CN114614318B - Live working robot lead connecting system for narrow and complicated working conditions and working method thereof - Google Patents

Live working robot lead connecting system for narrow and complicated working conditions and working method thereof Download PDF

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Publication number
CN114614318B
CN114614318B CN202210317805.3A CN202210317805A CN114614318B CN 114614318 B CN114614318 B CN 114614318B CN 202210317805 A CN202210317805 A CN 202210317805A CN 114614318 B CN114614318 B CN 114614318B
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China
Prior art keywords
wire
pressing
mechanical arm
clamping
clamping piece
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CN202210317805.3A
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Chinese (zh)
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CN114614318A (en
Inventor
简旭
李劲彬
汪涛
陈隽
陈鑫
贺文朋
梅义胜
吴传奇
文雅钦
孙双学
李胜祖
彭欣
朱啸林
吴鑫
张亮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hubei Jiji Electric Power Group Co ltd
China University of Geosciences
Electric Power Research Institute of State Grid Hubei Electric Power Co Ltd
Wuhan Power Supply Co of State Grid Hubei Electric Power Co Ltd
Original Assignee
Hubei Jiji Electric Power Group Co ltd
China University of Geosciences
Electric Power Research Institute of State Grid Hubei Electric Power Co Ltd
Wuhan Power Supply Co of State Grid Hubei Electric Power Co Ltd
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Application filed by Hubei Jiji Electric Power Group Co ltd, China University of Geosciences, Electric Power Research Institute of State Grid Hubei Electric Power Co Ltd, Wuhan Power Supply Co of State Grid Hubei Electric Power Co Ltd filed Critical Hubei Jiji Electric Power Group Co ltd
Priority to CN202210317805.3A priority Critical patent/CN114614318B/en
Publication of CN114614318A publication Critical patent/CN114614318A/en
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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • H01R43/04—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for forming connections by deformation, e.g. crimping tool
    • H01R43/048—Crimping apparatus or processes
    • H01R43/05—Crimping apparatus or processes with wire-insulation stripping
    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • 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
    • 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
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • H01R43/04—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for forming connections by deformation, e.g. crimping tool
    • H01R43/048—Crimping apparatus or processes
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • H01R43/04—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for forming connections by deformation, e.g. crimping tool
    • H01R43/048—Crimping apparatus or processes
    • H01R43/052—Crimping apparatus or processes with wire-feeding mechanism
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/12—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for removing insulation or armouring from cables, e.g. from the end thereof
    • H02G1/1275—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for removing insulation or armouring from cables, e.g. from the end thereof by applying heat
    • H02G1/128—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for removing insulation or armouring from cables, e.g. from the end thereof by applying heat using radiant energy, e.g. a laser beam
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention provides a live working robot wire connecting system for narrow and complicated working conditions and a working method thereof, wherein the system comprises an insulating arm vehicle and a robot working platform arranged at the front end of an insulating arm of the insulating arm vehicle, and the robot working platform comprises a main control subsystem, a mechanical arm subsystem and a tool subsystem; the mechanical arm subsystem comprises a A, B mechanical arm arranged on a robot working platform, and the A, B mechanical arm is vertically and crosswise arranged on the robot working platform; the tool subsystem comprises a wire clamping and pressing integrated tool arranged on the mechanical arm A located below and a wire stripping tool arranged on the mechanical arm B located above, and the main control subsystem controls the mechanical arm subsystem and the tool subsystem. The invention improves the operation efficiency, shortens the operation time, has strong adaptability, and solves the problem that the existing robot can not realize the wiring of the distribution network in the single-loop and double-loop scenes under the narrow and complicated scenes of the distribution network.

Description

Live working robot lead connecting system for narrow and complicated working conditions and working method thereof
Technical Field
The invention relates to the field of power distribution network operation, in particular to a live working robot lead connecting system for narrow and complicated working conditions and an operation method thereof.
Background
With the rapid development of social economy, the requirements on continuous and stable power supply in the production and life of people are increasing. The distribution network is positioned at the tail end of the power system, which is a key link for ensuring continuous power supply, and the reliability of the distribution network occupies a very important position in the whole power supply system. At present, traditional power distribution network operation is mainly carried out by the manual work, and most of the work is that the worker wears insulating clothes to stand in the high-altitude insulating bucket to carry out wire stripping operation, and the insulating operation rod is also used for carrying out power distribution network live working in partial areas. However, the distribution network is usually compact in circuit, the distance between phases is small, and short circuit is easy to occur when operators work in live line, so that accidents such as personal injury and death are caused. Meanwhile, the operation mode has the advantages of overlarge labor intensity, low working efficiency and high operation danger coefficient, and the distribution network lines in partial areas and the geographical conditions are bad, so that related live working is difficult to develop, and accordingly, the lines have to be overhauled and maintained under the condition of power failure, and serious influence is caused on industrial production and living experience of residents. Therefore, in order to improve the live working efficiency of the power distribution network while ensuring the safety of live working personnel of the power distribution network, it is increasingly important to replace manual power distribution network operation with robots.
Aiming at the problems existing in the manual operation, a plurality of researchers select to develop a robot platform to finish the corresponding network distribution operation; such as patent number: the utility model patent of CN202120238601.1 discloses a 10kV distribution network robot wire breaking tool, which comprises a rotary cutter, a fixed cutter and a cutter driving assembly, wherein the rotary cutter is hinged with the fixed cutter, the cutter driving assembly comprises a cutter motor and a cutter driving wheel, the cutter motor drives the cutter driving wheel, gear teeth are arranged on the edge of the rotary cutter, the cutter driving wheel is in meshed transmission with the rotary cutter and comprises bristles, the bristles are in contact with the gear teeth, and the axial direction of the bristles is parallel to the tooth surfaces of the gear teeth. The patent mainly utilizes the brush hair to thoroughly sweep away the miscellaneous bits such as insulating outer bits, aluminum bits, steel bits that drop to rotatory cutter teeth of a cogwheel, avoids rotatory cutter and cutter action wheel meshing transmission inefficacy. The utility model of patent application number CN201910978724.6 discloses an operation manipulator and an operation method of a distribution network live wire disconnection and connection robot, wherein the operation manipulator comprises a multi-joint multi-degree-of-freedom mechanical arm and an operation tool at the tail end of the mechanical arm, the operation tool comprises a wire stripping tool and a C-shaped wire clamp mounting tool, the two tools are fixed at a specified position, the end part of the mechanical arm and the operation tool are automatically connected through a male head and a female head of an electric rotary joint, and the mechanical arm is sequentially connected with the wire stripping tool and the C-shaped wire clamp mounting tool to an insulated wire according to the requirement to carry out wire stripping and C-shaped wire clamp mounting operation. Patent number CN202011486616.6, an on-line uninterruptible operation robot, discloses an on-line uninterruptible operation robot. The robot is sent to a distribution network line through an insulating arm car or other lifting devices, is fixed on a guide line through a clamping travelling device, and then the robot body is separated from the arm car or other lifting devices and autonomously travels on the insulating guide line; the wire stripping operation and the wire clamp installation operation are respectively completed through a stripping operation tool arm and a wire clamp installation operation tool arm which are arranged on two sides of the robot; the insulated wires are automatically identified, the insulated wire stripping action and the wire clamp mounting action are finished step by step, and finally the distribution network wire connection operation is finished; meanwhile, the tools arranged on the two sides of the wire-cutting machine can be replaced by wire-cutting tools to finish wire-cutting operation of the distribution network. The utility model patent of the patent application number CN201910978780.X discloses a distribution network live disconnection and drainage wire connection system and a disconnection and drainage wire connection method thereof, wherein the system comprises a crawler type overhead working truck and a working robot platform arranged at the tail end of a lifting arm of the crawler type overhead working truck. The operation robot platform comprises a control box, a mechanical arm and an operation tool connected with the tail end of the mechanical arm, wherein the first mechanical arm and the second mechanical arm are multi-joint multi-degree-of-freedom arms and are symmetrically arranged on two sides of the control box, the operation tool comprises a clamping tool, a wire stripping tool and a wire clamp installation tool, the clamping tool is connected with the tail end of the first mechanical arm and is mainly used for clamping an insulated wire and a lead wire, the wire stripping tool and the wire clamp installation tool are fixed on the top surface of the control box, and the second mechanical arm is connected with the wire stripping tool and the wire clamp installation tool through an electric rotary joint at the tail end of the second mechanical arm to carry out corresponding operation according to requirements. The working personnel can be far away from the working environment with high altitude and high pressure, and the working safety and the labor intensity of the working personnel are improved.
However, most of the existing distribution network operation robot systems adopt a mechanical structure wire stripping mode, the cost of the mode is high, the price of one wire stripping tool is probably tens of thousands, the mechanical cutting mode cannot be well applied to leads with different wire diameters, the situation of clamping knives can occur frequently, the wire stripping success rate is greatly reduced, and the problem of low wire stripping efficiency exists. And at present, most systems select to use independent wire clamping and pressing tools, and tools need to be replaced in the process of operation, so that the difficulty of robot path planning is increased, and the operation time is also increased. On the other hand, because the high-voltage environment where the distribution network operation is located, at present, many robot systems choose to adopt the insulating rod to connect between the tail end of the mechanical arm and the operation tool, so that the damage to the mechanical arm caused by the environment is avoided, but the operation precision is also greatly reduced by the mode, and the insulating rod is easy to damage.
Disclosure of Invention
In order to solve the problems in the prior art and according to the basic flow of network distribution operation, the invention provides a live working robot wire connecting system and a working method thereof for narrow and complicated working conditions.
In order to achieve the technical aim, the invention provides a live working robot lead connecting system for a narrow and complicated working condition, which comprises an insulating arm vehicle and a robot working platform arranged at the front end of an insulating arm of the insulating arm vehicle, wherein the robot working platform comprises a main control subsystem, a mechanical arm subsystem and a tool subsystem; the mechanical arm subsystem comprises an A mechanical arm and a B mechanical arm which are arranged on a robot operation platform, and the A mechanical arm and the B mechanical arm are vertically and alternately arranged on the robot operation platform; the tool subsystem comprises a wire clamping and pressing integrated tool arranged on the mechanical arm A positioned below and a wire stripping tool arranged on the mechanical arm B positioned above, and the main control subsystem controls the mechanical arm subsystem and the tool subsystem;
the wire stripping tool comprises a gear box driving module, a laser peeling head and a cutter, wherein the laser peeling head is arranged at one end of an output shaft of the gear box driving module, a C-shaped wire groove is formed in the output shaft, and in the wire stripping process, a power transmission line is arranged in the C-shaped wire groove, and the gear box driving module drives the laser peeling head to rotate 360 degrees around the power transmission line to ablate and strip the wire; the cutter is used for stripping the outer skin of the laser ablated power transmission line.
The wire clamping and wire pressing integrated machine comprises a bottom plate, a swinging cylinder, a wire clamping mechanism and a wire pressing mechanism, wherein the swinging cylinder and the wire pressing mechanism are fixedly arranged on the bottom plate, the wire pressing mechanism comprises a wire pressing driving motor, a double screw perpendicular to the bottom plate, and an upper wire pressing clamping piece and a lower wire pressing clamping piece which are connected to the double screw in a threaded manner, and an output shaft of the driving motor is connected with the double screw through a transmission mechanism and drives the double screw to simultaneously rotate so as to press the upper wire pressing clamping piece and the lower wire pressing clamping piece; the wire clamping mechanism comprises a rail-carrying cylinder arranged on the swinging cylinder, a fixed clamping piece arranged on the cylinder body of the rail-carrying cylinder and a movable clamping piece arranged at the piston end of the rail-carrying cylinder, wherein the movable clamping piece and the fixed clamping piece form a complete wire clamping clamp under the shrinkage state of the piston of the rail-carrying cylinder; the swing cylinder drives the rail-mounted cylinder to swing left and right to be vertical or parallel to the double screw rods;
the wire clamping and pressing integrated machine is controlled by the mechanical arm A to move to the position of the lead, and the swing cylinder drives the rail-carrying cylinder to swing to the direction perpendicular to the double screw rod to clamp the lead; the wire clamping and wire pressing integrated tool for clamping the lead wire moves to the position of the transmission wire, at which the outer skin of the transmission wire is stripped, through the control of the mechanical arm A, the position of the transmission wire, at which the outer skin of the transmission wire is stripped, is arranged in a wire slot of the lower wire pressing clamping piece, the swing cylinder drives the rail cylinder to swing to the direction parallel to the double screw rod, the lead wire is sent between the upper wire pressing clamping piece and the lower wire pressing clamping piece of the wire pressing mechanism, and is in press connection with the transmission wire through the wire pressing mechanism.
The invention further adopts the technical scheme that: the robot operation platform further comprises a vision subsystem, a man-machine interaction subsystem and a power supply subsystem which are respectively connected with signals of a main control subsystem, wherein the main control subsystem comprises a system control box, an industrial personal computer, a motion controller A and a motion controller B, wherein the industrial personal computer, the motion controller A and the motion controller B are positioned in the system control box; the industrial personal computer receives monitoring data of the vision subsystem, transmits the resolved data to the motion controller A and the motion controller B through the industrial Ethernet, respectively realizes motion control of the mechanical arm A and the mechanical arm B through the motion controller A and the motion controller B, and controls the work of the wire clamping, wire pressing integrated tool and the wire stripping tool through the industrial personal computer; the vision subsystem comprises a binocular camera arranged on the mechanical arm B, a laser radar and a monitoring camera arranged on the robot operation platform, wherein the binocular camera and the monitoring camera are in communication connection with an industrial personal computer in a system control box in a USB serial communication mode, the laser radar is in communication connection with the industrial personal computer in a remote mode through an Ethernet, and the binocular camera, the monitoring camera and the laser radar are used for completing corresponding vision identification and positioning, operation process monitoring and a large-scale three-dimensional reconstruction function on site; the main hardware equipment of the power subsystem is a lithium battery and a power manager, and RS485 serial communication is adopted between the main hardware equipment and an industrial personal computer in a system control box.
The invention has the preferable technical scheme that: the wire stripping tool is arranged at the front end of the mechanical arm B through a support, and further comprises a wire routing module which is rotationally connected with the output shaft through a bearing seat, and a notch matched with the opening of the C-shaped wire groove is formed in the bearing seat; the wiring module comprises a first driving motor, a first gear transmission mechanism and a wiring roller, wherein the first driving motor and the first gear transmission mechanism are arranged on a bearing seat through mounting plates, and the wiring roller is arranged on an output shaft of the first gear transmission mechanism; the roller surface of the wire feeding roller is an inward concave arc surface and is positioned above the power transmission line, the arc concave surface of the wire feeding roller is matched with the radian of the power transmission line, and when the mechanical arm B drives the wire stripping tool to move on the power transmission line, the first driving motor drives the wire feeding roller to reciprocate along the power transmission line; the cutter is a U-shaped cutter and is positioned under the wiring module, a wire groove which is in the same straight line with the C-shaped wire groove is formed between the wiring roller and the cutter, and a power line passes through the C-shaped wire groove from one end of the C-shaped wire groove and then passes through the space between the wiring roller and the wiring groove.
The invention has the preferable technical scheme that: the pressing mechanism further comprises a pressing line bracket and a pressing plate which are vertically arranged on the bottom plate, wherein the upper end of the pressing plate is connected with the pressing line bracket through an elastic pressing rod and presses the upper pressing line clamping piece under the action of the elastic pressing rod; the upper clamping piece is a double-groove clamping piece provided with two C-shaped wire grooves, the lower clamping piece is two single-groove clamping pieces, and the two wire grooves of the upper clamping piece correspond to the wire grooves of the two single-groove lower clamping pieces.
The invention has the preferable technical scheme that: the double screws are two screws arranged side by side, a screw sleeve is fixedly arranged at the bottom of each screw, an output shaft of the wire pressing driving motor is connected with the screw sleeves of the two screws through a transmission mechanism, and the upper ends of the screw sleeves are clamped with a main lower wire pressing clamping piece; the transmission mechanism comprises a driving gear arranged on an output shaft of the motor, a first transmission gear meshed with the driving gear, a second transmission gear coaxial with the first transmission gear, and a third transmission gear and a fourth transmission gear which are respectively arranged on the two screw sleeves, wherein the second transmission gear is respectively meshed with the third transmission gear and the fourth transmission gear and drives the third transmission gear and the fourth transmission gear to rotate simultaneously under the action of the driving gear and the first transmission gear, so that the two screw sleeves and the double screws are driven to rotate.
The invention has the preferable technical scheme that: when the laser peeling head carries out laser ablation on a power transmission line, an air source is provided by an air pump of a lower platform of the insulating arm vehicle, and the ablated position is blown by a blowing pipe; the laser peeling heads comprise an annular connecting plate and three laser ablation heads which are uniformly distributed along the annular connecting plate, the laser peeling heads are fixedly arranged on the output shaft through the annular connecting plate, and a notch is formed in the position, corresponding to the opening of the C-shaped line groove, of the annular connecting plate.
The invention has the preferable technical scheme that: the gear box driving module comprises a second driving motor, a second gear transmission mechanism and a power output gear fixedly arranged on the output shaft, and the driving motor drives the power output gear to rotate through the second gear transmission mechanism so as to control the output shaft to rotate.
The robot wire connecting system adopts double-arm operation, adopts an equipotential operation mode, designs a specific wire clamping, wire stripping and wire pressing tool to complete corresponding operation, the wire stripping tool performs wire stripping operation through laser, utilizes the difference of the melting point of the outer skin of the wire and the melting point of the aluminum core, adopts a laser ablation method with proper power to realize stripping of the outer skin, can complete wire stripping tasks with different wire diameters on the premise of not damaging the aluminum core in the wire, and has higher universality, lower cost, light weight and modularized design. The wire clamping and pressing tool adopts an integrated design, so that the operation time is shortened, and the safety of the operation process is improved to a certain extent.
In order to achieve the technical purpose, the invention also provides an operation method of the live working robot wire connecting system for the narrow and complicated working conditions, which is characterized by comprising the following specific steps:
(1) Parking an insulating arm vehicle below a power transmission line of a lead to be connected, controlling the insulating arm to send a robot operation platform to a wire clamping station, and waiting for the platform to be stable;
(2) The wire clamping operation is started after high-precision identification and positioning work is carried out on the wire to be connected through a binocular camera arranged on the mechanical arm B above;
(3) Clamping the lead wire at the user side is completed through wire clamping and wire pressing integrated engineering carried by the mechanical arm A at the lower part; the wire clamping process is that the wire clamping and pressing integrated machine is driven by the mechanical arm A to enable a user side lead wire to slide into a wire clamping groove between a fixed clamping piece and a movable clamping piece, and then a wire clamping clamp is driven to be closed by a cylinder with a rail, so that the wire clamping process is completed;
(4) After the wire clamping process is finished, controlling the arm trolley to send the robot operation platform to the wire stripping and pressing station, and after the robot operation platform enters the wire stripping station, carrying out high-precision identification and positioning on the main power transmission line through a binocular camera arranged on the upper B mechanical arm, and carrying out wire stripping operation on the position of the main power transmission line to be connected with the wire through a wire stripping tool at the tail end of the B mechanical arm; the wire stripping process is that the main power line is led into a C-shaped line groove on the output shaft of the wire stripping tool, and the output shaft is driven to rotate by a gearbox driving module, so that a laser stripping head at the end part of the driving shaft rotates around the power line for multiple times to carry out laser ablation to finish wire stripping work;
(5) After the wire stripping in the step (4) is completed, the mechanical arm B exits the operation station, the mechanical arm A drives the wire clamping and wire pressing integrated machine to enter the wire pressing station, and then the wire pressing work of the main power transmission line and the user side lead wire is completed through the wire clamping and wire pressing integrated machine; the wire pressing work is characterized in that a wire stripping area of a power transmission line is arranged between an upper wire pressing clamping piece and a lower wire pressing clamping piece of a wire pressing mechanism, a wire clamping mechanism clamping a lead is driven to rotate upwards by 90 degrees to be parallel to the wire pressing mechanism through a swinging cylinder, the lead is sent between the upper wire pressing clamping piece and the lower wire pressing clamping piece, and the double-screw is controlled to rotate under the action of a wire pressing driving motor so that the upper wire pressing clamping piece and the lower wire pressing clamping piece are moved and clamped to finish the wire pressing work;
(8) After the wire pressing operation in the step (7) is completed, the wire pressing clamp is left on the wire, the binocular camera is closed, the mechanical arm returns to the initial position, the insulating arm of the bucket arm vehicle is controlled to descend, the robot operation platform is retracted, and the overhaul operation is completed.
The invention has the preferable technical scheme that: the step (1) is that the insulating arm is controlled to send the robot operation platform to the high altitude after stopping, the laser radar arranged on the robot operation platform is used for carrying out high-precision three-dimensional reconstruction on the working space to obtain the space positions of the lead to be connected and the main transmission line, the simulation display of the whole operation is started on the man-machine interaction interface, the operation is formally started if the simulation result is correct, and the operation is restarted after correcting the error until the error is absent; and according to the simulation result, controlling the insulating arm to send the robot operation platform to the wire clamping station.
The invention has the preferable technical scheme that: the laser skinning head in step (4) is equipped with three laser heads, and three laser heads pass through annular connecting plate and install the one end at the output shaft, and three laser heads evenly distributed is on annular connecting plate, and its laser sends the central point that the end all faces annular connecting plate put, the concrete process of laser ablation is: firstly, an output shaft of a gearbox driving module rotates for 120 degrees to expose an aluminum core in a power transmission line, then a B mechanical arm moves to enable a wire stripping tool to move along the axis of the power transmission line, the output shaft is kept fixed and not rotated in the process, and after the exposed length of the aluminum core of the power transmission line reaches the wiring requirement, the output shaft reversely rotates for 120 degrees to expose the aluminum core in the position, so that laser ablation work is completed; in the whole laser ablation process, an air jet pipe is required to be used for blowing, and in the blowing process, an air pump is arranged on a platform under the rim arm to provide an air source, and the ablation position is blown through the air jet pipe.
The invention has the beneficial effects that:
(1) The invention arranges the double mechanical arms in a crossed and vertical way, so that the operation range of the double arms is further increased without space interference, and the double mechanical arms can enter a narrow space of a multi-loop to carry out wire connection operation.
(2) Compared with the method for grabbing the insulating rod, the method for grabbing the insulating rod by the mechanical arm joint can directly grab the target, realize equipotential operation of the distribution network, and has larger moment and higher operation precision. Adopt equipotential operation's mode, avoid using insulating rod to connect arm end and frock, improved operation precision and security
(3) Different from the traditional mechanical wire stripping mode, the wire stripping device provided by the invention is used for stripping the lead by adopting a laser ablation mode, can be suitable for wire stripping operation with high efficiency and high success rate of wires with different wire diameters, improves the wire stripping efficiency of a wire insulation layer, has low cost, does not cause the condition of clamping knives, does not damage a wire metal part, and has stronger adaptability.
(4) The invention designs a special wire clamping and pressing integrated tool, which does not need to frequently replace an operation tool, reduces the difficulty of planning the track of the mechanical arm, improves the safety of the operation process, and shortens the operation time to a certain extent, thereby greatly shortening the operation time of the robot for overall network distribution.
According to the invention, the wire stripping is carried out on the wires with different wire diameters by adopting a laser wire stripping mode, the thought of respectively designing the existing wire clamping and wire pressing tools is abandoned, the integrated tool is designed, the production cost is reduced, the operation efficiency is improved, the operation time is shortened, the adaptability is strong, and the problem that the wire connection of the distribution network in the single-loop and double-loop scenes is difficult to realize by the existing robot under the narrow and complicated scenes of the distribution network is solved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a control schematic of the present invention;
FIG. 3 is a schematic view of the robotic work platform of the present invention;
FIG. 4 is a schematic perspective view of a clamping line and pressing line integrated clamping line state in the invention;
FIG. 5 is a schematic front view of the clamping line and pressing line integrated clamping line state in the invention;
FIG. 6 is a schematic diagram showing a swing cylinder of the clamping line and pressing line integrated tool driving a cylinder with a track to swing;
fig. 7 and 8 are perspective views of the clamping line and pressing line integrated tool according to the invention at different angles;
fig. 9 is a schematic side view of a clamping line and pressing line integrated tool in a pressing line state in the invention.
Fig. 10 is a schematic structural diagram of a wire stripping tool according to the present invention;
fig. 11 is a schematic diagram of a routing module structure of the wire stripping tool in the invention;
fig. 12 is a schematic diagram of a gear box driving module structure of the wire stripping tool in the invention;
FIGS. 13 and 14 are views of the use of the system of the present invention;
FIG. 15 is a schematic view of a wire stripping tool in a wire stripping state of the present invention;
fig. 16 is a schematic diagram of a power line for performing a laser ablation operation;
FIG. 17 is a schematic diagram of a clamping line and pressing line integrated tool in the invention;
Fig. 18 is a flowchart of a wire bonding in the present invention.
In the figure: 1-an insulating arm car, 100-an insulating arm, 2-a robot working platform, 3-a mechanical arm, 4-B mechanical arm, 5-wire clamping and wire pressing integrated tool, 500-a bottom plate, 501-a swing cylinder, 502-a rail cylinder, 503-a fixed clamping piece, 504-a movable clamping piece, 505-a wire pressing driving motor, 506-a double screw, 507-an upper wire pressing clamping piece, 508-a lower wire pressing clamping piece, 509-a wire pressing support, 510-a pressing plate, 511-an elastic pressing rod, 512-a screw sleeve, 513-a driving gear, 514-a first transmission gear, 515-a second transmission gear, 516-a third transmission gear, 517-a fourth transmission gear, 6-a double-eye camera, 7-wire stripping tool, 700-a gear box driving module, 7001-a second driving motor, 7002-a second transmission gear transmission mechanism, 7003-a power output gear, 701-a laser peeling head, 702-a cutter, 703-an output shaft, 704-a C-type wire groove, 705-mounting plate, 706-a first driving motor, a bearing seat-a first gear transmission mechanism, 708-a wire pressing roller, 709-a ring-shaped wire pressing roller, 517-a fourth transmission gear, 517-fourth transmission gear, 6-a binocular camera, 7-wire stripping tool, 700-a gear-peeling tool, 700-a gearbox, a gear-step, a gear-driving roller, 710-step, and 10-step, 7-step.
Detailed Description
The invention is further described below with reference to the drawings and examples. Fig. 1 to 17 are drawings of embodiments, which are drawn in a simplified manner, for the purpose of clearly and concisely explaining embodiments of the present invention. The following technical solutions presented in the drawings are specific to embodiments of the present invention and are not intended to limit the scope of the claimed invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "left", "right", etc. are based on the directions or positional relationships shown in the drawings, or the directions or positional relationships conventionally put in place when the inventive product is used, or the directions or positional relationships conventionally understood by those skilled in the art are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction, be configured and operated in a specific direction, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, terms such as "disposed," "connected," and the like are to be construed broadly, and for example, "connected" may be either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The embodiment provides a live working robot wire connecting system for narrow and complicated working conditions, which is shown in fig. 1 and 2, and comprises an insulating arm vehicle 1 and a robot working platform 2 arranged at the front end of an insulating arm 100 of the insulating arm vehicle 1; as shown in fig. 2, the robotic work platform 2 includes a main control subsystem, a mechanical arm subsystem, a tooling subsystem, a vision subsystem, a man-machine interaction subsystem and a power subsystem, wherein the control subsystem includes a system control box, an industrial personal computer located in the system control box, a motion controller a and a motion controller B; the industrial personal computer in the system control box is a core controller of the whole system, and other subsystems are connected with the industrial personal computer through different forms and are uniformly controlled by the industrial personal computer. The mechanical arm subsystem comprises an A mechanical arm 3 and a B mechanical arm 4 which are arranged on a robot operation platform 2, wherein the A mechanical arm 3 and the B mechanical arm 4 are of an existing mechanical arm structure and comprise a mechanical arm body and related sensors, and the A mechanical arm 3 and the B mechanical arm 4 are vertically and crosswise arranged on the robot operation platform 2; the tool subsystem comprises a wire clamping and pressing integrated tool 5 arranged on the A mechanical arm 3 positioned below and a wire stripping tool 7 arranged on the B mechanical arm 4 positioned above. The main control subsystem receives monitoring data of the vision subsystem through the industrial personal computer, transmits the calculated data to the motion controller A and the motion controller B through the industrial Ethernet, respectively realizes motion control of the mechanical arm A3 and the mechanical arm B4 through the motion controller A and the motion controller B, and controls the work of the wire clamping and pressing integrated tool 5 and the wire stripping tool 7 through the industrial personal computer; the vision subsystem comprises a binocular camera 6 arranged on the mechanical arm B4, and a laser radar and a monitoring camera 9 arranged on the robot working platform 2, wherein the binocular camera 6 and the monitoring camera 9 are in communication connection with an industrial personal computer in a system control box in a USB serial communication mode, the laser radar is in communication connection with the industrial personal computer in a remote mode through an Ethernet, and the binocular camera 6, the monitoring camera 9 and the laser radar are used for completing corresponding vision identification and positioning, working process monitoring and a large-scale three-dimensional reconstruction function on site; the main hardware equipment of the power subsystem is a lithium battery and a power manager, and RS485 serial communication is adopted between the main hardware equipment and an industrial personal computer in a system control box.
The integrated fixture for clamping wires and pressing wires in the embodiment, as shown in fig. 4 to 9, comprises a bottom plate 500, a swinging air cylinder 501, a wire clamping mechanism and a wire pressing mechanism, wherein the bottom plate 500 is used as a support of the whole device, and is convenient to install on a mechanical arm. The swing cylinder 501 and the line pressing mechanism are fixedly arranged on the bottom plate 500, the line pressing mechanism comprises a line pressing support 509, a line pressing driving motor 505, a double screw 506 perpendicular to the bottom plate and an upper line pressing clamping piece 507 and a lower line pressing clamping piece 508 which are connected to the double screw 506 in a threaded mode, the upper line pressing clamping piece 507 is a double-groove clamping piece provided with two C-shaped line grooves, the lower line pressing clamping piece 508 is two single-groove clamping pieces, and the two line grooves of the upper line pressing clamping piece 507 correspond to the line grooves of the two single-groove lower line pressing clamping pieces. The wire pressing support 509 is vertically arranged on the bottom plate 500, the double screw rods 506 are parallel to the wire pressing support 509, the double screw rods 506 are two screw rods arranged side by side, a screw sleeve 512 is fixedly arranged at the bottom of each screw rod, the driving motor 505 is arranged at the bottom of the bottom plate 500, an output shaft of the driving motor 505 is connected with the screw sleeves 512 of the two screw rods through a transmission mechanism, and the two screw sleeves 512 are controlled to drive the double screw rods 506 to rotate simultaneously; the upper pressing clamping piece 507 and the lower pressing clamping piece 508 are connected with the screw rod through threads, so that the upper pressing clamping piece 507 and the lower pressing clamping piece 508 are pressed tightly to form a complete pressing wire clamp in the rotation process of the double screw rod 506. In order to facilitate the upper pressing clamping piece 507 and the lower pressing clamping piece 508 to drop off from the double screw 506 after the pressing is completed, any fixing piece is not arranged at the upper end of the double screw 506, so that the upper part of the upper pressing clamping piece 507 is provided with a pressing plate 510 for avoiding the shaking or drop of the two clamping pieces in the moving process, the upper end of the pressing plate 510 is connected with a pressing line support 509 through an elastic pressing rod 511, the side surface of the pressing plate 510 is in sliding connection with the pressing line support 509, the elastic pressing rod 511 is composed of a pressing rod and a spring, the pressing rod can slide on a top plate of the pressing line support 509, and the pressing plate 510 moves up and down along the pressing line support 509 under the action of the elastic pressing rod 511 and presses the upper pressing clamping piece 507. The lower pressing clamping piece 508 can be clamped by the screw sleeve 512 when moving to the position of the screw sleeve 512, so that the continuous movement is avoided; the lower pressing clamp piece 508 can also be directly supported against the screw sleeve 512, and only the upper pressing clamp piece 507 moves to press the wires.
The embodiment provides a clamping and pressing integrated tool, as shown in fig. 4 to 9, the clamping mechanism comprises a track cylinder 502 arranged on a swinging cylinder 501, a fixed clamping piece 503 arranged on the cylinder body of the track cylinder 502 and a movable clamping piece 504 arranged at the piston end of the track cylinder 502, wherein the movable clamping piece 504 and the fixed clamping piece 503 form a complete clamping clamp under the piston shrinkage state of the track cylinder 502; the swing cylinder 501 drives the tracked cylinder 502 to swing left and right to be perpendicular or parallel to the double screw 506. When the track cylinder 502 is perpendicular to the double screw 506, the transmission line 10 is clamped under the combined action of the fixed clamping piece 503 on the cylinder body of the track cylinder 502 and the movable clamping piece 504 at the piston end of the track cylinder 502, and when the swing cylinder 501 drives the track cylinder 502 to swing to be parallel to the double screw 506, the connection end of the transmission line 10 clamped by the wire clamping clamp is positioned between the upper wire clamping piece 507 and the lower wire clamping piece 508 of the wire pressing mechanism, and the connection end of the transmission line 10 is in press connection with another transmission line through the wire pressing mechanism. The transmission mechanism comprises a driving gear 513 arranged on an output shaft of the motor, a first transmission gear 514 meshed with the driving gear 513, a second transmission gear 515 coaxial with the first transmission gear 514, and a third transmission gear 516 and a fourth transmission gear 517 respectively arranged on the two screw sleeves 512, wherein the first transmission gear 514 is a reversing gear, and the second transmission gear 515 is meshed with the third transmission gear 516 and the fourth transmission gear 517 respectively and drives the third transmission gear 516 and the fourth transmission gear 517 to rotate simultaneously under the action of the driving gear 513 and the first transmission gear 514, so that the two screw sleeves 512 and the double screws 506 are driven to rotate. In the working process of the wire pressing driving motor 505, the driving gear 513 is driven to rotate, the driving gear 513 drives the first transmission gear 514 to rotate, the first transmission gear 514 drives the second transmission gear 515 which is coaxial and is positioned above the bottom plate 500 to rotate, and the second transmission gear 515 simultaneously drives the third transmission gear 516 and the fourth transmission gear 517 on the two screw sleeves to rotate, so that the co-rotation of the double screw 506 is realized.
In the wire stripping tool in the embodiment, as shown in fig. 10 to 12, the wire stripping tool comprises a gear box driving module 700, a laser stripping head 701, a wire routing module and a cutter 702, wherein the laser stripping head 701 comprises an annular connecting plate 709 and three laser ablation heads uniformly distributed along the annular connecting plate, the laser ablation heads are directly purchased products and are arranged on the annular connecting plate 709, laser heads of the laser ablation heads face the central position of the annular connecting plate 709, the annular connecting plate 709 is fixedly arranged at one end of an output shaft 703 of the gear box driving module, a C-shaped wire slot 704 is formed in the output shaft 703, and a notch is formed in the position of the annular connecting plate 709 corresponding to the opening of the C-shaped wire slot 704; as shown in fig. 3, the gear box driving module 700 includes a second driving motor 7001, a second gear transmission 7002, and a power output gear 7003 fixedly installed on the output shaft 703, where the second driving motor 7001 drives the power output gear 7003 to rotate through the second gear transmission 7002, so as to control the rotation of the output shaft 703. The wire stripping frock still includes the support 712 that is connected with B arm 4, gear box drive module 700 installs on support 712 to be equipped with binocular camera 6 on support 712, in the use, as shown in fig. 4, install wire stripping frock at the tip of B arm 4 through support 712, and drive wire stripping frock to wait that power transmission line 10 wire stripping connects the position, and place power transmission line 10 in C molded line groove 704, drive laser stripping head 701 and ablate the wire stripping around 360 rotations of power transmission line through gear box drive module 700. The wiring module is rotationally connected to one end of the output shaft 703 far away from the laser peeling head 701 through a bearing seat 710, a notch matched with an opening of the C-shaped wire groove 704 is formed in the bearing seat 710, the wiring module comprises a first driving motor 706, a first gear transmission mechanism 707 and a wiring roller 708, the first driving motor 706 and the first gear transmission mechanism 707 are installed on the bearing seat 710 through a mounting plate 705, the mounting plate 705 is fixedly installed on the bearing seat 710, the first driving motor 706 is installed above the mounting plate 705, the first gear transmission mechanism 707 comprises a pinion installed on the output shaft of the first driving motor 706 and a large gear meshed with the pinion, the wiring roller 708 is installed on the output shaft of the large gear, the wiring roller 708 is controlled to rotate through the first driving motor 706 and the first gear transmission mechanism 707, and when the B-shaped mechanical arm 4 drives the peeling tool to move along the power transmission line 10, the first driving motor 706 drives the wiring roller 708 to reciprocate along the power transmission line 10. The roller surface of the wire-running roller 708 is a concave arc surface, the cutter 702 is a U-shaped cutter, the cutter 702 is positioned below the wire-running roller 708, the U-shaped opening of the cutter is opposite to the concave surface of the wire-running roller 708, a wire groove which is in the same straight line with the C-shaped wire groove 704 is formed between the wire-running roller 708 and the cutter 702, the power transmission line 10 passes through the C-shaped wire groove 704 from one end of the C-shaped wire groove 704 and then passes through the space between the wire-running roller 708 and the wire-running groove 706, the friction force inside the cutter is relatively large, and the laser ablated power transmission line crust can be peeled off through the rotating friction force, so that the laser ablated power transmission line is separated.
The method for operating the live working robot wire connecting system for the narrow and complicated working conditions is further described below by combining specific embodiments; the working flow of the robot system for the live working robot wire connecting system for the narrow and complicated working conditions in the embodiment is shown in fig. 18, and mainly comprises (1) parking of a bucket arm vehicle; (2) laser radar large-scale three-dimensional reconstruction; (3) operation simulation verification; (4) adjusting the position of the upper platform; (5) wire clamping operation; (6) adjusting the position of the upper platform; (7) wire stripping operation; (8) line pressing operation. The specific steps of the above work flow are as follows.
(1) As shown in fig. 13, the insulating arm car 1 is parked below the power line to be wired, and the insulating arm 100 is controlled to bring the robot work platform 2 to the high altitude.
(2) The working space is subjected to high-precision three-dimensional reconstruction through the laser radar arranged on the robot working platform 2, the space positions of the lead 11 to be connected and the power transmission line 10 are obtained, simulation display of the whole operation is started on a man-machine interaction interface, the operation is formally started if a simulation result is correct, and the operation is restarted after the error is corrected until the error is absent.
(3) According to the simulation result, the insulating arm 100 is controlled to send the robot work platform 2 to the wire clamping station and wait for the platform to stabilize.
(4) After high-precision identification and positioning work is carried out on the lead to be connected through the binocular camera 6 on the mechanical arm B4, signals are fed back to the industrial personal computer, and clamping of the lead 11 on the user side is completed through the clamping and line pressing integrated tool 5 carried by the mechanical arm A3 below the industrial personal computer; the wire clamping process is shown in fig. 14 and 5, and the wire clamping and pressing integrated tool 5 is driven by the mechanical arm a 3 to enable the user side wire to slide into the wire clamping groove between the fixed clamping piece 503 and the movable clamping piece 504, and then the wire clamping clamp is driven to be closed by the rail cylinder 502, so that the wire clamping process is completed.
(5) After the wire clamping process is finished, a worker controls a bucket arm vehicle to send a robot operation platform 2 to a wire stripping and pressing station, and after the robot operation platform 2 enters the wire stripping station, a binocular camera 6 arranged on a mechanical arm B4 above is used for high-precision identification and positioning of a main power transmission line and feeding signals back to an industrial personal computer, the industrial personal computer controls the main power transmission line through a man-machine interaction interface on the bottom surface, and a wire stripping tool 7 at the tail end of the mechanical arm B4 is controlled by the industrial personal computer to strip the wire at the position to be connected with the lead of the main power transmission line; in the wire stripping process, as shown in fig. 15, a main power line 10 is led into a C-shaped wire slot on an output shaft of a wire stripping tool 7, and a second driving motor 7001 is controlled to work to drive an output shaft 703 to rotate, so that a laser stripping head can ablate around the power line for 360 degrees, and the laser ablation action process of the invention is that the output shaft 703 rotates for 120 degrees to finish the exposure of an internal aluminum core; and then the mechanical arm moves to enable the tool to move along the axis of the power transmission line 10, the output shaft 703 is kept fixed and does not rotate in the process, and after the required exposed length of the aluminum core is reached, the output shaft 703 reversely rotates for 120 degrees to expose the internal aluminum core at the position. The gearbox driving module 700 can output larger torque, the contact friction force between the output shaft 703 and the power transmission line is smaller, the whole mass of the whole tool is 3kg, and the whole tool is supported by the mechanical arm in the gravity direction. In the operation work of the wire-stripping module, the tail end of the mechanical arm slightly rotates to enable the contact surface of the wire-stripping roller and the power transmission line to be increased so as to increase friction force, and the wire-stripping tool is ensured to reciprocate along the axial direction of the power transmission line in the wire-stripping process. In the whole laser ablation process, an air jet pipe is required to be used for blowing, and in the blowing process, an air pump is arranged on a platform under the rim arm to provide an air source, and the ablation position is blown through the air jet pipe.
(6) After the wire stripping in the step (4) is completed, the mechanical arm B4 is controlled by the industrial personal computer to exit the operation station, the mechanical arm A3 is controlled to drive the wire clamping and pressing integrated tool 5 to enter the wire pressing station, and then the wire clamping and pressing integrated tool is controlled to complete the wire pressing work of the main power transmission line 10 and the user side lead 11; as shown in fig. 16 and fig. 6 to fig. 9, the specific pressing working process is as follows: the transmission line stripping area is arranged between an upper line pressing clamping piece 507 and a lower line pressing clamping piece 508 of the line pressing mechanism, the line pressing mechanism is driven to rotate upwards by 90 degrees through the swing air cylinder 501 and is rotated to be parallel to the line pressing mechanism, at the moment, a line clamping clamp of the line pressing mechanism and a lower line pressing clamping piece 508 of the line pressing clamp of the line pressing mechanism are on the same straight line, a lead end clamped by the line clamping clamp is just arranged in a line groove of the lower line pressing clamping piece 508 of the line pressing mechanism, and the double screw rods 506 are controlled to rotate through the line pressing driving motor 505, so that the upper line pressing clamping piece 507 moves downwards, and a lead is in pressure connection with a main transmission line in the original line pressing clamp.
(8) After the wire pressing operation in the step (7) is completed, since the upper wire pressing clamping piece 507 is separated from the pressing plate 510 in the moving process, then the double screw 511 is reversely rotated, and meanwhile, the tool is driven to move downwards, the double screw is separated from the wire pressing clamp, the wire pressing clamp is left on the wire, the binocular camera is closed, the mechanical arm returns to the initial position, the insulating arm of the arm trolley is controlled to descend, the robot operating platform is retracted, and the maintenance operation is completed.
The foregoing description is of one embodiment of the invention and is thus not to be taken as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of the invention should be assessed as that of the appended claims.

Claims (10)

1. A live working robot connects lead wire system for narrow and small complicacy operating mode, its characterized in that: the system comprises an insulating arm vehicle (1) and a robot operation platform (2) arranged at the front end of an insulating arm (100) of the insulating arm vehicle (1), wherein the robot operation platform (2) comprises a main control subsystem, a mechanical arm subsystem and a tool subsystem; the mechanical arm subsystem comprises an A mechanical arm (3) and a B mechanical arm (4) which are arranged on a robot working platform (2), and the A mechanical arm (3) and the B mechanical arm (4) are vertically and crosswise arranged on the robot working platform (2); the tool subsystem comprises a wire clamping and pressing integrated tool (5) arranged on an A mechanical arm (3) positioned below and a wire stripping tool (7) arranged on a B mechanical arm (4) positioned above, and the main control subsystem controls the mechanical arm subsystem and the tool subsystem;
The wire stripping tool (7) comprises a gear box driving module (700), a laser stripping head (701) and a cutter (702), wherein the laser stripping head (701) is arranged at one end of an output shaft (703) of the gear box driving module (700), a C-shaped wire groove (704) is formed in the output shaft (703), and in the wire stripping process, a power transmission line (10) is arranged in the C-shaped wire groove (704) and is driven by the gear box driving module (700) to rotate around the power transmission line for 360 degrees to ablate and strip wires; the cutter (702) is used for stripping the skin of the laser ablated power transmission line,
the wire clamping and wire pressing integrated tool (5) comprises a bottom plate (500), a swinging air cylinder (501), a wire clamping mechanism and a wire pressing mechanism, wherein the swinging air cylinder (501) and the wire pressing mechanism are fixedly arranged on the bottom plate (500), the wire pressing mechanism comprises a wire pressing driving motor (505), a double screw (506) perpendicular to the bottom plate, and an upper wire pressing clamping piece (507) and a lower wire pressing clamping piece (508) which are connected onto the double screw (506) through threads, and an output shaft of the driving motor (505) is connected with the double screw (506) through a transmission mechanism and drives the double screw (506) to simultaneously rotate so as to press the upper wire pressing clamping piece (507) and the lower wire pressing clamping piece (508); the wire clamping mechanism comprises a rail cylinder (502) arranged on the swinging cylinder (501), a fixed clamping piece (503) arranged on the cylinder body of the rail cylinder (502) and a movable clamping piece (504) arranged at the piston end of the rail cylinder (502), wherein the movable clamping piece (504) and the fixed clamping piece (503) form a complete wire clamping clamp under the shrinkage state of the piston of the rail cylinder (502); the swing cylinder (501) drives the track cylinder (502) to swing left and right to be vertical or parallel to the double screw rods (506);
The wire clamping and pressing integrated tool (5) moves to the position of the lead (11) under the control of the mechanical arm A (3), and the swing cylinder (501) drives the rail-carrying cylinder (502) to swing to the direction perpendicular to the double screw (506) to clamp the lead (11); the wire clamping and pressing integrated tool (5) for clamping the lead wires (11) moves to the part of the transmission wire (10) for peeling the outer skin through the control of the mechanical arm A (3), the part of the transmission wire (10) for peeling the outer skin is arranged in a wire slot of the lower wire pressing clamping piece (508), the swing cylinder (501) drives the rail cylinder (502) to swing to the direction parallel to the double screw (506), the lead wires (11) are sent between the upper wire pressing clamping piece (507) and the lower wire pressing clamping piece (508) of the wire pressing mechanism, and the lead wires are pressed and connected with the transmission wire (10) through the wire pressing mechanism.
2. The live working robot wire bonding system for narrow and complex working conditions according to claim 1, wherein: the robot operation platform (2) further comprises a vision subsystem, a man-machine interaction subsystem and a power supply subsystem which are respectively connected with signals of a main control subsystem, wherein the main control subsystem comprises a system control box, an industrial personal computer, a motion controller A and a motion controller B, and the industrial personal computer, the motion controller A and the motion controller B are positioned in the system control box; the industrial personal computer receives monitoring data of the vision subsystem, transmits the resolved data to the motion controller A and the motion controller B through the industrial Ethernet, respectively realizes motion control of the mechanical arm A (3) and the mechanical arm B (4) through the motion controller A and the motion controller B, and controls the work of the wire clamping, wire pressing integrated tool (5) and the wire stripping tool (7) through the industrial personal computer; the vision subsystem comprises a binocular camera (6) arranged on the mechanical arm B (4) and a laser radar and a monitoring camera (9) arranged on the robot working platform (2), wherein the binocular camera (6) and the monitoring camera (9) are in communication connection with an industrial personal computer in a system control box in a USB serial communication mode, the laser radar is in communication connection with the industrial personal computer in a remote mode through an Ethernet, and the binocular camera (6), the monitoring camera (9) and the laser radar are used for completing corresponding vision identification and positioning, and are used for monitoring the working process and performing a large-scale three-dimensional reconstruction function on site; the main hardware equipment of the power subsystem is a lithium battery and a power manager, and RS485 serial communication is adopted between the main hardware equipment and an industrial personal computer in a system control box.
3. A live working robot wire bonding system for narrow and complex working conditions according to claim 1 or 2, characterized in that: the wire stripping fixture (7) is arranged at the front end of the mechanical arm B (4) through a support (8), the wire stripping fixture (7) further comprises a wire routing module, the wire routing module is rotationally connected with the output shaft (703) through a bearing seat (710), and a notch matched with the opening of the C-shaped wire slot (704) is formed in the bearing seat (710); the wiring module comprises a first driving motor (706), a first gear transmission mechanism (707) and a wiring roller (708), wherein the first driving motor (706) and the first gear transmission mechanism (707) are arranged on a bearing seat (710) through a mounting plate (705), and the wiring roller (708) is arranged on an output shaft of the first gear transmission mechanism (707); the roller surface of the wire feeding roller (708) is a concave arc surface and is positioned above the power transmission line (10), the arc concave surface of the wire feeding roller is matched with the radian of the power transmission line (10), and when the mechanical arm B (4) drives the wire stripping tool (7) to move on the power transmission line (10), the first driving motor (706) drives the wire feeding roller (708) to reciprocate along the power transmission line (10); the cutter (702) is a U-shaped cutter and is positioned under the wiring module, a wire groove which is in the same straight line with the C-shaped wire groove (704) is formed between the wiring roller (708) and the cutter (702), and the power transmission line (10) passes through the C-shaped wire groove (704) from one end of the C-shaped wire groove (704) and then passes through the space between the wiring roller (708) and the wiring groove (706).
4. A live working robot wire bonding system for narrow and complex working conditions according to claim 1 or 2, characterized in that: the wire pressing mechanism further comprises a wire pressing support (509) and a pressing plate (510) which are vertically arranged on the bottom plate (500), wherein the upper end of the pressing plate (510) is connected with the wire pressing support (509) through an elastic pressing rod (511), and the upper wire pressing clamping piece (507) is pressed under the action of the elastic pressing rod (511); the upper pressing clamping piece (507) is a double-groove clamping piece provided with two C-shaped wire grooves, the lower pressing clamping piece (508) is two single-groove clamping pieces, and the two wire grooves of the upper pressing clamping piece (507) correspond to the wire grooves of the two single-groove lower pressing clamping pieces.
5. A live working robot wire bonding system for narrow and complex working conditions according to claim 1 or 2, characterized in that: the double screws (506) are two screws arranged side by side, a screw sleeve (512) is fixedly arranged at the bottom of each screw, an output shaft of the wire pressing driving motor (505) is connected with the screw sleeves (512) of the two screws through a transmission mechanism, and the upper ends of the screw sleeves (512) are clamped with a main lower wire pressing clamping piece (508); the transmission mechanism comprises a driving gear (513) arranged on an output shaft of the motor, a first transmission gear (514) meshed with the driving gear (513), a second transmission gear (515) coaxial with the first transmission gear (514), and a third transmission gear (516) and a fourth transmission gear (517) which are respectively arranged on the two screw sleeves (512), wherein the second transmission gear (515) is meshed with the third transmission gear (516) and the fourth transmission gear (517) respectively, and the third transmission gear (516) and the fourth transmission gear (517) are driven to rotate simultaneously under the action of the driving gear (513) and the first transmission gear (514), so that the two screw sleeves (512) and the double screws (506) are driven to rotate.
6. A live working robot wire bonding system for narrow and complex working conditions according to claim 1 or 2, characterized in that: when the laser peeling head (701) carries out laser ablation on the power transmission line (10), an air source is provided by an air pump of a lower platform of the insulating arm vehicle (1), and the ablated position is blown by a blowing pipe; the laser peeling head (701) comprises an annular connecting plate (709) and three laser ablation heads uniformly distributed along the annular connecting plate, wherein the laser peeling head (701) is fixedly arranged on an output shaft (703) through the annular connecting plate (709), and a notch is formed in the position, corresponding to an opening of a C-shaped line groove (704), of the annular connecting plate (709).
7. A live working robot wire bonding system for narrow and complex working conditions according to claim 1 or 2, characterized in that: the gearbox driving module (700) comprises a second driving motor (7001), a second gear transmission mechanism (7002) and a power output gear (7003) fixedly arranged on the output shaft (703), and the driving motor (7001) drives the power output gear (7003) to rotate through the second gear transmission mechanism (7002), so that the output shaft (703) is controlled to rotate.
8. A method of operating a live working robot wire bonding system for narrow and complex conditions according to any one of claims 1 to 7, characterized by the specific steps of:
(1) Parking an insulating arm vehicle below a power transmission line of a lead to be connected, controlling the insulating arm to send a robot operation platform to a wire clamping station, and waiting for the platform to be stable;
(2) The wire clamping operation is started after high-precision identification and positioning work is carried out on the wire to be connected through a binocular camera arranged on the mechanical arm B above;
(3) Clamping the lead wire at the user side is completed through wire clamping and wire pressing integrated engineering carried by the mechanical arm A at the lower part; the wire clamping process is that the wire clamping and pressing integrated machine is driven by the mechanical arm A to enable a user side lead wire to slide into a wire clamping groove between a fixed clamping piece and a movable clamping piece, and then a wire clamping clamp is driven to be closed by a cylinder with a rail, so that the wire clamping process is completed;
(4) After the wire clamping process is finished, controlling the arm trolley to send the robot operation platform to the wire stripping and pressing station, and after the robot operation platform enters the wire stripping station, carrying out high-precision identification and positioning on the main power transmission line through a binocular camera arranged on the upper B mechanical arm, and carrying out wire stripping operation on the position of the main power transmission line to be connected with the wire through a wire stripping tool at the tail end of the B mechanical arm; the wire stripping process is that the main power line is led into a C-shaped wire slot on an output shaft of a wire stripping tool, and the output shaft is driven to rotate by a gearbox driving module, so that a laser stripping head at the end part of the driving shaft rotates around the power line for multiple times to carry out laser ablation to finish wire stripping work;
(5) After the wire stripping in the step (4) is completed, the mechanical arm B exits the operation station, the mechanical arm A drives the wire clamping and wire pressing integrated machine to enter the wire pressing station, and then the wire pressing work of the main power transmission line and the user side lead wire is completed through the wire clamping and wire pressing integrated machine; the wire pressing work is characterized in that a wire stripping area of a power transmission line is arranged between an upper wire pressing clamping piece and a lower wire pressing clamping piece of a wire pressing mechanism, a wire clamping mechanism clamping a lead is driven to rotate upwards by 90 degrees to be parallel to the wire pressing mechanism through a swinging cylinder, the lead is sent between the upper wire pressing clamping piece and the lower wire pressing clamping piece, and the double-screw is controlled to rotate under the action of a wire pressing driving motor so that the upper wire pressing clamping piece and the lower wire pressing clamping piece are moved and clamped to finish the wire pressing work;
(8) After the wire pressing operation in the step (7) is completed, the wire pressing clamp is left on the wire, the binocular camera is closed, the mechanical arm returns to the initial position, the insulating arm of the bucket arm vehicle is controlled to descend, the robot operation platform is retracted, and the overhaul operation is completed.
9. The method for operating the live working robot wire connecting system under narrow and complicated working conditions according to claim 8, wherein the method comprises the following steps: the step (1) is that the insulating arm is controlled to send the robot operation platform to the high altitude after stopping, the laser radar arranged on the robot operation platform is used for carrying out high-precision three-dimensional reconstruction on the working space to obtain the space positions of the lead to be connected and the main transmission line, the simulation display of the whole operation is started on the man-machine interaction interface, the operation is formally started if the simulation result is correct, and the operation is restarted after correcting the error until the error is absent; and according to the simulation result, controlling the insulating arm to send the robot operation platform to the wire clamping station.
10. The method for operating the live working robot wire connecting system under narrow and complicated working conditions according to claim 8, wherein the method comprises the following steps: the laser skinning head in step (4) is equipped with three laser heads, and three laser heads pass through annular connecting plate and install the one end at the output shaft, and three laser heads evenly distributed is on annular connecting plate, and its laser sends the central point that the end all faces annular connecting plate put, the concrete process of laser ablation is: firstly, an output shaft of a gearbox driving module rotates for 120 degrees to expose an aluminum core in a power transmission line, then a B mechanical arm moves to enable a wire stripping tool to move along the axis of the power transmission line, the output shaft is kept fixed and not rotated in the process, and after the exposed length of the aluminum core of the power transmission line reaches the wiring requirement, the output shaft reversely rotates for 120 degrees to expose the aluminum core in the position, so that laser ablation work is completed; in the whole laser ablation process, an air jet pipe is required to be used for blowing, and in the blowing process, an air pump is arranged on a platform under the rim arm to provide an air source, and the ablation position is blown through the air jet pipe.
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