Experimental platform for live working robot to grab dynamic cable

Abstract

The invention discloses an experiment platform for a hot-line work robot to grab a dynamic cable. The experiment platform comprises a supporting frame, a cable swinging module, a cable fixing piece, a power cable and a cable clamping device. A cable swinging module is fixed at the first end of the support frame, and a cable fixing piece is fixed at the second end of the support frame; the first end of the power cable is in transmission connection with the cable swinging module, and the second end of the power cable is connected with the cable fixing piece, so that the power cable is tensioned and hung on the supporting frame and is driven by the cable swinging module to swing; the cable clamping device is located below the power cable and comprises a cable clamping hand, a visual sensor and a series-connection type mechanical arm. The cable clamping hand is arranged at the tail end of the mechanical arm, and the mechanical arm moves the cable clamping hand based on the visual sensor and controls the cable clamping hand to clamp the power cable. According to the invention, swing characteristics of the cable in a dynamic environment can be simulated, and reliable experimental verification conditions are provided for research and optimization of a robot in a dynamic target grabbing task.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to an experimental platform for a live working robot to grab dynamic cables. Background Art

[0002] With the rapid development of the power industry and the continuous improvement of safety awareness, the operation and maintenance of power lines and fault handling have increasingly higher requirements for the professionalism and safety protection of operators. Distribution network live working robots are gradually becoming the focus of industry attention and research hotspots: using mechanical arms and other devices to replace manual labor to perform precision operations such as wire stripping, wire cutting and wiring in high-voltage and high-risk live environments can reduce human risks while improving work efficiency. In practical applications, live working robots still face many severe challenges. Among them, "cable grabbing" is particularly critical as a prerequisite for robots to perform subsequent fine operations. Unlike static targets, cables show significant dynamic characteristics during high-altitude laying. For example, when the robot is working, the target cable may swing periodically or irregularly due to the combined effects of wind, gravity and electromagnetic forces, and its amplitude and frequency are difficult to accurately predict. The dynamic nature of this flexible cable causes the spatial position of the grabbing point to change continuously in a short period of time, which places extremely high demands on perception and control.

[0003] However, existing research platforms are mainly used to verify grasping performance under static or quasi-static conditions, which makes it difficult for R&D personnel to promptly discover and resolve failure modes of algorithms in real complex scenarios in a laboratory environment, thereby extending the iteration cycle of the technology and increasing the difficulty of debugging in actual deployment. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an experimental platform for a live working robot to grasp dynamic cables, which can simulate the swing characteristics of cables in a dynamic environment and provide reliable experimental verification conditions for the research and optimization of the robot in dynamic target grasping tasks.

[0005] In order to solve the above technical problems, the present invention discloses an experimental platform for a live working robot to grasp dynamic cables, comprising a support frame, a cable swing module, a cable fixing part, a power cable and a cable clamping device;

[0006] The cable swing module is fixed to the first end of the support frame, and the cable fixing piece is fixed to the second end of the support frame; the first end of the power cable is transmission-connected to the cable swing module, and the second end of the power cable is connected to the cable fixing piece, so that the power cable is tensioned and suspended on the support frame and the power cable is driven by the cable swing module to swing;

[0007] The cable clamping device is located below the power cable, and includes a cable clamping hand, a visual sensor, and a serial-type robotic arm; the cable clamping hand is arranged at the end of the robotic arm, and the robotic arm moves the cable clamping hand based on the visual sensor and controls the cable clamping hand to clamp the power cable.

[0008] As an optional implementation, the vibration frequency range of the cable swing module is 0.1 Hz to 100 Hz, and the amplitude range is 1 mm to 100 mm.

[0009] As another optional implementation, it also includes an insulator, a bowl head hanging plate and a tension clamp;

[0010] The fixed end of the insulator is transmission-connected to the cable swing module; the first end of the power cable is mounted on the tension clamp, and the tension clamp is connected to the insulating end of the insulator through the bowl head hanging plate.

[0011] As another optional implementation, the cable swing module includes a guide rail with a slider and a servo motor driving the slider to move; the fixed end of the insulator is drivingly connected to the slider.

[0012] As another optional implementation, the cable swing module further includes a photoelectric sensor; the photoelectric sensor is disposed on the guide rail and is used to obtain the position of the slider in real time.

[0013] As another optional embodiment, it also includes a servo motor driver, a ball screw module is provided in the guide rail, the ball screw module is driven by the servo motor, and the ball screw module is transmission-connected to the slider; the servo motor driver is used to control the servo motor.

[0014] As another optional implementation, it further includes a cable fixing adapter; one end of the cable fixing adapter is fixed to the slider, and the other end of the cable fixing adapter is hinged to the fixed end of the insulator.

[0015] As another optional embodiment, it also includes two fixed power cables; the cable fixing member is also fixed to the first end of the support frame, and each of the fixed power cables is fixed to the cable fixing members at both ends of the support frame and is located on both sides of the power cables.

[0016] As another optional implementation, the cable fixing piece is in the shape of an elongated strip, and fixing parts are provided on the cable fixing piece at intervals, and each fixing part is hinged to one end of one of the fixed power cables.

[0017] As another optional implementation, the cable clamping device further includes a mechanical arm base and a controller; the mechanical arm is mounted on the mechanical arm base, and the mechanical arm and the cable clamping hand are driven by the control of the controller.

[0018] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0019] The embodiment of the present invention builds a test platform that can simulate the dynamic swing of real cables. It can simulate the swing characteristics of cables in a dynamic environment, provide reliable experimental verification conditions for the research and optimization of robots in dynamic target grasping tasks, and is used to verify the robustness and adaptability of vision-based cable grasping algorithms under different conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 It is a structural schematic diagram of an experimental platform for a live working robot to grab a dynamic cable disclosed in an embodiment of the present invention;

[0022] Figure 2 The embodiment of the present invention is disclosed Figure 1 A partial enlarged schematic diagram of part A. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] See also Figures 1-2 , the embodiment of the present invention discloses an experimental platform for a live working robot to grasp a dynamic cable, comprising a support frame 1, a cable swing module 2, a cable fixing member 3, a power cable 4 and a cable clamping device 5;

[0025] The cable swing module 2 is fixed to the first end of the support frame 1, and the cable fixing member 3 is fixed to the second end of the support frame 1; the first end of the power cable 4 is transmission-connected to the cable swing module 2, and the second end of the power cable 4 is connected to the cable fixing member 3, so that the power cable 4 is tensioned and suspended on the support frame 1 and the power cable 4 is driven by the cable swing module 2 to swing;

[0026] The cable clamping device 5 is located below the power cable 4, and includes a cable clamping hand 51, a visual sensor 52, and a serial-type robotic arm 53; the cable clamping hand 51 is arranged at the end of the robotic arm 53, and the robotic arm 53 moves the cable clamping hand 51 based on the visual sensor 52 and controls the cable clamping hand 51 to clamp the power cable 4.

[0027] In this embodiment, the frame support structure is assembled by bolting or welding multiple metal profiles to form a stable overall bracket. The frame can adjust the height and inclination according to the experimental requirements to adapt to different experimental environments and cable laying methods. The bottom of the frame adopts a triangular support structure to ensure the overall mechanical strength and stability.

[0028] The embodiment of the present invention builds a test platform that can simulate the dynamic swing of real cables. It can simulate the swing characteristics of cables in a dynamic environment, provide reliable experimental verification conditions for the research and optimization of robots in dynamic target grasping tasks, and is used to verify the robustness and adaptability of vision-based cable grasping algorithms under different conditions.

[0029] In an optional embodiment, it also includes an insulator 7, a bowl head hanging plate 8 and a tension clamp 9;

[0030] The fixed end of the insulator 7 is transmission-connected to the cable swing module 2 ; the first end of the power cable 4 is mounted on the tension clamp 9 , and the tension clamp 9 is connected to the insulating end of the insulator 7 through the bowl head hanging plate 8 .

[0031] In yet another optional embodiment, the cable swing module 2 includes a guide rail 22 with a slider 21 and a servo motor 23 driving the slider 21 to move; the fixed end of the insulator 7 is transmission-connected to the slider 21 .

[0032] Optionally, the vibration frequency range of the cable swing module 2 is 0.1Hz to 100Hz, and the amplitude range is 1mm to 100mm. It can realize flexible adjustment of parameters such as vibration amplitude and frequency to simulate the common dynamic disturbance scenarios in actual distribution network live operation. Through precise vibration control, this module provides efficient and repeatable experimental conditions for algorithm optimization and verification of dynamic cable grabbing system.

[0033] In another optional embodiment, the cable swing module 2 further includes a photoelectric sensor 24, which is disposed on the guide rail 22 and is used to obtain the position of the slider 21 in real time. The photoelectric sensor is combined with the controller to achieve real-time limit protection and ensure the safety of the experimental process.

[0034] In another optional embodiment, a servo motor driver (not shown in the drawings) is further included, a ball screw module is provided in the guide rail 22, the ball screw module is driven by the servo motor 23, and the ball screw module is transmission-connected to the slider 21; the servo motor driver is used to control the servo motor 23.

[0035] In yet another optional embodiment, a cable fixing adapter 10 is further included; one end of the cable fixing adapter 10 is fixed to the slider 21 , and the other end thereof is hinged to the fixed end of the insulator 7 .

[0036] In another optional embodiment, two fixed power cables 6 are further included; the cable fixing member 3 is also fixed to the first end of the support frame 1, and each of the fixed power cables 6 is fixed to the cable fixing member 3 at both ends of the support frame 1 and is located on both sides of the power cable 4.

[0037] In another optional embodiment, the cable fixing member 3 is in the shape of an elongated strip, and fixing portions are provided at intervals on the cable fixing member 3 , and each fixing portion is hinged to one end of one of the fixed power cables 6 .

[0038] In yet another optional embodiment, the cable clamping device 5 further includes a mechanical arm base 54 and a controller; the mechanical arm 53 is mounted on the mechanical arm base 54, and the mechanical arm 53 and the cable clamping hand 51 are driven and controlled by the controller.

[0039] In the embodiment of the present invention, by replacing the cable fixings 3, insulators 7, bowl head hanging plates 8, tension clamps 9 and power cables 4, the platform can simulate the actual operating conditions of various power lines in a laboratory environment.

[0040] The contents disclosed in the embodiments of the present invention only disclose the preferred embodiments of the present invention, which are only used to illustrate the technical solutions of the present invention rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, it should be understood by those skilled in the art that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An experimental platform for live working robots to grab dynamic cables, characterized in that: It includes a support frame, a cable swing module, a cable fixing part, a power cable and a cable clamping device; The cable swing module is fixed to the first end of the support frame, and the cable fixing piece is fixed to the second end of the support frame; the first end of the power cable is transmission-connected to the cable swing module, and the second end of the power cable is connected to the cable fixing piece, so that the power cable is tensioned and suspended on the support frame and the power cable is driven by the cable swing module to swing; The cable clamping device is located below the power cable, and includes a cable clamping hand, a visual sensor, and a serial-type robotic arm; the cable clamping hand is arranged at the end of the robotic arm, and the robotic arm moves the cable clamping hand based on the visual sensor and controls the cable clamping hand to clamp the power cable.

2. The experimental platform according to claim 1, characterized in that: The vibration frequency range of the cable swing module is 0.1 Hz to 100 Hz, and the amplitude range is 1 mm to 100 mm.

3. The experimental platform according to claim 1, characterized in that: It also includes insulators, bowl head hanging plates and tension clamps; The fixed end of the insulator is transmission-connected to the cable swing module; the first end of the power cable is mounted on the tension clamp, and the tension clamp is connected to the insulating end of the insulator through the bowl head hanging plate.

4. The experimental platform according to claim 1, characterized in that: The cable swing module comprises a guide rail with a slider and a servo motor for driving the slider to move; the fixed end of the insulator is transmission-connected to the slider.

5. The experimental platform according to claim 4, characterized in that: The cable swing module also includes a photoelectric sensor; the photoelectric sensor is arranged on the guide rail and is used to obtain the position of the slider in real time.

6. The experimental platform according to claim 4, characterized in that: It also includes a servo motor driver. A ball screw module is arranged in the guide rail. The ball screw module is driven by the servo motor. The ball screw module is transmission-connected to the slider. The servo motor driver is used to control the servo motor.

7. The experimental platform according to claim 4, characterized in that: It also includes a cable fixing adapter; one end of the cable fixing adapter is fixed on the slider, and the other end is hinged to the fixed end of the insulator.

8. The experimental platform according to claim 1, characterized in that: It also includes two fixed power cables; the cable fixing member is also fixed to the first end of the support frame, and each of the fixed power cables is fixed to the cable fixing members at both ends of the support frame and is located on both sides of the power cables.

9. The experimental platform according to claim 8, characterized in that: The cable fixing piece is in the shape of an elongated strip, and fixing parts are arranged at intervals on the cable fixing piece, and each fixing part is hinged to one end of one of the fixed power cables.

10. The experimental platform according to claim 1, characterized in that: The cable clamping device further comprises a mechanical arm base and a controller; the mechanical arm is mounted on the mechanical arm base, and the mechanical arm and the cable clamping hand are driven by the control of the controller.

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