CN215903514U - Live working arm and live working robot - Google Patents

Abstract

The utility model provides a live working mechanical arm and a live working robot, wherein the mechanical arm comprises a function key, a large arm, a small arm, a wrist part, a balance part, a waist part and a base, the function key, the wrist part, the balance part, the small arm, the large arm, the waist part and the base are sequentially connected to form a six-degree-of-freedom rod system, an execution part is arranged in each degree of freedom, position encoders are arranged in the function key, the large arm, the small arm, the wrist part, the balance part, the waist part and the base, and two adjacent position encoders are connected through the execution part.

Description

Live working arm and live working robot

[ 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 live-line operation mechanical arm and a live-line operation robot.

[ 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 live working 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 live working robots for many years, and accumulates abundant experience in live working. Research and development of high-voltage live working robots 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 work robots' with the support of the '863' plan in China, and the developed distribution network live-line work robots should be the robots which are mature at home at present and can realize maintenance work of live equipment in a small number. 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 hot-line work robots has been carried out in many countries since the 80 s, for example, the research on hot-line work robots has been carried out in 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 the research work of the first generation live working robot, 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 charged working robot suitable for AC6kv and AC22kv voltage classes, 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 gazette company and the japanese four-country electric power company have developed basically live working robots for hydraulically driving robot arms, and all the electric power distribution systems are applied to 6.6KV, and the 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 live working robot, and completed 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 of the electric power research institute of america also started the live working robot, and its first generation robot only had a hydraulically driven arm, and the live working on 50KV to 345KV overhead line can be accomplished to the operating personnel on ground operation arm. A second generation semi-autonomous robot has now been developed, with two hydraulic robotic arms mounted on a lift platform.

The research on the high-altitude live working robot is also carried out in Canada in the middle of 80 years, the mechanical arm of the live working robot developed by the Canada is also hydraulically driven, an operator carries out remote control operation in an insulating bucket at the tail end of a lifting mechanism, and the insulation grade of the robot is 25 kV.

Throughout the development history of live working robots for more than 20 years, the robots 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 live working robot with higher safety and adaptability is developed, overcomes the difficulty and limitation of the manual live working, is necessary to replace people to carry out the live working, and meets the requirements of the times. The distribution network line live working robot has good market prospect, and the industrial research is necessary and urgent.

Accordingly, there is a need to develop a live working robot arm and a live working robot to address the deficiencies of the prior art and to solve or alleviate one or more of the above problems.

[ Utility model ] content

In view of this, the utility model provides a live working mechanical arm and a live working robot, which adopt a quick joint process, a separated electric drive and an independent battery system for power supply, and ensure the high efficiency and safety of operation.

On one hand, the utility model provides a live working mechanical arm which comprises a function key, a large arm, a small arm, a wrist part, a balance part, a waist part and a base, wherein the function key, the wrist part, the balance part, the small arm, the large arm, the waist part and the base are sequentially connected to form a six-degree-of-freedom rod system, an execution part is arranged in each degree of freedom, position encoders are arranged in the function key, the large arm, the small arm, the wrist part, the balance part, the waist part and the base, and two adjacent position encoders are connected through the execution part.

The above-mentioned aspect and any possible implementation manner further provide an implementation manner, where the executing component includes a deformation mechanism, a displacement sensor, and a limit switch, the position encoder is connected to the deformation mechanism through the limit switch, and the displacement sensor is connected to the deformation mechanism.

In the aspect and any one of the possible implementation manners described above, there is further provided an implementation manner in which, in the degree of freedom between the waist portion and the base, the deformation mechanism is a harmonic reducer, and a rotation range of the waist portion is 0 ° to 180 °.

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 aspects and any possible implementation manners further provide a live working robot, 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 the manipulators, and the video capture unit is disposed on the periphery 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.

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 10k V 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 electric working robot according to 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 stereoscopic vision provided by 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.

[ 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 live working mechanical arm, as shown in figure 1, the mechanical arm comprises a function key 1, a large arm 5, a small arm 4, a wrist 2, a balance part (balance block) 3, a waist 6 and a base 8, wherein the function key 1, the wrist 2, the balance part (balance block) 3, the small arm 4, the large arm 5, the waist 6 and the base 8 are sequentially connected to form a six-degree-of-freedom rod system, position encoders are arranged in the function key 1, the large arm 5, the small arm 4, the wrist 2, the balance part (balance block) 3, the waist 6 and the base 8, an execution part is arranged in each degree of freedom rod system, the execution part 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 sensors are connected with the deformation mechanism.

In the degree of freedom between the waist 6 and the base 8, the maximum pitch angle of the deformation mechanism is 120 degrees for the harmonic reducer, and the rotation range of the waist 6 is 0-180 degrees. In the degree of freedom between the large arm 5 and the waist 6, the deformation mechanism is an electric push rod mechanism, and the maximum pitch angle of the large arm 5 is 120 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 (balance block) 3 and the small arm 4, the deformation mechanism is a planetary gear reducer, and the maximum swing angle of the balance part (balance block) 3 is 105 degrees. In the degree of freedom between the wrist 2 and the balance part (balance weight) 3, the deformation mechanism is an electric push rod mechanism, and the maximum pitch angle of the wrist 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 (balance block) 3 is 105 °

The utility model also provides a charged working robot, as shown in fig. 2, the robot comprises a master manipulator (left arm) 11, a slave manipulator (right arm) 12, a driving unit, a control center and a video acquisition unit (camera) 10, the master manipulator (left arm) 11, the slave manipulator (right arm) 12, the driving unit and the video acquisition unit are all connected with the control center, the master manipulator (left arm) 11 and the slave manipulator (right arm) 12 are all the mechanical arms, the video acquisition unit (camera) 10 is arranged on the periphery of the master manipulator (left arm) 11 and the slave manipulator (right arm) 12, one or only one of the master manipulator (left arm) 11 and the slave manipulator (right arm) 12 further comprises a clamping hand, the clamping hand is arranged at the tail end of the master manipulator (left arm) 11 or the slave manipulator (right arm) 12, and semicircular convex surfaces are arranged on two sides of the position of the clamping hand, the clamping hand is provided with a drainage wire pre-fixing crimping device 15 and a main guide wire fixing crimping device 16, the drainage wire pre-fixing crimping device 15 tightly connects a drainage wire fixing bolt 13, the main guide wire fixing crimping device 16 compresses a main guide wire between a semi-circular arc surface of an upper pressing block and a semi-circular arc surface of a lower fixing supporting block through a main guide wire fixing bolt 14, and the main guide wire fixing bolt is a guide nylon groove connecting bolt.

In the utility model, in order to increase the range of live working and the flexibility during working, the working mechanical arm adopts a 6-freedom-degree joint type mechanical arm. The rotating base 8 of the mechanical arm is called 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 driving unit 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 driving unit, wherein the industrial personal computer sends an action instruction to the servo driver through calculation, and then the driver controls the motor 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 driving unit and the main driving unit. 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.

Because the work tasks of the live working robot are various, no matter what kind of work is carried out, the left arm is used for grabbing parts, and the right arm task is changed 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 electric working robot driving unit may be divided into a master driving unit and a slave driving unit. The main driving unit is responsible for overall task planning, graphic calculation and man-machine interaction, and the auxiliary driving unit is responsible for motion control of all joints 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 main drive unit and the auxiliary drive unit 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 concurrently executed by the hot-line work robot are many, so a distributed mechanism is adopted in the utility model, and different modules are operated 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 drive unit (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 illustration of the use of an electric 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 drive unit takes a BeckHoff CX2020 motion controller as a core, and the controller adopts a TwinCAT real-time drive unit, so that the 32 servo axes can be simultaneously controlled. 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 driving unit.

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. An electric working robot can be described as a force redundancy system, and the force redundancy causes 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 (right arms) 12 have no definite structure and motion relation, and need to be subjected to kinematics and dynamics forward and inverse solution calculation to map joint spaces to operation spaces, so that the control algorithm is complex. The structural form and the degree of freedom of the isomorphic master and slave manipulators (right 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 an isomorphic master hand, is a 6-degree-of-freedom rod system, and consists of waist, arm and wrist joints corresponding to the operation mechanical arm, balance blocks and basic rod pieces. 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 driving unit adopts the same control structure as the slave arm, a BeckHoff CX2020 motion brake is used as a core, and each shaft driving motor adopts 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 operator of the live working robot is in the main control room, 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. The mode improves the working mode of the prior live working robot (operators stand in the high-altitude insulating bucket to operate the mechanical arm), and improves the safety and the 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 3cm, 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. In order to solve the problem, the live 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, one is that the camera is installed at a certain fixed position outside a mechanical arm, and the camera can be 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 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 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 distribution live working robot has the advantages that the working environment is outdoor, light rays are strong when the weather is clear, and white spots often appear in the acquired images, 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 stereo vision calculation method comprises the following steps:

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 movable lifting arm is installed on the movable platform, and an independent power supply system, a lifting mechanism, a main control room and a balancing device are carried in the car hopper. An operator operates in the main control room, and the operation mechanical arm is controlled 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 mechanical arm uses a rotatable base and a pitching push rod telescopic arm as a lifting mechanism. The mobile lifting arm structure has 4 degrees of freedom: the bottom is rotated, the big arm 5 is pitched, the small arm 4 is pitched, and the small arm 4 is in a telescopic structure. 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 operation platform part is installed at the tail end of the small arm 4 through a hinge structure, parallelogram structures are designed on the small arm 4 and the large arm 5, and the tail end operation platform is guaranteed to be always kept in a horizontal posture through structural constraint.

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

Because the hot-line work robot system needs to finish fine operations such as foreign matter removal, hot-line disconnection of a lead, hot-line wire repair, hot-line replacement of a drop fuse and the like on distribution network hot-line equipment or a wire, the robot is required to have a large load-weight ratio, a light-weight mechanism, dexterity, accuracy and low friction force, and the output power coefficient is improved. From the design link, light materials such as carbon fiber and aluminum alloy are selected, the arm support adopts a hollow design, wiring and weight reduction are facilitated, and the bearing rigidity is improved by adopting the shapes of the middle sections such as an I shape and a box shape; on the transmission part, a high-precision planetary reducer, a harmonic reducer and an RV reducer are selected, so that the transmission clearance is reduced, the operation precision and the rigidity of the tail end are improved, the key assembly dimensions such as concentricity of a transmission shaft and verticality of a contact end surface are ensured in the assembly stage, and the transmission efficiency is improved; in the design of the driving unit, a high-precision encoder, a tail end sensing double closed loop design, various advanced control algorithms and a multi-order continuous track planning method are adopted to improve the dynamic precision of the tail end of the mechanical arm.

The work tasks of the hot-line work robot are various, however, no matter what kind of work is carried out, the left arm is used for 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.

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, and the special tools comprise a multifunctional split wrench, an insulated wire stripping device, split electric-drive crimping pliers, electric-drive arc wire cutters, a broken wire insulation traction tool, a wire lifting adjustable device and the like. The special tools all adopt a quick joint process, a separated electric drive and an insulated oil pipe for oil supply, and the high efficiency and the safety of operation are ensured.

The above provides an electrified operation manipulator and electrified operation robot, has introduced in detail to this application embodiment. 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 live working arm, its characterized in that, the arm includes function button, big arm, forearm, wrist, balanced portion, waist and base, function button, wrist, balanced portion, forearm, big arm, waist and base connect gradually, form six degrees of freedom rod systems, all are equipped with executive component in every degree of freedom, all be equipped with position encoder in function button, big arm, forearm, wrist, balanced portion, waist and the base, connect through executive component between two adjacent position encoder.

2. The mechanical arm as claimed in claim 1, wherein the actuating component comprises a deformation mechanism, a displacement sensor and a limit switch, the position encoder is connected with the deformation mechanism through the limit switch, and the displacement sensor is connected with the deformation mechanism.

3. The mechanical arm according to claim 2, wherein in the degree of freedom between the waist portion and the base, the deformation mechanism is a harmonic reducer, and the rotation range of the waist portion is 0 ° to 180 °.

4. The mechanical arm as claimed in claim 2, wherein 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 °.

5. The mechanical arm as claimed in claim 2, wherein in the degree of freedom between the small arm and the large arm, the deformation mechanism is a power-driven push rod mechanism, and the maximum pitch angle of the small arm is 110 °.

6. The robot arm according to claim 2, wherein in the degree of freedom between the balance portion and the arm, the deformation mechanism is a planetary gear reducer, and the maximum rocking angle of the balance portion is 105 °.

7. A robot arm according to claim 2, wherein in the degree of freedom between the arm portion and the balance portion, the deformation mechanism is an electric putter mechanism, and the maximum pitch angle of the arm portion is 100 °.

8. The robot arm according to claim 2, wherein in the degree of freedom between the function button and the wrist, the deformation mechanism is a planetary gear reducer, and the maximum rocking angle of the balance is 105 °.

9. A live working robot, characterized in that the live working robot comprises a master manipulator, a slave manipulator, a driving unit, a control center and a video acquisition unit, wherein the master manipulator, the slave manipulator, the driving unit and the video acquisition unit are all connected with the control center, the master manipulator and the slave manipulator are all the mechanical arms as claimed in one of the claims 1 to 8, and the video acquisition unit is arranged on the periphery side of the master manipulator and the slave manipulator.

10. The live working robot according to claim 9, 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.

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