CN110421546A - A kind of distribution network live line work robot with automatic quick change engaging tool system - Google Patents
A kind of distribution network live line work robot with automatic quick change engaging tool system Download PDFInfo
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- CN110421546A CN110421546A CN201910543303.0A CN201910543303A CN110421546A CN 110421546 A CN110421546 A CN 110421546A CN 201910543303 A CN201910543303 A CN 201910543303A CN 110421546 A CN110421546 A CN 110421546A
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- tool
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- joint
- mechanical arm
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of distribution network live line work robots with automatic quick change engaging tool system, including workbench, column, cross bar, symmetrically arranged first mechanical arm and the second mechanical arm at the both ends of cross bar, telescopic rod, and binocular vision camera, wherein, first mechanical arm includes shoulder joint, large arm, elbow joint, wrist joint, mechanical arm end quick-release connector, and multiple quick change power tools, shoulder joint is made of two joint motors, elbow joint is made of a joint motor, wrist joint is made of three joint motors, the center of rotation axis of first joint motor of both the first and second mechanical arms is arranged in splayed configuration, quick change power tool includes sequentially connected tool ends end quick-release connector, quick-change frame, it is insulated seat, and power tool.This distribution network live line work robot can adapt to distribution network live line work requirement, has the characteristics that miniaturization, lightweight and standard interface, can be realized the automatic quick-replaceable of power tool.
Description
Technical field
The invention belongs to Power Robot field more particularly to it is a kind of with automatic quick change engaging tool system match mesh belt
Electric Work robot.
Background technique
In order to improve the safety of livewire work, the labor intensity and strong-electromagnetic field for mitigating operator are to operator's
The person threatens, and every country has corresponding research.
The automatization level for improving hot line robot is the direction of industrial development, and many countries are all first from the eighties
The research of hot line robot is carried out afterwards, such as Japan, Spain, the U.S., Canada, country, France have successively carried out pair
The research of hot line robot.
The 1980s, EMUs for Kyushu of Japan Utilities Electric Co. successfully had developed respectively at nineteen ninety, in 1996 in 2001
Phase-I, Phase-II, III robot of Phase-.Canadian Univ Manitoba has developed a kind of in ground remote control behaviour
The hydraulic efficiency manipulator of work, this kind of mechanical device of dismounting for carrying end equipment progress insulator are taken using insulation bucket arm vehicular platform
Livewire work operation is carried out with intelligent automatic tool, mainly for lower, the lower distribution of voltage class of construction of line height
Field.
China is also in the research for starting progress hot line robot.Shandong Electric Power Group research institute completed in 2003
The hotline maintenance robot prototype design of independent intellectual property right, the band with route is electrically cut off, connect draw, isolator hot-line replacing etc.
Function has developed the Shanxi Changzhi 10kV hotline maintenance robot with practical ability for 2011.
It in recent years in terms of the research and development of tool, makes great progress, such as tool of starting to exchange fire automatically, peeling tool, distant
Bolt clipper, remote control electric spanner etc. are controlled, but the power tool replacement of distribution network live line work robot is still completed for auxiliary by hand.
Summary of the invention
The purpose of the present invention is to provide a kind of distribution network live line work robot with automatic quick change engaging tool system,
To meet the livewire work requirement of the multi-task, and realize the automatic quick-replaceable of power tool.
For this purpose, the present invention provides a kind of distribution network live line work robot with automatic quick change engaging tool system,
It is characterized in that, including workbench, the column being placed on workbench, the cross bar at the top of column, symmetrically sets at the both ends of cross bar
The first mechanical arm and the second mechanical arm, telescopic rod and the binocular vision camera set, first mechanical arm include
Shoulder joint, large arm, elbow joint, wrist joint, mechanical arm end quick-release connector and multiple quick change power tools, the shoulder joint by
First joint motor and second joint motor are constituted, and the elbow joint is made of third joint motor, and the wrist joint is by the 4th
Joint motor, the 5th joint motor, the 6th joint motor are constituted, and the of both first mechanical arm and second mechanical arm
The center of rotation axis of one joint motor arranges that the quick change power tool includes sequentially connected tool ends end quick change in splayed configuration
Connector, is insulated seat and power tool at quick-change frame, wherein the tool segment quick-release connector of each quick change power tool and
Quick-change frame structure size having the same.
Further, above-mentioned power tool library includes at least one tool storage room frame and the multiple of tool storage room frame two sides is arranged in
Tool tray, wherein the quick change power tool is by quick-change frame on tool tray.
Further, above-mentioned power tool library is installed on the front side of workbench, and its position is flushed with the workbench
Or it is lower than workbench.
Further, above-mentioned each tool storage room frame carries one or more livewire work required by task type
Quick-change tool device.
Further, there are two types of above-mentioned power tools, one is the electric tool from charged pool, another kind is pneumatic work
Tool.
Further, above-mentioned telescopic rod is located at the rear of column, and top is equipped with the binocular vision camera, for pair
The position of first mechanical arm and the second mechanical arm within the vision is monitored.
This distribution network live line work robot can adapt to distribution network live line work requirement, have miniaturization, lightweight and standard
The features such as interface, can be realized the automatic quick-replaceable of power tool.Field Force's remote operating difficulty can effectively be mitigated, enhance machine
Device people's automatic job ability.
Other than objects, features and advantages described above, there are also other objects, features and advantages by the present invention.
Below with reference to figure, the present invention is described in further detail.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of distribution network live line work robot according to the present invention；
Fig. 2 shows the structural schematic diagrams for the clamp hand tool being connected on mechanical arm；
Fig. 3 be it is according to the present invention can fast automatic replacement operation tool storage room quick-change tool structural schematic diagram；
Fig. 4 shows the structural schematic diagram of Pneumatic quick-replacing device；
Fig. 5 shows the structural schematic diagram in power tool library according to the present invention；
Fig. 6 shows the structural schematic diagram of the tool supporting plate in power tool library according to the present invention；
Fig. 7 shows the schematic diagram of the automatic quickly more experimental field of replacement operation tool storage room according to the present invention；And
Fig. 8 shows distribution network live line work robot according to the present invention and carries out showing for livewire work experiment in laboratory
It is intended to.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Fig. 1 to Fig. 8 is shown according to some embodiments of the present invention.
Livewire work includes electrification broken string, live line connection, charged for replacement arrester, charged for replacement disconnecting switch, assembly and disassembly line
Line fault indicator or electricity testing ground wire folder, charged for replacement fuse switch, charged for replacement warning sign or insulation pillar, cleaning
It removes obstacles.Robot generally requires several work tool, this is just needed in operation process when executing a certain livewire work task
Middle replacement tool.In addition, robot may also will be performed simultaneously the multi-task, the automation of robot replacement tool is realized.
For the livewire work requirement for meeting the multi-task, we devise the robot for being exclusively used in distribution network live line work.
As shown in Figure 1, the distribution network live line work robot includes workbench 1, the column being placed on workbench 12, is located at and stands
The cross bar 3 at the top of column 2, symmetrically arranged first mechanical arm in the both ends of cross bar 3 and the second mechanical arm, telescopic rod 9 and
Binocular vision camera 10.
Above-mentioned telescopic rod 9 is located at the rear of column 2, and top is equipped with binocular vision camera 10, for field range
The position of interior the first mechanical arm and the second mechanical arm is monitored.
Put the electrical modules such as battery module, control module, communication module built in above-mentioned workbench, workbench is placed in when work
It, can be by ground staff's remote control operation in the bucket arm of bucket arm vehicle.
Above-mentioned first mechanical arm includes shoulder joint 4, large arm 5, elbow joint 6, wrist joint 7 and automatic quick change operation work
Tool system.
Wherein, shoulder joint 4 is made of the first joint motor 41 and second joint motor 42, wherein the first joint motor
Central stator is connected on cross bar 3, and the rotor case of the first joint motor is connect with the central stator of second joint motor, large arm
It is vertically installed on the shell wall of the rotor case of second joint motor.
Wherein, the center of rotation axis of first joint motor of both the first mechanical arm and second mechanical arm is (in i.e.
The central axis of heart rotor) in splayed configuration arrangement and the inclined posture arrangement directed downwardly of each center rotor.
Elbow joint 6 is made of third joint motor, realize forearm 7 and large arm 4 it is between the two angle adjustment.Wherein, greatly
The lower end of arm 4 is vertically installed on the shell wall of the rotor case of third joint motor, upper end and the third joint motor of forearm 7
The connection of neutron rotor.
Wrist joint 8 is made of the 4th joint motor 81, the 5th joint motor 82 and the 6th joint motor 83.Wherein, forearm 7
It is connect with the rotor case of the 4th joint motor, the central stator of the 4th joint motor 81 and the rotor of the 5th joint motor 82
Cage connection, the central stator of the 5th joint motor 82 are connect with the rotor case of the 6th joint motor 83, the 6th joint motor
Central stator on mechanical arm end quick-release connector is installed.
In the robot of this distribution network live line work, the first and second mechanical arms use arm Bionic Design, the first machine
Tool arm and the second mechanical arm cooperate in splayed, and realization can by experimental verification to the action simulation of operator's both arms
Meet the job requirement of most of livewire work occasion.
In conjunction with referring to Fig. 3 to Fig. 8, above-mentioned automatic quick change engaging tool system is mainly by quick-change tool device and power tool
Library is constituted.This engaging tool system passes through design standard mechanically and electrically interface, and the power tools such as peeler, bolt clipper are fixed
Thereon, tool location is accurately positioned convenient for mechanical arm and corresponding tool is replaced by fast replacing device.
As shown in Fig. 2, quick-change tool device 20 is composed of quick change power tool 21 and mechanical arm end quick-release connector 22,
As shown in figure 4, both mechanical arm end quick-release connector 22 and the tool ends end quick-release connector 211 of quick change power tool 21 are constituted and are changed the outfit fastly
It sets, is connected by retaining mechanism, after both ends pass through positioning closing, retaining mechanism realizes being fastenedly connected for the two.
Above-mentioned mechanical arm end quick-release connector 22 is connect by a ring flange with mechanical arm, and quick change power tool can have
Multiple, each is fixedly connected with a kind of power tool.
For specific each power tool, we distribute different ID to them, can wirelessly be driven by bluetooth, WiFi etc.
Flowing mode is controlled.In tool design, linkage section (mechanical arm end quick-release connector and tool ends end quick-release connector) is fixed
Shape, it is ensured that it can be combined well with linkage section, and have interchangeability.
Mechanical arm, leading portion installation exercise work are connected in conjunction with the rear end referring to Fig. 2 and Fig. 3, the quick change power tool 21
Tool.Specifically, the quick change power tool 21 include tool ends end quick-release connector 211, quick-change frame 212, be insulated seat 213 and
Power tool 214, such as clamp hand, peeler, bolt clipper etc..
Wherein, quick-change frame 212 is bolted with tool ends end quick-release connector 211 by multiple, is insulated one end of seat 213
It is bolted with quick-change frame 212 by multiple, power tool 214 is insulated on seat 213 by multiple be bolted to.Pass through
Setting is insulated seat 213, so that mechanical arm end and the insulation connection of quick-change tool device, can be changed quickly.Preferably, quick-change frame
212 are also made of insulating material.
Power tool 214 has remote control circuit, can be charged on operating platform at the far end with remote operating power tool
Operation.
As shown in Figure 5 to Figure 6, power tool library 30 includes an at least tool storage room frame 31, is located inside and outside each tool storage room frame 31
Multiple tool trays 32 of two sides arrangement, the quick-change frame 213 of each quick change power tool are seated in tool tray 32, a tool
Bracket is for putting a quick change power tool.
Wherein, the tool on each tool storage room frame 31 can correspond to the quick change of one or more livewire work required by task
Tool device.Multiple tool storage room framves 31 can be so equipped with, are asked caused by solving quick change power tool quantity excessively using confusion
Topic.
In one embodiment, tool storage room frame and tool tray 32 are preferably that insulating materials is made.
As shown in Figure 7 and Figure 8, which is located at the front of the first mechanical arm and the second mechanical arm, the level of library frame
Height and workbench are flush or below work top, so that the first mechanical arm and the second mechanical arm have enough operations empty
Between.
It has planned that mechanical arm reaches the path of specified workpiece in programming, can be automatically performed in several seconds
Power tool replacement.
This automatic quick change engaging tool system has the following characteristics that
1) automatic switchover of implementation tool avoids the contact of people with robot and high-tension bus-bar, largely improves
The gentle safety of Automated water of livewire work, while alleviating the labor intensity of operator and personal safety threatens.
2) traditional tool is transformed, mechanical arm, the letter that the tool of improving uses can be matched with well
Victory and working efficiency.
3) to the modes of emplacement of tool storage room and position, specific structure design has been done, overall structure has been simplified, alleviates weight
Amount, reduces the occupied space of entire robot.
4) mechanical arm is connected by the way of pneumatic with tool insulation, is easy for installation and removal, and is connected very clever
Ingeniously, closely, while the safety of operation is improved.
5) is avoided by complicated outdoor trace arrangements, the later period is facilitated to tie up using wireless control for tool practical operation
Shield.
6) each tool has fixed installation site, and mechanical arm can be allowed quickly to reach accordingly by programming
Position realizes the replacement of workpiece, saves the time.
This automatic quick change engaging tool system can adapt to distribution network live line work requirement, have miniaturization, lightweight and mark
The features such as quasi- interface, can be realized the automatic quick-replaceable of power tool.Field Force's remote operating difficulty can effectively be mitigated, enhanced
Robot automatic job ability.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of distribution network live line work robot with automatic quick change engaging tool system, which is characterized in that including workbench,
It is placed in the column on workbench, the cross bar at the top of column, in symmetrically arranged first mechanical arm in the both ends of cross bar and
Two mechanical arms, telescopic rod and binocular vision camera,
First mechanical arm includes shoulder joint, large arm, elbow joint, wrist joint, mechanical arm end quick-release connector and multiple fast
Power tool is changed,
The shoulder joint is made of the first joint motor and second joint motor, and the elbow joint is made of third joint motor,
The wrist joint is made of the 4th joint motor, the 5th joint motor, the 6th joint motor,
The center of rotation axis of first joint motor of both first mechanical arm and the second mechanical arm is in splayed configuration cloth
It sets,
The quick change power tool includes sequentially connected tool ends end quick-release connector, quick-change frame, is insulated seat and operation work
Tool, wherein the tool segment quick-release connector and quick-change frame structure size having the same of each quick change power tool.
2. distribution network live line work robot according to claim 1, which is characterized in that it further include power tool library, it is described
Power tool library includes at least one tool storage room frame and multiple tool trays that tool storage room frame two sides are arranged in, wherein described fast
It changes power tool and passes through quick-change frame on tool tray.
3. distribution network live line work robot according to claim 2, which is characterized in that the power tool library is installed on work
Make the front side of platform, and its position and the workbench are flush or below workbench.
4. distribution network live line work robot according to claim 2, which is characterized in that each tool storage room frame carries one
Or the quick-change tool device of more than one livewire work required by task type.
5. distribution network live line work robot according to claim 1, which is characterized in that there are two types of the power tools, and one
Kind is the electric tool from charged pool, and another kind is pneumatic tool.
6. distribution network live line work robot according to claim 1, which is characterized in that after the telescopic rod is located at column
Side, top are equipped with the binocular vision camera, for the first mechanical arm within the vision and the second mechanical arm
Position monitored.
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110978003A (en) * | 2019-12-09 | 2020-04-10 | 国网智能科技股份有限公司 | System and method for automatically replacing working tool of live working robot |
| CN111618877A (en) * | 2020-06-12 | 2020-09-04 | 国网天津市电力公司 | Power distribution network operation robot, tool quick-changing device and control system and method thereof |
| CN111618879A (en) * | 2020-06-12 | 2020-09-04 | 国网湖南省电力有限公司 | Device and method for quickly replacing operation tail end of electric robot |
| CN111702739A (en) * | 2020-07-14 | 2020-09-25 | 杭州智骨软件科技有限公司 | Maintenance robot with automatic replacement maintenance device and clamp device |
| CN111923020A (en) * | 2020-07-07 | 2020-11-13 | 广东工业大学 | Robot tail end electric wrench module capable of being replaced quickly |
| CN112091993A (en) * | 2020-11-12 | 2020-12-18 | 国网瑞嘉(天津)智能机器人有限公司 | Live working robot and control method thereof |
| CN112388630A (en) * | 2020-10-12 | 2021-02-23 | 北京国电富通科技发展有限责任公司 | Distribution network live working wire stripping robot based on binocular vision and working method thereof |
| CN112809655A (en) * | 2021-02-02 | 2021-05-18 | 无锡江锦自动化科技有限公司 | Asymmetric double-arm cooperative robot system and modeling and working method thereof |
| CN113733101A (en) * | 2021-09-29 | 2021-12-03 | 珠海优特电力科技股份有限公司 | Inspection robot, inspection robot operation method, and storage medium |
| CN114407030A (en) * | 2021-11-12 | 2022-04-29 | 山东大学 | Autonomous navigation distribution network live working robot and working method thereof |
| CN114530790A (en) * | 2022-01-12 | 2022-05-24 | 衢州光明电力工程有限公司带电作业分公司 | Vertical double-loop branch lapping operation control method for operating robot |
| CN115582846A (en) * | 2022-10-14 | 2023-01-10 | 国网湖南省电力有限公司 | Modular hot-line work robot |
| CN115609601A (en) * | 2022-10-14 | 2023-01-17 | 国网湖南省电力有限公司 | Modularized live working robot system and working method thereof |
| CN116237964A (en) * | 2023-03-31 | 2023-06-09 | 中信重工开诚智能装备有限公司 | Multi-working-end control system of electric power execution robot |
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| CN111618879B (en) * | 2020-06-12 | 2023-09-19 | 国网湖南省电力有限公司 | Device and method for quickly replacing operation tail end of electric robot |
| CN111618877A (en) * | 2020-06-12 | 2020-09-04 | 国网天津市电力公司 | Power distribution network operation robot, tool quick-changing device and control system and method thereof |
| CN111618879A (en) * | 2020-06-12 | 2020-09-04 | 国网湖南省电力有限公司 | Device and method for quickly replacing operation tail end of electric robot |
| CN111923020A (en) * | 2020-07-07 | 2020-11-13 | 广东工业大学 | Robot tail end electric wrench module capable of being replaced quickly |
| CN111702739A (en) * | 2020-07-14 | 2020-09-25 | 杭州智骨软件科技有限公司 | Maintenance robot with automatic replacement maintenance device and clamp device |
| CN112388630A (en) * | 2020-10-12 | 2021-02-23 | 北京国电富通科技发展有限责任公司 | Distribution network live working wire stripping robot based on binocular vision and working method thereof |
| CN112091993A (en) * | 2020-11-12 | 2020-12-18 | 国网瑞嘉(天津)智能机器人有限公司 | Live working robot and control method thereof |
| CN112809655A (en) * | 2021-02-02 | 2021-05-18 | 无锡江锦自动化科技有限公司 | Asymmetric double-arm cooperative robot system and modeling and working method thereof |
| CN113733101A (en) * | 2021-09-29 | 2021-12-03 | 珠海优特电力科技股份有限公司 | Inspection robot, inspection robot operation method, and storage medium |
| CN113733101B (en) * | 2021-09-29 | 2023-01-31 | 珠海优特电力科技股份有限公司 | Inspection robot, inspection robot operation method, and storage medium |
| CN114407030A (en) * | 2021-11-12 | 2022-04-29 | 山东大学 | Autonomous navigation distribution network live working robot and working method thereof |
| CN114530790A (en) * | 2022-01-12 | 2022-05-24 | 衢州光明电力工程有限公司带电作业分公司 | Vertical double-loop branch lapping operation control method for operating robot |
| CN114530790B (en) * | 2022-01-12 | 2023-12-15 | 衢州光明电力工程有限公司带电作业分公司 | Vertical double-loop branch line lap joint operation control method of operation robot |
| CN115582846A (en) * | 2022-10-14 | 2023-01-10 | 国网湖南省电力有限公司 | Modular hot-line work robot |
| CN115609601A (en) * | 2022-10-14 | 2023-01-17 | 国网湖南省电力有限公司 | Modularized live working robot system and working method thereof |
| CN116237964A (en) * | 2023-03-31 | 2023-06-09 | 中信重工开诚智能装备有限公司 | Multi-working-end control system of electric power execution robot |
| CN116237964B (en) * | 2023-03-31 | 2024-04-02 | 中信重工开诚智能装备有限公司 | Multi-working-end control system of electric power execution robot |
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Application publication date: 20191108 |