CN215903513U - Robot operating system - Google Patents

Abstract

The utility model provides a robot operating system which comprises an operating robot, observation equipment, insulating equipment, lifting equipment, bearing equipment and control equipment, wherein the operating robot and the observation equipment are arranged on the insulating equipment, the insulating equipment is fixedly connected with the lifting equipment, and the lifting equipment and the control equipment are arranged on the bearing equipment. The mechanical arm comprises a function key, a large arm, a small arm, a wrist, a balance part, a waist and a base, wherein the function key, the wrist, the balance part, the small arm, the large arm, the waist and the base are sequentially connected to form a six-degree-of-freedom rod system.

Description

Robot operating system

[ technical field ] A method for producing a semiconductor device

The utility model relates to the technical field of power grid operation equipment, in particular to a robot operation system.

[ background of the utility model ]

The research on robots in China has been greatly developed since the middle and late 80 s due to the special support of the national high-tech research and development plan (i.e. 863 plan), and has become one of the main countries for researching robots in the world. From the research system formed in China, two main categories of industrial robots and special robots are basically formed, and especially the research of the special robots becomes a domestic research hotspot. The special robot mainly refers to a robot in a working limit environment, a dangerous environment and a human health environment, and the environment has strong necessity and urgency for the requirements of the robot, so that the market prospect is good.

Domestic electric robots develop rapidly in recent years, and particularly, the achievements in the field of power transformation are remarkable. In 2002, under the support of the '863' plan of the national department of science and technology and the science and technology plan of Shandong province electric power company, the Shandong electric power research institute and the Shandong Luneng Intelligent technology Limited company have pioneered the research on the inspection robots for the substation equipment. In 2005, the development of a functional prototype of the transformer substation inspection robot is completed, and the transformer substation inspection robot passes the acceptance of a national '863' plan expert group; in the same year and 10 months, the development of a prototype of the inspection robot product of the first transformer substation in China is completed, and the inspection robot is put into practical operation in 500kV Changqing transformer substations of Shandong electric power ultrahigh voltage company. Since 2010, Shenzhong, Zhejiang country and Shenzhen Lanchi have independent research and development product manufacturers which are successively emerged in China, and the products are also actually applied to transformer substation sites. The Shanghai university of transportation started research on an insulator cleaning robot in 2002, and the robot mainly realizes telescopic movement of the robot through a scissor-type lifting mechanism. An automatic cleaning device developed by Shaanxi Galaxy electric antifouling technology Limited company carries the cleaning device through a forklift to complete an operation task.

The robot starts later in the field of power distribution systems. The research of a high-voltage operation robot is firstly carried out in the Shandong electric power research institute in 2002, two MOTOMAN mechanical arms are adopted, an operator controls the mechanical arms to move through a keyboard during operation, and the master-slave control cannot be realized due to the fact that a control system is not opened. The Shandong Luneng intelligent technology company develops the research of high-voltage operation robots for many years and accumulates abundant experience in the aspect of live-line operation. The research and development of the high-voltage operation robot are completed in 2012, two motor mechanical arms which are independently researched and developed are adopted, and a control system adopts a master-slave control mode. When an operator works, the mechanical arm is controlled to move by a master hand and a keyboard, so that the master-slave/autonomous control of the robot system is realized, and the operation requirement of the insulating bucket arm vehicle cannot be met due to the large self weight. In 2012, the Shandong electric power research institute develops 'research, development and application oriented to electric power live-line repair operation robots' with the support of the '863' plan of China, and the developed distribution network operation robots should be mature and few robots capable of realizing live-line equipment maintenance operation at present in China. But the research result is subject to the human-machine cooperation operation and is in the research and development stage of a prototype

Foreign countries: in order to improve the automation level and safety of hot-line work and reduce the labor intensity of operators and the personal threat of strong electromagnetic fields to the operators, the research on the working robot is successively carried out in many countries from 80 s, such as japan, spain, usa, canada, france and the like.

The Japan is one of the countries which have earlier research initiation for the robot abroad and better research results and using degree. In the beginning of the 80 s, kyushu electric power company of japan started a first generation of work robots, master-slave manipulator robot system Phase I, which involved the modularization and robotization of hardware such as connection, disconnection, and transportation of electric wires. Now, the Phase I robot has been used. At present, a second generation operation robot suitable for AC6kv and AC22kv voltage levels, semi-automatic Phase II, which was studied by Kyushu electric power company from 1990, has also developed experimental prototypes.

In the late 80 s and early 90 s, the japanese laid-open patent company and the japanese four-country electric power company have developed work robots that drive a robot arm by a basic hydraulic pressure, and all work objects are power distribution systems of 6.6KV, and operators control the machines in an insulating bucket at the end of a lifting mechanism in a remote control manner.

In 1990, Spain developed a working robot to complete the live working of 69KV and below in China in a semi-autonomous control mode. The lifting operation platform mainly comprises a lifting operation platform and a control room. Two Kraft force feedback type mechanical arms with 6 degrees of freedom and a three-degree-of-freedom auxiliary arm are arranged on the lifting platform; and cameras and the like; the control room is provided with a pair of master hands, a monitor, a master control system and an image processing system; the operation platform and the main control system are communicated through optical fibers.

In the middle of the 80 s, the research on working robots was also started by the american electric power research institute, and the first generation robots only have one hydraulically-driven mechanical arm, so that operators can operate the mechanical arm on the ground to complete live-line work on overhead lines of 50KV to 345 KV. A second generation semi-autonomous robot has now been developed, with two hydraulic robotic arms mounted on a lift platform.

The research on high-altitude operation robots is also carried out in canada in the middle of the 80 s, the mechanical arms of the operation robots developed by the canada are hydraulically driven, operators carry out remote operation in an insulating bucket at the tail end of a lifting mechanism, and the insulation grade of the robots is 25 kV.

Throughout the history of the development of the working robots for more than 20 years, it can be divided into three generations:

first generation, master slave controlled robots. The robot is also widely used abroad, and adopts master-slave control, two working mechanical arms are provided, and a person controls the actions of the mechanical arms in an operation bucket to complete live working.

Second generation, semi-autonomous robots. An operator controls the robot to work on the ground, sensors such as vision and laser ranging are applied, the general position of a working target can be identified, accurate positioning is achieved through man-machine interaction, and a complex environment cannot be identified.

And a third generation, full-automatic robot. At present, a prototype machine is not developed, the prototype machine has higher intelligence and has the functions of three-dimensional classification of the environment, self control and autonomous operation decision making, and the development of the fully autonomous robot needs a certain time.

The live-line work site of the distribution network system widely adopts an intermediate potential work method of the insulating bucket arm vehicle, operators use manual tools to complete live-line work tasks, the labor intensity is high, the efficiency is low, the automation level is low, most importantly, the operators directly contact wires, personal casualty accidents are easily caused, and great potential safety hazards exist. The distribution network operation robot with higher safety and adaptability is developed, overcomes the difficulty and limitation of manual live working, is very necessary to replace people to carry out live working, and meets the requirements of the times. The distribution network line operation robot has good market prospect, and the industrial research is necessary and urgent.

Accordingly, there is a need to develop a robot operating system to address the deficiencies of the prior art to address or mitigate one or more of the problems set forth above.

[ Utility model ] content

In view of this, the utility model provides a robot operating system, which adopts a quick connector process, a separate electric drive and an independent battery system for power supply, and ensures the high efficiency and safety of operation.

In one aspect, the utility model provides a robot operating system, which comprises an operating robot, observation equipment, insulation equipment, lifting equipment, bearing equipment and control equipment, wherein the operating robot and the observation equipment are arranged on the insulation equipment, the insulation equipment is fixedly connected with the lifting equipment, and the lifting equipment and the control equipment are arranged on the bearing equipment.

The above aspects and any possible implementation further provide an implementation manner, where the robot includes a master manipulator, a slave manipulator, a driving unit, a control center, and a video capture unit, the master manipulator, the slave manipulator, the driving unit, and the video capture unit are all connected to the control center, the master manipulator and the slave manipulator are all mechanical arms having the same degree of freedom and structure, and the video capture unit is disposed on the periphery side of the master manipulator and the slave manipulator.

The aspect and any possible implementation mode as described above further provide an implementation mode, in the master manipulator and the slave manipulator, only one of the master manipulator and the slave manipulator still includes a clamping hand, the clamping hand is arranged at the tail end of the master manipulator or the slave manipulator, the two sides of the position of the clamping hand are provided with semi-circular arc-shaped convex surfaces, the clamping hand is provided with a drainage wire pre-fixing crimping device and a main drainage wire fixing crimping device, the drainage wire pre-fixing crimping device tightly connects the drainage wire fixing bolt, and the main drainage wire fixing crimping device tightly presses the main drainage wire between the semi-circular arc surface of the upper pressing block and the semi-circular arc surface of the lower fixing supporting block through the main drainage wire fixing bolt.

The mechanical arm comprises a function key, a big arm, a small arm, a wrist, a balance part, a waist and a base, wherein the function key, the wrist, the balance part, the small arm, the big arm, the waist and the base are sequentially connected to form a six-degree-of-freedom rod system, position encoders are arranged in the function key, the big arm, the small arm, the wrist, the balance part, the waist and the base, an execution part is arranged in each degree of freedom in the six-degree-of-freedom rod system and comprises a deformation mechanism, a displacement sensor and a limit switch, the position encoders are connected with the deformation mechanism through the limit switches, and the displacement sensor is connected with the deformation mechanism.

The above aspect and any possible implementation manner further provide an implementation manner, in the degree of freedom between the large arm and the waist, the deformation mechanism is an electric push rod mechanism, and the maximum pitch angle of the large arm is 120 °.

The above aspect and any possible implementation manner further provide an implementation manner, in the degree of freedom between the small arm and the large arm, the deformation mechanism is an electric push rod mechanism, and the maximum pitch angle of the small arm is 110 °.

In the aspect and any one of the possible implementations described above, there is further provided an implementation in which the deformation mechanism is a planetary gear reducer in the degree of freedom between the balance portion and the small arm, and the maximum rocking angle of the balance portion is 105 °.

In the aspect and any one of the possible implementations described above, there is further provided an implementation in which, in the degree of freedom between the wrist portion and the balance portion, the deformation mechanism is an electric putter mechanism, and the maximum pitch angle of the wrist portion is 100 °.

In the aspect and any one of the possible implementations described above, there is further provided an implementation that, in the degree of freedom between the function key and the wrist portion, the deformation mechanism is a planetary gear reducer, and the maximum rocking angle of the balance portion is 105.

The above-described aspects and any possible implementation further provide an implementation in which the observation device, the insulation device, the lifting device, the carrying device, and the control device are, in turn, a global observation pan/tilt head, an insulation bucket, a lifting arm, a carrier truck, and a control room, respectively.

The aspect and any possible implementation mode as described above further provide an implementation mode, in the master manipulator and the slave manipulator, only one of the master manipulator and the slave manipulator still includes a clamping hand, the clamping hand is arranged at the tail end of the master manipulator or the slave manipulator, the two sides of the position of the clamping hand are provided with semi-circular arc-shaped convex surfaces, the clamping hand is provided with a drainage wire pre-fixing crimping device and a main drainage wire fixing crimping device, the drainage wire pre-fixing crimping device tightly connects the drainage wire fixing bolt, the main drainage wire fixing crimping device tightly presses the main drainage wire between the semi-circular arc surface of the upper pressing block and the semi-circular arc surface of the lower fixing supporting block through the main drainage wire fixing bolt, and the main drainage wire fixing bolt is the guide nylon slot connecting bolt.

Compared with the prior art, the utility model can obtain the following technical effects:

direct economic benefits:

(1) according to the current, 7700kW & h more power can be supplied to each hot-line work, 1000 times of calculation can be carried out on the hot-line work through the hot-line work of the intelligent robot arm every year, and more power can be supplied every year:

a equals 7700 equals 1000 equals 770 ten thousand kw.h

The income added for power supply enterprises is as follows:

y, a, 770, 10000, 0.5, 385 ten thousand yuan

In the formula, the price of electricity is 0.5 yuan/kW.h

(2) Calculating according to the existing live working participants, efficiency and cost;

traditional 10kV live working (A), 10kV intelligent mechanical arm live working (B)

The operation cost is 3000 yuan/6000 operations are 1800 ten thousand;

b is the operation cost per time, the operation times is 2400 yuan/person times, 6000 operation times is 1440 ten thousand;

cost saving C1800 ═ A-B1440 ═ 360 (ten thousand yuan)

The annual demand of one year is met through the operation of the intelligent mechanical arm, the labor productivity is liberated, and the working efficiency is improved;

indirect economic benefits:

according to the gross GDP of 4300 million yuan, 270.54 hundred million kW.h, the contribution of each degree of electricity to GDP is as follows:

p4300/270.54 ≈ 15.89 yuan/kW · h

The indirect economic benefits are:

7700000 kW.h 15.89 yuan/kW.h 1.22 hundred million yuan;

safety performance: the utility model relates to a method for preparing a high-temperature-resistant ceramic material.

Of course, it is not necessary for any one product in which the utility model is practiced to achieve all of the above-described technical effects simultaneously.

[ description of the drawings ]

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a block diagram of a robotic arm provided in accordance with one embodiment of the present invention;

FIG. 2 is a block diagram of a robot provided in accordance with one embodiment of the present invention;

FIG. 3 is a block diagram of a clamping hand provided in one embodiment of the present invention;

FIG. 4 is a schematic diagram of D-H modeling provided by one embodiment of the present invention;

fig. 5 is an illustration of an operation robot provided in accordance with an embodiment of the present invention;

FIG. 6 is a principal class diagram of a master control system provided by one embodiment of the present invention;

fig. 7 is a schematic diagram of binocular stereo vision provided by an embodiment of the present invention;

fig. 8 is a block diagram of an operating system provided in an embodiment of the present invention.

Wherein, in the figure:

1-function key; 2-wrist part; 3-a balance section; 4-forearm; 5-big arm; 6-waist part; 7-a hydraulic switch; 8-a base; 9-a cable plug; 10-a video acquisition unit; 11-a primary manipulator; 12-slave manipulator; 13-a drainage wire fixing bolt; 14-main conductor fixing bolt; 15-pre-fixing a crimping device for the drainage wire; 16-main conductor fixing and crimping device; 17-global observation pan-tilt; 18-an insulating bucket; 19-a lifting arm; 20-carrier truck; 21-control room.

[ detailed description ] embodiments

For better understanding of the technical solutions of the present invention, the following detailed descriptions of the embodiments of the present invention are provided with reference to the accompanying drawings.

It should be understood that the described embodiments are only some embodiments of the utility model, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terminology used in the embodiments of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

The utility model provides a robot operating system, which comprises an operating robot, an observation device, an insulating device, a lifting device, a bearing device and a control device, wherein the operating robot and the observation device are arranged on the insulating device, the insulating device is fixedly connected with the lifting device, the lifting device and the control device are arranged on the bearing device, the robot comprises a master manipulator (right arm) 11, a slave manipulator (left arm) 12, a driving unit, a control center and a video acquisition unit (camera) 10, the master manipulator (right arm) 11, the slave manipulator (left arm) 12, the driving unit and the video acquisition unit are all connected with the control center, the master manipulator (right arm) 11 and the slave manipulator (left arm) 12 are all mechanical arms with the same degree of freedom and structure, the video acquisition unit (camera) 10 is arranged on the periphery side of the master manipulator (right arm) 11 and the slave manipulator (left arm) 12, the utility model discloses a pneumatic power transmission device, including main machinery hand (right arm) 11 and from machinery hand (left arm) 12, have and only one still include the centre gripping hand, the centre gripping hand sets up at main machinery hand (right arm) 11 or from the end of machinery hand (left arm) 12, open the both sides of centre gripping hand position has the semicircle convex surface, be provided with drainage line pre-fixing crimping device 15 and leading wire fixed crimping device 16 on the centre gripping hand, drainage line pre-fixing crimping device 15 is with drainage line fixing bolt 13 fastening connection, leading wire fixed crimping device 16 compresses tightly leading wire between the semicircle cambered surface of the semi-circular face of overhead briquetting and the fixed supporting shoe of lower portion through leading wire fixing bolt 14, the arm includes function button 1, big arm 5, forearm 4, wrist 2, balancing part 3, waist 6 and base 8, function button 1, wrist 2, balancing part 3, forearm 4, Big arm 5, waist 6 and base 8 connect gradually, form six degree of freedom rod systems, all be equipped with position encoder in function button 1, big arm 5, forearm 4, wrist 2, balancing part 3, waist 6 and the base 8, in the six degree of freedom rod systems, all be equipped with executive component in every degree of freedom, executive component includes deformation mechanism, displacement sensor and limit switch, position encoder passes through limit switch and connects deformation mechanism, deformation mechanism is connected to displacement sensor.

In the degree of freedom between the waist 6 and the base 8, the deformation mechanism is a harmonic speed reducer, and the rotation range of the waist 6 is 0-180 degrees. In the degree of freedom between the small arm 4 and the large arm 5, the deformation mechanism is an electric push rod mechanism, and the maximum pitch angle of the small arm 4 is 110 degrees. In the degree of freedom between the balance part 3 and the small arm 4, the deformation mechanism is a planetary gear reducer, and the maximum swing angle of the balance part 3 is 105 °. In the degree of freedom between the wrist portion 2 and the balance portion 3, the deformation mechanism is an electric push rod mechanism, and the maximum pitch angle of the wrist portion 2 is 100 °. In the degree of freedom between the function key 1 and the wrist 2, the deformation mechanism is a planetary gear reducer, and the maximum swing angle of the balance part 3 is 105 degrees

The observation equipment, the insulation equipment, the lifting equipment, the bearing equipment and the control equipment are respectively a global observation holder 17, an insulation bucket 18, a lifting arm 19, a carrier truck 20 and a control room 21 in sequence.

The system uses a mode where the operator controls the room 21 underneath to remotely operate the robot arm based on virtual reality and video surveillance feedback. The teleoperation system is operated in a mode of matching the master mechanical arm and the slave mechanical arm, so that the simplification of a driving mode can be ensured, the adaptation difficulty of an operator to the teleoperation system is reduced, and the inadaptability brought by a virtual reality scene is reduced.

The robotic system comprises several large parts: a carrier truck 20 (an insulated bucket 18 arm vehicle), an onboard control room 21, insulated lifting support arms, insulated buckets 18, dual redundant operation mechanical arms, a three-dimensional stereo camera mechanical arm, a global auxiliary observation camera pan head, a video surveillance system, a generator system and other accessory equipment.

The robot model machine for live-line emergency repair work mainly comprises the following components: a mobile lifting mechanism, a mechanical arm, a master control system, a slave control system, a special working tool and the like. The schematic diagram of the prototype structure is shown in FIG. 8.

The mobile lifting mechanism is modified by a crawler, and an independent power supply system, the lifting mechanism, the main control room 21 and the balancing device are carried in a car hopper. An operator operates in the main control room 21, and controls the operation mechanical arm to complete various live-wire operations in a mode of combining human-computer interaction master-slave control and autonomous control. The 10kV distribution overhead line is about 15m away from the ground, so the robot uses a rotatable base and a pitching push rod telescopic arm as a lifting mechanism. The pitch angle of the large arm 5 of the telescopic arm is 65 degrees, the small arm 4 is telescopic, the highest operation height reaches 18m by matching with an operation mechanical arm, and meanwhile, the level of the mechanical arm operation platform is ensured by controlling the motion of each degree of freedom of the lifting platform. The end of the telescopic arm is loaded with 800Kg, the dead weight of the insulating bucket 18 is removed, and the end is provided with a mechanical arm platform of about 500 Kg. Two 6-freedom-degree mechanical arms, a multi-freedom-degree three-dimensional observation camera, an all-dimensional wide-angle camera shooting holder system and a mechanical arm motion control system are arranged on the mechanical arm platform, various special tools can be mounted at the tail ends of the mechanical arms to complete live-line maintenance operation, and the camera is used as on-site video acquisition equipment during remote control operation and machine vision front-end acquisition equipment during autonomous control. The whole system power supply is provided by an isolation battery pack system carried on the mobile platform. In order to ensure the insulation grade, optical fiber communication is adopted between the main control system and the motion control system, and the power supply line is electrically isolated by adopting an isolation transformer.

Because the height from the ground is higher after the lifting mechanism is completely extended, the balance of the whole robot is very important. The movable vehicle body is provided with a balance weight and a balance mechanism, but the weight of the top end operation mechanical arm needs to be reduced as much as possible. Many live-wire work needs large torque or large torque, so the power-weight ratio becomes an important index. In addition, the vibration of the lifting mechanism is reduced as much as possible in the operation process, so that the transmission of motion in the operation process of the mechanical arm is required to be stable, and the reversing impact is required to be reduced when the motion direction is changed.

The electric cylinder system adopting the screw rod structure can provide considerable driving force in a large reduction ratio mode under the condition of smaller volume and mass, and the electric cylinder system is controlled by a servo driving technology, so that the movement is uniform, the acceleration and deceleration processes can be controlled in multiple ways, and the reversing impact can be greatly reduced. Based on the above consideration, the top end operation mechanical arm of the operation robot adopts a push rod structure based on an electric cylinder system as a main driving form.

In order to increase the range of live working and the flexibility during working, the working mechanical arm adopts a 6-degree-of-freedom joint type mechanical arm. The rotating base 8 of the mechanical arm is called as a waist part 6, and the rotating range of the rotating base is 0-180 degrees. The first joint and the second joint are respectively called as a large arm 5 and a small arm 4, and can pitch up and down, the maximum pitch angle of the large arm 5 is 120 degrees, and the maximum pitch angle of the small arm 4 is 110 degrees. The arm wrist 2 is composed of 3 axes, and can complete up-down pitching, left-right swinging and continuous rotation, the maximum pitching angle is 100 degrees, and the maximum swinging angle is 105 degrees. The coordinate system of the 6-axis robot arm was established according to the D-H method, as shown in fig. 4.

To ensure simplicity and readability, only two coordinate axes are drawn in the part coordinate system in fig. 4. According to the coordinate system, each D-H parameter of the mechanical arm can be obtained, so that a transformation equation of each connecting rod is obtained, and finally forward solution and inverse solution of kinematics can be easily realized.

A geometric model of the mechanical arm is built in the ADAMS, kinematics and dynamics simulation is carried out, displacement, speed, acceleration and reaction force curves are output, parameters of each part are optimized according to results, and the mechanical arm achieves better dynamics performance on the premise of guaranteeing flexible working space. Meanwhile, in order to obtain the maximum dynamic acting force of each rod, finite element analysis is carried out by using ANSYS, the structure of each rod is optimized, the quality of the rod is reduced as much as possible on the premise of meeting the strength requirement, and the effective load capacity of the rod is improved. In the finished prototype, the maximum holding mass of a single mechanical arm is 80kg, and the maximum extending holding mass is 20 kg.

The mechanical arm electromechanical control system mainly comprises an industrial personal computer, an alternating current servo driver, an alternating current servo motor, a motor encoder, a brake, a limit switch and other necessary components of a closed-loop servo control system, wherein the industrial personal computer sends an action instruction to the servo driver through calculation, and then the motor is controlled by the driver to drive each section of mechanical arm to move.

The execution components comprise 1 harmonic reducer and 3 electric push rod mechanisms, and the 2 planetary gear reduction mechanisms correspond to the waist 6 rotation, the big arm 5 pitching, the small arm 4 pitching, the wrist 2 swinging and the wrist 2 rotation of the operation mechanical arm. Each joint execution component is provided with a displacement sensor and a limit switch, measures the motion parameters of each execution component in real time and feeds the motion parameters back to the motion control system and the main control system. Because the mechanical arm uses the master hand to control and operate, in order to provide high-fidelity force sense of presence, the motion impedance of the mechanical arm is reduced as much as possible, and the structure is compact and the weight is light, so that the electric push rod adopts a ball screw structure, and the push rod has the characteristics of high driving efficiency and high transmission ratio.

Work tasks of the work robot are various, however, no matter what kind of work is carried out, the left arm plays a role of grabbing parts, and the right arm task changes according to different work contents. When the drop switch is replaced, the left arm is respectively used for holding an upper lead, the drop switch, a cross arm, a lower lead and the like in different stages of tasks, and the right arm is respectively used for breaking a wire, screwing a nut, clamping an insulator, connecting a wire and the like. Therefore, the tail end of the left arm is provided with the clamping hand with certain mechanical self-adaptive capacity, can grasp objects in different shapes, and has the advantages of large grasping force, high transmission efficiency, simple structure and light weight. The gripper hands are shown in fig. 3.

For clamping, the two sides of the clamping position are provided with semi-circular arc convex surfaces. The clamping hand is specially designed for clamping the lead and is provided with a drainage lead pre-fixing crimping device 15 and a main lead fixing crimping device 16. The drainage wire is fixed crimping device 15 in advance with drainage wire fixing bolt 13 fastening connection, installs the spring washer additional and plays the bolt and relaxs the effect, comes the cooperation to accomplish the location installation through the constant head tank of fixed stay side. The main conductor fixing and crimping device 16 compresses the main conductor between the semi-circular arc surface of the upper pressing block and the semi-circular arc surface of the lower fixing and supporting block by the main conductor fixing bolt 14.

The tail end of the right arm is also provided with a clamping hand, and different special tools are replaced according to task contents, wherein the special tools comprise a multifunctional split wrench, an automatic insulated wire peeling device, split wiring pliers, an arc wire cutter, a broken wire insulation traction tool, a wire lifting adjustable device and the like. The special tools are powered by a quick connector process, a separated electric drive system and an independent battery system, so that the high efficiency and the safety of operation are guaranteed.

The work robot control system may be divided into a master control system and a slave control system. The master control system is responsible for overall task planning, graphic calculation and man-machine interaction, and the slave control system is responsible for controlling the motion of each joint of the mechanical arm. The main control system comprises a main mechanical arm, a main controller, a main computer (industrial personal computer), a graphic processor, a display and VR display equipment. The main control program runs on a main computer and is divided into a task planning module, a basic man-machine interaction module, an exception handling module and a log management module. The main arm control program runs on the main controller and is divided into a kinematics module, a compliance control module and a master-slave communication module. The graphics and three-dimensional calculation program runs on a graphics controller and is divided into a standard three-dimensional model library, a machine vision module, a real-time scene target recognition module, a real-time online simulation module, an intelligent auxiliary operation module, a virtual reality module and the like. The operator can operate the mechanical arm through a main hand, and can also operate in a human-computer interface by using a keyboard and a mouse. The master control system and the slave control system use optical fiber communication to ensure real-time high-speed transmission of image information and control information. The communication between the devices adopts a zeroMQ communication protocol and adopts a publish-subscribe mechanism to ensure that the interactive communication between the devices is successfully completed.

The position information of the master mechanical arm is sent to the slave mechanical arm through real-time communication, the slave arm controller reproduces the position posture of the master arm from the slave mechanical arm, and meanwhile, the position and moment information of the slave arm is sent to the master controller. When the operator pulls the end of the main arm to move, the slave arm can copy the moving position and speed of the main arm. Meanwhile, the main arm can feed back certain counterforce to an operator of the main arm according to the moment information fed back by the slave arm, and the operator is prompted about the stress state of the current slave arm.

The tasks executed by the operation robots are many, so the system adopts a distributed mechanism to operate different modules in different computers or controllers according to the task property. The main program runs on an industrial personal computer with high reliability, and the management and emergency treatment of the whole system are guaranteed. The real-time control task of the mechanical arm is completed through two real-time controllers. Graphics processing and three-dimensional simulation tasks with huge computational complexity are completed by a high-performance graphics calculator. The communication of the computer or the controller adopts a many-to-many ZMQ communication mode, so that the complexity of the communication design is reduced, and the reliability is further improved. The image data and the control data adopt different physical networks, so that the communication bandwidth is improved, and meanwhile, the communication delay is reduced.

The master control system software runs on a universal Windows XP operating system, a system software model is established by using UML analysis and design, a program is written by adopting C + + language, and open-source MYSQL is used as a database management system. The controller running the master-slave arm motion control program employs a Real-Time control system (RTS, Real Time Syetem). The graph processing process runs on a windows platform and is developed by adopting an open source library of OpenCV and OpenGL.

The main control system applies an object-oriented method to the analysis and design stage of software engineering, considers problems and proposes a solution from the viewpoint of objects, determines and describes objects in the system, static characteristics and dynamic characteristics of the objects, relationships among the objects and behavior constraints of the objects, and establishes an object model of the system. UML is simple and powerful, provides an object-oriented core concept and an extension scheme, and can conveniently define complex systems in most fields. UML is a use-case-driven modeling language that is used not only to capture requirements, but also to provide the active basis from analytics to testing. The use case model describes the system functions that an external executor understands. An example of the use of a working robot is shown in fig. 5.

A class is a basic element of object-oriented technology, refers to a collection of objects with the same properties and the same operations, and shows the structure of the objects and the interaction behavior with the system. The UML class diagram shows the logical structure of the system and the relationship between classes and interfaces, showing the static structure of the system. Fig. 6 is a main class diagram of the master control system.

Each class in the class diagram is represented as a rectangle of 1 divided into 3 parts. The top part shows the name of the class, the middle part shows the attributes of the class, and the bottom part shows the method of the class. Between a pair of double angle brackets "" in the class name section is indicated the type of construction of the class. The attributes and methods in the figures are preceded by a letter to indicate the scope of the attribute or method, "-" indicates that the attribute or method is private (private), "#" indicates that the attribute or method is protected (protected), and "+" indicates that the attribute or method is public (public). The colon immediately following the attribute or parameter name elicits a variable type and the last colon in the entire method description elicits a return value type for the method.

The slave control system takes a BeckHoff CX2020 motion controller as a core, and the controller adopts a TwinCAT real-time control system, and can simultaneously control 32 servo axes for control. The two mechanical arms of the system have 15 axes, and only one CX2020 is used. The motion controller is connected with the main control system through a specially customized Ethernet interface, and the network signals are converted into optical signals through the optical fiber transceiver for high-speed transmission. The mechanical arm servo is connected in a chain structure through an EtherCAT field bus, a master-slave structure is arranged between the controller and the servo, the controller is a master station, each servo is a slave station, and management is carried out in a clock synchronization mode, so that real-time control is realized. The position information and the moment information of each servo shaft are detected by an encoder arranged on the motor and a servo Hall sensor and are sent to the controller through an EehtrCAT bus to form a closed-loop control system.

Many live working tasks need to consider the problem of force control in the working process, such as the tension change of a lead to a clamping hand in the wire breaking process, the stress condition of a nut in the nut screwing process, the bounce of the lead when the lead is touched by mistake and the like. A working robot can be described as a force redundancy system, which also raises the problem of force distribution between two mechanical arms. At present, a master-slave control mode is often adopted by a double-arm system, one mechanical arm measures contact force, and the other mechanical arm is passively followed, so that kinematic constraint is guaranteed, but the real-time effect of a master-slave structure is not ideal. In the system, the compliance control of the two arms of the slave arm is realized by a force feedback mode. Through force feedback, an operator can sense the stress state of the tail end, so that the mechanical arm is controlled to move to avoid abnormal stress.

The heterogeneous master and slave manipulators (left arms) 12 have no definite structure and motion relation, and need to map joint space to operation space through kinematics and dynamics forward and inverse solution calculation, so that the control algorithm is complex. The structural form and the degree of freedom of the isomorphic master and slave manipulators (left arms) 12 are completely the same, the slave hand moves along with the master hand in proportion, the structure is simple, and the control method is easy to realize. The system adopts a homomorphic master hand which is a 6-degree-of-freedom rod system and consists of a waist joint, an arm joint, a wrist joint, a balance block and a basic rod piece which correspond to the operation mechanical arm, and the structural schematic of the system is shown in figure 2. The activity space is limited by the incomplete gear, and a position encoder is arranged in each joint, so that the position information of the joint can be accurately acquired. Two 6-freedom-degree master hands are arranged in the master control chamber and correspondingly control two slave mechanical arms.

The master hand control system adopts the same control structure as the slave arm, takes a BeckHoff CX2020 motion brake as a core, and drives motors of all axes in a torque control mode. The system can acquire the shaft position and the torque of each shaft motor in real time. By introducing a mechanical arm dynamic model and an impedance model into a control algorithm, the acting force of an operator acting on the tail end can be calculated, and meanwhile, the interference of gravity and friction force is eliminated. According to the direction and the size of the acting force of the tail end, the main hand is controlled to move along the traction direction of the operator, the operator can pull the main hand to move with small force, and the burden of the operator is reduced.

The working robot operator is in the main control room 21, the working environment of the high-altitude working field is transmitted to the main control console through the field camera, the operator operates the main control console through the field video displayed on the main control display, and the master hand or the keyboard and the mouse are used for controlling the working mechanical arm to complete the live working. This improves the previous working robot working mode (the operator standing in the overhead insulated bucket 18 to operate the robot arm) and improves the safety and comfort of the personnel. However, when the operation is performed at a precise position, the operation mode of visually judging the target point reached by the manual control mechanical arm is likely to cause position errors, thereby reducing the operation efficiency and the operation quality. For example, when the insulator is replaced, the mechanical arm needs to unscrew the fixing bolt of the insulator, the outer diameter of the 10kV power distribution network insulator bolt is small and is generally within 3 cm, and the process that the mechanical arm clamps the sleeve to the bolt needs high precision. Because if there is a deviation in position, the sleeve appears to fit over the bolt, but may be skewed or misaligned, causing the bolt to be unable to unscrew. To solve this problem, a working robot uses a combination of master-slave control and autonomous control. The mechanical arm is subjected to long-distance coarse precision displacement and positioning and is operated by manual visual observation; short-distance high-precision displacement and positioning are realized, and the movement is autonomously controlled through machine vision recognition and positioning.

Generally, two installation positions of a camera of a machine vision system are provided, wherein one installation position is a fixed position where the camera is installed outside a mechanical arm and is called as a fixed camera system; another is that the camera is mounted on a robotic arm, typically the end joint, in what is called the hand-eye system. The fixed camera system image coordinate system is fixed, the calculation is simple, the robot kinematic error is insensitive, and the situation that the target cannot be shot due to the shielding of the mechanical arm may exist in the live working process. The hand-eye system can realize accurate control, can avoid shielding, but is sensitive to the calibration error of the system and the motion error of the robot. The system adopts a mode of combining the binocular camera and the hand-eye system, takes the advantages of the two modes, and works in a mutually matched mode. The system is provided with an independent observation mechanical arm, a binocular camera is arranged on the observation arm, and a target is identified and positioned through a binocular vision technology; a camera is arranged above a joint at the tail end of each mechanical arm, moves along with the mechanical arm, is close to equipment, and can meet the requirement of project precision. When the system works, an operator controls the motion of the mechanical arm in the main control room 21 through a main hand, simultaneously observes images transmitted back by the camera of the hand-eye system, determines an operation object in a picture by using a mouse when the operation object appears in the picture, starts the autonomous control, and the mechanical arm autonomously searches the operation object. A binocular camera mounted on the observation arm identifies and positions the target and the mechanical arm and provides position information for the mechanical arm as a movement reference. The camera at the end of the arm can provide a monitoring image for an operator on one hand, and provides a high-resolution image of a target by utilizing the advantage of close distance to assist positioning on the other hand.

The system camera adopts a high-resolution analog quantity camera and adopts a multi-channel machine for data transmission, so that the problem of image delay caused by the decompression process of the network camera is reduced, and meanwhile, multi-channel high-definition images can be transmitted.

The power distribution operation robot has the advantages that the operation environment is outdoor, light is strong when the weather is clear, and the acquired image often has white spots, so that image processing information errors are caused. In order to solve the problem, a composite light filtering system consisting of an aperture diaphragm, a narrow-band light filter and a polarizing film is added in front of a camera lens, so that the light flux and the light intensity of the light entering can be effectively filtered, the light wave with non-characteristic central wavelength is filtered, and the image definition is improved.

The images of the target points in the left camera and the right camera respectively have coordinate differences, which are generally called parallax, and the binocular stereo vision three-dimensional measurement is based on the parallax principle, and a schematic diagram of the binocular stereo vision three-dimensional measurement is shown in fig. 7.

Let two cameras take an image of the target point P (x, y, z) at the same time, and the image coordinates on the left and right cameras are P left (x left, y right) and P left (x right, y right), respectively. Assuming that the two cameras are on the same plane, the coordinates y of the left and right images of the feature point P are the same, which are uniformly recorded as y, and the focal length of the camera is f, which can be obtained by the trigonometric relationship,

then the parallax is:

D＝x_{left side of}-x_{Right side}。

From this, the three-dimensional coordinates of P in the stereo camera coordinate system can be calculated:

the mobile carrier is refitted by a caterpillar model machine with excellent obstacle crossing performance, a good driving effect and a good supporting and stabilizing effect can be provided, and on the basis, the design is carried out by 4 telescopic and foldable supporting leg structures as an additional auxiliary support to increase the stability of the whole system during the high-altitude operation of the lifting platform. The additional supporting leg structure can be completely contracted to be close to the vehicle body in the transportation process of the bottom moving platform so as to keep the compact shape of the moving carrier part and increase the obstacle crossing capability.

Carrier loader data

The crawler-type moving carrier of the high-pressure operation robot mainly comprises a hydraulic power source, a crawler traveling system, a thrust wheel, a riding wheel, a rack and the like, wherein the hydraulic power source comprises a diesel engine, an oil pump and the like.

Selection of diesel engine: the high-pressure operation robot moving carrier engine is an important part of a crawler-type moving carrier component. The problems to be considered when selecting the type are more, such as the purpose of the moving carrier, the total weight, the total arrangement, the dynamic performance, the economical efficiency, the use requirement, the discharge noise, the matching power requirement of the oil pump and the like.

The selected engine should have the following characteristics: 1. the adaptability to the geography and climate environment is strong; 2. the heat load is small, and the power is high; 3. the heat dissipation effect is good; 4. the emission index and the oil saving effect are good; 5. the warm-up time after cold start is short; 6. high reliability, simple maintenance and the like.

The water-cooled diesel engine is selected to take away heat from the high-temperature part of the engine by taking cooling liquid as a cooling medium relative to the air-cooled diesel engine, and then the heat is transferred to the atmosphere through a radiator. The water cooling mode does not directly radiate heat to the atmosphere, but utilizes an intermediate cooling medium, namely cooling liquid, to transfer heat. Apparently, the heat transfer is troublesome in an intermediate link, but actually, the heat transfer is not so, and the cooling effect of the water cooling mode is in an advantage just because of the existence of the cooling liquid. The cooling liquid can easily adjust the cooling intensity of each part and the temperature of the engine. The flow direction of the cooling liquid is irrelevant to the blowing direction of cold air, heat at all positions of the engine can be freely taken away, cooling of local areas can be intensively enhanced, and heat preservation can be carried out on certain positions. When the robot runs at a low speed or stops, as long as the cooling fan rotates, the cooling system has enough heat dissipation capacity, and the engine can be ensured to work in an optimal temperature state all the time. Therefore, a water-cooled diesel engine is determined to be used as a power source of the moving carrier of the high-pressure operation robot.

The crawler traveling system of the moving carrier of the high-pressure operation robot comprises three major parts, namely a rack crawler, a traveling device and a drive axle. The frame is a framework of the whole machine and is used for mounting all assemblies and parts of a moving carrier of the high-pressure operation robot, so that the whole machine becomes a closed frame; the walking device is used for supporting the machine body and converting driving torque and rotary motion transmitted to a driving wheel by a power source formed by a diesel engine into driving force and front-back motion required by the execution working condition and running of a moving carrier of the high-pressure operation robot.

The crawler traveling device comprises a crawler, a driving wheel, a thrust wheel, a riding wheel, a guide wheel, a crawler tensioning device and the like, wherein a left crawler and a right crawler are wound outside the four wheels and are tensioned by the tensioning device to be directly contacted with the ground. The driving wheel drives the track to rotate around the four wheels and does not directly roll on the ground. The purpose of the guide wheels is to tension the track and guide it to wind correctly, but not to deflect it with respect to the fuselage, i.e. not to perform a steering action. A plurality of thrust wheels roll freely on the track surface of the crawler and play a role of transferring the weight of the machine to the crawler. The riding wheel supports the upper half edge of the crawler belt and prevents the crawler belt from sagging, the crawler belt walking device has larger ground contact area than a tire, the ground contact specific pressure is small, the weight of the whole machine supported by the crawler belt is the attachment weight, and most of the supporting surfaces of the crawler belt are provided with the pedestrures, so that the crawler belt walking device has strong ground gripping capability and is not easy to slip, and the attachment traction performance and the passing performance are much better than those of a tire type walking device. This behavior is particularly pronounced when the tracked mobile carrier is traveling on soft ground. The crawler belt is used for transmitting the weight of the crawler belt type complete machine to the ground and ensuring that crawler belt type mechanical energy can generate enough driving force. The crawler belt usually works in muddy water, uneven ground and places with severe environment, and is poor in stress condition and easy to wear. Thus, in addition to good adhesion properties, the track is required to have sufficient strength, rigidity and wear resistance, but to be as light in weight as possible. At present, most of tracks of the crawler-type chassis are made of steel and rubber materials, and small tracks are made of rubber generally. The steel wire is arranged in the middle of the rubber layer of the crawler belt, so that the tensile strength can be enhanced, and the shock absorption capacity is realized. The drive wheels are used to drive the tracks. It is installed on the driven wheel hub of the final transmission device, generally cast by carbon steel, and the tooth surface is not machined after heat treatment. Its pitch is typically half of the track pitch, i.e. every other tooth meshes with the track pitch. The diameter of a driving wheel of the moving carrier of the high-pressure operation robot is small, excessive teeth are not easy to arrange, and therefore the tooth pitch of the driving wheel is equal to the pitch of the crawler. The supporting wheel is used for transferring the weight of a moving carrier of the high-pressure operation robot to the crawler belt, and the crawler belt is clamped and does not transversely slide out except rolling along the rail surface of the crawler belt in the running process of the whole machine. When the whole machine turns, the crawler belt is forced to transversely slide on the ground. The thrust wheel usually works in muddy water and dust, has poor environment, bears strong impact and has poor working conditions, so that the sealing of relative rotating parts of the thrust wheel is required to be reliable. The rim is wear-resistant, and the thrust wheel has a single side and a double side. The unilateral wheel has the chimb only the inboard or the outside of two wheels, and the both sides wheel is then all the chimb in the inside and outside of wheel, makes it centre gripping track better, but its rolling resistance is great, because high-pressure operation robot moves the carrier wheel base shorter, the track is difficult for droing when the motion, so the complete machine all adopts the unilateral wheel. The riding wheels are used for bearing the weight of the upper part of the crawler belt and preventing the upper part of the crawler belt from sagging too much so as to reduce the phenomenon of vibration and jumping during movement, and simultaneously, the riding wheels guide the movement direction of the upper part of the crawler belt and prevent the upper part of the crawler belt from sliding off laterally. The form of the riding wheel is similar to that of the thrust wheel, but the riding wheel bears small force and has good working conditions, so that the riding wheel has a simpler structure and a smaller size. The guide wheel has the functions of supporting the caterpillar track and guiding the caterpillar track to be wound correctly, and simultaneously, the guide wheel and the tensioning device arranged behind the guide wheel can keep the caterpillar track at a certain tension degree, alleviate the impact force transmitted from the road and reduce the vibration and jumping phenomenon of the caterpillar track in the moving process. The bounce during the track movement can result in impact loads and additional power consumption, accelerating wear between the track and the idler. When the track meets an obstacle, the tensioning device can enable the guide wheels to move backwards a little, so that the track is prevented from being excessively tensioned locally. The guide wheel of the moving carrier of the high-pressure operation robot adopts an integral roller wheel with a flange in the middle, the section of the integral roller wheel is box-shaped, the flange part is just clamped between a left track section and a right track section of a track, the guide wheel is arranged on a guide wheel shaft through a sliding bearing with a pair of bimetallic bushings, and the form and the fixing mode of the bearing are the same as those of a supporting wheel. The two ends of the guide wheel shaft are arranged in the left and right supporting blocks and are clamped in the semicircular notches at the end parts of the shaft by conical stop bolts so as to prevent the shaft from rotating and axially moving. The guide wheel supporting slide block is fixed on the bracket by two guide plates pressed by springs, so that the supporting slide block can move back and forth along the guide strip on the upper part of the bracket. Guide plate covers are fixed on the outer side faces of the left supporting block and the right supporting block, and adjusting gaskets are arranged between the guide plate covers and the supporting sliding blocks and used for adjusting gaps between the guide plate covers and the supports so as to ensure that guide wheels and supporting wheels are on the same straight line. The guide plate cover and the supporting slide block jointly prevent the lateral inclination of the guide wheel. The rear surfaces of the left and right supporting sliding blocks are provided with tensioning devices through left and right fork arms. The stability of the moving carrier of the high-pressure operation robot refers to the anti-tipping performance of the whole machine in operation and working, and is an important measurement index for ensuring the safety and normal working of the whole machine. The high-pressure operation robot removes the carrier and should have suitable stability, if poor stability, will restrict the operation working range that high-pressure operation robot removed the carrier, influence the explosive handling work and go on, endanger personnel's safety, can cause the accident of overturning when serious. However, if the stability of the whole robot is considered too much, the self weight of the robot is increased, and the load of the whole robot is increased correspondingly. The stability of the moving carrier of the high-pressure operation robot is divided into longitudinal stability and transverse stability, and the stability performance of the moving carrier of the high-pressure operation robot is measured by using two indexes of tipping moment and stabilizing moment respectively. Moment for tilting the moving carrier of the high-pressure operation robot: such as counter force generated when the high-pressure operation robot moves the carrier and moment generated by inertia force, gradient, etc. of the complete machine; moment for keeping the moving carrier of the high-pressure operation robot stable: such as the moment generated by the self-weight of the whole machine; if the tilting moment acting on the whole machine is larger than the stabilizing moment, the whole machine loses stability and the tilting occurs. The degree of stability of the moving carrier of the high-pressure working robot can be expressed by the ratio of the stabilizing moment to the tilting moment, and the ratio K is called a stabilizing coefficient K as stabilizing moment/tilting moment. In order to ensure the stability of the moving carrier of the high-voltage operation robot, the K value of the stability coefficient is generally more than or equal to 2 according to the regulation of engineering machinery in consideration of the dynamic load during explosive disposal and the uneven ground surface.

1) Longitudinal stability

If the elastic deformation of the track is not taken into account, its longitudinal stability is

In the formula: mo G sin alpha h is the tipping moment of the high-pressure operation robot when the moving carrier is longitudinal; ms G cos alpha a is the stable moment of the high-pressure operation robot in the longitudinal direction of the moving carrier. When the moving carrier of the high-pressure operation robot loses longitudinal stability and rolls over around the grounding point of the rear wheel in a connecting line mode, the pressure of the guide wheel is the total weight of the moving carrier of the high-pressure operation robot, and the pressure of the driving wheel is zero. Therefore, the guide wheel pressure is increased, the drive does not bear load, an additional gradient is added to the supporting surface of the moving carrier of the high-pressure operation robot due to different deformations of the front wheel and the rear wheel, the stability is reduced, and the actual stable angle is reduced.

2) Lateral stability

Under the action of transverse external moment M G sin alpha h, the left track grounding pressure is increased, the right track grounding pressure is reduced, when M is increased to a certain value, the right side grounding pressure is zero, and at the moment, the critical point of rollover is that the external load is reduced, and the stabilizing moment is increased.

The insulation of the robot arm system is designed as follows.

The tail end rod piece of the operation mechanical arm and the tail end connecting piece of the lifting mechanism are made of composite insulating materials, and the insulating connecting piece is formed by winding epoxy glass cloth outside the drawing rod and heating and curing the epoxy glass cloth. For the insulation strength, the interlayer insulation has been satisfied, and the main solution is surface discharge, and in order to ensure the insulation reliability of the 10KV high voltage, the length of the insulating material portion is designed to be 120mm, and is made in a corrugated shape so that the surface discharge distance reaches 220 mm. By the connection of the insulating materials, the insulation between each part of the robot and the insulation of the platform to the ground are realized.

The number of times of average operation of the power supply bureau is nearly saturated for 100 times in the current year, the requirement of 20 persons in a gap is met in 2020, the requirement of live working can not be met by the existing resources, the average age is 42 years, the proportion of persons over 50 years is ultrahigh, the operation efficiency is low, at least 4 persons can carry out operation, and the limitation of geographic environment factors is serious.

Direct economic benefits:

(1) according to the existing power supply bureau, 7700kW & h more power can be supplied for each hot-line work, 1000 times of calculation can be carried out for each hot-line work through the intelligent robot arm, and more power can be supplied for each year:

a equals 7700 equals 1000 equals 770 ten thousand kw.h

The income added for power supply enterprises is as follows:

y, a, 770, 10000, 0.5, 385 ten thousand yuan

In the formula, the price of electricity is 0.5 yuan/kW.h

(2) Calculating according to the personnel, efficiency and cost participated in live working of the existing power supply bureau;

traditional 10kV live working (A), 10kV intelligent mechanical arm live working (B)

The operation cost is 3000 yuan/6000 operations are 1800 ten thousand;

b is the operation cost per time, the operation times is 2400 yuan/person times, 6000 operation times is 1440 ten thousand;

cost saving C1800 ═ A-B1440 ═ 360 (ten thousand yuan)

Satisfy 2020 demand through intelligent machinery arm operation, liberation work productivity for improve work efficiency, realize "185611" strategic objective smoothly, in some distribution network live working projects, it is imperative to introduce automation, mechanized operation equipment.

Indirect economic benefits:

calculated according to the total quantity of GDP of 2016 grade city of 4300 million yuan, 270.54 million kW.h,

the contribution of each degree of electricity of the grade city to the GDP is as follows:

p4300/270.54 ≈ 15.89 yuan/kW · h

The indirect economic benefit brought by popularizing the live working of the intelligent mechanical arm in the city of land level is

7700000 kW.h 15.89 yuan/kW.h 1.22 billion yuan.

The robot operating system provided by the embodiment of the present application is described in detail above. The above description of the embodiments is only for the purpose of helping to understand the method of the present application and its core ideas; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

As used in the specification and claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect. The description which follows is a preferred embodiment of the present application, but is made for the purpose of illustrating the general principles of the application and not for the purpose of limiting the scope of the application. The protection scope of the present application shall be subject to the definitions of the appended claims.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

The foregoing description shows and describes several preferred embodiments of the present application, but as aforementioned, it is to be understood that the application is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the application as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the application, which is to be protected by the claims appended hereto.

Claims (10)

1. The utility model provides a robot operation system, its characterized in that, the system includes work robot, observation equipment, insulating apparatus, jacking equipment, bears equipment and controlgear, work robot and observation equipment all set up on insulating apparatus, insulating apparatus fixed connection jacking equipment, jacking equipment and controlgear all set up on bearing equipment.

2. The robot working system according to claim 1, wherein the robot includes a master manipulator, a slave manipulator, a drive unit, a control center, and a video capture unit, the master manipulator, the slave manipulator, the drive unit, and the video capture unit are all connected to the control center, the master manipulator and the slave manipulator are all manipulator arms having the same degree of freedom and structure, and the video capture unit is disposed on the periphery side of the master manipulator and the slave manipulator.

3. The robot operating system according to claim 2, wherein one or only one of the master manipulator and the slave manipulator further comprises a clamping hand, the clamping hand is arranged at the tail end of the master manipulator or the slave manipulator, the two sides of the position of the clamping hand are provided with semi-circular arc-shaped convex surfaces, the clamping hand is provided with a drainage wire pre-fixing crimping device and a main conductor fixing crimping device, the drainage wire pre-fixing crimping device tightly connects the drainage wire fixing bolt, and the main conductor fixing crimping device tightly presses the main conductor between the semi-circular arc surface of the upper pressing block and the semi-circular arc surface of the lower fixing supporting block through the main conductor fixing bolt.

4. The robot working system according to claim 3, wherein the robot arm includes a function button, a large arm, a small arm, a wrist, a balance portion, a waist and a base, the function button, the wrist, the balance portion, the small arm, the large arm, the waist and the base are connected in sequence to form a six-degree-of-freedom rod system, position encoders are disposed in the function button, the large arm, the small arm, the wrist, the balance portion, the waist and the base, an execution component is disposed in each degree of freedom in the six-degree-of-freedom rod system, the execution component includes a deformation mechanism, a displacement sensor and a limit switch, the position encoders are connected with the deformation mechanism through the limit switch, and the displacement sensor is connected with the deformation mechanism.

5. A robot working system according to claim 4, wherein the deformation mechanism is a harmonic reducer in a degree of freedom between the waist portion and the base, and a rotation range of the waist portion is 0 ° to 180 °.

6. A robotic work system as claimed in claim 4, characterized in that in the degree of freedom between the small and large arms, the deformation mechanism is an electric putter mechanism and the maximum pitch angle of the small arm is 110 °.

7. The robot working system according to claim 4, wherein the distortion mechanism is a planetary gear reducer in the degree of freedom between the balancer portion and the arm, and a maximum rocking angle of the balancer portion is 105 °.

8. The robot working system according to claim 4, wherein in the degree of freedom between the wrist portion and the balance portion, the deformation mechanism is an electric putter mechanism, and a maximum pitch angle of the wrist portion is 100 °.

9. The robot working system according to claim 4, wherein the function key and the wrist are arranged such that the deformation mechanism is a planetary gear reducer and the balance has a maximum rocking angle of 105 °.

10. The robotic work system as claimed in claim 1, wherein the observation device, the insulation device, the lifting device, the carrying device and the control device are in turn a global observation pan head, an insulation bucket, a lifting arm, a carrier truck and a control room, respectively.

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