CN108879483A - It is offline with automatic hanging hook and its control system and method in a kind of robot - Google Patents
It is offline with automatic hanging hook and its control system and method in a kind of robot Download PDFInfo
- Publication number
- CN108879483A CN108879483A CN201811069551.8A CN201811069551A CN108879483A CN 108879483 A CN108879483 A CN 108879483A CN 201811069551 A CN201811069551 A CN 201811069551A CN 108879483 A CN108879483 A CN 108879483A
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- robot
- suspension hook
- automatic hanging
- hook
- signal
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 239000000725 suspension Substances 0.000 claims abstract description 154
- 230000005540 biological transmission Effects 0.000 claims abstract description 79
- 230000000903 blocking effect Effects 0.000 claims abstract description 41
- 239000000835 fiber Substances 0.000 claims abstract description 41
- 230000003287 optical effect Effects 0.000 claims abstract description 36
- 238000001514 detection method Methods 0.000 claims abstract description 24
- 230000001360 synchronised effect Effects 0.000 claims abstract description 10
- 238000009413 insulation Methods 0.000 claims description 29
- 239000013307 optical fiber Substances 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 9
- 238000004064 recycling Methods 0.000 claims description 8
- 239000003638 chemical reducing agent Substances 0.000 claims description 4
- 230000032258 transport Effects 0.000 claims description 4
- 230000007423 decrease Effects 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- 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
Abstract
Automatic hanging hook and its control system and method are used the invention discloses offline in a kind of robot, including cabinet, the first arc suspension hook, the second arc suspension hook, the light blocking type fibre optical sensor for detecting the first arc suspension hook and the lifting limit of the second arc suspension hook and the light blocking type power transmission line position detection fibre optical sensor for whether being completely embedded into the first arc suspension hook opened completely and the second arc suspension hook opening for detecting power transmission line；Wherein, driving motor, the first gear shaft, synchronous toothed belt, the second gear shaft, telemetry circuit and for providing the power-supply system of electric energy are provided in cabinet, the suspension hook and its control system and method are able to drive robot and carry out offline operation.
Description
Technical field
The invention belongs to automation field, it is related to offline automatic hanging hook and its control system and side in a kind of robot
Method.
Background technique
Carrying out overhead transmission line is influenced by mechanical tension, electrical flashover, insulation ag(e)ing and generates stranded, abrasion, corrosion
The powerful of the perils detectings such as equivalent damage and upkeep operation is power transmission line robot, it can replace being accomplished manually inspection, failure
The operations such as reparation and cleaning, also avoid the safety problem of manual work while significantly improving line walking working efficiency.Currently, or
By operating personnel climb up conducting wire carry out equipotential operate complete robot on offline operation, or using motor ladder by staff with
Hot line robot rises to transmission line of electricity and nearby completes operation mode offline in robot, there is large labor intensity, work
Make environmental requirement height, the high drawback of degree of danger.It has been proposed that coil inserting apparatus in some power transmission line robots, but structure and
Operation is all more complicated, and certain methods even requirement must be operated in the event of a loss of power, causes huge economic losses.
Summary of the invention
It is an object of the invention to overcome the above-mentioned prior art, provides and offline in a kind of robot use automatic hanging
Hook and its control system and method, the suspension hook and its control system and method are able to drive robot and carry out offline operation.
In order to achieve the above objectives, offline in robot of the present invention with automatic hanging hook includes that cabinet, the first arc are hung
Hook, the second arc suspension hook are passed for detecting the light blocking type optical fiber of the first arc suspension hook and the lifting limit of the second arc suspension hook
Sensor and for detect power transmission line whether be completely embedded into the first arc suspension hook opened completely and the second arc suspension hook opening
Light blocking type power transmission line position detection fibre optical sensor；Wherein, be provided in cabinet driving motor, the first gear shaft,
Synchronous toothed belt, the second gear shaft, telemetry circuit and for providing the power-supply system of electric energy, under the first arc suspension hook
End and the lower end of the second arc suspension hook are nested in cabinet, axis pass through the side of cabinet, the first arc suspension hook lower end side and
The output end of the side of second arc suspension hook lower end, driving motor is connected through speed reducer with the first gear shaft, the first arc
The bottom of shape suspension hook is provided with the first arc gear wheel, and the bottom of the second arc suspension hook is provided with the second arc gear wheel, the first driving
Gear shaft is meshed with the first arc gear wheel, and the second gear shaft is meshed with the second arc gear wheel, and synchronous toothed belt bypasses
First gear shaft and the second gear shaft, telemetry circuit and driving motor and light blocking type fibre optical sensor and light
Blocking type power transmission line position detection fibre optical sensor is connected.
It is offline in robot of the present invention to include hoist engine, insulation ropes with the control system of automatic hanging hook and be used for
The offline unmanned plane with automatic hanging hook in delivery power robot, wherein hoist engine is anchored in robot, one end of insulation ropes
It is wound on lift winch, the other end of insulation ropes is fixed on axis.
The offline control method of automatic hanging hook includes the following steps in robot of the present invention：
1) it after robot reaches upper line position, is then sent to unmanned plane and transports automatic hanging hook signal, described in unmanned plane reception
After transporting automatic hanging hook signal, the automatic hanging hook in complete open configuration is first gripped, is then sent to robot automatic
Suspension hook starts online signal；
2) robot receives after the automatic hanging hook starts online signal, then starts hoist engine, at the same unmanned plane start to
Suspension hook latched position flight on power transmission line, hoist engine increase flight with unmanned plane and synchronize automatic release insulation cable；
3) when unmanned plane reaches at the suspension hook latched position on power transmission line, then automatic hanging hook is sent to telemetry circuit and reached
Power transmission line latched position signal, telemetry circuit open light blocking type power transmission line position detection fibre optical sensor, light blocking type
Power transmission line position detection fibre optical sensor detects whether power transmission line is completely embedded into the first arc in complete open configuration automatically
In opening between suspension hook and the second arc suspension hook, when detection power transmission line be embedded into the first arc suspension hook and the second arc suspension hook it
Between opening when, then generate feedback signal to telemetry circuit, when telemetry circuit obtains feedback signal, then control driving motor
It is latched the first arc suspension hook and the second arc suspension hook；
4) after the completion of telemetry circuit detects the first arc suspension hook and the second arc suspension hook locking, then driving electricity is closed
Machine, and send automatic hanging hook to unmanned plane and complete locking in the signal on power transmission line；
5) unmanned plane receives automatic hanging hook locking after the signal on power transmission line, then the automatic hanging hook for discharging clamping is downward
Then movement sends the online completion signal of automatic hanging hook to robot, it is online that robot can complete robot by hoist engine
Operation.
Robot by hoist engine complete the online operation of robot detailed process be：When the completion of all automatic hanging hooks is online
Afterwards, the online preparation of robot is completed, and robot recycles insulation cable by hoist engine and completes the online operation of robot lifting,
Until robot reaches the online operation of upper line position completion, robot passes through telemetry circuit and opens light blocking type optical fiber biography
Sensor simultaneously prepares to receive automatic hanging hook lifting signal in place, when robotic gripper automatic hanging hook and after give rise to position, observing and controlling electricity
When road lifts signal in place by light blocking type fibre optical sensor acquisition automatic hanging hook, then automatic hanging hook is sent to robot and lifted
It is raised to a signal, the signal of the first arc suspension hook and the second arc suspension hook that open locking is then issued to driving motor, simultaneously
Light blocking type fibre optical sensor is closed, until telemetry circuit receives the first arc suspension hook and the second arc suspension hook opens letter completely
Until number, telemetry circuit sends automatic hanging hook to robot and completes recycling ready signal, and robot receives automatic hanging hook and completes back
After receiving ready signal, automatic hanging hook is recovered into cabinet by robot, is completed the storage work an of automatic hanging hook, is repeated
Step is stated, until all automatic hanging hooks complete storage work, realizes that robot completes the online behaviour of robot by hoist engine
Make.
Robot by hoist engine complete the offline operation of robot detailed process be：When robot reaches offline station
When, the automatic hanging hook of robotic gripper storage lifts upwards, and sends offline signal to automatic hanging hook, and telemetry circuit opens light
Blocking type power transmission line position detection fibre optical sensor, until by power transmission line be embedded into the first arc suspension hook and the second arc suspension hook it
Between opening, telemetry circuit sends the signal of locking the first arc suspension hook and the second arc suspension hook, Zhi Daoshou to driving motor
Until the first arc suspension hook and the second arc suspension hook complete locking signal, retransmits automatic hanging hook and complete power transmission line locking signal
To robot, robot is received after automatic hanging hook completes power transmission line locking signal, then discharges the automatic hanging hook of clamping, it is all from
After dynamic suspension hook completes power transmission line locking signal, starting hoist engine release insulation cable works as machine to complete the offline operation of robot
When device people reaches ground designated position, hoist engine stops the release of insulation cable, and offline in place to unmanned plane sending robot
Signal, after unmanned plane receives the offline signal in place of robot, then flight to the lower section of cabinet, and it is offline to automatic hanging hook transmission
Then signal clamps and lifts automatic hanging hook, after telemetry circuit receives offline signal, start light blocking type fibre optical sensor,
Until light blocking type fibre optical sensor detects that automatic hanging hook lifts limit signal, then telemetry circuit issues opening suspension hook and refers to
It enables, while sending the signal for stopping lifting and remain stationary to unmanned plane, telemetry circuit is instructed according to the opening suspension hook and controlled
Driving motor work, driving motor drive the first arc suspension hook and the second arc suspension hook to open, the first arc suspension hook and the second arc
After shape suspension hook fully opens in place, telemetry circuit closes driving motor, then telemetry circuit issues certainly to unmanned plane and robot
Dynamic suspension hook leave power transmission line locking station signal, unmanned plane receive automatic hanging hook leave power transmission line locking station signal after, then
Carry automatic hanging hook move downward, while robot receive automatic hanging hook leave power transmission line locking station signal after, then control
Hoist engine follows the synchronous recycling insulation cable of the decrease speed of unmanned plane, until unmanned plane drops to stop position, robot is complete
Until being stored at automatic hanging hook.
The invention has the advantages that：
It is offline in robot of the present invention to use automatic hanging hook and its control system and method when specific operation, it utilizes
Offline line position on automatic hanging hook to robot on unmanned plane transportation robot, and the first arc suspension hook and the second arc are hung
Hook is hung on power transmission line, is then shunk insulation cable by hoist engine and is sling robot, to realize the online operation of robot,
When robot is offline, then insulation cable is discharged by hoist engine, it is simple, convenient to realize the offline operation of robot,
High degree of automation, when effectively reducing offline in robot insulate cable bearing stress, prevent insulation cable lifting when by
Rotation effect is generated in gravity, and artificial ground is only needed to assist, without manually stepping on the online operation of tower, avoids artificial high-risk band
Electric operation, accuracy and reliability are higher, and the upper offline operation that can be widely applied for different type power transmission line robot is contour
In idle job.
Detailed description of the invention
Fig. 1 is the offline structural schematic diagram with automatic hanging hook in robot in the present invention；
Fig. 2 is the structural schematic diagram of the first arc suspension hook 2 in the present invention；
Fig. 3 is the annexation figure of driving motor 6 and the first arc suspension hook 2 and the second arc suspension hook 3 in the present invention；
Fig. 4 is the first arc suspension hook 2 in the present invention and the structural schematic diagram after the second arc suspension hook 3 opening.
Wherein, 1 it is cabinet, 2 be the first arc suspension hook, 3 be the second arc suspension hook, 4 be shaft, 21 is the first driving gear
Axis, 22 be the first arc gear wheel, 23 be synchronous toothed belt, 24 be the second gear shaft, 25 be the second arc gear wheel, 5 be light
Line blocking type fibre optical sensor, 6 be driving motor, 7 be speed reducer, 8 be telemetry circuit, 9 be power-supply system, 10 interdict for light
Type power transmission line position detection fibre optical sensor.
Specific embodiment
The invention will be described in further detail with reference to the accompanying drawing：
As shown in Figures 1 to 4, offline in robot of the present invention with automatic hanging hook includes that cabinet 1, the first arc are hung
Hook 2, the second arc suspension hook 3, the light blocking type light for detecting the first arc suspension hook 2 and the lifting limit of the second arc suspension hook 3
Fiber sensor 5 and for detecting whether power transmission line is completely embedded into the first arc suspension hook 2 and the second arc suspension hook 3 that open completely
The light blocking type power transmission line position detection fibre optical sensor 10 of opening；Wherein, the drive of driving motor 6, first is provided in cabinet 1
Movable gear shaft 21, synchronous toothed belt 23, the second gear shaft 24, telemetry circuit 8 and for providing the power-supply system of electric energy
9, the lower end of the lower end of the first arc suspension hook 2 and the second arc suspension hook 3 is nested in cabinet 1, and axis 4 passes through the side of cabinet 1, the
The side of 3 lower end of side and the second arc suspension hook of one arc suspension hook, 2 lower end, the output end of driving motor 6 is through speed reducer 7 and
One gear shaft 21 is connected, and the bottom of the first arc suspension hook 2 is provided with the first arc gear wheel 22, the second arc suspension hook 3
Bottom is provided with the second arc gear wheel 25, and the first gear shaft 21 is meshed with the first arc gear wheel 22, the second driving gear
Axis 24 is meshed with the second arc gear wheel 25, and synchronous toothed belt 23 bypasses the first gear shaft 21 and the second gear shaft
24, telemetry circuit 8 and driving motor 6 and light blocking type fibre optical sensor 5 and light blocking type power transmission line position detection optical fiber
Sensor 10 is connected.
It is offline in robot of the present invention to include hoist engine, insulation ropes with the control system of automatic hanging hook and be used for
The offline unmanned plane with automatic hanging hook on carrying robot, wherein hoist engine is anchored in robot, and one end of insulation ropes twines
It is around on lift winch, the other end of insulation ropes is fixed on axis 4.
The offline control method of automatic hanging hook includes the following steps in robot of the present invention：
1) it after robot reaches upper line position, is then sent to unmanned plane and transports automatic hanging hook signal, described in unmanned plane reception
After transporting automatic hanging hook signal, the automatic hanging hook in complete open configuration is first gripped, is then sent to robot automatic
Suspension hook starts online signal；
2) robot receives after the automatic hanging hook starts online signal, then starts hoist engine, at the same unmanned plane start to
Suspension hook latched position flight on power transmission line, hoist engine increase flight with unmanned plane and synchronize automatic release insulation cable；
3) when unmanned plane reach power transmission line on suspension hook latched position at when, then to telemetry circuit 8 send automatic hanging hook to
Up to power transmission line latched position signal, telemetry circuit 8 opens light blocking type power transmission line position detection fibre optical sensor 10, and light hides
Disconnected type power transmission line position detection fibre optical sensor 10 automatically detection power transmission line whether be completely embedded into complete open configuration the
In opening between one arc suspension hook 2 and the second arc suspension hook 3, when detection power transmission line is embedded into the first arc suspension hook 2 and second
When opening between arc suspension hook 3, then feedback signal is generated to telemetry circuit 8, when telemetry circuit 8 obtains feedback signal,
It then controls driving motor 6 and is latched the first arc suspension hook 2 and the second arc suspension hook 3；
4) after the completion of telemetry circuit 8 detects 3 locking of the first arc suspension hook 2 and the second arc suspension hook, then driving is closed
Motor 6, and send automatic hanging hook to unmanned plane and complete locking in the signal on power transmission line；
5) unmanned plane receives automatic hanging hook locking after the signal on power transmission line, then the automatic hanging hook for discharging clamping is downward
Then movement sends the online completion signal of automatic hanging hook to robot, it is online that robot can complete robot by hoist engine
Operation.
Robot by hoist engine complete the online operation of robot detailed process be：When the completion of all automatic hanging hooks is online
Afterwards, the online preparation of robot is completed, and robot recycles insulation cable by hoist engine and completes the online operation of robot lifting,
Until robot reaches the online operation of upper line position completion, light blocking type optical fiber is opened by telemetry circuit 8 by robot
Sensor 5 simultaneously prepares to receive automatic hanging hook lifting signal in place, when robotic gripper automatic hanging hook and after give rise to position, observing and controlling
When circuit 8 lifts signal in place by the acquisition automatic hanging hook of light blocking type fibre optical sensor 5, then automatic hanging is sent to robot
Hook lifts signal in place, and the letter of the first arc suspension hook 2 and the second arc suspension hook 3 that open locking is then issued to driving motor 6
Number, light blocking type fibre optical sensor 5 is simultaneously closed off, until telemetry circuit 8 receives the first arc suspension hook 2 and the second arc suspension hook
Until 3 complete opening signals, telemetry circuit 8 sends automatic hanging hook to robot and completes recycling ready signal, and robot receives certainly
After dynamic suspension hook completes recycling ready signal, automatic hanging hook is recovered into cabinet by robot, completes the storage of an automatic hanging hook
Work, repeats above-mentioned steps, until all automatic hanging hooks complete storage work, realizes that robot is completed by hoist engine
The online operation of robot.
Robot by hoist engine complete the offline operation of robot detailed process be：When robot reaches offline station
When, the automatic hanging hook of robotic gripper storage lifts upwards, and sends offline signal to automatic hanging hook, and telemetry circuit 8 opens light
Line blocking type power transmission line position detection fibre optical sensor 10, until power transmission line is embedded into the first arc suspension hook 2 and the second arc
Opening between suspension hook 3, telemetry circuit 8 send the first arc of locking suspension hook 2 and the second arc suspension hook 3 to driving motor 6
Signal retransmits automatic hanging hook completion until receiving 3 complete locking signal of the first arc suspension hook 2 and the second arc suspension hook
Power transmission line locking signal after robot receives automatic hanging hook completion power transmission line locking signal, then discharges clamping to robot
Automatic hanging hook, after all automatic hanging hooks complete power transmission line locking signal, starting hoist engine release insulation cable, to complete robot
Offline operation, when robot reach ground designated position when, hoist engine stop insulation cable release, and to unmanned plane issue
The offline signal in place of robot, after unmanned plane receives the offline signal in place of robot, then flight to the lower section of cabinet 1, and to
Automatic hanging hook sends offline signal, then clamps and lift automatic hanging hook, after telemetry circuit 8 receives offline signal, starts light
Then blocking type fibre optical sensor 5 is surveyed until light blocking type fibre optical sensor 5 detects that automatic hanging hook lifts limit signal
It controls circuit 8 and issues opening suspension hook instruction, while sending the signal for stopping lifting and remain stationary to unmanned plane, telemetry circuit 8
Control driving motor 6 is instructed to work according to the opening suspension hook, driving motor 6 drives the first arc suspension hook 2 and the second arc suspension hook 3
After opening, the first arc suspension hook 2 and the second arc suspension hook 3 fully open in place, telemetry circuit 8 closes driving motor 6, observing and controlling electricity
Then road 8 issues automatic hanging hook to unmanned plane and robot and leaves power transmission line locking station signal, unmanned plane receives automatic hanging
Hook leave power transmission line locking station signal after, then carry automatic hanging hook and move downward, at the same robot receive automatic hanging hook from
After opening power transmission line locking station signal, then controls hoist engine and follow the synchronous recycling insulation cable of the decrease speed of unmanned plane, until
Unmanned plane drops to stop position, until robot completes automatic hanging hook storage.
In the present invention transfer route of gravity be robot gravity → 4 → the first arc suspension hook 2 of insulation cable → shaft and
Second arc 3 → power transmission line of suspension hook, cabinet 1 are not subject to external force, and the first arc suspension hook 2 and the second arc suspension hook 3 is avoided to use work
Unexpected tripping in work；When the first arc suspension hook 2 and the second arc suspension hook 3 fully open, the first arc suspension hook 2 and the second arc
The opening size D of shape suspension hook 3 is greater than the arc suspension hook 2 of diameter d, i.e. D=d+8mm, first and the second arc suspension hook 3 that transmission of electricity connects
Maximum opening angle is less than or equal to 26 °.
Light blocking type fibre optical sensor 5 includes the be respectively arranged on the first arc suspension hook 2 and the second arc suspension hook 3
One smooth input optical fibre end and the first light output fiber end；At work, when the close enough transmission of electricity of arc suspension hook bottom arc gabarit
When line, then the light that the first light output fiber end issues is blocked by power transmission line without being received by the first smooth input optical fibre end, to produce
Raw lifting limit signal.
Whether light blocking type power transmission line position detection fibre optical sensor 10 is used to detect power transmission line to be completely embedded into and beat completely
In the opening for opening the first arc suspension hook 2 and the second arc suspension hook 3, light blocking type power transmission line position detection fibre optical sensor 10 is wrapped
Include the second smooth input optical fibre end being respectively arranged on the first arc suspension hook 2 and the second arc suspension hook 3 and the second light output fiber
End；At work, when power transmission line is completely between the first arc suspension hook 2 and the second arc suspension hook 3, then the second light output
The light that optical fiber end issues is blocked by power transmission line without being received by the second smooth input optical fibre end, so as to judge to know that power transmission line is complete
Full insertion fully opens in the opening of the first arc suspension hook 2 and the second arc suspension hook 3.
Claims (5)
1. offline in a kind of robot use automatic hanging hook, which is characterized in that including cabinet (1), the first arc suspension hook (2), second
Arc suspension hook (3), the light blocking type optical fiber for detecting the first arc suspension hook (2) and the lifting limit of the second arc suspension hook (3)
Sensor (5) and whether power transmission line is completely embedded into the first arc suspension hook (2) opened completely and the second arc is hung for detecting
The light blocking type power transmission line position detection fibre optical sensor (10) of hook (3) opening；Wherein, driving electricity is provided in cabinet (1)
Machine (6), the first gear shaft (21), synchronous toothed belt (23), the second gear shaft (24), telemetry circuit (8) and use
In the power-supply system (9) of offer electric energy, the lower end of the lower end of the first arc suspension hook (2) and the second arc suspension hook (3) is nested in case
In body (1), axis (4) passes through the side and second arc suspension hook (3) lower end of the side of cabinet (1), first arc suspension hook (2) lower end
Side, the output end of driving motor (6) is connected through speed reducer (7) with the first gear shaft (21), the first arc suspension hook
(2) bottom is provided with the first arc gear wheel (22), and the bottom of the second arc suspension hook (3) is provided with the second arc gear wheel (25),
First gear shaft (21) is meshed with the first arc gear wheel (22), the second gear shaft (24) and the second arc gear wheel
(25) it is meshed, synchronous toothed belt (23) bypasses the first gear shaft (21) and the second gear shaft (24), telemetry circuit
(8) with driving motor (6) and light blocking type fibre optical sensor (5) and light blocking type power transmission line position detection fibre optical sensor
(10) it is connected.
2. the offline control system with automatic hanging hook in a kind of robot described in claim 1, which is characterized in that including elevator
Machine, insulation ropes and for delivering the offline unmanned plane with automatic hanging hook in robot described in claim 1, wherein elevator
Machine is anchored in robot, and for the one ends wound of insulation ropes on lift winch, the other end of insulation ropes is fixed on axis (4)
On.
3. the offline control method with automatic hanging hook in a kind of robot, which is characterized in that be based on machine as claimed in claim 2
The upper offline control system with automatic hanging hook of people, includes the following steps：
1) it after robot reaches upper line position, is then sent to unmanned plane and transports automatic hanging hook signal, unmanned plane receives the transport
After automatic hanging hook signal, the automatic hanging hook in complete open configuration is first gripped, then sends automatic hanging hook to robot
Start online signal；
2) after the robot reception automatic hanging hook starts online signal, then start hoist engine, while unmanned plane starts to transmission of electricity
Suspension hook latched position flight on line, hoist engine increase flight with unmanned plane and synchronize automatic release insulation cable；
3) when unmanned plane reaches at the suspension hook latched position on power transmission line, then automatic hanging hook is sent to telemetry circuit (8) and reached
Power transmission line latched position signal, telemetry circuit (8) open light blocking type power transmission line position detection fibre optical sensor (10), light
Automatically whether detection power transmission line is completely embedded into complete open configuration blocking type power transmission line position detection fibre optical sensor (10)
The first arc suspension hook (2) and the second arc suspension hook (3) between opening in, when detection power transmission line be embedded into the first arc suspension hook
(2) it when opening between the second arc suspension hook (3), then generates feedback signal and gives telemetry circuit (8), when telemetry circuit (8)
When obtaining feedback signal, then controls driving motor (6) and be latched the first arc suspension hook (2) and the second arc suspension hook (3)；
4) after the completion of telemetry circuit (8) detects the first arc suspension hook (2) and second arc suspension hook (3) locking, then drive is closed
Dynamic motor (6), and send automatic hanging hook to unmanned plane and complete locking in the signal on power transmission line；
5) unmanned plane receives automatic hanging hook locking after the signal on power transmission line, then the automatic hanging hook for discharging clamping is transported downwards
It is dynamic, the online completion signal of automatic hanging hook then is sent to robot, robot can complete the online behaviour of robot by hoist engine
Make.
4. offline in robot according to claim 3 use automatic hanging hook control method, which is characterized in that robot passes through
Hoist engine complete the online operation of robot detailed process be：After all automatic hanging hooks complete online, the online preparation of robot
Work is completed, and robot recycles insulation cable completion robot by hoist engine and lifts online operation, until robot reaches
Until line position completes online operation, robot opens light blocking type fibre optical sensor (5) by telemetry circuit (8) and prepares
Automatic hanging hook lifting signal in place is received, when robotic gripper automatic hanging hook and after give rise to position, telemetry circuit (8) passes through light
When line blocking type fibre optical sensor (5) acquisition automatic hanging hook lifts signal in place, then automatic hanging hook is sent to robot and given rise to
Then position signal issues the signal of the first arc suspension hook (2) and the second arc suspension hook (3) that open locking to driving motor (6),
Light blocking type fibre optical sensor (5) is simultaneously closed off, until telemetry circuit (8) receives the first arc suspension hook (2) and the second arc
Until suspension hook (3) opens signal completely, telemetry circuit (8) sends automatic hanging hook to robot and completes recycling ready signal, machine
People receives automatic hanging hook and completes after recycling ready signal, and automatic hanging hook is recovered into cabinet by robot, completes an automatic hanging
The storage work of hook, repeats above-mentioned steps, until all automatic hanging hooks complete storage work, realizes that robot passes through volume
It raises machine and completes the online operation of robot.
5. offline in robot according to claim 4 use automatic hanging hook control method, which is characterized in that robot passes through
Hoist engine complete the offline operation of robot detailed process be：When robot reaches offline station, robotic gripper storage
Automatic hanging hook lifts upwards, and sends offline signal to automatic hanging hook, and telemetry circuit (8) opens light blocking type transmission of electricity line position
Detection fiber sensor (10), until power transmission line is embedded into opening between the first arc suspension hook (2) and the second arc suspension hook (3)
At mouthful, telemetry circuit (8) sends the signal of the first arc of locking suspension hook (2) and the second arc suspension hook (3) to driving motor (6),
Until receiving the first arc suspension hook (2) and second arc suspension hook (3) complete locking signal, it is defeated to retransmit automatic hanging hook completion
Electric wire locking signal after robot receives automatic hanging hook completion power transmission line locking signal, then discharges oneself of clamping to robot
Dynamic suspension hook, after all automatic hanging hooks complete power transmission line locking signal, starting hoist engine release insulation cable, to complete robot
Offline operation, when robot reaches ground designated position, hoist engine stops the release of insulation cable, and issues machine to unmanned plane
Device people offline signal in place after unmanned plane receives the offline signal in place of robot, then flies to the lower section of cabinet (1), and to
Automatic hanging hook sends offline signal, then clamps and lift automatic hanging hook, after telemetry circuit (8) receives offline signal, starts light
Line blocking type fibre optical sensor (5), until light blocking type fibre optical sensor (5) detects that automatic hanging hook lifts limit signal,
Then telemetry circuit (8), which issues, opens suspension hook instruction, while the signal for stopping lifting and remain stationary, observing and controlling are sent to unmanned plane
Circuit (8) instructs control driving motor (6) work according to the opening suspension hook, and driving motor (6) drives the first arc suspension hook (2)
And second arc suspension hook (3) open, after the first arc suspension hook (2) and the second arc suspension hook (3) fully open in place, telemetry circuit
(8) driving motor (6) are closed, telemetry circuit (8) then issues automatic hanging hook to unmanned plane and robot and leaves power transmission line locking
Station signal, unmanned plane receive automatic hanging hook leave power transmission line locking station signal after, then carry automatic hanging hook and move downward,
Simultaneously robot receive automatic hanging hook leave power transmission line locking station signal after, then control the decline that hoist engine follows unmanned plane
Speed sync recycling insulation cable, until unmanned plane drops to stop position, until robot completes automatic hanging hook storage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811069551.8A CN108879483B (en) | 2018-09-13 | 2018-09-13 | Automatic lifting hook for robot online and offline and control system and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811069551.8A CN108879483B (en) | 2018-09-13 | 2018-09-13 | Automatic lifting hook for robot online and offline and control system and method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108879483A true CN108879483A (en) | 2018-11-23 |
| CN108879483B CN108879483B (en) | 2023-11-28 |
Family
ID=64324037
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811069551.8A Active CN108879483B (en) | 2018-09-13 | 2018-09-13 | Automatic lifting hook for robot online and offline and control system and method thereof |
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| Country | Link |
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| CN (1) | CN108879483B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114362038A (en) * | 2021-12-07 | 2022-04-15 | 贵州电网有限责任公司 | Hoisting system for electrified lead wire connecting line of power distribution network |
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| CN203690809U (en) * | 2014-02-20 | 2014-07-02 | 国家电网公司 | Wire tensioning pulley |
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| CN207819320U (en) * | 2017-12-20 | 2018-09-04 | 王少女 | A kind of convenient and efficient installation cable unit |
| CN208986485U (en) * | 2018-09-13 | 2019-06-14 | 西安建筑科技大学 | It is offline in a kind of robot to use automatic hanging hook |
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| JPH09318674A (en) * | 1996-05-29 | 1997-12-12 | Matsushita Electric Ind Co Ltd | Simplified photoelectric ammeter |
| US20060220606A1 (en) * | 2005-03-31 | 2006-10-05 | Lg Electronics Inc. | Device for detecting lift of autonomous mobile robot |
| CN203690809U (en) * | 2014-02-20 | 2014-07-02 | 国家电网公司 | Wire tensioning pulley |
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| CN114362038A (en) * | 2021-12-07 | 2022-04-15 | 贵州电网有限责任公司 | Hoisting system for electrified lead wire connecting line of power distribution network |
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| CN108879483B (en) | 2023-11-28 |
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