技术领域technical field
本发明涉及一种辅助架空输电线路机器人自动上下线装置。The invention relates to a device for automatically going on and off the assembly line of an auxiliary overhead power transmission line robot.
背景技术Background technique
我国采用架空线路形式已经成为电力传输的主要形式，它的安全稳定运行直接影响到供电系统的可靠性。架空输电线路分布广、长度长，线路环境复杂，且处在远离城镇、地形复杂、环境恶劣的自然环境中，传统的人工巡线不仅工作量大而且条件艰苦，巡检周期长，效率低。随着机器人技术的发展，利用机器人进行架空线路巡检和维护，不但可以减轻工人千里巡线劳动强度，而且可提高检测精度和检测效率，同时大大减少人力资源，对提高电网自动化作业水平、保障电网安全运行具有重要意义。The use of overhead lines in my country has become the main form of power transmission, and its safe and stable operation directly affects the reliability of the power supply system. Overhead transmission lines are widely distributed, long in length, complex in line environment, and located in a natural environment far away from towns, complex terrain, and harsh environment. Traditional manual line inspection not only has a heavy workload but also harsh conditions, long inspection cycles and low efficiency. With the development of robot technology, the use of robots for inspection and maintenance of overhead lines can not only reduce the labor intensity of workers who patrol thousands of miles, but also improve the detection accuracy and efficiency. The safe operation of power grid is of great significance.
架空输电线路巡检机器人作业前需要线路工人登塔安装滑轮机构，地面线路工人通过绳索将机器人提升至架空线路高度，再由线上工人将机器人安装在架空导(地)线上；同样，巡检机器人作业完成后，线上线下工人合作完成机器人的拆除工作。这种机器人安装方式存在工作复杂、劳动强度大、工作效率低、高空坠落等问题，致使线路检修人员对架空输电线路机器人推广应用的积极性不高，严重制约了架空输电线路机器人的实用化进程，不利于线路机器人的应用推广。Before the overhead transmission line inspection robot works, line workers need to climb the tower to install the pulley mechanism. The ground line workers lift the robot to the height of the overhead line through ropes, and then the online workers install the robot on the overhead guide (ground) line; After the inspection of the robot is completed, the online and offline workers cooperate to complete the dismantling of the robot. This robot installation method has problems such as complicated work, high labor intensity, low work efficiency, and high-altitude fall, which leads to the low enthusiasm of line maintenance personnel for the promotion and application of overhead transmission line robots, which seriously restricts the practical progress of overhead transmission line robots. It is not conducive to the application and promotion of line robots.
中国专利201510911777.8公开了一种带电作业机器人自提升上线装置，包括承载框架(1)、夹紧轮组、电机(6)和控制箱(8)，承载框架为长方形框架，两边框两端设有竖板(2)，竖板内侧上部固定有定滑轮轴、下部固定有活动支架轴(12)，定滑轮轴上有定滑轮(5)，活动支架轴上可摆动地支承着一活动支架(4)的一端，活动支架的另一端固定有驱动轮轴，驱动轮轴上有自带电机的驱动轮(3)；两根事先通过射绳器将中部抛射悬挂在输电电缆上的绝缘绳(10)，绝缘绳绳头先从驱动轮的外侧绕到与定滑轮相对的驱动轮内侧、再向上绕到定滑轮的内侧、最后从定滑轮的外侧向下延伸固定在底面上。综合分析，此专利主要有如下缺点：该专利机器人自提升上线装置，绝缘绳与架空导线直接接触摩擦，容易损伤架空线。Chinese patent 201510911777.8 discloses a self-elevating on-line device for a live working robot, including a load-bearing frame (1), a clamping wheel set, a motor (6) and a control box (8). The load-bearing frame is a rectangular frame with Riser (2), vertical plate inboard top is fixed with fixed pulley shaft, the bottom is fixed with movable support shaft (12), fixed pulley (5) is arranged on the fixed pulley shaft, and a movable support ( 4) and the other end of the movable bracket is fixed with a driving wheel shaft, and the driving wheel shaft has a driving wheel (3) with a motor; two insulating ropes (10) are suspended in the middle part of the transmission cable through a rope shooter in advance. The insulated rope head is first wound from the outside of the driving wheel to the inner side of the driving wheel opposite to the fixed pulley, then upwards to the inner side of the fixed pulley, and finally extends downward from the outer side of the fixed pulley and is fixed on the bottom surface. According to comprehensive analysis, this patent mainly has the following disadvantages: the patented robot self-elevating on-line device, the insulating rope and the overhead wire directly contact and rub, which is easy to damage the overhead wire.
中国专利201510374850.2公开了一种巡线机器人上下线装置及设有其的巡线机器人上下线系统，包括：吊篮，用于支承巡线机器人，设有吊篮导轨；升降装置，与吊篮连接；导向装置，包括引导导轨，引导导轨开设有与吊篮导轨匹配的对接口。上述巡线机器人上下线装置，升降装置带动吊篮沿线路杆塔上升至引导导轨所在位置，吊篮导轨与引导导轨对接，巡线机器人即可自吊篮导轨移动至引导导轨，进而通过引导导轨移动至架空输电线路地线，完成自动上线。或者，巡线机器人通过引导导轨从架空输电线路地线移动至吊篮导轨，完成自动下线。综合分析，此专利主要有如下缺点：本专利提及的上下线装置及上下线系统需要借助杆塔，结构复杂程度高，设备需要提前预装，不适用于即装即拆的巡检机器人架空线路环境作业。Chinese patent 201510374850.2 discloses a line inspection robot on and off line device and a line inspection robot on and off line system equipped with it, including: a hanging basket, used to support the line inspection robot, with a hanging basket guide rail; a lifting device, connected with the hanging basket ; The guide device includes a guide rail, and the guide rail is provided with a docking port matching with the guide rail of the hanging basket. The above-mentioned line inspection robot on and off the line device, the lifting device drives the hanging basket to rise along the line pole tower to the position of the guide rail, the hanging basket guide rail is connected with the guiding guide rail, and the line inspection robot can move from the hanging basket guide rail to the guiding guide rail, and then move through the guiding guide rail To the ground wire of the overhead transmission line to complete the automatic on-line. Or, the line inspection robot moves from the ground wire of the overhead transmission line to the guide rail of the hanging basket through the guide rail to complete the automatic off-line. According to comprehensive analysis, this patent mainly has the following disadvantages: the on-line device and on-line system mentioned in this patent need to rely on poles and towers, the structure is highly complex, and the equipment needs to be pre-installed in advance, which is not suitable for overhead lines of inspection robots that can be installed and disassembled immediately. environmental work.
发明内容Contents of the invention
本发明为了解决上述问题，提出了一种辅助架空输电线路机器人自动上下线装置，本发明能实现够输电线路自主越障巡线机器人自动上下线功能，具有结构简单、易于实现、自动化程度高等优点。In order to solve the above problems, the present invention proposes an auxiliary overhead transmission line robot automatic on-offline device. The invention can realize the automatic on-offline function of the transmission line autonomous obstacle-surpassing patrol robot, and has the advantages of simple structure, easy implementation, and high degree of automation. .
为了实现上述目的，本发明采用如下技术方案：In order to achieve the above object, the present invention adopts the following technical solutions:
一种辅助架空输电线路机器人自动上下线装置，包括滑轮机构、起吊绳和起吊手爪机构，所述滑轮机构设置在架空导线上，所述起吊绳安装在滑轮机构上，一端与牵引装置连接，另一端连接起吊环；An auxiliary overhead power transmission line robot automatic on-offline device, including a pulley mechanism, a lifting rope and a lifting claw mechanism, the pulley mechanism is arranged on the overhead wire, the lifting rope is installed on the pulley mechanism, and one end is connected to the traction device, The other end is connected to the lifting ring;
所述起吊手爪机构一端具有用以安装巡检机器人的连接端，另一端为两个对称设置的手爪，所述手爪之间的开合度可调，通过控制手爪的开合，能够使机器人脱离或固定在吊环上；One end of the lifting gripper mechanism has a connecting end for installing the inspection robot, and the other end is two symmetrically arranged grippers. The opening and closing degree between the grippers is adjustable. By controlling the opening and closing of the grippers, it can Make the robot disengage or fix on the ring;
所述起吊手爪机构上设置有自锁机构，保持手爪在起吊过程中维持锁死状态。The lifting claw mechanism is provided with a self-locking mechanism to keep the claw in a locked state during the lifting process.
所述滑轮机构，包括若干个结构相同的滑轮模块，所述滑轮模块包括固定滑轮的滑轮支架、设置在滑轮支架上的、能够包裹导线的开合机构，所述滑轮模块之间通过连接杆连接。The pulley mechanism includes several pulley modules with the same structure, the pulley module includes a pulley bracket for fixing the pulley, an opening and closing mechanism arranged on the pulley bracket and capable of wrapping wires, and the pulley modules are connected by connecting rods .
所述开合机构内侧设置有绝缘防滑垫。The inside of the opening and closing mechanism is provided with an insulating anti-skid pad.
所述开合机构为合页。The opening and closing mechanism is a hinge.
所述自锁机构设置于手爪上，为螺旋自锁机构或丝杆。The self-locking mechanism is arranged on the claw, which is a spiral self-locking mechanism or a screw rod.
所述起吊绳的直径与滑轮的滑轮槽大小相配合。The diameter of described hoisting rope matches with the size of the pulley groove of pulley.
所述滑轮的安装方向与架空输电线方向垂直。The installation direction of the pulley is perpendicular to the direction of the overhead transmission line.
所述起吊手爪机构，具体包括手爪支架，所述手爪支架上固定有两个对称设置的手爪，所述手爪通过手爪轴固定在手爪支架上，所述手爪轴的一端分别设置有一齿轮，两个齿轮相互啮合，手爪轴的另一端安装有蜗轮，与安装在手爪支架上的蜗杆组成蜗轮蜗杆机构，手爪支架上安装电机，与蜗杆轴连接。The lifting claw mechanism specifically includes a claw bracket, and two symmetrically arranged claws are fixed on the claw bracket, and the claw is fixed on the claw bracket through a claw shaft, and the claw shaft One end is respectively provided with a gear, and the two gears mesh with each other. The other end of the claw shaft is equipped with a worm gear, which forms a worm gear mechanism with a worm mounted on the claw bracket. A motor is installed on the claw bracket to connect with the worm shaft.
所述手爪支架具有可安装在机器人的联板上的连接端。The gripper bracket has a connection end that can be installed on the connecting plate of the robot.
所述电机能够正反转动，通过蜗轮蜗杆机构、齿轮组传动，控制起吊手爪的打开和闭合。The motor can rotate positively and negatively, and controls the opening and closing of the lifting claws through the transmission of the worm gear mechanism and the gear set.
本发明机器人自动下线原理：The principle of the automatic offline of the robot of the present invention:
(1)机器人完成作业任务后，形势至滑轮组安装点，缓缓下放起吊环，控制起吊手抓机构闭合手抓，使之与起吊环连接，整个过程通过机器人搭载的云台摄像头观测完成。(1) After the robot completes the operation task, the situation reaches the installation point of the pulley block, slowly lowers the lifting ring, controls the lifting hand grip mechanism to close the hand grip, and connects it to the lifting ring. The whole process is completed through the observation of the pan-tilt camera mounted on the robot.
(2)操作人员控制机器人脱离导(地)线，下放机器人至地面，操作人员控制起吊手抓机构打开起吊手抓，使与起吊环脱离。(2) The operator controls the robot to detach from the guide (ground) wire, lowers the robot to the ground, and the operator controls the lifting hand grip mechanism to open the lifting hand grip to separate from the lifting ring.
(3)线上作业人员拆除滑轮组及起吊绳，完成机器人下线。(3) On-line operators remove the pulley block and lifting rope to complete the robot off-line.
本发明的有益效果为：The beneficial effects of the present invention are:
(1)本发明自动上下线装置结构简单、操作方便，具有独立性，易于与不同的巡线作业机器人连接；(1) The automatic on-line and off-line device of the present invention is simple in structure, easy to operate, independent, and easy to connect with different line patrol robots;
(2)本发明可以实现输电线路自主越障巡线机器人自动上下线，具有结构简单、易于实现、自动化程度高等优点。(2) The present invention can realize the autonomous obstacle-surpassing inspection robot of the transmission line to go on and off the line automatically, and has the advantages of simple structure, easy implementation, and high degree of automation.
附图说明Description of drawings
图1是输电线路自主越障巡线机器人上线示意图；Figure 1 is a schematic diagram of the transmission line autonomous obstacle-crossing inspection robot going online;
图2是滑轮组示意图；Fig. 2 is a schematic diagram of a block of pulleys;
图3是滑轮组与起吊绳组合示意图；Fig. 3 is a combined schematic view of the pulley block and the hoisting rope;
图4是起吊手爪机构示意图。Fig. 4 is a schematic diagram of the lifting claw mechanism.
其中，1架空线路，2滑轮组，3输电线路自主越障巡线机器人，4起吊绳，5起吊手爪机构，6合页，7橡胶垫，8滑轮支架，9滑轮，10连接杆，11起吊环，12齿轮组，13手爪支架，14电机，15蜗杆，16蜗轮，17手爪轴，18起吊手爪。Among them, 1 overhead line, 2 pulley block, 3 transmission line autonomous obstacle-surpassing inspection robot, 4 lifting ropes, 5 lifting claw mechanisms, 6 hinges, 7 rubber pads, 8 pulley brackets, 9 pulleys, 10 connecting rods, 11 Ring, 12 gear sets, 13 claw brackets, 14 motors, 15 worms, 16 worm gears, 17 claw shafts, 18 lifting claws.
具体实施方式：detailed description:
下面结合附图与实施例对本发明作进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
一种辅助架空输电线路机器人自动上下线装置，包括滑轮组、起吊绳和起吊手爪机构。所述滑轮组通过螺栓安装在架空导(地)线上，具有防滑功能；所述起吊绳为绝缘绳，安装在滑轮组上，一端与地面卷扬机连接，另一端连接起吊环；所述起吊手爪机构安装在机器人上，实现与起吊环自动连接和脱离功能。An auxiliary overhead power transmission line robot automatic on-offline device includes a pulley block, a lifting rope and a lifting claw mechanism. The pulley block is installed on the overhead guide (ground) line through bolts, and has an anti-skid function; the lifting rope is an insulating rope, installed on the pulley block, one end is connected with the ground winch, and the other end is connected with the lifting ring; the lifting claw mechanism Installed on the robot to realize the function of automatic connection and disengagement with the lifting ring.
为更好的说明本发明的工作原理，附图及具体实施方式说明是以专利号为ZL201210512203.X的输电线路自主越障巡线机器人为例。In order to better explain the working principle of the present invention, the accompanying drawings and the description of specific implementations take the transmission line autonomous obstacle-surpassing and inspection robot with the patent number ZL201210512203.X as an example.
但是，本领域技术人员在不需要付出创造性劳动时即可将巡检机器人更换为其它型号或种类的巡检机器人，都应在本发明的保护范围内。However, those skilled in the art can replace the inspection robot with another type or type of inspection robot without any creative work, which should be within the protection scope of the present invention.
图1所示为输电线路自主越障巡线机器人上线示意图，包括架空线路1、自动上下线装置和输电线路自主越障巡线机器人3，其中自动上下线装置包括滑轮组2、起吊绳4和起吊手爪机构5。地面卷扬机与起吊绳4的一端连接，起吊绳4另一端连接起吊环11，起吊手爪机构5安装在输电线路自主越障巡线机器人3的联板上，控制起吊手爪机构5抓住起吊环11。通过卷扬机工作，将输电线路自主越障巡线机器人3从地面吊至安装点，控制输电线路自主越障巡线机器人3驱动臂动作将机器人安装在架空线路1的导线上。Figure 1 is a schematic diagram of the transmission line autonomous obstacle-surpassing inspection robot on-line, including an overhead line 1, an automatic on-offline device and an automatic transmission line on-offline inspection robot 3, wherein the automatic on-offline device includes a pulley block 2, a lifting rope 4 and a lifting Claw mechanism 5. The ground winch is connected to one end of the hoisting rope 4, the other end of the hoisting rope 4 is connected to the hoisting ring 11, and the hoisting claw mechanism 5 is installed on the connecting plate of the autonomous obstacle-surpassing patrol robot 3 of the power transmission line, and the hoisting claw mechanism 5 is controlled to grab and lift. Ring 11. Through the work of the hoist, the automatic obstacle-surpassing and inspection robot 3 of the transmission line is hoisted from the ground to the installation point, and the automatic obstacle-surmounting and inspection robot 3 of the transmission line is controlled to drive the arm to install the robot on the wire of the overhead line 1.
图2所示为滑轮组2示意图，包括滑轮9、滑轮支架8、合页6、橡胶垫7和连接杆10等。滑轮9通过滑轮轴、轴承安装在滑轮支架8上；合页6的下端与滑轮支架8上端连接，通过螺栓安装在架空导(地)线上；橡胶垫7胶接在合页6内侧，通过橡胶垫7的弹性锁紧导(地)线，具有防滑功能，同时避免损伤导(地)线；连接杆10连接两侧滑轮装置形成滑轮组2。FIG. 2 is a schematic diagram of the pulley block 2, including a pulley 9, a pulley bracket 8, a hinge 6, a rubber pad 7, a connecting rod 10, and the like. The pulley 9 is installed on the pulley bracket 8 through the pulley shaft and the bearing; the lower end of the hinge 6 is connected with the upper end of the pulley bracket 8, and is installed on the overhead guide (ground) line through bolts; the rubber pad 7 is glued to the inner side of the hinge 6, The elastic locking guide (ground) wire of the rubber pad 7 has an anti-slip function and avoids damage to the guide (ground) wire;
所述滑轮组2具有防滑功能，可以满足机器人在具有一定坡度架空输电线路上的自动上下线。The pulley block 2 has an anti-slip function, which can satisfy the automatic on and off line of the robot on the overhead power transmission line with a certain slope.
所述滑轮组2设有两个支点，更容易保证机器人上下线时的平衡，降低了机器人上下线的难度。The pulley block 2 is provided with two fulcrums, which makes it easier to ensure the balance of the robot when going on and off the assembly line, and reduces the difficulty of the robot going on and off the assembly line.
图3所示为滑轮组2与起吊绳4组合示意图，起吊绳4为绝缘绳，安装在滑轮组2上，一端与地面卷扬机连接，另一端连接起吊环11。起吊绳4的线径根据滑轮槽的直径选择，防止起吊过程中脱线，采用绝缘吊绳可以满足带电作业要求。Figure 3 is a schematic diagram of the combination of the pulley block 2 and the lifting rope 4, the lifting rope 4 is an insulating rope, installed on the pulley block 2, one end is connected with the ground winch, and the other end is connected with the lifting ring 11. The wire diameter of hoisting rope 4 is selected according to the diameter of pulley groove, prevents from going off-line in the hoisting process, adopts insulated hoisting rope to be able to satisfy live work requirement.
图4所示为起吊手爪机构5示意图，所述起吊手爪机构5安装在机器人上，主要包括起吊手爪18、电机14、蜗轮蜗杆机构、齿轮组12、手爪轴17和手爪支架13等，其中蜗轮蜗杆机构由蜗轮16和蜗杆15组成。起吊手爪18固定在手爪轴17上，两端通过轴承安装在手爪支架13上；手爪轴17的一端安装有相互啮合的齿轮组12，其中一个手爪轴17的另一端安装有蜗轮16，与安装在手爪支架13上的蜗杆15组成蜗轮蜗杆机构；电机14安装在手爪支架13上，与蜗杆轴连接；手爪支架13安装在机器人的联板上。Figure 4 shows a schematic diagram of the lifting claw mechanism 5, which is installed on the robot and mainly includes a lifting claw 18, a motor 14, a worm gear mechanism, a gear set 12, a claw shaft 17 and a claw support 13 etc., wherein the worm gear mechanism is made up of worm wheel 16 and worm screw 15. The lifting claw 18 is fixed on the claw shaft 17, and the two ends are installed on the claw bracket 13 through bearings; one end of the claw shaft 17 is equipped with a gear set 12 that meshes with each other, and the other end of one of the claw shafts 17 is equipped with Worm wheel 16, forms worm gear mechanism with the worm screw 15 that is installed on the claw support 13; Motor 14 is installed on the claw support 13, is connected with worm shaft; The claw support 13 is installed on the connecting plate of robot.
控制电机14正反转动，通过蜗轮蜗杆机构、齿轮组15传动，控制起吊手爪18的打开和闭合。The motor 14 is controlled to rotate positively and negatively, and is driven by a worm gear mechanism and a gear set 15 to control the opening and closing of the lifting claw 18 .
所述起吊手爪机构5通过远程控制，实现与起吊环11自动连接和脱离功能。The lifting claw mechanism 5 realizes the automatic connection and disconnection function with the lifting ring 11 through remote control.
可以采用蜗轮蜗杆机构的自锁功能，起吊手爪18起吊过程中为锁死状态，防止机器人起吊过程中意外摔落。The self-locking function of the worm gear mechanism can be adopted, and the hoisting claw 18 is in a locked state during the hoisting process, preventing the robot from accidentally falling during the hoisting process.
同时，也可以在手爪上设置齿条、棘轮等自锁机构，形成双重保护。At the same time, self-locking mechanisms such as racks and ratchets can also be set on the claws to form double protection.
本发明架空输电线路三臂巡检机器人自动上下线方法：The automatic on-offline method of the three-arm inspection robot for overhead transmission lines of the present invention:
1、机器人自动上线方法1. Robot automatic online method
(1)线上作业人员上线将滑轮组2及起吊绳4安装在输电线路自主越障巡线机器人3上下线地点的导(地)线上。(1) On-line operators go online and install the pulley block 2 and the lifting rope 4 on the guide (ground) line where the automatic obstacle-surpassing patrol robot 3 goes on and off the line of the power transmission line.
(2)地面作业人员一端与卷扬机连接，另一端控制机器人起吊手爪机构5抓住起吊环11，启动卷扬机将机器人吊至安装点下面。(2) One end of the ground operator is connected to the winch, and the other end controls the robot lifting claw mechanism 5 to grasp the lifting ring 11, and starts the winch to hoist the robot below the installation point.
(3)操作人员控制机器人三个驱动臂呈摆开状态，缓缓提升机器人至机器人驱动臂高于所安装的导(地)线，操作人员控制机器人驱动臂摆回，缓缓下放机器人使三个驱动臂搭到导(地)线上。(3) The operator controls the three driving arms of the robot to swing open, and slowly lifts the robot until the robot driving arm is higher than the installed guide (ground) line. The operator controls the robot driving arm to swing back, and slowly lowers the robot so that the three A driving arm is connected to the guide (ground) line.
(4)通过机器人搭载的云台摄像头确认机器人的安装情况，确认无误后，控制起吊手爪机构5打开起吊手爪18，与起吊环11脱离，完成机器人上线安装。(4) Confirm the installation situation of the robot through the pan-tilt camera carried by the robot. After confirming that it is correct, control the lifting claw mechanism 5 to open the lifting claw 18 and separate from the lifting ring 11 to complete the online installation of the robot.
2、机器人自动下线方法2. How to automatically log off the robot
(1)机器人完成巡检作业任务后，行驶至滑轮组2安装点，缓缓下放起吊环11，控制起吊手爪机构5闭合起吊手爪18，使之与起吊环11连接，整个过程通过机器人搭载的云台摄像头观测完成。(1) After the robot completes the inspection task, it travels to the installation point of the pulley block 2, slowly lowers the lifting ring 11, controls the lifting claw mechanism 5 to close the lifting claw 18, and connects it to the lifting ring 11. The whole process is carried by the robot. The PTZ camera observation is completed.
(2)缓缓提升机器人至机器人驱动臂高于导(地)线，操作人员控制机器人驱动臂呈摆开状态，使脱离导(地)线，下放机器人至地面，操作人员控制机器人驱动臂摆回，控制起吊手爪机构5打开起吊手爪11，使与起吊环11脱离。(2) Slowly lift the robot until the driving arm of the robot is higher than the guide (ground) line, the operator controls the driving arm of the robot to swing away from the guide (ground) line, lowers the robot to the ground, and the operator controls the swing of the robot driving arm Back, control the lifting claw mechanism 5 to open the lifting claw 11 to break away from the lifting ring 11.
(3)线上作业人员拆除滑轮组2及起吊绳4，完成机器人下线。(3) On-line operators remove the pulley block 2 and the lifting rope 4 to complete the off-line of the robot.
上述虽然结合附图对本发明的具体实施方式进行了描述，但并非对本发明保护范围的限制，所属领域技术人员应该明白，在本发明的技术方案的基础上，本领域技术人员不需要付出创造性劳动即可做出的各种修改或变形仍在本发明的保护范围以内。Although the specific implementation of the present invention has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the present invention. Those skilled in the art should understand that on the basis of the technical solution of the present invention, those skilled in the art do not need to pay creative work Various modifications or variations that can be made are still within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610917478.XACN106312998B (en) | 2016-10-21 | 2016-10-21 | A robot automatic on-offline device for auxiliary overhead transmission lines |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610917478.XACN106312998B (en) | 2016-10-21 | 2016-10-21 | A robot automatic on-offline device for auxiliary overhead transmission lines |
| Publication Number | Publication Date |
|---|---|
| CN106312998Atrue CN106312998A (en) | 2017-01-11 |
| CN106312998B CN106312998B (en) | 2019-11-19 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610917478.XAActiveCN106312998B (en) | 2016-10-21 | 2016-10-21 | A robot automatic on-offline device for auxiliary overhead transmission lines |
| Country | Link |
|---|---|
| CN (1) | CN106312998B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107507384A (en)* | 2017-09-30 | 2017-12-22 | 云南大红山管道有限公司 | Device for producing region patrol intelligent linkage |
| CN108297067A (en)* | 2018-04-02 | 2018-07-20 | 浙江弘安智能科技有限公司 | A kind of conducting wire walking robot of rope lifting |
| CN109704220A (en)* | 2018-12-29 | 2019-05-03 | 重庆洎皋电力科技有限责任公司 | Electrification in high voltage overhead bare conductor elevating crane and its encapsulated spray robot |
| CN110788870A (en)* | 2019-11-05 | 2020-02-14 | 长沙理工大学 | A kind of robot for hanging ground wire of power distribution overhead line and its operation method |
| CN111319023A (en)* | 2020-03-11 | 2020-06-23 | 云南电网有限责任公司电力科学研究院 | Overhead conductor inspection robot ejection device |
| CN111761594A (en)* | 2020-09-02 | 2020-10-13 | 天津市普迅电力信息技术有限公司 | A robot drive system for urban integrated pipe gallery |
| CN113453848A (en)* | 2018-12-20 | 2021-09-28 | 瓦纳博特有限公司 | Robot system |
| CN114310949A (en)* | 2021-12-29 | 2022-04-12 | 广州铁路职业技术学院（广州铁路机械学校） | A Collaborative Orbital Mobile Maintenance Robot |
| CN114362038A (en)* | 2021-12-07 | 2022-04-15 | 贵州电网有限责任公司 | A hoisting system for live connection and drainage line of distribution network |
| CN114800459A (en)* | 2022-05-18 | 2022-07-29 | 威海广泰特种车辆有限公司 | Unmanned platform robot carrying device |
| CN114803964A (en)* | 2022-05-17 | 2022-07-29 | 中国南方电网有限责任公司超高压输电公司南宁局 | Lifting device for high-altitude operation |
| CN114847027A (en)* | 2022-05-25 | 2022-08-05 | 武汉戎汇电通科技有限公司 | Folding flexible integral type transmission and distribution lines roadblock clearance robot |
| CN115000878A (en)* | 2022-07-04 | 2022-09-02 | 杭州涂态科技有限公司 | Self-collection automatic on-line electric power robot for cleaning foreign matters of overhead bare conductor |
| WO2025008637A1 (en) | 2023-07-04 | 2025-01-09 | Cable Coatings Limited | Robotic device for coating and/or pre-treatment of overhead transmission or distribution line conductors |
| US12255450B2 (en) | 2019-09-17 | 2025-03-18 | Comrod As | System for monitoring a power distribution network and methods of building and performing operations on such system |
| US12322938B2 (en) | 2019-11-27 | 2025-06-03 | Comrod As | Rope robot and method for mounting an object to a power line |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100846744B1 (en)* | 2007-04-11 | 2008-07-16 | (주)대홍전력 | Moving device of self-driven distribution line inspection robot |
| CN101533998A (en)* | 2009-01-22 | 2009-09-16 | 甘肃电力科学研究院 | Lifting device for on/off wire of ice coating removal equipment for transmission line |
| CN101890722A (en)* | 2010-06-03 | 2010-11-24 | 西北工业大学 | A new three-degree-of-freedom manipulator gripper |
| CN201660355U (en)* | 2009-11-27 | 2010-12-01 | 张德惠 | Lifter of live-wire working robot |
| CN202495709U (en)* | 2012-03-31 | 2012-10-17 | 山东鲁能智能技术有限公司 | Foreign matter removing device of overhead transmission lines |
| CN104836156A (en)* | 2015-05-14 | 2015-08-12 | 国网辽宁省电力有限公司丹东供电公司 | Synthetic insulator simple ladder |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100846744B1 (en)* | 2007-04-11 | 2008-07-16 | (주)대홍전력 | Moving device of self-driven distribution line inspection robot |
| CN101533998A (en)* | 2009-01-22 | 2009-09-16 | 甘肃电力科学研究院 | Lifting device for on/off wire of ice coating removal equipment for transmission line |
| CN201660355U (en)* | 2009-11-27 | 2010-12-01 | 张德惠 | Lifter of live-wire working robot |
| CN101890722A (en)* | 2010-06-03 | 2010-11-24 | 西北工业大学 | A new three-degree-of-freedom manipulator gripper |
| CN202495709U (en)* | 2012-03-31 | 2012-10-17 | 山东鲁能智能技术有限公司 | Foreign matter removing device of overhead transmission lines |
| CN104836156A (en)* | 2015-05-14 | 2015-08-12 | 国网辽宁省电力有限公司丹东供电公司 | Synthetic insulator simple ladder |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107507384A (en)* | 2017-09-30 | 2017-12-22 | 云南大红山管道有限公司 | Device for producing region patrol intelligent linkage |
| CN108297067A (en)* | 2018-04-02 | 2018-07-20 | 浙江弘安智能科技有限公司 | A kind of conducting wire walking robot of rope lifting |
| CN108297067B (en)* | 2018-04-02 | 2024-04-05 | 浙江弘安智能科技有限公司 | Wire walking robot with lifting rope |
| CN113453848B (en)* | 2018-12-20 | 2025-02-25 | 瓦纳博特有限公司 | Robotic system |
| CN113453848A (en)* | 2018-12-20 | 2021-09-28 | 瓦纳博特有限公司 | Robot system |
| CN109704220A (en)* | 2018-12-29 | 2019-05-03 | 重庆洎皋电力科技有限责任公司 | Electrification in high voltage overhead bare conductor elevating crane and its encapsulated spray robot |
| US12255450B2 (en) | 2019-09-17 | 2025-03-18 | Comrod As | System for monitoring a power distribution network and methods of building and performing operations on such system |
| CN110788870A (en)* | 2019-11-05 | 2020-02-14 | 长沙理工大学 | A kind of robot for hanging ground wire of power distribution overhead line and its operation method |
| US12322938B2 (en) | 2019-11-27 | 2025-06-03 | Comrod As | Rope robot and method for mounting an object to a power line |
| CN111319023A (en)* | 2020-03-11 | 2020-06-23 | 云南电网有限责任公司电力科学研究院 | Overhead conductor inspection robot ejection device |
| CN111319023B (en)* | 2020-03-11 | 2022-11-04 | 云南电网有限责任公司电力科学研究院 | Overhead conductor inspection robot ejection device |
| CN111761594A (en)* | 2020-09-02 | 2020-10-13 | 天津市普迅电力信息技术有限公司 | A robot drive system for urban integrated pipe gallery |
| CN114362038A (en)* | 2021-12-07 | 2022-04-15 | 贵州电网有限责任公司 | A hoisting system for live connection and drainage line of distribution network |
| CN114310949A (en)* | 2021-12-29 | 2022-04-12 | 广州铁路职业技术学院（广州铁路机械学校） | A Collaborative Orbital Mobile Maintenance Robot |
| CN114310949B (en)* | 2021-12-29 | 2024-07-09 | 广州铁路职业技术学院（广州铁路机械学校） | Collaborative track movement overhauling robot |
| CN114803964A (en)* | 2022-05-17 | 2022-07-29 | 中国南方电网有限责任公司超高压输电公司南宁局 | Lifting device for high-altitude operation |
| CN114803964B (en)* | 2022-05-17 | 2024-03-19 | 中国南方电网有限责任公司超高压输电公司南宁局 | Lifting device for high-altitude operation |
| CN114800459A (en)* | 2022-05-18 | 2022-07-29 | 威海广泰特种车辆有限公司 | Unmanned platform robot carrying device |
| CN114847027B (en)* | 2022-05-25 | 2024-01-23 | 武汉戎汇电通科技有限公司 | Folding and telescopic integrated power transmission and distribution line tree obstacle removing robot |
| CN114847027A (en)* | 2022-05-25 | 2022-08-05 | 武汉戎汇电通科技有限公司 | Folding flexible integral type transmission and distribution lines roadblock clearance robot |
| CN115000878A (en)* | 2022-07-04 | 2022-09-02 | 杭州涂态科技有限公司 | Self-collection automatic on-line electric power robot for cleaning foreign matters of overhead bare conductor |
| CN115000878B (en)* | 2022-07-04 | 2025-05-13 | 杭州涂态科技有限公司 | A self-collecting power robot for cleaning foreign matter in overhead bare conductors |
| WO2025008637A1 (en) | 2023-07-04 | 2025-01-09 | Cable Coatings Limited | Robotic device for coating and/or pre-treatment of overhead transmission or distribution line conductors |
| Publication number | Publication date |
|---|---|
| CN106312998B (en) | 2019-11-19 |
| Publication | Publication Date | Title |
|---|---|---|
| CN106312998B (en) | A robot automatic on-offline device for auxiliary overhead transmission lines | |
| CN106312996B (en) | Device and method for automatic on-offline and off-line of overhead transmission line autonomous obstacle-crossing inspection robot | |
| CN108599007B (en) | Device and method for installing pulley insulating rope on high-voltage line unmanned aerial vehicle | |
| CN110788870B (en) | Power distribution overhead line grounding wire hanging robot and operation method thereof | |
| CN104993422B (en) | Line inspection robot on and off line device and line inspection robot on and off line system equipped with it | |
| CN115609601B (en) | A modular live-working robot system and operating method thereof | |
| CN105442458B (en) | Method for hanging and installing stay cable of cable-stayed bridge special-shaped tower pillar | |
| CN108808542B (en) | Power transmission line broken strand repairing robot mechanism | |
| CN110733018B (en) | Butt-joint type wire feeding and discharging mechanism for electric power robot and application method of butt-joint type wire feeding and discharging mechanism | |
| CN206278864U (en) | A kind of simple machine hoisting device safeguarded for power equipment | |
| CN105397811A (en) | Self-lifting on-wire device for hot-line work robot | |
| CN101471547B (en) | Mechanism for releasing patrolling robot fault | |
| CN115588930A (en) | A modular live working robot body | |
| CN214296202U (en) | Climbing robot | |
| CN115582846B (en) | Modularized live working robot | |
| CN113775162A (en) | Outer facade construction robot | |
| CN115508506B (en) | Intelligent wall climbing robot and riser monitoring method | |
| CN112373591A (en) | Climbing robot | |
| CN201134643Y (en) | A Fault Release Mechanism for a Line Patrol Robot | |
| CN111319023B (en) | Overhead conductor inspection robot ejection device | |
| CN115570597B (en) | An autonomous on-line and off-line device for power transmission robots | |
| CN108879483A (en) | It is offline with automatic hanging hook and its control system and method in a kind of robot | |
| CN214935634U (en) | A kind of anti-vibration hammer live disassembly and assembly robot | |
| CN116316263A (en) | Lifting device and method for overhead line walking robot | |
| WO2023082951A1 (en) | Building construction lifting/lowering method |
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information | Address after:Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Applicant after:Electric Power Research Institute of State Grid Shandong Electric Power Company Applicant after:National Network Intelligent Technology Co., Ltd. Applicant after:State Grid Co., Ltd. Address before:Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Applicant before:Electric Power Research Institute of State Grid Shandong Electric Power Company Applicant before:Shandong Luneng Intelligent Technology Co., Ltd. Applicant before:State Grid Corporation | |
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right | Effective date of registration:20201027 Address after:250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after:National Network Intelligent Technology Co.,Ltd. Address before:Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Patentee before:ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before:National Network Intelligent Technology Co.,Ltd. Patentee before:STATE GRID CORPORATION OF CHINA |