Power distribution network short pole live working device and working method

Abstract

This invention relates to the field of live-line working technology for power distribution networks, and discloses a live-line working device and method for short poles in power distribution networks. The device includes a control cabinet, a SCARA robotic arm, and an end effector. The control cabinet is located on one side of the work bucket and is rigidly constrained by a tie rod and the main load-bearing structure of the bucket truck. A planar rotary positioning mechanism consisting of a boom and a forearm is mounted on the top via a column. The end effector includes a posture adjustment and clamping drive mechanism. The posture adjustment mechanism uses a first stepper motor and a second stepper motor to achieve pitch and horizontal posture adjustment, respectively. The clamping drive mechanism uses a clamping stepper motor to drive a bidirectional trapezoidal screw assembly to drive a clamping drive wheel, which in turn drives the clamping drive wheel to feed the tool. This invention achieves stable load-bearing and posture maintenance of the insulated pole and tool without changing the existing work process, reducing the workload of personnel and improving the alignment accuracy and operational controllability of the end effector.

Description

Technical Field

[0001] This invention relates to the field of live-line working technology for power distribution networks, and more specifically, to a live-line working device and method for short poles in power distribution networks. Background Technology

[0002] With the continuous expansion of the power distribution network and the increasing demands of users for power supply continuity and reliability, the inspection, maintenance and component replacement of power distribution lines and equipment under uninterrupted power supply conditions have become an important requirement for power operation and maintenance.

[0003] In existing live-line work, the short-pole operation method using insulated bucket trucks and insulated pole tools is widely used. This method can complete typical procedures such as piercing and connecting, disconnecting drain wires, replacing insulators, and fastening assembly while maintaining a safe distance. However, in actual operation, due to the large outward extension length and significant center of gravity offset of the insulated pole and the front-end tools, the working force and posture disturbances are amplified at the wrist and operator's end. This leads to a significant increase in the physical exertion of operators holding the pole for a long time for alignment and loading. The end is also susceptible to shaking and displacement caused by wind load, bucket arm micro-vibration, and conductor sway, which in turn leads to safety risks such as difficulty in alignment, unstable contact, accidental contact, and short circuits / grounding. At the same time, distribution network sites are generally characterized by compact working space, short phase-to-phase distance, limited shielding conditions, and a wide variety of tools. The existing tools are not well adapted to the scene, the operation steps are cumbersome, and the reliance on multiple personnel for coordination further limits the consistency of work efficiency and quality.

[0004] On the other hand, although existing power distribution network operation robots can reduce the risk of personnel exposure to a certain extent, they usually rely on complex perception and autonomous decision-making links, and their adaptability to unstructured scenarios, ability to handle abnormal working conditions, and resistance to electromagnetic interference are still insufficient. In addition, the overall cost and maintenance cost are high, and the engineering deployment conditions are harsh, making it difficult to achieve large-scale promotion in grassroots units.

[0005] Therefore, there is an urgent need for a live-line working device and method for short poles in power distribution networks to solve the above problems. Summary of the Invention

[0006] To address the aforementioned technical problems, this invention provides a live-line working device and method for short poles in power distribution networks. Without significantly altering existing work processes, it achieves stable support and posture maintenance for insulated poles and automated working tools, reduces the workload of operators, improves the controllability of end-point alignment and contact operations, and enhances the safety margin of operations through structural and control-level constraint mechanisms. Thus, it provides a safe, reliable, feasible, and cost-effective technical solution for live-line working in power distribution networks.

[0007] To achieve the above objectives, the technical solution of the present invention is as follows: Live-line working device for short poles in power distribution networks includes: The control cabinet is located on one side of the work bucket. The control cabinet, the tie rod, and the main load-bearing structure of the bucket arm form a rigid constraint. The top of the control cabinet is equipped with a boom via a column. The other end of the boom is connected to the forearm. The boom and the forearm are driven by two sets of joint motors. The boom and the forearm constitute a planar rotary positioning mechanism. An end effector connected to one end of the forearm includes an attitude adjustment mechanism and a clamping drive mechanism. The attitude adjustment mechanism includes a first stepper motor and a second stepper motor. The first stepper motor drives the central shaft to rotate and the chassis housing to deflect, thereby achieving overall pitch adjustment of the attitude adjustment mechanism. The second stepper motor is installed in the chassis housing, and the output end of the second stepper motor drives the clamping drive mechanism to rotate to achieve horizontal adjustment. The clamping drive mechanism includes a clamping stepper motor and clamping drive wheels for clamping adjustment. The clamping stepper motor drives the lead screw of the bidirectional trapezoidal lead screw assembly to rotate to adjust the two sets of clamping drive wheels to clamp the insulating rod of the automatic working tool. The clamping drive wheels are mounted on two clamping drive frames and are driven by the drive stepper motor.

[0008] As a preferred embodiment of the present invention, the control cabinet integrates modules such as drive power supply, communication, controller, emergency stop, limit switch and torque limiting protection.

[0009] As a preferred embodiment of the present invention, the chassis housing is rotatably mounted inside the chassis mounting plate, and the central shaft is laterally arranged at the end of the chassis housing. The central shaft is connected to the chassis mounting plate via a roller bearing, and the bearing seat is mounted on the chassis mounting plate.

[0010] In a preferred embodiment of the present invention, the first stepper motor is installed in the chassis housing, and the axial direction of the first stepper motor corresponds to the X-axis and Y-axis of the second stepper motor, respectively. The output end of the first stepper motor is connected to the central shaft.

[0011] In a preferred embodiment of the present invention, the clamping stepper motor is mounted on one side of the connecting plate, the lead screw of the bidirectional trapezoidal lead screw assembly is connected to the output end of the clamping stepper motor, the clamping drive frame is connected to the lead screw seat of the bidirectional trapezoidal lead screw assembly, and a guide rail limiting mechanism is also provided between the clamping drive frame and the connecting plate.

[0012] As a preferred embodiment of the present invention, each set of clamping drive wheels is provided with two, one above the other, and the circumferential wall of the clamping drive wheel is provided with a groove. The driving stepper motor drives the two clamping drive wheels to rotate through a V-belt transmission assembly.

[0013] The present invention also provides a method for live-line working on short poles in a power distribution network, which uses the above-mentioned live-line working device for short poles in a power distribution network and includes the following steps: S1. The operator selects a suitable automatic working tool from the tool rack in the work bucket and places its insulating rod in the clamping area of ​​the clamping drive mechanism for clamping. S2. Control commands are issued through the control cabinet to drive the two sets of joint motors of the SCARA robotic arm to move, which in turn drives the planar rotary positioning mechanism composed of the upper arm and the lower arm to move in the working space outside the bucket, so that the end effector of the SCARA robotic arm and the automatic working tool can move in the working space outside the bucket until the automatic working tool reaches the vicinity of the working area. S3. The controller controls the first stepper motor and the second stepper motor to operate. The first stepper motor drives the central shaft to rotate, causing the chassis housing to deflect, thereby adjusting the tilt posture of the insulating rod. The second stepper motor drives the clamping drive mechanism to rotate, thereby adjusting the horizontal posture of the insulating rod, and completing the alignment of the automatic operation tool with the target axis. S4. Then control the stepper motor to drive the clamping drive wheel to rotate through the transmission component, and use friction to drive the automatic working tool to move smoothly in the vertical direction, so that the automatic working tool contacts the working target and applies load; S5. Automated tools perform piercing, installation, or dismantling operations; S6. After the operation is completed, control the stepper motor to rotate in the reverse direction, so that the automatic operation tool can be removed from the operation target. Then control the SCARA robotic arm to remove the insulating rod and the automatic operation tool from the operation area and return to the safe position above the work bucket. Control the clamping stepper motor to drive the bidirectional trapezoidal screw assembly to reset. The operator puts the released automatic operation tool back into the tool rack to complete the operation.

[0014] As a preferred embodiment of the present invention, the clamping process in S1 is specifically as follows: the clamping stepper motor is controlled to drive the screw component of the bidirectional trapezoidal screw assembly to rotate, thereby driving the two sets of clamping drive wheels to move towards each other, and clamping and fixing the insulating rod of the automatic working tool.

[0015] As a preferred embodiment of the present invention, the circumferential wall of the clamping drive wheel in S4 is provided with a groove, the groove is in contact with the outer wall of the insulating rod, the clamping drive wheel is divided into two groups, left and right, with two in each group, arranged vertically, the clamping drive wheel is driven to rotate by a stepper motor, the output shaft of the stepper motor is connected to a gear in the V-belt transmission assembly, the clamping drive wheel and the gear in the V-belt transmission assembly are connected by two gears, the stepper motor drives the two vertical clamping drive wheels to rotate together, realizing the vertical movement of the automatic working tool.

[0016] As a preferred embodiment of the present invention, the tool rack is arranged around the top of the control cabinet, and the automatic operation tools placed on the tool rack include piercing tools, insulator assembly tools or hardware disassembly tools, which are detachably connected to the insulating rod through standardized interfaces to adapt to different operation procedures.

[0017] The beneficial technical effects of this invention are: This invention is operator-led, retaining the advantages of human experience in target selection, process switching, and anomaly handling. The SCARA mechanism is responsible for rapid positioning and stable output within a large stroke plane. Utilizing its high structural rigidity, large planar coverage, and fast response, it provides a stable reference and load support for the operation of the insulating rod. At the same time, a three-degree-of-freedom dexterous actuator is integrated at the end for fine adjustment and alignment compensation of the posture of the insulating short rod and tool end, compensating for the insufficient spatial pointing ability caused by the low degree of freedom of SCARA and the limited accuracy and flexibility of posture adjustment in short rod operations.

[0018] Through the synergistic effect of macroscopic positioning and stable support and microscopic posture and flexible compensation, a single person can complete the precise alignment, smooth contact and reliable operation of short pole tools. Without significantly increasing the complexity of the mechanism and cost, it significantly reduces labor intensity, improves end-point controllability and operation consistency, thus forming a field-oriented, stable and flexible auxiliary robotic arm solution for live-line operation of short poles in power distribution networks. Attached Figure Description

[0019] Figure 1 This is a perspective view of the live-line working device of the present invention; Figure 2 This is a three-dimensional schematic diagram of the end effector and forearm of the present invention; Figure 3 This is a three-dimensional schematic diagram of the end effector of the present invention; Figure 4 This is a schematic diagram of the end effector of the present invention; Figure 5 This is a schematic diagram of the tool clamping and driving mechanism of the present invention; Figure 6 This is a schematic diagram of the operating state of the present invention.

[0020] Figure 7 This is a schematic diagram showing the connection relationship of the internal functional modules of the control cabinet.

[0021] In the diagram: 100, work bucket; 200, automatic work tool; 1, control cabinet; 2, pull rod; 3, column; 4, boom; 41, boom joint motor; 5, forearm; 51, forearm joint motor; 52, mounting bracket; 6, end effector; 611, chassis mounting plate; 612, chassis housing; 613, first stepper motor; 614, roller bearing; 615, bearing housing; 616, second stepper motor; 621, connecting plate; 622, clamping stepper motor; 623, bidirectional trapezoidal lead screw assembly; 624, clamping drive frame; 625, clamping drive wheel; 626, drive stepper motor; 627, V-belt drive assembly; 7, tool rack. Detailed Implementation

[0022] In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, the specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0023] Combination Figure 1 - Figure 6 The present invention provides the following embodiments: Example 1: Live-line working device for short poles in power distribution networks includes: Control cabinet 1 is located on one side of the working bucket 100. Control cabinet 1, tie rod 2 and main load-bearing structure of bucket arm form a rigid constraint. The top of control cabinet 1 is mounted on the boom 4 through column 3. The other end of boom 4 is connected to arm 5. Boom 4 and arm 5 are driven by two sets of joint motors. Boom 4 and arm 5 form a planar rotation positioning mechanism. According to the attached figure, the two sets of joint motors are boom joint motor 41 and arm joint motor 51, which are installed at both ends of boom 4 to drive boom 4 and arm 5.

[0024] The end effector 6 is connected to one end of the forearm 5. The end effector includes an attitude adjustment mechanism and a clamping drive mechanism. The attitude adjustment mechanism includes a first stepper motor 613 and a second stepper motor 616. The first stepper motor 613 drives the central shaft to rotate and the chassis housing 612 to deflect, thereby realizing the overall tilt adjustment of the attitude adjustment mechanism. The second stepper motor 616 is installed in the chassis housing 612. The output end of the second stepper motor 616 drives the clamping drive mechanism to rotate to realize horizontal adjustment. The clamping drive mechanism includes a clamping stepper motor 622 and a clamping drive wheel 625 for clamping adjustment. The clamping stepper motor 622 drives the lead screw of the bidirectional trapezoidal lead screw assembly 623 to rotate to adjust the two sets of clamping drive wheels 625 to clamp the insulating rod of the automatic working tool 200. The clamping drive wheels 625 are mounted on two clamping drive frames 624 and are driven by a stepper motor 626.

[0025] Due to the significant lateral loads and overturning moments during operation, the system has a tie rod 2 installed on the side wall of the control cabinet 1 to form a rigid constraint with the main load-bearing structure of the bucket truck. This tie rod 2 enables a reliable connection and attitude stability between the operating system and the bucket truck.

[0026] The SCARA robotic arm consists of a large arm (4) and a small arm (5), forming a planar rotary positioning mechanism. Joint motors drive it to quickly reach the target area within the working space outside the bucket. The SCARA robotic arm features high structural rigidity, a large planar coverage area, and fast response, and also provides stable reference and load support for automated tools.

[0027] The end effector 6 boasts high adaptability, requiring no structural modifications to the insulating rod. It is compatible with various models of insulating rods and enables flexible and stable attitude adjustment in space. The automatic tool 200 is precisely operated via an internal clamping drive mechanism within the end effector 6, significantly reducing dependence on the robotic arm's degrees of freedom and structural form. This results in a simpler overall system structure, lower cost, and more flexible deployment, making it particularly suitable for complex, confined, and variable field operating environments in power distribution networks. It overcomes the limitations of SCARA's low degrees of freedom in spatial pointing capability and the restricted accuracy and flexibility of attitude adjustment during short-rod operations.

[0028] Through the synergistic effect of macroscopic positioning stability support and microscopic attitude flexible compensation, a single person can complete the precise alignment, smooth contact and reliable operation of short-bar tools. Without significantly increasing the complexity of the mechanism and cost, it significantly reduces labor intensity and improves end-point controllability and operational consistency.

[0029] Furthermore, the control cabinet 1 integrates modules for drive power supply, communication, controller, emergency stop, limit switch, and torque limiting protection. The drive power supply module is electrically connected to the communication module, controller, and driver / drive circuit, providing power to each functional unit. The communication module is electrically connected to the controller, receiving control commands from external operating terminals, host computers, or remote control terminals. The controller is electrically connected to the drive circuits of each actuator, outputting drive enable and control signals. The emergency stop module, limit protection module, and torque limiting protection module are connected to the controller and drive enable / control output, respectively, to implement shutdown, movement restriction, or unloading control on the corresponding actuators under emergency stop, overtravel, or overload conditions.

[0030] Furthermore, the chassis housing 612 is rotatably mounted inside the chassis mounting plate 611. A central shaft is laterally positioned at the end of the chassis housing 612, and is connected to the chassis mounting plate 611 around its perimeter via roller bearings 614. A bearing housing 615 is mounted on the chassis mounting plate 611. Specifically, the first stepper motor 613 drives the central shaft to rotate, causing the entire chassis housing 612 to deflect, including the second stepper motor 616 within the chassis housing 612. The roller bearings 614 ensure the smoothness and precision of the rotation process. The output shaft of the second stepper motor 616 can also be connected to the front plate of the chassis housing 612 via roller bearings.

[0031] Furthermore, the first stepper motor 613 is installed in the chassis housing 612. The axial direction of the first stepper motor 613 corresponds to the X-axis and Y-axis of the second stepper motor 616, respectively. The output end of the first stepper motor 613 is connected to the central shaft. As shown in the figure, this allows for angle adjustment in both the X and Y directions. The output shaft of the second stepper motor 616 is directly connected to the clamping drive mechanism, specifically, the output shaft of the second stepper motor 616 is connected to the connecting plate 621.

[0032] Furthermore, a clamping stepper motor 622 is mounted on one side of the connecting plate 621. The lead screw of the bidirectional trapezoidal lead screw assembly 623 is connected to the output end of the clamping stepper motor 622. The clamping drive frame 624 is connected to the lead screw seat of the bidirectional trapezoidal lead screw assembly 623. A guide rail limiting mechanism is also provided between the clamping drive frame 624 and the connecting plate 621. The guide rail limiting mechanism includes a guide rail and a slider. The above design has two sets to ensure that the two clamping drive frames 624 can move smoothly laterally under the action of the bidirectional trapezoidal lead screw assembly 623. For example, when the bidirectional trapezoidal lead screw assembly 623 rotates clockwise, the clamping drive frames 624 move inward to achieve clamping. Conversely, rotating clockwise moves outward to release.

[0033] Furthermore, each set of clamping drive wheels 625 has two sets, one above the other. The circumferential wall of each clamping drive wheel 625 has a groove. The stepper motor 626 drives the two clamping drive wheels 625 to rotate via a V-belt transmission assembly 627. Specifically, referring to the attached diagram, the clamping drive wheels 625 are divided into left and right sets. When the clamping drive frame 624 moves inward, the left and right sets of clamping drive wheels 625 move inward, clamping the insulating rod of the automatic tool. Because it is driven by the clamping stepper motor 622, the adaptability is higher. Two clamping drive wheels 625 are provided on each side, one above the other, ensuring stability during clamping and driving. The gear system is driven by two stepper motors 626, and the gears are linked with the V-belt, driving two other driven gears to rotate. The gears are connected to the clamping drive wheels 625 via keys. After the clamping drive wheels 625 form a stable frictional force with the insulating rod, they can synchronously drive the insulating rod to move smoothly in the vertical direction.

[0034] Example 2: The present invention also provides a method for live-line working on short poles in a power distribution network, which uses the above-mentioned live-line working device for short poles in a power distribution network and includes the following steps: S1. The operator selects the appropriate automatic working tool 200 from the tool rack 7 in the work bucket 100 and places its insulating rod in the clamping area of ​​the clamping drive mechanism for clamping. S2. Control commands are issued through control cabinet 1 to drive the two sets of joint motors of the SCARA robotic arm to move, which in turn drives the planar rotary positioning mechanism composed of the upper arm 4 and the lower arm 5 to move in the working space outside the bucket, so as to realize the movement of the SCARA robotic arm end effector 6 and the automatic working tool 200 in the working space outside the bucket until the automatic working tool 200 reaches the vicinity of the working area. S3. The controller controls the first stepper motor 613 and the second stepper motor 616 to move. The first stepper motor 613 drives the central shaft to rotate, which in turn causes the chassis housing 612 to deflect, thereby adjusting the tilt posture of the insulating rod. The second stepper motor 616 drives the clamping drive mechanism to rotate, thereby adjusting the horizontal posture of the insulating rod, and completing the alignment of the automatic working tool 200 with the working target axis. S4. Then, the control drive stepper motor 626 drives the clamping drive wheel 625 to rotate through the transmission component, and uses friction to drive the automatic working tool to move smoothly in the vertical direction, so that the automatic working tool 200 contacts the working target and applies a load. S5. Automatic work tool 200 performs puncture, installation or disassembly operations, completing the work action under a predetermined trajectory and controlled force / displacement conditions; S6. After the operation is completed, control the stepper motor 626 to rotate in the opposite direction, so that the automatic working tool 200 can be removed from the working target. Then control the SCARA robotic arm to remove the insulating rod and the automatic working tool 200 from the working area and return to the safe position above the work bucket 100. Control the clamping stepper motor 622 to drive the bidirectional trapezoidal screw assembly 623 to reset. The operator puts the released automatic working tool 200 back into the tool rack 7 to complete the operation.

[0035] Furthermore, the clamping process in S1 is specifically as follows: the clamping stepper motor 622 is controlled to drive the lead screw of the bidirectional trapezoidal lead screw assembly 623 to rotate, thereby driving the two sets of clamping drive wheels 625 to move towards each other, and clamping and fixing the insulating rod of the automatic working tool 200.

[0036] Utilizing the synchronous drive characteristics of the bidirectional trapezoidal lead screw assembly 623, the left and right sets of clamping drive wheels 625 move symmetrically and at the same speed towards each other along the lead screw axis of the bidirectional trapezoidal lead screw assembly 623. This ensures that the insulating rod of the automatic working tool 200 remains at the central axis of the mechanism during clamping, avoiding eccentric clamping that could cause the insulating rod to tilt or result in uneven clamping force. At the same time, the self-locking characteristic of the bidirectional trapezoidal lead screw assembly 623 maintains a constant clamping force after clamping, preventing the insulating rod of the automatic working tool 200 from loosening or slipping during operation. This ensures a firm connection between the end effector 6 and the insulating rod, providing a stable force transmission basis for subsequent posture adjustment and operation. Furthermore, the entire clamping action is precisely driven by the clamping stepper motor 622, ensuring the controllability and consistency of the clamping process.

[0037] Furthermore, the circumferential wall of the clamping drive wheel 625 in S4 is provided with a groove, which fits against the outer wall of the insulating rod. The clamping drive wheel 625 is divided into two groups, left and right, with two in each group, arranged vertically. The clamping drive wheel 625 is driven to rotate by the stepper motor 626. The output shaft of the stepper motor 626 is connected to the gear in the V-belt drive assembly 627. The clamping drive wheel 625 and the gear in the V-belt drive assembly 627 are connected by two gears. The stepper motor 626 drives the two vertical clamping drive wheels 625 to rotate together, realizing the vertical movement of the automatic working tool 200.

[0038] The groove of the clamping drive wheel 625 forms a surface-fitting contact with the outer wall of the insulating rod of the automatic working tool 200, increasing the contact area and friction. This avoids local stress concentration or surface damage to the insulating rod caused by single-point clamping, and also reliably transmits driving force through friction. The layout of the left and right sets, each with two upper and lower wheels, forms a four-point clamping support structure, constraining the radial swing and axial movement of the insulating rod of the automatic working tool 200, and improving the stability of the feeding process. The V-belt drive assembly 627 achieves synchronous linkage between the drive stepper motor 626 and the upper and lower clamping drive wheels 625 through flexible transmission, ensuring that the upper and lower clamping drive wheels 625 rotate at the same speed and in the same direction, avoiding jamming or twisting of the insulating rod due to speed difference. At the same time, the buffering characteristics of the V-belt drive assembly 627 can absorb minor impacts during operation, achieving smooth and precise linear feeding of the insulating rod of the automatic working tool 200, ensuring the accuracy of the working trajectory of the automatic working tool 200, and the drive stepper motor 626 can precisely adjust its speed to adapt to the feeding speed requirements of different working scenarios.

[0039] Furthermore, the tool rack 7 is set around the top of the control cabinet 1. The automatic operation tools 200 placed on the tool rack 7 include piercing tools, insulator assembly tools or hardware disassembly tools, which are detachably connected to the insulating rod through standardized interfaces to adapt to different operation procedures.

[0040] Tool rack 7 is arranged around the top of control cabinet 1, making full use of the limited space inside work basket 100 to achieve classified storage and quick retrieval of automatic operation tools 200, shortening tool switching time; no need to replace insulating rod or end effector 6, improving the continuity of multi-process operation; by adapting to special automatic operation tools 200 for different operation needs such as piercing, assembly, and disassembly, a set of power distribution network short pole live working device can be adapted to various power distribution network live working scenarios, reducing equipment investment costs.

[0041] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A device for live working on a short pole of a power distribution network, characterized in that, include: The control cabinet (1) is located on one side of the work bucket (100). The control cabinet (1) and the pull rod (2) form a rigid constraint with the main load-bearing structure of the bucket arm vehicle. The top of the control cabinet (1) is equipped with a boom (4) through a column (3). The other end of the boom (4) is connected to the forearm (5). The boom (4) and the forearm (5) are driven by two sets of joint motors. The boom (4) and the forearm (5) constitute a planar rotary positioning mechanism. An end effector (6) is connected to one end of the forearm (5). The end effector includes a posture adjustment mechanism and a clamping drive mechanism. The posture adjustment mechanism includes a first stepper motor (613) and a second stepper motor (616). The first stepper motor (613) drives the central shaft to rotate and the chassis housing (612) to deflect, thereby achieving overall tilt adjustment of the posture adjustment mechanism. The second stepper motor (616) is installed in the chassis housing (612). The output end of the second stepper motor (616) drives the clamping drive mechanism to rotate to achieve horizontal adjustment. The clamping drive mechanism includes a clamping stepper motor (622) and clamping drive wheels (625) for clamping adjustment. The clamping stepper motor (622) drives the lead screw of the bidirectional trapezoidal lead screw assembly (623) to rotate to adjust the two sets of clamping drive wheels (625) to clamp the insulating rod of the automatic working tool (200). The clamping drive wheels (625) are mounted on two clamping drive frames (624) and are driven by the drive stepper motor (626).

2. The live-line working device for short poles in power distribution networks according to claim 1, characterized in that, The control cabinet (1) integrates modules such as drive power supply, communication, controller, emergency stop, limit switch and torque limit protection.

3. The live-line working device for short poles in power distribution networks according to claim 1, characterized in that, The chassis housing (612) is rotatably mounted inside the chassis mounting plate (611). The end of the chassis housing (612) is provided with the central shaft, which is connected to the chassis mounting plate (611) by a roller bearing (614). The bearing seat (615) is mounted on the chassis mounting plate (611).

4. The live-line working device for short poles in power distribution networks according to claim 3, characterized in that, The first stepper motor (613) is installed in the chassis housing (612). The axial direction of the first stepper motor (613) corresponds to the X-axis and Y-axis of the second stepper motor (616) respectively. The output end of the first stepper motor (613) is connected to the central shaft.

5. The live-line working device for short poles in power distribution networks according to claim 1, characterized in that, The clamping stepper motor (622) is mounted on one side of the connecting plate (621). The lead screw of the bidirectional trapezoidal lead screw assembly (623) is connected to the output end of the clamping stepper motor (622). The clamping drive frame (624) is connected to the lead screw seat of the bidirectional trapezoidal lead screw assembly (623). A guide rail limiting mechanism is also provided between the clamping drive frame (624) and the connecting plate (621).

6. The live-line working device for short poles in power distribution networks according to claim 1, characterized in that, Each set of clamping drive wheels (625) is provided with two, one above the other. The circumferential wall of the clamping drive wheel (625) is provided with a groove. The driving stepper motor (626) drives the two clamping drive wheels (625) to rotate through the V-belt transmission assembly (627).

7. A method for live-line working on short poles in a power distribution network, wherein the live-line working device for short poles in a power distribution network as described in any one of claims 1-6 is used for the operation, characterized in that... Includes the following steps: S1. The operator selects a suitable automatic working tool (200) from the tool rack (7) in the work bucket (100) and places its insulating rod in the clamping area of ​​the clamping drive mechanism for clamping. S2. Control commands are issued through the control cabinet (1) to drive the two sets of joint motors of the SCARA robotic arm to move, thereby driving the planar rotary positioning mechanism composed of the upper arm (4) and the lower arm (5) to move in the working space outside the bucket, so as to realize the movement of the SCARA robotic arm end effector (6) and the automatic working tool (200) in the working space outside the bucket until the automatic working tool (200) reaches the vicinity of the working area. S3. The controller controls the first stepper motor (613) and the second stepper motor (616) to move respectively. The first stepper motor (613) drives the central shaft to rotate, causing the chassis box (612) to deflect, thereby adjusting the tilt posture of the insulating rod. The second stepper motor (616) drives the clamping drive mechanism to rotate, thereby adjusting the horizontal posture of the insulating rod, and completing the alignment of the axis of the automatic operation tool (200) with the operation target. S4. The control drive stepper motor (626) drives the clamping drive wheel (625) to rotate through the transmission assembly, and uses friction to drive the automatic working tool to move smoothly in the vertical direction, so that the automatic working tool (200) contacts the working target and applies a load. S5. Automated work tools (200) perform piercing, installation or dismantling operations; S6. After the operation is completed, control the stepper motor (626) to rotate in the opposite direction, drive the automatic operation tool (200) to move away from the operation target, and then control the SCARA robotic arm to move the insulating rod and the automatic operation tool (200) away from the operation area and return to the safe position above the work bucket (100). Control the clamping stepper motor (622) to drive the bidirectional trapezoidal screw assembly (623) to reset. The operator puts the released automatic operation tool (200) back into the tool rack (7) to complete the operation.

8. The method for live-line working on short poles in a power distribution network according to claim 7, characterized in that... The clamping process in S1 is as follows: the clamping stepper motor (622) is controlled to drive the screw of the bidirectional trapezoidal screw assembly (623) to rotate, thereby driving the two sets of clamping drive wheels (625) to move towards each other and clamping and fixing the insulating rod of the automatic working tool (200).

9. The method for live-line working on short poles in a power distribution network according to claim 7, characterized in that... The clamping drive wheel (625) in S4 has a groove on its circumferential wall. The groove fits against the outer wall of the insulating rod. The clamping drive wheel (625) is divided into two groups, left and right, with two in each group, arranged vertically. The clamping drive wheel (625) is driven to rotate by a stepper motor (626). The output shaft of the stepper motor (626) is connected to a gear in the V-belt drive assembly (627). The clamping drive wheel (625) and the gear in the V-belt drive assembly (627) are connected by two gears. The stepper motor (626) drives the two vertical clamping drive wheels (625) to rotate together, realizing the vertical movement of the automatic working tool (200).

10. The method for live-line working on short poles in a power distribution network according to claim 7, characterized in that... The tool rack (7) is set around the top of the control cabinet (1). The automatic operation tools (200) placed on the tool rack (7) include piercing tools, insulator assembly tools or hardware disassembly tools. They are detachably connected to the insulating rod through standardized interfaces to adapt to different operation procedures.

Images