10kv lightweight auxiliary work machine arm insulation protection structure and design method

Abstract

This invention provides a lightweight insulation protection structure and design method for a 10kV auxiliary operation robotic arm. It improves the insulation performance and local structural strength of the robotic arm, reduces the use of high-density reinforcing materials, and achieves a lightweight insulation protection structure. The robotic arm insulation structure includes: a straight arm insulation protection structure, comprising a main insulation layer continuously covering the outer side of the straight arm section; a joint insulation protection structure, comprising a main insulation layer and a reinforcing auxiliary layer, with the main insulation layer covering the robotic arm joints and the reinforcing auxiliary layer covering the outside of the main insulation layer; and an end-effector insulation protection structure, comprising a main insulation layer and a reinforcing auxiliary layer, with the main insulation layer covering the outer side of the end-effector connection and the reinforcing auxiliary layer covering the outside of the main insulation layer.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to the insulation protection structure and design method of a 10kV lightweight auxiliary operation robotic arm. Background Technology

[0002] With the continuous expansion of power distribution networks and the increasing demands for power supply continuity, live-line working has become an important method for the operation and maintenance of power distribution lines. Compared with power outage maintenance, live-line working can complete line inspection, fault handling, equipment installation and maintenance without interrupting power supply, which helps improve the reliability of power distribution networks.

[0003] During live-line work on 10kV distribution networks, auxiliary robotic arms can help workers perform tasks such as tool clamping, wire shielding, foreign object removal, and equipment operation, thereby reducing the labor intensity of workers and improving work efficiency. However, the links, joints, and connectors of existing industrial robotic arms are usually made of metal materials. When the robotic arm approaches or comes into contact with a live conductor, a leakage current path may be formed, consisting of the live conductor, the robotic arm body, and the work platform.

[0004] To improve the insulation performance of robotic arms, existing technologies typically employ methods such as overall insulation covering, insulation coating, or insulation sleeves to protect the robotic arm. However, using a single insulating material to completely cover the robotic arm can easily increase its mass and joint rotational inertia, reducing its load-bearing capacity and operational flexibility.

[0005] Meanwhile, the joints and end effector of the robotic arm are not only areas of concentrated mechanical stress but also regions where local electric field distortion is likely to occur. Simply using low-density insulation materials may not be sufficient to meet the structural strength requirements, while using high-strength composite materials throughout the robotic arm would increase its weight.

[0006] Furthermore, the joints of the robotic arm need to rotate continuously during operation, which can easily cause relative displacement between adjacent insulating structures. If the insulation covering in the joint area is discontinuous or the overlap distance is insufficient, it may expose internal metal components, shorten the surface discharge path, and increase the risk of partial discharge and surface flashover. Summary of the Invention

[0007] To address the aforementioned issues, this invention provides a lightweight insulation protection structure and design method for a 10kV auxiliary operation robotic arm. This structure can improve the insulation performance and local structural strength of the robotic arm, reduce the application of high-density reinforcing materials, and achieve lightweight insulation protection for the robotic arm.

[0008] The technical solution is as follows: an insulating structure for a robotic arm, mounted on the robotic arm body, the robotic arm body including at least one straight arm segment, at least one robotic arm joint, and an end connection portion for mounting live-line working tools, characterized in that the insulating structure includes:

[0009] A straight-arm insulation protection structure, wherein the straight-arm insulation protection structure includes a main insulation layer that continuously covers the outside of the straight-arm section;

[0010] The joint insulation protection structure includes a main insulation layer and a reinforcing auxiliary layer. The main insulation layer covers the robotic arm joint, and the reinforcing auxiliary layer covers the outside of the main insulation layer. The joint insulation protection structure also extends to the straight arm segment connected to the robotic arm joint to form an insulation covering overlap area. The insulation covering overlap area is used to ensure that the robotic arm joint and the straight arm segment maintain continuous insulation coverage during operation.

[0011] An end insulation protection structure, comprising a main insulation layer and a reinforcing auxiliary layer, wherein the main insulation layer covers the outside of the end connection portion and the reinforcing auxiliary layer covers the outside of the main insulation layer.

[0012] Furthermore, the main insulation layer in the stress concentration area on the straight arm segment is also covered with a reinforcing auxiliary layer.

[0013] A method for designing the insulation structure of a robotic arm, wherein the robotic arm body includes at least one straight arm segment, at least one robotic arm joint, and an end connection portion for mounting live-line working tools, characterized by comprising the following steps: S1, dividing the robotic arm to determine the straight arm insulation region, the joint insulation region, and the end insulation region; wherein, the straight arm insulation region is provided corresponding to the straight arm segment, and its insulation structure adopts a main insulation layer;

[0014] The joint insulation area is provided corresponding to the joint of the robotic arm, and its insulation structure adopts a main insulation layer and a reinforcing auxiliary layer.

[0015] The end insulation region is provided corresponding to the end connection portion, and its insulation structure adopts a main insulation layer and a reinforcing auxiliary layer;

[0016] The reinforcing auxiliary layer is located outside the main insulating layer;

[0017] S2. Select candidate insulation materials and conduct layer-to-layer insulation characteristic tests, surface insulation characteristic tests and leakage current tests on the candidate insulation materials. Through group tests, obtain the discharge voltage and leakage current under different materials, different thicknesses and different creepage distances.

[0018] S3. Based on the test results of step S2, select materials with better insulation performance from the materials that meet the test qualification conditions as the material of the main insulation layer, select materials with better mechanical strength as the material of the reinforcing auxiliary layer, and determine the thickness and creepage distance of the main insulation layer that meet the test qualification conditions, and at the same time determine the effective insulation section length of the robotic arm.

[0019] S4. Based on the range of motion of the robotic arm joint, determine the overlap size between the insulation structure of the joint insulation area and the straight arm segment, so that the connection between the robotic arm joint and the straight arm segment maintains continuous insulation coverage during movement.

[0020] S5. Establish an electrical simulation model of the distribution network line and the insulation structure of the robotic arm, and treat the insulation structure of the robotic arm as an equivalent electrical component to calculate the voltage and leakage current of the insulation structure of the robotic arm under different parameter conditions.

[0021] S6. Based on the simulation model results in step S5, the parameters determined in steps S3 and S4 are gradually optimized, and the optimized insulation structure is verified through power frequency withstand voltage test and leakage current test to determine the final parameters of the robotic arm insulation structure.

[0022] Furthermore, in step S1, when dividing the robotic arm, mechanical stress concentration areas are also defined. These mechanical stress concentration areas correspond to the stress concentration locations of the robotic arm during operation, and their insulation structure consists of a main insulation layer and a reinforcing auxiliary layer.

[0023] Furthermore, the layer-to-layer insulation characteristic test in step S2 adopts a rod-plate electrode structure, which includes a rod electrode and a plate electrode respectively connected to a power source. During the test, the insulating material to be tested is placed between the rod electrode and the plate electrode, and the test voltage is gradually increased until the insulating material sample undergoes layer-to-layer breakdown or surface discharge, and the test results are recorded.

[0024] Furthermore, in step S2, the surface insulation characteristic test uses a rod electrode to simulate a charged conductor and a cylindrical metal electrode to simulate the metal body of a robotic arm. Insulating material is wrapped around the outside of the cylindrical metal electrode, and the surface creepage distance between the rod electrode and the cylindrical metal electrode is changed to obtain the corresponding relationship between the surface creepage distance and the surface discharge voltage.

[0025] Furthermore, the electrical simulation model in step S5 includes a power supply side, a distribution network line, a load side, an equivalent branch of the robotic arm, and a leakage current measurement branch. The power supply side is used to provide AC voltage, the distribution network line is used to simulate the electrical operating environment of the distribution line, the load side is used to simulate the actual load of the line, the equivalent branch of the robotic arm is used to simulate the metal structure of the robotic arm and its external insulation structure, and the leakage current measurement branch is used to collect the leakage current generated by the robotic arm under live working conditions.

[0026] Furthermore, in the equivalent branch of the robotic arm, the metal structure of the robotic arm is equivalent to a conductive branch, and the insulation structure is equivalent to an insulation impedance. By connecting it to the distribution network line and changing the insulation impedance, the variation law of the robotic arm voltage and leakage current under different insulation structure parameters can be obtained.

[0027] Furthermore, the optimization method in step S6 is as follows: using the voltage and leakage current obtained from simulation as constraints, the geometric parameters of the insulation structure are optimized with objectives including reducing the amount of insulation material and reducing the mass of the robotic arm.

[0028] A 10kV auxiliary operating robotic arm is characterized by: the robotic arm insulation structure designed using the above-mentioned robotic arm insulation structure design method, wherein the material of the main insulation layer is polyethylene, the material of the reinforcing auxiliary layer is glass fiber reinforced composite material, the thickness of the main insulation layer is 2-5mm, the creepage distance along the surface is not less than 50mm, and the length of the effective insulation section is 300mm.

[0029] Beneficial effects: (1) The present invention selects a material with better insulation performance as the material of the main insulation layer, which can utilize its higher volume resistivity, withstand voltage performance and lower density to improve the electrical insulation performance of the robotic arm and reduce the quality of the insulation structure.

[0030] (2) The present invention selects a material with better mechanical strength as the material of the reinforcing auxiliary layer. By setting it locally in the joints, end connection and mechanical stress concentration areas of the robotic arm, the local mechanical strength is improved while avoiding the continuous coverage of the entire area of ​​the robotic arm by the high-density reinforcing material.

[0031] (3) The present invention provides an insulating overlapping area on both sides of the robotic arm joint, so that the robotic arm joint maintains continuous insulation coverage during movement and extends the surface creepage path of the joint area.

[0032] (4) This invention combines material layer insulation test, surface insulation test, leakage current test and electrical simulation to determine the combination of insulation materials and geometric parameters, thereby reducing the uncertainty caused by relying solely on experience to determine insulation structure parameters.

[0033] (5) Under the premise of meeting the insulation requirements of 10kV distribution network live operation, the present invention takes into account the structural strength of the robotic arm, the quality of the insulation structure and the operational flexibility. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of a robotic arm covered with an insulating structure.

[0035] Figure 2 This is a schematic diagram of a double-layer insulation covering structure;

[0036] Figure 3 This is a schematic diagram of the insulation material layer layout for insulation characteristic testing;

[0037] Figure 4 This is a schematic diagram of the test setup for the surface insulation properties of insulating materials;

[0038] Figure 5 This is a schematic diagram of a simulation model of the insulation structure of a 10kV distribution network line and a robotic arm;

[0039] Figure 6 This is a schematic diagram comparing electrical parameters before and after adding the insulation section. Detailed Implementation

[0040] like Figure 1 The illustrated robotic arm insulation structure is mounted on the robotic arm body 100. The robotic arm body 100 includes at least one straight arm segment 101, at least one robotic arm joint 102, and an end connection for mounting live-line working tools. The main structure of the robotic arm can be made of aluminum alloy, steel, or other metal materials that meet mechanical load-bearing requirements. The insulation structure includes a straight arm insulation protection structure, which includes a main insulation layer 200 continuously covering the outside of the straight arm segment 101. The main insulation layer 200 is used to block the current conduction path between the live conductor and the metal structure of the robotic arm and reduce the leakage current of the robotic arm during live-line working. The main insulation layer 200 in the stress concentration area on the straight arm segment 101 is also covered with a reinforcing auxiliary layer 300 to balance end insulation performance and mechanical connection strength.

[0041] Joint insulation and protective structure, the joint insulation and protective structure includes such as Figure 2The diagram shows a main insulation layer 200 and a reinforcing auxiliary layer 300. The main insulation layer 200 covers the robotic arm joint 102, and the reinforcing auxiliary layer 300 covers the outside of the main insulation layer 200. These layers enhance the bending strength, impact resistance, and structural stability of the joint insulation protection structure. The joint insulation protection structure also extends to the straight arm segment 101 connected to the robotic arm joint 102, forming an insulation overlap area 400. This overlap area 400 ensures continuous insulation coverage between the robotic arm joint 102 and the straight arm segment 101 during operation. The insulation overlap area 400 also increases the effective surface discharge distance at the joint connection. When the robotic arm approaches a charged body, any surface leakage current that may be generated needs to propagate along the surfaces of the main insulation layer 200 and the reinforcing auxiliary layer 300, thereby extending the surface discharge path and reducing the risk of surface flashover.

[0042] The end insulation protection structure includes a main insulation layer 200 and a reinforcing auxiliary layer 300. The main insulation layer 200 covers the outside of the end connection portion, and the reinforcing auxiliary layer 300 covers the outside of the main insulation layer.

[0043] By adopting the above structure, the main insulation layer 200 covers the main straight arm area of ​​the robotic arm, and the reinforcing auxiliary layer 300 is only set on the robotic arm joint 102, connection area and stress concentration area, and does not continuously cover the entire surface of the robotic arm. This partitioned covering method can reduce the amount of reinforcing auxiliary layer 300 material used and reduce the overall quality of the robotic arm insulation structure.

[0044] The design method for the insulation structure of a robotic arm is similar to the above. The robotic arm body 100 includes at least one straight arm segment 101, at least one robotic arm joint 102, and an end-effector for mounting live-line working tools. The design method specifically includes the following steps: S1, dividing the robotic arm to determine the straight arm insulation region, the joint insulation region, and the end-effector insulation region; wherein, the straight arm insulation region corresponds to the straight arm segment 101, and its insulation structure adopts a main insulation layer 200; the joint insulation region corresponds to the robotic arm joint 102, and its insulation structure adopts a main insulation layer 200 and a reinforcing auxiliary layer 300; the end-effector insulation region corresponds to the end-effector, and its insulation structure adopts a main insulation layer 200 and a reinforcing auxiliary layer 300; the mechanical stress concentration region is determined according to the stress concentration position of the robotic arm during operation, and its insulation structure adopts a main insulation layer 200 and a reinforcing auxiliary layer 300; the reinforcing auxiliary layer 300 is located outside the main insulation layer 200.

[0045] S2. Select candidate insulation materials and conduct layer-to-layer insulation characteristic tests, surface insulation characteristic tests, and leakage current tests on the candidate insulation materials. Through group tests, obtain the discharge voltage and leakage current under different materials, different thicknesses, and different creepage distances.

[0046] Among them, combined Figure 3 As shown, the layer-to-layer insulation characteristic test adopts a rod-plate electrode structure. The rod-plate electrode structure includes a first rod electrode 501 and a first plate electrode 502, which are respectively connected to the first power supply 503. During the test, the insulating material to be tested is placed between the first rod electrode 501 and the first plate electrode 502. The first plate electrode 502 is grounded, and the first rod electrode 501 is connected to the high-voltage power supply. The high-voltage power supply gradually increases the power frequency AC voltage applied to the insulating material sample a according to the preset voltage increase rate until the insulating material sample a undergoes layer-to-layer breakdown or surface discharge.

[0047] The first current sensor 504 is used to collect the current signal in the test circuit, and the first measurement and monitoring unit 505 is used to record the applied voltage, discharge current and discharge state of the insulating material sample.

[0048] In one implementation (applied to the insulation structure of a robotic arm in a 10kV distribution network live-line working scenario, the pass condition for the layered insulation characteristic test under this condition is: when the insulation material sample is kept at 20kV power frequency voltage for 3 minutes without breakdown or flashover, and the final breakdown voltage is ≥30kV, the material is considered to meet the main insulation requirements of the 10kV distribution network live-line working robotic arm), the thickness of the insulation material sample is set to 1mm and 2mm respectively, and the high-voltage power supply increases the test voltage at a rate of approximately 1kV / s.

[0049] The test results show that the discharge voltage of polyethylene material at the same thickness is higher than that of glass fiber reinforced composite material. Specifically, the discharge voltages of 1 mm and 2 mm polyethylene samples are 30.4 kV and 37.9 kV, respectively, while the discharge voltages of 1 mm and 2 mm glass fiber reinforced composite material samples are 17.4 kV and 18.7 kV, respectively. The 1 mm and 2 mm polyethylene samples meet the test requirements, but the thickness can be further increased to improve mechanical protection and safety margin; for example, a thickness of 2–5 mm can be used.

[0050] Polyethylene exhibited high pressure resistance and low temperature rise during testing, therefore it was selected as the primary insulation layer material (200) for the robotic arm. While glass fiber reinforced composites have lower electrical insulation properties than polyethylene, they possess better mechanical strength, making them the preferred material for the reinforcing auxiliary layer (300).

[0051] Meanwhile, in order to determine the overlap size of the insulation covering at the joint of the robotic arm and the effective creepage distance along the surface, surface insulation characteristic tests were conducted on the polyethylene insulation material.

[0052] like Figure 4 As shown, the surface insulation characteristic test mainly includes a second high-voltage power supply 601, a second rod electrode 602, an insulation material sample b, a support 603, and a test bench. Figure 4The dashed line L represents the surface creepage path.

[0053] The second electrode 602 is mounted above the insulating material sample b via a bracket 603 and connected to the second high-voltage power supply 601. The insulating material sample b is laid on the test platform, with one end connected to the grounding side. Alternatively, a cylindrical metal electrode can be used to simulate the metal body of a robotic arm, with the insulating material sample b wrapped around the cylindrical metal electrode to better simulate actual usage and make the results more accurate. A surface creepage path L is formed between the contact position or discharge initiation position of the second electrode 602 and the surface of the insulating material sample b and the grounding side.

[0054] During the test, the effective surface distance between the second electrode 602 and the grounding side was changed, and the applied voltage was gradually increased until surface discharge occurred on the surface of the insulating material sample b. The discharge voltage corresponding to different surface distances was recorded.

[0055] In one implementation (applied to the robotic arm insulation structure in a 10kV distribution network insulated short pole live-line working scenario, the pass condition for the surface insulation characteristic test under this condition is: when the insulation structure withstands a 20kV power frequency voltage for 3 minutes without surface discharge or flashover under the designed surface distance, and the surface flashover voltage is not lower than 30kV, the surface insulation performance is considered to meet the requirements for 10kV distribution network live-line working), the surface distances are set to 10mm, 15mm, 20mm, 30mm, 40mm, and 50mm, respectively. The discharge voltages of the polyethylene insulation material at the above surface distances are 12.3kV, 14.8kV, 16.7kV, 22.6kV, 29.3kV, and 31.8kV, respectively.

[0056] Test results show that the surface discharge voltage of polyethylene insulation material increases with the increase of surface distance. When the surface distance is not less than 50mm, its surface discharge voltage can meet the insulation design requirements under 10kV distribution network live working conditions. Therefore, the effective surface creepage distance is preferably not less than 50mm.

[0057] For leakage current testing, existing leakage current testing methods can be used, or the above-mentioned layer-to-layer / surface test structure can continue to be used, and the following tests can be performed:

[0058] Experimental objective: To verify the leakage current level of the insulating material under power frequency high voltage and to evaluate its suitability as the main insulation layer of a robotic arm.

[0059] Electrode and sample arrangement: Rod-plate electrodes or insulating material can be wrapped around the outside of cylindrical metal electrodes (simulating the metal body of a robotic arm). High voltage is applied by the high voltage electrode, and the metal electrode is grounded.

[0060] Test procedure: Increase the voltage to the target voltage at the specified rate (e.g., about 1kV / s) and maintain it for the specified time, while simultaneously measuring the leakage current; record whether breakdown, flashover or abnormal heating occurs.

[0061] Acceptance criteria: The leakage current does not exceed the specified limit under the target voltage, and there is no breakdown or flashover.

[0062] S3. Based on the test results of step S2, select materials with better insulation performance as the main insulation layer and materials with better mechanical strength as the reinforcing auxiliary layer from the materials that meet the test qualification conditions. Determine the thickness of the main insulation layer and the creepage distance along the surface that meet the test qualification conditions. At the same time, determine the effective insulation section length of the robotic arm. The effective insulation section length is a design parameter determined by structural dimension analysis under the condition of meeting the actual operating range of the robotic arm and the safety margin of live operation. In one embodiment (the robotic arm insulation structure applied to the live operation scenario of 10kV distribution network insulated short poles), the effective insulation section length of the robotic arm along the length direction is preferably 300mm.

[0063] Simultaneously, while meeting the requirements for withstand voltage and leakage current, the geometric parameters of the insulation structure can be optimized with the aim of reducing the amount of insulation material, lowering the mass of the robotic arm, and maintaining the flexibility of joint movement. First, the thickness and coverage length of the main insulation layer are changed, and their impact on leakage current and withstand voltage performance is analyzed. On the basis of meeting the 20kV / 3min withstand voltage requirement, the material thickness and coverage area are gradually reduced. For areas with concentrated mechanical stress, an auxiliary reinforcing layer is added to improve local mechanical strength, thereby achieving comprehensive optimization of insulation performance, structural quality, and movement flexibility.

[0064] S4. Determine the maximum relative displacement that the insulation covering structure may produce based on the range of motion of the robotic arm joint. Then, obtain the minimum surface distance that meets the withstand voltage requirement of 20kV / 3min through surface insulation test. Finally, superimpose the maximum motion displacement with the safe surface distance to determine the overlapping size of the insulation covering in the joint area, so that the connection between the robotic arm joint and the straight arm section maintains continuous insulation coverage during the movement.

[0065] S5. Establish an electrical simulation model of the distribution network line and the insulation structure of the robotic arm, and treat the insulation structure of the robotic arm as an equivalent electrical component to calculate the voltage and leakage current of the insulation structure of the robotic arm under different parameter conditions.

[0066] Specifically, in combination Figure 5 As shown, the simulation model includes the power supply side 701, the 10kV distribution network line, the load side 702, the robotic arm equivalent branch 703 (which needs to be grounded), and the leakage current measurement branch 704.

[0067] The power supply side 701 is used to provide 10kV AC voltage, the 10kV distribution network line is used to simulate the electrical operating environment of the distribution line, and the load side is used to simulate the actual load of the line.

[0068] The equivalent branch 703 for the robotic arm is used to simulate the metal structure of the robotic arm and its external insulation covering structure. The metal structure of the robotic arm is equivalent to a conductive branch, and the polyethylene insulation material and glass fiber reinforced composite material are equivalent to the corresponding insulation impedance based on their volume resistivity, insulation section length, and cross-sectional area.

[0069] The leakage current measurement branch 704 is connected to the equivalent branch 703 of the robotic arm to collect the leakage current that may be generated by the robotic arm in the live working state, and to compare the electrical parameters under the two working conditions of no insulation section and insulation section.

[0070] By changing the resistivity of the insulating material, the thickness of the insulating layer, and the length of the effective insulating section in the equivalent branch of the robotic arm, the variation law of the robotic arm voltage and leakage current under different insulation structure parameters can be obtained, thereby helping to determine the insulation structure parameters of the robotic arm.

[0071] Figure 6 The changes in voltage and leakage current before and after adding an insulating section to the robotic arm are illustrated in a schematic manner.

[0072] like Figure 6 As shown in (a) and (b), (a) without the addition of an insulation section, the voltage of the robotic arm branch is higher than the preset safety voltage criterion; (b) after the addition of an insulation section, the voltage of the robotic arm branch decreases and falls below the preset safety voltage criterion.

[0073] like Figure 6 As shown in (c) and (d), (c) without the addition of an insulation section, the leakage current of the robotic arm branch is relatively large; (d) after the addition of an insulation section, the leakage current is significantly reduced and is lower than the preset leakage current criterion.

[0074] The above results indicate that placing high resistivity insulating material on the outside of the robotic arm's metal structure and reasonably increasing the length of the insulation section can effectively block the conduction path of voltage and leakage current, thereby improving the electrical safety of the robotic arm in a 10kV distribution network live-line working environment.

[0075] It is also worth mentioning that the main functions of establishing electrical simulation models of the distribution network lines and robotic arm insulation structures include: placing the equivalent insulation structure into a real 10kV distribution network environment (power supply side + line + load + robotic arm branch) to examine the voltage and leakage current borne by the robotic arm, rather than an isolated sample; conducting parameter sensitivity analysis by changing the insulation impedance (corresponding to thickness, length, and resistivity) to provide quantitative basis for the "stepwise optimization" of S6; and verifying the actual effect of structural parameters such as "effective insulation section length" in the system, avoiding designs based solely on sample data that fail to meet standards in the system.

[0076] S6. Based on the simulation model results in step S5, and in combination with the parameters determined in steps S3 and S4, optimize them step by step according to the withstand voltage performance, leakage current level, insulation structure quality and robot arm movement flexibility. Verify the optimized insulation structure through power frequency withstand voltage test and leakage current test, and determine the final parameters of the robot arm insulation structure.

[0077] The power frequency withstand voltage test shall be no less than 20kV, and the test time shall be no less than 3 minutes. During the test, the insulation structure of the robotic arm shall not experience breakdown, flashover, or significant overheating.

[0078] The leakage current test results show that the leakage current of the 2mm thick polyethylene sample under the test conditions of 45kV / 0.4m is 6μA, which is lower than the specified limit, indicating that the polyethylene insulation material can meet the usage requirements of the main insulation structure of the robotic arm.

[0079] Meanwhile, the specific optimization method mentioned above can be as follows: using the voltage and leakage current obtained from simulation as constraints, the optimization aims to reduce the amount of insulation material used, reduce the mass of the robotic arm, and maintain the flexibility of joint movement. Specifically, after fixing the materials, gradually reduce the thickness and coverage area of ​​the main insulation layer, and observe whether the 20kV / 3min withstand voltage requirement and leakage current limit are still met; retain the reinforcing auxiliary layer in areas of concentrated mechanical stress and joint parts; and determine the final parameters such as the thickness of the main insulation layer and the effective insulation section length through simulation and experimental iterations.

[0080] Through the above-mentioned material performance tests, insulation structure design, electrical simulation and withstand voltage verification, a lightweight auxiliary operation robot insulation structure suitable for 10kV distribution network live operation was formed. The main insulation layer is made of polyethylene, the reinforcing auxiliary layer is made of glass fiber reinforced composite material, the thickness of the main insulation layer is 2-5mm, preferably 3mm, the creepage distance along the surface is not less than 50mm, and the length of the effective insulation section is 300mm.

[0081] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

A 1.10kV lightweight auxiliary operation robotic arm insulation and protection structure, which is mounted on the robotic arm body, the robotic arm body including at least one straight arm section, at least one robotic arm joint, and an end connection part for mounting live-line working tools, characterized in that, The insulation structure includes: A straight-arm insulation protection structure, wherein the straight-arm insulation protection structure includes a main insulation layer that continuously covers the outside of the straight-arm section; The joint insulation protection structure includes a main insulation layer and a reinforcing auxiliary layer. The main insulation layer covers the robotic arm joint, and the reinforcing auxiliary layer covers the outside of the main insulation layer. The joint insulation protection structure also extends to the straight arm segment connected to the robotic arm joint to form an insulation covering overlap area. The insulation covering overlap area is used to ensure that the robotic arm joint and the straight arm segment maintain continuous insulation coverage during operation. An end insulation protection structure, comprising a main insulation layer and a reinforcing auxiliary layer, wherein the main insulation layer covers the outside of the end connection portion and the reinforcing auxiliary layer covers the outside of the main insulation layer.

2. The insulation and protection structure for the 10kV lightweight auxiliary operation robotic arm according to claim 1, characterized in that: The main insulation layer in the stress concentration area on the straight arm section is also covered with a reinforcing auxiliary layer.

3. The insulation and protection structure for the 10kV lightweight auxiliary operation robotic arm according to claim 2, characterized in that: The main insulation layer is made of polyethylene, and the reinforcing auxiliary layer is made of glass fiber reinforced composite material. 4.10kV lightweight auxiliary operation robotic arm insulation protection structure design method, the robotic arm body includes at least one straight arm section, at least one robotic arm joint, and an end connection part for mounting live-line working tools, characterized in that, Includes the following steps: S1. Divide the robotic arm into straight arm insulation area, joint insulation area, and end-effector insulation area; wherein, the straight arm insulation area is set corresponding to the straight arm segment, and its insulation structure adopts the main insulation layer; The joint insulation area is provided corresponding to the joint of the robotic arm, and its insulation structure adopts a main insulation layer and a reinforcing auxiliary layer. The end insulation region is provided corresponding to the end connection portion, and its insulation structure adopts a main insulation layer and a reinforcing auxiliary layer; The reinforcing auxiliary layer is located outside the main insulating layer; S2. Select candidate insulation materials and conduct layer-to-layer insulation characteristic tests, surface insulation characteristic tests and leakage current tests on the candidate insulation materials. Through group tests, obtain the discharge voltage and leakage current under different materials, different thicknesses and different creepage distances. S3. Based on the test results of step S2, select materials with better insulation performance from the materials that meet the test qualification conditions as the material of the main insulation layer, select materials with better mechanical strength as the material of the reinforcing auxiliary layer, and determine the thickness and creepage distance of the main insulation layer that meet the test qualification conditions, and at the same time determine the effective insulation section length of the robotic arm. S4. Based on the range of motion of the robotic arm joint, determine the overlap size between the insulation structure of the joint insulation area and the straight arm segment, so that the connection between the robotic arm joint and the straight arm segment maintains continuous insulation coverage during movement. S5. Establish an electrical simulation model of the distribution network line and the insulation structure of the robotic arm, and treat the insulation structure of the robotic arm as an equivalent electrical component to calculate the voltage and leakage current of the insulation structure of the robotic arm under different parameter conditions. S6. Based on the simulation model results in step S5, the parameters determined in steps S3 and S4 are gradually optimized, and the optimized insulation structure is verified through power frequency withstand voltage test and leakage current test to determine the final parameters of the robotic arm insulation structure.

5. The design method of the insulation protection structure for the 10kV lightweight auxiliary operation robotic arm according to claim 4, characterized in that: In step S1, when dividing the robotic arm, mechanical stress concentration areas are also defined. The mechanical stress concentration areas correspond to the stress concentration locations of the robotic arm during operation, and their insulation structure consists of a main insulation layer and a reinforcing auxiliary layer.

6. The design method of the insulation protection structure for the 10kV lightweight auxiliary operation robotic arm according to claim 4, characterized in that: The layer-to-layer insulation characteristic test in step S2 adopts a rod-plate electrode structure, which includes a rod electrode and a plate electrode that are respectively connected to the power supply. During the test, the insulating material to be tested is placed between the rod electrode and the plate electrode, and the test voltage is gradually increased until the insulating material sample undergoes layer-to-layer breakdown or surface discharge, and the test results are recorded.

7. The design method of the insulation protection structure for the 10kV lightweight auxiliary operation robotic arm according to claim 4, characterized in that: In step S2, the surface insulation characteristic test uses a rod electrode to simulate a live conductor and a cylindrical metal electrode to simulate the metal body of a robotic arm. Insulating material is wrapped around the outside of the cylindrical metal electrode, and the surface creepage distance between the rod electrode and the cylindrical metal electrode is changed to obtain the corresponding relationship between the surface creepage distance and the surface discharge voltage.

8. The design method of the insulation protection structure for the 10kV lightweight auxiliary operation robot arm according to claim 4, characterized in that: The electrical simulation model in step S5 includes a power supply side, a distribution network line, a load side, an equivalent branch of the robotic arm, and a leakage current measurement branch. The power supply side is used to provide AC voltage, the distribution network line is used to simulate the electrical operating environment of the distribution line, the load side is used to simulate the actual load of the line, the equivalent branch of the robotic arm is used to simulate the metal structure of the robotic arm and its external insulation structure, and the leakage current measurement branch is used to collect the leakage current generated by the robotic arm under live working conditions.

9. The design method of the insulation protection structure for the 10kV lightweight auxiliary operation robot arm according to claim 8, characterized in that: In the equivalent branch of the robotic arm, the metal structure of the robotic arm is equivalent to a conductive branch, and the insulation structure is equivalent to an insulation impedance. By connecting it to the distribution network line and changing the insulation impedance, the variation law of the robotic arm voltage and leakage current under different insulation structure parameters can be obtained.

10. The design method of the insulation protection structure for the 10kV lightweight auxiliary operation robot arm according to claim 9, characterized in that: The optimization method in step S6 is as follows: using the voltage and leakage current obtained from the simulation as constraints, the geometric parameters of the insulation structure are optimized with objectives including reducing the amount of insulation material and reducing the mass of the robotic arm.

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