A mobile live working robot with an obstacle-crossing structure and its control method

Abstract

The present invention relates to a mobile live working robot with an obstacle-crossing structure and a control method thereof. A top plate on the robot body is sequentially provided with a rotating base, a telescopic base, and a main support body from bottom to top. An operating arm is provided on the main support body, and a pulling mechanism and a clamping mechanism are provided on the telescopic base; the pulling mechanism includes two groups of symmetric limiting sliding rails, and each group of limiting sliding rails includes a longitudinal limiting sliding rail and an inclined limiting sliding rail; a connecting rod is slidably connected to each group of limiting sliding rails, the two connecting rods are connected by a synchronous slider, and the synchronous slider is connected to a pneumatic rod on the telescopic base; the clamping mechanism includes two clamping frames arranged at both ends of a guide rail driving group, and a leakage current sensor is provided on the clamping frame; two clamping mechanisms are provided, and the guide rail driving group of each clamping mechanism is connected to a limiting clamping seat, and the limiting clamping seat is movably connected to the corresponding connecting rod; each guide rail driving group is slidably connected in a corresponding transverse limiting sliding rail. The present invention can realize the stretching of the damaged part of the wire, facilitating remote maintenance operations.

Description

Technical Field

[0001] The present invention belongs to the technical field of live working robots, and particularly relates to a mobile live working robot with an obstacle-crossing structure and a control method. Background Art

[0002] Live working on distribution networks has become the most direct and effective means for power supply enterprises to reduce power outage time, improve power supply reliability and service level. The main operation items carried out are live connection and disconnection of 10 kV lines, tightening bolts, trimming branches, installing grounding rings, replacing lightning arresters, etc. However, manual operation has a high labor intensity and high safety risks, and there is an urgent need to use robots to replace manual high-risk operations. At present, live working robots for distribution networks are generally used at home and abroad.

[0003] The live working robot generally uses remote control to simulate manual operation with an operating arm. However, in remote work, the feel during operation is different from that of actual operation. At the same time, due to the effects of thermal expansion and contraction, the line may not be in a straight state, which is not convenient for the taking and maintenance operation of the operating arm. Summary of the Invention

[0004] The purpose of the present invention is to provide a mobile live working robot with an obstacle-crossing structure and a control method, aiming to solve the technical problem that in remote work, the feel during operation is different from that of actual operation, and at the same time, due to the effects of thermal expansion and contraction, the line may not be in a straight state, resulting in inconvenience in the taking and maintenance operation of the operating arm.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is: a mobile live working robot with an obstacle-crossing structure, including a vehicle body. An obstacle-crossing wheel is provided at the bottom of the vehicle body. The top of the vehicle body is connected to a top plate through a boom. A rotating base, a telescopic base and a main support body are sequentially installed on the top surface of the top plate from bottom to top. And an operating arm is installed on the main support body. The lower part of the telescopic base is fixed to the rotating end of the rotating base. A pulling mechanism is provided at the lower part of the telescopic base, and a clamping mechanism is provided on the pulling mechanism.

[0006] The pulling mechanism includes a slide rail frame fixedly connected to the telescopic base. Two symmetric groups of limiting slide rails are arranged on the slide rail frame. Each group of limiting slide rails includes a longitudinal limiting slide rail and an inclined limiting slide rail. A connecting rod is slidably connected to each group of limiting slide rails. The two ends of the connecting rod are respectively slidably connected to the longitudinal limiting slide rail and the inclined limiting slide rail. The two connecting rods are connected by a synchronous slider. An air rod is arranged on the telescopic base, and the air rod is connected to the synchronous slider. The clamping mechanism includes two clamping frames symmetrically arranged at both ends of the guide rail driving group. A leakage sensor for detecting whether the electric wire is leaking electricity is arranged on the clamping surface of the clamping frame. Two clamping mechanisms are provided. The guide rail driving group of each clamping mechanism is connected to a limiting clamping seat, and the limiting clamping seat is movably connected to the corresponding connecting rod. The bottom of each guide rail driving group is slidably connected to the corresponding horizontal limiting slide rail through a first slider. The two horizontal limiting slide rails are distributed in a straight line on the horizontal slide rail frame, and the horizontal slide rail frame is connected to the slide rail frame.

[0007] The synchronous slider is an inverted U-shaped bearing seat. A support shaft is arranged at the upper end of the connecting rod, and the support shaft is movably connected to the U-shaped bearing seat.

[0008] Fourth sliders and fifth sliders are respectively arranged at the lower parts of the two ends of the connecting rod, and the fourth slider is movably clamped in the longitudinal limiting slide rail, and the fifth slider is movably clamped in the inclined limiting slide rail.

[0009] A chute is arranged on the connecting rod, and the limiting clamping seat is movably connected in the chute.

[0010] An arc-shaped guiding frame is arranged on one side of the clamping frame relative to its clamping surface.

[0011] A clamping pad is arranged on the clamping surface of the clamping frame. A through slot is arranged on the clamping surface and the clamping pad, and the leakage sensor is arranged in the through slot.

[0012] A first connecting frame is movably arranged in the through slot. The leakage sensor is fixed to one end of the first connecting piece. An inclined hole is arranged at the other end of the first connecting frame, and an inclined guide rod is inserted in the inclined hole. The end of the inclined guide rod is connected to a second slider through a second connecting frame, and the second slider is fixed to the movable part of the first driving guide rail. The first driving guide rail is arranged on one side of the clamping frame.

[0013] A correction mechanism is further included. The correction mechanism is arranged at both ends of the horizontal slide rail frame and includes a second driving guide rail and a double-sided contact induction plate slidably arranged on the second driving guide rail.

[0014] The double-sided contact induction plate is slidably arranged on the second driving guide rail through a third slider.

[0015] The present invention also provides a control method for the mobile live working robot with the obstacle-crossing structure described above, including the following steps:

[0016] Step 1: The top plate is controlled by the boom to move upward to one side of the wire.

[0017] Step 2: The double-sided contact induction plate is driven by the second drive rail to move linearly until the double-sided contact induction plate inductively contacts the surface of the wire.

[0018] Step 3: Automatically simulate and generate the relative positions of the clamping mechanism and the pulling mechanism based on the moving distances of the two double-sided contact induction plates and the center point position of the lateral limit slide rail.

[0019] Step 4: Adjust the positions of the main support body, the clamping mechanism, the pulling mechanism, and the correction mechanism according to the relative direction of the wire based on the simulated relative positions.

[0020] Step 5: Move the clamping mechanism so that the wire is located between the two clamping frames, and drive the two clamping frames to move outward through the pulling mechanism.

[0021] Step 6: After the two clamping frames of the clamping mechanism move towards each other to clamp the wire, move the clamping mechanism outward again to straighten the wire.

[0022] Step 7: Through remote control, repair the damaged part of the wire through the operating arm.

[0023] The beneficial effects of the present invention are as follows: The mobile live working robot with an obstacle-crossing structure provided by the present invention can use the cooperation of the pulling mechanism and the clamping mechanism to straighten the wire, so that the wire is in a taut state, avoiding the adverse effects of thermal expansion and contraction of the wire, and facilitating the operation of the operating arm.

[0024] The clamping mechanism of the present invention integrates the functions of clamping the wire and detecting electric leakage. While clamping and straightening the wire, the leakage sensor can be driven by the first connecting frame to synchronously detect whether the clamped part of the wire is leaking electricity, enriching the functional diversity of the clamping mechanism.

[0025] In the pulling mechanism of the present invention, the connecting rod is limited by the longitudinal limit slide rail and the oblique limit slide rail, and the two connecting rods act synchronously through the inverted U-shaped bearing seat. Therefore, the two connecting rods move synchronously, ensuring that the two clamping mechanisms are always located on the same straight line while moving, and also driving the distance between the two clamping mechanisms to increase, realizing the straightening of the wire.

[0026] The clamping mechanism of the present invention is movably connected to the connecting rod through the limit clamping seat. While the connecting rod moves along the oblique limit slide rail, the clamping mechanism moves horizontally along the lateral limit slide rail but does not rotate. Therefore, the straightening state of the wire between the clamping mechanisms can be guaranteed.

[0027] The arc-shaped guiding frame on the clamping frame of the present invention can ensure that the wire will not get stuck outside the clamping frame, and through translation, the wire can be smoothly moved between the two clamping frames. Description of the Drawings

[0028] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 This is a schematic diagram of the overall structure of the top of the robot according to the present invention;

[0030] Figure 3 This is a schematic diagram of the structural disassembly of the top of the robot according to the present invention;

[0031] Figure 4 It is a schematic diagram of the disassembly of the clamping mechanism in the present invention;

[0032] Figure 5 It is a flowchart of the method for controlling the live working robot in the present invention;

[0033] Markings in the figure: 1, clamping mechanism; 101, clamping frame; 102, arc guide frame; 103, guide rail drive group; 104, limit clamping seat; 105, horizontal limit slide rail; 106, first slider; 107, clamping pad; 108, through groove; 109, leakage sensor; 110, first connecting frame; 111, oblique slider; 112, oblique guide rod; 113, second connecting frame; 114, second slider; 115, first drive guide rail; 116, slide groove;

[0034] 2. Correction mechanism; 201. Double-sided contact sensing plate; 202. Third slider; 203. Second driving guide rail;

[0035] 3. Pulling mechanism; 301. Oblique limit slide rail; 302. Gas rod; 303. Fourth slide block; 304. Connecting rod; 305. Support shaft; 306. Fifth slide block; 308. Longitudinal limit slide rail; 309. U-shaped bearing seat;

[0036] 4. Top plate; 5. Bucket arm; 6. Vehicle body; 7. Obstacle-crossing wheels; 8. Main support body; 9. Operating arm; 10. Telescopic base; 11. Rotating base. DETAILED DESCRIPTION

[0037] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments, but they are not intended to limit the invention in any way.

[0038] Example 1: Refer to the attached Figures 1-4 As shown, a mobile live-working robot with an obstacle crossing structure includes a body 6, an obstacle crossing wheel 7 is arranged at the bottom of the body 6, and the top of the body 6 is connected to a top plate 4 through a bucket arm 5, and a rotating base 11, a telescopic base 10 and a main support body 8 are installed on the top of the top plate 4 in sequence from bottom to top, and operating arms 9 are respectively installed on both sides of the main support body 8, a pulling mechanism 3 is arranged on one side of the telescopic base 10, and a clamping mechanism 1 is arranged on the pulling mechanism 3.

[0039] The pulling mechanism 3 includes a slide rail frame. The slide rail frame is in a Y shape and includes two groups of limiting slide rails arranged symmetrically. Each group of limiting slide rails includes a longitudinal limiting slide rail 308 and an inclined limiting slide rail 301. The two longitudinal limiting slide rails 308 are arranged side by side and parallel to each other. The two inclined limiting slide rails 301 form the bifurcated part of the slide rail frame. A connecting rod 304 is slidably connected to each group of limiting slide rails. At the same position at the bottom end of each connecting rod 304, a fourth slider 303 and a fifth slider 306 are respectively fixedly connected. The fourth slider 303 is movably clamped in the longitudinal limiting slide rail 308, and the fifth slider 306 is movably clamped in the inclined limiting slide rail 301. An inverted U-shaped bearing seat 309 is arranged on the straight part of the slide rail frame. A support shaft 305 is arranged at the same end of the two connecting rods 304. The support shaft 305 is movably connected to the U-shaped bearing seat 309. An air rod 302 is arranged on the telescopic base 10. The telescopic end of the air rod 302 is connected to the U-shaped bearing seat 309. Thus, when the air rod 302 extends, the connecting rod 304 is driven by the U-shaped bearing seat 309 to slide along the longitudinal limiting slide rail 308 and the inclined limiting slide rail 301, and then the distance between the front ends of the two connecting rods 304 increases.

[0040] The outer side of the inclined limiting slide rail 301 is also connected with a transverse slide rail frame extending linearly towards both ends. Two transverse limiting slide rails 105 in the same straight line are arranged on the transverse slide rail frame.

[0041] The clamping mechanism 1 includes two relatively arranged clamping frames 101. Clamping pads 107 are respectively fixed on the opposite inner side walls of the two clamping frames 101. A through groove 108 is formed through one of the clamping frames 101 and the clamping pad 107. A first connecting frame 110 is movably inserted in the through groove 108. One end of the first connecting frame 110 is fixedly connected with a leakage sensor 109. The leakage sensor 109 is located in the through groove 108. An inclined slider 111 is arranged at the other end of the first connecting frame 110. The inclined slider 111 is provided with an inclined hole. An inclined guide rod 112 is movably inserted in the inclined hole. One end of the inclined guide rod 112 is connected with a second slider 114 through a second connecting frame 113. The second slider 114 is fixed on the movable part of a first driving guide rail 115. The first driving guide rail 115 is arranged on one side of the clamping frame 101. The first driving guide rail 115 is driven by a linear motor or a screw. The first driving guide rail 115 drives the inclined guide rod 112 to slide along the inclined slider 111, and pushes the inclined slider 111 and the first connecting frame 110 to drive the leakage sensor 109 to extend or retract in the through groove 108.

[0042] The two clamping frames 101 of each clamping mechanism 1 are respectively installed at both ends of the guide rail drive group 103, and the two clamping frames 101 are driven by the guide rail drive group 103 to move towards each other to clamp the wire. The guide rail drive group 103 is a commonly used accessory in the mechanical field and can be directly purchased and used. A limit clamping seat 104 is connected to the side of the guide rail drive group 103, and the limit clamping seat 104 is movably connected to the corresponding connecting rod 304, that is, a chute 116 is provided at one end of each connecting rod 304 relative to the support shaft 305, and the limit clamping seat 104 is movably arranged in the chute 116. A first slider 106 is connected to the center position at the bottom of the guide rail drive group 103, and the first slider 106 is movably connected in the lateral limit slide rail 105. Under the push of the air rod 302, the front end of the connecting rod 304 slides outward along the inclined limit slide rail 301, driving the clamping mechanism 1 to slide along the lateral limit slide rail, so that the distance between the two clamping mechanisms 1 increases to tension the wire between the two clamping mechanisms 1. While clamping the wire, the leakage sensor 109 can also be driven by the first drive guide rail 115 to extend from the through groove 108 to contact the damaged end of the wire to detect whether it is leaking electricity. Therefore, the wire clamping and leakage detection can be realized simultaneously.

[0043] Furthermore, an arc surface guide frame 102 is also provided on the outer side of the clamping frame 101. The arc surface guide frame 102 and the clamping pad 107 are respectively located on the outer side and the inner side of the clamping frame 101. The setting of the arc surface guide frame 102 can prevent the wire from getting stuck on the outer side of the clamping frame 101, but the wire enters between the two clamping frames 101 under the guiding action of the arc surface guide frame 102.

[0044] Preferably, correction mechanisms 2 are respectively arranged on both sides of the clamping mechanism 1, and the correction mechanisms 2 are located at both ends of the lateral slide rail frame. The correction mechanism 2 includes two parallel second drive guide rails 203. The second drive guide rails 203 are self-powered guide rails, such as guide rails driven by a linear motor or a screw. The second drive guide rails 203 are perpendicular to the lateral limit slide rail 105. A third slider 202 is connected to the second drive guide rails 203, and the third slider 202 is connected to the double-sided contact induction plate 201 to drive the double-sided contact induction plate 201 to move linearly along the second drive guide rails 203.

[0045] The rotating end of the rotating base 11 is fixedly connected to the lower part of the telescopic base 10. The upper part of the telescopic base 10 can move up and down under the drive of the telescopic mechanism inside it. The upper end of the telescopic base 10 is connected to the main support body 8. The main support body 8 realizes vertical lifting and horizontal rotation under the drive of the telescopic base 10 and the rotating base 11, facilitating the further movement of the operating arm 9.

[0046] The working principle of the present invention is as follows: In the pulling mechanism 3, when the air rod 302 extends, it can push the connecting rod 304 forward. At the same time, under the limiting action of the oblique limiting slide rail 301 and the longitudinal limiting slide rail 308, while ensuring that the clamping mechanism 1 always moves in a straight line, it also drives the distance between the two clamping mechanisms 1 to increase. After reaching a certain distance, the clamping mechanism 1 clamps, and then the clamping mechanism 1 is horizontally translated slightly again, so as to straighten the damaged end of the wire. The telescopic base 10 drives the main support body 8 to move up and down, making the position of the operating arm 9 flush with the position of the wire. Thus, through the stretching of the wire damage, it is convenient for remote maintenance operations.

[0047] In the clamping mechanism 1, the guide rail drive group 103 drives the two clamping frames 101 to clamp the wire inward. Under the limiting action of the horizontal movement of the first slider 106, and by the movement of the limit clamping seat 104 in the chute 116 to limit the guide rail drive group 103, to ensure that during the horizontal movement, the two clamping mechanisms 1 will not rotate. At the same time, under the action of the arc-shaped guiding frame 102, it can ensure that the wire will not be stuck outside the clamping frame 101. Through translation, the wire can be smoothly moved between the two clamping frames 101.

[0048] In addition, with the setting of the leakage sensor 109, when the second slider 114 moves outward, changing the contact position between the oblique guide rod 112 and the oblique slider 111 can drive the extension and retraction of the leakage sensor 109, so as to facilitate contact with the damaged end of the wire during the outward movement to detect whether it is leaking electricity at the same time, enriching the functional diversity of the clamping mechanism 1.

[0049] With the setting of the correction mechanism 2, the two double-sided contact induction plates 201 at both ends of the horizontal slide rail frame move on the second drive guide rail 203 respectively until they are in contact with the surface of the wire. Thus, the relative inclination angle of the wire can be determined, and then the positions of the main support body 8, the clamping mechanism 1, the pulling mechanism 3 and the correction mechanism 2 can be automatically adjusted according to the relative direction of the wire, so that the positions of the clamping mechanism 1 and the pulling mechanism 3 can be parallel to the direction of the wire. Thus, it is more convenient for the inspection of the wire, and the inspection line of the whole wire can be improved during the movement.

[0050] Embodiment 2: A control method for a mobile live working robot with an obstacle-crossing structure, including the following specific steps:

[0051] Step 1, move the bucket arm control top plate up to one side of the wire;

[0052] Step 2, drive the double-sided contact induction plate 201 to move linearly by the second drive guide rail until the double-sided contact induction plate 201 is in contact with the surface of the wire;

[0053] Step 3: Automatically simulate and generate the relative positions of the clamping mechanism 1 and the pulling mechanism 3 based on the moving distances of the two double-sided contact induction plates 201 and the center point position of the lateral limiting slide rail 105;

[0054] Step 4: Adjust the positions of the main support body 8, the clamping mechanism 1, the pulling mechanism 3, and the correction mechanism 2 according to the relative directions of the wires based on the simulated relative positions;

[0055] Step 6: Move the clamping mechanism to place the wire between the two clamping frames 101, and drive the two clamping frames 101 to move outward by the pulling mechanism 3;

[0056] Step 9: The two clamping frames 101 of the clamping mechanism move towards each other to clamp the wire, and then move the clamping mechanism outward a short distance to straighten the wire;

[0057] Step 7: Through remote control, make the operating arm 9 repair the damaged part of the wire.

[0058] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Those of ordinary skill in the art should understand that the specific implementation manners of the present invention can be modified or equivalently replaced by referring to the above embodiments. Any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention are within the scope of the claims pending for approval.

Claims

1. A mobile live-working robot with an obstacle-crossing structure, comprising a body, obstacle-crossing wheels arranged at the bottom of the body, a top plate connected to the top of the body through a bucket arm, a rotating base, a telescopic base and a main support body arranged on the top surface of the top plate in sequence from bottom to top, and an operating arm arranged on the main support body, characterized in that: The lower part of the telescopic base is fixed to the rotating end of the rotating base, the lower part of the telescopic base is provided with a pulling mechanism, and a clamping mechanism is provided on the pulling mechanism; The pulling mechanism includes a Y-shaped slide rail frame fixedly connected to the telescopic base, and two symmetrical groups of limit slide rails are arranged on the slide rail frame, each group of limit slide rails includes a longitudinal limit slide rail and an oblique limit slide rail, the two longitudinal limit slide rails are arranged side by side and in parallel at one end of the slide rail frame, and the two oblique limit slide rails form a fork at the other end of the slide rail frame; a connecting rod is slidably connected to each group of limit slide rails, and the two ends of the connecting rod are respectively slidably connected to the longitudinal limit slide rail and the oblique limit slide rail, and the two connecting rods are connected by a synchronous slider; a gas rod is arranged on the telescopic base, and the gas rod is connected to the synchronous slider; the clamping mechanism includes symmetrically arranged on the guide rail drive Two clamping frames at both ends of the group, the clamping surface of the clamping frame is provided with a leakage sensor for detecting whether the wire is leaking; two clamping mechanisms are provided, and the guide rail driving group of each clamping mechanism is connected to a limit clamping seat, and the connecting rod is provided with a slide groove, and the limit clamping seat is movably connected in the slide groove; the bottom of each guide rail driving group is slidably connected to the corresponding transverse limit slide rail through a first slider, and the two transverse limit slide rails are distributed in a straight line on the transverse slide rail frame, and the transverse slide rail frame is connected to the slide rail frame and is arranged on the outer side of the oblique limit slide rail, extending straight to both ends; In the clamping mechanism, a clamping pad is provided on the clamping surface of the clamping frame, a through groove is provided on the clamping surface and the clamping pad of one of the clamping frames, the leakage sensor is arranged in the through groove, a first connecting frame is movably arranged in the through groove, the leakage sensor is fixed at one end of the first connecting frame, an inclined hole is provided at the other end of the first connecting frame, and an inclined guide rod is passed through the inclined hole, the end of the inclined guide rod is connected to the second slider through the second connecting frame, the second slider is fixed to the movable part of the first driving guide rail, and the first driving guide rail is arranged on one side of the clamping frame.

2. The mobile live-line working robot according to claim 1, characterized in that: The synchronous sliding block is an inverted U-shaped bearing seat, and a support shaft is arranged at the upper end of the connecting rod, and the support shaft is movably connected with the U-shaped bearing seat.

3. The mobile live-line working robot according to claim 1, characterized in that: A fourth slider and a fifth slider are respectively arranged at the lower parts of the two ends of the connecting rod, and the fourth slider is movably connected in the longitudinal limiting slide rail, and the fifth slider is movably connected in the oblique limiting slide rail.

4. The mobile live-line working robot according to claim 1, characterized in that: A curved guide frame is arranged on one side of the clamping frame relative to the clamping surface thereof.

5. The mobile live-line working robot according to claim 4, characterized in that: It also includes a correction mechanism, which is arranged at both ends of the transverse slide rail frame and includes a second driving guide rail and a double-sided contact sensing plate slidably arranged on the second driving guide rail.

6. The mobile live-line working robot according to claim 5, characterized in that: The double-sided contact sensing plate is slidably arranged on the second driving guide rail via a third sliding block.

7. A method for controlling a mobile live-line working robot with an obstacle-crossing structure as claimed in claim 5, characterized in that: The steps include: Step 1: The top plate is controlled by the bucket arm to move upward to the side of the electric wire; Step 2: The second driving guide rail drives the double-sided contact sensing plate to move linearly until the double-sided contact sensing plate senses and contacts the surface of the wire; Step 3: automatically simulate and generate the relative positions of the clamping mechanism and the pulling mechanism through the moving distance of the two double-sided contact sensing plates and the center point position of the lateral limit slide rail; Step 4, adjusting the positions of the main support body, the clamping mechanism, the pulling mechanism and the correction mechanism according to the simulated relative positions and the relative directions of the wires; Step 5, moving the clamping mechanism so that the wire is located between the two clamping frames, and driving the two clamping frames to move outwards through the pulling mechanism; Step 6: After the two clamping frames of the clamping mechanism move toward each other to clamp the wire, the clamping mechanism is moved outward again to straighten the wire; Step seven: Use remote control to repair the damaged parts of the wires using the operating arm.

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