CN108945143A - A kind of power distribution network climbing Work robot - Google Patents
A kind of power distribution network climbing Work robot Download PDFInfo
- Publication number
- CN108945143A CN108945143A CN201811043942.2A CN201811043942A CN108945143A CN 108945143 A CN108945143 A CN 108945143A CN 201811043942 A CN201811043942 A CN 201811043942A CN 108945143 A CN108945143 A CN 108945143A
- Authority
- CN
- China
- Prior art keywords
- driving source
- power distribution
- holder arms
- clamping jaw
- distribution network
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the invention discloses a kind of power distribution networks to climb Work robot, comprising: clamping jaw, multiple movable joints, the first driving source, the second driving source and control module；Multiple movable joints, which successively join end to end, constitutes the main body of robot, and two neighboring movable joint is movably connected on same node, and each node is interior to be equipped with the first driving source, for driving movable joint to be rotated around node；The both ends of main body are respectively connected with a clamping jaw and a camera；Clamping jaw includes two identical holder arms, holder arms are meander-like, two holder arms are symmetrical arranged and between the two at a distance of preset distances, connect with clamping jaw it is intra-articular be equipped with the second driving source, it is close to each other for two holder arms of driving or be located remotely from each other or rotated simultaneously；Control module is electrically connected with the first driving source, the second driving source respectively.The present invention can climb on power distribution network, and have the function of distribution net work structure Visual retrieval and bolt fastening.
Description
Technical field
The present invention relates to power distribution network climbing field of operation more particularly to a kind of power distribution network to climb Work robot.
Background technique
With rapid development of economy, electric system scale constantly expands, and the requirement of system stability is continuously improved, with
The appearance of robot technology can replace manually undertaking that operation difficulty is big, the high work of required precision, more and more for industry
Field is of interest.
For the site environment of overhead transmission line distribution system complexity, the prior art does not also have one kind enterprising in power distribution network
Row climbing, and the robot with distribution net work structure Visual retrieval and bolt fastening function.
Summary of the invention
The embodiment of the invention provides a kind of power distribution networks to climb Work robot, can be climbed on power distribution network, and
Have the function of distribution net work structure Visual retrieval and bolt fastening.
The present invention provides a kind of power distribution networks to climb Work robot, comprising: clamping jaw, multiple movable joints, the first driving
Source, the second driving source and control module；
Multiple movable joints, which successively join end to end, constitutes the main body of robot, the two neighboring movable joint activity
It is connected to same node, each node is interior to be equipped with the first driving source, for driving the movable joint around the node
It is rotated；
The both ends of the main body are respectively connected with the clamping jaw and a camera；
The clamping jaw includes two identical holder arms, and the holder arms are meander-like, and two holder arms are symmetrically set
Set and between the two at a distance of preset distance, connect with the clamping jaw it is intra-articular be equipped with the second driving source, for two institutes of driving
It is close to each other or be located remotely from each other or rotated simultaneously to state holder arms；
The control module is electrically connected with first driving source, second driving source respectively.
Preferably, three cavitys of composition between two holder arms arranged symmetrically and at a distance of preset distance, first
Cavity is used for fishbolt, and second cavity is for clamping shaft tower, and third cavity is for clamping conducting wire.
Preferably, each holder arms include three sections, and first segment is straightway, and second segment is the zigzag section for constituting angle, the
Three sections are segmental arc.
Preferably, first driving source and second driving source are motor.
Preferably, the control module includes controller and driver, and the controller is connect with the driver, described
Driver is connected with the motor.
Preferably, the controller is connect by CAN bus with the driver.
As can be seen from the above technical solutions, the embodiment of the present invention has the advantage that
The present invention provides a kind of power distribution networks to climb Work robot, comprising: clamping jaw, multiple movable joints, the first driving
Source, the second driving source and control module；Multiple movable joints, which successively join end to end, constitutes the main body of robot, two neighboring movement
Joint motion is connected to same node, and each node is interior to be equipped with the first driving source, for driving movable joint to carry out around node
Rotation；The both ends of main body are respectively connected with a clamping jaw and a camera；Clamping jaw includes two identical holder arms, and holder arms are
Meander-like, two holder arms are symmetrical arranged and between the two at a distance of preset distances, and what is connect with clamping jaw intra-articular is equipped with the second drive
Dynamic source, for driving two holder arms close to each other or being located remotely from each other or rotated simultaneously；Control module is driven with first respectively
Dynamic source, the electrical connection of the second driving source.Robot provided by the invention has clamping jaw, since clamping jaw is the holder arms structure by meander-like
At, therefore the shaft tower on power distribution network may be implemented and conducting wire is climbed, and since robot has camera, it can be to matching
Electric network composition detect and determine the position of bolt, is reinforced by clamping jaw to bolt.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other attached drawings according to these attached drawings.
Fig. 1 is that a kind of power distribution network provided in the embodiment of the present invention climbs the structural schematic diagram of Work robot；
Fig. 2 is the schematic diagram that shaft tower is climbed by robot；
Fig. 3 is schematic diagram when robot reaches job position；
Fig. 4 is the structural schematic diagram of clamping jaw；
Fig. 5 is the flow diagram of image recognition.
Specific embodiment
The embodiment of the invention provides a kind of power distribution networks to climb Work robot, can be climbed on power distribution network, and
Have the function of distribution net work structure Visual retrieval and bolt fastening.
In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention
Attached drawing in embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that disclosed below
Embodiment be only a part of the embodiment of the present invention, and not all embodiment.Based on the embodiments of the present invention, this field
Those of ordinary skill's all other embodiment obtained without making creative work, belongs to protection of the present invention
Range.
Referring to Fig. 1, a kind of one embodiment provided in the embodiment of the present invention includes: clamping jaw 1, multiple movable joints
2, the first driving source, the second driving source and control module；
Multiple movable joints 2, which successively join end to end, constitutes the main body of robot, and two neighboring movable joint 2 is movably connected on
Same node 3, each node 3 is interior to be equipped with the first driving source, for driving movable joint 2 to be rotated around node 3, realizes and closes
Section is wriggled, it should be noted that first driving source can be micromotor.
The both ends of main body are respectively connected with a clamping jaw 1 and a camera 7.
Clamping jaw 1 includes two identical holder arms, and holder arms are meander-like, and two holder arms are symmetrical arranged and between the two
At a distance of preset distance, the material for making holder arms is not particularly limited in the present embodiment, can be adjusted according to actual needs,
As can be seen from FIG. 4, holder arms are made of multistage making material, therefore can be made into meander-like, therefore constitute three between two holder arms
A cavity, first cavity are used for fishbolt 6, and second cavity is for clamping shaft tower 4, and third cavity is for clamping conducting wire
5.Specifically, each holder arms mainly include three sections, first segment is straightway, and second segment is then the zigzag section for constituting angle, the
Three sections are then segmental arc, and therefore, two holder arms of same shape may be constructed three different cavitys.
Connect with clamping jaw it is intra-articular be equipped with the second driving source, for driving two holder arms close to each other or be located remotely from each other
Or it is rotated simultaneously.It should be noted that second driving source may include two class micromotors, one type can be used for
Drive two holder arms close to each other or be located remotely from each other, with realize robot clamping jaw can clamping square or circular shaft tower 4,
And cooperate joint to wriggle and creep upwards along shaft tower (as shown in Figure 2), and robot clamping jaw can also clamp circular conducting wire 5, from
And it can creep along overhead line.When robot reaches the position of operation (as shown in Figure 3), image recognition can be carried out by camera
Determine the position of bolt 6, and after clamping jaw clamps bolt 6, another kind of micromotor drives arrow of two holder arms in Fig. 4
Direction is rotated, and realizes the function of fastening bolt.
In the present embodiment, robot control system includes the control module and ground base station two parts of robot body,
Pass through ethernet communication between two parts.The control module of ontology is master controller using STM32F407 chip, passes through multithreading
Mode handle the task of other function module.Network communication thread include TCP sending and receiving data thread, UDP send data thread,
By these threads, controller and ground base station establish network and video communication and realize the transmitting-receiving of motor control instruction.It is main
Thread uses CANOpen agreement, i.e., controller assigns instruction to each driver by CAN bus come to drive each driving source,
And then control the movement in each joint, clamping jaw.Ground base station sends the movement of control instruction control robot body, robot sheet
The state of each movable joint and sensor is fed back to ground base station by body, and controller can also be by Ethernet, by robot
The video image that the camera that ontology carries obtains is sent to ground base station.
For the collected target image of robot manipulating task end camera, process is identified and positioned as shown in figure 5, main
It include: image classification, image procossing, hexagon fitting, central point calculate four parts.HOG Feature Descriptor is used first
The identification classification that target object is completed with SVM support vector machines, after identifying target image, denoises image and is added
Strength reason.It works for bolt fastening, since bolt and its surrounding structure are essentially gray tone, and own metal material is easy hair
Raw mirror-reflection, under the reflection of strong illumination and rainwater to light, it may appear that bloom interference region, therefore utilize the side of image
The identification and positioning of edge information progress bolt hexagon.The edge extracting that bolt is carried out using Canny detector, is then utilized
Obtained image edge information is transformed into the space Hough by Hough transform algorithm, and choosing in the space Hough can most represent
The point set group of bolt profile hexagon calculates bolt-center point position, and then controls robot manipulating task end and complete bolt fastening
Operation.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before
Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (6)
1. a kind of power distribution network climbs Work robot characterized by comprising clamping jaw, multiple movable joints, the first driving source,
Second driving source and control module；
Multiple movable joints, which successively join end to end, constitutes the main body of robot, and the two neighboring movable joint is flexibly connected
In same node, each node is interior to be equipped with the first driving source, for driving the movable joint to carry out around the node
Rotation；
The both ends of the main body are respectively connected with the clamping jaw and a camera；
The clamping jaw includes two identical holder arms, and the holder arms are meander-like, two holder arms be symmetrical arranged and
Between the two at a distance of preset distance, connect with the clamping jaw it is intra-articular be equipped with the second driving source, for two folders of driving
Tong arm is close to each other or is located remotely from each other or is rotated simultaneously；
The control module is electrically connected with first driving source, second driving source respectively.
2. power distribution network according to claim 1 climbs Work robot, which is characterized in that be symmetrical arranged and at a distance of it is preset away from
From two holder arms between constitute three cavitys, first cavity is used for fishbolt, and second cavity is for clamping
Shaft tower, third cavity is for clamping conducting wire.
3. power distribution network according to claim 2 climbs Work robot, which is characterized in that each holder arms include three sections,
First segment is straightway, and second segment is the zigzag section for constituting angle, and third section is segmental arc.
4. power distribution network according to claim 1 or 3 climbs Work robot, which is characterized in that first driving source and
Second driving source is motor.
5. power distribution network according to claim 4 climbs Work robot, which is characterized in that the control module includes control
Device and driver, the controller are connect with the driver, and the driver is connected with the motor.
6. power distribution network according to claim 5 climbs Work robot, which is characterized in that the controller is total by CAN
Line is connect with the driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811043942.2A CN108945143A (en) | 2018-09-07 | 2018-09-07 | A kind of power distribution network climbing Work robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811043942.2A CN108945143A (en) | 2018-09-07 | 2018-09-07 | A kind of power distribution network climbing Work robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108945143A true CN108945143A (en) | 2018-12-07 |
Family
ID=64476485
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811043942.2A Pending CN108945143A (en) | 2018-09-07 | 2018-09-07 | A kind of power distribution network climbing Work robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108945143A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109768499A (en) * | 2019-01-14 | 2019-05-17 | 南京电博机器人技术有限公司 | A kind of transmission line of electricity screen of trees cleaning snake-shaped robot device and snakelike method of climbing tree |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101168253A (en) * | 2006-10-25 | 2008-04-30 | 上海求是机器人有限公司 | Transmission line polling robot mechanical arm device |
| CN101664927A (en) * | 2009-09-15 | 2010-03-10 | 华南理工大学 | Modularized biomimetic climbing robot |
| CN102923206A (en) * | 2012-11-02 | 2013-02-13 | 上海电机学院 | Climbing robot and climbing mode thereof |
| CN103398297A (en) * | 2013-07-30 | 2013-11-20 | 武汉大学 | Tube bank detection robot |
| CN104852325A (en) * | 2015-02-12 | 2015-08-19 | 国网青海省电力公司海南供电公司 | Live bolt complementary installation and fastening device |
| CN105523094A (en) * | 2015-12-25 | 2016-04-27 | 国网重庆市电力公司电力科学研究院 | Climbing robot for iron towers |
| CN205219121U (en) * | 2015-11-17 | 2016-05-11 | 深圳市博铭维智能科技有限公司 | Robot is patrolled and examined in climbing |
| CN208665376U (en) * | 2018-09-07 | 2019-03-29 | 广东电网有限责任公司 | A kind of power distribution network climbing Work robot |
-
2018
- 2018-09-07 CN CN201811043942.2A patent/CN108945143A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101168253A (en) * | 2006-10-25 | 2008-04-30 | 上海求是机器人有限公司 | Transmission line polling robot mechanical arm device |
| CN101664927A (en) * | 2009-09-15 | 2010-03-10 | 华南理工大学 | Modularized biomimetic climbing robot |
| CN102923206A (en) * | 2012-11-02 | 2013-02-13 | 上海电机学院 | Climbing robot and climbing mode thereof |
| CN103398297A (en) * | 2013-07-30 | 2013-11-20 | 武汉大学 | Tube bank detection robot |
| CN104852325A (en) * | 2015-02-12 | 2015-08-19 | 国网青海省电力公司海南供电公司 | Live bolt complementary installation and fastening device |
| CN205219121U (en) * | 2015-11-17 | 2016-05-11 | 深圳市博铭维智能科技有限公司 | Robot is patrolled and examined in climbing |
| CN105523094A (en) * | 2015-12-25 | 2016-04-27 | 国网重庆市电力公司电力科学研究院 | Climbing robot for iron towers |
| CN208665376U (en) * | 2018-09-07 | 2019-03-29 | 广东电网有限责任公司 | A kind of power distribution network climbing Work robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109768499A (en) * | 2019-01-14 | 2019-05-17 | 南京电博机器人技术有限公司 | A kind of transmission line of electricity screen of trees cleaning snake-shaped robot device and snakelike method of climbing tree |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208665376U (en) | A kind of power distribution network climbing Work robot | |
| CN101913076B (en) | Industrial robot-based assembly method and device of piston, piston pin and connecting rod | |
| CN106930515B (en) | Automatic tracking Mei Feng joint filling robot | |
| CN111823223B (en) | Robot arm grabbing control system and method based on intelligent stereoscopic vision | |
| CN108724158B (en) | Pole climbing robot | |
| CN104584779A (en) | Apple maturity automatic detection and picking robot based on binocular vision | |
| CN206135296U (en) | Electrified fastening bolt robot of transmission line | |
| CN109315144B (en) | Intelligent fruit picking device and picking method thereof | |
| CN104659706A (en) | Palm opening and closing device | |
| CN108945143A (en) | A kind of power distribution network climbing Work robot | |
| CN104967049A (en) | Insulator string pushing terminal | |
| Jiang et al. | Robotized recognition of a wire harness utilizing tracing operation | |
| CN108879467A (en) | A kind of transmission line of electricity bird's nest remove device and its application method | |
| CN109895116A (en) | A kind of electric power piping lane track machine people method for inspecting and device | |
| CN107398920A (en) | Clip claw mechanism and mechanical arm | |
| CN105328709B (en) | A kind of gripper | |
| CN105048338B (en) | Insulator string replacement assembly and insulator string replacement method | |
| CN110238488A (en) | Vision guide bonding machine | |
| CN110421559B (en) | Teleoperation method and motion track library construction method of distribution network live working robot | |
| CN113708290B (en) | Live working robot drainage wire threading control method and device and robot terminal | |
| US20220072713A1 (en) | A method for robot-assisted wiring of electrical components of an electrical switchgear arranged on a mounting plate | |
| CN114851209A (en) | Industrial robot working path planning optimization method and system based on vision | |
| CN110722561A (en) | Full-automatic charger robot control method and device | |
| CN107756402A (en) | A kind of intelligent avoidance grasping system based on deep learning | |
| CN109038162B (en) | Insulated wiring device for live-wire work |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |