CN211126801U - Overhead transmission line overhauls robotic arm device - Google Patents
Overhead transmission line overhauls robotic arm device Download PDFInfo
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- CN211126801U CN211126801U CN201922131275.XU CN201922131275U CN211126801U CN 211126801 U CN211126801 U CN 211126801U CN 201922131275 U CN201922131275 U CN 201922131275U CN 211126801 U CN211126801 U CN 211126801U
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- aerial vehicle
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- mechanical arm
- transmission line
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 27
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- 238000005538 encapsulation Methods 0.000 claims description 2
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Abstract
The utility model relates to an overhead transmission line overhauls robotic arm device, its characterized in that: the mechanical arm control unit comprises a transfer board, a single chip microcomputer, a processor, a Bluetooth module, a GPIO expansion board, a bread board, a motor, a power module and a signal receiver, the mechanical arm control unit is packaged in the unmanned aerial vehicle body, the transfer board is connected with the processor, the processor is connected with the high-definition camera, the processor is connected with the Bluetooth module, the GPIO expansion board is connected with the bread board, the single chip microcomputer is connected with the motor and the signal receiver, and the motor extends out of the unmanned aerial vehicle body and is connected with an electric screwdriver and an mechanical arm. The utility model has scientific and reasonable design, strong operability, strong information real-time performance and convenient practical application; the danger can be reduced, the working efficiency can be improved, and the method has wide market application prospect.
Description
Technical Field
The utility model belongs to the technical field of the transmission fortune is examined, a overhead transmission line overhauls, in particular to overhead transmission line overhauls robotic arm device.
Background
The use of high and extra high voltage overhead power lines is the primary means of long distance power transmission and distribution. The power line and the pole tower accessories are exposed outdoors for a long time, and damage such as strand breakage, abrasion, corrosion and the like are generated due to the influence of continuous mechanical tension, electric flashover and material aging. The sliding of the vibration damper is a common defect of the power transmission line, the vibration damper can not absorb the capability of the wire generated by vibration after sliding, so that the wire cannot be prevented from vibrating, and if the wire cannot be timely treated, the vibration of the wire can be increased after the vibration damper slides to an improper position, and the fatigue damage of the wire can be accelerated. Meanwhile, the recovery of the position of the shockproof hammer wastes time and labor, the labor intensity of maintenance workers is increased, power failure needs to be applied under severe conditions, and the reliability of line operation is affected.
This unit is responsible for fortune dimension Tianjin area 220kV overhead transmission line 2600 kilometers. Through practical operation, the defect 4613 is treated in total until now. Wherein, the defect of the 'sliding of the vibration damper' accounts for about 11 percent.
Aiming at the sliding phenomenon of the vibration damper, the method adopted at present comprises the following steps: and the line maintainer utilizes the pulley to lead out, recoils the sliding vibration damper and then installs the vibration damper at a corresponding position. The method is difficult to ensure the safety of high-altitude personnel and cannot process the vibration damper sliding to the sag point; in addition, the hammer-elimination work takes about 1.5 to 2 hours. Therefore, the defect of 'vibration damper slippage' becomes a key research object in the process of overhead transmission line maintenance.
Through a search for a patent publication, no patent publication similar to the present patent application is found.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects of the prior art, and provides an overhead transmission line maintenance mechanical arm device which has strong operability, strong information real-time performance and convenient practical application; the danger can be reduced, and the working efficiency can be improved.
The utility model provides a its technical problem realize through following technical scheme:
the utility model provides an overhead transmission line overhauls mechanical arm device, includes the unmanned aerial vehicle organism and installs unmanned aerial vehicle rotor branch on the unmanned aerial vehicle organism, flight wing piece is installed through flight wing piece pillar to unmanned aerial vehicle rotor branch tip, unmanned aerial vehicle organism side is provided with descending support, its characterized in that: be provided with high definition digtal camera, 4G wireless communicator, arm control unit, signal receiver, arm and electric screwdriver on the unmanned aerial vehicle organism, arm control unit includes keysets, singlechip, treater, bluetooth module, GPIO expansion board, bread board, motor, power module and signal receiver, the arm control unit encapsulation is in the unmanned aerial vehicle organism, the keysets is connected with the treater, the treater with high definition digtal camera is connected, the treater with bluetooth module connects, the GPIO expansion board with the bread board is connected, the singlechip with motor and signal receiver link to each other, the motor stretches out the unmanned aerial vehicle organism links to each other with electric screwdriver and arm.
Also, the processor is an ARMv8 processor.
Moreover, unmanned aerial vehicle rotor branch is 6 ~ 8, and evenly distributed is in on the unmanned aerial vehicle organism.
Moreover, the descending supports are two sets of, and the symmetry is installed respectively in the both sides of unmanned aerial vehicle organism.
Moreover, the unmanned aerial vehicle organism adopts carbon fiber material to make.
Moreover, a buzzer alarm is arranged on the adapter plate, and an L ED indicator light is arranged on the processor.
Moreover, the mechanical arm is a three-degree-of-freedom mechanical arm.
The utility model discloses an advantage and beneficial effect do:
1. the utility model discloses overhead transmission line overhauls arm device, through unmanned aerial vehicle wireless controller and this arm device wireless connection, but remote control unmanned aerial vehicle drives arm and electric screwdriver through single chip microcomputer control motor and dismantles the stockbridge damper, and the operation is accurate, and maneuverability is strong, the practical application of being convenient for.
2. The utility model discloses overhead transmission line overhauls robotic arm device, operating personnel need not high altitude construction, can realize accurate operation through remote control, not only can reduce the operation danger, guarantees personnel's safety, and can improve work efficiency.
3. The utility model discloses overhead transmission line overhauls mechanical arm device, unmanned aerial vehicle can convey the image information who gathers to carrying out the analysis in long-range DSP through 4G wireless module, and the information real-time is stronger, has wide market perspective.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a structural view of the whole working structure of the present invention;
FIG. 3 is a work flow preprocessing diagram of the present invention;
fig. 4 is a flow chart of the background selection of the working method of the present invention.
Description of the reference numerals
The system comprises a 1-4G wireless communicator, a 2-signal receiver, a 3-flight wing piece strut, a 4-flight wing piece, a 5-unmanned aerial vehicle rotor wing support rod, a 6-high-definition camera, a 7-mechanical arm, an 8-electric screwdriver, a 9-unmanned aerial vehicle body and a 10-landing support.
Detailed Description
The present invention will be described in further detail with reference to specific examples, which are provided for illustrative purposes only, and are not intended to be limiting, and the scope of the present invention should not be limited thereby.
The utility model provides an overhead transmission line overhauls mechanical arm device, includes unmanned aerial vehicle organism 9 and installs unmanned aerial vehicle rotor branch 5 on the unmanned aerial vehicle organism, flight wing 4 is installed through flight wing pillar 3 to unmanned aerial vehicle rotor branch tip, unmanned aerial vehicle organism side is provided with descending support 10, its characterized in that: be provided with high definition digtal camera 6, 4G wireless communicator 1, arm control unit, signal receiver 2, arm 7 and electric screwdriver 8 on the unmanned aerial vehicle organism, arm control unit includes keysets, singlechip, treater, bluetooth module, GPIO expansion board, bread board, motor, power module and signal receiver, arm control unit encapsulates in the unmanned aerial vehicle organism, the keysets is connected with the treater, the treater with high definition digtal camera is connected, the treater with bluetooth module connects, the GPIO expansion board with bread board is connected, the singlechip with motor and signal receiver link to each other, the motor stretches out the unmanned aerial vehicle organism links to each other with electric screwdriver and arm.
The adapter plate comprises a 40PIO port expansion interface, a motor driving module, a motor interface, a Pulse Width Modulation (PWM) interface, an indicator light, a serial port interface and a buzzer; the adapter plate is connected with the processor through a 40PIO port expansion interface;
the motor driving module adopts a double-path TB6612 driving chip to drive the unmanned aerial vehicle to move;
the pulse width modulation interface adopts 16 paths of PWM interfaces and supports 16 paths of PWM control;
the indicator light has the function of indicating the power starting of the adapter plate;
the serial port interface is connected with the Bluetooth module, and the six-rotor unmanned aerial vehicle is controlled by a remote controller with a Bluetooth function, such as an unmanned aerial vehicle controller;
the buzzer is an alarm, and alarm prompt is carried out when abnormality occurs.
The processor adopts a 1.2GHz four-core 64-bit ARMv8 processor and mainly comprises a Bluetooth and WIFI module, a L ED indicator light, a USB2.0 port and 40 GPIO pins, wherein the Bluetooth and WIFI module can perform information interaction with an unmanned aerial vehicle controller by using a wireless network, the L ED indicator light has a power supply starting indication function, and the processor is connected with a high-definition camera through the USB2.0 port.
The high-definition camera adopts a 1080-pixel high-definition camera, has a light supplementing function and is connected with a USB2.0 interface in the processor through a USB data line.
Unmanned aerial vehicle rotor branch is 6 ~ 8, and evenly distributed is in on the unmanned aerial vehicle organism.
Descending supports are two sets of, and the difference symmetry is installed the both sides of unmanned aerial vehicle organism.
The unmanned aerial vehicle organism adopts carbon fiber material to make.
The mechanical arm is a three-degree-of-freedom mechanical arm.
The utility model discloses a theory of operation does:
(1) the unmanned aerial vehicle is provided with a battery, a power switch of the adapter plate is turned on, the unmanned aerial vehicle is connected with an unmanned aerial vehicle controller through a wireless transmission technology, and the flying attitude of the unmanned aerial vehicle is controlled and adjusted through the unmanned aerial vehicle controller; in an overhead transmission line maintenance site, firstly, a high-definition camera arranged on an unmanned aerial vehicle is used for photographing an area needing maintenance; secondly, controlling the unmanned aerial vehicle to fly to an overhead line conductor needing to be overhauled by using an unmanned aerial vehicle controller; and finally, detaching the sliding vibration damper through a mechanical arm, conveying the vibration damper to the ground, and installing a new vibration damper by a line maintainer.
(2) In the maintenance engineering, the identification of the shockproof hammer is mainly to take a picture of an overhead line to be maintained by using a high-definition camera to obtain an original image, perform graying processing and binarization processing on the image, remove unnecessary picture elements in the original image through the two steps of processing, perform noise reduction, interference prevention, image enhancement, convenient extraction and the like on the grayed image, and provide solid conditions for the feature extraction of the image.
(3) The method comprises the steps of extracting a stockbridge damper of the overhead transmission line by adopting a background difference method, selecting a frame of normal image frame without foreign matter interference as an original background at the beginning of an image processing process, carrying out difference by utilizing an input image and the selected background image, carrying out binarization processing on the image after difference, controlling a mechanical arm by utilizing a mechanical arm controller after determining the position of the stockbridge damper, and controlling a small motor to adjust the position of the mechanical arm and a small screwdriver in the mechanical arm to disassemble the stockbridge damper by utilizing a single chip microcomputer.
The utility model discloses a background difference method draws overhead transmission line's stockbridge damper, at the beginning of image processing process, select a normal not have the image frame of foreign matter interference as original background of a frame, utilize the input image to carry out the difference with the background image of selecting, carry out binarization processing to the image after the difference, after confirming the stockbridge damper position, utilize the robotic arm controller to control the arm, adjust robotic arm's position and control the small screwdriver among the robotic arm and dismantle the stockbridge damper through single chip microcomputer control small motor.
Although the embodiments of the present invention and the accompanying drawings are disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the present invention and the appended claims, and therefore, the scope of the present invention is not limited to the disclosure of the embodiments and the accompanying drawings.
Claims (7)
1. The utility model provides an overhead transmission line overhauls mechanical arm device, includes the unmanned aerial vehicle organism and installs unmanned aerial vehicle rotor branch on the unmanned aerial vehicle organism, flight wing piece is installed through flight wing piece pillar to unmanned aerial vehicle rotor branch tip, unmanned aerial vehicle organism side is provided with descending support, its characterized in that: be provided with high definition digtal camera, 4G wireless communicator, arm control unit, signal receiver, arm and electric screwdriver on the unmanned aerial vehicle organism, arm control unit includes keysets, singlechip, treater, bluetooth module, GPIO expansion board, bread board, motor, power module and signal receiver, the arm control unit encapsulation is in the unmanned aerial vehicle organism, the keysets is connected with the treater, the treater with high definition digtal camera is connected, the treater with bluetooth module connects, the GPIO expansion board with the bread board is connected, the singlechip with motor and signal receiver link to each other, the motor stretches out the unmanned aerial vehicle organism links to each other with electric screwdriver and arm.
2. The overhead transmission line maintenance mechanical arm device according to claim 1, characterized in that: the processor is an ARMv8 processor.
3. The overhead transmission line maintenance mechanical arm device according to claim 1, characterized in that: unmanned aerial vehicle rotor branch is 6 ~ 8, and evenly distributed is in on the unmanned aerial vehicle organism.
4. The overhead transmission line maintenance mechanical arm device according to claim 1, characterized in that: descending supports are two sets of, and the symmetry is installed respectively the both sides of unmanned aerial vehicle organism.
5. The overhead transmission line maintenance mechanical arm device according to claim 1, characterized in that: the unmanned aerial vehicle organism adopts carbon fiber material to make.
6. The overhead transmission line overhauling mechanical arm device according to claim 1, wherein a buzzer alarm is arranged on the adapter plate, and an L ED indicator light is arranged on the processor.
7. The overhead transmission line maintenance mechanical arm device according to claim 1, characterized in that: the mechanical arm is a three-degree-of-freedom mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922131275.XU CN211126801U (en) | 2019-12-03 | 2019-12-03 | Overhead transmission line overhauls robotic arm device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922131275.XU CN211126801U (en) | 2019-12-03 | 2019-12-03 | Overhead transmission line overhauls robotic arm device |
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| Publication Number | Publication Date |
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| CN211126801U true CN211126801U (en) | 2020-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922131275.XU Active CN211126801U (en) | 2019-12-03 | 2019-12-03 | Overhead transmission line overhauls robotic arm device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113560840A (en) * | 2021-07-26 | 2021-10-29 | 天津送变电工程有限公司 | Live working fitting pin installation robot based on unmanned aerial vehicle system |
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2019
- 2019-12-03 CN CN201922131275.XU patent/CN211126801U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113560840A (en) * | 2021-07-26 | 2021-10-29 | 天津送变电工程有限公司 | Live working fitting pin installation robot based on unmanned aerial vehicle system |
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