CN110601079B - Work robot system with distribution network electrified disconnection and drainage line connection and work method - Google Patents

Abstract

The invention discloses an operation robot system and an operation method for a distribution network live disconnection and drainage line, wherein the system comprises an insulation mobile platform and an operation robot platform carried by the insulation mobile platform, the insulation mobile platform is a crawler-type overhead operation vehicle, and the operation robot platform is arranged at the tail end of an insulation telescopic arm of the crawler-type overhead operation vehicle; the operation robot platform comprises a square control box, a grabbing manipulator, a peeling manipulator and an installing manipulator which are arranged on the side wall of the square control box, wherein the manipulator arms of the three manipulators are multi-joint multi-degree-of-freedom arms, and the end parts of the three manipulator arms are respectively connected with a clamping end, a peeling end and a wire clamp installing end; the operation robot platform also comprises a tool conveying device and a cross sliding table, wherein the bottoms of a pair of side walls of the control box are provided with mounting grooves, the tool conveying device is fixed on a bottom plate of the control box and is mainly used for conveying equipment wire clamps, wire cleaning brushes, conductive grease coating tools and insulating jackets to be used for grabbing mechanical arms, and the bottom plate of the control box is arranged on the cross sliding table and can move back and forth and left and right.

Description

A robot system and method for disconnecting and connecting flow lines on a distribution network

Technical Field

The present invention belongs to the field of live distribution network operations, and specifically relates to an operation robot system and an operation method for disconnecting and connecting flow lines of live distribution networks.

Background technique

With the rapid development of social economy, people's production and life have higher and higher requirements for continuous and stable power supply. The distribution network is at the end of the power system and is a key link to ensure the continuous supply of power. Its reliability occupies a very important position in the entire power supply system. At present, the traditional live maintenance of the distribution network is mainly carried out manually. Most of the workers wear insulating clothing and stand in high-altitude insulating buckets to disconnect and connect the drainage line. In some areas, the use of insulating operating rods to disconnect and connect the drainage line of the distribution network has also been carried out. However, the distribution network lines are usually very compact, and the distance between the lines is small. When the operators are working live, it is easy to cause short circuits, thereby causing personal injury and other accidents. At the same time, this operation method is mostly labor-intensive, low in efficiency, and high in operation risk. In some areas, the distribution of distribution network lines and geographical conditions are poor, making it difficult to carry out related live operations, so the lines have to be shut down for inspection and maintenance, which seriously affects the continuous and stable operation of the distribution network. Therefore, in order to ensure the safety of live workers in the distribution network, improve the efficiency of live operations in the distribution network, and make the distribution network continue to operate stably, it is becoming more and more important for robots to replace workers in the live disconnection and connection of the drainage line of the distribution network.

Robots can directly replace manual labor to carry out work, eliminating the hidden danger of serious threat to the personal safety of workers working on live lines due to the compact phase distance, realizing an automated working mode and improving work efficiency.

However, looking at the existing live-working robot systems at home and abroad, they are generally wheeled vehicle-mounted, that is, their insulated mobile platform uses a wheeled aerial work vehicle, and the working robot is installed at the end of the telescopic arm of the wheeled aerial work vehicle. The wheeled vehicle-mounted mobile method is not suitable for complex terrain environments. The working robot is installed on an insulated bucket truck, which makes it bulky, and the change of its working position is achieved through the telescopic arm of the working vehicle, which is not suitable for small working spaces and complex working objects. In addition, some working robots work through mechanical arms and do not have dedicated working ends. Even if some of them are connected to the end of the mechanical arm for stripping and wire clamp installation operations, the structure of the end is complex and the performance is not high, which makes it easy to fail during the operation.

Summary of the invention

The main purpose of the present invention is to provide an operating robot system and an operating method which are small in size, suitable for complex terrain environments and have good operating terminal structure optimization performance.

The present invention provides a robot system for disconnecting and connecting the live flow lines of the distribution network, comprising an insulating mobile platform and a robot platform carried by the platform. The insulating mobile platform is a crawler-type aerial work vehicle, and the robot is installed at the end of its insulating telescopic arm; the robot comprises a square control box and a grabbing manipulator, a peeling manipulator and an installation manipulator installed on its side wall, and the mechanical arms of the three manipulators are all multi-joint multi-degree-of-freedom arms, the grabbing manipulator is connected to the clamping end at the end of its mechanical arm, the peeling manipulator is connected to the peeling end at the end of its mechanical arm, and the installation manipulator is connected to the wire clamp installation end at the end of its mechanical arm; the robot platform also comprises a tool conveying device and a cross slide, and a pair of side walls of the control box have installation grooves at the bottom, and the tool conveying device is fixed to the bottom plate of the control box, and is mainly used to convey equipment wire clamps, special cleaning brushes, special tools for applying conductive grease and insulating sheaths to the special area manipulators for use, and the bottom plate of the control box is installed on the cross slide, which can move forward, backward, left and right.

In one embodiment of the above technical solution, the peeling manipulator and the grasping manipulator are fixed to a pair of side walls of the control box, and the mounting manipulator is located on the side wall between the peeling manipulator and the grasping manipulator.

In one embodiment of the above technical solution, the cross slide includes a transverse slide and a longitudinal slide, the transverse slide includes a transverse linear slide and a screw nut mechanism installed thereon and driven by a motor, the longitudinal slide includes a longitudinal linear slide and a screw nut mechanism installed thereon and driven by a motor, a connecting seat is provided at the middle position of the bottom surface of the longitudinal linear slide, the connecting seat is connected and fixed to the nut of the screw nut mechanism of the transverse slide, and the nut of the screw nut mechanism of the longitudinal slide is connected to a connecting plate for connecting to the bottom plate of the control box.

In one embodiment of the above technical solution, the tool conveying device includes a base plate, an annular guide rail, a synchronous gear, a synchronous belt, a bearing slide and a driving motor. The base plate is arranged horizontally, and the annular guide rail is fixed on the base plate. The two ends of the annular guide rail are circular arc segments, and there is a straight line segment between the two circular arc segments. A synchronous gear is fixed at the center position of each of the two circular arc segments, and the synchronous belt is meshed with the two synchronous gears. The axle of one of the synchronous gears is connected to the output shaft of the driving motor. There are multiple bearing slides, whose inner sides are fixedly connected to the outer sides of the synchronous belts, and the bottom surfaces are guided by the annular guide rails. The equipment wire clamps, cleaning brushes, conductive grease application tools and insulating sheaths are respectively placed in different bearing slides.

In one embodiment of the above technical solution, there are guide convex rings on the inner and outer sides of the annular guide rail, and pulleys are respectively provided on the bottom surface of the bearing slide seat corresponding to the guide convex rings on the inner and outer sides of the annular guide rail, and the pulleys have grooves corresponding to the guide convex rings; a guide stopper is provided on the base plate corresponding to the straight section of the synchronous belt.

In one embodiment of the above technical solution, the clamping end includes a motor, a screw nut mechanism, a crank slider mechanism and an insulating clamping finger connected in sequence, the motor drives the screw to rotate, the nut on the screw drives the slider to move, and the crank pushes the insulating clamping fingers outward to open or pulls them inward to close.

In one embodiment of the above technical solution, the stripping end includes a stripping device and a stripping drive device, the stripping device includes a clamping motor and a screw nut mechanism driven by the stripping motor, a guide rail slider mechanism and two wire clamping blocks connected to the screw nut and the guide rail slider on both sides, wherein a cutting blade is fixed at the wire clamping groove of one of the wire clamping blocks, and the screw nut mechanism and the guide rail slider mechanism are fixed in parallel on both sides of the first mounting frame; the stripping drive device is located at the outer end of the first mounting frame, and includes a rotary motor and a worm and worm gear mechanism driven by the stripping motor, a C-shaped cylindrical gear meshing with the worm gear, and the wheel axle of the C-shaped cylindrical gear is a hollow shaft of corresponding shape , arranged coaxially with the center line of the wire clamping groove on the wire clamping block, one end of the hollow shaft is fixed on the first mounting frame, and a corresponding hole is arranged at the center hole of the hollow shaft corresponding to the first mounting frame, and the two ends of the wheel axles of the worm and the worm wheel are respectively fixed on the mounting cover, and the mounting cover covers the stripping drive device, but the open groove of the C-shaped cylindrical gear is exposed, and the rotary motor is exposed; the groove surface of the wire clamping groove on the wire clamping block is provided with a guide thread, and a guide thread hole is formed when the two wire clamping blocks are closed; the worm and worm wheel mechanism includes two sets of worm wheels, which are symmetrically arranged on both sides of the C-shaped cylindrical gear; a mechanical arm connector is provided on the periphery of the mounting cover corresponding to the rotary motor.

In one embodiment of the above technical solution, the wire clamp installation end includes a clamping device and a nut tightening device; the clamping device includes a first motor and a screw nut mechanism driven by it, a guide rail slider mechanism and two clamping plates respectively connected to the nut on the screw and the slider on the guide rail on both sides, the screw nut mechanism and the guide rail slider mechanism are fixed in parallel on both sides of the second mounting frame; the nut tightening device includes a second motor and a hexagonal socket driven by it, the output shaft of the second motor is connected to the hexagonal socket through a hollow cross coupling, and there is a coil spring in the hexagonal socket, and the two ends of the coil spring are respectively connected to the output shaft of the second motor and the end face of the hexagonal socket.

In one embodiment of the above technical solution, the first mounting frame at the wire stripping end and the second mounting frame at the wire clamp mounting end both include an end plate and a U-shaped frame fixed to one side thereof, the U-shaped frame is used to install the screw of the screw nut mechanism, the guide rails of the guide rail slider mechanism at both ends are respectively installed on the other side of the end plate, the screws at both ends are both positive and negative screws, and the nuts on the screws are both T-nuts; an arc groove is provided at the middle position between the two guide rails corresponding to the end plate of the mounting frame at the wire clamp mounting end, and a robotic arm connecting head is connected to the upper side of the arc groove, and the second motor and the hexagonal socket driven by it pass through the robotic arm connecting joint.

The method for disconnecting and connecting the flow line on the insulated wire provided by the above system of the present invention, wherein the live connection of the flow line comprises the following steps:

The crawler aerial work vehicle raises the working robot platform to the working position;

The grasping manipulator holds the wire;

The stripping robot withdraws from the working position after stripping the insulation layer;

The grabbing robot grabs the cleaning brush from the carrying slide of the tool conveyor, cleans the stripped bare wire and then returns it;

The grasping robot grasps the conductive grease coating tool from the carrying slide of the tool conveying device, applies the conductive grease on the wire, and then returns the conductive grease;

The grabbing manipulator grabs the loose wire clamp with the nut loosened from the load-bearing slide of the tool conveying device and clamps the wire clamp in cooperation with the clamping device at the wire clamp installation end of the installation manipulator;

The installation manipulator moves to the bare wire connection point and installs the wire clamp on the main wire;

The grabbing robot grabs the exposed end of the drainage wire and sends it to the connection point. During this process, the stripping robot cooperates to control the drainage wire to move up and down to prevent short circuit between phases.

Grab the manipulator and insert the drainage wire into the wire clamp. Install the nut tightening device at the end of the wire clamp of the manipulator to tighten the wire clamp bolt.

The installation manipulator exits the working position and completes the installation of the drainage line;

The grabbing manipulator grabs the insulating sheath from the load-bearing slide of the tool conveying device, wraps it around the installed wire clamp, and then withdraws;

l) The operating robot platform leaves the working position, the operation of connecting the live lead wire of one phase of the insulated conductor is completed, and the other phases are completed in the same way as above.

The present invention adopts a crawler-type aerial work vehicle as an insulating mobile platform, installs the working robot platform at the end of its insulating telescopic arm, and uses the control box of the system as the installation carrier of the three manipulators and the tool conveying device of the working robot, so that the structure of the working robot is compact and small in size, and the working robot is equipped with a cross slide, which can flexibly adjust the working position, and the axial movement of the stripping end along the insulated wire during the stripping operation can be realized by the cross slide. The working robot of this system realizes the operation of each process through the cooperation of the manipulator and the working end. The multi-joint multi-degree-of-freedom structure of the manipulator makes it foldable and retractable, and it can move freely in a narrow working space. The grabbing manipulator can flexibly take the corresponding tool from the tool conveying device to work. After the stripping end clamps the insulated wire through the stripping device, the transmission mechanism of the stripping drive device drives the cutting blade to rotate to cut the insulation layer, that is, the wire clamping and stripping drive are integrated into one, so that its structure is compact and optimized and the stripping operation is stable. The wire clamp installation end is integrated with the wire clamp clamping device and the nut tightening device at the same time, which also makes its structure optimized, compact, and quick and stable to operate. The matching application of the tool transfer device and the grasping manipulator of the working robot can simplify the working process and shorten the working time, so that the entire working process can be realized in a small range by the working robot. It is especially suitable for the live disconnection and drainage line operation in the narrow space such as the distribution network.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic structural diagram of an embodiment of the present invention.

FIG. 2 is an enlarged schematic diagram of the axial structure of the working robot platform in FIG. 1 .

FIG. 3 is an enlarged schematic diagram of the axial structure of the tool transfer device in FIG. 2 .

FIG. 4 is an enlarged schematic diagram of the axial side structure of the cross slide in FIG. 2 .

FIG. 5 is an enlarged schematic diagram of the axial side structure of the clamping end in FIG. 2 .

FIG. 6 is a schematic diagram of the shaft side structure after the outer shell is removed from the clamping end.

FIG. 7 is an enlarged schematic diagram of an axial side structure of the stripping end in FIG. 2 .

FIG8 is an enlarged schematic diagram of another axial side structure of the stripping end in FIG2 .

FIG. 9 is an enlarged schematic diagram of the third axial side structure of the stripping end in FIG. 2 .

FIG. 10 is an enlarged schematic diagram of an axial side structure at the installation end of the wire clamp in FIG. 2 .

FIG. 11 is a schematic diagram of the operation flow of this embodiment.

Serial number in the picture:

A-Crawler aerial work vehicle;

B-operation robot platform;

B1-control box;

B2-grasping manipulator; clamping end B21;

B3-stripping manipulator; stripping end B31;

B4-install the manipulator; the wire clamp installation end B41;

B5-tool transfer device; B51-base plate; B52-annular guide rail; B53-synchronous gear; B54-synchronous belt; B55-carrying slide;

B6-transverse slide;

B7-longitudinal slide; B71-connecting plate.

Detailed ways

As shown in FIG1 , the operating robot system for disconnecting and connecting flow lines on a distribution network disclosed in this embodiment includes a crawler-type aerial work vehicle A and an operating robot platform B installed at the end of its telescopic arm.

1 and 2 , it can be seen that the working robot platform B of this embodiment includes a control box B1 , a grasping manipulator B2 , a peeling manipulator B3 , an installation manipulator B4 , a tool conveying device B5 , a transverse slide B6 , and a longitudinal slide B7 .

The square control box B1 serves as a mounting carrier for the three manipulators and the tool transfer device.

The grabbing robot B2 and the peeling robot B3 are symmetrically installed on a pair of width-direction side walls of the control box B1, and the mounting robot B4 is installed on one side of the length direction of the control box B1.

The three manipulators of this embodiment all include a multi-joint and multi-degree-of-freedom manipulator arm and a working end connected at its end, wherein the end of the grasping manipulator B2 is connected to the clamping end B21, the end of the peeling manipulator B3 is connected to the peeling end B31, and the end of the installing manipulator B4 is connected to the wire clamp installing end B41.

The crawler aerial work vehicle of this embodiment is purchased from an Italian crawler spider vehicle represented by Changzhou Xinlanling Electric Power Auxiliary Equipment Co., Ltd. It can self-level and climb, and the climbing slope can reach 30°. The three mechanical arms of this embodiment are preferably servo-driven 6-DOF mechanical arms.

As shown in FIG. 3 , the tool transfer device B5 includes a base plate B51 , an annular guide rail B52 , a synchronous gear B53 , a synchronous belt B54 , a bearing slide B55 and a driving motor.

The base plate B51 is arranged horizontally, and the annular guide rail B52 is fixed on the base plate, with arc segments at both ends and a straight segment between the two arc segments. There are guide convex rings on the inner and outer sides of the annular guide rail B52. A synchronous gear B53 is fixed at the center position of the two arc segments of the annular guide rail, and the synchronous belt B54 is meshed with the two synchronous gears. The axle of one of the synchronous gears is connected to the output shaft of the drive motor (the drive motor adopts a servo motor, which is arranged with the output shaft facing upward, and a clearance hole is opened on the base plate corresponding to the position of the drive motor), so that the synchronous gear serves as a driving wheel to drive the synchronous belt and the other synchronous gear to rotate.

There are multiple bearing slides B55, each of which includes a bearing box body and two pulleys connected to its bottom surface. The annular grooves on the two pulleys match the inner and outer guide convex rings of the annular guide rail B52 respectively. The inner side of the side wall of the bearing box body is fixed to the outer side of the synchronous belt B54 through a connecting block, so that the bearing slide B55 rotates with the synchronous belt B54 and is stably guided by the annular guide rail B52 during rotation.

In order to ensure stable rotation of the synchronous belt B54, a guide stopper B56 is provided on the base plate B51 at the straight section corresponding to the synchronous belt B54.

As shown in FIG. 2 , the base plate B51 of the tool transfer device B5 is fixed to the bottom plate of the control box B1 , and the synchronous belt B54 carries the bearing slide B55 to rotate in the grooves at the bottom of the two side walls in the length direction of the control box B1 .

The equipment wire clamp, wire cleaning brush, conductive grease application tool and insulating sheath are separately placed in each load-bearing slide B55, and conductive grease is applied to the equipment wire clamp in advance.

As shown in Figure 4, the transverse slide B6 includes a transverse linear slide and a screw nut mechanism installed thereon, the screw is fixed to the center plane between the two guide rails on the transverse linear slide through a bearing and a bearing seat, and one end of the screw is connected to a servo motor SFDJ. The longitudinal slide B7 includes a longitudinal linear slide and a screw nut mechanism installed thereon, the screw is fixed to the center plane between the two guide rails on the transverse linear slide through a bearing and a bearing seat, and one end of the screw is connected to a servo motor SFDJ through a coupling.

As shown in Fig. 4, the bottom surface of the longitudinal linear slide of the longitudinal slide B7 is fixed to the nut of the screw nut mechanism of the transverse slide B6, so that the longitudinal slide B7 can reciprocate along the transverse slide B6. That is, the transverse slide B6 and the longitudinal slide B7 form a cross slide.

The nut of the screw nut mechanism of the longitudinal slide B7 is connected to a connecting plate B71 for connecting the bottom plate of the control box. The bottom plate of the control box B1 is fixed to the connecting plate by fastening bolts, so that the control box B1 can move in four directions along the front, back, left, and right of the cross slide, and its plane position can be flexibly changed.

The clamping end B21 connected to the grasping robot B2 is mainly used to clamp various special tools for wire cleaning, conductive grease application, and insulation protection cover installation, and to clamp the overlapping end of the drainage wire and insert it into the equipment wire clamp when disconnecting and connecting the drainage wire.

As shown in Figures 5 and 6, the clamping end B21 includes a servo motor SFDJ, a screw nut mechanism B211, a crank slider mechanism B212, an insulating clamping finger B213 and a housing B214. The output shaft of the servo motor is connected to the screw of the screw nut mechanism B211 through a coupling, the slider of the crank slider mechanism B212 is connected to the nut of the screw nut mechanism B211, and the crank of the crank slider mechanism B212 is hinged to the insulating clamping finger B213. The motor, coupling, screw nut mechanism and crank slider mechanism are located in the housing B214, one end of the housing is hinged to the insulating clamping finger B213, and the other end is connected to the grabbing robot arm. The servo motor can rotate forward and reverse.

The working principle of the clamping end B21 is as follows:

The rotation of the servo motor output shaft is transmitted to the screw through the coupling. The rotation of the screw causes the nut on it to move along the screw with the slider. The moving crank of the slider pushes the insulating clamping fingers outward to open or pulls them inward to close. Before the clamping device performs the clamping action, it first opens and then closes to perform the clamping action.

The stripping robot B3 mainly strips the insulation layer of the surface of the insulated wire through the stripping end connected to it.

As shown in FIG. 7 to FIG. 9 , the stripping terminal B31 includes a stripping device B311 and a stripping driving device B312 .

The stripping device B311 includes a servo motor SFDJ, a lead screw SG, a T-nut LM, a wire clamping block B3111, a guide rail DG, a slide block HK and a mounting bracket AZJ.

The mounting frame AZJ includes an end plate AZJ1 and a U-shaped frame AZJ2. The end plate is arranged perpendicular to the insulated wire, and the U-shaped frame is fixed to one side of the end plate parallel to the insulated wire. The other side of the end plate has an insulated wire installation groove. The guide rails DG perpendicular to the insulated wire are symmetrically fixed on both sides of the insulated wire installation groove on the end plate, and the two guide rails are respectively connected to the sliders HK. The servo motor SFDJ can rotate forward and reverse, and is connected to one end of the screw rod SG through a coupling. The screw rod is a forward and reverse screw rod with opposite thread rotation directions at both end sections, and the two end sections are respectively connected to T-nuts. There is a semicircular wire clamping groove on the wire clamping block B3111. The two wire clamping blocks B3111 are arranged relatively symmetrically with the wire clamping groove. One side of the two wire clamping blocks is respectively fixed to the T-nut LM, and the other side is respectively fixed to the slider HK on the guide rail. A cutting blade B31111 is fixed to one of the wire clamping blocks B311.

The peeling drive device B312 is located at the outer end of the end plate of the peeling device B311, and includes a servo motor SFDJ, a worm WG, a worm wheel WL, a C-type cylindrical gear CL and a mounting cover B3121.

The axle of the C-type cylindrical gear is a hollow shaft, which is arranged coaxially with the wire clamping groove on the wire clamping block, and one end of the hollow shaft is fixed to the end plate of the mounting frame. The mounting cover is located on the periphery of the C-type cylindrical gear. There are two groups of worm wheels located inside the mounting cover, which are symmetrically meshed on both sides of the C-type cylindrical gear. Two worm wheels are respectively installed on the two worm wheel shafts, and the two worm wheels are respectively meshed with the C-type cylindrical gear and the worm. The two ends of the worm wheel shaft are respectively predetermined on the mounting cover, and a worm is meshed with two groups of worm wheels. The two ends of the worm are fixed on the mounting cover. The servo motor is located outside the mounting cover and is connected to one end of the worm through a coupling. There is a mechanical arm connector LJT outside the mounting cover corresponding to the periphery of the servo motor, that is, the mounting cover is supported by the mechanical arm.

When the stripping end is connected to the end of the stripping robot arm to strip the insulated wire, the stripping device first clamps the insulated wire, and then the stripping drive device makes the entire stripping device move in a circle around the insulated wire, so that the cutting blade cuts off the insulation layer on the surface of the insulated wire. Specifically:

The working principle of the stripping terminal B31 is as follows:

The servo motor of the stripping device works to rotate the screw, and the rotation of the screw causes the two T-nuts on it to move the wire clamping blocks in opposite directions and open, so that the two wire clamping blocks are located on both sides of the insulated wire. Then the servo motor works in the opposite direction to move the two wire clamping blocks in opposite directions and close to clamp the insulated wire. At this time, the insulated wire is also located in the center hole of the open gear. The servo motor of the stripping drive device works to rotate the worm, and the rotation of the worm causes the C-type cylindrical gear to rotate through the worm wheel. Since the axle of the C-type cylindrical gear is connected to the end plate of the stripping device mounting frame, the C-type cylindrical gear rotates with the entire stripping device, and the cutting blade on the wire clamping block of the stripping device rotates around the insulated wire to cut the insulation layer, and the axial movement during the cutting process can be achieved through the transverse slide.

As shown in FIG. 10 , the wire clamp installation end B41 includes a clamping device B411 and a nut tightening device B412 . The nut tightening device is used to tighten or loosen the bolt, and the clamping device is used to clamp the equipment wire clamp.

The clamping device B411 includes a servo motor SFDJ, a screw SG, a T-nut LM, a wire clamp holding plate B4111, a guide rail DG, a slider HK and a mounting frame AZJ. The structure of the mounting frame here is similar to that of the stripping device, except that there is a nut tightening device mounting groove on the other side of the end plate. The guide rails DG parallel to the insulated wire are symmetrically fixed on both sides of the nut tightening device mounting groove on the end plate, and the sliders HK are respectively connected to the two guide rails. The servo motor can rotate forward and reverse and is connected to one end of the screw through a coupling. The screw is a forward and reverse screw with opposite thread rotation directions at both end sections, and the two end sections are respectively connected to T-nuts. One side of the two wire clamp holding plates B4111 is fixed to the T-nut LM respectively, and the other side is fixed to the slider HK on the guide rail DG.

The nut tightening device B412 includes a servo motor SFDJ, a cross coupling B4121 and a hexagon socket B4122 which are connected in sequence. There is also a coil spring in the inner cavity of the cross coupling. The two ends of the coil spring are respectively connected to the hexagon socket B4122 and the end face of the servo motor output shaft.

In order to make the hexagon socket B4122 coaxial with the servo motor output shaft and better docking with the nut when not subject to external force, a cross hinge connection is designed between the hexagon socket and the output shaft. A rotating spring is also provided in the cross coupling B4121 to form a flexible connection. When the nut tightening device is subjected to force, the hexagon socket can be adjusted to a certain angle relative to the output shaft to achieve docking with the nut.

A mechanical arm connector LJT is connected to the periphery of the nut tightening device mounting groove on the outer side of the end plate of the clamping device B411 mounting frame.

The working principle of the wire clamp installation end B41 is as follows: the servo motor of the clamping device works to move the two clamping plates away from each other on the screw rod and open, and then the servo motor works in the opposite direction to move the two clamping plates toward each other to clamp the wire clamp and hang it on the insulated wire. When the clamping device at the end of the first mechanical arm clamps the drainage wire head with the stripped insulation layer to the drainage wire clamping position inserted into the wire clamp, the servo motor of the nut tightening device works to align the hexagon socket with the nut and tighten the nut, so that the equipment wire clamp clamps the exposed wire and the drainage wire head.

The main steps of live-connecting the flow-through wire to the insulated conductor in this embodiment are as follows (see FIG. 11 ):

a) Wire stripping

Before stripping, the grabbing manipulator clamps the insulated wire to prevent it from swinging. The stripping end of the stripping manipulator first clamps the insulated wire through the stripping device, and then the C-shaped cylindrical gear of the stripping drive device at the end rotates to drive the stripping device and its cutting blade to make a circular motion around the insulated wire. Under the cutting force of the cutting blade and the guide thread on the wire clamping block of the stripping device, it moves along the axial direction of the wire to strip the insulation layer of the insulated wire in an orderly and uniform manner. After the stripping operation is completed, the stripping manipulator leaves the wire to complete the wire stripping operation. During the stripping process, the joints of the stripping manipulator can move along the wire with the stripping end.

b) Wire cleaning

After the stripping operation is completed, the driving motor of the tool conveying device starts to work, causing it to rotate synchronously while rotating the multiple load-bearing slides connected to it, sending the cleaning brush to the position of the grabbing robot. The clamping end of the grabbing robot clamps the cleaning brush and approaches the stripped bare wire to clean it of foreign objects. After the operation is completed, the grabbing robot retracts away from the wire to complete the wire cleaning operation.

c) Apply conductive grease

After the wire cleaning operation is completed, the grabbing robot sends the cleaning brush back to the corresponding load-bearing slide, and the synchronous belt rotates to send the conductive grease coating tool to the position of the grabbing robot. The grabbing robot clamps the tool and applies conductive grease to the cleaned bare wire, and then sends the conductive grease coating tool back to the load-bearing slide.

d) Install the wire clamp

The control box moves to a suitable position along the horizontal linear slide, and at the same time, the tool conveying device delivers the equipment wire clamp to the position of the grabbing robot. The grabbing robot clamps the equipment wire clamp and places it between the two clamping plates of the clamping device at the end of the robot clamp installation. When the servo motor of the clamping device works, the two clamping plates clamp the equipment wire clamp. Finally, the robot is installed close to the bare wire coated with conductive grease and the wire position of the equipment wire clamp is hung on the bare wire.

e) Install drainage line

After the wire clamp is hung on the conductor, the grabbing manipulator moves to the stripped end of the drainage wire and clamps the end. The insulation layer of the drainage wire end is stripped and pre-coated with conductive grease. The stripping manipulator clamps the appropriate position in the middle of the drainage wire, and then the grabbing manipulator inserts the drainage wire end into the drainage wire position of the equipment wire clamp. During the operation, the stripping manipulator cooperates to control the drainage wire to move up and down to prevent the connected drainage wire from touching the zero-phase line and causing a phase-to-phase short circuit.

f) Tighten the clamp bolts

After the drainage wire is inserted into the wire clamp, the nut tightening device on the installation manipulator moves to tighten the bolt of the wire clamp, and then the grabbing manipulator releases the drainage wire and exits;

g) The tool conveying device delivers the insulating sheath to the position of the grabbing robot, and the grabbing robot clamps the insulating sheath and wraps it around the equipment wire clamp.

At this point, the live connection flow line operation of one phase insulated conductor is completed, and the operating robot platform leaves the working position to carry out operations on other phases. The operating process for operations on other phases is the same as the above steps.

The operation process of disconnecting the drainage wire is to reverse the above steps and remove the drainage wire.

Claims (10)

1. A robot system for disconnecting and connecting live distribution network flow lines, comprising an insulating mobile platform and a robot platform carried thereon, characterized in that: The insulating mobile platform is a crawler-type aerial work vehicle, and the working robot platform is installed at the end of its insulating telescopic arm; The operating robot platform includes a square control box and a grasping manipulator, a peeling manipulator and an installation manipulator installed on its side wall. The mechanical arms of the three manipulators are all multi-joint multi-degree-of-freedom arms. The grasping manipulator is connected to the clamping end at the end of its mechanical arm, the peeling manipulator is connected to the peeling end at the end of its mechanical arm, and the installation manipulator is connected to the wire clamp installation end at the end of its mechanical arm; The operating robot platform also includes a tool transfer device and a cross slide. There are mounting grooves at the bottom of a pair of side walls of the control box. The tool transfer device is fixed to the bottom plate of the control box and is mainly used to transfer equipment wire clamps, wire cleaning brushes, conductive grease coating tools and insulating sheaths to the grasping manipulator for use. The bottom plate of the control box is installed on the cross slide and can move forward, backward, left and right. 2. The system as described in claim 1 is characterized in that the peeling robot and the grasping robot are fixed to a pair of side walls of the control box, and the mounting robot is located on the side wall between the peeling robot and the grasping robot. 3. The system as described in claim 1 is characterized in that: the cross slide includes a transverse slide and a longitudinal slide, the transverse slide includes a transverse linear slide and a screw nut mechanism installed thereon and driven by a motor, the longitudinal slide includes a longitudinal linear slide and a screw nut mechanism installed thereon and driven by a motor, a connecting seat is provided at the middle position of the bottom surface of the longitudinal linear slide, the connecting seat is connected and fixed to the nut of the screw nut mechanism of the transverse slide, and the nut of the screw nut mechanism of the longitudinal slide is connected to a connecting plate for connecting to the bottom plate of the control box. 4. The system as described in claim 1 is characterized in that: the tool conveying device includes a base plate, an annular guide rail, a synchronous gear, a synchronous belt, a bearing slide and a driving motor, the base plate is arranged horizontally, the annular guide rail is fixed to the base plate, the two ends of the annular guide rail are arc segments, and there is a straight line segment between the two arc segments, a synchronous gear is fixed at the center position of the two arc segments respectively, the synchronous belt is meshed with the two synchronous gears, and the axle of one synchronous gear is connected to the output shaft of the driving motor, there are multiple bearing slides, their inner sides are fixedly connected to the outer sides of the synchronous belts, and the bottom surfaces are guided by the annular guide rails, and the equipment wire clamps, cleaning brushes, conductive grease application tools and insulating sheaths are respectively placed in different bearing slides. 5. The system as described in claim 4 is characterized in that: there are guide convex rings on the inner and outer sides of the annular guide rail, pulleys are respectively provided on the bottom surface of the bearing slide corresponding to the guide convex rings on the inner and outer sides of the annular guide rail, and the pulleys have grooves corresponding to the guide convex rings; a guide stopper is provided on the base plate corresponding to the straight section of the synchronous belt. 6. The system as described in claim 1 is characterized in that: the clamping end includes a motor, a screw nut mechanism, a crank slider mechanism and an insulating clamping finger connected in sequence, the motor drives the screw to rotate, the nut on the screw drives the slider to move, and the crank pushes the insulating clamping finger outward to open or pulls it inward to close. 7. The system according to claim 4, characterized in that: The stripping end includes a stripping device and a stripping drive device. The stripping device includes a clamping motor and a screw nut mechanism driven by the stripping motor, a guide rail slider mechanism, and two wire clamping blocks connected to the screw nut and the guide rail slider on both sides, wherein a cutting blade is fixed to the wire clamping groove of one wire clamping block, and the screw nut mechanism and the guide rail slider mechanism are fixed in parallel to the two sides of the first mounting frame; the stripping drive device is located at the outer end of the first mounting frame, including a rotary motor and a worm and worm gear mechanism driven by the stripping motor, a C-shaped cylindrical gear meshing with the worm gear, and the wheel axle of the C-shaped cylindrical gear is a hollow shaft of a corresponding shape, which is connected to the wire clamping block The wire clamping grooves on the wire clamping block are arranged coaxially with the center line, one end of the hollow shaft is fixed on the first mounting frame, and a corresponding hole is arranged at the center hole of the hollow shaft corresponding to the first mounting frame, and the two ends of the wheel axles of the worm and the worm wheel are respectively fixed on the mounting cover, and the mounting cover covers the stripping drive device, but the open groove of the C-shaped cylindrical gear is exposed, and the rotary motor is exposed; the groove surface of the wire clamping groove on the wire clamping block is provided with a guide thread, and a guide thread hole is formed when the two wire clamping blocks are closed; the worm and worm wheel mechanism includes two sets of worm wheels, which are symmetrically arranged on both sides of the C-shaped cylindrical gear; a mechanical arm connector is provided on the periphery of the mounting cover corresponding to the rotary motor. 8. The system of claim 7, wherein the wire clamp mounting end comprises a clamping device and a nut tightening device; The clamping device includes a first motor and a screw nut mechanism driven by the first motor, a guide rail slider mechanism and two clamping plates connected to the screw nut and the guide rail slider on both sides respectively, and the screw nut mechanism and the guide rail slider mechanism are fixed in parallel to both sides of the second mounting frame; The nut tightening device includes a second motor and a hexagonal socket driven by the second motor. The output shaft of the second motor is connected to the hexagonal socket through a hollow cross coupling, and a coil spring is arranged in the hexagonal socket. The two ends of the coil spring are respectively connected to the output shaft of the second motor and the end face of the hexagonal socket. 9. The system as described in claim 8 is characterized in that: the first mounting frame at the wire stripping end and the second mounting frame at the wire clamp mounting end both include an end plate and a U-shaped frame fixed to one side thereof, the U-shaped frame is used to mount the screw of the screw nut mechanism, the guide rails of the guide rail slider mechanism at both ends are respectively mounted on the other side of the end plate, the screws at both ends are positive and negative screws, and the nuts on the screws are all T-nuts; an arc groove is provided at the middle position between the two guide rails corresponding to the end plate of the second mounting frame at the wire clamp mounting end, a robotic arm connector is connected to the upper side of the arc groove, and the second motor and the hexagonal socket driven by it pass through the robotic arm connector. 10. A method for disconnecting and electrically connecting a drain wire on an insulated conductor using the system of claim 8, wherein the electrically connecting drain wire comprises the following steps: a) The crawler aerial work vehicle raises the working robot platform to the working position; b) Grasping manipulator holding the wire; c) The stripping robot exits the working position after stripping the insulation layer; d) The grabbing manipulator takes the cleaning brush from the carrying slide of the tool conveying device, cleans the stripped bare wire and returns it; e) The gripping manipulator takes the conductive grease coating tool from the carrying slide of the tool conveying device, applies the conductive grease on the wire, and then returns it; f) The grabbing manipulator grabs the loose wire clamp with the nut loosened from the load-bearing slide of the tool conveying device and clamps the wire clamp with the clamping device at the end of the wire clamp installation of the installation manipulator; g) The installation manipulator moves to the bare wire connection point and installs the wire clamp on the main wire; h) The grabbing robot grabs the exposed end of the drainage wire and sends it to the connection point. During this process, the stripping robot cooperates to control the drainage wire to move up and down to prevent short circuit between phases; i) Grab the manipulator and insert the drainage wire into the wire clamp. Install the nut tightening device at the end of the wire clamp of the manipulator to tighten the wire clamp bolt; j) The installation manipulator exits the working position and completes the installation of the drainage line; k) The grabbing manipulator grabs the insulating sheath from the carrying slide of the tool conveyor, wraps it around the installed wire clamp and then withdraws; l) The operating robot platform leaves the working position, the operation of connecting the live lead wire of one phase of the insulated conductor is completed, and the other phases are completed in accordance with the above operation.