CN107053188A - A kind of hot line robot branch connects gage lap method - Google Patents
A kind of hot line robot branch connects gage lap method Download PDFInfo
- Publication number
- CN107053188A CN107053188A CN201611129645.0A CN201611129645A CN107053188A CN 107053188 A CN107053188 A CN 107053188A CN 201611129645 A CN201611129645 A CN 201611129645A CN 107053188 A CN107053188 A CN 107053188A
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- mechanical arm
- joint
- arm
- wire
- industrial computer
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/06—Manipulators combined with a control cab for the operator
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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
Abstract
The present invention proposes that a kind of hot line robot branch connects gage lap method.The mechanical arm of robot is in response to control data, carry near band gasoline cotton brush, wire brush, conductive paste painting brush and c-type wire clamp to wire to be overlapped, auxiliary mechanical arm clamps wire to be overlapped, first mechanical arm and second mechanical arm are completed to treat the cleaning of overlap joint wire, and then wire overlap and branch are connect lead and hung respectively.In the present invention, the mechanical arm of hot line robot overlaps branch by way of shaking operation or AUTONOMOUS TASK and connects lead, it is to avoid operating personnel's danger that operation is brought near live high voltage circuit, simplifies job step.
Description
Technical field
The invention belongs to technical field of electric power, and in particular to a kind of hot line robot branch connects gage lap method.
Background technology
With the development of power distribution network, many power engineering inspection operations need powered progress, need overlap joint branch to connect unavoidably
Lead.It is the overlap joint that has a power failure that generally overlap joint branch, which connects lead way, if power failure area is larger, can be caused an immeasurable loss, seriously
Influence the economic benefit and social benefit of power supply enterprise.Present numerous researchers also connect lead in positive research band electrical bonding branch
Method and kit for, but operating personnel may will the operation near electrification in high voltage circuit, with certain potential safety hazard.
The content of the invention
Present invention solves the technical problem that being to propose that a kind of hot line robot branch connects gage lap method, this method
Can in the case where not powering off by the mechanical arm of hot line robot using overlap joint instrument branch is connect lead carry out it is powered
Overlap joint, it is to avoid the operating personnel danger that operation is brought near live high voltage circuit, simplifies relative to artificial livewire work
Job step.
In order to solve the above-mentioned technical problem, the present invention provides a kind of hot line robot branch and connects gage lap method, band
Electric Work robot has the mechanical arm being arranged on robot platform, including first mechanical arm, second mechanical arm and auxiliary
Mechanical arm, first mechanical arm, second mechanical arm and auxiliary mechanical arm complete following work in response to control data：
Band gasoline cotton brush is installed in first mechanical arm end, and wire brush, auxiliary mechanical arm end are installed in second mechanical arm end
Portion is installed by clamping device；
Auxiliary mechanical arm clamps wire to be overlapped using clamping device；First mechanical arm drives band gasoline cotton brush waiting to take
Connect and move back and forth at wire, to clean wire；Second mechanical arm drives wire brush to move back and forth at wire to be overlapped, and removing is led
The oxide of line lap-joint；
First mechanical arm and second mechanical arm end change the outfit electric power fat painting brush, and using electric power fat painting brush in overlap joint model
Conductive line surfaces in enclosing smear electric power fat；
First mechanical arm and second mechanical arm end change the outfit clamping device；First mechanical arm clamps c-type using clamping device
Wire clamp, second mechanical arm, which is clamped, treats that overlap joint branch connects lead；First mechanical arm is using clamping device by the upside of the c-type plate of c-type wire clamp
Crotch groove is articulated on overlap joint wire；Second mechanical arm is made to treat that overlap joint branch connects lead and is hooked on the downside of c-type plate with clamping device
In crotch groove；
First mechanical arm clamps the wedge of c-type wire clamp, puts it into c-type plate；First mechanical arm and second mechanical arm
End changes the outfit bolt disassembly instrument, using bolt disassembly instrument fastening bolt, wedge is arranged on c-type wire clamp.
Further, before operation, clamping device is installed in first mechanical arm and second mechanical arm end, is clamped with clamping device
The masking material that insulate carries out insulation masking to the electrical body of mark；After operation is finished, first mechanical arm and second mechanical arm end
Clamping device is installed in portion, and the insulation masking material being covered on electrical body is removed with clamping device.
Further, the control data is the angle desired value that each joint of mechanical arm is moved, and the angle desired value is by powered
Work robot data processing and control system change number according to each joint angles of the in-car main manipulator of insulation bucket arm are arranged at
Obtained according to resolving；Main manipulator includes the first main manipulator, the second main manipulator and auxiliary main manipulator；First main manipulator,
Second main manipulator and auxiliary main manipulator are corresponding with first mechanical arm, second mechanical arm and auxiliary mechanical arm respectively, constitute master
From operative relationship.
Further, control room is provided with the aerial lift device with insulated arm, the data processing and control system include the first work
Control machine, the second industrial computer, display screen and main manipulator, the second industrial computer Built-in Image processor, display screen and main manipulator position
In in control room；The working scene image of the camera acquisition is sent to the second industrial computer, and image processor is to working scene
The 3D dummy activity scenes that image is obtained after being handled, and send display to show.
Further, the control data is the angle desired value that each joint of mechanical arm is moved；Hot line robot data
Processing and control systems use Descartes according to the relative position and job task action sequence of each mechanical arm and manipulating object
Space path planing method cooks up the space path of each mechanical arm, and then calculating each joint of mechanical arm according to space path transports
Dynamic angle desired value.
Further, the hot line robot, including aerial lift device with insulated arm, the robot being mounted on aerial lift device with insulated arm is put down
Platform, the mechanical arm on robot platform；The mechanical arm includes first mechanical arm, second mechanical arm and Aided Machine
Arm, the video camera includes binocular camera, is equipped with the first mechanical arm, second mechanical arm and auxiliary mechanical arm double
Mesh camera, the first mechanical arm, second mechanical arm and auxiliary mechanical arm, which coordinate, completes livewire work, wherein, Aided Machine
Arm is used for clamping operation object, and first mechanical arm and second mechanical arm carry out Job Operations using power tool；At the data
Reason and control system include the first industrial computer, the second industrial computer, the second industrial computer Built-in Image processor and livewire work action
The corresponding action sequence data of every livewire work are previously stored with sequence library, the livewire work action sequence storehouse；It is described
The working scene image of camera acquisition is sent to the second industrial computer, and image processor is obtained after handling working scene image
Mechanical arm and manipulating object between relative position relation, the second industrial computer is according to the relative position relation and specific band
Action sequence corresponding to electric operation plans the space path of mechanical arm, and the space path data of the mechanical arm are sent to
First industrial computer；First industrial computer calculates the control data according to the space path of the mechanical arm.
Further, the mechanical arm or main manipulator are mechanism in six degree of freedom, including pedestal, rotation direction of principal axis and pedestal
The vertical waist joint of plane, the shoulder joint being connected with waist joint, the large arm being connected with shoulder joint, the elbow joint being connected with large arm,
The forearm being connected with elbow joint, the wrist joint being connected with forearm, wrist joint is made up of three rotary joints, and respectively wrist pitching is closed
Section, wrist swinging joint and wrist rotary joint；Each joint is respectively provided with corresponding orthogonal rotary coding in the mechanism in six degree of freedom
Device and servo drive motor, orthogonal rotary encoder are used for the angle-data for gathering each joint, and servo drive motor is used to control
Make the motion in each joint；First industrial computer is according to the desired values of each joint angles of mechanical arm, by controlling servo drive motor control
System presses each joint motions of mechanical arm
Compared with prior art, its remarkable advantage is the present invention：
(1) present invention can be taken by the mechanical arm of hot line robot in the case where not powering off without load
Connect branch and connect lead operation, it is to avoid have a power failure the negative effect brought, and power off time is greatly reduced, and improves power supply reliability, delays
Solve electricity consumption and complain contradiction；
(2) present invention replaces people to carry out overlap joint branch and connects lead operation using hot line robot, compared to remote use
The cleaning method of insulating bar, with more careful function；
(3) using hot line robot, compared to needs, closely insulating glove operation overlap branch and connect drawing the present invention
Burning and Danger Electric shock risk, falling from high altitude problem to human body when line operational method can be from considering that electric arc is produced；
(4) present invention is controlled using hot line robot by operating personnel's rocking bar, will for operating personnel's labor intensity
Ask small, the big security for the situation of human error occur, substantially increasing in operation process of operation intensity is reduced, from certain journey
The generation of accident can be reduced on degree.
Brief description of the drawings
Fig. 1 is a kind of overall structure diagram of embodiment of hot line robot of the present invention.
Fig. 2 is the block diagram of system of aerial lift device with insulated arm in the present invention.
Fig. 3 is the structural representation of robot platform in the present invention.
Fig. 4 is the structural representation of mechanical arm in the present invention.
Fig. 5 is the inventive method flow chart.
Fig. 6 is that hot line robot band electrical bonding branch of the present invention connects lead operating environment schematic diagram.
Fig. 7 is the c-type cable clamp structure schematic diagram that hot line robot of the present invention is used.
Embodiment
It is readily appreciated that, according to technical scheme, in the case where not changing the connotation of the present invention, this area
Those skilled in the art can imagine the numerous embodiments that hot line robot branch of the present invention connects gage lap method.Cause
This, detailed description below and accompanying drawing are only the exemplary illustrations to technical scheme, and are not to be construed as this hair
Bright whole is considered as limitation or restriction to technical solution of the present invention.
With reference to accompanying drawing, hot line robot includes aerial lift device with insulated arm 1, control room 2, telescopic arm 3, robot platform 4.Its
In, set up control room 2 and telescopic arm 3 on aerial lift device with insulated arm 1, the end of telescopic arm 3 connection robot platform 4, robot platform 4 with
Using fiber optic Ethernet communication or wireless communication between control room 2.
Aerial lift device with insulated arm 1 is available for operating personnel to drive, so that robot platform 4 is transported into operation field.Insulation bucket arm
Supporting leg is housed, supporting leg can deploy on car 1, so that aerial lift device with insulated arm 1 and ground are consolidated into support.On aerial lift device with insulated arm 1
Equipped with generator, so as to be powered to control room 2 and telescopic arm 3.
Telescopic arm 3 is provided with the drive device along telescopic direction, and operating personnel can be by controlling drive device, so that by machine
Device people platform 4 is elevated to operation height.The telescopic arm 3 is made up of insulating materials, for realizing robot platform 4 and control room 2
Insulation.In the present invention, telescopic arm 3 can have by scissor-type lifting mechanism or the replacement of other mechanisms.
As a kind of embodiment, the second industrial computer, display screen, the first main manipulator, the second master are provided with control room 2
Manipulator, auxiliary main manipulator and communication module etc..
As a kind of embodiment, robot platform 4 includes insulator 46, first mechanical arm 43, second mechanical arm 44, auxiliary
Help mechanical arm 42, it is the first industrial computer 48, binocular camera 45, full-view camera 41, depth camera 410, battery 49, special
Tool box 47, communication module.
The insulator 46 of robot platform 4 is used to support first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42,
The shell of these three mechanical arms is insulated with robot platform 4.
Battery 49 is the first industrial computer 48, first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42, panorama are taken the photograph
As first 41, binocular camera 45, depth camera 410, communication module are powered.
As a kind of embodiment, binocular camera 45 1 has three, is separately mounted to first mechanical arm 43, the second machine
On the wrist joint 437 of tool arm 44 and auxiliary mechanical arm 42, it is responsible for the view data of Collecting operation scene, and view data is sent
To the second industrial computer.Binocular camera 45 is made up of two parallel industrial cameras of optical axis, and the distance between parallel optical axis is fixed.
Depth camera 410 is arranged on side of the robot platform 4 just to working scene, is responsible for the scape of Collecting operation scene
Deep data, the second industrial computer is sent to by depth of field data.
Full-view camera 41 is arranged on the top of robot platform 4 by support, is responsible for the panorama sketch of Collecting operation scene
As data, view data is sent to the second industrial computer, and show that operating personnel can be supervised by panoramic picture over the display
Control working scene.
Tool box special 47 is the place for placing the power tools such as gripping apparatus, spanner.Mechanical arm tail end is provided with instrument quick change
Device.Mechanical arm obtains power tool into tool box special 47 according to the type of job task using instrument fast replacing device.
First main manipulator, the second main manipulator and auxiliary main manipulator are a kind of are used for manually remotely in control room 2
The operation device of operating robotic arm, they constitute principal and subordinate behaviour with first mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42
Make relation.Mechanical arm and main manipulator have identical structure, and simply main manipulator dimensions is smaller than mechanical arm, in order to grasp
Make human users.Mechanical arm and main manipulator possess six joints, and there are photoelectric encoder acquisition angles data in each joint, respectively
The angle-data in six joints is sent to the second industrial computer by the microcontroller of main manipulator by serial ports.
As one embodiment of the invention, the mechanical arm is mechanism in six degree of freedom, including pedestal 431 rotates direction of principal axis
The waist joint 432 vertical with base plane, the shoulder joint 433 being connected with waist joint 432, the large arm being connected with shoulder joint 433
434, the elbow joint 435 being connected with large arm 434, the forearm 436 being connected with elbow joint 435, the wrist joint being connected with forearm 436
437, wrist joint 437 is made up of three rotary joints, respectively wrist pitching joint, wrist swinging joint and wrist rotary joint；It is described
The joint of each in mechanism in six degree of freedom is respectively provided with corresponding orthogonal rotary encoder 31 and servo drive motor, orthogonal rotary coding
Device 31 is used for the angle-data for gathering each joint, and servo drive motor is used for the motion for controlling each joint；First industrial computer root
The movement angle in each joint is calculated according to the space path of the mechanical arm, control servo drive motor is according to the movement angle
Each joint motions of control machinery arm.
As a kind of embodiment, the data transfer between robot platform 4 and control room 2 by optical fiber wire transmission,
Or use wireless network transmissions.Communication module on robot platform 4 is fiber optical transceiver, and fiber optical transceiver is used to realize light
The mutual conversion of the electric signal in optical signal and twisted-pair feeder in fibre, so as to realize robot platform 4 and control room 2 in communication
Electrical isolation.Communication module in control room 2 is fiber optical transceiver, the optical signal that fiber optical transceiver is used to realize in optical fiber with
The mutual conversion of electric signal in twisted-pair feeder, so as to realize the electrical isolation of robot platform 4 and control room 2 in communication.
As a kind of embodiment, the second industrial computer can complete following task：
Set up action sequence storehouse.It is in advance acting sequences by every livewire work Task-decomposing, composition action sequence storehouse is deposited
Storage is in the second industrial computer, for robotic arm path planning.
Set up manipulating object model library.The threedimensional model of manipulating object involved by pre-production items livewire work task
And Model of Target Recognition, for example, according to devices such as power tower bar, electric wire, metal oxide arrester, isolation switch, arresters
Material object, makes threedimensional model and Model of Target Recognition, for hot line robot automatic identification manipulating object, builds operation
Scape three-dimensional virtual scene.
Set up mechanical arm and specific purpose tool model library.The threedimensional model and target of pre-production mechanical arm and specific purpose tool are known
Other model, for example, spanner etc., working scene three-dimensional virtual scene is built for hot line robot automatically, plans mechanical arm
Space path.
Obtain view data.Obtain the data message of panoramic picture, depth image and binocular image.
Operative goals is recognized and tracked according to view data.
Angle, angular speed and the angular acceleration data of main manipulator are obtained, angle, angular speed and the angle for obtaining mechanical arm add
Speed data.
Dependent image data is handled and calculated, mechanical arm position is obtained, the position of manipulating object is obtained, machine is obtained
Relative position between tool arm and manipulating object, and according to relative position and the space path of job task planning mechanical arm.
Manipulating object three-dimensional scenic is built according to view data, according to arm angle information and manipulating object three-dimensional scenic
The relative position of mechanical arm and manipulating object is obtained, and according to relative position and the space path of job task planning mechanical arm.
Dependent image data is handled and calculated, 3D dummy activity scenes is built, send display to show, operating personnel
According to 3D dummy activity scene monitoring operation process.Compared with panoramic picture, 3D dummy activities scene is integrated and depth image letter
Breath and binocular image information, to the phase between robotic arm and manipulating object, between mechanical arm, between manipulating object and operating environment
Judgement to position is more accurate, and is not in visual dead angle.Therefore, operating personnel carry out operation by 3D dummy activities scene
Monitoring, performance accuracy is higher, can prevent collision, improve security.Meanwhile, 3D dummy activity scenes are shown in control
On display in room 2, away from mechanical arm operation field, the personal safety of people operating personnel is improved.
As a kind of embodiment, the first industrial computer can complete following task：
The angle information in each joint of main manipulator sent according to the second industrial computer, the motion in each joint of control machinery arm.
The space path data of the mechanical arm of the second industrial computer transmission are obtained, according to the action sequence of job task, are resolved
Go out the angle-data amount of exercise in each joint of mechanical arm, and each joint motions of control machinery arm.
In the present invention, first mechanical arm and second mechanical arm cooperate, can be with the sequence of operation of apish two hands
Complete livewire work.In view of flexibility, a strong auxiliary mechanical arm can be further added by, now, auxiliary mechanical arm is specially taken charge of
The actions of power greatly such as device clamping, first mechanical arm and second mechanical arm then carry out related service operation.
The combination of the different task completed according to the second industrial computer and the first industrial computer, hot line robot of the present invention was both
Long-range shake can be carried out by operating personnel to operate to complete livewire work, and autonomous livewire work can be carried out again.It is powered in progress
Before operation, operating personnel first passes through observation panoramic picture, and robot platform 4 is moved near manipulating object.
It is virtual according to number of images and depth image structure 3D by the second industrial computer if selection manually remotely shakes operation
Working scene simultaneously send display to show, operating personnel is manual by main operation by 3D dummy activity scene monitoring operating process
The action of mechanical arm processed, to complete livewire work.In the process, operating personnel changes after main manipulator posture, main manipulator
In the photoelectric encoder in each joint gather each joint angles, the microcontroller of each main manipulator is by serial ports by the angle in each joint
Degrees of data is sent to the second industrial computer.Second industrial computer regard the angle-data in each joint of main manipulator as each joint angle of mechanical arm
The desired value of degree is sent to the first industrial computer, and the first industrial computer is respectively closed according to angle desired value by servomotor controller tool arm
The motion of section, has completed livewire work.
If selecting AUTONOMOUS TASK, calculated by the second industrial computer according to number of images and depth image and obtain manipulating object
Relative position relation between mechanical arm, then carries out mechanical arm space path according to the action sequence corresponding to job task
Planning, and space path is sent to the first industrial computer, the first industrial computer calculates the angle that each joint of mechanical arm needs to rotate
Data, by the motion in each joint of servomotor controller tool arm, have completed band as the desired value of each joint angles of mechanical arm
Electric operation.
Overlapping a process for connecing lead using above-mentioned hot line robot is：
First, the preparatory stage
Staff carries out the operation preparation that hot line robot overlap joint branch connects lead, checks meteorological condition, verification bar
Tower number, safety barrier, working signal and related warning mark are set in working site.
Aerial lift device with insulated arm 1 is driven into the neighbouring position of shaft tower 100 and arranges scene by aerial lift device with insulated arm driver.Job position has
Body is to treat the neighbouring position of operation shaft tower 100 and avoid nearby power line and barrier, it is to avoid is parked on raceway groove cover plate, insulate
The supporting leg of bucket arm vehicle 1 order is first to stretch out horizontal support legs, then stretches out vertical leg, and it is in all around level to support to place rear vehicle.
Operating personnel are according to the real scene image shown on display, operation operation rocking bar control telescopic arm 3, by robot in control room 2
Platform 4 is moved near job position.The reality that operating personnel return according to binocular camera on mechanical arm 45 in control room 2
Electrical body in job area in insulating safety distances is marked scape image.
2nd, sessions
First mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42 complete following work in response to control data：
Clamping device is installed in first mechanical arm 43 and the end of second mechanical arm 44, with clamping device clamping insulation masking material
To the electrical body of mark, such as wire, insulator chain, cross-arm 103 carries out insulation masking.Insulation masking material such as insulating sheath,
Epoxy glass fabric etc.；
First mechanical arm 43 changes the outfit band gasoline cotton brush 1091, and second mechanical arm 44 changes the outfit wire brush 1092, Aided Machine
Arm 42 installs clamping device；
Auxiliary mechanical arm 42 clamps wire 111 to be overlapped using clamping device；First mechanical arm 43 drives band gasoline cotton
Brush 1091 moves back and forth at wire to be overlapped, to clean wire；Second mechanical arm 44 drives wire brush 1092 treating that overlap joint leads
Move back and forth at line, remove the oxide of wire lap-joint；
First mechanical arm 43 and second mechanical arm 44 are moved to the top of mechanical arm tool box special 47, and the electric power fat painting that changes the outfit
Smear brush；First machinery 43 and second mechanical arm 44 smear electric power using electric power fat painting brush to the conductive line surfaces in the range of overlap joint
Fat；
First mechanical arm 43 and second mechanical arm 44 are moved to the top of mechanical arm tool box special 47, and the clamping work that changes the outfit
Tool；First mechanical arm 43 is using clamping device clamping c-type wire clamp 1111, and second mechanical arm 44, which is clamped, treats that overlap joint branch connects lead
1110, auxiliary mechanical arm still clamps wire 111 to be overlapped；
The upside crotch groove of c-type plate 1112 of c-type wire clamp 1111 is articulated in wire by first mechanical arm 43 using clamping device
On；The clamping device of second mechanical arm 44 makes to treat that overlap joint branch connects lead 1110 and is hooked in the crotch groove of the downside of c-type plate 1112；
First mechanical arm 43 clamps the wedge 1113 of c-type wire clamp, puts it into c-type plate 1112；The He of first mechanical arm 43
The top of 44 mobile mechanical arm tool box special of second mechanical arm 47, and the bolt disassembly instrument that changes the outfit, first mechanical arm 43 and second
Mechanical arm 44 is moved near c-type wire clamp 1111, using bolt disassembly instrument fastening bolt 114, wedge 1113 is arranged on c-type
On wire clamp 1111.So as to complete the overlap joint that branch connects lead.
In said process, the operation of operating personnel can be according to 3 binocular camera shootings for being fixed on mechanical arm tail end in control room 2
First 45 and full-view camera 41 return the real scene image being shown in control room 2 on display screen process is monitored.
Branch is connect after gage lap finishes, and first mechanical arm 43 is moved to mechanical arm tool box special 47 with second mechanical arm 44
Top, and clamping device is installed.First mechanical arm 43 and the clamping insulation masking material of second mechanical arm 44, enter to mark electrical body
Row insulation masking is removed.
The present invention carries out overlap joint branch using hot line robot and connects lead, largely avoids line outage and brings
Negative effect, be greatly reduced power off time, improve power supply reliability, alleviate electricity consumption and complain contradiction.
The present invention replaces people to carry out lap works using hot line robot, compared to remote taking using insulating bar
Method is connect with more careful function；Can be from examining compared to needing closely insulating glove operation overlap joint branch to connect lead method
Consider burning and Danger Electric shock risk, falling from high altitude problem to human body when electric arc is produced, the big appearance of operation intensity is not had more artificial
The situation of error, substantially increases the security in operation process, and the generation of accident can be reduced to a certain extent.
Claims (7)
1. a kind of hot line robot branch connects gage lap method, it is characterised in that hot line robot, which has, to be arranged on
Mechanical arm on robot platform, including first mechanical arm, second mechanical arm and auxiliary mechanical arm, first mechanical arm, second
Mechanical arm and auxiliary mechanical arm complete following work in response to control data：
Band gasoline cotton brush is installed in first mechanical arm end, and wire brush, auxiliary mechanical arm end peace are installed in second mechanical arm end
Clamping instrument；
Auxiliary mechanical arm clamps wire to be overlapped using clamping device；First mechanical arm drives band gasoline cotton brush treating that overlap joint leads
Move back and forth at line, to clean wire；Second mechanical arm drives wire brush to move back and forth at wire to be overlapped, and removes wire and takes
Connect the oxide at place；
First mechanical arm and second mechanical arm end change the outfit electric power fat painting brush, and using electric power fat painting brush in the range of overlap joint
Conductive line surfaces smear electric power fat；
First mechanical arm and second mechanical arm end change the outfit clamping device；First mechanical arm clamps c-type wire clamp using clamping device,
Second mechanical arm, which is clamped, treats that overlap joint branch connects lead；First mechanical arm uses clamping device by crotch groove on the upside of the c-type plate of c-type wire clamp
It is articulated on overlap joint wire；Second mechanical arm is made to treat that overlap joint branch connects the crotch groove that lead is hooked on the downside of c-type plate with clamping device
It is interior；
First mechanical arm clamps the wedge of c-type wire clamp, puts it into c-type plate；The end of first mechanical arm and second mechanical arm
Change the outfit bolt disassembly instrument, using bolt disassembly instrument fastening bolt, wedge is arranged on c-type wire clamp.
2. branch connects gage lap method as claimed in claim 1, it is characterised in that before operation, first mechanical arm and the second machine
Clamping device is installed in tool arm end, and insulation masking is carried out to the electrical body of mark with clamping device clamping insulation masking material；
After operation is finished, clamping device is installed in first mechanical arm and second mechanical arm end, is removed with clamping device and is covered in electrical body
On insulation masking material.
3. branch connects gage lap method as claimed in claim 1, it is characterised in that the control data is transported for each joint of mechanical arm
Dynamic angle desired value, the angle desired value is struggled against by hot line robot data processing and control system according to insulation is arranged at
Each joint angles delta data of the in-car main manipulator of arm, which is resolved, to be obtained；Main manipulator includes the first main manipulator, the second main behaviour
Make hand and auxiliary main manipulator；First main manipulator, the second main manipulator and auxiliary main manipulator respectively with first mechanical arm, the
Two mechanical arms are corresponding with auxiliary mechanical arm, constitute master-slave operation relation.
4. branch connects gage lap method as claimed in claim 3, it is characterised in that control is provided with the aerial lift device with insulated arm
Room, the data processing and control system include the first industrial computer, the second industrial computer, display screen and main manipulator, the second industry control
Machine Built-in Image processor, display screen and main manipulator are located in control room；The working scene image hair of the camera acquisition
The second industrial computer, the 3D dummy activity scenes that image processor is obtained after handling working scene image are given, and send display
Device is shown.
5. branch connects gage lap method as claimed in claim 1, it is characterised in that the control data is transported for each joint of mechanical arm
Dynamic angle desired value；Hot line robot data processing and control system are according to the relative position of each mechanical arm and manipulating object
Put and job task action sequence, the space path of each mechanical arm is cooked up using cartesian space paths planning method, so
The angle desired value that each joint of mechanical arm is moved is calculated according to space path afterwards.
6. branch connects gage lap method as claimed in claim 5, it is characterised in that the hot line robot, including insulation
Bucket arm vehicle, is mounted in the robot platform on aerial lift device with insulated arm, the mechanical arm on robot platform；
The mechanical arm includes first mechanical arm, second mechanical arm and auxiliary mechanical arm, and the video camera includes binocular camera,
Binocular camera, the first mechanical arm, second are equipped with the first mechanical arm, second mechanical arm and auxiliary mechanical arm
Mechanical arm and auxiliary mechanical arm, which coordinate, completes livewire work, wherein, auxiliary mechanical arm is used for clamping operation object, first mechanical arm
With second mechanical arm Job Operations are carried out using power tool；
The data processing and control system include the first industrial computer, the second industrial computer, the second industrial computer Built-in Image processor
With livewire work action sequence storehouse,
The corresponding action sequence data of every livewire work are previously stored with the livewire work action sequence storehouse；
The working scene image of the camera acquisition is sent to the second industrial computer, and image processor is carried out to working scene image
Relative position relation between the mechanical arm and manipulating object that are obtained after processing, the second industrial computer according to the relative position relation with
And the action sequence corresponding to specific livewire work plans the space path of mechanical arm, and by the space path number of the mechanical arm
According to being sent to the first industrial computer；
First industrial computer calculates the control data according to the space path of the mechanical arm.
7. branch connects gage lap method as described in claim 1 to 6, it is characterised in that the mechanical arm or main manipulator are
Mechanism in six degree of freedom, including pedestal, the rotation direction of principal axis waist joint vertical with base plane, the shoulder joint being connected with waist joint,
The large arm being connected with shoulder joint, the elbow joint being connected with large arm, the forearm being connected with elbow joint, the wrist joint being connected with forearm,
Wrist joint is made up of three rotary joints, respectively wrist pitching joint, wrist swinging joint and wrist rotary joint；The six degree of freedom
The joint of each in mechanism is respectively provided with corresponding orthogonal rotary encoder and servo drive motor, and orthogonal rotary encoder is used to gather
The angle-data in each joint, servo drive motor is used for the motion for controlling each joint；First industrial computer is respectively closed according to mechanical arm
The desired value of angle is saved, by controlling servo drive motor control by each joint motions of mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611129645.0A CN107053188A (en) | 2016-12-09 | 2016-12-09 | A kind of hot line robot branch connects gage lap method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611129645.0A CN107053188A (en) | 2016-12-09 | 2016-12-09 | A kind of hot line robot branch connects gage lap method |
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|---|---|---|---|---|
| CN108297068A (en) * | 2018-04-11 | 2018-07-20 | 南京理工大学 | A kind of hot line robot specific purpose tool replacing options based on force feedback master ＆ slave control |
| CN108565793A (en) * | 2018-04-11 | 2018-09-21 | 南京理工大学 | A kind of hot line robot conducting wire mending method based on force feedback master ＆ slave control |
| CN108582031A (en) * | 2018-04-11 | 2018-09-28 | 南京理工大学 | A kind of hot line robot branch based on force feedback master ＆ slave control connects gage lap method |
| CN108616077A (en) * | 2018-03-20 | 2018-10-02 | 南京理工大学 | A kind of disconnected lead method of hot line robot |
| CN108683050A (en) * | 2018-03-20 | 2018-10-19 | 南京理工大学 | A kind of hot line robot connects lead method |
| CN108839037A (en) * | 2018-07-11 | 2018-11-20 | 天津滨电电力工程有限公司 | A kind of distribution network live line connects drainage thread robot system |
| CN109332061A (en) * | 2018-12-05 | 2019-02-15 | 上海申贝科技发展有限公司 | A kind of more march-past cable paint robots |
| CN109366453A (en) * | 2018-10-24 | 2019-02-22 | 国网江苏省电力有限公司徐州供电分公司 | A kind of livewire work tow-armed robot and its control method for distribution line |
| CN110601079A (en) * | 2019-10-15 | 2019-12-20 | 国网湖南省电力有限公司 | Operation robot system and operation method for electrified disconnection and connection of drainage line of distribution network |
| CN110861073A (en) * | 2019-11-18 | 2020-03-06 | 云南电网有限责任公司电力科学研究院 | Visual detection system and method of robot based on overhead high-voltage transmission line |
| CN112366615A (en) * | 2020-09-22 | 2021-02-12 | 亿嘉和科技股份有限公司 | Non-bucket-moving line lapping method for scene with vertical distance of 1m |
| CN112490928A (en) * | 2020-11-12 | 2021-03-12 | 叶飞 | High-altitude power distribution overhead line live working method and platform based on unmanned aerial vehicle technology |
| WO2021174798A1 (en) * | 2020-03-06 | 2021-09-10 | 亿嘉和科技股份有限公司 | Working position determination method for live-current robot scenario |
| CN115189298A (en) * | 2022-09-09 | 2022-10-14 | 国网浙江慈溪市供电有限公司 | Bypass live-wire work vehicle-mounted robot, method and vehicle |
| WO2022252430A1 (en) * | 2021-06-04 | 2022-12-08 | 山东建筑大学 | Mechanical-arm trajectory planning control system for grounding-line hanging and disassembling aerial operation vehicle |
| US11742108B1 (en) * | 2022-07-28 | 2023-08-29 | Altec Industries, Inc. | Operation and insulation techniques |
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|---|---|---|---|---|
| CN108616077A (en) * | 2018-03-20 | 2018-10-02 | 南京理工大学 | A kind of disconnected lead method of hot line robot |
| CN108683050A (en) * | 2018-03-20 | 2018-10-19 | 南京理工大学 | A kind of hot line robot connects lead method |
| CN108683050B (en) * | 2018-03-20 | 2019-10-11 | 南京理工大学 | A kind of hot line robot connects lead method |
| CN108565793A (en) * | 2018-04-11 | 2018-09-21 | 南京理工大学 | A kind of hot line robot conducting wire mending method based on force feedback master ＆ slave control |
| CN108582031A (en) * | 2018-04-11 | 2018-09-28 | 南京理工大学 | A kind of hot line robot branch based on force feedback master ＆ slave control connects gage lap method |
| CN108297068A (en) * | 2018-04-11 | 2018-07-20 | 南京理工大学 | A kind of hot line robot specific purpose tool replacing options based on force feedback master ＆ slave control |
| CN108839037B (en) * | 2018-07-11 | 2022-04-12 | 天津滨电电力工程有限公司 | Distribution network electrified drainage line connecting robot system |
| CN108839037A (en) * | 2018-07-11 | 2018-11-20 | 天津滨电电力工程有限公司 | A kind of distribution network live line connects drainage thread robot system |
| CN109366453A (en) * | 2018-10-24 | 2019-02-22 | 国网江苏省电力有限公司徐州供电分公司 | A kind of livewire work tow-armed robot and its control method for distribution line |
| CN109332061A (en) * | 2018-12-05 | 2019-02-15 | 上海申贝科技发展有限公司 | A kind of more march-past cable paint robots |
| CN110601079A (en) * | 2019-10-15 | 2019-12-20 | 国网湖南省电力有限公司 | Operation robot system and operation method for electrified disconnection and connection of drainage line of distribution network |
| CN110861073A (en) * | 2019-11-18 | 2020-03-06 | 云南电网有限责任公司电力科学研究院 | Visual detection system and method of robot based on overhead high-voltage transmission line |
| WO2021174798A1 (en) * | 2020-03-06 | 2021-09-10 | 亿嘉和科技股份有限公司 | Working position determination method for live-current robot scenario |
| CN112366615A (en) * | 2020-09-22 | 2021-02-12 | 亿嘉和科技股份有限公司 | Non-bucket-moving line lapping method for scene with vertical distance of 1m |
| CN112366615B (en) * | 2020-09-22 | 2022-04-22 | 亿嘉和科技股份有限公司 | Non-bucket-moving line lapping method for scene with vertical distance of 1m |
| CN112490928A (en) * | 2020-11-12 | 2021-03-12 | 叶飞 | High-altitude power distribution overhead line live working method and platform based on unmanned aerial vehicle technology |
| WO2022252430A1 (en) * | 2021-06-04 | 2022-12-08 | 山东建筑大学 | Mechanical-arm trajectory planning control system for grounding-line hanging and disassembling aerial operation vehicle |
| US11742108B1 (en) * | 2022-07-28 | 2023-08-29 | Altec Industries, Inc. | Operation and insulation techniques |
| CN115189298A (en) * | 2022-09-09 | 2022-10-14 | 国网浙江慈溪市供电有限公司 | Bypass live-wire work vehicle-mounted robot, method and vehicle |
| CN115189298B (en) * | 2022-09-09 | 2022-12-20 | 国网浙江慈溪市供电有限公司 | Vehicle-mounted robot, method and vehicle for bypass live working |
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Application publication date: 20170818 |