CN202556399U - High-voltage live-working robot device - Google Patents
High-voltage live-working robot device Download PDFInfo
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- CN202556399U CN202556399U CN2012201376314U CN201220137631U CN202556399U CN 202556399 U CN202556399 U CN 202556399U CN 2012201376314 U CN2012201376314 U CN 2012201376314U CN 201220137631 U CN201220137631 U CN 201220137631U CN 202556399 U CN202556399 U CN 202556399U
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Abstract
The utility model discloses a high-voltage live-working robot device comprising a mobile car, a jacketing foldable telescopic insulation arm, a jacketing control device and a robot work platform. The jacketing foldable telescopic insulation arm is arranged on a mobile car chassis composed of a jacketing hydraulic pump station, a rotative tower, a lower arm, an upper arm and a telescopic arm and the like. The jacketing control device comprises a lower portion control device and an upper portion control device, wherein the lower portion control device is arranged on the rotative tower, and the upper portion control device is disposed on the robot work platform. The robot work platform comprises an insulation funnel, a robot operation system and a robot arm insulator bearing. The robot operation system comprises a main hand, a robot arm, a hydraulic servo control box and a micro-control device. An operator stands in the insulation funnel to operate the main hand, remotely controls the robot arm to clamp special tools, to contact with high-voltage lines, to work and to replace people to complete high-altitude live working tasks. Therefore, labor intensity of workers is mitigated, and work efficiency and operation safety are improved.
Description
Technical field
The utility model relates to a kind of line live-line work device, relates in particular to a kind of robot for high-voltage hot-line work device.
Background technology
The 10kV distribution network is direct user oriented power infrastructures; Because the distribution network dielectric level is low, under atmospheric over-voltage, filth or other extraneous factor effects, be prone to break down, and because some areas power supply facilities is outmoded aging; Equipment availability is low, and potential faults is increased.
The important means that livewire work is power equipment test, maintenance, transform, it is for improving power supply reliability, reduces loss of outage, guarantees that power grid security made huge contribution.Livewire work requires very strict to technical level of operators and qualification, weather conditions, safety protective tools etc.Because worry potential safety hazard, to lack suitable personal safe protection's apparatus and livewire work technical training not enough etc.; Limit the livewire work content of distribution line some areas; Cause distribution line power failure operation frequent; The distribution reliability index can not be accomplished, thereby has brought very big economic loss to electric power enterprise, has brought very big inconvenience with producing for people's lives.
Operation field extensively adopts aerial lift device with insulated arm medial potential working method at present, and operating personnel use hand-operated tools to accomplish the livewire work task, there is following defective:
1. labour intensity is big, and operating efficiency is low, and automatization level is low.
2. operating personnel directly contact high-voltage conducting wires, have potential safety hazard.
3. artificial livewire work security protection, to cover requirement very strict, do not note slightly short circuit current occurring, causes great security incident, causes human casualty accident.
Artificial livewire work has its difficulty and limitation, so utilization has stronger security and adaptive robot replacement manual work carrying out altitude hot-line operation is very necessary, meets the era development requirement.
Chinese patent 02135135 discloses a kind of robot for high-voltage hot-line work device; It comprises mobile automobile, elevating mechanism, insulation support platform, Work machine arm, hydraulic efficiency manipulator, isolating transformer, generator and hydraulic oil pump, switch board; Elevating mechanism, generator and hydraulic pump are installed on the automobile chassis, and the end of insulation support platform and elevating mechanism links.Work machine arm, isolating transformer and low-voltage power distributing cabinet are installed on the insulation support platform.The Work machine arm is by motor-driven, and manipulator is by hydraulic-driven, and computer is accomplished various high-voltage hot-line works through the dress of low voltage control device control Work machine arm and manipulator and clamping thereof with instrument.But; Its Work machine arm adopts motor-driven, and manipulator adopts hydraulic-driven, provides the generator of power source and hydraulic pump but to be installed on the automobile chassis; Can only link to each other with manipulator with the Work machine arm with oil pipe through dragging long lead; Operation insulation support platform and automobile chassis are in same current potential like this, as easy as rolling off a log insulated platform ground connection, the therefore very big potential safety hazard of existence of causing; In addition; Relate to high-voltage hot-line work; Operating personnel's insulation safety is most important; Whether and this patent is not pointed out the job position of operating personnel at job platform, remain in the safe distance between yet undeclared operating personnel and job platform, charging equipment, the Work machine arm etc., and these problems determine directly whether this robot for high-voltage hot-line work device is practical.
The Chinese patent of applicant's application: ZL201020278798 discloses a kind of robot for high-voltage hot-line work insulation system.It comprises bucket arm vehicle; Bucket arm vehicle is provided with the bucket arm vehicle insulation arm, is provided with insulated platform at bucket arm vehicle insulation arm top, and independently Robot actions device and the main hand system of operation are installed on the insulated platform; They adopt and separate independently-powered mode, adopt fiber optic communication to each other.It can make robot for high-voltage hot-line work relatively insulate through aerial lift device with insulated arm, realizes the insulation of high-voltage line to the people through fiber optic communication, and mechanical arm outsourcing fiberglass, insulated platform outsourcing fiberglass, limit addition mask carry out the phase insulation system.But this patent is just considered the robot insulation system from the functional perspective of realizing high-voltage hot-line work, and description operation personnel, Robot actions device and operate between the main hand system are not through how space layout realizes system insulation.Its described Robot actions device and the main hand system of operation are just simply enumerated out the interconnected relationship of each part, and the position of undeclared each part on insulated platform concerns.In addition, in view of the high-voltage hot-line work characteristics, insulated platform should satisfy under the hoistable platform maximum load prerequisite; Design size is little as far as possible, and it is little to take up room, and touches lead or other charging equipments when avoiding operation; Be not less than 0.4m and this patent is the ambiguous base spacing of insulated mechanical arm I and insulated mechanical arm II of pointing out, both and main hand controls safe distance are not less than 0.4m, and how many safe distances is on earth; Could not only satisfy insulating requirements but also satisfy the work high above the ground requirement; This patent does not provide definite answer, so this robot for high-voltage hot-line work insulation system is also infeasible in practice, and is a kind of design or mentality of designing.
The utility model content
The purpose of the utility model is exactly not enough for solving above-mentioned prior art; Solve that the artificial livewire work labour intensity of existing high-tension line is big, operating efficiency and automatization level be low; There is potential safety hazard, causes the problem of human casualty accident easily; A kind of novel high-pressure livewire work robot device is provided, replaces the artificial altitude hot-line operation task of accomplishing, improve operating personnel's handling safety performance.
To achieve these goals, the utility model adopts following technical scheme:
A kind of robot for high-voltage hot-line work device, it comprises mobile automobile, move be provided with on the automobile dress folding add flexible insulation arm, on dress control device and robot manipulating task platform.
The said folding insulation arm that stretches that adds of dress of going up is located on the mobile automobile chassis; Form by last dress hydraulic power unit, turret, underarm, upper arm, telescopic arm etc., on adorn hydraulic power unit and be installed in and move on the automobile mobile chassis, turret is positioned at adorns hydraulic power unit top; Underarm is installed on the turret; Upper arm is connected with the underarm hinge, is provided with telescopic arm at upper arm, the terminal mounting robot job platform of telescopic arm;
The said dress control device of going up comprises top control device and bottom control device, and the top control device is installed on the robot manipulating task platform, is provided with comprehensive operating grip, and the bottom control device is installed on the turret, and is provided with top control device switching push button; Said bottom control device and top control device are respectively equipped with emergency braking device, and the bottom control device has precedence over the top control device, and interlocking between bottom control and top control device.
Said robot manipulating task platform comprises robot manipulating task platform supports frame, top control device, robot manipulation system and insulation bucket.The L shaped structure that said robot manipulating task platform supports frame is connected to form by robot manipulating task platform underframe and robot manipulating task platform side link,, robot manipulation system integrated for hydraulic elevating platform control and insulation bucket provide reliable supporting; Said top control device is positioned at insulation bucket right side, and operating personnel are through control lever and lever, for the robot manipulating task platform provides ascending, descending and rotatablely moves, and supplies with the principal and subordinate and controls the required hydraulic oil source of robot motion; Main hand, hydraulic machinery arm, Hydraulic Servo Control box, microcontroller, terminal control box and microcontroller power supply are integrated etc. to be formed by controlling in said robot manipulation system, adopts the principal and subordinate to control hydraulic-driven, and mechanical arm can be followed main hands movement fully; Operating personnel stand in the insulation bucket, control main hand and can accomplish various high-voltage hot-line works by Remote mechanical arm clamping specific purpose tool contact circuit.
Saidly control main hand and comprise the left and right two main hands that are installed in robot manipulating task platform side link top, two main hand center distance 0.8m are apart from robot manipulating task platform supports frame upper surface 1m; Medial surface, insulation bucket upside at robot manipulating task platform side link are equipped with the terminal control box of communicating by letter with left and right main hand, two terminal control box center distance 0.6m; On the lateral surface of robot manipulating task platform side link, connect the left and right microcontroller that is respectively portable confession control of left and right master and telecommunications functions, two microcontroller center distance 1m through the microcontroller link.
In robot for high-voltage hot-line work device the utility model, mobile automobile cab is furnished with master control, engine leaves/stop control and power take-off valve; During work high above the ground, mobile automobile need come to a complete stop at level road, and supporting leg has enough space telescopics behind ground, and putting down all supporting legs can operation up to dead earthing.Move on the automobile chassis underarm bearing support, upper arm bearing support and robot manipulating task platform supports frame are installed, be respectively applied for the bracket supports of upper arm, underarm and robot manipulating task platform.
Last dress is folding to be added flexible insulation arm and is installed on the automobile chassis, adorns the hydraulic power unit driving employings in, by on reinstall capstan head, underarm, upper arm, telescopic arm etc. and form.
The said dress control device of going up comprises bottom control device and top control device; The bottom control device is arranged on the turret; And be provided with top control device switching push button; The top control device is arranged on the robot manipulating task platform, is provided with comprehensive operating grip, is convenient to place operating personnel's operation in the insulation bucket.The bottom control device has precedence over the top control device; Function with control interlocking insurance; Both operating control devices all are provided with emergency braking device, all can realize reinstalling flexible, robot manipulating task distal ends between commentaries on classics, underarm and upper arm pitching, telescopic arm and upper arm.
Said robot manipulating task platform comprises robot manipulating task platform supports frame, top control device, robot manipulation system and insulation bucket.
The L shaped structure that said robot manipulating task platform supports frame is connected to form by robot manipulating task platform underframe and robot manipulating task platform side link,, robot manipulation system integrated for hydraulic elevating platform control and insulation bucket provide reliable supporting; Said robot manipulating task platform supports frame adopts the steel construction square tube to be welded, and all twine with the epoxy glass fabric scrap (bridge) on the steel profile surface; Job platform side link is provided with bolt hole, and it is terminal to be connected to bucket arm vehicle insulated lift arm through bolt; Upper and lower and the surrounded surface of said robot manipulating task platform underframe adopts the 4mm epoxy insulating board to be bonded.
The top control device comprises casing, and casing is provided with control lever, lever and emergency button, and up-down and pitching that operating personnel can real time control machine device people platform are transported to the suitable job position in high-altitude with platform; Emergency can be pressed emergency button, and sever supply mechanical arm hydraulic circuit guarantees man-machine safety.
The robot manipulation system by about two main hands, about two hydraulic machinery arms, Hydraulic Servo Control box, microcontroller etc. form.The main hand in a left side, right main hand are connected through optical fiber with left mechanical arm, right mechanical arm respectively, mechanical arm servo apply hydraulic pressure control mode, and main hand and mechanical arm are isomorphisms, mechanical arm can be followed main hand fully and moved.Only need operating personnel to stand in the insulation bucket, its left and right two hands are controlled left main hand and right main hand respectively, and Remote is realized the principal and subordinate's control to left mechanical arm and right mechanical arm, the operation of Remote mechanical arm clamping specific purpose tool contact high-tension line.The Hydraulic Servo Control box is the external interface of mechanical arm, for mechanical arm provides necessary power supply, instruction and observing and controlling information.Microcontroller provides the system of main hand control and telecommunications functions.The seven freedom device that the hydraulic power source that the dress hydraulic power unit is gone up in the mechanical arm employing to be provided drives.Said two hydraulic machinery arms are processed by the duralumin, hard alumin ium alloy material of 7 degree of freedom motion, are installed on front part sides above the robot manipulating task platform underframe through support insulator, two mechanical arm center distance 1m, and outpacking rubber oversleeve; The waist revolution outside of said left and right two mechanical arms is provided with the left and right two Hydraulic Servo Control boxes on the bearing support that places support insulator; Apart from robot manipulating task platform supports frame upper surface 0.6m; This control box is the external interface of mechanical arm, links to each other with microcontroller through optical fiber.
The robot manipulating task platform is connected with the terminal mechanical bolt of last dress telescopic arm; Can require and operating personnel's demand according to site work environment; It is terminal tool operation special isolation bucket manually to be directly connected to dress insulation arm inner arm, realizes exchanging between robot manipulating task platform and the hand-operated tools operation special isolation bucket connecting.
Said insulation bucket is arranged between main hand and the mechanical arm, is positioned at the inboard center position of robot manipulating task platform side link, is connected on the robot manipulating task platform side link through bolt; Insulation bucket height 1.2m, double hyer insulation, inner layer material adopts polytetrafluoroethylene (PTFE), and cladding material adopts fiberglass.
Whole system insulating Design scheme is to realize in the following manner: rely on the upward dress that is installed on mobile automobile to fold and add the insulation against ground of flexible insulation arm realization robot manipulating task platform; Operating personnel stand in the insulation bucket and control main hand; The operation of robot arm contact high-tension line; Between its left main hand, right main hand and left mechanical arm, the right mechanical arm only through optical-fibre communications; Operating personnel directly do not contact high-tension line like this, realize isolating fully with high voltage electric field, guarantee operating personnel's personal safety; Adopt mechanical arm rubber oversleeve outsourcing and insulator support mode, prevent that mechanical arm from overlapping two phase high-tension lines and causing phase fault; Robot manipulating task platform steel structure support adopts epoxy glass fabric to twine, and underframe adopts the epoxy insulating board outsourcing, contacts two phase high-voltage conducting wires when preventing the platform operation and causes phase fault.Through comprehensive more than implementing, three-dimensional multistage insulating protection system, greatly improved the altitude hot-line operation security, operating personnel and high voltage electric field are isolated fully, guarantee operating personnel's personal safety and charging equipment reliability service to greatest extent.
The beneficial effect of the utility model:, design a kind of novel high-pressure livewire work robot device according to 10kV distribution line and above high-tension line livewire work technological requirement, operating environment characteristics.This device is considered from operating personnel's job safety angle; Utilize robot to replace the artificial livewire work task of accomplishing; Avoid operating personnel directly to contact high-tension line, improved operating personnel's livewire work security performance, and China's distribution line operating type is produced positive change effect.In addition, in the confined space, rational deployment robot manipulating task platform; Realize comprehensive, three-dimensional insulating protection system; It is on-the-spot actual to suit work high above the ground, has guaranteed man-machine interaction space and hot line job safe distance, prevents that effectively the motion of two mechanical arm bodies from interfering; Touch the man-machine injures and deaths that lead or other charging equipments cause when avoiding work high above the ground, guarantee operating personnel's safety and charging equipment reliability service to greatest extent.
Description of drawings
Fig. 1 is the utility model robot for high-voltage hot-line work apparatus structure sketch map;
Fig. 2 is the positive perspective view of the utility model robot manipulating task platform;
Fig. 3 is the utility model robot manipulating task platform back side perspective view;
Fig. 4 is the utility model robot manipulating task platform control system schematic diagram;
Among the figure, 1, supporting leg; 2, move automobile; 3, underarm bearing support; 4, turret; 5, underarm; 6, upper arm; 7, telescopic arm; 8, bolt; 9, insulation bucket; 10, left main hand; 11, right main hand; 12, operator; 13, left mechanical arm; 14, rubber oversleeve; 15, right mechanical arm; 16, Hydraulic Servo Control box; 17, insulator support; 18, microcontroller; 19, top control device; 20, underframe insulation board outsourcing; 21, bottom control device; 22, adorn hydraulic power unit on; 23, upper arm bearing support; 24, robot manipulating task platform supports frame, 25, robot manipulating task platform underframe; 26, right support insulator; 27, right Hydraulic Servo Control box (RSD); 28, robot manipulating task platform side link; 29, hydraulic elevating platform control is integrated; 30, hoistable platform bearing support; 31, control lever; 32, lever; 33, right main hand bearing support; 35, right hand terminal control box; 38, left main hand bearing support; 39, left hand terminal control box; 41, right mechanical arm paw; 42, tool box; 44, left mechanical arm paw; 45, insulation bucket connecting bolt; 46, left Hydraulic Servo Control box (RSD); 47, left support insulator; 48, platform epoxy insulating board outsourcing; 49, left microcontroller link; 50, left microcontroller (KMC); 51, right microcontroller link; 52, pedal; 53, right microcontroller; 54, robot manipulating task platform side connecting bolt; 55, the microcontroller power supply is integrated.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is described further.
In conjunction with Fig. 1, the robot for high-voltage hot-line work device comprises and moves automobile 2, last dress fold add flexible insulation arm, on adorn control device and robot manipulating task platform.
Move automobile 2 chassis and be provided with underarm bearing support 3, upper arm bearing support 23, robot manipulating task platform supports frame 24, supporting leg 1.Saidly go up that dress is folding to be added flexible insulation arm and be located at and move on automobile 2 chassis, saidly go up that dress is folding to be added flexible insulation arm and comprise and adorn hydraulic power unit 22, turret 4, underarm 5, upper arm 6, telescopic arm 7, said telescopic arm 7 is connected through bolt 8 with the robot manipulating task platform.
Last dress control device comprises bottom control device 21 and top control device 19; The bottom control device is arranged on the turret 4; And be provided with top control device switching push button; Top control device 19 is arranged on the robot manipulating task platform, is provided with comprehensive operating grip, is convenient to place operating personnel's operation in the insulation bucket 9.Said bottom control device 21 is respectively equipped with emergency braking device with top control device 19.Bottom control device 21 and top control device 19 interlocking between the two.
The robot manipulating task platform comprises insulation bucket 9, robot manipulation system, mechanical arm insulator support 17, and operator 12 stands in insulation bucket 9 and controls mechanical arm and fulfil assignment; Said robot manipulating task platform steel structure support adopts epoxy glass fabric to twine, and underframe adopts 20 outsourcings of epoxy underframe insulation board.
The robot manipulation system comprises left main hand 10, right main hand 11, left mechanical arm 13, right mechanical arm 15, Hydraulic Servo Control box 16, microcontroller 18; The main hand in a said left side 10, right main hand 11 utilize optical-fibre communications to be connected with mechanical arm 13, right mechanical arm 15 through microcontroller 18 respectively; Said mechanical arm 13, the control of right mechanical arm 15 servo apply hydraulic pressure control modes, said left mechanical arm 13, right mechanical arm 15 are connected with robot manipulating task platform 20 through insulator support 17; Said microcontroller 18 also is provided with remote communication module.
The seven freedom that the hydraulic power source that a left side mechanical arm 13, right mechanical arm 15 provide for last dress hydraulic power unit 22 drives, the mechanical arm body adopts the duralumin, hard alumin ium alloy manufacturing, and said left mechanical arm 13, right mechanical arm 15 are provided with rubber oversleeve 14 outsourcings of insulating.
The robot manipulating task platform mainly controls integrated 29, robot manipulation system by robot manipulating task platform supports frame, hydraulic elevating platform and insulation bucket 9 is formed; Be respectively equipped with hydraulic elevating platform on the said robot manipulating task platform supports frame and control integrated 29, robot manipulation system and insulation bucket 9; Hydraulic elevating platform is controlled integrated 29 and is linked to each other with the robot manipulation system, and hydraulic elevating platform is controlled integrated 29 and all is arranged at insulation bucket 9 outsides with the robot manipulation system.
Wherein, Robot manipulating task platform supports frame is formed L shaped structure by robot manipulating task platform underframe 25 and robot manipulating task platform side link 29; Robot manipulating task platform underframe 25 controls integrated 29, robot manipulation system for hydraulic elevating platform and insulation bucket 9 provides reliable platform supports; Robot manipulating task platform side link 28 leaves bolt hole, but robot manipulating task platform side connecting bolt 54 is connected to bucket arm vehicle insulated lift arm end.Robot manipulating task platform supports frame is the steel construction welding; The steel profile exposed surface all twines with epoxy glass fabric; Robot manipulating task platform underframe 25 adopts epoxy insulating board outsourcing 48, and epoxy resin bonding forms, and the contact with platform lead causes phase fault when preventing work high above the ground.
Hydraulic elevating platform is controlled integrated 29 and is fixed in robot manipulating task platform underframe 25 upper right through hoistable platform bearing support 30; Operating personnel stand in the insulation bucket 9; The right hand is through control lever 31 and lever 32, realizes the ascending, descending of robot manipulating task platform and rotatablely moves.The advancing of left and right two mechanical arms 13,15, oil return pipe all are connected to hydraulic elevating platform and control in integrated 29, and the principal and subordinate controls the required hydraulic oil source of robot motion and derives from hydraulic elevating platform and control in integrated 29.Insulation bucket 9 front portions are provided with tool box 42 and insulation bucket connecting bolt 45, and insulation bucket 9 sides are provided with pedal 52.
The insulation bucket is arranged between main hand and the mechanical arm, is positioned at the inboard center position of robot manipulating task platform side link, is connected on the robot manipulating task platform side link through bolt; Insulation bucket height 1.2m, double hyer insulation, inner layer material adopts polytetrafluoroethylene (PTFE), and cladding material adopts fiberglass.
Saidly control main hand and comprise the left and right two main hands that are installed in robot manipulating task platform side link top, two main hand center distance 0.8m are apart from robot manipulating task platform supports frame upper surface 1m; Medial surface, insulation bucket upside at robot manipulating task platform side link are equipped with the terminal control box of communicating by letter with left and right main hand, two terminal control box center distance 0.6m; On the lateral surface of robot manipulating task platform side link, connect the left and right microcontroller that is respectively portable confession control of left and right master and telecommunications functions, two microcontroller center distance 1m through the microcontroller link.
The robot manipulation system is according to left and right two hand control of operating personnel; Be divided into left and right two cover operation control systems: every cover is controlled system all by left and right main hand 30,11; Left and right mechanical arm 33,15; Left and right Hydraulic Servo Control box 46,27, left and right microcontroller 50,53, left hand and right hand terminal control box 39,35 and microcontroller power supply integrated 55 formed.
Right, left main hand 11,10 is installed in robot manipulating task platform side link 28 tops through right, left main hand bearing support 33 and 38 respectively, according to the arm motion of operating machine of sensor acquisition information.Main hand and mechanical arm (from hand) are isomorphisms, and servo apply hydraulic pressure drives, and mechanical arm can be followed main hand fully and moved.The operator stands in the insulation bucket 9, only through optical-fibre communications, guarantees the complete and high voltage electric field isolation of personnel between main hand and the mechanical arm, has greatly improved operating personnel's hot line job security.
Right, left mechanical arm 15,13 is installed in respectively on the right side, the left support insulator 26,47, is positioned at robot manipulating task platform underframe 25 anterior two ends, and the outpacking rubber oversleeve, prevents that effectively mechanical arm from touching lead and charging equipment causes phase fault; The mechanical arm body adopts the duralumin, hard alumin ium alloy manufacturing, provide that waist revolution, big arm pitching, the motion of forearm pitching, wrist pitching, wrist wave, wrist rotate with parallel paw etc. 7 degree of freedom move.Right, left mechanical arm 15,13 front ends are respectively equipped with right mechanical arm paw 41 and left mechanical arm paw 44.
Right, left Hydraulic Servo Control box 27,46 is installed on respectively on the right side, left support insulator 26,47 bearing supports; Be positioned at the mechanical arm waist revolution outside; Be external interface right, left mechanical arm 15,13, for mechanical arm provides necessary power supply, instruction and observing and controlling information.
Left and right microcontroller 50,53 connects the lateral surface of robot job platform side link 28 respectively through left and right microcontroller link 49,51 bolts, the system of main hand control and telecommunications functions is provided.Microcontroller is connected with the Hydraulic Servo Control box through optical fiber, is connected with communication between the mechanical arm thereby accomplish main hand.
Microcontroller power supply integrated 55 is made up of lithium battery, inverter etc., for right, left main hand 11,10 provide reliable source of power.
Right, left hand terminal control box 35,39 is low-power consumption, is with the control box of liquid crystal display, is installed on medial surface, insulation bucket 9 upsides of robot manipulating task platform side link 28.Right, left hand terminal control box 35,39 is communicated by letter through RS232 with right, left main hand 11,10 respectively, be used for the display system diagnostic message with allow operator's selection operation function.
Principal and subordinate's control system of robot realizes in the following manner: operating personnel stand in the insulation bucket 9; Its left and right two hands are controlled left main hand 10 and right main hand 11 (motion control unit) respectively, and left and right main hand 10,11 overcomes each joint moment motor drag effect and links in succession; The potentiometer that is installed on each joint of left and right main hand rotates angle (position command) with each joint shaft and changes into voltage signal to left and right microcontroller 50,53; Left and right microcontroller 50,53 is given left and right Hydraulic Servo Control box 46,27 with position command through optical fiber transmission information, and the Hydraulic Servo Control box is converted into voltage signal control to signal and is installed on the inner servo valve of left and right mechanical arm (switch of voltage signal control oil circuit flow); Servo valve control gets into the hydraulic flow from each joint of hand; Each joint motions of driving left and right mechanical arm; The potentiometer output voltage signal of mechanical arm feeds back in the microcontroller through the Hydraulic Servo Control box simultaneously; With former channel voltage relatively, form position feedback, up to manipulator motion till answer the position with main palmistry.
Though the above-mentioned accompanying drawing that combines is described the specific embodiment of utility model; But be not restriction to the utility model protection domain; One of ordinary skill in the art should be understood that; On the basis of the technical scheme of the utility model, those skilled in the art need not pay various modifications that creative work can make or distortion still in the protection domain of the utility model.
Claims (9)
1. robot for high-voltage hot-line work device; It comprises mobile automobile; Move be provided with on the automobile dress folding add flexible insulation arm, on dress control device and robot manipulating task platform; It is characterized in that, said go up dress folding add flexible insulation arm comprise be installed in move automobile go up the dress hydraulic power unit, on to adorn hydraulic power unit top be turret; Underarm is installed on the turret, and upper arm and underarm are hinged, are provided with telescopic arm at upper arm, the terminal mounting robot job platform of telescopic arm; Last dress control device comprises top control device and bottom control device, and the top control device is installed on the robot manipulating task platform, is provided with comprehensive operating grip; The bottom control device is installed on the turret, and is provided with top control device switching push button;
Said robot manipulating task platform comprises robot manipulating task platform supports frame; Be equipped with on the said robot manipulating task platform supports frame that hydraulic elevating platform control is integrated, robot manipulation system and insulation bucket, said robot manipulating task platform supports frame connects to form L shaped structure by robot manipulating task platform underframe and robot manipulating task platform side link; The integrated insulation bucket right side that is positioned at of said hydraulic elevating platform control; Said robot manipulation system comprises through main hand of controlling of optical-fibre communications and hydraulic machinery arm;
Saidly control main hand and comprise the left and right two main hands that are installed in robot manipulating task platform side link top, two main hand center distance 0.8m are apart from robot manipulating task platform supports frame upper surface 1m; Medial surface, insulation bucket upside at robot manipulating task platform side link are equipped with the terminal control box of communicating by letter with left and right main hand, two terminal control box center distance 0.6m; On the lateral surface of robot manipulating task platform side link, connect the left and right microcontroller that is respectively portable confession control of left and right master and telecommunications functions, two microcontroller center distance 1m through the microcontroller link; On robot manipulating task platform underframe the left side of insulation bucket be provided with into microcontroller integrated with the microcontroller power supply of main portable power supply source;
Said hydraulic machinery arm comprises left and right two mechanical arms, and said left and right two mechanical arms are installed on front part sides above the robot manipulating task platform underframe through support insulator, and the outpacking rubber oversleeve; Support insulator height 0.6m, two mechanical arm center distance 1m; The advancing of said mechanical arm, oil return pipe all be connected to hydraulic elevating platform control integrated in; The waist revolution free degree outside of said left and right two mechanical arms is provided with the left and right two Hydraulic Servo Control boxes on the bearing support that places support insulator; Apart from robot manipulating task platform supports frame upper surface 0.6m; This control box is the external interface of mechanical arm, links to each other with microcontroller through optical fiber.
2. robot for high-voltage hot-line work device as claimed in claim 1; It is characterized in that; Said bottom control device and top control device are respectively equipped with emergency braking device, and the bottom control device has precedence over the top control device, and interlocking between bottom control and top control device.
3. robot for high-voltage hot-line work device as claimed in claim 1 is characterized in that, said robot manipulating task platform is connected through bolt with the end of top control device.
4. robot for high-voltage hot-line work device according to claim 1 is characterized in that, said robot manipulating task platform supports frame adopts the steel construction square tube to be welded, and all twine with the epoxy glass fabric scrap (bridge) on the steel profile surface; Job platform side link is provided with and can be connected to the terminal bolt hole of bucket arm vehicle insulated lift arm through bolt; Upper and lower and the surrounded surface of said robot manipulating task platform underframe adopts epoxy insulating board to be bonded.
5. robot for high-voltage hot-line work device according to claim 1 is characterized in that, the integrated casing that comprises of said hydraulic elevating platform control, casing be provided with its in the hydraulic control system control lever, lever and the emergency button that link to each other.
6. robot for high-voltage hot-line work device according to claim 1 is characterized in that said mechanical arm processed by the duralumin, hard alumin ium alloy material of 7 degree of freedom motion.
7. robot for high-voltage hot-line work device according to claim 1 is characterized in that, said main hand and mechanical arm are isomorphisms, and the mechanical arm servo apply hydraulic pressure drives.
8. robot for high-voltage hot-line work device according to claim 1 is characterized in that, said terminal control box is the control box of band liquid crystal display.
9. robot for high-voltage hot-line work device according to claim 1; It is characterized in that; Said insulation bucket is arranged between main hand and the mechanical arm, is positioned at the inboard center position of robot manipulating task platform side link, is connected on the robot manipulating task platform side link through bolt; Insulation bucket height 1.2m, double hyer insulation, inner layer material adopts polytetrafluoroethylene (PTFE), and cladding material adopts fiberglass.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012201376314U CN202556399U (en) | 2012-04-01 | 2012-04-01 | High-voltage live-working robot device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012201376314U CN202556399U (en) | 2012-04-01 | 2012-04-01 | High-voltage live-working robot device |
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| CN202556399U true CN202556399U (en) | 2012-11-28 |
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