CN112091993B - Live working robot and control method thereof - Google Patents
Live working robot and control method thereof Download PDFInfo
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- CN112091993B CN112091993B CN202011258717.8A CN202011258717A CN112091993B CN 112091993 B CN112091993 B CN 112091993B CN 202011258717 A CN202011258717 A CN 202011258717A CN 112091993 B CN112091993 B CN 112091993B
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- robot
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The invention provides a live working robot and a control method thereof, relating to the technical field of electric power and comprising a robot box body and a robot operating table-board, wherein the robot operating table-board is fixed above the robot box body by adopting a sliding structure; the robot box body comprises an insulation hopper and an inner frame arranged in the insulation hopper, the inner frame is provided with a supporting plate, an operation control assembly is placed in the inner frame, and an operation execution assembly is arranged on an operation table top of the robot; the job control component is used for sending a job control instruction to the job execution component; the operation control assembly comprises a plurality of functional modules, and each functional module is arranged on the supporting plate in a plugging mode; each functional module is provided with a vertical mounting plate and at least one sub-component, and each sub-component is fixed on the vertical mounting plate; and the work execution component is used for executing the live-wire work corresponding to the work control instruction when receiving the work control instruction. The invention can obviously reduce the maintenance difficulty of the live working robot.
Description
Technical Field
The invention relates to the technical field of electric power, in particular to a live working robot and a control method thereof.
Background
At present, the inside of a case of a live working robot in a 10kV distribution network system usually adopts a multilayer layered structure, and a plurality of electronic components are arranged on the upper layer and the lower layer inside the case of the live working robot by taking a two-layer layered structure as an example.
Disclosure of Invention
In view of this, the present invention provides an electric working robot and a control method thereof, which can significantly reduce the difficulty of overhauling the electric working robot.
In a first aspect, an embodiment of the present invention provides an electric working robot, including: the robot operating table is fixed above the robot box body in a sliding type structure; the robot box body comprises an insulation hopper and an inner frame arranged in the insulation hopper, the inner frame is provided with a supporting plate, an operation control assembly is placed in the inner frame, and an operation execution assembly is arranged on the operation table top of the robot; the job control component is used for sending a job control instruction to the job execution component; the operation control assembly comprises a plurality of functional modules, and each functional module is installed on the supporting plate in a plugging mode; each functional module is provided with a vertical mounting plate and at least one sub-component, and each sub-component is fixed on the vertical mounting plate; and the operation execution component is used for executing the live-line operation corresponding to the operation control instruction when receiving the operation control instruction.
In one embodiment, the functional module includes one or more of a robotic arm control module, a central control module, an RTK module, a switch module, a power management board module, a switching power module, and a battery module.
In one embodiment, each of the functional modules is provided with a module handle for lifting the functional module out of the inner frame by means of the module handle.
In one embodiment, the inner frame is further provided with heat dissipation channels.
In one embodiment, the robot operating table comprises a sliding table, a sliding rail, a fixed mounting table and a workbench; the fixed mounting table is fixed above the insulating hopper, the slide rail is fixed on the appointed side of the fixed mounting table, and the sliding table surface is clamped with the slide rail; the workbench is fixed on any side of the fixed mounting platform except the designated side and is used for placing professional tools required by the operation executing assembly to execute the live-wire operation.
In one embodiment, the work implement assembly includes a robot arm support, a transport carriage, a robot arm, and an end grip; the mechanical arm support and the transportation support are fixed on the sliding table board, the mechanical arm is fixed on the mechanical arm support, and the tail end hand grip is fixed at the tail end of the mechanical arm.
In one embodiment, the live working robot further comprises an information acquisition component, wherein the information acquisition component comprises one or more of a two-axis holder, a laser radar, a T-shaped bracket, a miniature weather meter and a panoramic camera; the two-axis cloud deck is fixed on the mechanical arm support and used for fixing the laser radar which is used for collecting three-dimensional environment information of an operation scene; the T-shaped support is fixed on the sliding table top and used for fixing the miniature weather instrument and the panoramic camera; the miniature weather meter is used for acquiring weather information of the operation scene; the panoramic camera is used for collecting the operation state of the operation execution assembly in the operation scene.
In a second aspect, an embodiment of the present invention further provides a control method for a live working robot, including: the method is applied to the live working robot according to any one of the first aspect, the method including: sending an operation control instruction to an operation execution component configured on a robot operating platform of the live working robot through an operation control component configured in a robot box body of the live working robot; and when the work execution assembly receives the work control instruction, executing live-line work corresponding to the work control instruction.
The invention provides a live working robot and a control method thereof, wherein the live working robot comprises a robot box body and a robot operating table top, the robot operating table top is fixed above the robot box body by adopting a sliding structure, in addition, the robot box body comprises an insulating hopper and an inner frame arranged in the insulating hopper, the inner frame is provided with a supporting plate, an operation control assembly is placed in the inner frame, an operation executing assembly is configured on the robot operating table top, and the operation executing assembly is used for executing live working corresponding to an operation control instruction when receiving the operation control instruction; the job control component is used for sending a job control instruction to the job execution component; the operation control assembly comprises a plurality of functional modules, and each functional module is arranged on the supporting plate in a plugging mode; each functional module is provided with a vertical mounting plate and at least one sub-component, each sub-component being fixed on the vertical mounting plate. The hot-line work robot adopts a sliding structure to fix the robot operating table and the robot box body, the operation executing component is fixed on the operation table board of the robot, and the operation control component is fixed in the robot box body, so that the operation executing component is convenient to overhaul, but also can expose the operation control components in the robot box body by sliding the robot operation table-board, thereby facilitating the maintenance of the operation control assembly, in addition, the embodiment of the invention enables each functional module in the operation control assembly to be independently placed in the robot box body through the modularized operation control assembly, compared with a robot structure in the prior art in which an upper-layer electronic component needs to be disassembled to overhaul a lower-layer electronic component, the maintenance difficulty is greatly reduced.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of an electric working robot provided by an embodiment of the invention;
fig. 2 is a schematic structural diagram of another electric working robot provided by the embodiment of the invention;
fig. 3 is a schematic structural diagram of another electric working robot provided by the embodiment of the invention;
fig. 4 is a schematic structural diagram of a robot box provided in an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a live working assembly according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a functional module according to an embodiment of the present invention;
fig. 7 is a schematic flow chart of a control method of a live working robot according to an embodiment of the present invention.
Icon: 100-a robot box; 200-a robot operating table; 110-job control components; 210-job execution component; 1-an insulating bucket; 2-sliding table top; 3-fixing the mounting table; 4-a workbench; 5, a mechanical arm support; 6-transportation bracket; 7-a tail end gripper; 8-two-axis pan-tilt; 9-laser radar; a 10-T shaped scaffold; 11-a miniature weather instrument; 12-a panoramic camera; 13-a slide rail; 14-an inner frame; 15-a support plate; 16-a modular handle; 17-heat dissipation channels; 18-left robotic arm control submodule; 19-right mechanical arm control submodule; 20-a central control module; 21-an RTK module; 22-a switch module; 23-a power management board module; a 24-12V switching power supply sub-module; a 25-24V switching power supply sub-module; 26-48V switching power supply sub-modules; 27-a battery module; 28-vertical mounting plate; 29-distributor plate; 30-left mechanical arm motherboard; 31-energy consumption plate; 32-left robotic arm safety control panel.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the embodiments, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, the difficulty in overhauling electronic components in a box body of the live working robot is high, and based on the difficulty, the live working robot and the control method thereof are provided, so that the overhauling difficulty of the live working robot can be obviously reduced.
For the understanding of the present embodiment, firstly, a detailed description is given to an electric working robot disclosed in the present embodiment, referring to a schematic structural diagram of an electric working robot shown in fig. 1, the apparatus includes: the robot operating table 200 is fixed above the robot box 100 by a sliding structure, and in one embodiment, the sliding structure can be implemented by a slide rail or the like, so that the robot operating table can slide relative to the robot box. The robot box 100 comprises an insulation bucket and an inner frame arranged inside the insulation bucket, the inner frame is provided with a support plate, a work control assembly 110 is placed inside the inner frame, and a work execution assembly 210 is arranged on the robot operation table 200, wherein the work control assembly 110 is used for sending a work control command to the work execution assembly 210; the job execution component 210 is configured to execute the live-wire job corresponding to the job control instruction when receiving the job control instruction. In one embodiment, the live working robot can be placed in a working scene, and the working control component controls the working execution component to execute corresponding live working.
Further, the operation control assembly comprises a plurality of functional modules, each functional module is installed on the supporting plate in a plugging mode, in addition, each functional module is provided with a vertical mounting plate and at least one sub-component, each sub-component is fixed on the vertical mounting plate, such as dividing the operation control assembly into a plurality of functional modules according to functions, each functional module is installed through the modularized operation control assembly and through the plugging mode, each functional module can be placed in the robot box body relatively independently, and therefore the operation control assembly can achieve the effect that a certain functional module is overhauled independently, and other functional modules do not need to be disassembled.
According to the electrified operating robot provided by the embodiment of the invention, the robot operating table board and the robot box body are fixed by adopting the sliding type structure, the operation executing component is fixed on the robot operating table board, and the operation control component is fixed in the robot box body, so that the operation executing component is convenient to overhaul, and the operation control component in the robot box body can be exposed by sliding the robot operating table board, so that the operation control component is convenient to overhaul.
To facilitate understanding of the live working robot provided in the above-described embodiment, the present embodiment provides another live working robot including a robot box 100, a robot operating table 200, a work control component 110, a work execution component 210, and an information acquisition component. Wherein the robot case 100 includes an insulating bucket, an inner frame, and a support plate; the robot operation table 200 comprises a sliding table, a slide rail, a fixed mounting table and a workbench; the operation control assembly 110 may include a plurality of functional modules divided by function, the functional modules may be one or more of a robot arm control module, a central control module, an RTK module, a switch module, a power management board module, a switching power supply module and a battery module, the robot arm control module may be subdivided into a left robot arm control submodule and/or a right robot arm control submodule, and the switching power supply module may be subdivided into one or more of a 12V switching power supply submodule, a 24V switching power supply submodule and a 48V switching power supply submodule; the work implement assembly 210 may include a robot arm support, a transport support, a robot arm, and an end grip; the information acquisition assembly can comprise one or more of a two-axis holder, a laser radar, a T-shaped support, a miniature weather instrument and a panoramic camera. In addition, the operation control assembly is placed in the robot box body, and the operation execution assembly and the information acquisition assembly are fixed above the robot operation table, so that the robot operation table slides towards a specified direction (such as forward sliding, backward sliding, leftward sliding, rightward sliding, leftward forward sliding, leftward backward sliding, rightward forward sliding, or rightward backward sliding) through fixing the robot box body and the robot operation table through a sliding structure, and the operation control assembly in the robot box body is exposed, so that a user can conveniently overhaul the operation control assembly.
On the basis, the embodiment of the invention provides a structural schematic diagram of an electric operating robot in a non-overhaul state, taking the case that a robot operating table slides backwards relative to a robot box body as an example, referring to a structural schematic diagram of another electric operating robot shown in fig. 2, fig. 2 shows that the electric operating robot further comprises an insulating bucket 1, a sliding table 2, a fixed mounting table 3, a workbench 4, a mechanical arm support 5, a transportation support 6, a tail end gripper 7, a two-axis holder 8, a laser radar 9, a T-shaped support 10, a micro-meteorograph 11 and a panoramic camera 12.
With reference to fig. 2, fig. 2 illustrates that the fixed mounting table 3 is fixed above the insulating bucket 1, and the sliding table 2 is fixed above the fixed mounting table 3, for easy understanding, an embodiment of the present invention further provides a structural schematic diagram of an electric working robot in an overhaul state, and referring to the structural schematic diagram of another electric working robot shown in fig. 3, fig. 3 illustrates that the electric working robot further includes a sliding rail 13, wherein the sliding table 2 slides backwards with respect to the insulating bucket 1, wherein the sliding rail 13 is fixed on a designated side of the fixed mounting table 3, and the sliding table 2 is engaged with the sliding rail 13. In one embodiment, the designated side may be the left and right outer sides of the fixed mounting platform 3, the number of the slide rails 13 is 2, one slide rail 13 is installed on the left outer side of the fixed mounting platform 3, the other slide rail 13 is installed on the right outer side of the fixed mounting platform 3, and the left and right inner sides of the sliding table top 2 may be provided with slide rail grooves matched with the slide rails 13, so that the sliding table top 2 is engaged with the slide rails 13, and the sliding table top 2 can move backwards relative to the insulating bucket 1. The table 4 is fixed to the fixed mounting table 3 on any side except a designated side, the table 4 is used for placing a professional tool required for the work implement 210 to perform the live working, and the table 4 may be fixed to the front outer side or the rear outer side of the fixed mounting table 3, assuming that the designated side is the left and right outer sides. The sliding table top 2 of the embodiment of the invention can slide backwards through the sliding rail 13, thereby realizing the maintenance operation of the operation control assembly 110 in the insulating bucket 1.
With continued reference to fig. 2, it is further illustrated in fig. 2 that the robot arm support 5 and the transport support 6 are both fixed to the sliding table 2, the robot arm (not labeled in fig. 2) is fixed to the robot arm support 5, and the end gripper 7 is fixed to the end of the robot arm. The mechanical arm support 5 is used for fixing the mechanical arm, the transportation support 6 is used for supporting the mechanical arm so as to relieve mechanical arm damage caused by bumping of the mechanical arm in the transportation process, the mechanical arm is used for driving the tail end hand grab 7 to move to an appointed operation position, and the tail end hand grab 7 is used for executing live-wire operation. In one embodiment, the present invention may be provided with a left robot arm and a right robot arm, which are respectively fixed on both sides of the robot arm support 5.
With continued reference to fig. 2, it is further illustrated in fig. 2 that the two-axis pan-tilt 8 is fixed on the mechanical arm support 5, the laser radar 9 is fixed on the two-axis pan-tilt 8, the T-shaped support 10 is fixed on the sliding table 2, the micro-weather-instrument 11 and the panoramic camera 12 are both fixed on the T-shaped support 10, and the number of the panoramic camera 12 may be multiple (such as two). The two-axis pan-tilt 8 is used for fixing the laser radar 9, the laser radar 9 is used for collecting three-dimensional environment information of an operation scene, the T-shaped bracket 10 is used for fixing the miniature weather instrument 11 and the panoramic camera 12, the miniature weather instrument 11 is used for collecting weather information (such as temperature information and humidity information) of the operation scene, and the panoramic camera 12 is used for collecting an operation state of the operation execution component 210 in the operation scene. In the embodiment of the invention, important parts such as the mechanical arm (comprising a left mechanical arm and a right mechanical arm), the laser radar 9, the panoramic camera 12 and the like are all arranged on the sliding table surface, in addition, the mechanical arm and the laser radar system are integrally arranged on a mechanical arm support, so that the space of the sliding table surface can be effectively saved, in addition, the embodiment of the invention, the miniature meteorological instrument 11 and the panoramic camera 12 are arranged on the T-shaped support 10 arranged at the rear part, so that the visual space of the panoramic camera 12 can be effectively ensured, and the collision risk of the mechanical arm in the process of executing live working can be effectively reduced.
With continued reference to fig. 3, fig. 3 also illustrates that the robot cabinet 100 further comprises an inner frame 14 disposed inside the insulation bucket 1. For the convenience of understanding, the embodiment of the invention also provides a robot box body, which may include an insulation bucket 1, an inner frame 14, a supporting plate 15, a module handle 16 and a heat dissipation channel 17, referring to a schematic structural diagram of a robot box body shown in fig. 4, the robot box body shown in fig. 4 may include an inner frame 14, a supporting plate 15, a module handle 16 and a heat dissipation channel 17. In one embodiment, the work control assembly 110 may be functionally divided into a plurality of functional modules, each of which is disposed in the inner frame 14, and the embodiment of the present invention may divide the work control assembly 110 into a plurality of functional modules and dispose the functional modules in the inner frame 14, so that the space of the inner frame 14 may be fully utilized, the layout of the inner frame 14 may be more compact, and the design of the wire harness in the insulation bucket 1 may be facilitated. In a specific embodiment, the inner frame 14 is provided with a support plate 15, and each functional module is mounted on the support plate 15 in a plug-in manner, so that the maintenance work of each functional module can be performed independently without affecting other functional modules. In addition, in order to overhaul each functional module, each functional module provided by the embodiment of the invention is provided with the module handle 16, so that the functional module is lifted out of the inner frame 14 through the module handle 16. Optionally, the inner frame 14 is further provided with a heat dissipation channel 17, and heat generated during operation of each functional module can be dissipated through the heat dissipation channel 17, so that burning loss of each functional module is relieved to a certain extent.
In order to facilitate understanding of the operation control assembly according to the embodiment of the present invention, referring to a schematic structural diagram of a live operation assembly shown in fig. 5, it is illustrated that the operation control assembly 110 may include a left mechanical arm control sub-module 18, a right mechanical arm control sub-module 19, a central control module 20, an RTK (Real-time kinematic) module 21, a switch module 22, a power management board module 23, a 12V switching power sub-module 24, a 24V switching power sub-module 25, a 48V switching power sub-module 26, a battery module 27, and other functional modules, where the central control module 20 may also be referred to as an industrial personal computer, and the battery module 27 may be a lithium battery, and each functional module is compactly placed in an inner frame.
In one embodiment, each functional module is provided with a vertical mounting plate 28 and at least one sub-component, each sub-component is fixed on the vertical mounting plate, referring to a schematic structural diagram of one functional module shown in fig. 6, fig. 6 illustrates a left robot arm control sub-module 18, which includes a plurality of sub-components such as the vertical mounting plate 28, a distribution board 29, a left robot arm motherboard 30, an energy consumption board 31, and a left robot arm safety control board 32, and the distribution board 29, the left robot arm motherboard 30, the energy consumption board 31, and the left robot arm safety control board 32 are mounted on the vertical mounting plate 28. In an alternative embodiment, embodiments of the present invention mount sub-components within each functional module on a mounting plate of the functional module, thereby simplifying the wire harness connections of the functional module.
In summary, the robot operating table of the electric working robot provided by the embodiment of the invention adopts a sliding type structure, the interior of the robot box adopts a modular design, all the subcomponents are divided into different functional modules, each functional module can be independently plugged and pulled out, and the maintenance operation is performed on the subcomponents in each functional module under the condition that the subcomponents are not affected by each other, so that the maintenance difficulty is greatly reduced. The embodiment of the invention provides an electric working robot which at least has the following characteristics:
(1) according to the embodiment of the invention, the mechanical arm and the laser radar system are integrally arranged on the mechanical arm support, so that the space of the sliding table top can be effectively saved;
(2) the sliding table top of the embodiment of the invention can slide backwards relative to the insulating bucket through the sliding rail to make a maintenance operation window, thereby realizing maintenance operation on the subcomponents of each functional module in the inner frame;
(3) the functional module is arranged in the insulating hopper through the inner frame, so that the integral waterproof grade and dustproof grade of the hot-line work robot can meet the design requirements;
(4) according to the embodiment of the invention, the sub-components in the inner frame are divided into different functional modules to be placed in the inner frame, so that the space in the inner frame can be fully utilized, and the layout in the inner frame is more compact;
(5) according to the embodiment of the invention, the sub-components in the same functional module are arranged on the same vertical mounting plate, so that the wiring harness connection in the same functional module can be simplified;
(6) in the embodiment of the invention, different functional modules are arranged on the supporting plate of the inner frame in an inserting mode, and the maintenance operation of each functional module can be independently realized under the condition that other functional modules are not influenced.
For the charged operation robot provided in the foregoing embodiment, an embodiment of the present invention provides a control method of a charged operation robot, which is applied to the charged operation robot provided in the foregoing embodiment, referring to a flowchart of the control method of a charged operation robot shown in fig. 7, the method mainly includes the following steps S702 to S704:
step S702, sending an operation control instruction to an operation execution component configured on a robot operating platform of the live working robot through an operation control component configured in a robot box body of the live working robot.
In step S704, when the job control instruction is received, the live-wire work corresponding to the job control instruction is executed by the job execution component.
The control method of the live working robot provided by the embodiment of the invention is applied to the live working robot provided by the embodiment, the live working robot adopts a sliding type structure to fix the robot operation table top and the robot box body, fix the operation execution assembly on the robot operation table top and fix the operation control assembly in the robot box body, so that the operation execution assembly is convenient to overhaul, and the operation control assembly in the robot box body can be exposed by sliding the robot operation table top, so that the operation control assembly is convenient to overhaul.
The implementation principle and the generated technical effects of the control method of the electric working robot provided by the embodiment of the invention are the same as those of the electric working robot embodiment, and for the sake of brief description, the corresponding contents in the electric working robot embodiment can be referred to where the embodiment of the control method is not mentioned.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. An electric working robot, comprising: the robot operating table is fixed above the robot box body in a sliding type structure; the robot box body comprises an insulation hopper and an inner frame arranged in the insulation hopper, the inner frame is provided with a supporting plate, an operation control assembly is placed in the inner frame, and an operation execution assembly is arranged on the operation table top of the robot; wherein the content of the first and second substances,
the job control component is used for sending a job control instruction to the job execution component; the operation control assembly comprises a plurality of functional modules, and each functional module is installed on the supporting plate in a plugging mode; each functional module is provided with a vertical mounting plate and at least one sub-component, and each sub-component is fixed on the vertical mounting plate;
and the operation execution component is used for executing the live-line operation corresponding to the operation control instruction when receiving the operation control instruction.
2. The live working robot according to claim 1, wherein the functional module includes one or more of a robot arm control module, a central control module, an RTK module, a switch module, a power management board module, a switching power supply module, and a battery module.
3. An electric working robot according to claim 1, characterized in that each of the functional modules is provided with a module handle for lifting the functional module out of the inner frame by means of the module handle.
4. An electric working robot according to claim 1, characterized in that the inner frame is further provided with a heat dissipation channel.
5. An electric working robot according to claim 1, characterized in that the robot operation table comprises a sliding table, a slide rail, a fixed mounting table and a work table;
the fixed mounting table is fixed above the insulating hopper, the slide rail is fixed on the appointed side of the fixed mounting table, and the sliding table surface is clamped with the slide rail;
the workbench is fixed on any side of the fixed mounting platform except the designated side and is used for placing professional tools required by the operation executing assembly to execute the live-wire operation.
6. An electric working robot according to claim 5, characterized in that the work performing assembly comprises a robot arm support, a transport carriage, a robot arm and an end gripper; the mechanical arm support and the transportation support are fixed on the sliding table board, the mechanical arm is fixed on the mechanical arm support, and the tail end hand grip is fixed at the tail end of the mechanical arm.
7. The live working robot according to claim 6, further comprising an information collecting component including one or more of a two-axis pan-tilt head, a laser radar, a T-shaped support, a micro-meteorograph, a panoramic camera;
the two-axis cloud deck is fixed on the mechanical arm support and used for fixing the laser radar which is used for collecting three-dimensional environment information of an operation scene;
the T-shaped support is fixed on the sliding table top and used for fixing the miniature weather instrument and the panoramic camera; the miniature weather meter is used for acquiring weather information of the operation scene; the panoramic camera is used for collecting the operation state of the operation execution assembly in the operation scene.
8. A control method of a live working robot, comprising: the method is applied to an electric working robot according to any of claims 1-7, the method comprising:
sending an operation control instruction to an operation execution component configured on a robot operating platform of the live working robot through an operation control component configured in a robot box body of the live working robot;
and when the work execution assembly receives the work control instruction, executing live-line work corresponding to the work control instruction.
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| CN202011258717.8A CN112091993B (en) | 2020-11-12 | 2020-11-12 | Live working robot and control method thereof |
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| CN202011258717.8A CN112091993B (en) | 2020-11-12 | 2020-11-12 | Live working robot and control method thereof |
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| CN112091993B true CN112091993B (en) | 2021-01-26 |
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| CN112356076B (en) * | 2021-01-13 | 2021-04-06 | 国网瑞嘉(天津)智能机器人有限公司 | Live working robot |
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| CN110509310B (en) * | 2019-09-03 | 2020-11-10 | 亿嘉和科技股份有限公司 | Outdoor live working robot |
| CN210757729U (en) * | 2019-11-01 | 2020-06-16 | 盐城艾斯爱汽车配件有限公司 | Mechanical clamping arm for assembling automobile blind |
| CN111452029B (en) * | 2020-04-14 | 2023-12-29 | 山东乐普韦尔自动化技术有限公司 | Live working robot control system and live working robot |
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2020
- 2020-11-12 CN CN202011258717.8A patent/CN112091993B/en active Active
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