CN106476547A - One kind can flight formula power circuit walking operation robot and its method - Google Patents

One kind can flight formula power circuit walking operation robot and its method Download PDF

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Publication number
CN106476547A
CN106476547A CN201611159417.8A CN201611159417A CN106476547A CN 106476547 A CN106476547 A CN 106476547A CN 201611159417 A CN201611159417 A CN 201611159417A CN 106476547 A CN106476547 A CN 106476547A
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CN
China
Prior art keywords
robot
rotor
power circuit
processing unit
walking
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CN201611159417.8A
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Chinese (zh)
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CN106476547B (en
Inventor
杜宗展
宋士平
马伶
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济南舜风科技有限公司
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Priority to CN201611159417.8A priority Critical patent/CN106476547B/en
Publication of CN106476547A publication Critical patent/CN106476547A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60FVEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F5/00Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
    • B60F5/02Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C27/00Rotorcraft; Rotors peculiar thereto
    • B64C27/04Helicopters
    • B64C27/08Helicopters with two or more rotors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C27/00Rotorcraft; Rotors peculiar thereto
    • B64C27/32Rotors
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02GINSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/02Unmanned aerial vehicles; Equipment therefor characterized by type of aircraft
    • B64C2201/024Helicopters, or autogiros
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/12Unmanned aerial vehicles; Equipment therefor adapted for particular use

Abstract

The invention discloses can flight formula power circuit walking operation robot and its method, wherein, this robot includes robot body, and the lower section of described robot body is fixedly connected with electric cabinet, is provided with central processing unit in described electric cabinet;Described robot body includes walking mechanism, it includes mechanical arm drive module and mechanical arm, described mechanical arm drive module is connected with central processing unit, the end of described mechanical arm is provided with end effector or mechanical hand, central processing unit be used for control machinery arm drive module driving mechanical arm move, realize can flight formula power circuit walking operation robot walking operation.Rotor arm is also associated with described robot body, described rotor arm is connected with rotor, and described rotor is connected with rotor drive module, and rotor drive module is connected with central processing unit.

Description

One kind can flight formula power circuit walking operation robot and its method
Technical field
The invention belongs to Working mechanism field, more particularly, to one kind can flight formula power circuit walking operation robot and its Method.
Background technology
High-rise working refers to the operation that eminence on the basis of certain position for the people is carried out.Standard GB/T/T 3608-2008 《High-rise working is classified》Regulation:" all eminences being possible to fall in more than height of fall datum level 2m (containing 2m) carry out operation, all Referred to as high-rise working." according to this regulation, the scope being related to high-rise working in building industry is quite extensive.In building In thing during operation, if being operated on the shelf of more than 2m, as high-rise working.
Traditional work high above the ground is all that operating personnel operates in person, and when carrying out climbing operation, operating personnel is not due to having Job platform, can only climb and will can climb by proficiency by operation on the shelf of thing, a foot hooks or keeps flat with waist rope Weighing apparatus, centre of body weight vertical line does not pass through underfooting, and task difficulty is big, dangerous big, if having accidentally may fall.
At present, inspection robot is increasingly being used in Electric Power Patrol field of operation, replaces manually carrying out power circuit The work such as monitoring, maintenance.During Electric Power Patrol, when power circuit occurs the faults such as insulator arc-over, partial short-circuit, the most directly The performance connecing is that local temperature is too high.In addition, also there is the faults such as stranded, adnexa comes off in power circuit.Therefore, power circuit Line walking monitoring is a very the key link.Traditional inspection robot is complicated due to high-tension line and tower structure, line walking Robot not only will complete tour, service work, also wants the structural obstructions in continuous span line, the work of impact inspection robot Make efficiency.
In recent years, with the lifting of unmanned air vehicle technique, unmanned plane is also more and more used for line walking.Unmanned plane has flexibly Efficiently, the advantage not constrained by line environment, but merely obvious shortcoming be there is also using unmanned plane:Unmanned plane continuation of the journey is generally Shorter, need continually to charge, the effective time is limited;For ensureing safety, unmanned plane is unable to that distance line is too near, and this just leads Cause some complex regions to might have the monitoring project of omission, leave potential safety hazard.
Content of the invention
In order to solve the shortcoming of prior art, the first object of the present invention is that offer one kind can flight formula inspection robot.
One kind of the present invention can flight formula power circuit walking operation robot, including robot body, described robot The lower section of body is fixedly connected with electric cabinet, is provided with central processing unit in described electric cabinet;
Described robot body includes walking mechanism, and it includes mechanical arm drive module and mechanical arm, and described mechanical arm drives Dynamic model block is connected with central processing unit, and the end of described mechanical arm is provided with end effector or mechanical hand, and central processing unit is used In control machinery arm drive module driving mechanical arm motion, realize can flight formula power circuit walking operation robot line walking make Industry;
Rotor arm is also associated with described robot body, described rotor arm is connected with rotor, described rotor is driven with rotor Dynamic model block is connected, and rotor drive module is connected with central processing unit.
Further, described end effector includes reducing gear, and described reducing gear is connected with motor-driven mechanism, institute State motor-driven mechanism to be connected with central processing unit.
Further, described rotor arm is fixedly mounted on robot body.
The present invention can the rotor arm of flight formula power circuit walking operation robot be fixedly mounted on robot body, Being applied to robot needs often to fly, and the less complicated situation of working environment, that is, rotor do not interfere with robot manipulating task or Interfere with the object of surrounding.
Further, described rotor arm is hingedly attached on robot body, between described robot body and electric cabinet Also it is reserved with rotor receiving space.Wherein, rotor receiving space is used for accommodating rotor arm.
Further, described rotor arm is also connected with rotor arm drive module, rotor arm drive module and central processing unit It is connected, described central processing unit is used for controlling rotor arm drive module to drive rotor arm to be folded in rotor receiving space.
The rotor arm of the present invention is hingedly attached on robot body, and rotor arm is foldable, can fold rotor To rotor receiving space, it is to avoid the problem that rotor is interfered with robot manipulating task or object with surrounding.
Further, described robot body is also equipped with the first image capture module and the second image capture module, point It is not used for monitoring inspection robot direction of advance and reciprocal power circuit running status image information and being sent to centre Reason device;It is arranged at the end effector of described mechanical arm tail end or mechanical hand is used for clamping the 3rd image capture module, in central authorities Under the control action of processor, mechanical arm drive module driving mechanical arm moves and to adjust the monitoring angle of the 3rd image capture module Degree, finally realizes the conduct monitoring at all levels to power circuit for the inspection robot.
Further, described central processing unit is also connected with server, and described server is connected with remote monitoring terminal.This Sample can by remote monitoring terminal realize monitoring personnel to can flight formula power circuit walking operation robot working condition Remote real-time monitoring.
The second object of the present invention be provide a kind of can flight formula power circuit walking operation robot method of work.
The present invention can flight formula power circuit walking operation robot method of work, including:
Central processing unit control machinery arm drive module driving mechanical arm moves, and then the end of driving mechanical arm end is held Row device or manipulator behavior, final realize can flight formula power circuit walking operation robot walking operation;
Central processing unit drives rotor work so that can flight formula power circuit line walking by controlling rotor drive module Work robot flies to predetermined position.
This method of work also includes:Central processing unit controls rotor arm drive module to drive rotor arm to be folded to rotor appearance Receive in space.
This method of work also includes:It is arranged on the first image capture module on robot body and the second image acquisition mould Block is monitored inspection robot direction of advance and reciprocal power circuit running status image information respectively and is sent to centre Reason device;
It is arranged at end effector or manipulator clamping the 3rd image capture module of described mechanical arm tail end, in centre Under the control action of reason device, mechanical arm drive module driving mechanical arm moves and to adjust the monitoring angle of the 3rd image capture module Degree, finally realizes the conduct monitoring at all levels to power circuit for the inspection robot.
The method also includes:Central processing unit is by the conduct monitoring at all levels information transmission of the power circuit receiving to service Device, then remote monitoring terminal is sent to by server carries out monitor in real time.
Beneficial effects of the present invention are:
The present invention can be designed with rotor arm in flight formula power circuit walking operation robot, and rotor arm is connected to machine Human body is upper it is adaptable to robot needs often to fly, and the less complicated situation of working environment, i.e. rotor does not interfere with machine Device people's operation or the object with surrounding interfere;The complicated situation of working environment, now rotor arm hinge can also be operated in Connect to robot body, and rotor arm is foldable, control rotor arm drive module to make rotor by central processing unit It is folded in rotor receiving space, it is to avoid the problem that rotor is interfered with robot manipulating task or the object with surrounding.
Additionally, the inspection robot of the present invention works under state of flight, improve overall line walking efficiency, and in shaft tower Nearby wait the more region of adnexa, so that inspection robot is hung and work it is ensured that the precision of line walking on the line;Needing operation Place, robot can be directly to and reaches this place and carry out operation.
Brief description
Fig. 1 be a kind of can flight formula power circuit walking operation robot constructive embodiment one schematic diagram.
Fig. 2 be a kind of can flight formula power circuit walking operation robot constructive embodiment two schematic diagram.
Wherein, 1, electric cabinet;2nd, rotor arm;3rd, rotor;4th, robot body.
Specific embodiment
With embodiment, technical scheme is clearly and completely described it is clear that described below in conjunction with the accompanying drawings Embodiment be the present invention a part of embodiment, rather than whole embodiment.
In describing the invention, it should be noted that term " on ", D score, " vertical ", " level ", " interior ", " outward " etc. The orientation indicating or position relationship are based on orientation shown in the drawings or position relationship, are for only for ease of the description present invention and Jian Change description, rather than instruction or the hint device of indication or element must have specific orientation, with specific azimuth configuration and Operation, is therefore not considered as limiting the invention.Additionally, term " first ", " second " are only used for describing purpose, and can not It is interpreted as indicating or imply relative importance.
In describing the invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " company Connect " should be interpreted broadly, for example, it may be being fixedly connected or dismantling connection, or it is integrally connected;Can be machinery Connect or electrically connect;Can be to be directly connected to it is also possible to be indirectly connected with by intermediary, can be two elements Internal connection.For the ordinary skill in the art, above-mentioned term can be understood in the present invention with concrete condition Concrete meaning.
As long as additionally, involved technical characteristic non-structure each other in invention described below difference way of example Become conflict just can be combined with each other.
The Working mechanism of the present invention is power circuit walking operation robot, high-altitude cleaning robot or existing other are tied The robot of structure.
Can flight formula power circuit line walking making of the present invention to be described below taking power circuit walking operation robot as a example Industry robot.Involved central processing unit is the controller of current version or processor below, such as PLC, FPGA or other Programmable controller or processor.
Fig. 1 be a kind of can flight formula power circuit walking operation robot constructive embodiment one schematic diagram.
As shown in Figure 1, the present invention can flight formula power circuit walking operation robot, including robot body 4, institute The lower section stating robot body 4 is fixedly connected with electric cabinet 1, is provided with central processing unit in described electric cabinet 1, and central processing unit is used Execute power-line patrolling action in controlling robot body;Rotor arm 2, described rotor arm 2 are also associated with described robot body 4 It is connected with rotor 3, described rotor 3 is connected with rotor drive module, and rotor drive module is connected with central processing unit.
Robot body 4 includes walking mechanism, and it includes mechanical arm drive module and mechanical arm, and described mechanical arm drives mould Block is connected with central processing unit, and the end of described mechanical arm is provided with end effector or mechanical hand, and central processing unit is used for controlling Mechanical arm drive module driving mechanical arm processed motion, realize can flight formula power circuit walking operation robot walking operation.
Wherein, end effector includes reducing gear, and described reducing gear is connected with motor-driven mechanism, and described motor drives Motivation structure is connected with central processing unit;Described reducing gear is used for installing power circuit line walking detector, described central processing unit Send drive signal for controlled motor drive mechanism, then drive manipulator motion to realize monitoring later through reducing gear deceleration The monitoring of power circuit.
Power circuit line walking detector can be:Image collecting device, such as infrared camera and visible image capturing head;Or Temperature monitor, or electric power ultraviolet imager.
Wherein, worm-and-wheel gear has self-locking performance, for keeping power circuit line walking detector, to avoid arbitrarily putting Dynamic.
Further, described rotor arm 2 is fixedly mounted on robot body.
Wherein, rotor drive module is driving structure, can be realized using motor.
The present invention can the rotor arm of flight formula power circuit walking operation robot be fixedly mounted on robot body, Being applied to robot needs often to fly, and the less complicated situation of working environment, i.e. rotor do not interfere with robot manipulating task or Interfere with the object of surrounding.
Further, described robot body is also equipped with the first image capture module and the second image capture module, point It is not used for monitoring inspection robot direction of advance and reciprocal power circuit running status image information and being sent to centre Reason device;It is arranged at the end effector of described mechanical arm tail end or mechanical hand is used for clamping the 3rd image capture module, in central authorities Under the control action of processor, mechanical arm drive module driving mechanical arm moves and to adjust the monitoring angle of the 3rd image capture module Degree, finally realizes the conduct monitoring at all levels to power circuit for the inspection robot.
Further, described central processing unit is also connected with server, and described server is connected with remote monitoring terminal.This Sample can by remote monitoring terminal realize monitoring personnel to can flight formula power circuit walking operation robot working condition Remote real-time monitoring.
Wherein, the first image capture module, the second image capture module and the 3rd image capture module are shooting head mould Group, described camera module includes infrared camera and visible image capturing head.
Infrared camera is used for thermometric it is seen that light video camera head is used for monitoring the virtual condition of circuit and adnexa.
Fig. 2 be a kind of can flight formula power circuit walking operation robot constructive embodiment two schematic diagram.
As shown in Fig. 2 rotor arm 2 is hingedly attached on robot body, between described robot body 4 and electric cabinet 1 Also it is reserved with rotor receiving space, described rotor arm 2 is also connected with rotor arm drive module, rotor arm drive module and centre Reason device is connected, and described central processing unit is used for controlling rotor arm drive module to drive rotor arm to be folded to rotor receiving space Interior.
Wherein, rotor drive module is driving structure, can be realized using motor.
The rotor arm of the present invention is hingedly attached on robot body, and rotor arm is foldable, can fold rotor To rotor receiving space, it is to avoid the problem that rotor is interfered with robot manipulating task or object with surrounding.
The present invention can flight formula power circuit walking operation robot method of work, including:
Central processing unit control machinery arm drive module driving mechanical arm moves, and then the end of driving mechanical arm end is held Row device or manipulator behavior, final realize can flight formula power circuit walking operation robot walking operation;
Central processing unit drives rotor work so that can flight formula power circuit line walking by controlling rotor drive module Work robot flies to predetermined position.
This method of work also includes:Central processing unit controls rotor arm drive module to drive rotor arm to be folded to rotor appearance Receive in space.
This method of work also includes:
The first image capture module being arranged on robot body and the second image capture module monitor line walking machine respectively Device people's direction of advance and reciprocal power circuit running status image information are simultaneously sent to central processing unit;
It is arranged at end effector or manipulator clamping the 3rd image capture module of described mechanical arm tail end, in centre Under the control action of reason device, mechanical arm drive module driving mechanical arm moves and to adjust the monitoring angle of the 3rd image capture module Degree, finally realizes the conduct monitoring at all levels to power circuit for the inspection robot.
The method also includes:Central processing unit is by the conduct monitoring at all levels information transmission of the power circuit receiving to service Device, then remote monitoring terminal is sent to by server carries out monitor in real time.
The present invention can also be operated in the complicated situation of working environment by flight formula power circuit walking operation robot, Now rotor arm is hingedly attached on robot body, and rotor arm is foldable, controls rotor arm to drive by central processing unit Dynamic model block makes rotor be folded in rotor receiving space, it is to avoid rotor with robot manipulating task or with the object of surrounding occur dry The problem relating to.
Additionally, the inspection robot of the present invention works under state of flight, improve overall line walking efficiency, and in shaft tower Nearby wait the more region of adnexa, so that inspection robot is hung and work it is ensured that the precision of line walking on the line;Needing operation Place, robot can be directly to and reaches this place and carry out operation.
The other structures of the aviation mechanism of the present invention and Working mechanism are existing structure, will be not repeated herein.
Although the above-mentioned accompanying drawing that combines is described to the specific embodiment of the present invention, not model is protected to the present invention The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme, and those skilled in the art are not Need to pay the various modifications that creative work can make or deformation still within protection scope of the present invention.

Claims (10)

1. one kind can flight formula power circuit walking operation robot it is characterised in that include robot body, described robot The lower section of body is fixedly connected with electric cabinet, is provided with central processing unit in described electric cabinet;
Described robot body includes walking mechanism, and it includes mechanical arm drive module and mechanical arm, and described mechanical arm drives mould Block is connected with central processing unit, and the end of described mechanical arm is provided with end effector or mechanical hand, and central processing unit is used for controlling Mechanical arm drive module driving mechanical arm processed motion, realize can flight formula power circuit walking operation robot walking operation;
Rotor arm is also associated with described robot body, described rotor arm is connected with rotor, described rotor drives mould with rotor Block is connected, and rotor drive module is connected with central processing unit.
2. one kind as claimed in claim 1 can flight formula power circuit walking operation robot it is characterised in that described end Executor includes reducing gear, and described reducing gear is connected with motor-driven mechanism, and described motor-driven mechanism is processed with central authorities Device is connected.
3. one kind as claimed in claim 1 can flight formula power circuit walking operation robot it is characterised in that described rotor Arm is hingedly attached on robot body, is also reserved with rotor receiving space between described robot body and electric cabinet.
4. one kind as claimed in claim 3 can flight formula power circuit walking operation robot it is characterised in that described rotor Arm is also connected with rotor arm drive module, and rotor arm drive module is connected with central processing unit, and described central processing unit is used for controlling Rotor arm drive module processed is driving rotor arm to be folded in rotor receiving space.
5. one kind as claimed in claim 1 can flight formula power circuit walking operation robot it is characterised in that described machine Human body is also equipped with the first image capture module and the second image capture module, is respectively used to monitor inspection robot advance side To and reciprocal power circuit running status image information be sent to central processing unit;It is arranged at described mechanical arm tail end End effector or mechanical hand are used for clamping the 3rd image capture module, and under the control action of central processing unit, mechanical arm drives Dynamic model block driving mechanical arm moves to adjust the monitoring angle of the 3rd image capture module, finally realizes inspection robot to electric power The conduct monitoring at all levels of circuit.
6. one kind as claimed in claim 5 can flight formula power circuit walking operation robot it is characterised in that described central authorities Processor is also connected with server, and described server is connected with remote monitoring terminal.
7. a kind of as in any one of claim 1-6 can flight formula power circuit walking operation robot method of work, its It is characterised by, including:
Central processing unit control machinery arm drive module driving mechanical arm moves, and then the end effector of driving mechanical arm end Or manipulator behavior, final realize can flight formula power circuit walking operation robot walking operation;
Central processing unit drives rotor work so that can flight formula power circuit walking operation by controlling rotor drive module Robot flies to predetermined position.
8. as claimed in claim 7 can flight formula power circuit walking operation robot method of work it is characterised in that should Method of work also includes:Central processing unit controls rotor arm drive module to drive rotor arm to be folded in rotor receiving space.
9. as claimed in claim 7 can flight formula power circuit walking operation robot method of work it is characterised in that should Method of work also includes:
The first image capture module being arranged on robot body and the second image capture module monitor inspection robot respectively Direction of advance and reciprocal power circuit running status image information are simultaneously sent to central processing unit;
It is arranged at end effector or manipulator clamping the 3rd image capture module of described mechanical arm tail end, in central processing unit Control action under, mechanical arm drive module driving mechanical arm moves adjusting the monitoring angle of the 3rd image capture module, Realize the conduct monitoring at all levels to power circuit for the inspection robot eventually.
10. as claimed in claim 9 can flight formula power circuit walking operation robot method of work it is characterised in that The method also includes:Central processing unit by the conduct monitoring at all levels information transmission of the power circuit receiving to server, then by taking Business device is sent to remote monitoring terminal and carries out monitor in real time.
CN201611159417.8A 2016-12-15 2016-12-15 One kind can flight formula power circuit walking operation robot and its method CN106476547B (en)

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CN106684762A (en) * 2017-03-29 2017-05-17 河南工业职业技术学院 Overhead line entanglement removing apparatus
CN106711860A (en) * 2017-03-28 2017-05-24 河南工业职业技术学院 Automatic cabling device for transmission line
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CN111301678A (en) * 2020-02-27 2020-06-19 南京工程学院 Intelligent power inspection robot based on multi-rotor aircraft and use method
US10761526B2 (en) 2017-11-06 2020-09-01 General Electric Company Systems and method for robotic industrial inspection system

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