CN202491237U - Master-slave control robot work platform for high-pressure hot-line work - Google Patents

Abstract

The utility model relates to a master-slave control robot operation platform for high-voltage live work, which comprises a robot operation platform support frame, a hydraulic lifting platform control integration, a robot operating system and an insulating bucket. The support frame of the robot operation platform is in an L-shaped structure, which is connected to the end of the insulating lifting arm of the bucket arm truck through bolts; it provides reliable support for the control integration of the hydraulic lifting platform, the robot operating system and the insulating bucket; the control integration of the hydraulic lifting platform is located on the right side of the insulating bucket. The operator provides the lifting, lowering and rotating motion for the robot work platform through the control rod and the operating handle, and supplies the hydraulic oil source required for the master-slave to control the robot's movement; the robot operating system includes the master hand, the hydraulic manipulator and the corresponding control module , using master-slave control hydraulic drive, the mechanical arm can completely follow the movement of the master hand; the operator stands in the insulating bucket, and the master hand can remotely control the manipulator arm to clamp special tools to contact the line to complete various high-voltage live work.

Description

A master-slave control robot work platform for high-voltage live work

technical field

The utility model relates to a robot aerial work platform, in particular to a master-slave control robot work platform for high-voltage live work.

Background technique

Live work on high-voltage lines is an important means of testing, repairing, and transforming power equipment. It has made great contributions to improving the reliability of power supply, reducing power failure losses, and ensuring the safety of the power grid. Live work has very strict requirements on the technical level and proficiency of operators, climate conditions, and safety protection equipment. Due to concerns about potential safety hazards, lack of suitable personal safety protection equipment, and insufficient technical training for live work, some areas have strict regulations on power distribution lines. Live work has been restricted, resulting in frequent power outages on distribution lines, and distribution reliability indicators cannot be completed, which has brought great economic losses to power companies and great inconvenience to people's lives and production. At present, the middle potential working method of the insulated arm truck is widely used on the job site, and the operator uses the original tools to manually complete the live work task, which has the following defects:

(1) High labor intensity, low efficiency and low automation level.

(2) Operators directly contact high-voltage wires, which poses a great potential safety hazard.

(3) The safety protection and shielding requirements of manual live work are very strict, and short-circuit current will occur if you don't pay attention, causing major safety accidents and personal casualties.

Chinese patent 02135135 discloses a high-voltage live working robot device, which includes a mobile car, a lifting mechanism, an insulating support platform, a working robot arm, a hydraulic manipulator, an isolation transformer, a generator and a hydraulic oil pump, a control cabinet, a lifting mechanism, a generator and The hydraulic pump is installed on the chassis of the car, and the insulating support platform is connected with the end of the lifting mechanism. The working robot arm, isolation transformer and low-voltage control cabinet are installed on the insulating support platform. The working manipulator is driven by a motor, and the manipulator is driven by hydraulic pressure. The computer controls the working manipulator, manipulator and the tools held by it through a low-voltage control device to complete various high-voltage live work. However, the operating manipulator is driven by a motor, and the manipulator is driven by hydraulic pressure. The generator and hydraulic pump that provide the power source are installed on the chassis of the car, and can only be connected to the work manipulator and manipulator by dragging long wires and oil pipes. In this way, the insulating support platform and the chassis of the vehicle are at the same potential, which is very likely to cause the grounding of the insulating platform, so there is a great potential safety hazard; in addition, when high-voltage live work is involved, the insulation safety of the operator is very important, and the patent does not point out that the operator In the working position of the working platform, it is not stated whether the operator is kept within a safe distance from the working platform, live equipment, working robot arm, etc., and these issues directly determine whether the high-voltage live working robot device is feasible.

The Chinese patent applied by the applicant: ZL201020278798 discloses an insulation system for a high-voltage live working robot. It includes a bucket arm truck. The bucket arm truck is equipped with an insulating arm of the bucket arm truck. An insulating platform is installed on the top of the insulating arm of the bucket arm truck. An independent manipulator operating device and an operating main hand system are installed on the insulating platform. They use separate and independent power supplies. way, using optical fiber communication with each other. It enables the high-voltage live working robot to be insulated relative to the ground through the insulating arm truck, and the high-voltage line to be insulated from the human body through optical fiber communication. The manipulator arm is covered with glass fiber reinforced plastic, the insulating platform is covered with glass fiber reinforced plastic, and the side-to-side shield is used for phase-to-phase insulation system. However, this patent only considers the robot insulation system from the perspective of realizing the function of high-voltage live work, and does not explain how the space layout between the operator, the manipulator operating device and the operating main hand system is used to achieve system insulation. The manipulator operating device and the operating main hand system described simply list the interconnection relationship of each component, and do not explain the positional relationship of each component on the insulating platform. In addition, in view of the characteristics of high-voltage live work, the insulating platform should be designed to be as small as possible under the premise of meeting the maximum load of the lifting platform, occupying a small space, and avoid touching wires or other live equipment during operation, but the patent only vaguely points out that the insulating mechanical arm The distance between the bases of I and the insulating manipulator II is not less than 0.4m, and the safe distance between the two and the main hand controller is not less than 0.4m. How much is the safe distance to meet both the insulation requirements and the high-altitude operation requirements? This patent does not give Therefore, the insulation system of the high-voltage live working robot is not feasible in practice, but only a design scheme or design idea.

Utility model content

The purpose of this utility model is to overcome the deficiencies of the prior art above, to provide a new type of high-voltage live work master-slave control robot work platform, which is applied to the work site to replace the manual completion of live work tasks, reduce the labor intensity of operators, and improve the operation efficiency. efficiency and operational safety.

In order to achieve the above object, the utility model adopts the following technical solutions:

A master-slave control robot operating platform for high-voltage live work, including a robot operating platform support frame, a hydraulic lifting platform control integration, a robot operating system, and an insulating bucket.

The support frame of the robot operation platform is an L-shaped structure composed of the bottom frame of the robot operation platform and the side connecting frame of the robot operation platform, which provides reliable support for the control integration of the hydraulic lifting platform, the robot operating system and the insulating bucket; the support of the robot operation platform The frame is welded by steel structure square tubes, and the surface of the steel profiles is wrapped with epoxy glass cloth; there are bolt holes on the connecting frame on the side of the work platform, which can be connected to the end of the insulated lifting arm of the bucket arm truck through bolts; the robot The upper, lower and surrounding surfaces of the work platform chassis are bonded with 4mm epoxy insulating boards. Under the action of a power frequency AC voltage of 45Kv for 1 minute, no breakdown, flashover and severe overheating will occur. When the test voltage is 20Kv Under the action, the AC leakage value is not greater than 200μA.

The control integration of the hydraulic lifting platform includes a box body, which is equipped with a control lever, an operating handle and an emergency button. The operator can control the lifting and pitching of the robot platform in real time, and transport the platform to a suitable high-altitude working position; Press the emergency button to cut off the hydraulic oil circuit supplying the manipulator to ensure the safety of man and machine.

The main control hands include the left and right main hands installed on the top of the side connecting frame of the robot operation platform, the distance between the centers of the two main hands is 0.8m, and the distance from the upper surface of the support frame of the robot operation platform is 1m; Terminal control boxes communicating with the left and right main hands are installed on the side and the upper side of the insulating bucket, and the distance between the centers of the two terminal control boxes is 0.6m; The left and right main hands provide the left and right microcontrollers with control and remote communication functions. The distance between the centers of the two microcontrollers is 1m; microcontroller power integration.

The hydraulic mechanical arm includes two mechanical arms, left and right. The two mechanical arms are installed on both sides of the front of the bottom frame of the robot work platform through support insulators, and are covered with rubber sleeves; the height of the support insulator is 0.6m, and the center of the two mechanical arms The spacing is 1m; the oil inlet and return pipes of the mechanical arm are connected to the control integration of the hydraulic lifting platform; the mechanical arm is made of duralumin alloy with seven degrees of freedom; the waists of the left and right mechanical arms are There are left and right hydraulic servo control boxes placed on the support frame supporting the insulator on the outer side of the degree of freedom of rotation, 0.6m away from the upper surface of the support frame of the robot operation platform. The control box is the external interface of the mechanical arm. connected to the device.

The main hand and the mechanical arm are isomorphic, the mechanical arm is driven by hydraulic servo, and the left and right main hands can independently control the movement of the corresponding mechanical arm.

The terminal control box is a control box with a liquid crystal display, which displays system diagnostic information and allows the operator to select operating functions.

The insulating bucket is set between the main hand and the mechanical arm, located in the center of the inner side of the connecting frame on the side of the robot work platform, and connected to the side connecting frame of the robot working platform through bolts; the height of the insulating bucket is 1.2m, double-layer insulation, the inner layer material Teflon is used, and the outer material is made of glass fiber reinforced plastic.

The utility model comprises a support frame of a robot operation platform, a control integration of a hydraulic lifting platform, a robot operating system and an insulating bucket. The support frame of the robot operation platform can be bolted to the end of the insulating lifting arm of the bucket arm truck on the side, and the robot operation platform is insulated from the ground by means of the insulating bucket arm truck. The hydraulic lifting platform control integration provides the lifting, lowering and rotating movements for the robot work platform through the control rod and the operating handle, and supplies the hydraulic oil source required for the master-slave to control the robot's movement. The robot operating system consists of a master hand, a mechanical arm (slave hand), a hydraulic servo control box, a microcontroller, a handheld terminal control box, and microcontroller power integration. The mechanical arm adopts hydraulic servo control method, which can completely follow the movement of the main hand. The operator stands in the insulating bucket of the platform, and controls the main hand to remotely control the manipulator arm to clamp the special tool to contact the line to complete various high-voltage live work.

The support frame of the robot operation platform provides reliable platform support for the control integration of the hydraulic lifting platform, the robot operating system and the insulating bucket. The support frame of the robot operation platform is welded by steel structure square tubes, the exposed surface of the steel profiles is wrapped with epoxy glass cloth, and the overall platform chassis is outsourced with epoxy insulating boards to prevent phase-to-phase short circuit caused by the platform contacting wires and other live equipment during operation .

The hydraulic lifting platform control integration is equipped with a control lever, an operating handle and an emergency button. The operator can control the lifting and pitching of the robot platform in real time, and transport the platform to a suitable working position at high altitude; in an emergency, the emergency button can be pressed to cut off the hydraulic pressure supply to the mechanical arm. The oil circuit ensures the safety of man and machine.

The robot operating system consists of a master hand, a mechanical arm (slave hand), a hydraulic servo control box, a microcontroller, a terminal control box, and microcontroller power integration.

The main hand is installed on the top of the connecting frame on the side of the robot operation platform, and operates the movement of the mechanical arm according to the information collected by the sensor. The main hand and the mechanical arm (slave hand) are isomorphic, and are driven by hydraulic servo, so that the mechanical arm can completely follow the movement of the main hand. The operator stands in the insulating bucket, and the communication between the main hand and the mechanical arm is only through optical fiber to ensure that the personnel are completely isolated from the high-voltage electric field, which greatly improves the safety of the operator's live operation.

The mechanical arm is installed on the supporting insulator and covered with rubber sleeves, which can effectively prevent the phase-to-phase short circuit caused by the lapping of the two phases of the mechanical arm; There are seven degrees of freedom of movement such as head pitch, wrist swing, wrist rotation and parallel grip.

The hydraulic servo control box is installed on the supporting insulator bracket, and is located outside the waist rotation of the robotic arm. It is the external interface of the robotic arm and provides the necessary power supply, instructions, and measurement and control information for the robotic arm.

The microcontroller is placed on the side of the robot operation platform to provide the main hand control and remote communication system; the microcontroller power supply integration is composed of lithium batteries, inverters, etc., to provide reliable power for the main hand operation.

The terminal control box is a low power consumption control box with a liquid crystal display, which communicates with the main hand through RS232 to display system information and allow the operator to select operating functions.

The master-slave control system of the robot is realized in the following way: an operator stands in the insulating bucket, and his left and right hands respectively control the left main hand and the right main hand (motion control unit), and the left and right main hands overcome the torque of each joint The resistance of the motor is linked successively; the potentiometer installed on each joint of the left and right main hands converts the rotation angle (position command) of each joint axis into a voltage signal to the left and right microcontrollers; the left and right microcontrollers convert the position command The information is transmitted to the hydraulic servo control box of the left and right mechanical arms through the optical fiber, and the hydraulic servo control box converts the signal into a voltage signal to control the servo valve installed inside the left and right mechanical arms (the voltage signal controls the switch of the oil circuit flow); the servo valve Control the hydraulic flow entering the joints of the slave hand to drive the joints of the left and right manipulators to move. At the same time, the output voltage signal of the potentiometer of the manipulator is fed back to the microcontroller through the hydraulic servo control box, and compared with the original channel voltage to form a position Feedback until the mechanical arm moves to the position corresponding to the main hand.

The beneficial effects of the utility model are: according to the technical requirements of the 10kV distribution line and above high-voltage line live work process requirements and the characteristics of the work environment, a new type of high-voltage live work master-slave control robot work platform is designed and completed. Under the premise of satisfying the maximum allowable load of the lifting mechanism, the operating platform rationally arranges the positional relationship of each component of the robot operating platform in a limited space from the perspective of operator safety, and sets a reliable safety distance for each part to achieve all-round, Three-dimensional insulation protection system; the operation platform is designed to be small in size, takes up less space, and has a compact and reasonable layout, which is in line with the actual situation of the high-altitude operation site, and ensures the safe distance between the human-computer interaction space and the live operation. It also avoids human-machine casualties caused by touching wires or other live equipment when working at heights, and ensures the safety of operators to the greatest extent.

Description of drawings

Fig. 1 is a schematic diagram of the front three-dimensional structure of the utility model;

Fig. 2 is a schematic diagram of the three-dimensional structure of the back of the utility model;

Fig. 3 is a schematic diagram of the utility model control system;

In the figure: 1. The chassis of the robot operation platform; 2. The right support insulator; 3. The right hydraulic servo control box (RSD); 4. The side connection frame of the robot operation platform; 5. The control integration of the hydraulic lifting platform; 6. The support of the lifting platform Frame; 7. Control lever; 8. Operating handle; 9. Right main hand support frame; 10. Right main hand; 11. Right hand terminal control box; 12. Right mechanical arm; 13. Insulation bucket; 14. Left main hand support Frame; 15. Left-hand terminal control box; 16. Left main hand; 17. Right mechanical arm claw; 18. Toolbox; 19. Left mechanical arm; 20. Left mechanical arm claw; 21. Insulation bucket connecting bolt; 22 , left hydraulic servo control box (RSD); 23, left support insulator; 24, platform epoxy insulation board outsourcing; 25, left micro-controller connection frame; 26, left micro-controller (KMC); 27, right micro-controller Connecting frame; 28, pedal; 29, right microcontroller; 30, connecting bolt on the side of robot operation platform; 31, microcontroller power supply integration.

Detailed ways

Below in conjunction with accompanying drawing and embodiment the utility model is further described.

As shown in Figures 1-3, the utility model is mainly composed of a robot work platform support frame, a hydraulic lifting platform control integration 5, a robot operating system and an insulating bucket 13, and the robot work platform support frame is respectively equipped with a hydraulic lift platform The control integration 5, the robot operating system and the insulating bucket 13, the hydraulic lifting platform control integration 5 is connected with the robot operating system, and the hydraulic lifting platform control integration 5 and the robot operating system are all arranged outside the insulating bucket 13.

Among them, the support frame of the robot work platform is composed of the robot work platform chassis 1 and the robot work platform side connecting frame 4 to form an L-shaped structure. The robot work platform chassis 1 provides a reliable Platform support, the side connecting frame 4 of the robot operation platform has bolt holes, and the side connection bolt 30 of the robot operation platform can be connected to the end of the insulating lifting arm of the bucket arm car. The supporting frame of the robot operation platform is welded with steel structure, and the exposed surfaces of the steel profiles are all wrapped with epoxy glass cloth. The wires cause a phase-to-phase short circuit.

The hydraulic lifting platform control integration 5 is fixed on the upper right side of the bottom frame 1 of the robot operation platform through the lifting platform support frame 6. The operator stands in the insulating bucket 13, and the right hand uses the control rod 7 and the operating handle 8 to realize the lifting and lowering of the robot operation platform. Lowering and rotating motion. The oil inlet and return pipes of the left and right two mechanical arms 19, 12 are all connected to the control integration 5 of the hydraulic lifting platform, and the hydraulic oil sources needed for the master-slave control robot motion all come from the integration 5 of the hydraulic lifting platform. The front portion of the insulating bucket 13 is provided with a toolbox 18 and the connecting bolt 21 of the insulating bucket, and the side of the insulating bucket 13 is provided with a pedal 28.

The robot operating system is divided into left and right two sets of operation control systems according to the left and right hands of the operator: each control system consists of left and right main hands 16, 10, left and right mechanical arms 19, 12, left and right Hydraulic servo control boxes 22, 3, left and right microcontrollers 26, 29, left and right hand terminal control boxes 15, 11 and microcontroller power supply integration 31 are composed.

Right and left main hands 10, 16 are installed on the robot work platform side connecting frame 4 tops by right and left main hand support frames 9 and 14 respectively, and operate the mechanical arm motion according to the information collected by sensors. The main hand and the mechanical arm (slave hand) are isomorphic, and are driven by hydraulic servo, so that the mechanical arm can completely follow the movement of the main hand. The operator stands in the insulating bucket 13, and the communication between the main hand and the mechanical arm is only through optical fiber, which ensures that the personnel are completely isolated from the high-voltage electric field, and greatly improves the safety of the operator in live operation.

The right and left mechanical arms 12 and 19 are installed on the right and left supporting insulators 2 and 23 respectively, and are located at both ends of the front part of the bottom frame 1 of the robot operation platform, and are covered with rubber sleeves to effectively prevent the mechanical arms from touching the wires and live equipment to cause interphase Short circuit; the main body of the robotic arm is made of duralumin alloy, providing seven degrees of freedom of movement, including waist rotation, upper arm pitch, forearm pitch, wrist pitch, wrist swing, wrist rotation, and parallel claws. Right and left mechanical arm 12,19 front ends are provided with right mechanical arm claw 17 and left mechanical arm claw 20 respectively.

Right and left hydraulic servo control box 3,22 are respectively installed on right and left support insulator 2,23 support frames, are positioned at the outside of the waist rotation of mechanical arm, are the external interface of right and left mechanical arm 12,19, provide necessary for mechanical arm power supply, command and measurement and control information.

Left and right micro-controllers 26, 29 are respectively connected to the outer side of the robot work platform side connection frame 4 by left and right micro-controller connection frames 25, 27 bolts, providing the system of main hand control and remote communication functions. The microcontroller is connected with the hydraulic servo control box through optical fiber, so as to complete the communication connection between the main hand and the mechanical arm.

Microcontroller power supply integration 31 is made up of lithium battery, inverter etc., provides reliable power supply for right and left main hand 10,16.

The right and left hand terminal control boxes 11 and 15 are low power consumption, and the control box with liquid crystal display is installed on the inner surface of the robot work platform side connecting frame 4 and the insulating bucket 13 upper sides. The right and left hand terminal control boxes 11, 15 communicate with the right and left main hands 10, 16 respectively via RS232, and are used to display system diagnostic information and allow the operator to select operating functions.

The master-slave control system of the robot is realized in the following way: the operator stands in the insulating bucket 13, and his left and right hands respectively control the left master hand 16 and the right master hand 10 (motion control unit), and the left and right master hands 16, 10 Overcoming the resistance of the torque motors of each joint, they are linked in succession; the potentiometers installed in the joints of the left and right main hands convert the rotation angle (position command) of each joint shaft into voltage signals and send them to the left and right microcontrollers 26, 29; Right micro-controller 26,29 transmits information to left and right hydraulic servo control box 22,3 by optical fiber with position instruction, and hydraulic servo control box converts signal into voltage signal to control the servo valve (voltage signal) installed in left and right mechanical arm inside. The signal controls the switch of the oil circuit flow); the servo valve controls the hydraulic flow entering the joints of the slave hand, drives the joints of the left and right manipulators to move, and at the same time the potentiometer output voltage signal of the manipulator is fed back to the micro-controller through the hydraulic servo control box In the device, it is compared with the original channel voltage to form a position feedback until the mechanical arm moves to the position corresponding to the main hand.

Although the specific implementation of the utility model has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the utility model. Those skilled in the art should understand that on the basis of the technical solution of the utility model, those skilled in the art do not need to Various modifications or deformations that can be made with creative efforts are still within the protection scope of the present utility model.

Claims (7)

1. a high-voltage hot-line work principal and subordinate controls the robot job platform; Comprise robot manipulating task platform supports frame; Be equipped with on the said robot manipulating task platform supports frame that hydraulic elevating platform control is integrated, robot manipulation system and insulation bucket; It is characterized in that said robot manipulating task platform supports frame connects to form L shaped structure by robot manipulating task platform underframe and robot manipulating task platform side link; The integrated insulation bucket right side that is positioned at of said hydraulic elevating platform control; Said robot manipulation system comprises through main hand of controlling of optical-fibre communications and hydraulic machinery arm;

Saidly control main hand and comprise the left and right two main hands that are installed in robot manipulating task platform side link top, two main hand center distance 0.8m are apart from robot manipulating task platform supports frame upper surface 1m; Medial surface, insulation bucket upside at robot manipulating task platform side link are equipped with the terminal control box of communicating by letter with left and right main hand, two terminal control box center distance 0.6m; On the lateral surface of robot manipulating task platform side link, connect the left and right microcontroller that is respectively portable confession control of left and right master and telecommunications functions, two microcontroller center distance 1m through the microcontroller link; On robot manipulating task platform underframe the left side of insulation bucket be provided with into microcontroller integrated with the microcontroller power supply of main portable power supply source;

Said hydraulic machinery arm comprises left and right two mechanical arms, and said left and right two mechanical arms are installed on front part sides above the robot manipulating task platform underframe through support insulator, and the outpacking rubber oversleeve; Support insulator height 0.6m, two mechanical arm center distance 1m; The advancing of said mechanical arm, oil return pipe all be connected to hydraulic elevating platform control integrated in; The waist revolution free degree outside of said left and right two mechanical arms is provided with the left and right two Hydraulic Servo Control boxes on the bearing support that places support insulator; Apart from robot manipulating task platform supports frame upper surface 0.6m; This control box is the external interface of mechanical arm, links to each other with microcontroller through optical fiber.

2. high-voltage hot-line work principal and subordinate according to claim 1 controls the robot job platform, it is characterized in that, said robot manipulating task platform supports frame adopts the steel construction square tube to be welded, and all twine with the epoxy glass fabric scrap (bridge) on the steel profile surface; Job platform side link is provided with and can be connected to the terminal bolt hole of bucket arm vehicle insulated lift arm through bolt; Upper and lower and the surrounded surface of said robot manipulating task platform underframe adopts epoxy insulating board to be bonded.

3. high-voltage hot-line work principal and subordinate according to claim 1 controls the robot job platform; It is characterized in that; The integrated casing that comprises of said hydraulic elevating platform control, casing be provided with its in the hydraulic control system control lever, lever and the emergency button that link to each other.

4. high-voltage hot-line work principal and subordinate according to claim 1 controls the robot job platform, it is characterized in that said mechanical arm processed by the duralumin, hard alumin ium alloy material of 7 degree of freedom motion.

5. high-voltage hot-line work principal and subordinate according to claim 1 controls the robot job platform, it is characterized in that, said main hand and mechanical arm are isomorphisms, and the mechanical arm servo apply hydraulic pressure drives.

6. high-voltage hot-line work principal and subordinate according to claim 1 controls the robot job platform, it is characterized in that, said terminal control box is the control box of band liquid crystal display.

7. high-voltage hot-line work principal and subordinate according to claim 1 controls the robot job platform; It is characterized in that; Said insulation bucket is arranged between main hand and the mechanical arm; Be positioned at the inboard center position of robot manipulating task platform side link, be connected on the robot manipulating task platform side link through bolt; Insulation bucket height 1.2m, double hyer insulation, inner layer material adopts polytetrafluoroethylene (PTFE), and cladding material adopts fiberglass.

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