Device and method for hanging and detaching grounding wire through mechanical arm

Abstract

The invention discloses a device and method for hanging and dismounting a ground wire through a mechanical arm, and relates to the technical field of power line dismounting and mounting. The device comprises a lifting mechanism, the lifting mechanism is connected with a walking mechanism through a rotary joint, supporting mechanisms are installed on the two sides of the walking mechanism, a mechanical arm fixing base is arranged at the end, away from the walking mechanism, of the lifting mechanism, and a mechanical arm is installed on the mechanical arm fixing base. The end, away from the mechanical arm fixing base, of the mechanical arm is detachably connected with a separating type remote control clamp. According to the invention, the operation intensity of operators is reduced, the operation efficiency is improved, the safety of the operators is guaranteed, the interference of the environment can be eliminated, the line wiring operation is completed at a proper angle, and time saving and high efficiency are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of power line installation and disassembly, and in particular to a device and method for hanging and disassembling a grounding wire by a mechanical arm. Background Art

[0002] Daily maintenance of substation equipment is one of the main means to ensure the safe and stable operation of the power grid. Temporary grounding wires are an important guarantee for protecting the safety of power workers during maintenance operations, and can prevent casualties caused by accidental voltage on power-off equipment or lines.

[0003] There are two existing grounding methods: one is to use a ladder lift to send workers to the vicinity of the work site to hook up the grounding wire; the other is to use an insulating rod tool manually to adjust and maintain the posture of the grounding device. Both methods are achieved by live workers using purely mechanical line wiring tools. In a complex operating environment, there are disadvantages such as the inappropriate angle of the line wiring tools, poor observation with the naked eye, high risk of high-altitude operations, high labor intensity of the operators, and long operation time. Summary of the invention

[0004] In view of the deficiencies in the background technology, the present invention provides a device and method for hanging and removing grounding wires by a robotic arm. The present invention reduces the operating intensity of operators, improves operating efficiency, and ensures the safety of operators. At the same time, environmental interference can be eliminated, and line wiring operations can be completed at a suitable angle, which saves time and is efficient.

[0005] To achieve the above-mentioned purpose, the present invention provides the following first technical solution: a robot arm hanging and removing grounding wire device, comprising a lifting mechanism, the lifting mechanism is connected to a walking mechanism through a swivel joint, support mechanisms are installed on both sides of the walking mechanism, a robot arm fixing seat is provided at one end of the lifting mechanism away from the walking mechanism, a robot arm is installed on the robot arm fixing seat, and the end of the robot arm away from the robot arm fixing seat is detachably connected to a separate remote-controlled clamp.

[0006] By adopting the above technical scheme, the walking mechanism, the supporting mechanism and the lifting mechanism cooperate with each other to lift the robotic arm to the vicinity of the line grounding point, and then the remote control device is used to finely control the robotic arm and the separate remote control clamp at its end to clamp the line grounding point from an appropriate angle to complete the connection of the ground wire; compared with traditional bucket truck operations and manual high-altitude wiring operations using insulating rod tools, intelligent remote control of high-altitude wiring operations is realized, which reduces the operating intensity of operators, improves operating efficiency, and ensures the safety of operators; at the same time, hanging and removing the grounding wire device can eliminate environmental interference and complete the line wiring operation at a suitable angle, which saves time and is efficient.

[0007] The present invention is further configured as follows: the lifting mechanism includes a slewing base, a main arm and at least one telescopic arm, the slewing base is connected to the walking mechanism through a slewing joint, the main arm is connected to the slewing base through a pitch joint, the telescopic arm is connected to the main arm through a telescopic joint, and the mechanical arm fixing seat is fixed to one end of the telescopic arm away from the main arm.

[0008] The present invention is further configured as follows: the robotic arm includes a base, a swivel robotic arm and at least two rotating robotic arms, the base is plugged into a robotic arm fixing seat, the base is connected to the swivel robotic arm via a swivel joint, and the swivel robotic arm and the rotating robotic arm are connected in turn via a swivel joint.

[0009] Preferably, a circular connecting boss is provided at one end of the rotating robotic arm away from the slewing robotic arm, a fixing pin is provided on the outer circumferential surface of the circular connecting boss, a circular connecting groove which is plugged into the circular connecting boss is provided on the separate remote control clamp, and a fixing groove for inserting and tightening the fixing pin is provided on the groove wall of the circular connecting groove.

[0010] Preferably, the rotating mechanical arm is connected to the circular connecting boss via a rotating joint.

[0011] Preferably, it also includes a remote controller, which is used to control the movement of the robotic arm and the separate remote-controlled clamp.

[0012] Preferably, a camera and a wireless transceiver are provided on the base, the camera is connected to the remote control via the wireless transceiver, the camera is used to obtain the surrounding environment information of the detachable remote-controlled clamp, and the wireless transceiver is used to transmit the camera shooting picture to the remote control in real time.

[0013] Preferably, a force sensor is provided on the detachable remote-controlled clamp, and the force sensor is used to detect the clamping force of the detachable remote-controlled clamp and send the clamping force to the remote control via a wireless transceiver.

[0014] The present invention is further configured to include: a controller arranged on the walking mechanism, and the controller is used to control the actions of the walking mechanism, the supporting mechanism and the lifting mechanism.

[0015] To achieve the above object, the present invention provides the following second technical solution: a method for hanging and removing a grounding wire by a robot arm, applied to the aforementioned device for hanging and removing a grounding wire by a robot arm, comprising the following steps: S1: Use the controller to control the walking mechanism and the supporting mechanism to move the robot arm hanging and removing grounding wire device and place it below the line grounding point; S2: Connect one end of the grounding wire to the grounding stake and fix the other end to the separate remote control clamp; S3: Align the circular connection groove with the circular connection protrusion, insert the fixing pin into the fixing groove and tighten it, so as to complete the fixing of the separated remote control clamp and the robot arm; S4: Install the base of the robot arm on the robot arm fixing base to complete the connection between the robot arm and the lifting mechanism; S5: Use the remote control to start the robotic arm and put it in the reset state; S6: Use the controller to control the lifting mechanism to move the robot arm to a position near the line grounding point; S7: Use the remote control to control the movement of the robot arm, and control the separated remote control clamp to clamp the line grounding point at an appropriate angle and with appropriate force through the image observed by the camera and the clamping force transmitted by the force sensor; S8: After completing the clamping operation of one-phase line, use the remote controller to control the circular connection boss to rotate and disengage from the circular connection groove, so that the separate remote control clamp is separated from the mechanical arm, and use the controller to control the descent of the lifting mechanism; S9: Repeat the process of steps S2 to S8 until the three-phase line wiring operation is completed.

[0016] By adopting the above technical solution, the aforementioned mechanical arm hanging and removing grounding wire device is operated to realize intelligent remote control of high-altitude wiring operations, reduce the operating intensity of operators, improve operating efficiency, and ensure the safety of operators.

[0017] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art: 1. Through the cooperation of the walking mechanism, the supporting mechanism and the lifting mechanism, the robotic arm is lifted to the vicinity of the line grounding point, and then the remote control device is used to finely control the robotic arm and the separate remote control clamp at its end to clamp the line grounding point from an appropriate angle to complete the connection of the ground wire; the intelligent remote control of high-altitude wiring operations is realized, which reduces the operating intensity of operators, improves operating efficiency, and ensures the safety of operators; at the same time, the robotic arm hanging and removing the grounding wire device can eliminate environmental interference and complete the line wiring operation at a suitable angle, which is more time-saving and efficient.

[0018] 2. The end of the robotic arm is equipped with a separate remote control clamp. The two can be quickly separated under the control of the remote control device, realizing multiple ends on one arm and repeatable three-phase line wiring operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Attached Figure 1 It is an exploded view of the mechanical arm hanging and removing grounding wire device of the present invention; Attached Figure 2 It is an overall structural diagram of the mechanical arm hanging and removing grounding wire device of the present invention; Attached Figure 3 It is a partial equipment diagram of the mechanical arm hanging and removing grounding wire device of the present invention; Attached Figure 4 Yes Figure 2 A partial enlarged view of; Attached Figure 5 Yes Figure 3 B is a partial enlarged view; Attached Figure 6 This is a diagram of the operation and installation state of the mechanical arm hanging and removing grounding wire device of the present invention; Attached Figure 7 This is a diagram showing the operating state of the mechanical arm hanging and removing grounding wire device of the present invention; Attached Figure 8 This is a diagram showing the state in which the mechanical arm hanging and removing grounding wire device of the present invention is completed; The meaning of the numbers in the figure are as follows: 1. Walking mechanism; 2. Support mechanism; 3. Lifting mechanism; 31. Rotating base; 32. Main arm; 33. Telescopic arm; 4. Mechanical arm; 41. Base; 42. Rotating mechanical arm; 43. Rotating mechanical arm; 431. Circular connecting boss; 432. Fixing pin; 46. Camera; 5. Separate remote control clamp; 51. Circular connecting groove; 52. Fixing groove; 6. Mechanical arm fixing seat; 7. Remote control; 8. Controller. DETAILED DESCRIPTION

[0020] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that those skilled in the art can more clearly understand how to practice the present invention. Although the present invention is described in conjunction with its preferred specific embodiments, these embodiments are only illustrative, rather than limiting the scope of the present invention.

[0021] Example 1 like Figure 1 As shown, a robot arm hanging and removing grounding wire device comprises: a walking mechanism 1, a supporting mechanism 2, a lifting mechanism 3, a robot arm 4 and a detachable remote control clamp 5. The lifting mechanism 3 is connected to the walking mechanism 1 through a swivel joint. A robot arm fixing seat 6 is provided at one end of the lifting mechanism 3 away from the walking mechanism 1. The robot arm 4 is installed on the robot arm fixing seat 6. The detachable remote control clamp 5 is detachably connected to one end of the robot arm 4 away from the robot arm fixing seat 6. The supporting mechanism 2 is installed on both sides of the walking mechanism 1.

[0022] The walking mechanism 1 of the present invention can adopt a crawler-type mobile chassis structure. Compared with the ordinary wheeled mobile chassis structure, the crawler-type mobile chassis structure includes a chassis, a crawler frame, left and right travel motors and crawlers, so as to have better maneuverability and stability on uneven ground, soft soil or narrow space. The support mechanism 2 of the present invention can adopt a total of four foldable legs distributed on the left and right sides of the crawler-type mobile chassis structure. Each foldable leg is connected to the walking mechanism 1 through a hinge mechanism and a hydraulic cylinder. The foldable legs are propped up during the walking process of the walking mechanism 1. When staying at a certain position for a long time, the foldable legs can be put down to support the ground, so as to achieve the stable placement of the mechanical arm hanging and removing the grounding wire device, which helps the lifting mechanism 3 to stably support the entire fuselage when in use, and improves the stability and lifting capacity of the lifting mechanism 3. The lifting mechanism 3 of the present invention can adopt a telescopic boom, which can be extended and retracted according to actual operation needs, so as to achieve lifting operations at different heights and distances. As a special type of crane, the existing crawler spider crane is more suitable for the requirements of the present invention for the walking mechanism 1, the supporting mechanism 2 and the lifting mechanism 3, and can be used as a choice of the technical solution of the present invention.

[0023] like Figure 1 As shown, through the cooperation of the walking mechanism 1, the supporting mechanism 2 and the lifting mechanism 3, the controller 8 arranged on the walking mechanism 1 controls the actions of the walking mechanism 1, the supporting mechanism 2 and the lifting mechanism 3 to lift the mechanical arm 4 to the vicinity of the line grounding point, and then the remote control 7 is used to finely control the mechanical arm 4 and the separate remote control clamp 5 at its end to clamp the line grounding point from a suitable angle to complete the connection of the ground wire; compared with the traditional bucket arm operation and the high-altitude wiring operation manually using insulating rod tools, the intelligent remote control of the high-altitude wiring operation is realized, which reduces the operating intensity of the operator, improves the operating efficiency, and ensures the safety of the operator; at the same time, the mechanical arm 4 of the mechanical arm hanging and removing the grounding wire device and the separate remote control clamp 5 can eliminate environmental interference when working together, and complete the line wiring operation at a suitable angle, which is time-saving and efficient.

[0024] like Figure 2 As shown, the lifting mechanism 3 includes a slewing base 31, a main arm 32 and at least one telescopic arm 33, and the mechanical arm fixing base 6 is fixed to one end of the telescopic arm 33 away from the main arm 32. The slewing base 31 is connected to the walking mechanism 1 through a slewing joint, so that the lifting mechanism 3 can rotate 360 ​​degrees on the surface of the walking mechanism 1 through the slewing base 31, so that the lifting mechanism 3 can lift the mechanical arm 4 to align with the wiring operation direction; the main arm 32 is connected to the slewing base 31 through a pitch joint, and the main arm 32 pitches in the vertical direction relative to the slewing base 31 under the action of the pitch joint, so as to adjust the elevation angle of the main arm 32 so that the mechanical arm 4 is further aligned with the wiring operation direction; the telescopic arm 33 is connected to the main arm 32 through a telescopic joint, and the telescopic arm 33 is extended under the action of the telescopic joint, so that the mechanical arm 4 reaches the wiring operation working area.

[0025] In addition, when there are more than two telescopic arms 33, the telescopic arms 33 gradually become thinner and shorter in the direction away from the main arm 32, reducing the torque at the end of the mechanical arm 33. At the same time, the multi-section structure can improve the flexibility of the lifting mechanism 3, which can achieve a sufficiently large activity space and be short enough when retracted for easy transportation.

[0026] like Figure 3 As shown, the robot 4 includes a base 41, a swivel robot arm 42 and at least two rotating robot arms 43. The base 41 is plugged into the robot arm fixing base 6, so that the robot 4 is fixed on the lifting mechanism 3 and reaches the wiring work area through the lifting mechanism 3; the base 41 is connected to the swivel robot arm 42 through a swivel joint, so that the swivel robot arm 42 rotates around the vertical axis of the base 41; the swivel robot arm 42 and the rotating robot arm 43 are connected in turn through swivel joints, allowing the rotating robot arm 43 to rotate in multiple planar directions.

[0027] When the number of rotating robotic arms 43 is two, the robotic arms 4 are interconnected by a slewing joint and two rotating joints, and have three degrees of freedom, allowing the robotic arms 4 to move independently in three directions, basically meeting the requirements of the separate remote-controlled clamp 5 to complete the line wiring operation at a suitable angle.

[0028] like Figure 4 As shown, in order to better cope with the grounding wire operation in a more complex working environment, under the premise of higher degrees of freedom provided by more rotating robotic arms 43, a camera 46 and a wireless transceiver are set on the base 41, and the camera 46 is connected to the remote control 7 through the wireless transceiver. The camera 46 is used to obtain the surrounding environment information of the separate remote control clamp 5 and transmit the picture taken by the camera 46 to the remote control 7 in real time through the wireless transceiver so as to more precisely control the robotic arm 4 to perform line wiring operations.

[0029] like Figure 5As shown, in order to facilitate the separation of the detachable remote control clamp 5 from the mechanical arm 4 after completing the line wiring operation, a circular connection boss 431 is provided at one end of the rotating mechanical arm 43 away from the rotary mechanical arm 42, and a fixing pin 432 is provided on the outer circumferential surface of the circular connection boss 431. The detachable remote control clamp 5 is provided with a circular connection groove 51 plugged with the circular connection boss 431, and a fixing groove 52 for inserting and tightening the fixing pin 432 is provided on the groove wall of the circular connection groove 51, and the detachable remote control clamp 5 is connected to the circular connection boss 431 through a rotating joint. When the detachable remote control clamp 5 is clamped on the line, since the detachable remote control clamp 5 is connected to the circular connection boss 431 through a rotating joint, the remote control 7 is used to control the multiple rotating mechanical arms 43 to rotate in coordination with each other, which can drive the circular connection boss 431 to rotate and retreat, so that the circular connection boss 431 is separated from the circular connection groove 51, and the detachable remote control clamp 5 is separated from the mechanical arm 4.

[0030] In order to control the clamping force of the separate remote control clamp 5 during line wiring operation so that the ground wire is firmly connected without damaging the high-voltage line, a force sensor is provided on the separate remote control clamp 5. The force sensor is used to detect the clamping force of the separate remote control clamp 5 and send the clamping force to the remote control 7 through a wireless transceiver.

[0031] Example 2 like Figure 6~Figure 8 As shown, a method for hanging and removing a grounding wire by a robot arm comprises the following steps: S1: Use the controller 8 to control the walking mechanism 1 and the supporting mechanism 2 to move the mechanical arm hanging and removing grounding wire device and place it below the line grounding point; S2: Connect one end of the grounding wire to the grounding pile, and fix the other end to the separate remote control clamp 5; S3: Align the circular connection groove 51 of the detachable remote control clamp 5 with the circular connection protrusion 431 of the rotating mechanical arm 43, insert the fixing pin 432 into the fixing groove 52 and tighten it, so as to complete the fixing of the detachable remote control clamp 5 and the mechanical arm 4; S4: Install the base 41 of the robot arm 4 on the robot arm fixing base 6 to complete the connection between the robot arm 4 and the lifting mechanism 3; S5: Use the remote controller 7 to start the robot arm 4, and put the robot arm 4 into a reset state; S6: Use the controller 8 to control the lifting mechanism 3 to rise, and move the robot arm 4 to a position near the line grounding point; S7: Use the remote controller 7 to control the movement of the robot arm 4, and control the separated remote control clamp 5 to clamp the line grounding point at an appropriate angle and with appropriate force through the image transmitted to the remote controller 7 by the camera 46 and the clamping force transmitted to the remote controller 7 by the force sensor; S8: After the clamping operation of one phase line is completed, the circular connection boss 431 is controlled by the remote controller 7 to rotate and disengage from the circular connection groove 51, so that the separate remote control clamp 5 is separated from the robot arm 4, and the controller 8 is used to control the descent of the lifting mechanism 3; S9: Repeat the process of steps S2 to S8 until the three-phase line wiring operation is completed.

[0032] The mechanical arm ground wire hanging and removing device of the present invention is used in conjunction with its operation method to solve the shortcomings and pain points of existing line wiring operation tools, such as inappropriate angles, poor observation with naked eyes, high risk of high-altitude operation, high labor intensity of operators, and long operation time. The device is equipped with a camera 46 at the bottom of the mechanical arm 4, which can control the current remote control operation in real time. In addition, the end of the mechanical arm 4 is equipped with a separate remote control clamp 5, and the two can be quickly separated under the control of the remote control 7, realizing one arm with multiple heads, and can repeatedly perform three-phase line wiring operations.

[0033] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A device for hanging and removing ground wires by a mechanical arm, characterized in that: The invention comprises a lifting mechanism (3), wherein the lifting mechanism (3) is connected to a walking mechanism (1) via a swivel joint, support mechanisms (2) are installed on both sides of the walking mechanism (1), a mechanical arm fixing seat (6) is provided at one end of the lifting mechanism (3) away from the walking mechanism (1), a mechanical arm (4) is installed on the mechanical arm fixing seat (6), and a detachable remote control clamp (5) is detachably connected to one end of the mechanical arm (4) away from the mechanical arm fixing seat (6).

2. The device for hanging and removing grounding wires by a mechanical arm according to claim 1, characterized in that: The lifting mechanism (3) comprises a slewing base (31), a main arm (32) and at least one telescopic arm (33); the slewing base (31) is connected to the walking mechanism (1) via a slewing joint; the main arm (32) is connected to the slewing base (31) via a pitch joint; the telescopic arm (33) is connected to the main arm (32) via a telescopic joint; and the mechanical arm fixing seat (6) is fixed to an end of the telescopic arm (33) away from the main arm (32).

3. The device for hanging and removing ground wires by a mechanical arm according to claim 1, characterized in that: The mechanical arm (4) comprises a base (41), a rotary mechanical arm (42) and at least two rotating mechanical arms (43); the base (41) is plugged into a mechanical arm fixing seat (6); the base (41) is connected to the rotary mechanical arm (42) via a rotary joint; the rotary mechanical arm (42) and the rotating mechanical arm (43) are connected in turn via rotary joints.

4. The mechanical arm grounding wire hanging and removing device according to claim 3 is characterized in that: A circular connecting boss (431) is provided at one end of the rotating mechanical arm (43) away from the slewing mechanical arm (42); a fixing pin (432) is provided on the outer circumferential surface of the circular connecting boss (431); a circular connecting groove (51) plugged into the circular connecting boss (431) is provided on the detachable remote control clamp (5); and a fixing groove (52) for inserting and tightening the fixing pin (432) is provided on the groove wall of the circular connecting groove (51).

5. The device for hanging and removing ground wires by a mechanical arm according to claim 4, characterized in that: The rotating mechanical arm (43) is connected to the circular connecting boss (431) via a rotating joint.

6. The device for hanging and removing ground wires by a mechanical arm according to claim 3, characterized in that: It also includes a remote controller (7), wherein the remote controller (7) is used to control the movements of the mechanical arm (4) and the detachable remote-controlled clamp (5).

7. The device for hanging and removing ground wires by a robot arm according to claim 6, characterized in that: The base (41) is provided with a camera (46) and a wireless transceiver, the camera (46) being connected to the remote control (7) via the wireless transceiver, the camera (46) being used to obtain information about the surrounding environment of the detachable remote-controlled clamp (5), and the wireless transceiver being used to transmit images captured by the camera (46) to the remote control (7) in real time.

8. The device for hanging and removing ground wires by a mechanical arm according to claim 7, characterized in that: The detachable remote-controlled clamp (5) is provided with a force sensor, which is used to detect the clamping force of the detachable remote-controlled clamp (5) and transmit the clamping force to the remote controller (7) via a wireless transceiver.

9. The device for hanging and removing ground wires by a mechanical arm according to claim 1, characterized in that: It also includes a controller (8) arranged on the walking mechanism (1), wherein the controller (8) is used to control the actions of the walking mechanism (1), the supporting mechanism (2) and the lifting mechanism (3).

10. A method for hanging and removing a grounding wire by a robot arm, characterized in that: The device for hanging and removing grounding wires by a mechanical arm as claimed in any one of claims 1 to 9 comprises the following steps: S1: Using a controller (8) to control the walking mechanism (1) and the supporting mechanism (2), the mechanical arm hanging and removing grounding wire device is moved and placed below the line grounding point; S2: Connect one end of the grounding wire to the grounding pile, and fix the other end to the separate remote control clamp (5); S3: Align the circular connection groove (51) with the circular connection protrusion (431), insert the fixing pin (432) into the fixing groove (52) and tighten it, thereby completing the fixing of the detachable remote control clamp (5) and the mechanical arm (4); S4: Mounting the base (41) of the robot arm (4) on the robot arm fixing base (6) to complete the connection between the robot arm (4) and the lifting mechanism (3); S5: Using the remote controller (7) to start the robotic arm (4), so that the robotic arm (4) is in a reset state; S6: Using the controller (8) to control the lifting mechanism (3) to rise, and moving the robot arm (4) to a position near the line grounding point; S7: Use the remote controller (7) to control the movement of the robot arm (4), and control the separate remote control clamp (5) to clamp the line grounding point at an appropriate angle and with appropriate force through the image observed by the camera (46) and the clamping force transmitted by the force sensor; S8: After the clamping operation of the single-phase line is completed, the circular connection boss (431) is controlled by the remote controller (7) to rotate and disengage from the circular connection groove (51), so that the detachable remote control clamp (5) is separated from the mechanical arm (4), and the lifting mechanism (3) is controlled to descend by the controller (8); S9: Repeat the process of steps S2 to S8 until the three-phase line wiring operation is completed.

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