Fire connection device and control method thereof

Abstract

The present invention provides a fire connection and online device and a control method thereof, wherein the fire connection and online device comprises: a lifting rod mechanism, and an adjusting mechanism connected to the lifting rod mechanism, wherein the adjusting mechanism is configured to be controlled to drive the lifting rod mechanism to rotate around a first rotating shaft, and the first rotating shaft is perpendicular to the lifting rod mechanism; a machine head assembly located at the top of the lifting rod mechanism, which comprises a machine head and a first adjusting assembly and a second adjusting assembly installed at the bottom of the machine head; the first adjusting assembly is configured to drive the machine head to rotate around a second rotating shaft, and the second rotating shaft is coaxial with the lifting rod mechanism; the second adjusting assembly is configured to drive the machine head to rotate around a third rotating shaft, and the third rotating shaft is perpendicular to the second rotating shaft and the first rotating shaft. The fire connection and online device using this embodiment can achieve more accurate and efficient machine head online control, ensuring that the busbar enters the working space in the machine head.

Description

Technical Field

[0001] The present invention relates to the field of electric power technology, and in particular to a fire connection device and a control method thereof. Background Art

[0002] The rapid development of the national economy has put forward higher requirements for power supply reliability. On the one hand, with the vigorous development of the power industry, the current dependence of government agencies, factories, mines and people's lives on electricity is increasing. On the other hand, power expansion, equipment maintenance, fault repair, etc. have to be carried out by power outages, which seriously affects residents' lives and industrial and agricultural production. For this reason, the power grid company has an increasingly urgent need for live work (non-stop work) to reduce the number of power outages and enhance the ability of live work. The power grid company requires that the work carried out on the distribution line must follow the principle of "no power outage", making the live work of the distribution network a development trend in the industry.

[0003] Live working on distribution networks refers to various operations performed on live electrical equipment or close to live parts, especially all operations that require any part of the worker's body or the use of tools, devices or instruments to enter a defined live working area.

[0004] Among them, the live connection operation is to connect the non-powered drain wire to the live busbar, and the two are connected by a wire clamp. Specifically, the head assembly carrying the drain wire is lifted to the busbar position through the lifting rod mechanism, and a series of connection operations are performed at the busbar position. How to more accurately lift the head assembly to the busbar position is a topic considered by the industry.

[0005] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0006] In view of the problems in the prior art, the purpose of the present invention is to provide a firing line assembly and a control method thereof, which overcomes the technical problem of low precision of position movement of the machine head assembly during the firing operation in the related art.

[0007] The embodiment of the present disclosure provides a fire connection device, which is characterized by comprising:

[0008] Support table;

[0009] A lifting rod mechanism rotatably connected to the support platform via a first rotating shaft, and an adjusting mechanism connected to the lifting rod mechanism, wherein the adjusting mechanism is configured to be controlled to drive the lifting rod mechanism to rotate around the first rotating shaft, and the first rotating shaft is perpendicular to the lifting rod mechanism;

[0010] A head assembly located at the top of the lifting rod mechanism, comprising a head and a first adjustment assembly and a second adjustment assembly mounted at the bottom of the head;

[0011] The first adjustment assembly is configured to drive the machine head to rotate about a second rotation axis, and the second rotation axis is coaxial with the lifting rod mechanism;

[0012] The second adjustment component is configured to drive the machine head to rotate around a third rotation axis, and the third rotation axis is perpendicular to the second rotation axis and the first rotation axis.

[0013] The present disclosure provides a head-on-line control method of a firing line device based on any of the above embodiments, which includes:

[0014] Control the extension of the lifting rod mechanism to make the head assembly reach the first target position from the busbar;

[0015] When it is detected at the first target position that the misalignment offset between the working space in the machine head and the busbar along the axial direction of the second rotating shaft exceeds the target deviation value, the control adjustment mechanism drives the lifting rod mechanism to rotate around the first rotating shaft, so that the machine head assembly rotates from the first target position to the second target position, and the second target position is a position where the misalignment offset does not exceed the target deviation value;

[0016] When it is detected at the second target position that the projection of the working space intersects with the projection of the busbar on the projection plane perpendicular to the second rotation axis, the first adjustment component is controlled to drive the machine head to rotate around the second rotation axis until the machine head reaches the third target position relative to the busbar from the second target position, and at the third target position, the projection of the busbar on the projection plane is within the range of the working space;

[0017] When the machine head is located at the third target position, the lifting rod mechanism is controlled to extend. During the extension process, if the busbar is detected only at the side wire entrance at one end of the working space, the second adjustment component is controlled to drive the machine head to rotate around the third rotation axis until the busbar is detected at the side wire entrances at both ends of the working space, until the busbar is located at the target working position in the working space.

[0018] The fire connection device and control method thereof of the present invention have the following advantages:

[0019] In the machine head online control method based on the above-mentioned fire connection online device, the lifting rod mechanism can be controlled to extend so as to approach the first target position of the busbar, and the adjusting mechanism can be controlled to drive the lifting rod mechanism to rotate forward and backward so that the misalignment offset between the working space on the machine head and the busbar along the axial direction of the second rotating shaft does not exceed the second target position of the target deviation value, that is, from the axial direction of the lifting rod mechanism, the center point of the busbar is roughly located within the range of the working space. Based on this, by controlling the first adjusting component to drive the machine head to rotate around the second rotating shaft so that the working space reaches the third target position close to the busbar, and by controlling the second adjusting component to drive the machine head to rotate around the third rotating shaft, the busbar can be detected at both ends of the working space located on the third rotating shaft, that is, to ensure that the working section of the busbar as a whole is kept parallel as much as possible and incorporated into the working space.

[0020] The disclosed embodiment uses the above-mentioned fire connection and online device to drive and adjust one or more degrees of freedom of the machine head based on the busbar position, and finally makes the busbar located at the target working position in the working space, so as to perform the subsequent fire connection operation. In the actual working site, the above-mentioned entire machine head online process can be decomposed into multiple control stages corresponding to multiple positions such as the first target position, the second target position, the third target position and the target working position. By detecting the position of the on-site machine head and / or its working space relative to the busbar in each control stage, the above-mentioned lifting rod mechanism, the adjustment mechanism, the first adjustment component and the second adjustment component are precisely controlled until the busbar is connected. The adjustment of each degree of freedom of the machine head is not affected by the adjustment accuracy of other degrees of freedom. At each stage, only the adjustment accuracy of the current degree of freedom needs to be considered, which can achieve more accurate and efficient machine head online control. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Other features, objectives and advantages of the present invention will become more apparent from a reading of the detailed description of non-limiting embodiments made with reference to the following accompanying drawings.

[0022] Figure 1 A three-dimensional diagram showing a fire connection and wiring device provided by an embodiment of the present disclosure;

[0023] Figure 2 exhibit Figure 1 A side view of the fire connection device shown;

[0024] Figure 3 exhibit Figure 1 A three-dimensional view of the head assembly in the fire connection device shown;

[0025] Figure 4 exhibit Figure 1 A schematic diagram of the structure of a beam-to-beam optical coupling assembly provided in the head assembly;

[0026] Figure 5 exhibit Figure 4A schematic diagram showing the position of a through-beam optical coupling unit in the through-beam optical coupling assembly;

[0027] Figure 6 exhibit Figure 3 A perspective view of a first adjustment assembly in the head assembly;

[0028] Figure 7 exhibit Figure 3 A perspective view of a second adjustment assembly in the head assembly;

[0029] Figure 8 Display based on Figure 1 The flowchart of the head online control method of the fire connection online device shown;

[0030] Fig. 9 exhibit Figure 8 A schematic diagram of the position of the machine head when it is at a first target position relative to the busbar in the machine head online control method shown;

[0031] Fig.10 Displayed in the nose Fig. 9 A schematic diagram of the positions of the camera reference line of the monocular camera and the center point of the generatrix when the first target position is shown;

[0032] Fig.11 Display head from Fig. 9 A schematic diagram of the position of an intermediate position passed through during the movement from the first target position to the second target position;

[0033] Fig.12 exhibit Figure 8 A schematic diagram of the position of the machine head when it is at the second target position relative to the busbar in the machine head online control method shown;

[0034] Fig.13 Displayed in the nose Fig. 9 Another schematic diagram of the position of the camera reference line of the monocular camera and the center point of the generatrix when the first target position is shown;

[0035] Fig.14 Displayed in the nose Fig. 9 A schematic diagram of another position of the camera reference line of the monocular camera and the center point of the generatrix when the first target position is shown;

[0036] Fig.15 Displayed in the nose Fig.12 A schematic diagram of the positional relationship between the center reference line and the generatrix of the nose operating space when the second target position is shown;

[0037] Fig.16 exhibit Figure 8 A schematic diagram of the position of the machine head when it is at the third target position relative to the busbar in the machine head online control method shown;

[0038] Fig.17 Display head is in Fig.16 A schematic diagram of a posture when the third target position is shown;

[0039] Fig.18 Display head from Fig.17 The posture diagram when the posture is adjusted to the horizontal position;

[0040] Figure 19-20 exhibit Figure 8 The shown method for on-line control of the machine head is based on the control principle schematic diagram of the reflected optical coupling component. DETAILED DESCRIPTION

[0041] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that the present invention will be more comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0042] As shown in this application and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0043] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0044] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0045] In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above words have no special meaning and cannot be understood as limiting the scope of protection of this application. In addition, although the terms used in this application are selected from well-known and commonly used terms, some terms mentioned in the specification of this application may be selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant parts of the description of this article. In addition, it is required to understand this application not only by the actual terms used, but also by the meaning implied by each term.

[0046] It should be understood that when a component is referred to as being “on another component,” “connected to another component,” “coupled to another component,” or “contacting another component,” it can be directly on, connected to, coupled to, or contacting the other component, or intervening components may be present. In contrast, when a component is referred to as being “directly on another component,” “directly connected to,” “directly coupled to,” or “directly contacting” another component, there are no intervening components present.

[0047] In addition, the accompanying drawings are only schematic illustrations of the present invention and are not necessarily drawn to scale. The same reference numerals in the drawings represent the same or similar parts, and thus their repeated description will be omitted.

[0048] In the fire connection and line-up device of the related technology, a lifting rod or other lifting mechanism can be used to lift the machine head assembly to the busbar position. For example, a double lifting rod structure is used, and the two lifting rods are arranged in parallel, and each lifting rod can be independently controlled to lift and tilt. The machine head for the fire connection operation is installed on the top of the two lifting rods, and the machine head is lifted to the busbar position by controlling the extension of the lifting rods. In this process, by controlling the different front and rear inclinations of the two lifting rods, the machine head can be twisted in the horizontal direction relative to the busbar, so that the busbar is aligned with the working space. By adjusting the different extension heights of the two lifting rods, the inclination of the machine head relative to the busbar can be adjusted, so that the working space in the machine head is parallel to the busbar, so that the busbar can be connected in parallel.

[0049] Therefore, the above implementation method can adjust the position and posture of the machine head, and finally realize that the busbar is put into the working space in the machine head, that is, the machine head is online, and then the ignition operation procedure is carried out.

[0050] Through the analysis of the relevant technology, it is found that each position or posture adjustment stage needs to consider the status and control parameters of the two dual lifting rods at the same time, so that the setting of the control parameters of each lifting rod is affected by the accuracy of the adjustment result of the other lifting rod. Therefore, this requires extremely high control accuracy for each lifting rod, but the deformation and structural gap of the dual lifting rod are difficult to control, and it is difficult to achieve fine control and adjustment of the two control rods. Therefore, the final superposition result is a reduction in the final control accuracy.

[0051] In addition, in the power system, the busbar connects the various current-carrying branch circuits in the distribution device, and plays the role of collecting, distributing and transmitting electric energy. The busbar usually uses rectangular or circular cross-section wires or stranded wires. These wires are made of copper and aluminum materials with high conductivity and have strong power transmission capabilities. As an important part of the electrical system, the busbar can carry large currents and has the characteristics of low resistance and stability and reliability.

[0052] The disclosed embodiment provides an improved firing line device to improve the precision adjustment of the line on the machine head. Figure 1 and Figure 2 As shown, the fire connection device includes:

[0053] Support table 1;

[0054] A lifting rod mechanism 2 rotatably connected to the support platform 1 via a first rotating shaft 21, and an adjusting mechanism 5 connected to the lifting rod mechanism 2, wherein the adjusting mechanism 5 is configured to be controlled to drive the lifting rod mechanism 2 to rotate around the first rotating shaft 21, and the first rotating shaft 21 is perpendicular to the lifting rod mechanism 2;

[0055] The head assembly 3 located at the top of the lifting rod mechanism 2 is combined with Figure 3As shown, it includes a head 30 and a first adjustment component 31 and a second adjustment component 32 installed at the bottom of the head 30;

[0056] The first adjustment assembly 31 is configured to drive the head 30 to rotate around the second rotation axis 22 (eg Figure 2 The second rotating shaft 22 is coaxial with the lifting rod mechanism 2;

[0057] The second adjustment assembly 32 is configured to drive the head 30 to rotate around the third rotation axis 23 (such as Figure 2 The third rotating shaft 23 is perpendicular to the second rotating shaft 22 and the first rotating shaft 21.

[0058] For the above fire connection device, Figure 1 and Figure 2 As shown, the lifting rod mechanism 2 is used to lift the head assembly 3 to make it close to the busbar, and cooperate with the adjustment mechanism 5 to drive the lifting rod mechanism 2 to rotate, so as to fine-tune the position deviation of the head assembly 3 relative to the busbar. Figure 3 As shown in the figure, the first adjustment component 31 and the second adjustment component 32 are installed on the machine head 30 and can be used to adjust the position and posture of the machine head. Therefore, through the cooperation of the lifting rod mechanism 2, the adjustment mechanism 5, the first adjustment component 31 and the second adjustment component 32, the adjustment of multiple degrees of freedom of the machine head 30 is achieved, and the precise control of the position and posture of the machine head is obtained. Compared with the lifting rod mechanism of the related art, the adjustment accuracy of each degree of freedom of the machine head in this embodiment is relatively independent and is not affected by the control accuracy of other degree of freedom adjustment mechanisms, so that the machine head can be more accurately controlled to bring the busbar into the working space for subsequent stripping and connection operations.

[0059] In one embodiment of the present disclosure, Figure 2 As shown, the first rotating shaft 21 is located at the bottom end of the lifting rod mechanism 2 and is perpendicular to the lifting rod mechanism 2. During operation, by controlling the adjustment structure 5 to drive the lifting rod mechanism 2 to rotate around the first rotating shaft 21, the machine head 30 can be aligned with the generatrix along the axis direction of the lifting rod mechanism 2, rather than having a large misalignment relative to the generatrix. In combination with the extension of the lifting rod mechanism 2, the machine head 30 can be aligned with the generatrix.

[0060] In the initial state, the lifting rod mechanism 2 can be vertically extended first, and then the lifting rod mechanism 2 can be driven to tilt toward the busbar through the adjustment mechanism 5. In another operation mode, the lifting rod mechanism 2 can also be tilted by the adjustment mechanism 5, so that the machine head 30 is roughly aligned with the busbar at a high position along the axis direction of the lifting rod mechanism 2, and then the lifting rod mechanism 2 is controlled to extend to a position close to the busbar. Alternatively, during the operation, the machine head 30 can be driven to reach the busbar position through multiple steps of extension and inclination adjustment.

[0061] In the embodiments of the present disclosure, Figure 2As shown, depending on the driving source, the lifting rod mechanism 2 is an electric push rod or a pneumatic push rod. At this time, the lifting rod mechanism 2 can be a one-stage telescopic push rod or a multi-stage telescopic push rod. Exemplarily, the lifting rod mechanism 2 is a two-stage telescopic push rod. Among them, the bottom fixed part 201 is a sleeve, which is installed with the support platform 1 through the first rotating shaft 21. It has two stages of free parts 202 as inner cylinders that are fitted together, and can be extended and retracted step by step to realize the lifting and lowering drive of the machine head 30, which is not limited here.

[0062] In one embodiment, the adjustment mechanism 5 is a telescopic rod mechanism, one end of which rotates with the lifting rod mechanism 2 through the fourth rotating shaft 24, and the other end of which rotates with the support platform 1 through the fifth rotating shaft 25, and the fifth rotating shaft 25 is higher than the first rotating shaft 21.

[0063] When the adjusting mechanism 5 is extended, the lifting rod mechanism 2 is driven to tilt and rotate forward, and when the lifting rod mechanism 2 tilts forward, the adjusting mechanism 5 is also driven to tilt and rotate forward relative to the supporting platform 1 around the fifth rotation axis 25, and the lifting rod mechanism 2 and the adjusting mechanism 5 rotate relative to each other through the fourth rotation axis 24. When the adjusting mechanism 5 is retracted, the lifting rod mechanism 2 is driven to rotate backward in the opposite direction, and the adjusting mechanism 5 itself rotates around the fourth rotation axis 24 and the fifth rotation axis 25.

[0064] In one embodiment, the adjustment mechanism 5 may also be an electric push rod or a pneumatic push rod, and specifically, a one-stage telescopic push rod or a multi-stage telescopic push rod may be selected.

[0065] like Figure 2 As shown, the adjusting mechanism 5 is rotatably connected to the bottom fixing portion 201 of the lifting rod mechanism 2 via the fourth rotating shaft 24 so that it does not hinder the extension of the lifting rod mechanism 2.

[0066] In this embodiment, the fire connection device also includes: an angle sensor, which is arranged on the first rotating shaft 21, and is used to detect the rotation angle of the lifting rod mechanism 2 around the first rotating shaft 21, so as to accurately control the adjustment mechanism 5 by sensing the rotation angle in real time.

[0067] like Figure 1 and Figure 2 As shown, the support platform 1 includes a control console 11 and a support structure 12 arranged on the front side wall of the control console 11 , the lifting rod mechanism 2 is rotatably connected to the support structure 12 via a first rotating shaft 21 , and the adjustment mechanism 5 is installed with the support structure 12 via a fifth rotating shaft 25 .

[0068] In this embodiment, Figure 1 As shown, the control console 11 is mounted on the outer side of the insulated bucket 10 of the boom truck. The operator is located in the insulated bucket 10. The control console 11 is provided with a rocker (not shown in the figure) for controlling the movement of the lifting rod mechanism 2 and the movement of the machine head 30 to support manual control of the machine head entering the line.

[0069] In this embodiment, before the operation, the position of the boom truck and the insulated bucket is adjusted so that the busbar to be operated is located within a certain height range in front, ensuring that within the extension and forward tilt limit range of the lifting rod mechanism 2, the lifting rod mechanism 2 can lift the head 30 to the busbar and perform further precise adjustments to the posture.

[0070] In this embodiment, the fire connection and online device not only supports manual control of the machine head online, but also supports autonomous online connection of the machine head under a fully automatic process.

[0071] like Figure 2 As shown, the head 30 includes a base 300 and a lead bonding tool 4 located on the base 300, and the second rotating shaft 22 is perpendicular to the bottom surface 3000 of the base. In one embodiment, in the initial state, if the bottom surface 3000 of the base is parallel to the horizontal plane, the first adjusting component 31 (such as Figure 3 As shown in the figure, the machine head 30 is driven to rotate around the second rotating shaft 22, thereby realizing the deflection of the machine head 30 on the horizontal plane.

[0072] In the embodiments of the present disclosure, Figure 2 and Figure 3 As shown, the base 300 includes a bottom plate 301 and side plates 302 located at two ends of the bottom plate 301 , and the third rotation axis 23 is parallel to the side plates 302 and parallel to the bottom plate 301 .

[0073] In one embodiment, in an initial state, the bottom surface 3000 of the base is parallel to the horizontal plane, and the second adjustment component 32 drives the head 30 to rotate around the third rotation axis 23, thereby adjusting the inclination of both ends of the head 30.

[0074] In the embodiments of the present disclosure, Figure 3 As shown, the head 30 has a working space 30a, and the working space 30a has a top wire entry port 30b and two side wire entry ports 30c, wherein the working space 30a has a central reference line passing through the two side wire entry ports 30c and the third rotating shaft 23 (as shown in FIG. Figure 2 The side wire inlets 30c at both ends are formed on the side plate 302.

[0075] The working space 30a here refers to the busbar working space. For example, a wire stripper (such as a lead wire splicing tool 4) is provided in the head 30, and the working space 30a is the head 30 located on the third rotating shaft 23 (such as Figure 2The working space 30a is the area between the two side ends of the third rotating shaft 23, and the working space 30a includes the wire stripping space of the wire stripper. For example, the machine head 30 is provided with busbar clamps 34 located at the two side ends of the third rotating shaft 23, and the working space 30a is the area between the busbar clamps 34 at the two side ends. For example, the side plates 302 of the machine head 30 located at the two side ends of the third rotating shaft 23 are used to install the busbar clamps 34, so it can also be said that the area between the two side plates 302 is the working space 30a.

[0076] Combination Figure 2 As shown, by controlling the head 30 to rotate around the second rotating shaft 22 through the first adjusting component 31, the angle between the working space 30a and the busbar on the plane perpendicular to the second rotating shaft 22 can be adjusted to achieve alignment of the busbar and the working space 30a along the second direction BB' parallel to the second rotating shaft 22.

[0077] By controlling the head 30 to rotate around the third rotating shaft 23 through the second adjustment component 32, the busbar can be adjusted to be parallel to the center reference line of the working space 30a. Specifically, the angle between the busbar and the center reference line on the projection plane perpendicular to the third rotating shaft 23 is adjusted to make the two parallel, thereby ensuring that the busbar can be located as a whole in the working space 30a between the side wire entrances 30c at both ends, avoiding the problem of one end of the head 30 tilting relative to the busbar, thereby realizing the effective operation of the lead-in tool 4.

[0078] like Figure 1 As shown, the fire connection device also includes a binocular camera 6, which is located on the top of the console 11. The binocular camera 6 is used to collect the busbar image at the fire connection operation site, and the control system identifies the position of the busbar relative to the machine head 30 according to the busbar image, and then determines the control parameters of the lifting rod mechanism 2.

[0079] The binocular camera 6 refers to a camera system composed of two parallel lenses, which obtains richer information by capturing and analyzing images from multiple angles at the same time. Therefore, using the binocular camera 6 can obtain a more accurate busbar position.

[0080] In this embodiment, a binocular base is fixedly disposed below the binocular camera 6, and the binocular base has a sixth rotation axis parallel to the first rotation axis 21 (not shown in the figure, the sixth rotation axis is parallel to Figure 2The first rotation axis 21 shown in the figure is suitable for rotating the binocular camera 6 around the sixth rotation axis. The line connecting the two lenses of the binocular camera 6 remains perpendicular to the sixth rotation axis. In one embodiment, in the initial state, the rotation angle of the binocular camera 6 is zero, the two lenses of the binocular camera 6 are both facing directly upward, and the line connecting the two lenses is parallel to the horizontal plane. In another embodiment, the binocular camera 6 is aligned with the position of the busbar in the initial state. At this time, the rotation angle of the binocular camera 6 can be 0 or other angles, which is related to the relative position of the support platform 1 and the busbar. If the support platform 1 is exactly below the busbar, the rotation angle of the binocular camera 6 may be 0. If the support platform 1 is not directly below the busbar, the rotation angle of the binocular camera 6 may be other angles.

[0081] In this embodiment, the fire connection and online device also includes: a binocular camera rotation angle sensor, which is arranged on the sixth rotation axis and is used to detect the rotation angle of the binocular camera 6 around the sixth rotation axis. This rotation angle is required for the autonomous online operation of the machine head under the fully automatic process.

[0082] In this optional embodiment, before the operation, the positions of the boom truck and the insulated bucket are adjusted so that the busbar to be operated is located in a high position in the front, and the binocular camera 6 is rotated around the sixth axis so that the busbar to be operated appears in the field of view of the binocular camera 6, thereby preparing for the binocular camera 6 to further identify the busbar to be operated.

[0083] In the fully automatic process, after the binocular camera 6 recognizes the busbar to be operated, it calculates and obtains the position information of the busbar through the binocular distance measurement principle. Figure 2 As shown, the control system adjusts the forward tilt angle of the lifting rod mechanism 2 around the first rotating shaft 21 and the extension amount of the lifting rod mechanism 2 according to the calculated busbar position information, so that the machine head is close to the busbar.

[0084] like Figure 1 As shown, the head 30 also includes: a monocular camera 7, which is located at the bottom of the working space 30a. Exemplarily, the monocular camera 7 is located just below the center reference line, and its field of view is oriented toward the center reference line just above. The monocular camera 7 is used to collect the busbar image. The control system identifies the angular position of the busbar relative to the center reference line passing through the side line inlets 30c at both ends of the working space 30a according to the busbar image, and then determines the first adjustment component 31 (such as Figure 2 The control parameters (as shown) are used to ensure that the busbar is finally aligned with the working space 30a.

[0085] When the machine head is far from the busbar, the binocular camera 6 obtains the busbar position information, adjusts the forward tilt angle and extension of the lifting rod mechanism 2, and can lift the machine head 30 to a position closer to the busbar. Therefore, in this embodiment, when the machine head 30 is close to the busbar, the monocular camera 7 on the machine head 30 is used to identify the busbar for fine positioning.

[0086] In this embodiment, the binocular camera 6 is arranged at the top of the console 11. Before the machine head 30 goes online, the operator can start the autonomous online process of the machine head by adjusting the angle of rotation of the binocular camera 6 around the sixth rotation axis so that the busbar to be operated appears in the field of view of the binocular camera 6, which is convenient to operate. At this time, the binocular camera 6 is located at a position far away from the busbar, and its field of view is wide, and it can identify the busbar in a large range to perform long-distance identification and positioning of the machine head 30. Therefore, setting the binocular camera 6 at the top of the console 11 and rotating the binocular base so that the busbar appears in the field of view of the binocular camera 6 helps to simplify the difficulty of operation and shorten the preparation time.

[0087] When the machine head 30 reaches a position close to the busbar, the monocular camera 7 is used to more accurately identify the position of the busbar relative to the machine head 30, so as to achieve further precise online control.

[0088] In such Figure 1 As shown, a through-beam optical coupling component 33 is provided on the side wall of the line entry port 30c at both ends of the machine head 30, and the through-beam optical coupling component 33 is configured to be triggered when the bus line is detected. The through-beam optical coupling component 33 is used to detect whether the bus line is entered. When the bus line is entered, the optical path of the through-beam optical coupling component 33 is blocked, thereby changing the output electrical signal. Then, the control system determines the position of the bus line reaching the through-beam optical coupling component 33 according to the change of the electrical signal, thereby judging whether the posture of the machine head 30 needs to be further adjusted.

[0089] In one embodiment, Figure 4 As shown, the optical coupling assembly 33 includes a first optical coupling unit 331 and a second optical coupling unit 332 . Along the depth direction HH′ of the working space 30 a , the second optical coupling unit 332 is closer to the bottom of the working space 30 a than the first optical coupling unit 331 .

[0090] In this embodiment, the first optical coupling unit 331 is used to detect the busbar entering the line, and the second optical coupling unit 332 is used to detect the busbar reaching the target operation position.

[0091] In this embodiment, the second pair of optical coupling units 332 at both ends of the machine head are triggered, so it can be determined that the position and posture of the machine head have been adjusted and the machine head is online.

[0092] In one embodiment, Figure 5 As shown, the first opposing optical coupling unit 331 includes a first emitting element 3311 and a first receiving element 3312 which are arranged opposite to each other, and the second opposing optical coupling unit 332 includes a second emitting element 3321 and a second receiving element 3322 which are arranged opposite to each other, the first emitting element 3311 and the first receiving element 3312 are located on both sides of the central reference line of the working space, and the second emitting element 3321 and the second receiving element 3322 are located on both sides of the central reference line.

[0093] Thus, when the busbar blocks the optical path between the first transmitting element 3311 and the first receiving element 3312, a busbar entry signal is generated. When the busbar blocks the optical path between the second transmitting element 3321 and the second receiving element 3322, a busbar detection signal indicating that the busbar has reached the target entry position is generated.

[0094] In one embodiment, if Figure 6 As shown, the first adjustment component 31 includes:

[0095] The first rotating motor 311 has a first motor output terminal 31a;

[0096] The first gear transmission mechanism 312 includes a first input gear 3121 and a first output gear 3122. The first input gear 3121 and the first motor output end 31a are used to input rotational motion;

[0097] The worm gear transmission mechanism 313 includes a worm wheel 3131 and a worm 3132 that mesh with each other. The central axis of the worm wheel 3131 forms the second rotating shaft 22 (eg, Figure 2 As shown in FIG. 1 ), the worm 3132 is meshed with the first output gear 3122.

[0098] The first rotary motor 311 provides a rotary power source, and its output rotary motion is transmitted to the machine head 30 (such as Figure 3 The worm gear transmission mechanism 313 is used to change the rotation direction of the rotational motion.

[0099] Exemplarily, the first gear transmission mechanism 312 is configured as a two-stage transmission, that is, a first intermediate gear 3123 is further provided between the first input gear 3121 and the first output gear 3122 , and the rotational motion output by the first rotary motor 311 is transmitted forward through two-stage transmission.

[0100] Optionally, the transmission level of the first gear transmission mechanism 312 may be selected according to the installation environment, which is not limited here.

[0101] In one embodiment, if Figure 7 As shown, the second adjustment component 32 includes:

[0102] The second rotating motor 321 has a second motor output terminal 32a;

[0103] With the nose 30 (such as Figure 3 The arc-shaped rack 322 is installed at the bottom, and the axis of the arc-shaped rack 322 forms the third rotating shaft 23 (as shown in FIG. Figure 2 shown);

[0104] The second gear transmission mechanism 323 includes a second input gear 3231 and a second output gear 3232 . The second input gear 3231 is connected to the second motor output end 32 a to input rotational motion. The second output gear 3232 is meshed with the arc-shaped rack 322 .

[0105] The second rotary motor 321 provides a rotary power source, and its output rotary motion is transmitted to the handpiece 30 (such as Figure 2 As shown). Exemplarily, the second gear transmission mechanism 323 is configured as a two-stage transmission, that is, a second intermediate gear 3233 is further provided between the second input gear 3231 and the second output gear 3232, and the rotational motion output by the second rotary motor 321 is transmitted to the base 310 through two-stage transmission.

[0106] Optionally, the transmission level of the second gear transmission mechanism 323 may be selected according to the installation environment, which is not limited here.

[0107] In this way, by controlling the second rotary motor 321 to rotate forward or reverse, the head 30 can rotate counterclockwise or clockwise around the third rotating shaft 23.

[0108] The disclosed embodiment also provides a machine head online control method of the fire connection and online device based on the above embodiment, wherein the machine head online means that the working section of the busbar enters the working space in the machine head. Since the busbar has a considerable line length, when entering the working space, it must pass through the top line entry of the working space and the side line entry at both ends along the center reference line.

[0109] The execution subject of the head online control method of this embodiment is the control system. Figure 8 As shown, the online control method of this machine head includes but is not limited to the following steps:

[0110] Step 810: Control the lifting rod mechanism to extend so that the head assembly reaches a first target position away from the busbar;

[0111] Step 820: When it is detected at the first target position that the misalignment between the working space in the machine head and the busbar along the axial direction of the second rotating shaft exceeds the target deviation value, the control adjustment mechanism drives the lifting rod mechanism to rotate around the first rotating shaft, so that the machine head assembly rotates from the first target position to the second target position, and the second target position is a position where the misalignment does not exceed the target deviation value;

[0112] Step 830: When it is detected at the second target position that the projection of the working space intersects with the projection of the busbar on the projection plane perpendicular to the second rotation axis, the first adjustment component is controlled to drive the machine head to rotate around the second rotation axis until the machine head reaches a third target position relative to the busbar from the second target position, and at the third target position, the projection of the busbar on the projection plane is within the range of the working space;

[0113] Step 840: When the machine head is located at the third target position, the lifting rod mechanism is controlled to extend. During the extension process, if the busbar is detected only at the side wire entrance at one end of the working space, the second adjustment component is controlled to drive the machine head to rotate around the third rotation axis until the busbar is detected at the side wire entrances at both ends of the working space, until the busbar is located at the target working position in the working space.

[0114] In the machine head online control method based on the above-mentioned fire connection online device, the lifting rod mechanism can be controlled to extend so as to approach the first target position of the busbar, and the adjustment mechanism can be controlled to drive the lifting rod mechanism to rotate forward and backward so that the misalignment amount of the working space on the machine head and the axis direction of the second rotating shaft of the busbar does not exceed the second target position of the target deviation value, that is, from the axis direction of the lifting rod mechanism, the center point of the busbar is roughly located within the range of the working space. Based on this, by controlling the first adjustment component to drive the machine head to rotate around the second rotating shaft so that the working space reaches the third target position close to the busbar, and by controlling the second adjustment component to drive the machine head to rotate around the third rotating shaft, the busbar can be detected at both ends of the working space located on the third rotating shaft, that is, to ensure that the working section of the busbar as a whole is kept parallel as much as possible and incorporated into the working space.

[0115] The disclosed embodiment uses the above-mentioned fire connection and online device to drive and adjust one or more degrees of freedom of the machine head based on the busbar position, and finally makes the busbar located at the target working position in the working space, so as to perform the subsequent fire connection operation. In the actual working site, the above-mentioned entire machine head online process can be decomposed into multiple control stages corresponding to multiple positions such as the first target position, the second target position, the third target position and the target working position. By detecting the position of the on-site machine head and / or its working space relative to the busbar in each control stage, the above-mentioned lifting rod mechanism, the adjustment mechanism, the first adjustment component and the second adjustment component are precisely controlled until the busbar is connected. The adjustment of each degree of freedom of the machine head is not affected by the adjustment accuracy of other degrees of freedom. At each stage, only the adjustment accuracy of the current degree of freedom needs to be considered, which can achieve more accurate and efficient machine head online control.

[0116] Next, Figure 8 Each step in the handpiece online control method is described in detail.

[0117] In the embodiments of the present disclosure, Fig. 9 As shown, at the first target position D1, the head 30 and the busbar 100 are in a relatively close position. This value is related to the actual working environment and does not have a constant value. It can be set according to the actual situation. In one embodiment, the first target position D1 can be located within a certain range, for example, not greater than a target value. The target value can be set according to the actual situation and is not limited here.

[0118] During operation, referring to the above, a specific implementation of the above step 810 may be that after the support platform 1 determines the position, the lifting rod mechanism 2 is first controlled to tilt toward the busbar 100 at a certain angle so that the machine head 30 is roughly aligned with the busbar along the axis direction of the lifting rod mechanism 2, and then the lifting rod mechanism 2 is controlled to extend until it reaches the first target position D1. Alternatively, the lifting rod mechanism 2 is first controlled to extend, and then the lifting rod mechanism 2 is controlled to tilt toward the busbar 100 until the machine head reaches the first target position D1.

[0119] In one embodiment, in combination Figure 1 As shown, the fire connection device also includes a binocular camera 6 installed on the top of the support platform 1 (specifically arranged on the console 11);

[0120] When executing step 810, controlling the lifting rod mechanism 2 to extend includes:

[0121] The first busbar image is collected by the binocular camera 6, and the first position information between the busbar and the head assembly 3 is obtained based on the first busbar image;

[0122] A first control signal is generated based on the first position information, and control of the lift mechanism 2 to extend is performed based on the first control signal.

[0123] Referring to the above contents about the binocular camera 6, it can be known that the binocular camera 6 and the busbar 100 (such as Fig. 9 The distance between the busbar 100 and the first busbar image can be far away, and the busbar 100 can be identified and the first busbar image can be collected within a larger field of view. In this process, the binocular base can be adjusted to adjust the turning angle of the binocular camera 6 so that the busbar to be operated appears in the field of view of the binocular camera 6 to further collect the first busbar image.

[0124] In the disclosed method, according to the binocular ranging principle of the binocular camera 6, the first position information of the busbar 100 and the head assembly 3 can be obtained. The first position information is used to control the elongation of the lifting rod mechanism 2 and control the elongation of the lifting rod mechanism 2.

[0125] In one embodiment, obtaining first position information between the busbar 100 and the head assembly 3 based on the first busbar image includes:

[0126] Obtaining first spatial position coordinates of the busbar in a coordinate space based on the binocular camera 6 based on the first busbar image;

[0127] The first spatial position coordinates are converted into second spatial position coordinates of the busbar 100 in a coordinate space based on corresponding reference points in the lifting rod mechanism 2, and the first position information is obtained according to the second spatial position coordinates.

[0128] In this way, based on the coordinate space conversion, the approximate position of the busbar 100 from the machine head 30 is measured, that is, the first position information.

[0129] In an exemplary embodiment, in combination with Figure 2 As shown, the busbar is identified using the binocular camera 6, and the first spatial position coordinates P (x, y, z) of the busbar in the coordinate space of the binocular camera 6 are obtained, where x is the horizontal distance between the busbar and the camera optical axis, and y (as shown in Figure 1 (shown) is the distance correction between the nose operation point on the busbar and the camera center, and z is the vertical distance between the busbar and the camera plane;

[0130] According to the value of the angle sensor on the rotation axis of the binocular camera 6, the first spatial position coordinate P (x, y, z) of the generatrix in the coordinate space of the binocular camera 6 is converted to the second spatial position coordinate P1 = Px [R, V] in the coordinate space based on the corresponding reference point in the lifting rod mechanism 2. During this period, a rotation and translation transformation is performed, and the rotation matrix is ​​recorded as R and the translation vector is recorded as V;

[0131] The length of the lifting rod mechanism 2 required to face the busbar is calculated using trigonometric formulas. The required extension length of the lifting rod mechanism 2 is calculated based on the second spatial position coordinate P1. Because the binocular camera 6 has a certain deviation, and in order to reserve enough space for the subsequent monocular camera adjustment, a correction value needs to be added to the extension length. After determining the extension length of the lifting rod mechanism 2, the lifting rod mechanism 2 is controlled to extend until the head 30 quickly approaches the busbar and reaches the first target position D1 (such as Figure 1 as shown).

[0132] As described above, in an operation scenario, in the initial state, the lifting rod mechanism 2 and the adjusting mechanism 5 are adjusted in sequence to drive the head assembly 3 to rise. Specifically, the lifting rod mechanism is controlled to extend based on the first control signal, including:

[0133] Based on the first control signal, the lifting rod mechanism 2 is controlled to extend, and the adjusting mechanism 5 is controlled to extend to drive the lifting rod mechanism 2 to rotate around the first rotating shaft 21 until the lifting rod mechanism 2 reaches Fig. 9 The first target position D1 is shown.

[0134] The first position information here includes the distance from the head 30 to the busbar in the current scene and the direction vector corresponding to the distance, the distance refers to the vertical distance from the current head 30 to the busbar, and the direction vector represents the vertical distance from the current head 30 to the busbar and the inclination angle in the vertical direction or horizontal direction. The adjustment of the distance is achieved by the extension of the lifting rod mechanism 2, and the aforementioned direction vector can be achieved by driving the inclination angle of the lifting rod mechanism 2 by the adjustment mechanism 5.

[0135] In this embodiment, there is no particular order in which the adjusting mechanism 5 and the lifting rod mechanism 2 are controlled and driven.

[0136] In the embodiments of the present disclosure, Fig. 9 As shown, after executing step 810, the head 30 is at the first target position D1 close to the busbar. At this time, the relative position of the busbar 100 and the working space 30a in the head 30 is further detected to determine whether the position of the head 30 needs to be finely adjusted.

[0137] Combination Fig. 9 As shown, Figure 8 The illustrated step 820 corresponds to an application scenario, that is, it is detected at the first target position D1 that the misalignment offset between the working space in the machine head 30 and the busbar 100 along the axial direction of the second rotating shaft 22 exceeds the target deviation value, which serves as a prerequisite for further adjusting the inclination angle of the lifting rod mechanism 2. In another embodiment, if it is detected at the first target position D1 that the misalignment offset between the working space in the machine head 30 and the busbar 100 along the axial direction of the second rotating shaft 22 does not exceed the target deviation value, for example, they roughly overlap when viewed along the axial direction of the second rotating shaft 22, then there is no need to control the action of the adjustment mechanism 5.

[0138] Reference Figure 1 As shown, the head 30 also includes: a monocular camera 7, which is located at the bottom of the working space 30a. Then, when executing step 820, when at the first target position D1 (such as Fig. 9 As shown) detects that the working space 30a in the head 30 and the busbar are along the second rotating shaft 22 (as shown Figure 2 When the offset amount of the axis direction of the first rotating shaft 21 (as shown in FIG. 1 ) exceeds the target deviation value, the control adjustment mechanism 5 drives the lifting rod mechanism 2 to rotate around the first rotating shaft 21 (as shown in FIG. Figure 2 shown) rotation, including:

[0139] At the first target position, the second busbar image is captured by the monocular camera 7, and based on the second busbar image, the vertical distance between the busbar center point and the camera reference line of the monocular camera 7 and the misalignment direction of the camera reference line compared to the busbar center point are obtained. The vertical distance is used to characterize the misalignment amount of the working space 30a and the busbar along the axial direction of the second rotating shaft 22, and to compare whether the misalignment amount exceeds the target deviation value. The camera reference line is parallel to the center reference line.

[0140] When the misalignment offset exceeds the target deviation value, a second control signal is generated based on the misalignment offset and the misalignment offset direction, and the adjustment mechanism 5 (such as Figure 2 As shown in the figure, the lifting rod mechanism 2 is driven to rotate around the first rotating shaft 21.

[0141] The misalignment amount between the working space 30a in the machine head 30 and the busbar along the axial direction of the second rotating shaft 22 means the misalignment amount between the projection of the working space 30a and the busbar on the plane perpendicular to the second rotating shaft 22.

[0142] The monocular camera 7 is disposed at the bottom of the working space 30a, for example, directly opposite the center reference line. Therefore, the offset between the working space 30a and the busbar along the axis of the second rotating shaft 22 can be represented by the vertical distance between the center point of the busbar and the camera reference line.

[0143] The offset amount and direction of the working space 30a in the machine head 30 compared to the busbar together constitute the offset relationship of the working space 30a compared to the busbar along the axial direction of the second rotating shaft 22 .

[0144] For example, in combination Fig.10 As shown, in the nose 30 (such as Fig. 9 shown) is in Fig. 9 In the first operation scene of the first target position D1 shown, the vertical distance H1 between the center point O of the busbar and the camera reference line G is greater than the target deviation value, and the offset direction shows that the center point O of the busbar is located below the camera reference line G. This may correspond to the current operation scene where the head 30 is located on the upper side of the busbar. It is necessary to control the head 30 to tilt forward, specifically controlling the adjustment mechanism 5 (such as Fig. 9 ) to extend to drive the lifting rod mechanism 2 (as shown Fig. 9 When measuring, the positive / negative sign of the vertical distance H1 can be used to represent the offset direction of the generatrix center point O relative to the camera reference line G, which will not be described in detail here.

[0145] Combination Fig. 9 , Fig.11 and Fig.12 As shown, corresponding to the first operation scenario, the lifting rod mechanism 2 and the adjustment mechanism 5 are controlled to drive the machine head 30 from Fig. 9 The first target position D1 is shown. Fig.11 The middle position D12 shown, move to Fig.12 The second target position D2 is shown. In this process, the lifting rod mechanism 2 is relatively extended and tilted forward relative to the busbar 100 (ie, in the direction of the busbar 100 ), and the distance between the machine head 30 and the busbar 100 is shorter.

[0146] like Fig.13 As shown, in the nose 30 (such as Fig. 9 shown) is in Fig. 9 In the second working scene when the first target position D1 is shown, the vertical distance H1 between the busbar center point O and the camera reference line G is greater than the target deviation value, and the misalignment offset direction shows that the busbar center point O is located above the camera reference line G. This corresponds to the second working scene where the aircraft head is located on the lower side of the busbar, and it is necessary to control the aircraft head to tilt backward. Specifically, the adjustment mechanism is controlled to retract to drive the lifting rod mechanism to tilt backward.

[0147] For example, in combination Fig.14 As shown, for example, in the nose 30 (such as Fig. 9 shown) is in Fig. 9 In the third working scene when the first target position D1 is shown, the vertical distance H1 between the center point O of the busbar and the camera reference line G is less than the target deviation value. At this time, it is considered that the above-mentioned misalignment offset of the working space in the nose relative to the busbar does not exceed the target deviation value, and there is no need to control the adjustment mechanism for further action.

[0148] In the above implementation, the monocular camera is facing the center reference line of the working space, and the camera reference line G is parallel to the center reference line. Therefore, the misalignment relationship between the camera reference line G and the center point O of the busbar can be used to characterize the misalignment relationship between the working space and the center point O of the busbar.

[0149] In actual operation, the misalignment relationship between the center point O of the busbar and the camera reference line G is detected once or multiple times based on the monocular camera until the vertical distance H1 between the center point O of the busbar and the camera reference line G does not exceed the target distance value, then it is determined that the nose has reached Fig.12 The second target position D2 is shown.

[0150] In the embodiment of the present disclosure, the above-mentioned target deviation value is related to the busbar line width and can be set according to the busbar line width. Within the range of not exceeding the target deviation value, the busbar center point O is located within the range of the working space. Therefore, even if the position of the machine head needs to be further fine-tuned later, it can ensure that the busbar is aligned with the working space.

[0151] In the embodiments of the present disclosure, Fig.12 As shown, after executing step 820, exemplarily, at the second target position D2, the misalignment offset between the working space 30a in the head 30 and the busbar 100 along the axial direction of the second rotating shaft 22 does not exceed the target deviation value. At this time, it is further detected whether the projections of the working space 30a and the busbar 100 on the projection plane perpendicular to the second rotating shaft 22 intersect.

[0152] For example, when it is detected at the second target position D2 that the projection of the working space 30a intersects with the projection of the busbar 100 on the projection plane perpendicular to the second rotation axis 22, Figure 3 As shown, controlling the first adjustment component 31 to drive the machine head 30 to rotate around the second rotating shaft 22 includes:

[0153] At the second target position D2, the monocular camera 7 (such as Figure 1 As shown in FIG. 1 ), collecting a third busbar image, and obtaining an angle between the busbar 100 and the camera reference line according to the third busbar image;

[0154] When it is determined based on the included angle that the working space 30 a intersects with the projection of the generatrix 100 on the projection plane perpendicular to the second rotating shaft 22 , the first adjusting component 31 is controlled to drive the machine head 30 to rotate around the second rotating shaft 22 .

[0155] In this embodiment, the angle between the generatrix 100 and the camera reference line is used to specifically and quantitatively characterize the intersection of the projections of the working space 30 and the generatrix 100 on the projection plane perpendicular to the second rotation axis 22 .

[0156] like Fig.15 As shown, when Fig.12 The angle α between the generatrix 100 and the camera reference line G measured at the second target position D2 is greater than the target value, that is, the projections overlap, and the first adjustment component 31 (such as Figure 3 and Figure 6 As shown) drives the machine head 30 around the second rotating shaft 22 (as shown Fig.12 As shown in FIG. 1 , the camera 100 is rotated (as shown by arrow J2) until the angle α between the busbar 100 and the camera reference line G is not greater than the target value. Wherein, α is not greater than the target value, indicating that the busbar 100 and the camera reference line G are nearly parallel or have an acceptable small angle, that is, corresponding to Fig.16 The third target position D3 of the head 30 relative to the busbar 100 is shown. The target value may be 0 or other smaller values, which is not limited here.

[0157] Therefore, if in Fig.12 When the second target position D2 is shown, the angle is greater than the target value, that is, too large, and the first adjustment component 31 (such as Figure 3 and Figure 6 As shown) the drive head 30 rotates around the second rotating shaft 22 until it reaches Fig.16 The third target position D3. Exemplarily, combined with Fig.12 and Fig.16 As shown, from the second target position D2 to the third target position D3 , the machine head 30 rotates around the second rotating shaft 22 , so that when viewed along the axial direction of the second rotating shaft 22 , the working space 30 a gradually rotates to align with the generatrix 100 .

[0158] In another embodiment, if the angle is not greater than the target value at the second target position, the nose is also at the third target position at this time, and there is no need to further control the action of the first adjustment component.

[0159] like Fig.16 As shown, when the machine head 30 is located at the third target position D3, step 840 may be further executed to control the lifting rod mechanism 2 to extend so that the machine head 30 can accommodate the busbar 100 in the working space 30a.

[0160] During the extension of the lifting rod mechanism 2, it is detected in real time whether the busbar 100 enters the working space 30a in a posture parallel to the working space 30a. In this process, if one end of the working space 30a along its central reference line is tilted upward relative to the other end or the other end is tilted upward, then the busbar may only be partially located at the preset working position in the working space 30a. At this time, it cannot be determined that the busbar is located at the preset working position in the working space 30a as a whole. Therefore, it is necessary to control the second adjustment component to drive the machine head 30 to rotate around the third rotation axis 23 (such as Figure 2 As shown in the figure, the machine head 30 is rotated to rotate one side end portion of the tilted machine head 30 downward, so that the working section on the busbar falls as a whole into the preset working position in the working space 30a.

[0161] Referring to the above implementation mode, combined with Figure 1 As shown, the working space 30a has two side wire entrances 30c, and the side walls of the two side wire entrances 30c are provided with opposing optical coupling components 33;

[0162] For example, when executing step 840, if the busbar is detected only at the side line inlet 30c at one end of the working space 30a, the second adjustment component 32 (such as Figure 3 and Figure 7 As shown) drives the machine head 30 around the third rotating shaft 23 (as shown Figure 2 As shown) rotate until the busbars are detected at both ends of the working space 30a located on the third rotating shaft 23, including:

[0163] When only the bus detection signal generated by the triggered opposite-beam optical coupling component 33 at the side line inlet 30c at one end is received, the second regulating component 32 (such as Figure 3 and Figure 7 As shown in the figure, the machine head 30 is driven to rotate around the third rotating shaft 23 until the bus detection signals generated by the triggered opposite optical coupling components 33 at the positions of the line entry ports 30c at both ends are simultaneously received.

[0164] In this embodiment, if one end of the optical coupling component 33 at the side line inlet 30c is triggered, and the other end of the optical coupling component 33 is not triggered, it means that the end of one side of the head 30 where the triggered optical coupling component 33 is located is closer to the busbar than the other end. Fig.17 The extending direction of the display busbar 100 is parallel to the first rotation axis 21 (eg Figure 2 As shown in FIG. 2 ), the extending direction of the busbar 100 and the first rotating shaft 21 are parallel to the horizontal plane, only in the working space 30a (as shown in FIG. Figure 1 The side line inlet 30c (as shown) at one end (exemplary right end) of Figure 1 As shown in FIG. 1 , the busbar is detected, and at this time, one end (exemplarily the right end) of the nose 30 is tilted upward.

[0165] At this time, it is necessary to rotate the side end downward, and then continue to control the lifting rod mechanism 2 to extend. If the bus detection signal generated by the triggered optical coupling components 33 at both ends cannot be received at the same time during the extension process, it is necessary to control the second adjustment component 32 (such as Figure 3 and Figure 7 Repeat the above steps until the bus detection signal generated by the triggering of the two-end photocoupler assembly 33 is received at the same time, indicating that the bus and the working space 30a (as shown) are now Figure 1 The busbar is roughly parallel to the center reference line of the working space 30a, so that the busbar can fall into the working space 30a as a whole.

[0166] In another operation scenario, if Fig.16 The third target position D3 shown starts to control the extension of the lifting rod mechanism 2, and the busbar detection signal generated by the triggered opposite optical coupling components 33 at the two side ends of the working space 30a is detected at the same time for the first time, so there is no need to control the action of the second adjustment component 32.

[0167] For example, in combination Fig.17 and Fig.18 By driving the machine head 30 to rotate around the rotation direction Z, the right end of the machine head 30 is rotated downward until Fig.18 The busbar 100 and the two ends of the head 30 are roughly at the same horizontal position. At this time, the optical coupling component 33 (such as Figure 1 The bus detection signal generated by the triggering (as shown)

[0168] It should be noted that Fig.17 and Fig.18 The example only shows the extending direction of the busbar 100 and the inclination of the two ends of the head 30. In other embodiments, the extending direction of the busbar 100 may have a slope, and the busbar 100 may have a slope around the third rotation axis 23 (such as Figure 2 Before the rotation, the two ends of the machine head 30 may be parallel to the horizontal plane, the right end may be tilted upward, or the left end may be tilted upward. Fig.17 and Fig.18 The examples given are not repeated here.

[0169] In one embodiment, in combination Figure 2 and Fig.19 As shown, the optical coupling assembly 33 includes a first optical coupling unit 331 and a second optical coupling unit 332 . Along the depth direction HH′ of the working space 30 a , the second optical coupling unit 332 is closer to the bottom of the working space 30 a than the first optical coupling unit 331 .

[0170] When only the optical coupling component 33 (such as Fig.19 When the bus detection signal generated by the trigger is triggered, the second regulating component 32 (such as Figure 3 As shown) drives the machine head 30 around the third rotating shaft 23 (as shown Figure 2 As shown) rotates until the bus detection signal generated by the triggered opposite optical coupling assembly 33 at the position of the side line inlet 30c at both ends is received simultaneously, including:

[0171] When only the second optical coupling unit 332 (such as Fig.19 When the bus detection signal generated by the trigger is triggered, the second regulating component 32 (such as Figure 3 and Figure 7 As shown) drives the machine head 30 around the third rotating shaft 23 (as shown Figure 2 As shown in the figure, the busbar detection signals generated by the second paired optical coupling units 332 at the side line entrances 30c at both ends are simultaneously received and triggered.

[0172] Combination Figure 2 and Fig.19 As shown, when the right end of the machine head 30 tilts upward, the second pair-beam optical coupling unit 332 at the right end first senses the busbar, but the second pair-beam optical coupling unit 332 at the left end is not triggered by the busbar. Therefore, the control system only receives the busbar detection signal generated by the second pair-beam optical coupling unit 332 at the right end being triggered, and then confirms that the right end of the machine head 30 tilts upward, then further controls the second adjustment component 32 (such as Figure 3 and Figure 7 The machine head 30 is driven to rotate around the third rotating shaft 23, so that the tilted end of the machine head 30 rotates downward. During the rotation process, the busbar may escape from the working space 30a, and the lifting rod mechanism 2 is further controlled to extend. The above detection and extension steps are repeated until the second optical coupling units 332 at the two ends are simultaneously triggered to generate busbar detection signals, confirming that the busbar 100 is roughly parallel to the central reference line of the working space 30a.

[0173] When working, combine Figure 2 and Fig.19 As shown, when the right end of the machine head 30 tilts upward, the first optical coupling unit 331 at the right side line entry port 30c is triggered first, and the first optical coupling unit 331 on the left side is not triggered at this time, and it is determined that the busbar starts to enter. Then, the lifting rod mechanism 2 is further extended without adjusting the position of the machine head 30 first, until the second optical coupling unit 332 at the right end at the bottom senses the busbar and is triggered, and starts to control the second adjustment component 32 (as shown in FIG. Figure 3 and Figure 7As shown in FIG. 1 , the machine head 30 is driven to rotate until the central reference line of the working space 30a is parallel to the busbar. This can prevent the busbar 100 from escaping from the working space 30a when the machine head 30 rotates. After the central reference line of the working space 30a is parallel to the busbar, the lifting rod mechanism 2 is directly controlled to extend, so that the busbar can reach the target working position.

[0174] Among them, Fig.19 As shown, when only the second optocoupler unit 332 at the right end is triggered, the second optocoupler unit 332 at the left end is not triggered, and the first optocoupler unit 331 at the left end may not be triggered or may be triggered, which may happen in actual operation.

[0175] In one embodiment, in combination Figure 1 and Fig.19 As shown, when the second right-side optical coupling unit 332 is blocked by the busbar 100 and triggered, the angle between the central reference line of the working space 30a and the horizontal plane is φ, and the length of the head 30 along the central reference line is 2h;

[0176] Combination Figure 7 As shown, the second adjustment component 32 is controlled to drive the machine head 30 ( Figure 1 as shown) around the third rotation axis 23 ( Figure 2 As shown in FIG. 1 ), the first end of the machine head where the second optical coupling unit 332 (left side) that is not triggered is raised, and the lifting rod mechanism 2 (as shown in FIG. 1 ) is controlled. Figure 2 As shown), the elongation is H2;

[0177] H2=β×h×cosφ, where β is in radians.

[0178] This can achieve quantitative adjustment of the nose 30 posture.

[0179] In a corresponding embodiment, the above detection and elongation adjustment steps may be repeated until the second optical coupling units 332 at both ends are blocked by the busbar and triggered, indicating that the working space in the head has been adjusted to a position roughly parallel to the busbar.

[0180] Among them, combined Fig. 20 As shown, by further controlling the extension of the lifting rod mechanism, the busbar 100 reaches the target operating position in the operating space 30a, which means that the busbar detection signal generated by the second pair of optical coupling units 332 at the side line entrance positions of both ends is triggered and received at the same time.

[0181] In this embodiment, since each group of opposing optical coupling components includes two pairs of upper and lower opposing optical coupling units, and the position of the machine head can be adjusted when the busbar just enters the top wire entry port so that the center reference line of the working space is roughly parallel to the busbar, then it is only necessary to control the extension of the lifting rod mechanism until it reaches the target working position.

[0182] In another operation mode, a pair of second photocoupler units located at the bottom can also be used to determine whether the central reference line of the operation space is parallel to the busbar.

[0183] In another embodiment, the optical coupling assembly at both ends of the working space may include only one optical coupling unit, which is arranged near the bottom of the working space, illustratively at the target working position. In this case, it is also possible to judge whether the busbar is parallel to the wire based on only two pairs of optical coupling units at both ends of the working space, so as to prepare for subsequent wire stripping and wire clamp installation operations.

[0184] In the above embodiments of the present disclosure, the binocular camera, the monocular camera and the reflected optical coupling assembly are combined to realize the automatic head on-line control, which has higher accuracy and operation efficiency than manual control. In the process of the automatic head on-line control, it is not ruled out that the operator can manually fine-tune the head on-line.

[0185] In another embodiment, by collecting on-site operation videos, the operator can manually control the machine head to go online based on the on-site operation videos.

[0186] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the protection scope of the present invention.

Claims

1. A fire connection device, characterized in that: include: Support table (1); A lifting rod mechanism (2) rotatably connected to the support platform (1) via a first rotating shaft (21), and an adjusting mechanism (5) connected to the lifting rod mechanism (2), wherein the adjusting mechanism (5) is configured to drive the lifting rod mechanism (2) to rotate around the first rotating shaft (21) under control, and the first rotating shaft (21) is perpendicular to the lifting rod mechanism (2); A machine head assembly (3) located at the top of the lifting rod mechanism (2), comprising a machine head (30) and a first adjustment assembly (31) and a second adjustment assembly (32) mounted at the bottom of the machine head (30); The first adjustment component (31) is configured to drive the machine head (30) to rotate around a second rotation axis (22), and the second rotation axis (22) is coaxial with the lifting rod mechanism (2); The second adjustment component (32) is configured to drive the machine head to rotate around a third rotation axis (23), and the third rotation axis (23) is perpendicular to the second rotation axis (22) and the first rotation axis (21); The fire connection device further comprises: a binocular camera (6) mounted on the top of the support platform (1), the binocular camera (6) rotating around a sixth rotation axis parallel to the first rotation axis (21), and used for obtaining first position information between the busbar (100) and the machine head assembly (3), and controlling the extension of the lifting rod mechanism (2) based on the first position information so that the machine head assembly (3) reaches a first target position (D1) from the busbar (100); and a monocular camera (7) located in the machine head (30), used for obtaining, at the first target position (D1), a misalignment between a working space (30a) in the machine head (30) and the busbar (100) in the axial direction of the second rotation axis (22).

2. The fire connection device according to claim 1, characterized in that: The adjustment mechanism (5) is a telescopic rod mechanism, one end of which rotates with the lifting rod mechanism (2) via a fourth rotating shaft (24), and the other end of which rotates with the support platform (1) via a fifth rotating shaft (25), the fourth rotating shaft (24) and the fifth rotating shaft (25) are both parallel to the first rotating shaft (21), and the fifth rotating shaft (25) is higher than the first rotating shaft (21).

3. The fire connection device according to claim 1, characterized in that: The support platform (1) comprises a control console (11) and a support structure (12) arranged on the front side wall of the control console (11); the lifting rod mechanism (2) is rotatably connected to the support structure (12) via the first rotating shaft (21); and the adjustment mechanism (5) is installed on the support structure (12); The binocular camera (6) is located on the top of the console (11).

4. The fire connection device according to claim 1, characterized in that: The machine head (30) has an operation space (30a), the operation space (30a) has side line entry openings (30c) at both ends, the operation space (30a) has a center reference line passing through the side line entry openings (30c) at both ends, and the center reference line is perpendicular to the third rotating shaft (23); The monocular camera (7) is located at the bottom of the working space (30a).

5. The fire connection device according to claim 4, characterized in that: A counter-radio optical coupling component (33) is provided on the side walls of the side line inlets (30c) at both ends, and the counter-radio optical coupling component (33) is configured to be triggered when the busbar (100) is detected to be wired in; The counter-beam optical coupling assembly (33) comprises a first counter-beam optical coupling unit (331) and a second counter-beam optical coupling unit (332); along the depth direction of the working space (30a), the second counter-beam optical coupling unit (332) is closer to the bottom of the working space (30a) than the first counter-beam optical coupling unit (331).

6. The fire connection device according to claim 1, characterized in that: The first adjustment component (31) comprises: A first rotating motor (311) having a first motor output end (31a); A first gear transmission mechanism (312) comprises a first input gear (3121) and a first output gear (3122), wherein the first input gear (3121) and the first motor output end (31a) are connected to input rotational motion; The worm gear transmission mechanism (313) comprises a worm wheel (3131) and a worm (3132) that mesh with each other, wherein the central axis of the worm wheel (3131) forms the second rotating shaft (22), and the worm (3132) meshes with the first output gear (3122).

7. The fire connection device according to claim 1, characterized in that: The second adjustment component (32) comprises: A second rotating motor (321) having a second motor output end (32a); an arc-shaped rack (322) mounted on the bottom of the machine head (30), wherein the axis of the arc-shaped rack (322) forms the third rotating shaft (23); The second gear transmission mechanism (323) comprises a second input gear (3231) and a second output gear (3232); the second input gear (3231) is connected to the second motor output end (32a) to input rotational motion, and the second output gear (3232) is meshed with the arc-shaped rack (322).

8. A head-on line control method based on the fire connection and on-line device according to claim 1, characterized in that: include: Obtaining first position information between the busbar (100) and the head assembly (3) through the binocular camera (6), and controlling the extension of the lifting rod mechanism (2) based on the first position information, so that the head assembly (3) reaches a first target position (D1) away from the busbar (100); At the first target position (D1), the misalignment offset between the working space (30a) in the machine head (30) and the busbar (100) along the axial direction of the second rotating shaft (22) is obtained through the monocular camera (7); when it is detected at the first target position (D1) that the misalignment offset between the working space (30a) in the machine head (30) and the busbar (100) along the axial direction of the second rotating shaft (22) exceeds the target deviation value, the adjustment mechanism (5) is controlled to drive the lifting rod mechanism (2) to rotate around the first rotating shaft (21), so that the machine head assembly (3) rotates from the first target position (D1) to a second target position (D2), the second target position (D2) being a position where the misalignment offset does not exceed the target deviation value; When it is detected at the second target position (D2) that the working space (30a) intersects with the projection of the busbar (100) on the projection plane perpendicular to the second rotation axis (22), controlling the first adjustment component (31) to drive the machine head (30) to rotate around the second rotation axis (22) until the machine head (30) reaches a third target position (D3) relative to the busbar (100) from the second target position (D2), and at the third target position (D3), the projection of the busbar (100) on the projection plane is located within the range of the working space (30a); When the machine head (30) is located at the third target position (D3), the lifting rod mechanism (2) is controlled to extend. During the extension process, if the busbar (100) is detected only at a side line entry (30c) at one end of the working space (30a), the second adjustment component (32) is controlled to drive the machine head (30) to rotate around the third rotation axis (23) until the busbar (100) is detected at both side line entry (30c) at the working space (30a), until the busbar (100) is located at the target working position in the working space (30a).

9. The head online control method according to claim 8, characterized in that: The controlling the extension of the lifting rod mechanism (2) comprises: Acquiring a first busbar image through the binocular camera (6), and obtaining first position information between the busbar (100) and the head assembly (3) based on the first busbar image; A first control signal is generated based on the first position information, and the control of extending the lifting rod mechanism (2) is performed based on the first control signal.

10. The machine head online control method according to claim 9, characterized in that: The obtaining, based on the first busbar image, first position information between the busbar (100) and the head assembly (3), comprises: Obtaining, based on the first busbar image, first spatial position coordinates of the busbar (100) in a coordinate space based on the binocular camera (6); The first spatial position coordinates are converted into second spatial position coordinates of the busbar (100) in a coordinate space based on a corresponding reference point in the lifting rod mechanism (2), and the first position information is obtained based on the second spatial position coordinates, the corresponding reference point being a connection point between the first rotating shaft (21) and a central axis of the lifting rod mechanism (2).

11. The machine head online control method according to claim 10, characterized in that: The method of controlling the extension of the lifting rod mechanism (2) based on the first control signal comprises: Based on the first control signal, the control of the elevating rod mechanism (2) to extend is performed, and the control of the adjusting mechanism (5) to extend is performed to drive the elevating rod mechanism (2) to rotate around the first rotating shaft (21) until the first target position (D1) is reached.

12. The machine head online control method according to claim 8, characterized in that: The working space (30a) has side line entrances (30c) at both ends, the working space (30a) has a central reference line passing through the side line entrances (30c) at both ends, and the central reference line is perpendicular to the third rotating shaft (23); the monocular camera (7) is located at the bottom of the working space (30a); When it is detected at the first target position (D1) that the misalignment offset between the working space (30a) in the machine head (30) and the busbar (100) along the axial direction of the second rotating shaft (22) exceeds a target deviation value, the adjusting mechanism (5) is controlled to drive the lifting rod mechanism (2) to rotate around the first rotating shaft (21), comprising: At the first target position (D1), a second busbar image is captured by the monocular camera (7), and based on the second busbar image, a vertical distance between a center point of the busbar and a camera reference line of the monocular camera (7) and a misalignment direction of the camera reference line relative to the center point of the busbar are obtained, wherein the vertical distance is used to characterize a misalignment amount between the working space (30a) and the busbar (100) along the axial direction of the second rotation axis (22), and a comparison is made as to whether the misalignment amount exceeds the target deviation value, and the camera reference line is parallel to the center reference line; When the misalignment offset exceeds the target deviation value, a second control signal is generated based on the misalignment offset and the misalignment offset direction, and based on the second control signal, the adjustment mechanism (5) is controlled to drive the lifting rod mechanism (2) to rotate around the first rotating shaft (21).

13. The machine head online control method according to claim 12, characterized in that: When it is detected at the second target position (D2) that the working space (30a) intersects with the projection of the generatrix (100) on a projection plane perpendicular to the second rotation axis (22), controlling the first adjustment component (31) to drive the machine head (30) to rotate around the second rotation axis (22), comprising: At the second target position (D2), a third busbar image is collected by the monocular camera (7), and an angle between the busbar (100) and the camera reference line is obtained based on the third busbar image; When it is determined based on the included angle that the projection of the working space (30a) intersects with the projection of the generatrix (100) on a projection plane perpendicular to the second rotating axis (22), the first adjustment component (31) is controlled to drive the machine head (30) to rotate around the second rotating axis (22).

14. The head online control method according to claim 8, characterized in that: The working space (30a) has side wire entrances (30c) at both ends, the working space (30a) has a central reference line passing through the side wire entrances (30c) at both ends, and the central reference line is perpendicular to the third rotating shaft (23); and a counter-radiation optical coupling assembly (33) is provided on the side walls of the side wire entrances (30c) at both ends; If the busbar (100) is detected only at a side line entry (30c) at one end of the working space (30a), controlling the second adjustment component (32) to drive the machine head (30) to rotate around the third rotation axis (23) until the busbar (100) is detected at the side line entry (30c) at both ends of the working space (30a), comprising: When only the busbar detection signal generated by the opposite-direction optical coupling component (33) at the position of the side wire entrance (30c) at one end is received, the second adjustment component (32) is controlled to drive the machine head (30) to rotate around the third rotation axis (23) until the busbar detection signal generated by the opposite-direction optical coupling components (33) at the positions of the side wire entrances (30c) at both ends is received.

15. The machine head online control method according to claim 14, characterized in that: The pairing optical coupling assembly (33) comprises a first pairing optical coupling unit (331) and a second pairing optical coupling unit (332), and along the depth direction of the working space (30a), the second pairing optical coupling unit (332) is closer to the bottom of the working space (30a) than the first pairing optical coupling unit (331); When only the bus detection signal generated by the opposite-beam optical coupling component (33) at the position of the side wire entrance (30c) at one end is received, the second adjustment component (32) is controlled to drive the machine head (30) to rotate around the third rotation axis (23) until the bus detection signal generated by the opposite-beam optical coupling components (33) at the positions of the side wire entrances (30c) at both ends is received simultaneously, comprising: When only the second paired optical coupling unit (332) at the position of the side line entrance (30c) at one end is triggered to generate a busbar detection signal, the second adjustment component (32) is controlled to drive the machine head (30) to rotate around the third rotation axis (23) until the busbar detection signals generated by the second paired optical coupling units (332) at the positions of the side line entrances (30c) at both ends are simultaneously received; The busbar (100) arriving at the target operating position in the operating space (30a) means that the busbar detection signal generated by the second incident optical coupling unit (332) being triggered and simultaneously received at the positions of the side line inlets (30c) at both ends.

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