Electromagnetic protection device and method suitable for 10kv power distribution line live working mechanical arm

Abstract

The application belongs to the technical field of live working of distribution line, and particularly discloses an electromagnetic protection device and method suitable for a live working mechanical arm of a 10KV distribution line, which comprises an anti-electromagnetic main control box, an insulating mechanical arm and a terminal 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 protection layer is arranged on the inner surface of the shell and is used for double-layer electromagnetic shielding of the main control board; the terminal tool protection assembly is arranged at one end of the insulating mechanical arm, a control board in the terminal tool protection assembly is used for receiving a control signal from the main control board and transmitting the control signal to a motor driving board through an optical fiber, a driving signal is emitted by the motor driving board to drive the motor to act, so as to work on a conductor; and a power supply module is used for separately supplying power to the control board and the motor driving board. The application simultaneously considers software shielding and hardware shielding, can improve the anti-electromagnetic interference capability of the live working mechanical arm, and prolongs the service life of the equipment.

Description

Technical Field

[0001] This invention relates to the field of live-line working technology, specifically to an electromagnetic protection device and method for a robotic arm suitable for live-line working on 10KV power distribution lines. Background Technology

[0002] With the rapid development of live-line working, the remote control used in these operations fills the space with electromagnetic waves of varying energy and rich spectral information, causing serious electromagnetic pollution and posing a significant threat to electronic equipment and human health. Transmission lines operate in strong electromagnetic environments with complex electromagnetic fields, and auxiliary robotic arms themselves contain many electromagnetically sensitive components. Without electromagnetic protection design for the auxiliary robotic arm, it will malfunction. Therefore, electromagnetic analysis and protection design for live-line working auxiliary robotic arms are essential for ensuring their reliable operation. During actual operation, live-line working auxiliary robotic arms are prone to issues such as air breakdown, communication interruptions, and control system crashes, severely impacting their safety, reliability, and operational efficiency.

[0003] Currently, most live-line work involves wired connections, and the methods for protecting tools used in this type of work from electromagnetic interference generally include the following:

[0004] First, highly integrated chips with strong anti-interference capabilities are used in the electronic system to ensure that the control system has strong electromagnetic compatibility.

[0005] Secondly, software anti-interference technology is adopted for electronics, such as digital filtering, automatic verification during information transmission, and self-recovery technology for faults that occur 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 working 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] While highly integrated anti-interference chips theoretically possess strong anti-interference capabilities, they face several shortcomings in practical applications. First, the high cost of these chips may pose a challenge to the economic viability of lightweight robotic arms. Second, although these chips theoretically exhibit superior anti-interference performance, insufficient technological maturity may lead to less than ideal adaptability in complex electromagnetic environments. Regarding software anti-interference technologies, digital filtering and automatic verification techniques during information transmission have limited processing capabilities when facing high-intensity, rapidly changing electromagnetic interference, potentially leading to data loss or errors. Furthermore, poor real-time performance may also affect system efficiency and safety, as these technologies may experience response delays when handling transient interference. Hardware anti-interference technologies, such as shielding materials, have limited protective effects under high-intensity electromagnetic fields, and the implementation of grounding techniques may become difficult due to the complexity and requirements of high-voltage environments. These factors may increase the size and weight of the device, contradicting the need for lightweight design. Finally, existing electromagnetic protection technologies lack adaptability, primarily designed for traditional electrical equipment, and are ill-suited to interference in high-voltage and complex electromagnetic environments. In live-line working situations, the impact of voltage and current creepage on electromagnetic protection must also be considered, and the insulation of the device requires special attention. Therefore, to overcome these shortcomings, it is necessary to propose a more effective design for the electromagnetic protection structure of the auxiliary robotic arm. Summary of the Invention

[0008] To address the shortcomings of existing technologies, this invention provides an electromagnetic protection device and method for a robotic arm used for live-line work on 10KV power distribution lines. It considers both software and hardware shielding, which can improve the robotic arm's resistance to electromagnetic interference and extend the service life of the equipment.

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

[0010] In a first aspect, the present invention provides an electromagnetic protection device for a robotic arm suitable for live-line working on 10KV power distribution lines, comprising: an electromagnetic shielding main control box and an insulated robotic arm. The electromagnetic shielding main control box is disposed on a fixed module of the insulated robotic arm. The electromagnetic shielding main control box includes: a shell and a protective layer. A main control board is disposed inside the shell. The protective layer is disposed on the inner surface of the shell and is used to provide double-layer electromagnetic shielding for the main control board. The electromagnetic protection device further includes: an end-effector protection component. The end-effector protection component is disposed at the end of the insulated robotic arm away from the fixed module. The end-effector protection component contains a motor, a control board, a motor drive board, and a power supply module. The control board is used to receive control signals from the main control board and transmit the control signals to the motor drive board through optical fiber. The motor drive board then transmits drive signals to drive the motor to operate on the conductor. The power supply module is used to provide separate power supplies to the control board and the motor drive board.

[0011] Preferably, the protective layer comprises: a copper powder spraying layer and a magnetic powder filling layer; the copper powder spraying layer comprises: a first layer of resin covering 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 comprises: a second layer of resin covering the surface of the copper powder spraying layer; a plurality of second slots are provided on one side of the first layer of resin, the second slots are filled with magnetic powder, and the injection port of the second slots is filled with a resin sealant layer.

[0012] Preferably, the end-tool protection assembly includes: an end-tool housing; a motor disposed in the upper part inside the end-tool housing, the output end of the motor being coaxially connected to a sleeve disposed above the end-tool housing, the sleeve being used for working with the wire; a motor drive board located below the motor and electrically connected to the motor; a control board disposed below the motor drive board and having a first distance between them; and a photoelectric conversion signal board for optical fiber signal transmission is disposed between the motor drive board and the control board.

[0013] Preferably, the photoelectric conversion signal board has a drive terminal interface for connecting to the motor drive board at one end and a control terminal interface for connecting to the control board at the other end; photoelectric conversion modules are provided on the inner side of both the drive terminal interface and the control terminal interface, and each photoelectric conversion module has an LED and a photoresistor on its inner side; optical signals are transmitted between the photoresistor in one photoelectric conversion module and the LED in another photoelectric conversion module via optical fiber.

[0014] Preferably, the power supply module includes: power supply one and power supply two; power supply one is disposed below the motor drive board and is used to supply power to the motor drive board, and power supply one and the control board maintain at least a first distance; power supply two is disposed below the control board and is used to supply power to the control board.

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

[0016] Preferably, the self-resetting charging assembly includes: a reset housing; a power interface 1 is provided on the upper part of one side of the reset housing, and a power interface 2 is provided on the lower part; the charging port is movably disposed at the bottom of the reset housing; four conductive plates are fixedly installed inside the reset housing, two of which are located on the upper part of the reset housing and are respectively connected to the positive and negative terminals of the power interface 1, and the other two conductive plates are located on the lower part of the reset housing and are respectively connected to the positive and negative terminals of the power interface 2 and the positive and negative terminals of the charging port; a transmission assembly is provided inside the reset housing, the transmission assembly being movably connected to the charging port, for contacting the contacts of the four conductive plates when the power is inserted into the charging port and it moves upward, and separating from the contacts of the four conductive plates when the power is removed from the charging port and it 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; both ends of the reset shaft are rotatably connected to the inner walls of both sides of the reset housing, 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 fixedly connected to the reset shaft perpendicularly; each of the first and second conductive rods has a contact point at its upper and lower ends, and the four contacts are used to simultaneously contact or separate from the contacts of the four conductive plates; the charging port is movably disposed at the bottom of the reset housing, and a push rod slider is slidably disposed on the second conductive rod, with one end of the push rod hinged to the push rod slider and the other end hinged to the charging port.

[0018] Preferably, the insulated robotic arm includes: a robotic arm body, the surface of which is covered with an insulating material.

[0019] Secondly, the present invention provides an electromagnetic protection method utilizing the aforementioned electromagnetic protection device for a robotic arm suitable for live-line work on 10KV power distribution lines, comprising the following steps: Step 1, placing an electromagnetic shielding main control box with an internal main control board on a fixed module of the insulated robotic arm, and providing a double-layer electromagnetic shielding layer on the inner surface of the electromagnetic shielding main control box; Step 2, placing an end-effector protection assembly at the end of the insulated robotic arm away from the fixed module; Step 3, transmitting a wireless control signal through the main control board to a control board located inside the end-effector protection assembly; Step 4, the control board receiving the wireless control signal and transmitting the wireless control signal to a motor drive board via optical fiber; Step 5, after receiving the wireless control signal, the motor drive board drives the motor to operate on the conductor.

[0020] Preferably, the electromagnetic protection method further includes the following steps: installing a power supply unit inside the end-tool protection assembly, positioning the power supply unit below the motor drive board, and maintaining at least a first distance between the power supply unit and the control board, and supplying power to the motor drive board through the power supply unit; installing a second power supply unit inside the end-tool protection assembly, positioning the second power supply unit below the control board, and supplying power to the control board.

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

[0022] The beneficial effects of this invention are as follows: Compared with the prior art, this invention provides simultaneous protection for both the main control board and the end-effector by setting up an electromagnetic shielding main control box and an end-effector protection assembly. A protective layer is provided on the inner surface of the electromagnetic shielding main control box, providing double-layer electromagnetic shielding for the main control board, thus forming hardware shielding. Furthermore, by transmitting signals between the motor drive board and the control board inside the end-effector protection assembly via optical fiber, optical coupling isolation is achieved, forming software shielding, thereby improving the anti-interference capability of the internal circuitry of the end-effector. In addition, this invention also includes power supply modules that provide separate power supplies to the control board and the motor drive board. By providing separate power supplies to the control board and the motor drive board, interference between the two power circuits is avoided, further improving the electromagnetic interference resistance of the end-effector protection assembly and extending the service life of the equipment.

[0023] Furthermore, this invention uses Power Supply One and Power Supply Two to supply power to the motor drive board and control board respectively, while ensuring a safe distance between Power Supply One and Power Supply Two. This prevents the two power supplies from interfering with each other and avoids interference from the high-voltage circuit to the low-voltage control circuit, improving the circuit's anti-interference capability and extending the equipment's service life. In addition, a self-resetting charging component is also installed inside the end-tool protection assembly. This self-resetting charging component not only ensures a safe creepage distance between the two power supplies but also allows both power supplies to be charged simultaneously using a single charging port, solving the problem of inconvenience in charging two power supplies at once.

[0024] Furthermore, the protective layer includes a copper powder spraying layer and a magnetic powder spraying layer. The copper powder spraying layer adds copper powder to the resin surface through spraying technology, which significantly improves the electromagnetic radiation shielding capability. The magnetic powder filling layer uses high magnetic permeability materials to further shield the influence of external magnetic fields, providing a dual 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. Attached Figure Description

[0025] Figure 1This is a schematic diagram of the electromagnetic protection device for a robotic arm used for live-line work on 10kV power distribution lines in this invention.

[0026] Figure 2 This is a schematic diagram of the structure of the electromagnetic shielding main control box in this invention;

[0027] Figure 3 This is a schematic diagram of the magnetic powder filling layer in this invention;

[0028] Figure 4 This is a schematic diagram of the end-effector protection component in this invention;

[0029] Figure 5 This is a schematic diagram of the photoelectric signal conversion board in this invention;

[0030] Figure 6 This is a schematic diagram of the self-resetting charging component in this invention when a power source is plugged in;

[0031] Figure 7 This is a schematic diagram of the self-resetting charging component in this invention when the power supply is disconnected.

[0032] Figure reference numerals:

[0033] 1. Electromagnetic shielded main control box; 2. End tool protection assembly; 3. Robotic arm protection assembly; 4. Wires;

[0034] 1.1 Copper powder coating layer; 1.2 Second resin layer; 1.3 First resin layer; 1.4 Magnetic powder filling layer;

[0035] 1.4.1 Resin sealing layer; 1.4.2 Second slot; 1.4.3 Magnetic powder;

[0036] 2.1 Sleeve; 2.2 End-effector housing; 2.3 Motor drive board; 2.4 Photoelectric signal conversion board; 2.5 Power supply one; 2.6 Control board; 2.7 Power supply two; 2.8 Signal line; 2.9 Antenna; 2.10 Insulating coaxial cable; 2.11 Motor; 2.12 Self-resetting charging assembly; 2.13 Charging port;

[0037] 2.4.1 Driver interface; 2.4.2 Photoelectric conversion module; 2.4.3 LED light; 2.4.4 Insulating resin adhesive; 2.4.5 Optical fiber; 2.4.6 Photoresistor; 2.4.7 Control interface;

[0038] 2.12.1 Power Interface 1; 2.12.2 Restored Housing; 2.12.3 First Conductive Plate; 2.12.4 Push Rod Slider; 2.12.5 Push Rod; 2.12.6 Power Interface 2; 2.12.7 Second Conductive Plate; 2.12.8 Third Conductive Plate; 2.12.9 First Conductive Rod; 2.12.10 Reset Shaft; 2.12.11 Second Conductive Rod; 2.12.12 Fourth Conductive Plate. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this invention. The embodiments described in this application are merely some embodiments of this invention, and not all embodiments. Based on the spirit of this invention, other embodiments obtained by those skilled in the art without creative effort are all within the protection scope of this invention.

[0040] like Figure 1 As shown, Embodiment 1 of the present invention provides an electromagnetic protection device for a robotic arm suitable for live-line working on 10KV power distribution lines, comprising: an electromagnetic shielding main control box 1, an insulated robotic arm 3, and an end-effector protection component 2. The electromagnetic shielding main control box 1 is mounted on a fixed module of the insulated robotic arm 3, and contains a main control board. The insulated robotic arm includes a main body, the surface of which is covered with insulating material. The end-effector protection component 2 is located at the end of the insulated robotic arm furthest from the fixed module.

[0041] According to the device characteristics and usage environment, the present invention designs an electromagnetic protection method that combines hardware and software. The main components are an electromagnetic protection main control box 1 with hardware protection and an end tool protection component 2 with software protection to isolate electromagnetic interference. During uninterrupted power supply operation, the electromagnetic radiation intensity of the electric field around the conductor is high, which can cause the control center of the device to cause unstable control signals. Therefore, an electromagnetic interference protection box is needed to isolate electromagnetic radiation interference.

[0042] like Figure 2 As shown, the electromagnetic interference shielded main control box 1 includes a shell and a protective layer. The shell is formed by one-time injection molding of epoxy resin. The protective layer includes a copper powder coating layer 1.1 and a magnetic powder filling layer 1.4. A first layer of resin 1.3 is formed inside the shell, and a row of first slots is formed on the side of the first layer of resin 1.3 to spray copper powder, forming the copper powder coating layer 1.1, which is used to reduce the influence of electromagnetic interference. Since this layer will have conductivity after spraying copper powder, which may affect the internal circuit board, a second layer of resin needs to be poured onto the surface of the copper powder filling layer 1.1 to isolate the conductivity of the copper powder layer. Then, a magnetic powder filling layer 1.4 is formed inside the second layer of resin to ensure that it only isolates the influence of electromagnetic interference and does not protect internal electrical components from short circuits caused by contact.

[0043] Specifically, such as Figure 3 As shown, the second resin layer 1.2 is made of epoxy resin board cut to size, and a row of second slots 1.4.2 are opened on its side. Magnetic powder 1.4.3 is injected into them. After pressing, the injection port of the first slot is filled with resin sealant 1.4.1 to seal it tightly and form magnetic powder filling layer 1.4. Then, the second resin layer 1.2 is glued and fixed to the copper powder filling layer 1.1 inside the electromagnetic shielding control box 1. Both the copper powder filling layer 1.1 and the magnetic powder filling layer 1.4 cover the four sides and bottom of the shell.

[0044] The magnetic powder filling layer 1.4 serves as a second layer of protection. It uses a high-permeability magnetic material to make a shield to block the external magnetic field, thus diverting electromagnetic interference waves like a magnetic field and reducing interference to the internal control board. At the same time, 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 located inside the electromagnetic shielding main control box 1 and transmits the wireless control signal emitted by the main control board to the end tool.

[0045] After ensuring proper hardware protection at the main control box, electromagnetic protection at the end effector is also necessary to achieve comprehensive electromagnetic protection for the entire dexterous work-assisted robotic arm. Because the end effector directly operates on a 10kV power line, the electromagnetic interference at close range is intense, easily causing creepage and short circuits in the internal circuit boards, leading to loss of tool control. Current conventional tool designs often integrate internal components such as tool controls, but this integration can easily cause functional failure due to electromagnetic interference during 10kV operation.

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

[0047] The end-effector housing 2.2 is fixedly mounted at the end of the insulated robotic arm. An insulated coaxial cable 2.10 is mounted on top of the end-effector housing 2.2, with one end vertically inserted into its interior. The end-effector housing 2.2 is made of insulating resin, ensuring insulation while also protecting the internal components from 10kV electric field creepage. A motor 2.11 is mounted inside the end-effector housing 2.2, with its output end inserted into one end of the insulated coaxial cable 2.10. A sleeve 2.1 is mounted on the other end of the insulated coaxial cable, positioned above the end-effector housing 2.2, for tightening or loosening bolts to disassemble or assemble the hardware on the conductors, effectively isolating it from 10kV creepage.

[0048] A motor drive board 2.3 is fixed below the motor 2.11 and is electrically connected to the motor 2.11. A power supply 2.5 is installed below the motor drive board 2.3 to power it. A photoelectric signal conversion board 2.4 is installed on one side of the motor drive board 2.3. 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 is parallel to the motor drive board 2.3 and has a first distance between them, which is greater than the safe distance for creepage. One side of the control board 2.6 is fixedly connected to the photoelectric signal conversion board 2.4. The control signal emitted by the control board 2.6 and the drive signal emitted by the motor drive board 2.3 are transmitted through the optical fiber of the photoelectric signal conversion board 2.4. A second power supply 2.7 is installed below the control board 2.6 to power it, thus allowing the motor drive board 2.3 and the control board 2.6 to use different power supplies.

[0049] Furthermore, the first distance between the control board 2.6 and the power supply 2.5 is at least d, where d represents the safe distance between the two power supplies to prevent creepage. Then, the power supply 2.7 is placed below the control board 2.6, so that the distance between the power supply 2.7 and the power supply 2.5 is greater than the safe distance d, which can ensure signal stability, prevent creepage, and prevent electromagnetic interference from affecting the normal operation of the tool.

[0050] Furthermore, the control board 2.6 also needs to connect a signal line 2.8 to the transmission (reception) antenna 2.9 to receive the wireless control signal emitted by the main control board located in the electromagnetic shielded main control box 1 and to provide feedback to it.

[0051] The self-resetting charging assembly 2.12 is located inside the end-tool housing 2.2, with its two ends connected to power supply one and power supply two respectively, for charging the two power supplies when not in operation. Previously, relays were conventionally used as intermediate control components. However, the end-tool operates under 10kV conductors, and if the contacts inside the relays are too close together, creepage can cause power supply one and power supply two to discharge, resulting in a short circuit and burning out circuit components. Therefore, a self-resetting charging assembly was designed to solve this problem. A discharge gap of more than 4cm is reserved between the internal contacts to ensure the safety of the circuitry inside the end-tool. When inserted into the charging port, the internal conductive plate rotates to connect the contacts within the self-resetting charging assembly, charging both power supplies.

[0052] Specifically, such as Figure 6 As shown, the self-resetting charging assembly 2.12 includes: a power-resetting housing 2.12.2, which is made of insulating resin material for insulation design. A power interface 2.12.1 is located on the upper part of one side of the power-resetting housing 2.12.2, and a power interface 2.12.6 is located on the lower part. The power interface 2.12.1 is at the same height as the power interface 2.5, and the power interface 2.12.6 is at the same height as the power interface 2.6. A charging port 2.13 is located at the bottom of the self-resetting charging assembly 2.12. This port connects the power interfaces 2.5 and 2.7 to the charging port 2.13 after a power source is inserted into the charging port 2.13, and automatically disconnects the power interfaces 2.5 and 2.7 from the charging port 2.13 after the power source is removed from the charging port 2.13.

[0053] The first conductive plate 2.12.3, the second conductive plate 2.12.7, the third conductive plate 2.12.8, and the fourth conductive plate 2.12.12 are fixedly installed inside the power recovery housing 2.12.2. These four conductive plates are all vertically arranged, and the first conductive plate 2.12.3 and the fourth conductive plate 2.12.12 are located at the upper part of the power recovery housing 2.12.2 and are connected to the negative and positive terminals of the power supply interface 2.12.1, respectively. The second conductive plate 2.12.7 and the third conductive plate 2.12.8 are located at the lower part of the power recovery housing 2.12.2. The second conductive plate 2.12.7 is connected to the negative terminal of the power supply interface 2.12.6 and the negative terminal of the charging port 2.13, and the third conductive plate 2.12.8 is connected to the positive terminal of the power supply interface 2.12.6 and the positive terminal of the charging port 2.13.

[0054] The power-on housing 2.12.2 has a transmission assembly inside. The transmission assembly is movably connected to the charging port 2.13. It is used to contact the contacts of the four conductive plates when the power is inserted into the charging port 2.13 and moves upward, and to separate from the contacts of the four conductive plates when the power is unplugged from the charging port 2.13 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. The two ends of the reset shaft 2.12.10 are rotatably connected to the inner walls of the reset housing 2.12.2 on both sides, and are equipped with reset springs. The first conductive rod 2.12.9 and the second conductive rod 2.12.11 are located on both sides of the reset shaft 2.12.10 and are both vertically fixed to the reset shaft 2.12.10. Each of the first conductive rod 2.12.9 and the second conductive rod 2.12.11 has a contact point at its upper and lower ends, and these four contacts are used to simultaneously contact or separate from the contacts of the four conductive plates.

[0056] The bottom of the power-on housing 2.12.2 is provided with a slide rail, in which the charging port 2.13 is installed vertically. A push rod slider 2.12.4 is slidably provided on the second conductive rod 2.12.11. 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] During charging, insert the power supply into charging port 2.13 and push charging port 2.13 upwards along the slide rail, see [link / reference]. Figure 6 At this time, under the action of push rod 2.12.5 and 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 in contact with the contacts of the first conductive sheet 2.12.3 and the second conductive sheet 2.12.7, respectively; the contacts at the upper and lower ends of the second conductive rod 2.12.11 are in contact with the contacts of the fourth conductive sheet 2.12.12 and the third conductive sheet 2.12.8, respectively. This makes the positive terminals of power supply interface 1 2.12.1 and power supply interface 2.12.6 connected to the positive terminal of charging port 2.13, while the negative terminals of power supply interface 1 2.12.2 and power supply interface 2.12.6 are connected to the negative terminal of charging port 2.13, thus charging power supply 1 and power supply 2 simultaneously.

[0058] When charging is disconnected, the power supply is pulled out from charging port 2.13, causing charging port 2.13 to move downwards along the slide. At this time, push rod 2.12.5 drives push rod slider 2.12.4 to slide downwards along the first conductive rod 2.12.9, and causes 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 plates, and the charging can be disconnected.

[0059] The self-resetting charging assembly provided in this embodiment of the invention, by setting the first conductive rod and the second conductive rod to cooperate with the reset shaft, can not only charge two power sources simultaneously, but also ensure a sufficiently safe discharge distance D between the first conductive piece 2.12.3 and the third conductive piece 2.12.8 after they are separated during operation, so as not to affect the two current loops.

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

[0061] A photoelectric conversion module 2.4.2 is provided at the bottom of the driver interface 2.4.1 and at the top of the control interface 2.4.7. Each photoelectric conversion module 2.4.2 is equipped with two photoresistors 2.4.6 and two LEDs 2.4.3. The photoresistor 2.4.6 of one photoelectric conversion module 2.4.2 and the LED 2.4.3 of the other photoelectric conversion module 2.4.2 are connected by an optical fiber 2.4.5.

[0062] The photoelectric signal conversion board provided in this embodiment of the invention overcomes the limitation of commercially available optocoupler modules being unsuitable for electromagnetic protection in this device. Specifically, the photoelectric conversion module 2.4.2 controls the LED light 2.4.3 to emit a light signal, which is transmitted through the optical fiber 2.4.5. The light is then sensed by the photoresistor 2.4.6 located in another photoelectric conversion module and output to the photoelectric conversion module. Finally, it is connected to the control board 2.6 or the motor drive board 2.3 through the control terminal interface 2.4.7 or the drive terminal interface 2.4.1. By setting the above structure, the safe creepage distance at both ends of the photoelectric signal conversion board is ensured without affecting the photoelectric signal module. Finally, the photoelectric signal conversion board 2.4 is encapsulated and fixed on the outside using transparent insulating epoxy resin 2.4.3. By setting the photoelectric signal conversion board 2.4, an additional layer of protection is added to the electromagnetic protection of the end tool.

[0063] In the preferred but non-limiting embodiments of the present invention, considering the diversity and flexibility of the technology, the following are some possible alternatives:

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

[0065] Alternatives to 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 photoelectric signal conversion, wireless radio frequency transmission or fiber optic transmission technologies can be considered to enhance the stability and distance of signal transmission.

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

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

[0069] Step 1: Place the electromagnetic shielding main control box 1, which contains the main control board, on the fixed module of the insulated robotic arm 3, and set a double electromagnetic shielding layer on the inner surface of the electromagnetic shielding main control box 1.

[0070] Step 2: Place the end-effector protection component 2 at the end of the insulated robotic arm 3 away from the fixed module;

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

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

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

[0074] Furthermore, the electromagnetic protection method also includes the following steps:

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

[0076] Install power supply 2.7 inside end tool protection assembly 2 and position power supply 2.7 below control board 2.5 to supply power to control board 2.5.

[0077] Furthermore, when it is necessary to charge Power Supply 1 2.3 and Power Supply 2 2.7, perform the following steps:

[0078] Install the self-resetting charging component 2.12 inside the end tool protection component 2, and connect its power interface 2.12.1 to power interface 2.3 and power interface 2.12.6 to power interface 2.7;

[0079] When it is necessary to charge Power Supply 1 2.3 and Power Supply 2 2.7, insert the power supply into the charging port 2.13 located at the bottom of the self-resetting charging assembly 2.12. The charging port 2.13 will push the transmission component inside the self-resetting charging assembly 2.12 to connect Power Supply 1 interface 2.12.1 and Power Supply 2 interface 2.12.6 to the charging port 2.13 to charge Power Supply 1 2.3 and Power Supply 2 2.7.

[0080] When charging is complete, unplug the power supply. The transmission component will automatically reset and disconnect the power supply interface 2.12.1, power supply interface 2.12.6, and charging port 2.13.

[0081] The beneficial effects of this invention are as follows: Compared with the prior art, this invention provides simultaneous protection for both the main control board and the end-effector by setting up an electromagnetic shielding main control box and an end-effector protection assembly. A protective layer is provided on the inner surface of the electromagnetic shielding main control box, providing double-layer electromagnetic shielding for the main control board, thus forming hardware shielding. Furthermore, by transmitting signals between the motor drive board and the control board inside the end-effector protection assembly via optical fiber, optical coupling isolation is achieved, forming software shielding, thereby improving the anti-interference capability of the internal circuitry of the end-effector. In addition, this invention also includes power supply modules that provide separate power supplies to the control board and the motor drive board. By providing separate power supplies to the control board and the motor drive board, interference between the two power circuits is avoided, further improving the electromagnetic interference resistance of the end-effector protection assembly and extending the service life of the equipment.

[0082] Furthermore, this invention uses Power Supply One and Power Supply Two to supply power to the motor drive board and control board respectively, while ensuring a safe distance between Power Supply One and Power Supply Two. This prevents the two power supplies from interfering with each other and avoids interference from the high-voltage circuit to the low-voltage control circuit, improving the circuit's anti-interference capability and extending the equipment's service life. In addition, a self-resetting charging component is also installed inside the end-tool protection assembly. This self-resetting charging component not only ensures a safe creepage distance between the two power supplies but also allows both power supplies to be charged simultaneously using a single charging port, solving the problem of inconvenience in charging two power supplies at once.

[0083] Furthermore, the protective layer includes a copper powder spraying layer and a magnetic powder spraying layer. The copper powder spraying layer adds copper powder to the resin surface through spraying technology, which significantly improves the electromagnetic radiation shielding capability. The magnetic powder filling layer uses high magnetic permeability materials to further shield the influence of external magnetic fields, providing a dual 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 and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the protection scope of the claims of the present invention.

Claims

1. Electromagnetic protection devices suitable for robotic arms used in live-line work on 10KV power distribution lines, including: The electromagnetic shielded main control box (1) and the insulated robotic arm (3) are characterized by: The electromagnetic shielding main control box (1) is set on the fixed module of the insulated robotic arm (3). The electromagnetic shielding main control box (1) includes: an outer shell and a protective layer. The main control board is set inside the outer shell. The protective layer is set on the inner surface of the outer shell and is used to provide double electromagnetic shielding for the main control board. The protective layer includes: a copper powder spraying layer (1.1) and a magnetic powder filling layer (1.4). The copper powder coating layer (1.1) includes: a first layer of resin (1.3), which covers the inner surface of the outer shell; a plurality of first slots are provided 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) includes: a second resin layer (1.2), which covers the surface of the copper powder spraying layer (1.1); a plurality of second slots (1.4.2) are provided on one side of the first resin layer (1.3), the second slots (1.4.2) are filled with magnetic powder (1.4.3), and the injection port of the second slots (1.4.2) is filled with a resin sealant layer (1.4.1); The electromagnetic protection device further includes: an end-effector protection assembly (2); the end-effector protection assembly (2) is located at the end of the insulated robotic arm (3) away from the fixed module, and the end-effector protection assembly (2) contains a motor (2.11), a control board (2.6), a motor drive board (2.3) and a power supply module; 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) through optical fiber. The motor drive board (2.3) transmits drive signals to drive the motor (2.11) to operate on the wire (4). The power supply module is used to supply power to the control board (2.6) and the motor drive board (2.3) separately. The power supply module includes: power supply one (2.5) and power supply two (2.7). The power supply (2.5) is located below the motor drive board (2.3) and is used to supply power to the motor drive board (2.3). The power supply (2.5) and the control board (2.6) maintain at least a first distance. The second power supply (2.7) is located below the control board (2.6) and is used to supply power to the control board (2.6); The power supply module further includes a self-resetting charging component (2.12); the self-resetting charging component (2.12) is connected to power supply one (2.5) and power supply two (2.7), and the self-resetting charging component (2.12) is provided with a charging port (2.13), which is used to connect power supply one (2.5), power supply two (2.7) and charging port (2.13) after power is inserted into the charging port (2.13), and automatically disconnect power supply one (2.5), power supply two (2.7) and charging port (2.13) after power is unplugged from the charging port (2.13); The self-resetting charging assembly (2.12) includes: a power reset housing (2.12.2); a power interface 1 (2.12.1) is provided on the upper part of one side of the power reset housing (2.12.2), and a power interface 2 (2.12.6) is provided on the lower part; the charging port (2.13) is movably disposed on the bottom of the power reset housing (2.12.2); Four conductive plates are fixedly installed inside the power recovery housing (2.12.2). Two of the conductive plates are located at the upper part of the power recovery housing (2.12.2) and are connected to the positive and negative terminals of the power supply interface (2.12.1) respectively. The other two conductive plates are located at the lower part of the power recovery housing (2.12.2) and are connected to the positive and negative terminals of the power supply interface (2.12.6) and the charging port (2.13) respectively. The power recovery housing (2.12.2) is equipped with a transmission assembly inside. The transmission assembly is movably connected to the charging port (2.13). It is used to contact the contacts of the four conductive plates when the power is inserted into the charging port (2.13) and moves upward, and to separate from the contacts of the four conductive plates when the power is pulled out of the charging port (2.13) and moves downward.

2. The electromagnetic protection device for a robotic arm used for live-line work on 10KV power distribution lines according to claim 1, characterized in that: The end-tool protection assembly (2) includes: an end-tool housing; the motor (2.11) is located in the upper part inside the end-tool housing, and the output end of the motor (2.11) is coaxially connected to a sleeve (2.1) located above the end-tool housing. 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 located below the motor drive board (2.3) and has a first distance between them; a photoelectric conversion signal board (2.4) for optical fiber signal transmission is provided between the motor drive board (2.3) and the control board (2.6).

3. The electromagnetic protection device for a robotic arm used for live-line work on 10KV power distribution lines according to claim 2, characterized in that: The photoelectric conversion signal board (2.4) has a drive end interface (2.4.1) for connecting to the motor drive 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. Both the driver interface (2.4.1) and the control interface (2.4.7) are equipped with photoelectric conversion modules (2.4.2) connected to them. Each photoelectric conversion module (2.4.2) is equipped with an LED lamp (2.4.3) and a photoresistor (2.4.6) on its inner side. 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) transmit optical signals through an optical fiber (2.4.5).

4. The electromagnetic protection device for a robotic arm used for live-line work on 10KV power distribution lines according to claim 3, characterized in that: 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 (2.12.5), and a push rod slider (2.12.4). The two ends of the reset shaft (2.12.10) are rotatably connected to the inner walls of the two sides of the reset housing (2.12.2) and are equipped with reset springs; the first conductive rod (2.12.9) and the second conductive rod (2.12.11) are located on both sides of the reset shaft (2.12.10) and are both vertically fixed 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 point, and the four contacts are used to simultaneously contact or separate from the contacts of the four conductive plates; The charging port (2.13) is movably mounted on the bottom of the power recovery housing (2.12.2). A push rod slider (2.12.4) is slidably mounted 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).

5. The electromagnetic protection device for a robotic arm used for live-line working on 10KV power distribution lines according to any one of claims 1-3, characterized in that: The insulated robotic arm (3) includes: a robotic arm body, the surface of which is covered with insulating material.

6. An electromagnetic protection method using the electromagnetic protection device for a 10KV power distribution line live-line working robotic arm according to any one of claims 1-5, characterized in that, Includes the following steps: Step 1: Place the electromagnetic shielding main control box (1) with the main control board inside on the fixed module of the insulated robotic arm (3), and set a double electromagnetic shielding layer on the inner surface of the electromagnetic shielding main control box (1). Step 2: Place the end-effector protection component (2) on the end of the insulated robotic arm (3) away from the fixed module; Step 3: Transmit a wireless control signal from the main control board to the control board (2.6) located inside the end tool protection assembly (2); 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) through optical fiber. Step 5: After receiving the wireless control signal, the motor drive board (2.3) drives the motor (2.11) to operate and perform work on the wire (4).

7. The electromagnetic protection method of the electromagnetic protection device according to claim 6, characterized in that: The electromagnetic protection method further includes the following steps: Install power supply 1 (2.5) inside the end tool protection assembly (2), so that power supply 1 (2.5) is below the motor drive board (2.3), and maintain at least a first distance between power supply 1 (2.5) and control board (2.6), and supply power to motor drive board (2.3) through power supply 1 (2.5); Install power supply 2 (2.7) inside the end tool protection assembly (2) and position power supply 2 (2.7) below the control board (2.6) to supply power to the control board (2.6).

8. The electromagnetic protection method of the electromagnetic protection device according to claim 7, characterized in that: When it is necessary to charge power supply one (2.5) and power supply two (2.7), perform the following steps: Install the self-resetting charging component (2.12) inside the end tool protection component (2), and connect its power interface 1 (2.12.1) to power interface 1 (2.5) and power interface 2 (2.12.6) to power interface 2 (2.7); When it is necessary to charge power supply 1 (2.5) and power supply 2 (2.7), insert the power supply into the charging port (2.13) located at the bottom of the self-resetting charging assembly (2.12). The charging port (2.13) will push the transmission component located inside the self-resetting charging assembly (2.12) to connect the power supply 1 interface (2.12.1) and power supply 2 interface (2.12.6) with the charging port (2.13) to charge power supply 1 (2.5) and power supply 2 (2.7). When charging is complete, unplug the power supply. The transmission component will automatically reset and disconnect the power supply interface 1 (2.12.1), power supply interface 2 (2.12.6), and charging port (2.13).

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