CN2597163Y - High-voltage live-wire working device for manipulator - Google Patents
High-voltage live-wire working device for manipulator Download PDFInfo
- Publication number
- CN2597163Y CN2597163Y CNU02267831XU CN02267831U CN2597163Y CN 2597163 Y CN2597163 Y CN 2597163Y CN U02267831X U CNU02267831X U CN U02267831XU CN 02267831 U CN02267831 U CN 02267831U CN 2597163 Y CN2597163 Y CN 2597163Y
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- CN
- China
- Prior art keywords
- manipulator
- work machine
- elevating mechanism
- support platform
- live line
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- Expired - Lifetime
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- Forklifts And Lifting Vehicles (AREA)
- Manipulator (AREA)
Abstract
The utility model relates to a robot high-voltage electrified operation device and includes a mobile truck, an elevating mechanism, an insulating supporting platform, an operational mechanical arm, a hydraulic manipulator, an insulating transformer, a generator and a hydraulic oil pump and a control cabinet. The elevating mechanism, the generator and the hydraulic oil pump are fixed on the chassis of the truck and the insulating supporting platform is connected with the end of the elevating mechanism. The operational mechanical arm, the insulating transformer and a low-voltage control cabinet are fixed on the insulating supporting platform. The operational mechanism arm is driven by a motor; a manipulator is driven hydraulically, the computer controls the operational mechanical arm and the manipulator and the held tools through the low-voltage control device to finish the various high-voltage electrified operations.
Description
Technical field
The utility model has related to the robot high-voltage hot-line work device of a kind of robot automation's device of power circuit live line working, the particularly above high-tension line of 10kv.
Technical background
The live line working of high-tension line has become assurance power supply unit safety, reliability service, raising economy operation of power grid and has been important maintenance means of QoS of customer.The value of live line working also is very tangible, and economic benefit and social benefit all are very considerable.But present live line working is all manually finished, promptly so-called artificial live line working.Along with the development of computer, Robotics, if can carry out live line working by robot, operating personnel carry out live line working in the place away from high voltage electric field by low voltage control device control robot, then can avoid the threat of high pressure.On February 20th, 2002 disclosed Shanghai Communications University of Intellectual Property Right Bureau of the RPC " type super high voltage live cleaning robot ", number of patent application: 01126817.4, publication number: CN1336270A, this technical scheme can only be carried out the live cleaning operation, can't finish such as changing charged repairing and maintenance works such as insulator, lightning arrester, range of application is very limited.
Summary of the invention
The purpose of this utility model provides a cover can adapt to the charged breaking and connecting of high-tension line lead-in wire, charged for replacement insulator, charged repairing lead, the robot high-voltage hot-line work device of power-on serving such as charged short circuit drop switch and repairing work.
The technical scheme in the invention for solving the technical problem is:
A kind of robot high-voltage hot-line work device, it comprises and drags automobile, elevating mechanism, insulation support platform.Elevating mechanism, generator and hydraulic oil pump are installed on the automobile chassis, can be dragged by automobile, and the end of insulation support platform and elevating mechanism links.Elevating mechanism adopts hydraulic-driven, and revolution, flexible, terminal swing and four degrees of freedom of platform levelling are arranged.Be characterized in: have two articulated type six degree of freedom Work machine arms to be fixed on the insulation support platform, the terminal wrist of Work machine arm is installed the manipulator of high insulation resistance, the Work machine shoulder joint adopts the driven by motor decelerator to drive, manipulator is taked hydraulic-driven, by hydraulic oil pump to the manipulator fuel feeding, the secondary winding lead-in wire that is installed in the isolating transformer of insulation on the support platform links to each other with the joint drive motors of Work machine arm and the control cubicle that is installed on the support platform that insulate, and supply capability, computer is finished corresponding live line working by the specific purpose tool of low voltage control device control operation mechanical arm and manipulator clamping.
The Work machine arm is made by the high insulation resistance insulating material, and specified dielectric strength can satisfy the insulation safety requirement of live line working greater than 10kv.Insulating material adopts 9363 expoxy glass cloth products, and density is not less than 3*10
3Kg/m
3
The Work machine shoulder joint drives and adopts MINS servomotor and high accuracy RV decelerator, has guaranteed the positioning accuracy in the operation.
The dielectric strength of manipulator and hydraulic pressure fuel feed pump material satisfies the requirement of high-voltage hot-line work greater than 10kv, and whole manipulator can be made with 9363 expoxy glass cloth products of high comprehensive performance.
Isolating transformer has a three-phase coil, two and above secondary three-phase coil, and the dielectric strength between one secondary side and the second siding ring is all greater than 10kv.The outlet of many group secondaries realized each mechanical arm, control system all respectively by independent secondary coil power supply, realized between two mechanical arms, the electrical isolation between mechanical arm and the control system, to guarantee electrical safety.
The utlity model has following advantage:
The dielectric strength height, three class F insulations protect, and can guarantee live line working operating personnel's the person and device security.The mechanical arm light and flexible, action is accurate, the positioning accuracy height.Vehicle-mounted motor-driven, flexible, applied range.
Description of drawings
Below Figure of description is further specified as follows:
Fig. 1 is a structural representation of the present utility model, and each mark order is as follows: 1--automobile, 2--generator and hydraulic oil pump, 3--jacking system, the 4--support platform that insulate, 5--connector, 6--control cubicle, 7--isolating transformer, 8--Work machine arm, 9--hydraulic efficiency manipulator, 10--control device.
Specific embodiment
In the embodiment shown in fig. 1, jacking system (3), generator and hydraulic oil pump (2) are installed on automobile (1) chassis, can be dragged by automobile, and insulation support platform (4) links with the end of jacking system (3).Elevating mechanism (3) adopts hydraulic-driven, and maximum oil pressure can reach 20Mpa, and revolution, flexible, terminal swing and four degrees of freedom of platform levelling are arranged.Two articulated type 6DOF Work machine arms (8) are fixed on the insulated platform (4), the terminal wrist of Work machine arm (8) is installed the manipulator (9) of high insulation resistance, Work machine arm (8) adopts the MINS servomotor to drive the RV decelerator and drives, manipulator (9) is taked hydraulic-driven, by hydraulic pump (2) to manipulator (9) fuel feeding, the secondary winding lead-in wire that is installed in the isolating transformer (7) on the insulation support platform links to each other with control cubicle (6) with the joint drive motors of Work machine arm (8), provide 220v power supply to it, computer is finished corresponding live line working by the specific purpose tool of low voltage control device (10) control operation mechanical arm (8) and manipulator (9) clamping.
Work machine arm (8) is made by the high insulation resistance material, and dielectric strength is 42kv, can satisfy the insulation safety requirement of live line working.Insulating material can be with 9363 expoxy glass cloth products, and density is 3.6*10
3Kg/m
3
Work machine arm (8) joint drives and has adopted 6 MINS servomotors and high accuracy RV decelerator, and control precision is 0.8mm, has guaranteed the positioning accuracy in the operation.
The dielectric strength of manipulator (9) and hydraulic pressure fuel feed pump material thereof is 42kv, and oil pressure can reach 20Mpa, satisfies the requirement of high-voltage hot-line work, and whole manipulator can be made with 9363 expoxy glass cloth products of high comprehensive performance.
Isolating transformer (7) capacity is 15KVA, and it is the three-phase coil of 380v that an input voltage is arranged, and three secondary three-phase coil output voltages are 220v, and the specified dielectric strength between one secondary side and the second siding ring is all greater than 10kv.Three groups of secondary outlets are respectively to each mechanical arm (8), control cubicle (6) power supply, have realized between two mechanical arms, the electrical isolation between mechanical arm and the control system, guarantee electrical safety.
Claims (5)
1. robot high-voltage hot-line work device, it comprises and drags automobile, elevating mechanism, the insulation support platform, elevating mechanism, generator and hydraulic oil pump are installed on the automobile chassis, can drag by automobile, the end of insulation support platform and elevating mechanism links, elevating mechanism adopts hydraulic-driven, revolution is arranged, flexible, terminal swing and four degrees of freedom of platform levelling, it is characterized in that: have two articulated type six degree of freedom Work machine arms to be fixed on the insulation support platform, the terminal wrist of Work machine arm is installed the manipulator of high insulation resistance, the Work machine shoulder joint adopts the driven by motor decelerator to drive, manipulator is taked hydraulic-driven, by hydraulic oil pump to the manipulator fuel feeding, the secondary winding lead-in wire that is installed in the isolating transformer of insulation on the support platform links to each other with the joint drive motors of Work machine arm and the control cubicle that is installed on the support platform that insulate, and supply capability, computer is finished corresponding live line working by the specific purpose tool of low voltage control device control operation mechanical arm and manipulator clamping.
2. robot according to claim 1 live line working device is characterized in that: said Work machine arm is to be made greater than the material of 10kv by dielectric strength, can adopt 9363 expoxy glass cloth products, and density is not less than 3*10
3Kg/m
3
3. robot according to claim 1 live line working device is characterized in that: said Work machine shoulder joint drives and adopts MINS servomotor and RV decelerator.
4. robot according to claim 1 live line working device is characterized in that: the dielectric strength of said manipulator and hydraulic pressure fuel feed pump material is greater than 10kv, and manipulator can adopt 9363 expoxy glass cloth products manufacturings.
5. robot according to claim 1 live line working device is characterized in that: isolating transformer has a three-phase coil, is no less than two secondary three-phase coils, and the dielectric strength between one secondary side and the second siding ring is all greater than 10kv.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU02267831XU CN2597163Y (en) | 2002-06-24 | 2002-06-24 | High-voltage live-wire working device for manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU02267831XU CN2597163Y (en) | 2002-06-24 | 2002-06-24 | High-voltage live-wire working device for manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2597163Y true CN2597163Y (en) | 2004-01-07 |
Family
ID=34150275
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU02267831XU Expired - Lifetime CN2597163Y (en) | 2002-06-24 | 2002-06-24 | High-voltage live-wire working device for manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2597163Y (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102601782A (en) * | 2012-04-01 | 2012-07-25 | 山东电力研究院 | High-voltage live working robot device |
| CN102688000A (en) * | 2012-06-04 | 2012-09-26 | 上虞市电力公司 | Suction handle of dust collector special for cleaning high-voltage electric equipment |
| CN103015306A (en) * | 2012-12-20 | 2013-04-03 | 徐州海伦哲专用车辆股份有限公司 | Operation method for high-altitude emergency erection of highway passing linear facilities |
| CN104786227A (en) * | 2015-04-28 | 2015-07-22 | 山东鲁能智能技术有限公司 | Drop type switch replacing control system and method based on high-voltage live working robot |
| CN105140827A (en) * | 2015-09-24 | 2015-12-09 | 国网山东济阳县供电公司 | Electrification disconnection operation robot of electric system |
| CN105401776A (en) * | 2015-11-20 | 2016-03-16 | 国家电网公司 | Device for supporting transmission conductor in process of replacing electric pole |
| CN105643587A (en) * | 2016-03-04 | 2016-06-08 | 哈尔滨工业大学 | Thirteen-freedom spraying robot for outer surface of large ship body |
| CN105965486A (en) * | 2016-07-22 | 2016-09-28 | 广东电网有限责任公司电力科学研究院 | Electric operation robot system |
| CN106493708A (en) * | 2016-12-09 | 2017-03-15 | 南京理工大学 | A kind of hot line robot control system based on double mechanical arms and sub-arm |
| CN106595762A (en) * | 2016-12-09 | 2017-04-26 | 南京理工大学 | Hot-line work robot tension insulator detection method |
| CN106711847A (en) * | 2016-12-21 | 2017-05-24 | 国网安徽省电力公司淮南供电公司 | 10kV distribution network line live obstacle clearing mechanical arm |
| CN112952513A (en) * | 2021-01-19 | 2021-06-11 | 贵州电网有限责任公司 | Special crimping pliers for high-voltage live working robot |
-
2002
- 2002-06-24 CN CNU02267831XU patent/CN2597163Y/en not_active Expired - Lifetime
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102601782B (en) * | 2012-04-01 | 2014-08-27 | 山东电力研究院 | High-voltage live working robot device |
| CN102601782A (en) * | 2012-04-01 | 2012-07-25 | 山东电力研究院 | High-voltage live working robot device |
| CN102688000A (en) * | 2012-06-04 | 2012-09-26 | 上虞市电力公司 | Suction handle of dust collector special for cleaning high-voltage electric equipment |
| CN103015306A (en) * | 2012-12-20 | 2013-04-03 | 徐州海伦哲专用车辆股份有限公司 | Operation method for high-altitude emergency erection of highway passing linear facilities |
| CN103015306B (en) * | 2012-12-20 | 2016-03-09 | 徐州海伦哲专用车辆股份有限公司 | The operational method of High Altitude Emergency erection highway crossing wire facility |
| CN104786227B (en) * | 2015-04-28 | 2016-10-05 | 山东鲁能智能技术有限公司 | Drop switch based on robot for high-voltage hot-line work changes control system and method |
| CN104786227A (en) * | 2015-04-28 | 2015-07-22 | 山东鲁能智能技术有限公司 | Drop type switch replacing control system and method based on high-voltage live working robot |
| CN105140827A (en) * | 2015-09-24 | 2015-12-09 | 国网山东济阳县供电公司 | Electrification disconnection operation robot of electric system |
| CN105401776A (en) * | 2015-11-20 | 2016-03-16 | 国家电网公司 | Device for supporting transmission conductor in process of replacing electric pole |
| CN105643587A (en) * | 2016-03-04 | 2016-06-08 | 哈尔滨工业大学 | Thirteen-freedom spraying robot for outer surface of large ship body |
| CN105643587B (en) * | 2016-03-04 | 2017-08-25 | 哈尔滨工业大学 | Thirteen-degree-of-freedom argosy external surface spray robot |
| CN105965486A (en) * | 2016-07-22 | 2016-09-28 | 广东电网有限责任公司电力科学研究院 | Electric operation robot system |
| CN106493708A (en) * | 2016-12-09 | 2017-03-15 | 南京理工大学 | A kind of hot line robot control system based on double mechanical arms and sub-arm |
| CN106595762A (en) * | 2016-12-09 | 2017-04-26 | 南京理工大学 | Hot-line work robot tension insulator detection method |
| CN106493708B (en) * | 2016-12-09 | 2019-09-27 | 南京理工大学 | A kind of hot line robot control system based on double mechanical arms and sub-arm |
| CN106595762B (en) * | 2016-12-09 | 2019-10-18 | 南京理工大学 | A kind of hot line robot strain insulator detection method |
| CN106711847A (en) * | 2016-12-21 | 2017-05-24 | 国网安徽省电力公司淮南供电公司 | 10kV distribution network line live obstacle clearing mechanical arm |
| CN112952513A (en) * | 2021-01-19 | 2021-06-11 | 贵州电网有限责任公司 | Special crimping pliers for high-voltage live working robot |
| CN112952513B (en) * | 2021-01-19 | 2022-10-28 | 贵州电网有限责任公司 | Special crimping pliers for high-voltage live working robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CX01 | Expiry of patent term |
Expiration termination date: 20120624 Granted publication date: 20040107 |