarm signal, wireless communication module (104) sends to Surveillance center (106) by wireless network (105) and confirms;
When Surveillance center (106) confirms transmission line broken string is arranged, send control command and send wireless communication module (104) to by wireless network (105), wireless communication module (104) is given control command processor (102) again; Processor (102) will by manipulator (103) operation, be repaired transfer wire according to the conducting wire mending program of repairing in the command calls processor (102).
Be illustrated in figure 2 as robot scolding tin and mend wire system block diagram, gas tank 1 (201), LFG bodies such as interior armoring alkane or acetylene; Gas tank 2 (202), interior dress oxygen; Controller (207); Electromagnetically operated valve 1 (203); Electromagnetically operated valve 2 (204); Controller (207); Scolding tin (205); Mechanical arm (206); Mist output channel (208); Igniter (209);
The gas outlet tube of gas tank (201) connects electromagnetically operated valve 1 (203), by the output of the flammable liquid gasification in electromagnetically operated valve 1 (203) the control gas tank (201) and the size of output variable; Gas tank 2 (202) gas outlet tubes connect electromagnetically operated valve 2 (204), by the output of the oxygen in electromagnetically operated valve 2 (204) the control gas tanks (202) and the size of output variable; Controller (207) connects electromagnetically operated valve 1 (203), controls opening and closing of electromagnetically operated valve 1 (203), and the size of electromagnetically operated valve 1 (203) aperture; Controller (207) connects electromagnetically operated valve 2 (204), controls opening and closing of electromagnetically operated valve 2 (204), and the size of electromagnetically operated valve 2 (204) apertures; Controller (207) connects mechanical arm (206), and controller (207) output controlled quentity controlled variable is given mechanical arm (206), by the position of mechanical arm (206) control scolding tin (205); Electromagnetically operated valve 1 (203) output channel connects mist output channel (208); Electromagnetically operated valve 2 (204) output channels connect mist output channel (208); Igniter (209) produces electric spark or does not produce electric spark under the control of controller (207); Igniter (209) electric spark is placed on the delivery outlet of mist output channel (208);
Behind mist output channel (208) output flammable liquid gasification and the oxygen, and behind the electricity consumption spark ignition, burned flame cooperates with scolding tin, and break line is mended.
Beneficial effect: utilize this programme can realize charged automatic benefit line.
Four, description of drawings
Fig. 1 power transmission lines overhauling, maintaining robot system block diagram
Fig. 2 robot scolding tin is mended the wire system block diagram
Five, embodiment
Below in conjunction with accompanying drawing embodiments of the present invention are described in detail:
The coiling of preferred embodiment 1 manipulator:
As shown in Figure 1, video camera (101), processor (102), manipulator (103), wireless communication module (104), wireless network (105), Surveillance center (106); Video camera (101) connects processor (102); Manipulator (103) connects processor (102); Processor (102) connects wireless communication module (104);
When walking along transmission line, video camera (101) gives processor (102) with the image of transmission line, pattern recognition program by processor (102) is handled the image of the transmission line of input, if transmission line has broken string, to produce alarm signal, wireless communication module (104) sends to Surveillance center (106) by wireless network (105) and confirms;
When Surveillance center (106) confirms transmission line broken string is arranged, send control command and send wireless communication module (104) to by wireless network (105), wireless communication module (104) is given control command processor (102) again; Processor (102) will by manipulator (103) operation, be repaired transfer wire according to the conducting wire mending program of repairing in the command calls processor (102).
Preferred embodiment 2 scolding tin are mended line:
Be illustrated in figure 2 as robot scolding tin and mend wire system block diagram, gas tank 1 (201), LFG bodies such as interior armoring alkane or acetylene; Gas tank 2 (202), interior dress oxygen; Controller (207); Electromagnetically operated valve 1 (203); Electromagnetically operated valve 2 (204); Controller (207); Scolding tin (205); Mechanical arm (206); Mist output channel (208); Igniter (209);
The gas outlet tube of gas tank (201) connects electromagnetically operated valve 1 (203), by the output of the flammable liquid gasification in electromagnetically operated valve 1 (203) the control gas tank (201) and the size of output variable; Gas tank 2 (202) gas outlet tubes connect electromagnetically operated valve 2 (204), by the output of the oxygen in electromagnetically operated valve 2 (204) the control gas tanks (202) and the size of output variable; Controller (207) connects electromagnetically operated valve 1 (203), controls opening and closing of electromagnetically operated valve 1 (203), and the size of electromagnetically operated valve 1 (203) aperture; Controller (207) connects electromagnetically operated valve 2 (204), controls opening and closing of electromagnetically operated valve 2 (204), and the size of electromagnetically operated valve 2 (204) apertures; Controller (207) connects mechanical arm (206), and controller (207) output controlled quentity controlled variable is given mechanical arm (206), by the position of mechanical arm (206) control scolding tin (205); Electromagnetically operated valve 1 (203) output channel connects mist output channel (208); Electromagnetically operated valve 2 (204) output channels connect mist output channel (208); Igniter (209) produces electric spark or does not produce electric spark under the control of controller (207); Igniter (209) electric spark is placed on the delivery outlet of mist output channel (208);
Behind mist output channel (208) output flammable liquid gasification and the oxygen, and behind the electricity consumption spark ignition, burned flame cooperates with scolding tin, and break line is mended.
Though by reference to the accompanying drawings embodiments of the present invention are described, those of ordinary skills can make various distortion or modification within the scope of the appended claims, the part in also can the design.
Claims (2)
1. a power transmission lines overhauling, maintaining robot is characterized in that:
Video camera (101), processor (102), manipulator (103), wireless communication module (104), wireless network (105), Surveillance center (106); Video camera (101) connects processor (102); Manipulator (103) connects processor (102); Processor (102) connects wireless communication module (104);
Gas tank 1 (201), LFG bodies such as interior armoring alkane or acetylene; Gas tank 2 (202), interior dress oxygen; Controller (207); Electromagnetically operated valve 1 (203); Electromagnetically operated valve 2 (204); Controller (207); Scolding tin (205); Mechanical arm (206); Mist output channel (208); Igniter (209);
When walking along transmission line, video camera (101) gives processor (102) with the image of transmission line, pattern recognition program by processor (102) is handled the image of the transmission line of input, if transmission line has broken string, to produce alarm signal, wireless communication module (104) sends to Surveillance center (106) by wireless network (105) and confirms;
When Surveillance center (106) confirms transmission line broken string is arranged, send control command and send wireless communication module (104) to by wireless network (105), wireless communication module (104) is given control command processor (102) again; Processor (102) will by manipulator (103) operation, be repaired transfer wire according to the conducting wire mending program of repairing in the command calls processor (102).
2. a kind of power transmission lines overhauling according to claim 1, maintaining robot is characterized in that:
Gas tank 1 (201), LFG bodies such as interior armoring alkane or acetylene; Gas tank 2 (202), interior dress oxygen; Controller (207); Electromagnetically operated valve 1 (203); Electromagnetically operated valve 2 (204); Controller (207); Scolding tin (205); Mechanical arm (206); Mist output channel (208); Igniter (209);
The gas outlet tube of gas tank (201) connects electromagnetically operated valve 1 (203), by the output of the flammable liquid gasification in electromagnetically operated valve 1 (203) the control gas tank (201) and the size of output variable; Gas tank 2 (202) gas outlet tubes connect electromagnetically operated valve 2 (204), by the output of the oxygen in electromagnetically operated valve 2 (204) the control gas tanks (202) and the size of output variable; Controller (207) connects electromagnetically operated valve 1 (203), controls opening and closing of electromagnetically operated valve 1 (203), and the size of electromagnetically operated valve 1 (203) aperture; Controller (207) connects electromagnetically operated valve 2 (204), controls opening and closing of electromagnetically operated valve 2 (204), and the size of electromagnetically operated valve 2 (204) apertures; Controller (207) connects mechanical arm (206), and controller (207) output controlled quentity controlled variable is given mechanical arm (206), by the position of mechanical arm (206) control scolding tin (205); Electromagnetically operated valve 1 (203) output channel connects mist output channel (208); Electromagnetically operated valve 2 (204) output channels connect mist output channel (208); Igniter (209) produces electric spark or does not produce electric spark under the control of controller (207); Igniter (209) electric spark is placed on the delivery outlet of mist output channel (208);
Behind mist output channel (208) output flammable liquid gasification and the oxygen, and behind the electricity consumption spark ignition, burned flame cooperates with scolding tin, and break line is mended.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201310114011 CN103259217A (en) | 2013-04-03 | 2013-04-03 | Robot for repairing and maintaining electric transmission lines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201310114011 CN103259217A (en) | 2013-04-03 | 2013-04-03 | Robot for repairing and maintaining electric transmission lines |
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| Publication Number | Publication Date |
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| CN103259217A true CN103259217A (en) | 2013-08-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201310114011 Pending CN103259217A (en) | 2013-04-03 | 2013-04-03 | Robot for repairing and maintaining electric transmission lines |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106058715A (en) * | 2016-06-15 | 2016-10-26 | 国网江苏省电力公司苏州供电公司 | Tackle type foreign matter combustion processing device |
| CN106099746A (en) * | 2016-06-23 | 2016-11-09 | 云南电网有限责任公司楚雄供电局 | Utilize disconnected stock to study for a second time courses one has flunked robot to carry out aerial line and break the method that stock studies for a second time courses one has flunked |
| CN107016844A (en) * | 2017-05-19 | 2017-08-04 | 曲阜师范大学 | The fault detect of intelligent standby cable channel and cleaning system based on GPRS |
| CN110212451A (en) * | 2019-05-28 | 2019-09-06 | 国网江西省电力有限公司电力科学研究院 | A kind of electric power AR intelligent patrol detection device |
-
2013
- 2013-04-03 CN CN 201310114011 patent/CN103259217A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106058715A (en) * | 2016-06-15 | 2016-10-26 | 国网江苏省电力公司苏州供电公司 | Tackle type foreign matter combustion processing device |
| CN106099746A (en) * | 2016-06-23 | 2016-11-09 | 云南电网有限责任公司楚雄供电局 | Utilize disconnected stock to study for a second time courses one has flunked robot to carry out aerial line and break the method that stock studies for a second time courses one has flunked |
| CN107016844A (en) * | 2017-05-19 | 2017-08-04 | 曲阜师范大学 | The fault detect of intelligent standby cable channel and cleaning system based on GPRS |
| CN110212451A (en) * | 2019-05-28 | 2019-09-06 | 国网江西省电力有限公司电力科学研究院 | A kind of electric power AR intelligent patrol detection device |
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Application publication date: 20130821 |