CN108908284A - Packaged type obstacle detouring hot line robot - Google Patents
Packaged type obstacle detouring hot line robot Download PDFInfo
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- CN108908284A CN108908284A CN201810845240.XA CN201810845240A CN108908284A CN 108908284 A CN108908284 A CN 108908284A CN 201810845240 A CN201810845240 A CN 201810845240A CN 108908284 A CN108908284 A CN 108908284A
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- obstacle detouring
- hot line
- line robot
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- mechanical arm
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- 210000000707 wrist Anatomy 0.000 claims description 27
- 210000000245 forearm Anatomy 0.000 claims description 14
- 210000003857 wrist joint Anatomy 0.000 claims description 13
- 210000002310 elbow joint Anatomy 0.000 claims description 8
- 210000000323 shoulder joint Anatomy 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000007689 inspection Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 239000004576 sand Substances 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 230000009184 walking Effects 0.000 description 3
- 210000004247 hand Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000035558 fertility Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to technical field of electric power, specifically provide a kind of packaged type obstacle detouring hot line robot.Present invention seek to address that existing hot line robot particular job place can not normal movement the phenomenon that.Packaged type obstacle detouring hot line robot of the invention includes obstacle detouring main body and mechanical arm control system, and wherein obstacle detouring main body is provided with auxiliary propelling machine, and obstacle detouring hot line robot can run to target position by means of auxiliary propelling machine；Mechanical arm control system includes control unit and two mechanical arms, and the power line that control unit treats operation for controlling two mechanical arms in the case of obstacle detouring hot line robot is in target position carries out operation.It is such setting so that hot line robot in particular surroundings also can normal movement and work, expand the operative scenario range of hot line robot, improve the applicability and versatility of hot line robot, ensure that the safety of operator.
Description
Technical field
The invention belongs to technical field of electric power, specifically provide a kind of packaged type obstacle detouring hot line robot.
Background technique
Artificial hot line job needs operator to carry out wiring, solution line under the extreme dangers environment such as high pressure, strong-electromagnetic field
Equal manual operationss, large labor intensity, spiritual high-pressure.Personal Risk not only is brought to livewire work personnel, but also completes to make
Industry inefficiency.
Although domestic multiple units have researched and developed multiple types hot line robot, there is still a need for operations for operating mode
Personnel still have safety problem and potential operational risk in mechanical arm livewire work route periphery, operator.
And since the volume of hot line robot is big, weight is big, in particular circumstances, such as sand ground, mountain area, by band
Electric Work robot is brought to also very inconvenient to operating area.And the mistake of inspection is carried out to power line in hot line robot
Cheng Zhong, this special working environment may also can hinder robotic movement, make hot line robot can not to power line into
The normal inspection of row.
Correspondingly, this field needs a kind of packaged type obstacle detouring hot line robot to solve the above problems.
Summary of the invention
In order to solve the above problem in the prior art, in order to solve existing hot line robot in particular job field
Ground can not normal movement the phenomenon that, the present invention provides a kind of packaged type obstacle detouring hot line robot, obstacle detouring electrification
Work robot includes obstacle detouring main body and the mechanical arm control system that is set in the obstacle detouring main body, wherein the obstacle detouring master
Body is provided with auxiliary propelling machine, and the obstacle detouring hot line robot can run to mesh by means of the auxiliary propelling machine
Cursor position；Wherein, mechanical arm control system includes control unit and two mechanical arms, and described control unit is used in the obstacle detouring
Hot line robot controls the power line progress operation that two mechanical arms treat operation in the case of being in the target position.
In the optimal technical scheme of above-mentioned obstacle detouring hot line robot, the obstacle detouring main body includes job platform, institute
Stating auxiliary propelling machine is the crawler travel component for being set to the job platform, and the crawler travel component includes being respectively set
Two traveling wheel groups in the job platform two sides, each traveling wheel group matching are provided with traveling crawler.
In the optimal technical scheme of above-mentioned obstacle detouring hot line robot, the crawler travel component includes obstacle detouring branch
Arm, the obstacle detouring support arm are set to the front inner of the traveling crawler, to make the front of the traveling crawler be lifted away from ground.
In the optimal technical scheme of above-mentioned obstacle detouring hot line robot, the mechanical arm control system includes being set to
Information acquisition unit on the job platform, the information acquisition unit are set between two mechanical arms, for determine with
The location information of the corresponding working scene of the power line to be operated；Described control unit is for true according to the positional information
The operation trace of the fixed mechanical arm and/or the kinematic parameter in the operation trace.
In the optimal technical scheme of above-mentioned obstacle detouring hot line robot, the information acquisition unit includes：Three mesh are taken the photograph
Camera is used to obtain the image data of target associated with the power line to be operated in the working scene；Two dimension
Laser radar is pivotally set to above three lens camera, and the two-dimensional laser radar is for measuring simultaneously
Demarcate the range information of the target；Described in described control unit is used to be determined according to described image data with the range information
The operation trace of mechanical arm.
In the optimal technical scheme of above-mentioned obstacle detouring hot line robot, the two-dimensional laser radar can be in horizontal plane
Interior rotation and slewing area are towards in the 180 degree in the front of the obstacle detouring hot line robot；And/or described in two
The structure of mechanical arm is identical.
In the optimal technical scheme of above-mentioned obstacle detouring hot line robot, the mechanical arm includes shoulder joint, large arm, elbow
Joint, forearm and wrist joint group, wherein one end of the large arm is set in a manner of mobilizable described by the shoulder joint
On robot platform, one end of the forearm is connected in a manner of mobilizable with the other end of the large arm by the elbow joint
It connects, the wrist joint is connect in a manner of mobilizable with the other end of the forearm.
In the optimal technical scheme of above-mentioned obstacle detouring hot line robot, the wrist joint group include wrist pitching joint,
Wrist swinging joint and wrist rotary joint, wherein wrist pitching joint is connect with the end of the forearm, the wrist swinging joint
It is connect with wrist pitching joint, the wrist rotary joint is connect with the wrist swinging joint.
In the optimal technical scheme of above-mentioned obstacle detouring hot line robot, each joint of the mechanical arm is provided with just
Hand over rotary encoder and driving motor, wherein the orthogonal rotary encoder is used to acquire the angle-data in each joint, described
Driving motor is used to control the movement in each joint.
In the optimal technical scheme of above-mentioned obstacle detouring hot line robot, the obstacle detouring hot line robot includes supplying
Motor structure, the power supply mechanism include the battery that can be powered to the obstacle detouring hot line robot and can be to described
Battery mends the solar panel of electricity.
It will be appreciated to those of skill in the art that in the inventive solutions, obstacle detouring hot line robot packet
The mechanical arm control system for including obstacle detouring main body and being set in obstacle detouring main body, wherein obstacle detouring main body is provided with auxiliary propelling machine,
Obstacle detouring hot line robot can run to target position by means of auxiliary propelling machine；Wherein, mechanical arm control system packet
Control unit and two mechanical arms are included, control unit in the case of obstacle detouring hot line robot is in target position for controlling
Make the power line progress operation that two mechanical arms treat operation.Setting in this way can not only realize livewire work machine
The livewire work function and walking function of people, and make hot line robot in particular surroundings also can normal movement and
Work.Such as in sand ground or massif work-yard, hot line robot still can normally act on one's own, and meet electrification and make
The inspection demand of industry robot in particular circumstances, expands the operative scenario range of hot line robot, improves electrification
The applicability and versatility of Work robot, ensure that the safety of operator.
Detailed description of the invention
The preferred embodiment of the present invention described with reference to the accompanying drawings, in attached drawing：
Fig. 1 is the structural schematic diagram of the obstacle detouring hot line robot of an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the obstacle detouring main body of the obstacle detouring hot line robot of an embodiment of the present invention；
Fig. 3 is the structural representation of the mechanical arm control system of the obstacle detouring hot line robot of an embodiment of the present invention
Figure；
Fig. 4 is the structural schematic diagram of the mechanical arm of the obstacle detouring hot line robot of an embodiment of the present invention.
Reference signs list：
1, obstacle detouring main body；11, auxiliary propelling machine；111, obstacle detouring support arm；112, traveling wheel group；113, traveling crawler；12,
Job platform；2, mechanical arm control system；21, mechanical arm；211, shoulder joint；212, large arm；213, elbow joint；214, forearm；
215, wrist joint group；2151, wrist pitching joint；2152, wrist swinging joint；2153, wrist rotary joint；3, power supply mechanism；4, believe
Cease acquisition unit；41, three lens camera；42, two-dimensional laser radar.
Specific embodiment
It will be apparent to a skilled person that this section embodiment is used only for explaining technical principle of the invention,
It is not intended to limit protection scope of the present invention.Although for example, being relationship drafting by a certain percentage between each component in attached drawing
, but this proportionate relationship is not unalterable, those skilled in the art, which can according to need, makes adjustment to it, to fit
Specific application is answered, technical solution adjusted will fall into protection scope of the present invention.
It should be noted that in the description of the present invention, term " center ", "upper", "lower", "left", "right", "vertical",
"horizontal", "inner", "outside" etc. indicate that the term of direction or positional relationship is direction based on the figure or positional relationship, this is only
It is merely for convenience of describing, rather than indication or suggestion described device or element must have a particular orientation, with specific side
Position construction and operation, therefore be not considered as limiting the invention.In addition, term " first ", " second ", " third " are only used for
Purpose is described, relative importance is not understood to indicate or imply.
In addition it is also necessary to explanation, in the description of the present invention unless specifically defined or limited otherwise, term " peace
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.To those skilled in the art, it can understand that above-mentioned term exists as the case may be
Concrete meaning in the present invention.
As shown in Figure 1, Fig. 1 is the structural schematic diagram of the obstacle detouring hot line robot of an embodiment of the present invention.Reference
Fig. 1, obstacle detouring hot line robot include obstacle detouring main body 1 and the mechanical arm control system 2 that is set in obstacle detouring main body 1, wherein
Obstacle detouring main body 1 is provided with auxiliary propelling machine 11, and obstacle detouring hot line robot can be walked by means of auxiliary propelling machine 11
To target position；Mechanical arm control system 2 includes control unit and two mechanical arms 21, and control unit, which is used to charge in obstacle detouring, to be made
Industry robot controls the power line progress operation that two mechanical arms 21 treat operation in the case of being in target position.
Setting in this way can not only realize the livewire work function and walking function of hot line robot, and
And make hot line robot also being capable of normal movement and work in particular surroundings.Such as in sand ground or massif yard
Ground, hot line robot still can normally act on one's own, and meet the inspection need of hot line robot in particular circumstances
It asks, improves the applicability and versatility of hot line robot, while ensure that the safety of operator.
As shown in Fig. 2, the structure that Fig. 2 is the obstacle detouring main body of the obstacle detouring hot line robot of an embodiment of the present invention is shown
It is intended to.Referring to Figures 1 and 2, obstacle detouring main body 1 includes job platform 12, and auxiliary propelling machine 11 is to be set to job platform 12
Crawler travel component.Crawler travel component includes obstacle detouring support arm 111 and two walkings for being respectively arranged at 12 two sides of job platform
Wheel group 112, each matching of traveling wheel group 112 is provided with traveling crawler 113, before traveling crawler 113 is arranged in obstacle detouring support arm 111
Tip inside.Obstacle detouring support arm 111 includes rotary shaft and four support arms around rotary shaft setting, and four support arms can be around rotation
Shaft rotary motion.The lower surface of traveling crawler 113 is lifted away from ground by obstacle detouring support arm 111, forms traveling crawler 113 with ground
Certain angle.Support arm is contacted with traveling crawler 113, and during traveling crawler 113 moves, four support arms are with row
The operation of crawler belt 113 is walked around rotary shaft rotary motion.
By the way that track frame is arranged, the auxiliary propelling machine 11 and working space of obstacle detouring hot line robot are increased
The contact area and frictional force on ground, so that the locomotivity of hot line robot is stronger.By setting obstacle detouring support arm 111 with
And obstacle detouring support arm 111 is set to the front inner of crawler travel component, obstacle is encountered in the leading portion portion of hot line robot
When, obstacle detouring support arm 111 can make the prior contact barrier for the traveling crawler 113 for being lifted away from ground, and obstacle detouring main body 1 is supported to cross
Barrier expands the applicable scene of hot line robot, improves the usage experience of hot line robot.
Although it is understood that auxiliary propelling machine 11 described in above-described embodiment include crawler travel component,
This is not the limitation to auxiliary propelling machine 11.Such as, auxiliary propelling machine 11 can also be with relatively large grounded area and to grab
The structural tire part of soil fertility.Can auxiliary propelling machine 11 be reasonably arranged with needs according to the actual situation in those skilled in the art.
With continued reference to Fig. 2, obstacle detouring main body 1 is provided with power supply mechanism 3.Power supply mechanism 3 includes solar panel and electric power storage
Pond, solar panel are set on the job platform 12 of obstacle detouring main body 1, for receiving illumination and providing electric energy for battery；
Battery is set in obstacle detouring main body 1, for storing electric energy and providing electric energy to obstacle detouring hot line robot.It is supplied by setting
Motor structure 3 extends the operating time of hot line robot, improves the sustainable cruising ability of hot line robot,
Convenience is brought for the livewire work of hot line robot.
As shown in figure 3, Fig. 3 is the mechanical arm control system of the obstacle detouring hot line robot of an embodiment of the present invention
Structural schematic diagram.Referring to Figure 1 and Figure 3, mechanical arm control system 2 includes the information acquisition unit 4 being set on job platform 12.
Information acquisition unit 4 is set between two mechanical arms 21, for determining working scene corresponding with power line to be operated
Location information；The spatial operation track and the fortune in operation trace that control unit is used to determine mechanical arm 21 according to location information
Dynamic parameter.
The space behaviour of mechanical arm 21 is determined by the location information according to working scene corresponding with power line to be operated
Make track and kinematic parameter, mechanical arm 21 can be made effectively to avoid the obstacle in environment, according to the track of planning close to operation
Region.Kinematic parameter of the mechanical arm 21 close to power line when can also be made to become smaller, such as make mechanical arm 21 slowly close to power line reality
Now to the flexible contact of power line, when avoiding operator and carrying out maloperation due to various reasons, 21 collision obstacle of mechanical arm
Or the phenomenon that interrupting power line, so that the operational safety of hot line robot greatly increases, while also protecting electric power
System safety.
Preferably, information acquisition unit 4 include three lens cameras 41 and two-dimensional laser radar 42, two-dimensional laser radar 42 with
Rotatable mode is set to three lens cameras, 41 top.Two-dimensional laser radar 42 can be charged towards obstacle detouring in the horizontal plane to be made
It is rotated within the scope of the 180 degree in the front of industry robot.Three lens cameras 41 are used to obtain in working scene and to be operated
The image data of the associated target of power line.Two-dimensional laser radar 42 is used to measure and the range information of spotting.Control
Unit is used to determine the spatial operation track of mechanical arm 21 according to image data and range information.It is in working scene and to be operated
The associated target of power line can be sky background, wire pole tower, mechanical arm, electric wire, single component and mechanical arm tail end
Operational instrument etc..
As an example, the centre of three lens cameras 41 and the camera of side are selected first, simultaneously from two viewpoints
Observe the target image that same working scene obtains.By principle of triangulation, the parallax calculated between the pixel of target image comes
Three-dimensional coordinate of the solving target characteristic point in the case where measuring coordinate system, according to sky of the character pair point in the case where measuring coordinate system in target
Between space coordinate under coordinate and object coordinates system, solve the position and attitude parameter of target；Secondly the intermediate and other side is selected
Camera, repeat the above process, calculate target on character pair point measurement space coordinates down space coordinate and object
Space coordinate under body coordinate system is modified the position and attitude parameter that front measures.
The measurement of exact point cloud is carried out to target feature point by two-dimensional laser radar 42, obtains the position and attitude ginseng of target
Number, by the range information of object in physical world, is mapped between the threedimensional model in three-dimensional reconstruction scene, takes the photograph to three mesh
The position and attitude parameter that camera 41 measures further is corrected；Revised range information will be merged, space coordinate transformation is carried out, will be turned
Change in working scene positional relationship between each object into.Industrial personal computer plans that the space of mechanical arm 21 is grasped according to the positional relationship of acquisition
Make track.
It is understood that host computer can also be arranged, threedimensional model is shown on the display screen of host computer, in operation
After positional relationship in scene before each target is shown on threedimensional model, operator is according to the position shown on threedimensional model
Set the spatial operation track of relationship planning mechanical arm 21 and send control instruction to industrial personal computer, make industrial personal computer control mechanical arm 21 by
It is operated according to operation planning track.
Three lens cameras 41 can more accurately obtain the figure of operative scenario compared with common camera, binocular camera
As information.Using two-dimensional laser radar 42, environmental goals is measured, precision can achieve 0.1 millimeter, to mechanical arm 21 with
Relative position between manipulating object, between two mechanical arms 21, between manipulating object and operating environment provides precise measurement.Cause
This, setting in this way, the high precision position and distance that when available operator's naked eyes direct operation can not all obtain
Information can prevent collision, improve operational security so that operation precision is higher.
As shown in figure 4, Fig. 4 is the structural representation of the mechanical arm of the obstacle detouring hot line robot of an embodiment of the present invention
Figure.Referring to Fig. 4, mechanical arm 21 includes shoulder joint 211, large arm 212, elbow joint 213, forearm 214 and wrist joint group 215.Wherein
Shoulder joint 211 is mounted on job platform 12, and one end of large arm 212 is by shoulder joint 211 in a manner of mobilizable and operation horizontal
Platform 12 connects, and the other end of large arm 212 is provided with elbow joint 213, and one end of forearm 214 is by elbow joint 213 with mobilizable
Mode is connect with large arm 212, and the other end of forearm 214 is arranged in wrist joint in a manner of mobilizable.
Two mechanical arms 21 are designed by copying the arm of the mankind, so that mechanical arm 21 has six-freedom degree, are improved
The degree of flexibility of mechanical arm 21, is advantageously implemented mechanical arm 21 to the flexible operation of power line, and can effectively avoid ring
The sequence of operation of apish two hands of obstacle in border completes livewire work, such as carries out wiring, solution line operation to power line.
With continued reference to Fig. 4, it is preferable that wrist joint group 215 includes wrist pitching joint 2151, wrist swinging joint 2152 and wrist rotation
Turn joint 2153.Wherein, wrist pitching joint 2151 connect with the end of forearm 214 and can do around the end of forearm 214 up and down
The rotation in direction；Wrist swinging joint 2152 connect with wrist pitching joint 2151 and can do front-rear direction around wrist pitching joint 2151
Rotation；Wrist rotary joint 2153 connect with wrist swinging joint 2152 and can do rotation fortune around the axis of wrist swinging joint 2152
It is dynamic.Preferably, the structure of two mechanical arms 21 is identical.
Setting in this way, further improves the flexibility ratio of mechanical arm 21, and industrial personal computer can be by controlling mechanical arm
21 and the wrist joint of 21 end of mechanical arm realize the movement in all directions of end effector tool, reach apish two hands
Mode of operation.
Preferably, each joint of mechanical arm 21 is provided with orthogonal rotary encoder and driving motor.Wherein, orthogonal rotation
Encoder is used to acquire the angle-data in each joint, and driving motor is used to control the movement in each joint.As an example, band
Electric Work robot can obtain the location information of two each artis of mechanical arm 21 by orthogonal rotary encoder, pass through coordinate
After transformation, three-dimensional scenic location coordinate information is converted to；The location information of two mechanical arms 21 is fused to three-dimensional reconstruction scene
In, and the object scene positional relationship that two-dimensional laser radar 42 is measured carries out transformation calculations, meter with two 21 coordinates of mechanical arm
Calculate the distance between each object information in each joint of two mechanical arms 21 and end relative scene.So as to industrial personal computer or operation
The spatial operation track of personnel's information planning mechanical arm 21 according to this distance.
It can be seen from the above description that obstacle detouring hot line robot of the invention includes obstacle detouring main body and mechanical arm control
System, wherein obstacle detouring main body is provided with auxiliary propelling machine, and mechanical arm control system includes control unit and two mechanical arms.This
The setting of sample meets the inspection demand of hot line robot in particular circumstances, improves being applicable in for hot line robot
Property and versatility.Preferably, auxiliary propelling machine includes crawler travel component.It is such to be provided with conducive to hot line robot
Throwing over barrier expands the applicable scene of hot line robot, improves the usage experience of hot line robot.It is preferred that
Ground, mechanical arm control system include information acquisition unit, and control unit can be according to the collected mechanical arm of information acquisition unit
The location information of working scene determine the spatial operation track of mechanical arm.Such setting can be such that mechanical arm effectively avoids
Obstacle in environment, mechanical arm collision obstacle or the phenomenon that interrupt power line, so that the operation of hot line robot is pacified
Full property greatly increases, while also protecting power system security.
So far, it has been combined preferred embodiment shown in the drawings and describes technical solution of the present invention, still, this field
Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these specific embodiments.Without departing from this
Under the premise of the principle of invention, those skilled in the art can make equivalent change or replacement to the relevant technologies feature, these
Technical solution after change or replacement will fall within the scope of protection of the present invention.
Claims (10)
1. a kind of packaged type obstacle detouring hot line robot, which is characterized in that the obstacle detouring hot line robot includes more
Barrier main body and the mechanical arm control system being set in the obstacle detouring main body,
Wherein, the obstacle detouring main body is provided with auxiliary propelling machine, and the obstacle detouring hot line robot can be by means of described
Auxiliary propelling machine runs to target position；
Wherein, mechanical arm control system includes control unit and two mechanical arms, and described control unit is used in the obstacle detouring band
Electric Work robot controls the power line progress operation that two mechanical arms treat operation in the case of being in the target position.
2. obstacle detouring hot line robot according to claim 1, which is characterized in that the obstacle detouring main body includes operation horizontal
Platform, the auxiliary propelling machine are the crawler travel component for being set to the job platform, and the crawler travel component includes point
It is not set to two traveling wheel groups of the job platform two sides, each traveling wheel group matching is provided with traveling crawler.
3. obstacle detouring hot line robot according to claim 2, which is characterized in that the crawler travel component includes more
Hinder support arm, the obstacle detouring support arm is set to the front inner of the traveling crawler, to be lifted away from the front of the traveling crawler
Ground.
4. obstacle detouring hot line robot according to claim 3, which is characterized in that the mechanical arm control system includes
The information acquisition unit being set on the job platform,
The information acquisition unit is set between two mechanical arms, for determining work corresponding with the power line to be operated
The location information of industry scene；
Described control unit for determining the operation trace of the mechanical arm and/or in the operation rail according to the positional information
Kinematic parameter in mark.
5. obstacle detouring hot line robot according to claim 4, which is characterized in that the information acquisition unit includes：
Three lens cameras are used to obtain the image of target associated with the power line to be operated in the working scene
Data；
Two-dimensional laser radar is pivotally set to above three lens camera, and the two-dimensional laser radar is used
In the range information for measuring and demarcating the target；
Described control unit is used to determine the operation trace of the mechanical arm according to described image data and the range information.
6. obstacle detouring hot line robot according to claim 5, which is characterized in that the two-dimensional laser radar can be
Horizontal rotation in surface and slewing area are towards in the 180 degree in the front of the obstacle detouring hot line robot；And/or
The structure of two mechanical arms is identical.
7. obstacle detouring hot line robot according to claim 6, which is characterized in that the mechanical arm include shoulder joint,
Large arm, elbow joint, forearm and wrist joint group,
Wherein, one end of the large arm is set on the robot platform by the shoulder joint in a manner of mobilizable, institute
The one end for stating forearm is connect in a manner of mobilizable with the other end of the large arm by the elbow joint, and the wrist joint is with can
Movable mode is connect with the other end of the forearm.
8. obstacle detouring hot line robot according to claim 7, which is characterized in that the wrist joint group includes wrist pitching
Joint, wrist swinging joint and wrist rotary joint,
Wherein, wrist pitching joint is connect with the end of the forearm, and the wrist swinging joint and wrist pitching joint connect
It connects, the wrist rotary joint is connect with the wrist swinging joint.
9. obstacle detouring hot line robot according to claim 8, which is characterized in that each joint of the mechanical arm is all provided with
It is equipped with orthogonal rotary encoder and driving motor,
Wherein, the orthogonal rotary encoder is used to acquire the angle-data in each joint, and the driving motor is each for controlling
The movement in joint.
10. obstacle detouring hot line robot according to claim 1, which is characterized in that the obstacle detouring livewire work machine
People includes power supply mechanism, and the power supply mechanism includes the battery and energy that can be powered to the obstacle detouring hot line robot
Enough solar panels that electricity is mended to the battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810845240.XA CN108908284A (en) | 2018-07-27 | 2018-07-27 | Packaged type obstacle detouring hot line robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810845240.XA CN108908284A (en) | 2018-07-27 | 2018-07-27 | Packaged type obstacle detouring hot line robot |
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| Publication Number | Publication Date |
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| CN108908284A true CN108908284A (en) | 2018-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810845240.XA Pending CN108908284A (en) | 2018-07-27 | 2018-07-27 | Packaged type obstacle detouring hot line robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571405A (en) * | 2018-12-13 | 2019-04-05 | 杭州申昊科技股份有限公司 | A kind of underground cables network managing intelligent crusing robot |
| CN109760027A (en) * | 2019-03-18 | 2019-05-17 | 国网江苏省电力有限公司电力科学研究院 | A kind of archives robot |
| CN109940598A (en) * | 2019-02-15 | 2019-06-28 | 盐城工学院 | A kind of intelligent operation vehicle carrying mechanical arm |
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| CN114393587B (en) * | 2021-12-31 | 2024-01-23 | 湖北甫安科技有限公司 | Twist lock disassembly robot and control method for disassembling twist lock of container |
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