CN114770498A - Live working robot operation method - Google Patents
Live working robot operation method Download PDFInfo
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- CN114770498A CN114770498A CN202210331577.5A CN202210331577A CN114770498A CN 114770498 A CN114770498 A CN 114770498A CN 202210331577 A CN202210331577 A CN 202210331577A CN 114770498 A CN114770498 A CN 114770498A
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- wire
- peeling
- manipulator
- gripper
- wire clamp
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- 238000000034 method Methods 0.000 title claims abstract description 20
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 claims abstract description 7
- 230000000007 visual effect Effects 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 6
- 238000009413 insulation Methods 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 230000006872 improvement Effects 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
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/14—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for joining or terminating cables
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a live working robot working method, which comprises the following steps of 1, determining a working position; 2. selecting an operation mode; 3. grabbing a peeling gripper; 4. starting laser radar ranging, and controlling the manipulator M1 to walk to the vicinity of the lead through the angle between the vehicle body and the lead; 5. shooting a lead picture and comparing whether the image of the lead in the picture is superposed with the position of the central line of the picture; 6. starting the ultrasonic wave at the tail end of the mechanical arm M1 to measure the vertical distance from the wire, and controlling the mechanical arm M1 to walk to the peeling position; 7. carrying out peeling operation; 8. replacing the wire clamp gripper; 9. sheathing the wire clamp into a peeling position; 10. threading the lead into the wire clamp; 11. the wire clamp gripper fixes the lead and the main wire through the wire clamp to complete the live-wire work of the lead connection. The invention completely replaces manual automatic peeling and automatic picking lead wire and main wire locking through the wire clamp, realizes full-automatic lead wire connection operation, not only ensures the personal safety of operating personnel, but also greatly reduces the labor intensity of the operating personnel.
Description
Technical Field
The invention relates to the technical field of electric power engineering, in particular to a live working robot operation method.
Background
The distribution network is located at the tail end of the power system, is a key link for guaranteeing continuous power supply, and the reliability of the distribution network occupies a very important position in the whole power supply system. Traditional electrified maintenance of distribution network is mainly carried out by the manual work, and the workman dresses insulating clothing mostly and stands and carry out electrified disconnected and connected drainage wire operation in the insulating fill in high altitude, and partial area has also been carried out and has been adopted insulating bar to carry out electrified disconnected and connected drainage wire operation of distribution network. However, most of the operation modes have high labor intensity, low working efficiency and high operation risk coefficient, the distribution and geographical conditions of the power distribution network in part of regions are severe, and related live-line operation is difficult to carry out, so that the power failure of the line has to be overhauled and maintained, and the continuous and stable operation of the power distribution network is seriously influenced.
In the maintenance of distribution network power supply networks, it is a main task content to provide a third party with a lead from an existing power supply network. With the improvement of the economic development level, the requirements of people on the reliability of power supply in production and life are continuously improved, and the operation process of connecting a power failure and a lead wire is not suitable any more.
Later, the electric power system starts to adopt an equipotential operation method of an insulating bucket arm vehicle, needs workers to finish electrified connection and guidance work at high altitude under the insulating protection condition, still remains in the dangerous operation environment of high altitude and strong electric field, and the operation condition is strictly limited. Therefore, in order to ensure the safety of the live-line operation personnel of the power distribution network, improve the live-line operation efficiency of the power distribution network and enable the power distribution network to continuously and stably operate, the live-line operation robot replaces manual work to carry out live-line operation of the power distribution network and a drainage line, and the live-line operation robot is more and more important.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the live working robot operation method has the advantages of being good in safety, high in automation degree and the like.
The technical scheme adopted by the invention for solving the technical problem is as follows: an operation method of a live working robot comprises the following steps,
s1, a worker controls an insulating bucket arm vehicle to lift a live working robot to a working radius, and the working position is located in the middle of two manipulators of the robot;
s2, selecting an operation mode on a display terminal by a worker;
s3, a mechanical arm M1 of the robot goes to a tool library to grab a peeling hand according to a preset path;
s4, enabling a control program to start a corresponding laser radar for ranging on the insulating bucket arm vehicle according to the operation mode selected in the step S2, and calculating the angle between the vehicle body and the wire after the control program acquires ranging data, so that the coordinate positions of the manipulator M1 and the manipulator M2 are converted, and the manipulator M1 is controlled to walk to the vicinity of the wire;
s5, shooting the lead by a camera on the mechanical arm M1, and comparing whether the image of the lead in the picture is overlapped with the position of the central line of the picture by a control program; if the images do not coincide with each other, controlling the program to control the mechanical arm M1 to adjust the posture and then take the picture again until the images of the leads in the picture completely coincide with the center line of the picture, and then stopping taking the picture;
s6, the manipulator M1 moves for a certain distance, the control program enables the ultrasonic wave at the tail end of the manipulator M1 to measure the vertical distance of the wire, and therefore the manipulator M1 is controlled to walk to the peeling position;
s7, a manipulator M1 sleeves a peeling gripper into a wire peeling position, a control program controls the peeling gripper to perform peeling operation, whether the wire is peeled off or not is comprehensively judged according to a touch line sensor and a color sensor, and peeling is stopped when the peeling length reaches a preset length;
s8, controlling the peeling gripper to loosen the lead by the control program, and controlling the manipulator M1 to return the peeling gripper to the tool library and replace the wire clamp gripper, wherein the wire clamp is placed in the gripper in advance;
s9, controlling a program to control a manipulator M1 to walk to a peeling position with a wire clamp gripper, and sleeving a wire clamp into the peeling position through visual assistance;
s10, a manipulator M2 grabs the lead according to a preset path, walks to the position near the wire clamp, and penetrates the lead into the wire clamp through visual assistance;
s11, fixing the lead and the main line through the wire clamp by the wire clamp gripper, and completing the live-wire operation of the lead connection.
The invention has the advantages of solving the defects in the background technology, completely replacing manual automatic peeling and automatic picking lead and main line locking through a wire clamp, realizing full-automatic lead connecting operation, ensuring the personal safety of operating personnel, greatly reducing the labor intensity of the operating personnel, having simple and easy operation, greatly improving the efficiency and providing reliable technical support for the development of live working robots.
Drawings
FIG. 1 is a flow chart of the method of operation of the present invention;
FIG. 2 is a schematic illustration of laser ranging at a job site according to the present invention;
FIG. 3 is a schematic view of the wire status taken by the robot M1 of the present invention at position 1;
fig. 4 is a schematic diagram of the state of the lead taken at the position 2 after the manipulator M1 adjusts the posture.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings and preferred embodiments. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
A method of operation of an electric working robot as shown in fig. 1, comprising the steps of:
1. the insulating arm car of staff control will live working robot lifting to the operation radius, and the operating position is in the intermediate position of two manipulators of robot.
2. A worker selects an operation mode on a display terminal;
the operation mode comprises a wire upper peeling mode and a wire side peeling mode, the worker selects the operation mode according to the position of the insulating bucket arm vehicle and the position of the wire, the wire upper peeling mode is selected, and the peeling length is set.
3. A manipulator M1 of the robot goes to a tool library to grab a peeling gripper according to a preset path;
the grabbing peeling gripper refers to the situation that after a male head of the manipulator M1 is quickly replaced and inserted into a female head of the peeling gripper, a locking motor on the male head is quickly replaced to move to lock and take out the peeling gripper.
4. Enabling a corresponding laser radar ranging on the insulating bucket arm vehicle by the control program according to the operation mode selected in the step 2, and calculating the angle between the vehicle body and the wire after the control program acquires ranging data so as to convert the coordinate positions of the manipulator M1 and the manipulator M2 and control the manipulator M1 to walk to the vicinity of the wire;
as shown in fig. 2, a point (0,0) indicates a center point on one surface of the insulating boom truck, R1 and R2 indicate laser radars, M1 and M2 indicate manipulators, the two laser radars are symmetrically arranged on two sides of the center point, the distance between the two laser radars is R, the distance between the two manipulators is M, the included angle between the insulating boom truck body and the wire is phi, the intersection points of the two laser radar beams and the wire are W1 and W2, respectively, R1W1 is l1, R2W2 is l2, and the point W is a peeling position.
The worker selects a wire-over-wire peeling mode, laser radars R1 and R2 are arranged on two sides of the bucket arm vehicle, the two laser radars are positioned on the same plane, the distances from the center point of the plane are R, the distances from the two laser radars to the measured wire are l1 and l2 respectively, mechanical arms M1 and M2 are positioned on two sides of the center point, the distances from the center point are M, the included angle phi between the vehicle body and the lead is arcsin ((l1-l2)/2r) according to the trigonometric function, the coordinate position (-M × cos Φ, -M × sin Φ) of the manipulator M1, the coordinate position (M × cos Φ, M × sin Φ) of the manipulator M2, the coordinate position (0, (l1+ l2)/2) of the peeling position W were further calculated using the center point coordinates (0,0), and the control program controlled the manipulator M1 to travel above the point W near the wire in accordance with the coordinate positions.
5. A camera on the manipulator M1 shoots a lead, and a control program compares whether the image of the lead in the picture is superposed with the position of the central line of the picture; if the images do not coincide with each other, controlling the program to control the mechanical arm M1 to adjust the posture and then take the picture again until the images of the leads in the picture completely coincide with the center line of the picture, and then stopping taking the picture;
the state of the wire taken by the camera on the robot arm M1 at position 1 is shown in figure 3,
the image W1W2 of the lead in fig. 3 does not coincide with the picture center line O1O2, the control program controls the manipulator M1 to adjust the posture and take a picture again at the position 2, the lead state is as shown in fig. 4, the image W1W2 of the lead in fig. 4 coincides with the picture center line O1O2, the picture taking is stopped, and the process proceeds to step 6.
6. The manipulator M1 moves for a certain distance, the control program starts the ultrasonic wave at the tail end of the manipulator M1 to measure the vertical distance to the wire, and therefore the manipulator M1 is controlled to walk to the peeling position;
the movement distance refers to the known distance of the camera and the ultrasonic wave at the end of the robot M1.
7. The mechanical arm M1 sleeves a peeling gripper into the peeling position of the wire, the control program controls the peeling gripper to perform peeling operation, whether the wire is peeled off or not is comprehensively judged according to the wire contact sensor and the color sensor, and peeling is stopped when the peeling length reaches a preset length;
the touch line sensor and the color sensor comprehensively judge whether the lead is stripped, namely the touch line sensor detects current and the color sensor detects preset color to judge that the insulation skin of the lead is stripped.
8. The control program controls the peeling gripper to loosen the wire, and controls the mechanical arm M1 to return the peeling gripper to the tool magazine and replace the wire clamp gripper, and the wire clamp is placed in the gripper in advance;
the manipulator M1 sends the peeling hand back to the tool magazine and changes the wire clamp hand, and means that the manipulator M1 moves to the position above the tool magazine position of the peeling hand, the locking motor on the quick change of the manipulator M1 moves to release the peeling hand and place the peeling hand back to the corresponding tool magazine position, then the manipulator M1 walks to the position above the tool magazine position of the wire clamp hand, and the locking motor on the quick change of the manipulator M1 moves from the upper limit position to the lower limit position to clamp and take out the wire clamp hand.
9. Controlling a program to control a manipulator M1 to carry a wire clamp gripper to travel to a peeling position, and sleeving a wire clamp into the peeling position through visual assistance;
and 4, acquiring the coordinate position of the manipulator M1, and controlling the manipulator M1 to carry the wire clamp gripper to walk to the peeling position by the control program, wherein the wire clamp is controlled to be sleeved in the peeling position by a worker through a real-time video on the display terminal.
10. The manipulator M2 grabs the lead wire according to a preset path, walks to the position near the wire clamp, and penetrates the lead wire into the wire clamp through visual assistance;
visual assistance refers to real-time video on the terminal display.
11. The wire clamp gripper fixes the lead and the main wire through the wire clamp to complete the live-wire work of the lead connection;
the wire clamp gripper is used for transmitting power to the wire clamp gripper through forward rotation of a main motor on a quick change manipulator M1 through a wire clamp fixing lead and a main wire, the wire clamp gripper locks a screw on a wire clamp, and after the screw is locked, the main motor on the quick change manipulator M1 rotates reversely for half a circle to loosen the wire clamp and leave the wire clamp on the wire.
While particular embodiments of the present invention have been described in the foregoing specification, various modifications, alterations and adaptations to those embodiments have been described herein without departing from the spirit and scope of the invention.
Claims (9)
1. A live working robot operation method is characterized in that: comprises the following steps of (a) preparing a solution,
s1, a worker controls an insulating bucket arm vehicle to lift an electrified operation robot to an operation radius, and the operation position is located in the middle of two manipulators of the robot;
s2, selecting an operation mode on a display terminal by a worker;
s3, a mechanical arm M1 of the robot goes to a tool library to grab a peeling hand according to a preset path;
s4, enabling a control program to start a corresponding laser radar for ranging on the insulating bucket arm vehicle according to the operation mode selected in the step S2, and calculating the angle between the vehicle body and the wire after the control program acquires ranging data, so that the coordinate positions of the manipulator M1 and the manipulator M2 are converted, and the manipulator M1 is controlled to walk to the vicinity of the wire;
s5, shooting the lead by a camera on the mechanical arm M1, and comparing whether the image of the lead in the picture is overlapped with the position of the central line of the picture by a control program; if the images do not coincide with each other, controlling the program to control the mechanical arm M1 to adjust the posture and then take the picture again until the images of the leads in the picture completely coincide with the center line of the picture, and then stopping taking the picture;
s6, the manipulator M1 moves for a certain distance, the control program enables the ultrasonic wave at the tail end of the manipulator M1 to measure the vertical distance of the wire, and therefore the manipulator M1 is controlled to walk to the peeling position;
s7, a manipulator M1 sleeves a peeling gripper into a wire peeling position, a control program controls the peeling gripper to perform peeling operation, whether the wire is peeled off or not is comprehensively judged according to a touch line sensor and a color sensor, and peeling is stopped when the peeling length reaches a preset length;
s8, controlling the peeling gripper to loosen the lead by the control program, and controlling the manipulator M1 to return the peeling gripper to the tool library and replace the wire clamp gripper, wherein the wire clamp is placed in the gripper in advance;
s9, controlling a program to control a manipulator M1 to walk to a peeling position with a wire clamp gripper, and sleeving a wire clamp into the peeling position through visual assistance;
s10, a manipulator M2 grabs the lead wire according to a preset path, walks to the position near the wire clamp, and penetrates the lead wire into the wire clamp through visual assistance;
s11, the wire clamp gripper fixes the lead and the main wire through the wire clamp to complete the live-wire work of the lead connection.
2. A method of operation of a live working robot according to claim 1, characterized in that: in the step S3, the grabbing and peeling gripper is formed by quickly replacing the male head of the manipulator M1 with the female head of the peeling gripper, and then moving a locking motor on the quick replacement of the male head to lock and take out the peeling gripper.
3. A method of operation of a live working robot according to claim 1, characterized in that: in the step S4, the laser radars R1 and R2 are arranged on both sides of the arm car, and both the laser radars are on the same plane, the distances from the center point of the plane are both R, the distances between the two laser radars and the measuring wires are l1 and l2, respectively, the manipulators M1 and M2 are located on both sides of the center point, and the distances from the center point are both M; obtaining an included angle phi between the vehicle body and the lead according to a trigonometric function, wherein the included angle phi is arcsin ((l1-l2)/2r), the coordinate of the central point is (0,0), and the coordinate position of the manipulator M1 is calculated
Coordinate position of robot M2
The coordinate position (0, (l1+ l2)/2) of the peeling position W, and the control program controls the manipulator M1 to walk above the point W near the wire according to the coordinate position.
4. A live working robot working method according to claim 1, characterized in that: in step S6, the movement distance refers to the known distance between the ultrasonic wave and the camera at the end of the manipulator M1.
5. A method of operation of a live working robot according to claim 1, characterized in that: in the step S7, the touch sensor and the color sensor comprehensively determine whether the wire is stripped, that is, the touch sensor detects current and the color sensor detects a preset color, and then determines that the insulation skin of the wire is stripped.
6. A method of operation of a live working robot according to claim 1, characterized in that: in the step S8, the manipulator M1 moves to a position above the tool storage position of the peeling gripper, the locking motor on the manipulator M1 quick change moves to release the peeling gripper and place the peeling gripper back to the corresponding tool storage position, then the manipulator M1 moves to a position above the tool storage position of the wire clamp gripper, and the locking motor on the manipulator M1 quick change moves from an upper limit position to a lower limit position to clamp and take out the wire clamp gripper.
7. A method of operation of a live working robot according to claim 1, characterized in that: in the step S9, the coordinate position of the manipulator M1 is obtained in the step S4, and when the control program controls the manipulator M1 to travel to the peeling position with the wire clamp gripper, the worker controls the wire clamp to be sleeved in the peeling position through a real-time video on the display terminal.
8. A live working robot working method according to claim 1, characterized in that: in step S10, the visual aid displays a real-time video on the terminal.
9. A live working robot working method according to claim 1, characterized in that: in the step S11, the main motor of the mechanical arm M1 is rotated forward to transmit power to the wire clamp gripper, the wire clamp gripper locks the screw on the wire clamp, and after the screw is locked, the main motor of the mechanical arm M1 is rotated backward for half a turn to loosen the wire clamp and leave the wire clamp on the wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210331577.5A CN114770498A (en) | 2022-03-31 | 2022-03-31 | Live working robot operation method |
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| CN202210331577.5A CN114770498A (en) | 2022-03-31 | 2022-03-31 | Live working robot operation method |
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Cited By (1)
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| CN115621930A (en) * | 2022-11-09 | 2023-01-17 | 浙江清大智能机器人有限公司 | Distribution network live-line connection man-machine cooperation system |
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| CN115621930B (en) * | 2022-11-09 | 2024-02-13 | 浙江清大智能机器人有限公司 | Distribution network electrified fire-receiving man-machine cooperation system |
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