CN204686869U - Mounting or dismounting earth connection articulated robot - Google Patents
Mounting or dismounting earth connection articulated robot Download PDFInfo
- Publication number
- CN204686869U CN204686869U CN201520336001.3U CN201520336001U CN204686869U CN 204686869 U CN204686869 U CN 204686869U CN 201520336001 U CN201520336001 U CN 201520336001U CN 204686869 U CN204686869 U CN 204686869U
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- platform
- mounting
- earth connection
- dismounting
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Abstract
The utility model relates to power domain, is specifically related to the equipment of ultra-high-tension power transmission line mounting or dismounting earth connection, is specially mounting or dismounting earth connection articulated robot.Mounting or dismounting earth connection articulated robot, comprises robot platform and its platform control system.Robot platform comprises mobile platform, hoistable platform, switch board, multiple joint manipulator, hanging wire fixture, mobile platform installs hoistable platform, hoistable platform top arranges a horizontal support platform, brace table fixes switch board, and the top of switch board connects multiple joint manipulator by bearing, the end joint arm connection suspension wire holder of multiple joint manipulator; Described multiple joint manipulator is connected by multiple joint arm, adopts bearing to connect between joint arm, and each joint arm axle connects a drive motor.Mounting or dismounting earth connection articulated robot, has visual, remote-controlled operation function, hangs dismounting ground wire work for high voltage substation, thoroughly changes the danger of Traditional Man mounting or dismounting high-voltage circuit grounding line.
Description
Technical field
The utility model relates to power domain, is specifically related to the equipment of ultra-high-tension power transmission line mounting or dismounting earth connection, is specially mounting or dismounting earth connection articulated robot.
Background technology
In 500KV transformer station and following ultra-high-tension power transmission line installation exercise, carrying out overhead hung dismounting ground wire is more dangerous link.In the operation of mounting or dismounting earth connection, mounting or dismounting ground connection need be carried out in the high-altitude of about 20 meters, and life risk is very large.Due to the restriction in transformer station place time one adopts mechanical elevator to be elevated, must be careful during lifting, otherwise the risk of the high-tension line by mistake hitting surrounding will be increased greatly; Although its two circuit is in power down mode, the circuit of open circuit is equivalent to a larger charging capacitor, there is the possibility of self discharge.Install and remove the larger operation of ground connection operational danger just, often hang the earth connection tearing a loop line road open, many people need be had to assist operation, at least need the circuit overhauled for more than hour to need power off time longer, cause larger economic loss.
Summary of the invention
The utility model is for the very large problem with causing larger economic loss of high-altitude mounting or dismounting ground connection work life risk, a kind of mounting or dismounting earth connection articulated robot is provided, solve existing artificial or equipment and carry out mounting or dismounting ground connection length consuming time, the defect that operational risk is large.
Design of the present utility model is as follows: mounting or dismounting earth connection articulated robot, comprises robot platform and its platform control system.Robot platform comprises mobile platform, hoistable platform, switch board, multiple joint manipulator, hanging wire fixture, mobile platform installs hoistable platform, hoistable platform top arranges a horizontal support platform, brace table fixes switch board, and the top of switch board connects multiple joint manipulator by bearing, the end joint arm connection suspension wire holder of multiple joint manipulator; Described multiple joint manipulator is connected by multiple joint arm, adopts bearing to connect between joint arm, and each joint arm axle connects a drive motor; Described platform control system is arranged in switch board, the image acquisition device comprising processor module and be connected with processor module, position sensor, WIFI communication module, motor control module, described motor control module connects drive motor by circuit, and controls its operation.
Described position sensor is arranged on hanging wire fixture, is connected with the processor module of platform control system by circuit, and sends position signalling to processor module.Position sensor gathers the position coordinates signal of hanging wire fixture.
Described image acquisition device is arranged on switch board panel, is connected with the processor module of platform control system by circuit, gathers picture signal, and is converted to the discernible data signal of processor module, and send to processor module.
Described WIFI communication module is connected with external antenna, and external antenna is arranged on switch board panel.
Described hoistable platform adopts hydraulic control lifting.
Moveable roller is provided with bottom described mobile platform.
Mounting or dismounting earth connection articulated robot, its robot platform is elevated by HYDRAULIC CONTROL SYSTEM, and bottom is moved by roller.In lifting process, the picture signal of image acquisition device acquisition platform surrounding, identifies whether to there is transmission line of electricity or other barrier obstruction, avoids wiping to be suspended to other transmission lines of electricity.Platform control system position sensor gathers the position coordinates signal of hanging wire fixture, to provide accurate positional information.Processor module, according to positional information, sends control signals to motor control module, by motor control module drive motors, drives multiple joint manipulator to be stretched over relevant position, carries out the operation of extension dismounting ground wire.Platform control system is equipped with WIFI communication module, to WIFI terminal equipment, can send image, positional information.Outside handheld terminal, by image, position signalling, transmits control signal, carries out long-distance remote control operation to platform control system, avoid human contact's high-tension line.
Mounting or dismounting earth connection articulated robot, there is visual, remote-controlled operation function, dismounting ground wire work is hung for high voltage substation, the danger of thorough change Traditional Man mounting or dismounting high-voltage circuit grounding line, Traditional Man being hung dismounting ground wire needs several hours to become a few minutes, greatly shorten the interruption maintenance time, improve operating efficiency, reduce the economic loss having a power failure and cause.Not only simplify work flow, and ensure that safety.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is hanging wire clamp structure schematic diagram;
Fig. 3 is platform control system structural representation.
Description of reference numerals: mobile platform 1, hydraulic elevating platform 2, switch board 3, multiple joint manipulator 4, hanging wire fixture 5, processor module 6, image acquisition device 8, position sensor 7, WIFI module 9, vision processor 10, motor control module 11, roller 12, motor 13, joint arm 14.
Detailed description of the invention
Below in conjunction with specific embodiment and Figure of description, the utility model is described in further detail.Specific embodiment described herein only in order to explain the utility model, and is not used in restriction the utility model.
Embodiment: as shown in Figure 1, mounting or dismounting earth connection articulated robot, bottom is the mobile platform 1 of band roller 12, mobile platform 1 is installed by the hydraulic elevating platform 2 of hydraulic control.Hydraulic elevating platform 2 is fixed switch board 3, switch board 3 connects multiple joint manipulator 4 by bearing.The end connection suspension wire holder 5 of multiple joint manipulator 4.Multiple joint manipulator 4 is in series by several joint arms 14, is connected between joint arm by bearing, and the turning cylinder of each joint arm connects a motor 13.
Be provided with platform control system in switch board 3, see Fig. 2, described control system comprises processor module 6, image acquisition device 8, position sensor 7, motor control module 11 and WIFI module 9.Processor module 6 includes vision processing module 10, connects image acquisition device 8 and position sensor 7, receives its input signal, carry out visual signal process.Figure collector 8 is arranged on the panel of switch board 3, gathers vision signal, and sends to processor module 6.Position sensor 7 is arranged on hanging wire fixture 5, coordinate acquisition position signalling, and sends to processor module.Motor control module 11 is connected with processor module 6, reception control signal, and motor control module 11, by the motor 13 of connection driving joint arm, controls the operation of motor.The WIFI module 9 of platform control system, its astronomical cycle, on switch board 3, carries out radio communication with WIFI terminal, comprise transmission video signal, position signalling, and the control command receiving WIFI terminal, carry out the lifting of hydraulic elevating platform and the scaling operation of multiple joint manipulator.WIFI terminal, according to image and position display, can carry out visual straighforward operation to mounting or dismounting earth connection articulated robot at a distance.
Mounting or dismounting earth connection articulated robot, for carrying out the operation of high-altitude mounting or dismounting earth connection to high-tension line, have visualized operation interface, by picture catching, monitoring lifting process, avoids being suspended to other transmission lines of electricity.Adopt far distance controlled, without the need to human contact's line loop operation, avoid danger.With adopted in the past compared with manual operation, hanging wire can be completed more fast and accurately and operate, decrease work required time, substantially increase operating efficiency.
Claims (6)
1. install and remove earth connection articulated robot, comprise robot platform and its platform control system, it is characterized in that, robot platform comprises mobile platform (1), hoistable platform (2), switch board (3), multiple joint manipulator (4), hanging wire fixture (5), mobile platform (1) is installed hoistable platform (2), hoistable platform (2) top arranges a horizontal support platform, brace table is fixed switch board (3), the top of switch board (3) connects multiple joint manipulator (4) by bearing, end joint arm connection suspension wire holder (5) of multiple joint manipulator (4); Described multiple joint manipulator (4) is connected by multiple joint arm, adopts bearing to connect between joint arm, and each joint arm axle connects a drive motor (13); Described platform control system is arranged in switch board (3), the image acquisition device (8) comprising processor module (6) and be connected with processor module (6), position sensor (7), WIFI communication module (9), motor control module (11), described motor control module (11) connects drive motor (13) by circuit, and controls its operation.
2. mounting or dismounting earth connection articulated robot according to claim 1, it is characterized in that, described position sensor (7) is arranged on hanging wire fixture (5), is connected with the processor module (6) of platform control system by circuit, and sends position signalling to processor module (6).
3. mounting or dismounting earth connection articulated robot according to claim 1, it is characterized in that, described image acquisition device (8) is arranged on switch board (3) panel, be connected with the processor module (6) of platform control system by circuit, gather picture signal, and be converted to the discernible data signal of processor module, and send to processor module (6).
4. mounting or dismounting earth connection articulated robot according to claim 1, is characterized in that, described WIFI communication module (9) is connected with external antenna, and external antenna is arranged on switch board (3) panel.
5. mounting or dismounting earth connection articulated robot according to claim 1, is characterized in that, described hoistable platform (2) adopts hydraulic control lifting.
6. mounting or dismounting earth connection articulated robot according to claim 1, is characterized in that, is provided with moveable roller (12) bottom described mobile platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520336001.3U CN204686869U (en) | 2015-03-03 | 2015-05-23 | Mounting or dismounting earth connection articulated robot |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2015201354662 | 2015-03-03 | ||
| CN201520135466 | 2015-03-03 | ||
| CN201520336001.3U CN204686869U (en) | 2015-03-03 | 2015-05-23 | Mounting or dismounting earth connection articulated robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204686869U true CN204686869U (en) | 2015-10-07 |
Family
ID=53842514
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510265484.7A Pending CN104842336A (en) | 2015-03-03 | 2015-05-23 | Multi-joint robot for mounting and demounting ground wires |
| CN201520336001.3U Expired - Fee Related CN204686869U (en) | 2015-03-03 | 2015-05-23 | Mounting or dismounting earth connection articulated robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510265484.7A Pending CN104842336A (en) | 2015-03-03 | 2015-05-23 | Multi-joint robot for mounting and demounting ground wires |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN104842336A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104842336A (en) * | 2015-03-03 | 2015-08-19 | 深圳市广明科技有限公司 | Multi-joint robot for mounting and demounting ground wires |
| CN108557450A (en) * | 2018-03-30 | 2018-09-21 | 联动优势电子商务有限公司 | A kind of logistic storage robot |
| CN115255884A (en) * | 2022-07-21 | 2022-11-01 | 南京工业职业技术大学 | Automatic robot roller assembling system and method based on OpenCV (open source computer vision library) vision processing |
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| CN105490193B (en) * | 2016-01-06 | 2024-02-09 | 国网新疆电力公司检修公司 | High-altitude automatic ground wire hanging device for transformer substation |
| CN106003102A (en) * | 2016-06-13 | 2016-10-12 | 无锡虹业自动化工程有限公司 | Control cabinet provided with automatic robot |
| CN106711847B (en) * | 2016-12-21 | 2018-04-10 | 国网安徽省电力公司淮南供电公司 | The powered mechanical arm for obstacle removing of 10kV distribution lines |
| CN106972407B (en) * | 2017-04-25 | 2018-05-29 | 国网安徽省电力公司检修公司 | One kind is super, extra-high voltage electric transmission and transformation equipment high-altitude ground connection operating device |
| CN107443355B (en) * | 2017-08-04 | 2020-02-14 | 国网山东省电力公司电力科学研究院 | Mechanical arm for detecting partial discharge of switch cabinet and control method |
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| CN109849017B (en) * | 2019-03-29 | 2024-07-12 | 贵州电网有限责任公司 | Control system and control method for hanging and detaching ground wire of transformer substation robot |
| CN112289015A (en) * | 2020-10-19 | 2021-01-29 | 南京电力金具设计研究院有限公司 | Novel grounding device wireless remote control technology for detection of extra-high voltage line |
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| 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 |
| CN113394710B (en) * | 2021-07-25 | 2022-09-16 | 启晗电力建设集团有限公司 | High tension transmission line ground wire operation device |
| CN113612095A (en) * | 2021-08-27 | 2021-11-05 | 广东电网有限责任公司 | Grounding wire clamp installation robot |
| CN113752274A (en) * | 2021-09-13 | 2021-12-07 | 广西电网有限责任公司电力科学研究院 | High-voltage safety auxiliary ground wire dismounting robot system |
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| US4621562A (en) * | 1983-05-31 | 1986-11-11 | Monitor Engineers Limited | Remote control robot vehicle |
| CN1978004B (en) * | 2005-11-30 | 2010-11-03 | 中国科学院自动化研究所 | Fire-disaster emergency robot system and method |
| CN202292753U (en) * | 2011-09-29 | 2012-07-04 | 济宁市质量技术监督信息所 | Installation and detection device for street lamp |
| CN202336868U (en) * | 2011-12-07 | 2012-07-18 | 金华职业技术学院 | Robot with I-shaped wheels |
| WO2013099091A1 (en) * | 2011-12-28 | 2013-07-04 | パナソニック株式会社 | Self-propelled robot hand |
| CN202953062U (en) * | 2012-12-07 | 2013-05-29 | 上海电机学院 | Automatic carrier |
| CN203418535U (en) * | 2013-10-15 | 2014-02-05 | 王云兰 | Explosive ordnance disposal mechanical hand |
| CN103978474B (en) * | 2014-05-14 | 2015-09-23 | 湖南大学 | A kind of job that requires special skills robot towards extreme environment |
| CN204131645U (en) * | 2014-10-22 | 2015-01-28 | 云南电网公司楚雄供电局 | A kind of vision hanging wire robot video acquisition transmitting device |
| CN104842336A (en) * | 2015-03-03 | 2015-08-19 | 深圳市广明科技有限公司 | Multi-joint robot for mounting and demounting ground wires |
-
2015
- 2015-05-23 CN CN201510265484.7A patent/CN104842336A/en active Pending
- 2015-05-23 CN CN201520336001.3U patent/CN204686869U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104842336A (en) * | 2015-03-03 | 2015-08-19 | 深圳市广明科技有限公司 | Multi-joint robot for mounting and demounting ground wires |
| CN108557450A (en) * | 2018-03-30 | 2018-09-21 | 联动优势电子商务有限公司 | A kind of logistic storage robot |
| CN115255884A (en) * | 2022-07-21 | 2022-11-01 | 南京工业职业技术大学 | Automatic robot roller assembling system and method based on OpenCV (open source computer vision library) vision processing |
| CN115255884B (en) * | 2022-07-21 | 2023-12-05 | 南京工业职业技术大学 | Robot roller automatic assembly system and method based on OpenCV vision processing |
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| Publication number | Publication date |
|---|---|
| CN104842336A (en) | 2015-08-19 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151007 Termination date: 20160523 |