Four-arm bionic hot-line work robot system for distribution line

Abstract

The invention relates to the technical field of power system transmission line maintenance. A four-arm bionic hot-line work robot system for a distribution line is characterized by comprising an electrical cabinet (1), an intelligent control unit module, a power battery pack, a manipulator, a fixed support, a depth camera and four suspension arms. The intelligent control unit module and the power battery pack are mounted in the electrical box; the four suspension arms are mounted on the electrical cabinet; the four lifting arms are sequentially arranged from left to right; the lifting arm comprises a lifting arm telescopic hydraulic oil cylinder, a stress square rod, a lifting arm guide groove, an L-shaped supporting plate telescopic hydraulic oil cylinder, an L-shaped supporting plate telescopic hydraulic oil cylinder, an L-shaped supporting plate, a clamping wheel hydraulic oil cylinder, a clamping wheel supporting structural part, a clamping wheel, a stepping motor and a walking wheel. According to the system, autonomous crossing of a 300mm stockbridge damper and a 500mm spacer can be realized, and the obstacle crossing capability of the system is strong.

Description

Technical Field

[0001] This invention relates to the field of power system transmission line maintenance technology, specifically a four-arm bionic live-line working robot system for distribution lines. Background Technology

[0002] Currently, live-line working robots for high-voltage transmission lines generally adopt general-purpose industrial collaborative robotic arms (typically represented by the UR10 series), which face three major technical bottlenecks in special power applications: 1. Insufficient obstacle crossing ability: The mechanical structure design does not take into account the characteristics of electrical fittings, and it is unable to autonomously cross vibration dampers with a height greater than 200mm and spacers with a width greater than 400mm. 2. Insulation and electromagnetic shielding defects: The electromagnetic shielding effectiveness of traditional metal arm bodies is less than 30dB (1GHz band), and the leakage current is as high as 180μA under 500kV equipotential working conditions, far exceeding the 50μA safety limit. Summary of the Invention

[0003] The purpose of this invention is to provide a four-arm bionic live-line working robot system for power distribution lines, which has strong obstacle-crossing capabilities.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a four-arm bionic live-line working robot system for power distribution lines, characterized in that it includes an electrical box 1, an intelligent control unit module 7, a power battery pack 8, a robotic arm 6, a fixed bracket 5, a depth camera 501, and four booms; the intelligent control unit module 7 and the power battery pack 8 are installed inside the electrical box 1; the four booms are installed on the electrical box 1; the four booms are arranged sequentially from left to right; The boom includes a boom telescopic hydraulic cylinder 409, a force-bearing square rod 408, a boom guide groove 4, an L-shaped support plate telescopic hydraulic cylinder 401, an L-shaped support plate telescopic hydraulic cylinder 402, a clamping wheel hydraulic cylinder 403, a clamping wheel support structure 404, a clamping wheel 405, a stepper motor 407, and traveling wheels 3. The cylinder body of the boom telescopic hydraulic cylinder 409 is installed inside the electrical box 1. The upper end of the piston rod of the boom telescopic hydraulic cylinder 409 is connected to the lower end of the force-bearing square rod 408. The lower end of the force-bearing square rod 408 is provided with a protruding stop block. The lower end of the force-bearing square rod 408 is located inside the electrical box 1. The upper part of the force-bearing square rod 408 passes through the force-bearing square rod through hole on the electrical box 1 and is connected to the bottom surface of the boom guide groove 4. The boom guide groove 4 is located above the electrical box 1. The L-shaped support plate 402 is composed of a base plate and a vertical plate as an integral structure. The structure consists of a base plate whose front end is connected to the lower end of a vertical plate; a groove with a rear opening is provided on the boom guide groove 4, and an L-shaped support plate telescopic hydraulic cylinder 401 is provided in the rear part of the groove of the boom guide groove 4. The piston rod of the L-shaped support plate telescopic hydraulic cylinder 401 is fixedly connected to the rear end of the base plate of the L-shaped support plate 402, and the base plate of the L-shaped support plate 402 is located in the front part of the groove of the boom guide groove 4; a clamping wheel hydraulic cylinder 403 is provided on the base plate of the L-shaped support plate 402, and the piston rod of the clamping wheel hydraulic cylinder 403 is connected to the clamping wheel 405 through the clamping wheel support structure 404; a stepper motor 407 is fixedly installed on the upper end of the vertical plate of the L-shaped support plate 402, and the output shaft of the stepper motor 407 passes through the shaft hole on the vertical plate of the L-shaped support plate 402 and the shaft hole of the electric locking mechanism 406 and is connected to the traveling wheel 3, which is located on the rear side of the vertical plate; The electrical box 1 is equipped with a robotic arm 6 and a fixed bracket 5; the robotic arm 6 is equipped with a quick-change interface 601; and the fixed bracket 5 is equipped with a depth camera 501 with a lidar.

[0005] Preferably, the fixed bracket 5 is provided with an electric push rod telescopic mechanism 502, and the electric push rod telescopic mechanism 502 is provided with a current transformer 503. The center hole of the current transformer 503 is used to pass through the high voltage conductor, and to obtain induced electrical energy from the transmission line through the principle of electromagnetic induction, so as to achieve energy self-sufficiency.

[0006] Preferably, the intelligent control unit module 7 serves as the system's control center, integrating a rectifier module, a charge / discharge management module, a wireless communication module, and an intelligent control core. It is responsible for power management, command issuance, and status monitoring. The rectifier module converts the AC current induced by the current transformer 503 into DC current. The charge / discharge management module provides overcharge and over-discharge protection, enabling safe and efficient charge / discharge management of the power battery pack 8. The module also includes a wireless communication module and an intelligent control core. The power input of the intelligent control unit module 7 draws power from the resistor R of the current transformer 503, undergoes internal rectification and voltage regulation, and then continuously charges the power battery pack 8 through its charge / discharge management module.

[0007] The power generated by the power battery pack 8 or the current transformer 503 provides power (electrical connection) to the intelligent control unit module 7, the boom telescopic hydraulic cylinder 409, the L-shaped support plate telescopic hydraulic cylinder 401, the clamping wheel hydraulic cylinder 403, the stepper motor 407, etc. The intelligent control unit module 7 controls the boom telescopic hydraulic cylinder 409, the L-shaped support plate telescopic hydraulic cylinder 401, the clamping wheel hydraulic cylinder 403, the stepper motor 407, etc.

[0008] Preferably, the surface of the robotic arm 6 is made of silicone rubber coated with a glass fiber reinforced epoxy resin composite insulation layer, which can withstand 500kV power frequency voltage.

[0009] Preferably, the walking wheel is made of polyimide-based ceramic composite material with a breakdown field strength >30kV / mm and a friction coefficient of 0.2, and the drive shaft is fitted with an alumina ceramic insulating sleeve with a wall thickness ≥8mm.

[0010] Preferably, the robot arm is mechanically fixed to the electrical box 1 via a flange, and the quick-change interface 601 of the robot arm adopts a wedge-shaped top ring self-locking mechanism, which realizes the quick locking and separation of the tool module through electric drive.

[0011] Preferably, of the four booms, two boom travel wheels 3 face backward and two boom travel wheels 3 face forward.

[0012] The features of this invention are: 1. Self-sufficient power supply, eliminating the need for manual battery replacement; 2. Four sets of walking wheels (four wheels pressing the line during walking, and three wheels always pressing the line during crossing), ensuring sufficient stability; 3. Live-line operation, with a 500kV leakage current ≤50μA; 4. Increased maximum obstacle-crossing height, capable of autonomously crossing anti-vibration hammers with a height greater than 200mm and spacers with a width greater than 400mm; 5. Built-in tool module library, significantly improving work efficiency.

[0013] The beneficial effects of this invention are as follows: 1. This system can autonomously cross 300mm anti-vibration hammers and 500mm spacer bars, demonstrating strong obstacle-crossing capability; 2. It adopts polyimide ceramic wheels and dual redundant electromagnetic shielding (copper mesh + aluminum-magnesium alloy shell) to ensure leakage current ≤50μA under 500kV conditions; 3. It features an innovative wedge-shaped top ring self-locking quick-change interface, supporting the replacement of insulation covering, bolt tightening, and other operation modules within 30 seconds. Compared to traditional solutions, the operating efficiency is increased by 4 times, the accident rate is reduced to 0.1 times / 10,000 hours, and it is suitable for extreme environments ranging from -25℃ to 65℃. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the structure of the present invention.

[0016] Figure 2 This is a schematic diagram of the structure of the boom of the present invention.

[0017] Figure 3 This is a schematic diagram of the current transformer of the present invention drawing power.

[0018] Figure 4 This is a schematic diagram of the boom movement of the present invention.

[0019] Figure 5 This is a diagram showing the offline obstacle-crossing state of the boom of the present invention.

[0020] Figures 6 (1), (2), (3), (4), (5), (6), (7), (8), (9), (10), (11), (12), (13), (14), (15), (16), (17), (18), (19), (20), (21), (22), (23), (24), (25), (26), (27), (28), and (29) are schematic diagrams of the obstacle-crossing change structure of the present invention.

[0021] Explanation of reference numerals in the attached drawings: 1-Electrical box, 2-High voltage wire, 3-Walking wheel, 4-Boom guide groove, 401L-Type support plate telescopic hydraulic cylinder, 402L-Type support plate, 403-Clamping wheel hydraulic cylinder, 404-Clamping wheel support structure, 405-Clamping wheel, 406-Electric locking mechanism, 407-Stepper motor, 408-Force-bearing square rod, 409-Boom telescopic hydraulic cylinder, 5-Fixed bracket, 501-Depth camera with LiDAR, 502-Electric push rod telescopic mechanism, 503-Current transformer, 6-Robot arm, 601-Quick-change interface, 602-Removable operation module library, 7-Intelligent control unit module, 8-Power battery pack. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments.

[0023] Example 1 Please see Figure 1 ~6, a four-arm bionic live-line working robot system for power distribution lines, comprising an electrical box 1, an intelligent control unit module 7, a power battery pack 8, a robotic arm 6, a fixed bracket 5, a depth camera 501, and four booms; the intelligent control unit module 7 and the power battery pack 8 are installed inside the electrical box 1; the four booms (i.e., boom 1, boom 2, boom 3, and boom 4) are installed on the electrical box 1; the four booms are arranged sequentially from left to right (for ease of description, ...). Figure 1 (Left side is left, right side is right; the side farther from the viewer is front, the side closer to the viewer is back). The boom includes a boom telescopic hydraulic cylinder 409, a force-bearing square rod 408, a boom guide groove 4, an L-shaped support plate telescopic hydraulic cylinder 401, an L-shaped support plate telescopic hydraulic cylinder 402, a clamping wheel hydraulic cylinder 403, a clamping wheel support structure 404, a clamping wheel 405, a stepper motor 407, and traveling wheels 3. The cylinder body of the boom telescopic hydraulic cylinder 409 is installed in the electrical box 1. The upper end of the piston rod of the boom telescopic hydraulic cylinder 409 is connected to the lower end of the force-bearing square rod 408. The lower end of the force-bearing square rod 408 is provided with a protruding stop. The lower end is located inside the electrical box 1. The upper part of the force-bearing square rod 408 passes through the force-bearing square rod through hole on the electrical box 1 and is connected to the bottom surface of the boom guide groove 4. The boom guide groove 4 is located above the electrical box 1 (that is, when the boom telescopic hydraulic cylinder is working, the boom guide groove can move up and down, and the various components installed on the boom guide groove also move up and down accordingly, such as driving the traveling wheels 3 to move up and down); the L-shaped support plate 402 is composed of a base plate and a vertical plate as an integral structure (i.e., L-shaped). The front end of the base plate is connected to the lower end of the vertical plate; the boom guide groove 4 is provided with a groove with a rear opening, and the rear part of the groove of the boom guide groove 4 is provided with an L-shaped support plate. A telescopic hydraulic cylinder 401 is provided. The piston rod of the L-shaped support plate telescopic hydraulic cylinder 401 is fixedly connected to the rear end of the bottom plate of the L-shaped support plate 402. The bottom plate of the L-shaped support plate 402 is located at the front part of the groove in the boom guide groove 4 (the bottom plate can slide in the groove, and when the L-shaped support plate telescopic hydraulic cylinder is working, the L-shaped support plate can move back and forth in the groove, thereby driving the various components on the L-shaped support plate to move back and forth in the groove). A clamping wheel hydraulic cylinder 403 is provided on the bottom plate of the L-shaped support plate 402. The piston rod of the clamping wheel hydraulic cylinder 403 is connected to the clamping wheel 402 through the clamping wheel support structure 404. 5. Connection (i.e., the clamping wheels can be raised and lowered, and can also move forward and backward; that is, the clamping wheels can leave the high-voltage wire or press against the high-voltage wire; in this embodiment, two clamping wheels are installed on the upper end of the clamping wheel support structure); when in use, the clamping wheel 405 presses against the high-voltage wire 2; a stepper motor 407 is fixedly installed on the upper end of the vertical plate of the L-shaped support plate 402, and the output shaft of the stepper motor 407 passes through the shaft hole on the vertical plate of the L-shaped support plate 402 and the shaft hole of the electric locking mechanism 406 and is connected to the traveling wheel 3, which is located on the rear side of the vertical plate; when in use, the traveling wheel 3 presses down on the high-voltage wire 2; The electrical box 1 is equipped with a robot arm 6, a fixed bracket 5, and a detachable operation module library 602; the robot arm 6 is equipped with a quick-change interface 601; the fixed bracket 5 is equipped with a depth camera 501 with a lidar.

[0024] Preferably, the fixed bracket 5 is equipped with an electric push rod telescopic mechanism 502, and the electric push rod telescopic mechanism 502 is equipped with a current transformer 503. The power acquisition of the four-arm bionic live-line working robot system of the power distribution line is achieved by the current transformer 503. The center hole of the current transformer 503 is used to pass through the high-voltage conductor (high-voltage transmission line); the current transformer 503 is horseshoe-shaped U, that is, open-loop, see details. Figure 3 The schematic diagram shows that the current transformer 503 is pushed close to (through) the high-voltage conductor by the electric push rod telescopic mechanism 502, which is used to obtain induced electrical energy from the transmission line through the principle of electromagnetic induction, so as to achieve energy self-sufficiency.

[0025] Preferably, the intelligent control unit module 7 serves as the system's control hub, integrating a rectifier module, a charge / discharge management module, a wireless communication module, and an intelligent control core. It is responsible for power management, command issuance, and status monitoring. The rectifier module converts the AC current induced by the current transformer 503 into DC current. The charge / discharge management module provides overcharge and over-discharge protection, ensuring safe and efficient charge / discharge management of the power battery pack 8. It also includes a wireless communication module (e.g., 4G / 5G or LoRa) and an intelligent control core (e.g., MCU or PLC). The power input terminal of the intelligent control unit module 7 draws power from the resistor R of the current transformer 503. After internal rectification and voltage regulation, the power battery pack 8 is continuously charged through its charge / discharge management module.

[0026] Preferably, the surface of the robotic arm 6 is made of silicone rubber coating + glass fiber reinforced epoxy resin composite insulation layer (resistant to 500kV power frequency voltage).

[0027] Preferably, the walking wheel is made of polyimide-based ceramic composite material (breakdown field strength > 30kV / mm), with a friction coefficient of 0.2, and the drive shaft is fitted with an alumina ceramic insulating sleeve with a wall thickness ≥ 8mm.

[0028] Preferably, the robot arm is mechanically fixed to the electrical box 1 via a flange. The quick-change interface 601 of the robot arm is a multi-functional hub connecting the robot arm 6 body with various working tools (such as insulation covering modules, bolt fastening modules, etc.). It adopts a wedge-shaped top ring self-locking mechanism and realizes the quick locking (locking force ≥800N) and separation of tool modules through electric drive.

[0029] Preferably, a four-arm obstacle crossing mode is configured to ensure that three sets of walking wheels are always on the line.

[0030] Preferably, of the four booms, two boom travel wheels 3 face rearward and two boom travel wheels 3 face forward (e.g., Figure 1 (As shown).

[0031] The four arms, from left to right, are boom 1, boom 2, boom 3, and boom 4. The structural state changes of overcoming obstacles are shown in Figure 6 (1)-(29).

[0032] Application Example: Bolt Tightening Operation on 500kV Lines: 1. The robot travels along the guide wire at a speed of 1.2 km / h to the fault point; 2. The camera identifies the position of the suspension clamp (accuracy ±1mm). 3. A four-arm mechanism spans the anti-vibration hammer; 4. Quick-change interface for mounting bolt fastening module; 5. Apply a torque of 35 Nm to tighten the bolts (operate under power throughout the process).

[0033] When the robot encounters an obstacle: As shown in Figure 6(1), the obstacle is a shock absorber; the boom 4 opens its traveling wheels and clamping wheels, and at the same time, the current transformer moves backward away from the high-voltage wire, as shown in Figure 6(2); the L-shaped support plate of the boom 4 moves away from the high-voltage wire, as shown in Figure 6(3); the boom guide groove of the boom 4 moves downward, as shown in Figure 6(4); the robot moves forward a distance, as shown in Figure 6(5); the boom guide groove of the boom 4 moves upward, as shown in Figure 6(6); the L-shaped support plate of the boom 4 moves forward and touches the high-voltage wire, as shown in Figure 6(7); the traveling wheels and clamping wheels of the boom 4 press against the high-voltage wire, as shown in Figure 6(8); the boom 3 opens its traveling wheels and clamping wheels, as shown in Figure 6(9); the L-shaped support plate of the boom 3 moves away from the high-voltage wire, as shown in Figure 6(10); the boom guide groove of the boom 3 moves downward, as shown in Figure 6(11). As shown; the robot moves forward a distance, as shown in Figure 6(12); the boom guide groove of boom 3 moves upward, as shown in Figure 6(13); the L-shaped support plate of boom 3 moves forward and touches the high-voltage wire, as shown in Figure 6(14); the traveling wheels and clamping wheels of boom 3 press against the high-voltage wire, as shown in Figure 6(15); boom 2 opens its traveling wheels and clamping wheels, as shown in Figure 6(16); the L-shaped support plate of boom 2 moves away from the high-voltage wire, as shown in Figure 6(17); the boom guide groove of boom 2 moves downward, as shown in Figure 6(18); the robot moves forward a distance, as shown in Figure 6(19); the boom guide groove of boom 2 moves upward, as shown in Figure 6(20); the L-shaped support plate of boom 2 moves forward and touches the high-voltage wire, as shown in Figure 6(21). As shown in Figure 6(22); the traveling wheels and clamping wheels of boom 2 press down on the high-voltage wire, as shown in Figure 6(23); boom 1 opens its traveling wheels and clamping wheels, as shown in Figure 6(24); the L-shaped support plate of boom 1 moves away from the high-voltage wire, as shown in Figure 6(25); the boom guide groove of boom 1 moves down, as shown in Figure 6(26); the robot moves forward a distance, as shown in Figure 6(27); the boom guide groove of boom 1 moves up, as shown in Figure 6(28); the L-shaped support plate of boom 1 moves forward and touches the high-voltage wire, as shown in Figure 6(29); the traveling wheels and clamping wheels of boom 1 press down on the high-voltage wire, and at the same time the current transformer moves forward and touches the high-voltage wire. Thus, the robot's obstacle crossing is completed.

Claims

1. A four-armed bionic live-line work robot system for power distribution lines, characterized in that It includes electrical box (1), intelligent control unit module (7), power battery pack (8), machine hand (6), fixed support (5), depth camera (501), four hangers; Intelligent control unit module (7) and power battery pack (8) are installed in the electrical box (1); Four hangers are installed on the electrical box (1); Four hangers are arranged in order from left to right; The hanger includes hanger telescopic hydraulic cylinder (409), force square bar (408), hanger guide groove (4), L-shaped support plate telescopic hydraulic cylinder (401), L-shaped support plate telescopic hydraulic cylinder (401), L-shaped support plate (402), clamping wheel hydraulic cylinder (403), clamping wheel support structure (404), clamping wheel (405), stepping motor (407), walking wheel (3); The cylinder body of the hanger telescopic hydraulic cylinder (409) is installed in the electrical box (1), the upper end of the piston rod of the hanger telescopic hydraulic cylinder (409) is connected with the lower end of the force square bar (408), the lower end of the force square bar (408) is provided with a protruding stop block, the lower end of the force square bar (408) is located in the electrical box (1), the upper part of the force square bar (408) passes through the force square bar passing hole on the electrical box (1) and is connected with the bottom surface of the hanger guide groove (4), and the hanger guide groove (4) is located above the electrical box (1); The L-shaped support plate (402) is composed of a bottom plate and a vertical plate into an integral structure, and the front end of the bottom plate is connected with the lower end of the vertical plate; The hanger guide groove (4) is provided with a groove with an open rear end, and the rear part in the groove of the hanger guide groove (4) is provided with an L-shaped support plate telescopic hydraulic cylinder (401), the piston rod of the L-shaped support plate telescopic hydraulic cylinder (401) is fixedly connected with the rear end of the bottom plate of the L-shaped support plate (402), and the bottom plate of the L-shaped support plate (402) is located in the front part of the groove in the hanger guide groove (4); The bottom plate of the L-shaped support plate (402) is provided with a clamping wheel hydraulic cylinder (403), the piston rod of the clamping wheel hydraulic cylinder (403) is connected with the clamping wheel (405) through the clamping wheel support structure (404); The upper end of the vertical plate of the L-shaped support plate (402) is fixedly installed with a stepping motor (407), the output shaft of the stepping motor (407) passes through the shaft hole of the vertical plate of the L-shaped support plate (402) and the shaft hole of the electric locking mechanism (406) and is connected with the walking wheel (3), and the walking wheel (3) is located at the rear side of the vertical plate; The electrical box (1) is provided with a machine hand (6) and a fixed support (5); The machine hand (6) is provided with a quick-change interface (601); The fixed support (5) is provided with a depth camera (501) with a laser radar.

2. The four-armed bionic live working robot system for distribution lines according to claim 1, characterized in that, The fixed support (5) is provided with an electric push rod telescopic mechanism (502), and the electric push rod telescopic mechanism (502) is provided with a current transformer (503), and the center hole of the current transformer (503) is used for penetrating high-voltage conductors.

3. The four-armed bionic live working robot system of a distribution line according to claim 1, characterized in that, The intelligent control unit module (7) is the control center of the system, which integrates rectifier module, charge and discharge management module, wireless communication module and intelligent control core, is responsible for power management, instruction issuing and state monitoring; the rectifier module is used for converting alternating current sensed by the current transformer (503) into direct current; the charge and discharge management module has overcharge and overdischarge protection functions, is used for safe and efficient charge and discharge management of the power battery pack (8); and the wireless communication module and the intelligent control core; the power input end of the intelligent control unit module (7) takes power from both ends of the resistor R of the current transformer (503), and after internal rectification and voltage stabilization, the charge and discharge management module thereof continuously charges the power battery pack (8).

4. The four-armed bionic live working robot system of a distribution line according to claim 1, characterized in that, The surface layer of the machine hand (6) adopts a combination of silicone rubber coating and glass fiber reinforced epoxy resin insulation layer, and can resist 500kV power frequency voltage.

5. The four-armed bionic live working robot system of a distribution line according to claim 1, characterized in that, The walking wheel adopts a polyimide-based ceramic composite material, the breakdown field strength is greater than 30kV / mm, the friction coefficient is 0.2, and an alumina ceramic insulation sleeve with a wall thickness of greater than or equal to 8mm is additionally installed on the driving shaft.

6. The four-armed bionic live working robot system of a distribution line according to claim 1, characterized in that, The machine hand is mechanically fixed on the electrical box (1) through a flange, and the machine hand quick-change interface (601) adopts a wedge-shaped top ring self-locking mechanism to realize quick locking and separation of the tool module through electric driving.

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