CN106711847B - The powered mechanical arm for obstacle removing of 10kV distribution lines - Google Patents
The powered mechanical arm for obstacle removing of 10kV distribution lines Download PDFInfo
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- CN106711847B CN106711847B CN201611193849.0A CN201611193849A CN106711847B CN 106711847 B CN106711847 B CN 106711847B CN 201611193849 A CN201611193849 A CN 201611193849A CN 106711847 B CN106711847 B CN 106711847B
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- 229910001095 light aluminium alloy Inorganic materials 0.000 description 2
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- 206010023204 Joint dislocation Diseases 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The invention discloses a kind of powered mechanical arm for obstacle removing of 10kV distribution lines, including basic machine, control system, electric power system, basic machine is six axle six degree of freedom joint tandem type mechanical arms, including pedestal, five joint arm bodies, six joints, end effector, pedestal is the rotation platform being fixedly mounted in the manned working bucket of high-voltage hot-line work car, arm is as hollow cavity, by direct current generator servo-drive, connected between pedestal and five joint arm bodies by six joints, robot arm end effector is direct current drive chain saw, it is connected by neck with the 6th joint output end, actuator itself has an independent joint；Control system includes master controller, remote-control receiver, industrial remote controller, servo unit, monitoring unit, servo unit uses driver and direct current generator, monitoring unit includes shock sensor, Power frequency field strength meter, and electric power system is the straight-flow system of batteries composition.The present invention it is alternative manually adverse circumstances and it is powered in the case of carry out trees remove obstacles.
Description
Technical field
The present invention relates to electric power maintenance field, more particularly to a kind of powered mechanical arm for obstacle removing of 10kV distribution lines.
Background technology
10kV distributions are to region be directly facing the electric power networks of user, under the overall situation that power system flourishes, 10kV cities
City's distribution realizes overhead conductor insulation, substantially increases power supply reliability and safety substantially by transforming and building for many years
Property.But as economic and society development, urban environmental protection are also lifted energetically, landscape tree coverage rate changes year by year
Kind, this brings very big hidden danger to urban distribution network safe operation.
At present, urban distribution network circuit is set up along urban road substantially, and most of circuit is extended and walked in the woods.Although frame
Ceases to be busy road use it is mostly be insulated conductor, insulated conductor often occurs but due to navigating within the woods mostly, in operation is ground by branch
Break insulated hull and electric discharge sparking and disconnection fault occurs, problems are particularly prominent especially when running into the special weathers such as heavy rain strong wind
Go out.Found after the 10kV distribution lines tripping operation of Duo Jia prefecture-level companies and disconnection fault are analyzed, more than 90% insulated conductor
Caused by broken string is due to screen of trees.Strong convection bad weather is run into, line tripping fault often occurs, and this greatly reduces 10kV
Distribution reliability of operation, security and economy.
In order to reduce distribution trip-out rate, it is each electric company important production task every year that trees, which are removed obstacles,.Due to work safety
The requirement of property, largely removing obstacles needs line outage and by manually implementing, and other part part of path is manually implemented trees and removed obstacles
Also it is difficult to.Therefore need badly and provide a kind of new 10kV distribution line trees barrier clearing devices to solve the above problems.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of powered mechanical arm for obstacle removing of 10kV distribution lines, can substitute
Manually adverse circumstances and it is powered in the case of carry out trees remove obstacles.
In order to solve the above technical problems, one aspect of the present invention is：A kind of 10kV distribution lines band is provided
Electric mechanical arm for obstacle removing, including basic machine, control system, the electric power system powered for basic machine, control system；
Basic machine is six axle six degree of freedom joint tandem type mechanical arms, including pedestal, five joint arm bodies, chain saw, neck, six
Individual joint and neck joint, the first servo electric jar, the second servo electric jar；Pedestal is to be fixedly mounted on high-voltage hot-line work car
Manned working bucket on rotation platform, arm connected between pedestal and five joint arm bodies by six joints as hollow cavity, six
Joint is respectively the first joint to the 6th joint, and wherein pedestal is the first joint, and the 3rd joint and the 4th joint are bionical dislocation
Joint, the 5th joint are wagging gesture, and the 6th joint is roll attitude；Neck is in dustpan shape, is fixed on the 6th joint
Output end, neck joint is collectively formed with the second servo electric jar, the first servo electric jar is arranged on pedestal and the first joint arm body
Between；
Control system includes master controller, remote-control receiver, industrial remote controller, servo unit, monitoring unit；Main control
Device, remote-control receiver are installed in pedestal, and servo unit includes six servomotors in six joints of driving, driving servomotor
Joint servo motor driver, drive chain saw motor and the neck motor of chain saw, drive chain saw motor soft start driver,
Drive the current limiting driver of neck motor；Monitoring unit includes being installed on the second joint arm body, the vibrations in the middle part of three joint arms body pass
Sensor, the Power frequency field strength meter being installed on the inside of neck, driver, soft start driver, current limiting driver, shock sensor, work
Frequency field intensity meter, remote-control receiver are connected with master controller；
Electric power system is the straight-flow system for the batteries composition being installed in manned working bucket.
In a preferred embodiment of the present invention, one end of the first servo electric jar is fixed on the cross universal of pedestal extension
On axle, the other end is connected by bulb bearing with the first arm body；One end of second servo electric jar passes through bulb bearing and neck
The fixed, other end is fixed by the afterbody of bulb bearing and chain saw.Due to mechanical arm during trees are removed obstacles torque it is larger with
And larger reaction force and vibration, the support mechanical arm arm body that the first servo electric jar can consolidate are produced, and can power off
Mechanical self-latching, two bulb bearings of the second servo electric jar are installed in rubber base, can so be effectively blocked chain saw shake
Interference when dynamic to prime shock sensor.
In a preferred embodiment of the present invention, the first joint is 360 ° in the angle of revolution of horizontal plane, and second joint is done
The angular range of elevating movement is 0-85 °, and the angular range that elevating movement is done in the 3rd joint is 0-270 °, the 4th joint is bowed
The angular range for facing upward motion is 0-180 °, and it is-90 °-90 ° that the angular range to swing is done in the 5th joint, the 6th joint
Roll angle is 360 °, and the cutting stroke angles in neck joint are 0-100 °, so that the operating area of mechanical arm is up to 7.6
Rice, while swinging for the 5th joint copes with the various shapes of various complicated thick forests and trees with the rolling in the 6th joint
State.
In a preferred embodiment of the present invention, chain saw starts direct current electric saw using high-power soft, has that speed is fast, moment of torsion
Greatly, the characteristics of small is shaken, can be inverted and free in stall, substantially increase the stability of mechanical arm operation with rotating.
In a preferred embodiment of the present invention, the material of arm body is aircraft aluminum, and intensity is big, can bear larger pressure
Power.
In a preferred embodiment of the present invention, the voltage class of electric power system includes 24V, 48V, 220V, 220V voltages
With 24V, 48V not altogether, 48V voltages are driver power supply, and 220V voltages are chain saw power supply.24V voltages are the mechanical arm
Other part power supplies.
The beneficial effects of the invention are as follows：The present invention replaces artificial embodiment with mechanical arm for obstacle removing, solves 10kV distributions
Circuit trees remove obstacles work need to have a power failure by manually implement and part part of path manually implement be difficult to the problem of, can be artificial
Trees are carried out in the case of being difficult to carry out and being powered to remove obstacles, so as to greatly improve distribution reliability of operation, completeness and economy,
With very high safety, economic value, while can be to robot livewire work project development, to handle all kinds of operating environments
Complicated livewire work, has good development prospect.
Brief description of the drawings
Fig. 1 is the use state figure of the powered preferred embodiment of mechanical arm for obstacle removing one of 10kV distribution lines of the present invention；
Fig. 2 is the structural representation of the powered mechanical arm for obstacle removing of 10kV distribution lines；
Fig. 3 is Fig. 2 top view；
Fig. 4 is the structured flowchart of the control system；
Fig. 5 is the structural representation in the bionical dislocation joint；
Fig. 6 is the system block diagram of the servo-control system；
The mark of each part is as follows in accompanying drawing：1st, pedestal, 2, arm body, the 21, first joint arm body, the 22, second joint arm body, 23,
Three joint arms body, the 25, the 5th joint arm body, 3, joint, the 31, first joint, 32, second joint, the 33, the 3rd joint, the 34, the 4th closes
Section, the 35, the 5th joint, the 36, the 6th joint, 37, neck joint, 4, chain saw, the 5, first servo electric jar, the 6, second servo-electric
Cylinder, 7, manned working bucket, 8, neck, 90, hydraulic pipeline, 91, lock plate neck, 911, lock plate cursor sensor, 912, change
Fuel tap door, 92, piston, 93, friction plate, 94, lock plate neck cavity, 95, lock plate, 951, left disk, 952, right circle
Disk, 96, reductor, 97, servomotor, the 981, first lock plate mounting flange, the 982, second lock plate mounting flange, 99, subtract
Fast machine output flange.
Embodiment
Presently preferred embodiments of the present invention is described in detail below in conjunction with the accompanying drawings, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, apparent is clearly defined so as to be made to protection scope of the present invention.
Fig. 1 to Fig. 3 is referred to, the embodiment of the present invention includes：
A kind of powered mechanical arm for obstacle removing of 10kV distribution lines, including basic machine, control system, for basic machine, control
The electric power system of system power supply.
Basic machine is six axle six degree of freedom articulated manipulators, including pedestal 1, five joint arm bodies 2, chain saw 4, neck 8, six
Individual joint and neck joint 37, the first servo electric jar 5, the second servo electric jar 6.Pedestal 1 is to be fixedly mounted on electrification in high voltage
Rotation platform in the manned working bucket 7 of Operation Van, rotatable one week of top.Arm body 2 is hollow cavity, by direct current generator servo
Driving, it is preferable that the arm body 2 is processed into hollow cavity using aircraft aluminum, even if length up to 3.8 meters, but this whole body weight
Amount is also only 95kg, the far smaller than vehicle-mounted people's working bucket 7 of high-voltage hot-line work rated load.Chain saw 4 is that mechanical arm tail end is held
Row device, direct current electric saw is started using high-power soft, there is the characteristics of speed is fast, moment of torsion is big, vibrations are small, can be with rotating, stifled
It can invert and free when turning, be greatly improved the stability of mechanical arm operation.Neck 8 is in dustpan shape, is fixed on the 6th joint 36
Output end, it is the folding and unfolding sheath of chain saw 4.
Connected between pedestal 1 and five joint arm bodies 2 by six joints 3, each joint 3 is uniaxial joint, and respectively first closes
Save 31 to the 6th joints 36, the realization of manipulator motion is linked completion by six joints 3, the first joint 31, the 3rd joint 33, the
Four joints 34, the 5th joint 35, the 6th joint 36 are RV-E reductors, and such reductor has that gear range is big, reverses
The advantages that rigidity is big, transmission efficiency small volume.Pedestal 1 is the first joint 31, can turn round 360 ° in horizontal plane, second joint 32
The angular range for doing elevating movement is 0-85 °, and the angular range that elevating movement is done in the 3rd joint 33 is 0-270 °, the 4th joint
34 angular ranges for doing elevating movement are 0-180 °, and it is-90 °-90 ° that the angular range to swing is done in the 5th joint 35, the
The roll angle in six joints 36 is 360 °, and the cutting stroke angles in neck joint 37 are 0-100 °, so that the operation of mechanical arm
Region up to 7.6 meters, while the 5th joint swing with the rolling in the 6th joint cope with various complicated thick forests and
The various forms of trees.The servo electric jar 6 of neck 8 and second collectively forms neck joint 37, and trunk is by during sawed-off
It can drop, manned working bucket 7 also has elastic displacement, therefore the spring function of neck joint small range can make chain saw 4 work
It is smooth, prevent chain saw 4 from stall occurs.
First servo electric jar 5 is arranged between the joint arm body 21 of pedestal 1 and first, and its one end is fixed on the extension of pedestal 1
Crossed universal shaft on, the other end be slidably connected by bulb bearing and the first joint arm body 21, for support the first joint arm body 21；
Second servo electric jar 6 is arranged between neck 8 and chain saw 4, and its one end is fixed by bulb bearing with neck 8, the other end leads to
The afterbody for crossing bulb bearing and chain saw 4 is fixed, and for supporting chain saw 4, two bulb bearings of the second servo electric jar 6 are respectively mounted
In rubber base, interference to prime shock sensor when can so be effectively blocked chain saw vibrations, prevent the 3rd joint 33 with
Dislocation structure malfunction in 4th joint 34.Due to mechanical arm, torque is larger during trees are removed obstacles and produces larger
Reaction force and vibration, the support mechanical arm arm body 2 that the first servo electric jar 5 can consolidate, and mechanical self-latching can be powered off.It is excellent
Choosing, the electric cylinder that the first servo electric jar 5 selection 48V/500W, push-pull effort 10000N, push-and-pull speed are 4mm/s, second
Servo electric jar 6 selects the electric cylinder that 24V/45W, push-pull effort 750N, push-and-pull speed are 3mm/s.
Referring to Fig. 4, control system includes master controller, remote-control receiver, industrial remote controller, servo unit, monitoring list
Member.Servo unit includes six servomotors in six joints 3 of driving（M1—M6）, driving servomotor joint servo motor
Driver, the chain saw motor and neck motor for driving chain saw 4（M7）, driving chain saw motor soft start driver, driving neck
The current limiting driver of motor.Servomotor M1 controls the first joint 31 to do gyration, and servomotor M2, M3, M4 are controlled respectively
Elevating movement is done in second joint 32, the 3rd joint 33, the 4th joint 34, and servomotor M5 controls the 5th joint 35 to do deflection fortune
Dynamic, servomotor M6 controls the 6th joint 36 to do rolling movement, and neck joint 37 is controlled the cutting row of chain saw 4 by neck motor M7
Journey.Master controller, remote-control receiver are installed in pedestal 1, and monitoring unit includes being installed on the second joint arm body 22, three joint arms body
Shock sensor in 23, the Power frequency field strength meter for being installed on the inner side of neck 8, core component of the master controller as control system,
Driver, soft start driver, current limiting driver, shock sensor, Power frequency field strength meter, remote-control receiver with master controller phase
Even.Shock sensor is installed in the middle part of the inside cavities of the second joint arm body 22 and three joint arms body 23, amplifying effect herein compared with
It is good.3rd joint 33 and the 4th joint 34 are bionical dislocation joint, have dislocation function, when falling the hit mechanical arm of larger trunk
When, moment shock sensor feedback information to controller computing identifies, hits kinetic energy and is more than mechanical arm maximum instantaneous load then position
In the dislocation mechanism of the second joint arm body 22 and three joint arms body 23 intervene work, mechanical arm take advantage of a situation freely it is sagging, so as to protect machine
Tool arm and the manned working bucket 7 and insulation arm of Operation Van.Scene remove obstacles operation when, for prevent mechanical arm accidentally injure power line set
Put system alarm and latch functions, when Power frequency field strength meter detect mechanical arm to power line warning apart from when, by feedback of the information
To master controller, make mechanical arm locking, be simultaneously emitted by alarm signal.
Electric power system is the straight-flow system for the batteries composition being installed in manned working bucket 7, there is 24V, 48V, 220V
Three Estate, 48V are driver power supply, and 220V specializes in chain saw work, and, 24V is the other parts of mechanical arm with 24V, 48V not altogether
Power supply.The operation energy consumption of mechanical arm is all provided by battery, whole system is connected with ground without conductor, it is safe for operation can
Lean on.
The 26S Proteasome Structure and Function in the bionical dislocation joint is specifically described with reference to Fig. 5 and Fig. 6, herein using the 3rd joint as
Example illustrates that the 26S Proteasome Structure and Function in the 4th joint is similarly.
The joint includes basic machine, servo-control system.
Basic machine includes U-shaped lock plate neck 91, lock plate 95, the first lock plate mounting flange 981, the second locking
Disk mounting flange 982, servomotor 97, reductor 96, reductor output flange 99.Lock plate neck 91 is provided with hydraulic-driven
Device, fluid pressure drive device are used to assist lock plate 95 to realize stremma, and it includes servo electric jar（Not shown in figure）, liquid
Pressure pipeline 90, hydraulic oil, piston 92.The two-port of lock plate neck 91 is relative, and is sealed by piston 92, and 92, piston, which is provided with, to rub
Pad 93, the cavity 94 of lock plate neck 91 is interior to be filled with hydraulic oil, and valve of changing oil is additionally provided with the top of lock plate neck 91
912, one end of hydraulic pipeline 90 is arranged on the side of cavity 94 of lock plate neck 91, the other end and servo electric jar and connected.Chamber
The side of body 94 is provided with hydraulic pipeline 90, and valve 912 of changing oil is additionally provided with the top of lock plate neck 91.Lock plate 95 is justified by two panels
Disk is coaxially connected to be formed, respectively left disk 951, right disk 952, and is stretched into lock plate neck 91, its top both sides
Face is in contact with friction plate 93, and friction plate 93 adds the frictional force between lock plate 95 and lock plate neck 91 so that joint
It is more firm after reset.The material of lock plate 95 is steel, and two panels disc set installs complete back axis and fixed, can mutually slide but
It can not separate.Lock plate mounting flange is located on the axle of lock plate 95, the second lock plate mounting flange 982 and lock plate neck 91
It is fixed on the shell of the second joint arm body 22, hydraulic pipeline 90, servo electric jar are arranged in the housing of the second joint arm body 22, the
One lock plate mounting flange 981 is fixed on the flange face of reductor output flange 99, and servomotor 97 is installed with reductor 96
In the housing of the first joint arm body 21.
With reference to Fig. 6, servo-control system uses PLC servo closed control systems, is independently of a control of mechanical arm
System, it includes controller（PLC）, servo electric jar, power panel, the sensor being connected with controller, motor servo driver,
The output end of motor servo driver is connected with servo electric jar, output end and controller, the motor servo driver of power panel
It is connected, the power panel is powered by the electric power system of mechanical arm.Controller is located inside the second joint arm body 22.Power panel is control
Device provides 24V voltages, and 48V voltages are provided for motor servo driver.Engine of the servo electric jar as fluid pressure drive device
Structure, have the advantages that to be swift in motion, noise is low, energy-conservation, clean, high rigidity, extra long life, and can in the presence of a harsh environment without reason
Hinder work, degree of protection can reach IP65.Sensor includes shock sensor in the arm body central cavity, positioned at hydraulic pressure
Liquid pressure sensor on pipeline 90, the lock plate cursor sensor 911 for being set in outer edge in lock plate neck 91.It is preferred that
, it is in the central cavity of the second joint arm body 22 that shock sensor, which is located at right arm body, and it is used in monitoring of environmental to mechanical arm arm
The impact external force of body, liquid pressure sensor are used for monitoring the hydraulic oil pressure of servo electric jar；Lock plate cursor sensor 911
The relative position of 95 two disks of lock plate is monitored with receiving light by transmitting, accordingly, in left circle of lock plate 95
Prism cursor is embedded with disk 951（Not shown in figure）, light of the prism cursor for reflecting the transmitting of lock plate cursor sensor 911
Line, so as to realize embolia.Motor servo driver includes joint servo motor driver, electric cylinder servomotor drives
Device, the output end connection servomotor 97 of joint servo motor driver, the output end connection of electric cylinder motor servo driver
Servo electric jar（M8 is denoted as in Fig. 6）.
The bionical dislocation joint of robot realization dislocation and reset comprise the following steps that：
（1）When mechanical arm body or joint are by external impacts, shock sensor samples it and hits kinetic energy values；
（2）Controller according to shock sensor transmission come shock kinetic energy values converse torque value, if exceeding mechanical arm sheet
The moment limiting value of body or set joint, controller control electric cylinder motor servo driver run M8；
（3）Servo-electric cylinder working, hydraulic oil drop of pressure, piston 92 loosen, left disk 951 of lock plate 95 and the right side
Piece disk 952 can slide by axis opposite direction rotating of E, that is, realize stremma function；
（4）After confirming safety, servomotor 97 starts to rotate, and reductor output flange 99 drives left circle of lock plate 95
Disk 951 starts to rotate, and finds sensing station, and the feedback signal of lock plate cursor sensor 911 is electric to PLC, servo when seeking in place
Dynamic cylinder is counter to be pushed away, and piston 92 clamps, and lock plate 95 positions, and joint servo motor driver driving M3 makes the embolia.
The setting of hydraulic oil pressure P value should meet pressure caused by piston 92 so that left disk 951 and right disk
The joint moment of torsion that stiction between 952 is transmitted is approximately equal to the instantaneous peak torque of reductor 96.When there is bigger kinetic energy
Hit or controller has little time computing when the bigger shock wave of acceleration destroys, miss peak value, this moment left disk 951 and right
The meeting slide in opposition of disk 952, i.e. joint passive type dislocate.
The bionical dislocation joint mechanism consolidates, and servo-control system good reliability, control accuracy are high, Operation and Maintenance
Simply；Its bionic joint dislocation function having, it can solve the problem that obstacle removing robot works in the presence of a harsh environment and be easily damaged joint
The problem of, effective safety for protecting obstacle removing robot body construction；The joint positive return function having, can make machine of removing obstacles
People is carried out continuously operation of removing obstacles, and removes obstacles the reliability and security of operation, has very high so as to substantially increase obstacle removing robot
Economic value.
The operation of the powered mechanical arm for obstacle removing of 10kV distribution lines is controlled by remote control equipment, is used by operating personnel distant
Device remote control is controlled, after remote-control receiver receives instruction, master controller controls servo control mechanism according to instruction output control signal
Work.In addition, the mechanical arm is additionally provided with ground surveillance device, the video shadow that mechanical arm returns can be observed by ground surveillance device
Picture, it is easy to the remote control of operating personnel.
In use, comprised the following steps that to what the trees on 10kV distribution lines were removed obstacles：
（1）After Live working Aerial Device drives into operation area of removing obstacles, feed cable is connected, opens power supply of remote controller, machine in order
Tool arm power supply, monitor power supply, system carry out self-test.
（2）After working bucket risen into reasonable spatial domain, the ten thousand of ground operation personnel manipulation industrial remote controller emitter
According to spatial domain and target operating condition directly guiding the 5th joint 35 to handle, what handle provided is the motion of target direction close to target
Instruction, rather than the three-dimensional coordinate parameter of target point.After remote-control receiver receives instruction, master controller exports simultaneously according to instruction
The control signal control servo control mechanism work in each joint, driver control motor M1, M2, M3, M4, operation cause the first joint
31st, second joint 32, the 3rd joint 33, the 4th joint 34 are linked.
（3）Operator according to the situation in the 5th joint 35, with remote control finely tune the 5th joint 35 occur to swing, the
Rolling, which occurs, for six joints 36 makes the rolling of the 5th joint arm body 25, so that the cut surface of chain saw 4 is perpendicular to target trunk, simultaneously
Face monitor receives the target image of camera passback, needs to adjust repeatedly when setting condition complexity, because each joint 3 can also be independent
Corner is manipulated with industrial remote controller, therefore other joints 3 can also be rotated sometimes and get to aiming station.
（4）Remote control sends cutoff signal startup chain saw 4 and worked, and the soft start of chain saw 4 reaches chain saw neck after rated speed
Joint 37 could rotate, and complete cutting action.
（5）Mechanical arm is packed up after operation, and all arm bodies 2 are longitudinal folding into horizontal.
The present invention with mechanical arm for obstacle removing replaces artificial embodiment, and solving the work of removing obstacles of 10kV distribution line trees need to stop
Electricity by manually implementing and the problem of part part of path manually implements to be difficult to, can it is artificial be difficult to carry out and be powered in the case of
Carry out trees to remove obstacles, so as to greatly improve distribution reliability of operation, completeness and economy, have very high safe, economical
Value, while, to handle the complicated livewire work of all kinds of operating environments, can have to robot livewire work project development
Good development prospect.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (6)
1. a kind of powered mechanical arm for obstacle removing of 10kV distribution lines, including basic machine, control system, for basic machine, control system
The electric power system of system power supply, it is characterised in that
Basic machine is six axle six degree of freedom joint tandem type mechanical arms, including pedestal, five joint arm bodies, chain saw, neck, six passes
Section and neck joint, the first servo electric jar, the second servo electric jar；Pedestal is the load for being fixedly mounted on high-voltage hot-line work car
Rotation platform in people's working bucket, arm are connected between pedestal and five joint arm bodies by six joints as hollow cavity, six joints
Respectively the first joint to the 6th joint, wherein pedestal are the first joint, and the 3rd joint and the 4th joint are bionical dislocation joint,
5th joint is wagging gesture, and the 6th joint is roll attitude；Neck is in dustpan shape, is fixed on the output in the 6th joint
End, neck joint is collectively formed with the second servo electric jar, the first servo electric jar is arranged between pedestal and the first joint arm body；
Control system includes master controller, remote-control receiver, industrial remote controller, servo unit, monitoring unit；It is master controller, distant
Control receiver is installed in pedestal, and servo unit includes six servomotors in six joints of driving, drives the pass of servomotor
Save motor servo driver, the chain saw motor for driving chain saw and neck motor, the soft start driver of driving chain saw motor, driving
The current limiting driver of neck motor；Monitoring unit include being installed on the second joint arm body, the shock sensor in the middle part of three joint arms body,
The Power frequency field strength meter being installed on the inside of neck, driver, soft start driver, current limiting driver, shock sensor, frequency field intensity
Instrument, remote-control receiver are connected with master controller；
Electric power system is the straight-flow system for the batteries composition being installed in manned working bucket.
2. the powered mechanical arm for obstacle removing of 10kV distribution lines according to claim 1, it is characterised in that the first servo electric jar
One end be fixed on the crossed universal shaft of pedestal extension, the other end is connected by bulb bearing with the first arm body；Second servo
One end of electric cylinder is fixed by bulb bearing with neck, the other end is fixed by the afterbody of bulb bearing and chain saw.
3. the powered mechanical arm for obstacle removing of 10kV distribution lines according to claim 1, it is characterised in that the first joint is in level
The angle of revolution in face is 360 °, and the angular range that second joint does elevating movement is 0-85 °, and elevating movement is done in the 3rd joint
Angular range is 0-270 °, to do the angular range of elevating movement be 0-180 ° in the 4th joint, and what is swung done in the 5th joint
Angular range is-90 °-90 °, and the roll angle in the 6th joint is 360 °, and the cutting stroke angles in neck joint are 0-100 °.
4. the powered mechanical arm for obstacle removing of 10kV distribution lines according to claim 1, it is characterised in that chain saw is using high-power
Soft start direct current electric saw.
5. the powered mechanical arm for obstacle removing of 10kV distribution lines according to claim 1, it is characterised in that the material of arm body is boat
Empty aluminium.
6. the powered mechanical arm for obstacle removing of 10kV distribution lines according to claim 1, it is characterised in that the voltage of electric power system
Grade includes 24V, 48V, 220V, and not altogether, 48V voltages are driver power supply, and 220V voltages are chain by 220V voltages and 24V, 48V
Saw power supply.
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| CN201611193849.0A CN106711847B (en) | 2016-12-21 | 2016-12-21 | The powered mechanical arm for obstacle removing of 10kV distribution lines |
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| CN106711847B true CN106711847B (en) | 2018-04-10 |
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| CN107803830A (en) * | 2017-11-08 | 2018-03-16 | 山东优宝特智能机器人有限公司 | A kind of seven freedom force feedback fro hydraulic driving machinery arm |
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| CN114583614B (en) * | 2020-07-07 | 2024-03-15 | 广东冠能电力科技发展有限公司 | Tree obstacle cleaning device |
| CN113330939B (en) * | 2020-10-16 | 2022-12-09 | 国网河南省电力公司濮阳供电公司 | High-altitude branch saw |
| GB2608604A (en) * | 2021-07-04 | 2023-01-11 | Emami Esfashani Siamak | Automated chainsaw |
| CN114043524B (en) * | 2021-12-10 | 2023-12-26 | 上海锐数微医疗科技发展有限公司 | Foldable mechanical arm capable of being locked |
| CN114750303B (en) * | 2022-06-15 | 2022-11-04 | 中建安装集团有限公司 | Drilling system and drilling method for urban rail transit engineering construction |
| CN116114491A (en) * | 2023-01-09 | 2023-05-16 | 海南电网有限责任公司电力科学研究院 | All-terrain transmission line tree obstacle cleaning robot |
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| CN2597163Y (en) * | 2002-06-24 | 2004-01-07 | 山东鲁能智能技术有限公司 | High-voltage live-wire working device for manipulator |
| JP4236999B2 (en) * | 2003-06-23 | 2009-03-11 | 株式会社不二越 | Industrial robot |
| GB2493381A (en) * | 2011-08-04 | 2013-02-06 | Aldercote Ltd | Electrically insulated access platform device |
| CN102431040A (en) * | 2011-12-14 | 2012-05-02 | 杭州英若飞科技有限公司 | Dynamic balance manipulator |
| CN102601782B (en) * | 2012-04-01 | 2014-08-27 | 山东电力研究院 | High-voltage live working robot device |
| CN104842336A (en) * | 2015-03-03 | 2015-08-19 | 深圳市广明科技有限公司 | Multi-joint robot for mounting and demounting ground wires |
| CN105965523A (en) * | 2016-07-12 | 2016-09-28 | 迈赫机器人自动化股份有限公司 | Large-range flexible-operated robot |
| CN206250676U (en) * | 2016-12-21 | 2017-06-13 | 国网安徽省电力公司淮南供电公司 | The powered mechanical arm for obstacle removing of 10kV distribution lines |
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