Collaborative robot operator for bolt tightening of high-voltage live equipment

Abstract

The present application provides a collaborative robot operator for bolt fastening of high-voltage live equipment, including: an insulating tightening device, a collaborative robot, an insulator, a mobile lifting device, and a console; the console is used to control the operation of the mobile lifting device and input control instructions to the collaborative robot; the collaborative robot controls the operation of the insulating tightening device based on the control instructions; the insulating tightening device is installed on the collaborative robot and is used to fasten the bolts of the high-voltage live equipment; the insulating tightening device includes an insulating tightening link, a fastening joint, and a bolt positioning device; the rear end of the insulating tightening link is connected to the collaborative robot, and the collaborative robot controls the rotation of the insulating tightening link; the bolt positioning device includes a rough positioning camera assembly installed on the outer surface of the insulating tightening link and a fine positioning camera assembly installed inside the insulating tightening link and exposed through a through hole on the insulating tightening link. The present application can achieve the non-powered fastening of bolts of high-voltage live equipment.

Description

Technical Field

[0001] This application belongs to the field of intelligent manufacturing technology, particularly to the field of substation equipment technology, and specifically relates to a collaborative robot operator for bolt tightening of high-voltage live equipment. Background Art

[0002] In the daily operation of substations, various bolt loosenings are common defects, which may lead to a series of hazards such as increased resistance, heating, and discharging. These hazards not only affect the normal operation of the equipment but may also seriously impact the service life and safety performance of the equipment. Therefore, timely detection and repair of such problems are important links in ensuring the safe operation of substations.

[0003] Currently, the discovery of such problems mainly relies on thermal imaging technology in daily inspections. Through thermal imaging technology, local temperature anomalies caused by bolt loosenings can be simply detected, thus discovering problems in a timely manner. However, once a problem is discovered, the existing solutions mainly involve recording and waiting for a power outage opportunity for repair. This approach has obvious deficiencies because power outage repair not only affects the normal power supply of the substation but may also cause significant economic losses and social impacts. Summary of the Invention

[0004] This application provides a collaborative robot operator for bolt tightening of high-voltage live equipment, which is used for tightening bolts of high-voltage live equipment without power outage.

[0005] The present application provides a collaborative robot operator for bolt tightening of high-voltage live equipment, including: an insulating tightening device, a collaborative robot, an insulator, a mobile lifting device, and a console; the console is respectively connected to the collaborative robot and the mobile lifting device, and is used to control the operation of the mobile lifting device and input control instructions to the collaborative robot; the collaborative robot is connected to the mobile lifting device through the insulator and is used to control the insulating tightening device to work based on the control instructions; the insulating tightening device is installed on the collaborative robot and is used to tighten the bolts of the high-voltage live equipment; wherein: the insulating tightening device includes an insulating tightening link, a fastening joint, and a bolt positioning device; the fastening joint is installed at the front end of the insulating tightening link and is used to be matched and connected with the bolts of the high-voltage live equipment, and tighten the bolts of the high-voltage live equipment by the rotation of the insulating tightening link; the rear end of the insulating tightening link is connected to the collaborative robot, and the collaborative robot controls the rotation of the insulating tightening link; the bolt positioning device includes a coarse positioning camera assembly installed on the outer surface of the insulating tightening link for coarsely positioning the bolts of the high-voltage live equipment and a fine positioning camera assembly installed inside the insulating tightening link and exposed through a through hole of the insulating tightening link for finely positioning the bolts of the high-voltage live equipment; the console includes: a cruise module for controlling the forward and backward movement, steering, and lifting of the mobile lifting device; a UI display module for displaying the real-time operation images collected by the coarse positioning camera assembly and the fine positioning camera assembly; a rendezvous module for controlling the operation of the collaborative robot and judging whether the collaborative robot enters the operation area of the high-voltage live equipment based on the real-time operation images; a docking module for inputting control instructions to the collaborative robot based on the real-time operation images after the collaborative robot enters the operation area of the high-voltage live equipment, and controlling the operation of the collaborative robot so that the fastening joint of the insulating tightening device is aligned with the target bolt to be tightened; a tightening control module for controlling the insulating tightening device to tighten the target bolt to be tightened by controlling the collaborative robot after the fastening joint of the insulating tightening device is aligned with the target bolt to be tightened.

[0006] In an implementation manner of the present application, the collaborative robot includes a plurality of control axes connected in sequence along different directions and relatively rotatable with each other; the rendezvous module controls the collaborative robot to enter the operation area of the high-voltage live equipment by controlling the running speed and rotation direction of each control axis.

[0007] In an implementation manner of the present application, the docking module includes: a collaborative robot control unit, which controls the collaborative robot to drive the insulation tightening device to approach a target bolt to be tightened based on the real-time operation image; a target bolt detection unit, which detects whether the target bolt appears in the real-time operation image, and when the target bolt appears, marks the target bolt, calculates and displays the coordinate and phase relationship between the collaborative robot and the target bolt; an alignment detection unit, which determines whether the fastening joint of the insulation tightening device is aligned with the target bolt based on the coordinate and phase relationship between the collaborative robot and the target bolt.

[0008] In an implementation manner of the present application, the docking module further includes: a picture magnification unit, which is used to magnify the real-time operation image after the collaborative robot enters the operation area of the high-voltage energized equipment; the collaborative robot control unit sequentially controls the insulation tightening device to move slowly in the up, down, left, and right directions, adjust the pitch and yaw of the insulation tightening device, and control the insulation tightening device to move slowly in the front and back directions.

[0009] In an implementation manner of the present application, the tightening control module includes: a distance detection unit, which detects the distance between the fastening joint and the target bolt to be tightened after the fastening joint of the insulation tightening device is aligned with the target bolt to be tightened; a tightening control unit, which controls the insulation tightening device to tighten the target bolt to be tightened based on the distance and a protection switch pre-configured for the target bolt.

[0010] In an implementation manner of the present application, the rear end of the insulation tightening connecting rod is connected to the collaborative robot in the following way: a torque motor is installed on the control shaft at the end of the collaborative robot, a first gear is provided on the power output shaft of the torque motor, a second gear is provided at the rear end of the insulation tightening connecting rod, and the first gear drives the second gear to rotate through a belt, so as to realize the torque motor driving the insulation tightening connecting rod to rotate.

[0011] In an implementation manner of the present application, the insulation tightening connecting rod includes a front connecting rod section, a middle connecting rod section, and a rear connecting rod section; wherein, the outer diameter of the front connecting rod section matches the outer diameter of the fastening joint, the outer diameter of the rear connecting rod section matches the outer diameter of the external interface of the torque motor, and the outer diameter of the middle connecting rod section is smaller than the outer diameters of the front connecting rod section and the rear connecting rod section.

[0012] In an implementation manner of the present application, the fine positioning camera assembly includes at least two cameras arranged along the inner circumferential direction of the insulation tightening connecting rod.

[0013] In an implementation manner of the present application, the coarse positioning camera assembly includes at least two cameras arranged axially and staggeredly along the insulation tightening connecting rod.

[0014] In one implementation of the present application, the console is connected to the mobile lifting device through a steel wire-free optical fiber, and the mobile lifting device is grounded.

[0015] As described above, the collaborative robot operator for tightening bolts of high-voltage live equipment according to the present application has the following beneficial effects:

[0016] The operator of the present application forms a high-voltage area, a grounding area, and a protection area by setting insulators and lines to ensure the safety of high-voltage operations. By setting the structure of the insulating tightening device and the control method of the collaborative robot, the bolts to be tightened of the high-voltage live equipment can be quickly positioned and tightened, so as to achieve the non-powered tightening of the bolts of the high-voltage live equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It shows the overall external structure schematic diagram of the collaborative robot operator for tightening bolts of high-voltage live equipment described in the embodiments of the present application.

[0018] Figure 2 It shows the overall principle structure block diagram of the collaborative robot operator for tightening bolts of high-voltage live equipment described in the embodiments of the present application.

[0019] Figure 3 It shows the principle block diagram of the console in the collaborative robot operator for tightening bolts of high-voltage live equipment described in the embodiments of the present application.

[0020] Figure 4 It shows the principle block diagram of the docking module in the collaborative robot operator for tightening bolts of high-voltage live equipment described in the embodiments of the present application.

[0021] Figure 5 It shows the control process schematic diagram of the collaborative robot control unit in the collaborative robot operator for tightening bolts of high-voltage live equipment described in the embodiments of the present application.

[0022] Figure 6 It shows the principle block diagram of the tightening control module in the collaborative robot operator for tightening bolts of high-voltage live equipment described in the embodiments of the present application.

[0023] Figure 7 It shows the example diagram of the fastening joint in the collaborative robot operator for tightening bolts of high-voltage live equipment described in the embodiments of the present application.

[0024] Figure 8 It shows the connection schematic diagram of the insulating tightening link and the torque motor in the collaborative robot operator for tightening bolts of high-voltage live equipment described in the embodiments of the present application.

[0025] Figure 9 It shows a side view schematic diagram of the specific structures of the collaborative robot, the insulation tightening device, and the insulator in the collaborative robot working device for bolt tightening of high-voltage live equipment according to the embodiments of the present application.

[0026] Figure 10 It shows a rear view schematic diagram of the specific structures of the collaborative robot, the insulation tightening device, and the insulator in the collaborative robot working device for bolt tightening of high-voltage live equipment according to the embodiments of the present application.

[0027] Figure 11 It shows a bottom view schematic diagram of the specific structures of the collaborative robot, the insulation tightening device, and the insulator in the collaborative robot working device for bolt tightening of high-voltage live equipment according to the embodiments of the present application.

[0028] Figure 12 It shows a partial enlarged view of the insulation tightening device and the control axis of the collaborative robot in the collaborative robot working device for bolt tightening of high-voltage live equipment according to the embodiments of the present application. Detailed implementation manners

[0029] The following uses specific specific examples to illustrate the implementation manners of the present application. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. The present application can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0030] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present application in a schematic manner. Therefore, only the components related to the present application are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in actual implementation can be an arbitrary change, and the component layout type may also be more complex.

[0031] The embodiments of the present application provide a collaborative robot working device for bolt tightening of high-voltage live equipment, which is used for tightening the bolts of high-voltage live equipment without power-off. The following will be combined with the attached Figure 1 to the attached Figure 12 to describe the technical solutions in the embodiments of the present application in detail.

[0032] This embodiment provides a collaborative robot working device for bolt tightening of high-voltage live equipment. Please refer to Figure 1 , which shows an overall external structure schematic diagram of the collaborative robot working device for bolt tightening of high-voltage live equipment according to the embodiments of the present application. As Figure 1As shown in the figure, the collaborative robot operator 100 for tightening bolts of high-voltage live equipment includes an insulating tightening device 110, a collaborative robot 120, an insulator 130, a mobile lifting device 140, and a console 150.

[0033] Among them, the insulating tightening device 110 is installed on the collaborative robot 120 and is used to tighten the bolts 200 of the high-voltage live equipment. Figure 2 It shows the overall principle structure block diagram of the collaborative robot operator 100 for tightening bolts of high-voltage live equipment described in the embodiment of the present application. Among them, as Figure 2 shown, the insulating tightening device 110 includes an insulating tightening link 111, a fastening joint 112, and a bolt positioning device 113. Specifically, the fastening joint 112 is installed at the front end of the insulating tightening link 111 and is used to be matched and connected with the bolts 200 of the high-voltage live equipment, and the bolts 200 of the high-voltage live equipment are tightened by the rotation of the insulating tightening link 111; the rear end of the insulating tightening link 111 is connected to the collaborative robot 120, and the collaborative robot 120 controls the rotation of the insulating tightening link 111; the bolt positioning device 113 includes a rough positioning camera assembly 1131 installed on the outer surface of the insulating tightening link 111 for rough positioning of the bolts 200 of the high-voltage live equipment and a fine positioning camera assembly 1132 installed inside the insulating tightening link 111 and exposed through a through hole of the insulating tightening link 111 for fine positioning of the bolts 200 of the high-voltage live equipment.

[0034] In this embodiment, by setting the structure of the insulating tightening device 110 and the control method of the collaborative robot 120, the bolts to be tightened of the high-voltage live equipment can be quickly positioned and tightened, so as to realize the non-power-off tightening of the bolts 200 of the high-voltage live equipment.

[0035] The following will detail the collaborative robot operator 100 for tightening bolts of high-voltage live equipment in this embodiment.

[0036] As Figure 1 shown, in this embodiment, the operation areas of the insulating tightening device 110 and the collaborative robot 120 are high-voltage areas, the mobile lifting device 140 is grounded, the area where the mobile lifting device 140 is located forms a grounding area, and the collaborative robot 120 is connected to the mobile lifting device 140 through an insulator 130. In this way, the collaborative robot 120 is installed on the mobile lifting device through the insulator 130, and the insulator 130 plays a voltage-resistant insulation role, which can isolate the high-voltage area and the low-voltage area, and ensure that the collaborative robot 120 will not affect the grounding area when operating in the high-voltage area.

[0037] In this embodiment, to ensure the safety of operators and equipment, the high-voltage area is strictly isolated from the grounding area through the insulator 130. The insulator 130 can effectively block the leakage and conduction of the high-voltage electric field in the high-voltage area, preventing the current from causing harm to the surrounding environment and personnel. In this embodiment, the insulator 130 not only needs to play a voltage-resistant insulation role but also needs to support the collaborative robot 120. According to the rated voltage level, in this embodiment, the insulator 130 is a high-voltage insulator 130. To achieve the support function, in this embodiment, the insulator 130 is a post insulator 130. Bottom plates and top plates are respectively arranged at the upper and lower ends of the insulator 130 to support the collaborative robot 120. To improve the stability of the support of the insulator 130, multiple insulators 130 are provided. For example, as Figure 1 shown, there are four insulators 130. The insulators 130 are installed on the mobile lifting device 140 through the bottom plates, and the collaborative robot 120 is placed on the top plates provided at the tops of the insulators 130. The multiple insulators 130 form a solid voltage protection barrier, achieving complete electrical isolation between the high-voltage area and the grounding area, and ensuring the safety and reliability of the entire operating environment.

[0038] In this embodiment, the area where the console 150 is located is used as a protected area. The console 150 is connected to the mobile lifting device 140 through a steel-free optical fiber to protect the console 150 in the protected area, ensuring that the console 150 can operate stably in a relatively independent and safe space, guaranteeing the high safety and stability of the console 150, and providing accurate and reliable instruction support for the entire operation process. The steel-free optical fiber has extremely high flexibility and anti-interference ability. Each optical fiber is like an invisible information highway, capable of transmitting a large amount of data information at high speed and stably without being affected by external electromagnetic interference. One end of the steel-free optical fiber is tightly connected to the console 150 in the protected area where it is located, and is seamlessly docked with various precision electronic components and control systems inside the console 150 to ensure the accurate transmission and interaction of data; the other end is connected to the mobile lifting device 140 to establish data transmission between different protected areas and the grounding area.

[0039] As can be seen from the above, the working device of this embodiment forms a high-voltage area, a grounding area, and a protected area by setting the insulator 130 and the circuit, ensuring the safety of high-voltage operations.

[0040] In this embodiment, the mobile lifting device 140 can be accurately adjusted and positioned at different heights and positions according to the control instructions of the console 150. By closely cooperating with the wire-free optical fiber, the mobile lifting device 140 can receive instructions from the console 150 in real time and accurately execute corresponding actions, further ensuring the operation safety and communication stability of the entire working device. Among them, in this embodiment, the structure of the mobile lifting device 140 is not specifically limited, and any device that can move back and forth and has a lifting height can be applied to this embodiment. For example, the mobile lifting device 140 is a scissor lift. The scissor lift is composed of a movable wheel device, a scissor-shaped cross beam, and a hydraulic system that drives the cross beam to lift. This structure enables the mobile lifting device 140 to have high stability and reliability during the lifting process.

[0041] In this embodiment, the collaborative robot 120 is used to control the operation of the insulation tightening device 110 based on the control instructions. In a specific implementation manner of this embodiment, the collaborative robot 120 includes a plurality of control shafts 122 that are sequentially connected in different directions and can rotate relative to each other. By driving the coordinated movement of each control shaft 122, the insulation tightening device 110 is moved to the position of the bolt 200 of the high-voltage live equipment, and the insulation tightening device 110 is controlled to perform the tightening operation. The specific structure of the collaborative robot 120 in this embodiment is not limited.

[0042] In this embodiment, the console 150 is respectively connected to the collaborative robot 120 and the mobile lifting device 140, and is used to control the operation of the mobile lifting device 140 and input control instructions to the collaborative robot 120.

[0043] The operator can input various control instructions to the collaborative robot 120 through the console 150, such as start, stop, speed adjustment, rotation direction of the control shaft 122, rotation angle, etc. These instructions are transmitted to the collaborative robot 120 in the form of digital signals through the wire-free optical fiber. The collaborative robot 120 executes corresponding actions according to the received control instructions to control the insulation tightening device 110 to perform the tightening operation. During the process of executing the task, the collaborative robot 120 will real-time feedback its position, speed, force condition and other status information to the console 150. The console 150 can understand the working state of the robot and make adjustments or optimizations by analyzing and processing these information.

[0044] An operator can send control instructions to the mobile lifting device 140 through the console 150 to achieve basic operations such as forward movement, backward movement, upward movement, downward movement, and stop. At the same time, parameters such as the speed and acceleration of the mobile lifting device 140 can also be adjusted as needed to meet different working requirements. Sensors can be configured on the mobile lifting device 140. Through the sensors, the console 150 can obtain the position information of the mobile lifting device 140 in real time and perform precise positioning control according to a preset target position to improve the accuracy and efficiency of the operation.

[0045] In this embodiment, the console 150 is an electronic device having a memory, a processor, and a display screen. The memory is used to store computer programs. In some possible implementation manners, the memory may include a computer system readable medium in the form of volatile memory, such as RAM and / or cache memory. The electronic device may further include other removable / non-removable, volatile / non-volatile computer system storage media. The memory may include at least one program product, and the program product has a set of (for example, at least one) program modules, and these program modules are configured to execute the functions of the console 150 described in this application. In some possible implementation manners, the processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0046] The display is communicatively connected to the memory and the processor and is configured to display the relevant graphical user interface (GUI) of the console 150. In the embodiments of the present application, the display may include a display screen (display panel). In some implementations, the display panel may be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), etc. Additionally, the display may also be a touch panel (touch screen, touch display screen), and the touch panel may include a display screen and a touch-sensitive surface. When the touch-sensitive surface detects a touch operation thereon or nearby, it is transmitted to the processor to determine the type of touch event, and then the processor provides a corresponding visual output on the display device according to the type of touch event.

[0047] Figure 3 Shown is a schematic block diagram of the console 150 in the collaborative robot operator 100 for bolt tightening of high-voltage energized equipment according to the embodiments of the present application. As Figure 3 shown, in a specific implementation of this embodiment, the console 150 includes: a cruising module 151, a UI display module 152, a rendezvous module 153, a docking module 154, and a tightening control module 155.

[0048] In this embodiment, the cruising module 151 is configured to control the forward / backward movement, steering, and lifting of the mobile lifting device 140.

[0049] The implementation manner of the forward / backward control of the mobile lifting device 140 is as follows: The cruising module 151 receives an instruction from an operator or a preset program signal and sends a control signal to the drive system of the mobile lifting device 140 to implement the forward / backward movement. The forward / backward movement is controlled by the forward / backward rotation of the motor or the oil flow direction of the hydraulic system. Among them, the operator can send a forward or backward instruction to the cruising module 151 through an interface such as a button, a switch, or a touch screen on the console 150. The cruising module 151 adjusts the output of the drive system according to the instruction, so that the mobile lifting device 140 moves forward or backward. The cruising module 151 can also adjust the forward / backward speed of the mobile lifting device 140 according to the operator's requirements or changes in the working scenario. This helps to improve work efficiency and safety, especially in narrow spaces or complex environments.

[0050] The implementation method of the steering control of the mobile lifting device 140 is as follows: The cruise module 151 realizes the steering action of the device by controlling the steering system of the mobile lifting device 140, such as a servo motor or a steering motor. The steering angle and direction are set or adjusted by the operator through the control interface. The operator can send instructions such as turning left, turning right, or going straight to the cruise module 151 through devices such as the direction keys or knobs on the console 150. The cruise module 151 adjusts the output of the steering system of the mobile lifting device 140 according to the instructions, so that the mobile lifting device 140 moves in the predetermined direction.

[0051] The implementation method of the lifting control of the mobile lifting device 140 is as follows: The cruise module 151 realizes the lifting action of the device by controlling the lifting system of the mobile lifting device 140, such as an electric cylinder, a hydraulic cylinder, or a winch. The lifting height and speed are set or adjusted by the operator through the control interface. The operator can send instructions to rise or fall to the cruise module 151 through interfaces such as buttons, switches, or touchscreens on the console 150. The cruise module 151 adjusts the output of the lifting system according to the instructions, so that the mobile lifting device 140 moves up or down. In scenarios where precise control of the height of the mobile lifting device 140 is required, the cruise module 151 can implement the height positioning function. By receiving feedback signals from sensors (such as laser rangefinders, ultrasonic sensors, etc.) on the mobile lifting device 140, the cruise module 151 can adjust the speed and position of the lifting system in real time to ensure that the device reaches the predetermined height and is accurately locked.

[0052] Among them, the laser rangefinder can accurately measure the distance from the mobile lifting device 140 to the target object or the ground, providing high-precision height information. The ultrasonic sensor measures the distance by emitting and receiving ultrasonic signals. According to the position of the bolt 200 of the high-voltage live equipment, the target height of the mobile lifting device 140 is set. According to the deviation between the current height and the target height of the mobile lifting device 140, the control quantity is calculated according to control algorithms such as the PID control algorithm or the fuzzy control algorithm. According to the control quantity calculated by the control algorithm, an instruction is sent to the motor of the lifting system. For example, if it is necessary to accelerate the rise, the rotation speed of the motor can be increased; if it is necessary to decelerate, the rotation speed of the motor can be decreased. After adjusting the speed and position of the lifting system, continue to collect sensor data to monitor in real time whether the actual height of the device reaches the target value. If the deviation still exists, continue to iteratively adjust the speed and position of the lifting system according to the new deviation value until the device reaches the predetermined height and is accurately locked.

[0053] When precise control of the steering angle of the mobile lifting device 140 is required, the cruise module 151 can adjust the steering angle of the mobile lifting device 140 in real time by receiving feedback signals from sensors (such as gyroscopes, accelerometers, etc.) to ensure that the device moves along the predetermined trajectory.

[0054] Among them, the gyroscope can measure the angular velocity and angular change of the device, and can provide real-time steering angle information, such as the yaw angle, pitch angle, and roll angle of the device on the horizontal plane. The accelerometer can measure the acceleration of the device in various directions, including the acceleration due to gravity. Based on the data of the accelerometer, the tilt angle and motion state of the device can be judged. According to the position of the bolt 200 of the high-voltage live equipment, a predetermined trajectory of the mobile lifting device is set, usually represented by a series of target points or direction angles. Then, the current attitude (such as the steering angle) fed back by the sensor is compared with the predetermined trajectory, and the deviation is calculated. For example, if the goal is to maintain a certain specific yaw angle, and there is a deviation between the current yaw angle fed back by the gyroscope and the target value, it is necessary to calculate this deviation value. The steering angle of the mobile lifting device 140 is directly adjusted according to the magnitude of the deviation value to ensure that the device moves along the predetermined trajectory.

[0055] For example, when the console 150 enters the cruise mode, the mobile lifting device 140 can be controlled to move forward and backward and turn through the joystick. When the mobile lifting device 140 reaches below the target operation area and enters the rendezvous mode, the horizontal movement of the mobile lifting device 140 is locked, and the mobile lifting device 140 is controlled to extend and retract up and down to transport the insulating tightening device 110 and the collaborative robot 120 to the operation area.

[0056] In this embodiment, the UI display module 152 is used to display the real-time operation images collected by the rough positioning camera assembly 1131 and the fine positioning camera assembly 1132.

[0057] In this embodiment, the UI display module 152 displays the real-time operation images of the high-voltage area. By receiving and processing the image data from the rough positioning camera assembly 1131 and the fine positioning camera assembly 1132, and providing diversified display and interaction functions for the real-time operation of the high-voltage area, it helps the user to complete the bolt tightening operation task more efficiently.

[0058] In this embodiment, after the UI display module 152 receives the image data, the UI display module 152 performs preset processing on the image data, such as format conversion, resolution adjustment, color correction, etc., to ensure that the image can be displayed correctly and clearly.

[0059] In this embodiment, the rough positioning camera assembly 1131 is used to quickly capture the general outline and position information of the high-voltage operation area. When the UI display module 152 displays the image of the rough positioning camera assembly 1131, it will give priority to the refresh speed and overall effect of the confidence image so that the operator can quickly understand the operation environment of the high-voltage area.

[0060] In this embodiment, the fine positioning camera assembly 1132 is used to capture the fine details and feature information of the high-voltage operation area. When the UI display module 152 displays the image of the fine positioning camera assembly 1132, it will prioritize the clarity and detail expressiveness of the confidence image.

[0061] In addition to displaying the real-time operation image of the high-voltage area, in this embodiment, the UI display module 152 also performs operations such as measurement, analysis, and comparison on the fine positioning image output by the fine positioning camera assembly 1132. So that the user can more accurately obtain the key parameters such as the size, shape, and position of the high-voltage operation area, providing strong support for the subsequent tightening operation decision-making.

[0062] In this embodiment, the rendezvous module 153 is used to control the operation of the collaborative robot 120 and determine whether the collaborative robot 120 enters the operation area of the high-voltage energized equipment based on the real-time operation image.

[0063] In this embodiment, the rendezvous module 153 plans an optimal path for the collaborative robot 120 from the starting position to the target position according to the task requirements and the environmental map. During the planning process, the rendezvous module 153 comprehensively considers various factors, such as obstacle avoidance, path length, walking time, etc., to ensure that the collaborative robot 120 can complete the task efficiently and safely.

[0064] Exemplarily, a specific implementation manner in which the rendezvous module 153 plans an optimal path for the collaborative robot 120 from the starting position to the target position according to the task requirements and the environmental map is as follows:

[0065] First, analyze the task requirements to determine the starting position and the target position: clarify where the collaborative robot needs to start and the end position it needs to reach. Then determine the task priority and constraints for the collaborative robot: whether it is necessary to avoid certain specific areas (such as dangerous areas, obstacle-dense areas), whether it is necessary to complete the task within a specific time, whether it is necessary to prefer the shortest path, or prefer the safest or most energy-efficient path.

[0066] Then obtain the motion model of the robot (such as differential drive, omnidirectional movement, etc.), the size of the robot, and its motion capabilities, such as maximum speed, minimum turning radius, etc. Then use the lidar (LiDAR), camera, or other sensors carried on the collaborative robot to construct an environmental map in real time. Map format: Grid map: Divide the environment into small grids, and each grid represents passable or impassable. Topological Map: Represent the environment as a set of nodes and edges, where nodes represent key positions and edges represent paths. Mark the impassable areas such as obstacles, walls, and doors on the map, and mark the starting point, target point, and possible intermediate points. According to the task requirements, divide the priority areas, ordinary areas, and restricted areas.

[0067] Then select a suitable path planning algorithm. For example, sample the A* algorithm in the prior art for path planning. The A* algorithm is a heuristic search algorithm that selects the optimal path by evaluating the cost of each node (the cost from the starting point to the current node + the estimated cost from the current node to the end point). Specifically, it includes:

[0068] 1) Initialize the Open List and Closed List; 2) Add the starting node to the Open List; 3) Select the node with the minimum cost from the Open List, remove it from the Open List, and add it to the Closed List; 4) Evaluate the neighboring nodes of the current node, calculate their costs, and add them to the Open List. Repeat steps 3) and 4) until the target node is added to the Closed List or the Open List is empty. 5) Backtrack from the target node to the starting node to obtain the optimal path.

[0069] In addition, the Dijkstra algorithm, RRT (Rapidly-exploring Random Tree) algorithm, etc. in the prior art can also be used to plan an optimal path for the collaborative robot 120 from the starting position to the target position. Then, the planned optimal path can be smoothed by interpolation or curve fitting (such as B-spline curve) to reduce the turning points of the path and improve the motion smoothness of the collaborative robot. During the actual operation of the collaborative robot, adjust the path in real time according to the sensor feedback (such as lidar, camera) to avoid dynamic obstacles.

[0070] In this embodiment, the rendezvous module 153 controls the movement of the control axis 122 of the collaborative robot 120 by sending control signals to the motors or actuators of the collaborative robot 120, including actions such as starting, stopping, accelerating, decelerating, and turning of each motion axis, so that the collaborative robot 120 can move precisely along the planned path.

[0071] In this embodiment, the rendezvous module 153 monitors the motion state of the collaborative robot 120 in real time, including parameters such as position, speed, and acceleration. Through the sensor feedback and data fusion in the collaborative robot 120, the rendezvous module 153 can accurately grasp the current state of the collaborative robot 120 and promptly detect abnormal situations. When it is detected that the motion state of the robot deviates from the planned path, the rendezvous module 153 will dynamically adjust the control signal according to the magnitude and direction of the error, so that the collaborative robot 120 returns to the planned path again. This real-time adjustment mechanism ensures the accuracy and stability of the collaborative robot 120 in a complex environment.

[0072] In a specific implementation manner of this embodiment, the collaborative robot 120 includes a plurality of control axes 122 that are sequentially connected in different directions and can rotate relative to each other; the rendezvous module 153 controls the collaborative robot 120 to enter the operation area of the high-voltage live equipment by controlling the running speed and rotation direction of each of the control axes 122. The collaborative robot 120 is designed with a plurality of control axes 122 that are sequentially connected in different directions. This structure enables the robot to move flexibly in three-dimensional space and meet complex operation requirements. The rendezvous module 153 adjusts the motion speed and position of the collaborative robot 120 by controlling the running speed of each control axis 122, which helps to achieve a smooth and stable motion trajectory and reduce mechanical shocks and vibrations caused by speed changes. The rendezvous module 153 can guide the collaborative robot 120 to move along a predetermined path by setting the rotation direction, avoiding collisions with the surrounding environment or obstacles. Therefore, in this embodiment, through the control of the running speed and rotation direction of each control axis 122 of the collaborative robot 120 by the rendezvous module 153, the collaborative robot 120 can achieve high-precision positioning of the operation area of the high-voltage live equipment.

[0073] Among them, the collaborative robot is composed of multiple joints (control axes), and the motion speed and position of each joint jointly determine the motion of the end effector (tool) of the collaborative robot. The rendezvous module needs to calculate the speed and position of each control axis based on the kinematic model of the robot: calculate the position and posture of the end effector according to the angles of each control axis, and calculate the target angles of each control axis according to the target position and posture of the end control axis. Among them, for example, the rendezvous module 153 uses a PID control algorithm to perform closed-loop control on the speed of each control axis to ensure that each control axis moves at the target speed. According to the deviation between the target speed and the actual speed of the control axis, the control signal of each control axis is adjusted in real time. The rendezvous module 153 needs to monitor the motion state of the collaborative robot in real time, obtain the position, speed, and acceleration information of each control axis in real time, obtain the motion deviation of each control axis, and adjust the control signal.

[0074] In this application, exemplarily, the specific implementation manner in which the rendezvous module 153 can guide the collaborative robot 120 to move along a predetermined path by setting the rotation direction is as follows:

[0075] Decompose the predetermined path into a series of path points, where each path point contains position information (x, y, z) and attitude information (such as Euler angles or quaternions). Assign a timestamp to each path point for controlling the movement speed of the collaborative robot along the path. According to the kinematic model of the collaborative robot, calculate the joint angles and rotation directions corresponding to each path point. For each path point, for example, use the inverse kinematics algorithm to calculate the target angles of each joint. Among them, the goal of inverse kinematics is to solve the angles of each joint based on the position and attitude of the end effector. According to the timestamp of the path point, calculate the target speed of each joint. The target speed can be obtained by taking the time derivative of the joint angle. Each path point contains not only position information but also direction information (such as the tangent direction). The rendezvous module 153 needs to set the rotation directions of each joint according to the direction information of the path point. Set the positive and negative of the joint speed according to the change direction of the target joint angle. For example, if the target joint angle needs to increase, the joint speed is positive; if it needs to decrease, the joint speed is negative. Finally, the rendezvous module 153 converts the predetermined path and the obtained rotation directions into actual control instructions to guide the collaborative robot to move along the predetermined path.

[0076] In this embodiment, the rendezvous module 153 uses an advanced image recognition algorithm to perform feature extraction and recognition on the images output by the preprocessed rough positioning camera assembly 1131 and the fine positioning camera assembly 1132. By comparing with a preset high-voltage live equipment feature library, the rendezvous module 153 can accurately determine whether the image contains high-voltage live equipment and its specific position and status. According to the image recognition result and the current position information of the collaborative robot 120, the rendezvous module 153 can calculate the actual distance between the collaborative robot 120 and the high-voltage live equipment. By comparing with the safety distance threshold, the rendezvous module 153 can determine whether the robot has entered the operation area of the high-voltage live equipment. When it is found that the collaborative robot 120 is about to enter or has entered the operation area of the high-voltage live equipment, the rendezvous module 153 will immediately issue a warning signal.

[0077] In this embodiment, the docking module 154 is used to input control instructions to the collaborative robot 120 based on the real-time operation image after the collaborative robot 120 enters the operation area of the high-voltage live equipment, and control the operation of the collaborative robot 120 so that the fastening joint 112 of the insulation tightening device 110 is aligned with the target bolt to be fastened.

[0078] Specifically, the docking module 154 uses the preset image recognition algorithms, such as deep learning, template matching, etc., to identify the fastening joint 112 of the insulation tightening device 110 and the target bolt to be fastened from the real-time images collected in the high-voltage operation area. Then, the docking module 154 extracts the key features of the fastening joint 112 and the target bolt, which may include shape, size, position, angle, etc., for subsequent precise alignment operations. Based on the extracted features, the docking module 154 adopts specific alignment algorithms, such as geometric feature-based registration algorithms, deep learning-based pose estimation algorithms, etc., to calculate the spatial transformation relationship between the fastening joint 112 and the target bolt. According to the calculated spatial transformation relationship, the docking module 154 generates corresponding control commands, including the movement speed, rotation direction of each control axis 122 of the collaborative robot 120, and the pose adjustment of the end effector, etc.

[0079] After the collaborative robot 120 enters the operation area of the high-voltage live equipment, the docking module 154 controls the robot to quickly approach the target bolt along a general direction until the distance between the fastening joint 112 and the target bolt is reduced to a certain range. When the distance between the fastening joint 112 and the target bolt is close enough, the docking module 154 starts fine-tuning. By finely adjusting the movement speed and rotation direction of the control axis 122 of the collaborative robot 120, and the small pose changes of the end effector, the precise alignment between the fastening joint 112 and the target bolt is gradually achieved. During the fine-tuning process, the docking module 154 continuously collects real-time images of the operation area and monitors the alignment situation between the fastening joint 112 and the target bolt in real time through image processing technology. If a deviation or misalignment is found, the docking module 154 will generate new control commands for correction. During the docking process, the docking module 154 always monitors the distance between the fastening joint 112 and the target bolt to ensure that no collision or poor contact occurs. Once the distance is too close or exceeds the safety threshold, the docking module 154 will immediately stop the movement of the collaborative robot 120 and take corresponding safety measures.

[0080] Figure 4 It shows the principle block diagram of the docking module 154 in the collaborative robot operator 100 for bolt fastening of high-voltage live equipment described in the embodiment of the present application. As Figure 4 shown, in a specific implementation manner of this embodiment, the docking module 154 includes: a collaborative robot control unit 1541, a target bolt detection unit 1542, an alignment detection unit 1543, and a picture magnification unit 1544.

[0081] In this embodiment, the collaborative robot control unit 1541 controls the collaborative robot 120 to drive the insulation tightening device 110 to approach the target bolt to be fastened based on the real-time operation image.

[0082] In this embodiment, the collaborative robot control unit 1541 obtains the image data of the high-voltage operation area in real time. In order to improve the image quality and recognition accuracy, the collaborative robot control unit 1541 preprocesses the acquired image, such as denoising, enhancement, filtering and other operations. Then, the collaborative robot control unit 1541 uses an image recognition algorithm to extract the features of the target bolt to be tightened from the preprocessed image, such as shape, size, color, texture, etc., and compares them with the preset bolt feature library to accurately identify the target bolt. Then, based on the identified position and attitude of the target bolt, the collaborative robot control unit 1541 plans a movement path for the collaborative robot 120 to approach the target bolt, ensuring that the collaborative robot 120 can approach the target bolt smoothly and accurately. Finally, according to the planned path, the collaborative robot control unit 1541 generates a motion instruction to control each control axis 122 (such as joints) of the collaborative robot 120 to move at a specific speed and direction, driving the insulation tightening device 110 to approach the target bolt.

[0083] In this embodiment, the target bolt detection unit 1542 detects whether the target bolt appears in the real-time operation image, and marks the target bolt, calculates and displays the coordinate and phase relationship between the collaborative robot 120 and the target bolt when the target bolt appears.

[0084] The target bolt detection unit 1542 scans and detects the presence of the target bolt in the real-time operation image. This is achieved by pre-setting specific detection algorithms or thresholds. When an area matching the preset bolt features appears in the image, it is considered that the target bolt is detected. In this embodiment, once the target bolt is detected, the target bolt detection unit 1542 will mark the target bolt in the image, usually represented by bounding boxes, highlighting or other visualization methods for subsequent processing and analysis.

[0085] The target bolt detection unit 1542 calculates the precise coordinates of the target bolt in the three-dimensional space according to the pixel information in the image and the camera parameters, where the coordinates are represented in the camera coordinate system or the robot base coordinate system. In this embodiment, in addition to the coordinate information, the target bolt detection unit 1542 also analyzes the phase relationship between the target bolt and the collaborative robot 120 (especially the insulation tightening device 110), that is, their relative posture and direction in space. The calculated coordinate and phase relationship information will be displayed in real time for reference by the operator or the control unit itself.

[0086] In this embodiment, the alignment detection unit 1543 determines whether the fastening joint 112 of the insulation tightening device 110 is aligned with the target bolt based on the coordinate and phase relationship between the collaborative robot 120 and the target bolt.

[0087] In this embodiment, the alignment detection unit 1543 receives the coordinate and phase relationship information from the target bolt detection unit 1542, and compares it with the current position and posture of the insulation tightening device 110. According to the preset alignment criteria (such as position error threshold, angle error threshold, etc.), the alignment detection unit 1543 determines whether the fastening joint 112 of the insulation tightening device 110 is correctly aligned with the target bolt. The alignment detection unit 1543 feeds back the judgment result (aligned / not aligned) to the collaborative robot control unit 1541 for subsequent operation decision-making. If misalignment is found, the alignment detection unit 1543 generates corresponding adjustment instructions according to the deviation amount of the coordinate and phase relationship, and controls the collaborative robot 120 to make fine adjustments to achieve precise alignment. Through the collaborative work of the collaborative robot control unit 1541, the target bolt detection unit 1542, and the alignment detection unit 1543, it can ensure that the fastening joint 112 of the insulation tightening device 110 is precisely aligned with the target bolt to be fastened, thereby improving the operation efficiency and safety.

[0088] In a specific implementation manner of this embodiment, the docking module 154 further includes: a picture magnification unit 1544, which is used to magnify the real-time operation image after the collaborative robot 120 enters the operation area of the high-voltage live equipment. The real-time operation image is magnified, for example, by using an interpolation algorithm to calculate the values of the newly added pixel points in the magnified image. Common interpolation algorithms include nearest neighbor interpolation, bilinear interpolation, and bicubic interpolation, etc. Among them, bicubic interpolation can provide a better balance, being able to obtain a higher magnification factor while maintaining better image quality.

[0089] In addition, the magnification of the real-time operation image may also include super-resolution reconstruction based on deep learning. For example, the generative adversarial network (GAN) or convolutional neural network (CNN) in deep learning technology is used for image super-resolution reconstruction. After being trained with a large amount of image data, these networks can significantly improve the resolution of the image without adding too much noise. The picture magnification unit 1544 magnifies the real-time high-voltage operation image to ensure that the operator can clearly observe the details after the collaborative robot 120 enters the operation area, which is beneficial to improving the operation efficiency, reducing the operation risk, and enhancing the operation quality.

[0090] Figure 5 It shows a schematic diagram of the control process of the collaborative robot control unit 1541 in the collaborative robot operator 100 for bolt tightening of high-voltage live equipment described in the embodiment of the present application. As Figure 5As shown, in this embodiment, the collaborative robot control unit 1541 sequentially controls the insulation tightening device 110 to move slowly in the up-down, left-right directions, adjusts the pitch and yaw of the insulation tightening device 110, and controls the insulation tightening device 110 to move slowly in the front-back direction.

[0091] The collaborative robot control unit 1541 combines the movement position and posture of the insulation tightening device 110 in the previous stage, as well as the requirements of the current operation task, to plan its movement path in the front-back direction, avoid collisions with surrounding equipment, and consider the smoothness and efficiency during the movement process. Algorithms such as dynamic programming or heuristic search algorithms are used to optimize the generated path to find the optimal movement trajectory while meeting the constraints of the operation.

[0092] In this embodiment, after the fastening joint 112 of the insulation tightening device 110 is aligned with the target bolt to be fastened, the tightening control module 155 controls the insulation tightening device 110 to tighten the target bolt to be fastened by controlling the collaborative robot 120.

[0093] In this embodiment, the tightening control module 155 obtains corresponding tightening parameters, including tightening torque, tightening speed, number of rotation turns, etc., from the database or process parameter table stored in the collaborative robot control unit 1541 according to different target bolt specifications and tightening requirements, and converts these tightening parameters into control signals that the motor of the insulation tightening device 110 can recognize and receive to prepare for the tightening operation. According to the received tightening parameters, a closed-loop torque control algorithm is used to precisely control the torque output by the torque motor 121. During the tightening process, the actual torque value output by the torque is monitored in real time and compared with the set tightening torque, and the output of the torque motor 121 is adjusted in a timely manner according to the deviation to ensure the accuracy and stability of the torque. At the same time, by installing an encoder or other angle sensors on the motor shaft, the rotation angle and number of turns of the insulation tightening device 110 during the tightening process are monitored to ensure that the preset tightening requirements are met. When the set tightening torque, number of rotation turns or angle is reached, the tightening operation is stopped.

[0094] After the tightening is completed, the tightening control module 155 can detect and evaluate the tightening result through sensors (such as torque sensors, displacement sensors, etc.), and check whether the target bolt has achieved the expected tightening effect, including whether the tightening torque is within the qualified range, whether the bolt has reached the specified pre-tightening force, etc. At the same time, record the key data (such as the actual tightening torque, the number of rotation turns, the position information, etc.) during the tightening process and store it in the database of the collaborative robot control unit 1541 for subsequent quality traceability and data analysis. According to a large amount of tightening result data and feedback information, the collaborative robot control unit 1541 can optimize and adjust the tightening process parameters to improve the quality and efficiency of the tightening operation.

[0095] Figure 6 It shows the principle block diagram of the tightening control module 155 in the collaborative robot operator 100 for bolt fastening of high-voltage live equipment described in the embodiments of the present application. As Figure 6 shown, in a specific implementation manner of this embodiment, the tightening control module 155 includes: a distance detection unit 1551 and a tightening control unit 1552.

[0096] In this embodiment, after the fastening joint 112 of the insulation tightening device 110 is aligned with the target bolt to be fastened, the distance detection unit 1551 detects the distance between the fastening joint 112 and the target bolt to be fastened.

[0097] After the fastening joint 112 of the insulation tightening device 110 is aligned with the target bolt, the control system of the collaborative robot 120 will send an alignment completion signal to the distance detection unit 1551. This signal can be a level signal, a pulse signal or other forms of signals, used to notify the distance detection unit 1551 to start distance measurement.

[0098] Among them, a laser displacement sensor, an ultrasonic sensor or an infrared sensor can be configured in the insulation tightening device 110 to detect the distance between the fastening joint 112 and the target bolt to be fastened. It is also possible to estimate the distance between the fastening joint 112 and the target bolt to be fastened through the collected images of the high-voltage operation area and software algorithms.

[0099] According to the distance detection result, the tightening control module 155 can perform real-time correction on the tightening torque. If the measured distance is less than the expected value, it may indicate that the target bolt is already in a good pre-tightening state. At this time, the tightening torque can be appropriately reduced to avoid bolt damage or equipment failure caused by over-tightening; conversely, if the measured distance is greater than the expected value, the tightening torque may need to be increased to ensure that the bolt can reach sufficient pre-tightening force.

[0100] In addition, the distance detection result can be used to precisely control the screwing depth of the insulation tightening device 110. For example, when the set screwing depth is reached, even if the preset screwing torque is not reached, the screwing operation can be stopped to prevent the bolt from being over-screwed.

[0101] Specifically, in this embodiment, the tightening control unit 1552 controls the insulation tightening device 110 to tighten the target bolt to be fastened based on the distance and the protection switch pre-configured for the target bolt.

[0102] In this embodiment, the tightening control unit 1552 precisely sets and controls the torque magnitude output by the insulation tightening device 110 according to different tightening process requirements. By collecting images and combining with the preset torque parameters, it ensures that an accurate screwing torque is applied to the target bolt to achieve a reliable connection effect. During the tightening process, the tightening control unit 1552 continuously monitors parameters such as the actual output torque, rotation speed, and tightening angle of the insulation tightening device 110, and feeds these real-time data back to the collaborative robot control unit 1541, enabling the operator to timely understand the status of the tightening operation so as to quickly take measures in case of abnormal situations.

[0103] When contacting the protection switch pre-configured on the target bolt, the tightening control unit 1552 immediately stops the forward movement of the insulation tightening device 110 to prevent bolt damage or equipment failure caused by over-tightening. This intelligent protection mechanism effectively ensures the safety and reliability of the tightening operation.

[0104] High-precision torque sensors, angle sensors, displacement sensors, etc. can be built into the insulation tightening device 110, which can accurately measure and sense various physical quantities during the tightening process. These sensors cooperate closely with the tightening control unit 1552 to achieve precise control and monitoring of the tightening operation.

[0105] In this embodiment, the tightening control unit 1552 can quickly analyze and process the data collected by the sensors, and automatically adjust the working parameters of the insulation tightening device 110 according to the analysis results. For example, during the tightening process, if it is found that there is a deviation between the actual torque value and the preset torque value, the tightening control unit 1552 calculates the torque increment to be adjusted through a preset algorithm and timely issues an instruction to the insulation tightening device 110 to make it output the corresponding torque compensation value.

[0106] Among the various modules or units provided in the console 150 in this embodiment, it should be understood that they can be implemented in other ways. For example, the division of modules / units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple modules or units can be combined or integrated into another entity, or some features can be ignored or not executed. The modules / units described as separate components may or may not be physically separated. The components shown as modules / units may or may not be physical modules, that is, they can be located in one place or distributed to multiple network units. Some or all of the modules / units can be selected according to actual needs to achieve the purpose of the embodiments of the present application. For example, in the embodiments of the present application, each functional module / unit can be integrated in a processing module, or each module / unit can exist physically alone, or two or more modules / units can be integrated in one module / unit.

[0107] In this embodiment, the fastening joint 112 is installed at the front end of the insulating tightening link 111 and is used to be matched and connected with the bolt 200 of the high-voltage live equipment, and the bolt 200 of the high-voltage live equipment is tightened by the rotation of the insulating tightening link 111. The joint shape of the fastening joint 112 matches the shape of the bolt. Figure 7 Shown is an exemplary diagram of the fastening joint 112 in the collaborative robot working device 100 for tightening bolts of high-voltage live equipment according to the embodiment of the present application. As Figure 7 shown, the fastening joint 112 is in an external hexagonal shape. Among them, the bolt 200 of the high-voltage live equipment is preferably an M16 bolt.

[0108] Figure 8 Shown is a schematic connection diagram of the insulating tightening link 111 and the torque motor 121 in the collaborative robot working device 100 for tightening bolts of high-voltage live equipment according to the embodiment of the present application. As Figure 8 shown, in a specific implementation manner of this embodiment, the way the rear end of the insulating tightening link 111 is connected to the collaborative robot 120 is as follows: a torque motor 121 is installed on the control shaft 122 at the end of the collaborative robot 120, a first gear is provided on the power output shaft of the torque motor 121, a second gear is provided at the rear end of the insulating tightening link 111, and the first gear drives the second gear to rotate through a belt, so as to realize the torque motor 121 driving the insulating tightening link 111 to rotate.

[0109] When the collaborative robot 120 performs a tightening task, the torque motor 121 outputs corresponding power according to the control instruction to ensure that the target bolt can be tightened accurately and stably. The first gear is installed on the power output shaft of the torque motor 121. It is the driving gear of the entire gear transmission system. The second gear is installed at the rear end of the insulating tightening link 111. It is the driven gear. The second gear meshes with the first gear, and the power is transmitted through belt drive. The size and number of teeth of the second gear should be designed and selected according to specific transmission ratio requirements to meet the rotational speed and torque requirements of the insulating tightening link 111 during the tightening operation. Belt drive is a commonly used mechanical drive method, which has the advantages of simple structure, stable transmission, and low noise. In this tightening mechanism, the belt transmits the power of the first gear to the second gear, thereby realizing the drive of the torque motor 121 to the insulating tightening link 111. To ensure the reliability and stability of the belt drive, it is necessary to select the appropriate belt type and specification and ensure that the belt tension is moderate.

[0110] Power transmission process: When the torque motor 121 receives the tightening instruction issued by the control system of the collaborative robot 120, it starts to rotate and output power. The power output shaft of the torque motor 121 drives the first gear to rotate, and the first gear transmits the power to the second gear through the belt. Due to the different number of teeth of the first gear and the second gear, the rotational speed and torque between them will change accordingly. Specifically, if the number of teeth of the first gear is less than that of the second gear, the rotational speed of the first gear will be higher than that of the second gear, and at the same time, the torque of the first gear will be lower than that of the second gear; conversely, if the number of teeth of the first gear is greater than that of the second gear, the rotational speed of the first gear will be lower than that of the second gear, and at the same time, the torque of the first gear will be higher than that of the second gear.

[0111] Realize the tightening operation: As the second gear rotates, the insulating tightening link 111 also starts to rotate. The front end of the insulating tightening link 111 contacts the target bolt, and the torque is transmitted to the target bolt through friction, thereby realizing the tightening operation of the target bolt. During the tightening process, the torque motor 121 controls the output torque and rotational speed to ensure that the insulating tightening link 111 can tighten the target bolt according to the predetermined tightening process requirements. By combining the torque motor 121 and the gear transmission system, precise control of the tightening torque and rotational speed can be achieved, thereby improving the accuracy and consistency of the tightening operation.

[0112] Figures 9 to 11 It shows a specific structural schematic diagram of the collaborative robot 120, the insulating tightening device 110, and the insulator 130 in the collaborative robot operator 100 for bolt fastening of high-voltage live equipment described in the embodiments of the present application. As Figures 9 to 11As shown, in a specific implementation of this embodiment, the insulating tightening link 111 includes a front link section 1111, a middle link section 1112, and a rear link section 1113; wherein, the outer diameter of the front link section 1111 matches the outer diameter of the fastening joint 112, the outer diameter of the rear link section 1113 matches the outer diameter of the external interface of the torque motor 121, and the outer diameter of the middle link section 1112 is smaller than the outer diameters of the front link section 1111 and the rear link section 1113.

[0113] The outer diameter of the front link section 1111 matches the outer diameter of the fastening joint 112. This design enables the insulating tightening link 111 to achieve seamless docking with the fastening joint 112, ensuring that power can be effectively transmitted from the tightening mechanism to the target bolt during the tightening operation. At the same time, the matching of the outer diameters also helps to improve the connection stability and accuracy, reducing vibrations and errors caused by gaps or mismatches. As the part directly in contact with the target bolt, the front link section 1111 is responsible for transmitting the torque generated by the torque motor 121 to the target bolt, thereby achieving the tightening operation. The appropriate design of its outer diameter can ensure that the link has sufficient strength and rigidity when transmitting torque, preventing deformation or damage due to excessive force. Since the entire tightening mechanism needs to have insulating properties, the front link section 1111 is usually made of insulating materials such as insulating plastics or rubbers. This can not only prevent current conduction to the human body or the surrounding environment but also protect metal components from corrosion and damage in some special working environments, such as humid or corrosive environments.

[0114] The outer diameter of the middle link section 1112 is smaller than the outer diameters of the front link section 1111 and the rear link section 1113, enabling the middle link section 1112 to play a role of transition and buffering between the front link section 1111 and the rear link section 1113. The smaller outer diameter can reduce the weight of the entire link, improve the operation flexibility of the collaborative robot 120, and also help to reduce manufacturing costs and material consumption. The main function of the middle link section 1112 is to connect the front link section 1111 and the rear link section 1113, ensuring that power can be smoothly transmitted from the torque motor 121 to the fastening joint 112. It needs to have a certain strength and rigidity to ensure that it will not break or deform when transmitting torque. In addition, the design of the middle link section 1112 also needs to consider the matching accuracy with the front and rear link sections 1113 to ensure the assembly quality and working performance of the entire link system. According to different working scenarios and requirements, the length of the middle link section 1112 can be appropriately adjusted. This can meet the tightening requirements of target bolts at different heights or positions, improving the adaptability and versatility of the collaborative robot 120. The method of adjusting the length can be through threaded connections, telescopic structures, or other adjustable design methods.

[0115] The outer diameter of the rear connecting rod segment 1113 matches the outer diameter of the external interface of the torque motor 121. This enables the rear connecting rod segment 1113 to be tightly connected to the torque motor 121, ensuring that power can be effectively transmitted from the output shaft of the torque motor 121 to the entire connecting rod system. The matching design of the outer diameter can also improve the stability and reliability of the connection, reducing noise and vibration caused by gaps or mismatches. During the tightening operation, the power output by the torque motor 121 includes not only torque but also a certain axial force. The rear connecting rod segment 1113 needs to have sufficient strength and rigidity to withstand these axial forces and prevent displacement or deformation during operation. Therefore, the rear connecting rod segment 1113 is usually made of high-strength materials and undergoes fine machining and treatment to ensure its performance and quality. As the part directly connected to the torque motor 121, the rear connecting rod segment 1113 needs to work in cooperation with the torque motor 121 to achieve the best tightening effect. It needs to be designed and optimized according to the characteristics and working requirements of the torque motor 121 to ensure that it can meet the operation requirements of the collaborative robot 120 in terms of rotational speed, torque output, etc. At the same time, the rear connecting rod segment 1113 also needs to consider the heat dissipation problem to prevent the performance and lifespan of the torque motor 121 from being affected due to overheating during long-term operation.

[0116] Figure 12 Shown is a partial enlarged view of the insulation tightening device 110 and the control axis 122 of the collaborative robot 120 in the collaborative robot operator 100 for bolt tightening of high-voltage live equipment described in the embodiments of the present application. As Figure 12 shown, in a specific implementation manner of this embodiment, the fine positioning camera assembly 1132 includes at least two cameras arranged along the inner circumferential direction of the insulation tightening connecting rod 111; the coarse positioning camera assembly 1131 includes at least two cameras arranged axially offset along the insulation tightening connecting rod 111. Among them, the camera is preferably a monocular camera or can also be a binocular camera.

[0117] In this embodiment, the fine positioning camera assembly 1132 and the coarse positioning camera assembly 1131 are arranged on the insulation tightening connecting rod 111 of the collaborative robot 120 to achieve precise positioning and tightening operations on the target bolt. In this embodiment, the fine positioning camera assembly 1132 and the coarse positioning camera assembly 1131 together constitute the visual positioning system on the insulation tightening connecting rod 111 of the collaborative robot 120. They cooperate with each other through different viewing angles and layout methods to achieve accurate and efficient positioning of the target bolt, thus ensuring the smooth progress of the tightening operation.

[0118] In this embodiment, the rough positioning camera assembly 1131 is mainly used to preliminarily position the target bolt before the tightening operation. It provides a quick and approximate position information to help the collaborative robot 120 preliminarily align with the target bolt, so that the subsequent fine positioning camera assembly 1132 can perform more accurate positioning. If the position of the target bolt is relatively fixed and known, the rough positioning camera assembly 1131 may even be sufficient to complete the entire positioning process, thereby improving the operation efficiency. The rough positioning camera assembly 1131 includes at least two cameras arranged axially offset along the insulating tightening link 111. This layout enables the cameras to capture the position information of the target bolt from different heights (or depths), thereby assisting the fine positioning camera assembly 1132 to achieve more accurate positioning. The rough positioning camera assembly 1131 can also be installed at different positions on the insulating tightening link 111 according to actual needs.

[0119] In this embodiment, the fine positioning camera assembly 1132 is mainly used to perform high-precision positioning on the target bolt before the tightening operation. By capturing the image of the bolt and using image processing algorithms, the collaborative robot 120 can determine the accurate position and attitude of the bolt, thereby adjusting the position and angle of the tightening link to ensure that the screwdriver or tightening tool can accurately align with the bolt head. The fine positioning camera assembly 1132 includes at least two cameras arranged along the inner circumferential direction of the insulating tightening link 111. This layout enables the cameras to capture the position information of the target bolt from different angles, thereby achieving precise positioning of the bolt. The cameras are installed on the front link segment 1111 and / or the rear link segment 1113, that is, the cameras can be installed on the front or rear part of the insulating tightening link 111, or installed on both at the same time, to provide a more comprehensive field of view coverage. Openings are provided at the positions corresponding to the cameras on the front link segment 1111 and / or the rear link segment 1113 to expose the cameras. These openings ensure that the cameras can directly observe the external environment, thereby capturing the image of the target bolt. The design of the openings needs to consider factors such as waterproofing, dustproofing, and protecting the cameras from mechanical damage, so transparent protective covers or other protective measures can be equipped.

[0120] In this embodiment, the process of the console 150 controlling the mobile lifting device 140 and the collaborative robot 120 to tighten the bolt 200 of the high-voltage live equipment is as follows:

[0121] The console 150 enters the cruise mode, controls the forward / backward movement and steering of the mobile lifting device 140, reaches below the target operation area, and enters the rendezvous mode. At this time, the horizontal movement of the mobile lifting device 140 is locked, the up / down movement of the mobile lifting device 140 is controlled, and the collaborative robot 120 is controlled to enter the high-voltage area where the high-voltage live equipment is located. In the rendezvous mode, the console 150 controls the end-stage of the collaborative robot 120 to move radially forward, backward, left, and right, and controls the pitch and yaw of each control axis 122 of the collaborative robot 120. At this time, the real-time image of the docking coaxial camera is displayed on the UI small window. When the collaborative robot 120 and the insulated tightening device 110 are roughly in the operation area, the docking mode is entered, and the UI magnifies and displays the real-time image of the docking coaxial camera. In the docking mode, the collaborative robot 120 is controlled to move slowly up, down, left, and right along the end-stage normal plane, the pitch and yaw of the collaborative robot 120 are finely adjusted, and the end-stage axis of the collaborative robot 120 is controlled to move slowly forward and backward along the normal line. When the bolt to be tightened appears in the field of view, the console 150 displays the target phase, the phase of the operator, and the vertical distance. The collaborative robot 120 can be rotated slowly to confirm that the marked target is indeed the operation target, and the normal plane alignment, central axis alignment, and phase alignment are automatically performed. After confirming that the normal plane, central axis, and phase are all aligned, it can automatically advance to the operation position according to the estimated distance. Whether manually or automatically controlled, it cannot continue to advance after the contact protection microswitch is triggered. The collaborative robot 120 and the insulated tightening device 110 are controlled to tighten the bolt to be tightened.

[0122] The collaborative robot operator 100 for tightening bolts of high-voltage live equipment described in the embodiments of the present application is not limited to the structure of the collaborative robot operator 100 for tightening bolts of high-voltage live equipment listed in this embodiment. Any structural deformation and replacement of the prior art made according to the principle of the present application are included in the protection scope of the present application.

[0123] By setting the insulator 130 and the line in the operator of this embodiment to form a high-voltage area, a grounding area, and a protection area, the high-voltage operation safety is ensured. By setting the structure of the insulated tightening device 110 and the control method of the collaborative robot 120, the bolt to be tightened of the high-voltage live equipment can be quickly positioned and tightened, so as to realize the non-power-off tightening of the bolt 200 of the high-voltage live equipment.

[0124] The above embodiments only illustratively explain the principle and its effects of the present application, rather than limiting the present application. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present application should still be covered by the claims of the present application.

Claims

1. A collaborative robot operator for bolt fastening of high-voltage energized equipment, characterized in that, Including: An insulating tightening device, a collaborative robot, an insulator, a mobile lifting device, and a console; The console is respectively connected to the collaborative robot and the mobile lifting device, and is used to control the operation of the mobile lifting device and input control instructions to the collaborative robot; The collaborative robot is connected to the mobile lifting device through an insulator and is used to control the insulating tightening device to work based on the control instructions; the insulating tightening device is installed on the collaborative robot and is used to tighten the bolts of high-voltage live equipment; where: The insulating tightening device includes an insulating tightening link, a fastening joint, and a bolt positioning device; the fastening joint is installed at the front end of the insulating tightening link and is used to be matched and connected with the bolts of the high-voltage live equipment, and tighten the bolts of the high-voltage live equipment through the rotation of the insulating tightening link; the rear end of the insulating tightening link is connected to the collaborative robot, and the collaborative robot controls the rotation of the insulating tightening link; the bolt positioning device includes a rough positioning camera assembly installed on the outer surface of the insulating tightening link for rough positioning of the bolts of the high-voltage live equipment and a fine positioning camera assembly installed inside the insulating tightening link and exposed through a through hole of the insulating tightening link for fine positioning of the bolts of the high-voltage live equipment; the fine positioning camera assembly includes at least two cameras arranged along the circumferential direction inside the insulating tightening link; the rough positioning camera assembly includes at least two cameras arranged axially and staggeredly along the insulating tightening link; The console includes: A cruise module for controlling the forward and backward movement, steering, and lifting of the mobile lifting device; A UI display module for displaying the real-time operation images collected by the rough positioning camera assembly and the fine positioning camera assembly; An intersection module for controlling the operation of the collaborative robot and judging whether the collaborative robot enters the operation area of the high-voltage live equipment based on the real-time operation images; A docking module for, after the collaborative robot enters the operation area of the high-voltage live equipment, inputting control instructions to the collaborative robot based on the real-time operation images and controlling the operation of the collaborative robot so that the fastening joint of the insulating tightening device is aligned with the target bolt to be tightened; A tightening control module, after the fastening joint of the insulating tightening device is aligned with the target bolt to be tightened, controls the insulating tightening device to tighten the target bolt to be tightened by controlling the collaborative robot; The docking module includes: A collaborative robot control unit for controlling the collaborative robot to drive the insulating tightening device close to the target bolt to be tightened based on the real-time operation images; A target bolt detection unit for detecting whether the target bolt appears in the real-time operation images, and marking the target bolt, calculating and displaying the coordinate and phase relationship between the collaborative robot and the target bolt when the target bolt appears; An alignment detection unit for determining whether the fastening joint of the insulating tightening device is aligned with the target bolt based on the coordinate and phase relationship between the collaborative robot and the target bolt.

2. The collaborative robot operator for bolt fastening of high-voltage energized equipment according to claim 1, characterized in that, The collaborative robot includes a plurality of control axes that are sequentially connected in different directions and can rotate relative to each other; the rendezvous module controls the collaborative robot to enter the operation area of the high-voltage live equipment by controlling the running speed and rotation direction of each control axis.

3. The collaborative robot operator for bolt fastening of high-voltage live equipment according to claim 1, wherein The docking module further includes: A screen magnification unit for magnifying the real-time operation image after the collaborative robot enters the operation area of the high-voltage live equipment; The collaborative robot control unit sequentially controls the insulated tightening device to move slowly in the up-down, left-right directions, adjusts the pitch and yaw of the insulated tightening device, and controls the insulated tightening device to move slowly in the front-back direction.

4. The collaborative robot operator for bolt fastening of high-voltage energized equipment according to claim 1, characterized in that, The tightening control module includes: A distance detection unit that detects the distance between the fastening joint and the target bolt to be fastened after the fastening joint of the insulated tightening device is aligned with the target bolt to be fastened; A tightening control unit that controls the insulated tightening device to tighten the target bolt to be fastened based on the distance and a protection switch pre-configured for the target bolt.

5. The collaborative robot operator for bolt fastening of high-voltage live equipment according to claim 2, characterized in that, The rear end of the insulated tightening link is connected to the collaborative robot in the following way: a torque motor is installed on the control axis at the end of the collaborative robot, a first gear is provided on the power output shaft of the torque motor, a second gear is provided at the rear end of the insulated tightening link, and the first gear drives the second gear to rotate through a belt, so as to realize the torque motor driving the insulated tightening link to rotate.

6. The collaborative robot working device for bolt fastening of high-voltage energized equipment according to claim 5, characterized in that, The insulated tightening link includes a front link segment, a middle link segment, and a rear link segment; wherein, the outer diameter of the front link segment matches the outer diameter of the fastening joint, the outer diameter of the rear link segment matches the outer diameter of the external interface of the torque motor, and the outer diameter of the middle link segment is smaller than the outer diameters of the front link segment and the rear link segment.

7. The collaborative robot operator for bolt fastening of high-voltage energized equipment according to claim 1, characterized in that, The console is connected to the mobile lifting device through a non-metallic optical fiber, and the mobile lifting device is grounded.

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