CN108616077A - A kind of disconnected lead method of hot line robot - Google Patents
A kind of disconnected lead method of hot line robot Download PDFInfo
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- CN108616077A CN108616077A CN201810227803.9A CN201810227803A CN108616077A CN 108616077 A CN108616077 A CN 108616077A CN 201810227803 A CN201810227803 A CN 201810227803A CN 108616077 A CN108616077 A CN 108616077A
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- Prior art keywords
- mechanical arm
- clamp
- wire
- lead
- nut
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Abstract
The present invention proposes a kind of disconnected lead method of hot line robot, based on the camera of main mechanical arm, secondary mechanical arm and Collecting operation scene image data on robot platform, passes through control room control machinery arm and completes following work：Secondary mechanical arm clamp leads；Main mechanical arm firmly grasps wire clamp, and the nut on wire clamp is aligned and is unscrewed by the pneumatic impact spanner of main mechanical arm end；Secondary mechanical arm clamp leads are detached from from wire clamp, and then clamp leads are far from operating area；Wire clamp is detached from by main mechanical arm from conducting wire, and wire clamp is placed in tool box；The present invention can be removed in the lead that the mechanical arm not powered off through hot line robot is connected on conducting wire branch, avoided the negative effect for having a power failure and bringing, improved power supply reliability.
Description
Technical field
The invention belongs to robot control and electric power project engineering fields, and it is disconnected to be related specifically to a kind of hot line robot
Lead method.
Background technology
Electrification breaking and connecting drainage thread is that one of net side livewire work key operation project is matched by the country, such work at present more adopts
With insulating glove direct maintenance, therefore before distribution operation, it is necessary to get out various safety measures, specify operator
Formula, and choose operation instrument.Livewire work largely avoids the negative effect that line outage is brought, and is greatly reduced
Power off time improves power supply reliability, alleviates electricity consumption and complains contradiction.Power distribution network is compared with power transmission network, although voltage is relatively low,
The features such as there is equipment intensive, complex circuit, narrow space, small distance to the ground, live working of distribution network difficulty is increased, very
It is easy to cause phase fault or mutually and terra short.Livewire work personnel are caused with psychological pressure, labor intensity and the operation of bigger
It is dangerous.
People is replaced to carry out breaking and connecting lead operation using hot line robot, compared to remote taking using insulating bar
The method of connecing has the function of more careful.Chinese Patent Application No. CN201611129645.0 discloses a kind of livewire work machine
People's branch connects gage lap method, uses teleoperation of robot or autonomous type to overlap or remove lead, but its scheme makes
It is carried out with three mechanical arms while operation, and is directed to the fixture and wire clamp of mechanical arm design specialized, it is complex for operation step,
It is easy to interfere with each other in small space, easily causes wire short-circuiting or collide and mechanical arm is made to damage.
Invention content
Break lead method the purpose of the present invention is to provide a kind of hot line robot, to replace not powering off manually
In the case of, it solves to remove the safety problem that branch is connected on the lead on conducting wire.
Realize that the technical solution of the object of the invention is：
A kind of hot line robot breaks lead method, based on robot platform main mechanical arm, secondary mechanical arm and adopt
The camera for collecting working scene image data completes following work by control room control machinery arm：
Secondary mechanical arm clamp leads；Main mechanical arm firmly grasps wire clamp, and the pneumatic impact spanner of main mechanical arm end is by the spiral shell on wire clamp
Mother is aligned and unscrews；Secondary mechanical arm clamp leads are detached from from wire clamp, and then clamp leads are far from operating area；Main mechanical arm will
Wire clamp is detached from from conducting wire, and wire clamp is placed in tool box.
Compared with prior art, the present invention its remarkable advantage：
(1) present invention can be connected on conducting wire branch in the case that not powering off the mechanical arm by hot line robot
Lead is removed, and the negative effect for having a power failure and bringing is avoided, and improves power supply reliability.
(2) hot line robot that uses of the present invention can make operating personnel use in ground level control room remote operating and
The mode being independently combined completes the task of disconnected lead, compared to insulating glove working system, operating personnel can be made far from high-altitude, danger
The operating environment of danger, avoids the generation of the fortuitous events such as electric shock, falling from high altitude.
(3) hot line robot that the present invention uses provides remote operating and autonomous two kinds of operating types, can make work
The control of industry personnel take over mechanical arm at any time, the generation of fortuitous event is avoided using remote operating.
(4) present invention has used the wire clamp connecting wire and lead of special design as the livewire work scene of embodiment,
It is more suitable for robot compared to ordinary lines folder in broken string and carries out livewire work, simplifies operating procedure.
(5) present invention uses the work that the air-actuated jaw specially designed completes disconnected lead, make compared to others electrification
Industry robot only needs two mechanical arms that job task can be completed, and operating efficiency is improved while reducing task difficulty.
(6) the second air-actuated jaw of the invention is set there are two swing clamp cylinder, it can be achieved that the switching of pneumatic impact spanner positive and negative rotation, together
When can avoid nut and fall off, it is compact-sized ingenious.
Present invention is further described in detail below in conjunction with the accompanying drawings.
Description of the drawings
Fig. 1 is the method for the present invention flow chart；
Fig. 2 is a kind of overall structure diagram of embodiment of hot line robot of the present invention；
Fig. 3 is the structural schematic diagram of robot platform in the present invention；
Fig. 4 is a kind of overall structure diagram of embodiment of the first air-actuated jaw in the present invention；
Fig. 5 is a kind of overall structure diagram of embodiment of the second air-actuated jaw in the present invention；
Fig. 6 is the block diagram of system of aerial lift device with insulated arm in the present invention；
Fig. 7 is the structural schematic diagram of mechanical arm in the present invention；
Fig. 8 is the structural schematic diagram of Special wire-clip in the present invention；
Fig. 9 is hot line robot operating environment schematic diagram of the present invention.
Specific implementation mode
In order to illustrate technical scheme of the present invention and technical purpose, below in conjunction with the accompanying drawings and specific embodiment is the present invention
It is further to introduce.
In conjunction with Fig. 1, the disconnected lead method of a kind of hot line robot of the invention, based on the main mechanical on robot platform
The camera of arm, secondary mechanical arm and working scene image data completes following work by control room control machinery arm：
43 clamp leads 105 of secondary mechanical arm；Main mechanical arm 42 firmly grasps wire clamp 106, the pneumatic impact spanner of 42 end of main mechanical arm
Nut 1065 on wire clamp 106 is aligned and unscrews nut 1065 by 502；43 clamp leads 105 of secondary mechanical arm take off from wire clamp 106
From then clamp leads 106 are far from operating area；Wire clamp 106 is detached from by main mechanical arm 42 from conducting wire 104, and by wire clamp 106
It is placed in tool box 47.
As a kind of embodiment, in conjunction with Fig. 2, the wire clamp 106 includes wire casing 1061, pressing plate 1062, shaft 1063, screw rod
1064, nut 1065, mounting plate 1066, connecting rod 1067, spring 1068；
1066 both ends of the mounting plate are respectively equipped with arc-shaped wire casing 1061, are respectively used to place conducting wire 104 and lead
105；The screw rod 1064 passes through mounting plate 1066 to be connected with shaft 1063；The shaft 1063 is axial axial flat with wire casing 1061
Row, and it is axial perpendicular to screw rod 1064；Spring 1068 is equipped between 1063 lower end of the shaft and mounting plate 1066；The connecting rod
1067 one end is rotatablely connected with shaft 1063, and the other end is connected with pressing plate 1062；The wire casing 1061 at both ends is equipped with pressing plate
1062；The nut 1065 coordinates with screw rod 1064, and nut 1065 rotates on screw rod 1064, shaft 1063 is pulled or pushed away
It is dynamic, change the distance between screw rod 1064 and mounting plate 1066, to change the distance between pressing plate 1062 and wire casing 1061, to
Compress or unclamp conducting wire 104 and lead 105；When nut 1065 unclamps, spring 1068 is by shaft 1063 and mounting plate 1066
Distance pushes away greatly, to realize the release of pressing plate 1062.
Further, the pressing plate 1062 is arc surface, the arc surface and line of pressing plate 1062 with respect to the end face of wire casing 1061
The arc surface of slot 1061 coordinates, the topographies with conducting wire 104 and lead 105, ensures wire clamp 106 and conducting wire 104 and lead 105
Come into full contact with, reduce resistance.Pass through the device and high-voltage conducting wires 104 of the connection of lead 105 such as fuse switch 103.
In conjunction with Fig. 2, Fig. 3, hot line robot of the invention, including bucket arm vehicle 1, control room 2, telescopic arm 3, robot
Platform 4；Control room 2 and telescopic arm 3 are set up on the aerial lift device with insulated arm 1,3 upper end of telescopic arm connects robot platform 4, described exhausted
Generator is housed, to give control room 2 and telescopic arm 3 to power on edge bucket arm vehicle 1；
The robot platform 4 is equipped with full-view camera 41, main mechanical arm 42, secondary mechanical arm 43, air compressor machine 44, binocular and takes the photograph
As head 45, insulated column 46, tool box special 47, communication module and switch board 48, accumulator 49.
The accumulator 49 is main mechanical arm 42, secondary mechanical arm 43, air compressor machine 44, camera and communication module power supply；Institute
Full-view camera 41 is stated to the image data of Collecting operation scene, image data is passed through into the communication module of robot platform 4
It is sent to control room 2；The main mechanical arm 42 and secondary 43 bottom of mechanical arm are connected by insulated column 46 with robot platform 4, will
The shell of the two mechanical arms insulate with robot platform 4；Binocular is equipped on the main mechanical arm 42 and secondary mechanical arm 43 to take the photograph
As image data is sent to control room 2 by head 45 to the image data of Collecting operation scene；The main mechanical arm 42, slave
43 end of tool arm is equipped with air-actuated jaw, and the air compressor machine 44 is used to provide power to air-actuated jaw, to control air-actuated jaw
Movement；The switch board 48 receives the manipulator motion from control room 2 by communication module and controls data, and control machinery arm arrives
Up to corresponding position, the pair mechanical arm 43 is coordinated by the first air-actuated jaw 6 completes livewire work, and the main mechanical arm 42 passes through
Second air-actuated jaw completes clamping Special wire-clip 106 and carries out Job Operations.
As an implementation, in conjunction with Fig. 4, the first air-actuated jaw 6 on the pair mechanical arm 43 includes two fixations
601, two block 60, the first cylinder clamping jaws being oppositely arranged 602；First cylinder 601 is arranged between two fixed blocks 60,
Two 60 ends of fixed block are connected with clamping jaw 602；One fixed block 60 is connected with 43 end of secondary mechanical arm；Another fixed block 60
Can be under the drive of the first cylinder 601, aforementioned fixed block 60 moves back and forth relatively, to drive two clamping jaws 602 clamping and
Separation, to be clamped or unclamp lead 105.
As an implementation, in conjunction with Fig. 5, the second air-actuated jaw on the main mechanical arm 42 includes the first pneumatic clamps
Tool 6, fixed plate 50, straight line cylinder 503, guide rail 507, sliding block 508, mounting plate 506, pneumatic impact spanner 502, the first swing clamp cylinder
504, the second swing clamp cylinder 505；
The fixed plate 50 is connected with the end of main mechanical arm 42；Second air-actuated jaw 6 is arranged in fixed plate 50
Lower end is used for wire clamp 106；The straight line cylinder 503 is arranged in the upper end of fixed plate 50, the piston rod and peace of straight line cylinder 503
Loading board 506 is connected；The pneumatic impact spanner 502 is fixed on mounting plate 506, and 502 bottom of pneumatic impact spanner is equipped with sleeve, for tightening
With the nut 1065 unscrewed on wire clamp 106；Among the clamping jaw 602 of first air-actuated jaw of sleeve face 6；The mounting plate
506 both ends are respectively fixed with sliding block 508；Two guide rails 507 are additionally provided in the fixed plate 50, the guide rail 507 is axial and straight
The axial direction of line cylinder 503 is parallel, and the sliding block 508 can be slided up and down along guide rail 507；502 lower end of the pneumatic impact spanner is equipped with the
One swing clamp cylinder 504, there are two L-shaped baffles 509 for connection on the swing clamp cylinder 504；It is set between described two L-shaped baffles 509
There is gap, for avoiding waiting for the screw rod 1064 on nutting 1065；Non- working condition, two L-shaped baffles 509 are located at sleeve side
Side, after nut 1065 is unscrewed, the first swing clamp cylinder 504 drives L-shaped baffle 509 to turn to sleeve lower end, two 509, L-shaped baffles
1065 lower end both sides of nut are supportted, nut 1065 is avoided to fall off out of sleeve；Second swing clamp cylinder 505 is fixed on pneumatic impact spanner
502 upper ends, second swing clamp cylinder 505 are fixed on 502 upper end of pneumatic impact spanner, and second swing clamp cylinder 505 is connected with folder
Block 510, fixture block 510 are equipped with groove, and groove is caught in the positive and negative rotation knob 502-1 on pneumatic impact spanner 502, the second swing clamp cylinder
505, which turn to drive fixture block 510, rotates, and to drive knob, the positive and negative rotation of pneumatic impact spanner 502 is realized, to tighten or unscrew
Nut 1065.
In some embodiments, the opposing end surface of two clamping jaws 602 on first air-actuated jaw 6 is that circular arc is recessed
Face is bonded with lead 105.
As an implementation, two upper clamping jaws 602 on second air-actuated jaw are equipped with arc convex surface 602-
1,1066 both ends of mounting plate of the wire clamp 106 are equipped with circular arc concave surface 1066-1, when wire clamp 106 is clamped in clamping jaw 602, clamping jaw 602
Arc convex surface 602-1 be caught in the circular arc concave surface 1066-1 of mounting plate 1066 so that clamping is even closer reliable.
As one embodiment of the invention, in conjunction with Fig. 7, the mechanical arm is sixdegree-of-freedom simulation, including pedestal
431, the rotary axis direction waist joint 432 vertical with base plane, the shoulder joint 433 being connect with waist joint 432, with shoulder joint
The large arm 434 of 433 connections, the elbow joint 435 being connect with large arm 434, the forearm 436 being connect with elbow joint 435, with forearm 436
The wrist joint 437 of connection, wrist joint 437 are made of three rotary joints, respectively wrist pitching joint, wrist swinging joint and wrist rotation
Turn joint；Each joint all has corresponding orthogonal rotary encoder 31 and servo drive motor in the mechanism in six degree of freedom,
Orthogonal rotary encoder 31 is used to acquire the angle-data in each joint, and servo drive motor is used to control the movement in each joint；
Control room 2 calculates the movement angle in each joint according to the space path of the mechanical arm, and control servo drive motor is according to institute
State each joint motions of movement angle control machinery arm.
Further, insulating materials is wrapped up outside the mechanical arm.
As an implementation, the data transmission between robot platform 4 and control room 2 is by optical fiber wire transmission,
Or use wireless network transmissions.Communication module on robot platform 4 is fiber optical transceiver, and fiber optical transceiver is for realizing light
The mutual conversion of the electric signal in optical signal and twisted-pair feeder in fibre, to realize robot platform 4 and control room 2 in communication
Electrical isolation.Communication module in control room 2 is fiber optical transceiver, fiber optical transceiver for realizing in optical fiber optical signal with
The mutual conversion of electric signal in twisted-pair feeder, to realize the electrical isolation of robot platform 4 and control room 2 in communication.
As an implementation, in conjunction with Fig. 6, the control room 2 include the first industrial personal computer, the second industrial personal computer, display,
Main remote operating bar, secondary remote operating bar, communication module；The main remote operating bar and secondary 42 He of remote operating bar difference corresponding host tool arm
Secondary mechanical arm 43 constitutes master-slave operation relationship；Second industrial personal computer Built-in Image processor and livewire work action sequence library, display
Screen and main manipulator are located in control room；The working scene image of camera acquisition is sent to the second industrial personal computer, at image
The 3D dummy activity scenes that reason device obtains after handling working scene image, and display is sent to show.
The main remote operating bar and secondary remote operating bar are connected on the first industrial personal computer, are that one kind meeting somatological 4 axis 12
The flight rocking bar of button can use under major and minor mechanical arm remote operating pattern, and control is resolved by programming and Mechanical transmission test
The pose of six-freedom degree of the mechanical arm tail end processed under cartesian space simultaneously sends and controls its movement to mechanical arm, i.e., up and down,
The gesture stability of front and back and left and right position control and rolling, pitching and rotation.Remote operating bar can also control each degree of freedom fortune
The switch of dynamic speed and end Work tool.
The corresponding action sequence data of every livewire work are previously stored in livewire work action sequence library；It is described
The working scene image of camera acquisition is sent to the second industrial personal computer, and image processor obtains after handling working scene image
Mechanical arm and arrester between relative position relation, the second industrial personal computer is according to the relative position relation and specific electrification
The space path of action sequence planning mechanical arm corresponding to operation, and the space path data of the mechanical arm are sent to the
One industrial personal computer；First industrial personal computer calculates the movement angle in each joint according to the space path of the mechanical arm, and control servo is driven
Dynamic motor is according to each joint motions of movement angle control machinery arm.
Further, the main mechanical arm 42, secondary mechanical arm 43 are sixdegree-of-freedom simulation and wrap up insulating materials,
Further, the binocular camera 45 is made of two parallel industrial cameras of optical axis, between parallel optical axis
Distance is fixed.
Further, the robot platform 4 is additionally provided with tool box special 47, and the tool box special 47 is placement first
The place of the power tools such as air-actuated jaw 6, the second air-actuated jaw, pneumatic impact spanner 502.In conjunction with Fig. 8, on the tool box special 47
It is additionally provided with the wire clamp box of wire clamp 106.
Further, the telescopic arm 3 is equipped with the driving device along telescopic direction, and operating personnel can pass through control room 2
It controls the driving device, to which robot platform 4 is elevated to operation height.The telescopic arm 3 is made of insulating materials, for realizing
The insulation of robot platform 4 and control room 2.In the present invention, telescopic arm 3 can have by scissor-type lifting mechanism or other mechanism generations
It replaces.
According to the combination for the different task that the second industrial personal computer and the first industrial personal computer are completed, hot line robot of the present invention was both
Remote tele-operation can be carried out by operating personnel to complete livewire work, and can carry out autonomous livewire work.It is being charged
Before operation, operating personnel first passes through observation panoramic picture, and robot platform 4 is moved near wire clamp 106.
It is virtual according to binocular image and panoramic picture structure 3D by the second industrial personal computer if selecting artificial remote tele-operation
Working scene simultaneously send display to show, operating personnel passes through main operation manual control by 3D dummy activity scene monitoring operating process
The action of mechanical arm processed, to complete livewire work.In the process, after operating personnel changes main remote operating bar posture, main distant behaviour
The photoelectric encoder for making each joint in bar acquires each joint angles, and the microcontroller of each main remote operating bar is by serial ports by each pass
The angle-data of section is sent to the second industrial personal computer.Second industrial personal computer is using the angle-data in main each joint of remote operating bar as mechanical arm
The desired value of each joint angles is sent to the first industrial personal computer, and the first industrial personal computer passes through servomotor controller according to angle desired value
The movement in each joint of tool arm, to complete livewire work.
If selecting AUTONOMOUS TASK, is calculated according to binocular image and panoramic picture by the second industrial personal computer and obtain Special wire-clip
Then relative position relation between 106 and mechanical arm carries out mechanical arm space according to the action sequence corresponding to job task
Path planning, and space path is sent to the first industrial personal computer, the first industrial personal computer calculates what each joint needs of mechanical arm rotated
Desired value of the angle-data as each joint angles of mechanical arm, by the movement in each joint of servomotor controller tool arm, with complete
At livewire work.
Embodiment 1：
As an implementation, in conjunction with Fig. 9, a structure of an essay for adjacent shaft tower 101 has high-voltage conducting wires in the operating environment
104, cross-arm 102 is housed, for fixing and installing fuse switch 103 on shaft tower 101.103 upper end of fuse switch
It is drawn with lead 105, the connection of fuse switch 103 and high-voltage conducting wires 104 is realized by Special wire-clip 106.
The disconnected lead method of the hot line robot of the present invention, includes the following steps：
Operation 1. staff's progress hot line robot breaks before lead 105 prepares, and checks that meteorological condition, verification are led
Wire size, carries out installation check test at arrangement scene to robot end's Work tool：
1.1 check meteorological condition, ambient enviroment, line unit and safety measure.
1.2 arrangement scenes：In working site, safety barrier, working signal and related warning mark are set.
1.3 install breaking and connecting the second air-actuated jaw of lead in 42 end of main mechanical arm, and the first gas is installed in 43 end of secondary mechanical arm
Dynamic fixture 6.Surface insulation resistance detection is carried out to major-minor mechanical arm tail end air-actuated jaw using Insulation Resistance Tester, resistance value is not
Less than 700 megaohms.
2. mechanical arm platform 4 is moved to the conducting wire 104 connected using Special wire-clip 106 by telescopic arm 3 and branch connects and draws
Near line 105：
Aerial lift device with insulated arm 1 is driven into 100 neighbouring position of shaft tower and arranges scene by 2.1 aerial lift device with insulated arm drivers.Operation position
It sets and specially waits for position near operation shaft tower 100 and avoid nearby power line and barrier, avoid being parked on raceway groove cover board,
Aerial lift device with insulated arm 1 supporting leg sequence is first to stretch out horizontal support legs, then stretch out vertical leg, and it is in water to support to place rear vehicle all around
It is flat.
The overall view monitoring image that operating personnel show according to display screen in 2.2 control rooms 2 operates telescopic arm 3, by robot
Platform 4 is moved near Special wire-clip 106, it is ensured that major-minor mechanical arm enters job area.
After 2.3 robot platforms 4 are moved near job position, operating personnel are aobvious according to display in control room 2
The overall view monitoring image shown, operation remote operating bar make major and minor mechanical arm close to operative goals.
2.4 major and minor mechanical arms are made using remote operating bar adjustment posture in winner or secondary mechanical arm after operative goals
Binocular camera 45 can recognize Special wire-clip 106.
After 3. binocular camera 45 identifies and measures the pose of Special wire-clip 106, pose data are sent to the first industrial personal computer
And it controls main mechanical arm 42 and goes to and Special wire-clip 106 is clamped：
Binocular camera 45 on 3.1 masters or secondary mechanical arm shoots the scene image for including Special wire-clip 106, and image is passed through
Communication module 48 is transferred on the second industrial personal computer in control room 2.
3.2 second industrial personal computers obtain the image that binocular camera 45 takes, and by binocular identification and location algorithm, identification is special
With position of the wire clamp 106 in left and right mesh, position and posture of the Special wire-clip 106 relative to main mechanical arm 42 are calculated, and will
It is sent to the first industrial personal computer.
3.3 first industrial personal computers receive the relative pose of Special wire-clip 106 and main mechanical arm 42 that the second industrial personal computer is sent, lead to
Inverse kinematics and trajectory planning and interpolation algorithm are crossed, planning main mechanical arm 42 arrives the track of Special wire-clip 106.
After 3.4 first industrial personal computers cook up track, trace information is sent to main mechanical arm 42 by communication module 48
Controller.
The switch board of 3.5 main mechanical arms 42 receives the trace information that the first industrial personal computer is sent, and opens the second pneumatic clamps of end
The clamping jaw 602 of tool is simultaneously moved at Special wire-clip 106.
3.6 second air-actuated jaws are closed clamping jaw 602 so that the arc convex surface 602-1 of clamping jaw 602 is installed with Special wire-clip 106
Wire clamp 106 is firmly grasped in the arc convex surface 1066-1 engagements of plate 1066.
4. secondary first air-actuated jaw, 6 clamp leads 105 of mechanical arm 43 of control are fixed on the end portion outside Special wire-clip 106
Position：
The phase for the Special wire-clip 106 and main mechanical arm 42 that second industrial personal computer is sent in 4.1 first industrial personal computer receiving steps 3.2
To pose, calculates secondary mechanical arm 43 using fixed rotation translation matrix and utilize 106 105 ends of lead connect of Special wire-clip
Relative pose.
4.2 first industrial personal computers arrive lead by Inverse kinematics and the secondary mechanical arm 43 of trajectory planning and interpolation algorithm planning
Trace information is transferred to the controller of secondary mechanical arm 43 by the track of 105 ends by communication module 48.
4.3 secondary mechanical arms 43 receive the trace information that the first industrial personal computer is sent, and open the clamping jaw 602 of the first air-actuated jaw 6
And it is moved to 105 end of lead.
The clamping jaw 602 of 4.4 the first air-actuated jaws 6 of closure makes secondary mechanical arm 43 clamp lead 105.
5. using the second air-actuated jaw release conducting wire 104 and lead 105 of 42 end of main mechanical arm：
5.1 open the box spanner 502 of 42 the second air-actuated jaw of end of main mechanical arm, and box spanner 502 packs into downwards specially
With the nut 1065 on wire clamp 106.
5.2 startup box spanners 502 unscrew the nut 1065 on wire clamp 106, and nut 1065 unclamps outward.
After 5.3 nuts 1065 unclamp outward, the wire casing 1061 and pressing plate 1062 of Special wire-clip 106 separate, and discharge conducting wire 104
With lead 105.
6. lead 105 is removed out Special wire-clip 106 by secondary mechanical arm 43：
After 6.1 conducting wires 104 and lead 105 are discharged from Special wire-clip 106, secondary mechanical arm 43 removes out lead 105 specially
With outside wire clamp 106.
6.2 secondary mechanical arms 43 remove lead 105, until the part that lead 105 is contacted with 106 wire lead slot of wire clamp is completely de-
From.
7. Special wire-clip 106 is removed outside conducting wire 104 and is placed into mechanical arm tool box special 47 by main mechanical arm 42：
After 7.1 secondary mechanical arms 43 remove lead 105, the first industrial personal computer grips special according to default control main mechanical arm 42
Wire clamp 106 is moved along 1061 opening direction of wire casing, and Special wire-clip 106 is detached from from conducting wire 104 and makes it at a distance.
7.2 first industrial personal computers are according to the first industrial personal computer according to the installation phase of main mechanical arm 42 and mechanical arm tool box special 47
Track is calculated to position, makes main mechanical arm 42 that wire clamp 106 to be moved at the mechanical arm tool box special 47 in mechanical arm platform.
7.3 main mechanical arms 42 open the clamping jaw 6 of the second air-actuated jaw of end, and it is special to mechanical arm to place Special wire-clip 106
In tool box 47.
8. secondary mechanical arm 43 is moved to suitable position (lead 105 will not touch other charging equipments), unclamps gripping and draw
The special clamping jaw 60 of line 105 discharges the lead 105 being connected on the device such as fuse switch 103, and broken string work is complete
At.
The present invention is used only two mechanical arms using electrification broken string method and carries out operations, reduce job platform heavy burden and
Redundancy.The artificial autonomous or semi-autonomous formula control of machine, requires operating personnel's labor intensity small.Use hot line robot
Dedicated first air-actuated jaw, the second air-actuated jaw and Special wire-clip carry out disconnected lead operation, and Tool integrationization is high, and dismounting is more
It is convenient.Disconnected lead operation can be carried out in the case of electrification, avoid the negative effect for having a power failure and bringing, power failure is greatly reduced
Time improves power supply reliability, alleviates electricity consumption and complains contradiction.Using hot line robot compared to needs short distance insulation hand
Set operation carry out disconnected lead operational method when can be from considering that electric arc generates to human body burn and Danger Electric shock risk, falling from high altitude are asked
Topic.
Claims (9)
- A kind of lead method 1. hot line robot breaks, which is characterized in that based on the main mechanical arm on robot platform, slave The camera of tool arm and Collecting operation scene image data completes following work by control room control machinery arm：Secondary mechanical arm clamp leads；Main mechanical arm firmly grasps wire clamp, and the pneumatic impact spanner of main mechanical arm end is by the nut pair on wire clamp Standard is simultaneously unscrewed；Secondary mechanical arm clamp leads are detached from from wire clamp, and then clamp leads are far from operating area；Main mechanical arm is by wire clamp It is detached from from conducting wire, and wire clamp is placed in tool box.
- The lead method 2. a kind of hot line robot according to claim 1 breaks, which is characterized in that the wire clamp includes Wire casing, pressing plate, shaft, screw rod, nut, mounting plate, connecting rod, spring；The mounting plate both ends are respectively equipped with arc-shaped wire casing, are respectively used to place conducting wire and lead；The screw rod passes through installation Plate is connected with shaft；The shaft is axial axially parallel with wire casing, and perpendicular to screw rod axial direction；The shaft lower end and mounting plate Between be equipped with spring；One end of the connecting rod is rotatablely connected with shaft, and the other end is connected with pressing plate；The wire casing at both ends is equipped with pressure Plate；The nut coordinates with screw rod, and nut rotates on screw rod, and shaft is pulled or pushed；Change between screw rod and mounting plate Distance, to change the distance between pressing plate and wire casing, to compress or unclamp conducting wire and lead；When the nut is loose, spring Shaft is pushed away at a distance from mounting plate greatly, to realize the release of pressing plate.
- The lead method 3. a kind of hot line robot according to claim 2 breaks, which is characterized in that the pressing plate is opposite The end face of wire casing is arc surface, and the arc surface of pressing plate and the arc surface of wire casing coordinate, the topographies with conducting wire and lead.
- The lead method 4. a kind of hot line robot according to claim 1 breaks, which is characterized in that the pair mechanical arm Pass through the first air-actuated jaw clamp leads of end；The main mechanical arm is completed to be clamped and tear open by the second air-actuated jaw of end Except the nut on wire clamp.
- The lead method 5. a kind of hot line robot according to claim 4 breaks, which is characterized in that described first is pneumatic Fixture includes two fixed blocks, the first cylinder, two clamping jaws being oppositely arranged；First cylinder setting two fixed blocks it Between, two fixed block ends are connected with clamping jaw；One fixed block is connected with secondary mechanical arm tail end；Another fixed block can be first Under the drive of cylinder, relatively aforementioned fixed block moves back and forth, to drive the clamping and separation of two clamping jaws, to be clamped or unclamp Lead.
- The lead method 6. a kind of hot line robot according to claim 5 breaks, which is characterized in that described second is pneumatic Fixture is arranged in the lower end of fixed plate, is used for wire clamp；The straight line cylinder is arranged in the upper end of fixed plate, the piston of straight line cylinder Bar is connected with mounting plate；The pneumatic impact spanner is fixed on a mounting board, and pneumatic impact spanner bottom is equipped with sleeve, for tightening and unscrewing Nut on wire clamp；Among the clamping jaw of first air-actuated jaw of sleeve face；The mounting plate both ends are respectively fixed with sliding block； Two guide rails are additionally provided in the fixed plate, the guide rail is axial parallel with the axial direction of straight line cylinder, and the sliding block can be along guide rail It slides up and down；The pneumatic impact spanner lower end is equipped with the first swing clamp cylinder, and there are two L-shaped baffles for connection on the swing clamp cylinder；Institute It states and is equipped with gap between two L-shaped baffles, for avoiding waiting for the screw rod on nutting；Non- working condition, two L-shaped baffles are located at Sleeve side, after nut is unscrewed, the first swing clamp cylinder drives L-shaped baffle to turn to sleeve lower end, under two L-shaped baffle holding nuts Both sides are held, nut is avoided to fall off out of sleeve；Second swing clamp cylinder is fixed on pneumatic impact spanner upper end, the second corner gas Cylinder is fixed on pneumatic impact spanner upper end, and second swing clamp cylinder is connected with fixture block, and fixture block is equipped with groove, and groove, which is caught in, pneumatically to be pulled Positive and negative rotation knob on hand, the second swing clamp cylinder, which turns to, drives fixture block rotation, to drive knob, realizes pneumatic impact spanner Positive and negative rotation, to tighten or unscrew nut.
- The lead method 7. a kind of hot line robot according to claim 6 breaks, which is characterized in that described second is pneumatic Two upper clamping jaws on fixture are equipped with arc convex surface, and the mounting plate both ends of the wire clamp are equipped with circular arc concave surface, and line is clamped in clamping jaw When folder, the arc convex surface of clamping jaw is caught in the circular arc concave surface of mounting plate.
- The lead method 8. a kind of hot line robot according to claim 1 breaks, which is characterized in that the camera packet Include full-view camera, binocular camera；The full-view camera leads to image data to the image data of Collecting operation scene The communication module for crossing robot platform is sent to control room；It is equipped with binocular camera on the main mechanical arm and secondary mechanical arm, To the image data of Collecting operation scene, image data is sent to control room；The control room includes the first industrial personal computer, the Two industrial personal computers, display, main remote operating bar, secondary remote operating bar, communication module；The main remote operating bar and secondary remote operating bar difference Corresponding host tool arm and secondary mechanical arm, constitute master-slave operation relationship；Second industrial personal computer Built-in Image processor and livewire work are dynamic Make sequence library, display screen and main manipulator to be located in control room；The working scene image of the camera acquisition is sent to second Industrial personal computer, the 3D dummy activity scenes that image processor obtains after handling working scene image, and display is sent to show.
- The lead method 9. a kind of hot line robot according to claim 1 breaks, which is characterized in that secondary before operation Mechanical arm and main mechanical arm clamping insulation masking material carry out insulation masking to electrical body；After operation, secondary mechanical arm and Main mechanical arm removes the insulation masking material being covered on electrical body.
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| CN201810227803.9A CN108616077B (en) | 2018-03-20 | 2018-03-20 | Lead breaking method for live working robot |
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|---|---|---|---|
| CN201810227803.9A CN108616077B (en) | 2018-03-20 | 2018-03-20 | Lead breaking method for live working robot |
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| CN108616077A true CN108616077A (en) | 2018-10-02 |
| CN108616077B CN108616077B (en) | 2020-04-21 |
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| CN109950827A (en) * | 2019-04-09 | 2019-06-28 | 北京国电富通科技发展有限责任公司 | Charge the distribution network line break wire device and method of robot |
| CN110601080A (en) * | 2019-10-15 | 2019-12-20 | 国网湖南省电力有限公司 | Operation manipulator and operation method for distribution network live wire breaking and connecting robot |
| CN110601082A (en) * | 2019-10-15 | 2019-12-20 | 国网湖南省电力有限公司 | Distribution network live disconnection and connection method and corresponding system thereof |
| CN111055294A (en) * | 2019-12-13 | 2020-04-24 | 国网浙江嘉善县供电有限公司 | Live working manipulator |
| CN111682447A (en) * | 2020-06-15 | 2020-09-18 | 中铁建电气化局集团运营管理有限公司 | Contact net intelligent maintenance robot and working method thereof |
| CN113964720A (en) * | 2021-10-19 | 2022-01-21 | 许继电气股份有限公司 | Distribution network live working robot system and drainage wire connection and disconnection operation method |
| CN114770498A (en) * | 2022-03-31 | 2022-07-22 | 常州市盈能电气有限公司 | Live working robot operation method |
| CN110601080B (en) * | 2019-10-15 | 2024-04-12 | 国网湖南省电力有限公司 | Operation manipulator and operation method of distribution network live wire disconnection and wire connection robot |
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