CN108247599A - Assembly and disassembly ground wire articulated robot - Google Patents
Assembly and disassembly ground wire articulated robot Download PDFInfo
- Publication number
- CN108247599A CN108247599A CN201711373605.5A CN201711373605A CN108247599A CN 108247599 A CN108247599 A CN 108247599A CN 201711373605 A CN201711373605 A CN 201711373605A CN 108247599 A CN108247599 A CN 108247599A
- Authority
- CN
- China
- Prior art keywords
- platform
- assembly
- ground wire
- articulated robot
- disassembly
- 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.)
- Pending
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Classifications
-
- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to power domains, and in particular to the equipment of ultra-high-tension power transmission line assembly and disassembly ground wire, specially assembly and disassembly ground wire articulated robot.Assembly and disassembly ground wire articulated robot, including robot platform and its platform control system.Robot platform includes mobile platform, hoistable platform, switch board, multiple joint manipulator, hanging wire fixture install hoistable platform on mobile platform, one level support platform of setting at the top of hoistable platform, switch board is fixed in supporting table, the top of switch board connects multiple joint manipulator, the end joint arm connection hanging wire fixture of multiple joint manipulator by bearing；The multiple joint manipulator is connected by multiple joint arms, is connected between joint arm using bearing, each one drive motor of joint arm axis connection.Assembly and disassembly ground wire articulated robot, has the function of visualization, remote-controlled operation, and dismounting ground wire work is hung for high voltage substation, thoroughly changes the danger of traditional artificial assembly and disassembly high-voltage circuit grounding line.
Description
Technical field
The present invention relates to power domains, and in particular to the equipment of ultra-high-tension power transmission line assembly and disassembly ground wire, specially assembly and disassembly connect
Ground wire articulated robot.
Background technology
In 500KV substations and following ultra-high-tension power transmission line installation exercise, it is to compare danger to carry out overhead hung dismounting ground wire
The link of danger.In assembly and disassembly ground wire operation, assembly and disassembly ground connection need to carry out in 20 meters or so of high-altitude, and life risk is very big.One
Due to the limitation in substation place when lifting using mechanical elevator, when lifting, must be careful, otherwise will be very big
Increase accidentally hit surrounding high-tension line risk；Secondly although circuit is in power failure, the circuit of open circuit is equivalent to one
Larger charging capacitor, there are the possibility of self discharge.The exactly larger operation of assembly and disassembly ground connection operational danger, often hangs and tears a loop line open
The ground wire on road need to have more people to assist operation, a circuit more than hour overhauled is at least needed to need power off time longer, is made
Into larger economic loss.
Invention content
The present invention very greatly and may cause asking for larger economic loss for high-altitude assembly and disassembly ground connection work life risk
Topic provides a kind of assembly and disassembly ground wire articulated robot, and the existing artificial or equipment of solution carries out assembly and disassembly ground connection, and time-consuming, operates wind
The defects of danger is big.
The designing scheme of the present invention is as follows：Assembly and disassembly ground wire articulated robot, including robot platform and its platform control
System processed.Robot platform includes mobile platform, hoistable platform, switch board, multiple joint manipulator, hanging wire fixture, on mobile platform
Hoistable platform is installed, a level support platform at the top of hoistable platform is set, switch board is fixed in supporting table, passes through at the top of switch board
Bearing connects multiple joint manipulator, the end joint arm connection hanging wire fixture of multiple joint manipulator；The multiple joint manipulator is by multiple
Joint arm is connected, and is connected between joint arm using bearing, each one drive motor of joint arm axis connection；The platform control
System processed is arranged in switch board, the image acquisition device being connect including processor module and with processor module, position sensor,
WIFI communication modules, motor control module, the motor control module connects drive motor by circuit, and controls its fortune
Row.
The position sensor is mounted on hanging wire fixture, is connected by the processor module of circuit and platform control system
It connects, and sends position signal to processor module.Position sensor acquires the position coordinates signal of hanging wire fixture.
The image acquisition device is arranged on control cabinet panel, passes through circuit and the processor module of platform control system
Connection acquires picture signal, and is converted to the identifiable digital signal of processor module, and be sent to processor module.
The WIFI communication modules are connected with external antenna, and external antenna is mounted on control cabinet panel.
The hoistable platform is lifted using hydraulic control.
The mobile platform bottom is provided with moveable idler wheel.
Assembly and disassembly ground wire articulated robot, robot platform lifts by HYDRAULIC CONTROL SYSTEM, bottom by idler wheel into
Row movement.In lifting process, the picture signal of image acquisition device acquisition platform surrounding, recognize whether transmission line of electricity or its
His barrier obstruction, avoids wiping and is suspended to other transmission lines of electricity.Platform control system position sensor acquires the position of hanging wire fixture
Coordinate signal, to provide accurate location information.Processor module according to location information, sends control signals to motor control
Module, by motor control module driving motor, driving multiple joint manipulator is stretched over corresponding position, carries out hanging dismounting ground wire operation.
Platform control system is equipped with WIFI communication modules, can send image, location information to WIFI terminal equipment.External handheld terminal,
By image, position signal, control signal is sent, long-distance remote control operation is carried out to platform control system, avoids human contact
High-tension line.
Assembly and disassembly ground wire articulated robot, has the function of visualization, remote-controlled operation, is disconnected for high voltage substation extension
Ground wire works, and thoroughly changes the danger of traditional artificial assembly and disassembly high-voltage circuit grounding line, and traditional artificial extension dismounting ground wire is needed
Several hours become a few minutes, greatly shorten the interruption maintenance time, improve working efficiency, reduce economic damage caused by having a power failure
It loses.Work flow is not only simplified, and ensure that safety.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is hanging wire clamp structure schematic diagram；
Fig. 3 is platform control system structure diagram.
Reference sign：Mobile platform 1, hydraulic elevating platform 2, switch board 3, multiple joint manipulator 4, hanging wire fixture 5, place
Manage device module 6, image acquisition device 8, position sensor 7, WIFI module 9, vision processor 10, motor control module 11, idler wheel
12, motor 13, joint arm 14.
Specific embodiment
With reference to specific embodiment and Figure of description, the invention will be further described.Specific reality described herein
Example is applied only to explain the present invention, is not intended to limit the present invention.
Embodiment：As shown in Figure 1, assembly and disassembly ground wire articulated robot, bottom are the mobile platform 1 with idler wheel 12, move
Hydraulic elevating platform 2 by hydraulic control is installed on moving platform 1.Switch board 3 is fixed on hydraulic elevating platform 2, switch board 3 passes through
Bearing connects multiple joint manipulator 4.The end connection hanging wire fixture 5 of multiple joint manipulator 4.Multiple joint manipulator 4 is by several joint arms
14 are connected in series, and are connected between joint arm by bearing, one motor 13 of rotation axis connection of each joint arm.
Platform control system is provided in switch board 3, referring to Fig. 2, the control system includes processor module 6, figure
As collector 8, position sensor 7, motor control module 11 and WIFI module 9.Processor module 6 includes vision processing module
10, image acquisition device 8 and position sensor 7 are connected, receives its input signal, carries out visual signal processing.Figure collector 8 is set
It puts on the panel of switch board 3, acquires vision signal, and be sent to processor module 6.Position sensor 7 is arranged on hanging wire folder
On tool 5, coordinate acquisition position signal, and it is sent to processor module.Motor control module 11 is connect with processor module 6, is connect
Control signal is received, motor control module 11 is driven the motor 13 of joint arm by connection, controls the operation of motor.
The WIFI module 9 of platform control system, antenna are mounted on switch board 3, are carried out wireless communication with WIFI terminal, including transmission
Vision signal, position signal, and the control command of WIFI terminal is received, carry out lifting and the multiple joint manipulator of hydraulic elevating platform
Scaling operation.WIFI terminal shows according to image and position, can at a distance to assembly and disassembly ground wire articulated robot into
The visual straighforward operation of row.
Assembly and disassembly ground wire articulated robot for carrying out assembly and disassembly ground wire operation in high-altitude to high-tension line, has visual
Change operation interface, by picture catching, monitor lifting process, avoid being suspended to other transmission lines of electricity.Using far distance controlled, without
Human contact's line loop operation, avoids danger.With in the past using manual operation compared with, can more fast and accurately complete to hang
Line operates, and the time required to reducing work, greatly improves work efficiency.
Claims (6)
1. assembly and disassembly ground wire articulated robot, including robot platform and its platform control system, which is characterized in that robot
Platform includes mobile platform (1), hoistable platform (2), switch board (3), multiple joint manipulator (4), hanging wire fixture (5), mobile platform
(1) hoistable platform (2) on is installed, a level support platform at the top of hoistable platform (2) is set, switch board (3) is fixed in supporting table, is controlled
The top of cabinet (3) processed connects multiple joint manipulator (4), the end joint arm connection hanging wire fixture of multiple joint manipulator (4) by bearing
(5)；The multiple joint manipulator (4) is connected by multiple joint arms, is connected between joint arm using bearing, and each joint arm axle connects
Connect a drive motor (13)；The platform control system is arranged in switch board (3), including processor module (6) and
The image acquisition device (8) being connect with processor module (6), position sensor (7), WIFI communication modules (9), motor control module
(11), the motor control module (11) connects drive motor (13) by circuit, and controls its operation.
2. assembly and disassembly ground wire articulated robot according to claim 1, which is characterized in that the position sensor
(7) it on hanging wire fixture (5), is connected by the processor module of circuit and platform control system (6), and sends position letter
Number give processor module (6).
3. assembly and disassembly ground wire articulated robot according to claim 1, which is characterized in that the image acquisition device
(8) it is arranged on switch board (3) panel, is connected by the processor module of circuit and platform control system (6), acquisition image letter
Number, and the identifiable digital signal of processor module is converted to, and be sent to processor module (6).
4. assembly and disassembly ground wire articulated robot according to claim 1, which is characterized in that the WIFI communication modules
(9) external antenna is connected with, external antenna is mounted on switch board (3) panel.
5. assembly and disassembly ground wire articulated robot according to claim 1, which is characterized in that the hoistable platform (2)
It is lifted using hydraulic control.
6. assembly and disassembly ground wire articulated robot according to claim 1, which is characterized in that the mobile platform bottom
It is provided with moveable idler wheel (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711373605.5A CN108247599A (en) | 2017-12-19 | 2017-12-19 | Assembly and disassembly ground wire articulated robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711373605.5A CN108247599A (en) | 2017-12-19 | 2017-12-19 | Assembly and disassembly ground wire articulated robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108247599A true CN108247599A (en) | 2018-07-06 |
Family
ID=62723715
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711373605.5A Pending CN108247599A (en) | 2017-12-19 | 2017-12-19 | Assembly and disassembly ground wire articulated robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108247599A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109904789A (en) * | 2018-12-29 | 2019-06-18 | 国网安徽省电力有限公司检修分公司 | A kind of ground wire hitching device |
| CN110112675A (en) * | 2019-05-17 | 2019-08-09 | 四川达曼正特科技有限公司 | A kind of device of livewire work disassembly high-voltage line T-type wire clamp |
| WO2020233727A1 (en) * | 2019-05-17 | 2020-11-26 | 成都理工大学 | Device for dismounting and installing high-voltage line t-connector in hot-line operation |
| CN112928570A (en) * | 2021-01-27 | 2021-06-08 | 山东建筑大学 | Grounding wire operation tool, grounding wire hanging and dismounting system and method |
| CN112952531A (en) * | 2021-02-08 | 2021-06-11 | 珠海格力智能装备有限公司 | Wire clamping device and core wire positioning equipment |
| CN114883884A (en) * | 2022-07-11 | 2022-08-09 | 广东电网有限责任公司肇庆供电局 | Ground wire hanging and unloading control device and method thereof |
-
2017
- 2017-12-19 CN CN201711373605.5A patent/CN108247599A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109904789A (en) * | 2018-12-29 | 2019-06-18 | 国网安徽省电力有限公司检修分公司 | A kind of ground wire hitching device |
| CN110112675A (en) * | 2019-05-17 | 2019-08-09 | 四川达曼正特科技有限公司 | A kind of device of livewire work disassembly high-voltage line T-type wire clamp |
| WO2020233727A1 (en) * | 2019-05-17 | 2020-11-26 | 成都理工大学 | Device for dismounting and installing high-voltage line t-connector in hot-line operation |
| US11855423B2 (en) | 2019-05-17 | 2023-12-26 | Chengdu University Of Information Technology | Apparatus for dismounting and mounting high-voltage line T-connector in hot-line operation |
| CN112928570A (en) * | 2021-01-27 | 2021-06-08 | 山东建筑大学 | Grounding wire operation tool, grounding wire hanging and dismounting system and method |
| CN112952531A (en) * | 2021-02-08 | 2021-06-11 | 珠海格力智能装备有限公司 | Wire clamping device and core wire positioning equipment |
| CN114883884A (en) * | 2022-07-11 | 2022-08-09 | 广东电网有限责任公司肇庆供电局 | Ground wire hanging and unloading control device and method thereof |
| CN114883884B (en) * | 2022-07-11 | 2022-09-13 | 广东电网有限责任公司肇庆供电局 | Ground wire hanging and unloading control device and method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180706 |
|
| WD01 | Invention patent application deemed withdrawn after publication |