Robot insulating boom truck with liftable support and convenient operation device

Abstract

The application belongs to the technical field of power grid operation and maintenance, and discloses a robot insulated bucket arm vehicle with a liftable support and a convenient operation device, which comprises a carrying vehicle, the top end of the carrying vehicle is fixed with a distribution box, one end of a driving mechanism is provided with an operation platform, and the bottom end of the operation platform is fixed with a welded ladder, the cooperation of the structures such as the gear disc, the sleeve and the first servo motor enables the device to rotate the driving gear on the gear disc through the first servo motor to drive the sleeve to rotate around the gear disc, thereby driving the operation platform to adjust the angle, and the operation platform is stopped at different height positions through the lifting of the elevator driven by the second servo motor, so that the operating personnel get on and off the vehicle after reaching the appropriate height through the operation platform, without relying on additional climbing equipment or repeatedly adjusting the height of the insulated bucket, and finally achieving the effects of realizing multi-angle flexible adjustment of the operation platform, reducing the difficulty of operation preparation and improving the convenience of operation.

Description

Technical Field

[0001] This invention belongs to the field of power grid operation and maintenance technology, specifically a robotic insulated bucket truck with lifting support and convenient operation device. Background Technology

[0002] With the development of live-line working technology, robotic live-line working has become an important means to ensure the safe and stable operation of the power grid and improve the efficiency and intelligence of operation and maintenance. The robotic insulated bucket truck is a key piece of equipment for the State Grid Corporation to carry out robotic live-line working. When working, the insulated bucket carrying the robot is sent to the high working position through the hydraulic boom. The operator on the ground controls the movement of the boom through the operating platform or remote control device, and the robot completes the live-line maintenance, tool installation and other operations. In actual operation, the installation and replacement of end tools and battery charging of existing insulated bucket trucks still require repeated manual operation. The operation preparation process is cumbersome and restricts the overall efficiency of robotic live-line working.

[0003] CN219217478U discloses an insulated bucket truck, including a vehicle body with a turntable that can rotate around a vertical axis. An insulated telescopic arm is hinged to the turntable around a horizontal axis. A counterweight is movably disposed on the side of the hinge point of the insulated telescopic arm opposite to the telescopic end of the arm. The counterweight is equipped with a drive mechanism that can drive the counterweight to move closer to and further away from the hinge point in the vertical plane where the insulated telescopic arm is located to adjust the lever arm of the counterweight. In this way, the positional change of the counterweight adapts to the change of the center of gravity of the insulated telescopic arm during operation, thus solving the technical problem of poor safety of insulated bucket trucks in the prior art.

[0004] The device can warn operators to avoid exceeding the limits of operation through operation indicator lights. However, it cannot solve the problems of repeated adjustment of the insulated bucket to the ground when installing the robot end tool, easy loss of tools due to improper storage, and the need to disassemble and move the battery to the ground for charging. Therefore, a robot insulated bucket truck with lifting support and convenient operation device is proposed. It can realize convenient installation of end tools, standardized storage of tools and charging in the battery bucket through lifting mechanism and tool fixing device, thereby reducing the preparation time for operation. Summary of the Invention

[0005] To address the problems mentioned in the background art, the present invention provides a robotic insulated bucket truck with liftable support and convenient operation device.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a robotic insulated bucket truck equipped with a liftable support and convenient operation device, comprising a loading vehicle, an electrical distribution box fixed to the top of the loading vehicle, a bucket wall body fixed to the top of the loading vehicle, an insulated bucket body fixed to one end of the bucket wall body, a robot body fixed to the top of the insulated bucket body, a tool fixing frame fixed to the outside of the robot body, a drive mechanism fixed to the top of the loading vehicle, an operating platform mounted on one end of the drive mechanism, and a welding ladder fixed to the bottom of the operating platform; The drive mechanism includes a gear plate, a sleeve, and a first servo motor. The gear plate is fixed to the top of the loading vehicle, the sleeve is rotatably connected to the top of the gear plate, and the first servo motor is fixed to the outside of the sleeve.

[0007] Preferably, a drive gear is fixed to the drive end of the first servo motor, a power distribution control box is fixed to one end of the sleeve, a motor frame is fixed to one end of the sleeve, a second servo motor is fixed inside the motor frame, and a lifting mechanism is installed at one end of the motor frame. The rotation drive of the sleeve is realized through the drive gear, and the second servo motor drives the lifting mechanism to realize lifting control. The power distribution control box centrally manages each motor, and each component is integrated on the motor frame for easy installation and maintenance.

[0008] Preferably, the gear plate is meshed with the drive gear, the drive end of the second servo motor is connected to the input end of the elevator, and the extension end of the elevator is fixedly connected to the operating platform. The stability and positioning accuracy of the sleeve rotation process are ensured by gear meshing transmission. The elevator directly drives the operating platform to rise and fall, so that the operating platform can stop at different angles and heights.

[0009] Preferably, the tool holder has several slots inside, which are evenly distributed on one side of the tool holder. The inner wall of each slot is fixed with a magnetic fixing device. The tool is classified and stored by the slots, and the tool is fixed by the magnetic fixing device, which prevents the tool from shaking and falling off when the vehicle is moving or when working at height. The operator can directly pick up and put the tool back in place at the operating position.

[0010] Preferably, the operating platform is fixed with a guardrail, a guardrail gate is installed on one side of the guardrail, and an extension step plate is hinged to one side of the operating platform. The guardrail provides protection for the workers, the guardrail gate facilitates the entry and exit of the workers from the welding ladder, and the extension step plate assists the workers in smoothly transitioning from the welding ladder to the operating platform, thereby expanding the standing operating range.

[0011] Preferably, the bottom of the elevator is fixed with a base support, and an electric button is installed on the base support. The electric button is used to control the lifting and lowering movement of the elevator. The base support provides an installation foundation for the elevator, and the electric button allows the operator to directly control the lifting and lowering of the elevator from the operating platform without the need for other control equipment.

[0012] Preferably, a charging interface is installed on the inner wall of the insulating bucket body, and the charging interface is electrically connected to the power distribution box. A charging cable through hole is opened on one side of the insulating bucket body, so that the robot body can be charged directly inside the bucket through the charging interface without removing and carrying the battery to the ground. The charging cable through hole allows the charging line to pass through the insulating bucket body in an orderly manner.

[0013] Preferably, the top of the loading vehicle is provided with a plurality of pad mounting slots, which are symmetrically distributed on both sides of the loading vehicle. By placing pads in the pad mounting slots, the contact area between the loading vehicle and the ground is increased, thereby improving the support stability of the vehicle body during boom extension and robot operation and preventing the vehicle body from tilting.

[0014] Preferably, the bottom of the welding ladder is fixed with an anti-slip pad, and the top of the welding ladder is hinged to the loading vehicle. The anti-slip pad increases the friction between the welding ladder and the ground, preventing slippage during climbing. The hinged structure allows the welding ladder to be folded up when not in use, reducing the space it occupies.

[0015] Preferably, a pin is fixed on one side of the guardrail gate, and a hole adapted to the pin is opened on one side of the guardrail. A support rod is fixed at the bottom end of the extension step plate, and a locking nut is fixed at the extension end of the support rod. The guardrail gate is locked by inserting the pin into the hole to prevent the guardrail gate from being opened accidentally during operation. The extension step plate is supported by the support rod, and the height of the support rod is adjusted and fixed by the locking nut.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention, through the coordinated structure of a geared disc, a sleeve, and a first servo motor, enables the device to drive a drive gear to rotate on the geared disc via the first servo motor, causing the sleeve to rotate around the geared disc, thereby adjusting the angle of the operating platform. Simultaneously, a second servo motor drives a lifting mechanism to raise and lower the operating platform, allowing it to stop at different heights. Workers can then access the vehicle by reaching a suitable height on the operating platform, or lower the platform to a low position for operation when installing end-effectors on the robot. This eliminates the need for additional climbing equipment or repeated adjustments to the height of the insulated bucket, ultimately achieving the effects of flexible multi-angle adjustment of the operating platform, reducing the difficulty of work preparation, and improving the convenience of operation.

[0017] This invention, through the combination of a tool holder, slots, and magnetic fixing devices, enables the device to classify and store robot end-effector tools during the operation of a robotic insulated bucket truck. The evenly distributed slots on the tool holder and the magnetic fixing devices secure the tools within the slots, preventing them from shaking or falling during vehicle movement or high-altitude operations. When changing end-effector tools, operators no longer need to repeatedly adjust the insulated bucket to the ground; they can directly retrieve and return the tools at the work position using the tool holder. This standardizes tool storage, reduces the risk of tool loss and damage, and ultimately improves tool replacement efficiency, ensures tool storage safety, and reduces work preparation time. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the operator's onboard state structure according to the present invention; Figure 2 This is a schematic diagram of the walking state structure of the present invention; Figure 3 This is a schematic diagram of the isometric structure of the present invention in its walking state; Figure 4 This is a schematic diagram of the battery installation state structure of the present invention; Figure 5 For the present invention Figure 4 Enlarged cross-sectional view of point A in the middle section; Figure 6 This is a schematic diagram of the installation end tool state structure of the present invention; Figure 7 For the present invention Figure 6 Enlarged cross-sectional view of section B in the middle section; Figure 8 For the present invention Figure 7 Enlarged cross-sectional view of section C.

[0019] In the diagram: 1. Loading vehicle; 2. Power distribution box; 3. Bucket wall body; 4. Insulated bucket body; 5. Robot body; 6. Tool holder; 7. Drive mechanism; 701. Gear; 702. Sleeve; 703. First servo motor; 704. Drive gear; 705. Power distribution control box; 706. Motor frame; 707. Second servo motor; 708. Elevator; 8. Operating platform; 9. Welding ladder. Detailed Implementation

[0020] 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 only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] like Figures 1 to 8 As shown, the present invention provides a robotic insulated bucket truck with a liftable support and convenient operation device, including a loading vehicle 1, a power distribution box 2 fixed to the top of the loading vehicle 1, a bucket wall body 3 fixed to the top of the loading vehicle 1, an insulated bucket body 4 fixed to one end of the bucket wall body 3, a robot body 5 fixed to the top of the insulated bucket body 4, a tool fixing frame 6 fixed to the outside of the robot body 5, a drive mechanism 7 fixed to the top of the loading vehicle 1, an operating platform 8 installed at one end of the drive mechanism 7, a welding ladder 9 fixed to the bottom of the operating platform 8, and a plurality of slots evenly distributed on one side of the tool fixing frame 6, with magnetic fasteners fixed to the inner wall of the slots. The device includes a fixed device, an operating platform 8 with a guardrail fixed to the outside, a guardrail door installed on one side of the guardrail, an extension step plate hinged to one side of the operating platform 8, a charging interface installed on the inner wall of the insulating bucket body 4, the charging interface being electrically connected to the distribution box 2, a charging cable through hole on one side of the insulating bucket body 4, several pad mounting slots symmetrically distributed on both sides of the loading vehicle 1 at the top, anti-slip pads fixed at the bottom of the welding ladder 9, the top of the welding ladder 9 being hinged to the loading vehicle 1, a pin fixed to one side of the guardrail door, a socket adapted to the pin on one side of the guardrail, a support rod fixed to the bottom of the extension step plate, and a locking nut fixed to the extension end of the support rod.

[0022] like Figures 1 to 8 As shown, the drive mechanism 7 includes a gear 701, a sleeve 702, and a first servo motor 703. The gear 701 is fixed to the top of the loading vehicle 1, and the sleeve 702 is rotatably connected to the top of the gear 701. The first servo motor 703 is fixed to the outside of the sleeve 702, and a drive gear 704 is fixed to the drive end of the first servo motor 703. A power distribution control box 705 is fixed to one end of the sleeve 702, and a motor frame 706 is fixed to one end of the sleeve 702. A second servo motor 707 is fixed inside the motor frame 706, and a lift 708 is installed at one end of the motor frame 706. The gear 701 is meshed with the drive gear 704, the drive end of the second servo motor 707 is connected to the input end of the lift 708, the extension end of the lift 708 is fixedly connected to the operating platform 8, and a base is fixed to the bottom of the lift 708. An electric button is installed on the base, and the electric button is used to control the lifting movement of the lift 708.

[0023] The above scheme is adopted as follows: The first servo motor 703 starts, driving the drive gear 704 to rotate, causing the drive gear 704 to rotate on the gear disk 701. This, in turn, drives the sleeve 702 to rotate around the gear disk 701, thereby adjusting the angle and position of the operating platform 8 and the lifting platform 708 through the sleeve 702. When the height of the operating platform 8 needs to be adjusted, the second servo motor 707 drives the lifting platform 708 to extend or retract, raising the operating platform 8 to the required height or lowering it to a lower position. Workers climb onto the operating platform 8 via the welding ladder 9, with safety ensured by guardrails and guardrail gates. Extended step plates assist in moving up and down. When the robot body 5 needs to change the end effector... The operating platform 8 is lowered to a low position by the lifting platform 708. The operator takes out the required tools from the slots of the tool holder 6. The magnetic fixing device ensures that the tools will not fall off during storage. The tools are then installed on the robot body 5. When the robot body 5 needs to be charged, the charging interface on the inner wall of the insulated bucket body 4 is electrically connected to the power distribution box 2. The charging cable is passed through the charging cable hole to charge the robot body 5. When it is necessary to increase the support stability of the loading vehicle 1, a pad is placed in the pad mounting slot. Ultimately, this achieves multi-angle adjustment and lifting control of the operating platform, convenient storage and retrieval of tools, and charging inside the robot bucket.

[0024] The working principle and usage process of this invention are as follows: When it is necessary to perform live-line work on the robot, the loading vehicle 1 is first driven to the work site. Based on the ground conditions at the site, it is determined whether it is necessary to increase the support area of ​​the vehicle body. A pad is placed in the pad mounting slot at the top of the loading vehicle 1. The pad mounting slots are symmetrically distributed on both sides of the loading vehicle 1. By placing the pad, the contact area between the vehicle body and the ground is increased, thereby improving the stability of the vehicle body during the operation and preventing the vehicle body from tilting when the boom extends and the robot is working.

[0025] After completing the on-site preparations, the operators inspected the robot end-effector tools stored on the tool holder 6. The tool holder 6 has several slots inside, evenly distributed on one side. The inner wall of the slots is fixed with a magnetic fixing device. Different sizes of end-effector tools are placed into their corresponding slots and secured by the magnetic fixing device to prevent the tools from shaking or falling out of the slots due to bumps during vehicle movement. After confirming that the tools are complete and securely fixed, the operators checked whether the charging interface on the inner wall of the insulated bucket body 4 is electrically connected to the power distribution box 2 and confirmed that the charging line is unobstructed.

[0026] When workers need to ascend the operating platform 8, they climb using the welding ladder 9. The bottom of the welding ladder 9 is fixed with anti-slip pads, which provide friction when in contact with the ground to prevent slippage during climbing. The top of the welding ladder 9 is hinged to the loading vehicle 1. After climbing to the operating platform 8, workers are protected by the external guardrail. The guardrail gate is closed, and the latch is inserted into the hole on the guardrail to lock it, preventing accidental falls while working on the operating platform 8. Workers can adjust their standing position on the operating platform 8 using the extension step. The bottom of the extension step is supported by a support rod, and the height of the support rod is fixed by tightening the locking nut.

[0027] After the operator arrives at the operating platform 8, they start the first servo motor 703 through the power distribution control box 705. The drive end of the first servo motor 703 drives the drive gear 704 to rotate. Since the drive gear 704 is meshed with the gear plate 701, when the drive gear 704 rotates on the gear plate 701, it drives the sleeve 702 to rotate around the axis of the gear plate 701. The rotation of the sleeve 702 drives the motor frame 706, the elevator 708 and the operating platform 8, which are fixed on the sleeve 702, to rotate synchronously, thereby adjusting the operating platform 8 to the required angle and direction. The first servo motor 703 is fixed to the outside of the sleeve 702 and rotates with the sleeve 702. The power distribution box 2 provides power to the first servo motor 703 and controls the rotation angle and speed of the first servo motor 703 through the power distribution control box 705.

[0028] When the operating platform 8 needs to be raised to different heights, the lifting platform 708 is driven to extend or retract by the second servo motor 707. The second servo motor 707 is fixed inside the motor frame 706. The drive end of the second servo motor 707 is connected to the input end of the lifting platform 708. The extension end of the lifting platform 708 is fixedly connected to the operating platform 8. After the second servo motor 707 is started, it drives the lifting platform 708 to extend or retract, thereby raising the operating platform 8 to a high working position or lowering it to a low position to facilitate personnel access and tool installation. The bottom of the lifting platform 708 is fixed with a base support, and an electric button is installed on the base support. The operator can control the lifting movement of the lifting platform 708 by pressing the electric button, and the lifting height can be directly controlled on the operating platform 8.

[0029] When the robot body 5 needs to change the end effector during operation, the lifting platform 8 is lowered to the lowest position by controlling the lifting mechanism 708 via the electric button. The operator takes out the required end effector from the slot of the tool holder 6. The magnetic fixing device releases its attraction when the tool is taken out. The operator then installs the removed end effector onto the robot body 5. After installation, the old tool is put back into the slot of the tool holder 6 and reattached by the magnetic fixing device. During the entire tool replacement process, there is no need to adjust the insulated bucket to the ground. The operator can complete the tool retrieval and return to its original position on the operating platform 8.

[0030] When the battery power of the robot body 5 is low and needs to be charged, there is no need to remove the battery and move it to the ground. The robot body 5 can be charged directly through the charging interface installed on the inner wall of the insulated bucket body 4. The charging interface is electrically connected to the power distribution box 2, which provides power to the charging interface. The charging cable is passed through the charging cable hole opened on one side of the insulated bucket body 4 and connected to the robot body 5. The charging process can be completed inside the bucket. When the charging interface inside the bucket malfunctions or a backup charging is needed, charging is carried out through the backup charging interface at the rear of the vehicle. The setting of the charging cable hole ensures that the charging line passes through in an orderly manner and avoids interference between the line and the structure of the insulated bucket body 4.

[0031] After the work is completed, the operator lowers the operating platform 8 to the low position by controlling the elevator 708 with the electric button. The operator then descends from the operating platform 8 to the ground via the welding ladder 9, pulls the latch of the guardrail door out of the socket, opens the guardrail door, retracts the extension step plate, and rotates the sleeve 702 and the operating platform 8 back to the initial position via the first servo motor 703. The operator then removes the pad from the pad mounting slot, retracts the welding ladder 9, and confirms that all tools have been returned to the slots of the tool fixing frame 6 and are securely fixed. Finally, the operator drives the loading vehicle 1 back.

[0032] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0033] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic insulated bucket truck equipped with a liftable support and convenient operation device, including a loading vehicle (1), characterized in that: A power distribution box (2) is fixed to the top of the loading vehicle (1), a bucket wall body (3) is fixed to the top of the loading vehicle (1), an insulated bucket body (4) is fixed to one end of the bucket wall body (3), a robot body (5) is fixed to the top of the insulated bucket body (4), a tool fixing frame (6) is fixed to the outside of the robot body (5), a drive mechanism (7) is fixed to the top of the loading vehicle (1), an operating platform (8) is installed at one end of the drive mechanism (7), and a welding ladder (9) is fixed to the bottom of the operating platform (8). The drive mechanism (7) includes a gear plate (701), a sleeve (702) and a first servo motor (703). The gear plate (701) is fixed to the top of the loading vehicle (1), the sleeve (702) is rotatably connected to the top of the gear plate (701), and the first servo motor (703) is fixed to the outside of the sleeve (702).

2. The robotic insulated bucket truck with a liftable support and convenient operation device according to claim 1, characterized in that: The first servo motor (703) has a drive gear (704) fixed at its drive end. A power distribution control box (705) is fixed at one end of the sleeve (702). A motor frame (706) is fixed at one end of the sleeve (702). A second servo motor (707) is fixed inside the motor frame (706). A lift (708) is installed at one end of the motor frame (706).

3. The robotic insulated bucket truck with a liftable support and convenient operation device according to claim 2, characterized in that: The gear plate (701) is meshed with the drive gear (704), the drive end of the second servo motor (707) is connected to the input end of the elevator (708), and the extension end of the elevator (708) is fixedly connected to the operating platform (8).

4. The robotic insulated bucket truck with a liftable support and convenient operation device according to claim 1, characterized in that: The tool holder (6) has several slots inside, which are evenly distributed on one side of the tool holder (6). The inner wall of the slots is fixed with a magnetic fixing device.

5. The robotic insulated bucket truck with a liftable support and convenient operation device according to claim 1, characterized in that: The operating platform (8) is fixed with a guardrail on the outside, a guardrail door is installed on one side of the guardrail, and an extension step plate is hinged to one side of the operating platform (8).

6. The robotic insulated bucket truck with a liftable support and convenient operation device according to claim 2, characterized in that: The bottom end of the elevator (708) is fixed with a base support, and an electric button is installed on the base support. The electric button is used to control the lifting and lowering movement of the elevator (708).

7. The robotic insulated bucket truck with a liftable support and convenient operation device according to claim 1, characterized in that: The inner wall of the insulating bucket body (4) is equipped with a charging interface, which is electrically connected to the power distribution box (2). A charging cable through hole is provided on one side of the insulating bucket body (4).

8. The robotic insulated bucket truck with a liftable support and convenient operation device according to claim 1, characterized in that: The top of the loading vehicle (1) is provided with several pad mounting slots, which are symmetrically distributed on both sides of the loading vehicle (1).

9. The robotic insulated bucket truck with a liftable support and convenient operation device according to claim 1, characterized in that: The bottom of the welding ladder (9) is fixed with anti-slip pads, and the top of the welding ladder (9) is hinged to the loading vehicle (1).

10. The robotic insulated bucket truck with a liftable support and convenient operation device according to claim 5, characterized in that: A pin is fixed on one side of the guardrail gate, and a hole adapted to the pin is opened on one side of the guardrail. A support rod is fixed at the bottom end of the extension step plate, and a locking nut is fixed at the extension end of the support rod.

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