CN203932812U - High voltage transmission line live work robot - Google Patents
High voltage transmission line live work robot Download PDFInfo
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- CN203932812U CN203932812U CN201420273709.4U CN201420273709U CN203932812U CN 203932812 U CN203932812 U CN 203932812U CN 201420273709 U CN201420273709 U CN 201420273709U CN 203932812 U CN203932812 U CN 203932812U
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 70
- 238000012544 monitoring process Methods 0.000 claims abstract description 70
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 230000009471 action Effects 0.000 claims abstract description 11
- 239000012212 insulator Substances 0.000 claims description 27
- 229910000831 Steel Inorganic materials 0.000 claims description 9
- 239000010959 steel Substances 0.000 claims description 9
- 210000000078 claw Anatomy 0.000 claims description 5
- 230000000903 blocking effect Effects 0.000 claims description 3
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- 238000000034 method Methods 0.000 description 9
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- 230000008901 benefit Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 210000001367 artery Anatomy 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
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Abstract
The utility model discloses a kind of high voltage transmission line live work robot, comprise body, two have the work arm of 5DOF, two telescopic arms, end equipment, there is auxiliary mechanical arm and the robot monitoring system of 6DOF, be equipped with a traveling wheel mechanism in each telescopic arm upper end, equipotential wheel and power transmission line jaw, at the end of described auxiliary mechanical arm, pawl folder is installed, described robot monitoring system is arranged on and on body, controls each work arm, telescopic arm, end equipment, auxiliary mechanical arm, pawl folder, traveling wheel mechanism, the action of equipotential wheel and power transmission line jaw.The utility model is simple in structure, reliability is high, does not need personnel to contact high voltage transmission line, the fail safe while having improved live line working in the time of live line working.
Description
Technical field
The utility model relates to a kind of checkout gear of transmission line, relates in particular to a kind of high voltage transmission line live work robot.
Background technology
Aerial high-voltage power transmission line is the artery of electric power system, and high-voltage transmission cable, shaft tower are clouded in each corner, and its running status directly determines safety and the benefit of electric power system.Along with the modernization development of scientific and technological progress and industrial or agricultural, living standards of the people improve constantly, and power consumption significantly rises, and mains supply fail safe, reliability have been proposed to more and more higher requirement., must the moment ultra-high-tension power transmission line be detected, to guarantee that it normally moves for this reason.
Although there is the specialized robot for ultra-high-tension power transmission line status checkout at present, but Zhe Lei robot is general only for line data-logging, can not be used for the live line working of ultra-high-tension power transmission line, high voltage transmission line live work is as replacing insulator string, strain clamp bolt is fastening, the work such as stockbridge damper replacing, still need operating personnel to contact high-voltage line, and coordinated by personnel on frame, this artificial live line working, technical ability requires harsh, can't permit least bit carelessness, although in general operate in strict accordance with high voltage transmission line live work specification is safe, but due to some unpredictable fortuitous events, and operating personnel's carelessness and the catastrophic failure that causes is still of common occurrence itself.
Utility model content
The purpose of this utility model is to provide the one can be taking high voltage transmission line as orbit in charged situation, can freely clear the jumps, the high voltage transmission line live work robot that the replacing insulator, the strain clamp bolt that complete ultra-high-tension power transmission line are fastening, stockbridge damper is changed.
This high voltage transmission line live work robot that the utility model provides, comprise body, two have the work arm of 5DOF, two telescopic arms, end equipment, there is auxiliary mechanical arm and the robot monitoring system of 6DOF, be equipped with a traveling wheel mechanism in each telescopic arm upper end, equipotential wheel and power transmission line jaw, described end equipment comprises W pin pull-plug device, for catching the manipulator of insulator steel cap, for the electric wrench of fastening nut with for blocking the box spanner of bolt head set bolt, at the end of described auxiliary mechanical arm, the pawl folder for catching ultra-high-tension power transmission line or insulator steel cap is installed, each described work arm symmetry is installed on body both sides, the body that is vertically mounted on that each described telescopic arm can stretch up and down is respectively held, paired dismountable of described W pin pull-plug device and manipulator or electric wrench and box spanner is arranged on each work arm end, described auxiliary mechanical arm can being arranged on body along body transverse shifting, described traveling wheel mechanism drives body to walk on ultra-high-tension power transmission line, described equipotential wheel joins with ultra-high-tension power transmission line, described power transmission line jaw is firmly grasped ultra-high-tension power transmission line control body location, described robot monitoring system is arranged on and on body, controls each work arm, telescopic arm, end equipment, auxiliary mechanical arm, pawl folder, traveling wheel mechanism, the action of equipotential wheel and power transmission line jaw.
For making more advantages of simple of structure of the present utility model, described work arm comprises transverse shifting joint, telescopic joint and vertically move joint, described transverse shifting joint can be along body transverse shifting be arranged on body one side, one end of described telescopic joint by a pitching joint can be in the perpendicular that is parallel to transverse shifting joint one end that is arranged on transverse shifting joint of 360 degree rotations, described telescopic joint can be done 360 degree rotations around its flexible direction by single-revolution joint, the described other end that vertically moves joint and be vertically mounted on described telescopic joint, described in being arranged on, described end equipment vertically moves on the end in joint, the collaborative work of the each joint of described robot monitoring system control drives end equipment to reach assigned address.
Socket-clevis eye can drop when preventing that W pin from extracting, make more advantages of simple of structure of the present utility model, described W pin pull-plug device comprises the upper gripper jaw and the lower jaw that are arranged in parallel, described lower jaw is dismountable to be arranged on the end that vertically moves joint, under being arranged on that described upper gripper jaw can level moves forward and backward on jaw, jaw action clamping socket-clevis eye under described robot monitoring system control, described robot monitoring system control upper gripper jaw moves forward and backward clamping W pin and extracts or insert socket-clevis eye.
For making more advantages of simple of structure of the present utility model, described auxiliary mechanical arm comprises transverse support, pivoting support one, linking arm one, linking arm two, linking arm three and pivoting support two, described transverse support can being arranged on body along body transverse shifting, described pivoting support one level is arranged in transverse support and can rotates along its vertical center 360 degree, one end of described linking arm one by a pitching joint one can be in the perpendicular that is parallel to transverse support being arranged on pivoting support one of 180 degree rotations, one end of described linking arm two by a pitching joint two can be in the perpendicular that is parallel to transverse support the other end that is arranged on linking arm one of 180 degree rotations, one end of described linking arm three by a pitching joint three can be in the perpendicular that is parallel to transverse support the other end that is arranged on linking arm two of 180 degree rotations, described pivoting support two is arranged on linking arm three and can rotates along the axle center of this linking arm 3 360 degree, described pawl folder is arranged on pivoting support two, the each bearing of described robot monitoring system control and joint collaborative work band pawl folder reach assigned address, the tight ultra-high-tension power transmission line of described robot monitoring system control claw gripper.
For guaranteeing that box spanner exists certain cushion effect when to the bolt head application of force, reduce the spoilage of box spanner, at described box spanner and bolt head joint, one flexo cushion is installed.
Compared with prior art, the utlity model has following advantage:
1, drive body to move on high voltage transmission line by the traveling wheel mechanism on telescopic arm, the scope of application is wide, installation and deployment are convenient, maintenance is convenient.
2, by equipotential take turns ensure body all the time with high voltage transmission line equipotential, prevent that high voltage from causing damage to robot, meet the live line working ability of robot.
3, by the collaborative work of work arm 5DOF, take end equipment to working region, again by different end equipments being installed at the end of work arm, make the utility model can change the insulator on high voltage transmission line, the bolt of strain clamp is carried out fastening, meet different live line working demands.
4, by the collaborative work of auxiliary mechanical arm 6DOF, the pawl of its end is entrained to working region, catches insulator steel cap, in the time that personnel's placement machine people reaches the standard grade, play booster action; When robot moves ahead while running into obstacle, driving claw gripper is lived ultra-high-tension power transmission line, the telescopic arm cooperation of body front end is stretched out, the traveling wheel mechanism of its upper end is lifted, drive auxiliary mechanical arm and body to relatively move, telescopic arm and the traveling wheel mechanism of front end are cleared the jumps, and telescopic arm and traveling wheel mechanism that repetition above-mentioned steps completes body rear end clear the jumps, and ensure that the utility model can continue on high voltage transmission line mobile.
The utility model is simple in structure, reliability is high, does not need personnel to contact high voltage transmission line, the fail safe while having improved live line working in the time of live line working.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation of the utility model machine work arm.
Fig. 3 is the structural representation of the utility model machine auxiliary mechanical arm.
Fig. 4 is the structural representation of the utility model W pin pull-plug device.
Fig. 5 is the structural representation of the utility model manipulator.
Fig. 6 is the structural representation of the utility model electric wrench.
Fig. 7 is the structural representation of the utility model box spanner.
Fig. 8 is the schematic diagram that the utility model is changed insulator work attitude.
Fig. 9 is the utility model schematic diagram fastening to strain clamp bolt.
Figure 10 is the schematic diagram of the utility model obstacle detouring step 1.
Figure 11 is the schematic diagram of the utility model obstacle detouring step 2.
Embodiment
Can find out from Fig. 1 to Fig. 7, this high voltage transmission line live work of the utility model robot, comprise body 1, two symmetries are installed on the work arm with 5DOF 2 of body 1 each side, two telescopic arms 3, end equipment 4, there is the auxiliary mechanical arm 5 of 6DOF and be arranged on the robot monitoring system 9 on body 1, be equipped with a traveling wheel mechanism 6 in each telescopic arm 3 upper ends, equipotential wheel 7 and power transmission line jaw 8, wherein work arm 2 comprises transverse shifting joint 21, pitching joint 22, telescopic joint 23, revolute joint 24 and vertically move joint 25, end equipment 4 comprises W pin pull-plug device 41, for catching the manipulator 42 of insulator steel cap, for the electric wrench 43 of fastening nut with for blocking the box spanner 44 of bolt head set bolt, auxiliary mechanical arm 5 comprises transverse support 51, pivoting support 1, linking arm 1, linking arm 2 54, linking arm 3 55, pivoting support 2 56 and for catching the pawl folder 57 of ultra-high-tension power transmission line or insulator steel cap, transverse shifting joint 21 is arranged on body 1 one sides and controls it along body 1 transverse shifting by robot monitoring system 9, one end of telescopic joint 23 is arranged on the one end in transverse shifting joint 21 by pitching joint 22, robot monitoring system 9 is controlled pitching joint 22 and is driven telescopic joint 23 in the perpendicular that is parallel to transverse shifting joint 21, to do 360 degree rotations, robot monitoring system 9 is controlled telescopic joint 23 along its axial stretching, robot monitoring system 9 is controlled revolute joint 24 and is driven telescopic joint 23 to do 360 degree rotations around its flexible direction, vertically move the other end that joint 25 is vertically mounted on telescopic joint 23, robot monitoring system 9 is controlled and is vertically moved joint 25 along moving perpendicular to the direction of telescopic joint 23, each telescopic arm 3 is vertically mounted on the each end of body 1 and controls it by robot monitoring system 9 and stretch up and down, on the paired dismountable end that vertically moves joint 25 that is arranged on each work arm 2 of W pin pull-plug device 41 and manipulator 42 or electric wrench 43 and box spanner 44, wherein W pin pull-plug device 41 comprises the upper gripper jaw 411 and the lower jaw 413 that are arranged in parallel, under being arranged on that upper gripper jaw 411 can level moves forward and backward by a parallel joint 412 on jaw 413, lower jaw 413 is dismountable to be arranged on the end that vertically moves joint 25, robot monitoring system 9 is controlled lower jaw 413 action clamping socket-clevis eyes, robot monitoring system 9 is controlled upper gripper jaw 411 action clamping W pins, robot monitoring system 9 is controlled parallel joint 412 and is driven upper gripper jaw 411 to move forward and backward socket-clevis eye is extracted or inserted to W pin, manipulator 42 moves forward and backward by one being arranged on the end that vertically moves joint 25 that joint 421 can level moves forward and backward.
Transverse support 51 is arranged on body 1 and by robot monitoring system 9 and controls it along body 1 transverse shifting, pivoting support one 52 levels are arranged in transverse support 51 and by robot monitoring system 9 and control it along vertically center do 360 degree rotations, one end of linking arm 1 is arranged on pivoting support 1 by a pitching joint 1, robot monitoring system 9 is controlled pitching joint 1 and is driven linking arm 1 in the perpendicular that is being parallel to transverse support 51, to do 180 degree rotations, one end of linking arm 2 54 is arranged on the other end of linking arm 1 by a pitching joint 2 541, robot monitoring system 9 is controlled pitching joint 2 541 and is driven linking arm 2 54 in the perpendicular that is parallel to transverse support 51, to do 180 degree rotations, one end of linking arm 3 55 is arranged on the other end of linking arm 2 54 by a pitching joint 3 551, robot monitoring system 9 is controlled pitching joint 3 551 and is driven linking arm 3 55 in the perpendicular that is parallel to transverse support 51, to do 180 degree rotations, pivoting support 2 56 is arranged on linking arm 3 55 and controls its axle center along this linking arm 3 55 by robot monitoring system 9 and do 360 degree rotations, pawl folder 57 is arranged on pivoting support 2 56 and by robot monitoring system 9 and controls and catch ultra-high-tension power transmission line or insulator steel cap, robot monitoring system 9 is controlled traveling wheel mechanism 6 and is driven body 1 to walk on ultra-high-tension power transmission line, equipotential wheel 7 and ultra-high-tension power transmission line join ensure the utility model all the time with power transmission line equipotential, robot monitoring system 9 drives power transmission line jaw 8 to firmly grasp ultra-high-tension power transmission line control body 1 and locates.
In the utility model, robot monitoring system 9 is by on-board controller, driver, camera, transducer, communication device and power module composition, each several part of the present utility model is by communication device and ground base station communication, ground base station sends the motion of instruction control each several part of the present utility model, and by the state feedback of each movable joint and transducer to ground base station, camera is passed to ground base station by video image by communication device simultaneously, the utility model relies on camera collection video image by image processing program or manually carrys out positioning robot's Action Target, power module is for the utility model each several part provides power source.
The course of work of reaching the standard grade of the present utility model is as follows:
1, staff uses insulating bar that robot of the present utility model is lifted to ultra-high-tension power transmission line.
2, ground base station sends a signal to robot monitoring system 9, and robot monitoring system 9 is controlled each bearing and the joint collaborative work of auxiliary mechanical arm 5, and band pawl folder 57 reaches working region.
3, promptly ultra-high-tension power transmission line of robot monitoring system 9 control claw folders 57.
4, ground base station is according to current robot position, adjust the each bearing of auxiliary mechanical arm 5 and joint action and telescopic arm 3 is coordinated by robot monitoring system 9 and stretch out, traveling wheel mechanism 6, equipotential wheel 7 and power transmission line jaw 8 on telescopic arm 3 are correctly locked on high voltage transmission line.
5, auxiliary mechanical arm 5 shift gradually stressed to traveling wheel mechanism 6, confirm stressed good after robot monitoring system 9 control claws folders 57 unclamp ultra-high-tension power transmission line, and control each bearing and keep in the center in joint, staff withdraws insulating bar.So far, complete the work of reaching the standard grade of robot.
The process that the utility model carries out replacing insulator live line working is as follows:
1, W is sold on the end that vertically moves joint 25 that pull-plug device 41 and manipulator 42 be arranged on each work arm 2, reached the standard grade by operating personnel's placement machine people.
2, ground base station should send walking instruction, robot monitoring system 9 receives that instruction rear drive traveling wheel mechanism 6 makes robot under the monitoring of ground base station, approach the position that needs the insulator of changing to determine suspension clamp, thereby ensures the location of robot with respect to suspension clamp.
3, the image of being passed back by camera judges whether to reach working point, while arriving working point, ground base station sends grappling instruction, and robot monitoring system 9 receives that instruction rear drive traveling wheel mechanism 6 stops, and control power transmission line jaw 8 and clamp high voltage transmission line, locking robot.
4, ground base station starts remote control work machine tool arm 2 and works, and makes 2 five joint coordination work of work arm, under the monitoring of ground base station, W is sold to pull-plug device 41 and manipulator 42 takes working face to, as shown in Figure 8.
5, because the position that tightens of W pin is fixed with respect to socket-clevis eye, and to remain that socket-clevis eye remains static in the withdrawal process of W pin, when W pin pull-plug device 41 is located with respect to socket-clevis eye, robot monitoring system 9 is controlled lower jaw 413 action clamping socket-clevis eyes, socket-clevis eye position is fixed, then robot monitoring system 9 is controlled upper gripper jaw 411 action clamping W pin, and robot monitoring system 9 is controlled parallel joint 412 again and driven after upper gripper jaw 411 and move W pin is extracted to socket-clevis eye.
6, meanwhile, robot monitoring system 9 control manipulator in another work arm 2 42 promptly insulator steel cap prevent that insulator string from rocking, after W pin is extracted, robot monitoring system 9 is controlled and is moved forward and backward joint 421 and move driving mechanical hand 42 and clamp insulator string and released.In this process, robot monitoring system 9 is controlled auxiliary mechanical arm 5 and is clamped insulator string upper end and after insulator is released, insulator string mentioned, and finally by personnel on frame, insulator string is taken off.
7,, after replacing insulator string, only need to pack insulator string into socket-clevis eye according to contrary flow process.Sell in the whole process of extracting and inserting at W, socket-clevis eye is gripped by the lower jaw 413 of W pin pull-plug device 41 all the time, after replacing insulator string, only need W pin be inserted to socket-clevis eye according to contrary flow process.
8, when robot completes after replacing insulator task, robot monitoring system 9 is controlled the jaw of manipulator 42 and is opened, and leaves insulator string, and the upper and lower jaw of W pin pull-plug device 41 is opened, and leaves socket-clevis eye and W pin, returns back to original position with work arm 2.
9, confirm insulator string stressed good after, robot monitoring system 9 is controlled the pawl folder 57 of auxiliary mechanical arm 5 and is opened, and makes auxiliary mechanical arm 5 homings.
The process that the utility model carries out the fastening live line working of strain clamp bolt is as follows:
1, electric wrench 43 and box spanner 44 are arranged on the end that vertically moves joint 25 of each work arm 2, are reached the standard grade by operating personnel's placement machine people.
2, ground base station sends walking instruction, robot monitoring system 9 receives that instruction rear drive traveling wheel mechanism 6 makes robot under the monitoring of ground base station, approach the strain clamp position that need to carry out bolted, while arriving working point, ground base station sends grappling instruction, robot monitoring system 9 receives that instruction rear drive traveling wheel mechanism 6 stops, and control power transmission line jaw 8 and clamp high voltage transmission line, locking robot.
3, ground base station starts remote control work machine tool arm 2 and works, and 2 five joint coordination work of work arm are taken electric wrench 43 and box spanner 44 to service position, as shown in Figure 9 under the monitoring of ground base station.Again in process, should avoid the touching between work arm 2 and robot and two work arm 2.
4, when the work arm 2 of carrying box spanner 44 arrives after working face, robot monitoring system 9 drives 2 five joint coordination fine motions of this work arm, make the sleeve set of box spanner 44 outside bolt head, rotational sleeve spanner 44 is stuck by bolt head, prevents that bolt from moving and rotating.
5, when the electric wrench 43 that is installed on another work arm 2 ends moves to after working face with it, robot monitoring system 9 drives 2 five joint coordination fine motions of this work arm, the ut socket of electric wrench 43 is sleeved on outside nut, the motor that robot monitoring system 9 is controlled electric wrench 43 drives its ut socket to rotate, and carries out the operation of tightening of nut.
Taking stockbridge damper as example, obstacle detouring step of the present utility model is as follows:
1, first robot arrives stockbridge damper place, when confirming after obstacle, ground base station sends a signal to robot monitoring system 9, and robot monitoring system 9 is controlled each bearing and the joint collaborative work of auxiliary mechanical arm 5, near the high voltage transmission line roadside reaching front traveling wheel mechanism 6 with pawl folder 57.
2, the pawl folder 57 that robot monitoring system 9 is controlled auxiliary mechanical arm 5 is clamped near ultra-high-tension power transmission line front traveling wheel mechanism 6.
3, the telescopic arm 3 that robot monitoring system 9 is controlled front traveling wheel mechanism 6 places extends, and auxiliary mechanical arm 5 replaces front traveling wheel mechanism 6 stressed, makes front traveling wheel mechanism 6 leave ultra-high-tension power transmission line, as shown in figure 10.
4, in the time that the height of front traveling wheel mechanism 6 can leaping over obstacles, robot monitoring system 9 is controlled telescopic arm 3 and is stopped extending.
5, robot monitoring system 9 confirms that the stressing conditions of auxiliary mechanical arm 5 controls rear traveling wheel mechanism 66 after good and be with mobile robot to continue to advance, in traveling process, robot monitoring system 9 is controlled each bearing and the joint of auxiliary mechanical arm 5 and is adjusted flexibly position, keeps the pawl folder 57 of auxiliary mechanical arm 5 relatively static so that stable holding power to be provided for transmission line.
6, after front traveling wheel mechanism 6 surmounts obstacles, robot monitoring system 9 is controlled telescopic arm 3 and is shunk, make front traveling wheel mechanism 6 return to ultra-high-tension power transmission line and recover stressed, robot monitoring system 9 confirms that the stressed good rear pawl folder 57 of controlling auxiliary mechanical arm 5 of front traveling wheel mechanism 6 unclamps ultra-high-tension power transmission line, and so far front traveling wheel mechanism 6 completes obstacle detouring.
7, repeat aforesaid way and make rear traveling wheel mechanism 6 continue obstacle detouring, as shown in figure 11, after front and back traveling wheel mechanism is all crossed stockbridge damper, robot monitoring system 9 is controlled auxiliary mechanical arm 5 homings, and robot obstacle detouring is complete.
Claims (5)
1. a high voltage transmission line live work robot, it is characterized in that: this robot comprises body (1), two have the work arm (2) of 5DOF, two telescopic arms (3), end equipment (4), there is auxiliary mechanical arm (5) and the robot monitoring system (9) of 6DOF, be equipped with a traveling wheel mechanism (6) in each telescopic arm (3) upper end, equipotential wheel (7) and power transmission line jaw (8), described end equipment (4) comprises W pin pull-plug device (41), for catching the manipulator (42) of insulator steel cap, for the electric wrench (43) of fastening nut with for blocking the box spanner (44) of bolt head set bolt, at the end of described auxiliary mechanical arm (5), the pawl folder (57) for catching ultra-high-tension power transmission line or insulator steel cap is installed, each described work arm (2) symmetry is installed on body (1) both sides, what each described telescopic arm (3) can stretch up and down be vertically mounted on body (1) respectively holds, described W pin pull-plug device (41) and manipulator (42) or electric wrench (43) and paired dismountable each work arm (2) end that is arranged on of box spanner (44), described auxiliary mechanical arm (5) can being arranged on body (1) along body (1) transverse shifting, described traveling wheel mechanism (6) drives body (1) to walk on ultra-high-tension power transmission line, described equipotential wheel (7) joins with ultra-high-tension power transmission line, described power transmission line jaw (8) is ultra-high-tension power transmission line control body (1) location promptly, described robot monitoring system (9) is arranged on the upper each work arm (2) of controlling of body (1), telescopic arm (3), end equipment (4), auxiliary mechanical arm (5), pawl folder (57), traveling wheel mechanism (6), the action of equipotential wheel (7) and power transmission line jaw (8).
2. high voltage transmission line live work according to claim 1 robot, it is characterized in that: described work arm (2) comprises transverse shifting joint (21), telescopic joint (23) and vertically move joint (25), described transverse shifting joint (21) can be along body (1) transverse shifting be arranged on body (1) one side, one end of described telescopic joint (23) by a pitching joint (22) can be in the perpendicular that is parallel to transverse shifting joint (21) one end that is arranged on transverse shifting joint (21) of 360 degree rotations, described telescopic joint (23) can be done 360 degree rotations around its flexible direction by single-revolution joint (24), the described other end that vertically moves joint (25) and be vertically mounted on described telescopic joint (23), described in being arranged on, described end equipment (4) vertically moves on the end of joint (25), described robot monitoring system (9) is controlled the collaborative work of each joint and is driven end equipment (4) to reach assigned address.
3. high voltage transmission line live work according to claim 1 robot, it is characterized in that: described W pin pull-plug device (41) comprises the upper gripper jaw (411) and the lower jaw (413) that are arranged in parallel, under being arranged on that described upper gripper jaw (411) can level moves forward and backward on jaw (413), described lower jaw (413) is dismountable to be arranged on the end that vertically moves joint (25), described robot monitoring system (9) is controlled lower jaw (413) action clamping socket-clevis eye, described robot monitoring system (9) control upper gripper jaw (411) moves forward and backward clamping W pin and extracts or insert socket-clevis eye.
4. high voltage transmission line live work according to claim 1 robot, it is characterized in that: described auxiliary mechanical arm (5) comprises transverse support (51), pivoting support one (52), linking arm one (53), linking arm two (54), linking arm three (55) and pivoting support two (56), described transverse support (51) can being arranged on body (1) along body (1) transverse shifting, described pivoting support one (52) level is arranged on transverse support (51) above and can be along its vertical center 360 degree rotation, one end of described linking arm one (53) by a pitching joint one (531) can be in the perpendicular that is parallel to transverse support (51) being arranged on pivoting support one (52) of 180 degree rotations, one end of described linking arm two (54) by a pitching joint two (541) can be in the perpendicular that is parallel to transverse support (51) other end that is arranged on linking arm one (53) of 180 degree rotations, one end of described linking arm three (55) by a pitching joint three (551) can be in the perpendicular that is parallel to transverse support (51) other end that is arranged on linking arm two (54) of 180 degree rotations, described pivoting support two (56) is arranged on linking arm three (55) above and can be along the 360 degree rotation of the axle center of this linking arm three (55), described pawl folder (57) is arranged on pivoting support two (56), described robot monitoring system (9) controls each bearing and joint collaborative work band pawl folder (57) reaches assigned address, described robot monitoring system (9) control claw folder (57) is ultra-high-tension power transmission line promptly.
5. high voltage transmission line live work according to claim 1 robot, is characterized in that: in described box spanner (44) and bolt head joint, one flexo cushion is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420273709.4U CN203932812U (en) | 2014-05-27 | 2014-05-27 | High voltage transmission line live work robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420273709.4U CN203932812U (en) | 2014-05-27 | 2014-05-27 | High voltage transmission line live work robot |
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| CN203932812U true CN203932812U (en) | 2014-11-05 |
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| CN201420273709.4U Withdrawn - After Issue CN203932812U (en) | 2014-05-27 | 2014-05-27 | High voltage transmission line live work robot |
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| WO2020233727A1 (en) * | 2019-05-17 | 2020-11-26 | 成都理工大学 | Device for dismounting and installing high-voltage line t-connector in hot-line operation |
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