CN108616076B - Method for disassembling and assembling lightning arrester by live working robot - Google Patents

Method for disassembling and assembling lightning arrester by live working robot Download PDF

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Publication number
CN108616076B
CN108616076B CN201810227802.4A CN201810227802A CN108616076B CN 108616076 B CN108616076 B CN 108616076B CN 201810227802 A CN201810227802 A CN 201810227802A CN 108616076 B CN108616076 B CN 108616076B
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China
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lightning arrester
mechanical arm
nut
main
main mechanical
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CN108616076A (en
Inventor
郭毓
苏鹏飞
吴巍
饶志强
吴禹均
郭健
吴益飞
肖潇
郭飞
虞文杰
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Nanjing University of Science and Technology
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Nanjing University of Science and Technology
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02GINSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables

Abstract

The invention discloses a method for disassembling and assembling a lightning arrester by a live working robot.A secondary mechanical arm clamps a high-voltage lead to completely separate the high-voltage lead from a bolt at the upper end of the lightning arrester; the main mechanical arm pneumatic wrench moves downwards to align the nut at the upper end of the lightning arrester, the upper nut is remounted to the bolt on the lightning arrester, and then the lightning arrester is loosened; the lower nut is removed by rotating the main mechanical arm; the main mechanical arm clamps the lightning arrester to enable the bolt to be separated from the cross arm, and the disassembled lightning arrester is installed on the tool box; the main mechanical arm clamps the new lightning arrester and detaches the lower nut; the main mechanical arm clamps the new lightning arrester to be separated from the tool box; the main mechanical arm clamps a new lightning arrester, so that a lower end fixing bolt is inserted into the cross arm; screwing the lower nut and the bolt at the lower end of the new lightning arrester; the main mechanical arm grasps the new lightning arrester, removes the upper nut and enables the new lightning arrester to be separated from the upper bolt of the lightning arrester; the auxiliary mechanical arm clamps the tail end of the high-voltage lead and penetrates through a bolt at the upper end of a new lightning arrester; the main mechanical arm is screwed with the upper nut; the invention improves the safety of disassembling and assembling the lightning arrester under the condition of not cutting off the power supply.

Description

Method for disassembling and assembling lightning arrester by live working robot
Technical Field
The invention belongs to the technical field of robot control and electric power engineering, and particularly relates to a method for disassembling and assembling a lightning arrester by using an electrified operating robot.
Background
The metal oxide arrester is widely applied to power transmission and distribution lines of a power system as a main device for overvoltage protection in the power system. In the long-term operation of distribution network, the metal oxide arrester probably appears the nut and becomes flexible, the insulator breaks, rubber circle ageing scheduling problem, needs to change. The current live working of distribution lines changes metal oxide arrester and mainly adopts insulating gloves operation method, and operating personnel need dress complete set insulation protection apparatus in this kind of operation method still need shield the electrified body and the grounding body that human body probably touched. However, electric arcs are often generated in the replacement process, and the operation personnel are easily burnt; the upper and lower leads need to be disconnected in the replacement process, and the danger of electric shock also exists; an operator works in an insulating bucket on an insulating bucket arm vehicle, and the risk of falling from a high place exists; during the operation, the inter-phase short circuit event may be caused by human operation errors, and the personal safety of the operators is threatened.
China patent application No. CN201611129533.5 discloses a method for replacing strain insulators of a live working robot, and China patent application No. CN201611128518.9 discloses a method for replacing isolation switches of the live working robot, wherein the robots are adopted to complete working tasks, but three mechanical arms are used for cooperation, and in a narrow space of an insulating hopper wall vehicle, the three mechanical arms are controlled to be complex and are easy to interfere with each other, and the mechanical arms are damaged due to collision.
Disclosure of Invention
The invention aims to provide a method for disassembling and assembling an arrester by using an electrified operating robot, which aims to solve the safety problem caused by disassembling and assembling the arrester under the condition of no power interruption.
The technical solution for realizing the purpose of the invention is as follows:
a method for dismounting and mounting an arrester by a live working robot is based on a main mechanical arm, an auxiliary mechanical arm and a camera for collecting image data of a working scene on a robot platform, and the mechanical arm is controlled by a control room to complete the following work:
the auxiliary mechanical arm clamps a high-voltage lead at the upper end of the lightning arrester; the main mechanical arm grasps the upper end of the lightning arrester, and a pneumatic wrench at the tail end of the main mechanical arm aligns the upper nut of the lightning arrester and removes the upper nut; the auxiliary mechanical arm clamps the high-voltage lead to enable the high-voltage lead to be completely separated from a bolt at the upper end of the lightning arrester, and then clamps the high-voltage lead to be far away from an operation area;
the main mechanical arm pneumatic wrench moves downwards to align the nut at the upper end of the lightning arrester, and the lightning arrester is loosened after the disassembled upper nut is remounted to the bolt on the lightning arrester; after the main mechanical arm rotates 180 degrees, the lower end position of the lightning arrester is grasped, and the lower nut is removed to separate the lower nut from the lightning arrester; the main mechanical arm clamps the lightning arrester and lifts the lightning arrester upwards for a certain distance, so that the bolt for fixing the lightning arrester is separated from the cross arm, and the disassembled lightning arrester is installed on the tool box;
the main mechanical arm clamps the lower end of the new lightning arrester, aligns and detaches the lower nut of the new lightning arrester, and separates the lower nut from the lightning arrester; the main mechanical arm clamps the new lightning arrester to move upwards to be separated from the tool box; the main mechanical arm clamps a new lightning arrester to the upper part of the cross arm, so that a fixing bolt at the lower end of the new lightning arrester is inserted into a fixing hole on the cross arm; aligning and screwing a lower nut and a bolt at the lower end of the new lightning arrester; the main mechanical arm grasps the new lightning arrester, aligns and removes the upper nut, and separates the upper nut from the bolt on the lightning arrester; the auxiliary mechanical arm clamps the high-voltage lead to move to the position near the upper end of a new lightning arrester, and a fixing hole at the tail end of the high-voltage lead penetrates through a bolt at the upper end of the new lightning arrester; the main mechanical arm is screwed with the upper nut.
Compared with the prior art, the invention has the following remarkable advantages:
(1) the invention can replace the metal oxide arrester through the mechanical arm of the live working robot under the condition of no power failure, thereby avoiding the negative influence caused by power failure and improving the power supply reliability.
(2) The live working robot used by the invention can enable an operator to complete the replacement task of the metal oxide arrester in a ground control room by combining teleoperation and autonomy, and compared with an insulating glove operation method, the live working robot can enable the operator to be far away from high-altitude and dangerous operation environments, and avoid the occurrence of accidents such as electric shock, high-altitude falling and the like.
(3) The live working robot used by the invention provides two operation modes of teleoperation and autonomy, so that an operator can take over the control of the mechanical arm at any time, and the occurrence of accidents is avoided by using teleoperation.
(4) The invention uses the specially designed pneumatic clamp to disassemble and assemble the metal oxide arrester, compared with other live working robots, the invention can complete the working task only by two mechanical arms, thereby reducing the working difficulty and improving the working efficiency.
(5) The second pneumatic clamp is provided with the two corner cylinders, so that the forward and reverse rotation of the pneumatic wrench can be switched, the nut can be prevented from falling off, and the structure is compact and ingenious.
The present invention is described in further detail below with reference to the attached drawing figures.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
fig. 2 is an overall structural schematic diagram of an embodiment of the live working robot of the present invention;
FIG. 3 is a schematic structural diagram of a robot platform according to the present invention;
FIG. 4 is a schematic overall view of a first pneumatic clamp according to an embodiment of the present invention;
FIG. 5 is a schematic view of an embodiment of a second pneumatic clamp of the present invention;
FIG. 6 is a block diagram of the system components of the present invention;
FIG. 7 is a schematic view of the construction of the robotic arm of the present invention;
fig. 8 is a schematic structural view of the placement frame of the present invention;
fig. 9 is a schematic view of the working environment of the live working robot.
Detailed Description
For the purpose of illustrating the technical solutions and technical objects of the present invention, the present invention will be further described with reference to the accompanying drawings and specific embodiments.
With reference to fig. 1, the method for disassembling and assembling the lightning arrester by the live working robot of the present invention is based on the main mechanical arm, the auxiliary mechanical arm and the camera for collecting the image data of the working scene on the robot platform, and controls the mechanical arm to complete the following work through the control room:
the auxiliary mechanical arm 43 clamps the high-voltage lead 101 at the upper end of the lightning arrester 120; the main mechanical arm 42 grasps the upper end of the lightning arrester 120, and a pneumatic wrench at the tail end of the main mechanical arm 42 aligns the nut 103 on the lightning arrester 120 and removes the nut 103 at the upper end; the auxiliary mechanical arm 43 clamps the high-voltage lead 101 to enable the high-voltage lead 101 to be completely separated from the bolt at the upper end of the lightning arrester 120;
the pneumatic wrench at the tail end of the main mechanical arm 42 moves downwards to align the nut 103 at the upper end of the lightning arrester 120, and the lightning arrester 120 is loosened after the disassembled upper nut 103 is remounted to the bolt on the lightning arrester 120; after the main mechanical arm 42 rotates 180 degrees, the lower end position of the lightning arrester 120 is grasped, and the lower nut 102 is removed, so that the lower nut 102 is separated from the lightning arrester 120; the main mechanical arm 42 holds the lightning arrester 120 and lifts up for a certain distance, so that the bolt for fixing the lightning arrester 120 is separated from the cross arm 104, and the disassembled lightning arrester 120 is installed on the tool box 47;
the main mechanical arm 42 clamps the lower end of the new lightning arrester 120, aligns and removes the lower nut 102 of the new lightning arrester 120, and separates the lower nut 102 from the lightning arrester 120; the main mechanical arm 42 clamps the new arrester 120 to move upwards to be separated from the tool box 47; the main mechanical arm 42 clamps the new lightning arrester 120 above the cross arm 104, so that the fixing bolt at the lower end of the new lightning arrester 120 is inserted into the fixing hole on the cross arm 104; the lower nut 102 is aligned with and screwed to the bolt at the lower end of the new arrester 120; the master robotic arm 42 grasps the new arrester 120, aligns and removes the upper nut 102 and disengages the bolt on the arrester 120; the auxiliary mechanical arm 43 clamps the high-voltage lead 101 to move to the vicinity of the upper end of the new lightning arrester 120, and a fixing hole at the tail end of the high-voltage lead 101 is made to penetrate through a bolt at the upper end of the new lightning arrester 120; the main robot arm 42 tightens the upper nut 102.
With reference to fig. 2 and 3, the live working robot of the present invention includes a boom truck 1, a control room 2, a telescopic boom 3, and a robot platform 4; a control room 2 and a telescopic arm 3 are erected on the insulating bucket arm vehicle 1, the upper end of the telescopic arm 3 is connected with a robot platform 4, and a generator is arranged on the insulating bucket arm vehicle 1 and used for supplying power to the control room 2 and the telescopic arm 3;
the robot platform 4 is provided with a panoramic camera 41, a main mechanical arm 42, an auxiliary mechanical arm 43, an air compressor 44, a binocular camera 45, an insulating column 46, a control cabinet 48, a storage battery 49 and a communication module.
The storage battery 49 supplies power to the main mechanical arm 42, the auxiliary mechanical arm 43, the air compressor 44, the camera and the communication module; the panoramic camera 41 is used for collecting image data of a working scene and sending the image data to the control room 2 through a communication module of the robot platform 4; the bottoms of the main mechanical arm 42 and the auxiliary mechanical arm 43 are connected with the robot platform 4 through an insulating column 46, and the shells of the two mechanical arms are insulated from the robot platform 4; the main mechanical arm 42 and the auxiliary mechanical arm 43 are both provided with binocular cameras 45 for acquiring image data of a working scene and sending the image data to the control room 2; the tail ends of the main mechanical arm 42 and the auxiliary mechanical arm 43 are respectively provided with a pneumatic clamp, and the air compressor 44 is used for providing power for the pneumatic clamps so as to control the movement of the pneumatic clamps; the control cabinet 48 receives the robot motion control data from the control room 2 through the communication module, controls the robot to reach the corresponding position, the auxiliary robot 43 completes the live-line work through the cooperation of the first pneumatic clamp 6, and the main robot 42 completes the lightning arrester clamping through the second pneumatic clamp and performs the work operation.
As an embodiment, referring to fig. 4, the first pneumatic clamp 6 on the sub-robot 43 includes two fixed blocks 60, a first air cylinder 601, and two clamping jaws 602 disposed opposite to each other; the first air cylinder 601 is arranged between the two fixing blocks 60, and the tail ends of the two fixing blocks 60 are connected with clamping jaws 602; a fixed block 60 is connected to the end of the sub-arm 43; the other fixing block 60 can move back and forth relative to the fixing block 60 under the driving of the first cylinder 601, so as to drive the clamping and separating of the two clamping jaws 602.
As an embodiment, referring to fig. 5, the second pneumatic clamp on the main robot arm 42 includes a first pneumatic clamp 6, a fixing plate 50, a linear cylinder 503, a guide rail 507, a slider 508, a mounting plate 506, a pneumatic wrench 502, a first corner cylinder 504, and a second corner cylinder 505;
the fixing plate 50 is connected with the tail end of the main mechanical arm 42; the first pneumatic clamp 6 is arranged at the lower end of the fixed plate 50 and used for clamping the lightning arrester; the linear cylinder 503 is arranged at the upper end of the fixed plate 50, and a piston rod of the linear cylinder 503 is connected with the mounting plate 506; the pneumatic wrench 502 is fixed on the mounting plate 506, and a sleeve is arranged at the bottom of the pneumatic wrench 502 and used for screwing and unscrewing a nut on the lightning arrester; the sleeve is opposite to the middle of the clamping jaw of the first pneumatic clamp 6; sliding blocks 508 are respectively fixed at two ends of the mounting plate 506; the fixed plate 50 is further provided with two guide rails 507, the axial direction of the guide rails 507 is parallel to the axial direction of the linear cylinder 503, and the sliding block 508 can slide up and down along the guide rails 507; a first corner cylinder 504 is arranged at the lower end of the pneumatic wrench 502, and two L-shaped baffles 509 are connected to the corner cylinder 504; a gap is formed between the two L-shaped baffles 509 and is used for avoiding a screw on a nut to be screwed; in an inoperative state, the two L-shaped baffles 509 are positioned at the side edges of the sleeve, after the nut is unscrewed, the first corner cylinder 504 drives the L-shaped baffles 509 to rotate to the lower end of the sleeve, and the two L-shaped baffles 509 support the two sides of the lower end of the nut to prevent the nut from falling off from the sleeve; the second corner cylinder 505 is fixed to the upper end of the pneumatic wrench 502, the second corner cylinder 505 is connected with a clamping block 510, a groove is formed in the clamping block 510, the groove is clamped into a forward and reverse rotation knob 502-1 on the pneumatic wrench 502, and the second corner cylinder 505 rotates to drive the clamping block 510 to rotate, so that the knob is driven to rotate, forward and reverse rotation of the pneumatic wrench 502 is achieved, and nuts are screwed or unscrewed.
Further, the distance between the two L-shaped baffles can be adjusted to realize the support of nuts with different sizes.
Further, the center of the clamping jaw 602 is provided with a semicircular groove for being clamped into an outer ring of an arrester.
As an embodiment of the present invention, referring to fig. 7, the robot arms are all six-degree-of-freedom robot arms, and include a base 431, a waist joint 432 whose rotation axis direction is perpendicular to the base plane, a shoulder joint 433 connected to the waist joint 432, an upper arm 434 connected to the shoulder joint 433, an elbow joint 435 connected to the upper arm 434, a lower arm 436 connected to the elbow joint 435, a wrist joint 437 connected to the lower arm 436, and the wrist joint 437 is composed of three rotation joints, namely a wrist pitch joint, a wrist roll joint, and a wrist rotation joint; each joint in the six-degree-of-freedom mechanism is provided with a corresponding orthogonal rotary encoder 31 and a corresponding servo drive motor, the orthogonal rotary encoder 31 is used for collecting angle data of each joint, and the servo drive motor is used for controlling the motion of each joint; the control room 2 calculates the motion angle of each joint according to the space path of the mechanical arm, and controls the servo driving motor to control the motion of each joint of the mechanical arm according to the motion angle.
Furthermore, the outside of each mechanical arm is wrapped by an insulating material.
As an embodiment, the data transmission between the robot platform 4 and the control room 2 is wired through optical fiber or transmitted using a wireless network. The communication module on the robot platform 4 is an optical fiber transceiver for realizing the interconversion between the optical signal in the optical fiber and the electrical signal in the twisted pair, thereby realizing the electrical isolation between the robot platform 4 and the control room 2 in communication. The communication module in the control room 2 is an optical fiber transceiver for realizing the interconversion between the optical signal in the optical fiber and the electrical signal in the twisted pair, thereby realizing the electrical isolation of the robot platform 4 from the control room 2 in communication.
As an embodiment, referring to fig. 6, the control room 2 includes a first industrial computer, a second industrial computer, a display, a main teleoperation lever, an auxiliary teleoperation lever, and a communication module; the main teleoperation rod and the auxiliary teleoperation rod respectively correspond to the main mechanical arm 42 and the auxiliary mechanical arm 43 to form a main-auxiliary operation relation; the second industrial personal computer is internally provided with an image processor, a live working action sequence library, a display screen and a main manipulator which are positioned in the control room; and the image processor processes the operation scene image to obtain a 3D virtual operation scene, and the 3D virtual operation scene is sent to the display to be displayed.
Action sequence data corresponding to each live working item is stored in the live working action sequence library in advance; the camera acquires an operation scene image and sends the operation scene image to the second industrial personal computer, the image processor processes the operation scene image to obtain a relative position relation between the mechanical arm and the lightning arrester, the second industrial personal computer plans a spatial path of the mechanical arm according to the relative position relation and an action sequence corresponding to specific live-line operation, and sends spatial path data of the mechanical arm to the first industrial personal computer; and the first industrial personal computer calculates the motion angle of each joint according to the space path of the mechanical arm and controls the servo driving motor to control the motion of each joint of the mechanical arm according to the motion angle.
Further, the main mechanical arm 42 and the auxiliary mechanical arm 43 are both six-degree-of-freedom mechanical arms and wrapped with insulating materials,
further, the binocular camera 45 is composed of two industrial cameras with parallel optical axes, and the distance between the parallel optical axes is fixed.
Further, the robot platform 4 is further provided with a special tool box 47, and the special tool box 47 is a place for placing working tools such as the first pneumatic clamp 6, the second pneumatic clamp, the pneumatic wrench 502 and the like. Referring to fig. 8, the special tool box 47 is further provided with a placing frame for the lightning arrester, for example, when the lightning arrester is disassembled or assembled, the placing frame has the same structure as the cross arm, and a plurality of mounting holes are formed in the placing frame for mounting the lightning arrester.
Further, telescopic boom 3 is equipped with along the drive arrangement of flexible direction, and operating personnel can control drive arrangement through control room 2 to go up and down robot platform 4 to the operation height. The telescopic arm 3 is made of an insulating material and is used for insulating the robot platform 4 from the control room 2. In the present invention, the telescopic arm 3 may be replaced by a scissor lift mechanism or other mechanism.
According to the combination of different tasks completed by the second industrial personal computer and the first industrial personal computer, the live working robot can be remotely operated by an operator to complete live working and can also be independently live working. Before live-wire work is performed, the worker moves the robot platform 4 to the vicinity of the lightning arrester by observing the panoramic image.
If manual remote operation is selected, a second industrial personal computer constructs a 3D virtual operation scene according to the binocular image and the panoramic image and sends the 3D virtual operation scene to a display for display, and an operator monitors the operation process through the 3D virtual operation scene and controls the action of the mechanical arm through a main operating hand so as to complete live working. In the process, after the operating personnel changes the posture of the main teleoperation rod, the photoelectric encoders of all joints in the main teleoperation rod collect the angles of all joints, and the microcontroller of each main teleoperation rod sends the angle data of all joints to the second industrial personal computer through the serial port. And the second industrial personal computer sends the angle data of each joint of the main teleoperation rod to the first industrial personal computer as the expected value of each joint angle of the mechanical arm, and the first industrial personal computer controls the motion of each joint of the mechanical arm through the servo motor according to the expected value of the angle so as to complete the live working.
If the autonomous operation is selected, the second industrial personal computer calculates and acquires the relative position relation between the lightning arrester and the mechanical arm according to the binocular image and the panoramic image, then the spatial path of the mechanical arm is planned according to the action sequence corresponding to the operation task, the spatial path is sent to the first industrial personal computer, the first industrial personal computer calculates angle data of each joint of the mechanical arm, the angle data need to rotate are used as expected values of the angle of each joint of the mechanical arm, and the servo motor controls the movement of each joint of the mechanical arm so as to complete the live working.
Example 1:
the method for disassembling and assembling the lightning arrester of the live working robot, disclosed by the invention, is combined with figure 9 and comprises the following steps:
1. the staff prepares for the live working robot to replace the metal oxide arrester 120, checks the meteorological conditions, checks the pole tower number, arranges the site, and performs inspection tests on the insulation appliance.
1.1 checking meteorological conditions, surrounding environment, line devices and safety measures;
1.2 arrangement site: setting a safety guardrail, an operation mark and a related warning mark on a working site;
1.3 the insulation appliance is subjected to inspection test: and (3) adopting an insulation resistance tester to detect the surface insulation resistance of the used insulation tool, wherein the resistance value is not less than 700 megaohms.
2. The driver of the insulating bucket arm vehicle drives the insulating bucket arm vehicle 1 to a position near the tower 100 and moves the robot platform 4 to a position near the working position
2.1 insulating arm car driver drives insulating arm car 1 into position near shaft tower 100 and arranges the scene: the operation position is specifically near the position of the tower 100 to be operated and avoids nearby power lines and obstacles to avoid being parked on the channel cover plate, the supporting legs of the insulating bucket arm vehicle 1 sequentially extend out of the horizontal supporting legs firstly and then extend out of the vertical supporting legs, and the vehicle is horizontal in front, back, left and right after being supported in place.
2.2 operating the rocker to control the telescopic arm 3 according to the live-action image displayed on the display by the operator in the control room 2, and moving the robot platform 4 to the position near the working position.
3. An operator in the control room 2 controls the main mechanical arm 42 and the auxiliary mechanical arm 43 through the main teleoperation rod and the auxiliary teleoperation rod to perform necessary insulation shielding on wires, insulator strings and cross arms 104 in an operation range.
3.1 the operator in the control room 2 marks the charged body in the insulated safe distance in the working range according to the live-action scene image returned by the panoramic camera 41 on the robot platform 4.
The marking mode is that an operator manually frames the charged body in the field of view through the real-time image of the operation field displayed by the touch display in the control room 2.
3.2 the main mechanical arm 42 and the auxiliary mechanical arm 43 clamp an insulating shielding material (special insulating sheath, epoxy glass cloth) to insulate and shield the marked charged body.
4. The main mechanical arm 42 and the auxiliary mechanical arm 43 remove the metal oxide lightning arrester 120 on the cross arm 104 of the tower 100.
4.1. Disassembling the upper nut 103 of the lightning arrester
4.1.1 by observing the real-time image of the job site displayed on the display in the control room 2, the main telejoystick is operated to control the main robotic arm 42 to reach the vicinity of the metal oxide arrester 120, so that the upper end portion of the arrester 120 appears completely within the field of view of the binocular camera mounted on the main robotic arm.
And 4.1.2, identifying and positioning the three-dimensional space position and the posture of the nut at the upper end of the lightning arrester by using the image target detection algorithm and the image containing the lightning arrester transmitted from the binocular camera by using the binocular measurement principle through the second industrial personal computer.
And 4.1.3 the second industrial personal computer transmits the three-dimensional space position and the attitude data of the upper end nut of the lightning arrester, which are obtained by measurement in the step 4.1.2, to the first industrial personal computer through a communication module in the control room 2, and the first industrial personal computer plans the motion track of the mechanical arm through a mechanical arm kinematics resolving and track planning algorithm.
4.1.4 the first industrial computer transmits the arm motion trajectory data to the arm control cabinet 48 in the robot platform 4 through the communication module in the control room 2.
4.1.5 the jaws 602 of the insulating material mounted on the end of the master arm 42 are opened and the robot control cabinet 48 uses the received robot trajectory data to control the movement of the master arm 42 to the corresponding position of the lightning arrester 120.
4.1.6 the master robot arm 42 grips the arrester 120 at its upper end position using the end mounted clamping jaws 602 and is aligned with the arrester upper nut 102 by the air wrench 502 socket.
4.1.7 by observing the real-time image of the working site displayed on the display in the control room 2, the operation auxiliary teleoperation lever controls the auxiliary mechanical arm 43 to move to the vicinity of the high-voltage lead 101 of the lightning arrester 120, and the clamping jaw 602 arranged at the tail end of the auxiliary mechanical arm 43 is used for clamping the high-voltage lead 101, so that the high-voltage lead 101 at the upper end is prevented from shaking when the nut 103 on the lightning arrester is dismounted, and the follow-up action is prevented from being influenced.
4.1.8 install at the terminal air wrench 502 of main mechanical arm 42 and open, move down and register arrester 120 upper end nut 103, remove upper end nut 103 and make it break away from the bolt on arrester 120, first corner cylinder 504 rotates 90 degrees, makes the L-shaped baffle 509 who installs at the terminal of first corner cylinder 504 cover the spanner sleeve, prevents that the nut from dropping.
4.2 dismantle the arrester high-voltage lead 101
4.2.1 operating the auxiliary teleoperation lever to control the auxiliary mechanical arm 43 to clamp the high-voltage lead 101 to move upwards for a certain distance by observing the real-time image of the operation site displayed on the display in the control room 2, so that the high-voltage lead 101 is completely separated from the bolt 103 at the upper end of the lightning arrester 120, and then the high-voltage lead 101 is clamped to be far away from the operation area.
4.2.2 the air wrench 502 mounted on the end of the main robot arm 42 is opened and the upper nut 103 of the arrester 120 is moved down into alignment and the removed upper nut 103 is reinstalled on the bolt of the arrester 120.
4.2.3 the gripper 501 mounted at the end of the main robot arm 42 is released, stopping gripping the lightning arrester 120, and the main robot arm 42 moves backwards, a distance from the lightning arrester.
4.3 disassembling the lower nut 102 of the arrester
4.3.1 the end of the master robot arm 42 is rotated 180 degrees clockwise so that the end air wrench 502 is open upward.
4.3.2 the master robot arm 42 is moved to the vicinity of the surge arrester 120 and then the lower end position of the surge arrester 120 is grasped with the holding jaws 501 mounted on the tip and the opening of the air wrench 502 is aligned with the surge arrester lower nut 102.
4.3.3 the air wrench 502 at the end of the main robot arm 42 opens, moves upward, registers the lower nut 102, removes the lower nut 102 and disengages the arrester 120.
4.4 disassembling the arrester 120
4.4.1 the second pneumatic gripper at the end of the main robot arm 42 has its jaws 501 gripping the arrester 120 and lifted a distance upwards to disengage the bolt holding the arrester 120 from the cross-arm 104.
4.4.2 the main robot arm 42 is moved horizontally backwards, moving the lightning arrester 120 away from the installation area.
4.4.3 the master robot arm 42 holds the removed surge arrester 120, moves to the tool box 47, mounts the removed surge arrester on the shelf on the tool box 47 using the lower nut 102 carried by the air wrench 502 at the end of the master robot arm 42, and screws it down.
5. The main robot arm 42 and the sub robot arm 43 are equipped with a new lightning arrester 120.
5.1 placing a new arrester 120
5.1.1 the master robot arm 42 adjusts the attitude of the end so that the open end of the air wrench 502 faces upward and moves to a position near the position where a new lightning arrester is placed in the robot arm specific tool box 47.
5.1.2 the master robot arm 42 grips the new arrester 120 in its lower end position using the end gripping jaws 501 and aligns the air wrench 502 opening with the lower nut 102 holding the new arrester 120.
5.1.3 the pneumatic socket wrench 502 at the end of the main robot arm 42 opens, moves upward, registers the lower nut 102, removes the lower nut 102 and disengages the arrester 120.
5.1.4 the master robot arm 42 uses the distal gripping jaw 501 to grip the new arrester 120 and move it upward to disengage it from the mounting hole in the mounting plate in the tool box 47, removing the new arrester 120 from the tool box 47.
5.1.4 Primary robot arm 42 holds a new arrester 120 above cross arm 104 and aligns fixing bolts 102 below arrester 120 with fixing holes on cross arm 104.
5.1.5 the main robot arm 42 is moved down a distance so that the lower end fixing bolt of the new arrester 120 is completely inserted into the fixing hole of the cross arm 104.
5.2 securing the lower nut 102.
5.2.1 the air wrench 502 at the end of the master robot arm 42 is opened and moved upward to bring the lower nut 102 into register with the bolt at the lower end of the new arrester 120 and tighten it.
5.2.2 the gripper 501 at the end of the master robot arm 42 releases, stops gripping the new arrester 120 and moves backwards, a distance away from the new arrester 120.
5.2.3 the end of the master robot arm 42 is rotated 180 degrees counterclockwise with the end of the air wrench 502 open downward.
5.3 securing the high voltage lead 101.
5.3.1 the master robot arm 42 is moved to the vicinity of the new arrester 120, grasping the new arrester 120 in its upper end position with the end gripping jaws 501 and aligning the air wrench 502 opening with the upper nut 103 carried on the upper end of the arrester 120.
5.3.2 the air wrench 502 at the end of the main robot arm 42 is opened and the upper nut 103 is moved down into register and the upper nut 103 is removed and removed from the bolt on the arrester 120.
5.3.3 operating the sub teleoperation lever control sub robot arm 43 to clamp the high voltage lead 101 to move to the vicinity of the upper end of the new arrester 120 by observing the real time image of the working site displayed on the display in the control room 2 and aligning the fixing hole of the end of the high voltage lead 101 with the bolt of the upper end of the new arrester 120.
And 5.3.4, the auxiliary mechanical arm 43 clamps the high-voltage lead 101 to move towards the right lower part, so that the bolt at the upper end of the new lightning arrester 120 completely passes through the fixing hole of the high-voltage lead 101.
5.4 securing upper nut 103.
5.4.1 the air wrench 502 at the end of the main robot arm 42 is opened, moving down the register and tightening the upper nut 103.
5.4.2 operating the sub teleoperation lever to control the first pneumatic clamp 6 installed at the end of the sub robot arm 43 to release, stop clamping the high voltage lead 101, the sub robot arm 43 moves backward, and leaves the working area above the cross arm 104.
5.4.3 the insulating jaws 501 at the end of the main robot arm 42 are released, stopping gripping the arrester 120 and moving backwards, away from the work area above the cross-arm 104.
6. An operator in the control room 2 controls the main mechanical arm 42 and the auxiliary mechanical arm 43 to remove wires, insulator strings and insulation shielding on the cross arm 104 through the main teleoperation lever and the auxiliary teleoperation lever.
7. The staff evacuate the tower 100.
The live working robot of the invention replaces the mode of manual live working, reduces the working danger and improves the working efficiency, can lead the operating personnel to be far away from the high-altitude and dangerous working environment, and avoids the occurrence of accidents such as electric shock, high-altitude falling and the like. Compared with other live working robots, the live working robot can complete the working task by only two mechanical arms, and improves the working efficiency while reducing the working difficulty.

Claims (6)

1. The method for disassembling and assembling the lightning arrester by the live working robot is characterized in that based on a main mechanical arm and an auxiliary mechanical arm on a robot platform and a camera for collecting image data of a working scene, the mechanical arm is controlled by a control room to complete the following work:
the auxiliary mechanical arm clamps a high-voltage lead at the upper end of the lightning arrester; the main mechanical arm grasps the upper end of the lightning arrester, and a pneumatic wrench at the tail end of the main mechanical arm aligns the upper nut of the lightning arrester and removes the upper nut; the auxiliary mechanical arm clamps the high-voltage lead to completely separate the high-voltage lead from the bolt at the upper end of the lightning arrester;
the main mechanical arm pneumatic wrench moves downwards to align the nut at the upper end of the lightning arrester, and the lightning arrester is loosened after the disassembled upper nut is remounted to the bolt on the lightning arrester; after the main mechanical arm rotates 180 degrees, the lower end position of the lightning arrester is grasped, and the lower nut is removed to separate the lower nut from the lightning arrester; the main mechanical arm clamps the lightning arrester and lifts the lightning arrester upwards for a certain distance, so that the bolt for fixing the lightning arrester is separated from the cross arm, and the disassembled lightning arrester is installed on the tool box;
the main mechanical arm clamps the lower end of the new lightning arrester, aligns and detaches the lower nut of the new lightning arrester, and separates the lower nut from the lightning arrester; the main mechanical arm clamps the new lightning arrester to move upwards to be separated from the tool box; the main mechanical arm clamps a new lightning arrester to the upper part of the cross arm, so that a fixing bolt at the lower end of the new lightning arrester is inserted into a fixing hole on the cross arm; aligning and screwing a lower nut and a bolt at the lower end of the new lightning arrester; the main mechanical arm grasps the new lightning arrester, aligns and removes the upper nut, and separates the upper nut from the bolt on the lightning arrester; the auxiliary mechanical arm clamps the high-voltage lead to move to the position near the upper end of a new lightning arrester, and a fixing hole at the tail end of the high-voltage lead penetrates through a bolt at the upper end of the new lightning arrester; the main mechanical arm is screwed with the upper nut;
the auxiliary mechanical arm clamps the high-voltage lead through a first pneumatic clamp at the tail end, and the main mechanical arm finishes clamping the lightning arrester and screwing a nut through a second pneumatic clamp at the tail end;
the second pneumatic clamp comprises a first pneumatic clamp, a fixing plate, a linear cylinder, a guide rail, a sliding block, a mounting plate, a pneumatic wrench, a first corner cylinder and a second corner cylinder;
the fixed plate is connected with the tail end of the main mechanical arm; the first pneumatic clamp is arranged at the lower end of the fixing plate and used for clamping the lightning arrester; the linear cylinder is arranged at the upper end of the fixed plate, and a piston rod of the linear cylinder is connected with the mounting plate; the pneumatic wrench is fixed on the mounting plate, and a sleeve is arranged at the bottom of the pneumatic wrench and used for rotating a nut on the lightning arrester; the sleeve is opposite to the middle of the clamping jaw of the first pneumatic clamp; sliding blocks are respectively fixed at two ends of the mounting plate; the fixed plate is also provided with two guide rails, the axial direction of the guide rails is parallel to the axial direction of the linear cylinder, and the sliding block can slide up and down along the guide rails; the lower end of the pneumatic wrench is provided with a first corner cylinder, and the corner cylinder is connected with two L-shaped baffles; a gap is formed between the two L-shaped baffles and used for avoiding a screw on a nut to be screwed; when the nut is unscrewed, the first corner cylinder drives the L-shaped baffles to turn to the lower end of the sleeve, and the two L-shaped baffles support two sides of the lower end of the nut to prevent the nut from falling off from the sleeve; the second corner cylinder is fixed on the upper end of the pneumatic wrench, the second corner cylinder is connected with the clamping block, a groove is formed in the clamping block, the groove is clamped into a forward and reverse rotating knob on the pneumatic wrench, and the second corner cylinder rotates to drive the clamping block to rotate, so that the forward and reverse rotation of the pneumatic wrench is realized.
2. The method for disassembling and assembling the lightning arrester of the live working robot as claimed in claim 1, wherein the first pneumatic clamp comprises two fixed blocks, a first air cylinder, and two oppositely arranged clamping jaws; the first air cylinder is arranged between the two fixed blocks, and the tail ends of the two fixed blocks are connected with clamping jaws; one fixing block is connected with the tail end of the auxiliary mechanical arm; the other fixing block can move back and forth relative to the fixing block under the driving of the first cylinder, so that the two clamping jaws are driven to clamp the high-voltage lead.
3. The method for disassembling and assembling the lightning arrester of the live working robot as claimed in claim 1, wherein the center of the clamping jaw is provided with a semicircular groove for being clamped into an outer ring of the lightning arrester.
4. The method for disassembling and assembling the lightning arrester of the live working robot as claimed in claim 1, wherein the camera comprises a panoramic camera and a binocular camera; the panoramic camera is used for collecting image data of an operation scene and sending the image data to the control room through the communication module of the robot platform; the main mechanical arm and the auxiliary mechanical arm are both provided with binocular cameras for acquiring image data of an operation scene and sending the image data to a control room; the control room comprises a first industrial personal computer, a second industrial personal computer, a display, a main teleoperation rod, an auxiliary teleoperation rod and a communication module; the main teleoperation rod and the auxiliary teleoperation rod respectively correspond to the main mechanical arm and the auxiliary mechanical arm to form a main-auxiliary operation relation; the second industrial personal computer is internally provided with an image processor, a live working action sequence library, a display screen and a main manipulator which are positioned in the control room; and the image processor processes the operation scene image to obtain a 3D virtual operation scene, and the 3D virtual operation scene is sent to the display to be displayed.
5. The method for disassembling and assembling the lightning arrester of the live working robot as claimed in claim 1, wherein the robot platform is further provided with a tool box for placing the first pneumatic clamp, the second pneumatic clamp and the pneumatic wrench working tool; the tool box is also provided with a placing frame of the lightning arrester, the placing frame is the same as the cross arm in structure, and a plurality of mounting holes are formed in the placing frame.
6. The method for dismounting and mounting the lightning arrester of the live working robot as claimed in claim 1, wherein before the working, the auxiliary mechanical arm and the main mechanical arm clamp an insulating shielding material to insulate and shield the live body; after the operation is finished, the auxiliary mechanical arm and the main mechanical arm remove the insulating shielding material covered on the charged body.
CN201810227802.4A 2018-03-20 2018-03-20 Method for disassembling and assembling lightning arrester by live working robot Active CN108616076B (en)

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