CN110539316B - Ground potential operation method, grid-connected overhead line live operation robot and manipulator - Google Patents
Ground potential operation method, grid-connected overhead line live operation robot and manipulator Download PDFInfo
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- CN110539316B CN110539316B CN201910712829.7A CN201910712829A CN110539316B CN 110539316 B CN110539316 B CN 110539316B CN 201910712829 A CN201910712829 A CN 201910712829A CN 110539316 B CN110539316 B CN 110539316B
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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
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/007—Arms the end effector rotating around a fixed point
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
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- Manipulator (AREA)
Abstract
The invention discloses a ground potential operation method, a grid-connected overhead line electrified operation robot and a manipulator, wherein the ground potential operation method uses a pole-climbing tool carrier and an operating arm carried by the pole-climbing tool carrier, and comprises the following steps of: tightly holding a pole-climbing tool carrying platform on an electric pole, wherein the pole-climbing tool carrying platform is at a ground potential; the method comprises the steps of controlling a pole-climbing tool carrying platform to carry a live working tool to climb to a preset position, wherein the live working tool keeps a safe distance with the pole-climbing tool carrying platform through an operation arm; and remotely controlling the operating arm and the live working tool from the ground to perform ground potential operation. The invention realizes the ground potential operation of the grid-connected overhead line, the live working robot can carry various live working tools, and the holding manipulator has static holding self-locking capability and stronger rod diameter change adaptability.
Description
Technical Field
The invention relates to the field of pole-climbing robots, in particular to a ground potential operation method, a net-distribution overhead line electrified operation robot of the ground potential operation method and a pole-holding manipulator.
Background
Electric workers often perform overhead operations such as erection, maintenance and repair of wires and cables, and the operations have high risk, high labor intensity and low efficiency.
In the existing various distribution live working robots, an insulating bucket arm vehicle is used as a working platform, double mechanical working arms or multiple working arms are mounted to carry out live working by an intermediate potential method, and the live working is insulated from the ground by the working platform of the insulating bucket arm vehicle.
The pole climbing device can also replace manual pole climbing to carry out dangerous operation.
Traditional pole-climbing robots are classified into inchworm type and roller type according to pole-climbing modes. The roller type climbing pole is mainly characterized in that positive pressure on a cylindrical pole is actively applied through the roller, so that friction force is generated to overcome gravity. The inchworm type climbing pole is mainly characterized in that the upper end and the lower end are alternately clamped and loosened, and climbing is realized through movement or rotation of a connecting part.
The invention provides a manned pole-climbing operation platform, as shown in fig. 1, and the pole-climbing operation platform is mainly characterized in that a left trunk and a right trunk are respectively provided with an upper holding pole manipulator and a lower holding pole manipulator, the holding pole manipulators of the left trunk and the right trunk alternately clamp and relax the pole, and the left trunk and the right trunk alternately lift through a lifting execution device to realize climbing.
Compared with inchworm type pole climbing mode, the stride type pole climbing mode with alternately climbing left and right trunk has the characteristics of stable motion process, strong bearing capacity and suitability for installation of operation tools.
In the process of implementing the manned pole-climbing operation platform, the inventor finds that the manned pole-climbing operation platform can also be used for bearing/installing a fixed operation tool, and is used as a power-on operation robot of a grid-connected overhead line of a ground potential operation method.
In addition, the holding manipulator is preferably provided with static holding self-locking capability and strong rod diameter change adaptive capability.
Disclosure of Invention
The invention aims to provide a holding rod manipulator which has strong adaptability to rod diameter change of a rod body.
Another object of the present invention is to provide a ground potential operation method to implement ground potential operation of a network distribution overhead line.
The invention also aims to provide the live working robot for the grid-connected overhead line of the ground potential working method, so as to realize live working of the ground potential working method.
Therefore, in one aspect, the invention provides a grip manipulator comprising a large arm, a linear driving mechanism and a linear driving mechanism, wherein the large arm is provided with a linear driving mechanism; the driving wheel mechanism comprises a driving wheel swing arm pivoted to the large arm, a driving wheel, a swing driving mechanism for driving the driving wheel swing arm to pivot, and a rotation driving mechanism for driving the driving wheel to rotate; the small arm is slidably arranged on the large arm along the length direction of the large arm and is driven by the linear driving mechanism to move along the length direction of the large arm; the driven wheel mechanism is arranged on the small arm and comprises a first driven wheel, a second driven wheel and a set of gear rack assembly, wherein the first driven wheel and the second driven wheel are arranged in a centering mode along the direction perpendicular to the large arm, the set of gear rack assembly is used for driving the first driven wheel and the second driven wheel to move in a centering mode, the first driven wheel, the second driven wheel and the driving wheel are arranged in an isosceles triangle mode, and the first driven wheel and the second driven wheel move in a centering mode when moving along with the small arm to the driving wheel so as to hold a rod body.
Further, the linear driving mechanism comprises a motor, a T-shaped lead screw nut transmission assembly and a centering control module, wherein the T-shaped lead screw nut assembly is used for driving the small arm to move forwards and backwards and can be self-locked, and the centering control module is used for driving the set of gear rack assembly to perform left and right centering movement.
Further, the set of gear rack assembly comprises a center positioning gear, a left rack and a right rack, wherein the first driven wheel is arranged on the left rack, the second driven wheel is arranged on the right rack, and the centering control module is in moving fit with the tail end of the left rack.
Further, the centering control module is a right triangle guide plate, and the hypotenuse of the guide plate is in moving fit with the tail end of the left rack.
Further, the swing driving mechanism comprises a gear motor and a driving wheel swing arm connecting rod, wherein the driving wheel swing arm is connected with the gear motor and is provided with a folding state and a linear unfolding state, and the driving wheel swing arm extends out to the lateral direction of the large arm and is located in a position self-locking state when the driving wheel swing arm connecting rod is located in the linear unfolding state.
Further, the big arm is provided with a through groove, and the driving wheel swing arm connecting rod is stored in the inner cavity of the big arm when being in a folding state.
Further, the rotary driving mechanism comprises a motor and a worm gear reducer and is used for being powered off and capable of self-locking.
Further, the holding rod manipulator is used for a climbing rod tool carrying platform and a manned climbing rod working platform.
According to another aspect of the present invention, there is provided a ground potential operation method using a pole-climbing tool carrier and an operation arm carried thereby, the ground potential operation method comprising the steps of: s101, tightly holding a pole-climbing tool carrying platform on an electric pole, wherein the pole-climbing tool carrying platform is at a ground potential; s103, controlling the pole-climbing tool carrier to carry the live working tool to climb to a preset position, wherein the live working tool keeps a safe distance with the pole-climbing tool carrier through an operation arm; and S105, remotely controlling the operation arm and the live working tool from the ground, and performing ground potential operation.
The invention also provides a power-on operation robot for the grid-connected overhead line by the ground potential operation method, which comprises a pole-climbing tool carrying platform and an operation arm arranged on the pole-climbing tool carrying platform, wherein the pole-climbing tool carrying platform comprises a left trunk, a right trunk, an upper holding rod manipulator and a lower holding rod manipulator which are positioned on the left trunk, an upper holding rod manipulator and a lower holding rod manipulator which are arranged on the right trunk, and a lifting executing mechanism for driving the left trunk and the right trunk to alternately lift; a live working tool for a ground potential working method is arranged at the top end of the insulating rod; and only the operation arm, the pole climbing tool carrier and the pole are subjected to insulation treatment.
Further, the operation arm is provided with a connecting seat and a cantilever frame hinged with the connecting seat, wherein the cantilever frame is provided with an insulating rod with an adjustable pose, and the cantilever frame is provided with a horizontal pose and a pitching adjusting pose.
Further, the insulating rod is controllable in posture relative to the cantilever mount and is in conical distribution during operation.
Further, the working length of the insulating rod is adjustable and can rotate around the axis of the insulating rod.
Further, the insulation rod performs top leveling through length adjustment of the insulation rod and posture adjustment of the cantilever mount.
Further, the posture adjustment of the cantilever mount and the insulating rod is realized by an electric push rod.
Further, the pole climbing tool carrier is provided with a mechanical arm installation interface, and the operation arm is detachably installed on the mechanical arm installation interface.
Further, the live working tool includes an intelligent live working tool.
According to the holding manipulator of the invention, the holding rod acts as follows: the driven wheels move close to the driving wheel and move in a centering way in the process, and the driven wheels are matched with the driving wheel to hold the rod body in an isosceles triangle shape, so that the rod diameter has a large application range. In addition, the driving wheel and the pair of driven wheels of the holding manipulator have position self-locking capability, so that the static holding self-locking function is realized, and the holding manipulator has the characteristics of small dynamic load, large static load and low energy consumption.
The invention provides a power distribution overhead line live working robot of a ground potential working method, which takes a pole-climbing tool carrying platform as a platform and carries out live working by the ground potential working method.
In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. The present invention will be described in further detail with reference to the drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
FIG. 1 is a schematic view of a manned pole-climbing platform according to the present invention;
FIG. 2 is a schematic diagram II of a manned pole-climbing platform according to the present invention;
fig. 3 is a schematic structural view of a pole-holding actuator of the manned pole-climbing platform according to the present invention;
Fig. 4 is a schematic structural diagram II of a pole-holding actuator of the manned pole-climbing work platform according to the present invention;
fig. 5 is a schematic diagram of an internal structure of a pole-holding actuator of the manned pole-climbing work platform according to the present invention;
fig. 6 is a schematic diagram of an internal structure of a pole-holding actuator of the manned pole-climbing platform according to the present invention;
fig. 7a to 7c show climbing of a pole-climbing actuator of a manned pole-climbing work platform according to the invention, wherein fig. 7a shows the right trunk down; FIG. 7b shows the right torso raised flush with the left torso; fig. 7c shows a state in which the right torso is lifted above the left torso;
fig. 8 shows a schematic cross-sectional view of a pole-holding actuator of a man-carried pole-climbing work platform according to the invention;
Fig. 9a to 9c show a pole climbing process of the manned pole climbing platform according to the present invention, wherein fig. 9a shows a left trunk down pole climbing state, fig. 9b shows a right trunk down pole climbing state, and fig. 9c shows a state in which the left trunk and the right trunk are simultaneously held;
FIG. 10 is a schematic perspective view of a grip robot for a pole-climbing tool carrier in accordance with the present invention;
FIG. 11 is a side view of a grip robot for a pole-climbing tool carrier in accordance with the present invention;
FIG. 12 is a schematic view of the internal structure of a grip robot for a pole-climbing tool carrier in accordance with the present invention;
FIG. 13 illustrates a left hand manipulator of a pole-climbing tool carrier in a gripping position and a right hand manipulator in an evacuation position in accordance with the present invention;
FIG. 14 illustrates a left hand manipulator of the pole-climbing tool carrier in an evacuation state and a right hand manipulator in a gripping state according to the present invention;
FIG. 15 illustrates the gripping action of the grip robot for the pole-climbing tool carrier in accordance with the present invention;
FIG. 16 illustrates a control circuit of a grip robot for a pole-climbing tool carrier in accordance with the present invention;
fig. 17 shows a pole-holding action process of the pole-climbing tool carrier according to the invention;
Fig. 18 shows a schematic view of a power-on working robot for a power distribution network overhead line according to the ground potential working method of the present invention;
FIG. 19 shows a schematic view of a pole-climbing tool carrier in accordance with the present invention; and
Fig. 20 shows a flow chart of a ground potential operation method according to the present invention.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
Fig. 1 to 9c show an embodiment of a manned pole-climbing work platform according to the present invention. Fig. 10 to 17 show an embodiment of a grip lever manipulator according to the present invention. Fig. 18 shows an embodiment of a grid-connected overhead line powered work robot according to the present invention. FIG. 19 illustrates an embodiment of a pole-climbing tool carrier in accordance with the present invention; fig. 20 shows a flow chart of a ground potential operation method according to the present invention. Wherein the reference numerals of different embodiments are different, and in the same embodiment, the reference numerals of the same components are the same.
As shown in fig. 1 and 2, the manned climbing operation platform of the present invention includes a main body 1, a steering handle 2, a left trunk 3, a right trunk 4, a seat 6, limbs (an upper left grip mechanism 7, a lower left grip mechanism 8, an upper right grip mechanism 9 and a lower right grip mechanism 10), a left reclining wheel 17, and a right reclining wheel 18.
The left trunk 3 and the right trunk 4 are of a bilateral symmetry structure, and the lifting executing mechanism drives the left trunk 3 and the right trunk 4 to alternately move in the vertical direction.
Each grip mechanism includes a cantilever and a terminal grip manipulator. The tail end holding rod manipulator is used for holding the electric pole within a certain diameter range, and corresponding tail end holding tools can be replaced if the special specification exists. The boom is driven by a derrick mechanism to rotate a set angle, e.g., 100 degrees, about the longitudinal axis of the torso.
The main machine 1 is internally provided with a lifting power assembly, a battery pack, a control unit (controller) and a driving unit.
The control handle 2 and the seat 6 are fixedly connected to the host 1.
The left safety wheel 17 rolls on the left side wall of the left torso 3 and the right safety wheel 18 rolls on the right end wall of the right torso 4.
Ultrasonic wave transmitting and receiving sensors 11, 12, 13 and 14 and high-voltage sensors 15 and 16 are arranged on the left trunk 3, the right trunk 4, the left upper holding rod mechanism 7 and the right upper holding rod mechanism 9.
The control handle is used for being held by operators on one hand, has a manual climbing control function on the other hand, is provided with an emergency stop button 3, further comprises other functional keys, can pause an automatic program at any time and terminate the automatic program, can actively intervene in the execution of the automatic program when obstacle avoidance and obstacle surmounting are needed, and can realize functional conversion between manual operation and automatic operation through the change-over switch.
As shown in fig. 3 and 4, the pole holding mechanism on the left trunk 3 includes a hollow shaft speed reduction motor 101, an upper transmission shaft 102, a lower transmission shaft 103, a bearing 104, and a torsion beam 105.
The upper transmission shaft 102 and the lower transmission shaft 103 are rigidly connected with the hollow shaft gear motor 101 and are fixed on bearings 104 of the upper and lower ends of the left side inside the left trunk 3. The function of the back torsion beam is to fix the motor 101.
The hollow shaft gear motor 101 is a combination of a servo motor and a hollow speed reducer RV-20C-121, and the hollow can penetrate through a cable. The motion of the holding pole mechanism is horizontal rotation, the earth attraction is not overcome to do work, only the small rolling friction force of the bearing and other comprehensive resistance are overcome to do work, so that the power of the servo motor is small, and a 90W motor is selected after experiments.
The cantilever 7-1 of the upper left holding pole mechanism 7 and the cantilever 8-1 of the lower left holding pole mechanism 8 are rigidly connected with the upper transmission shaft 102 and the lower transmission shaft 103 inside the left trunk 4, and can rotate around the outside longitudinal axis of the left trunk 4 by 100 degrees. The hollow shaft gear motor 101 drives the left upper pole holding mechanism 7 and the left lower pole holding mechanism 8 to perform pole holding action and opening action. The right upper holding pole mechanism and the right lower holding pole mechanism are symmetrically arranged with the left upper holding pole mechanism and the left lower holding pole mechanism.
Fig. 4a to 4c show the half grip state of the upper left grip mechanism 7, the full grip state, and the half grip state of the upper right grip mechanism 9 in this order.
Referring to fig. 5 to 8 in combination, the lift actuator includes a servo motor 201, NMRV speed reducer 202, transfer shaft 203, double chain 204, lower pocket chain 205, and upper pocket chain 206.
The lifting executing mechanism further comprises a left trunk lower end driving chain fixing seat 231, a right trunk lower end driving chain fixing seat 232, a left trunk front sliding rail 241, a left trunk rear sliding rail 251, a right trunk front sliding rail 261, a right trunk rear sliding rail 271, a sliding seat (a left trunk front sliding block 242, a left trunk rear sliding block 252, a right trunk front sliding block 262 and a right trunk rear sliding block 272), a left trunk shell 208, a right trunk shell 209, a main machine main beam 210, a power unit 211 (servo motors 201 and NMRV speed reducers 202), a right safety leaning wheel 18 and a main machine shell 213.
Wherein, left trunk front slide rail 241 and left trunk rear slide rail 251 are fixedly connected to the left trunk, extend over the entire height of the left trunk, and right trunk front slide rail 261 and right trunk rear slide rail 271 are fixed to the right trunk, extend over the entire height of the right trunk. The left trunk front slide block 242 is in plug-in fit with the left trunk front slide rail 241, and the left trunk rear slide block 252 is in plug-in fit with the left trunk rear slide rail 251. The right trunk front slide 262 is in plug-in fit with the right trunk front slide 261, and the right trunk rear slide 272 is in plug-in fit with the right trunk rear slide 271.
The left trunk front slide block 242 and the right trunk front slide block 262 are fixedly connected together, the left trunk rear slide block 252 and the right trunk rear slide block 272 are fixedly connected together and are used for supporting two ends of the double-chain wheel, the upper part and the lower part of the double-chain wheel are fixedly connected with the host, and the height of the double-chain wheel is 1/3-1/2 of the height of the left trunk.
One of the two ends of the upper pocket chain 206 is connected with the left trunk upper driving chain fixing seat, the other end is connected with the right trunk upper driving chain fixing seat, one of the two ends of the lower pocket chain 205 is connected with the left trunk lower driving chain fixing seat, and the other end is connected with the right trunk lower driving chain fixing seat.
In the invention, the left trunk and the right trunk alternately move up and down under the drive of the lifting executing mechanism, and are safely interlocked; the interlocking cross coverage time is 0.2 seconds, namely the left trunk climbs and then the right trunk climbs after the interval of 0.2 seconds, so that the safety of reliable alternate operation is ensured. The safety leaning wheels 17 and 18 on the two sides of the host machine play a role in wrapping the left trunk and the right trunk and ensuring the running safety.
In one embodiment, the trunk movement speed is 0.6 m/s, and the lifting speed of the main machine and the seat is 0.3 m/s because the power assembly output gear is of a movable pulley structure.
Fig. 9a shows a left trunk down pole-climbing state, fig. 9b shows a right trunk down pole-climbing state, and fig. 9c shows a state in which the left trunk and the right trunk are held simultaneously. When the limbs grip the rod at the same time, the left and right parts are staggered up and down and cannot be equal in height.
The pole climbing process of the manned pole climbing platform is as follows:
1) Left trunk holding pole: the two holding rod mechanisms deflect around the longitudinal axis of the left trunk synchronously towards the direction approaching the rod body, wherein the moment when the holding rod action is ended is the moment when the holding rod action is started;
2) Left trunk holding rod: after the holding poles are in place, the tail end holding pole mechanical arms of the two holding pole mechanisms perform holding pole actions and keep the postures;
3) Right torso rises: after the holding rod action is finished, the trunk rises for 0.2 seconds, stops after the maximum stroke, completes the rising, and enters the holding rod action stage of the right trunk;
4) The right trunk holding pole, namely, two holding pole mechanisms synchronously deflect to a direction close to the pole body around the longitudinal axis of the right trunk, wherein the moment when the holding pole action is ended is the moment when the holding pole action is started;
5) After the right trunk holding rod is held in place, holding rod mechanical arms at the tail ends of the two holding rod mechanisms perform holding rod actions and keep the postures;
6) Left trunk disconnect: after 0.2 seconds, the left trunk 4 starts to execute the pole removing action, the pole removing is the reverse movement of the holding pole and the holding pole, namely the tail end holding manipulator is changed from a gripping state to an opening state, the cantilever swings towards the direction far away from the pole body, and the holding pole mechanism returns;
7) Left torso rises: and (3) the left trunk is lifted to the maximum travel, the lifting is completed, the steps 1-6 are repeatedly executed, and the cyclic work realizes automatic lifting until the stop key system is pressed to stop after any stage of the stop key system is operated. But the scram key may stop immediately.
Compared with the prior art, the invention has the following technical effects:
1. In the manned pole-climbing operation platform, the upper pocket chain, the lower pocket chain and double chains driven by the host machine realize the alternate pole climbing of the left trunk and the right trunk, so as to realize the climbing of the host machine, thereby releasing people from dangerous, severe and heavy working environments.
2. The obstacle crossing device has the functions of automatic climbing and manual assistance, and can cross obstacles with a certain volume.
3. The obstacle distance early warning and the high-voltage distance early warning are provided, automatic exceeding early warning threshold forced parking function.
4. The storage battery supplies power, the electric quantity is displayed, the weak current is alarmed, the electric pole can be safely locked after unexpected power failure, and the battery can be replaced on the pole.
In the first embodiment, the manipulating handles 2 and the seats 6 on the main body 1 are adapted to be mounted with a work tool, such as a work manipulator, an operation arm, etc., after being detached, and used as a pole-climbing tool carrier.
Four holding rod manipulators are arranged at the tail ends of four limbs of the manned pole-climbing operation platform and the pole-climbing tool carrier platform, the upper structure and the lower structure are identical, and the left appearance, the right appearance and the internal layout structure are completely symmetrical.
The four grip manipulators will be described below with reference to fig. 10 to 17 by taking the structure of the grip manipulator for the left upper limb as an example.
Fig. 10 shows a grip manipulator for the left upper limb, which can grasp an equal-diameter rod and a conical rod, automatically adapt to the rod diameter, automatically complete four sequential actions of holding, gripping, self-locking and removing the rod, realize circumferential rotation action around the rod according to the requirement of the on-site working condition, and effectively avoid and cross obstacles in the climbing process by matching with the movement of the trunk.
In fig. 10, the component names corresponding to the respective reference numerals are as follows: 1. a driving wheel; 2. driven wheel; 3. driven wheel; 4. a driving wheel motor and a speed reducer; 5. a driving wheel swing arm connecting rod motor and a speed reducer; 6. a large arm; 7. a forearm; 8. a center positioning gear shaft; 9. a left driven wheel slide arm (square bar shape); 10. a right driven wheel slide arm (square bar shape); 11. a large arm chute; 12. large arm screw (linkage screw + motor see fig. 10); 13. a driving wheel swing arm connecting rod; 14. a large arm shaft (internal spline); 15-3, a forearm chute; 27. the driving wheel swings arms.
Fig. 11 shows a left side view of a grip robot that can grasp both a conventional constant diameter rod and a tapered rod, and if an oversized or undersized rod is desired, the corresponding grip robot may be replaced.
Fig. 12 shows the internal structure of the large arm and small arm cases in a horizontal section. In fig. 13, the component names corresponding to the respective reference numerals are as follows: 15-1, 15-2 and 15-3 forearm sliding grooves; 16. a center positioning gear; 17. a left rack; 18. a right rack; 19. a guide plate slide block; 20. a triangular guide plate; 21. deep groove ball bearings; 22. needle roller thrust bearings; 23. a pressure sensor; 24. a screw nut; 25. a planetary reducer; 26. and a screw motor.
Wherein, the motor 26, the needle roller thrust bearing 22, the pressure sensor 23 and the triangular guide plate 20 are fixed in the lumen of the large arm; the left driven wheel slide arm 9 and the right driven wheel slide arm 10 can slide in the small arm 7 and are controlled by the gear rack assemblies (16, 17 and 18), namely, the reverse movement; the driving wheel swing arm connecting rod motor and the speed reducer 5 are fixed outside and below the large arm lumen; the driving wheel motor and the speed reducer 4 are directly connected with the driving wheel 1 below.
The operation of the grip lever manipulator will be described below.
The removal and holding of the holding rod manipulator are shoulder movements of the climbing tool carrier, which are the same as those of the first embodiment, and are not described in detail herein, and the holding rod and the rotation are all functions of the holding rod manipulator.
As shown in fig. 13 and 14, an output shaft (external spline) of a shoulder joint of the trunk of the pole-climbing robot is connected with a large arm rotating shaft (internal spline) to drive the pole-climbing manipulator to do pole holding and pole withdrawing movements.
In fig. 13 and 14, the component names corresponding to the respective reference numerals are as follows: 1. an electric pole section; 2-1, a left half trunk of the pole-climbing robot; 2-2, the right half trunk of the pole-climbing robot.
In fig. 15, the operation process corresponding to each drawing is as follows: 1 is a withdrawing rod; 2, starting the action of the holding rod; 3. locking a holding rod; and 4, locking the electric pole with the diameter changed.
Fig. 16 shows a part of a control circuit for a hand-held manipulator. As shown in fig. 16, M1 is a motor 5 (stepping motor) of a drive wheel swing arm link; m2 is a lead screw motor 26 (brushless dc motor); m3 is a drive wheel rotating motor 4 (brushless dc motor).
The mechanism of operation of the gripping robot will be described with reference to fig. 10 to 16.
Control instruction 1
The PLC outputs a holding rod starting signal, and the holding rod starting signal controls the M1 motor to rotate forwards through the output unit 1 and the servo driver 1. The motor is decelerated by the speed reducer 5, the torque is amplified to drive the connecting rod 13, the connecting rod is unfolded and straightened by folding, the driving wheel 1 moves from a position leaning against the big arm to a position of the electric pole, namely the process 1 to the process 2 in fig. 15, and the process is 1.2 seconds.
In order to accurately select the stepping motor in place M1, the speed reducer is in the form of a worm gear, the action is executed without extra load except the inherent resistance of the structure, the consumed power in the process is small, the driving wheel swing arm is in place, and then forms a right triangle-shaped stable structure with the connecting rod and the large arm, so that the large reaction force of the electric pole can be resisted, and the motor is powered off after the starting is finished.
This action can achieve a greater supporting force with a smaller motor.
Control instruction 2
The PLC outputs a holding rod lock rod signal, and controls the M2 motor to rotate forward through the output unit 1 and the servo driver 2; the motor 26 drives the screw rod 12 to rotate forward in a speed reducing and torque amplifying manner through the planetary speed reducer 25, the screw rod nut 24 converts circular motion into linear motion, the screw rod nut is fixed at the tail end of the small arm 7, and the small arm moves downwards (see fig. 12) in the large arm chute 11 under the traction force of the screw rod nut.
The left driven wheel slide arm 9 in the small arm slide groove receives rightward thrust force of the guide plate slide block 19, and the thrust force is from reaction force obtained by the movement of the guide plate slide block 19 on the hypotenuse of the right-angled triangle guide plate 20; the left driven wheel slide arm moves rightwards, and the right driven wheel slide arm moves leftwards through a set of gear rack assemblies 16, 17 and 18, so that the left driven wheel and the right driven wheel move downwards and simultaneously move oppositely, namely the movement tracks of the two driven wheels point to the circle center of the section of the electric pole, and the three wheels are pressed on the cylindrical surface of the electric pole in an isosceles triangle layout.
The screw continues to rotate, the sum of positive pressure values of the electric pole by the three wheels (not vector sum) meets the longitudinal friction condition, and the M2 motor stops as in the process 2 to the process 3 of fig. 15 when the feedback signal of the pressure sensor 23 is increased to the PLC preset clamping force value.
The three wheels with the self-locking characteristic of the T-shaped screw rod are stably clamped on the electric pole, at the moment, the driving wheel motor M3 can be in a power-off state, the speed reducer 4 of the driving wheel motor M is in a worm gear type, the driving wheel is in a braking state, the axes of the three wheels are parallel to the longitudinal axis of the electric pole, and the friction force of the rubber wheel to the electric pole is large (the friction coefficient mu is more than 0.75), so that the electric pole can be locked after the holding rod action, and the motor is powered off.
The above control commands 1,2 are also repeated for varying rod diameters, as in process 3 and process 4 of fig. 15.
The rod diameter may be directly used without the conversion mode as long as it is within the opening range of the manipulator.
Control instruction 3
Referring to fig. 10 to 17, the rod winding swivel action can be performed when the left and right manipulators grip the rod simultaneously.
In fig. 17, a double-arm simultaneous grip, wherein 1 is a left-arm grip, a right-arm start grip, and 2 is a double-arm simultaneous grip; three rubber wheels per arm, 12 wheels of four arms clamp the pole, and the stability of the rotating operation and the stay on the pole is ensured. Obstacle avoidance and obstacle crossing functions are realized when the robot is matched to climb the pole.
The PLC outputs a holding rod lock rod signal, the M3 motor is controlled to operate through the output unit 1 and the servo driver 3, the driving wheel 1 rotates and rolls around the rod by virtue of friction force with an electric pole, and the driven wheels 2 and 3 roll along with the rod, so that the rod winding function is realized.
Unhooking rod
The climbing pole has the processes of holding the pole and removing the pole, and the removing pole is the process that three wheels leave the pole, namely the process from the process 3 to the process 2 to the process 1 in fig. 15. The command output by the PLC controls the motor to rotate reversely at the original corresponding port, and the time sequence is inverted with the holding rod.
The characteristics/advantages of the grip lever manipulator of this embodiment are as follows:
1. the body is manufactured by combining a 304 stainless steel laser cutting, stamping and welding process and a 7075 aluminum alloy cutting oxidation process, and has the characteristics of light weight, good rigidity and corrosion resistance.
2. The structural mechanics optimal design has the characteristics of small dynamic load, large static load and low energy consumption.
3. The tail end of the mechanism is contacted with the electric pole, and three rubber wheels are arranged, so that the structure is simple and the rotating is convenient.
The invention provides a power distribution network overhead line live working robot by a ground potential working method, which is characterized in that a pole climbing tool carrying platform is used as a platform (10 kV line telegraph pole) as shown in fig. 18, and live working is carried out by the ground potential working method, namely, in the live working process, the pole climbing tool carrying platform and the ground do not need to be insulated, and the working process depends on an operating arm to ensure that the pole climbing tool carrying platform and a live body keep a safe distance.
As shown in fig. 18, the pole climbing tool carrier 10 is provided with an operating arm 20 in a matching manner, and after the pole holding of the pole climbing operation carrier 10 is locked, the insulating rod on the operating arm 20 moves controllably so as to meet the requirement that the shape of the operation area of the ground potential operation method is similar to that of a cone.
The operation arm 20 is provided with a connecting seat 21 and a cantilever support 22 hinged with the connecting seat, wherein an insulating rod 26 with adjustable position is arranged on the cantilever support 22, and the cantilever support 22 has a horizontal position and a pitching adjustment position.
Specifically, the insulating rod 26 has an upright posture and a controllable operation posture that is conically distributed centering on the upright posture with respect to the cantilever mount 22. The combination of the posture of the cantilever mount and the posture of the insulating rod 26 itself can satisfy the requirement that the shape of the operating region of the ground potential operating method is similar to a cone. Specifically, the positions of the cantilever mount and the insulating rod are controlled by electric push rods 23, 24 and 25.
Wherein, the first electric push rod 23 and the third electric push rod 25 control the conical spherical top movement (X, Y) of the insulating rod, and the second electric push rod 24 compensates the fall caused by the spherical movement track of the top end of the insulating rod. The second electric push rod can support the cantilever mount and can be folded after the operating arm 20 is separated from the climbing operation carrying platform 10, so that the carrying is convenient.
Preferably, the insulating rod is adjustable in working length and rotatable about its own axis.
Preferably, when the insulating rod climbs to a preset position along with the climbing rod tool carrier, the top end of the insulating rod is leveled through the length adjustment of the insulating rod and the posture adjustment of the cantilever mount, so that the live working tool is in a preset working posture such as parallel, vertical and oblique to the conductive trend.
The structure of the pole-climbing tool carrier 10 is shown in fig. 19, and the pole-climbing tool carrier can adapt to the pole diameter and the pole height, independently climb an equal-diameter pole or a tip-drawing pole, and can pass over common attachments such as a metering box and a hoop on the pole. In addition, the utility model can also rotate 360 degrees around the pole and can be locked at any position on the pole body to carry out the operation. The above functions of the pole-climbing tool carrier are described above and will not be described here.
The pole-climbing tool carrier is provided with a mechanical arm installation interface, and the operating arm is detachably installed on the mechanical arm installation interface.
The invention also provides a ground potential operation method, which uses the power-on operation robot of the grid-connected overhead line to perform ground potential operation, wherein the power-on operation robot of the grid-connected overhead line comprises a pole-climbing tool carrier and an operation arm carried by the pole-climbing tool carrier.
As shown in fig. 19, the ground potential operation method includes the steps of:
S101, tightly holding a pole-climbing tool carrying platform on an electric pole, wherein the pole-climbing tool carrying platform is at a ground potential;
S103, controlling the pole-climbing tool carrier to carry the live working tool to climb to a preset position, wherein the live working tool keeps a safe distance with the pole-climbing tool carrier through an operation arm; and
S105, remotely controlling the operation arm and the live working tool from the ground, and performing ground potential operation.
The operating arm can be matched with various conventional live working tools and intelligent live working tools which are suitable for an insulating rod operation method, and can finish operation projects such as live connection drainage wire, shear drainage wire, line clearance, safety electricity inspection grounding ring, fault indicator and the like.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A holding rod manipulator is characterized in that,
The big arm comprises a linear driving mechanism,
The driving wheel mechanism comprises a driving wheel swing arm pivoted on the large arm, a driving wheel, a swing driving mechanism for driving the driving wheel swing arm to pivot, a rotation driving mechanism for driving the driving wheel to rotate,
The small arm is slidably arranged on the large arm along the length direction of the large arm and is driven by the linear driving mechanism to move along the length direction of the large arm;
The driven wheel mechanism is arranged on the small arm and comprises a first driven wheel and a second driven wheel which are arranged in a centering way along the direction vertical to the large arm and a set of gear rack components used for driving the first driven wheel and the second driven wheel to move in a centering way,
The linear driving mechanism comprises a motor, a T-shaped lead screw nut transmission assembly and a centering control module, wherein the T-shaped lead screw nut assembly is used for driving the small arm to move and can be self-locked, the centering control module is used for driving the set of gear rack assemblies to perform centering movement,
The swing driving mechanism comprises a gear motor and a driving wheel swing arm connecting rod, the driving wheel swing arm is connected with a folding state and a linear unfolding state, the driving wheel swing arm extends out to the lateral direction of the large arm when the driving wheel swing arm connecting rod is positioned in the linear unfolding state and is positioned in a position self-locking stable state,
The first driven wheel, the second driven wheel and the driving wheel are arranged in an isosceles triangle, and the first driven wheel and the second driven wheel move in a centering mode when moving along with the small arm to the driving wheel so as to hold the rod body.
2. The grip robot of claim 1, wherein the set of rack and pinion assemblies includes a center positioning gear, a left rack, and a right rack, wherein the first driven wheel is disposed on the left rack, the second driven wheel is disposed on the right rack, and the centering control module is in moving engagement with an end of the left rack.
3. The grip lever manipulator of claim 2, wherein the centering control module is a right triangle shaped guide plate, the hypotenuse of the guide plate being in moving engagement with the end of the left rack.
4. The grip robot of claim 1, for use on a pole climbing tool carrier and a manned pole climbing work platform.
5. The grip robot of claim 1, wherein the rotary drive mechanism includes a motor and worm gear reducer for de-energizing self-locking.
6. The utility model provides a join in marriage net rack overhead line live working robot of earth potential operation method, includes pole-climbing instrument microscope carrier and the operating arm that sets up on pole-climbing instrument microscope carrier, wherein, pole-climbing instrument microscope carrier includes left truck, right truck, two upper and lower holding rod manipulators that lie in left truck, two upper and lower holding rod manipulators that set up on right truck, and is used for driving left truck and right truck to go up and down alternately actuating mechanism; the top end of the operating arm is provided with a live working tool for a ground potential working method, and the grip robot is the grip robot according to any one of claims 1 to 5.
7. The power distribution and overhead line live working robot according to the ground potential working method according to claim 6, wherein the operation arm is provided with a connecting seat and a cantilever frame hinged with the connecting seat, wherein the cantilever frame is provided with an insulating rod with adjustable pose, and the cantilever frame is provided with a horizontal pose and a pitching adjusting pose.
8. The power distribution overhead line live working robot according to the ground potential working method according to claim 7, wherein the posture of the insulating rod relative to the cantilever mount is controllable, and the working area is in conical distribution during working.
9. The power distribution overhead line live working robot according to the ground potential working method according to claim 7, wherein the insulation rod performs top leveling by insulation rod length adjustment and cantilever mount posture adjustment.
10. The power distribution overhead line live working robot according to the ground potential working method according to claim 7, wherein the posture adjustment of the cantilever mount and the insulating rod is realized by an electric push rod.
11. The power distribution overhead line live working robot according to the ground potential working method according to claim 6, wherein the pole-climbing tool carrier has a robot arm mounting interface, and the operation arm is detachably mounted on the robot arm mounting interface.
12. The power distribution overhead line live working robot of claim 6, wherein the live working tool comprises an intelligent live working tool.
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| CN111185413B (en) * | 2020-02-25 | 2022-10-14 | 国网河南省电力公司许昌市建安供电公司 | Automatic climbing wire pole equipment of removing obstacles |
| CN114559440A (en) * | 2020-11-27 | 2022-05-31 | 浙江德镧智能技术有限公司 | Live working robot for ubiquitous power Internet of things |
| CN112874649B (en) * | 2021-01-21 | 2022-09-30 | 国网安徽省电力有限公司电力科学研究院 | Insulating operation arm for live working of power distribution network |
| CN112894850B (en) * | 2021-01-27 | 2023-11-17 | 国网安徽省电力有限公司电力科学研究院 | Control system and control method of pole-climbing robot |
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