CN102593752A - Method for reconfiguring reconfigurable mobile robot for high-voltage transmission line module - Google Patents
Method for reconfiguring reconfigurable mobile robot for high-voltage transmission line module Download PDFInfo
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- CN102593752A CN102593752A CN2012100586305A CN201210058630A CN102593752A CN 102593752 A CN102593752 A CN 102593752A CN 2012100586305 A CN2012100586305 A CN 2012100586305A CN 201210058630 A CN201210058630 A CN 201210058630A CN 102593752 A CN102593752 A CN 102593752A
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Abstract
The invention relates to a method for reconfiguring a reconfigurable mobile robot for a high-voltage transmission line module. According to the method, a mobile robot body module is used as an operation platform, and a mechanical arm module is reconfigured with an ice-removing module, a lead-repairing module and a shockproof hammer assembling and disassembling module by a proper mode, so that mobile robots respectively having ice-removing, lead-repairing and shockproof hammer assembling and disassembling functions are formed. Therefore, the method disclosed by the invention has the following advantages: by carrying out division and reconfiguration of the modules on the robot for the transmission line, the mobile robots suitable for different tasks can be assembled, so that the flexibility, the suitability and the working range of the robot are improved and the operation cost is reduced.
Description
Technical field
The present invention relates to a kind of mobile operating robot reconstructing method, especially relate to a kind of ultra-high-tension power transmission line modular reconfigurable mobile operating robot reconstructing method.
Background technology
In order to ensure the normal operation of aerial high-voltage power transmission line, it is regularly perhaps irregular right to need
Lead carries out multiple Maintenance and Repair operation such as circuit deicing, conducting wire mending, gold utensil replacing etc.This type work is at present generally all accomplished by manual work, but manual work labour intensity is big, and difficulty is high, and operating efficiency is low and have a potential safety hazard.
At present, the ultra-high-tension power transmission line Work robot is all developed according to the certain applications purpose,
Clear and definite should being used for said for task, and this robot can satisfy actual demand.But; Further in-depth along with research and application; The range of application of robot is more and more wider; And the configuration of every kind of robot only can adapt to certain limited range, so the flexibility of robot can not satisfy the requirement of turn of the market, and solution to this problem is developed the reconstruction robot system exactly.The reconfigurable modular robot system is passed through these modules and can be assembled out the robot that is best suited for the given task of completion fast by what a cover had that the module of different size and performance characteristic forms. and present domestic related patent U.S. Patent No. about high voltage transmission line modular reconfigurable mobile operating robot is not also appeared in the newspapers.
Summary of the invention
The present invention solves the flexible deficiency of the existing ultra-high-tension power transmission line Work robot of existing in prior technology, the technical problem that range of application does not extensively wait; Provide a kind of can the assembling out to be adapted to the not mobile operating robot of job task, improved flexibility, adaptive capacity and the working range of robot, reduced a kind of ultra-high-tension power transmission line modular reconfigurable mobile operating robot reconstructing method of operating cost.
Above-mentioned technical problem of the present invention mainly is able to solve through following technical proposals:
A kind of ultra-high-tension power transmission line modular reconfigurable mobile operating robot reconstructing method is based on mobile robot's body module, at least one mechanical arm module, deicing operation module, conducting wire mending operation module and stockbridge damper installing/dismounting operation module; It is characterized in that, comprise following selection step:
Select step 1: deicing operation module is installed on mobile robot's body module, drives the removing operation that deicing operation module is accomplished the icing on transmission pressure surface by mobile robot's body module.
At above-mentioned a kind of ultra-high-tension power transmission line modular reconfigurable mobile operating robot reconstructing method, also comprise and select step 2:
A mechanical arm module is installed on mobile robot's body module; Conducting wire mending operation module is installed in the mechanical arm module, accomplishes impaired disconnected strand transmission pressure repairing work of transmission pressure by mobile robot's body module through mechanical arm module drive conducting wire mending operation module.
At above-mentioned a kind of ultra-high-tension power transmission line modular reconfigurable mobile operating robot reconstructing method, also comprise and select step 3:
Two mechanical arm modules are installed in mobile robot's body module both sides; The clamping connector assembly and the nutting connector assembly of stockbridge damper installing/dismounting operation module are installed in respectively on two mechanical arm modules, accomplish the installation and removal operation of stockbridge damper on the transmission pressure by mobile robot's body module through mechanical arm module drive stockbridge damper installing/dismounting operation module.
At above-mentioned a kind of ultra-high-tension power transmission line modular reconfigurable mobile operating robot reconstructing method; Said robot body module has power supply, and said mechanical arm module, deicing operation module, conducting wire mending operation module and stockbridge damper installing/dismounting operation module all are electrically connected with the robot body module.
Therefore; The present invention has following advantage: through the transmission line operation robot being carried out the division and the reconstruct of module; Can assemble out and be adapted to the not mobile operating robot of job task, improve flexibility, adaptive capacity and the working range of robot, reduce operating cost.
Description of drawings
Fig. 1 is the structural representation of robot body module among the present invention.
Fig. 2 is the structural representation of mechanical arm module among the present invention.
Fig. 3 is the structural representation of deicing operation module among the present invention.
Fig. 4 is the structural representation of conducting wire mending operation module among the present invention.
Fig. 5 a is the structural representation of clamping connector assembly in the stockbridge damper installing/dismounting operation module of the present invention.
Fig. 5 b is the structural representation of nutting connector assembly in the stockbridge damper installing/dismounting operation module of the present invention.
Fig. 6 is the structural representation of deicing Work robot among the present invention.
Fig. 7 is the structural representation of conducting wire mending Work robot among the present invention.
Fig. 8 is the structural representation of stockbridge damper installing/dismounting Work robot among the present invention.
Embodiment
Pass through embodiment below, and combine accompanying drawing, do further bright specifically technical scheme of the present invention.Among the figure, mobile robot's body module, mechanical arm module, deicing operation module, conducting wire mending operation module, stockbridge damper installing/dismounting operation module.
Embodiment:
As shown in the figure; A kind of ultra-high-tension power transmission line modular reconfigurable mobile operating robot reconstructing method; Based on mobile robot's body module, at least one mechanical arm module, deicing operation module, conducting wire mending operation module and stockbridge damper installing/dismounting operation module; The robot body module has power supply, and said mechanical arm module, deicing operation module, conducting wire mending operation module and stockbridge damper installing/dismounting operation module all are electrically connected with the robot body module.
Comprise following selection step:
Selecting step 1: Fig. 1 is robot body; Fig. 2 is a mechanical arm.Carry out at needs under the situation of transmission pressure deicing task; Deicing operation module as shown in Figure 3 is installed on the robot body mechanical arm; Form deicing Work robot as shown in Figure 6; Along with robot body moves on lead, the deicing module can be removed the icing on the conducting line segment that robot passes through.
Select step 2: need to carry out under the situation of conducting wire mending task in the lead breakage; Conducting wire mending operation module as shown in Figure 4 is installed on the mechanical arm module; Again the mechanical arm module is installed on the robot body module, forms conducting wire mending Work robot as shown in Figure 7.Robot body walks to the position that the lead breakage needs repairing, and mechanical arm is lifted the height to needs with conducting wire mending operation module, adjusts to appropriate attitude, and conducting wire mending operation module goes up copper sheet for the lead breakage coats, and lead is repaired.
Select step 3: stockbridge damper installing/dismounting operation module as shown in Figure 5 is installed on the robot body module through two mechanical arm modules respectively, forms stockbridge damper installing/dismounting Work robot as shown in Figure 8.When the loosening needs of the appearance of the stockbridge damper on the transmission line are fastening; Robot walks to loosening stockbridge damper place; Make two road wheels lay respectively at the stockbridge damper both sides, two mechanical arm modules lift stockbridge damper installing/dismounting operation module to specifying pose, and loosening stockbridge damper bolt is tightened; When lead somewhere stockbridge damper damages; Need change stockbridge damper; Robot body walks to and damages the stockbridge damper place; Two mechanical arm modules lift stockbridge damper installing/dismounting operation module to specifying pose, will damage stockbridge damper and take off, and will be equipped on stockbridge damper intact on the robot body module again and lift and be installed on the lead.
The robot body module has power supply, and said mechanical arm module, deicing operation module, conducting wire mending operation module and stockbridge damper installing/dismounting operation module all are electrically connected with the robot body module.
Specific embodiment described herein only is that the present invention's spirit is illustrated.Person of ordinary skill in the field of the present invention can make various modifications or replenishes or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.
Although this paper has used terms such as mobile robot's body module, mechanical arm module, deicing operation module, conducting wire mending operation module, stockbridge damper installing/dismounting operation module morely, do not get rid of the possibility of using other term.Using these terms only is in order to describe and explain essence of the present invention more easily; It all is contrary with spirit of the present invention being construed to any additional restriction to them.
Claims (4)
1. ultra-high-tension power transmission line modular reconfigurable mobile operating robot reconstructing method is based on mobile robot's body module, at least one mechanical arm module, deicing operation module, conducting wire mending operation module and stockbridge damper installing/dismounting operation module; It is characterized in that, comprise following selection step:
Select step 1: deicing operation module is installed on mobile robot's body module, drives the removing operation that deicing operation module is accomplished the icing on transmission pressure surface by mobile robot's body module.
2. a kind of ultra-high-tension power transmission line modular reconfigurable mobile operating according to claim 1 robot reconstructing method is characterized in that, also comprises and selects step 2:
A mechanical arm module is installed on mobile robot's body module; Conducting wire mending operation module is installed in the mechanical arm module, accomplishes impaired disconnected strand transmission pressure repairing work of transmission pressure by mobile robot's body module through mechanical arm module drive conducting wire mending operation module.
3. a kind of ultra-high-tension power transmission line modular reconfigurable mobile operating according to claim 1 robot reconstructing method is characterized in that, also comprises and selects step 3:
Two mechanical arm modules are installed in mobile robot's body module both sides; The clamping connector assembly and the nutting connector assembly of stockbridge damper installing/dismounting operation module are installed in respectively on two mechanical arm modules, accomplish the installation and removal operation of stockbridge damper on the transmission pressure by mobile robot's body module through mechanical arm module drive stockbridge damper installing/dismounting operation module.
4. a kind of ultra-high-tension power transmission line modular reconfigurable mobile operating according to claim 1 robot reconstructing method; It is characterized in that; Said robot body module has power supply, and said mechanical arm module, deicing operation module, conducting wire mending operation module and stockbridge damper installing/dismounting operation module all are electrically connected with the robot body module.
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| CN201210058630.5A CN102593752B (en) | 2012-03-08 | 2012-03-08 | Method for reconfiguring reconfigurable mobile robot for high-voltage transmission line module |
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| CN201210058630.5A CN102593752B (en) | 2012-03-08 | 2012-03-08 | Method for reconfiguring reconfigurable mobile robot for high-voltage transmission line module |
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| CN102593752A true CN102593752A (en) | 2012-07-18 |
| CN102593752B CN102593752B (en) | 2015-02-18 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103513151A (en) * | 2013-09-23 | 2014-01-15 | 武汉大学 | Transmission line breakage detection device |
| CN105690404A (en) * | 2016-04-20 | 2016-06-22 | 武汉大学 | Manipulator device at tail end of double-foot robot for power transmission line |
| CN106099746A (en) * | 2016-06-23 | 2016-11-09 | 云南电网有限责任公司楚雄供电局 | Utilize disconnected stock to study for a second time courses one has flunked robot to carry out aerial line and break the method that stock studies for a second time courses one has flunked |
| CN108988197A (en) * | 2018-06-01 | 2018-12-11 | 南京理工大学 | A kind of method for fast reconstruction at hot line robot system livewire work scene |
| CN109038359A (en) * | 2018-07-19 | 2018-12-18 | 沈彦南 | A kind of overhead transmission line grounded-line damage restoring means and method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103513151A (en) * | 2013-09-23 | 2014-01-15 | 武汉大学 | Transmission line breakage detection device |
| CN103513151B (en) * | 2013-09-23 | 2015-11-18 | 武汉大学 | A kind of transmission line breakage detection device |
| CN105690404A (en) * | 2016-04-20 | 2016-06-22 | 武汉大学 | Manipulator device at tail end of double-foot robot for power transmission line |
| CN105690404B (en) * | 2016-04-20 | 2017-07-11 | 武汉大学 | A kind of transmission line of electricity biped robot end robot device |
| CN106099746A (en) * | 2016-06-23 | 2016-11-09 | 云南电网有限责任公司楚雄供电局 | Utilize disconnected stock to study for a second time courses one has flunked robot to carry out aerial line and break the method that stock studies for a second time courses one has flunked |
| CN108988197A (en) * | 2018-06-01 | 2018-12-11 | 南京理工大学 | A kind of method for fast reconstruction at hot line robot system livewire work scene |
| CN109038359A (en) * | 2018-07-19 | 2018-12-18 | 沈彦南 | A kind of overhead transmission line grounded-line damage restoring means and method |
| CN109038359B (en) * | 2018-07-19 | 2020-07-17 | 沈彦南 | Overhead transmission line ground wire damage restoration device and method |
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| CN102593752B (en) | 2015-02-18 |
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Effective date of registration: 20210604 Address after: Unit 104 on the first floor and unit 201 on the second floor of keying International Industrial Park Phase I plant, No.7 Xinkai Road, Wusha community, Daliang street, Shunde District, Foshan City, Guangdong Province Patentee after: GUANGDONG KEYSTAR INTELLIGENCE ROBOT Co.,Ltd. Address before: 430072 Hubei city of Wuhan province Wuchang Wuhan University Luojiashan Patentee before: WUHAN University |
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