Lightweight hot-line work robot system based on insulated boom truck and working method

Abstract

The invention relates to a light hot-line work robot system based on an insulating boom truck and a work method.The system comprises a robot work platform and the insulating boom truck, the robot work platform is installed on the insulating boom truck, and a mechanical arm subsystem composed of a mechanical arm A and a mechanical arm B is installed on the robot work platform; the tool subsystem comprises a wire stripping tool and a wire pressing tool, the wire stripping tool is installed at the tail end of the mechanical arm A, the wire pressing tool is installed at the tail end of the mechanical arm B, and the master control subsystem, the sensing subsystem and the power subsystem are installed on a robot operation platform. The tool reduces the cost, is suitable for different wire diameters, is provided with a limiting wire clamping device in an auxiliary manner, reduces the shaking degree of a power transmission line in the tool, and improves the operation efficiency of wire stripping operation.

Description

Technical Field

[0001] The present application relates to the field of live-line working robots for distribution networks, and in particular to a lightweight live-line working robot system and operating method based on an insulated boom truck. Background Art

[0002] With the rapid development of modern industry and the improvement of people's living standards, economic construction and people's lives are increasingly dependent on electricity, and society's tolerance for power outages is getting worse and worse. Power outages for daily maintenance and overhaul are the safest and most reliable way to operate the power system. However, power outages have a huge impact on industrial production and a greater impact on the quality of life of residents.

[0003] At present, live-line work in distribution networks is still mainly done manually. Workers are sent to high altitudes by manned devices (such as work buckets), directly contact live wires, and wear heavy insulating clothing to perform the entire operation. Insulated rods are used in some areas. However, the distribution network lines are usually very compact and the phase-to-phase distance is small. When workers perform live-line work, it is easy to cause short circuits, resulting in personal injury and other accidents. At the same time, this operation method not only has a high risk factor and high operation intensity, but also relies heavily on manual experience. In addition, the procedures are complicated. In harsh working environments, it is difficult to carry out related live-line work, so the lines have to be inspected and maintained under power outage conditions, which has a great impact on the social economy and people's lives. Therefore, while ensuring the safety of workers performing live-line work on the distribution network, in order to improve the efficiency of live-line work on the distribution network, it is becoming increasingly important to use robots instead of manual work for distribution network operations. In response to the above problems of manual work, many researchers have chosen to develop robot platforms to complete the corresponding distribution network operations. However, most of the robot platforms currently developed use an insulating rod with an intermediate potential to operate the operation target. The control accuracy is generally not high, and smooth operation cannot be achieved. Moreover, most of them are directly fixed to the bucket of the boom truck, and cannot adapt to different boom trucks and flexibly use limited boom truck resources.

[0004] Existing live working robots generally use insulating rods to connect the end of the robot arm and the work tooling in high-voltage environments to prevent the robot arm from being damaged by the environment. However, this traditional connection method has serious problems, such as reducing the operation accuracy and easily damaging the insulating rod. At the same time, it is difficult to achieve smooth operation and advance prediction of special situations by relying solely on visual information for operation and supervision. In addition, the development of distribution network robots is still in its early stages, and the resources of insulated boom trucks are limited. The connection method between distribution network robots and boom trucks is often one-to-one, resulting in a waste of the use value of the boom truck.

[0005] Existing distribution network operation robots use fixed metal cutters in the process of cutting and stripping leads. Metal cutters are fixed-size cutters and have high requirements on the wire diameter. On the one hand, too thick wires will cause the wires to be unable to enter the wire stripping tooling, making it impossible to operate. On the other hand, too thin wires will cause the wires to shake in the tooling, making it impossible to complete the cutting operation. This will lead to poor operation results. Summary of the invention

[0006] The purpose of the embodiments of the present application is to provide a lightweight live-working robot system and operating method based on an insulated boom truck, which can replace manpower to complete live-working work on the distribution network, reduce the labor intensity of operators, improve operating efficiency, and rationally utilize boom truck resources.

[0007] To achieve the above objectives, this application provides the following technical solutions:

[0008] In the first aspect, an embodiment of the present application provides a lightweight live-working robot system based on an insulated boom truck, comprising a robot working platform and an insulated boom truck, the robot working platform comprising a main control subsystem, a perception subsystem, a robotic arm subsystem, a tooling subsystem, a power subsystem and a human-computer interaction subsystem, the robot working platform is installed on the insulated boom truck, a robotic arm subsystem consisting of a robotic arm A and a robotic arm B is installed on the robot working platform, the tooling subsystem comprises a wire stripping tool and a wire crimping tool, a wire stripping tool is installed at the end of robotic arm A, and a wire crimping tool is installed at the end of robotic arm B, the main control subsystem, the perception subsystem and the power subsystem are installed on the robot working platform, the perception subsystem is used for high-precision three-dimensional reconstruction of the environment, the power subsystem is used to power the acquisition robot working platform, and the main control subsystem is used to control the robotic arm subsystem and the tooling subsystem.

[0009] The robot working platform is also equipped with an insulating cover plate, and the robot arm A and the robot arm B are installed above the insulating cover plate. The outer sides of the robot arm A and the robot arm B and the surface of the robot working platform are equipped with insulating clothing.

[0010] The perception subsystem includes a force sensor, a laser radar, a binocular camera, and a monitoring camera. The perception subsystem is installed on the robotic arm subsystem and the tooling subsystem to perceive the surrounding environment.

[0011] The wire stripping tooling includes a wire clamping module, a motor gear driving module, a U-shaped groove module, a laser cutting-based stripping module, a tool-based wire bending module and a vision module. The vision module is installed at the end of the robot arm A through an adapter bracket. The U-shaped groove module is installed on the adapter bracket of the vision module as the load-bearing position of the entire wire stripping tooling. The wire clamping module is installed above the U-shaped groove module, the laser cutting-based stripping module is installed on the right side of the U-shaped groove module, and the wire bending module is installed on the right side of the stripping module. The U-shaped groove module, the laser cutting-based stripping module, the tool-based wire bending module and the binocular camera are connected to the robot arm A through a camera fixing bracket.

[0012] The wire clamping module includes a right clamp, a left clamp and a straight rail cylinder. The right clamp and the left clamp are installed at the end of the straight rail cylinder. Clamping and loosening are achieved under the drive of the straight rail cylinder. After the lead is identified and positioned, the robot arm A is controlled to make the lead located in the U-shaped groove module, and the straight rail cylinder is pneumatically controlled to enable the right clamp and the left clamp to clamp the lead.

[0013] The motor gear drive module is fixed on the quick-loading device through the wire stripping tool fixing plate, the quick-changing device is installed on the camera fixing bracket, and the various parts of the motor gear drive module are fixed on the drive module cover plate. The first limiting pulley is used to reduce the resistance of the U-shaped gear shaft to rotate on the drive module cover plate. The wire stripping drive motor is connected to the right side of the motor fixing bracket. The motor gear drive module uses the wire stripping motor rotating shaft of the wire stripping drive motor to drive the wire stripping motor gear to rotate, thereby pushing the U-shaped gear shaft, and finally realizing the rotation cutting of the laser. At the same time, the contact friction between the gear shaft and the power transmission main line is minimized.

[0014] The U-shaped groove module is fixed as a whole on the stripping tool fixing plate, the U-shaped groove shell and the U-shaped docking plate are connected to form the U-shaped groove outer surface, and the second limiting pulley is used to reduce the resistance of the laser cutting module rotating on the U-shaped docking plate.

[0015] The laser cutting-based peeling module is fixed on the U-shaped groove through the first circular adapter plate, the laser is connected to the first circular adapter plate through the laser fixing plate, and the air blowing nozzle is installed at the tip of the laser head to provide direction for the air blowing. The wire diameter pad is installed between the first circular adapter plate and the U-shaped groove to adapt to the transmission main line of different wire diameters. After the laser operation is completed, the U-shaped gear shaft starts the rotation of the entire first circular adapter plate, and then controls the evenly distributed laser to ablate and cut the main line to be peeled against the wire diameter pad. The wire bending module is installed on the right side of the laser cutting module through the second circular adapter plate, and the small cylinder is installed on the second circular adapter plate. The wire bending tool is installed at the front end of the small cylinder and is pneumatically controlled, which can be extended and retracted. After the laser cutting-based peeling module completes the laser cutting, the wire bending module pneumatically drives the wire bending tool to hold the core of the transmission main line, and the second circular adapter plate rotates to peel off the outer skin of the main line.

[0016] The wire crimping tool is installed on the end of the robot arm B through the wire crimping base plate, the wire crimping base plate is connected to the wire crimping bracket and the driving motor, the wire clamp fixing plate on the wire crimping bracket is used to support the lower pressing plate of the wire clamp so that it remains parallel to the end of the robot arm B, the output shaft of the driving motor is connected to the first transmission gear, driving the double second transmission gears to rotate simultaneously, the double second transmission gears are connected to the screw sleeve, and the screw sleeve is connected to the double screw rod, thereby driving the double screw rod to rotate, and under the action of the rotation of the double screw rod and the upper pressing plate of the wire clamp fixed by the elastic pressure rod on the wire crimping bracket, the lower pressing plate and the upper pressing plate of the wire clamp are pressed tightly.

[0017] In a second aspect, an embodiment of the present application provides a method for operating a lightweight live-working robot based on an insulated boom truck, comprising the following specific steps:

[0018] The platform is insulated and the robot system is treated with equipotential treatment. The platform surface is wrapped with metal to make the platform share a common grounding point, achieve an equipotential effect, complete single-point grounding treatment, avoid potential difference noise, and design insulating covers and insulating clothing to avoid phase-to-phase short circuits;

[0019] Install the robot platform to the bucket. Use a crane to lift the robot platform, and then place it on the bucket of the bucket arm. Use the C-type clamps on both sides to clamp the platform on the bucket.

[0020] The boom truck stops working. The boom truck controller parks the boom truck base based on manual experience and sends the live working robot platform to high altitude.

[0021] Start the perception module to perform high-precision 3D reconstruction of the environment and conduct simulation verification;

[0022] The boom truck controller controls the boom truck to send the upper platform to the first work station. According to the simulation results, the operator controls the joints of the boom truck through the operating lever to send the robot platform to the first work station and waits for the platform to stabilize in preparation for the wire clamping operation.

[0023] Wire clamping operation: The binocular camera on the A-arm of the wire stripping tool performs high-precision identification and positioning of the lead wire to be connected, and then controls the A-arm to complete the clamping of the lead wire on the user side according to the positioning result;

[0024] The boom truck controller controls the boom truck to send the robot platform to the second workstation. After the robot completes the wire clamping work, the distance between the lead wire and the main wire exceeds the effective working range of the existing robot arm. The boom truck is manually controlled to move it to the second working position. After the control is completed, wait for the robot platform to stabilize.

[0025] The crimping arm clamps the white end of the lead, controls the stripping arm A to carry the lead and move to the intersection with the crimping tooling, uses the visual module on the crimping tooling to identify and locate the exposed metal part of the lead, and then adjusts the action of the crimping arm B to ensure that the crimping module of the crimping tooling is accurately aligned with the white end of the lead, completing the smooth connection of the lead;

[0026] Wire stripping operation: After the lead wire is connected, the system will control the A-arm to move to the main line photo taking position. Using the binocular depth camera at the end of the robotic arm, the system can identify and locate the main line with high precision. Then, the wire stripping tool at the end of the A-arm cooperates with the robotic arm to realize the main line stripping operation.

[0027] After the wire stripping operation is completed, the A arm withdraws from the operation station, and the B arm is used to complete the wire crimping work of the main line and the user-side lead wire;

[0028] After all operations are completed, the operator turns off the binocular camera, returns the robotic arm to its initial position, controls the boom truck to descend, retracts the working bucket, and drives the insulated boom truck away from the distribution network operation point, completing the maintenance.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows: the system platform adopts an upper symmetrical double-arm configuration, and is equipped with a force sensor at the end of the mechanical arm to enhance the entire system's perception of the external environment, and on this basis, the admittance control based on the bilateral activation function is adopted to perform wire clamping and wire feeding operations, so that the operation is smooth and special circumstances are avoided. The system adopts an equipotential operation mode, and the platform insulation cover and the mechanical arm insulation clothing are cleverly designed to minimize the risk of electric shock. The design of the C-type clamp adapted to different bucket buckets enables the system platform to be easily and quickly disassembled and replaced. Specific stripping and clamping tools are innovatively designed to complete the corresponding live working tasks. The wire stripping tool adopts laser stripping technology, using the difference in melting points between the wire and the wire core to achieve precise stripping of the wire skin, reducing costs and being suitable for different wire diameters. On this basis, a limit clamping device is used to reduce the shaking degree of the transmission line in the tooling and improve the efficiency of the wire stripping operation.

[0030] On the basis of equipotential, an insulating cover is designed for the platform surface and an insulating clothing is designed for the robotic arm (official testing has shown that the insulation performance is sufficient), which solves the problem of phase-to-phase short circuit risk.

[0031] In order to adapt to special situations and prevent the robot arm from crashing, a sensor information channel - a six-axis force sensor is added, and an upper symmetrical double-arm configuration with the maximum load utilization rate of the robot arm is designed. Then, admittance control is used according to the force information to achieve a smoother operation.

[0032] In order to adapt to different boom trucks, a special fixing device for C-type clamps is designed to realize the rapid disassembly and replacement of the system platform.

[0033] In order to solve the above problems, a wire clamping module is designed with the axis center aligned with the wire stripping U-shaped disc, so that the main line position can be restricted when the wire stripping tool is cutting the transmission line, thereby making the laser cutting accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 This is the hardware schematic diagram of the live working robot system of this application;

[0036] Figure 2 This is an overall schematic diagram of the live-working robot system of this application;

[0037] Figure 3 This is the insulation treatment diagram of the equipotential working robot platform of this application;

[0038] Figure 4 This is the installation diagram of the C-type clamp for this application;

[0039] Figure 5 This is a modular diagram of the wire stripping tooling of this application;

[0040] Figure 6 This is a diagram of the clamping module of this application;

[0041] Figure 7 This is an overall schematic diagram of the wire stripping tooling of this application;

[0042] Figure 8 This is a schematic diagram of the motor gear drive module of this application;

[0043] Fig. 9 This is a schematic diagram of the U-shaped slot module of the present application;

[0044] Fig.10 This is a schematic diagram of the laser cutting module of this application;

[0045] Fig.11 This is a schematic diagram of the wire bending structure of this application;

[0046] Fig.12 This is a schematic diagram of the visual module of this application;

[0047] Fig.13 This is the installation diagram of the force sensor of this application;

[0048] Fig.14 This is a schematic diagram of the wire pressing module of this application;

[0049] Fig.15 Schematic diagram of the method flow of this application. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0051] The terms "comprises," "comprising," or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0052] The terms "first", "second", etc. are only used to distinguish one entity or operation from another entity or operation, and should not be understood as indicating or implying relative importance, nor should they be understood as requiring or implying any such actual relationship or order between these entities or operations.

[0053] Reference Figure 1 and Figure 2 An embodiment of the present invention provides a lightweight live-working robot system based on an insulated bucket arm vehicle, comprising a robot working platform and an insulated bucket arm vehicle, the robot working platform comprising a main control subsystem, a perception subsystem, a mechanical arm subsystem, a tooling subsystem, a power subsystem and a human-computer interaction subsystem, the robot working platform is installed on the insulated bucket arm vehicle, a mechanical arm subsystem consisting of a mechanical arm A and a mechanical arm B is installed on the robot working platform, the tooling subsystem comprises a wire stripping tool and a wire pressing tool, a wire stripping tool is installed at the end of the mechanical arm A, and a wire pressing tool is installed at the end of the mechanical arm B, the main control subsystem, the perception subsystem and the power subsystem are installed on the robot working platform, the perception subsystem is used for high-precision three-dimensional reconstruction of the environment, the power subsystem is used to power the acquisition robot working platform, and the main control subsystem is used to control the mechanical arm subsystem and the tooling subsystem.

[0054] The whole system is divided into two parts: the insulating arm vehicle 1 and the live working robot platform 2. The insulating arm vehicle 1 includes an insulating arm 100 and an insulating bucket 101 at the end of the insulating arm 100. The live working robot platform 2 is installed on the insulating bucket 100. The robot arm A3 and the robot arm B4 are installed on the working platform 2. The end of the A arm 3 is equipped with a wire stripping tool 5, and the B arm 4 is equipped with a wire pressing tool 6. The transmission lead 7 and the transmission main line 8 are the operation targets of the distribution network transmission line scene. The task content is to connect the lead 7 to the main line 8.

[0055] The typical wire joining process mainly includes the following steps: ① The robot platform is installed on the bucket; ② The bucket arm is parked; ③ The laser radar is used for large-scale 3D reconstruction; ④ Operation simulation verification; ⑤ The platform reaches the first station; ⑥ Wire clamping operation; ⑦ The platform reaches the second station; ⑧ The wire crimping arm clamps the white end; ⑨ Wire stripping operation; ⑩ Wire crimping operation. The flow chart is as follows Fig.15 shown.

[0056] like Figure 1-Figure 15 As shown,

[0057] ①Platform insulation treatment

[0058] The robot system is treated with equipotential treatment. The platform surface is wrapped with metal to make the platform share a common grounding point, achieve equipotential effect, complete single-point grounding treatment, and avoid potential difference noise. In order to avoid phase short circuit, an insulating cover and insulating clothing are designed. The insulating material is acrylonitrile-butadiene-styrene plastic ABS plastic, which can withstand high voltage of 40KV and is used on the platform surface and the robot arm. The details are as follows Figure 3 As shown:

[0059] The insulating cover plate 9 is directly mounted on the surface of the working platform 2 and is rigidly fixed by the concave and convex parts on the surface of the working platform. The insulating clothing 10 is modularly designed according to the outer joints of the robot arm B4 and each module is connected together using special ABS glue.

[0060] ②Robot platform installed on bucket

[0061] First, use a crane to lift the robot platform, then place it on the bucket, and use the C-type clamps on both sides to clamp the platform on the bucket. The C-type clamps are as follows: Figure 5 As shown in 11,

[0062] The C-type clamp 11 is fixed by four screws, the first two of which are used to limit the platform 2 out of the edge of the insulating bucket 11, and the last two screw holes are used to press the edge of the platform 2 to the edge of the bucket 1.

[0063] ③Boom truck parking work

[0064] The boom truck controller parks the boom truck base based on manual experience and sends the live working robot platform to high altitude.

[0065] ④Start the perception module to perform high-precision 3D reconstruction of the environment and perform simulation verification

[0066] After parking the boom truck, we use the laser radar installed on the robot platform to perform a high-precision three-dimensional reconstruction of the system's workspace. This process allows us to accurately obtain the spatial position of the lead wires and main lines to be connected in the distribution network scenario. Subsequently, the entire operation is simulated on the human-computer interaction end and the results are displayed. The simulation will build the actual scanning information of the laser radar into a simulation scene, calculate the target station to which the boom truck is to move in the simulation scene, and judge whether the target station is reachable based on the spatial position relationship between the boom truck and the robot platform. If it is reachable, it means that the simulation result is correct, and we will officially start the operation. If it is found that the boom truck carrying the robot platform in the simulation scene cannot reach the target point and there is a distance error, we will reopen the perception module at different locations, perform scene perception to correct errors, and re-model and simulate until the accuracy of the results is ensured. This process ensures the efficiency and reliability of patent operations.

[0067] ⑤ The boom truck controller controls the boom truck to deliver the upper platform to the first work station

[0068] According to the simulation results, people control the joints of the boom truck through operating levers, send the robot platform to the first work station, and wait for the platform to stabilize in preparation for the wire clamping operation.

[0069] ⑥ Wire clamping operation

[0070] The binocular camera on the A-arm of the wire stripping tooling is used to perform high-precision identification and positioning of the lead wires to be connected. Then, based on the positioning results, the A-arm is controlled to complete the clamping of the lead wires on the user side.

[0071] The wire clamping operation is completed by the wire clamping module in the wire stripping tooling. The wire stripping tooling adopts a modular design, and its module differentiation is shown in the figure below.

[0072] The vision module 55 is installed at the end of the robot arm A4 through an adapter bracket. The U-shaped groove module 52 is installed on the adapter bracket of the vision module 55 as the load-bearing position of the entire wire stripping tooling 5. The wire clamping module 50 is installed above the U-shaped groove module. The laser cutting-based stripping module 53 is installed on the right side of the U-shaped groove module 52, and the wire bending module 54 is installed on the right side of the stripping module 53.

[0073] The other modules will be described in detail in the following process ⑨ wire stripping operation.

[0074] The clamping module is mainly composed of a linear cylinder with rails, a clamping claw, etc. In the initial state, the cylinder is parallel to the base and the cylinder stroke is at the maximum value.

[0075] The right clamp 501 and the left clamp 502 are both installed at the end of the straight rail cylinder 503, and can be clamped and released under the drive of the straight rail cylinder 503. After the lead 7 is identified and positioned, the robot arm A3 is controlled to make the lead 7 located in the U-shaped groove module 52, and the straight rail cylinder 503 is pneumatically controlled to achieve the right clamp 501 and the left clamp 502 clamping the lead 7.

[0076] ⑦ The boom truck controller controls the boom truck to send the robot platform to the second station

[0077] After the robot completes the wire clamping work, since the distance between the lead wire and the main wire exceeds the effective working range of the existing robotic arm, it is necessary to manually control the boom truck and move it to the second working position. After the control is completed, wait for the robot platform to stabilize.

[0078] ⑧ The wire crimping arm clamps the white end of the lead wire

[0079] The stripping arm A is controlled to carry the lead wire to the intersection with the crimping tooling, and the visual module on the crimping tooling is used to identify and locate the exposed metal part of the lead wire. Then, the crimping module of the crimping tooling is accurately aligned with the white end of the lead wire by adjusting the action of the crimping arm B to complete the smooth connection of the lead wire.

[0080] ⑨Wire stripping

[0081] After the lead wire is connected, the system will control the A-arm to move to the main line photo taking position. Using the binocular depth camera at the end of the robotic arm, the system can identify and locate the main line with high precision. Subsequently, the stripping tool at the end of the A-arm cooperates with the robotic arm to strip the main line.

[0082] Specifically, the wire stripping operation relies on the cooperation of professionally designed laser tooling and a robotic arm. The tooling adopts a modular design. In addition to the above-mentioned wire clamping module 50, it mainly includes: a motor gear drive module 51, a U-shaped groove module 52, a laser cutting-based stripping module 53, a wire bending module 54 and a visual module 55. The overall schematic diagram of the wire stripping tooling is as follows:

[0083] The installation order of each module is as follows: first, the vision module 55 is installed on the robot arm B3, the U-shaped slot module 52 is installed above the vision module 55, the motor gear drive module 51 is inside the U-shaped slot module 52, the laser cutting-based peeling module 53 is installed on the left side of the U-shaped slot module 52, and finally the wire bending module 54 is installed on the left side of the laser cutting-based peeling module 53.

[0084] The specific components and functions of each module are described in detail as follows:

[0085] 1 Motor gear drive module

[0086] The servo motor is used as the rotational power of the wire stripping tool, and the corresponding gear box is designed for power transmission, driving the laser to surround the transmission line 360° and ablate the transmission line. The model is shown below;

[0087] The motor gear drive module 51 is fixed on the quick-release device 516 through the wire stripping tool fixing plate 515. The quick-release device 516 is installed on the camera fixing bracket 551. The various components of the motor gear drive module 51 are fixed on the drive module cover 20. The first limiting pulley 521 is used to reduce the resistance of the U-shaped gear shaft 510 to rotate on the drive module cover 20. The wire stripping drive motor 511 is connected to the right side of the motor fixing bracket 514.

[0088] The driving device 51 uses the stripping motor rotating shaft 512 of the stripping driving motor 511 to drive the stripping motor gear 513 to rotate, thereby pushing the U-shaped gear shaft 510, and finally realizing the rotary cutting of the laser, with a large torque output. The overall weight is controlled below 2.8kg, and the contact friction between the gear shaft 510 and the power transmission main line 8 is reduced to a minimum. The module is effectively supported by the robot arm in the direction of gravity, achieving the goal of reducing the overall weight.

[0089] 2U slot module

[0090] The U-shaped groove module 52 is fixed as a whole on the wire stripping tool fixing plate 515, and the U-shaped groove shell 524) and the U-shaped docking plate 522 are connected to form the outer surface of the U-shaped groove 52, and the second limiting pulley 523 is used to reduce the resistance of the laser cutting module 53 rotating on the U-shaped docking plate 522.

[0091] The U-shaped slot module 52 is designed mainly to enable the robot arm B3 to move back and forth in a straight line along the main line 8 of the transmission line. The U-shaped docking plate 522 is smoothly chamfered to reduce the friction with the transmission line, ensuring that the robot arm B3 carries the wire stripping tool 5 to reciprocate along the axial direction of the main line 8 during the routing process.

[0092] 3Laser cutting modules

[0093] The laser cutting module 53 is fixed on the U-shaped groove 52 through the first circular adapter plate 534, the laser 530 is connected to the first circular adapter plate 534 through the laser fixing plate 531, and the air blowing nozzle 533 is installed at the tip of the laser 530 head to provide a direction for air blowing. The wire diameter pad 532 is installed between the first circular adapter plate 534 and the U-shaped groove 52 to adapt to the transmission main line 8 of different wire diameters.

[0094] After the laser operation is completed, the U-shaped gear shaft 510 starts the rotation of the entire first circular adapter plate 534, thereby controlling the evenly distributed lasers 530 to ablate and cut the main wire 8 to be stripped against the wire diameter pad 532. In the laser device, the laser air nozzle 533 has air blowing to ensure that the black insulation layer is no longer attached to the internal aluminum core, thereby effectively reducing the weight of the component.

[0095] To sum up, the laser cutting process is as follows:

[0096] 1. At the starting point of the wire stripping operation, the gear shaft is controlled to rotate 120° so that the three lasers can complete the complete circumferential cutting of the external insulation layer and expose the aluminum core; 2. The machine moves along the direction of the wire so that the tooling cuts a straight line. 3: After reaching the end point of the wire stripping operation, the gear shaft is controlled to rotate 120° in the opposite direction to complete the circumferential cutting at the end point.

[0097] After the work is completed, the transmission line diagram is as follows.

[0098] 4. Cable Breaker Module

[0099] The wire bending module 54 is installed on the right side of the laser cutting module 53 through the second circular adapter plate 542. The small cylinder 540 is installed on the second circular adapter plate 542. The wire bending tool 541 is installed at the front end of the small cylinder 540 and is pneumatically controlled to extend and retract.

[0100] After the laser module 53 completes the laser cutting, the wire bending module 54 pneumatically drives the wire bending tool 541 to hold the core of the power transmission main line 8, and the second circular adapter plate 542 rotates to peel off the outer skin of the main line 8.

[0101] Vision Module

[0102] The vision module is used to locate the work targets such as the work leads and main lines before clamping and stripping operations in the live distribution network to determine the moving position of the robot arm.

[0103] The binocular camera 550 is connected to the robot A3 via a camera fixing bracket 551. In order for the robot A3 to obtain the specific position of the target, the binocular camera 550 is used to collect color and depth images, and combined with the recognition and positioning algorithm, it can finally achieve rapid and accurate recognition and positioning of the target, laying the foundation for the wire stripping operation.

[0104] ⑩Creasing work

[0105] After the wire stripping operation is completed, the A arm withdraws from the operating station, and the B arm is used to complete the wire crimping work of the main line and the user-side lead wire.

[0106] The B arm holds the lead wire. The lead wire is a flexible object with certain flexibility and bendability, but its interior is usually made of metal material with strong strength and rigidity. Therefore, during the movement of the robot arm with the lead wire, the force and torque of the lead wire on the end of the robot arm will change accordingly. In order to avoid downtime, the force sensor 12 is installed at the position corresponding to the XYZ direction of the coordinate system of the end position of the robot arm B4 as follows Fig.13 As shown, a force sensor is used to perform smooth control so that the robot arm moves naturally to the wire pressing operation position.

[0107] The specific compliance control method is a compliance interaction technology based on admittance control. Impedance / admittance control is a common method for controlling contact force. Its core idea is to establish a dynamic relationship between position deviation and force deviation based on the second-order differential equation of "mass-damper-spring". Impedance is used to describe a behavior exhibited by the robot. Different impedance coefficients can be set to give the robot different dynamic characteristics.

[0108] The one-dimensional impedance model formula is as follows:

[0109]

[0110] In formula 1, x represents position, m represents mass, b represents damping, k represents stiffness, and f represents the external contact force of the robot. If b or k in the impedance coefficient is set large, it is called high impedance; if it is set small, it is called low impedance. If the contact force is responded to by the motion deviation in Cartesian space, this method is called admittance control.

[0111] The input of the target admittance characteristic of this system in the pressing stage of the actual fire connection operation is the contact force between the tooling and the lead, and the output is the adjustment amount of the end position of the robot arm. Since the compliance control lead requires that the contact force measured by the robot arm force sensor tracks the expected external contact force, precise tracking is not required. A bilateral activation function is added on the basis of the traditional admittance control structure so that when the actual external contact force exceeds the expected contact force, the admittance output force is greater than 0. The formula is as follows:

[0112]

[0113] In formula 2, F represents the contact force measured by the robot force sensor, F d represents the expected external contact force, F e represents the control force to be controlled by admittance control. First, set larger initial values ​​for m, b, and k in formula 1, and then e The optimal parameters of the descending speed are adjusted by the half method. Finally, the contact force measured by the robot force sensor is reasonably calculated to the offset of the robot movement space, following the direction of the lead wire to reduce the contact force, thereby achieving smooth control.

[0114] After reaching the wire crimping operation position, the robot arm B4 is controlled to make the main wire enter the wire clamp and be fixed. The wire crimping motor drives the gear shaft and sleeve to rotate until the wire clamp is tightened to complete the wire crimping. Finally, the robot arm is controlled to make the wire clamp leave the tooling to complete the wire crimping operation.

[0115] The wire crimping tool 6 is installed on the end of the robot arm B4 through the wire crimping base plate 613. The wire crimping base plate 613 is connected to the wire crimping bracket 612 and the driving motor 601. The wire clamp fixing plate 606 on the wire crimping bracket 612 is used to support the lower pressing plate 609 of the wire clamp so that it remains parallel to the end of the robot arm B44. The output shaft 602 of the driving motor 601 is connected to the first transmission gear 604, driving the double second transmission gears 604 to rotate at the same time. The double second transmission gears 604 are connected to the screw sleeve 605, and the screw sleeve 605 is connected to the double screw 607, thereby driving the double screw 607 to rotate. Under the action of the rotation of the double screw 607 and the elastic pressure rod 608 on the wire crimping bracket 611 fixing the upper pressing plate 610 of the wire clamp, the lower pressing plate 609 and the upper pressing plate 610 of the wire clamp are pressed tightly.

[0116] 10 End of maintenance

[0117] After all operations are completed, the operator turns off the binocular camera, the robotic arm returns to the initial position, manually controls the boom truck to descend, retracts the working bucket, and drives the insulated boom truck away from the distribution network operation point, completing the maintenance.

[0118] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A lightweight live-line working robot system based on an insulated boom truck, characterized in that: It includes a robot work platform and an insulated bucket arm vehicle. The robot work platform includes a main control subsystem, a perception subsystem, a mechanical arm subsystem, a tooling subsystem, a power subsystem and a human-computer interaction subsystem. The robot work platform is installed on the insulated bucket arm vehicle. A mechanical arm subsystem consisting of a mechanical arm A and a mechanical arm B is installed on the robot work platform. The tooling subsystem includes a wire stripping tool and a wire crimping tool. The wire stripping tool is installed at the end of the mechanical arm A, and the wire crimping tool is installed at the end of the mechanical arm B. The main control subsystem, the perception subsystem and the power subsystem are installed on the robot work platform. The perception subsystem is used for high-precision three-dimensional reconstruction of the environment, the power subsystem is used to power the acquisition robot work platform, and the main control subsystem is used to control the mechanical arm subsystem and the tooling subsystem.

2. A lightweight live-working robot system based on an insulated boom truck according to claim 1, characterized in that: The robot working platform is also equipped with an insulating cover plate, and the robot arm A and the robot arm B are installed above the insulating cover plate. The outer sides of the robot arm A and the robot arm B and the surface of the robot working platform are equipped with insulating clothing.

3. The lightweight live-working robot system based on an insulated boom truck according to claim 1 is characterized in that: The perception subsystem includes a force sensor, a laser radar, a binocular camera, and a monitoring camera. The perception subsystem is installed on the robotic arm subsystem and the tooling subsystem to perceive the surrounding environment.

4. The lightweight live-working robot system based on an insulated boom truck according to claim 1 is characterized in that: The wire stripping tooling includes a wire clamping module, a motor gear driving module, a U-shaped groove module, a laser cutting-based stripping module, a tool-based wire bending module and a vision module. The vision module is installed at the end of the robot arm A through an adapter bracket. The U-shaped groove module is installed on the adapter bracket of the vision module as the load-bearing position of the entire wire stripping tooling. The wire clamping module is installed above the U-shaped groove module, the laser cutting-based stripping module is installed on the right side of the U-shaped groove module, and the wire bending module is installed on the right side of the stripping module. The U-shaped groove module, the laser cutting-based stripping module, the tool-based wire bending module and the binocular camera are connected to the robot arm A through a camera fixing bracket.

5. A lightweight live-line working robot system based on an insulated boom truck according to claim 4, characterized in that: The wire clamping module includes a right clamp, a left clamp and a straight rail cylinder. The right clamp and the left clamp are installed at the end of the straight rail cylinder. Clamping and loosening are achieved under the drive of the straight rail cylinder. After the lead is identified and positioned, the robot arm A is controlled to make the lead located in the U-shaped groove module, and the straight rail cylinder is pneumatically controlled to enable the right clamp and the left clamp to clamp the lead.

6. A lightweight live-line working robot system based on an insulated boom truck according to claim 5, characterized in that: The motor gear drive module is fixed on the quick-loading device through the wire stripping tool fixing plate, the quick-changing device is installed on the camera fixing bracket, and the various parts of the motor gear drive module are fixed on the drive module cover plate. The first limiting pulley is used to reduce the resistance of the U-shaped gear shaft to rotate on the drive module cover plate. The wire stripping drive motor is connected to the right side of the motor fixing bracket. The motor gear drive module uses the wire stripping motor rotating shaft of the wire stripping drive motor to drive the wire stripping motor gear to rotate, thereby pushing the U-shaped gear shaft, and finally realizing the rotation cutting of the laser. At the same time, the contact friction between the gear shaft and the power transmission main line is minimized.

7. A lightweight live-line working robot system based on an insulated boom truck according to claim 6, characterized in that: The U-shaped groove module is fixed as a whole on the stripping tool fixing plate, the U-shaped groove shell and the U-shaped docking plate are connected to form the U-shaped groove outer surface, and the second limiting pulley is used to reduce the resistance of the laser cutting module rotating on the U-shaped docking plate.

8. The lightweight live-line working robot system based on an insulated boom truck according to claim 7 is characterized in that: The laser cutting-based peeling module is fixed on the U-shaped groove through the first circular adapter plate, the laser is connected to the first circular adapter plate through the laser fixing plate, and the air blowing nozzle is installed at the tip of the laser head to provide direction for the air blowing. The wire diameter pad is installed between the first circular adapter plate and the U-shaped groove to adapt to the transmission main line of different wire diameters. After the laser operation is completed, the U-shaped gear shaft starts the rotation of the entire first circular adapter plate, and then controls the evenly distributed laser to ablate and cut the main line to be peeled against the wire diameter pad. The wire bending module is installed on the right side of the laser cutting module through the second circular adapter plate, and the small cylinder is installed on the second circular adapter plate. The wire bending tool is installed at the front end of the small cylinder and is pneumatically controlled, which can be extended and retracted. After the laser cutting-based peeling module completes the laser cutting, the wire bending module pneumatically drives the wire bending tool to hold the core of the transmission main line, and the second circular adapter plate rotates to peel off the outer skin of the main line.

9. The lightweight live-line working robot system based on an insulated boom truck according to claim 1, characterized in that: The wire crimping tool is installed on the end of the robot arm B through the wire crimping base plate, the wire crimping base plate is connected to the wire crimping bracket and the driving motor, the wire clamp fixing plate on the wire crimping bracket is used to support the lower pressing plate of the wire clamp so that it remains parallel to the end of the robot arm B, the output shaft of the driving motor is connected to the first transmission gear, driving the double second transmission gears to rotate simultaneously, the double second transmission gears are connected to the screw sleeve, and the screw sleeve is connected to the double screw rod, thereby driving the double screw rod to rotate, and under the action of the rotation of the double screw rod and the upper pressing plate of the wire clamp fixed by the elastic pressure rod on the wire crimping bracket, the lower pressing plate and the upper pressing plate of the wire clamp are pressed tightly.

10. A lightweight live-working robot operation method based on an insulated boom truck, characterized in that: The specific steps include: The platform is insulated and the robot system is treated with equipotential treatment. The platform surface is wrapped with metal to make the platform share a common grounding point, achieve an equipotential effect, complete single-point grounding treatment, avoid potential difference noise, and design insulating covers and insulating clothing to avoid phase-to-phase short circuits; Install the robot platform to the bucket. Use a crane to lift the robot platform, and then place it on the bucket of the bucket arm. Use the C-type clamps on both sides to clamp the platform on the bucket. The boom truck stops working. The boom truck controller parks the boom truck base based on manual experience and sends the live working robot platform to high altitude. Start the perception module to perform high-precision 3D reconstruction of the environment and conduct simulation verification; The boom truck controller controls the boom truck to send the upper platform to the first work station. According to the simulation results, the operator controls the joints of the boom truck through the operating lever to send the robot platform to the first work station and waits for the platform to stabilize in preparation for the wire clamping operation. Wire clamping operation: The binocular camera on the A-arm of the wire stripping tool performs high-precision identification and positioning of the lead wire to be connected, and then controls the A-arm to complete the clamping of the lead wire on the user side according to the positioning result; The boom truck controller controls the boom truck to send the robot platform to the second workstation. After the robot completes the wire clamping work, the distance between the lead wire and the main wire exceeds the effective working range of the existing robot arm. The boom truck is manually controlled to move it to the second working position. After the control is completed, wait for the robot platform to stabilize. The crimping arm clamps the white end of the lead, controls the stripping arm A to carry the lead and move to the intersection with the crimping tooling, uses the visual module on the crimping tooling to identify and locate the exposed metal part of the lead, and then adjusts the action of the crimping arm B to ensure that the crimping module of the crimping tooling is accurately aligned with the white end of the lead, completing the smooth connection of the lead; Wire stripping operation: After the lead wire is connected, the system will control the A-arm to move to the main line photo taking position. Using the binocular depth camera at the end of the robotic arm, the system can identify and locate the main line with high precision. Then, the wire stripping tool at the end of the A-arm cooperates with the robotic arm to realize the main line stripping operation. After the wire stripping operation is completed, the A arm withdraws from the operation station, and the B arm is used to complete the wire crimping work of the main line and the user-side lead wire; After all operations are completed, the operator turns off the binocular camera, returns the robotic arm to its initial position, controls the boom truck to descend, retracts the working bucket, and drives the insulated boom truck away from the distribution network operation point, completing the maintenance.

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