CN106182010A - Intelligent substation gold utensil dismounting automatic job robot and using method thereof - Google Patents
Intelligent substation gold utensil dismounting automatic job robot and using method thereof Download PDFInfo
- Publication number
- CN106182010A CN106182010A CN201610693472.9A CN201610693472A CN106182010A CN 106182010 A CN106182010 A CN 106182010A CN 201610693472 A CN201610693472 A CN 201610693472A CN 106182010 A CN106182010 A CN 106182010A
- Authority
- CN
- China
- Prior art keywords
- robot
- gold utensil
- jacking system
- creeper truck
- platform
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of intelligent substation gold utensil dismounting automatic job robot and using method thereof, including creeper truck, position sensor, hydraulic leg, jacking system, robot manipulation's platform；Hydraulic leg and jacking system are arranged on the chassis of creeper truck；Position sensor is arranged on hydraulic leg both sides；Robot manipulation's platform is arranged on the installed surface of jacking system.Automaticity of the present invention is high, and highly reliable, by the location of position sensor, creeper truck the most smooth can must arrive target location；By the lifting of jacking system, robot manipulation's platform can rise to rational altitude range dismounting gold utensil.
Description
Technical field
The present invention relates to automatization's provision for disengagement, in particular it relates to a kind of intelligent substation gold utensil dismounting automatic job machine
Device people and using method thereof.
Background technology
Technical merit and proficiency level, weather conditions, the security protection of operator are used by substation equipment hotline maintenance
Tools etc. require very strict, careless slightly, will have an accident.In order to reduce the risk that manual work is brought, in recent years, application
Robot for overhauling in high voltage substation is greatly developed.Hotline maintenance robot of converting equipment automatization becomes as intelligence
The part that power station is indispensable, alternative workman completes Partial Jobs task, it is to avoid needs to stop other together during maintenance and electrically sets
Standby, reduce equipment power failure range, shorten the system debug cycle.The present invention is the mobile liter that a kind of intelligence dismantles transformer station's gold utensil
Falling unit, it is possible to safety and precise must dismantle the gold utensil of transformer station.
Summary of the invention
For defect of the prior art, it is an object of the invention to provide a kind of intelligent substation gold utensil dismounting automatic job
Robot and using method thereof.
Automatic job robot is dismounted, including creeper truck 1, position according to a kind of intelligent substation gold utensil that the present invention provides
Sensor 3, hydraulic leg assembly 2, jacking system 4 and robot manipulation's platform 5；
Described hydraulic leg assembly 2 and jacking system 4 are arranged on the chassis of creeper truck 1；
Position sensor 3 is arranged on hydraulic leg assembly 2；
Robot manipulation's platform 5 connects jacking system 4.
Preferably, described hydraulic leg assembly 2 includes crossbeam and the supporting leg being connected, and crossbeam can be protruding and inside
Regaining, supporting leg can extend downwardly from and upwards regain.
Preferably, described jacking system 4 can upwards lift and decline downwards.
Preferably, described robot manipulation's platform 5 is arranged on the installed surface of jacking system 4；
Wherein, when jacking system gives rise to the altitude range set, the slide unit 6 of robot manipulation's platform stretches out, machine
The mechanical arm 7 of people's operating platform is according to setting motion capture dismounting gold utensil.
Preferably, described position sensor 3 is arranged on hydraulic leg assembly 2 both sides；Wherein, position sensor 3 can be surveyed
Obtain the distance of creeper truck 1 and transformer station's walking passageway both sides barrier, and be able to receive that the feedback of target location sensor
Information, creeper truck 1 arrives target location according to described feedback information.
A kind of above-mentioned intelligent substation gold utensil provided according to the present invention dismounts the using method of automatic job robot,
It is characterized in that, comprise the steps:
Step 1: creeper truck 1 enters transformer station's walking passageway, position sensor 3 records creeper truck 1 and both sides barrier
Distance, adjusts the track route of creeper truck 1 in time, when position sensor 3 receives the feedback of target location sensor, carries out
Band car 1 stops at target location；
Step 2: the crossbeam of hydraulic leg assembly 2 is protruding, and supporting leg extends downwardly from, anti-according to supporting leg horizon sensor
Feedforward information carries out leveling；
Step 3: jacking system 4 gives rise to the altitude range set according to the feedback of height sensor, robot manipulation puts down
The slide unit 6 of platform 5 stretches out, and mechanical arm 7 is according to setting motion capture dismounting gold utensil；Wherein, height sensor is arranged on jacking system 4
On.
Compared with prior art, the present invention has a following beneficial effect:
1, the present invention is provided with position sensor, it is possible to accurately record the distance of mobile lifting device and both sides barrier,
Ensure that the most smooth specific bit that must arrive of mobile lifting device is put；
2, the jacking system of the present invention is provided with two-stage lifting slide unit, and lifting scope is big, it is possible to adapt to the difference of transformer station
Requirement for height；
3, the hydraulic leg of the present invention is provided with horizon sensor, it is possible to make the chassis of mobile lifting device keep with ground
Level, it is to avoid topple.
Accompanying drawing explanation
By the detailed description non-limiting example made with reference to the following drawings of reading, the further feature of the present invention,
Purpose and advantage will become more apparent upon:
Fig. 1 is the layout of transformer station；
Fig. 2 is the side view of transformer station one phase chopper；
Fig. 3 is the structural representation of original state of the present invention；
Fig. 4 is the structural representation after hydraulic leg of the present invention work；
Fig. 5 is the structural representation after jacking system of the present invention work.
In figure:
1 is creeper truck；
2 is hydraulic leg；
3 is position sensor；
4 is jacking system；
5 is robot manipulation's platform；
6 is slide unit；
7 is mechanical arm.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following example will assist in the technology of this area
Personnel are further appreciated by the present invention, but limit the present invention the most in any form.It should be pointed out that, the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, it is also possible to make some changes and improvements.These broadly fall into the present invention
Protection domain.
The invention provides a kind of intelligent substation gold utensil dismounting automatic job robot and using method thereof, including crawler belt
Car, position sensor, hydraulic leg assembly, jacking system, robot manipulation's platform；Hydraulic leg and jacking system are arranged at
On the chassis of creeper truck；Position sensor is arranged on hydraulic leg assembly both sides；Robot manipulation's platform is arranged on jacking system
Installed surface on.Automaticity of the present invention is high, and highly reliable, by the location of position sensor, creeper truck can be the most suitable
Sharp must arrive target location；By the lifting of jacking system, robot manipulation's platform can rise to rational altitude range and tear open
Unload gold utensil.
According to the present invention provide a kind of intelligent substation gold utensil dismounting automatic job robot as mobile lifting device,
Including creeper truck 1, position sensor 3, hydraulic leg assembly 2, jacking system 4 and robot manipulation's platform 5；
Described hydraulic leg assembly 2 and jacking system 4 are arranged on the chassis of creeper truck 1；
Position sensor 3 is arranged on hydraulic leg assembly 2；
Robot manipulation's platform 5 connects jacking system 4.
Described hydraulic leg assembly 2 includes crossbeam and the supporting leg being connected, crossbeam can protruding and inside withdrawal,
Lower limb can extend downwardly from and upwards regain.
Described jacking system 4 can upwards lift and decline downwards.
Described robot manipulation's platform 5 is arranged on the installed surface of jacking system 4；
Wherein, when jacking system gives rise to the altitude range set, the slide unit 6 of robot manipulation's platform stretches out, machine
The mechanical arm 7 of people's operating platform is according to setting motion capture dismounting gold utensil.
Described position sensor 3 is arranged on hydraulic leg assembly 2 both sides；Wherein, position sensor 3 can record creeper truck
1 with the distance of transformer station's walking passageway both sides barrier, and be able to receive that the feedback information of target location sensor, crawler belt
Car 1 arrives target location according to described feedback information.
The intelligence that the present invention provides dismantles the using method of the mobile lifting device of transformer station's gold utensil, comprises the steps:
Step 1: mobile lifting device enters transformer station walking passageway, position sensor accurately record mobile lifting device with
The distance of both sides barrier, adjusts track route in time, when position sensor receives the feedback of target location sensor,
Creeper truck shuts down, and mobile lifting device must arrive specific bit and put；
Step 2: the crossbeam of hydraulic leg is protruding, and supporting leg extends downwardly from, according to the feedback letter of supporting leg horizon sensor
Breath carries out leveling；
Step 3: jacking system gives rise to rational altitude range according to the feedback of its height sensor, robot manipulation puts down
The slide unit of platform stretches out, and mechanical arm goes automatically to capture dismounting gold utensil according to the program debugged in advance.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make a variety of changes within the scope of the claims or revise, this not shadow
Ring the flesh and blood of the present invention.In the case of not conflicting, the feature in embodiments herein and embodiment can any phase
Combination mutually.
Claims (6)
1. an intelligent substation gold utensil dismounts automatic job robot, it is characterised in that include creeper truck (1), position sensing
Device (3), hydraulic leg assembly (2), jacking system (4) and robot manipulation's platform (5)；
Described hydraulic leg assembly (2) and jacking system (4) are arranged on the chassis of creeper truck (1)；
Position sensor (3) is arranged on hydraulic leg assembly (2)；
Robot manipulation's platform (5) connects jacking system (4).
Intelligent substation gold utensil the most according to claim 1 dismounts automatic job robot, it is characterised in that described hydraulic pressure
Leg assembly (2) includes crossbeam and the supporting leg being connected, crossbeam can protruding and inside withdrawal, supporting leg can extend downwardly from
Upwards regain.
Intelligent substation gold utensil the most according to claim 1 dismounts automatic job robot, it is characterised in that described lifting
System (4) can upwards lift and decline downwards.
Intelligent substation gold utensil the most according to claim 3 dismounts automatic job robot, it is characterised in that described machine
People's operating platform (5) is arranged on the installed surface of jacking system (4)；
Wherein, when jacking system gives rise to the altitude range set, the slide unit (6) of robot manipulation's platform stretches out, robot
The mechanical arm (7) of operating platform is according to setting motion capture dismounting gold utensil.
Intelligent substation gold utensil the most according to claim 1 dismounts automatic job robot, it is characterised in that described position
Sensor (3) is arranged on hydraulic leg assembly (2) both sides；Wherein, position sensor (3) can record creeper truck (1) and power transformation
Stand the distance of walking passageway both sides barrier, and be able to receive that the feedback information of target location sensor, creeper truck (1) root
Target location is arrived according to described feedback information.
6. the intelligent substation gold utensil according to any one of a claim 1 to 5 dismounts the user of automatic job robot
Method, it is characterised in that comprise the steps:
Step 1: creeper truck (1) enters transformer station's walking passageway, position sensor (3) records creeper truck (1) and both sides barrier
Distance, adjust the track route of creeper truck (1) in time, when position sensor (3) receives the anti-of target location sensor
During feedback, creeper truck (1) stops at target location；
Step 2: the crossbeam of hydraulic leg assembly (2) is protruding, and supporting leg extends downwardly from, according to the feedback of supporting leg horizon sensor
Information carries out leveling；
Step 3: jacking system (4) gives rise to the altitude range set, robot manipulation's platform according to the feedback of height sensor
(5) slide unit (6) stretches out, and mechanical arm (7) is according to setting motion capture dismounting gold utensil；Wherein, height sensor is arranged on lifting
In system (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610693472.9A CN106182010A (en) | 2016-08-18 | 2016-08-18 | Intelligent substation gold utensil dismounting automatic job robot and using method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610693472.9A CN106182010A (en) | 2016-08-18 | 2016-08-18 | Intelligent substation gold utensil dismounting automatic job robot and using method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106182010A true CN106182010A (en) | 2016-12-07 |
Family
ID=57523066
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610693472.9A Pending CN106182010A (en) | 2016-08-18 | 2016-08-18 | Intelligent substation gold utensil dismounting automatic job robot and using method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106182010A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108068095A (en) * | 2017-12-27 | 2018-05-25 | 安徽嘉熠智能科技有限公司 | A kind of Intelligent walking robot |
| CN108528550A (en) * | 2018-04-03 | 2018-09-14 | 国网浙江省电力有限公司电力科学研究院 | A kind of GIS intelligently dismounts the tracked carrier of platform |
| CN109648303A (en) * | 2017-10-10 | 2019-04-19 | 国家电网公司 | A kind of bus fitting screwed lock of hot line robot unloads equipment and its lock discharging method |
| CN110116395A (en) * | 2019-05-27 | 2019-08-13 | 国网江苏省电力有限公司徐州供电分公司 | A kind of Work robot |
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| CN1775381A (en) * | 2005-11-24 | 2006-05-24 | 上海交通大学 | Two-stage lifting superhigh voltage hot-line cleaning robot |
| CN101293349A (en) * | 2008-06-05 | 2008-10-29 | 广州大学 | Robot based on Wi-Fi |
| CN103967067A (en) * | 2013-02-02 | 2014-08-06 | 江苏八达重工机械股份有限公司 | Wheel type chassis travelling device with H-shaped support legs and bulldozer of engineering machinery |
| US20150066053A1 (en) * | 2009-06-30 | 2015-03-05 | Intuitive Surgical Operations, Inc. | Ratcheting for master alignment of a teleoperated minimally-invasive surgical instrument |
| JP2015080843A (en) * | 2013-10-24 | 2015-04-27 | ファナック株式会社 | Fastening device, robot system, and fastening method for fastening a plurality of fastening members |
| 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 |
| CN105645280A (en) * | 2016-03-18 | 2016-06-08 | 绍兴文理学院 | Intelligent auxiliary platform for assembling and disassembling GIS |
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Patent Citations (8)
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| CN1336270A (en) * | 2001-09-20 | 2002-02-20 | 上海交通大学 | Robot for cleaning alive ultrahigh voltage equipment |
| CN1775381A (en) * | 2005-11-24 | 2006-05-24 | 上海交通大学 | Two-stage lifting superhigh voltage hot-line cleaning robot |
| CN101293349A (en) * | 2008-06-05 | 2008-10-29 | 广州大学 | Robot based on Wi-Fi |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648303A (en) * | 2017-10-10 | 2019-04-19 | 国家电网公司 | A kind of bus fitting screwed lock of hot line robot unloads equipment and its lock discharging method |
| CN108068095A (en) * | 2017-12-27 | 2018-05-25 | 安徽嘉熠智能科技有限公司 | A kind of Intelligent walking robot |
| CN108528550A (en) * | 2018-04-03 | 2018-09-14 | 国网浙江省电力有限公司电力科学研究院 | A kind of GIS intelligently dismounts the tracked carrier of platform |
| CN110116395A (en) * | 2019-05-27 | 2019-08-13 | 国网江苏省电力有限公司徐州供电分公司 | A kind of Work robot |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161207 |
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| RJ01 | Rejection of invention patent application after publication |