CN109950827A - Charge the distribution network line break wire device and method of robot - Google Patents
Charge the distribution network line break wire device and method of robot Download PDFInfo
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- CN109950827A CN109950827A CN201910283666.5A CN201910283666A CN109950827A CN 109950827 A CN109950827 A CN 109950827A CN 201910283666 A CN201910283666 A CN 201910283666A CN 109950827 A CN109950827 A CN 109950827A
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- drainage thread
- mechanical arm
- distribution network
- control unit
- network line
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Abstract
The present invention provides a kind of distribution network line break wire devices and method for charging robot, are related to robot control and electric power project engineering field.The distribution network line break wire device of electrification robot includes workbench, main mechanical arm and secondary mechanical arm；Main mechanical arm and secondary mechanical arm are disposed in parallel on workbench, and the end of secondary mechanical arm is equipped with clamping jaw, for clamping drainage thread；The end of main mechanical arm is equipped with electronic broken string tool, for cutting off drainage thread.It solves in the prior art, using pneumatically-operated mode, the technical issues of easily causing Platform Vibration to influence the accuracy of acquisition image, while causing robot complicated integral structure, volume to increase using pneumatic disconnection manner.The end of main mechanical arm of the invention is equipped with the electronic broken string tool of cutting drainage thread, realize the cutting to drainage thread, by the electronic broken string tool on the clamping jaw and main mechanical arm on the secondary mechanical arm of setting, realizes the cutting to drainage thread, avoid the complexity of the structure using pneumatic mode.
Description
Technical field
The present invention relates to robot control and electric power project engineering fields, more particularly, to a kind of hot line robot
Distribution network line break wire device and method.
Background technique
Electrification breaking and connecting drainage thread is domestic with one of net side livewire work key operation project, such work at present more adopts
With insulating glove direct maintenance, therefore before livewire work, it is necessary to get out various safety measures, specify operator
Formula, and choose operational instrument.Livewire work largely avoids the negative effect of line outage bring, 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 lower,
The features such as there is equipment intensively, complex circuit, narrow space, small distance to the ground, increases live working of distribution network difficulty, very
It is easy to cause phase fault.Cause bigger psychological pressure, labor intensity and operation dangerous livewire work personnel.
People is replaced to carry out the operation of breaking and connecting lead using hot line robot, compared to using insulating glove direct operation
Method has the function of more careful.Existing hot line robot is carried out using operator in robot of the ground in face of high-altitude
Remote operating realizes the on-off to distribution network line with the operation mode independently combined.
But existing electrification robot is to be easy to make in aerial work platform installation compressor using pneumatic operation mode
At Platform Vibration and the accuracy of vision system acquisition image is influenced, but also is needed using iron wire clamp, there are wire clamps can not
By the problems such as and the scope of application be limited it is larger, because pneumatic reliability itself, stability are poor, by the way of pneumatically breaking also
It needs to use cylinder etc. that robot complicated integral structure, volume are increased, quality exacerbation.
Summary of the invention
The purpose of the present invention is to provide a kind of distribution network line break wire devices for charging robot, to solve the prior art
Present in, using pneumatically-operated mode, Platform Vibration is easily caused to influence acquisition imaging accuracy, while using pneumatic broken string
The technical issues of mode causes robot complicated integral structure, volume to increase.
The present invention also provides a kind of distribution network line broken string methods for charging robot, to solve to exist in the prior art
, using pneumatically-operated mode, Platform Vibration is easily caused to influence acquisition imaging accuracy, while making using pneumatic disconnection manner
The technical issues of increasing at robot complicated integral structure, volume.
A kind of distribution network line break wire device charging robot provided by the invention, including workbench, main mechanical arm
With secondary mechanical arm；
The main mechanical arm and secondary mechanical arm are disposed in parallel on workbench, and the end of the pair mechanical arm is equipped with folder
Pawl, for clamping drainage thread；The end of the main mechanical arm is equipped with the electronic broken string tool for cutting off drainage thread；The clamping jaw
Including Electric Actuator and wire clipping component, the wire clipping component, which can be clamped or be unclamped under the drive of Electric Actuator, to be drawn
The movement of streamline.
It further, further include fixation and recognition unit and control unit；
The fixation and recognition unit is connect with control unit, and described control unit is connect with main mechanical arm, and the control is single
Member is connect with secondary mechanical arm, the fixation and recognition unit position of drainage thread and by the transmission of the location information of drainage thread for identification
To control unit, described control unit receives location information transmitted by fixation and recognition unit, and controls main mechanical arm and slave
The movement of tool arm；When fixation and recognition unit senses the predeterminated position in job area of the drainage thread in secondary mechanical arm, institute
It states fixation and recognition unit and sends location information to control unit, described control unit controls secondary mechanical arm and clamps drainage thread；When fixed
After position recognition unit senses that drainage thread is clamped, the information to be cut off that the fixation and recognition unit sends drainage thread is single to control
Member, described control unit controls main mechanical arm and electronic broken string tool cuts off drainage thread.
It further, further include monitoring unit；
The monitoring unit is connect with control unit, and the monitoring unit is used for the location status of monitoring platform；When
When the workbench reaches predetermined position, the monitoring unit sends location information to control unit, control unit control master
The work of mechanical arm and secondary mechanical arm.
It further, further include remote controler；
The remote controler is connect with electronic broken string tool, for controlling the working condition of electronic broken string tool.
It further, further include means of transport；
The means of transport is connect with workbench, and the means of transport is for transporting workbench to specified position.
A kind of distribution network line broken string method for charging robot provided by the invention, includes the following steps:
Obtain the location information of drainage thread；
According to the location information of drainage thread determine whether drainage thread be in secondary mechanical arm can be in job area；
If what drainage thread was in secondary mechanical arm can be in job area, control clamping jaw clamps drainage thread；
The status information for obtaining clamping jaw clamping drainage thread, judges whether drainage thread clamps and finishes；
If after conduction wire clamp takes, controlling electronic broken string tool cutting drainage thread.
Further, the step of obtaining the location information of drainage thread further include:
Handling work platform is controlled to specified position；
Obtain the location information of drainage thread.
Further, if drainage thread be in secondary mechanical arm can be in job area, the step of control clamping jaw clamping drainage thread
Before further include:
Whether detection drainage thread is in can the controlling secondary mechanical arm and move to designated position in job area of secondary mechanical arm；
It controls clamping jaw and clamps drainage thread.
Further, the step of controlling handling work platform to specified position further include:
Check the state of means of transport；
If means of transport state is normal, means of transport is transported to specified position；
After means of transport reaches specified position, means of transport controls workbench to specified position.
The distribution network line break wire device of electrification robot provided by the invention, the main mechanical arm and secondary mechanical arm are arranged side by side
Be arranged on workbench, it is described pair mechanical arm end be equipped with clamping drainage thread clamping jaw, clamping jaw include Electric Actuator and
Clamp assemblies, clamp assemblies are clamped under the drive of Electric Actuator or are unclamped the movement of drainage thread, are realized to drainage thread
Clamping and fixation；The end of the main mechanical arm is equipped with the electronic broken string tool of cutting drainage thread, real by electronic mode
Now to the cutting of drainage thread, pass through the electronic broken string work on the clamping jaw and main mechanical arm of the Electronic control being arranged on secondary mechanical arm
Tool realizes the cutting to drainage thread, avoids the complexity of the structure using pneumatic mode.
The distribution network line broken string method of electrification robot provided by the invention, obtains the location information of drainage thread first,
The convenient workbench to electrification robot is in place；According to the location information of the drainage thread of acquisition, determine at drainage thread
In can be in job area；When detect drainage thread be in can be in job area when, clamp drainage thread；After conduction wire clamp takes,
Drainage thread is cut off, by clamping and cutting off two steps of drainage thread, the cutting to drainage thread is realized, avoids directly using pneumatic side
The complexity of the structure of formula.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Structural representation when Fig. 1 is the distribution network line break wire device work of electrification robot provided in an embodiment of the present invention
Figure；
Fig. 2 is the structural schematic diagram of the distribution network line break wire device of electrification robot provided in an embodiment of the present invention；
Fig. 3 is the structural representation of the clamping jaw of the distribution network line break wire device of electrification robot provided in an embodiment of the present invention
Figure；
Fig. 4 is the electronic broken string tool of the distribution network line break wire device of electrification robot provided in an embodiment of the present invention
Structural schematic diagram；
Fig. 5 is the structure of the means of transport of the distribution network line break wire device of electrification robot provided in an embodiment of the present invention
Schematic diagram；
Fig. 6 is the structural block diagram of the distribution network line broken string method of electrification robot provided in an embodiment of the present invention.
Icon: 11- workbench；12- main mechanical arm；13- pair mechanical arm；14- fixation and recognition unit；15- means of transport；
16- drainage thread；121- clamping jaw；The electronic broken string tool of 131-；151- bucket arm；The first clamping jaw of 1211-；The second clamping jaw of 1212-；
1213- Electric Actuator；1214- through-hole；1215- sliding part；1311- bracket；1312- sensor；1313- broken string controller；
1314- power supply；The electronic bolt clipper of 1315-.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that such as occur term " center ", "upper", "lower", "left", "right",
The orientation or positional relationship of the instructions such as "vertical", "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings,
Be merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.In addition, such as there is term "
One ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " peace such as occur
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in the present invention.
The present invention provides a kind of distribution network line break wire device for charging robot, the power distribution network of the electrification robot
Circuit breaking device includes workbench 11, main mechanical arm 12 and secondary mechanical arm 13；The main mechanical arm 12 and secondary mechanical arm 13
It is disposed in parallel on workbench 11, the end of the pair mechanical arm 13 is equipped with clamping jaw 121, for clamping drainage thread 16；It is described
The end of main mechanical arm 12 is equipped with the electronic broken string tool 131 for cutting off drainage thread 16；The clamping jaw 121 includes electronic execution
Device 1213 and wire clipping component, the wire clipping component can be clamped under the drive of Electric Actuator 1213 or be unclamped drainage thread
16 movement.
As shown in Figs. 1-2, the main mechanical arm 12 and secondary mechanical arm 13 are disposed in parallel on workbench 11, the slave
The upper end of tool arm 13 is equipped with the clamping jaw 121 of clamping drainage thread 16, and the upper end of the main mechanical arm 12 is equipped with cutting drainage thread 16
Electronic broken string tool 131 realizes the cutting to drainage thread 16, the electronic clamping jaw 121 by being arranged on secondary mechanical arm 13 and master
Electronic broken string tool 131 on mechanical arm 12 realizes cutting to drainage thread 16, avoids and is answered using the structure of pneumatic mode
Polygamy.
It further, further include fixation and recognition unit 14 and control unit；The fixation and recognition unit 14 and control unit
Connection, described control unit are connect with main mechanical arm 12, and described control unit is connect with secondary mechanical arm 13, the fixation and recognition list
The location information of drainage thread 16 position of drainage thread 16 and is sent to control unit for identification by member 14, and described control unit connects
Location information transmitted by fixation and recognition unit 14 is received, and controls the movement of main mechanical arm 12 and secondary mechanical arm 13；When positioning is known
When other unit 14 senses the predeterminated position that drainage thread 16 is in the job area of secondary mechanical arm 13, the fixation and recognition unit
14 send location information to control unit, and described control unit controls secondary mechanical arm 13 and clamps drainage thread 16；When fixation and recognition list
After member 14 senses that drainage thread 16 is clamped, the information to be cut off that the fixation and recognition unit 14 sends drainage thread 16 is single to control
Member, described control unit controls main mechanical arm 12 and electronic broken string tool 131 cuts off drainage thread 16.
As depicted in figs. 1 and 2, the fixation and recognition unit 14 is multiple groups depth camera, laser radar and industrial camera, control
Unit processed is single-chip microcontroller, and depth camera is located at the front of workbench 11, and depth camera is used for 11 front region of workbench
It is scanned, determines 16 general orientation of drainage thread and calculates three-dimensional coordinate；Again by laser radar and industrial camera according to depth phase
The orientation of machine identification carries out specified sector scanning, the three-dimensional coordinate of 16 operating position of drainage thread is calculated, later by location information
Control unit is passed to, when fixation and recognition unit 14 detects that drainage thread 16 is in clamping position, control unit controls slave
The clamping jaw 121 of tool arm 13 clamps drainage thread 16, realizes the clamping to drainage thread 16；When fixation and recognition unit 14 senses drainage thread
After 16 are clamped by clamping jaw 121, fixation and recognition unit 14 sends the information to be cut off of drainage thread 16 to control unit, control unit control
The electronic broken string tool 131 of main mechanical arm 12 processed cuts off drainage thread 16, realizes the cutting to drainage thread 16；Using control unit with
The mode that fixation and recognition unit 14 combines, control is simple, and it is convenient to operate.
As shown in figure 3, the wire clipping component of the clamping jaw 121 includes the first clamping jaw 1211 and the second clamping jaw 1212, the folder
Pawl 121 is fixedly connected with the upper end of secondary mechanical arm 13, and the lower end of the Electric Actuator 1213 is connect with Electric Actuator 1213,
The output end of the Electric Actuator 1213 is connect with the lower end of the lower end of the first clamping jaw 1211 and the second clamping jaw 1212, described
Under the action of Electric Actuator 1213, the first clamping jaw 1211 and the second clamping jaw 1212 do fortune that is relatively close or being relatively distant from
Dynamic, first clamping jaw 1211 and the second clamping jaw 1212 are equipped with the through-hole 1214 for connecting drainage thread 16, and drainage thread 16 is connected to
In through-hole 1214；The clamping jaw 121 further includes sliding part 1215, and the sliding part 1215 is located at the first clamping jaw 1211 and the second folder
Between pawl 1212, and the outer surface of sliding part 1215 is bonded setting with the outer surface of drainage thread 16, and sliding part 1215 can be around it
Axis rotation can adjust drainage thread 16 between the first clamping jaw 1211 and the second clamping jaw 1212 by the way that sliding part 1215 is arranged
Clamping position；When reusing, the first clamping jaw 1211 and the second clamping jaw 1212 are in the open state, need to clamp drainage thread 16
When, through-hole 1214 is directed at drainage thread 16, starts Electric Actuator 1213, so that the first clamping jaw 1211 and the second clamping jaw 1212 are made
The clamping to drainage thread 16 is realized in relatively close movement；Under the drive of secondary mechanical arm 13, so that drainage thread 16 and clamping jaw
It can be relatively moved between 121, realize the flexible connection between drainage thread 16 and clamping jaw 121, facilitated subsequent to drainage thread 16
Operation.
It should be noted that the Electric Actuator 1213 include motor and nut-screw structure, the output end of motor with
Screw rod connection, screw rod are equipped with two sections of oppositely oriented screw threads being correspondingly arranged, and the quantity of nut is two, a nut socket
In the threaded one end section of screw rod, another nut is socketed on the other end thread segment of screw rod, and the first clamping jaw 1211 is socketed in
On one nut, the second clamping jaw 1212 is socketed on another nut.When needing to start clamping jaw 121, start motor, screw rod is in electricity
It being rotated under the drive of machine, two screw threads do movement that is relatively close or being relatively distant under the drive of screw rod, so that the
One clamping jaw 1211 is moved with the second clamping jaw 1212 along direction that is relatively close or being relatively distant from, realize to the clamping of drainage thread 16 or
It unclamps.
As shown in figure 4, the electronic broken string tool 131 include bracket 1311, sensor 1312, broken string controller 1313,
The lower end of power supply 1314 and electronic bolt clipper 1315, the bracket 1311 is connect with the upper end of main mechanical arm 12, the sensor
The edge of 1312 connecting brackets 1311, for incuding whether penetrating of drainage thread 16；The broken string controller 1313 and bracket
1311 connections, broken string controller 1313 is connect with sensor 1312, for receiving the location information of drainage thread 16 and controlling electronic
Bolt clipper 1315 works；Sensor 1312 is light curtain sensor, when light curtain sensor senses that drainage thread 16 penetrates into electronic break
When in line tweezer 1315, signal is passed to broken string controller 1313 by light curtain sensor, and broken string controller 1313 controls electronic broken string
1315 work of pincers, the drainage thread 16 being located in electronic bolt clipper 1315 is cut off.
It further, further include monitoring unit；The monitoring unit is connect with control unit, and the monitoring unit is for supervising
Survey the location status of workbench 11；When the workbench 11 reaches predetermined position, the monitoring unit sends position letter
Control unit is ceased, control unit controls the work of main mechanical arm 12 and secondary mechanical arm 13.
The monitoring unit is video camera or video detector, and the monitoring unit is set on the ground, and monitoring unit is real
When to staff provide the relevant location information of monitoring video information and workbench 11, formulated and operated with less important work personnel
Strategy presses the start key of monitoring unit when workbench 11 reaches designated position, and main mechanical arm 12 and secondary mechanical arm 13 are opened
Begin to be controlled by controller and move.
It further, further include remote controler；The remote controler is connect with electronic broken string tool 131, electronic disconnected for controlling
The working condition of the Line tool 131.
The remote controler is connect with electronic broken string tool 131, can individually control the work shape of electronic broken string tool 131
State is taken over manually as needed independently of monitoring system, and realization manually controls operating system.
It further, further include means of transport 15；The means of transport 15 is connect with workbench 11, the means of transport
15 for transporting workbench 11 to specified position.
As shown in figure 5, the means of transport 15 is aerial lift device with insulated arm, the aerial lift device with insulated arm is equipped with bucket arm 151, work
Platform 11 is connected to the upper end of bucket arm 151 by pedestal, and the bucket arm 151 by controlling aerial lift device with insulated arm is realized to workbench 11
Transport in place.
The distribution network line break wire device of electrification robot of the invention is using aerial lift device with insulated arm as mobile platform, with bucket arm
151 be carrier, is executing agency with electronic broken string tool 131 and clamping jaw 121, the autonomous machine for realizing electrification 16 operation of drainage thread
People's power distribution network broken string method；The robot system replaces being accomplished manually the higher electrification broken string task of operating frequency completely, mitigates
The labor intensity of operating personnel, keeps the operating personnel completely isolated with high voltage electric field, guarantees the peace of operating personnel to greatest extent
Entirely；Use electronic disconnection manner that control precision, working efficiency are increased substantially, the scope of application is wider；Robot is integrally tied
More succinct light, the at low cost, high efficiency of structure；Robot electrification broken string operation is safer, and continuous working period is long, work effect
Rate is high.
The present invention also provides a kind of distribution network line broken string method for charging robot, the distribution of the electrification robot
Net circuit breaking method includes the following steps: that S1. obtains the location information of drainage thread 16；S2. believed according to the position of drainage thread 16
Cease determine drainage thread 16 whether in secondary mechanical arm 13 can be in job area；If S3. drainage thread 16 is in secondary mechanical arm 13
Can be in job area, control clamping jaw 121 clamps drainage thread 16；S4. the status information that clamping jaw 121 clamps drainage thread 16 is obtained, is sentenced
Whether cutting off drainage wire 16, which clamps, finishes；If after drainage thread 16 clamps, controlling electronic broken string tool 131 and cutting off drainage thread 16.
As shown in fig. 6, the distribution network line broken string method of the electrification robot includes the following steps: using fixation and recognition
Unit 14 obtains the location information of drainage thread 16, and the location information determination of the drainage thread 16 obtained according to fixation and recognition unit 14 is drawn
Streamline 16 is in can be in job area；If detecting, drainage thread 16 is in when can be in job area, the clamping jaw 121 of secondary mechanical arm 13
Clamp drainage thread 16；After drainage thread 16 clamps, the electronic broken string tool 131 of main mechanical arm 12 cuts off drainage thread 16, real
Now to the cutting of drainage thread 16.
Further, before the step of obtaining the location information of drainage thread 16 further include: S11. controls handling work platform
11 to specified position；S12. the location information of drainage thread 16 is obtained.
As shown in fig. 6, further including aerial lift device with insulated arm handling work platform 11 before the location information for obtaining drainage thread 16
To defined position；Fixation and recognition unit 14 identifies drainage thread 16 later, realizes the acquisition to 16 location information of drainage thread.
Further, if drainage thread 16 be in secondary mechanical arm 13 can be in job area, control clamping jaw 121 clamps drainage thread
16 the step of further include: S31. detects whether drainage thread 16 in secondary mechanical arm 13 can control secondary mechanical arm in job area
13 move to designated position；S32. control clamping jaw 121 clamps drainage thread 16.
As shown in fig. 6, the process of clamping drainage thread 16 further include: detect that drainage thread 16 is in making for secondary mechanical arm 13
When within the scope of industry, control unit controls secondary mechanical arm 13 and moves to designated position, and it is specified that secondary mechanical arm 13 drives clamping jaw 121 to reach
Behind position, control clamping jaw 121 clamps drainage thread 16, realizes the clamping to drainage thread 16.
As shown in fig. 6, the process of cutting drainage thread 16 further include: identification positioning unit detects that the clamping of drainage thread 16 finishes
Afterwards, control unit control main mechanical arm 12 moves to designated position, when to detect that drainage thread 16 is inserted into electronic for light curtain sensor
When in broken string tool 131, the position signal of drainage thread 16 is passed into control unit, control unit controls electronic bolt clipper 1315
Drainage thread 16 is cut off, realizes the cutting to drainage thread 16.
Further, the step of controlling handling work platform 11 to specified position further include: S01. checks means of transport 15
State；If S02. 15 state of means of transport is normal, means of transport 15 is transported to specified position；S03. means of transport 15 reaches
Behind specified position, means of transport 15 controls workbench 11 to specified position.
As shown in fig. 6, also needing to check the state of means of transport 15 before the location information for obtaining drainage thread 16, will transport
Defeated tool 15 installs, and means of transport 15 is sent to specified position by operator later, starts the bucket arm of means of transport 15 later
151 send workbench 11 to specified position, wherein determining whether means of transport 15 reaches accurately according to the detection of monitoring unit
Position；After means of transport 15 reaches specified position, start fixation and recognition unit 14, fixation and recognition unit 14 identifies drainage thread 16
The electronic broken string tool 131 of position, the clamping jaw 121 and main mechanical arm 12 that control secondary mechanical arm 13 works, and realizes to drainage thread 16
Cutting；Adjustment means of transport 15 is the position of aerial lift device with insulated arm later, repeats above-mentioned step, is realized to three-phase drainage thread 16
It is all off.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (9)
1. a kind of distribution network line break wire device for charging robot, which is characterized in that including workbench, main mechanical arm and pair
Mechanical arm；
The main mechanical arm and secondary mechanical arm are disposed in parallel on workbench, and the end of the pair mechanical arm is equipped with clamping jaw, are used
In clamping drainage thread；The end of the main mechanical arm is equipped with the electronic broken string tool for cutting off drainage thread；
The clamping jaw includes Electric Actuator and wire clipping component, and the wire clipping component can carry out under the drive of Electric Actuator
Clamping or the movement for unclamping drainage thread.
2. the distribution network line break wire device of electrification robot according to claim 1, which is characterized in that further include positioning
Recognition unit and control unit；
The fixation and recognition unit is connect with control unit, and described control unit is connect with main mechanical arm, described control unit with
The location information of drainage thread the position of drainage thread and is sent to control for identification by the connection of secondary mechanical arm, the fixation and recognition unit
Unit processed, described control unit receive location information transmitted by fixation and recognition unit, and control main mechanical arm and secondary mechanical arm
Movement；It is described fixed when fixation and recognition unit senses the predeterminated position in job area of the drainage thread in secondary mechanical arm
Position recognition unit sends location information to control unit, and described control unit controls secondary mechanical arm and clamps drainage thread；When positioning is known
After other unit senses that drainage thread is clamped, the fixation and recognition unit sends the information to be cut off of drainage thread to control unit,
Described control unit controls main mechanical arm and electronic broken string tool cuts off drainage thread.
3. the distribution network line break wire device of electrification robot according to claim 2, which is characterized in that further include monitoring
Unit；
The monitoring unit is connect with control unit, and the monitoring unit is used for the location status of monitoring platform；When described
When workbench reaches predetermined position, the monitoring unit sends location information to control unit, and control unit controls main mechanical
The work of arm and secondary mechanical arm.
4. the distribution network line break wire device of electrification robot according to claim 3, which is characterized in that further include remote control
Device；
The remote controler is connect with electronic broken string tool, for controlling the working condition of electronic broken string tool.
5. the distribution network line break wire device of electrification robot according to claim 4, which is characterized in that further include transport
Tool；
The means of transport is connect with workbench, and the means of transport is for transporting workbench to specified position.
A kind of method 6. distribution network line for charging robot breaks, which comprises the steps of:
Obtain the location information of drainage thread；
According to the location information of drainage thread determine whether drainage thread be in secondary mechanical arm can be in job area；
If what drainage thread was in secondary mechanical arm can be in job area, control clamping jaw clamps drainage thread；
The status information for obtaining clamping jaw clamping drainage thread, judges whether drainage thread clamps and finishes；
If after conduction wire clamp takes, controlling electronic broken string tool cutting drainage thread.
The method 7. distribution network line of electrification robot according to claim 6 breaks, which is characterized in that obtain drainage thread
Location information the step of before further include:
Handling work platform is controlled to specified position；
Obtain the location information of drainage thread.
The method 8. distribution network line of electrification robot according to claim 6 breaks, which is characterized in that if at drainage thread
In secondary mechanical arm can be in job area, the step of control clamping jaw clamping drainage thread further include:
Whether detection drainage thread is in can the controlling secondary mechanical arm and move to designated position in job area of secondary mechanical arm；
It controls clamping jaw and clamps drainage thread.
The method 9. distribution network line of electrification robot according to claim 7 breaks, which is characterized in that control porter
The step of making platform to specified position further include:
Check the state of means of transport；
If means of transport state is normal, means of transport is transported to specified position；
After means of transport reaches specified position, means of transport controls workbench to specified position.
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| CN201910283666.5A CN109950827A (en) | 2019-04-09 | 2019-04-09 | Charge the distribution network line break wire device and method of robot |
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| CN201910283666.5A CN109950827A (en) | 2019-04-09 | 2019-04-09 | Charge the distribution network line break wire device and method of robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110350444A (en) * | 2019-07-22 | 2019-10-18 | 衢州枫婉智能设备科技有限公司 | A kind of drone version maintenance circuit robot of alternative electrician |
| CN111740348A (en) * | 2020-08-03 | 2020-10-02 | 天津滨电电力工程有限公司 | Live working system and working method thereof |
| CN112180208A (en) * | 2020-09-11 | 2021-01-05 | 国网山东省电力公司济南市济阳区供电公司 | Live-line wire-breaking operation device for power system |
| CN113427484A (en) * | 2021-05-24 | 2021-09-24 | 国电南瑞科技股份有限公司 | Device and method for adaptively grabbing drainage wire in distribution network live working |
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| CN110350444A (en) * | 2019-07-22 | 2019-10-18 | 衢州枫婉智能设备科技有限公司 | A kind of drone version maintenance circuit robot of alternative electrician |
| CN111740348A (en) * | 2020-08-03 | 2020-10-02 | 天津滨电电力工程有限公司 | Live working system and working method thereof |
| CN111740348B (en) * | 2020-08-03 | 2020-11-10 | 天津滨电电力工程有限公司 | Live working system and working method thereof |
| CN112180208A (en) * | 2020-09-11 | 2021-01-05 | 国网山东省电力公司济南市济阳区供电公司 | Live-line wire-breaking operation device for power system |
| CN113427484A (en) * | 2021-05-24 | 2021-09-24 | 国电南瑞科技股份有限公司 | Device and method for adaptively grabbing drainage wire in distribution network live working |
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Application publication date: 20190628 |