阅读说明：本技术 地电位作业方法、配网架空线路带电作业机器人和机械手 (Ground potential operation method, live working robot for distribution network overhead line and manipulator ) 是由 吴少雷 冯玉 吴凯 凌松 唐旭明 王�琦 杨波 谢正勇 张征凯 戚振彪 韩先国 于 2019-08-02 设计创作，主要内容包括：本发明公开了一种地电位作业方法、配网架空线路带电作业机器人和机械手,该地电位作业方法使用爬杆工具载台和由其携带的操作臂,包括以下步骤：将爬杆工具载台抱紧在电杆上,其中,所述爬杆工具载台处于地电位；控制爬杆工具载台携带带电作业工具爬升至预定位置,其中,所述带电作业工具通过操作臂与爬杆工具载台保持安全距离；以及由地面遥控所述操作臂和带电作业工具,进行地电位作业法作业。本发明实现了配网架空线路的地电位作业,本带电作业机器人能够携带各种带电作业工具,本握持机械手具有静态握持自锁能力和较强的杆径变化适应能力。(The invention discloses a ground potential operation method, a live-line operation robot for a distribution network overhead line and a manipulator, wherein the ground potential operation method uses a pole-climbing tool carrier and an operation arm carried by the pole-climbing tool carrier, and comprises the following steps: the pole climbing tool carrying platform is tightly held on an electric pole, wherein the pole climbing tool carrying platform is at the ground potential; controlling the pole-climbing tool carrying platform to carry the live working tool to climb to a preset position, wherein the live working tool keeps a safe distance with the pole-climbing tool carrying platform through an operating arm; and remotely controlling the operating arm and the live working tool from the ground to perform ground potential working method operation. The invention realizes the ground potential operation of the overhead line of the distribution network, the live working robot can carry various live working tools, and the holding manipulator has the static holding self-locking capability and the strong rod diameter change adaptability.)

1. A holding rod manipulator is characterized in that,

The large arm comprises a linear driving mechanism,

The driving wheel mechanism comprises a driving wheel swing arm pivoted to the large arm, a driving wheel, a swing driving mechanism for driving the driving wheel swing arm to pivot and a rotary driving mechanism for driving the driving wheel to rotate,

The small arm is slidably arranged on the large arm along the length direction of the large arm and is driven by the linear driving mechanism to move along the length direction of the large arm;

The driven wheel mechanism is arranged on the small arm and comprises a first driven wheel and a second driven wheel which are arranged in a centering way in the direction vertical to the large arm and a set of gear rack and pinion assembly for driving the first driven wheel and the second driven wheel to move in a centering way,

The first driven wheel, the second driven wheel and the driving wheel are arranged in an isosceles triangle shape, and the first driven wheel and the second driven wheel move in a centering mode along with the small arm moving towards the driving wheel so as to hold the rod body.

2. The gripper manipulator of claim 1, wherein the linear driving mechanism comprises a motor, a T-shaped lead screw nut transmission assembly and a centering control module, wherein the T-shaped lead screw nut assembly is used for driving the small arm to move and can be self-locked, and the centering control module is used for driving the set of gear rack assemblies to perform centering motion.

3. The gripper manipulator of claim 2, wherein the set of rack and pinion assemblies comprises a center positioning gear, a left rack, and a right rack, wherein the first driven wheel is disposed on the left rack, the second driven wheel is disposed on the right rack, and the centering control module is in kinematic engagement with a distal end of the left rack.

4. The gripper robot of claim 3 wherein the centering control module is a right triangle guide plate, the hypotenuse of the guide plate being in kinematic engagement with the end of the left rack.

5. the gripper manipulator of claim 1, wherein the swing driving mechanism comprises a speed reduction motor and a driving wheel swing arm link, the driving wheel swing arm link has a folded state and a linearly unfolded state, and the driving wheel swing arm extends laterally of the large arm and is in a position self-locking stable state when the driving wheel swing arm link is in the linearly unfolded state.

6. The gripper manipulator of claim 1, adapted for use on a pole climbing tool carrier and a manned pole climbing work platform.

7. The gripper manipulator of claim 1, wherein the rotational drive mechanism comprises a motor and a worm gear reducer for power-off self-locking.

8. A ground potential working method using a pole-climbing tool carrier and an operating arm carried thereby, comprising the steps of:

s101, holding a pole climbing tool carrying platform tightly on an electric pole, wherein the pole climbing tool carrying platform is at the ground potential;

s103, controlling the pole-climbing tool carrier to climb to a preset position with the live-wire work tool, wherein the live-wire work tool keeps a safe distance with the pole-climbing tool carrier through an operating arm; and

And S105, remotely controlling the operating arm and the live-wire work tool from the ground to perform ground potential work method work.

9. A distribution network overhead line live working robot of a ground potential working method comprises a pole-climbing tool carrying platform and an operating arm arranged on the pole-climbing tool carrying platform, wherein the pole-climbing tool carrying platform comprises a left trunk, a right trunk, an upper holding rod manipulator and a lower holding rod manipulator which are positioned on the left trunk, an upper holding rod manipulator and a lower holding rod manipulator which are arranged on the right trunk, and a lifting executing mechanism for driving the left trunk and the right trunk to alternatively lift; and the top end of the operating arm is provided with a live working tool for a ground potential working method.

10. The distribution network overhead line live working robot of the ground potential operation method according to claim 9, wherein the operation arm has a connection base and a cantilever bracket hinged thereto, wherein the cantilever bracket has an insulation rod with an adjustable posture thereon, and the cantilever bracket has a horizontal posture and a pitching adjustment posture.

11. The distribution network overhead line live working robot of the ground potential working method according to claim 9, wherein the insulating rod is controlled in posture relative to the cantilever frame and is distributed in a conical shape during working.

12. The distribution network overhead line live working robot of the ground potential working method according to claim 10, wherein the insulation rod performs top end leveling by insulation rod length adjustment and cantilever frame attitude adjustment.

13. The distribution network overhead line live working robot of the ground potential working method according to claim 10, characterized in that the attitude adjustment of the cantilever frame and the insulating rod is realized by an electric push rod.

14. The distribution network overhead line live working robot of the ground potential working method according to claim 9, wherein the pole-climbing tool stage has a robot arm mounting interface, and the operation arm is detachably mounted on the robot arm mounting interface.

15. The distribution network overhead line live working robot of the ground potential working method according to claim 9, characterized in that the live working tool includes an intelligent live working tool.

Technical Field

The invention relates to the field of pole-climbing robots, in particular to a ground potential operation method, a distribution network overhead line live-line operation robot and a holding rod manipulator.

Background

Electric power workers often carry out high-altitude operations such as erection, maintenance and maintenance of electric wires and cables, and the operation is high in danger degree, high in labor intensity and low in efficiency.

The existing various power distribution live working robots mostly use an insulating bucket arm vehicle as a working platform, carry double mechanical working arms or multiple working arms to carry out live working by an intermediate potential method, and the live working is insulated from the ground by using the working platform of the insulating bucket arm vehicle.

the pole climbing device can also replace manual pole climbing to carry out dangerous operation.

Traditional climbing robots are classified into inchworm type and roller type according to the climbing mode. The roller type climbing pole is mainly characterized in that positive pressure on a cylindrical pole is actively exerted through a roller, and therefore friction force is generated to overcome gravity. The inchworm-type climbing rod is mainly characterized in that the upper end and the lower end are alternately clamped and loosened, and climbing is realized through movement or rotation of the connecting part.

the inventor provides a manned pole-climbing operation platform, as shown in fig. 1, its main characteristics of pole-climbing action are that left truck and right truck have two holding rod manipulators from top to bottom respectively, and the holding rod manipulator of left truck and right truck presss from both sides tightly in turn to the body of rod and relaxs, makes the two alternative lifts of left truck and right truck through lift final controlling element, realizes the climbing.

Compared with an inchworm type climbing rod mode, the walking type climbing rod mode with the left trunk and the right trunk climbing alternately has the characteristics of stable motion process, strong bearing capacity and suitability for installing operation tools.

in the process of implementing the manned pole-climbing operation platform, the inventor finds that the manned pole-climbing operation platform can also be used for bearing/installing fixed operation tools and is used as a distribution network overhead line live-line operation robot in a ground potential operation method.

In addition, for the holding manipulator, the holding manipulator preferably has static holding self-locking capability and strong rod diameter change adaptability.

Disclosure of Invention

the invention aims to provide a holding manipulator which has strong adaptability to rod diameter change of a rod body.

The invention also aims to provide a ground potential operation method to realize the ground potential operation of the overhead line of the distribution network.

the invention also aims to provide the distribution network overhead line live working robot adopting the ground potential working method, so as to realize the live working by the ground potential working method.

To this end, the invention provides a gripper manipulator, which comprises a large arm, a linear driving mechanism and a gripper, wherein the large arm comprises a linear driving mechanism; the driving wheel mechanism comprises a driving wheel swing arm pivoted to the large arm, a driving wheel, a swing driving mechanism for driving the driving wheel swing arm to pivot and a rotary driving mechanism for driving the driving wheel to rotate; the small arm is slidably arranged on the large arm along the length direction of the large arm and is driven by the linear driving mechanism to move along the length direction of the large arm; the driven wheel mechanism is arranged on the small arm and comprises a first driven wheel, a second driven wheel and a set of gear rack assembly, wherein the first driven wheel and the second driven wheel are arranged in a centering mode in the direction perpendicular to the large arm, the set of gear rack assembly is used for driving the first driven wheel and the second driven wheel to move in a centering mode, the first driven wheel, the second driven wheel and the driving wheel are arranged in an isosceles triangle mode, and the first driven wheel and the second driven wheel move in a centering mode along with the small arm to the driving wheel so as to grip the rod body.

Further, the linear driving mechanism comprises a motor, a T-shaped lead screw nut transmission assembly and a centering control module, wherein the T-shaped lead screw nut assembly is used for driving the small arm to move back and forth and can be self-locked, and the centering control module is used for driving the gear rack assembly to perform left and right centering motion.

Further, the gear rack assembly comprises a central positioning gear, a left rack and a right rack, wherein the first driven wheel is arranged on the left rack, the second driven wheel is arranged on the right rack, and the centering control module is in motion fit with the tail end of the left rack.

Furthermore, the centering control module is a right-angled triangle guide plate, and the bevel edge of the guide plate is in motion fit with the tail end of the left rack.

Further, above-mentioned swing actuating mechanism includes gear motor and action wheel swing arm connecting rod, action wheel swing arm is connected and is had fold condition and sharp development condition, the action wheel swing arm is in when action wheel swing arm connecting rod is located sharp development condition to the side direction of big arm stretches out and is located position auto-lock state.

Furthermore, a through groove is formed in the large arm, and the driving wheel swing arm connecting rod is accommodated into the inner cavity of the large arm when the driving wheel swing arm connecting rod is in a folded state.

Further, the rotary driving mechanism comprises a motor and a worm gear speed reducer, and is used for self-locking when power is cut off.

furthermore, the holding rod manipulator is used on a pole climbing tool carrying platform and a manned pole climbing operation platform.

According to another aspect of the present invention, there is provided a ground potential working method using a pole-climbing tool carrier and an operating arm carried thereby, the ground potential working method comprising the steps of: s101, holding a pole climbing tool carrying platform tightly on an electric pole, wherein the pole climbing tool carrying platform is at the ground potential; s103, controlling the pole-climbing tool carrier to climb to a preset position with the live-wire work tool, wherein the live-wire work tool keeps a safe distance with the pole-climbing tool carrier through an operating arm; and S105, remotely controlling the operating arm and the live-wire tool from the ground to perform ground potential working method operation.

The invention also provides a distribution network overhead line live working robot of a ground potential working method, which comprises a pole-climbing tool carrying platform and an operating arm arranged on the pole-climbing tool carrying platform, wherein the pole-climbing tool carrying platform comprises a left trunk, a right trunk, an upper holding rod manipulator and a lower holding rod manipulator which are positioned on the left trunk, an upper holding rod manipulator and a lower holding rod manipulator which are arranged on the right trunk, and a lifting executing mechanism for driving the left trunk and the right trunk to alternatively lift; the top end of the insulating rod is provided with a live working tool for a ground potential working method; and only the operating arm and the pole-climbing tool carrier among the operating arm, the pole-climbing tool carrier and the electric pole are subjected to insulation treatment.

Furthermore, the operating arm is provided with a connecting seat and a cantilever bracket hinged with the connecting seat, wherein the cantilever bracket is provided with an insulating rod with an adjustable pose, and the cantilever bracket is provided with a horizontal pose and a pitching adjusting pose.

Furthermore, the attitude of the insulating rod relative to the cantilever frame is controllable, and the insulating rod is distributed in a conical shape during operation.

Further, the working length of the insulation rod is adjustable and can rotate around the axis of the insulation rod.

Further, the insulating rod is used for leveling the top end through insulating rod length adjustment and cantilever frame posture adjustment.

Furthermore, the posture adjustment of the cantilever frame and the insulating rod is realized by an electric push rod.

Further, the pole-climbing tool carrier is provided with a mechanical arm mounting interface, and the operating arm is detachably mounted on the mechanical arm mounting interface.

Further, the above-described live-wire work tool includes an intelligent live-wire work tool.

According to the gripping robot of the present invention, the grip is operated as follows: the pair of driven wheels moves close to the driving wheel and moves in a centering way in the process, and the pair of driven wheels is matched with the driving wheel in an isosceles triangle shape to hold the rod body, so that the rod diameter adaptive range is large. In addition, the driving wheel and the pair of driven wheels of the holding manipulator have position self-locking capacity, so that a static holding self-locking function is realized.

the invention provides a distribution network overhead line live working robot adopting a ground potential working method, which takes a pole-climbing tool carrier as a platform and carries out live working by adopting the ground potential working method.

In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a first schematic structural view of a manned pole-climbing work platform according to the present invention;

FIG. 2 is a second schematic structural view of the manned pole-climbing work platform according to the present invention;

Fig. 3 is a first structural schematic diagram of a holding pole executing mechanism of the manned pole-climbing work platform according to the invention;

Fig. 4 is a second structural schematic diagram of a pole holding executing mechanism of the manned pole-climbing work platform according to the invention;

fig. 5 is a first schematic internal structural diagram of a holding pole executing mechanism of the manned pole-climbing work platform according to the invention;

fig. 6 is a second schematic internal structural diagram of a pole holding executing mechanism of the manned pole-climbing work platform according to the invention;

figures 7a to 7c illustrate the climbing process of the pole embracing actuator of the man-carrying pole climbing work platform according to the present invention, wherein figure 7a illustrates a state in which the right torso is down; FIG. 7b shows the right torso raised flush with the left torso; FIG. 7c shows the right torso lifted above the left torso;

Figure 8 shows a schematic cross-sectional view of a pole embracing actuator for a manned pole climbing work platform according to the present invention;

Fig. 9a to 9c show a pole-climbing process of the manned pole-climbing work platform according to the invention, wherein fig. 9a shows a pole-climbing state with the left torso down, fig. 9b shows a pole-climbing state with the right torso down, and fig. 9c shows a state that the left torso and the right torso simultaneously embrace the pole;

FIG. 10 is a perspective view of a gripper robot for a pole-climbing tool carrier according to the present invention;

FIG. 11 is a side view of a grip robot for a pole climbing tool carrier according to the present invention;

FIG. 12 is a schematic view of the internal structure of a gripper robot for a pole-climbing tool carrier according to the present invention;

Fig. 13 shows the left hand of the stage of the climbing tool according to the present invention in a gripping state and the right hand in an evacuation state;

Fig. 14 shows the left hand in an evacuation state and the right hand in a gripping state of the stage of the climbing tool according to the present invention;

FIG. 15 illustrates a gripping action of a grip robot for a pole-climbing tool carrier according to the present invention;

FIG. 16 shows a control circuit for a grip robot for a pole-climbing tool carrier according to the present invention;

FIG. 17 illustrates a pole embracing action of the pole climbing tool carrier according to the present invention;

Fig. 18 shows a schematic view of a distribution network overhead line live working robot according to the ground potential working method of the present invention;

FIG. 19 shows a schematic view of a pole climbing tool carrier according to the present invention; and

Fig. 20 shows a flow chart of a ground potential working method according to the present invention.

Detailed Description

it should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

Fig. 1 to 9c show an embodiment of a man-carrying pole-climbing work platform according to the invention. Fig. 10 to 17 illustrate an embodiment of a grip manipulator according to the present invention. Fig. 18 shows an embodiment of a distribution network overhead line live working robot according to the invention. FIG. 19 shows an embodiment of a pole climbing tool carrier according to the present invention; fig. 20 shows a flow chart of a ground potential working method according to the present invention. The reference numbers of different embodiments are different in numbering rules, and in the same embodiment, the same reference numbers are used for the same components.

as shown in fig. 1 and 2, the manned pole-climbing work platform of the present invention includes a main frame 1, a control handle 2, a left trunk 3, a right trunk 4, a seat 6, four limbs (a left upper holding rod mechanism 7, a left lower holding rod mechanism 8, a right upper holding rod mechanism 9, and a right lower holding rod mechanism 10), a left safety wheel 17, and a right safety wheel 18.

The left trunk 3 and the right trunk 4 are in a bilateral symmetry structure, and the left trunk 3 and the right trunk 4 are driven by the lifting execution mechanism to alternately move in the vertical direction.

each gripper mechanism includes a cantilever and an end gripper manipulator. The tail end holding manipulator is used for holding the electric pole within a certain diameter range, and corresponding tail end holding tools can be replaced if special specifications exist. The boom is rotated about the longitudinal axis of the torso by a set angle, for example 100, driven by a clasping mechanism.

the main machine 1 is internally provided with a lifting power assembly, a battery pack, a control unit (controller) and a driving unit.

The control handle 2 and the seat 6 are fixedly connected to the main machine 1.

The left caster wheel 17 rolls on the left side wall of the left torso 3 and the right caster wheel 18 rolls on the right end wall of the right torso 4.

The left trunk 3, the right trunk 4, the left upper holding rod mechanism 7 and the right upper holding rod mechanism 9 are provided with ultrasonic transceiving sensors 11, 12, 13 and 14 and high-voltage sensors 15 and 16.

The control handle is held by an operator on one hand, has a function of manually controlling climbing on the other hand, has an emergency parking button 3, also comprises other function keys, can suspend an automatic program and terminate the automatic program at any time, can actively intervene the execution of the automatic program when obstacle avoidance and obstacle crossing are needed, and a change-over switch can realize function conversion between manual operation and automatic operation.

As shown in fig. 3 and 4, the clasping rod mechanism on the left trunk 3 includes a hollow shaft speed reduction motor 101, an upper transmission shaft 102, a lower transmission shaft 103, a bearing 104, and a counter torsion beam 105.

The upper transmission shaft 102 and the lower transmission shaft 103 are rigidly connected with the hollow shaft speed reducing motor 101 and fixed on a bearing 104 at the upper and lower ends of the left side inside the left trunk 3. The reaction beam serves to fix the motor 101.

The hollow shaft speed reducing motor 101 is a combination of a servo motor and a hollow speed reducer RV-20C-121, and a hollow part can penetrate through a cable. The motion of the pole embracing mechanism is horizontal rotation, does not overcome the gravity of the earth to do work, but overcomes the small rolling friction force of a bearing and other comprehensive resistance to do work, so that the power of a servo motor is small, and a 90W motor is selected after experiments.

The cantilever 7-1 of the upper left derrick mechanism 7 and the cantilever 8-1 of the lower left derrick mechanism 8 are rigidly connected with an upper transmission shaft 102 and a lower transmission shaft 103 in the left trunk 4 and can rotate 100 degrees around the outer longitudinal axis of the left trunk 4. The hollow shaft speed reducing motor 101 drives the holding rod action and the opening action of the upper left holding rod mechanism 7 and the lower left holding rod mechanism 8. The right upper holding pole mechanism and the right lower holding pole mechanism are symmetrically arranged with the left upper holding pole mechanism and the left lower holding pole mechanism.

fig. 4a to 4c sequentially show a half holding state, a full holding state and a half holding state of the upper left holding mechanism 7 and the upper right holding mechanism 9.

referring to fig. 5 to 8 in combination, the lifting actuator includes a servo motor 201, an NMRV reducer 202, a transmission shaft 203, a double sprocket 204, a lower pocket chain 205, and an upper pocket chain 206.

the lifting executing mechanism further comprises a left trunk lower end transmission chain fixing seat 231, a right trunk lower end transmission chain fixing seat 232, a left trunk front sliding rail 241, a left trunk rear sliding rail 251, a right trunk front sliding rail 261, a right trunk rear sliding rail 271, sliding seats (a left trunk front sliding block 242, a left trunk rear sliding block 252, a right trunk front sliding block 262 and a right trunk rear sliding block 272), a left trunk shell 208, a right trunk shell 209, a main machine girder 210, a power unit 211 (a servo motor 201 and an NMRV reducer 202), a right safety idler 18 and a main machine shell 213.

Wherein the left torso front slide rail 241 and the left torso rear slide rail 251 are fixedly connected to the left torso and extend over the entire height of the left torso, and the right torso front slide rail 261 and the right torso rear slide rail 271 are fixed to the right torso and extend over the entire height of the right torso. The left body front sliding block 242 is matched with the left body front sliding rail 241 in an inserting mode, and the left body rear sliding block 252 is matched with the left body rear sliding rail 251 in an inserting mode. The right body front slide block 262 is matched with the right body front slide rail 261 in an inserting way, and the right body rear slide block 272 is matched with the right body rear slide rail 271 in an inserting way.

The left torso front slide block 242 and the right torso front slide block 262 are fixedly connected together, the left torso rear slide block 252 and the right torso rear slide block 272 are fixedly connected together for supporting two ends of the double chain wheel, the upper part and the lower part of the double chain wheel are fixedly connected with the main machine, and the height of the double chain wheel is 1/3-1/2 of the height of the left torso.

One end of the two ends of the upper pocket chain 206 is connected with the upper transmission chain fixing seat of the left trunk, the other end of the two ends of the upper pocket chain 206 is connected with the upper transmission chain fixing seat of the right trunk, one end of the two ends of the lower pocket chain 205 is connected with the lower transmission chain fixing seat of the left trunk, and the other end of the two ends of the lower pocket chain is connected with the lower transmission chain fixing seat of the right trunk.

In the invention, the left trunk and the right trunk alternately move up and down under the driving of the lifting actuating mechanism, and are safely interlocked; the length of the interlocked cross coverage is 0.2 second, namely the left trunk climbs after the interval of 0.2 second, and then the right trunk climbs again, so that the safety of reliable alternate operation is ensured. The safe riding wheels 17 and 18 at the two sides of the main machine play a role in safely wrapping the left trunk and the right trunk.

In one embodiment, the trunk moving speed is 0.6 m/s, and the ascending speed of the main machine and the seat is 0.3 m/s because the power assembly output gear is in a movable pulley structure.

Fig. 9a shows the pole-climbing state with the left torso down, fig. 9b shows the pole-climbing state with the right torso down, and fig. 9c shows the state where the left torso and the right torso are holding the poles simultaneously. When the limbs hold the rod, the left and right parts are staggered up and down and can not be as high as each other.

The pole climbing process of the manned pole climbing platform is as follows:

1) Pole is embraced to left truck: the two holding rod mechanisms synchronously deflect towards the direction close to the rod body around the longitudinal axis of the left trunk, wherein the moment when the holding rod action is finished is the moment when the holding rod action is started;

2) Left torso holding: after the holding pole is in place, the tail-end holding manipulator of the two holding pole mechanisms performs holding pole action and keeps the posture;

3) Right torso rising: after the holding rod action is finished, the right trunk rises for 0.2 second, and stops after the maximum stroke, the rising is finished, and the holding rod action stage of the right trunk is started;

4) the holding rod mechanism comprises a right trunk holding rod, two holding rod mechanisms and a control mechanism, wherein the two holding rod mechanisms synchronously deflect towards the direction close to the rod body around the longitudinal axis of the right trunk, and the moment when the holding rod action is finished is the moment when the holding rod action is started;

5) The holding rod manipulator at the tail ends of the two holding rod mechanisms performs holding rod actions and keeps the posture after the holding rod is in place;

6) And (3) disconnecting the left trunk: after 0.2 second, the left trunk 4 starts to execute the rod releasing action, the rod releasing action is the reverse movement of the holding rod and the holding rod, namely the tail end holding manipulator is changed from the holding state to the opening state, the cantilever swings in the direction far away from the rod body, and the holding rod mechanism returns;

7) Rising of the left trunk: and (3) the left trunk ascends to the maximum stroke, the ascending is completed, the steps 1-6 are repeatedly executed, the automatic climbing is realized through the cycle work, and the system stops after the operation at any stage is finished by pressing the stop key. But the scram key may be immediately stopped.

Compared with the prior art, the invention has the following technical effects:

1. in the manned pole-climbing operation platform, the climbing of the main machine is realized by the upper pocket chain, the lower pocket chain and the double-chain wheel driven by the main machine to realize the alternate pole climbing of the left trunk and the right trunk, so that people are liberated from dangerous, severe and heavy working environments.

2. the automatic climbing device has the functions of automatic climbing and artificial assistance in crossing obstacles, and can cross obstacles with a certain amount.

3. And the function of automatically forcing the vehicle to stop when the distance of the obstacle exceeds an early warning threshold value is realized.

4. The battery power supply, the electric quantity shows, and weak current is reported to the police, can lock the pole safely after the unexpected outage, can change the battery on the pole.

In the first embodiment, the control handle 2 and the seat 6 on the main frame 1 are suitable for mounting a working tool, such as a working manipulator, an operation arm and the like, as a pole-climbing tool carrier after being detached.

the four extremities of the manned pole-climbing operation platform and the pole-climbing tool carrying platform are totally four holding rod manipulators, the upper structure and the lower structure are completely the same, and the left appearance, the right appearance and the internal layout structure are completely symmetrical.

The following describes four grip manipulators as an example of the structure of the grip manipulator for the left upper limb with reference to fig. 10 to 17.

Fig. 10 is a holding rod manipulator of the left upper limb, which can grasp the equal-diameter rod and the tapered rod, automatically adapt to the rod diameter, automatically complete four sequential actions of holding the rod, self-locking and withdrawing the rod, and can realize the action of rotating around the rod circumference according to the requirements of working conditions on the spot, and the movement of the body can effectively avoid and cross obstacles in the rod climbing process.

In fig. 10, the names of the components corresponding to the respective reference numerals are as follows: 1. a driving wheel; 2. a driven wheel; 3. a driven wheel; 4. a driving wheel motor and a speed reducer; 5. a driving wheel swing arm connecting rod motor and a speed reducer; 6. a large arm; 7. a small arm; 8. a central positioning gear shaft; 9. a left driven wheel slide arm (square strip shape); 10. a right driven wheel slide arm (square strip shape); 11. a large arm chute; 12. a large arm screw (linkage screw + motor see fig. 10); 13. a driving wheel swing arm connecting rod; 14. a large arm spindle (internal spline); 15-3, a small arm chute; 27. and a driving wheel swing arm.

Fig. 11 shows a left side view of a gripper robot that can grasp common constant diameter and tapered rods, such as an extra large or extra small rod type requiring replacement of the corresponding gripper robot.

Fig. 12 shows an internal structure in which the shells of the upper and lower arms are horizontally cut. In fig. 13, the names of the components corresponding to the respective reference numerals are as follows: 15-1, 15-2 and 15-3 small arm chutes; 16. a central positioning gear; 17. a left rack; 18. a right rack; 19. a guide plate slider; 20. a triangular guide plate; 21. a deep groove ball bearing; 22. a needle roller thrust bearing; 23. a pressure sensor; 24. a feed screw nut; 25. a planetary reducer; 26. and a screw motor.

wherein, the motor 26, the needle roller thrust bearing 22, the pressure sensor 23 and the triangular guide plate 20 are fixed in the large-arm cavity; the left driven wheel sliding arm 9 and the right driven wheel sliding arm 10 are slidable in the small arm 7 and are controlled by the rack and pinion assemblies (16, 17, 18) in time, namely, move reversely; the driving wheel swing arm connecting rod motor and the speed reducer 5 are fixed at the lower part outside the large arm pipe cavity; the driving wheel motor and the speed reducer 4 are directly connected with the driving wheel 1 at the lower part.

The operation of the grip robot will be described below.

The rod withdrawing and holding of the holding manipulator is the shoulder action of the platform deck of the rod climbing tool, which is the same as the first embodiment and is not described herein, and the holding rod and the rotation are all functions of the holding manipulator.

As shown in fig. 13 and 14, the output shaft (external spline) of the shoulder joint of the trunk of the climbing robot is connected with the large arm rotating shaft (internal spline) to drive the climbing manipulator to carry out the pole holding and withdrawing motions.

in fig. 13 and 14, the names of the components corresponding to the respective reference numerals are as follows: 1. the section of the electric pole; 2-1, climbing a left half trunk of the rod robot; 2-2, right half trunk of the pole-climbing robot.

In fig. 15, the operation procedure corresponding to each drawing is as follows: 1 is a withdrawing rod; 2, starting the holding rod; 3. locking the holding rod; 4 is the electric pole with the changeable locking pole diameter.

fig. 16 shows a control circuit for a part of a gripping robot. As shown in fig. 16, M1 is motor 5 (stepping motor) driving the arm swing link; m2 is the lead screw motor 26 (brushless dc motor); m3 denotes a capstan rotating motor 4 (brushless dc motor).

the operation of the gripping robot will be described with reference to fig. 10 to 16.

Control instruction 1

The PLC outputs a holding rod starting signal, and the M1 motor is controlled to rotate positively through the output unit 1 and the servo driver 1. The motor drives the connecting rod 13 through speed reduction by the speed reducer 5 and torque amplification, the connecting rod is unfolded and straightened by a folding shape, the driving wheel 1 moves to the position of the electric pole from the position leaning against the big arm, namely the process 1 to the process 2 in the figure 15, and the process is 1.2 seconds.

a stepping motor is selected for accurately positioning M1, a speed reducer is in a worm gear form, no extra load is caused except for inherent resistance of the structure of the speed reducer, power consumption in the process is low, a driving wheel swing arm, a connecting rod and a large arm form a right-angled triangle stable structure after being positioned in place, large reaction force of an electric pole can be resisted, and the motor is powered off after starting.

This action allows for a greater support force with a smaller motor.

control instruction 2

the PLC outputs a holding rod locking bar signal, and the M2 motor is controlled to rotate forwards through the output unit 1 and the servo driver 2; the motor 26 drives the screw rod 12 to rotate forwards through speed reduction and torque amplification of the planetary reducer 25, the screw rod nut 24 converts circular motion into linear motion, the screw rod nut is fixed at the tail end of the small arm 7, and the small arm moves downwards (see figure 12) in the large arm sliding groove 11 under the traction force of the screw rod nut.

At the moment, the left driven wheel sliding arm 9 in the small arm sliding groove is subjected to the rightward thrust of the guide plate sliding block 19, and the thrust comes from the reaction force obtained by the movement of the guide plate sliding block 19 on the oblique side of the right-angled triangular guide plate 20; the left driven wheel sliding arm moves rightwards, and the right driven wheel sliding arm moves leftwards through a set of gear rack assemblies 16, 17 and 18, so that the left driven wheel and the right driven wheel move downwards and simultaneously move in opposite directions, namely the motion tracks of the two driven wheels point to the circle center of the section of the electric pole, and the three wheels are pressed on the cylindrical surface of the electric pole in an isosceles triangle layout.

The screw rod continues to rotate, the sum (not the vector sum) of the positive pressure values of the three wheels on the electric pole meets the longitudinal friction force condition, and the M2 motor stops as shown in the process 2 to the process 3 of FIG. 15 when the feedback signal of the pressure sensor 23 is increased to the PLC preset clamping force value.

The three wheels with the self-locking characteristic of the T-shaped screw rod are stably clamped on the electric pole, the driving wheel motor M3 can be in a power-off state, the speed reducer 4 is in a worm gear form, the driving wheel is in a braking state, the axes of the three wheels are parallel to the longitudinal axis of the electric pole, and the electric pole can be locked after the holding rod action is finished due to the fact that the rubber wheels have large friction force (the friction coefficient is mu is larger than 0.75) to the electric pole, and the motor is powered off.

the above control commands 1, 2 are also repeated for varying rod diameters, as in process 3 and process 4 of fig. 15.

As long as the rod diameter is within the opening range of the manipulator, the universal manipulator can be directly used without switching modes.

Control instruction 3

Referring to fig. 10 to 17 in combination, when the left and right manipulators grip the rod at the same time, the rod winding swivel action can be performed.

In FIG. 17, two-arm simultaneous-grip, where 1 is a left-arm grip, a right-arm actuation grip, and 2 is a two-arm simultaneous-grip; three rubber wheels per arm, and 12 wheels per four arms clamp the pole, so that the stability of rotating operation and staying on the pole is ensured. The obstacle avoidance and crossing function is realized when the robot is matched with the pole climbing.

The PLC outputs a holding rod locking rod signal, the M3 motor is controlled to operate through the output unit 1 and the servo driver 3, the driving wheel 1 rotates, the driven wheels 2 and 3 roll along with the driving wheel by means of friction force with an electric pole, and the function of pole winding is achieved.

Trip rod

The pole climbing process includes the holding and releasing processes, and the releasing process is the process of three wheels leaving the pole, namely the process from the process 3 → the process 2 → the process 1 in fig. 15. The instructions output by the PLC control the motor to rotate reversely at the original corresponding port, and the time sequence is also inverted with the holding rod.

The grip manipulator of the present embodiment has the following features/advantages:

1. The body is processed and manufactured by adopting the processes of 304 stainless steel laser cutting, stamping and welding and the 7075 aluminum alloy cutting oxidation process, and has the characteristics of light weight, good rigidity and corrosion resistance.

2. The structure mechanics optimal design has the characteristics of small dynamic load, large static load and low energy consumption.

3. The tail end of the mechanism is in contact with the electric pole through three rubber wheels, so that the structure is simple, and the turning is convenient.

The invention provides a distribution network overhead line live working robot adopting a ground potential working method, as shown in fig. 18, a pole-climbing tool carrier is taken as a platform (10kV line telegraph pole), and live working is carried out by adopting the ground potential working method, namely in the live working process, the pole-climbing tool carrier and the ground do not need to be subjected to insulation treatment, and the safe distance between the pole-climbing tool carrier and a charged body is ensured by depending on an operating arm in the working process.

As shown in fig. 18, an operation arm 20 is mounted on the pole-climbing tool carrier 10 in a matching manner, and after the pole-climbing tool carrier 10 is locked by holding a pole, the insulating rod on the operation arm 20 moves in a controlled manner, so as to meet the requirement that the shape of the operation area is similar to a cone in the ground potential operation method.

the operation arm 20 has a connecting base 21 and a cantilever 22 hinged thereto, wherein the cantilever 22 is provided with an insulating rod 26 with adjustable posture, and the cantilever 22 itself has a horizontal posture and a pitching adjusting posture.

Specifically, the insulating rod 26 has an upright posture and a controllable working posture that is conically distributed with the upright posture as a center with respect to the cantilever frame 22. The combination of the posture of the cantilever bracket and the posture of the insulating rod 26 can meet the requirement that the shape of the working area of the ground potential working method is approximate to a cone. Specifically, the positions of the cantilever frame and the insulating rod are controlled by electric push rods 23, 24 and 25.

the first electric push rod 23 and the third electric push rod 25 control conical spherical top movement (X, Y) of the insulating rod, and the second electric push rod 24 makes up fall caused by a spherical movement track of the top end of the insulating rod. The second electric push rod can support the cantilever frame, and can be folded after the operating arm 20 is separated from the climbing operation carrying platform 10, so that the carrying is convenient.

Preferably, the working length of the insulating rod is adjustable and can rotate around its own axis.

Preferably, when the insulating rod climbs to a preset position along with the rod-climbing tool carrier, the top end of the insulating rod is leveled through insulating rod length adjustment and cantilever bracket posture adjustment, so that the live-wire work tool is in a preset work posture such as parallel, vertical and oblique crossing with the conductive trend.

The structure of the pole climbing tool carrier 10 is shown in fig. 19, and the pole climbing tool carrier can adapt to the pole diameter and the pole height, autonomously climb a pole with equal diameter or a tapered pole, and can cross common attachments such as a metering box and a hoop on the pole. In addition, the electric pole can rotate 360 degrees around the electric pole, and can be locked at any position on the pole body to carry out operation. The above functions of the carrier of the pole-climbing tool are described in the foregoing, and are not described herein.

The pole-climbing tool carrying platform is provided with a mechanical arm mounting interface, and the operating arm is detachably mounted on the mechanical arm mounting interface.

The invention also provides a ground potential operation method, which is characterized in that the ground potential operation is carried out by using the distribution network overhead line live working robot, and the distribution network overhead line live working robot comprises a pole-climbing tool carrying platform and an operating arm carried by the pole-climbing tool carrying platform.

As shown in fig. 19, the ground potential working method includes the steps of:

S101, holding a pole climbing tool carrying platform tightly on an electric pole, wherein the pole climbing tool carrying platform is at the ground potential;

S103, controlling the pole-climbing tool carrier to climb to a preset position with the live-wire work tool, wherein the live-wire work tool keeps a safe distance with the pole-climbing tool carrier through an operating arm; and

And S105, remotely controlling the operating arm and the live-wire work tool from the ground to perform ground potential work method work.

The operation arm can be matched with various conventional live-wire operation tools and intelligent live-wire operation tools suitable for an insulating rod operation method, and can complete operation projects such as live-wire connection and drainage line, drainage line shearing, line obstacle clearing, safe electricity testing grounding ring, fault indicator and the like.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.