CN114421192A - Join in marriage net three-phase line ground connection operation arm assembly - Google Patents
Join in marriage net three-phase line ground connection operation arm assembly Download PDFInfo
- Publication number
- CN114421192A CN114421192A CN202111515146.6A CN202111515146A CN114421192A CN 114421192 A CN114421192 A CN 114421192A CN 202111515146 A CN202111515146 A CN 202111515146A CN 114421192 A CN114421192 A CN 114421192A
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- Prior art keywords
- mechanical arm
- joint
- grounding
- clamping jaw
- arm
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- 239000012212 insulator Substances 0.000 claims description 6
- 238000009413 insulation Methods 0.000 claims description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 2
- 239000000741 silica gel Substances 0.000 claims description 2
- 229910002027 silica gel Inorganic materials 0.000 claims description 2
- 238000012360 testing method Methods 0.000 description 22
- 230000005611 electricity Effects 0.000 description 21
- 238000010586 diagram Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920001296 polysiloxane Polymers 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R4/00—Electrically-conductive connections between two or more conductive members in direct contact, i.e. touching one another; Means for effecting or maintaining such contact; Electrically-conductive connections having two or more spaced connecting locations for conductors and using contact members penetrating insulation
- H01R4/58—Electrically-conductive connections between two or more conductive members in direct contact, i.e. touching one another; Means for effecting or maintaining such contact; Electrically-conductive connections having two or more spaced connecting locations for conductors and using contact members penetrating insulation characterised by the form or material of the contacting members
- H01R4/66—Connections with the terrestrial mass, e.g. earth plate, earth pin
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Electric Cable Installation (AREA)
Abstract
The invention discloses a distribution network three-phase line grounding operation mechanical arm assembly which comprises a mechanical arm and a grounding operation module; the mechanical arm is provided with a mechanical arm joint and a mechanical arm clamping jaw, and the mechanical arm clamping jaw is controlled to move through the mechanical arm joint; the grounding operation module comprises a grounding rod, the grounding rod comprises an insulating rod and a hook arranged at the top end of the insulating rod, the hook is connected with a grounding wire, a clamping structure which can realize automatic clamping after contacting with a grounding ring is arranged inside the hook, and the insulating rod is clamped through a mechanical arm clamping jaw. According to the invention, the grounding operation of the three-phase line of the distribution network is completed through the cooperation of the mechanical arm and the man-machine, so that the safety of the distribution network operation and the automation level of the grounding operation are improved, the efficiency of the grounding operation is improved, and the workload of operators is reduced.
Description
[ technical field ] A method for producing a semiconductor device
The invention belongs to the technical field of electric power engineering, and particularly relates to grounding operation equipment.
[ background of the invention ]
The electricity testing grounding operation is a necessary measure for ensuring the safety of operating personnel in power failure maintenance. In the electric power construction and maintenance process, the tower is manually climbed or an operation platform is erected for live-line operation, so that the labor intensity is high, the danger coefficient is high, and the working efficiency is low; the conventional live working mode of the insulating bucket arm vehicle can only treat the defect hidden danger along the road, and the application of the conventional live working mode is greatly limited when no road or the insulating bucket arm vehicle can not enter a line site and can only carry out side-to-side working. Therefore, it is necessary to develop an intelligent robot to assist or replace manual work.
[ summary of the invention ]
In order to overcome the defects in the prior art, the invention aims to provide the mechanical arm assembly for the grounding operation of the three-phase line of the distribution network, which can complete the grounding operation of the three-phase line of the distribution network through human-computer cooperation.
In order to solve the technical problems, the invention adopts the following technical scheme: the distribution network three-phase line grounding operation mechanical arm assembly comprises a mechanical arm and a grounding operation module; the mechanical arm is provided with a mechanical arm joint and a mechanical arm clamping jaw, and the mechanical arm clamping jaw is controlled to move through the mechanical arm joint; the ground connection operation module includes the earth bar, the earth bar includes the insulator spindle and locates the couple on insulator spindle top, and the earth connection is connected to the couple, and the couple is inside to be equipped with the tight structure of clamp that realizes self-holding behind the contact ground ring, presss from both sides tight insulator spindle through the arm clamping jaw, still be equipped with radar and camera on the arm.
Preferably, the mechanical arm is arranged on an insulating arm, and the insulating arm is horizontally arranged.
Preferably, the mechanical arm joint comprises a clamping jaw rotating joint, a vertical telescopic joint and a horizontal moving joint, the clamping jaw rotating joint is connected with the mechanical arm clamping jaw, the horizontal moving joint is connected with the insulating arm, and the vertical telescopic joint is connected between the clamping jaw rotating joint and the horizontal moving joint.
Preferably, the mechanical arm clamping jaw sleeve is provided with a rubber sleeve or a silica gel sleeve in insulation fit with the insulating rod.
By adopting the technical scheme, the invention has the following beneficial effects:
1. according to the invention, the grounding operation of the three-phase line of the distribution network is completed through the cooperation of the mechanical arm and the man-machine, so that the safety of the distribution network operation and the automation level of the grounding operation are improved.
2. The invention changes the single-phase hanging grounding wire into three-phase simultaneous wire hanging, saves the time for sequentially detaching the wire hanging in the single-phase grounding operation, improves the efficiency of the grounding operation and reduces the workload of operators.
These features and advantages of the present invention will be disclosed in more detail in the following detailed description and the accompanying drawings.
[ description of the drawings ]
The invention is further described with reference to the accompanying drawings in which:
fig. 1 is a diagram illustrating an actual effect of the electricity testing and grounding operation according to the embodiment of the present invention.
FIG. 2 is a schematic side view of the present invention.
Fig. 3 is a schematic diagram of a grounding rod of the grounding operation module of the present invention.
Fig. 4 is a schematic ground operation diagram of the grounding operation module according to the present invention.
In the figure: 1. a grounding operation module; 11. a ground rod; 111. an insulating rod; 112. a ground line; 113. hooking; 12. a ground wire pile; 13. a ground wire junction box; 16. a ground ring; 2. an electricity testing operation module; 21. an electricity testing rod; 22. an electroscope bar holder; 23. an operation lifting platform; 24. a platform lifting stepping motor; 3. a robotic arm module; 31. a mechanical arm clamping jaw; 32. a jaw rotation joint; 33. a vertical telescopic joint; 34. a horizontally moving joint; 35. an insulating arm; 36. the rear end of the mechanical arm.
[ detailed description ] embodiments
The technical solutions of the embodiments of the present invention are explained and illustrated below with reference to the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, and not all embodiments. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative effort belong to the protection scope of the present invention.
It will be appreciated by those skilled in the art that features from the examples and embodiments described below may be combined with each other without conflict.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Words such as "upper," "lower," "front," "rear," "left," "right," and the like, which indicate orientation or positional relationship, are based only on the orientation or positional relationship shown in the drawings, are merely for convenience in describing the present invention and to simplify the description, and do not indicate or imply that the referenced devices/elements must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Aiming at the operation problem in power failure electricity testing grounding operation, the invention takes a live working robot as a basis, is provided with a mechanical arm and completes the electricity testing grounding operation of the three-phase line of the distribution network through man-machine cooperation.
The invention is described in further detail below with reference to the following detailed description and accompanying drawings:
referring to fig. 1 to 4, the ground wire hanging robot for the power distribution overhead line of the present embodiment includes three sets of the same and equidistantly distributed ground operation modules 1, electricity inspection operation modules 2, manipulator modules 3, and a control module corresponding to the three-phase line.
Wherein, the front end of arm module 3 has arm clamping jaw 31, ground connection operation module 1 links to each other with arm clamping jaw 31, test electric operation module 2 and install on operation lift platform 23 to all be located three right sides of organizing arm module 3. The mechanical arm module 3 is used for sequentially testing electricity and installing a grounding wire, and three-phase lines can be simultaneously conducted.
The grounding operation module 1 is used for grounding wire hanging operation, the electricity testing operation module 2 is used for electricity testing operation of a distribution network line, the electricity testing operation module 2 and the mechanical arm module 3 are connected with the control module, specifically, the rear end 36 of the mechanical arm is connected with the control module, and the control module is provided with a human-computer interaction interface.
The operation personnel control the mechanical arm module 3 through the human-computer interaction interface to complete the electricity testing grounding operation. The electric grounding operation mechanical arm is compact in structure and convenient to operate, can isolate operation personnel from live equipment, ensures personal safety of the operation personnel, avoids safety problems caused by manual climbing of a pole column and manual power failure maintenance, can improve grounding work efficiency, and reduces work load and working strength of the operation personnel.
In order to better complete the grounding operation, the grounding operation module 1 adopts a modular process. The grounding work module 1 in this embodiment includes a grounding rod 11, a grounding wire pile 12, and a grounding wire distribution box 13. The hook 13 is positioned above the insulating rod and used for hanging the ground ring 16, and the right side of the hook is wound with the ground wire 112 to be connected with the ground wire pile 12. The ground rod 11 includes an insulating rod 111, a ground wire 112, and a hook 113. The grounding rod 11 is used for hanging a grounding ring 16 on a line, the upper end of the grounding rod is provided with a hook 113, a clamping structure capable of achieving automatic clamping is arranged in the hook, the clamping structure is automatically clamped after the hook is contacted with the grounding ring, and the prior art can be referred to in the specific structure and principle. The right side of the hook is provided with a grounding wire 112, and the lower end of the hook is connected with an insulating rod 111.
As an alternative embodiment, in the present embodiment, the grounding wire distribution box 13 divides the grounding wires 112 led out from the ground grounding wire bolt 12 into three pieces, and the mechanical arm can be hooked to the grounding ring 16 of the three-phase line at the same time, so that only one electricity testing grounding operation needs to be performed.
In order to better complete the electricity testing operation, modular processing is adopted. The electroscopic operation module 2 comprises an electroscopic rod 21, an electroscopic rod holder 22 and an operation lifting platform 23. The bottom of the electroscope rod 21 is clamped by an electroscope rod holder 22, the bottom of the electroscope rod holder 22 is fixed on an operation lifting platform 23, and the operation lifting platform 23 is driven and controlled by a platform lifting stepping motor 24.
In order to further improve the reliability of the mechanical arm, the mechanical arm is also processed in a modularized mode.
As shown in fig. 1, the arm module 3 in this embodiment includes a arm gripper 31 and a plurality of arm joints, and the arm gripper 31 is located on a front side of the arm gripper 31. The mechanical arm joints comprise a clamping jaw rotating joint 32, a vertical telescopic joint 33 and a horizontal moving joint 34, the clamping jaw rotating joint 32 is connected with a mechanical arm clamping jaw 31, the horizontal moving joint 34 is connected with an insulating arm, and the vertical telescopic joint 33 is connected between the clamping jaw rotating joint 32 and the horizontal moving joint 34. The mechanical arm module 3 is connected and driven by each mechanical arm joint.
The insulating arm 35 is horizontally disposed and parallel to the extending direction of the line, and the horizontal movement joint 34 is connected to the insulating arm 35 and can horizontally move relative to the insulating arm 35. The operation lifting platform 23 is connected with the horizontal moving joint 34 and can horizontally move along with the horizontal moving joint 34, so that the electroscope rod reaches the position right below the appointed electroscope target position.
As an alternative embodiment, the end of the robot arm clamping jaw 31 of the present embodiment is sleeved with a rubber sleeve or a silicone sleeve, and is highly insulated in cooperation with the insulating rod 111.
As an optional implementation manner, the mechanical arm module 3 of the present embodiment further includes a radar and a camera, the radar and the camera are respectively connected to the control module, and the positioning ground ring 16 can be quickly identified through vision and radar sensing.
The control module is provided with a mechanical arm control module and a platform lifting control module which are respectively used for controlling the mechanical arm module 3 and the platform lifting stepping motor 24.
The working process of the power distribution overhead line grounding wire hanging robot in the embodiment is as follows:
s1) the power distribution overhead wire ground wire connection robot-mounted robot control system of the present embodiment starts an electricity verification ground operation. The operator prepares for the ground, and leads out the ground wires 112 from the ground wire bolt 12 to be connected to the ground wire distribution box 13, and leads out three ground wires 112 through the ground wire distribution box 13.
S2) the operator sends a control command on the man-machine interaction interface to control the mechanical arm clamping jaw 31 to grab the bottom of the grounding rod insulating rod 111 and lift the mechanical arm to a position close to the electricity testing grounding operation position.
S3) the operator finely adjusts the position of the robot arm by controlling the insulation arm horizontal movement joint 34 to reach the designated electricity testing target position.
S4), the worker controls the work elevating platform 23 to ascend, and performs the electricity testing work using the electricity testing rod 21. After the electricity testing operation is completed, the operation lifting platform 23 is controlled to descend to the initial position.
S5) the operator controls the horizontal moving joint 34 of the insulating arm to reach the position right below the grounding target position, controls the vertical telescopic joint 33 to extend to the position near the grounding ring, and then controls the clamping jaw rotating joint 32 to enable the hook 113 to be smoothly hung in the grounding ring 16, thereby completing the grounding operation.
S6), after the electricity testing and grounding operations are completed, the operator lowers the mechanical arm to the designated position on the ground and turns off the power supply.
To sum up, this embodiment provides a distribution overhead line earth connection robot, mainly through ground connection operation module, tests electric operation module, and electric ground connection operation problem is tested in the modularization operation mode of arm module, has promoted the efficiency of testing electric ground connection operation, can ensure operation personnel's personal safety, has reduced intensity of labour, and has improved the security of operation.
While the foregoing is directed to embodiments of the present invention, the scope of the invention should not be limited thereby, and it will be apparent to those skilled in the art that the invention includes, but is not limited to, those illustrated in the drawings and described in the foregoing detailed description. Any modification which does not depart from the functional and structural principles of the invention is intended to be included within the scope of the claims.
Claims (4)
1. The distribution network three-phase line grounding operation mechanical arm assembly is characterized by comprising a mechanical arm and a grounding operation module; the mechanical arm is provided with a mechanical arm joint and a mechanical arm clamping jaw, and the mechanical arm clamping jaw is controlled to move through the mechanical arm joint; the ground connection operation module includes the earth bar, the earth bar includes the insulator spindle and locates the couple on insulator spindle top, and the earth connection is connected to the couple, and the couple is inside to be equipped with the tight structure of clamp that realizes self-holding behind the contact ground ring, presss from both sides tight insulator spindle through the arm clamping jaw, still be equipped with radar and camera on the arm.
2. The distribution network three-phase line grounding operation mechanical arm assembly as claimed in claim 1, wherein the mechanical arm is arranged on an insulating arm, and the insulating arm is horizontally arranged.
3. The distribution network three-phase line grounding operation mechanical arm assembly according to claim 2, wherein the mechanical arm joint comprises a clamping jaw rotating joint, a vertical telescopic joint and a horizontal moving joint, the clamping jaw rotating joint is connected with the mechanical arm clamping jaw, the horizontal moving joint is connected with the insulating arm, and the vertical telescopic joint is connected between the clamping jaw rotating joint and the horizontal moving joint.
4. The distribution network three-phase line grounding operation mechanical arm assembly of claim 1, wherein a rubber sleeve or a silica gel sleeve in insulation fit with the insulating rod is sleeved on the mechanical arm clamping jaw sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111515146.6A CN114421192B (en) | 2021-12-13 | 2021-12-13 | Distribution network three-phase line grounding operation mechanical arm assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111515146.6A CN114421192B (en) | 2021-12-13 | 2021-12-13 | Distribution network three-phase line grounding operation mechanical arm assembly |
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| CN114421192A true CN114421192A (en) | 2022-04-29 |
| CN114421192B CN114421192B (en) | 2024-07-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115064984A (en) * | 2022-06-17 | 2022-09-16 | 杭州申昊科技股份有限公司 | Cable appurtenance is striden to robot |
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| CN113612095A (en) * | 2021-08-27 | 2021-11-05 | 广东电网有限责任公司 | Grounding wire clamp installation robot |
| CN114389058A (en) * | 2021-12-13 | 2022-04-22 | 新昌县新明实业有限公司 | Power distribution overhead line grounding wire hanging robot |
| CN216750989U (en) * | 2021-12-13 | 2022-06-14 | 新昌县新明实业有限公司 | Electricity testing grounding operation robot |
| CN216773534U (en) * | 2021-12-13 | 2022-06-17 | 新昌县新明实业有限公司 | Grounding wire hanging operation mechanical arm assembly |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115064984A (en) * | 2022-06-17 | 2022-09-16 | 杭州申昊科技股份有限公司 | Cable appurtenance is striden to robot |
| CN115064984B (en) * | 2022-06-17 | 2023-06-09 | 杭州申昊科技股份有限公司 | Cable appurtenance is striden to robot |
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