CN107650124A - A kind of robot for high-voltage hot-line work aerial work platform and its method for unloading gold utensil screw - Google Patents
A kind of robot for high-voltage hot-line work aerial work platform and its method for unloading gold utensil screw Download PDFInfo
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- CN107650124A CN107650124A CN201710932637.8A CN201710932637A CN107650124A CN 107650124 A CN107650124 A CN 107650124A CN 201710932637 A CN201710932637 A CN 201710932637A CN 107650124 A CN107650124 A CN 107650124A
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- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 title claims abstract description 22
- 239000010931 gold Substances 0.000 title claims abstract description 22
- 229910052737 gold Inorganic materials 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000009413 insulation Methods 0.000 claims abstract description 37
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 29
- 238000012544 monitoring process Methods 0.000 claims abstract description 24
- 230000006870 function Effects 0.000 claims description 27
- 238000004891 communication Methods 0.000 claims description 25
- 230000033001 locomotion Effects 0.000 claims description 24
- 239000011159 matrix material Substances 0.000 claims description 24
- 238000013519 translation Methods 0.000 claims description 9
- 230000003993 interaction Effects 0.000 claims description 8
- 238000012546 transfer Methods 0.000 claims description 8
- 230000009466 transformation Effects 0.000 claims description 6
- 230000007704 transition Effects 0.000 claims description 6
- PXFBZOLANLWPMH-UHFFFAOYSA-N 16-Epiaffinine Natural products C1C(C2=CC=CC=C2N2)=C2C(=O)CC2C(=CC)CN(C)C1C2CO PXFBZOLANLWPMH-UHFFFAOYSA-N 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 230000005684 electric field Effects 0.000 claims description 2
- 230000002452 interceptive effect Effects 0.000 claims description 2
- FGUUSXIOTUKUDN-IBGZPJMESA-N C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 Chemical compound C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 FGUUSXIOTUKUDN-IBGZPJMESA-N 0.000 claims 1
- 239000012636 effector Substances 0.000 claims 1
- 238000013507 mapping Methods 0.000 claims 1
- 238000012423 maintenance Methods 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 2
- 230000003028 elevating effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000008439 repair process Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 239000011152 fibreglass Substances 0.000 description 2
- 210000000245 forearm Anatomy 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000000873 masking effect Effects 0.000 description 2
- 238000012946 outsourcing Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40005—Vision, analyse image at one station during manipulation at next station
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The present invention struggles against for a kind of robot for high-voltage hot-line work aerial work platform and its method for unloading gold utensil screw, including insulation；One end of the insulation bucket is fixedly installed from mechanical arm pedestal, switch board, monitoring camera head bracket side by side；The other end of the insulation bucket is fixedly installed No.1 monitoring camera, power-supply system, main mechanical arm pedestal side by side；Equipotential light weight beam is fixedly installed on the insulation bucket between mechanical arm pedestal, main mechanical arm pedestal, spatial digitizer is fixedly installed on the insulation bucket between switch board, power-supply system, it is described from mechanical arm pedestal be provided with it is multivariant from mechanical arm, it is equipped with from the end of mechanical arm from mechanical arm front end actuator, multivariant main mechanical arm is housed, the end of main mechanical arm tightens rifle equipped with positioning shooting head, high pulling torque and lock unloads screw frock on the main mechanical arm pedestal；Automated job, the security and the degree of reliability of maintenance activity are high；Positioning method greatly improves positioning precision using the positioning of two steps.
Description
Technical field
The present invention relates to a kind of aerial work platform, specifically a kind of robot for high-voltage hot-line work work high above the ground is put down
Platform and its method for unloading gold utensil screw.
Background technology
The livewire work of high-tension line is power equipment test, maintenance, the important means of transformation, and it is reliable to improve power supply
Property, reduce loss of outage, ensure that power grid security is made that tremendous contribution.Livewire work is to the technical merit of operating personnel and skilled
The requirements such as degree, weather conditions, safety protective tools are very strict, due to worrying potential safety hazard, lacking suitable personal safety
Safety device and livewire work technical training are inadequate etc., and livewire work of some areas to distribution line is limited, and is caused
Distribution line power failure operation is frequent, and distribution reliability index can not be completed, so as to bring very big economic damage to electric power enterprise
Lose, very big inconvenience is brought to people's lives and production.The widely used aerial lift device with insulated arm intermediate potential of operation field is made at present
Industry method, operating personnel manually complete livewire work task using original tool, there is following defect：
(1) labor intensity is big, and efficiency is low, and automatization level is low.
(2) operating personnel directly contact high-voltage conducting wires, very big potential safety hazard be present.
(3) artificial live-working safety protection, masking require very strict, and short circuit current slightly occurs without paying attention to, makes
Into great security incident, trigger human casualty accident.
How by strong regular maintenance, rushed to repair in time when preventing trouble before it happens, and going wrong, structure power system security is prevented
Imperial framework, the various challenges of reply, turning into solve the problems, such as.The progress operating repairs that have a power failure are most safe and reliable sides
Formula, but it is huge on industrial influence to have a power failure, and seriously reduces production efficiency；In addition, after power failure and maintenance finish
Upper electricity can all impact to the equipment in system, reduce equipment life.The horizontal raising of livewire work, it is to solve this problem
One of important means.Livewire work is that the operation that service without power-off, part replacement or survey are set is carried out on high voltage electric equipment,
Paid attention to always by countries in the world.
Chinese patent 02135135 discloses a kind of robot for high-voltage hot-line work, and it includes moving automobile, lifting
Mechanism, insulating supporting platform, Work machine arm, hydraulic efficiency manipulator, isolating transformer, generator and hydraulic oil pump, switch board, rise
Descending mechanism, generator and hydraulic pump are arranged on automobile chassis, and the end of insulating supporting platform and elevating mechanism is connected.Working rig
Tool arm, isolating transformer and low-voltage power distributing cabinet are arranged on insulating supporting platform.Work machine arm is driven by motor, manipulator by
Hydraulic-driven, computer control Work machine arm and manipulator and its clamped dress to be completed with instrument by low voltage control device
Various high-voltage hot-line works.But its Work machine arm is driven using motor, manipulator uses hydraulic-driven, there is provided power source
Generator and hydraulic pump be but arranged on automobile chassis, can only by drag long long wire and oil pipe and Work machine arm and
Manipulator is connected, and such operation insulating supporting platform is in same current potential with automobile chassis, is easy to cause insulated platform to be grounded,
Therefore very big potential safety hazard be present；In addition, being related to high-voltage hot-line work, the insulation safety of operating personnel is most important, and this is special
Profit does not point out job position of the operating personnel in job platform, does not specify operating personnel and job platform, charging equipment, work yet
Whether it is maintained between industry mechanical arm etc. in safe distance, and these problems directly determine the robot for high-voltage hot-line work
It is whether practical.
Chinese patent：ZL201020278798 discloses a kind of insulation system for high-voltage live-working robots.It includes bucket
Arm car, bucket arm vehicle are provided with bucket arm vehicle insulation arm, and insulated platform is provided with the top of bucket arm vehicle insulation arm, are provided with insulated platform solely
Vertical robotic manipulation device and the main hand system of operation, they are using independently-powered mode is separated, to each other using fiber optic communication.
It can make robot for high-voltage hot-line work relatively be insulated by aerial lift device with insulated arm, and high-voltage line pair is realized by fiber optic communication
The insulation of people, mechanical arm outsourcing fiberglass, insulated platform outsourcing fiberglass, side are added mask and carry out phase insulation system.But
It is that the patent is to consider robot insulation system from the functional perspective for realizing high-voltage hot-line work, it is not specified that operating personnel,
It is by the way that how space layout realizes system insulation between robotic manipulation device and the main hand system of operation.Machine described in it
Tool hand operation device and the main hand system of operation, the interconnected relationship of each part is simply simply set out, it is not specified that each
Position relationship of the part on insulated platform.In addition, in view of high-voltage hot-line work feature, insulated platform should meet to lift
Under the premise of platform maximum load, design size is small as far as possible, occupies little space, and avoids touching wire during operation or other are powered
Equipment, and the patent is the ambiguous base spacing for pointing out insulated mechanical arm I and insulated mechanical arm II is not less than 0.4m, Liang Zheyu
Main hand controls safe distance is not less than 0.4m, and safe distance is how many on earth, could not only meet insulating requirements but also meet high-altitude
Job requirements, the patent provide definite answer, therefore the insulation system for high-voltage live-working robots is in practice simultaneously
It is infeasible, and simply a kind of design or mentality of designing.
Chinese patent CN102615637 B disclose a kind of high-voltage hot-line work master ＆ slave control robot manipulating task platform, bag
Include robot manipulating task platform frame, hydraulic elevating platform control is inherited, robot operating system and insulation struggle against.Robot manipulating task
The L-shaped structure of platform supports frame, it is bolt-connected to bucket arm vehicle insulated lift arm end；For hydraulic elevating platform domination set
Reliable supporting is provided into, robot operating system and insulation bucket；Hydraulic elevating platform control is integrated positioned at insulation bucket right side, operation
Personnel provide ascending, descending and rotary motion, and supply master ＆ slave control machine by control-rod and lever for robot manipulating task platform
Hydraulic oil source needed for people's motion；Robot operating system includes manipulating main hand, hydraulic manipulator and corresponding control module, uses
Master ＆ slave control hydraulic-driven, mechanical arm can follow main hands movement completely；For standing in insulation bucket, manipulating main hand can be with
Remote mechanical arm clamping specific purpose tool contact circuit completes various high-voltage hot-line works.But the patent still needs to operate
Personnel are interior by manipulating main hand robot arm in insulation bucket, once situations such as insulation bucket leaks electricity, the person of operating personnel
Safety will be on the hazard.So this patent does not solve the human safety issues of operating personnel fundamentally.
Patent of the present invention is to overcome the shortcomings of above-mentioned existing patented technology, devises a kind of multi-functional livewire work automation
Examining and repairing mechanical arm aerial work platform system, on the basis of insulation safety protection is met, this plateform system possesses flexible band
Operating feature is repaiied in electric-examination, can implement the typical powered of polymorphic type transformer by high-precision independent under small space, complex working condition
Maintenance and detection project.Instead of being accomplished manually livewire work task, mitigate the labor intensity of operating personnel, largely improve
Operating efficiency and processing safety.
The content of the invention
Big the invention aims to solve current livewire work mode labor intensity, efficiency is low, and automatization level is low,
Operating personnel directly contact high-voltage conducting wires, very big potential safety hazard be present, and artificial live-working safety protection, masking require very
Strictly, short circuit current slightly occurs without paying attention to, causes great security incident, the problem of triggering human casualty accident.
The technical solution adopted by the present invention is：A kind of robot for high-voltage hot-line work aerial work platform, including insulation bucket,
It is characterized in that：One end of the insulation bucket is fixedly installed from mechanical arm pedestal, switch board, monitoring camera head bracket side by side；
The other end of the insulation bucket is fixedly installed No.1 monitoring camera, power-supply system, main mechanical arm pedestal side by side；The slave
Equipotential light weight beam is fixedly installed on insulation bucket between tool arm pedestal, main mechanical arm pedestal, it is described from switch board, power supply system
Be fixedly installed spatial digitizer on insulation bucket between system, it is described be provided with from mechanical arm pedestal it is multivariant from machinery
Arm, it is equipped with from the end of mechanical arm and multivariant main frame is housed from mechanical arm front end actuator, the main mechanical arm pedestal
Tool arm, the end of main mechanical arm tightens rifle equipped with positioning shooting head, high pulling torque and lock unloads screw frock.
Further, described a kind of robot for high-voltage hot-line work aerial work platform, including sensing module, power supply mould
Block, main control module, communication module, mechanical arm module, monitoring module, human-computer interaction module, the sensing module and main control module
It is two-way to be connected, the main control module with mechanical arm module and communication module are two-way is connected, the communication module and monitoring module
It is bi-directionally connected；
The major function of the sensing module is that target job point is scanned and positioned, and corresponding data is sent to
Industrial computer；Main hardware equipment is spatial digitizer and binocular camera, and the two is respectively by USB serial communications and wired
Network and the industrial computer communication in system control box；
The major function of the power module is for each hardware device power supply on platform；Two sets of power supplys, work electricity are used altogether
Source and stand-by power supply；Electric power is provided for each equipment of job platform when working power is normal work, stand-by power supply is operation horizontal
The electric power for providing the short time when platform breaks down takes upper mounting plate appropriate operation for operating personnel；
The main control module major function is that industrial control computer is referred to by EPA to motion controller transmission
Order, control machinery arm make corresponding motion；Main hardware equipment is system control box and motion controller, and the two passes through industry
Ethernet mutually communicates；
The major function of the communication module is that the overall work situation of upper mounting plate is monitored, and data are passed through into nothing
Gauze is sent to ground control cabinet；Main hardware equipment is console and wireless router, passes through wireless telecommunications therebetween；
The major function of the mechanical arm module is to receive control instruction and the execution of motion controller；Main hardware equipment
For main mechanical arm, from mechanical arm and lock/unload screw frock, wherein main mechanical arm, be directly connected with motion controller from mechanical arm,
Screw frock is locked/unloads to communicate by the CAN in CAN and system control box and communication module；
The major function of the monitoring module is the handling situations of real-time monitoring mechanical arm platform；Using IP Camera,
Communicated using wireless network by router and ground control cabinet；
The major function of the human-computer interaction module be to provide an operating personnel to platform computer in emergency circumstances and
Human-computer interaction interface.
Beneficial effects of the present invention and feature are：(1) job platform is delivered to by aiming station by mobile aerial lift device with insulated arm
After, remaining service work is full-automatic operation, protects the personal safety of operating personnel, improves the security of maintenance activity
And the degree of reliability；(2) power-supply system is powered using two sets of power supplys, and the presence of stand-by power supply makes the urgent feelings occurred in operation process
Condition and after losing electric power, it is out of hand to be unlikely to job platform；Can be controlled many emergencies by this way,
The safety of Maintenance and Repair equipment, reduce unnecessary property loss；(3) positioning method is positioned using two steps, i.e. coarse positioning and essence
Positioning, compared to the single-minded positioning method of other patent, greatly improves positioning precision.
Brief description of the drawings
Fig. 1 is the overall structure diagram of present pre-ferred embodiments；
Fig. 2 is the system construction drawing of present pre-ferred embodiments；
Label represents respectively in figure：1- locks unload screw frock, 2- high pulling torques tighten rifle, 3- main mechanical arms forearm, 4- No.1s
Monitoring camera, 5- main mechanical arms large arm, 6- main mechanical arms pedestal, 7- power-supply systems, 8- equipotentials light weight beam, 9- tool boxes,
10- spatial digitizers, 11- insulation bucket, 12- are from mechanical arm pedestal, 13- switch boards, 14- from mechanical arm large arm, 15- monitoring cameras
Head bracket, No. bis- monitoring cameras of 16-, 17- are from mechanical arm forearm, 18- from mechanical arm flange, 19- from mechanical arm front end
Actuator, 20- positioning shootings head, 21- sensing modules, 22- power modules, 23- main control modules, 24- communication modules, 25- machineries
Arm module, 26- monitoring modules, 27- human-computer interaction modules.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings：
As shown in Figures 1 and 2, a kind of robot for high-voltage hot-line work aerial work platform, including insulation bucket 11, wherein：
One end of the insulation bucket 11 is fixedly installed from mechanical arm pedestal 12, switch board 13, monitoring camera head bracket 15 side by side；It is described
The other end of insulation bucket 11 is fixedly installed No.1 monitoring camera 4, power-supply system 7, main mechanical arm pedestal 6 side by side；It is described from
Equipotential light weight beam 8 is fixedly installed on insulation bucket 11 between mechanical arm pedestal 12, main mechanical arm pedestal 6, it is described from control
Spatial digitizer 10 is fixedly installed on insulation bucket 11 between cabinet 13, power-supply system 7, it is described to be provided with from mechanical arm pedestal 12
It is multivariant from mechanical arm, be equipped with from the end of mechanical arm from mechanical arm front end actuator 19, the main mechanical arm pedestal 6
Equipped with multivariant main mechanical arm, the end of main mechanical arm is equipped with positioning shooting is first 20, high pulling torque tightens rifle 2 and lock unloads screw
Frock 1.
The robot for high-voltage hot-line work aerial work platform, its system architecture include sensing module 21, power module 22,
Main control module 23, communication module 24, mechanical arm module 25, monitoring module 26, human-computer interaction module 27, the sensing module 21 with
Main control module 23 is two-way to be connected, the main control module 23 with mechanical arm module 25 and communication module 24 are two-way is connected, it is described to lead to
News module 24 is bi-directionally connected with monitoring module 26；
The major function of the sensing module 21 is that target job point is scanned and positioned, and corresponding data is transmitted
To industrial computer；Main hardware equipment is spatial digitizer and binocular camera, and the two by USB serial communications and has respectively
Gauze network and the industrial computer communication in system control box；
The major function of the power module 22 is for each hardware device power supply on platform；Two sets of power supplys are used altogether, are worked
Power supply and stand-by power supply；Electric power is provided for each equipment of job platform when working power is normal work, stand-by power supply is operation
The electric power that the short time is provided when platform breaks down takes upper mounting plate appropriate operation for operating personnel, therefore stand-by power supply stores boat
Time need not be very long, and enough principal and subordinate's mechanical arms return to initial station；
The major function of main control module 23 is that industrial control computer is sent by EPA to motion controller
Instruction, control machinery arm make corresponding motion；Main hardware equipment is system control box and motion controller, and the two passes through work
Industrial Ethernet mutually communicates；
The major function of the communication module 24 is that the overall work situation of upper mounting plate is monitored, and data are passed through
Wireless network is sent to ground control cabinet；Main hardware equipment is console and wireless router, passes through wireless telecommunications therebetween；
The major function of the mechanical arm module 25 is to receive control instruction and the execution of motion controller；Main hardware is set
It is standby for main mechanical arm, from mechanical arm and lock/unload screw frock, wherein main mechanical arm, from mechanical arm directly with motion controller phase
Even, lock/unload screw frock and communicated by CAN and the CAN in system control box and communication module 24；
The major function of the monitoring module 26 is the handling situations of real-time monitoring mechanical arm platform；Using network shooting
Head, communicated using wireless network by router and ground control cabinet；
The major function of human-computer interaction module 27 is to provide an operating personnel to platform computer in emergency circumstances and people
Machine interactive interface.
The method of above-mentioned robot for high-voltage hot-line work aerial work platform unloading gold utensil screw, it is characterised in that including such as
Lower step：
a:The bucket 11 that insulate is transported near target job point by mobile Live working Aerial Device (mechanical arm can automatic job model
In enclosing)；
b:Operating personnel send system control cabinet 13 of the control instruction to job platform, system control by wireless router
Wireless receiving module in cabinet receives and transmits commands to industrial computer by PCI after command information；
c:Moved to from mechanical arm according to set track near equipotential light weight beam 8, picked up and be affiliated to female in pipe
On line, realize that the equipotential of mechanical arm job platform and high voltage variable electric field operates；
d:Move near tool box 9 from mechanical arm by the path planned in advance, then performed from mechanical arm tail end
Device 19 picks up the spatial digitizer 10 that is fixed on tool box according to movement path plan in advance to gold utensil front,
3-D scanning is carried out to gold utensil, while spatial digitizer 10 transfers data to industrial computer by way of serial communication；Industry control
Machine establishes the specific space coordinates of gold utensil and each screw according to scanning information, realizes the coarse positioning of a target point；
The method of coarse positioning is as follows above：Match the current point cloud of spatial digitizer by solving transition matrix T and be
Relation between the template point cloud united in ATL, transfer matrix T can be decomposed into a three-dimensional rotation matrix R and a translation
Vectorial t, three-dimensional rotation matrix R are represented with Eulerian angles；Three-dimensional rotation matrix R and translation vector t calculation formula in transition matrix
It is as follows：
Wherein,tx、ty、tzFor translation vector t coordinate, γ, β,Respectively
Spin matrix R yaw angle, the angle of pitch, roll angle.P, Q is respectively that template point cloud in ATL and spatial digitizer scan
Current point cloud.F be description point cloud registering degree object function, object function and it is minimum when corresponding spin matrixAnd translation
VectorAs registration result, the transition matrix T between scanning element and template can be calculated according to this result.
It is as follows to scanning element cloud Q transfer functions by transfer matrix T：
Wherein,The result after conversion is represented,Represent transformation parameter.Can be accurate according to scanning result according to above formula
The feature and coordinate of scanning object are matched, and then scans the purpose with positioning.
e:Moved to from mechanical arm by given route near flexible lead terminal, while utilize front end actuator 19 by lead end
Son securely fixes post, prevents soft lead comes off during lock unloads screw from causing the accident；
f:Industrial computer sends control instruction to master according to each coordinate points established after 3-D scanning by EPA
The motion controller of mechanical arm, and then control main frame tool arm is moved near gold utensil, the then camera 20 of main mechanical arm end
Alignment system is started working, and fine positioning is carried out to gold utensil screw, while sends location data to industrial computer, unified by industrial computer
Processing, industrial computer generate control instruction according to the location information received, and the lock of control active mechanical arm end unloads screw frock
The screw being accurately aligned on gold utensil；
During wherein carrying out fine positioning to gold utensil screw：Because working environment is complicated, between template and search image
Translation, scaling and rotation relationship are there may be, therefore the system carries out target positioning using affine matrix；Using 4 parameter affine moulds
Type calculates the parameter of affine transformation, and transformation matrix is as follows：
If (x1,y1),(x2,y2) be respectively template image and search for coordinate corresponding to image match point, reflecting between them
The relation of penetrating is：
In formula, s is dimensional variation parameter, and tx and ty represent the translational movement on x and y directions, and θ represents the anglec of rotation.
g:Finally rifle 2 is tightened by screw tightening using the high pulling torque behind frock；
h:After service work is completed, principal and subordinate's mechanical arm automatic homing.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The structural relation and principle of invention, without departing from the spirit and scope of the present invention, the present invention also have various change and
Improve, these changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended power
Sharp claim and its equivalent thereof.
Claims (5)
1. a kind of robot for high-voltage hot-line work aerial work platform, including insulation bucket (11), it is characterised in that：The insulation bucket
(11) one end is fixedly installed from mechanical arm pedestal (12), switch board (13), monitoring camera head bracket (15) side by side；It is described exhausted
The other end of edge bucket (11) is fixedly installed No.1 monitoring camera (4), power-supply system (7), main mechanical arm pedestal (6) side by side；
Equipotential light weight beam is fixedly installed on the insulation bucket (11) between mechanical arm pedestal (12), main mechanical arm pedestal (6)
(8) spatial digitizer (10), institute, are fixedly installed on the insulation bucket (11) between switch board (13), power-supply system (7)
State from mechanical arm pedestal (12) provided with multivariant from mechanical arm, be equipped with from mechanical arm front end and perform from the end of mechanical arm
Device (19), multivariant main mechanical arm is housed on the main mechanical arm pedestal (6), the end of main mechanical arm is equipped with positioning shooting
Head (20), high pulling torque tighten rifle (2) and lock unloads screw frock (1).
A kind of 2. robot for high-voltage hot-line work aerial work platform according to claim 1, it is characterised in that：Including passing
Feel module (21), power module (22), main control module (23), communication module (24), mechanical arm module (25), monitoring module
(26), human-computer interaction module (27), the sensing module (21) with main control module (23) is two-way is connected, the main control module (23)
With mechanical arm module (25) and communication module (24) is two-way is connected, the communication module (24) and monitoring module (26) two-way company
Connect；
The major function of the sensing module (21) is that target job point is scanned and positioned, and corresponding data is sent to
Industrial computer；Main hardware equipment is spatial digitizer and binocular camera, and the two is respectively by USB serial communications and wired
Network and the industrial computer communication in system control box；
The major function of the power module (22) is for each hardware device power supply on platform；Two sets of power supplys, work electricity are used altogether
Source and stand-by power supply；Electric power is provided for each equipment of job platform when working power is normal work, stand-by power supply is operation horizontal
The electric power for providing the short time when platform breaks down takes upper mounting plate appropriate operation for operating personnel；
Main control module (23) major function is that industrial control computer is referred to by EPA to motion controller transmission
Order, control machinery arm make corresponding motion；Main hardware equipment is system control box and motion controller, and the two passes through industry
Ethernet mutually communicates；
The major function of the communication module (24) is that the overall work situation of upper mounting plate is monitored, and data are passed through into nothing
Gauze is sent to ground control cabinet；Main hardware equipment is console and wireless router, passes through wireless telecommunications therebetween；
The major function of the mechanical arm module (25) is to receive control instruction and the execution of motion controller；Main hardware equipment
For main mechanical arm, from mechanical arm and lock/unload screw frock, wherein main mechanical arm, be directly connected with motion controller from mechanical arm,
Screw frock is locked/unloads to communicate by the CAN in CAN and system control box and communication module (24)；
The major function of the monitoring module (26) is the handling situations of real-time monitoring mechanical arm platform；Using IP Camera,
Communicated using wireless network by router and ground control cabinet；
The major function of human-computer interaction module (27) is to provide an operating personnel to platform computer in emergency circumstances and man-machine
Interactive interface.
3. a kind of robot for high-voltage hot-line work aerial work platform according to claims 1 to 3 any claim unloads
The method for carrying gold utensil screw, it is characterised in that comprise the following steps：
a:Insulation bucket (11) is transported near target job point by mobile Live working Aerial Device；
b:Operating personnel send system control cabinet (13) of the control instruction to job platform, system control cabinet by wireless router
Interior wireless receiving module receives and transmits commands to industrial computer by PCI after command information；
c:Moved to from mechanical arm according to set track near equipotential light weight beam (8), picked up and be affiliated in pipe bus
On, realize that the equipotential of mechanical arm job platform and high voltage variable electric field operates；
d:Moved to from mechanical arm by the path planned in advance near tool box (9), then from robot arm end effector
(19) spatial digitizer 10 that is fixed on tool box is picked up according to movement path plan in advance to gold utensil front,
3-D scanning is carried out to gold utensil, while spatial digitizer transfers data to industrial computer by way of serial communication；Industrial computer
The specific space coordinates of gold utensil and each screw is established according to scanning information, realizes the coarse positioning of a target point；
e:Moved to from mechanical arm by given route near flexible lead terminal, at the same it is using front end actuator 19 that lead terminal is firm
Firm fixed column, prevent soft lead comes off during lock unloads screw from causing the accident；
f:Industrial computer sends control instruction to main mechanical according to each coordinate points established after 3-D scanning by EPA
The motion controller of arm, and then control main frame tool arm is moved near gold utensil, then the camera (20) of main mechanical arm end is fixed
Position system starts, fine positioning is carried out to gold utensil screw, while send location data to industrial computer, it is unified by industrial computer
Reason, industrial computer generate control instruction according to the location information received, and the lock of control active mechanical arm end unloads screw frock essence
Screw on accurate alignment gold utensil；
g:Finally rifle (2) is tightened by screw tightening using the high pulling torque behind frock；
h:After service work is completed, principal and subordinate's mechanical arm automatic homing.
4. a kind of robot for high-voltage hot-line work aerial work platform unloading according to claim 3 is to the side of gold utensil screw
Method, it is characterised in that:The method of coarse positioning is as follows in step d：
Template point cloud in current point cloud and system template storehouse obtained by matching spatial digitizer as solving transition matrix T it
Between relation, transfer matrix T can be decomposed into a three-dimensional rotation matrix R and a translation vector t, and three-dimensional rotation matrix R is used
Eulerian angles represent；Three-dimensional rotation matrix R and translation vector t calculation formula are as follows in transition matrix：
<mrow>
<mo>(</mo>
<mover>
<mi>R</mi>
<mo>^</mo>
</mover>
<mo>,</mo>
<mover>
<mi>t</mi>
<mo>^</mo>
</mover>
<mo>)</mo>
<mo>=</mo>
<msub>
<mi>argmin</mi>
<mrow>
<mi>R</mi>
<mo>,</mo>
<mi>t</mi>
</mrow>
</msub>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>N</mi>
</munderover>
<mi>F</mi>
<mo>(</mo>
<mi>T</mi>
<mo>(</mo>
<mrow>
<mover>
<mi>P</mi>
<mo>&RightArrow;</mo>
</mover>
<mo>,</mo>
<mi>Q</mi>
</mrow>
<mo>)</mo>
<mo>,</mo>
<mi>P</mi>
<mo>)</mo>
</mrow>
Wherein,tx、ty、tzFor translation vector t coordinate, γ, β,Respectively
Spin matrix R yaw angle, the angle of pitch, roll angle, P, Q are respectively that template point cloud in ATL and spatial digitizer scan
Current point cloud, F are the object function of description point cloud registering degree, object function and it is minimum when corresponding spin matrix R and translation
Vectorial t is registration result, and the transition matrix T between scanning element and template can be calculated according to this result,
It is as follows to scanning element cloud Q transfer functions by transfer matrix T：
<mrow>
<mover>
<mi>Q</mi>
<mo>^</mo>
</mover>
<mo>=</mo>
<mi>T</mi>
<mrow>
<mo>(</mo>
<mover>
<mi>P</mi>
<mo>&RightArrow;</mo>
</mover>
<mo>,</mo>
<mi>Q</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mi>R</mi>
<mi>Q</mi>
<mo>+</mo>
<mi>t</mi>
</mrow>
Wherein,The result after conversion is represented,The spy of scanning object can be accurately matched according to scanning result according to above formula
Sign and coordinate, and then scan the purpose with positioning.
5. a kind of robot for high-voltage hot-line work aerial work platform unloading according to claim 3 is to the side of gold utensil screw
Method, it is characterised in that:Fine positioning is carried out to gold utensil screw in step f target positioning is carried out using affine matrix；Imitated using 4 parameters
The parameter that model calculates affine transformation is penetrated, transformation matrix is as follows：
<mrow>
<mi>A</mi>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mrow>
<mi>s</mi>
<mi> </mi>
<mi>cos</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mi>s</mi>
<mi> </mi>
<mi>sin</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
<mtd>
<msub>
<mi>t</mi>
<mi>x</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>s</mi>
<mi> </mi>
<mi>sin</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>s</mi>
<mi> </mi>
<mi>cos</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
<mtd>
<msub>
<mi>t</mi>
<mi>y</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
</mtr>
</mtable>
</mfenced>
</mrow>
If (x1,y1),(x2,y2) it is respectively coordinate corresponding to template image and search image match point, the mapping between them is closed
It is to be：
<mrow>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>x</mi>
<mn>2</mn>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>y</mi>
<mn>2</mn>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mrow>
<mi>s</mi>
<mi> </mi>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mi>s</mi>
<mi> </mi>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>s</mi>
<mi> </mi>
<mi>sin</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>s</mi>
<mi> </mi>
<mi>cos</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>x</mi>
<mn>1</mn>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>y</mi>
<mn>1</mn>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>+</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>t</mi>
<mi>x</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>t</mi>
<mi>y</mi>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
</mrow>
In formula, s is dimensional variation parameter, txAnd tyThe translational movement on x and y directions is represented, θ represents the anglec of rotation.
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| CN108858252A (en) * | 2018-09-11 | 2018-11-23 | 清研同创机器人（天津）有限公司 | A kind of robot for high-voltage hot-line work system and method for planning track |
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| CN110562889A (en) * | 2019-09-23 | 2019-12-13 | 捷尔杰（天津）设备有限公司 | Multi-machine synchronous lifting control system for aerial work platform |
| CN112086903A (en) * | 2020-05-26 | 2020-12-15 | 许继电气股份有限公司 | Live working insulation platform |
| CN112086903B (en) * | 2020-05-26 | 2022-09-09 | 许继电气股份有限公司 | Live working insulation platform |
| CN111645077A (en) * | 2020-06-19 | 2020-09-11 | 国电南瑞科技股份有限公司 | Ground monitoring system and monitoring method for distribution network line live working robot |
| CN111965034A (en) * | 2020-09-21 | 2020-11-20 | 中铁株洲桥梁有限公司 | Intelligent sleeper embedded sleeve uplift resistance test trolley |
| CN112440280A (en) * | 2020-11-13 | 2021-03-05 | 国网天津市电力公司 | Hydraulic mechanical arm with master-slave control function for electric power live working |
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| CN114614318B (en) * | 2022-03-25 | 2023-07-11 | 国网湖北省电力有限公司电力科学研究院 | Live working robot lead connecting system for narrow and complicated working conditions and working method thereof |
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