Emergency brake mechanism, control method and robot for insulating coated robot

Abstract

The present invention provides an emergency brake mechanism, a control method and a robot for an insulating coated robot, which belongs to the technical field of insulating coated robots. The scheme comprises a brake top plate, an upper fixed plate, an electromagnetic assembly, an electric push rod assembly and a pressing plate which are sequentially installed; the electromagnetic assembly comprises a spring sleeve and an electromagnet fixed to the pressing plate, one end of the electromagnet is fixed to the upper fixed plate, and the other end enters the spring sleeve, and a spring is arranged in the spring sleeve; the upper fixed plate is provided with a circular hole, and a bushing is arranged at the circular hole; the brake top plate is fixedly connected to the pressing plate through a guide shaft, and the guide shaft passes through the upper fixed plate through the bushing and is movably connected to the upper fixed plate; one end of the electric push rod assembly is fixedly connected to the upper fixed plate through a push rod fixing plate, and the other end is fixedly connected to the pressing plate.

Description

Technical Field

[0001] The present invention belongs to the technical field of insulating coated robots, and in particular, relates to an emergency brake mechanism, a control method and a robot for an insulating coated robot. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art.

[0003] At present, overhead lines are widely used as the main form of power transmission. They are widely distributed, long, and have complex line environments. Their safety and stability directly affect the reliability of the power transmission system. Most of the existing overhead lines use bare wires for power transmission, and the installation height is relatively low. There are many vegetation under the lines, which can easily cause line short circuits, seriously affecting production and living electricity.

[0004] With the widespread promotion and application of overhead line insulation coating robots, evenly coating the insulating functional coating on the overhead cables can play a good role in insulation protection. However, the inventors found that the existing overhead line insulation coating robots have the following problems when running along the overhead lines:

[0005] (1) It is operated by a single person wireless remote control, has no emergency stop protection function, and lacks emergency protection control logic. When an emergency situation requires shutdown, there is a lack of effective mechanism to ensure that the robot can stop smoothly, which poses a safety hazard and needs to be solved urgently.

[0006] (2) Its communication method is too simple, with only one WiFi communication link and a short communication distance. The existing emergency communication link still uses the same method. When the link fails, the robot cannot stop urgently. Summary of the invention

[0007] In order to solve the above-mentioned problems, the present disclosure provides an emergency brake mechanism, a control method and a robot for an insulation coating robot. The scheme proposes an emergency brake mechanism based on electromagnetic and telescopic rod control, which can effectively cope with on-site emergencies, improve the operation stability of the overhead cable insulation coating robot, and reduce the operating safety of on-site personnel; at the same time, on the basis of the original WiFi communication link of the insulation coating robot, a Laro communication link dedicated to emergency brake control is added in parallel, which effectively improves the communication distance of the insulation coating robot, overcomes the problem of poor communication stability of the existing scheme, improves the safety and stability of the robot operation, and reduces the practical operation difficulty of operation and maintenance personnel.

[0008] According to a first aspect of an embodiment of the present disclosure, there is provided an emergency brake mechanism for an insulating coated robot, comprising a brake top plate, an upper fixing plate, an electromagnetic assembly, an electric push rod assembly and a pressing plate which are sequentially installed;

[0009] The electromagnetic assembly comprises a spring sleeve and an electromagnet fixed to the pressing plate, one end of the electromagnet is fixed to the upper fixing plate, and the other end enters the spring sleeve, and a spring is arranged in the spring sleeve;

[0010] The upper fixing plate is provided with a circular hole, and a bushing is arranged at the circular hole;

[0011] The brake top plate is fixedly connected to the pressing plate via a guide shaft, and the guide shaft passes through the upper fixing plate via the bushing and is movably connected to the upper fixing plate;

[0012] One end of the electric push rod assembly is fixedly connected to the upper fixing plate through a push rod fixing plate, and the other end is fixedly connected to the pressing plate.

[0013] Furthermore, the electromagnet is fixed to the upper fixing plate via an electromagnet fixing plate, and the electromagnet is coaxially arranged with the spring sleeve, and the electromagnet and the spring sleeve are fitted and separated by controlling the power on and power off of the electromagnet.

[0014] Furthermore, when the electromagnet is powered on, the electromagnet fits against the spring sleeve, and the spring inside the spring sleeve stores spring potential energy; synchronously, the electric push rod is powered on to control the electric push rod to retract; under the dual action of the electromagnet and the electric push rod, the pressing plate is lifted and detached from the overhead cable.

[0015] Furthermore, when the electromagnet loses power, the spring in the spring sleeve releases spring potential energy, the electromagnet separates from the spring sleeve, and the pressing plate moves downward, and the pressing plate presses the overhead cable.

[0016] Furthermore, the brake top plate is fixedly provided with a brake board card, and the brake board card is used to receive control commands from the ground end and control the electromagnetic assembly and the electric push rod assembly.

[0017] Furthermore, the pressing plate is provided with a groove matching the overhead cable, and the groove is provided with anti-slip grooves;

[0018] or,

[0019] The brake board includes a wireless transceiver module for receiving control commands from the ground end.

[0020] According to a second aspect of an embodiment of the present disclosure, a control method for an emergency brake mechanism for an insulating coated robot is provided. The method is based on the above-mentioned emergency brake mechanism for an insulating coated robot, and the method includes:

[0021] When an emergency brake control command is received, the electromagnet is controlled to lose power, the spring in the spring sleeve releases the spring potential energy, the electromagnet is separated from the spring sleeve, the pressing plate moves downward, and the pressing plate presses the overhead cable;

[0022] During normal operation, the electromagnet is powered on, the electromagnet fits with the spring sleeve, and the spring in the spring sleeve stores spring potential energy; synchronously, the electric push rod is powered on, and the electric push rod is controlled to contract; under the dual action of the electromagnet and the electric push rod, the pressing plate is lifted and separated from the overhead cable.

[0023] Furthermore, the emergency brake mechanism receives the emergency brake control command sent by the ground end, and sends it to the insulating coated robot through the Lora wireless data communication link, and the insulating coated robot sends it to the brake board of the emergency brake mechanism; wherein the Lora wireless data communication link is independent of the main control link of the insulating coated robot and serves as a dedicated control link for the emergency brake.

[0024] According to a third aspect of an embodiment of the present disclosure, an overhead line insulation covering robot is provided, comprising a robot body, a remote controller, and the above-mentioned emergency brake mechanism for the insulation covering robot arranged on the robot body.

[0025] Furthermore, the upper fixing plate of the emergency brake mechanism is fixed to the robot body, so that the emergency brake mechanism can be mounted on the overhead line insulation sheathing robot.

[0026] Compared with the prior art, the beneficial effects of the present invention are:

[0027] (1) The present disclosure provides an emergency brake mechanism, a control method and a robot for an insulation coating robot. The scheme proposes an emergency brake mechanism based on electromagnetic and telescopic rod control, which can effectively respond to on-site emergencies, improve the operating stability of the overhead cable insulation coating robot, and improve the operating safety of on-site personnel;

[0028] (2) The solution disclosed in the present invention adds a Laro communication link dedicated to emergency brake control in parallel to the original WiFi communication link of the insulating coated robot, which effectively improves the communication distance of the insulating coated robot, overcomes the problem of poor communication stability of the existing solution, improves the safety and stability of the robot operation, and reduces the difficulty of practical operation for operation and maintenance personnel.

[0029] Advantages of additional aspects of the present disclosure will be given in part in the following description and in part will become apparent from the following description or will be learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings constituting a part of the present disclosure are used to provide a further understanding of the present disclosure. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure.

[0031] Figure 1 It is a schematic diagram of an emergency brake mechanism for an insulation coating robot described in an embodiment of the present disclosure;

[0032] Figure 2 It is a schematic diagram of the brake board structure of the emergency brake mechanism described in the embodiment of the present disclosure;

[0033] Figure 3 It is a control logic diagram of the emergency brake mechanism described in the embodiment of the present disclosure;

[0034] Figure 4 is a flow chart of a control method for the emergency brake mechanism described in an embodiment of the present disclosure;

[0035] Figure 5 It is a schematic structural diagram of the overhead line insulation coating robot described in the embodiment of the present disclosure;

[0036] Among them, 1. Emergency brake mechanism; 2. Robot body; 1-1. Brake board; 1-2. Brake top plate; 1-3. Guide shaft; 1-4. Bushing; 1-5. Upper fixing plate; 1-6. Push rod fixing plate; 1-7. Electric push rod one; 1-8. Pressing plate; 1-9. Electromagnet fixing plate; 1-10. Electromagnet; 1-11. Spring; 1-12. Electric push rod two; 1-13. Spring sleeve; 1-14. Overhead cable. DETAILED DESCRIPTION

[0037] The present disclosure is further described below in conjunction with the accompanying drawings and embodiments.

[0038] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present disclosure belongs.

[0039] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0040] In the absence of conflict, the embodiments in the present disclosure and the features in the embodiments may be combined with each other.

[0041] Embodiment 1:

[0042] The purpose of this embodiment is to provide an emergency brake mechanism for an insulation-coated robot.

[0043] like Figure 1 As shown, an emergency brake mechanism for an insulating coated robot includes a brake top plate 1-2, an upper fixing plate 1-5, an electromagnetic assembly, an electric push rod assembly and a pressing plate 1-8 which are installed in sequence;

[0044] The electromagnetic assembly includes a spring sleeve 1-13 and an electromagnet 1-10 fixed to the pressing plate 1-8, one end of the electromagnet 1-10 is fixed to the upper fixing plate 1-5, and the other end enters the spring sleeve 1-13, and a spring 1-11 is arranged in the spring sleeve 1-13;

[0045] The upper fixing plate 1-5 is provided with a circular hole, and a bushing 1-4 is provided at the circular hole;

[0046] The brake top plate 1-2 is fixedly connected to the pressing plate 1-8 through the guide shaft 1-3, and the guide shaft 1-3 passes through the upper fixing plate 1-5 through the bushing 1-4 and is movably connected to the upper fixing plate 1-5;

[0047] One end of the electric push rod assembly is fixedly connected to the upper fixing plate 1-5 through the push rod fixing plate 1-6, and the other end is fixedly connected to the pressing plate 1-8.

[0048] Furthermore, the brake top plate 1-2 and the pressing plate can slide up and down along the bushing 1-4 of the upper fixed plate 1-5 through the guide shaft 1-3.

[0049] Furthermore, the electromagnet 1-10 is fixed to the upper fixing plate 1-5 through the electromagnet fixing plate 1-9, and the electromagnet 1-10 is coaxially arranged with the spring sleeve 1-13. By controlling the power on and power off of the electromagnet 1-10, the electromagnet 1-10 and the spring sleeve 1-13 can be fitted and separated.

[0050] Preferably, the electromagnet 1-10 is arranged in the middle of the upper fixed plate 1-5, and the spring sleeve 1-13 is also fixed in the middle of the pressing plate 1-8.

[0051] Furthermore, when the electromagnet 1-10 is powered on, the electromagnet 1-10 fits with the spring sleeve 1-13, and the spring 1-11 in the spring sleeve 1-13 stores spring potential energy; synchronously, the electric push rod 1-7 and the electric push rod 2 1-12 are powered on to control the contraction of the electric push rod; under the dual action of the electromagnet 1-10 and the electric push rod, the pressing plate 1-8 is lifted, and the pressing plate 1-8 is separated from the overhead cable 1-14, and then the insulating coated robot equipped with the emergency brake mechanism can operate normally.

[0052] Preferably, the electric push rod assembly includes two groups, and the two groups of electric push rod assemblies are symmetrically distributed with the electromagnetic assembly as the center.

[0053] Furthermore, when the electromagnet 1-10 loses power, the spring 1-11 in the spring sleeve 1-13 releases the spring potential energy, and the electromagnet 1-10 separates from the spring sleeve 1-13, thereby achieving the downward movement of the pressing plate 1-8, and the pressing plate 1-8 presses the overhead cable 1-14, thereby achieving the effect of stopping the insulating coated robot equipped with the emergency brake mechanism.

[0054] Furthermore, the brake top plate 1-2 is fixedly provided with a brake board card 1-1, and the brake board card 1-1 is used to receive control commands from the ground end and control the electromagnetic component and the electric push rod component, specifically including power-on and power-off control of the electromagnetic component, and power-on control of the electric push rod component and contraction or extension control of the push rod.

[0055] Furthermore, the pressing plate 1-8 is provided with a groove matching the overhead cable, and the groove is provided with anti-slip grooves;

[0056] or,

[0057] The brake board 1 - 1 includes a wireless transceiver module for receiving control commands from the ground end.

[0058] Furthermore, the emergency brake mechanism is mounted on an insulating coated robot for use, wherein the emergency protection start-up conditions of the insulating coated robot are as follows:

[0059] (1) The robot program does not set the trigger emergency protection. The emergency protection adopts the control command manually issued by the ground end. This setting can effectively prevent the robot from losing control and being unable to stop when the robot's main control link fails, resulting in dangerous situations such as phase short circuit and collision with the tower.

[0060] (2) The robot emergency brake command is manually issued from the ground end. After the robot receives the command, the power of the entire machine is cut off, the emergency brake device pops out, and the robot stops reliably on the overhead cable.

[0061] like Figure 2, which shows a schematic diagram of the brake board structure of the emergency brake mechanism described in this embodiment;

[0062] like Figure 3 The figure shows a control logic schematic diagram of the emergency brake mechanism described in this embodiment.

[0063] Embodiment 2:

[0064] The purpose of this embodiment is to provide an emergency brake mechanism control method for an insulation sheathing robot.

[0065] like Figure 4 As shown, a control method for an emergency brake mechanism for an insulating coated robot is based on the above-mentioned emergency brake mechanism for an insulating coated robot, and the method includes:

[0066] When an emergency brake control command is received, the electromagnet is controlled to lose power, the spring in the spring sleeve releases the spring potential energy, the electromagnet is separated from the spring sleeve, the pressing plate moves downward, and the pressing plate presses the overhead cable;

[0067] During normal operation, the electromagnet is powered on, the electromagnet fits with the spring sleeve, and the spring in the spring sleeve stores spring potential energy; synchronously, the electric push rod is powered on, and the electric push rod is controlled to contract; under the dual action of the electromagnet and the electric push rod, the pressing plate is lifted and separated from the overhead cable.

[0068] Furthermore, the emergency brake mechanism receives the emergency brake control command sent by the ground end, and sends it to the insulating coated robot through the Lora wireless data communication link, and the insulating coated robot sends it to the brake board of the emergency brake mechanism; wherein the Lora wireless data communication link is independent of the main control link of the insulating coated robot and serves as a dedicated control link for the emergency brake.

[0069] Embodiment three:

[0070] The purpose of this embodiment is to provide an overhead line insulation covering robot.

[0071] like Figure 5 As shown, an overhead line insulation covering robot includes a robot body 2, a remote controller and the above-mentioned emergency brake mechanism 1 for the insulation covering robot arranged on the robot body.

[0072] Furthermore, the upper fixing plate 1 - 5 of the emergency brake mechanism 1 is fixed to the robot body, so that the emergency brake mechanism can be mounted on the overhead line insulation sheathing robot.

[0073] The emergency brake mechanism, control method and robot for an insulating sheathed robot provided in the above-mentioned embodiments can be realized and have broad application prospects.

[0074] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. An emergency brake mechanism for an insulating coated robot, characterized in that: It includes a brake top plate, an upper fixing plate, an electromagnetic assembly, an electric push rod assembly and a pressing plate which are installed in sequence; The electromagnetic assembly comprises a spring sleeve and an electromagnet fixed to the pressing plate, one end of the electromagnet is fixed to the upper fixing plate, and the other end enters the spring sleeve, and a spring is arranged in the spring sleeve; The upper fixing plate is provided with a circular hole, and a bushing is arranged at the circular hole; The brake top plate is fixedly connected to the pressing plate via a guide shaft, and the guide shaft passes through the upper fixing plate via the bushing and is movably connected to the upper fixing plate; One end of the electric push rod assembly is fixedly connected to the upper fixing plate through a push rod fixing plate, and the other end is fixedly connected to the pressing plate; The electromagnet is fixed to the upper fixing plate through an electromagnet fixing plate, and the electromagnet is coaxially arranged with the spring sleeve. The electromagnet and the spring sleeve are fitted and separated by controlling the power on and power off of the electromagnet. When the electromagnet loses power, the spring in the spring sleeve releases the spring potential energy, the electromagnet is separated from the spring sleeve, and the pressing plate moves downward, and the pressing plate presses the overhead cable.

2. An emergency brake mechanism for an insulating coated robot as claimed in claim 1, characterized in that: When the electromagnet is powered on, the electromagnet fits against the spring sleeve, and the spring inside the spring sleeve stores spring potential energy; synchronously, the electric push rod is powered on to control the electric push rod to retract; under the dual action of the electromagnet and the electric push rod, the pressing plate is lifted and separated from the overhead cable.

3. An emergency brake mechanism for an insulating coated robot according to claim 1, characterized in that: The brake top plate is fixedly provided with a brake board card, and the brake board card is used to receive the control command of the ground end and control the electromagnetic component and the electric push rod component; or, The brake board includes a wireless transceiver module for receiving control commands from the ground end.

4. The emergency brake mechanism for an insulating coated robot according to claim 1, characterized in that: The pressing plate is provided with a groove matching the overhead cable, and the groove is provided with anti-slip grooves.

5. A method for controlling an emergency brake mechanism of an insulating coated robot, characterized in that: The method is based on an emergency brake mechanism for an insulating coated robot according to any one of claims 1 to 4, and comprises: When an emergency brake control command is received, the electromagnet is controlled to lose power, the spring in the spring sleeve releases the spring potential energy, the electromagnet is separated from the spring sleeve, the pressing plate moves downward, and the pressing plate presses the overhead cable; During normal operation, the electromagnet is powered on, the electromagnet fits with the spring sleeve, and the spring in the spring sleeve stores spring potential energy; synchronously, the electric push rod is powered on, and the electric push rod is controlled to contract; under the dual action of the electromagnet and the electric push rod, the pressing plate is lifted and separated from the overhead cable.

6. A method for controlling an emergency brake mechanism of an insulating coating robot as claimed in claim 5, characterized in that: The emergency brake mechanism receives the emergency brake control command sent by the ground end, and sends it to the insulating coated robot through the Lora wireless data communication link, and the insulating coated robot sends it to the brake board of the emergency brake mechanism; wherein the Lora wireless data communication link is independent of the main control link of the insulating coated robot and serves as a dedicated control link for the emergency brake.

7. An overhead line insulation coating robot, characterized in that: The invention comprises a robot body, a remote controller and an emergency brake mechanism for an insulating sheathed robot as claimed in any one of claims 1 to 4 which is arranged on the robot body.

8. An overhead line insulation coating robot as claimed in claim 7, characterized in that: The upper fixing plate of the emergency brake mechanism is fixed to the robot body, so that the emergency brake mechanism can be mounted on the overhead line insulation sheathing robot.

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