Lead wire connecting method for live working robot

Abstract

The invention provides a lead wire connecting method for a live working robot. On the basis of a main mechanical arm, an auxiliary mechanical arm and a camera collecting image data of a work scene ona robot platform, the mechanical arms are controlled by a control chamber to complete the following works: the auxiliary mechanical arm clamps a lead wire; the main mechanical arm takes out a wire clamp from a toolbox; the main mechanical arm hangs the wire clamp on the lead wire through a wire groove on one end of the wire clamp; the auxiliary mechanical arm threads the lead wire through a wire groove on the other end of the wire clamp; a pneumatic wrench at the end of the main mechanical arm aligns a nut on the wire clamp and screws the nut; and the main mechanical arm and the auxiliary mechanical arm release clamping jaws and withdraw. According to the method, the lead wire can be bridged on the lead wire through the mechanical arms of the live working robot under the condition of continuous power supply, and so negative influence caused by the power outage is avoided and the reliability of power supply is improved.

Description

technical field [0001] The invention belongs to the technical field of robot control and electric power engineering, and in particular relates to a method for connecting lead wires of a live working robot. Background technique [0002] Live disconnection and connection of drain wires are one of the main work items of live work on the distribution network side in China. At present, this kind of work mostly uses the direct operation method of insulating gloves. Therefore, before power distribution work, it is necessary to prepare various safety measures and clarify the operation method , and select the operation tool. Live work largely avoids the negative impact of line power outages, greatly reduces power outage time, improves power supply reliability, and alleviates power complaints. Compared with the transmission network, although the distribution network has a lower voltage, it has the characteristics of dense equipment, complex lines, narrow space, and small distance to ...

AI Technical Summary

Problems solved by technology

Chinese Patent Application No. CN201611129645.0 discloses a method for lapping lead wires of a live working robot, which uses remote operation of the robot or autonomously to lap or remove the lead wires, but the scheme uses three mechanical arms for simultaneous operations, and No special jigs and clamps are designed for the robot arm. The operation steps are cumbersome, and it is easy to interfere with each other in a small space, which may cause short circuit or collision of the wires and damage the robot arm.

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