CN206135296U - Electrified fastening bolt robot of transmission line - Google Patents
Electrified fastening bolt robot of transmission line Download PDFInfo
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- CN206135296U CN206135296U CN201621159587.1U CN201621159587U CN206135296U CN 206135296 U CN206135296 U CN 206135296U CN 201621159587 U CN201621159587 U CN 201621159587U CN 206135296 U CN206135296 U CN 206135296U
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- bolt
- transmission line
- fastening
- fastening sleeve
- electric transmission
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Abstract
The embodiment of the utility model discloses electrified fastening bolt robot of transmission line has solved compact line Tower and multiloop line Tower widely used, and is more and more littleer with the looks interval between the cross arm, has brought a new difficult problem for artifical live working's security, including live overhaul technique talent's serious shortage, and timely, the high efficiency that have greatly restricted live working are gone on, has influenced reliability of power supply's technical problem, the utility model discloses an electrified fastening bolt robot of transmission line includes: bolt -up operation device, bolt -up operation device is including two manipulators, the bolt -up sleeve of two embedding miniature camera heads, motion subassembly, organism, wherein two manipulators are the telescopic machanism who has 2 degrees of freedom, and motion subassembly and organism fixed connection are all installed at the manipulator end to the bolt -up sleeve of two embedding miniature camera heads for be connected with the power transmission line drive, the opposite side at the organism front end is installed respectively to two manipulators.
Description
Technical field
This utility model is related to power system high-voltage hot-line work automatic field, more particularly to a kind of electric transmission line hot-line
Fastening bolt robot.
Background technology
Ultra-high-tension power transmission line all kinds of bolts are usually used carry out transmission facility connect regard it as and equipment room connection, due to
Thermal stress is waved and born to circuit with the wind, and connecting bolt usually becomes to loosen, and needs to fasten in time.It is powered to carry out bolt fastening,
It is the important leverage for improving electrical network power supply reliability, but is also that one arduous and the work of danger.
With the continuous development of electrical network, compact line shaft tower and multi-loop line shaft tower are used widely, between cross-arm
Less and less with phase spacing, the safety for giving people work livewire work brings a new difficult problem, adds hotline maintenance technology talent
Serious scarcity, work high above the ground to operating personnel muscle power high request, greatly constrain livewire work it is timely, efficiently enter
OK, have impact on the reliability of power supply.
Utility model content
This utility model embodiment discloses a kind of electric transmission line hot-line fastening bolt robot, solves compact line
Shaft tower and multi-loop line shaft tower are used widely, less and less with phase spacing between cross-arm, give people the peace of work livewire work
Full property brings a new difficult problem, adds the serious scarcity of hotline maintenance technology talent, height of the work high above the ground to operating personnel's muscle power
Require, greatly constrain livewire work it is timely, efficiently carry out, have impact on the technical problem of the reliability of power supply.
This utility model embodiment provides a kind of electric transmission line hot-line fastening bolt robot, including：
Bolt terminal operation device；
The bolt terminal operation device includes double-manipulator, the bolt fastening sleeve of two embedded minisize pick-up heads, fortune
Dynamic component, body；Wherein described double-manipulator is the telescoping mechanism with 2 degree of freedom, described two embedded miniature video cameras
Head bolt fastening sleeve be installed in the arm end, the moving parts are fixedly connected with the body, for
Power transmission line drive connection, the double-manipulator are separately mounted to the opposite side of the body front end.
Preferably, the double-manipulator includes rotary joint and telescopic joint, and the double-manipulator is by the rotation
Turn joint to be connected with the body, the telescopic joint is inside the mechanical hand.
Preferably, the moving parts include road wheel, and the road wheel is two, respectively by two axostylus axostyles and the machine
Body connects, and axostylus axostyle described in two is respectively perpendicular and is fixedly connected on the body two ends.
Preferably, also including two telescopic mechanical arms, it is arranged in the middle of the body, the telescopic mechanical arm and the walking
Wheel connection.
Preferably,
The moving parts also include jaw, isoelectric level wheel；The clamping jaw device is arranged in the telescopic mechanical arm；Institute
Isoelectric level wheel is stated installed in the road wheel side.
Preferably, the minisize pick-up head of the bolt fastening sleeve of described two embedded minisize pick-up heads is installed in institute
State centre position inside bolt fastening sleeve.
Preferably, it is flexible connection between the bolt fastening sleeve and mechanical hand of described two embedded minisize pick-up heads.
Preferably, the bolt fastening sleeve of described two embedded minisize pick-up heads also includes travelling gear and fixed support,
The travelling gear is connected with the fastening sleeve, drives fastening sleeve rotation by the travelling gear；The miniature video camera
Head is connected with the fixed support and fastening sleeve.
Preferably, the bolt fastening sleeve of described two embedded minisize pick-up heads also includes that bolt fastens motor, wherein institute
State bolt fastening motor to be connected with the travelling gear, the bolt fastening motor is fixed on the fixed support.
Preferably, the bolt fastening sleeve of described two embedded minisize pick-up heads also include bearing, the bearing with it is described
Fastening sleeve connects.
As can be seen from the above technical solutions, this utility model embodiment has advantages below：
This utility model embodiment provides a kind of electric transmission line hot-line fastening bolt robot, including bolt terminal operation
Device；The bolt terminal operation device includes double-manipulator, the bolt fastening sleeve of two embedded minisize pick-up heads, exercise group
Part, body；Wherein described double-manipulator is the telescoping mechanism with 2 degree of freedom, described two embedded minisize pick-up heads
Bolt fastening sleeve is installed in the arm end, and the moving parts are fixedly connected with the body, for transmission of electricity
Line drive connection, the double-manipulator are separately mounted to the opposite side of the body front end.In the present embodiment, by double-mechanical
Handss, the bolt fastening sleeve of two embedded minisize pick-up heads, moving parts, body；Wherein described double-manipulator is with 2
The telescoping mechanism of degree of freedom, the bolt fastening sleeve of described two embedded minisize pick-up heads are installed in the arm end,
The moving parts are fixedly connected with the body, for power transmission line drive connection, the double-manipulator is separately mounted to institute
State the opposite side of body front end, solve compact line shaft tower and multi-loop line shaft tower is used widely, between cross-arm and
Phase spacing is less and less, and the safety for giving people work livewire work brings a new difficult problem, adds hotline maintenance technology talent's
It is serious deficient, high request of the work high above the ground to operating personnel's muscle power, greatly constrain livewire work it is timely, efficiently carry out,
The technical problem of the reliability of power supply is have impact on, realize that simple and compact for structure, easy to operate, control accuracy is high, movement is flexible,
Reliability is high and can complete high-voltage hot-line work.
Description of the drawings
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or accompanying drawing to be used is briefly described needed for description of the prior art, it should be apparent that, drawings in the following description are only
It is some embodiments of the present utility model, for those of ordinary skill in the art, before creative labor is not paid
Put, can be with according to these other accompanying drawings of accompanying drawings acquisition.
A kind of structure of electric transmission line hot-line fastening bolt robots of the Fig. 1 to provide in this utility model embodiment is subjective
Schematic diagram；
A kind of structure of electric transmission line hot-line fastening bolt robots of the Fig. 2 to provide in this utility model embodiment is overlooked
Schematic diagram；
A kind of band of electric transmission line hot-line fastening bolt robots of the Fig. 3 to provide in this utility model embodiment is miniature to be taken the photograph
As the bolt fastening sleeve structural representation of head；
A kind of workflow of electric transmission line hot-line fastening bolt robots of the Fig. 4 to provide in this utility model embodiment
Figure；
Fig. 5 is a kind of electric transmission line hot-line fastening bolt robotic vision servo for providing in this utility model embodiment
Control flow chart；
Illustrate：1 Screw Tightening Machines device human organism, 2 pairs of telescopic magic hands, 21 rotary joints, 22 telescopic joints, 3 spiral shells
Bolt terminal operation device, 31 minisize pick-up heads, 32 bolt fastening sleeves, 33 bolts fastening motor, 34 travelling gears, 35 bearings,
36 fixed supports, 4 pairs of telescopic mechanical arms, 5 road wheels, 6 jaws, 7 isoelectric level wheels, 8 bolts to be tightened.
Specific embodiment
This utility model embodiment discloses a kind of electric transmission line hot-line fastening bolt robot, solves compact line
Shaft tower and multi-loop line shaft tower are used widely, less and less with phase spacing between cross-arm, give people the peace of work livewire work
Full property brings a new difficult problem, adds the serious scarcity of hotline maintenance technology talent, height of the work high above the ground to operating personnel's muscle power
Require, greatly constrain livewire work it is timely, efficiently carry out, have impact on the technical problem of the reliability of power supply.
This utility model embodiment provides a kind of electric transmission line hot-line fastening bolt robot, including：
Bolt terminal operation device；The bolt terminal operation device includes 2, two embedded minisize pick-up heads of double-manipulator
Bolt fastening sleeve, moving parts, body 1；Wherein the double-manipulator 2 is the telescoping mechanism with 2 degree of freedom, institute
The bolt fastening sleeve 32 for stating two embedded minisize pick-up heads 31 is installed in 2 end of the mechanical hand, moving parts and body 1
Be fixedly connected, for power transmission line drive connection, the double-manipulator 2 is separately mounted to the opposite side of 1 front end of body.
Further,
The double-manipulator 2 includes rotary joint 21 and telescopic joint 22, and the double-manipulator 2 is by the rotation
Joint 21 is connected with the body 1, and the telescopic joint 22 is inside the mechanical hand.
Further,
Moving parts include road wheel 5, and road wheel 5 is two, is connected with body 1 by two axostylus axostyles respectively, two axostylus axostyles point
1 two ends of body are not vertically fixedly connected on.
Further,
Also include two telescopic mechanical arms 4, be arranged in the middle of the body 1, the telescopic mechanical arm 4 and the road wheel 5
Connection.
Further,
Moving parts also include jaw 6, and the clamping jaw device 6 is arranged in the telescopic mechanical arm 4.
Further,
Moving parts also include isoelectric level wheel 7, and the isoelectric level wheel 7 is arranged on 5 side of the road wheel.
Further,
The minisize pick-up head 31 of the bolt fastening sleeve 32 of described two embedded minisize pick-up heads 31 is installed in institute
State 32 inside centre position of bolt fastening sleeve.
Further,
It is flexible connection between the bolt fastening sleeve 32 and mechanical hand 2 of described two embedded minisize pick-up heads 31.
Further, the bolt fastening sleeve 32 of described two embedded minisize pick-up heads 31 also includes travelling gear 34 and consolidates
Fixed rack 36, the travelling gear 34 are connected with the fastening sleeve 32, drive fastening sleeve 32 by the travelling gear 34
Rotation；The minisize pick-up head 31 is connected with the fixed support 36 and fastening sleeve 32.
Further, the bolt fastening sleeve 32 of described two embedded minisize pick-up heads 31 also includes that bolt fastens motor
33, wherein bolt fastening motor 33 is connected with the travelling gear 34, the bolt fastening motor 33 is fixed on described solid
On fixed rack 36.
Further, the bolt fastening sleeve 32 of described two embedded minisize pick-up heads 31 also includes bearing 35, the axle
Hold 35 to be connected with the fastening sleeve 32.
Fig. 1 and Fig. 2 is referred to, a kind of electric transmission line hot-line fastening bolt robot provided in this utility model embodiment
Structure include：
Screw Tightening Machines device human body, bolt terminal operation device, wherein robot body is by body 1, telescopic mechanical arm
4th, road wheel 5, jaw 6 and isoelectric level wheel 7 are constituted, and wherein road wheel 5 is connected with telescopic mechanical arm 4, drive body 1 in wire
Upper walking.The bolt terminal operation device includes double-manipulator 2, the bolt fastening sleeve 3 of embedded minisize pick-up head, wherein double
Mechanical hand 2 is the telescoping mechanism with 2 degree of freedom, and mechanical hand completes spiral shell to be tightened by mixing terminal stud fastening sleeve 3
Bolt 8 fastens work.
In manipulator joint, rotary joint 21 can realize 360 ° of rotation, and driving mechanical handss 2 are along the clockwise or inverse time
Pin is rotated to specified angle, and telescopic joint 22 can realize elongation and indentation on 2 direction of mechanical hand, and mechanical hand 2 is changed into
Designated length, two joint collaborative works, takes or leaves terminal stud fastening sleeve 3 working face of operative goalies to.
Fig. 3 is referred to, a kind of band of the electric transmission line hot-line fastening bolt robot provided in this utility model embodiment
The bolt fastening sleeve structure of minisize pick-up head includes：
Minisize pick-up head 31, fastening sleeve 32, bolt fastening motor 33, travelling gear 34, bearing 35, fixed support 36.
Wherein minisize pick-up head 31 is located at 32 centre position of fastening sleeve, and so need to only move operation end equipment makes target positioned at regarding
Wild centre position can complete target alignment work.
When being embodied as, the bolt fastening sleeve device with minisize pick-up head is installed on two arm ends, will be with
Specified location is reached with mechanical hand.Bolt fastening sleeve device drives fastening by a travelling gear 34 similar to electric wrench
The rotation of sleeve 32 completes the fastening of nut.Before bolt fastening work is carried out, need bolt adapter sleeve using video information
Cylinder 32 is directed at bolt, according to the bolt position that Video Detection is arrived, adjusts five joints of mechanical hand, in making picture centre and bolt
The heart overlaps.Flexible connection is set between bolt fastening sleeve 32 and mechanical hand 2, after the alignment bolt-center of operation end, wherein
One fastening sleeve 32 blocks bolt head, and bolt fastening motor 33 is remained stationary as, bolt head is fixed, another adapter sleeve
Cylinder 32 blocks nut, and bolt fastening motor 33 drives fastening sleeve 32 to rotate by travelling gear 34, completes the fastening work of bolt
Make.
Fig. 4 and Fig. 5 is referred to, a kind of electric transmission line hot-line fastening bolt robot provided in this utility model embodiment
Workflow diagram and this utility model embodiment in a kind of electric transmission line hot-line fastening bolt robotic vision for providing watch
Control flow chart is taken, when being embodied as, by taking bolt detection as an example, nut is also hexagonal structure, similar to bolt detection, no longer
Repeat.The video image information that minisize pick-up head is collected carries out pretreatment first, then carries out bolt fitting again.
When being embodied as, the SERVO CONTROL output of the robot will be combined with Video Detection link.Transmission line of electricity spiral shell
Bolt distribution situation is known, according to the situation of distribution, makees reference point having around the position of bolt distribution to set to stop work, makees
For the coarse localization of robot.I.e. described robot goes to set after i.e. reference point is made in shut-down, then is fastened by bolts set
The minisize pick-up head in cylinder central authorities carries out given mode scanning from left to right, from bottom to top, bolt is accurately positioned, then
Carry out follow-up bolt alignment, to card, fastening work.
When being embodied as, the robot is gone to after stop work and making reference point, the fastening of the bolt of machine hand-motion end
Device carries out given mode scanning, i.e., direction order from left to right, from bottom to top is scanned, until the one of scanning to bolt
Partly or completely bolt.Then using the center of robot body as reference origin, with reference to the bolt that vision algorithm is fitted
Center and mechanical hand rotary joint angle information and the indent information of telescopic joint, with bolt-center to view center
The most short object function for optimum path planning of feasible distance, that is, minimize formula (1), using Multi-articulated harmonious control strategy,
Adjustment mechanical hand, constantly makes bolt fastening sleeve move to bolt-center position with certain precision.
Wherein, position of the bolt fastening end relative to robot body center is represented, represents bolt-center relative to machine
The position at device human body center.
When being embodied as, the adjustment process of mechanical hand is as follows：By vision-based detection, obtain bolt-center estimates position,
Then the bolt-center position estimated is asked relative to the angle and distance of reference origin, i.e. formula (2),
Δ α=αb-αm (3)
Δ d=db-dm (4)
Then by formula (3), (4) come the direction of rotation of calculating machine handss rotary joint, angle, stroke.Wherein, it is work
Angle and distance of the industry end relative to reference center, i.e. robot body center.If Δ α ＞ 0, mechanical hand revolves counterclockwise
Turn, if Δ α ＜ 0, mechanical hand turns clockwise, if Δ α=0, rotary joint is motionless.If Δ d ＞ 0, telescopic joint is stretched
Length, if Δ d ＜ 0, telescopic joint indentation length.When one two field picture of every acquisition, bolt-center position will be estimated out in real time
Put, feed back to controller, the Δ α that upgrades in time, Δ d values, to be accurately finished bolt alignment work.
When being embodied as, control centre combine Multi-articulated harmonious control strategy, control machinery hand each shutdown coordination linkage,
Using the traffic signal coordination based on interpolation strategy, no matter whether operation end reaches one instructs the attitude position for providing
Put, the posture position instruction and current position for being directly given using next instruction carries out interpolation, rather than refers to upper one
Make to posture position carry out interpolation.Avoid the cumulative of error, it is ensured that the accuracy of present instruction, make joint be able to smooth,
Stable motion.Thus make operation end bolt-center position is constantly close to certain precision, complete bolt alignment work.
A kind of electric transmission line hot-line fastening bolt robot that this utility model embodiment is provided, including：Bolt fastening is made
Industry device；The bolt terminal operation device includes the bolt fastening sleeve of 2, two embedded minisize pick-up heads 31 of double-manipulator
32nd, moving parts, body 1；Wherein the double-manipulator 2 is the telescoping mechanism with 2 degree of freedom, described two embedded micro-
The bolt fastening sleeve 32 of type photographic head 31 is installed in 2 end of the mechanical hand, and the moving parts are fixed with the body 1
Connection, for power transmission line drive connection, the double-manipulator 2 is separately mounted to the opposite side of 1 front end of body.Solve compact
Molded line line pole tower and multi-loop line shaft tower are used widely, less and less with phase spacing between cross-arm, give people the powered work of work
The safety of industry brings a new difficult problem, adds the serious scarcity of hotline maintenance technology talent, and work high above the ground is to operating personnel's body
The high request of power, greatly constrain livewire work it is timely, efficiently carry out, have impact on the technical problem of the reliability of power supply.
Above a kind of electric transmission line hot-line fastening bolt robot provided by the utility model is described in detail,
For one of ordinary skill in the art, according to the thought of this utility model embodiment, in specific embodiment and range of application
On will change, in sum, this specification content is should not be construed as to restriction of the present utility model.
Claims (10)
1. a kind of electric transmission line hot-line fastening bolt robot, it is characterised in that include：Bolt terminal operation device；
The bolt terminal operation device includes double-manipulator, the bolt fastening sleeve of two embedded minisize pick-up heads, exercise group
Part, body；Wherein described double-manipulator is the telescoping mechanism with 2 degree of freedom, described two embedded minisize pick-up heads
Bolt fastening sleeve is installed in the arm end, and the moving parts are fixedly connected with the body, for transmission of electricity
Line drive connection, the double-manipulator are separately mounted to the opposite side of the body front end.
2. electric transmission line hot-line fastening bolt robot according to claim 1, it is characterised in that the double-manipulator is equal
Including rotary joint and telescopic joint, the double-manipulator is connected with the body by the rotary joint, described flexible
Joint is inside the mechanical hand.
3. electric transmission line hot-line fastening bolt robot according to claim 2, it is characterised in that the moving parts bag
Road wheel is included, the road wheel is two, is connected with the body by two axostylus axostyles respectively, and axostylus axostyle is respectively perpendicular fixation described in two
It is connected to the body two ends.
4. electric transmission line hot-line fastening bolt robot according to claim 3, it is characterised in that also including two telescopic machines
Tool arm, is arranged in the middle of the body, and the telescopic mechanical arm is connected with the road wheel.
5. electric transmission line hot-line fastening bolt robot according to claim 4, it is characterised in that the moving parts are also
Including jaw, isoelectric level wheel；The clamping jaw device is arranged in the telescopic mechanical arm；The isoelectric level wheel is arranged on the row
Walk to take turns side.
6. electric transmission line hot-line fastening bolt robot according to claim 5, it is characterised in that described two embedded micro-
The minisize pick-up head of the bolt fastening sleeve of type photographic head is installed in centre position inside the bolt fastening sleeve.
7. electric transmission line hot-line fastening bolt robot according to claim 6, it is characterised in that described two embedded micro-
It is flexible connection between the bolt fastening sleeve of type photographic head and mechanical hand.
8. electric transmission line hot-line fastening bolt robot according to claim 7, it is characterised in that described two embedded micro-
The bolt fastening sleeve of type photographic head also includes travelling gear and fixed support, and the travelling gear is connected with the fastening sleeve
Connect, fastening sleeve rotation is driven by the travelling gear；The minisize pick-up head is connected with the fixed support and fastening sleeve
Connect.
9. electric transmission line hot-line fastening bolt robot according to claim 8, it is characterised in that described two embedded micro-
The bolt fastening sleeve of type photographic head also includes that bolt fastens motor, wherein bolt fastening motor is connected with the travelling gear
Connect, the bolt fastening motor is fixed on the fixed support.
10. electric transmission line hot-line fastening bolt robot according to claim 9, it is characterised in that described two embedded
The bolt fastening sleeve of minisize pick-up head also includes bearing, and the bearing is connected with the fastening sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621159587.1U CN206135296U (en) | 2016-11-01 | 2016-11-01 | Electrified fastening bolt robot of transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621159587.1U CN206135296U (en) | 2016-11-01 | 2016-11-01 | Electrified fastening bolt robot of transmission line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206135296U true CN206135296U (en) | 2017-04-26 |
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ID=58574966
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621159587.1U Active CN206135296U (en) | 2016-11-01 | 2016-11-01 | Electrified fastening bolt robot of transmission line |
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| CN (1) | CN206135296U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107196235A (en) * | 2017-07-20 | 2017-09-22 | 长沙理工大学 | Transmission line wire repairing Winder, robot and conducting wire mending operational method |
| CN108718054A (en) * | 2018-06-06 | 2018-10-30 | 陕西理工大学 | Novel shockproof hammer resets machine centering rotating device and its application method |
| CN109079749A (en) * | 2018-10-12 | 2018-12-25 | 国网江苏省电力有限公司徐州供电分公司 | Double mechanical arms hot line robot |
| CN109698475A (en) * | 2019-01-25 | 2019-04-30 | 武汉大学 | A kind of aerial high-voltage power transmission line hot line robot |
| CN111376039A (en) * | 2020-04-09 | 2020-07-07 | 云南电网有限责任公司电力科学研究院 | Bolt fastening device for vibration damper |
| CN114336401A (en) * | 2021-11-22 | 2022-04-12 | 国网浙江省电力有限公司宁波市奉化区供电公司 | Bolt fastening device for power transmission line |
-
2016
- 2016-11-01 CN CN201621159587.1U patent/CN206135296U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107196235A (en) * | 2017-07-20 | 2017-09-22 | 长沙理工大学 | Transmission line wire repairing Winder, robot and conducting wire mending operational method |
| CN108718054A (en) * | 2018-06-06 | 2018-10-30 | 陕西理工大学 | Novel shockproof hammer resets machine centering rotating device and its application method |
| CN109079749A (en) * | 2018-10-12 | 2018-12-25 | 国网江苏省电力有限公司徐州供电分公司 | Double mechanical arms hot line robot |
| CN109079749B (en) * | 2018-10-12 | 2023-09-05 | 国网江苏省电力有限公司徐州供电分公司 | Double-mechanical arm live working robot |
| CN109698475A (en) * | 2019-01-25 | 2019-04-30 | 武汉大学 | A kind of aerial high-voltage power transmission line hot line robot |
| CN109698475B (en) * | 2019-01-25 | 2020-03-24 | 武汉大学 | Overhead high-voltage transmission line live working robot |
| CN111376039A (en) * | 2020-04-09 | 2020-07-07 | 云南电网有限责任公司电力科学研究院 | Bolt fastening device for vibration damper |
| CN111376039B (en) * | 2020-04-09 | 2021-10-08 | 云南电网有限责任公司电力科学研究院 | Bolt fastening device for vibration damper |
| CN114336401A (en) * | 2021-11-22 | 2022-04-12 | 国网浙江省电力有限公司宁波市奉化区供电公司 | Bolt fastening device for power transmission line |
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