Electromagnetic protection device and method suitable for 10KV distribution line hot-line work mechanical arm

Abstract

The invention belongs to the technical field of distribution line hot-line work, and particularly discloses an electromagnetic protection device and method suitable for a 10KV distribution line hot-line work mechanical arm, the electromagnetic protection device comprises an anti-electromagnetic main control box, an insulation mechanical arm and a tail end tool protection assembly, the anti-electromagnetic main control box comprises a shell and a protection layer, and a main control board is arranged in the shell; the protective layer is arranged on the inner surface of the shell and is used for performing double-layer electromagnetic shielding on the main control board; the tail end tool protection assembly is arranged at one end of the insulating mechanical arm, a control panel in the tail end tool protection assembly is used for receiving a control signal from the main control panel and transmitting the control signal to the motor driving board through an optical fiber, and the motor driving board emits a driving signal to drive a motor to act so as to operate a wire; the power supply module is used for separately supplying power to the control board and the motor driving board. Software shielding and hardware shielding are considered at the same time, the anti-electromagnetic interference capacity of the hot-line work mechanical arm can be improved, and the service life of equipment is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of live working on distribution lines, and in particular to an electromagnetic protection device and method suitable for a mechanical arm for live working on 10KV distribution lines. Background Art

[0002] With the rapid development of live working, the remote control live working used during the operation has filled the space with a large amount of electromagnetic waves with different energies and rich spectrum information, resulting in serious electromagnetic pollution problems, posing a great threat to electronic equipment and human health. The transmission line is in a strong electromagnetic environment, and the electromagnetic field environment is complex, and the auxiliary robot arm itself has many electromagnetic sensitive components. If the auxiliary robot arm is not designed with electromagnetic protection, the auxiliary robot arm will not work properly. Therefore, electromagnetic analysis and protection design of the live working auxiliary robot arm are necessary to ensure the reliable operation of the auxiliary robot arm. In the actual working process of the live working auxiliary robot arm, air breakdown, communication interruption, control system crash, etc. are prone to occur, which seriously affects the safety, reliability and working efficiency of the auxiliary robot arm.

[0003] At present, most of the live working is connected by wired lines, and the methods for preventing electromagnetic radiation interference of such live working tools are generally the following:

[0004] First, use highly integrated chips with strong anti-interference capabilities in the electronic system to ensure that the control system has strong adaptability to electromagnetic compatibility as much as possible;

[0005] Second, the use of software anti-interference technology for electronics; such as digital filtering, automatic verification during information transmission, and self-recovery technology in case of failure during information transmission;

[0006] Third, use hardware to resist interference, use shielding materials such as tin foil to stick inside the control box to resist electromagnetic radiation, or use grounding technology to form an equipotential between the operating device and the wires to suppress and eliminate the coupling and radiation between the interference source and the disturbed equipment, and cut off the path of electromagnetic interference.

[0007] Although highly integrated anti-interference chips have strong anti-interference capabilities in theory, they face multiple shortcomings in practical applications. First, the high cost of such chips may pose a challenge to the economic feasibility of lightweight auxiliary manipulators. Second, although these chips show superior anti-interference performance in theory, the lack of technical maturity may lead to their less than ideal adaptability in complex electromagnetic environments. In terms of software anti-interference technology, digital filtering and automatic verification technology in the information transmission process have limited processing capabilities when facing high-intensity and rapidly changing electromagnetic interference, which may lead to data loss or bit errors. In addition, the problem of poor real-time performance may also affect the efficiency and safety of the system, because these technologies may have response delays when dealing with transient interference. Hardware anti-interference technologies such as shielding materials have limited protection effects under high-intensity electromagnetic fields, and the implementation of grounding technology may also become difficult due to complexity and requirements in high-voltage environments. These factors may increase the size and weight of the device, which contradicts the need for lightweight. Finally, the existing electromagnetic protection technology is not adaptable enough, mainly designed for traditional electrical equipment, and it is difficult to cope with interference in high voltage and complex electromagnetic environments. In the case of live working, the influence of voltage and current creepage on electromagnetic protection must also be considered, and the insulation of the device also needs to be focused. Therefore, in order to make up for the above shortcomings, it is necessary to propose a more effective design of the electromagnetic protection structure of the auxiliary manipulator. Summary of the invention

[0008] In order to solve the deficiencies in the prior art, the present invention provides an electromagnetic protection device and method suitable for a live working robot arm of a 10KV distribution line, while taking into account software shielding and hardware shielding, which can improve the anti-electromagnetic interference capability of the live working robot arm and prolong the service life of the equipment.

[0009] The present invention adopts the following technical solution.

[0010] In the first aspect, the present invention provides an electromagnetic protection device suitable for a live working robot arm of a 10KV distribution line, comprising: an anti-electromagnetic main control box and an insulating robot arm, wherein the anti-electromagnetic main control box is arranged on a fixed module of the insulating robot arm, and the anti-electromagnetic main control box comprises: an outer shell and a protective layer, wherein a main control board is arranged inside the outer shell; the protective layer is arranged on the inner surface of the outer shell, and is used for double-layer electromagnetic shielding of the main control board; the electromagnetic protection device also comprises: an end tool protection assembly; the end tool protection assembly is arranged at one end of the insulating robot arm away from the fixed module, and a motor, a control board, a motor drive board and a power supply module are arranged inside the end tool protection assembly; the control board is used for receiving a control signal from the main control board, and transmitting the control signal to the motor drive board through an optical fiber, and the motor drive board transmits a drive signal to drive the motor to operate to operate the conductor; the power supply module is used for separately supplying power to the control board and the motor drive board.

[0011] Preferably, the protective layer includes: a copper powder spray layer and a magnetic powder filling layer; the copper powder spray layer includes: a first layer of resin, the first layer of resin covers the inner surface of the outer shell; a plurality of first slots are provided on one side of the first layer of resin, and the first slots are filled with copper powder; the magnetic powder filling layer includes: a second layer of resin, the second layer of resin covers the surface of the copper powder spray layer; a plurality of second slots are provided on one side of the first layer of resin, and the second slots are filled with magnetic powder, and the injection port of the second slot is filled with a resin sealing layer.

[0012] Preferably, the end tool protection assembly includes: an end tool housing; the motor is arranged at the upper part of the end tool housing, the output end of the motor is coaxially connected to the sleeve arranged above the end tool housing, and the sleeve is used to operate the wire; the motor drive board is located below the motor and is electrically connected to the motor; the control board is arranged below the motor drive board and has a first distance between the motor drive board and the motor drive board; a photoelectric conversion signal board for optical fiber transmission signals is arranged between the motor drive board and the control board.

[0013] Preferably, one end of the photoelectric conversion signal board is provided with a driving end interface for connecting to the motor driving board, and the other end is provided with a control end interface for connecting to the control board; the inner sides of the driving end interface and the control end interface are provided with photoelectric conversion modules connected thereto, and the inner side of each photoelectric conversion module is provided with an LED lamp and a photoresistor; the optical signal is transmitted between the photoresistor located in one photoelectric conversion module and the LED lamp located in another photoelectric conversion module through optical fiber.

[0014] Preferably, the power supply module includes: power supply 1 and power supply 2; power supply 1 is arranged below the motor drive board to supply power to the motor drive board, and at least a first distance is maintained between power supply 1 and the control board; power supply 2 is arranged below the control board to supply power to the control board.

[0015] Preferably, the power supply module also includes: a self-resetting charging component; the self-resetting charging component is connected to power source one and power source two, and the self-resetting charging component is provided with a charging port, which is used to connect power source one and power source two to the charging port after the power source is inserted into the charging port, and automatically disconnect power source one and power source two from the charging port after the power source is unplugged from the charging port.

[0016] Preferably, the self-resetting charging component includes: a re-electric shell; a power supply interface 1 is provided on the upper part of one side of the re-electric shell, and a power supply interface 2 is provided on the lower part; the charging port is movably provided at the bottom of the re-electric shell; four conductive sheets are fixedly installed inside the re-electric shell, two of which are located at the upper part of the re-electric shell and are respectively connected to the positive and negative poles of the power supply interface 1, and the other two conductive sheets are located at the lower part of the re-electric shell and are respectively connected to the positive and negative poles of the power supply interface 2 and the positive and negative poles of the charging port; a transmission component is provided inside the re-electric shell, and the transmission component is movably connected to the charging port, and is used to contact the contacts of the four conductive sheets when the charging port is inserted into the power supply and moves upward, and to separate from the contacts of the four conductive sheets when the charging port is unplugged from the power supply and moves downward.

[0017] Preferably, the transmission assembly includes a reset shaft, a first conductive rod, a second conductive rod, a push rod and a push rod slider; the two ends of the reset shaft are respectively rotatably connected to the inner walls of the two sides of the composite power shell, and a reset spring is provided; the first conductive rod and the second conductive rod are respectively located on both sides of the reset shaft, and are both vertically fixedly connected to the reset shaft; the upper and lower ends of the first conductive rod and the second conductive rod are each provided with a contact, and the four contacts are used to simultaneously contact or separate with the contacts of the four conductive sheets; the charging port is movably arranged at the bottom of the composite power shell, and a push rod slider is slidably provided on the second conductive rod, one end of the push rod is hinged to the push rod slider, and the other end is hinged to the charging port.

[0018] Preferably, the insulating mechanical arm comprises: a mechanical arm body, and the surface of the mechanical arm body is wrapped with insulating material.

[0019] In the second aspect, the present invention provides an electromagnetic protection method using the aforementioned electromagnetic protection device suitable for a live working robot arm of a 10KV distribution line, comprising the following steps: Step 1, setting an electromagnetic protection main control box with a main control board inside on a fixed module of an insulating robot arm, and setting a double-layer electromagnetic shielding layer on the inner surface of the electromagnetic protection main control box; Step 2, setting an end tool protection assembly at one end of the insulating robot arm away from the fixed module; Step 3, transmitting a wireless control signal to a control board located inside the end tool protection assembly through the main control board; Step 4, the control board receives the wireless control signal, and transmits the wireless control signal to the motor drive board through an optical fiber; Step 5, after receiving the wireless control signal, the motor drive board drives the motor to operate and operate the wire.

[0020] Preferably, the electromagnetic protection method also includes the following steps: installing power supply 1 inside the end tool protection component, so that power supply 1 is below the motor drive board, and maintaining at least a first distance between power supply 1 and the control board, and supplying power to the motor drive board through power supply 1; installing power supply 2 inside the end tool protection component, and so that power supply 2 is below the control board, and supplying power to the control board.

[0021] Preferably, when it is necessary to charge power supply 1 and power supply 2, the following steps are performed: install the self-resetting charging component inside the end tool protection component, and connect the power supply 1 interface provided therein to power supply 1, and connect the power supply 2 interface to power supply 2; when it is necessary to charge power supply 1 and power supply 2, insert the power supply into the charging port at the bottom of the self-resetting charging component, push the transmission component located inside the self-resetting charging component through the charging port, connect the power supply 1 interface and the power supply 2 interface to the charging port, and charge power supply 1 and power supply 2; when charging is completed, unplug the power supply, the transmission component automatically resets, and disconnects the power supply 1 interface and the power supply 2 interface from the charging port.

[0022] The beneficial effect of the present invention is that, compared with the prior art, the present invention simultaneously protects the main control board and the end tool by providing an anti-electromagnetic main control box and an end tool protection component, and provides a protective layer on the inner surface of the anti-electromagnetic main control box to provide a double-layer electromagnetic shielding for the main control board, thereby forming a hardware shielding; and, by transmitting signals between the motor drive board and the control board inside the end tool protection component through optical fiber, optical coupling isolation is formed, and software shielding is formed, thereby improving the anti-interference ability of the internal circuit of the end tool. In addition, the present invention also provides a power supply module for supplying power to the control board and the motor drive board respectively. By supplying power to the control board and the motor drive board separately, interference between the two power supply circuits is avoided, thereby further improving the anti-electromagnetic interference ability of the end tool protection component and delaying the service life of the equipment.

[0023] Furthermore, the present invention uses power supply 1 and power supply 2 to supply power to the motor drive board and the control board respectively, while ensuring a safe distance between power supply 1 and power supply 2, so that the two power supplies do not interfere with each other, and can prevent the high-voltage circuit from interfering with the low-voltage control circuit, improve the anti-interference ability of the circuit, and extend the service life of the equipment. In addition, a self-resetting charging component is also provided inside the end tool protection component. By providing the self-resetting charging component, not only can a safe creepage distance be ensured between the two power supplies, but also one charging port can be used to charge the two power supplies at the same time, solving the problem of inconvenient charging of the two power supplies.

[0024] Furthermore, the protective layer includes a copper powder spray layer and a magnetic powder spray layer. The copper powder spray layer uses a spraying technology to add copper powder to the resin surface, significantly improving the electromagnetic radiation shielding capability; while the magnetic powder filling layer uses a high magnetic permeability material to further shield the influence of the external magnetic field, providing a double shielding mechanism, improving the signal stability and reliability of the control system, and effectively isolating the influence of external electromagnetic radiation on the internal control module. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1It is a structural schematic diagram of an electromagnetic protection device suitable for a live working robot arm of a 10KkV distribution line in the present invention;

[0026] Figure 2 It is a structural schematic diagram of the anti-electromagnetic main control box in the present invention;

[0027] Figure 3 It is a schematic diagram of the structure of the magnetic powder filling layer in the present invention;

[0028] Figure 4 It is a structural schematic diagram of the end tool protection assembly in the present invention;

[0029] Figure 5 It is a schematic diagram of the structure of the photoelectric signal conversion board in the present invention;

[0030] Figure 6 It is a schematic diagram of the structure of the self-resetting charging assembly in the present invention when it is plugged into a power source;

[0031] Figure 7 It is a schematic diagram of the structure of the self-resetting charging assembly in the present invention when the power source is unplugged.

[0032] Reference numerals in the figures:

[0033] 1. Anti-electromagnetic main control box; 2. End tool protection component; 3. Robot arm protection component; 4. Wire;

[0034] 1.1, copper powder spraying layer; 1.2, second layer of resin; 1.3, first layer of resin; 1.4, magnetic powder filling layer;

[0035] 1.4.1, resin sealing layer; 1.4.2, second slot hole; 1.4.3, magnetic powder;

[0036] 2.1, sleeve; 2.2, end tool housing; 2.3, motor drive board; 2.4, photoelectric signal conversion board; 2.5, power supply 1; 2.6, control board; 2.7, power supply 2; 2.8, signal line; 2.9, antenna; 2.10, insulating coaxial device; 2.11, motor; 2.12, self-resetting charging component; 2.13, charging port;

[0037] 2.4.1, drive end interface; 2.4.2, photoelectric conversion module; 2.4.3, LED lamp; 2.4.4, insulating resin glue; 2.4.5, optical fiber; 2.4.6, photoresistor; 2.4.7 control end interface;

[0038] 2.12.1, power supply interface 1; 2.12.2, power shell; 2.12.3, first conductive sheet; 2.12.4, push rod slider; 2.12.5, push rod; 2.12.6, power supply interface 2; 2.12.7, second conductive sheet; 2.12.8, third conductive sheet; 2.12.9, first conductive rod; 2.12.10, reset shaft; 2.12.11, second conductive rod; 2.12.12, fourth conductive sheet. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The embodiments described in this application are only part of the embodiments of the present invention, not all of them. Based on the spirit of the present invention, other embodiments obtained by ordinary technicians in this field without creative work are all within the scope of protection of the present invention.

[0040] like Figure 1 As shown, embodiment 1 of the present invention provides an electromagnetic protection device suitable for a live working robot arm of a 10KV distribution line, comprising: an anti-electromagnetic main control box 1, an insulating robot arm 3 and an end tool protection assembly 2. The anti-electromagnetic main control box 1 is arranged on the fixed module of the insulating robot arm 3, and a main control board is arranged inside the box; the insulating robot arm comprises a robot arm body, and the surface of the robot arm body is wrapped with insulating material. The end tool protection assembly 2 is arranged at one end of the insulating robot arm away from the fixed module.

[0041] The embodiment of the present invention designs an electromagnetic protection method combining software and hardware according to the characteristics of the device and the use environment, which is mainly based on the electromagnetic protection main control box 1 for hardware protection and the end tool protection component 2 for isolating electromagnetic interference with software protection. During non-stop power operation, the electromagnetic radiation intensity of the electric field around the wire is high, which will cause the control center of the device to cause unstable control signals. Therefore, an electromagnetic interference protection box is needed to isolate the interference of electromagnetic radiation.

[0042] like Figure 2 As shown, the anti-electromagnetic main control box 1 includes: an outer shell and a protective layer. The outer shell is formed by one-time mold opening and injection molding of epoxy resin. The protective layer includes: a copper powder spray layer 1.1 and a magnetic powder filling layer 1.4. A first layer of resin 1.3 is arranged inside the outer shell, and a row of first slots are opened on the side of the first layer of resin 1.3 to spray copper powder to form a copper powder spray layer 1.1 to reduce the influence of electromagnetic interference. Since this layer will have conductive properties after the copper powder is sprayed and may affect the internal circuit board, it is necessary to inject a second layer of resin on the surface of the copper powder filling layer 1.1 to isolate the conductivity of the copper powder layer, and then process the inside of the second layer of resin to make a magnetic powder filling layer 1.4 to ensure that it only isolates the influence of electromagnetic interference and does not protect against short circuit caused by contact with internal electrical components.

[0043] Specifically, Figure 3 As shown, the second layer of resin 1.2 uses an epoxy resin plate cut to size, and a row of second slots 1.4.2 are opened on the side to inject magnetic powder 1.4.3 into it. After pressing, the injection port of the first slot is filled with a resin sealing layer 1.4.1 to seal it tightly to form a magnetic powder filling layer 1.4; then the second layer of resin 1.2 is glued and fixed on the copper powder filling layer 1.1 inside the anti-electromagnetic control box 1, and the copper powder filling layer 1.1 and the magnetic powder filling layer 1.4 both cover the four side surfaces and the bottom surface inside the shell.

[0044] The magnetic powder filling layer 1.4 serves as the second layer of protection. By using a high magnetic permeability magnetic material to make a shielding cover to shield the external magnetic field, the electromagnetic interference wave is diverted like a magnetic field to reduce interference to the internal control board. At the same time, in order to ensure that the signal is not blocked by the protective layer, a signal antenna is reserved on the side of the shell. The signal antenna is connected to the main control board inside the anti-electromagnetic main control box 1, and transmits the wireless control signal emitted by the main control board to the end tool.

[0045] After the hardware protection of the anti-electromagnetic main control box is completed, the electromagnetic protection of the end tool must also be completed in order to cooperate with the main control box to achieve the electromagnetic protection of the entire set of flexible operation auxiliary manipulators. Because the end tool directly acts on the 10kv wire at 4 locations, the electromagnetic interference is strong at close range, which can easily cause the tool to creep and cause the internal circuit board to creep and break through and short-circuit, causing the tool to lose control. According to the current conventional tool design, most of the internal components such as tool control are integrated together, but in 10kv operations, it is easy to lose functionality due to electromagnetic interference.

[0046] like Figure 4 As shown, the end tool protection component 3 in the embodiment of the present invention includes: a sleeve 2.1, an end tool housing 2.2, a motor drive board 2.3, an optoelectronic signal conversion board 2.4, a power supply 1 2.5, a control board 2.6, a power supply 2 2.7, a signal line 2.8, an antenna 2.9, an insulating coaxial device 2.10, a motor 2.11, a self-resetting charging component 2.12 and a charging port 2.13.

[0047] Among them, the end tool housing 2.2 is fixedly installed at the end of the insulating mechanical arm, and the insulating coaxial device 2.10 is installed on the top of the end tool housing 2.2, and one end thereof is vertically inserted into the interior of the end tool housing 2.2. The end tool housing 2.2 is made of insulating resin material, which not only ensures insulation but also isolates and protects the internal components from being broken down by the 10kv wire electric field creepage. The motor 2.11 is installed inside the end tool housing 2.2, and the output end of the motor 2.11 is inserted into one end of the insulating coaxial device 2.10, and the other end of the insulating coaxial device is installed with a sleeve 2.1, which is arranged above the end tool housing 2.2 and is used to tighten or loosen the bolts, thereby disassembling or assembling the hardware on the wire, and can basically isolate the 10kv creepage.

[0048] A motor drive board 2.3 is fixed below the motor 2.11, and the motor drive board 2.3 is electrically connected to the motor 2.11. A power supply 2.5 is installed below the motor drive board 2.3, and the power supply 2.5 is used to supply power to the motor drive board 2.3. A photoelectric signal conversion board 2.4 is installed on one side of the motor drive board 2.3, and a control board 2.6 is installed on the side of the photoelectric signal conversion board 2.4 away from the motor drive board 2.3. The control board 2.6 and the motor drive board 2.3 are arranged in parallel, and there is a first distance between the two, and the first distance is greater than the safety distance for creepage between the two. One side of the control board 2.6 is fixedly connected to the photoelectric signal conversion board 2.4, and the control signal sent by the control board 2.6 and the drive signal sent by the motor drive board 2.3 are transmitted through the optical fiber of the middle photoelectric signal conversion board 2.4. A power supply 2.7 is installed below the control board 2.6, and the power supply 2.7 is used to supply power to the control board 2.6, so that the motor drive board 2.3 and the control board 2.6 are powered by different power supplies.

[0049] Furthermore, the first distance between the control board 2.6 and the power supply 1 2.5 is at least d, where d represents a safe distance between the two power supplies without creepage. Then, the power supply 2 2.7 is placed below the control board 2.6, so that the distance between the power supply 2 2.7 and the power supply 1 2.5 is greater than the safety distance d, thereby ensuring signal stability, preventing creepage, and preventing electromagnetic interference from affecting the normal command operation of the tool.

[0050] Furthermore, the control board 2.6 also needs to be connected to a signal line 2.8 connected to the transmission (reception) antenna 2.9, so as to receive the wireless control signal sent by the main control board in the anti-electromagnetic main control box 1 and provide feedback thereto.

[0051] The self-resetting charging component 2.12 is arranged inside the end tool housing 2.2, and its two ends are respectively connected to power source 1 and power source 2, and is used to charge the two power sources when not in operation. In the past, relays were generally used as intermediate components for control, but the end tool operation is located under the 10kv wire, and the electric contact inside the relay is too close to attract, which will cause the creepage to power source 1 and power source 2 to discharge, causing a short circuit and burning circuit components. Therefore, a self-resetting charging component is designed to solve this problem, and a discharge gap of more than 4cm is reserved for the internal contacts to ensure the safety of the circuit inside the end tool. When the charging port is inserted, the internal conductive sheet rotates the contact inside the self-resetting charging component to charge the two power sources.

[0052] Specifically, Figure 6 As shown, the self-resetting charging assembly 2.12 includes: a composite power shell 2.12.2, which is made of insulating resin material for insulation design, and a power supply interface 2.12.1 is provided on the upper part of one side of the composite power shell 2.12.2, and a power supply interface 2.12.6 is provided on the lower part, the power supply interface 2.12.1 and the power supply 1 2.5 are at the same height, and the power supply interface 2.12.6 and the power supply 2 2.6 are at the same height. A charging port 2.13 is provided at the bottom of the self-resetting charging assembly 2.12, which is used to connect the power supply 1 2.5, the power supply 2.7 and the charging port 2.13 after the charging port 2.13 is plugged into the power supply, and automatically disconnect the power supply 1 2.5, the power supply 2.7 and the charging port 2.13 after the power supply is unplugged from the charging port 2.13.

[0053] The first conductive sheet 2.12.3, the second conductive sheet 2.12.7, the third conductive sheet 2.12.8 and the fourth conductive sheet 2.12.12 are fixedly installed inside the composite electrical shell 2.12.2. These four conductive sheets are arranged vertically, and the first conductive sheet 2.12.3 and the fourth conductive sheet 2.12.12 are both located at the upper part of the composite electrical shell 2.12.2, and are respectively connected to the negative pole and the positive pole of the first power interface 2.12.1; the second conductive sheet 2.12.7 and the third conductive sheet 2.12.8 are both located at the lower part of the composite electrical shell 2.12.2, and the second conductive sheet 2.12.7 is connected to the negative pole of the second power interface 2.12.6 and the negative pole of the charging port 2.13, and the third conductive sheet 2.12.8 is connected to the positive pole of the second power interface 2.12.6 and the positive pole of the charging port 2.13.

[0054] There is a transmission component inside the power-recovery housing 2.12.2, which is movably connected to the charging port 2.13 and is used to contact the contacts of the four conductive sheets when the charging port 2.13 is plugged into a power source and moves upward, and to separate from the contacts of the four conductive sheets when the charging port 2.13 is unplugged from a power source and moves downward.

[0055] The transmission assembly includes a reset shaft 2.12.10, a first conductive rod 2.12.9, a second conductive rod 2.12.11, a push rod 2.12.4 and a push rod slider 2.12.5; both ends of the reset shaft 2.12.10 are rotatably connected to the inner walls of the composite housing 2.12.2, and are provided with reset springs; the first conductive rod 2.12.9 and the second conductive rod 2.12.11 are respectively located on both sides of the reset shaft 2.12.10, and are both vertically fixedly connected to the reset shaft 2.12.10; the upper and lower ends of the first conductive rod 2.12.9 and the second conductive rod 2.12.11 are each provided with a contact, and the four contacts are used to simultaneously contact or separate with the contacts of the four conductive sheets.

[0056] A slide is provided at the bottom of the composite power shell 2.12.2, and a charging port 2.13 is installed in the slide so as to be movable up and down. A push rod slider 2.12.4 is slidably provided on the second conductive rod 2.12.11, and a push rod 2.12.5 is connected between the push rod slider 2.12.4 and the charging port 2.13, and one end of the push rod 2.12.5 is hinged to the push rod slider 2.12.4, and the other end is hinged to the top of the charging port 2.13.

[0057] When charging, plug the power supply into the charging port 2.13 and push the charging port 2.13 upward along the slideway, see Figure 6 At this time, under the action of the push rod 2.12.5 and the push rod slider 2.12.4, the first conductive rod 2.12.9 and the second conductive rod 2.12.11 are both in a vertical state, and the contacts at the upper and lower ends of the first conductive rod 2.12.9 are respectively in contact with the contacts of the first conductive sheet 2.12.3 and the second conductive sheet 2.12.7; the contacts at the upper and lower ends of the second conductive rod 2.12.11 are respectively in contact with the contacts of the fourth conductive sheet 2.12.12 and the third conductive sheet 2.12.8, so that the positive pole of the power supply interface 2.12.1 and the positive pole of the power supply interface 2.12.6 are both connected to the positive pole of the charging port 2.13, and the negative pole of the power supply interface 2.12.2 and the negative pole of the power supply interface 2.12.6 are both connected to the negative pole of the charging port 2.13, thereby charging power supply 1 and power supply 2 at the same time.

[0058] When charging is disconnected, the power supply is unplugged from the charging port 2.13 and drives the charging port 2.13 to move downward along the slideway. At this time, the push rod 2.12.5 drives the push rod slider 2.12.4 to slide downward along the first conductive rod 2.12.9 and drives the first conductive rod 2.12.9 and the second conductive rod 2.12.11 to rotate to a horizontal state. Figure 7 As shown, at this time, the upper and lower contacts of the first conductive rod 2.12.9 and the second conductive rod 2.12.11 are separated from the four conductive sheets respectively, and the charging can be disconnected.

[0059] The self-resetting charging assembly provided in the embodiment of the present invention, by arranging the first conductive rod and the second conductive rod in cooperation with the reset shaft, can not only charge two power sources at the same time, but also enable the first conductive sheet 2.12.3 and the third conductive sheet 2.12.8 to have a sufficiently safe discharge distance D when separated during operation without affecting the two current loops.

[0060] like Figure 5 As shown, in a preferred but non-restrictive embodiment of the present invention, the photoelectric signal adapter board 2.4 includes: a drive end interface 2.4.1, a photoelectric conversion module 2.4.2, an LED lamp 2.4.3, an epoxy resin 2.4.4, an optical fiber 2.4.5, a photoresistor 2.4.6, and a control end interface 2.4.7. A driver interface 2.4.1 is provided at one end of the photoelectric signal conversion board 2.4, and a control end interface 2.4.7 is provided at the other end. The driver interface 2.4.1 is used to connect to the motor drive board 2.3, and the control end interface 2.4.7 is used to connect to the control board 2.6.

[0061] Photoelectric conversion modules 2.4.2 are provided at the bottom of the driving end interface 2.4.1 and the top of the control end interface 2.4.7. Both photoelectric conversion modules 2.4.2 are provided with two photoresistors 2.4.6 and two LED lamps 2.4.3, and the photoresistor 2.4.6 located in one photoelectric conversion module 2.4.2 is connected to the LED lamp 2.4.3 located in the other photoelectric conversion module 2.4.2 through an optical fiber 2.4.5.

[0062] The photoelectric signal conversion board provided by the embodiment of the present invention can solve the limitation that the optical coupling modules on the market are not suitable for the electromagnetic protection of this device. Specifically, the photoelectric conversion module 2.4.2 controls the LED lamp 2.4.3 to emit an optical signal to transmit the light through the optical fiber 2.4.5, and the photoresistor 2.4.6 located in another photoelectric conversion module senses and then outputs it to the photoelectric conversion module, and finally connects to the control board 2.6 or the motor drive board 2.3 through the control end interface 2.4.7 or the drive end interface 2.4.1. By setting the above structure, while ensuring the safe creepage distance at both ends of the photoelectric signal conversion board, it will not affect the photoelectric signal module. Finally, a transparent insulating epoxy resin 2.4.3 is used to encapsulate and fix the outside of the photoelectric signal conversion board 2.4. By setting the photoelectric signal conversion board 2.4, an additional layer of protection can be added to the electromagnetic protection in the end tool.

[0063] In a preferred but non-limiting embodiment of the present invention, taking into account the diversity and flexibility of technology, the following are some possible alternatives:

[0064] Alternative EMI materials: In addition to copper powder spray coatings and magnetic powder filling layers, other materials with electromagnetic shielding properties, such as conductive polymers or metal composites, can be considered.

[0065] Replacement of optocoupler isolation devices: Other types of isolation devices, such as transformer isolation or capacitor isolation, can be used to achieve electrical isolation between circuits.

[0066] Alternative signal transmission technologies: In addition to optoelectronic signal conversion, wireless radio frequency transmission or fiber optic transmission technology can be considered to enhance the stability and distance of signal transmission.

[0067] Although these alternative solutions may not be as effective as the technical solution of the above-mentioned embodiment 1 in some aspects, they provide more options for the diversity and adaptability of the technical solutions.

[0068] Embodiment 2 of the present invention provides an electromagnetic protection method using the electromagnetic protection device for a live working robot arm of a 10KV power distribution line in Embodiment 1, comprising the following steps:

[0069] Step 1: Arrange an anti-electromagnetic main control box 1 having a main control board inside on a fixed module of an insulating mechanical arm 3, and arrange a double-layer electromagnetic shielding layer on the inner surface of the anti-electromagnetic main control box 1;

[0070] Step 2: The end tool protection assembly 2 is arranged at one end of the insulating robot arm 3 away from the fixed module;

[0071] Step 3: transmitting a wireless control signal to the control board 2.6 located inside the end tool protection assembly 2 through the main control board;

[0072] Step 4: The control board 2.6 receives the wireless control signal and transmits the wireless control signal to the motor drive board 2.3 via optical fiber;

[0073] Step 5: After receiving the wireless control signal, the motor driving board 2.3 drives the motor 2.11 to operate and operate the wire 4.

[0074] Furthermore, the electromagnetic protection method further comprises the following steps:

[0075] Install the power supply 2.3 inside the end tool protection assembly 2, so that the power supply 2.3 is below the motor drive board 2.3, and keep at least a first distance between the power supply 2.3 and the control board 2.6, and supply power to the motor drive board 2.3 through the power supply 2.3;

[0076] The second power supply 2.7 is installed inside the end tool protection assembly 2, and the second power supply 2.7 is placed below the control board 2.5 to supply power to the control board 2.5.

[0077] Furthermore, when the power source 1 2.3 and the power source 2 2.7 need to be charged, the following steps are performed:

[0078] Install the self-resetting charging assembly 2.12 inside the end tool protection assembly 2, and connect the power supply interface 1 2.12.1 thereof with the power supply 1 2.3, and connect the power supply interface 2.12.6 with the power supply 2 2.7;

[0079] When it is necessary to charge power source 1 2.3 and power source 2.7, insert the power source into the charging port 2.13 at the bottom of the self-resetting charging component 2.12, push the transmission component inside the self-resetting charging component 2.12 through the charging port 2.13, connect the power source 1 interface 2.12.1, the power source 2 interface 2.12.6 with the charging port 2.13, and charge power source 1 2.3 and power source 2 2.7;

[0080] When charging is completed, unplug the power supply, the transmission component automatically resets, and the power supply interface 1 2.12.1, the power supply interface 2.12.6 and the charging port 2.13 are disconnected.

[0081] The beneficial effect of the present invention is that, compared with the prior art, the present invention simultaneously protects the main control board and the end tool by providing an anti-electromagnetic main control box and an end tool protection component, and provides a protective layer on the inner surface of the anti-electromagnetic main control box to provide a double-layer electromagnetic shielding for the main control board, thereby forming a hardware shielding; and, by transmitting signals between the motor drive board and the control board inside the end tool protection component through optical fiber, optical coupling isolation is formed, and software shielding is formed, thereby improving the anti-interference ability of the internal circuit of the end tool. In addition, the present invention also provides a power supply module for supplying power to the control board and the motor drive board respectively. By supplying power to the control board and the motor drive board separately, interference between the two power supply circuits is avoided, thereby further improving the anti-electromagnetic interference ability of the end tool protection component and delaying the service life of the equipment.

[0082] Furthermore, the present invention uses power supply 1 and power supply 2 to supply power to the motor drive board and the control board respectively, while ensuring a safe distance between power supply 1 and power supply 2, so that the two power supplies do not interfere with each other, and can prevent the high-voltage circuit from interfering with the low-voltage control circuit, improve the anti-interference ability of the circuit, and extend the service life of the equipment. In addition, a self-resetting charging component is also provided inside the end tool protection component. By providing the self-resetting charging component, not only can a safe creepage distance be ensured between the two power supplies, but also one charging port can be used to charge the two power supplies at the same time, solving the problem of inconvenient charging of the two power supplies.

[0083] Furthermore, the protective layer includes a copper powder spray layer and a magnetic powder spray layer. The copper powder spray layer uses a spraying technology to add copper powder to the resin surface, significantly improving the electromagnetic radiation shielding capability; while the magnetic powder filling layer uses a high magnetic permeability material to further shield the influence of the external magnetic field, providing a double shielding mechanism, improving the signal stability and reliability of the control system, and effectively isolating the influence of external electromagnetic radiation on the internal control module.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. Electromagnetic protection device for live working robot arm of 10KV power distribution line, including: The anti-electromagnetic main control box (1) and the insulating mechanical arm (3) are characterized by: The anti-electromagnetic main control box (1) is arranged on a fixed module of the insulating mechanical arm (3), and the anti-electromagnetic main control box (1) comprises: an outer shell and a protective layer, wherein a main control board is arranged inside the outer shell; the protective layer is arranged on the inner surface of the outer shell and is used for performing double-layer electromagnetic shielding on the main control board; The electromagnetic protection device further comprises: an end tool protection assembly (2); the end tool protection assembly (2) is arranged at one end of the insulating mechanical arm (3) away from the fixed module, and a motor (2.11), a control board (2.6), a motor drive board (2.3) and a power supply module are arranged inside the end tool protection assembly (2); The control board (2.6) is used to receive control signals from the main control board and transmit the control signals to the motor drive board (2.3) via optical fibers. The motor drive board (2.3) transmits a drive signal to drive the motor (2.11) to operate, thereby operating the wire (4); and the power supply module is used to supply power to the control board (2.6) and the motor drive board (2.3) separately.

2. The electromagnetic protection device for a live working robot arm of a 10KV power distribution line according to claim 1 is characterized in that: The protective layer comprises: a copper powder spray layer (1.1) and a magnetic powder filling layer (1.4); The copper powder spray coating (1.1) comprises: a first layer of resin (1.3), the first layer of resin (1.3) covers the inner surface of the shell; a plurality of first slots are arranged on one side of the first layer of resin (1.3), and the first slots are filled with copper powder; The magnetic powder filling layer (1.4) comprises: a second layer of resin (1.2), the second layer of resin (1.2) covers the surface of the copper powder spray layer (1.1); a plurality of second slots (1.4.2) are arranged on one side of the first layer of resin (1.2), the second slots (1.4.2) are filled with magnetic powder (1.3), and the injection ports of the second slots (1.4.2) are filled with a resin seal layer (1.4.1).

3. The electromagnetic protection device for a live working robot arm of a 10KV power distribution line according to claim 1 is characterized in that: The end tool protection assembly (2) comprises: an end tool housing; the motor (2.11) is arranged at the upper part of the end tool housing, the output end of the motor (2.11) is coaxially connected to a sleeve (2.1) arranged above the end tool housing, and the sleeve (2.1) is used to operate the wire (4); The motor drive board (2.3) is located below the motor (2.11) and is electrically connected to the motor (2.11); The control board (2.6) is arranged below the motor drive board (2.3) and has a first distance from the motor drive board (2.3); a photoelectric conversion signal board (2.4) for optical fiber transmission signals is arranged between the motor drive board (2.3) and the control board (2.6).

4. The electromagnetic protection device for a live working robot arm of a 10KV power distribution line according to claim 3 is characterized in that: The photoelectric conversion signal board (2.4) is provided with a driving end interface (2.4.1) for connecting to the motor driving board (2.3) at one end, and a control end interface (2.4.7) for connecting to the control board (2.6) at the other end; The inner sides of the driving end interface (2.4.1) and the control end interface (2.4.7) are both provided with photoelectric conversion modules (2.4.2) connected thereto, and the inner side of each photoelectric conversion module (2.4.2) is provided with an LED lamp (2.4.3) and a photoresistor (2.4.6); an optical signal is transmitted between the photoresistor (2.4.6) located in one photoelectric conversion module (2.4.2) and the LED lamp (2.4.3) located in another photoelectric conversion module (2.4.2) via an optical fiber (2.4.5).

5. The electromagnetic protection device for a live working robot arm of a 10KV power distribution line according to any one of claims 1 to 4, characterized in that: The power supply module comprises: power supply 1 (2.5) and power supply 2 (2.7); The power source 1 (2.5) is arranged below the motor drive board (2.3) and is used to supply power to the motor drive board (2.3). The power source 1 (2.5) and the control board (2.6) are at least at a first distance from each other. The second power supply (2.7) is arranged below the control board (2.6) and is used to supply power to the control board (2.6).

6. The electromagnetic protection device for a live working robot arm of a 10KV power distribution line according to claim 5 is characterized in that: The power supply module further comprises: a self-resetting charging component (2.12); the self-resetting charging component (2.12) is connected to a power source 1 (2.5) and a power source 2 (2.7); the self-resetting charging component (2.12) is provided with a charging port (2.13) for connecting the power source 1 (2.5) and the power source 2 (2.7) to the charging port (2.13) after the power source is plugged into the charging port (2.13); and automatically disconnecting the power source 1 (2.5) and the power source 2 (2.7) from the charging port (2.13) after the power source is unplugged from the charging port (2.13).

7. The electromagnetic protection device for a live working robot arm of a 10KV power distribution line according to claim 6 is characterized in that: The self-resetting charging assembly (2.12) comprises: a rechargeable housing (2.12.2); a power supply interface 1 (2.12.1) is arranged on the upper part of one side of the rechargeable housing (2.12.2), and a power supply interface 2 (2.12.6) is arranged on the lower part; the charging port (2.13) is arranged at the bottom of the rechargeable housing (2.12.2) so as to be movable up and down; Four conductive sheets are fixedly installed inside the composite power shell (2.12.2), two of which are located at the upper part of the composite power shell (2.12.2) and are respectively connected to the positive and negative electrodes of the first power interface (2.12.1), and the other two conductive sheets are located at the lower part of the composite power shell (2.12.2) and are respectively connected to the positive and negative electrodes of the second power interface (2.12.6) and the positive and negative electrodes of the charging port (2.13); A transmission assembly is arranged inside the power-recovery housing (2.12.2), and the transmission assembly is movably connected to the charging port (2.13) and is used to contact the contacts of the four conductive sheets when the charging port (2.13) is plugged into a power source and moves upward, and to separate from the contacts of the four conductive sheets when the charging port (2.13) is unplugged from a power source and moves downward.

8. The electromagnetic protection device for a live working robot arm of a 10KV power distribution line according to claim 7 is characterized in that: The transmission assembly comprises a reset shaft (2.12.10), a first conductive rod (2.12.9), a second conductive rod (2.12.11), a push rod (2.12.4) and a push rod slider (2.12.5); The two ends of the reset shaft (2.12.10) are rotatably connected to the inner walls of the two sides of the composite housing (2.12.2), and are provided with reset springs; the first conductive rod (2.12.9) and the second conductive rod (2.12.11) are respectively located on both sides of the reset shaft (2.12.10), and are both vertically fixedly connected to the reset shaft (2.12.10); the upper and lower ends of the first conductive rod (2.12.9) and the second conductive rod (2.12.11) are each provided with a contact, and the four contacts are used to simultaneously contact or separate with the contacts of the four conductive sheets; The charging port (2.13) is movably arranged at the bottom of the composite housing (2.12.2) up and down, a push rod slider (2.12.4) is slidably arranged on the second conductive rod (2.12.11), one end of the push rod (2.12.5) is hinged to the push rod slider (2.12.4), and the other end is hinged to the charging port (2.13).

9. The electromagnetic protection device for a live working robot arm of a 10KV power distribution line according to any one of claims 1 to 4, characterized in that: The insulating mechanical arm (3) comprises: a mechanical arm main body, the surface of which is coated with insulating material.

10. An electromagnetic protection method using the electromagnetic protection device for a live working robot arm of a 10KV power distribution line according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: Arrange an electromagnetic-proof main control box (1) having a main control board inside on a fixed module of an insulating mechanical arm (3), and arrange a double-layer electromagnetic shielding layer on the inner surface of the electromagnetic-proof main control box (1); Step 2, placing the end tool protection assembly (2) at one end of the insulating mechanical arm (3) away from the fixed module; Step 3: transmitting a wireless control signal to a control board (2.6) located inside the end tool protection assembly (2) through the main control board; Step 4, the control board (2.6) receives the wireless control signal and transmits the wireless control signal to the motor drive board (2.3) via optical fiber; Step 5: After receiving the wireless control signal, the motor driving board (2.3) drives the motor (2.11) to operate and operate the wire (4).

11. The electromagnetic protection method using the electromagnetic protection device for a live working robot arm of a 10KV power distribution line according to claim 10, characterized in that: The electromagnetic protection method further comprises the following steps: The power supply 1 (2.3) is installed inside the end tool protection assembly (2), so that the power supply 1 (2.3) is located below the motor drive board (2.3), and there is at least a first distance between the power supply 1 (2.3) and the control board (2.6), and the motor drive board (2.3) is powered by the power supply 1 (2.3); The second power supply (2.7) is installed inside the end tool protection assembly (2), and the second power supply (2.7) is placed below the control board (2.5) to supply power to the control board (2.5).

12. The electromagnetic protection method using the electromagnetic protection device for a live working robot arm of a 10KV power distribution line according to claim 11, characterized in that: When you need to charge power source 1 (2.3) and power source 2 (2.7), perform the following steps: The self-resetting charging assembly (2.12) is installed inside the end tool protection assembly (2), and the power supply interface (2.12.1) provided therein is connected to the power supply interface (2.3), and the power supply interface (2.12.6) is connected to the power supply interface (2.7); When it is necessary to charge power source 1 (2.3) and power source 2 (2.7), the power source is inserted into the charging port (2.13) at the bottom of the self-resetting charging component (2.12), and the transmission component inside the self-resetting charging component (2.12) is pushed through the charging port (2.13) to connect the power source 1 interface (2.12.1) and the power source 2 interface (2.12.6) with the charging port (2.13), thereby charging power source 1 (2.3) and power source 2 (2.7); When charging is completed, unplug the power supply, the transmission component automatically resets, and the power supply interface 1 (2.12.1), the power supply interface 2 (2.12.6) and the charging port (2.13) are disconnected.

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