A substation lightning arrester handling robot and its control method

Abstract

A substation lightning arrester handling robot and control method thereof include a carrying trolley, a traveling mechanism, a planar displacement device, and a mechanical claw; the traveling mechanism is mounted on the bottom of the carrying trolley body, a first camera is mounted on the outer wall of the rear of the carrying trolley, the lens of the first camera is set in the direction from the front to the rear of the trolley, and the first camera detects image information of the lightning arrester; the carrying trolley is mounted on the planar displacement device, and a mechanical claw is mounted on the bottom of the movable end of the planar displacement device; a second camera is set at the center of the bottom of the mechanical claw, the lens of the second camera is set vertically downward, and the second camera detects image information of the lightning arrester; the carrying trolley is mounted on a controller, and the controller is electrically connected to the first camera, the second camera, the traveling mechanism, the planar displacement device, and the mechanical claw. The substation lightning arrester handling robot and control method thereof provided by this solution have the effects of precise positioning and improved efficiency.

Description

Technical Field

[0001] The invention relates to a transformer substation arrester transport robot and a control method thereof. Background Art

[0002] A substation is a location in a power system that transforms voltage and current, receives electricity, and distributes it. Substations typically occupy large areas, contain numerous devices, and have limited management staff. Manually moving equipment is labor-intensive and inefficient, and manual labor poses significant safety risks in high-voltage environments. Historically, most substations have employed manual or semi-manual methods to move lightning arresters. Most methods involve manually loading the arrester onto a transport truck, which then transports it to the designated location, and then manually unloading the truck to complete the transport. Since most transport trucks are manually propelled, transporting the arrester consumes significant manpower and time.

[0003] The prior art patent application number 201910577651X discloses a lightning arrester handling robot, which has the following problems:

[0004] 1. The moving device, lifting mechanism, translation mechanism, rotation mechanism and telescopic mechanism realize the robot's freedom in multiple directions, but there is only one positioning device, the position sensor, and there is no control method for positioning. Therefore, the relative position of the clamping device and the target lightning arrester cannot be adjusted, and precise positioning cannot be achieved, and automation cannot be achieved.

[0005] 2. Since the thickness and strength of the shed are small, and the device clamps the arrester directly at the edge of the shed, exerting radial pressure on the shed, the shed is more easily damaged.

[0006] 3. The device can only carry one arrester at a time, and the working efficiency is low. Summary of the Invention

[0007] The present invention solves the deficiencies of the prior art and provides a transformer substation arrester handling robot and a control method thereof that can accurately locate and improve efficiency.

[0008] To achieve the above-mentioned purpose, the present invention first proposes a substation lightning arrester handling robot; it includes a carrying trolley, a walking mechanism, a plane displacement device and a mechanical claw; the direction from the front of the vehicle to the rear of the vehicle is defined as the positive direction of the Y axis, the vertically upward direction is the positive direction of the Z axis, and the X axis and the Y axis are perpendicular to each other in the horizontal plane; the walking mechanism is installed at the bottom of the body of the carrying trolley, and a first camera is installed on the outer wall of the rear of the carrying trolley, the lens of the first camera is set to face the positive direction of the Y axis, the central area of the field of view of the first camera forms a first detection area, and a closed-loop first field of view boundary judgment line is set on the boundary of the first detection area, and two parallel first judgment lines are set along the Z axis in the first field of view boundary judgment line, and the spacing between the first judgment lines is greater than the maximum diameter of the lightning arrester imaged and less than 1.2 times the maximum diameter; on the carrying trolley, A plane displacement device capable of moving in the X-axis and Y-axis directions is installed above the vehicle bed, and a mechanical claw is installed at the bottom of the movable end of the plane displacement device, and the mechanical claw can be extended and retracted along the Z-axis direction; a second camera is provided at the center of the bottom of the mechanical claw, and the lens of the second camera is set toward the negative direction of the Z-axis. The central area of the second camera forms a second detection area, and a closed-loop second field of view boundary determination line is provided on the boundary of the second detection area, and a circular second determination line is provided within the second field of view boundary determination line. The diameter of the second determination line is not less than the maximum diameter of the image formed by the lightning arrester and is less than 1.2 times the maximum diameter, and the center of the second determination line coincides with the center of the second field of view boundary determination line; a controller is installed on the transport trolley, and the controller is electrically connected to the first camera, the second camera, the walking mechanism, the plane displacement device and the mechanical claw.

[0009] In this embodiment, the planar displacement device includes a first linear motion mechanism and a second linear motion mechanism, the second linear motion mechanism is installed on the top of the carrying trolley, the second linear motion mechanism is arranged along the X-axis direction, and the movable end of the second linear motion mechanism moves along the X-axis direction; the first linear motion mechanism is installed on the movable end of the second linear motion mechanism, the first linear motion mechanism is arranged along the Y-axis direction, and the movable end of the first linear motion mechanism moves along the Y-axis direction, the mechanical claw is installed on the movable end of the first linear motion mechanism, and the first linear motion mechanism and the second linear motion mechanism are both electrically connected to the controller.

[0010] In this embodiment, a storage device is arranged on the loading plate of the transport trolley bucket, and the storage device includes a fixing ring, a hinge structure, a magnetic device and a locking rod. The bottom of the fixing ring is fixed on the inner wall of the transport trolley, and the inner diameter of the fixing ring is larger than the outer diameter of the arrester base. On the fixing ring, there are no less than three radially arranged locking rods evenly hinged along the circumference through the hinge structure. The locking rod is in a straight line segment at one end within the inner cavity of the fixing ring, and is in an upwardly curved segment at one end outside the fixing ring. The center of gravity of the locking rod is set on one side of the curved segment. A groove is provided in the vertical direction on the inner wall of the fixing ring at a position corresponding to the straight segment of the locking rod, and the groove matches the size of the straight segment of the locking rod. A first limiting member is provided on the outer wall of the fixing ring at a position corresponding to the curved segment of the locking rod, and a magnetic device is provided on the top of the first limiting member.

[0011] In this embodiment, the locking rod is provided with a second limit member at the end of the curved segment, on the side facing the arrester, along the normal direction of the curved segment. The second limit member includes a telescopic rod, a spring baffle and a spring. The telescopic rod is provided along the normal direction of the curved segment. A spring baffle is arranged at one end of the telescopic rod away from the curved segment. A spring is installed between the spring baffle and the curved segment and on the telescopic rod.

[0012] In this embodiment, a first pressure sensor for detecting pressure changes in the fixing ring is arranged at the bottom of the fixing ring, and the first pressure sensor is electrically connected to the controller.

[0013] In this embodiment, a rotating device is also included. The mechanical claw is installed at the bottom of the movable end of the planar displacement device through the rotating device. The mechanical claw is driven to rotate around the central axis of the mechanical claw by the rotating device. The rotating device is electrically connected to the controller.

[0014] In this embodiment, the rotating device includes a motor, a shell, a top cover, a worm gear and a worm. The top of the shell is open and is installed with a top cover. The top surface of the top cover is connected to the movable end of the planar displacement device, and a worm gear is horizontally arranged in the shell; the side walls and bottom plate of the shell are provided with openings, and the rotating shaft at the top of the mechanical claw passes through the opening on the bottom plate of the shell and is coaxially fixedly connected to the worm gear, and the worm gear rotates synchronously with the rotating shaft; the outer wall of the shell is installed with a motor, the output shaft of the motor is connected to the input end of the worm gear, and the output end of the worm gear is engaged with the worm gear through the opening on the side wall of the shell, and the motor is electrically connected to the controller.

[0015] In this embodiment, the mechanical claw also includes a horizontal clamping device, a vacuum suction cup, a side arm and a main shaft; three side arms arranged along the Z axis are fixedly connected to the main shaft at the same height, and the main shaft is connected to the rotating device through the rotating shaft at the top. The side arms are symmetrical about the center of the main shaft, and the area enclosed by the three side arms on opposite sides forms a clamping area; the side arm is a two-stage hydraulic cylinder, and the side arm includes a first piston rod and a second piston rod that move along the Z axis direction, and a horizontal clamping device that can move horizontally is installed in the clamping area and on the first piston rod and the second piston rod.

[0016] In this embodiment, the horizontal clamping device includes a first horizontal telescopic cylinder and a second horizontal telescopic cylinder. The first horizontal telescopic cylinder is installed at the bottom of the first piston rod of the side arm, and the second horizontal telescopic cylinder is installed at the bottom of the second piston rod. The first horizontal telescopic cylinder and the second horizontal telescopic cylinder are arranged radially along the main axis. The piston rod in the first horizontal telescopic cylinder is connected to a first clamping jaw, and the piston rod in the second horizontal telescopic cylinder is connected to a second clamping jaw. A second pressure sensor is provided on the clamping surface of the first clamping jaw and the second clamping jaw.

[0017] In this embodiment, the first clamping jaw is a first vacuum suction cup, the second clamping jaw is a second vacuum suction cup, the first vacuum suction cup and the second vacuum suction cup are both connected to a vacuum pump, and the vacuum pump is electrically connected to the controller.

[0018] In this embodiment, a first infrared locator is arranged on the first horizontal telescopic cylinder at a position close to the horizontal clamping device, and a second infrared locator is arranged on the second horizontal telescopic cylinder at a position close to the horizontal clamping device. The detection ends of the first infrared locator and the second infrared locator are both set toward the center axis of the main shaft, and the first infrared locator and the second infrared locator are both electrically connected to the controller.

[0019] To achieve the above object, the present invention further proposes a control method for a substation lightning arrester handling robot, which uses the substation lightning arrester handling robot described in any one of the above items; the control method for the substation lightning arrester handling robot comprises the following steps:

[0020] Step S10, first move the transport trolley to the location of the target lightning arrester; start the first camera, the first camera first detects the distance between the transport trolley and the target lightning arrester, and adjusts the distance between the transport trolley and the target lightning arrester through the walking mechanism so that the distance meets the grasping requirement of the plane displacement device, and then drives the transport trolley to rotate through the walking mechanism so that the first camera faces the target lightning arrester. The specific adjustment method is as follows: the first camera determines whether the image formed by the target lightning arrester is between the two first determination lines. If the image formed by the target lightning arrester is not completely between the two first determination lines, the transport trolley is driven to rotate by the walking mechanism until the image formed by the target lightning arrester is completely between the two first determination lines, and the movement of the transport trolley is stopped;

[0021] Step S20: The mechanical gripper is controlled to move along the X-axis to the vertical plane of the first camera via the plane displacement device. The second camera is then activated and the mechanical gripper is controlled to move along the Y-axis via the plane displacement device until the image of the target arrester appears within the second field of view boundary determination line. The mechanical gripper is then fine-tuned along the X- and Y-axis directions until the image of the target arrester completely enters the second determination line.

[0022] Step S30: Extend the mechanical claw downward to clamp the target arrester, and then retract the mechanical claw upward to return to its original position;

[0023] Step S40: Control the plane displacement device to move the mechanical claw to place the target lightning arrester into the bucket of the transport vehicle;

[0024] Step S50, repeat the above operation, after completing the transportation of all target lightning arresters, start the traveling mechanism, move the transport trolley to the destination, stop the transport trolley and take out all lightning arresters.

[0025] In this embodiment, step S21 is further included between steps S20 and S30.

[0026] Step S21: During the movement of the side arm of the robotic claw along the Z-axis, if the second camera detects that the movement of the side arm is obstructed, the side arm is retracted upward and returned to its original position. At the same time, the rotating device controls the robotic claw to rotate clockwise for an angle, and then controls the side arm to continue to descend. If the robotic claw rotates one circle and the downward movement of the side arm is obstructed, an alarm signal is issued.

[0027] In this embodiment, in step S30, the first horizontal telescopic cylinder is controlled to extend downward and the first infrared locator is activated. When the first infrared locator detects a lightning arrester shed, a positioning signal is sent. The controller stops the first clamping jaw between the grooves between two adjacent sheds of the target lightning arrester through the position coordinates of the first infrared locator and the first clamping jaw and the positioning signal. Then, the second horizontal telescopic cylinder is controlled to extend downward and the second infrared locator is activated. When the second infrared locator detects a lightning arrester shed, a positioning signal is sent. The controller stops the second clamping jaw between the grooves between two adjacent sheds of the target lightning arrester through the position coordinates of the second infrared locator and the second clamping jaw and the positioning signal.

[0028] After the first clamp and the second clamp are positioned, the first horizontal telescopic cylinder and the second horizontal telescopic cylinder extend simultaneously and open the first vacuum suction cup and the second vacuum suction cup. When the second pressure sensor detects that the first clamp and the second clamp are clamped to the target lightning arrester, the pressure applied to the target lightning arrester by the first horizontal telescopic cylinder and the second horizontal telescopic cylinder is reduced, and then the first horizontal telescopic cylinder is controlled to retract to the limit.

[0029] In this embodiment, in step S40, the planar displacement device is started to control the mechanical claw to move into the transport cart to the top of the storage device that does not store the lightning arrester, and then the movement of the mechanical claw is stopped; the mechanical claw is then extended downward, and when the first pressure sensor detects the pressure after the target lightning arrester is lowered, the extension of the Z axis of the mechanical claw is stopped, and then the mechanical claw is controlled to release the target lightning arrester and return to its position. Beneficial effects

[0030] 1. The first camera ensures the distance between the target lightning arrester and the first camera, meeting the grasping requirements of the plane displacement device. Since the first camera is activated during the positioning process of the transport vehicle, two parallel first determination lines are set along the Z axis within the first camera's first field of view boundary determination line. The distance between these first determination lines is greater than the maximum outer diameter of the lightning arrester and less than 1.2 times its maximum outer diameter, ensuring that the image of the target lightning arrester is completely located between the two first determination lines. The plane displacement device then controls the mechanical claw to move along the X axis to the vertical plane where the first camera is located, and then controls the mechanical claw to extend outward from the vehicle bed along the Y axis until the image of the target lightning arrester appears within the second field of view boundary determination line. The mechanical claw is then fine-tuned in the X and Y axes until the image of the target lightning arrester is completely within the second determination line. Since the image of the target lightning arrester is completely within the second determination line, and the center of the second determination line coincides with the center of the second field of view boundary determination line, the center of the mechanical claw is aligned with the target lightning arrester.

[0031] In addition, multiple lightning arresters can be placed in the cargo box of the transport vehicle, which improves the transportation efficiency of the lightning arresters.

[0032] 2. As soon as the first pressure sensor detects that the target lightning arrester is lowered, it stops extending the mechanical claw along the negative direction of the Z axis and then releases the target lightning arrester. The placement of the target lightning arrester in the bucket of the transport trolley is controlled by the first pressure sensor, which further avoids the lightning arrester from being squeezed when moving along the negative direction of the Z axis, thereby ensuring transportation safety.

[0033] Since the position coordinates of the storage device are stored in the controller, the plane displacement device can accurately place the lightning arrester into the storage device that does not contain any lightning arrester through the signal feedback from the first pressure sensor or the storage order of the lightning arrester pre-set in the controller.

[0034] In the initial state, since the outer wall of the fixing ring and the bottom of the locking rod are provided with a first limiter, and the first limiter restricts the downward rotation of the curved section of the locking rod, the straight section of the fixing ring cannot be rotated upward to a nearly vertical direction, thereby preventing the arrester from being stuck by the straight section of the fixing ring when it is placed; since a magnetic device is provided on the top of the first limiter, and the center of gravity of the locking rod is provided on one side of the curved section, the magnetic device adsorbs the curved section of the locking rod, thereby preventing the curved section of the locking rod from rotating upward into the fixing ring, thereby preventing the arrester from being stuck by the curved section of the locking rod when it is placed. When the mechanical claw places the arrester into the storage device, the arrester exerts downward pressure on the straight section of the locking rod due to its own gravity, causing the straight section of the locking rod to be pressed down into the groove of the fixing ring. The curved section of the locking rod rises until the spring baffle abuts against the side wall of the target arrester base and compresses the spring. The spring stores elastic potential energy, locks the target arrester, and forms a self-locking structure, which ensures that the arrester does not tip over during transportation and will not be damaged by collision, further ensuring transportation safety. When taking out the lightning arrester, lift up the lightning arrester in the storage device, and the pressure applied by the lightning arrester to the straight section of the locking rod disappears. At this time, the only pressure applied by the lightning arrester to the locking rod is the pressure of the base side wall on the spring baffle, so the spring stretches to release elastic potential energy, the curved section of the locking rod drops and the straight section rises, and the lightning arrester is released. Finally, the lightning arrester is taken out. After the lightning arrester is taken out, the locking rod returns to its initial state. The removal process is easy and simple, and transportation safety is guaranteed while ensuring efficiency.

[0035] 3. During the movement of the gripper's side arm along the Z-axis, if the second camera detects an obstruction to the arm's movement, the arm retracts upward and returns to its original position. Simultaneously, the rotation mechanism controls the gripper to rotate clockwise a certain angle, then controls the arm to continue descending. If the gripper's downward movement is obstructed after one complete rotation, an alarm is issued. This eliminates the possibility of obstacles directly below the gripper.

[0036] 4. Control the first horizontal telescopic cylinder to extend downward and activate the first infrared locator. When the first infrared locator detects a lightning arrester shed, it sends a positioning signal. The controller uses the first infrared locator and the position coordinates of the first clamping jaw and the positioning signal to stop the first clamping jaw between the grooves between the two adjacent sheds of the target lightning arrester. The controller can obtain the position coordinates of the shed on the target lightning arrester through the positioning signal sent by the first infrared locator. At the same time, the controller records the position coordinates of the first infrared locator. Therefore, the controller can calculate the subsequent movement distance of the first horizontal telescopic cylinder after receiving the positioning signal to ensure that the first clamping jaw stops between the grooves between the two adjacent sheds of the target lightning arrester.

[0037] The second horizontal telescopic cylinder is then controlled to extend downward and the second infrared locator is activated. When the second infrared locator detects a lightning arrester shed, it sends a positioning signal. The controller uses the second infrared locator and the position coordinates of the second clamping jaw and the positioning signal to stop the second clamping jaw between the grooves between the two adjacent sheds of the target lightning arrester. The controller can obtain the position coordinates of the shed on the target lightning arrester through the positioning signal sent by the second infrared locator. At the same time, the controller records the position coordinates of the second infrared locator. Therefore, the controller can calculate the subsequent movement distance of the second horizontal telescopic cylinder after receiving the positioning signal to ensure that the second clamping jaw stops between the grooves between the two adjacent sheds of the target lightning arrester.

[0038] Since the second clamping jaw can move along the Z-axis to adjust the distance between it and the first clamping jaw, it can not only better realize the positioning of the mechanical claw in the Z-axis direction, but also better ensure that the mechanical claw is clamped on the insulating support and does not contact the shed, thus avoiding damage to the shed due to force; at the same time, it can also adapt to different models of lightning arresters.

[0039] The first vacuum suction cup and the second vacuum suction cup ensure that the first clamp and the second clamp can clamp the insulating pillar of the lightning arrester without relative sliding, further ensuring that the lightning arrester shed is not touched during transportation, thereby ensuring the safety of transportation.

[0040] Since the movement of the mechanical claw is controlled so that the image formed by the target lightning arrester completely enters the second judgment line, and the diameter of the second judgment line is not less than the maximum diameter of the image formed by the lightning arrester and is less than 1.2 times the maximum diameter, the axis of the target lightning arrester is close to the axis of the mechanical claw; at the same time, the axis of the target lightning arrester and the axis of the mechanical claw may not completely overlap. When the mechanical claw clamps the target lightning arrester, the three sets of horizontal clamping devices fail to contact the target lightning arrester at the same time, so the horizontal clamping device that first contacts the target lightning arrester drives the target lightning arrester to move toward the horizontal clamping device that does not contact the target lightning arrester, until all three sets of horizontal clamping devices are clamped on the target lightning arrester; and the diameter of the second judgment line is set to be not less than the maximum diameter of the image formed by the lightning arrester and less than 1.2 times the maximum diameter, which ensures that the mechanical claw can achieve centering of the target lightning arrester in the above manner.

[0041] In summary, the substation arrester handling robot and control method thereof provided by this solution have the effects of precise positioning and improved efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a structural schematic diagram of the present invention.

[0043] Figure 2 This is the front view of the mechanical claw.

[0044] Figure 3 A top view of the robotic claw.

[0045] Figure 4 A cross-sectional view of the robotic claw.

[0046] Figure 5 It is a structural schematic diagram of the storage device.

[0047] Figure 6 Schematic diagram of the locking rod.

[0048] Figure 7 A top view of the transport trolley.

[0049] Figure 8 This is the right side view of the transport trolley.

[0050] Figure 9 This is the determination principle diagram of the first camera.

[0051] Figure 10 is the field of view of the second camera without obstacles.

[0052] Figure 11 is the field of view of the second camera with obstacles.

[0053] In the figure, 1. transport vehicle; 101. first camera; 102. controller; 103. first determination line; 104. first field of view boundary determination line; 2. plane displacement device; 201. first linear motion mechanism; 202. second linear motion mechanism; 3. mechanical claw; 301. main shaft; 302. side arm; 303. first horizontal telescopic cylinder; 304. second horizontal telescopic cylinder; 305. first gripper; 306. first vacuum suction cup; 307. first infrared locator; 308. second gripper; 309. second vacuum suction cup; 310. second infrared locator; 311. worm gear; 312. worm; 313. housing; 314. top cover; 315. motor; 316. second camera; 317. lead screw nut; 318. second determination line; 319. Second visual field boundary determination line; 4. Storage device; 401. Fixing ring; 402. Locking rod; 403. Articulated structure; 404. Spring; 405. Spring baffle; 406. Telescopic rod; 407. First pressure sensor; 5. Walking mechanism. DETAILED DESCRIPTION

[0054] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0055] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention. Example

[0056] The outermost layer of the arrester is a cylindrical insulating pillar, on which annular sheds are evenly arranged along the axial direction. The sheds are relatively thin, and a spacing is left between two adjacent sheds to form a groove.

[0057] It includes a transport trolley 1, a walking mechanism 5, a plane displacement device 2 and a mechanical claw 3; the direction from the front of the vehicle to the rear of the vehicle is defined as the positive direction of the Y axis, the vertical upward direction is the positive direction of the Z axis, and the X axis and the Y axis are perpendicular to each other in the horizontal plane; the walking mechanism 5 is installed on the bottom of the vehicle body of the transport trolley 1, and a first camera 101 is installed on the outer wall of the rear of the transport trolley 1. The lens of the first camera 101 is set to face the positive direction of the Y axis. The central area of the field of view of the first camera 101 forms a first detection area, and a closed-loop first field of view boundary determination line 104 is set on the boundary of the first detection area. Two parallel first determination lines 103 are set along the Z axis in the first field of view boundary determination line 104, and the spacing between the first determination lines 103 is greater than the maximum diameter of the image formed by the lightning arrester and less than 1.2 times the maximum diameter; a plane displacement device that can realize movement in the X and Y axes is installed on the transport trolley 1 and above the vehicle bucket. Device 2, a mechanical claw 3 is installed at the bottom of the movable end of the plane displacement device 2, and the mechanical claw 3 can be extended and retracted along the Z-axis; a second camera 316 is set at the center of the bottom of the mechanical claw 3, and the lens of the second camera 316 is set towards the negative direction of the Z-axis. The central area of the second camera 316 forms a second detection area, and a closed-loop second field of view boundary judgment line 319 is set on the boundary of the second detection area, and a circular second judgment line 318 is set within the second field of view boundary judgment line 319. The diameter of the second judgment line 318 is not less than the maximum diameter of the image of the lightning arrester and is less than 1.2 times the maximum diameter. The center of the second judgment line 318 coincides with the center of the second field of view boundary judgment line 319; a controller 102 is installed on the transport vehicle 1, and the controller 102 is electrically connected to the first camera 101, the second camera 316, the walking mechanism 5, the plane displacement device 2 and the mechanical claw 3.

[0058] Working principle of this embodiment:

[0059] The first camera 101 ensures the distance between the target lightning arrester and the first camera 101, meeting the grasping requirements of the plane displacement device 2. Since the first camera 101 is activated during the positioning process of the transport vehicle 1, two parallel first determination lines 103 are set along the Z axis within the first field of view boundary determination line 104 of the first camera 101. The distance between the first determination lines 103 is greater than the maximum outer diameter of the lightning arrester and less than 1.2 times the maximum outer diameter of the lightning arrester, ensuring that the image of the target lightning arrester is completely located between the two first determination lines 103. The plane displacement device 2 then controls the mechanical claw 3 to move along the X axis to the vertical plane where the first camera 101 is located, and then controls the mechanical claw 3 to extend outward from the vehicle bucket along the Y axis until the image of the target lightning arrester appears within the second field of view boundary determination line 319. The position of the mechanical claw 3 in the X and Y axes is then fine-tuned until the image of the target lightning arrester completely enters the second determination line 318. Since the image of the target lightning arrester completely enters the second determination line 318 and the center of the second determination line 318 coincides with the center of the second visual field boundary determination line 319, the center of the mechanical claw 3 is aligned with the target lightning arrester.

[0060] The Z-axis coordinates of each shed on the target arrester can be determined by the size information of the target arrester stored in the controller 102, so the controller 102 can ensure that the mechanical claw 3 is aligned with the groove between two adjacent sheds of the target arrester on the Z-axis.

[0061] Through the above-mentioned positioning in the horizontal and vertical directions, it is ensured that the mechanical claw 3 accurately clamps the target lightning arrester and clamps it to the groove position between the sheds of the target lightning arrester. The mechanical claw 3 clamps on the insulating support and does not contact the sheds, avoiding damage to the sheds due to force.

[0062] Since the controller 102 stores the size coordinates of the transport trolley 1, the mechanical claw 3 accurately stops moving downward after placing the lightning arrester in the bucket of the transport trolley 1, and releases the lightning arrester to avoid damage to the lightning arrester due to axial extrusion, thereby completing the placement of the lightning arrester in the bucket of the transport trolley 1; at the same time, the placement coordinates of the lightning arrester in the bucket of the transport trolley 1 can be set in advance, and when the controller 102 controls the mechanical claw 3 to place the lightning arrester in the bucket, the lightning arrester can be placed in sequence according to the placement coordinates. Example

[0063] The difference between this embodiment and embodiment 1 is that:

[0064] The planar displacement device 2 includes a first linear motion mechanism 201 and a second linear motion mechanism 202. The second linear motion mechanism 202 is installed on the top of the carrying trolley, the second linear motion mechanism 202 is arranged along the X-axis direction, and the movable end of the second linear motion mechanism 202 moves along the X-axis direction; the first linear motion mechanism 201 is installed on the movable end of the second linear motion mechanism 202, the first linear motion mechanism 201 is arranged along the Y-axis direction, and the movable end of the first linear motion mechanism 201 moves along the Y-axis direction. The mechanical claw 3 is installed on the movable end of the first linear motion mechanism 201, and the first linear motion mechanism 201 and the second linear motion mechanism 202 are both electrically connected to the controller 102.

[0065] A storage device 4 is arranged on the loading plate of the carrying trolley 1, and the storage device 4 includes a fixing ring 401, a hinge structure 403, a magnetic device and a locking rod 402. The bottom of the fixing ring 401 is fixed to the inner wall of the carrying trolley 1. The inner diameter of the fixing ring 401 is larger than the outer diameter of the arrester base. There are no less than three radially arranged locking rods 402 on the fixing ring 401, which are evenly hinged along the circumference through the hinge structure 403. The locking rods 402 are located within the inner cavity of the fixing ring 401. The end is a straight segment, and the locking rod 402 is located in a curved segment with an upward bend at one end outside the fixing ring 401. The center of gravity of the locking rod 402 is set on one side of the curved segment. A groove is provided on the inner wall of the fixing ring 401 at a position corresponding to the straight segment of the locking rod 402 in the vertical direction. The groove matches the size of the straight segment of the locking rod 402. A first stopper is arranged on the outer wall of the fixing ring 401 at a position corresponding to the curved segment of the locking rod 402. A magnetic device is provided on the top of the first stopper. The locking rod 402 is provided with a second stopper at the end of the curved segment, on the side facing the lightning arrester, along the normal direction of the curved segment. The second stopper includes a telescopic rod 406, a spring baffle 405, and a spring 404. The telescopic rod 406 is arranged along the normal direction of the curved segment. The spring baffle 405 is arranged at the end of the telescopic rod 406 away from the curved segment. A spring 404 is sleeved on the telescopic rod 406 between the spring baffle 405 and the curved segment. A first pressure sensor 407 for detecting pressure changes in the fixing ring 401 is arranged at the bottom of the fixing ring 401 . The first pressure sensor 407 is electrically connected to the controller 102 .

[0066] Working principle of this embodiment:

[0067] When the first pressure sensor 407 detects that the target lightning arrester has been lowered, it stops extending the mechanical claw 3 along the negative direction of the Z axis and then releases the target lightning arrester. The placement of the target lightning arrester in the bucket of the transport trolley 1 is controlled by the first pressure sensor 407, which further avoids the lightning arrester from being squeezed when moving along the negative direction of the Z axis, thereby ensuring transportation safety.

[0068] Since the position coordinates of the storage device 4 are stored in the controller 102, and through the signal feedback from the first pressure sensor 407 or the storage order of the lightning arrester pre-set in the controller 102, the plane displacement device 2 can accurately place the lightning arrester into the storage device 4 that does not contain any lightning arrester.

[0069] In the initial state, since the first limit piece is arranged on the outer wall of the fixing ring 401 and the bottom of the locking rod 402, and the first limit piece limits the downward rotation of the curved section of the locking rod 402, the straight section of the fixing ring 401 cannot be rotated upward to a direction close to the vertical direction, thereby preventing the lightning arrester from being stuck by the straight section of the fixing ring 401 when placed; since a magnetic device is provided on the top of the first limit piece, and the center of gravity of the locking rod 402 is provided on one side of the curved section, the magnetic device absorbs the curved section of the locking rod 402, thereby preventing the curved section of the locking rod 402 from rotating upward into the fixing ring 401, thereby preventing the lightning arrester from being stuck by the curved section of the locking rod 402 when placed. After the mechanical claw 3 places the lightning arrester into the storage device 4, the lightning arrester applies downward pressure to the straight section of the locking rod 402 due to its own gravity, so that the straight section of the locking rod 402 is pressed down into the groove of the fixing ring 401, and the curved section of the locking rod 402 rises until the spring 404 baffle abuts against the side wall of the target lightning arrester base and compresses the spring 404. The spring 404 stores elastic potential energy, locks the target lightning arrester, and forms a self-locking structure, which ensures that the lightning arrester does not fall over during transportation and will not be damaged by collision, thereby further ensuring transportation safety. When taking out the lightning arrester, lift the lightning arrester in the storage device 4 upwards, and the pressure of the straight section of the locking rod 402 applied by the lightning arrester to the locking rod 402 disappears. At this time, the only pressure applied by the lightning arrester to the locking rod 402 is the pressure of the base side wall on the spring 404 baffle, so the spring 404 stretches to release elastic potential energy, the curved section of the locking rod 402 drops and the straight section rises, the lightning arrester is released, and finally the lightning arrester is taken out. After the lightning arrester is taken out, the locking rod 402 returns to its initial state. The removal process is easy and simple, and transportation safety is guaranteed while ensuring efficiency. Example

[0070] The difference between this embodiment and embodiment 1 is that:

[0071] It also includes a rotating device, and the mechanical claw 3 is installed at the bottom of the movable end of the planar displacement device 2 through the rotating device. The mechanical claw 3 is driven to rotate around the central axis of the mechanical claw 3 by the rotating device, and the rotating device is electrically connected to the controller 102. The rotating device includes a motor 315, a shell 313, a top cover 314, a worm gear 311 and a worm 312. The top of the shell 313 is open and is installed with a top cover 314. The top surface of the top cover 314 is connected to the movable end of the planar displacement device 2, and a worm gear 311 is horizontally arranged in the shell 313; the side walls and the bottom plate of the shell 313 are provided with openings, and the rotating shaft at the top of the mechanical claw 3 passes through the opening on the bottom plate of the shell 313 and is coaxially fixedly connected to the worm gear 311, and the worm gear 311 rotates synchronously with the rotating shaft; the outer wall of the shell 313 is installed with a motor 315, and the output shaft of the motor 315 is connected to the input end of the worm 312, and the output end of the worm 312 is engaged with the worm gear 311 through the opening on the side wall of the shell 313, and the motor 315 is electrically connected to the controller 102. The mechanical claw 3 also includes a horizontal clamping device, a vacuum suction cup, a side arm 302 and a main shaft 301; three side arms 302 arranged along the Z axis are fixedly connected at the same height of the main shaft 301, and the main shaft 301 is connected to the rotating device through the rotating shaft at the top. The side arms 302 are symmetrical about the center of the main shaft 301, and the area enclosed by the three side arms 302 on opposite sides forms a clamping area; the side arm 302 is a two-stage hydraulic cylinder, and a pressure sensor is provided in the side arm 302. The side arm 302 includes a first piston rod and a second piston rod that move along the Z axis, and a horizontal clamping device that can move horizontally is installed in the clamping area and on the first piston rod and the second piston rod.

[0072] Working principle of this embodiment:

[0073] During the movement of the side arm 302 of the gripper 3 along the Z-axis, if the second camera 316 detects that the movement of the side arm 302 is obstructed, the side arm 302 is retracted upward and returned to its original position. Simultaneously, the rotation device controls the gripper 3 to rotate clockwise a certain angle, and then controls the side arm 302 to continue descending. If the side arm 302's downward movement is obstructed after the gripper 3 rotates one full revolution, an alarm signal is issued. Obstructed movement occurs when the side arm 302 encounters an obstacle during its downward movement, preventing it from continuing downward movement. If the second camera 316 detects that the side arm 302 is not moving downward, it is determined that the movement of the side arm 302 is obstructed. Since the side arm 302 is a two-stage hydraulic cylinder, when the movement of the side arm 302 is obstructed, the pressure within the side arm 302 will change. Therefore, a pressure sensor within the side arm 302 can also be used to detect whether the movement of the side arm 302 is obstructed. Example

[0074] The difference between this embodiment and embodiment 1 is that:

[0075] The horizontal clamping device includes a first horizontal telescopic cylinder 303 and a second horizontal telescopic cylinder 304. The first horizontal telescopic cylinder 303 is installed at the bottom of the first piston rod of the side arm 302, and the second horizontal telescopic cylinder 304 is installed at the bottom of the second piston rod. The first horizontal telescopic cylinder 303 and the second horizontal telescopic cylinder 304 are arranged radially along the main axis 301. The piston rod in the first horizontal telescopic cylinder 303 is connected to the first clamping jaw 305, and the piston rod in the second horizontal telescopic cylinder 304 is connected to the second clamping jaw 308. A second pressure sensor is provided on the clamping surface of the first clamping jaw 305 and the second clamping jaw 308.

[0076] The first clamping jaw 305 is a first vacuum suction cup 306 , and the second clamping jaw 308 is a second vacuum suction cup 309 . Both the first vacuum suction cup 306 and the second vacuum suction cup 309 are connected to a vacuum pump, and the vacuum pump is electrically connected to the controller 102 .

[0077] A first infrared locator 307 is arranged on the first horizontal telescopic cylinder 303, near the horizontal clamping device, and a second infrared locator 310 is arranged on the second horizontal telescopic cylinder 304, near the horizontal clamping device. The detection ends of the first infrared locator 307 and the second infrared locator 310 are both set toward the central axis of the main shaft 301, and the first infrared locator 307 and the second infrared locator 310 are both electrically connected to the controller 102.

[0078] Working principle of this embodiment:

[0079] The first horizontal telescopic cylinder 303 is controlled to extend downward and the first infrared locator 307 is activated. When the first infrared locator 307 detects a lightning arrester shed, it sends a positioning signal. The controller stops the first clamping jaw 305 between the grooves between the two adjacent sheds of the target lightning arrester through the position coordinates of the first infrared locator 307 and the first clamping jaw 305 and the positioning signal. Through the positioning signal sent by the first infrared locator 307, the controller 102 can obtain the position coordinates of the shed on the target lightning arrester. At the same time, the controller 102 records the position coordinates of the first infrared locator 307. Therefore, the controller 102 can calculate the subsequent movement distance of the first horizontal telescopic cylinder 303 after receiving the positioning signal to ensure that the first clamping jaw 305 stops between the grooves between the two adjacent sheds of the target lightning arrester.

[0080] Then, the second horizontal telescopic cylinder 304 is controlled to extend downward and the second infrared locator 310 is activated. When the second infrared locator 310 detects a lightning arrester shed, it sends a positioning signal. The controller uses the second infrared locator 310 and the position coordinates of the second clamping claw 308 and the positioning signal to stop the second clamping claw 308 between the grooves between the two adjacent sheds of the target lightning arrester. Through the positioning signal sent by the second infrared locator 310, the controller 102 can obtain the position coordinates of the shed on the target lightning arrester. At the same time, the controller 102 records the position coordinates of the second infrared locator 310. Therefore, the controller 102 can calculate the subsequent movement distance of the second horizontal telescopic cylinder 304 after receiving the positioning signal to ensure that the second clamping claw 308 stops between the grooves between the two adjacent sheds of the target lightning arrester.

[0081] Since the second clamping jaw 308 can move along the Z axis to adjust the distance between it and the first clamping jaw 305, it can not only better realize the positioning of the mechanical claw 3 in the Z axis direction, but also better ensure that the mechanical claw 3 is clamped on the insulating support and does not contact the shed, thereby avoiding damage to the shed due to force; at the same time, it can also adapt to different models of lightning arresters.

[0082] The first vacuum suction cup 306 and the second vacuum suction cup 309 ensure that the first clamping jaw 305 and the second clamping jaw 308 can clamp the insulating pillar of the lightning arrester without relative sliding, further ensuring that the lightning arrester shed is not touched during transportation, thereby ensuring transportation safety.

[0083] Since the movement of the mechanical claw 3 is controlled so that the image formed by the target lightning arrester completely enters the second judgment line 318, and the diameter of the second judgment line 318 is not less than the maximum diameter of the image formed by the lightning arrester and is less than 1.2 times the maximum diameter, the axis of the target lightning arrester is close to the axis of the mechanical claw 3; at the same time, the axis of the target lightning arrester and the axis of the mechanical claw 3 may not completely overlap. When the mechanical claw 3 clamps the target lightning arrester, the three sets of horizontal clamping devices fail to contact the target lightning arrester at the same time, so the horizontal clamping device that first contacts the target lightning arrester drives the target lightning arrester to move toward the horizontal clamping device that does not contact the target lightning arrester, until all three sets of horizontal clamping devices are clamped on the target lightning arrester; and the diameter of the second judgment line 318 is set to be not less than the maximum diameter of the image formed by the lightning arrester and less than 1.2 times the maximum diameter, which ensures that the mechanical claw 3 can achieve centering of the target lightning arrester in the above manner. Example

[0084] The present invention also provides a control method for an autonomous lightning arrester transport robot, which uses the above-mentioned autonomous lightning arrester transport robot and includes the following steps:

[0085] In step S10, the transport trolley 1 is first moved to the location of the target lightning arrester; the first camera 101 is started, and the first camera 101 first detects the distance between the transport trolley 1 and the target lightning arrester, and adjusts the distance between the transport trolley 1 and the target lightning arrester through the walking mechanism 5 so that the distance meets the grabbing requirement of the plane displacement device 2, and then the transport trolley 1 is driven to rotate by the walking mechanism 5 so that the first camera 101 is facing the target lightning arrester. The specific adjustment method is as follows: the first camera 101 determines whether the image formed by the target lightning arrester is between the two first determination lines 103. If the image formed by the target lightning arrester is not completely between the two first determination lines 103, the transport trolley 1 is driven to rotate by the walking mechanism 5 until the image formed by the target lightning arrester is completely between the two first determination lines 103, and the movement of the transport trolley 1 is stopped;

[0086] Step S20: The plane displacement device 2 controls the mechanical gripper 3 to move along the X-axis to the vertical plane where the first camera 101 is located. The second camera 316 is then activated, and the plane displacement device 2 controls the mechanical gripper 3 to move along the Y-axis until the image of the target lightning arrester appears within the second field of view boundary determination line 319. The position of the mechanical gripper 3 in the X- and Y-axis directions is then fine-tuned until the image of the target lightning arrester completely enters the second determination line 318.

[0087] Step S30: Extend the mechanical claw 3 downward to clamp the target arrester, and then retract the mechanical claw 3 upward to return to its original position;

[0088] Step S40: Control the plane displacement device 2 to move the mechanical claw 3 to place the target lightning arrester into the bucket of the transport vehicle 1;

[0089] Step S50, repeat the above operation, after completing the transportation of all target lightning arresters, start the traveling mechanism 5, move the transporting trolley 1 to the destination, stop the transporting trolley 1 and take out all lightning arresters.

[0090] Preferably, step S21 is further included between steps S20 and S30.

[0091] Step S21, during the movement of the side arm 302 of the robotic claw 3 along the Z-axis direction, if the second camera 316 detects that the movement of the side arm 302 is obstructed, the side arm 302 is retracted upward and returned to its original position. At the same time, the rotating device controls the robotic claw to rotate clockwise by an angle, and then controls the side arm 302 to continue to descend. If the robotic claw 3 rotates one circle and the downward movement of the side arm 302 is obstructed, an alarm signal is issued.

[0092] Preferably, in step S30, the first horizontal telescopic cylinder 303 is controlled to extend downward and the first infrared locator 307 is started. When the first infrared locator 307 detects a lightning arrester shed, a positioning signal is sent. The controller stops the first clamping jaw 305 between the grooves between two adjacent sheds of the target lightning arrester through the position coordinates and positioning signals of the first infrared locator 307 and the first clamping jaw 305; then the second horizontal telescopic cylinder 304 is controlled to extend downward and the second infrared locator 310 is started. When the second infrared locator 310 detects a lightning arrester shed, a positioning signal is sent. The controller stops the second clamping jaw 308 between the grooves between two adjacent sheds of the target lightning arrester through the position coordinates and positioning signals of the second infrared locator 310 and the second clamping jaw 308;

[0093] After the first clamp 305 and the second clamp 308 are positioned, the first horizontal telescopic cylinder 303 and the second horizontal telescopic cylinder 304 extend simultaneously and open the first vacuum suction cup 306 and the second vacuum suction cup 309. When the second pressure sensor detects that the first clamp 305 and the second clamp 308 are clamped to the target lightning arrester, the pressure applied to the target lightning arrester by the first horizontal telescopic cylinder 303 and the second horizontal telescopic cylinder 304 is reduced, and then the first horizontal telescopic cylinder 303 is controlled to shrink to the limit.

[0094] Preferably, in step S40, the planar displacement device 2 is started to control the mechanical claw 3 to move into the transport trolley 1 to the top of the storage device 4 that does not store the lightning arrester, and then the movement of the mechanical claw 3 is stopped; then the mechanical claw 3 is extended downward, and when the first pressure sensor 407 detects the pressure after the target lightning arrester is lowered, the extension of the Z axis of the mechanical claw 3 is stopped, and then the mechanical claw 3 is controlled to release the target lightning arrester and return to its position.

[0095] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. All equivalent structural transformations made based on the contents of the present invention's description and drawings, or direct / indirect applications in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A lightning arrester handling robot for a substation, characterized by: The invention comprises a transport trolley (1), a walking mechanism (5), a plane displacement device (2) and a mechanical claw (3); the direction from the front of the trolley to the rear of the trolley is defined as the positive direction of the Y axis, the vertically upward direction is defined as the positive direction of the Z axis, and the X axis and the Y axis are perpendicular to each other in the horizontal plane; the walking mechanism (5) is installed on the bottom of the body of the transport trolley (1); a first camera (101) is installed on the outer wall of the rear of the transport trolley (1); the lens of the first camera (101) is set toward the positive direction of the Y axis; the central area of the field of view of the first camera (101) forms a first detection area; a closed-loop first field of view boundary determination line (104) is set on the boundary of the first detection area; two parallel first determination lines (103) are set along the Z axis in the first field of view boundary determination line (104); the spacing between the first determination lines (103) is greater than the maximum diameter of the image of the lightning arrester and less than 1.2 times the maximum diameter; a plane displacement device (2) capable of moving in the X axis and the Y axis is installed on the transport trolley (1) and above the bucket; A mechanical claw (3) is installed at the bottom of the movable end of the plane displacement device (2), and the mechanical claw (3) can be extended and retracted along the Z axis; a second camera (316) is arranged at the center of the bottom of the mechanical claw (3), and the lens of the second camera (316) is arranged toward the negative direction of the Z axis. The central area of the second camera (316) forms a second detection area, and a closed-loop second field of view boundary determination line (319) is arranged on the boundary of the second detection area. A circular second determination line (318) is arranged inside the second field of view boundary determination line (319), and the diameter of the second determination line (318) is not less than the maximum diameter of the lightning arrester image and is less than 1.2 times the maximum diameter. The center of the second determination line (318) coincides with the center of the second field of view boundary determination line (319); a controller (102) is installed on the transport trolley (1), and the controller (102) is electrically connected to the first camera (101), the second camera (316), the walking mechanism (5), the plane displacement device (2) and the mechanical claw (3).

2. The substation arrester handling robot according to claim 1, characterized in that: The planar displacement device (2) includes a first linear motion mechanism (201) and a second linear motion mechanism (202), wherein the second linear motion mechanism (202) is installed on the top of the transport vehicle, the second linear motion mechanism (202) is arranged along the X-axis direction, and the movable end of the second linear motion mechanism (202) moves along the X-axis direction; the first linear motion mechanism (201) is installed on the movable end of the second linear motion mechanism (202), the first linear motion mechanism (201) is arranged along the Y-axis direction, and the movable end of the first linear motion mechanism (201) moves along the Y-axis direction; the mechanical claw (3) is installed on the movable end of the first linear motion mechanism (201), and the first linear motion mechanism (201) and the second linear motion mechanism (202) are both electrically connected to the controller (102).

3. The substation arrester handling robot according to claim 1, characterized in that: A storage device (4) is arranged on the cargo board of the transport trolley (1), and the storage device (4) includes a fixing ring (401), a hinge structure (403), a magnetic device and a locking rod (402). The bottom of the fixing ring (401) is fixed on the inner wall of the transport trolley (1). The inner diameter of the fixing ring (401) is larger than the outer diameter of the arrester base. No less than three radially arranged locking rods (402) are evenly hinged on the fixing ring (401) along the circumference through the hinge structure (403). The locking rods (402) are located inside the fixing ring (401). One end within the cavity range is a straight segment, the locking rod (402) is located in a curved segment that is bent upward at one end outside the fixing ring (401), the center of gravity of the locking rod (402) is set on one side of the curved segment, and a groove is provided on the inner wall of the fixing ring (401) at a position corresponding to the straight segment of the locking rod (402) in the vertical direction, the groove matches the size of the straight segment of the locking rod (402), and a first limiting member is arranged on the outer wall of the fixing ring (401) at a position corresponding to the curved segment of the locking rod (402), and a magnetic attraction device is provided on the top of the first limiting member.

4. The substation arrester handling robot according to claim 3, characterized in that: The locking rod (402) is provided with a second limiting member at the end of the curved section, on a side facing the arrester, along the normal direction of the curved section. The second limiting member comprises a telescopic rod (406), a spring baffle (405) and a spring (404). The telescopic rod (406) is provided along the normal direction of the curved section. The spring baffle (405) is arranged at one end of the telescopic rod (406) away from the curved section. A spring (404) is sleeved on the telescopic rod (406) between the spring baffle (405) and the curved section.

5. The substation arrester handling robot according to claim 3, characterized in that: A first pressure sensor (407) for detecting pressure changes in the fixing ring (401) is arranged at the bottom of the fixing ring (401), and the first pressure sensor (407) is electrically connected to the controller (102).

6. The substation arrester handling robot according to any one of claims 1 to 5, characterized in that: It also includes a rotating device, wherein the mechanical claw (3) is installed at the bottom of the movable end of the plane displacement device (2) through the rotating device, and the mechanical claw (3) is driven by the rotating device to rotate around the central axis of the mechanical claw (3), and the rotating device is electrically connected to the controller (102).

7. The substation arrester handling robot according to claim 6, characterized in that: The rotating device comprises a motor (315), a housing (313), a top cover (314), a worm gear (311) and a worm (312); the housing (313) is open at the top and is provided with a top cover (314); the top surface of the top cover (314) is connected to the movable end of the plane displacement device (2); the worm gear (311) is horizontally arranged in the housing (313); the side wall and the bottom plate of the housing (313) are provided with openings, and the rotating shaft at the top of the mechanical claw (3) is The housing (313) is coaxially fixedly connected to the worm wheel (311) through an opening on the bottom plate of the housing (313), and the worm wheel (311) rotates synchronously with the rotating shaft; a motor (315) is installed on the outer wall of the housing (313), and the output shaft of the motor (315) is connected to the input end of the worm (312), and the output end of the worm (312) is engaged with the worm wheel (311) through an opening on the side wall of the housing (313), and the motor (315) is electrically connected to the controller (102).

8. The substation arrester handling robot according to claim 6, characterized in that: The mechanical claw (3) also includes a horizontal clamping device, a vacuum suction cup, a side arm (302) and a main shaft (301); three side arms (302) arranged along the Z axis are fixedly connected at the same height of the main shaft (301), and the main shaft (301) is connected to the rotating device through a rotating shaft at the top. The side arms (302) are symmetrical about the center of the main shaft (301), and the area enclosed by the three side arms (302) on opposite sides forms a clamping area; the side arm (302) is a two-stage hydraulic cylinder, and the side arm (302) includes a first piston rod and a second piston rod that move along the Z axis. A horizontal clamping device that can move horizontally is installed in the clamping area and on the first piston rod and the second piston rod.

9. The substation arrester handling robot according to claim 8, characterized in that: The horizontal clamping device includes a first horizontal telescopic cylinder (303) and a second horizontal telescopic cylinder (304), wherein the first horizontal telescopic cylinder (303) is installed at the bottom of the first piston rod of the side arm (302), and the second horizontal telescopic cylinder (304) is installed at the bottom of the second piston rod. The first horizontal telescopic cylinder (303) and the second horizontal telescopic cylinder (304) are arranged radially along the main shaft (301), a first clamping jaw (305) is connected to the piston rod in the first horizontal telescopic cylinder (303), and a second clamping jaw (308) is connected to the piston rod in the second horizontal telescopic cylinder (304), and a second pressure sensor is provided on the clamping surfaces of the first clamping jaw (305) and the second clamping jaw (308).

10. The substation arrester handling robot according to claim 9, characterized in that: The first clamping jaw (305) is a first vacuum suction cup (306), the second clamping jaw (308) is a second vacuum suction cup (309), the first vacuum suction cup (306) and the second vacuum suction cup (309) are both connected to a vacuum pump, and the vacuum pump is electrically connected to the controller (102).

11. The substation arrester handling robot according to claim 10, characterized in that: A first infrared locator (307) is arranged on the first horizontal telescopic cylinder (303) at a position close to the horizontal clamping device, and a second infrared locator (310) is arranged on the second horizontal telescopic cylinder (304) at a position close to the horizontal clamping device. The detection ends of the first infrared locator (307) and the second infrared locator (310) are both arranged toward the central axis of the main shaft (301), and the first infrared locator (307) and the second infrared locator (310) are both electrically connected to the controller (102).

12. A control method for a lightning arrester handling robot for a substation, using the device according to claim 11, characterized in that: The following steps are involved: Step S10, first the transport trolley (1) moves to the location of the target lightning arrester; start the first camera (101), the first camera (101) first detects the distance between the transport trolley (1) and the target lightning arrester, and adjusts the distance between the transport trolley (1) and the target lightning arrester through the walking mechanism (5) so that the distance meets the grabbing requirement of the plane displacement device (2), and then drives the transport trolley (1) to rotate through the walking mechanism (5) so that the first camera (101) faces the target lightning arrester. The specific adjustment method is as follows: the first camera (101) determines whether the image of the target lightning arrester is between the two first determination lines (103). If the image of the target lightning arrester is not completely between the two first determination lines (103), the transport trolley (1) is driven to rotate through the walking mechanism (5) until the image of the target lightning arrester is completely between the two first determination lines (103), and the transport trolley (1) stops moving; Step S20, controlling the mechanical claw (3) to move along the X-axis direction to the vertical plane where the first camera (101) is located by the plane displacement device (2), then starting the second camera (316), controlling the mechanical claw (3) to move along the Y-axis by the plane displacement device (2) until the image of the target lightning arrester appears within the second field of view boundary determination line (319), and then fine-tuning the position of the mechanical claw (3) in the X-axis and Y-axis directions until the image of the target lightning arrester completely enters the second determination line (318); Step S30, extending the mechanical claw (3) downward and clamping the target lightning arrester, and then retracting the mechanical claw (3) upward to return to its original position; Step S40, controlling the plane displacement device (2) to move the mechanical claw (3) to place the target lightning arrester into the bucket of the transport vehicle (1); Step S50, repeat the above operation, after completing the transportation of all target lightning arresters, start the walking mechanism (5), move the transport trolley (1) to the destination, stop the transport trolley (1) and take out all lightning arresters.

13. The control method of a substation arrester handling robot according to claim 12, characterized in that: Step S21 is also included between steps S20 and S30. Step S21, during the movement of the side arm (302) of the mechanical claw (3) along the Z-axis direction, if the second camera (316) detects that the movement of the side arm (302) is blocked, the side arm (302) is retracted upward to return to its original position, and at the same time, the rotating device controls the mechanical claw to rotate clockwise by an angle, and then controls the side arm (302) to continue to descend. If the mechanical claw (3) rotates one circle and the side arm (302) is blocked from moving downward, an alarm signal is issued.

14. The control method of a substation arrester handling robot according to claim 12, characterized in that: In step S30, the first horizontal telescopic cylinder (303) is controlled to extend downward and the first infrared locator (307) is activated. When the first infrared locator (307) detects an arrester shed, a positioning signal is sent. The controller stops the first clamping claw (305) between the grooves between the two adjacent sheds of the target arrester through the position coordinates of the first infrared locator (307) and the first clamping claw (305) and the positioning signal. Then, the second horizontal telescopic cylinder (304) is controlled to extend downward and the second infrared locator (310) is activated. When the second infrared locator (310) detects an arrester shed, a positioning signal is sent. When the second infrared locator (310) detects an arrester shed, a positioning signal is sent. The controller stops the second clamping claw (308) between the grooves between the two adjacent sheds of the target arrester through the position coordinates of the second infrared locator (310) and the second clamping claw (308) and the positioning signal. After the first clamping jaw (305) and the second clamping jaw (308) are positioned, the first horizontal telescopic cylinder (303) and the second horizontal telescopic cylinder (304) are extended at the same time and the first vacuum suction cup (306) and the second vacuum suction cup (309) are opened. When the second pressure sensor detects that the first clamping jaw (305) and the second clamping jaw (308) are clamped to the target lightning arrester, the pressure applied by the first horizontal telescopic cylinder (303) and the second horizontal telescopic cylinder (304) to the target lightning arrester is reduced, and the first horizontal telescopic cylinder (303) is controlled to shrink to the limit.

15. The control method of a substation arrester handling robot according to claim 12, characterized in that: In step S40, the plane displacement device (2) is started to control the mechanical claw (3) to move into the transport trolley (1) to the top of the storage device (4) that does not store the lightning arrester, and then the movement of the mechanical claw (3) is stopped; the mechanical claw (3) is then extended downward, and when the first pressure sensor (407) detects the pressure after the target lightning arrester is lowered, the extension of the Z axis of the mechanical claw (3) is stopped, and then the mechanical claw (3) is controlled to release the target lightning arrester and return to its original position.

Images