WO2018108099A1 - 一种带电作业机器人的多级绝缘防护*** - Google Patents

一种带电作业机器人的多级绝缘防护*** Download PDF

Info

Publication number
WO2018108099A1
WO2018108099A1 PCT/CN2017/115882 CN2017115882W WO2018108099A1 WO 2018108099 A1 WO2018108099 A1 WO 2018108099A1 CN 2017115882 W CN2017115882 W CN 2017115882W WO 2018108099 A1 WO2018108099 A1 WO 2018108099A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
arm
mechanical arm
protection system
insulating
Prior art date
Application number
PCT/CN2017/115882
Other languages
English (en)
French (fr)
Inventor
纪良
沈辉
张伟
张渊
郭建
Original Assignee
国网江苏省电力公司常州供电公司
国网江苏省电力公司
国家电网公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 国网江苏省电力公司常州供电公司, 国网江苏省电力公司, 国家电网公司 filed Critical 国网江苏省电力公司常州供电公司
Publication of WO2018108099A1 publication Critical patent/WO2018108099A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices

Definitions

  • the invention belongs to the field of electric power technology, and particularly relates to a multi-stage insulation protection system for a charged working robot.
  • robots to complete live working can not only free the staff from dangerous, heavy and stressful work, effectively avoiding the occurrence of casualties during live working, making live working safer and improving work efficiency; It can improve the operation quality of the power grid, further reduce the personnel input of the power supply system, reduce personnel costs, and have enormous economic and social benefits.
  • Insulation protection measures are the key to whether the live working robot can complete the work of live working. If there is no complete and reliable insulation safety protection measures, it will not only bring harm to the robots and operators, but also may cause short-circuit faults in the power grid, and the consequences are unimaginable.
  • the existing insulation protection measures in China are generally for live workers or non-autonomous live working robots, and are not suitable for robots that have completed their own live working.
  • the object of the present invention is to provide a multi-stage insulation protection system for an electric working robot, so as to ensure the working efficiency and automation level of the live working, and improve the operational safety performance of the live working.
  • the present invention provides a multi-stage insulation protection system for an electric working robot
  • the electric working robot includes an insulating bucket, a robot platform mounted on the insulating bucket, and a first robot arm mounted on the robot platform, a second robot arm, an auxiliary robot arm, a panoramic camera, a robotic toolbox, a first industrial computer, a battery, and a communication module
  • the first robot arm, the second robot arm, and the auxiliary robot arm are equipped with a binocular camera
  • a control room is disposed on the insulating bucket
  • the first main operating hand, the second main operating hand, and the auxiliary main operation and the display are disposed in the control; the first main operating hand, the second main operating hand, and the auxiliary main operating hand
  • the control unit has an insulative housing; the control room and the robot platform use a fiber optic communication module or a wireless communication module for data transmission.
  • the insulating bucket is a scissor lift, and the scissor lift and the robot platform are connected by an insulator.
  • first mechanical arm, the second mechanical arm, the auxiliary mechanical arm, the binocular camera, the panoramic camera, the mechanical arm toolbox, the first industrial computer, the battery, and the communication module are wrapped with epoxy glass cloth;
  • the arm, the second robot arm and the auxiliary robot arm are mounted on the robot platform via insulators.
  • the special tool box for the mechanical arm, the first industrial computer, the battery and the robot communication module are mounted on the robot platform through insulators, and the outer layer is made of aluminum alloy material as a shield.
  • the clamping tool mounted on the ends of the first robot arm, the second robot arm and the auxiliary robot arm is composed of two jaws, a transmission device, a driving device, a rotating device and a transfer flange;
  • the blue is made of insulating material.
  • the tool for disassembling the bolt is composed of a ring and a fixing clip; the clamping jaw clamps the ring, and the fixing clip is used for fixing the bolt, and the 360° rotation is performed by the rotating device of the clamping tool; wherein the ring is Made of insulating material.
  • FIG. 1 is a schematic structural view of a moving vehicle and an isolation control room of the present invention
  • FIG. 2 is a schematic structural view of a scissor lift and an insulating work platform
  • FIG. 3 is a schematic structural view of an articulated mechanical arm integrated with drive control
  • FIG. 4 is a schematic view showing the end structure of an articulated mechanical arm integrated with drive control
  • Figure 5 is a schematic structural view of a gripping tool
  • Figure 6 is a schematic structural view of a special bolt disassembly tool
  • Figure 7 is a schematic view of the multi-stage insulation protection structure of the present invention.
  • the robot multi-level insulation protection system includes an isolation control room 2 that is completely isolated from the electric field of the high-voltage equipment.
  • the isolation control room 2 is provided with an insulating casing, which is located on a moving vehicle 1; and a lifting shear is provided at the live working site.
  • a robot insulated robot platform 4 with an insulator 0 therebetween; the insulated robot platform 4 is provided with a first robot arm 43, a second robot arm 44 and a live working
  • the auxiliary mechanical arm 42 adopts a six-degree-of-freedom drive-controlled integrated articulated mechanical arm 5, and the surface is sprayed with an insulating material or wrapped with a high-pressure resistant epoxy glass cloth or an insulating fabric to prevent phase-to-phase short circuit.
  • An insulator with good insulation performance is arranged between the mechanical arm and the insulating working platform; the mechanical working tool box 47, the first industrial computer 48, the battery 49 and the robot communication module 411 are also placed on the insulating working platform 4, and all of them are electromagnetically shielded.
  • a good aluminum alloy material is used as a shielding body, and an insulator is arranged between the insulating working platform; and a device is placed above the robot insulating working platform.
  • a panoramic camera 41 wrapped with insulating material; a binocular camera 45 is respectively placed at the wrist position of the three mechanical arms for acquiring the target posture of the working object, and the periphery of the binocular camera 45 is wrapped by a silicone material to ensure that the camera is in accordance with the machine.
  • the arm is not affected by the high-voltage electric field during the movement, so as to ensure the safety performance of the robot in the self-powered operation, and improve the working efficiency and automation level of the live working.
  • the isolation control chamber 2 is provided with an insulative housing in which the operator is in the isolation control chamber 2.
  • a display 21, a main operating hand 22, a second industrial computer 23, and an isolated control room communication module 25 are provided in the isolation control room 2.
  • the operator obtains the live working site from the display 21, manipulates the main operating hand 22, and monitors the working condition of the mechanical arm on the insulating working platform 4; the main operating hand 22 controls the mechanical arm of the insulating working platform 4 by wireless communication and optical fiber communication. The action ensures that the operator is completely isolated from the electric field of the high voltage equipment.
  • the insulating tire 31 is mounted below the base 32 of the scissor lift 3 for easy movement; when the scissor lift 3 is not working, the table 34 is at a low position by the downward movement of the scissor 33; when the scissor lift 3 During operation, the table 34 is at a high position by the upward movement of the scissor 33. Since the robot is to be energized under high pressure, an insulator having good insulation performance is provided between the table 34 and the insulating work platform 4.
  • the insulating work platform 4 is provided with a panoramic camera 41 wrapped with an insulating material, an auxiliary mechanical arm 42, a first mechanical arm 43, a second mechanical arm 44, a mechanical arm special tool box 47, a first industrial computer 48, a battery 49, and Robot communication module 411.
  • the three robot arms are driven by a six-degree-of-freedom drive to control the integrated articulated arm 5, and the surface is sprayed with insulating material or wrapped with high-pressure resistant epoxy glass cloth or insulating fabric to protect the body arm from shielding or isolation. To prevent phase-to-phase short circuit. Insulation between the three arms and the insulated work platform A good performance insulator.
  • the mechanical arm special tool box 47 houses the insulating tools used when the mechanical arm is energized.
  • the battery 49 supplies power to the robot arm.
  • the outer arm of the mechanical arm tool 47, the first industrial computer 48, the battery 49 and the robot communication module 411 are all made of an aluminum alloy material with good electromagnetic shielding effect, and an insulator with good insulation performance is provided between the mechanical working platform 4 and the insulating working platform 4. .
  • the six-degree-of-freedom drive control integrated articulated robot arm 43 is composed of a shoulder 433, a boom 434, an arm 436 and a wrist 437, wherein the wrist 437 has three degrees of freedom, and each has a degree of freedom. Spraying an insulating material on the surface of the arm or wrapping a high-pressure resistant epoxy glass cloth or insulating fabric can ensure seamless insulation without affecting the range of motion of the arm.
  • the special insulating tool includes a gripping tool 6, a special bolt dismounting tool 7.
  • the clamping tool 6 is electrically driven and consists of two jaws 61, a transmission 62, a driving device 63, a rotating device 64 and an insulating adapter flange 65. It has a certain mechanical self-adaptive ability to grasp objects of different shapes.
  • the utility model has the advantages of large grasping force, high transmission efficiency, simple structure and light weight. Its connection to the arm is made of insulating material to ensure the safety of the robot during live working.
  • the special bolt dismounting tool 7 is composed of a ring 71 and a fixing clip 72, and the bolt is disassembled and assembled by the rotation of the gripping tool 6.
  • the live working robot adopts multi-level insulation for safety protection.
  • the first-class insulation is the isolation control room 2 operated by the operator, and the outer casing is provided with an insulating casing; the robot platform 4 is placed on the scissor lift 3 to realize the entire working platform and the ground operator.
  • the insulation between the two is the secondary insulation; the tertiary insulation is the insulation of the mechanical arm, including the first mechanical arm 43, the second mechanical arm 44, the insulation of the auxiliary mechanical arm 42 body and the double mounted on the arm position of the mechanical arm
  • the surface of the camera 45 is insulated, and the surface of the arm is sprayed with insulating material or wrapped with high-pressure resistant epoxy glass cloth or insulating fabric.
  • the periphery of the binocular camera 45 is wrapped with insulating material; the robot uses an insulating tool for charging operation, which is a four-level insulation; At the same time, the use of wireless communication and fiber-optic communication can make ground operators away from the robot arm and high-voltage lines, and carry out the replacement and monitoring of high-voltage electrical equipment, which greatly guarantees the safety of operators. This is a five-level insulation.
  • the specific technical solutions are as follows:
  • the primary insulation is an isolation control chamber 2 provided with an insulating casing on the moving vehicle 1.
  • the operator is in the isolation control room 2, and the main operation hand 22 is operated by the master-slave control mode.
  • the remote control robot arms 42, 43, 44 grasp the insulation tool for charging operation, and the operation site is collected by the binocular camera 45 and the panoramic camera 41.
  • the picture after a series of image processing by the computer, obtains a job image or animation on the robot insulating work platform 4 from the display 21.
  • the main operating hand 22 is constructed in the same manner as the first mechanical arm 43 and the second mechanical arm 44, and is connected to the optical fiber through wireless communication to avoid direct contact with the high-voltage equipment, thereby ensuring the personal safety of the ground staff.
  • the scissor lift 3 is the secondary insulation of the entire robotic operating system. It consists of a countertop 34, The scissor 33, the base 32, the insulating tire 31, and the strut 30 are composed.
  • the strut 30 When not in operation, the strut 30 is in the stowed state, and during operation, the strut 30 is lowered from the base to fix the scissor lift 3, preventing it from moving back and forth to affect the work.
  • the table 34 is at a low position by the downward movement of the scissor 33; when the scissor lift is in operation, the table 34 is at a high position by the upward movement of the scissor 33, which is convenient and convenient. Safely lift the robotic insulation platform to a high position.
  • the scissor lift 3 and the insulating work platform 4 are connected by an insulator 0 having good insulation performance to ensure that the self-powered working robot system is insulated from the ground.
  • the insulating work platform 4 is provided with a panoramic camera 41 wrapped with epoxy glass cloth, an auxiliary mechanical arm 42, a first mechanical arm 43, a second mechanical arm 44, a mechanical arm special tool box 47, a first industrial computer 48, a battery 49, and Robot communication module 411.
  • An insulator having good insulation properties is provided between the mechanical arms 42, 43, and the insulating work platform 4.
  • the special armor 47 for the robot arm is a special insulating tool used when the mechanical arm is energized.
  • the battery 49 supplies power to the robot arm.
  • the outer arm of the mechanical arm tool 47, the first industrial computer 48, the battery 49 and the robot communication module 411 are all made of an aluminum alloy material with good electromagnetic shielding effect, and an insulator with good insulation performance is provided between the mechanical working platform 4 and the insulating working platform 4. .
  • the tertiary insulation is the insulation of the mechanical arm, including the insulation of the mechanical arm body and the insulation of the binocular camera mounted at the wrist position.
  • the drive-integrated articulated mechanical arm 43 has six degrees of freedom, and is composed of a shoulder 433, a large arm 434, an arm 436, and a wrist 437.
  • the wrist 437 has three degrees of freedom, and each has its own A degree of freedom, flexible movement.
  • the surface of the arm is sprayed with insulating material or wrapped with high-pressure resistant epoxy glass cloth or insulating fabric to achieve seamless insulation and prevent phase-to-phase short circuit, and the working range of the arm is not affected. As shown in FIG.
  • the binocular camera 45 is mounted on the wrist position of the three robot arms for acquiring the target pose of the work object, and embodies the autonomy of the robot's live working.
  • the periphery of the binocular camera 45 is wrapped with an insulating material.
  • the shape of the insulating shell is designed, the mold of the insulating shell is processed by rubber material, and then the binocular camera is wrapped therein, and finally the binocular camera is fixed to the first robot arm 43 by rubber material and The wrist position of the second robot arm 44.
  • the four-level insulation is the use of special insulation tools.
  • the clamping tool 6 is electrically driven and composed of two jaws 61, a transmission 62, a driving device 63, a rotating device 64 and an insulating adapter flange 65, and has a certain mechanical self-adaptive capability. It can grasp objects of different shapes, with large gripping force, high transmission efficiency, simple structure and light weight. It loosens and clamps other tools by opening and closing the jaws 61.
  • the rotating device 64 can be rotated by 360° to more easily perform the clamping of the tool in any posture.
  • the insulating adapter flange 65 is made of an insulating material, which is matched with the end 438 of the arm, and the schematic diagram of the end of the arm is as shown in FIG.
  • the clamping tool 6 is connected to the end 438 of the arm through an insulating adapter flange 65.
  • the insulating adapter flange 65 is made of an insulating material to ensure the safety of the robot during live working. It The loosening and clamping of other tools is achieved by the opening and closing of the jaws 61.
  • the rotating device 64 can be rotated by 360° to more easily perform the clamping of the tool in any posture.
  • the special bolt dismounting tool 7 is composed of a ring 71 and a fixing clip 72.
  • the jaws 61 clamp the ring 71, and the fixing clips 72 are used to fix the bolts, and are rotated 360° by the rotating device 64 of the holding tool, thereby realizing the disassembly and assembly of the bolts.
  • the ring 71 is made of an insulating material.
  • the first industrial computer of the isolation control room and the insulated working platform transmits signals through wireless and optical fibers to ensure that the operator is completely isolated from the high voltage electric field.
  • the present invention employs multi-level insulation protection, including isolation control room 2, scissor lift 3, mechanical arm insulation, dedicated insulation tools, and wireless, fiber optic communication.
  • the special insulation tools include the clamping tool 6 and the special bolt disassembly tool 7;
  • the mechanical arm insulation includes: (1) the surface of the mechanical arm is sprayed with insulating material or wrapped with high-pressure resistant epoxy glass cloth, and (2) the binocular camera insulating shell
  • the scissor lift realizes the insulation between the entire working platform and the ground operator; the use of the isolation control room and wireless and fiber-optic communication enables the ground operator to stay away from the robot arm and the high-voltage line to ensure the safety of the operator.
  • the present invention has significant advantages in that;
  • the insulation protection system of the invention is directed to a high-voltage live working environment of 10 kV and above, including three parts of an isolation control room, a scissor lift and a robot insulation work platform; the isolation control room is provided with an insulating casing to ensure the personal body of the ground staff. Safety; there is an insulator between the scissor lift and the insulated working platform to ensure the system is insulated from the ground; the components on the robot insulation working platform are insulated accordingly to prevent short circuit caused by contact with the two-phase high-voltage live conductor during live working.
  • the insulation protection system adopts multi-level insulation for safety protection, which improves the insulation, safety and reliability of the self-powered working robot, and provides an important safety guarantee for the practicalization and industrialization of the high-voltage live working robot.
  • Spraying an insulating material on the surface of the mechanical arm or wrapping a high-pressure resistant epoxy glass cloth or insulating fabric can ensure the seamless insulation effect without affecting the range of motion of the mechanical arm.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Manipulator (AREA)
  • Electric Cable Installation (AREA)

Abstract

一种电作业机器人的多级绝缘防护***，包括绝缘斗车（1），搭载在绝缘斗车上的机器人平台（4），安装在机器人平台上的第一机械臂（43）、第二机械臂（44）、辅助机械臂（42）、全景摄像头（41）、双目摄像头（45）、机械臂专用工具箱（47）、第一工控机（48）、蓄电池（49）以及通信模块（411），所述绝缘斗车上设置有控制室（2），控制室内设置有主操作手（22）和显示器（21）；所述控制室与机器人平台之间采用光纤通信模块或者无线通信模块进行数据传输；机械臂表面喷涂绝缘材料或包裹耐高压的环氧玻璃布，双目摄像头和全景摄像头具有绝缘外壳。该多级绝缘防护***可以保障带电作业的作业效率和自动化水平，提高带电作业的操作安全性能。

Description

一种带电作业机器人的多级绝缘防护*** 技术领域
本发明属于电力技术领域，具体涉及一种带电作业机器人的多级绝缘防护***。
背景技术
在高压带电作业过程中，操作人员需要采用绝缘手套，攀爬高压铁塔或借助绝缘斗臂车进行不停电作业，这就意味着操作人员要处在高空、高压、强电磁场的危险环境中，劳动强度大，且人体姿态不易控制，即使严格遵守安全操作规范并增加绝缘防护措施，也无法完全缓解作业人员的精神压力和体力损耗，稍有不慎就容易发生人身伤亡事故，给家庭和社会带来严重的损失。
采用机器人自主完成带电作业，不仅可以将工作人员从危险的、繁重的、精神紧张的工作中解放出来，有效避免带电作业时人员伤亡事故的发生，使带电作业更加安全，提高作业效率；同时还可以提高电网的运行质量，进一步减少供电***的人员投入，降低人员成本，具有巨大的经济效益和社会效益。
绝缘防护措施是带电作业机器人能否完成带电作业工作的关键。如果没有完备可靠的绝缘安全防护措施，不但会给机器人和操作人员带来危害，还可能造成电网短路故障，后果不堪设想。国内现有的绝缘防护措施一般针对带电作业人员或者非自主式的带电作业机器人，不适用于自主完成带电作业的机器人。
发明内容
本发明的目的在于提供一种电作业机器人的多级绝缘防护***，以保障带电作业的作业效率和自动化水平，提高带电作业的操作安全性能。
为了解决上述技术问题，本发明提供一种电作业机器人的多级绝缘防护***，带电作业机器人包括绝缘斗车，搭载在绝缘斗车上的机器人平台，安装在机器人平台上的第一机械臂、第二机械臂、辅助机械臂、全景摄像头、机械臂专用工具箱、第一工控机、蓄电池以及通信模块，所述第一机械臂、第二机械臂和辅助机械臂上均搭载有双目摄像头，所述绝缘斗车上设置有控制室，控制内设置有第一主操作手、第二主操作手以及辅助主操、显示器；第一主操作手、第二主操作手以及辅助主操作手分别用于控制第一机械臂、第二机械臂和辅助机械臂；所述控制室具有绝缘外壳；所述控制室与机器人平台之间采用光纤通信模块或者无线通信模块进行数据传输。
进一步，所述绝缘斗车为剪叉式升降机，剪叉式升降机与机器人平台之间通过绝缘子连接。
进一步，第一机械臂、第二机械臂、辅助机械臂、双目摄像头、全景摄像头、机械臂专用工具箱、第一工控机、蓄电池以及通信模块的外表面包裹环氧玻璃布；第一机械臂、第二机械臂和辅助机械臂通过绝缘子安装在机器人平台上。
进一步，机械臂专用工具箱、第一工控机、蓄电池以及机器人通信模块通过绝缘子安装在机器人平台上，且***采用铝合金材料作屏蔽体。
进一步，安装在第一机械臂、第二机械臂和辅助机械臂端部的夹持工具由两个夹爪、传动装置、驱动装置、旋转装置和转接法兰组成；其中，具转接法兰用绝缘材料制成。
进一步，用于拆装螺栓的工具由圆环和固定夹片组成；夹爪夹紧圆环，固定夹片用于固定螺栓，由夹持工具的旋转装置进行360°旋转；其中，圆环由绝缘材料制成。
附图说明
图1是本发明的移动车以及隔离控制室的结构示意图；
图2是剪叉式升降机以及绝缘作业平台的结构示意图；
图3是驱动控制一体化的关节式机械臂结构示意图；
图4是驱动控制一体化的关节式机械臂的末端结构示意图；
图5是夹持工具的结构示意图；
图6是专用螺栓拆装工具的结构示意图；
图7是本发明多级绝缘防护结构示意图。
其中，1、移动车；2、隔离控制室；21、显示器；22、主操作手；23、第二工控机；25、隔离控制室通信模块；0、绝缘子；3、剪叉式升降机；30、支柱；31、绝缘轮胎；32、底座；33、剪叉；34、台面；4、绝缘作业平台；41、全景摄像头；42、辅助机械臂；43、第一机械臂；44、第二机械臂；45、双目摄像头；47、机械臂专用工具箱；48、第一工控机；49、蓄电池；411、机器人通信模块；43、驱动控制一体化的关节式机械臂；433、肩；434、大臂；436、小臂；437、腕；438、机械臂末端；6、夹持工具；61、夹爪；62、传动装置；63、驱动装置；64、旋转装置；65、绝缘转接法兰；7、专用螺栓拆装工具；71、圆环；72、固定夹片。
具体实施方式
容易理解，依据本发明的技术方案，在不变更本发明的实质精神的情况下，本领 域的一般技术人员可以想象出本发明带电作业机器人的多级绝缘防护***的多种实施方式。因此，以下具体实施方式和附图仅是对本发明的技术方案的示例性说明，而不应当视为本发明的全部或者视为对本发明技术方案的限制或限定。
结合附图，机器人多级绝缘防护***包括与高压设备电场完全隔离的隔离控制室2，隔离控制室2设有绝缘外壳，处于一辆移动车1上；在带电作业现场设有升降用的剪叉式升降机3，剪叉式升降机3上面是机器人绝缘机器人平台4，两者之间设有绝缘子0；绝缘机器人平台4设有带电作业用的第一机械臂43、第二机械臂44和一个辅助机械臂42，这三个机械臂采用的是六自由度的驱动控制一体化的关节式机械臂5，表面均喷涂绝缘材料或包裹耐高压的环氧玻璃布或绝缘织物，防止相间短路，机械臂与绝缘作业平台之间设有绝缘性能良好的绝缘子；绝缘作业平台4上还放有机械臂专用工具箱47、第一工控机48、蓄电池49以及机器人通信模块411，它们均采用电磁屏蔽效果好的铝合金材料作屏蔽体，并与绝缘作业平台之间设有绝缘子；在机器人绝缘作业平台上方放置一个用绝缘材料包裹的全景摄像头41；在三个机械臂的腕部位置分别放置一个双目摄像头45，用于获取作业对象的目标位姿，双目摄像头45***由硅胶材质包裹，保证摄像头在随机械臂一起运动的过程中不受高压电场的影响，从而保障机器人在自主带电作业时的安全性能，提高带电作业的作业效率和自动化水平。
所述隔离控制室2设有绝缘外壳，操作人员处于隔离控制室2中。在隔离控制室2设有显示器21、主操作手22、第二工控机23和隔离控制室通信模块25。操作人员从显示器21上获得带电作业现场的情况，操纵主操作手22，监控绝缘作业平台4上的机械臂作业情况；主操作手22通过无线通信与光纤通信方式控制绝缘作业平台4上机械臂的动作，保证了操作人员与高压设备电场完全隔离。
所述剪叉式升降机3底座32的下方安装了绝缘轮胎31，便于移动；当剪叉式升降机3不工作时，通过剪叉33向下的运动，台面34处于低位；当剪叉式升降机3工作时，通过剪叉33向上的运动，台面34处于高位。因为机器人要在高压状态下带电作业，所以台面34与绝缘作业平台4之间设有绝缘性能良好的绝缘子。
所述绝缘作业平台4上设有用绝缘材料包裹的全景摄像头41、辅助机械臂42、第一机械臂43、第二机械臂44、机械臂专用工具箱47、第一工控机48、蓄电池49以及机器人通信模块411。三个机械臂均采用六自由度的驱动控制一体化的关节式机械臂5，表面均喷涂绝缘材料或包裹耐高压的环氧玻璃布或绝缘织物，起到机械臂本体遮蔽或隔离的保护作用，防止相间短路。三个机械臂与绝缘作业平台之间设有绝缘 性能良好的绝缘子。机械臂专用工具箱47里放的是机械臂带电作业时使用的绝缘工具。蓄电池49给机械臂供电。机械臂专用工具箱47、第一工控机48、蓄电池49以及机器人通信模块411***均采用电磁屏蔽效果好的铝合金材料作屏蔽体，并与绝缘作业平台4之间设有绝缘性能良好的绝缘子。
所述六自由度的驱动控制一体化的关节式机械臂43，由肩433、大臂434、小臂436和腕437组成，其中：腕437有三个自由度，其他各有一个自由度。在机械臂的表面喷涂绝缘材料或包裹耐高压的环氧玻璃布或绝缘织物，可以保证无缝隙绝缘效果的同时不影响机械臂的活动范围。
所述专用绝缘工具包括夹持工具6、专用螺栓拆装工具7。夹持工具6采用电力驱动方式，由两个夹爪61、传动装置62、驱动装置63、旋转装置64和绝缘转接法兰65组成，具有一定机械自适应能力，能够抓住不同形状的物体，且抓持力大、传动效率高、结构简单、重量轻。它与机械臂连接的地方采用绝缘材料制成，保证机器人带电作业时的安全性。专用螺栓拆装工具7，由圆环71和固定夹片72组成，通过夹持工具6的旋转，完成对螺栓的拆装。
带电作业机器人采用多级绝缘进行安全防护，一级绝缘是操作人员工作的隔离控制室2，***设有绝缘外壳；机器人平台4置于剪叉式升降机3上，实现整个作业平台与地面操作人员之间的绝缘，这是二级绝缘；三级绝缘是机械臂的绝缘，包括第一机械臂43、第二机械臂44、辅助机械臂42本体的绝缘和安装在机械臂腕部位置的双目摄像头45的绝缘，机械臂表面均喷涂绝缘材料或包裹耐高压的环氧玻璃布或绝缘织物，双目摄像头45***由绝缘材料包裹；机器人采用绝缘工具进行带电作业，这是四级绝缘；同时，无线通信与光纤通信的使用，可使地面操作人员远离机械手臂及高压线路，进行高压电气设备的更换和监控工作，极大地保证操作人员的安全，这是五级绝缘。具体技术方案如下：
如图1所示，一级绝缘是位于移动车1上的设有绝缘外壳的隔离控制室2。工作时，操作人员处于隔离控制室2中，采用主从控制方式操纵主操作手22遥控机械臂42、43、44抓取绝缘工具进行带电作业，利用双目摄像头45和全景摄像头41采集作业现场图片，经过计算机一系列的图像处理后，从显示器21上获得机器人绝缘工作平台4上的作业图像或动画。主操作手22与第一机械臂43、第二机械臂44同构，通过无线通信与光纤通信方式连接，避免直接接触高压设备，保证了地面工作人员的人身安全。
如图2所示，剪叉式升降机3是整个机器人作业***的二级绝缘。它由台面34、 剪叉33、底座32、绝缘轮胎31和支柱30组成。不工作时，支柱30处于收起状态，工作时，支柱30从底座放下，固定住剪叉式升降机3，防止它来回移动影响作业。当剪叉式升降机不工作时，通过剪叉33向下的运动，台面34处于低位；当剪叉式升降机工作时，通过剪叉33向上的运动，台面34处于高位，这样就能够既方便又安全地将机器人绝缘作业平台送至高处。剪叉式升降机3与绝缘作业平台4之间通过绝缘性能良好的绝缘子0连接，确保自主带电作业机器人***对地绝缘。
绝缘作业平台4上设有用环氧玻璃布包裹的全景摄像头41、辅助机械臂42、第一机械臂43、第二机械臂44、机械臂专用工具箱47、第一工控机48、蓄电池49以及机器人通信模块411。机械臂42、43、44与绝缘作业平台4之间设有绝缘性能良好的绝缘子。机械臂专用工具箱47里放的是机械臂带电作业时使用的专用绝缘工具。蓄电池49给机械臂供电。机械臂专用工具箱47、第一工控机48、蓄电池49以及机器人通信模块411***均采用电磁屏蔽效果好的铝合金材料作屏蔽体，并与绝缘作业平台4之间设有绝缘性能良好的绝缘子。
三级绝缘是机械臂的绝缘，包括机械臂本体的绝缘和安装在腕部位置的双目摄像头的绝缘。如图3所示，驱动控制一体化的关节式机械臂43有六个自由度，由肩433、大臂434、小臂436、腕437组成，其中：腕437有三个自由度，其他各有一个自由度，能灵活运动。在机械臂的表面喷涂绝缘材料或包裹耐高压的环氧玻璃布或绝缘织物，达到了无缝隙绝缘，防止相间短路，另外还不影响机械臂的工作范围。如图1所示，双目摄像头45安装在三个机械臂的腕部位置，用于获取作业对象的目标位姿，体现了机器人带电作业的自主性。为了防止相间短路，双目摄像头45的***用绝缘材料包裹。根据双目摄像头45的尺寸建模，设计绝缘外壳的形状，采用橡胶材质加工绝缘外壳的模具，然后将双目摄像头包裹在其中，最后通过橡胶材质将双目摄像头固定在第一机械臂43和第二机械臂44的腕部位置。
四级绝缘是专用绝缘工具的使用。如图5所示是夹持工具6，采用电力驱动方式，由两个夹爪61、传动装置62、驱动装置63、旋转装置64和绝缘转接法兰65组成，具有一定机械自适应能力，能够抓住不同形状的物体，且抓持力大、传动效率高、结构简单、重量轻。它通过夹爪61的张开和闭合，实现对其他工具的松开和夹紧。旋转装置64，可以360°旋转，更轻松地完成对任意姿态的工具的夹持。为了保证机器人带电作业时的安全性，绝缘转接法兰65用绝缘材料制成，与机械臂末端438契合，机械臂末端的示意图如图4所示。夹持工具6与机械臂末端438通过绝缘转接法兰65连接，绝缘转接法兰65采用绝缘材料制成，保证机器人带电作业时的安全性。它 通过夹爪61的张开和闭合，实现对其他工具的松开和夹紧。旋转装置64，可以360°旋转，更轻松地完成对任意姿态的工具的夹持。专用螺栓拆装工具7，由圆环71和固定夹片72组成。使用时，夹爪61夹紧圆环71，固定夹片72用于固定螺栓，由夹持工具的旋转装置64进行360°旋转，从而实现对螺栓的拆装。特别的，圆环71由绝缘材料制成。
五级绝缘是无线、光纤通信的使用。隔离控制室与绝缘作业平台的第一工控机通过无线、光纤进行信号传递，保证了操作人员与高压电场完全隔离。
如图7所示，本发明采用多级绝缘防护，包括隔离控制室2、剪叉式升降机3、机械臂绝缘、专用绝缘工具和无线、光纤通信的使用。其中，专用绝缘工具包括夹持工具6和专用螺栓拆装工具7；机械臂绝缘包括：(1)机械臂表面喷涂绝缘材料或包裹耐高压的环氧玻璃布，(2)双目摄像头绝缘外壳；剪叉式升降机实现整个作业平台与地面操作人员之间的绝缘；隔离控制室和无线、光纤通信的使用，使地面操作人员远离机械手臂及高压线路，保证操作人员的安全。
工业应用性
本发明与现有技术相比，其显著优点在于；
(1)本发明绝缘防护***针对10kV及以上高压带电作业环境，包括隔离控制室、剪叉式升降机和机器人绝缘作业平台3个部分；隔离控制室设有绝缘外壳，保证了地面工作人员的人身安全；剪叉式升降机与绝缘作业平台之间设有绝缘子，确保***对地绝缘；机器人绝缘作业平台上各部件均进行了相应绝缘措施，防止带电作业时接触两相高压带电导线造成短路。
(2)绝缘防护***采用多级绝缘进行安全防护，提高了自主带电作业机器人的绝缘性、安全性和可靠性，为高压带电作业机器人的实用化和产业化提供了重要的安全保障。
(3)在机械臂的表面喷涂绝缘材料或包裹耐高压的环氧玻璃布或绝缘织物，可以保证无缝隙绝缘效果的同时不影响机械臂的活动范围。

Claims (6)

  1. 一种电作业机器人的多级绝缘防护***，其特征在于，带电作业机器人包括绝缘斗车，搭载在绝缘斗车上的机器人平台，安装在机器人平台上的第一机械臂、第二机械臂、辅助机械臂、全景摄像头、机械臂专用工具箱、第一工控机、蓄电池以及通信模块，所述第一机械臂、第二机械臂和辅助机械臂上均搭载有双目摄像头，所述绝缘斗车上设置有控制室，控制内设置有第一主操作手、第二主操作手以及辅助主操、显示器；第一主操作手、第二主操作手以及辅助主操作手分别用于控制第一机械臂、第二机械臂和辅助机械臂；所述控制室具有绝缘外壳；所述控制室与机器人平台之间采用光纤通信模块或者无线通信模块进行数据传输。
  2. 如权利要求1所述电作业机器人的多级绝缘防护***，其特征在于，所述绝缘斗车为剪叉式升降机，剪叉式升降机与机器人平台之间通过绝缘子连接。
  3. 如权利要求1所述电作业机器人的多级绝缘防护***，其特征在于，第一机械臂、第二机械臂、辅助机械臂、双目摄像头、全景摄像头、机械臂专用工具箱、第一工控机、蓄电池以及通信模块的外表面包裹环氧玻璃布；第一机械臂、第二机械臂和辅助机械臂通过绝缘子安装在机器人平台上。
  4. 如权利要求1所述电作业机器人的多级绝缘防护***，其特征在于，机械臂专用工具箱、第一工控机、蓄电池以及机器人通信模块通过绝缘子安装在机器人平台上，且***采用铝合金材料作屏蔽体。
  5. 如权利要求1所述电作业机器人的多级绝缘防护***，其特征在于，安装在第一机械臂、第二机械臂和辅助机械臂端部的夹持工具由两个夹爪、传动装置、驱动装置、旋转装置和转接法兰组成；其中，具转接法兰用绝缘材料制成。
  6. 如权利要求5所述电作业机器人的多级绝缘防护***，其特征在于，用于拆装螺栓的工具由圆环和固定夹片组成；夹爪夹紧圆环，固定夹片用于固定螺栓，由夹持工具的旋转装置进行360°旋转；其中，圆环由绝缘材料制成。
PCT/CN2017/115882 2016-12-14 2017-12-13 一种带电作业机器人的多级绝缘防护*** WO2018108099A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201611153767.3 2016-12-14
CN201611153767.3A CN106426298B (zh) 2016-12-14 2016-12-14 一种带电作业机器人的多级绝缘防护***

Publications (1)

Publication Number Publication Date
WO2018108099A1 true WO2018108099A1 (zh) 2018-06-21

Family

ID=58217569

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/115882 WO2018108099A1 (zh) 2016-12-14 2017-12-13 一种带电作业机器人的多级绝缘防护***

Country Status (2)

Country Link
CN (1) CN106426298B (zh)
WO (1) WO2018108099A1 (zh)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110104572A (zh) * 2019-05-27 2019-08-09 宜兴市宜安电力工具制造有限公司 带电检修机器人顶部旋转吊臂
CN110883775A (zh) * 2019-11-20 2020-03-17 北京国电富通科技发展有限责任公司 单臂带电作业机器人的人机交互***和人机协同***
CN111351472A (zh) * 2018-12-21 2020-06-30 核动力运行研究所 一种适用于堆内构件防松结构自动视频检查装置
CN111923065A (zh) * 2020-09-27 2020-11-13 国网瑞嘉(天津)智能机器人有限公司 带电作业装置及其控制方法
CN112440280A (zh) * 2020-11-13 2021-03-05 国网天津市电力公司 一种具有主从控制功能的电力带电作业用液压机械臂
CN112497253A (zh) * 2020-11-13 2021-03-16 国网天津市电力公司 一种具有稳定强化结构的高精度电力带电作业用液压机械臂
CN114393587A (zh) * 2021-12-31 2022-04-26 湖北甫安科技有限公司 一种扭锁拆卸机器人及其拆卸集装箱扭锁控制方法
CN118198933A (zh) * 2024-05-11 2024-06-14 国网瑞嘉(天津)智能机器人有限公司 基于带电作业机器人的避雷器安装方法、装置及设备

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106426298B (zh) * 2016-12-14 2019-04-05 国网江苏省电力公司常州供电公司 一种带电作业机器人的多级绝缘防护***
CN107017575B (zh) * 2017-05-24 2019-03-26 北京送变电公司 输变电***维护车及断路器套管的更换方法
CN109130861A (zh) * 2017-06-28 2019-01-04 天津市松正电动汽车技术股份有限公司 一种双源无轨公交车集电***绝缘结构
CN107492833B (zh) * 2017-09-15 2023-05-12 广东科凯达智能机器人有限公司 一种用于带电作业机器人的救援末端装置
CN109366453A (zh) * 2018-10-24 2019-02-22 国网江苏省电力有限公司徐州供电分公司 一种用于配电线路的带电作业双臂机器人及其控制方法
CN109202875A (zh) * 2018-10-30 2019-01-15 国网江苏省电力有限公司镇江供电分公司 耐张绝缘子拆装机构的上下料机械臂
CN110450148A (zh) * 2019-09-03 2019-11-15 亿嘉和科技股份有限公司 一种实现工具自动换接的室外带电作业机器人机械臂
CN113964720A (zh) * 2021-10-19 2022-01-21 许继电气股份有限公司 一种配网带电作业机器人***及接断引流线作业方法
CN115579703B (zh) * 2022-11-21 2023-03-24 广东电网有限责任公司佛山供电局 一种接地线装拆装置

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05147894A (ja) * 1991-10-03 1993-06-15 Sumitomo Electric Ind Ltd 配電作業用マニピユレータ
CN202556399U (zh) * 2012-04-01 2012-11-28 山东电力研究院 高压带电作业机器人装置
CN103111996A (zh) * 2013-01-29 2013-05-22 山东电力集团公司电力科学研究院 变电站带电作业机器人绝缘防护***
CN105127989A (zh) * 2015-08-03 2015-12-09 宁波莱盟机器人有限公司 新型机械手
CN106426298A (zh) * 2016-12-14 2017-02-22 国网江苏省电力公司常州供电公司 一种带电作业机器人的多级绝缘防护***
CN106532565A (zh) * 2016-12-14 2017-03-22 国网江苏省电力公司常州供电公司 一种带电作业机器人跌落式熔断器更换方法
CN106695748A (zh) * 2016-12-09 2017-05-24 南京理工大学 一种双机械臂带电作业机器人
CN106737547A (zh) * 2016-12-09 2017-05-31 南京理工大学 一种带电作业机器人
CN206840057U (zh) * 2016-12-09 2018-01-05 南京理工大学 一种基于双机械臂和辅助臂的带电作业机器人控制***

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0651558B2 (ja) * 1990-01-12 1994-07-06 株式会社東芝 活線作業用マニピュレータシステム
CN102601782B (zh) * 2012-04-01 2014-08-27 山东电力研究院 高压带电作业机器人装置
CN203031618U (zh) * 2013-01-29 2013-07-03 山东电力集团公司电力科学研究院 一种用于高压带电作业机器人的视觉***
CN104354152B (zh) * 2014-11-04 2016-03-09 国家电网公司 一种复杂线路环境下机器人多重绝缘防护***

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05147894A (ja) * 1991-10-03 1993-06-15 Sumitomo Electric Ind Ltd 配電作業用マニピユレータ
CN202556399U (zh) * 2012-04-01 2012-11-28 山东电力研究院 高压带电作业机器人装置
CN103111996A (zh) * 2013-01-29 2013-05-22 山东电力集团公司电力科学研究院 变电站带电作业机器人绝缘防护***
CN105127989A (zh) * 2015-08-03 2015-12-09 宁波莱盟机器人有限公司 新型机械手
CN106695748A (zh) * 2016-12-09 2017-05-24 南京理工大学 一种双机械臂带电作业机器人
CN106737547A (zh) * 2016-12-09 2017-05-31 南京理工大学 一种带电作业机器人
CN206840057U (zh) * 2016-12-09 2018-01-05 南京理工大学 一种基于双机械臂和辅助臂的带电作业机器人控制***
CN106426298A (zh) * 2016-12-14 2017-02-22 国网江苏省电力公司常州供电公司 一种带电作业机器人的多级绝缘防护***
CN106532565A (zh) * 2016-12-14 2017-03-22 国网江苏省电力公司常州供电公司 一种带电作业机器人跌落式熔断器更换方法

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111351472A (zh) * 2018-12-21 2020-06-30 核动力运行研究所 一种适用于堆内构件防松结构自动视频检查装置
CN110104572A (zh) * 2019-05-27 2019-08-09 宜兴市宜安电力工具制造有限公司 带电检修机器人顶部旋转吊臂
CN110104572B (zh) * 2019-05-27 2024-04-16 宜兴市宜安电力工具制造有限公司 带电检修机器人顶部旋转吊臂
CN110883775A (zh) * 2019-11-20 2020-03-17 北京国电富通科技发展有限责任公司 单臂带电作业机器人的人机交互***和人机协同***
CN110883775B (zh) * 2019-11-20 2024-06-11 北京国电富通科技发展有限责任公司 单臂带电作业机器人的人机交互***和人机协同***
CN111923065A (zh) * 2020-09-27 2020-11-13 国网瑞嘉(天津)智能机器人有限公司 带电作业装置及其控制方法
CN112440280A (zh) * 2020-11-13 2021-03-05 国网天津市电力公司 一种具有主从控制功能的电力带电作业用液压机械臂
CN112497253A (zh) * 2020-11-13 2021-03-16 国网天津市电力公司 一种具有稳定强化结构的高精度电力带电作业用液压机械臂
CN114393587A (zh) * 2021-12-31 2022-04-26 湖北甫安科技有限公司 一种扭锁拆卸机器人及其拆卸集装箱扭锁控制方法
CN114393587B (zh) * 2021-12-31 2024-01-23 湖北甫安科技有限公司 一种扭锁拆卸机器人及其拆卸集装箱扭锁控制方法
CN118198933A (zh) * 2024-05-11 2024-06-14 国网瑞嘉(天津)智能机器人有限公司 基于带电作业机器人的避雷器安装方法、装置及设备

Also Published As

Publication number Publication date
CN106426298A (zh) 2017-02-22
CN106426298B (zh) 2019-04-05

Similar Documents

Publication Publication Date Title
WO2018108099A1 (zh) 一种带电作业机器人的多级绝缘防护***
CN103111996B (zh) 变电站带电作业机器人绝缘防护***
CN108616077B (zh) 一种带电作业机器人断引线方法
CN108616076B (zh) 一种带电作业机器人拆装避雷器的方法
CN107650124A (zh) 一种高压带电作业机器人高空作业平台及其卸载金具螺丝的方法
CN102922530B (zh) 500kV***导线巡检作业机器人平台
CN108724158B (zh) 爬杆机器人
CN110978004A (zh) 一种自主配网带电作业机器人、***及方法
CN105666463A (zh) 一种核辐射环境下的末端工具手及其手抓快速拆装***
Wang et al. Development of an inspection robot for 500 kV EHV power transmission lines
CN210258835U (zh) 用于线路施工的机械手及无人操作***
US20240039254A1 (en) Cross-arm phase-lifter
CN109473903A (zh) 一种用于金属氧化物避雷器更换方法
CN110919597B (zh) 一种远程操作的多功能取销钳
Zou et al. A survey of the application of robots in power system operation and maintenance management
CN210209350U (zh) 机械臂式带电作业工器具
CN207691011U (zh) 一种夜视三自由度电动遥控接线钳
CN209418787U (zh) 机器人用挂接地线装置
CN107053261A (zh) 一种带摄像头的机械臂的绝缘防护***
Yan et al. Mechanism design of electric robot of distribution network for cut off or connection of leading wire
Yu et al. Design of a robot for live-line repairing of transmission line
CN113964720A (zh) 一种配网带电作业机器人***及接断引流线作业方法
Huang A Structural Design of a Robot for Removing Bird's Nest on Power Transmission Line
CN109950830A (zh) 带电作业机器人避雷器拆卸装置及方法
CN113334343A (zh) 一种机械操作手及其主从随动式配网带电作业机器人***

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17880061

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17880061

Country of ref document: EP

Kind code of ref document: A1