Control system and method of defect repair robot based on overhead conductor
A technology for repairing defects and overhead wires, which is applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., and can solve problems such as low operation accuracy and low safety
Inactive Publication Date: 2020-02-28
YUNNAN POWER GRID CO LTD ELECTRIC POWER RES INST
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Problems solved by technology
[0004] This application provides a control system and method based on a defect repair robot on overhead wires to solve the technical problems of low operational accuracy and low safety when the defect repair robot on overhead lines is working
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[0021] figure 1 , is a structural schematic diagram of the control system based on the defect repair robot on the overhead line provided by this application; figure 2 , is a schematic structural diagram of the visual positioning device provided by the present application; image 3 , is a schematic structural diagram of the control subsystem provided by this application; Figure 4 , is a structural schematic diagram of the mechanical gripper provided by this application; see figure 1 , 2 , 3 and 4, it can be seen that the present application provides a control system based on a defect repair robot on an overhead line, the control system includes a mechanical arm, a visual positioning device 1 is provided on the mechanical arm, and a control subsystem 2 is provided inside the mechanical arm , the end of the mechanical arm is provided with a mechanical gripper 3 , and the visual positioning device 1 and the mechanical gripper 3 are respectively connected to the control subsys...
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The application discloses a control system and method of a defect repair robot based on an overhead conductor. The control system comprises a mechanical arm; a visual positioning device is arranged onthe mechanical arm; a control sub-system is arranged in the mechanical arm; a mechanical clamping jaw is arranged at the tail end of the mechanical arm; the visual positioning device and the mechanical clamping jaw are connected with the control sub-system; the visual positioning device comprises two cameras separately positioned at different positions of mechanical arm; the control sub-system comprises a controller, a pressure transducer and a torque transducer; the pressure transducer and the torque transducer are connected with the controller; the mechanical clamping jaw comprises a driving device, a transmission device and mechanical fingers; and the two ends of the transmission device are connected with the driving device and the mechanical fingers. The autonomous positioning of themechanical arm is realized by the visual positioning device, the condition of observing images to judge distances is avoided, and the operation precision of the robot is improved; and the control sub-system guides the mechanical clamping jaw to operate according to the feedback data of the transducers, so that the conductor damage due to manual guiding operation is avoided, and the operation safety is improved.
Description
technical field [0001] The present application relates to the field of electric equipment maintenance, in particular to a control system and method based on a defect repair robot on overhead wires. Background technique [0002] The rapid development of robot technology provides a new way for the inspection and repair of high-voltage transmission lines. Robots are used to assist or replace humans for wire detection and repair operations. In this way, the robot operates indirectly, and the safety of the operators is guaranteed; the robot is compact in structure and ensures a sufficient safety distance; when the robot is operating, it only needs ground personnel to operate, and the efficiency is high. Greatly improve. It not only ensures the personal safety of operators, but also greatly reduces labor intensity, improves labor efficiency and standardization of operation, and can also achieve all-weather live working. [0003] However, there are also some shortcomings in the p...
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IPC IPC(8): B25J13/08B25J15/00B25J9/00
CPCB25J13/08B25J13/085B25J15/00B25J9/00
Inventor 刘荣海杨发沈锋郭新良郑欣杨迎春许宏伟孔旭晖何运华周静波虞鸿江沈鑫焦宗寒代克顺宋玉锋杨雪滢陈国坤程雪婷
Owner YUNNAN POWER GRID CO LTD ELECTRIC POWER RES INST