CN208665376U - A kind of power distribution network climbing Work robot - Google Patents
A kind of power distribution network climbing Work robot Download PDFInfo
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- CN208665376U CN208665376U CN201821465685.7U CN201821465685U CN208665376U CN 208665376 U CN208665376 U CN 208665376U CN 201821465685 U CN201821465685 U CN 201821465685U CN 208665376 U CN208665376 U CN 208665376U
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- driving source
- power distribution
- distribution network
- clamping jaw
- holder arms
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Abstract
The utility model provides a kind of power distribution network climbing 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 utility model can be climbed on power distribution network, and have the function of distribution net work structure Visual retrieval and bolt fastening.
Description
Technical field
The utility model 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.
Utility model content
The utility model discloses a kind of power distribution networks to climb Work robot, can be climbed on power distribution network, and has
There are distribution net work structure Visual retrieval and bolt fastening function.
The utility model provides a kind of power distribution network climbing Work robot, comprising: clamping jaw, multiple movable joints, 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 utility model embodiment has the advantage that
The utility model provides a kind of power distribution network climbing Work robot, comprising: clamping jaw, multiple movable joints, 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
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 around node
It is rotated；The both ends of main body are respectively connected with a clamping jaw and a camera；Clamping jaw includes two identical holder arms, clamp
Arm is meander-like, and two holder arms are symmetrical arranged and between the two at a distance of preset distance, and what is connect with clamping jaw intra-articular is equipped with the
Two driving sources, for driving two holder arms close to each other or being located remotely from each other or rotated simultaneously；Control module is respectively with
One driving source, the electrical connection of the second driving source.Robot provided by the utility model has clamping jaw, since clamping jaw is by meander-like
Holder arms are constituted, therefore the shaft tower on power distribution network may be implemented and conducting wire is climbed, and since robot has camera,
The position that can carry out detecting and determining bolt to distribution net work structure, reinforces bolt by clamping jaw.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, before not making the creative labor property
It puts, can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is that a kind of power distribution network provided in the utility model embodiment 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 utility model embodiment discloses a kind of power distribution network climbing Work robot, can be climbed on power distribution network
It climbs, and has the function of distribution net work structure Visual retrieval and bolt fastening.
Referring to Fig. 1, a kind of one embodiment provided in the utility model embodiment includes: clamping jaw 1, multiple movements
Joint 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 Duan Zewei segmental arcs, 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.
A kind of power distribution network climbing Work robot provided by the utility model is described in detail above, for this
The those skilled in the art in field can in specific embodiments and applications based on the idea of the embodiment of the present invention
There is change place, in conclusion the content of the present specification should not be construed as a limitation of the present invention.
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 |
|---|---|---|---|
| CN201821465685.7U CN208665376U (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 |
|---|---|---|---|
| CN201821465685.7U CN208665376U (en) | 2018-09-07 | 2018-09-07 | A kind of power distribution network climbing Work robot |
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| Publication Number | Publication Date |
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| CN208665376U true CN208665376U (en) | 2019-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821465685.7U Active CN208665376U (en) | 2018-09-07 | 2018-09-07 | A kind of power distribution network climbing Work robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108945143A (en) * | 2018-09-07 | 2018-12-07 | 广东电网有限责任公司 | A kind of power distribution network climbing Work robot |
| CN110979495A (en) * | 2019-10-23 | 2020-04-10 | 广西电网有限责任公司电力科学研究院 | Insulator chain creeping mechanism |
-
2018
- 2018-09-07 CN CN201821465685.7U patent/CN208665376U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108945143A (en) * | 2018-09-07 | 2018-12-07 | 广东电网有限责任公司 | A kind of power distribution network climbing Work robot |
| CN110979495A (en) * | 2019-10-23 | 2020-04-10 | 广西电网有限责任公司电力科学研究院 | Insulator chain creeping mechanism |
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