Insulation protection structure and method suitable for live-line operation robots in power distribution

Abstract

The present invention provides an insulation protection structure suitable for a live-line operation robot for power distribution, comprising: an inner insulation layer and an outer insulation layer, wherein the inner insulation layer is sleeved on the operation robot arm of the live-line operation robot, and the outer insulation layer is sleeved on the outside of the inner insulation layer; a slot is provided at the connection of two adjacent outer insulation layers, and the setting direction of the slot is the same as the setting direction of the outer insulation layer, the slot is provided at the end of one of the outer insulation layers, and the end of the other outer insulation layer is inserted into the slot. Under the premise of meeting the requirements of the layer insulation and surface insulation withstand voltage of the live-line operation of power distribution, the rotation function of the robot arm joint is not affected, and collision interference of the robot arm movement is not caused. The insulation sheath is firmly connected to the robot, and the overall appearance is simple and beautiful. It can effectively solve the insulation protection design of the existing live-line operation robot for power distribution, and can greatly improve the insulation creepage distance.

Description

Technical Field

[0001] The present invention relates to the field of high voltage and insulation technology, and in particular to an insulation protection structure and method suitable for a live power distribution operation robot. Background Art

[0002] At present, the distribution network is at the end of the power system and is directly connected to the user's equipment. Its reliability plays a very important role in the reliability of the entire power supply. At present, live working has become one of the important means to ensure the safe and reliable operation of the distribution network. However, the distribution network lines are usually complex, some lines have short phase distances, and the safety distance is insufficient. There are many safety hazards in manual live working. With the development of cutting-edge technologies in machinery, electronics, computers, sensors, artificial intelligence, and bionics, robots are increasingly widely used in all walks of life. The development and promotion of live working robots to replace manual live working in distribution networks is the inevitable direction of technological development.

[0003] Live working robots need to work in high voltage live environments, so they must be designed with perfect insulation protection to ensure that high voltage does not affect the robot's weak current system, and that the robot's operation does not cause a short circuit in the live line. Currently, live working robots mostly use traditional industrial robotic arms, which are only simply insulated on the surface, especially the rotating parts of the robotic arm joints. In order not to affect the movement function of the robotic arm, the added insulation sheath often has obvious splicing seams and insufficient insulation creepage distance, which cannot meet the insulation level requirements for live working. Summary of the invention

[0004] In view of this, the present invention proposes an insulation protection structure and method suitable for a live-power distribution working robot, aiming to solve the problem of increasing the insulation creepage distance of the insulation protection structure of the live-power distribution working robot.

[0005] In one aspect, the present invention proposes an insulating protection structure suitable for a live-working robot for power distribution, characterized in that it comprises: an inner insulating layer and an outer insulating layer, the inner insulating layer is sleeved on the working robot arm of the live-working robot, and the outer insulating layer is sleeved on the outside of the inner insulating layer; a slot is provided at the connection between two adjacent outer insulating layers, the setting direction of the slot is the same as the setting direction of the outer insulating layer, the slot is provided at the end of one of the outer insulating layers, and the end of the other outer insulating layer is inserted into the slot.

[0006] Furthermore, the slot includes an annular plate, which is arranged along the setting direction of the outer insulating layer, and is sleeved on the outside of one of the outer insulating layers and connected to the outer side surface of the end of one of the outer insulating layers. A preset distance is maintained between the annular plate and the inner insulating layer so that the end of the other outer insulating layer is inserted between the annular plate and the inner insulating layer.

[0007] Furthermore, a groove is provided on the inner side wall of the annular plate, and a protrusion is provided on the outer side wall of the outer insulating layer at the lower side of the annular plate, and the protrusion is arranged opposite to the groove.

[0008] Furthermore, the insulating protection structure for the live power distribution working robot also includes: a protective umbrella skirt, which is arranged above the slot, and the protective umbrella skirt is respectively connected to the two adjacent outer insulation layers; a accommodating cavity is arranged in the protective umbrella skirt, and the accommodating cavity is located directly above the annular plate.

[0009] Furthermore, the protective umbrella skirt includes two annular special-shaped parts, the two special-shaped parts are arranged opposite to each other, the inner side walls of the two special-shaped parts are respectively connected to the outer side walls of two adjacent outer insulating layers, and the annular plate is arranged between the two special-shaped parts.

[0010] Furthermore, an arc-shaped groove is provided on the first side of the special-shaped member, the first sides of the two special-shaped members are arranged opposite to each other, the annular plate is clamped between the two arc-shaped grooves, and the two arc-shaped grooves are arranged above the annular plate to form the accommodating cavity.

[0011] On the other hand, the present invention also proposes an insulation protection method suitable for a live-working robot for power distribution, comprising: an inner insulation layer and an outer insulation layer are sleeved on the working robot arm of the live-working robot, the inner insulation layer sleeves the working robot arm therein, and the outer insulation layer is sleeved on the outside of the inner insulation layer, and the thickness and insulation level of the inner insulation layer and the outer insulation layer meet a first preset condition; a slot is provided at the joint of two adjacent outer insulation layers to increase the insulation creepage distance at the joint of the insulation layers on the working robot arm, and the insulation creepage distance meets a second preset condition.

[0012] Furthermore, a protective umbrella skirt is respectively arranged on the outer insulating layer on both sides of the slot, the two protective umbrella skirts are arranged opposite to each other and surround the slot therein, the protective umbrella skirts are used to increase the insulating space, and the insulating space meets the second preset condition.

[0013] Furthermore, the minimum creepage distance at the joint insulation joint of the operating robot arm is L1, the insulation space height lifted by the protective shed is L2, and the overlap distance between the protective shed and the outer insulation layer 3 is L3. The second preset condition includes:

[0014] (1) For 10kV system live working robots, L1≥5cm or L1+L2≥5cm, the 3min surface withstand voltage of the inner and outer insulation layers is greater than or equal to 20kV, and the surface flashover voltage of the inner and outer insulation layers is greater than or equal to 30kV;

[0015] (2) For 20kV system live working robots, L1≥10cm or L1+L2≥10cm, the 3min surface withstand voltage of the inner and outer insulation layers is greater than or equal to 30kV, and the surface flashover voltage of the inner and outer insulation layers is greater than or equal to 40kV;

[0016] (3) For 35kV system live working robots, L1≥15cm or L1+L2≥15cm, the 3min surface withstand voltage of the inner and outer insulation layers is greater than or equal to 40kV, and the surface flashover voltage of the inner and outer insulation layers is greater than or equal to 50kV;

[0017] (4) When the protective umbrella skirt is installed, L3 ≥ L2.

[0018] Further, the thickness of the inner insulating layer is D1, the thickness of the outer insulating layer is D2, and the first preset condition includes:

[0019] (1) For 10kV system live working robots, D1≥2mm, D2≥2mm, the 3min layer withstand voltage of the inner and outer insulation layers is greater than or equal to 20kV, and the breakdown voltage is greater than or equal to 30kV;

[0020] (2) For 20kV system live working robots, D1 ≥ 3mm, D2 ≥ 3mm, the 3min layer withstand voltage of the inner and outer insulation layers is greater than or equal to 30kV, and the breakdown voltage is greater than or equal to 40kV;

[0021] (3) For 35kV system live working robots, D1≥4mm, D2≥4mm, the 3min layer withstand voltage of the inner and outer insulation layers is greater than or equal to 40kV, and the breakdown voltage is greater than or equal to 50kV.

[0022] Compared with the prior art, the beneficial effect of the present invention is that the present invention provides an insulation protection structure and method suitable for a live distribution operation robot. Under the premise of meeting the requirements of the layer insulation and surface insulation withstand voltage of the live distribution operation, the rotation function of the robot arm joint is not affected, and collision interference of the robot arm movement is not caused. The insulation sheath is firmly connected to the robot, and the overall appearance is simple and beautiful. It can effectively solve the insulation protection design of the existing live distribution operation robot and can greatly improve the insulation creepage distance. The present invention has at least the following advantages:

[0023] 1. The present invention can ensure the layer and surface insulation requirements of the robot's live working through a double-layer insulation structure, while leaving a certain safety margin. Even if the outer insulation layer is damaged during on-site operations, short-circuit accidents can still be effectively prevented.

[0024] 2. The present invention achieves effective insulation protection without affecting the rotation function of the robot arm joints or causing collision interference in the movement of the robot arm through the slot-type insulation structure and the protective umbrella skirt design.

[0025] 3. The insulation shell is made of integrated hard insulation material, which is not easy to deform or fall off and has good durability.

[0026] 4. The present invention clarifies the design requirements and protection measures for insulation protection parameters such as insulation layer thickness and minimum creepage distance at each voltage level of the distribution network.

[0027] It can be understood that the above-mentioned insulation protection structure and method applicable to the live-working robot for power distribution have the same beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0029] Figure 1 A front view of an insulation protection structure applicable to a live-line operation robot for power distribution provided by an embodiment of the present invention;

[0030] Figure 2 for Figure 1 Cross-section in CC direction;

[0031] Figure 3 for Figure 1 The first BB direction cross-section;

[0032] Figure 4 for Figure 1The second BB direction cross-section;

[0033] Figure 5 for Figure 1 A partial enlarged view of point A in the middle. DETAILED DESCRIPTION

[0034] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to be able to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0035] See also Figure 1 As shown, this embodiment provides an insulating protection structure suitable for a live-working robot for power distribution, including an inner insulating layer 2 and an outer insulating layer 3. The inner insulating layer 2 is sleeved on the working robot arm 1 of the live-working robot, and the outer insulating layer 3 is sleeved on the outside of the inner insulating layer 2, that is, two inner and outer insulating layers are sleeved on the surface of the working robot arm 1, the inner insulating layer 2 is tightly fitted to the surface of the working robot arm 1, and the outer insulating layer 3 is tightly fitted to the outer surface of the inner insulating layer 2.

[0036] Specifically, a slot 7 is provided at the connection of two adjacent outer insulating layers 3, and the setting direction of the slot 7 is the same as the setting direction of the outer insulating layer 3. The slot 7 is provided at the end of one of the outer insulating layers 3, and the end of the other outer insulating layer 3 is inserted into the slot 7. Specifically, the slot 7 is a U-shaped groove, and the size of the U-shaped groove can accommodate the end of the outer insulating layer 3. It can be understood that when two adjacent outer insulating layers 3 are spliced, the ends of the two outer insulating layers 3 are connected, a slot 7 is provided at the end of one of the outer insulating layers 3, and the end of the other outer insulating layer 3 is inserted into the slot 7, so that the two adjacent outer insulating layers 3 are connected together by plugging.

[0037] It can be understood that the joint of the operating robot arm 1 is a rotating part, and the adjacent inner insulating layers 2 at the joint position of the operating robot arm 1 are only in contact and not bonded together. Similarly, the adjacent outer insulating layers 3 are connected together by plugging, that is, the inner insulating layer 2 and the outer insulating layer 3 at the joint position of the operating robot arm 1 are rotatably connected. Due to the rotation requirement of the joint position of the operating robot arm 1, the joint connection position of the operating robot arm 1 is set to be connected by plugging the above-mentioned outer insulating layer 3, which can not only improve the insulation creepage distance, but also effectively play a dustproof and waterproof effect.

[0038] Specifically, except for the operating robot arm 1 that has a rotation requirement, the insulation layers at other positions can be directly connected together by bonding, welding or clamping.

[0039] Combination Figure 2 As shown, specifically, the cross-sectional shapes of the inner insulating layer 2 and the outer insulating layer 3 are arranged relative to the cross-sectional shape of the operating robot arm 1. When the operating robot arm 1 is a cylindrical structure, the inner insulating layer 2 and the outer insulating layer 3 are hollow cylindrical structures, so that the inner insulating layer 2 and the outer insulating layer 3 can be cross-sectionally sleeved on the operating robot arm 1. Specifically, the inner insulating layer 2 includes two semicircular first arc plates 21, the two first arc plates 21 are relatively arranged on the outer side wall of the operating robot arm 1, and the two first arc plates 21 are bonded together by an insulating adhesive 4. The outer insulating layer 3 includes two semicircular second arc plates 31, the two second arc plates 31 are relatively arranged on the outer side wall of the first arc plate 21, and the two second arc plates 31 are bonded together by an insulating adhesive 4.

[0040] It can be seen that by setting up a semicircular inner insulation layer 2 and an outer insulation layer 3 structure, and fixing the inner insulation layer 2 and the outer insulation layer 3 on the operating robot arm 1 by bonding, the installation of the insulation layer on the outside of the operating robot arm 1 can be greatly facilitated, thereby improving construction efficiency.

[0041] Combination Figure 3 As shown, specifically, the slot 7 includes an annular plate 6, which is arranged along the setting direction of the outer insulating layer 3, and the annular plate 6 is sleeved on the outside of one of the outer insulating layers 3 and connected to the outer side surface of the end of one of the outer insulating layers 3. A preset distance is maintained between the annular plate 6 and the inner insulating layer 2 so that the end of the other outer insulating layer 3 is inserted between the annular plate 6 and the inner insulating layer 2.

[0042] Specifically, the annular plate 6 is connected to the outer insulating layer 3 as a whole by welding or bonding. Alternatively, the annular plate 6 is a part of the outer insulating layer 3, that is, the slot 7 structure is formed by bending the end of the outer insulating layer 3. Specifically, the end of the outer insulating layer 3 is first bent upward 90 degrees, and then bent inward 90 degrees, thereby forming the slot 7 structure at the end of the outer insulating layer 3. It can be understood that by providing the annular plate 6, a slot 7 structure is formed between the inner insulating layer 2 and the outer insulating layer 3, which not only facilitates the installation of the outer insulating layer 3, but also enables the joint of the operating robot arm 1 to rotate effectively. At the same time, the slot 7 can also increase the insulation creepage distance and improve safety. In addition, by providing the slot 7, the waterproof and dustproof performance of the operating robot arm 1 can also be improved, and corrosion or dust can be prevented from affecting the normal use of the operating robot arm 1, thereby increasing the service life of the operating robot arm 1.

[0043] Specifically, the connection position of the two adjacent inner insulating layers 2 at the lower side of the slot 7 is far away from the inner bottom surface of the slot 7. Specifically, the connection position of the two adjacent inner insulating layers 2 at the lower side of the slot 7 is flush with the edge of the opening end of the slot 7, or the connection position of the two adjacent inner insulating layers 2 at the lower side of the slot 7 exceeds the edge of the opening end of the slot 7. It can be understood that by making the two connection positions of the two adjacent inner insulating layers 2 far away from the inner bottom surface of the slot 7, the insulation creepage distance of the gap between the inner insulating layer 2 and the outer insulating layer 3 can be greatly improved, thereby greatly improving safety.

[0044] Combination Figure 4 A groove 61 is provided on the inner side wall of the annular plate 6, and a protrusion 62 is provided on the outer side wall of the outer insulating layer 3 on the lower side of the annular plate 6, and the protrusion 62 is arranged opposite to the groove 61. Specifically, the groove 61 is preferably an arc-shaped groove, and the protrusion 62 is preferably an arc-shaped protrusion. The arc-shaped groove and the arc-shaped protrusion are arranged opposite to each other so that the arc-shaped protrusion can be effectively stuck in the arc-shaped groove. Specifically, one or two grooves 61 and protrusions 62 can be provided, and can be provided according to actual conditions.

[0045] It can be seen that, since the joint of the operating robot arm 1 is in a rotating working mode, the inner insulating layer 2 and the outer insulating layer 3 at the joint of the operating robot arm 1 are in a contact and slidable connection mode, and the joint of the operating robot arm 1 needs to be constantly rotated, which is easy to cause wear of the adjacent contact positions of the inner insulating layer 2 and the outer insulating layer 3, thereby increasing the gap, so that water or dust enters the inner insulating layer 2 and the outer insulating layer 3, causing the failure of the waterproof and dustproof performance. By setting the groove 61 and the protrusion 62, the structure of the protrusion 62 and the groove 61 can prevent water or dust from entering the inner insulating layer 2 and the outer insulating layer 3 on the inner side of the slot 7, thereby improving the waterproof and dustproof performance. At the same time, by setting the structure of the protrusion 62 and the groove 61, the insulation creepage distance can also be increased to improve the insulation performance. Furthermore, the structure of the protrusion 62 and the groove 61 can effectively snap two adjacent outer insulating layers 3 together, and can also effectively and rotatably connect the two adjacent outer insulating layers 3 without affecting the rotation of the outer insulating layers 3, thereby improving the stability of the structure and effectively preventing misalignment between the outer insulating layers 3.

[0046] Combination Figure 4 and 5 As shown, the above-mentioned insulation protection structure suitable for the live power distribution operation robot also includes a protective shed 5, which is arranged above the slot 7 and is respectively connected to two adjacent outer insulation layers 3; a receiving cavity 8 is arranged in the protective shed 5, and the receiving cavity 8 is located directly above the annular plate 6. The annular plate 6 is arranged in the receiving cavity 8.

[0047] Specifically, the protective umbrella skirt 5 includes two annular shaped parts 51 , which are arranged opposite to each other, and the inner side walls of the two shaped parts 51 are respectively connected to the outer side walls of two adjacent outer insulating layers 3 , and the annular plate 6 is arranged between the two shaped parts 51 .

[0048] Specifically, an arcuate groove 52 is provided on the first side of the special-shaped member 51 , the first sides of the two special-shaped members 51 are arranged opposite to each other, the annular plate 6 is clamped between the two arcuate grooves 52 , and the two arcuate grooves 52 are arranged above the annular plate 6 to form an accommodating cavity 8 .

[0049] Specifically, a circular arc 53 is provided on the second side of the special-shaped member 51 so as to facilitate rapid drainage of the outer side surface of the special-shaped member 51 and improve the waterproof performance.

[0050] It can be seen that by providing the protective shed 5 and utilizing the insulation space increased by the protective shed 5, it is ensured that the insulation level can meet the requirements of live working.

[0051] Continue reading Figure 2 As shown, the inner insulating layer 2 and the outer insulating layer 3 are an integrated structure in the straight arm and the connected joint part of the robot arm. There should be no through holes on the surface. When installation is inconvenient, it can also be spliced ​​by two halves of the same structure. The joints are bonded with insulating adhesive 4, and the joints of the inner insulating layer 2 and the outer insulating layer 3 are staggered by 90°.

[0052] Specifically, the inner insulating layer 2 and the outer insulating layer 3 are preferably made of ABS plastic or other hard insulating materials that are easy to process and shape. The thickness D1 of the inner insulating layer 2, the thickness D2 of the outer insulating layer 3 and the insulation level at the corresponding thickness should meet the following requirements:

[0053] (1) For 10kV system live working robots, D1 ≥ 2mm, D2 ≥ 2mm, the 3min layer withstand voltage of each layer of insulation is greater than or equal to 20kV, and the breakdown voltage is greater than or equal to 30kV;

[0054] (2) For 20kV system live working robots, D1 ≥ 3mm, D2 ≥ 3mm, the 3min layer withstand voltage of each layer of insulation is greater than or equal to 30kV, and the breakdown voltage is greater than or equal to 40kV;

[0055] (3) For 35kV system live working robots, D1 ≥ 4mm, D2 ≥ 4mm, the 3-min layer withstand voltage of each layer of insulation is greater than or equal to 40kV, and the breakdown voltage is greater than or equal to 50kV.

[0056] Specifically, the minimum creepage distance L1 at the insulation joint of the robot arm joint, the insulation space height L2 raised by the protective shed 5, the overlap distance L3 between the protective shed 5 and the outer insulation layer 3, and the surface insulation performance of the insulation layer should meet the following requirements:

[0057] (1) For 10kV system live working robots, L1≥5cm or L1+L2≥5cm (with protective shed 5), the insulation layer 3min surface withstand voltage is greater than or equal to 20kV, and the surface flashover voltage is greater than or equal to 30kV;

[0058] (2) For 20kV system live working robots, L1≥10cm or L1+L2≥10cm (with protective shed 5), the 3min surface withstand voltage of the insulation layer is greater than or equal to 30kV, and the surface flashover voltage is greater than or equal to 40kV;

[0059] (3) For 35kV system live working robots, L1≥15cm or L1+L2≥15cm (with protective shed 5), the 3min surface withstand voltage of the insulation layer is greater than or equal to 40kV, and the surface flashover voltage is greater than or equal to 50kV;

[0060] (4) When the protective umbrella skirt 5 is installed, L3 ≥ L2.

[0061] In specific implementation, when the space of the robot arm joint is too compact to meet the above-mentioned slot 7 depth requirement, protective umbrella skirts 5 are respectively installed on both sides of the joint of the outer insulation layer 3, so that the minimum creepage distance of the original splicing structure plus the insulation space height increased by the umbrella skirt can meet the above-mentioned requirement.

[0062] Specifically, the overlapping distance between the protective umbrella skirt 5 and the outer insulating layer 3 is not less than the height of the insulating space lifted by the protective umbrella skirt 5 .

[0063] Specifically, the protective umbrella skirt 5 is made of silicone rubber or other soft elastic insulating materials, which will not affect the normal range of activities of the robot.

[0064] Continue reading Figure 1-5 As shown, in another preferred embodiment based on the above embodiment, this embodiment provides an insulation protection method suitable for a live working robot for power distribution, including: an inner insulation layer 2 and an outer insulation layer 3 are sleeved on the working robot arm 1 of the live working robot, the inner insulation layer 2 sleeves the working robot arm 1 therein, and the outer insulation layer 3 is sleeved on the outside of the inner insulation layer 2, and the thickness and insulation level of the inner insulation layer 2 and the outer insulation layer 3 meet the first preset condition; a slot 7 is provided at the joint of two adjacent outer insulation layers 3 to increase the insulation creepage distance of the joint of the insulation layers on the working robot arm 1, and the insulation creepage distance meets the second preset condition.

[0065] Specifically, the thickness of the inner insulating layer 2 is D1, the thickness of the outer insulating layer 3 is D2, and the first preset condition includes:

[0066] (1) For 10kV system live working robots, D1 ≥ 2mm, D2 ≥ 2mm, the 3min layer withstand voltage of the inner insulation layer 2 and the outer insulation layer 3 is greater than or equal to 20kV, and the breakdown voltage is greater than or equal to 30kV;

[0067] (2) For 20kV system live working robots, D1 ≥ 3mm, D2 ≥ 3mm, the 3min layer withstand voltage of the inner insulation layer 2 and the outer insulation layer 3 is greater than or equal to 30kV, and the breakdown voltage is greater than or equal to 40kV;

[0068] (3) For 35kV system live working robots, D1 ≥ 4mm, D2 ≥ 4mm, the 3min layer withstand voltage of the inner insulation layer 2 and the outer insulation layer 3 is greater than or equal to 40kV, and the breakdown voltage is greater than or equal to 50kV.

[0069] Specifically, a protective umbrella skirt 5 is respectively arranged on the outer insulating layer 3 on both sides of the slot 7. The two protective umbrella skirts 5 are arranged opposite to each other and surround the slot 7. The protective umbrella skirts 5 are used to increase the insulation space, and the insulation space meets the second preset condition.

[0070] Specifically, the minimum creepage distance at the joint insulation joint of the operating robot arm 1 is L1, the insulation space height lifted by the protective shed 5 is L2, and the overlap distance between the protective shed 5 and the outer insulation layer 33 is L3. The second preset condition includes:

[0071] (1) For 10kV system live working robots, L1≥5cm or L1+L2≥5cm, the surface withstand voltage of the inner insulation layer 2 and the outer insulation layer for 33min is greater than or equal to 20kV, and the surface flashover voltage of the inner insulation layer 2 and the outer insulation layer 3 is greater than or equal to 30kV;

[0072] (2) For 20kV system live working robots, L1≥10cm or L1+L2≥10cm, the surface withstand voltage of the inner insulation layer 2 and the outer insulation layer for 33min is greater than or equal to 30kV, and the surface flashover voltage of the inner insulation layer 2 and the outer insulation layer 3 is greater than or equal to 40kV;

[0073] (3) For 35kV system live working robots, L1≥15cm or L1+L2≥15cm, the 33min surface withstand voltage of the inner insulation layer 2 and the outer insulation layer is greater than or equal to 40kV, and the surface flashover voltage of the inner insulation layer 2 and the outer insulation layer 3 is greater than or equal to 50kV;

[0074] (4) When the protective umbrella skirt 5 is installed, L3 ≥ L2.

[0075] It can be seen that the above embodiment, under the premise of meeting the requirements of layer insulation and surface insulation withstand voltage for live distribution operations, does not affect the rotation function of the robot arm joints, nor does it cause collision interference in the movement of the robot arm. The insulation sheath is firmly connected to the robot, and the overall appearance is simple and beautiful. It can effectively solve the insulation protection design of existing live distribution operation robots and can greatly improve the insulation creepage distance.

[0076] The present invention has at least the following advantages:

[0077] 1. The present invention can ensure the layer and surface insulation requirements of the robot's live working through the double-layer insulation structure, while leaving a certain safety margin. Even if the outer insulation layer 3 is damaged during on-site operation, it can still effectively prevent the occurrence of short-circuit accidents.

[0078] 2. The present invention achieves effective insulation protection without affecting the rotation function of the robot arm joint and causing collision interference in the movement of the robot arm through the slot 7-type insulation structure and the protection umbrella skirt 5 design.

[0079] 3. The insulation shell is made of integrated hard insulation material, which is not easy to deform or fall off and has good durability.

[0080] 4. The present invention clarifies the design requirements and protection measures for insulation protection parameters such as insulation layer thickness and minimum creepage distance at each voltage level of the distribution network.

[0081] When the above embodiment is implemented, the inner insulating layer 2 and the outer insulating layer 3 are mounted on the surface of the operating robot arm 1, and the inner insulating layer 2 is tightly fitted to the surface of the operating robot arm 1, and the outer insulating layer 3 is tightly fitted to the outer surface of the inner insulating layer 2. The inner insulating layer 2 is composed of two first arc-shaped plates 21 with symmetrical shapes, and the splicing seams are bonded with an insulating adhesive 4; the outer insulating layer 3 is composed of two second arc-shaped plates 31 with symmetrical shapes, and the splicing seams are bonded with an insulating adhesive 4. Each insulating layer component is an integrated structure of 3D printing or mold processing, and there should be no through holes on the surface. The outer insulating layer 3 is a slot 7 splicing structure in the rotating part of the robot arm joint, which can effectively increase the insulation creepage distance in a limited space without affecting the normal activity of the robot. When the space of the robot arm joint is compact and the insulation creepage distance is insufficient, protective umbrella skirts 5 are respectively installed on both sides of the splicing of the outer layer of the outer insulation, and the insulation space increased by the protective umbrella skirts 5 is used to ensure that the insulation level can meet the requirements of live working.

[0082] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0083] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0084] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0085] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. An insulation protection structure suitable for a live-line working robot for power distribution, characterized in that: include: An inner insulating layer and an outer insulating layer, wherein the inner insulating layer is sleeved on the working robot arm of the live working robot, and the outer insulating layer is sleeved on the outside of the inner insulating layer; a slot is provided at the connection between the two adjacent outer insulating layers to increase the insulation creepage distance at the splicing of the insulation layers on the working robot arm, and the insulation creepage distance meets the second preset condition, and the setting direction of the slot is the same as the setting direction of the outer insulating layer, the slot is provided at the end of one of the outer insulating layers, and the end of the other outer insulating layer is inserted into the slot; the slot includes an annular plate, which is provided along the setting direction of the outer insulating layer, the annular plate is sleeved on the outside of one of the outer insulating layers, and is connected to the outer side surface of the end of one of the outer insulating layers, and a preset distance is maintained between the annular plate and the inner insulating layer so that the end of the other outer insulating layer is inserted between the annular plate and the inner insulating layer; The insulating protection structure further includes: a protective shed, the protective shed is arranged above the slot, and the protective shed is respectively connected to the two adjacent outer insulating layers; a receiving cavity is arranged in the protective shed, and the receiving cavity is located directly above the annular plate; The minimum creepage distance at the joint insulation joint of the working robot arm is L1, the insulation space height raised by the protective shed is L2, and the overlap distance between the protective shed and the outer insulation layer 3 is L3. The second preset condition includes: (1) For 10kV system live working robots, L1≥5cm or L1+L2≥5cm, the 3min surface withstand voltage of the inner and outer insulation layers is greater than or equal to 20kV, and the surface flashover voltage of the inner and outer insulation layers is greater than or equal to 30kV; (2) For 20kV system live working robots, L1≥10cm or L1+L2≥10cm, the 3min surface withstand voltage of the inner and outer insulation layers is greater than or equal to 30kV, and the surface flashover voltage of the inner and outer insulation layers is greater than or equal to 40kV; (3) For 35kV system live working robots, L1≥15cm or L1+L2≥15cm, the 3min surface withstand voltage of the inner and outer insulation layers is greater than or equal to 40kV, and the surface flashover voltage of the inner and outer insulation layers is greater than or equal to 50kV; (4) When the protective umbrella skirt is installed, L3 ≥ L2.

2. The insulation protection structure suitable for live-line operation robots for power distribution according to claim 1, characterized in that: A groove is formed on the inner side wall of the annular plate, and a protrusion is formed on the outer side wall of the outer insulating layer at the lower side of the annular plate, and the protrusion is arranged opposite to the groove.

3. The insulation protection structure suitable for live-line operation robots for power distribution according to claim 1, characterized in that: The protective umbrella skirt comprises two annular shaped parts, the two shaped parts are arranged opposite to each other, the inner side walls of the two shaped parts are respectively connected to the outer side walls of the two adjacent outer insulating layers, and the annular plate is arranged between the two shaped parts.

4. The insulation protection structure suitable for a live-line operation robot for power distribution according to claim 3, characterized in that: An arc-shaped groove is arranged on the first side of the special-shaped member, the first sides of the two special-shaped members are arranged opposite to each other, the annular plate is clamped between the two arc-shaped grooves, and the two arc-shaped grooves are arranged above the annular plate to form the accommodating cavity.

5. An insulation protection method suitable for a live power distribution operation robot, characterized in that: include: An inner insulating layer and an outer insulating layer are sleeved on the working robot arm of the live working robot, wherein the inner insulating layer sleeves the working robot arm, and the outer insulating layer sleeves the outer side of the inner insulating layer, so as to form an insulating protection structure suitable for the live working robot for power distribution as claimed in any one of claims 1 to 4; the thickness and insulation level of the inner insulating layer and the outer insulating layer meet the first preset condition; A slot is arranged at the joint of two adjacent outer insulating layers.

6. The insulation protection method for a live-power distribution operation robot according to claim 5, characterized in that: A protective umbrella skirt is respectively arranged on the outer insulating layer on both sides of the slot, the two protective umbrella skirts are arranged opposite to each other and surround the slot therein, the protective umbrella skirts are used to increase the insulating space, and the insulating space meets the second preset condition.

7. The insulation protection method for a live-power distribution operation robot according to any one of claims 5 to 6, characterized in that: The thickness of the inner insulating layer is D1, the thickness of the outer insulating layer is D2, and the first preset condition includes: (1) For 10kV system live working robots, D1≥2mm, D2≥2mm, the 3min layer withstand voltage of the inner and outer insulation layers is greater than or equal to 20kV, and the breakdown voltage is greater than or equal to 30kV; (2) For 20kV system live working robots, D1 ≥ 3mm, D2 ≥ 3mm, the 3min layer withstand voltage of the inner and outer insulation layers is greater than or equal to 30kV, and the breakdown voltage is greater than or equal to 40kV; (3) For 35kV system live working robots, D1≥4mm, D2≥4mm, the 3min layer withstand voltage of the inner and outer insulation layers is greater than or equal to 40kV, and the breakdown voltage is greater than or equal to 50kV.

Images