CN104354152B - Robot multi-insulation guard system under a kind of complicated line environment - Google Patents
Robot multi-insulation guard system under a kind of complicated line environment Download PDFInfo
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- CN104354152B CN104354152B CN201410613044.1A CN201410613044A CN104354152B CN 104354152 B CN104354152 B CN 104354152B CN 201410613044 A CN201410613044 A CN 201410613044A CN 104354152 B CN104354152 B CN 104354152B
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Abstract
Under the invention discloses a kind of complicated line environment, robot multi-insulation guard system comprises robot platform support, described robot platform support is provided with the main hand in left and right, left and right master is respectively equipped with left and right main hand insulating supporting on hand, left and right main hand insulating supporting connects corresponding left and right main hand controls insulating supporting; Robot platform bracket outer is enclosed with insulation shell molds, and insulation shell molds top is provided with insulation camera support, insulation ceiling; Robot platform support is provided with left and right insulation control pedal, and left and right insulation control pedal connects left and right insulation drag chain, and left and right insulation drag chain connects left and right insulating telescopic pipe, and insulating telescopic pipe front end, left and right is provided with left and right mechanical arm insulating supporting; Robot of the present invention insulating protection system, 6DOF mechanical arm basis increases pedestal insulating telescopic redundant degree of freedom, can not adjust in bucket arm vehicle pose situation, enable mechanical arm enter complicated line environment and carry out operation.
Description
Technical field
The present invention relates to robot multi-insulation guard system under a kind of complicated line environment.
Background technology
In order to the gentle security of the Automated water improving livewire work, the labour intensity and the strong-electromagnetic field that alleviate operating personnel threaten the person of operating personnel, and from the eighties, many countries have all successively carried out the research of hot line robot.Hot line robot is through years of researches and practice, complete the development of laboratory prototype, by a large amount of field trials, demonstrate the demand of robot in live working of distribution network and value, also demonstrate the feasibility of research approach, the reasonability of design simultaneously.But robot manipulating task content is comparatively single, can not contain whole live working of distribution network project, robot can not carry out operation under complicated line environment, therefore with the production physical presence gap of live working of distribution network.System works, under complicated line environment, must ensure the security of personnel and equipment, and can not cause the losses of power accident such as line short, so take effective insulation measures, ensures that the dielectric strength of robot is the most important condition that can robot carry out operation.
The Chinese patent ZL201020278798 of applicant's application discloses a kind of insulation system for high-voltage live-working robots.The robot for high-voltage hot-line work that it can make relatively is insulated by aerial lift device with insulated arm, realizes the insulation of high-voltage line to people by fiber optic communication, and mechanical arm outsourcing fiberglass, insulated platform outsourcing fiberglass, limit are added mask and carry out phase insulation system.This patent just simply proposes a kind of insulation system for high-voltage live-working robots, but fail to carry out specifically insulating protection system again, in depth study and explore, more fail to provide a kind of embodiment for robot multi-insulation guard system under complicated line environment, make robot for high-voltage hot-line work cannot give full play to its advantage, more cannot expand frontier, new opplication.
The Chinese patent ZL201210095860.9 of applicant's application discloses a kind of high-voltage hot-line work master & slave control robot manipulating task platform, comprises robot manipulating task platform frame, hydraulic elevating platform control integration, robot control system and insulation bucket.Robot manipulating task platform frame is L-type structure, is bolted bucket arm vehicle insulated lift arm end; For hydraulic elevating platform control integration, robot operating system and insulation bucket provide secure support; Hydraulic elevating platform control integration is positioned at insulation bucket right side, and operating personnel, by control lever and lever, for robot manipulating task platform provides ascending, descending and rotary motion, and supply the hydraulic oil source needed for master & slave control robot motion; Robot operating system comprises manipulation main hand, hydraulic press mechanical arm and corresponding control module, and adopt master & slave control hydraulic-driven, mechanical arm can follow main hands movement completely; Operating personnel stand in insulation bucket, manipulate main hand and can complete various high-voltage hot-line work by Remote mechanical arm clamping specific purpose tool contact circuit.This patent has just simply carried robot for high-voltage hot-line work insulating protection, mechanical arm base does not add insulating telescopic mechanism yet, the isolation and whole mechanical arm electric-control system and robot manipulating task platform frame do not insulate, there is safety issue, live working of distribution network under complicated line environment can not be completed.
As can be seen here, still there is larger techno-absence in existing application technology middle-high pressure electrification Work robot insulation system, and this kind of present situation has seriously govern the practical application of hot line robot in electrical network and popularization.
Summary of the invention
The present invention, in order to solve the problem, proposes robot multi-insulation guard system under a kind of complicated line environment, and the insulation of native system platform adopts modular design, and technique is attractive in appearance, and industrial degree is high; Whole electric-control system adopts insulation outsourcing or insulating supporting structure, high to people, mechanical arm security; And on 6DOF mechanical arm basis, increase pedestal insulating telescopic redundant degree of freedom, can not adjust in bucket arm vehicle pose situation, enable mechanical arm enter complicated line environment and carry out operation.
To achieve these goals, the present invention adopts following technical scheme:
Robot multi-insulation guard system under a kind of complicated line environment, comprise robot platform support, described robot platform support is provided with the main hand in left and right, left and right master is respectively equipped with left and right main hand insulating supporting on hand, left and right main hand insulating supporting connects corresponding left and right main hand controls insulating supporting; Robot platform bracket outer is enclosed with insulation shell molds, and insulation shell molds top is provided with insulation camera support, insulation ceiling; Robot platform support is provided with left and right insulation control pedal, and left insulation control pedal connects left insulation drag chain, and left insulation drag chain connects left insulating telescopic pipe, and left insulating telescopic pipe front end is provided with left mechanical arm insulating supporting; Right insulation control pedal connects right insulation drag chain, and right insulation drag chain connects right insulating telescopic pipe, and right insulating telescopic pipe front end is provided with right mechanical arm insulating supporting; Be provided with insulation seat in the middle of robot platform support, insulation seat lower end is fixed with insulating tool case.
Described robot platform support is the structure that duralumin, hard alumin ium alloy square tube is wound around epoxy glass fabric.
Described platform support outsourcing insulation molded housing, adopts fiberglass mold.
The height adjustable scope 375-475mm of described left mechanical arm insulating supporting and left mechanical arm insulating supporting, adopts composite fiberglass material.
Described insulating telescopic pipe telescopic extensions is 630-950mm, adopts composite fiberglass material.
Described insulation camera support adopts fiber glass resin machinery pultrusion, individual glass steel fixed support.
Described insulation height of seat, longitudinal separation is adjustable, adopts epoxy resin to do section bar, rivet technique makes.
Described bucket arm vehicle lifting arm controller insulating supporting adopts fiberglass epoxy resin machinery pultrusion, two pieces of fiberglass fixed supports, smooth surface, bubble-free, wrinkle or split, and connects reliable.
Described insulation ceiling adopts mould of plastics profiled member.
Described left mechanical arm insulating supporting and left mechanical arm insulating supporting lay respectively at left and right insulating telescopic pipe end, installation left and right, mechanical arm insulating supporting upper end, left and right mechanical arm.
Panoramic monitoring camera is installed on described insulation camera support top, monitors the state of job platform, line environment, bucket arm vehicle.
Described robot manipulating task stage+module is on the top of bucket arm vehicle lifting arm, and backing is installed, can 360 degree of rotations.
Described left and right mechanical arm, the hydraulic oil pipe of left and right telescoping mechanism all adopts dielectric pressuring oil pipe, and the hydraulic oil that can bear livewire work voltage is flow through in inside.
Operation principle of the present invention is: primarily of bucket arm vehicle lifting arm controller insulating supporting, insulation ceiling, right main hand insulating supporting, left main hand insulating supporting, platform insulate shaping outsourcing housing, robot platform support (duralumin, hard alumin ium alloy square tube is wound around epoxy glass fabric), right insulation control pedal, left insulation control pedal, left insulation drag chain, left insulating telescopic pipe box, left insulating telescopic pipe, left mechanical arm insulating supporting, right insulation drag chain, right insulating telescopic pipe box, right insulating telescopic pipe, right mechanical arm insulating supporting, insulating tool case, insulation seat, insulation camera support, the compositions such as left hand controller insulating supporting.Robot platform support duralumin, hard alumin ium alloy square tube is connected with two redundant degree of freedom end by insulating supporting structure by winding epoxy glass fabric, platform outsourcing insulation molded housing, two redundant degree of freedom telescoping tube employing glass fibre reinforced plastic insulating mechanism, mechanical arm, carries out phase insulation protection; People stands on insulating supporting structure, main hand insulating supporting structure, main hand control case insulating supporting structure, camera insulating supporting construction, insulation seat, bucket arm vehicle lifting arm controller insulating supporting, insulating tool case etc., carry out platform support and people and insulate and isolate.Platform insulation adopts modular design, and technique is attractive in appearance, and industrial degree is high; Whole electric-control system adopts insulation outsourcing or insulating supporting structure, high to people, mechanical arm security.And on 6DOF mechanical arm basis, increase pedestal insulating telescopic redundant degree of freedom, can not adjust in bucket arm vehicle pose situation, enable mechanical arm enter complicated line environment and carry out operation.
Beneficial effect of the present invention is:
(1) robot insulating protection system, uses new insulation material, uses for reference livewire work technique, guarantee robot manipulating task safety;
(2) on 6DOF mechanical arm basis, increase pedestal insulating telescopic redundant degree of freedom, can not adjust in bucket arm vehicle pose situation, enable mechanical arm enter complicated line environment and carry out operation;
(3) between phase-phase, multi-insulation protective platform plays major insulation effect, insulated shielding cover forms alternate standby protection, because of working rig mechanical arm equipotential live line work, mechanical arm outsourcing insulating materials, form last line of defense, prevent mechanical arm from accidentally touching two phase conductors and cause short circuit, insulating properties are reliable;
(4) platform insulation adopts modular design, and technique is attractive in appearance, and industrial degree is high; Chair basin ergonomically principle design, ride comfort, indefatigability, and install safety belt protection unit additional, ensure operating personnel's safety.Bottom Appropriate application bulk, designs an insulating tool case, places common tool and live line tool; Whole electric-control system adopts insulation outsourcing or insulating supporting structure, high to people, mechanical arm security.
Accompanying drawing explanation
Fig. 1 is that robot platform multi-insulation guard system axle of the present invention surveys view;
Fig. 2 is robot platform multi-insulation guard system front view of the present invention;
Fig. 3 is the two redundancy telescoping mechanism hydraulic control figure of the present invention;
Wherein, 1. right main hand controls insulating supporting 2. insulate ceiling, 3. right main hand insulating supporting, 4. left main hand insulating supporting, 5. platform insulate shaping outsourcing housing, 6. robot platform support, 7. right insulation control pedal, 8. left insulation control pedal, 9. left insulation drag chain, 10. left insulating telescopic pipe box, 11. left insulating telescopic pipes, 12. left mechanical arm insulating supportings, 13. right insulation drag chains, 14. right insulating telescopic pipe boxes, 15. right insulating telescopic pipes, 16. right mechanical arm insulating supportings, 17. insulating tool casees, 18. insulation seats, 19. insulation camera support, 20. left main hand controls insulating supportings, 21, bucket arm vehicle lifting arm controller insulating supporting.
Detailed description of the invention:
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
In Fig. 1, Fig. 2, Fig. 3, under complicated line environment, robot multi-insulation guard system comprises robot platform support (duralumin, hard alumin ium alloy square tube is wound around epoxy glass fabric) 6, platform insulate shaping outsourcing housing 5, insulation ceiling 2, insulating telescopic pipe box 10,14, insulating telescopic pipe 11,15, mechanical arm insulating supporting 12,16, insulation drag chain 9,13, insulating tool case 17, insulation seat 18, insulation camera support 19.
Wherein robot platform support 6 is formed by duralumin, hard alumin ium alloy square tubes soldering, and after welding, the overall epoxy glass fabric that is wound around plays one deck insulating effect.The shaping outsourcing housing 5 that insulate covers the outside of robot platform support 6 completely, can play insulation protection effect like this, can play again the insulation buffer action of external side apparatus to the operating personnel in platform.The shaping outsourcing housing that insulate is welded by 5mm heavy sheet glass steel and two-layerly inside and outside housing is filled with insulating materials, fiberglass has high-insulativity, excellent mechanical property, weldability and good processing characteristics, and because inside and outside employing is filled therefore outsourcing housing and ensured to have very high intensity while good insulation properties, meet the requirement of high-voltage hot-line work completely.
Wherein the left and right mechanical arm of robot platform is connected by ring flange respectively by mechanical arm insulating supporting 12,16, mechanical arm insulating supporting 12,16 is connected with insulating telescopic pipe 11,15 by pedestal, insulating telescopic pipe 11,15 is connected with insulating telescopic pipe box 10,14 by hydraulic jack, and stretch pipe box 10,14 and robot platform support of edge is fixed.Edge control pedal 7,8 controls flexible insulating telescopic pipe 11,15 and the robot platform of making of oil cylinder and produces flexible relative motion, thus the flexible insulating telescopic pipe 11,15 that makes drives left and right mechanical arm stretching motion.All insulate due to each intermediate connector of this retractor device thus ensure that the multi-insulation between mechanical arm and platform, and make mechanical arm on 6DOF basis, increase this flexible redundant degree of freedom owing to applying retractor device, enable mechanical arm enter complicated line environment and carry out operation, the force feedback function of mechanical arm enables robot complete elaborate work simultaneously.
Its middle left and right main hand insulating supporting 4., 3 ensure that the insulation of main hand and platform; . insulation camera support 19 ensure that the insulation of video camera and platform; Main hand controls insulating supporting 1,20 ensure that the insulation of main hand controls and platform; Bucket arm vehicle lifting arm controller insulating supporting 21 ensures the control system of bucket arm vehicle lifting arm and the insulation of platform.
The drag chain 9,13 that wherein insulate is used for cable, the fluid pressure line of placement machine mechanical arm, and the use of insulation drag chain had not only met needs that moving channel arranges but also attractive in appearance.
The insulation ceiling 2 of described platform is connected on the shaping outsourcing housing 5 of insulation, and insulation ceiling 2 can play insulation protection effect to the operating personnel in platform, can substantially improve the working environment of operator by sun-shading rain-proof again.
Described insulating tool case 17 is fixed on robot platform support 6, tool box is used for placing the instruments such as remote control peeler, remote control spanner, Split Down wire clamp, remote control bolt clipper, insulation seat 18 is fixed on tool box 17, such layout makes whole platform compact, and handled easily person operation task, insulation seat can improve the work comfort of operator, reduces labor intensity.
Wherein operating personnel give two redundancy telescoping mechanism input position instruction by pedal left-hand tread plate 14, right-hand tread plate 13, the feedback position data that input instruction and grating scale return compare, input to proportional amplifier, proportional amplifier exports Analog control signal, the openings of sizes of control ratio valve core, output hydraulic pressure oil drives the stretching motion of hydraulic cylinder, back and forth carries out exact position motion with insulating telescopic mechanism.
Left and right mechanical arm insulating supporting is positioned at left and right insulating telescopic pipe end, installation left and right, mechanical arm insulating supporting upper end, left and right mechanical arm.
Insulation seat height adjustable, between scope 475-525mm; Fore-aft adjustable, adjustment distance 100mm.
Insulating tool case size 260mm*400mm, the instruments such as remote control peeler, remote control spanner, Split Down wire clamp, remote control bolt clipper can be placed in inside.
Panoramic monitoring camera is installed on insulation camera support top, monitors the state of job platform, line environment, bucket arm vehicle etc.
Robot manipulating task stage+module is on the top of bucket arm vehicle lifting arm, and backing is installed, and can carry out 360 degree of rotations.
Two main hand insulating supporting structure spacing 950mm, adopt fiberglass epoxy resin machinery pultrusion, diameter 40mm, adjustable between height 800-900mm, smooth surface, bubble-free, wrinkle or split, and connect reliable.
The hydraulic oil pipe of left and right mechanical arm, left and right telescoping mechanism all adopts dielectric pressuring oil pipe, and the hydraulic oil that can bear livewire work voltage is flow through in inside.
Platform support outsourcing insulation molded housing, adopt fiberglass mold, base dimensions 1600mm*1600mm, guardrail height 1300mm, fiberglass thickness 5mm, adopt zero shrinkage resin, for L-RTM vacuum pours mould into, product is vacuum introducing technology.Bad phenomenon such as surface bubble-free, sand holes, bulge etc., not breakdown in ability 42KV voltage one minute.
Mechanical arm insulating supporting height adjustable scope 375-475mm, insulating supporting structure spacing 950mm, adopt composite fiberglass material, minimum arcing distance 260mm, lightning impulse withstand voltage peak value 125KV, power frequency 1min withstand voltage virtual value 50KV.
Insulating telescopic pipe stroke 630mm, two telescoping tube spacing 950mm, adopt composite fiberglass material, arm thickness 10mm, 0.4m distance power frequency 1min withstand voltage virtual value 42KV.
Insulation camera support adopts fiber glass resin machinery pultrusion, individual glass steel fixed support, fiberglass diameter 15mm, length 370mm.There is smooth surface, bubble-free, wrinkle or split, connect reliable.
Insulation height of seat, longitudinal separation is adjustable, adopt epoxy resin do section bar, rivet technique make.Can withstand voltage 42KV, work under meeting high voltage.There is the advantages such as intensity is high, lightweight, shock resistance, good insulating.
Bucket arm vehicle lifting arm controller insulating supporting adopts fiberglass epoxy resin machinery pultrusion, two pieces of fiberglass fixed supports, fiberglass width 150mm, thickness 10mm, length 400mm, smooth surface, bubble-free, wrinkle or split, and connects reliable.
Insulation ceiling adopts mould of plastics profiled member, lightweight, attractive in appearance.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection scope of the present invention.
Claims (10)
1. robot multi-insulation guard system under a complicated line environment, it is characterized in that: comprise robot platform support, described robot platform support is provided with left and right main hand, left and right master is respectively equipped with left and right main hand insulating supporting on hand, left and right main hand insulating supporting connects corresponding left and right main hand controls insulating supporting; Robot platform bracket outer is enclosed with insulation shell molds, and insulation shell molds top is provided with insulation camera support, insulation ceiling; Robot platform support is provided with left and right insulation control pedal, and left insulation control pedal connects left insulation drag chain, and left insulation drag chain connects left insulating telescopic pipe, and left insulating telescopic pipe front end is provided with left mechanical arm insulating supporting; Right insulation control pedal connects right insulation drag chain, and right insulation drag chain connects right insulating telescopic pipe, and right insulating telescopic pipe front end is provided with right mechanical arm insulating supporting; Be provided with insulation seat in the middle of robot platform support, insulation seat lower end is fixed with insulating tool case.
2. robot multi-insulation guard system under a kind of complicated line environment as claimed in claim 1, is characterized in that: described robot platform support is the structure that duralumin, hard alumin ium alloy square tube is wound around epoxy glass fabric; Described robot manipulating task stage+module is on the top of bucket arm vehicle lifting arm, and backing is installed, 360 degree of rotations.
3. robot multi-insulation guard system under a kind of complicated line environment as claimed in claim 1, is characterized in that: described platform support outsourcing insulation molded housing, adopts fiberglass mold.
4. robot multi-insulation guard system under a kind of complicated line environment as claimed in claim 1, is characterized in that: the height adjustable scope 375-475mm of described left mechanical arm insulating supporting and left mechanical arm insulating supporting, adopts composite fiberglass material.
5. robot multi-insulation guard system under a kind of complicated line environment as claimed in claim 1, is characterized in that: described left insulating telescopic pipe, right insulating telescopic pipe telescopic extensions are 630-950mm, adopts composite fiberglass material.
6. robot multi-insulation guard system under a kind of complicated line environment as claimed in claim 1, is characterized in that: described insulation camera support adopts fiber glass resin machinery pultrusion, individual glass steel fixed support.
7. robot multi-insulation guard system under a kind of complicated line environment as claimed in claim 1, is characterized in that: the height of described insulation seat, longitudinal separation is adjustable, adopts epoxy resin to do section bar, rivet technique makes.
8. robot multi-insulation guard system under a kind of complicated line environment as claimed in claim 2, it is characterized in that: described bucket arm vehicle lifting arm controller insulating supporting adopts fiberglass epoxy resin machinery pultrusion, two pieces of fiberglass fixed supports, smooth surface, bubble-free, wrinkle or split, connect reliable; Described insulation ceiling adopts mould of plastics profiled member.
9. robot multi-insulation guard system under a kind of complicated line environment as claimed in claim 1, it is characterized in that: described left mechanical arm insulating supporting and left mechanical arm insulating supporting lay respectively at left and right insulating telescopic pipe end, left and right mechanical arm is installed in left and right mechanical arm insulating supporting upper end.
10. robot multi-insulation guard system under a kind of complicated line environment as claimed in claim 1, is characterized in that: panoramic monitoring camera is installed on described insulation camera support top, monitors the state of job platform, line environment, bucket arm vehicle.
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| CN105703285B (en) * | 2016-04-11 | 2023-11-03 | 国网山东省电力公司高唐县供电公司 | Robot with electric fire-catching function |
| CN106426298B (en) * | 2016-12-14 | 2019-04-05 | 国网江苏省电力公司常州供电公司 | A kind of multistage insulating protection system of hot line robot |
| CN108891505A (en) * | 2018-07-27 | 2018-11-27 | 深圳市施罗德工业测控设备有限公司 | A kind of pipe crawling device work sentry box |
| CN109176534B (en) * | 2018-11-27 | 2021-04-20 | 国网智能科技股份有限公司 | Robot multi-camera real-time fusion system and method |
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| CN204277996U (en) * | 2014-11-04 | 2015-04-22 | 国家电网公司 | Robot multi-insulation guard system under a kind of complicated line environment |
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| FR2661630B1 (en) * | 1990-05-04 | 1992-08-07 | Renault | DEVICE FOR THE AUTOMATIC HOLDING AND / OR ASSEMBLY OF PARTS, INCLUDING TOOL HOLDER ARMS MOUNTED ON A SUPPORT BLOCK. |
| KR102188100B1 (en) * | 2013-03-15 | 2020-12-07 | 삼성전자주식회사 | Robot and control method thereof |
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| CN101259614A (en) * | 2008-04-11 | 2008-09-10 | 上海中为智能机器人有限公司 | Portable multiple freedom small-sized explosive process intelligent mobile robot system |
| CN102615637A (en) * | 2012-04-01 | 2012-08-01 | 山东电力研究院 | Master-slave control robot work platform for high-voltage live working |
| CN202491237U (en) * | 2012-04-01 | 2012-10-17 | 山东电力研究院 | Master-slave control robot work platform for high-pressure hot-line work |
| CN204277996U (en) * | 2014-11-04 | 2015-04-22 | 国家电网公司 | Robot multi-insulation guard system under a kind of complicated line environment |
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Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company Patentee after: State Grid Co., Ltd. Co-patentee after: National Network Intelligent Technology Co., Ltd. Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company Patentee before: State Grid Corporation Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |
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Effective date of registration: 20201028 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: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Patentee before: STATE GRID CORPORATION OF CHINA Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. |