CN108616077B

CN108616077B - Lead breaking method for live working robot

Info

Publication number: CN108616077B
Application number: CN201810227803.9A
Authority: CN
Inventors: 郭毓; 吴禹均; 郭健; 饶志强; 吴益飞; 苏鹏飞; 吴巍; 陈宝存; 蔡梁; 肖潇; 郭飞
Original assignee: Nanjing University of Science and Technology
Current assignee: Nanjing University of Science and Technology
Priority date: 2018-03-20
Filing date: 2018-03-20
Publication date: 2020-04-21
Anticipated expiration: 2038-03-20
Also published as: CN108616077A

Abstract

The invention provides a lead breaking method for a live working robot, which 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 controls the mechanical arm to complete the following work through a control room: the auxiliary mechanical arm clamps the lead; a main mechanical arm grabs the wire clamp, and a pneumatic wrench at the tail end of the main mechanical arm aligns and unscrews a nut on the wire clamp; the auxiliary mechanical arm clamps the lead to be separated from the wire clamp, and then clamps the lead to be far away from the operation area; the main mechanical arm separates the wire clamp from the wire and places the wire clamp in a tool box; the invention can remove the lead supported on the lead 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.

Description

Lead breaking method for live working robot

Technical Field

The invention belongs to the technical field of robot control and electric power engineering, and particularly relates to a lead breaking method for a live working robot.

Background

The live line disconnection and connection of a lead wire is one of main operation projects of domestic live line operation on the distribution network side, and the work mostly adopts an insulating glove direct operation method at present, so that various safety measures need to be prepared before power distribution operation, the operation mode is determined, and an operation tool is selected. The hot-line work avoids the negative effect caused by line power failure to a great extent, greatly reduces the power failure time, improves the power supply reliability and relieves the power utilization complaint contradiction. Compared with a transmission network, the power distribution network has the characteristics of dense equipment, complex lines, narrow space, small distance to the ground and the like although the voltage is lower, the hot-line work difficulty of the power distribution network is increased, and interphase short circuit or phase-to-ground short circuit is easily caused. Causing greater psychological stress, labor intensity and operation danger to live working personnel.

The hot-line work robot is used for replacing a person to perform wire breaking and connecting operations, and has more detailed functions compared with a lapping method using an insulating rod remotely. Chinese patent application No. CN201611129645.0 discloses a method for lapping leads of live working robot, which adopts robot remote operation or autonomous lapping or dismantling leads, but its scheme uses three mechanical arms to perform simultaneous operation, and does not design special clamp and wire clamp for the mechanical arms, the operation steps are tedious, mutual interference easily occurs in narrow space, and the electric wire is easily short-circuited or collided to damage the mechanical arms.

Disclosure of Invention

The invention aims to provide a lead breaking method for a live working robot, which is used for replacing the safety problem of dismantling a lead which is branched on a lead under the condition of no power failure.

The technical solution for realizing the purpose of the invention is as follows:

a lead breaking method for 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 the lead; a main mechanical arm grabs the wire clamp, and a pneumatic wrench at the tail end of the main mechanical arm aligns and unscrews a nut on the wire clamp; the auxiliary mechanical arm clamps the lead to be separated from the wire clamp, and then clamps the lead to be far away from the operation area; the master robotic arm disengages the wire clamp from the wire and places the wire clamp in a tool box.

Compared with the prior art, the invention has the following remarkable advantages:

(1) the invention can remove the lead supported on the lead 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 task of breaking the lead wire 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 live working scene of the embodiment of the invention uses the specially designed wire clamp to connect the conducting wire and the leading wire, and is more suitable for the robot to carry out live working compared with the common wire clamp during wire breakage, thereby simplifying the operation steps.

(5) The invention uses the specially designed pneumatic clamp to complete the work of breaking the lead, 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.

(6) 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 a special wire clamp 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 breaking the lead of the live working robot of the present invention is based on a main mechanical arm, an auxiliary mechanical arm and a camera of image data of a working scene on a robot platform, and controls the mechanical arm to complete the following work through a control room:

the sub-robot arm 43 grips the lead 105; the master robotic arm 42 grasps the wire clamp 106, and the air wrench 502 at the end of the master robotic arm 42 aligns the nut 1065 on the wire clamp 106 and unscrews the nut 1065; the sub-arm 43 clamps the lead 105 off the clamp 106 and then clamps the lead 106 away from the work area; the master robotic arm 42 disengages the wire clamp 106 from the wire 104 and places the wire clamp 106 in the tool box 47.

As an example, in conjunction with fig. 2, the wire clamp 106 includes a wire slot 1061, a pressing plate 1062, a rotating shaft 1063, a screw 1064, a nut 1065, a mounting plate 1066, a connecting rod 1067, and a spring 1068;

the two ends of the mounting plate 1066 are respectively provided with an arc-shaped wire slot 1061 for placing a wire 104 and a lead 105; the screw 1064 penetrates through the mounting plate 1066 and is fixedly connected with the rotating shaft 1063; the axial direction of the rotating shaft 1063 is parallel to the axial direction of the slot 1061 and is perpendicular to the axial direction of the screw 1064; a spring 1068 is arranged between the lower end of the rotating shaft 1063 and the mounting plate 1066; one end of the connecting rod 1067 is rotatably connected with the rotating shaft 1063, and the other end of the connecting rod is fixedly connected with the pressing plate 1062; the wire grooves 1061 at the two ends are provided with pressing plates 1062; the nut 1065 is matched with the screw 1064, the nut 1065 rotates on the screw 1064, the rotating shaft 1063 is pulled or pushed, the distance between the screw 1064 and the mounting plate 1066 is changed, the distance between the pressing plate 1062 and the wire slot 1061 is changed, and the wire 104 and the lead 105 are pressed or loosened; when nut 1065 is loosened, spring 1068 pushes shaft 1063 a greater distance away from mounting plate 1066, thereby effecting the loosening of pressure plate 1062.

Further, the end face of the pressing plate 1062 opposite to the wire groove 1061 is an arc surface, and the arc surface of the pressing plate 1062 is matched with the arc surface of the wire groove 1061 and is attached to the shapes of the wire 104 and the lead 105, so that the wire clamp 106 is ensured to be in full contact with the wire 104 and the lead 105, and the resistance is reduced. The device such as the drop-out fuse 103 and the high voltage wire 104 are connected by a lead 105.

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 special tool box 47, a communication module and control cabinet 48 and a storage battery 49.

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 clamping of the special wire clamp 106 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 to clamp or release the lead 105.

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 second pneumatic clamp 6 is arranged at the lower end of the fixing plate 50 and used for a wire clamp 106; 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 1065 on the wire clamp 106; the sleeve is opposite to the middle of the clamping jaw 602 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 1064 on a nut 1065 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 1065 is loosened, 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 two sides of the lower end of the nut 1065 to prevent the nut 1065 from falling off from the sleeve; the second corner cylinder 505 is fixed at 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, the second corner cylinder 505 rotates in a direction to drive the clamping block 510 to rotate, and therefore the knob is driven to rotate, forward and reverse rotation of the pneumatic wrench 502 is achieved, and the nut 1065 is screwed down or loosened.

In some embodiments, the opposing end surfaces of the two jaws 602 on the first pneumatic clamp 6 are rounded concave surfaces, which fit over the leads 105.

As an implementation mode, the two clamping jaws 602 on the second pneumatic fixture are provided with arc convex surfaces 602-1, arc concave surfaces 1066-1 are arranged at two ends of the mounting plate 1066 of the wire clamp 106, and when the clamping jaws 602 clamp the wire clamp 106, the arc convex surfaces 602-1 of the clamping jaws 602 are clamped into the arc concave surfaces 1066-1 of the mounting plate 1066, so that the clamping is more compact and reliable.

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.

The main teleoperation rod and the auxiliary teleoperation rod are connected to a first industrial personal computer, are flight rockers with 4-axis 12-key according with anthropology, can be used in a main mechanical arm teleoperation mode and an auxiliary mechanical arm teleoperation mode, and control the poses of the tail ends of the mechanical arms in six degrees of freedom in a Cartesian space through programming and mechanical arm kinematics calculation and send the poses to the mechanical arms to control the motions of the mechanical arms, namely up-down, front-back and left-right position control and rolling, pitching and rotating pose control. The teleoperated lever may also control the speed of the various degrees of freedom motions and the switching of the end-effector.

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 wire clamp box of the wire clamp 106.

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 the live-wire work is performed, the worker moves the robot platform 4 to the vicinity of the wire clamp 106 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 obtains the relative position relation between the special wire clamp 106 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 motion of each joint of the mechanical arm is controlled through the servo motor, so that the live working is completed.

Example 1:

in one embodiment, referring to fig. 9, a high voltage conductor 104 is erected between adjacent towers 101 in the operating environment, and a cross arm 102 is mounted on the towers 101 and used for fixing and installing a drop-out fuse 103. The upper end of the drop-out fuse 103 is led out by a lead 105, and the drop-out fuse 103 is connected with a high-voltage lead 104 by a special wire clamp 106.

The invention discloses a lead breaking method of an electric operating robot, which comprises the following steps:

1. the staff carries out the operation preparation before the hot-line work robot breaks lead wire 105, inspects meteorological condition, checks the wire number, arranges the scene, carries out installation inspection test to the terminal multiplexer utensil of robot:

1.1 checking meteorological conditions, surroundings, line installations and safety measures.

1.2 arrangement site: and arranging a safety guardrail, an operation mark and a related warning mark on a working site.

1.3, a second pneumatic clamp for breaking and connecting leads is arranged at the tail end of the main mechanical arm 42, and a first pneumatic clamp 6 is arranged at the tail end of the auxiliary mechanical arm 43. And (3) carrying out surface insulation resistance detection on the pneumatic clamp at the tail end of the main mechanical arm and the auxiliary mechanical arm by adopting an insulation resistance tester, wherein the resistance value is not less than 700 megaohms.

2. The robot arm platform 4 is moved through the telescopic arm 3 to the vicinity of the lead 104 and the branch lead 105 connected using the dedicated clamp 106:

2.1 insulating arm vehicle driver drives the insulating arm vehicle 1 into the position near the tower 100 and arranges the site. 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 personnel in the control room 2 operate the telescopic arm 3 according to the panoramic monitoring image displayed by the display screen, move the robot platform 4 to the position near the special wire clamp 106 and ensure that the main mechanical arm and the auxiliary mechanical arm enter the operation range.

2.3 after the robot platform 4 moves to the position near the working position, the operator in the control room 2 operates the remote control lever to make the main mechanical arm and the auxiliary mechanical arm close to the working target according to the panoramic monitoring image displayed by the display.

2.4 after the main mechanical arm and the auxiliary mechanical arm are close to the operation target, the remote operation rod is used for adjusting the posture, so that the binocular camera 45 on the main mechanical arm or the auxiliary mechanical arm can identify the special wire clamp 106.

3. After the binocular camera 45 recognizes and measures the pose of the special clamp 106, the pose data is sent to the first industrial personal computer and the main mechanical arm 42 is controlled to go to and clamp the special clamp 106:

3.1 the binocular camera 45 on the main or auxiliary arm takes the scene image containing the special clip 106 and transmits the image to the second industrial personal computer in the control room 2 through the communication module 48.

3.2 the second industrial personal computer obtains the images shot by the binocular camera 45, identifies the positions of the special wire clamp 106 in the left eye and the right eye through a binocular recognition and positioning algorithm, calculates the position and the posture of the special wire clamp 106 relative to the main mechanical arm 42, and sends the position and the posture to the first industrial personal computer.

3.3 the first industrial personal computer receives the relative poses of the special wire clamp 106 and the main mechanical arm 42 sent by the second industrial personal computer, and plans the track from the main mechanical arm 42 to the special wire clamp 106 through inverse kinematics calculation, track planning and interpolation algorithm.

3.4 the first industrial personal computer plans a track and sends the track information to the controller of the master arm 42 through the communication module 48.

3.5 the control cabinet of the master robot arm 42 receives the trajectory information sent by the first industrial computer, opens the gripper jaws 602 of the second pneumatic gripper at the end and moves to the dedicated gripper 106.

3.6 second pneumatic clamp closes the jaws 602 so that the radiused convex surface 602-1 of the jaws 602 engages the radiused convex surface 1066-1 of the mounting plate 1066 of the dedicated wire clamp 106 to grasp the wire clamp 106.

4. The control sub-arm 43 clamps the end portion of the lead 105 fixed outside the special clamp 106 with the first pneumatic clamp 6:

4.1 the first industrial personal computer receives the relative poses of the special clamp 106 and the main mechanical arm 42 sent by the second industrial personal computer in the step 3.2, and calculates the relative poses of the auxiliary mechanical arm 43 and the end part of the lead 105 which is connected by the special clamp 106 by using a fixed rotation translation matrix.

4.2 the first industrial personal computer plans the track from the auxiliary mechanical arm 43 to the end part of the lead 105 through the kinematic inverse solution, the track planning and the interpolation algorithm, and transmits the track information to the controller of the auxiliary mechanical arm 43 through the communication module 48.

4.3 the sub-robot 43 receives the trajectory information sent by the first industrial computer, opens the jaws 602 of the first pneumatic gripper 6 and moves to the end of the lead 105.

4.4 closing the jaws 602 of the first pneumatic clamp 6 causes the sub-robot 43 to clamp the lead 105.

5. The wire 104 and lead 105 are released using a second pneumatic clamp at the end of the main robot arm 42:

5.1 open the socket 502 of the second pneumatic gripper at the end of the main robot arm 42, the socket 502 is pushed down into the nut 1065 on the special clamp 106.

5.2 the socket wrench 502 is actuated to loosen the nut 1065 on the wire clamp 106 and the nut 1065 is loosened outwardly.

5.3 after the nut 1065 is loosened outward, the wire slot 1061 and the pressure plate 1062 of the special clamp 106 are separated, releasing the wire 104 and the lead 105.

6. The sub-robotic arm 43 removes the lead 105 out of the special clip 106:

6.1 after the wire 104 and lead 105 are released from the dedicated clamp 106, the sub-robotic arm 43 removes the lead 105 out of the dedicated clamp 106.

6.2 the sub-arm 43 removes the lead 105 until the portion of the lead 105 in contact with the lead slot of the clip 106 is completely disengaged.

7. The master robot arm 42 removes the special wire clamp 106 from the wire 104 and places it into the robot special tool box 47:

7.1 after the sub-arm 43 moves the lead 105 out, the first industrial computer controls the main arm 42 to clamp the special clamp 106 to move along the opening direction of the line slot 1061 according to the preset state, and the special clamp 106 is separated from the lead 104 and is spaced at a certain distance.

7.2 the first industrial computer calculates the track according to the installation relative position of the main mechanical arm 42 and the special mechanical arm tool box 47, so that the main mechanical arm 42 moves the wire clamp 106 to the special mechanical arm tool box 47 in the mechanical arm platform.

7.3 the master robot arm 42 opens the jaws 6 of the second end pneumatic gripper and places the special gripper 106 into the robot special tool box 47.

8. The sub-robot arm 43 moves to a proper position (the lead 105 does not touch other live equipment), releases the special clamping jaw 60 for clamping the lead 105, releases the lead 105 connected to the device such as the drop-out fuse 103, and completes the wire breaking work.

The invention uses the live-line wire breaking method to operate only by using two mechanical arms, thereby reducing the load and the redundancy of the operation platform. The robot is controlled autonomously or semi-autonomously, and the requirement on the labor intensity of operators is low. The first pneumatic clamp, the second pneumatic clamp and the special wire clamp special for the live working robot are used for conducting wire breaking operation, the tool integration is high, and the dismounting is more convenient. The lead wire can be cut off under the electrified condition, so that the negative influence caused by power failure is avoided, the power failure time is greatly reduced, the power supply reliability is improved, and the power utilization complaint contradiction is relieved. Compared with a method for performing lead breaking operation by using an electrified operation robot through close-distance insulating gloves, the method can avoid the problems of burning, electric shock hazard and high-altitude falling of a human body when electric arcs are generated.

Claims

1. A lead breaking method for a 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 the lead; a main mechanical arm grabs the wire clamp, and a pneumatic wrench at the tail end of the main mechanical arm aligns and unscrews a nut on the wire clamp; the auxiliary mechanical arm clamps the lead to be separated from the wire clamp, and then clamps the lead to be far away from the operation area; the main mechanical arm separates the wire clamp from the wire and places the wire clamp in a tool box;

the auxiliary mechanical arm clamps the lead through a first pneumatic clamp at the tail end; the main mechanical arm finishes clamping through a second pneumatic clamp at the tail end and removes a nut on the wire clamp;

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 second pneumatic clamp is arranged at the lower end of the fixing plate and used for clamping a wire; 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 screwing and unscrewing a nut on the wire clamp; 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 in the pneumatic wrench upper end, the second corner cylinder is connected with the clamp splice, is equipped with the recess on the clamp splice, and the recess card is gone into the knob that is just reversing on the pneumatic wrench, and the second corner cylinder turns to and drives the clamp splice rotation to drive the knob and rotate, realize the turning just reversing of pneumatic wrench, in order to screw up or loosen the nut.

2. The live working robot lead wire breaking method according to claim 1, wherein the wire clamp comprises a wire groove, a pressing plate, a rotating shaft, a screw rod, a nut, a mounting plate, a connecting rod and a spring;

arc-shaped wire grooves are formed in the two ends of the mounting plate respectively and used for placing wires and leads respectively; the screw penetrates through the mounting plate and is fixedly connected with the rotating shaft; the axial direction of the rotating shaft is parallel to the axial direction of the wire groove and is perpendicular to the axial direction of the screw rod; a spring is arranged between the lower end of the rotating shaft and the mounting plate; one end of the connecting rod is rotatably connected with the rotating shaft, and the other end of the connecting rod is fixedly connected with the pressing plate; the wire grooves at two ends are provided with pressing plates; the nut is matched with the screw rod, and the nut rotates on the screw rod to pull or push the rotating shaft; changing the distance between the screw and the mounting plate to change the distance between the pressing plate and the wire groove so as to press or loosen the wires and the leads; when the nut is loosened, the spring pushes the distance between the rotating shaft and the mounting plate to be larger, so that the pressing plate is loosened.

3. The lead breaking method for the live working robot according to claim 2, wherein the end face of the pressing plate opposite to the wire groove is a circular arc face, and the circular arc face of the pressing plate is matched with the circular arc face of the wire groove and is attached to the shapes of the lead and the lead.

4. The live working robot lead wire breaking method according to claim 1, wherein the first pneumatic clamp comprises two fixed blocks, a first air cylinder, 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 clamping and the separation of the two clamping jaws are driven to clamp or loosen the lead.

5. The method for breaking the lead of the live working robot according to claim 1, wherein the two clamping jaws on the second pneumatic clamp are provided with arc convex surfaces, the two ends of the mounting plate of the wire clamp are provided with arc concave surfaces, and when the clamping jaws clamp the wire clamp, the arc convex surfaces of the clamping jaws are clamped into the arc concave surfaces of the mounting plate.

6. The live working robot lead wire breaking method according to 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.

7. The method for breaking the lead of the live working robot according to 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.