CN108436884A - 带电检修机器人的一键还原控制方法及系统 - Google Patents
带电检修机器人的一键还原控制方法及系统 Download PDFInfo
- Publication number
- CN108436884A CN108436884A CN201810587276.2A CN201810587276A CN108436884A CN 108436884 A CN108436884 A CN 108436884A CN 201810587276 A CN201810587276 A CN 201810587276A CN 108436884 A CN108436884 A CN 108436884A
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- China
- Prior art keywords
- value
- arm
- robot
- key
- maintenance robot
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/045—Polar coordinate type
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- 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
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810587276.2A CN108436884B (zh) | 2018-06-08 | 2018-06-08 | 带电检修机器人的一键还原控制方法及系统 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810587276.2A CN108436884B (zh) | 2018-06-08 | 2018-06-08 | 带电检修机器人的一键还原控制方法及系统 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN108436884A true CN108436884A (zh) | 2018-08-24 |
CN108436884B CN108436884B (zh) | 2020-09-25 |
Family
ID=63206785
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN201810587276.2A Active CN108436884B (zh) | 2018-06-08 | 2018-06-08 | 带电检修机器人的一键还原控制方法及系统 |
Country Status (1)
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CN (1) | CN108436884B (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114683272A (zh) * | 2020-12-31 | 2022-07-01 | 国网智能科技股份有限公司 | 变电站巡检机器人的增稳控制方法、控制器及机器人 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN202316365U (zh) * | 2011-08-26 | 2012-07-11 | 重庆电力高等专科学校 | 绝缘子清洗机械手 |
CN103085054A (zh) * | 2013-01-29 | 2013-05-08 | 山东电力集团公司电力科学研究院 | 带电抢修机器人主从式液压力反馈机械臂控制系统及方法 |
CN105032805A (zh) * | 2014-09-10 | 2015-11-11 | 山东鲁能智能技术有限公司 | 一种可精确冲洗的变电站带电水冲洗机器人 |
CN105234942A (zh) * | 2015-11-02 | 2016-01-13 | 国网山东省电力公司电力科学研究院 | 大持重液压小吊臂的控制系统及其控制方法 |
CN106953274A (zh) * | 2017-04-07 | 2017-07-14 | 深圳供电局有限公司 | 一种变电站导线压接修补装置及方法 |
-
2018
- 2018-06-08 CN CN201810587276.2A patent/CN108436884B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN202316365U (zh) * | 2011-08-26 | 2012-07-11 | 重庆电力高等专科学校 | 绝缘子清洗机械手 |
CN103085054A (zh) * | 2013-01-29 | 2013-05-08 | 山东电力集团公司电力科学研究院 | 带电抢修机器人主从式液压力反馈机械臂控制系统及方法 |
CN105032805A (zh) * | 2014-09-10 | 2015-11-11 | 山东鲁能智能技术有限公司 | 一种可精确冲洗的变电站带电水冲洗机器人 |
CN105234942A (zh) * | 2015-11-02 | 2016-01-13 | 国网山东省电力公司电力科学研究院 | 大持重液压小吊臂的控制系统及其控制方法 |
CN106953274A (zh) * | 2017-04-07 | 2017-07-14 | 深圳供电局有限公司 | 一种变电站导线压接修补装置及方法 |
Non-Patent Citations (1)
Title |
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RONGHUI HUANG ET AL.: "One Key Reset System for Substation Robot Based on Multi-sensor Fusion", 《INTERNATIONAL CONFERENCE ON MECHANICAL, CONTROL AND COMPUTER ENGINEERING》 * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114683272A (zh) * | 2020-12-31 | 2022-07-01 | 国网智能科技股份有限公司 | 变电站巡检机器人的增稳控制方法、控制器及机器人 |
CN114683272B (zh) * | 2020-12-31 | 2023-09-12 | 国网智能科技股份有限公司 | 变电站巡检机器人的增稳控制方法、控制器及机器人 |
Also Published As
Publication number | Publication date |
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CN108436884B (zh) | 2020-09-25 |
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PB01 | Publication | ||
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CB02 | Change of applicant information | ||
CB02 | Change of applicant information |
Address after: 250101 block B, Yinhe building, 2008 Xinjie street, hi tech Zone, Ji'nan, Shandong. Applicant after: Shandong Luneng Intelligent Technology Co., Ltd. Applicant after: Electric Power Research Institute of State Grid Shandong Electric Power Company Applicant after: Jinan Power Supply Company, State Grid Shandong Electric Power Company Applicant after: State Grid Corporation of China Address before: 250101 Yinhe Daxia B Block 2008 Xinlu Street, Jinan High-tech Zone, Shandong Province Applicant before: Shandong Luneng Intelligent Technology Co., Ltd. Applicant before: Electric Power Research Institute of State Grid Shandong Electric Power Company Applicant before: Jinan Power Supply Company, State Grid Shandong Electric Power Company Applicant before: State Grid Corporation of China |
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CB02 | Change of applicant information | ||
CB02 | Change of applicant information |
Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Applicant after: National Network Intelligent Technology Co., Ltd. Applicant after: Electric Power Research Institute of State Grid Shandong Electric Power Company Applicant after: Jinan Power Supply Company, State Grid Shandong Electric Power Company Applicant after: State Grid Corporation of China Address before: 250101 block B, Yinhe building, 2008 Xinjie street, hi tech Zone, Ji'nan, Shandong. Applicant before: Shandong Luneng Intelligent Technology Co., Ltd. Applicant before: Electric Power Research Institute of State Grid Shandong Electric Power Company Applicant before: Jinan Power Supply Company, State Grid Shandong Electric Power Company Applicant before: State Grid Corporation of China |
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GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20201029 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee before: National Network Intelligent Technology Co.,Ltd. Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: JINAN POWER SUPPLY COMPANY OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: STATE GRID CORPORATION OF CHINA |