Integrated distribution network live working robot and working method

Abstract

The invention belongs to the technical field of high-altitude live working, and particularly relates to an integrated distribution network live working robot and a working method. Comprising an operation vehicle chassis, and a hybrid arm support is rotationally installed on the operation vehicle chassis; an insulating section is mounted at the tail end of the hybrid arm support, and an operation robot is arranged at the tail end of the insulating section; a robot control system is arranged in the operation robot; an operation tool is detachably mounted on the operation robot; a ground station control system is arranged on the ground, and the ground station control system is connected with the robot control system and the hybrid arm support; the operation robot does not need to be disassembled and assembled repeatedly and does not occupy resources of an insulating bucket arm vehicle any more; the size of the robot body is further reduced, the weight of the operation robot is reduced, and the operation safety is improved; the device is more suitable for complex lines and narrow working environments of a distribution network.

Description

Technical Field

[0001] The present invention belongs to the technical field of high-altitude live-line working, and in particular relates to an integrated distribution network live-line working robot and an operating method. Background Art

[0002] The robot is heavy and has a large control system. It needs to be installed on an insulated boom truck before operation, which makes disassembly and assembly very difficult each time. The robot cannot work alone and must be installed on an existing insulated boom truck. Drivers for insulated boom trucks and engineering vehicles are scarce. The models of insulated boom trucks vary, making it difficult to adapt to the robot and the cost of modification is high. The robot cannot automatically reach the operating position and is heavily dependent on manual operation. Manual adjustment is difficult, the deviation is large, and the operating efficiency is low. The robot is limited by the space of the insulated bucket, making it difficult to optimize the layout design. The insulated boom truck is large in size and has poor adaptability to road conditions. It cannot enter non-hardened areas such as farmland, gullies, and woodlands, which greatly limits the promotion and use of the robot. Summary of the invention

[0003] In view of the above problems, the present invention proposes an integrated distribution network live working robot, comprising a working vehicle chassis, on which a hybrid boom is rotatably mounted; an insulating section is mounted at the end of the hybrid boom, and a working robot is arranged at the end of the insulating section; a robot control system is arranged in the working robot; The working robot is detachably provided with a working tool; A ground station control system is arranged on the ground, and the ground station control system is connected with the robot control system and the hybrid boom.

[0004] Furthermore, the hybrid boom comprises a folding arm and a telescopic arm connected in sequence; the folding arm at the starting end is rotatably connected to the chassis of the working vehicle; the telescopic arm at the end is connected to the insulating section, and the telescopic arm is made of insulating material; A hydraulic cylinder and a rope system are installed inside the hybrid boom, and the deployment and retraction of the hybrid boom are realized through the hydraulic cylinder and the rope system.

[0005] Furthermore, the working robot includes a robot body, which is fixedly connected to the end of the insulating section; a robot arm and a monitoring component are installed on the robot body, the robot arm is installed at one end of the robot body, and the monitoring component is installed at the other end of the robot body.

[0006] Furthermore, the working tools include a wiring tool and a wire stripping tool; a tool rack is installed on the side wall of the robot body, and the wiring tool and the wire stripping tool are respectively installed on the robot body through the tool rack; and a wire clamp box is installed on the top of the robot body.

[0007] Furthermore, the monitoring component includes a camera and a laser radar, the camera is installed in the middle of the wire clamp box, and the laser radar is installed on the side wall of the robot body; the laser radar is located between the wire stripping tool and the wire clamp box.

[0008] Furthermore, a group of outriggers are provided at the lower end of the chassis of the work vehicle, an inclination sensor is installed on the frame of the chassis of the work vehicle, and the ground station control system is connected to the inclination sensor.

[0009] Furthermore, the robot arm is connected to the insulating transition piece and the quick-change flange in sequence; the robot arm is detachably connected to the wiring tool or the wire stripping tool through the quick-change flange.

[0010] Furthermore, a No. 1 flange is installed on both the wiring tool and the wire stripping tool; the No. 1 flange is configured to be detachably connected to the quick-change flange.

[0011] Furthermore, the wire clamp box includes an arc-shaped box tray, the middle of the box tray is connected to the top of the robot body, and both ends of the box tray are respectively fixedly connected to the box body; the camera is installed in the middle of the box tray.

[0012] Furthermore, a hydraulic turntable is installed on the chassis of the work vehicle, and the starting end of the hybrid boom is fixedly connected to the hydraulic turntable.

[0013] Furthermore, an absolute value rotary encoder is installed at the joint of the hybrid boom; and a wire sensor is installed on the hydraulic cylinder.

[0014] Furthermore, a notch is provided on the tool rack.

[0015] Furthermore, the length of the insulating section is ≥1m.

[0016] Furthermore, a group of support frames are arranged on the chassis of the working vehicle at the projection position of the hybrid boom.

[0017] The operation method of the integrated distribution network live working robot adopts the above-mentioned integrated distribution network live working robot and comprises the following steps: The chassis of the working vehicle is driven to move to the bottom of the working position, and the ground station control system controls a set of outriggers to extend for lifting and leveling; And start the hybrid boom to extend below the working point; The operating robot first performs scene modeling and coordinate positioning; The working robot then connects to the working tool and performs live working; After the operation is completed, the robot arm is controlled to return the operating tool to its original position, and then the hybrid boom is controlled to be recovered.

[0018] Furthermore, the robot arm is connected to the working tool on the tool rack, which specifically includes the following steps: Align the quick-change flange on the robot arm with the No. 1 flange on the corresponding working tool so that the No. 1 flange is connected to the quick-change flange; Operate the robot arm to move upward so that the lower end of flange No. 1 is aligned with the notch on the tool rack; Then operate the robot arm to horizontally move the working tool so that the working tool is separated from the tool holder from the notch.

[0019] The beneficial effects of the present invention compared to the prior art are as follows: (a) The present invention adopts an integrated working robot in the form of a working vehicle. Since manual work is no longer required, the insulation protection level and the reliability and safety of the vehicle can be appropriately reduced. The working robot no longer needs to be repeatedly disassembled and assembled, and no longer occupies the resources of the insulating bucket arm vehicle. The data processing module originally required by the working robot can be set in the working vehicle, and some equipment and modules required for the top machine arm are transferred to the chassis of the working vehicle, further reducing the size of the robot body, reducing the weight of the working robot, and improving the safety of operation; it is more adaptable to the complex lines and narrow working environment of the distribution network.

[0020] (ii) The present invention realizes accurate and rapid connection, locking and separation of the working tool and the robot arm through the quick-change flange when the working tool is replaced, thereby realizing rapid selection of the corresponding working tool and shortening the working time.

[0021] (III) The present invention uses an absolute value rotary encoder and a wire sensor to obtain the spatial position of the hybrid boom through calculation. The hydraulic control system in the hybrid boom adopts a proportional servo valve to achieve a closed loop position of each arm on the hybrid boom, and the operator can control any joint on the hybrid boom.

[0022] Other features and advantages of the present invention will be described in the following description, and partly become obvious from the description, or be understood by implementing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 A schematic diagram of the overall structure of an embodiment of the present invention is shown.

[0025] Figure 2A side view showing overall recovery in an embodiment of the present invention.

[0026] Figure 3 A schematic diagram of the overall recycling structure in an embodiment of the present invention is shown.

[0027] Figure 4 A structural schematic diagram of the operation process in an embodiment of the present invention is shown.

[0028] Figure 5 A schematic structural diagram of a working robot in an embodiment of the present invention is shown.

[0029] Figure 6 A schematic structural diagram of the working robot from another angle in an embodiment of the present invention is shown.

[0030] In the figure, 1. chassis of the working vehicle; 2. hybrid boom; 3. insulating section; 4. working robot; 5. working tool; 21. folding arm; 22. telescopic arm; 23. hydraulic cylinder; 41. robot body; 42. robot arm; 43. monitoring component; 51. wiring tool; 52. wire stripping tool; 53. wire clamp box; 54. tool rack; 431. camera; 432. laser radar; 6. outrigger; 7. insulating transition piece; 8. quick-change flange; 81. No. 1 flange; 531. box tray; 532. box body; 9. hydraulic turntable; 10. support frame. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution 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 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.

[0032] In the past, live-working robots usually placed the robot body directly in the insulated bucket of an insulated boom truck for operation. Since the insulated boom truck is designed for operators to stand in the working bucket, the insulation protection level is very high to ensure the safety of operators. The reliability and safety of the vehicle are also very high, and the vehicle is expensive. Once the live-working robot occupies the insulated boom truck, if manual operation is required, the live-working robot needs to be disassembled. It takes a lot of time to reinstall the robot after each disassembly. If the insulated boom truck is occupied separately for robot operation, it will cause economic waste. In addition, since the insulated boom truck is usually large in size, it is difficult to operate in the complex lines and narrow working environment commonly seen in distribution networks.

[0033] This application provides an integrated distribution network live working robot, reference Figure 1 , Figure 2 , Figure 3 and Figure 4 , comprising a working vehicle chassis 1, on which a hybrid boom 2 is rotatably mounted; an insulating section 3 is mounted at the end of the hybrid boom 2, and a working robot 4 is disposed at the end of the insulating section 3; and a robot control system is disposed in the working robot 4; The working robot 4 is detachably mounted with a working tool 5; A ground station control system is provided on the ground, and the ground station control system is connected with the robot control system and the hybrid boom 2; the ground station control system synchronously displays the overall model of the live working robot 4 and the working vehicle, and is synchronized in real time; In the embodiment of the present invention, a group of legs 6 are provided at the lower end of the working vehicle chassis 1, a tilt sensor is installed on the frame of the working vehicle chassis 1, and the ground station control system is connected to the tilt sensor.

[0034] In one embodiment of the present invention, reference Figure 5 and Figure 6 The working robot 4 includes a robot body 41, which is fixedly connected to the end of the insulating section 3; a robot arm 42 and a monitoring component 43 are installed on the robot body 41, the robot arm 42 is installed at one end of the robot body 41, and the monitoring component 43 is installed at the other end of the robot body 41.

[0035] In one embodiment of the present invention, the monitoring component 43 includes a camera 431 and a laser radar 432 . The camera 431 is installed in the middle of the wire clamp box 53 , and the laser radar 432 is installed on the side wall of the robot body 41 . The laser radar 432 is located between the wire stripping tool 52 and the wire clamp box 53 .

[0036] The length of the insulating section 3 is ≥1 m.

[0037] During the implementation process, the work vehicle is an insulated aerial work vehicle, which is a pickup truck; the insulating section 3 and the robot body 41 are fixed by circular flanges and bolts. The insulating section 3 can meet the insulation requirements of 10kV distribution network live work. The length of the insulating section 3 is not less than 1m, which further ensures the safety of the operation. One or more robot arms 42 can be set at the upper end of the insulating section 3 for collaborative operation; the pickup truck is equipped with a hydraulic generator, which can provide energy (power 1kw, voltage 48v) and charge the robot body 41; the robot arm 42 is connected to the machine through the mounting base at its lower end. The human body 41 is fixed with bolts, and three solid-state laser radars 432 are installed at the front end and both sides of the robot body 41. The laser radars 432 are used to perform environmental modeling and locate the coordinates of the working position; five tool racks 54 are installed on the side walls of the robot body 41, and the tool racks 54 are used to hang working tools 5 and enable the robot arm 42 to autonomously replace tools (including wiring tools 51, wire stripping tools 52, etc.) during the operation; the robot arm 42 is installed in front of the upper surface of the robot body 41, and the camera 431 is convenient for the operator to monitor the high-altitude operation process on the ground.

[0038] Through the laser radar 432 and the camera 431, the point cloud and image information of the operation scene are collected to effectively express the entire operation space. Through the impurity removal and noise reduction algorithm, the dense point cloud area is finally determined as an obstacle, and the sparse point cloud area is a free space. According to the operation task, the starting point and the end point of the operation robot 4 are determined. In a known environment, the algorithm is used to search for the shortest path from the starting point to the end point. The motion planning path and the motion trajectory must pass through the free space to complete the operation project. According to the discrete points of the path generated by the path planning, a continuous trajectory that meets the kinematic and dynamic constraints of the motion robot (including continuous changes in information such as position, speed, acceleration, etc.) is calculated, so that the final operation target is located in the operation range of the robot arm 42, and the operation task is finally completed through the operation tool 5; the solid-state laser radar 432 can perform real-time modeling of the scene, and the difference between the target position and the existing position is calculated, and the difference data is sent to the ground station control system to realize the autonomous movement and positioning of the operation robot 4; the insulated aerial work vehicle is equipped with a hydraulic generator to provide energy to charge the operation robot 4.

[0039] By starting the pickup truck and moving it to the vicinity of the working pole, the four legs 6 are driven to extend before the operation. The legs 6 are electric legs, and the legs 6 are firmly supported on the ground to lift up the chassis 1 of the working vehicle. According to the data of the inclination sensor, the extension length of the four legs 6 is adjusted, so that the chassis 1 of the working vehicle can be automatically leveled according to the undulating conditions of the ground; a leg support plate is also installed at the bottom of the leg 6 to increase the ground contact area and increase stability, so as to ensure that the chassis can be adjusted to a horizontal state after being unfolded on soft or uneven ground.

[0040] The operator places the wire clamp in the working tool 5, controls the hybrid boom 2 to rotate on the working vehicle chassis 1, and at the same time controls the hybrid boom 2 to unfold and extend upward. After the hybrid boom 2 extends to the corresponding working position, the robot arm 42 locks the corresponding working tool 5, and performs the corresponding operation in combination with the coordinates located by the laser radar 432.

[0041] After the operation is completed, the operation tool 5 is put back, and then the hybrid boom 2 is driven to automatically recover.

[0042] This application adopts an integrated working robot 4 in the form of a pickup truck. Since it is no longer used for manual work, the insulation protection level and the reliability and safety of the vehicle can be appropriately reduced. The pickup truck is cheap, and the working robot 4 no longer needs to be repeatedly disassembled and assembled, and no longer occupies the resources of the insulating bucket arm vehicle. The data processing module originally required by the working robot 4 can be set in the pickup truck, and some equipment and modules required by the top machine arm 42 are transferred to the chassis, further reducing the volume of the robot body 41, reducing the weight of the working part of the robot, and improving the safety of the operation. Moreover, the smaller size of the pickup truck is more suitable for the complex lines and narrow working environment of the distribution network; The present application combines the hybrid boom 2 and the pickup truck into one, eliminating the need for frequent assembly and disassembly. The pickup truck is more adaptable to complex terrain and various road conditions than a yellow-card professional engineering vehicle, and the pickup truck does not need to be equipped with a professional driver to cooperate with the operation. The load-bearing platform of the work vehicle is integrated with the hybrid boom and the work robot, with a unified design, which saves space and is smaller in size, and can adapt to the compact line environment of the distribution network; This application can realize robot motion planning and control in all scenarios. Compared with the traditional insulated boom truck and robot operating separately, the robot and boom truck are easier to cooperate, more efficient and safer; This application realizes an integrated insulation protection design, which has better insulation performance than a separate robot and an insulated bucket truck; This application does not require adaptation of an insulated boom truck and can operate independently when it leaves the factory. The overall cost is lower than purchasing professional engineering vehicles and robots separately.

[0043] In one embodiment of the present invention, reference Figure 1 and Figure 4 The hybrid boom 2 includes a folding arm 21 and a telescopic arm 22 connected in sequence; the folding arm 21 at the starting end is rotatably connected to the working vehicle chassis 1; the telescopic arm 22 at the end is connected to the insulating section 3, and the telescopic arm 22 is made of insulating material; The hybrid boom 2 is internally installed with a hydraulic cylinder 23 and a rope system, through which the hybrid boom 2 can be deployed and retracted. The folding arm 21 and the telescopic arm 22 are hollow steel pipes, and the folding and deployment of the folding arm 21 are controlled by the hydraulic cylinder 23, and the extension and contraction of the telescopic arm 22 are controlled by the rope system; In one embodiment of the present invention, reference Figure 3 , Figure 5 and Figure 6 The working tool 5 includes a wiring tool 51 and a wire stripping tool 52; a tool rack 54 is installed on the side wall of the robot body 41, and the wiring tool 51 and the wire stripping tool 52 are respectively installed on the robot body 41 through the tool rack 54; a wire clamp box 53 is installed on the top of the robot body 41.

[0044] In one embodiment of the present invention, the robot arm 42 is connected to the insulating transition piece 7 and the quick-change flange 8 in sequence; the robot arm 42 is detachably connected to the wiring tool 51 or the stripping tool 52 via the quick-change flange 8.

[0045] In one embodiment of the present invention, a No. 1 flange 81 is installed on both the wiring tool 51 and the wire stripping tool 52 ; the No. 1 flange 81 is configured to be detachably connected to the quick-change flange 8 .

[0046] The tool rack 54 is provided with a notch.

[0047] During the implementation process, the insulating transition piece 7 is used to ensure electrical insulation; when the working tool 5 is replaced, the working tool 5 is accurately and quickly connected, locked and separated with the robot arm 42 through the quick-change flange 8; when the wire stripping tool 52 needs to be taken out, the robot arm 42 adjusts the end position so that the quick-change flange 8 is aligned with the No. 1 flange 81 on the wire stripping tool 52 and inserted, and then rotates clockwise so that the No. 1 flange 81 and the quick-change flange 8 are locked, so as to lock the wire stripping tool 52, and then the wire stripping tool 52 is taken out from the notch on the corresponding tool holder 54; After the wire stripping tool 52 completes its operation, the robot arm 42 adjusts its posture and enters from the gap of the corresponding tool rack 54, places the wire stripping tool 52 on the tool rack 54, and then rotates counterclockwise (based on the specific installation direction) to separate the No. 1 flange 81 and the quick-change flange 8, thereby unlocking the wire stripping tool 52; when the wiring tool 51 is needed, repeat the above operation to lock and unlock the wiring tool 51; after locking the wiring tool 51, the robot arm 42 uses the wiring tool 51 to take out the parallel groove wire clamp from the wire clamp box 53 according to the fixed waypoint, and then combines the position coordinates provided by the laser radar 432 to carry the wiring tool 51 and the parallel groove wire clamp to complete the wire threading operation. After the operation is completed, the operator operates the wiring tool 51 to unlock the parallel groove wire clamp and puts the parallel groove wire clamp back into the wire clamp box 53.

[0048] When performing wiring operations, the lead wire head is first fixed under the line in advance. After the two-section folding arm 21 and the three-section telescopic arm 22 are lifted to the designated operation position by the hydraulic cylinder 23 and the rope arrangement system, the laser radar 432 on the robot body 41 begins to scan the lead wire and the line. After identifying the lead wire, the robot arm 42 adjusts its posture, connects the wiring tool 51, and aligns the bell mouth of the wiring tool 51 with the direction of the lead wire joint. The robot arm 42 moves along the lead wire and inserts the lead wire into the wiring tool 51. A parallel groove wire clamp ( Figure 3 b in the figure is a parallel groove wire clamp), the lead wire directly enters the groove below the parallel groove wire clamp through the bell mouth; then the robot arm 42 rises to the line position with the lead wire, and inserts the line wire into the groove above the parallel groove wire clamp through the fork mechanism above the parallel groove wire clamp, and then the wiring tool 51 tightens the bolt to connect the line wire and the lead wire together; The working tool 5 in a specific implementation includes not only a wiring tool 51 and a wire stripping tool 52 , but also other working tools, and is installed on the robot body 41 via a tool rack 54 at other locations.

[0049] In one embodiment of the present invention, the wire clamp box 53 includes an arc-shaped box tray 531, the middle of the box tray 531 is connected to the top of the robot body 41, and the two ends of the box tray 531 are respectively fixedly connected with the box body 532; the camera 431 is installed in the middle of the box tray 531. The box body 532 contains the parallel groove wire clamp used in the wiring operation, and the box tray 531 is installed at the rear of the robot body 41. The camera 431 is used for real-time monitoring, which is convenient for the operator to monitor the high-altitude operation process on the ground.

[0050] In one embodiment of the present invention, a hydraulic turntable 9 is installed on the chassis 1 of the working vehicle, and the starting end of the hybrid boom 2 is fixedly connected to the hydraulic turntable 9 .

[0051] A set of support frames 10 is arranged on the chassis 1 of the working vehicle at the projection position of the hybrid boom 2 .

[0052] The hydraulic turntable 9 is fixed on the chassis 1 of the working vehicle. The center of the hydraulic turntable 9 can rotate. The internal part of the hydraulic turntable 9 adjusts the rotation direction of the hybrid boom 2 through the gear transmission mechanism. The hydraulic turntable 9 is equipped with a variable amplitude mechanism ( Figure 1 The luffing mechanism is located at a in the figure. The luffing mechanism adjusts the pitch angle of the telescopic arm 22 by extending and retracting the hydraulic cylinder 23 installed between the folding arm 21; controls the hybrid boom 2 to rise, fall or retract for transportation; the starting end of the folding arm 21 is installed on the luffing mechanism, and the folding arm 21 uniformly controls the folding angle by the hydraulic cylinder 23; the telescopic arm 22 realizes the extension and retraction of the boom through the internal steel wire rope; after the hybrid boom 2 is retracted, Figure 3As can be seen, one of the support frames 10 supports the hybrid boom 2, and the support frame 10 at the other end supports the working robot 4, thereby improving the overall stability when it is recovered and not in use.

[0053] In one embodiment of the present invention, an absolute value rotary encoder is installed at the joint of the hybrid boom 2; and a wire sensor is installed on the hydraulic cylinder 23.

[0054] During the implementation, the absolute value rotary encoder and the wire sensor are used to calculate the spatial position of the hybrid boom 2. The hydraulic control system in the hybrid boom 2 uses a proportional servo valve to achieve a closed loop position of each arm on the hybrid boom 2, and the operator can control any joint on the hybrid boom 2. The control system of the hybrid boom 2 is connected to the robot control system and the ground station control system through the RJ45 network port. The ground station can control the joint movement direction and speed, and read the position, movement state, restriction state, protection state, etc. of each joint in real time. The control accuracy is less than 5cm and the angle accuracy is less than 0.5°.

[0055] The operation method of the integrated distribution network live working robot adopts the integrated distribution network live working robot 4 and comprises the following steps: The chassis 1 of the working vehicle is driven to move below the working position, and the ground station control system controls a group of legs 6 to extend to lift and level; and start the hybrid boom 2 to extend below the working point; The working robot 4 first performs scene modeling and coordinate positioning; The working robot 4 is then connected to the working tool 5 and performs live working; After the operation is completed, the robot arm 42 is controlled to return the operation tool 5 to its original position, and then the hybrid boom 2 is controlled to be recovered.

[0056] The robot arm 42 is connected to the working tool 5 on the tool rack 54, specifically including the following steps: Align the quick-change flange 8 on the robot arm 42 with the No. 1 flange 81 on the corresponding working tool 5 so that the No. 1 flange 81 is connected to the quick-change flange 8; The robot arm 42 is operated to move upward so that the lower end of the first flange 81 is aligned with the notch on the tool holder 54; Then, the robot arm 42 is operated to horizontally move the working tool 5 so that the working tool 5 is separated from the tool holder 54 from the notch.

[0057] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein; and these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An integrated distribution network live working robot, characterized in that: The invention comprises a working vehicle chassis (1), on which a hybrid boom (2) is rotatably mounted; an insulating section (3) is mounted at the end of the hybrid boom (2), and a working robot (4) is arranged at the end of the insulating section (3); and a robot control system is arranged in the working robot (4); The working robot (4) is detachably mounted with a working tool (5); A ground station control system is arranged on the ground, and the ground station control system is connected to the robot control system and the hybrid boom (2); the length of the insulating section (3) is ≥1m.

2. The integrated distribution network live working robot according to claim 1, characterized in that: The hybrid boom (2) comprises a folding arm (21) and a telescopic arm (22) connected in sequence; the folding arm (21) at the starting end is rotatably connected to the working vehicle chassis (1); the telescopic arm (22) at the end is connected to the insulating section (3), and the telescopic arm (22) is made of insulating material; A hydraulic cylinder (23) and a rope-raid system are installed inside the hybrid boom (2), and the deployment and retraction of the hybrid boom (2) are achieved through the hydraulic cylinder (23) and the rope-raid system.

3. The integrated distribution network live working robot according to claim 2, characterized in that: The working robot (4) comprises a robot body (41), the robot body (41) being fixedly connected to the end of the insulating section (3); a robot arm (42) and a monitoring component (43) are mounted on the robot body (41), the robot arm (42) being mounted on one end of the robot body (41), and the monitoring component (43) being mounted on the other end of the robot body (41).

4. The integrated distribution network live working robot according to claim 3, characterized in that: The working tool (5) comprises a wiring tool (51) and a wire stripping tool (52); a tool rack (54) is installed on the side wall of the robot body (41); the wiring tool (51) and the wire stripping tool (52) are respectively installed on the robot body (41) via the tool rack (54); and a wire clamp box (53) is installed on the top of the robot body (41).

5. The integrated distribution network live working robot according to claim 4, characterized in that: The monitoring component (43) comprises a camera (431) and a laser radar (432); the camera (431) is installed in the middle of the wire clamp box (53), and the laser radar (432) is installed on the side wall of the robot body (41); the laser radar (432) is located between the wire stripping tool (52) and the wire clamp box (53).

6. The integrated distribution network live working robot according to claim 5, characterized in that: A support leg (6) is provided at the lower end of the working vehicle chassis (1), an inclination sensor is installed on the frame of the working vehicle chassis (1), and a ground station control system is connected to the inclination sensor.

7. The integrated distribution network live working robot according to claim 4, characterized in that: The robot arm (42) is sequentially connected to the insulating transition piece (7) and the quick-change flange (8); the robot arm (42) is detachably connected to the wiring tool (51) or the wire stripping tool (52) via the quick-change flange (8).

8. The integrated distribution network live working robot according to claim 7, characterized in that: A No. 1 flange (81) is installed on both the wiring tool (51) and the wire stripping tool (52); the No. 1 flange (81) is configured to be detachably connected to a quick-change flange (8).

9. The integrated distribution network live working robot according to claim 6, characterized in that: The wire clamp box (53) comprises an arc-shaped box tray (531), the middle of the box tray (531) is connected to the top of the robot body (41), and both ends of the box tray (531) are respectively fixedly connected to the box body (532); the camera (431) is installed in the middle of the box tray (531).

10. The integrated distribution network live working robot according to claim 8, characterized in that: A hydraulic turntable (9) is installed on the working vehicle chassis (1), and the starting end of the hybrid boom (2) is fixedly connected to the hydraulic turntable (9).

11. The integrated distribution network live working robot according to claim 8, characterized in that: An absolute value rotary encoder is installed at the joint of the hybrid boom (2); and a wire sensor is additionally installed on the hydraulic cylinder (23).

12. The integrated distribution network live working robot according to claim 4, characterized in that: The tool rack (54) is provided with a notch.

13. The integrated distribution network live working robot according to claim 10, characterized in that: A support frame (10) is provided on the working vehicle chassis (1) at the projection position of the hybrid boom (2).

14. An operation method of an integrated distribution network live-working robot, using the integrated distribution network live-working robot according to any one of claims 1 to 13, characterized in that: The following steps are involved: The chassis (1) of the working vehicle is driven to move below the working position, and the ground station control system controls a group of outriggers (6) to extend for lifting and leveling; and start the hybrid boom (2) to extend below the working point; The operating robot (4) first performs scene modeling and coordinate positioning; The working robot (4) is then connected to the working tool (5) and performs live working; After the operation is completed, the robot arm (42) is controlled to return the operation tool (5) to its original position, and then the hybrid boom (2) is controlled to be recovered.

15. The integrated distribution network live working robot according to claim 14, characterized in that: The robot arm (42) is connected to the working tool (5) on the tool rack (54), specifically comprising the following steps: Align the quick-change flange (8) on the robot arm (42) with the No. 1 flange (81) on the corresponding working tool (5), so that the No. 1 flange (81) is connected to the quick-change flange (8); The robot arm (42) is operated to move upward so that the lower end of the first flange (81) is aligned with the notch on the tool holder (54); The robot arm (42) is then operated to horizontally move the working tool (5) so that the working tool (5) is separated from the tool holder (54) from the notch.

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