CN110601079A - Operation robot system and operation method for electrified disconnection and connection of drainage line of distribution network - Google Patents
Operation robot system and operation method for electrified disconnection and connection of drainage line of distribution network Download PDFInfo
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- CN110601079A CN110601079A CN201910978094.2A CN201910978094A CN110601079A CN 110601079 A CN110601079 A CN 110601079A CN 201910978094 A CN201910978094 A CN 201910978094A CN 110601079 A CN110601079 A CN 110601079A
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- wire
- peeling
- motor
- clamping
- manipulator
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000009826 distribution Methods 0.000 title abstract description 21
- 239000004519 grease Substances 0.000 claims abstract description 16
- 238000012546 transfer Methods 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 48
- 239000004020 conductor Substances 0.000 claims description 34
- 230000001360 synchronised effect Effects 0.000 claims description 24
- 238000009434 installation Methods 0.000 claims description 18
- 238000004140 cleaning Methods 0.000 claims description 12
- 238000005520 cutting process Methods 0.000 claims description 11
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 6
- 230000016507 interphase Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 6
- 239000011248 coating agent Substances 0.000 description 5
- 238000000576 coating method Methods 0.000 description 5
- 238000009413 insulation Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 241000239290 Araneae Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000034994 death Effects 0.000 description 1
- 231100000517 death Toxicity 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
- H01R43/26—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for engaging or disengaging the two parts of a coupling device
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
- H02G1/04—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables for mounting or stretching
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/12—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for removing insulation or armouring from cables, e.g. from the end thereof
- H02G1/1202—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for removing insulation or armouring from cables, e.g. from the end thereof by cutting and withdrawing insulation
- H02G1/1248—Machines
- H02G1/1268—Machines the cutting element making a longitudinal in combination with a transverse or a helical cut
Abstract
The invention discloses an operation robot system and an operation method for connecting a live disconnection and leading line of a distribution network, wherein the system comprises an insulating mobile platform and an operation robot platform carried by the insulating mobile platform, the insulating mobile platform is a crawler-type aerial work vehicle, and the operation robot platform is arranged at the tail end of an insulating telescopic arm of the operation robot platform; the working robot platform comprises a square control box, and a grabbing manipulator, a peeling manipulator and an installing manipulator which are arranged on the side wall of the control box, wherein the mechanical arms of the three manipulators are all multi-joint multi-degree-of-freedom arms, and the end parts of the three mechanical arms are respectively connected with a clamping tail end, a peeling tail end and a wire clamp installing tail end; the operation robot platform still includes instrument conveyer and cross slip table, and there is the mounting groove a pair of lateral wall bottom of control box, and on instrument conveyer was fixed in the bottom plate of control box, mainly used transfer apparatus fastener, wire brush cleaner, scribble conductive grease instrument and insulating sheath were taken for snatching the manipulator, and the bottom plate of control box is installed on the cross slip table, moves about around can.
Description
Technical Field
The invention belongs to the field of distribution network live working, and particularly relates to an operation robot system and an operation method for live disconnection and connection of a distribution network to a drainage line.
Background
With the rapid development of social economy, the requirements of people on continuous and stable power supply in production and life are higher and higher. The distribution network is located at the tail end of the power system, is a key link for guaranteeing continuous power supply, and the reliability of the distribution network occupies a very important position in the whole power supply system. At present, traditional electrified maintenance of distribution network is mainly carried out by the manual work, and the workman wears insulating clothing to stand and carries out electrified disconnected and connected drainage wire operation in the insulating fill in high altitude mostly, and partial area has also carried out and has adopted insulating bar to carry out electrified disconnected and connected drainage wire operation of distribution network. However, the power distribution network lines are usually very compact, the line-to-line distance is small, and short circuits are easily caused when operators work in a hot-line manner, so that accidents such as personal injuries and deaths are caused. Meanwhile, most of the operation modes are high in labor intensity, low in working efficiency and high in operation risk coefficient, and related live-line operation is difficult to carry out due to severe distribution and geographic conditions of the power distribution network lines in part of areas, so that the lines have to be overhauled and maintained in a power failure mode, and continuous and stable operation of the power distribution network is seriously influenced. Therefore, in order to ensure the safety of the live-line operators of the power distribution network, improve the live-line operation efficiency of the power distribution network and enable the power distribution network to continuously and stably operate, the robot replaces workers to perform live-line disconnection and drainage wire connection operation on the power distribution network of the power distribution network, and the robot is more and more important.
The robot can directly replace manual work to carry out operation, eliminates the hidden danger that live working personnel seriously threaten personal safety due to the compact inter-phase distance, realizes an automatic working mode, and improves the working efficiency.
However, in spite of the existing live working robot systems at home and abroad, a wheel-type vehicle-mounted mode is generally adopted, namely, a wheel-type overhead working truck is adopted as an insulation moving platform, the working robot is installed at the tail end of a telescopic arm of the wheel-type overhead working truck, and the wheel-type vehicle-mounted moving mode is not suitable for complex terrain environments. The work robot is mounted on an insulated trolley, so that the size of the work robot is large, and the change of the work position is realized by a telescopic arm of the work vehicle, so that the work robot is not suitable for a narrow work space and a complicated work object. And some working robots work through mechanical arms and do not have special working ends. Even some tail ends connected through the mechanical arm are peeled and installed, the tail ends are complex in structure and low in performance, and faults are easy to occur in the operation process.
Disclosure of Invention
The invention mainly aims to provide an operation robot system and an operation method which are small in size, suitable for complex terrain environments and good in operation end structure optimization performance.
The invention provides an operation robot system for connecting a distribution network with a live disconnection and lead wire, which comprises an insulation moving platform and an operation robot platform carried by the insulation moving platform. The insulating mobile platform is a crawler-type overhead working truck, and the working robot is arranged at the tail end of an insulating telescopic arm of the working robot; the operation robot comprises a square control box, and a grabbing mechanical arm, a peeling mechanical arm and an installing mechanical arm which are arranged on the side wall of the control box, wherein the mechanical arms of the three mechanical arms are all multi-joint multi-degree-of-freedom arms, the grabbing mechanical arm is connected with a clamping tail end at the end part of the mechanical arm, the peeling mechanical arm is connected with the peeling tail end at the end part of the mechanical arm, and the installing mechanical arm is connected with a wire clamp installing tail end at the end; the operation robot platform still includes instrument conveyer and cross slip table, and there is the mounting groove a pair of lateral wall bottom of control box, and on instrument conveyer was fixed in the bottom plate of control box, mainly used conveying equipment fastener, special cleaning brush, scribble conductive grease specialized tool and insulating sheath took for the special district manipulator, and the bottom plate of control box is installed on the cross slip table, can control about moving around.
In an embodiment of the above technical scheme, the peeling manipulator and the grabbing manipulator are fixed to a pair of side walls of the control box, and the mounting manipulator is located on a side wall between the peeling manipulator and the grabbing manipulator. .
In one embodiment of the above technical scheme, the cross sliding table comprises a transverse sliding table and an longitudinal sliding table, the transverse sliding table comprises a transverse linear sliding table and a screw nut mechanism mounted on the transverse linear sliding table and driven by a motor, the longitudinal sliding table comprises a longitudinal linear sliding table and a screw nut mechanism mounted on the longitudinal linear sliding table and driven by a motor, a connecting seat is arranged at the middle position of the bottom surface of the longitudinal linear sliding table, the connecting seat is fixedly connected with a nut of the screw nut mechanism of the transverse sliding table, and a connecting plate used for connecting a bottom plate of the control box is connected to a nut of the screw nut mechanism of the longitudinal sliding table.
In an embodiment of the above technical scheme, the tool conveyer includes a base plate, a ring-shaped guide rail, a plurality of synchronizing gears, a synchronous belt, a bearing slide seat and a driving motor, the base plate is horizontally arranged, the ring-shaped guide rail is fixed on the base plate, two ends of the ring-shaped guide rail are arc-shaped sections, a straight line segment is arranged between the two arc-shaped sections, a synchronizing gear is fixed at the position of the circle center of each arc-shaped section, the synchronous belt is meshed with the two synchronizing gears, the wheel shafts of one synchronizing gear are connected with the output shaft of the driving motor, the bearing slide seats are multiple, the inner sides of the bearing slide seats are fixedly connected with the outer sides of the synchronous belt, and the bottom surfaces of the bearing slide seats are guided by the ring-shaped guide rail, and the.
In one embodiment of the above technical solution, the inner side and the outer side of the annular guide rail are both provided with a guide convex ring, the bottom surface of the bearing slide seat is provided with a pulley at a position corresponding to the guide convex ring at the inner side and the outer side of the annular guide rail, and the pulley is provided with a groove corresponding to the guide convex ring; and a guide stop seat is arranged at the linear section of the base plate corresponding to the synchronous belt.
In one embodiment of the above technical scheme, the clamping end comprises a motor, a feed screw nut mechanism, a slider-crank mechanism and an insulating clamping finger which are connected in sequence, the motor drives the feed screw to rotate, the nut on the feed screw drives the slider to move, and the crank pushes the insulating clamping finger outwards to open or pulls the insulating clamping finger inwards to close.
In one embodiment of the above technical scheme, the peeling end comprises a peeling device and a peeling driving device, the peeling device comprises a clamping motor and a screw nut mechanism driven by the clamping motor, a guide rail slider mechanism and two wire clamping blocks, two sides of each wire clamping block are respectively connected with a screw nut on a screw and a guide rail slider, a cutting blade is fixed at a wire clamping groove of one wire clamping block, and the screw nut mechanism and the guide rail slider mechanism are fixed at two sides of the mounting frame in parallel; the peeling driving device is positioned at the outer end of the mounting frame and comprises a rotary motor and a worm and worm gear mechanism driven by the rotary motor, a C-shaped cylindrical gear meshed with a worm gear, a wheel shaft of the C-shaped cylindrical gear is a hollow shaft and is arranged along the axial center line of the wire clamping groove on the wire clamping block, one end of the hollow shaft is fixed on the mounting frame, a corresponding hole is formed in the mounting frame corresponding to the center hole of the hollow shaft, two ends of the wheel shaft of the worm and the worm gear are respectively fixed on a mounting cover, the mounting cover covers the transmission device, but the open groove of the C-shaped cylindrical gear is exposed, and; guide threads are arranged on the groove surface of the wire clamping groove on the wire clamping block, and a guide threaded hole is formed when the two wire clamping blocks are closed; the worm and worm wheel mechanism comprises two groups of worm wheels which are symmetrically arranged on two sides of the C-shaped cylindrical gear; the periphery of the mounting cover corresponding to the worm drive motor is provided with a mechanical arm connector.
In one embodiment of the above technical solution, the terminal of the cable clamp installation includes a motor and a lead screw and nut mechanism driven by the motor, a guide rail and slider mechanism and two clamping plates, both sides of which are respectively connected with a lead screw upper nut and a guide rail upper slider, the lead screw and nut mechanism and the guide rail and slider mechanism being fixed in parallel on both sides of the mounting frame; the wire clamp mounting tool further comprises a motor and an inner hexagonal sleeve driven by the motor, an output shaft of the motor is connected with the inner hexagonal sleeve through a hollow cross-shaped coupling, a spiral spring is arranged in the inner hexagonal sleeve, and two ends of the spiral spring are respectively connected with the output shaft of the motor and the end face of the inner hexagonal sleeve.
In one embodiment of the above technical solution, the mounting frames of the wire stripping tool and the wire clamp mounting tool each include an end plate and a U-shaped frame fixed to one side thereof, the U-shaped frame is used for mounting a lead screw of a lead screw nut mechanism, the guide rails of the guide rail slider mechanisms of the two tools are respectively mounted to the other side of the end plate, the lead screws of the two tools are positive and negative lead screws, and the nuts on the lead screws are T-shaped nuts; the middle position department that the end plate of fastener mounting tool's mounting bracket corresponds between two guide rails is provided with the arc wall, and the upside of arc wall is connected with the arm connector, motor and driven hexagon socket head cover sleeve pass from the arm connector.
The invention provides a method for disconnecting and connecting a lead wire by the system on the insulated conductor, wherein the method for connecting the lead wire with electricity comprises the following steps:
a) the crawler-type overhead working truck lifts the working robot platform to a working position;
b) the grabbing manipulator clamps the lead;
c) the peeling manipulator withdraws from the working position after the peeling operation of the insulating layer is carried out;
d) the grabbing manipulator clamps and cleans the peeled bare conductor by the cleaning brush from the bearing sliding seat of the tool conveying device and then sends the bare conductor back;
e) the grabbing manipulator clamps a special conductive grease tool from a bearing sliding seat of the tool conveying device, coats the conductive grease on the lead and then sends the lead back;
f) the grabbing manipulator clamps loose wire clamps with loosened nuts from a bearing sliding seat of the tool conveying device and clamps the wire clamps by matching with a clamping device at the wire clamp installation tail end of the installation manipulator;
g) the installation manipulator moves to the position of the connecting point of the bare conductor to install the wire clamp on the main conductor;
h) the grabbing manipulator clamps the exposed end of the drainage wire and sends the exposed end to a contact point position, and the peeling manipulator controls the drainage wire to move up and down in a matched mode in the process, so that interphase short circuit is prevented;
i) the grabbing manipulator inserts the drainage wire into the wire clamp, and a bolt fastening device at the wire clamp installation tail end of the installation manipulator tightens a nut of a wire clamp bolt;
j) the mounting manipulator withdraws from the working position to complete the mounting of the drainage wire;
k) the grabbing manipulator clamps the insulating shield in a bearing sliding seat of the tool conveying device, covers the insulating shield on the installed wire clamp and then withdraws;
l) the working robot platform leaves the working position, the operation of the live-line lead wire of one phase of insulated wire is finished, and other phases of the insulated wire are finished according to the operation.
The crawler-type aerial work vehicle is used as an insulating moving platform, the working robot platform is installed at the tail end of the insulating telescopic arm, and the control box body of the system is used as an installation carrier of three manipulators and a tool conveying device of the working robot, so that the working robot is compact in structure and small in size, the working robot is provided with the cross sliding table, the working position can be flexibly adjusted, and the axial movement of the peeling tail end along the insulated wire during peeling can be realized through the cross sliding table. The operation robot of the system realizes the operation of each flow through the matching of the mechanical arm and the operation tail end, the multi-joint multi-freedom-degree structure of the mechanical arm enables the mechanical arm to be foldable and telescopic, the mechanical arm can freely move in a narrow operation space, and the grabbing mechanical arm can flexibly take corresponding tools from the tool conveying device to work. After the insulated wire is clamped by the peeling device at the peeling tail end, the cutting blade is driven to rotate to cut the insulated wire through the transmission mechanism of the peeling driving device, namely, the wire is clamped and the peeling driving is integrated, so that the structure is compact and optimized, and the peeling operation is stable. The terminal of the wire clamp is integrated with a wire clamp device and a nut screwing device, so that the structure is optimized, the operation is compact, and the operation is fast and stable. The operation robot tool conveying device and the grabbing manipulator are matched for application, so that the operation flow can be simplified, the operation time can be shortened, the whole operation process is realized in a small range through the operation robot, and the operation robot tool conveying device is particularly suitable for live disconnection and drainage wire operation in the narrow space of a distribution network.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 is an enlarged schematic view of the side structure of the working robot platform in fig. 1.
Fig. 3 is an enlarged schematic view of the tool transport device of fig. 2 showing the structure on the shaft side.
Fig. 4 is an enlarged schematic view of a shaft side structure of the cross sliding table in fig. 2.
Fig. 5 is an enlarged view of the axial side structure of the clamping tip of fig. 2.
Fig. 6 is a schematic axial view of the clamping tip with the housing removed.
Fig. 7 is an enlarged view of an axial side structure of the peeling tip of fig. 2.
Fig. 8 is an enlarged view of another axial side structure of the peeling tip of fig. 2.
Fig. 9 is an enlarged view of a third axial side structure of the stripped end of fig. 2.
Fig. 10 is an enlarged view of an axial side structure of the wire clamp mounting end of fig. 2.
Fig. 11 is a schematic flowchart of the operation of the present embodiment.
Number in the figure:
a-crawler-type overhead working truck;
b-a work robot platform;
b1-control box;
b2-grabbing manipulator; a clamping end B21;
b3-peeling manipulator; stripped end B31;
b4-installing a manipulator; a wire clamp mounting end B41;
b5-tool transfer device; b51-base plate; b52-ring rail; b53-synchromesh; b54-synchronous belt; b55-load carriage;
b6-a transverse sliding table;
b7-longitudinally moving a sliding table; b71 — connecting plate.
Detailed Description
As shown in FIG. 1, the working robot system for live disconnection and connection of distribution network to the lead flow line disclosed by the embodiment comprises a crawler-type overhead working truck A and a working robot platform B installed at the tail end of a telescopic arm of the crawler-type overhead working truck A.
As can be seen from fig. 1 and 2, the work robot deck B of the present embodiment includes a control box B1, a gripping robot B2, a peeling robot B3, a mounting robot B4, a tool transfer device B5, a traverse slide B6, and a vertical slide B7.
The square control box B1 serves as a mounting carrier for the three robots and the tool transfer device.
The grasping robot B2 and the peeling robot B3 are symmetrically attached to a pair of widthwise side walls of the control box B1, and the mounting robot B4 is attached to one side in the longitudinal direction of the control box B1.
The three manipulators of the embodiment each include a multi-joint multi-degree-of-freedom robot arm and a working end connected to the end thereof, wherein the end of the grasping manipulator B2 is connected to the gripping end B21, the end of the peeling manipulator B3 is connected to the peeling end B31, and the end of the mounting manipulator B4 is connected to the wire clamp mounting end B41.
The crawler-type overhead working truck of the embodiment purchases Italian crawler spider trucks of Changzhou New Lanling electric power auxiliary equipment Limited company agency, can self-level and climb, and the climbing gradient can reach 30 degrees. The three robots of this embodiment are preferably servo driven 6 degree of freedom robots.
As shown in fig. 3, the tool transporter B5 includes a base plate B51, an endless guide rail B52, a timing gear B53, a timing belt B54, a carriage slide B55, and a drive motor.
The base plate B51 is arranged horizontally, the ring-shaped guide rail B52 is fixed on the base plate, both ends of the ring-shaped guide rail B52 are arc-shaped sections, and a straight line section is arranged between the two arc-shaped sections. The inner side and the outer side of the annular guide rail B52 are both provided with guide convex rings. A synchronous gear B53 is fixed at the circle center position of two circular arc sections of the annular guide rail respectively, a synchronous belt B54 is meshed with the two synchronous gears, the wheel shaft of one synchronous gear is connected with the output shaft of a driving motor (the driving motor adopts a servo motor, the output shaft is arranged upwards, and a yielding hole is formed in the position, corresponding to the driving motor, of a base plate), so that the synchronous gear serves as a driving wheel to drive the synchronous belt and the other synchronous gear to rotate.
The bearing slide seats B55 are provided with a plurality of bearing slide seats, each bearing slide seat comprises a bearing box body and two pulleys connected with the bottom surface of the bearing box body, annular grooves on the two pulleys are respectively matched with the inner side and the outer side of the annular guide rail B52, the inner side of the side wall of the bearing box body is fixed with the outer side of the synchronous belt B54 through a connecting block, so that the bearing slide seat B55 rotates along with the synchronous belt B54, and the stable guide is realized through the annular guide rail B52 during the rotation.
In order to stably rotate the timing belt B54, a guide stopper B56 is provided on the base plate B51 at a straight section corresponding to the timing belt B54.
As shown in fig. 2, the base plate B51 of the tool transporter B5 is fixed to the bottom plate of the control box B1, and the timing belt B54 carries the carriage B55 to pivot in notches at the bottom of both side walls in the longitudinal direction of the control box B1.
The equipment clamps, the wire sweeping brush, the conductive grease coating tool and the insulating sheath are respectively arranged in each bearing slide B55, and the conductive grease is coated on the equipment clamps in advance.
As shown in fig. 4, the transverse sliding table B6 includes a transverse linear sliding table and a lead screw nut mechanism mounted thereon, the lead screw is fixed on the central plane between two guide rails on the transverse linear sliding table through a bearing and a bearing seat, and one end of the lead screw is connected with a servo motor SFDJ. The longitudinal sliding table B7 comprises a longitudinal linear sliding table and a screw rod nut mechanism arranged on the longitudinal linear sliding table, a screw rod is fixed on a central plane between two guide rails on the transverse linear sliding table through a bearing and a bearing seat, and one end of the screw rod is connected with a servo motor SFDJ through a coupling.
As shown in fig. 4, the bottom surface of the longitudinal linear slide table of the longitudinal slide table B7 is fixed to the nut of the lead screw nut mechanism of the lateral slide table B6, so that the longitudinal slide table B7 can reciprocate along the lateral slide table B6. Namely, the cross sliding table is composed of the transverse sliding table B6 and the longitudinal sliding table B7.
The nut of the screw nut mechanism of the longitudinal sliding table B7 is connected with a connecting plate B71 used for connecting a bottom plate of a control box, and a bottom plate of the control box B1 is fixed on the connecting plate through fastening bolts, so that the control box B1 moves along the front, back, left and right directions of the cross sliding table, and the plane position of the cross sliding table can be flexibly changed.
The clamping tail end B21 connected with the grabbing manipulator B2 is mainly used for clamping various special tools to perform operations of cleaning wires, coating conductive grease, installing an insulating protective cover and the like, and clamping the overlapping end of the drainage wire to insert the overlapping end of the drainage wire into an equipment wire clamp when the drainage wire is disconnected or connected.
As shown in fig. 5 and 6, the grip end B21 includes a servo motor SFDJ, a lead screw-nut mechanism B211, a crank-slider mechanism B212, insulated grip fingers B213, and a housing B214. An output shaft of the servo motor is connected with a lead screw of the lead screw nut mechanism B211 through a coupler, a slide block of the crank slide block mechanism B212 is connected with a nut of the lead screw nut mechanism B211, and a crank of the crank slide block mechanism B212 is hinged with an insulating clamping finger B213. The motor, the coupling, the screw rod and nut mechanism and the crank block mechanism are positioned in a shell B214, one end of the shell is hinged with an insulating clamping finger B213, and the other end of the shell is connected with a grabbing mechanical arm. The servo motor can rotate forward and backward.
The working principle of the clamping end B21 is as follows:
the rotary motion of the output shaft of the servo motor is transmitted to the screw rod through the coupler, the nut on the screw rod drives the sliding block to move along the screw rod through the rotary motion of the screw rod, and the insulating clamping fingers are pushed outwards or pulled inwards to be folded through the moving crank of the sliding block. Before the clamping action of the clamping tool, the clamping tool is opened and then closed to carry out the clamping action.
The stripping robot B3 strips the insulation from the insulated conductor primarily through its attached stripping tip.
As shown in fig. 7 to 9, the peeling tip B31 includes a peeling means B311 and a peeling driving means B312.
The peeling device B311 comprises a servo motor SFDJ, a screw rod SG, a T-shaped nut LM, a lead clamping block B3111, a guide rail DG, a sliding block HK and a mounting rack AZJ.
The mounting rack AZJ comprises an end plate and a U-shaped frame, wherein the end plate is perpendicular to the insulated conducting wire and is fixed on one side of the end plate in parallel with the insulated conducting wire, and an insulated conducting wire mounting groove is formed in the other side of the end plate. Guide rails DG perpendicular to the insulated wires are symmetrically fixed on two sides of the insulated wire mounting groove on the end plate, and sliding blocks HK are connected to the two guide rails respectively. The servo motor SFDJ can rotate forward and backward and is connected to one end of the screw rod SG through a coupler. The screw rod is a positive and negative screw rod with two end sections with opposite screw threads, and the two end sections are respectively connected with a T-shaped nut. The wire clamping block B3111 is provided with a semi-circular arc-shaped wire clamping groove, the two wire clamping blocks B311 are symmetrically arranged relative to each other by the wire clamping groove, one side of each wire clamping block is fixed with the T-shaped nut LM, and the other side of each wire clamping block is fixed with the sliding block HK on the guide rail. A cutting blade B31111 is fixed to one of the wire clamping blocks B311.
The peeling driving device B312 is positioned at the outer end of the end plate of the peeling device B311 and comprises a servo motor SFDJ, a worm WG, a worm wheel WL, a C-shaped cylindrical gear CL and a mounting cover B3121.
The wheel shaft of the C-shaped cylindrical gear is a hollow shaft, the wheel shaft and the wire clamping groove on the wire clamping block are arranged along the axial center line, and one end of the hollow shaft is fixed on the end plate of the mounting frame. The installation cover is located on the periphery of the C-shaped cylindrical gear, two groups of worm gears are located in the installation cover and are symmetrically meshed with two sides of the C-shaped cylindrical gear, two worm gears are respectively installed on two worm gear shafts, the two worm gears are respectively meshed with the C-shaped cylindrical gear and the worm, two ends of each worm gear shaft are pre-fixed on the installation cover, one worm is meshed with the two groups of worm gears, and two ends of the worm are fixed on the installation cover. The servo motor is positioned outside the mounting cover and is connected to one end of the worm through the coupler, and a mechanical arm connector LJT is arranged on the periphery of the mounting cover corresponding to the servo motor, namely the mounting cover is supported through the mechanical arm.
When the peeling tail end is connected to the tail end of the peeling mechanical arm to peel the insulated conductor, the insulated conductor is firstly clamped by the peeling device, and the whole peeling device makes circular motion around the insulated conductor by the peeling driving device, so that the insulating layer on the surface of the insulated conductor is cut by the cutting blade. Specifically, the method comprises the following steps:
the working principle of the peeling end B31 is as follows:
a servo motor of the peeling device works to enable a screw rod to rotate, the screw rod rotates to enable two T-shaped nuts on the screw rod to respectively drive a conducting wire clamping block to move back and forth to be opened, the two conducting wire clamping blocks are located on two sides of an insulated conducting wire, and then the servo motor works in the reverse direction to enable the two conducting wire clamping blocks to move in opposite directions to be closed to clamp the insulated conducting wire. At this time, the insulated wire is also located in the center hole of the open gear. The worm rotates through the worm wheel, the C-shaped cylindrical gear is driven by the C-shaped cylindrical gear to rotate as the wheel shaft of the C-shaped cylindrical gear is connected with the end plate of the peeling device mounting frame into a whole, the C-shaped cylindrical gear drives the whole peeling device to rotate, the cutting blade on the wire clamping block of the peeling device rotates around the insulated wire to cut the insulated layer, and the axial movement in the cutting process can be realized through the transverse sliding table.
As shown in fig. 10, the wire clamp mounting end B41 includes a clamping device B411 for tightening or loosening the bolt and a nut runner device B412 for clamping the equipment wire clamp.
The clamping device B411 comprises a servo motor SFDJ, a screw rod SG, a T-shaped nut LM, a wire clamp clamping plate B4111, a guide rail DG, a slider HK and a mounting rack AZJ. The structure of the mounting frame is similar to that of the peeling device, and the other side of the end plate is provided with a nut screwing device mounting groove. Guide rails DG parallel to the insulated conducting wire are symmetrically fixed on two sides of the nut screwing device mounting groove on the end plate, and sliding blocks HK are connected to the two guide rails respectively. The servo motor can rotate forward and backward and is connected to one end of the screw rod through the coupler. The screw rod is a positive and negative screw rod with two end sections with opposite screw threads, and the two end sections are respectively connected with a T-shaped nut. One side of the two wire clamp clamping plates B4111 is fixed with the T-shaped nut LM, and the other side is fixed with the slide block HK on the guide rail DG.
The nut screwing device B412 comprises a servo motor SFDJ, a cross-shaped coupling B4121 and an inner hexagonal sleeve B4122 which are sequentially connected, a spiral spring is arranged in an inner cavity of the cross-shaped coupling, and two ends of the spiral spring are respectively connected with the inner hexagonal sleeve B4122 and the end face of an output shaft of the servo motor.
In order to enable the inner hexagonal sleeve B4122 to be coaxial with the output shaft of the servo motor and to be well butted with the nut when no external force is applied, a cross-hinge connection mode is designed between the inner hexagonal sleeve B4122 and the output shaft, a rotating spring is further arranged in the cross-hinge coupling B4121 to form flexible connection, and when the nut screwing device is applied with force, the inner hexagonal sleeve can be adjusted to a certain angle relative to the output shaft to realize the butt joint with the nut.
And the mechanical arm connector LJT is connected to the periphery of the outer side of the end plate of the mounting rack of the clamping device B411, which corresponds to the nut screwing device mounting groove.
The working principle of the wire clamp mounting end B41 is as follows: the servo motor of the clamping device works to enable the two clamping plates to move back to back on the screw rod and then the servo motor works in the reverse direction to enable the two clamping plates to move in opposite directions to clamp and hang the wire clamp on the insulated conductor. And (3) clamping the drainage wire end with the insulating layer stripped by a clamping tool at the tail end of the first mechanical arm to a drainage wire clamping position of the insertion wire clamp, and screwing a servo motor of the nut screwing device to work so as to align the inner hexagonal sleeve and the nut and screw the nut tightly, so that the exposed wire and the drainage wire end are clamped by the equipment wire clamp.
The main steps of this embodiment to electrically connect the current leads to the insulated conductor are as follows (see fig. 11):
a) wire stripping
Before peeling, the grabbing mechanical arm clamps the insulated conductor to prevent the insulated conductor from swinging, the peeling tail end of the peeling mechanical arm clamps the insulated conductor through the peeling device, then the peeling device and the upper cutting blade of the peeling device are driven to do circular motion around the insulated conductor through the rotation of the C-shaped cylindrical gear of the tail end peeling driving device, the insulated conductor moves axially along the conductor under the action of the cutting force of the cutting blade and the guide threads on the conductor clamping block of the peeling device, the insulating layer of the insulated conductor is orderly and uniformly peeled, and the peeling mechanical arm leaves the conductor after peeling operation is finished to finish the conductor peeling operation. In the peeling process, the joint of the peeling mechanical arm can move along the wire along with the peeling tail end.
b) Cleaning of wires
After the peeling operation is completed, the driving motor of the tool conveying device works to drive the plurality of bearing sliding seats connected with the tool conveying device to rotate while synchronously rotating, the cleaning brush is conveyed to the position of the grabbing mechanical arm, the clamping tail end of the grabbing mechanical arm clamps the cleaning brush, the cleaning brush is close to the peeled bare conductor and cleans the bare conductor by foreign matters, and the grabbing mechanical arm shrinks and keeps away from the conductor after the operation is completed to complete the conductor cleaning operation.
c) Applying conductive grease
After the conductor cleaning operation is finished, the grabbing manipulator sends the cleaning brush back to the corresponding bearing sliding seat, the synchronous belt rotates, the conductive grease coating tool is sent to the position of the grabbing manipulator, the grabbing manipulator clamps the tool and then carries out conductive grease coating operation on the cleaned bare conductor close to the cleaned bare conductor, and the conductive grease coating tool is sent back to the bearing sliding seat.
d) Installation wire clamp
The control box moves to a proper position along the transverse linear sliding table, the equipment wire clamp is conveyed to the position of the grabbing manipulator by the tool conveying device, the grabbing manipulator clamps the equipment wire clamp and places the equipment wire clamp between the two clamping plates of the clamping device at the tail end of the installation of the equipment wire clamp, the two clamping plates clamp the equipment wire clamp when the servo motor of the clamping device works, and finally the installing manipulator is close to a bare wire coated with conductive grease and hangs the wire position of the equipment wire clamp on the bare wire.
e) Installing a drainage wire
After the wire clamp is hung on the lead, the grabbing manipulator moves to the stripped end of the drainage wire and clamps the end, and the end of the drainage wire is coated with conductive grease in advance after the insulating layer is stripped. The peeling manipulator clamps the middle proper position of the drainage wire, then the grabbing manipulator inserts the end of the drainage wire into the drainage wire position of the equipment wire clamp, and the peeling manipulator controls the drainage wire to move up and down in a matching mode in the operation process, so that the phenomenon that the connected drainage wire touches a zero-phase line to cause an interphase short circuit is avoided.
f) Fastening clamp bolt
After the drainage wire is inserted into the wire clamp, a nut screwing device on the mounting manipulator acts to screw a wire clamp bolt tightly, and then the grabbing manipulator loosens the drainage wire and withdraws;
g) and the tool conveying device conveys the insulating sheath to the position of the grabbing manipulator, and the grabbing manipulator clamps the insulating sheath and wraps the insulating sheath outside the equipment wire clamp.
And when the operation of the live lead wire connecting line of the insulated wire of one phase is finished, the operating robot platform leaves the working position to perform other phase operation, and the operation flow of the other phase operation is the same as the steps.
And (4) performing reverse operation on the operation flow of cutting the drainage wire according to the related steps, and removing the drainage wire.
Claims (10)
1. The utility model provides a join in marriage electrified operation robot system who breaks, connects the drainage line of net, includes insulating moving platform and its operation robot platform that carries on, its characterized in that:
the insulating mobile platform is a crawler-type overhead working truck, and the working robot platform is mounted at the tail end of an insulating telescopic arm of the working robot platform;
the operating robot platform comprises a square control box, and a grabbing mechanical arm, a peeling mechanical arm and an installing mechanical arm which are arranged on the side wall of the control box, wherein the mechanical arms of the three mechanical arms are all multi-joint multi-degree-of-freedom arms, the grabbing mechanical arm is connected with a clamping tail end at the end part of the mechanical arm, the peeling mechanical arm is connected with a peeling tail end at the end part of the mechanical arm, and the installing mechanical arm is connected with a wire clamp installing tail end at the end;
the operation robot platform still includes instrument conveyer and cross slip table, and there is the mounting groove a pair of lateral wall bottom of control box, and on instrument conveyer was fixed in the bottom plate of control box, mainly used transfer apparatus fastener, wire brush cleaner, scribble conductive grease instrument and insulating sheath were taken for snatching the manipulator, and the bottom plate of control box is installed on the cross slip table, moves about around can.
2. The system of claim 1, wherein: the peeling mechanical arm and the grabbing mechanical arm are fixed on a pair of side walls of the control box, and the installing mechanical arm is located on the side wall between the peeling mechanical arm and the grabbing mechanical arm.
3. The system of claim 1, wherein: the cross sliding table comprises a transverse sliding table and a longitudinal sliding table, the transverse sliding table comprises a transverse linear sliding table and a screw nut mechanism which is installed on the transverse linear sliding table and driven by a motor, the longitudinal sliding table comprises a longitudinal linear sliding table and a screw nut mechanism which is installed on the longitudinal linear sliding table and driven by the motor, a connecting seat is arranged at the middle position of the bottom surface of the longitudinal linear sliding table and connected and fixed with a nut of the screw nut mechanism of the transverse sliding table, and a connecting plate used for connecting a bottom plate of the control box is connected to a nut of the screw nut mechanism of the longitudinal sliding.
4. The system of claim 1, wherein: the tool conveying device comprises a base plate, an annular guide rail, synchronous gears, a synchronous belt, a bearing sliding seat and a driving motor, wherein the base plate is horizontally arranged, the annular guide rail is fixed on the base plate, the two ends of the annular guide rail are arc-shaped sections, a straight line section is arranged between the two arc-shaped sections, the circle center positions of the two arc-shaped sections are respectively fixed with one synchronous gear, the synchronous belt is meshed with the two synchronous gears, the wheel shaft of one synchronous gear is connected with the output shaft of the driving motor, the bearing sliding seats are multiple, the inner sides of the two synchronous gears are fixedly connected with the outer side of the synchronous belt, and the bottom surface of the synchronous gear is guided through the annular guide rail, and the equipment wire clamp, the cleaning brush.
5. The system of claim 4, wherein: the inner side and the outer side of the annular guide rail are both provided with a guide convex ring, the bottom surface of the bearing sliding seat is provided with a pulley corresponding to the guide convex rings on the inner side and the outer side of the annular guide rail respectively, and the pulley is provided with a groove corresponding to the guide convex ring; and a guide stop seat is arranged at the linear section of the base plate corresponding to the synchronous belt.
6. The system of claim 1, wherein: the clamping tail end comprises a motor, a screw rod nut mechanism, a crank sliding block mechanism and an insulating clamping finger which are sequentially connected, the motor drives the screw rod to rotate, the nut on the screw rod drives the sliding block to move, and the crank pushes the insulating clamping finger outwards to open or pulls the insulating clamping finger inwards to close.
7. The system of claim 1, wherein: the peeling tail end comprises a peeling device and a peeling driving device, the peeling device comprises a clamping motor and a lead screw nut mechanism driven by the clamping motor, a guide rail sliding block mechanism and two lead wire clamping blocks, the two sides of each lead wire clamping block are respectively connected with a lead screw upper nut and a guide rail upper sliding block, a cutting blade is fixed at a lead wire clamping groove of one lead wire clamping block, and the lead screw nut mechanism and the guide rail sliding block mechanism are fixed on the two sides of the mounting frame in parallel; the peeling driving device is positioned at the outer end of the mounting frame and comprises a rotary motor and a worm-and-turbine mechanism driven by the rotary motor, a C-shaped cylindrical gear meshed with a worm wheel, a wheel shaft of the C-shaped cylindrical gear is a hollow shaft with a corresponding shape and is arranged along the axial central line of the wire clamping groove on the wire clamping block, one end of the hollow shaft is fixed on the mounting frame, a corresponding hole is formed in the mounting frame corresponding to the central hole of the hollow shaft, two ends of the wheel shaft of the worm and the worm wheel are respectively fixed on a mounting cover, the mounting cover covers the transmission device, but the open groove of the C-shaped cylindrical gear is exposed; guide threads are arranged on the groove surface of the wire clamping groove on the wire clamping block, and a guide threaded hole is formed when the two wire clamping blocks are closed; the worm and worm wheel mechanism comprises two groups of worm wheels which are symmetrically arranged on two sides of the C-shaped cylindrical gear; the periphery of the mounting cover corresponding to the worm drive motor is provided with a mechanical arm connector.
8. The system of claim 7, wherein: the wire clamp mounting tail end comprises a motor and a lead screw nut mechanism driven by the motor, a guide rail sliding block mechanism and two clamping plates, wherein the two sides of the guide rail sliding block mechanism are respectively connected with a lead screw upper nut and a guide rail upper sliding block; the wire clamp mounting tool further comprises a motor and an inner hexagonal sleeve driven by the motor, an output shaft of the motor is connected with the inner hexagonal sleeve through a hollow cross-shaped coupling, a spiral spring is arranged in the inner hexagonal sleeve, and two ends of the spiral spring are respectively connected with the output shaft of the motor and the end face of the inner hexagonal sleeve.
9. The system of claim 8, wherein: the lead peeling tool and the wire clamp mounting tool respectively comprise an end plate and a U-shaped frame fixed on one side of the end plate, the U-shaped frame is used for mounting a lead screw of a lead screw nut mechanism, guide rails of guide rail slider mechanisms of the two tools are respectively mounted on the other side of the end plate, the lead screws of the two tools are positive and negative lead screws, and nuts on the lead screws are T-shaped nuts; the middle position department that the end plate of fastener mounting tool's mounting bracket corresponds between two guide rails is provided with the arc wall, and the upside of arc wall is connected with the arm connector, motor and driven hexagon socket head cover sleeve pass from the arm connector.
10. A method of electrically connecting an open electrical drain to an insulated conductor using the system of claim 1, wherein electrically connecting the drain comprises the steps of:
a) the crawler-type overhead working truck lifts the working robot platform to a working position;
b) the grabbing manipulator clamps the lead;
c) the peeling manipulator withdraws from the working position after the peeling operation of the insulating layer is carried out;
d) the grabbing manipulator clamps and cleans the peeled bare conductor by the cleaning brush from the bearing sliding seat of the tool conveying device and then sends the bare conductor back;
e) the grabbing manipulator clamps a special conductive grease tool from a bearing sliding seat of the tool conveying device, coats the conductive grease on the lead and then sends the lead back;
f) the grabbing manipulator clamps loose wire clamps with loosened nuts from a bearing sliding seat of the tool conveying device and clamps the wire clamps by matching with a clamping device at the wire clamp installation tail end of the installation manipulator;
g) the installation manipulator moves to the position of the connecting point of the bare conductor to install the wire clamp on the main conductor;
h) the grabbing manipulator clamps the exposed end of the drainage wire and sends the exposed end to a contact point position, and the peeling manipulator controls the drainage wire to move up and down in a matched mode in the process, so that interphase short circuit is prevented;
i) inserting a drainage wire into the wire clamp by a grabbing manipulator, and screwing a wire clamp bolt by a bolt fastening device at the tail end of the wire clamp installation of the installation manipulator;
j) the mounting manipulator withdraws from the working position to complete the mounting of the drainage wire;
k) the grabbing manipulator clamps the insulating shield in a bearing sliding seat of the tool conveying device, covers the insulating shield on the installed wire clamp and then withdraws;
l) the working robot platform leaves the working position, the operation of the live-line lead wire of one phase of insulated wire is finished, and other phases of the insulated wire are finished according to the operation.
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| CN201910978094.2A CN110601079A (en) | 2019-10-15 | 2019-10-15 | Operation robot system and operation method for electrified disconnection and connection of drainage line of distribution network |
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| CN201910978094.2A CN110601079A (en) | 2019-10-15 | 2019-10-15 | Operation robot system and operation method for electrified disconnection and connection of drainage line of distribution network |
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