A distribution network live working robot with double-arm interchanging structure

Abstract

The application relates to the technical field of electric power robots, and particularly discloses a live-line work robot with a double-arm interchanging structure, which comprises a platform and a mechanical arm arranged on the platform, a rotary table is rotatably arranged on the platform, the mechanical arm and the rotary table are movably connected with the rotary table and the platform respectively through adjusting pieces, the adjusting pieces are moved through hydraulic pressure, a plurality of adjusting pieces are connected in series in the same oil circuit, and the oil circuit acts on the adjusting pieces when liquid flow is performed. Through rotation of the rotary table relative to the platform, the two mechanical arms are synchronously interchanged in left and right positions; through the adjusting pieces corresponding to the mechanical arms, the mechanical arms can independently adjust the facing postures. A plurality of electromagnetic valves are arranged on the oil circuit, and the on-off states of the electromagnetic valves are switched to selectively drive single or multiple adjusting pieces to act. The application can quickly complete position interchanging of the left and right arms without disassembling the mechanical arms, is high in adaptability, simple in operation, compact in structure and high in locking rigidity.

Description

Technical Field

[0001] This invention relates to power work equipment, and more specifically to a live-line working robot for power distribution networks with an interchangeable dual-arm structure. Background Technology

[0002] Currently, live-line working robots for power distribution networks generally adopt a dual-arm structure design. In existing dual-arm live-line working robots, the left and right robotic arms are usually fixedly mounted on the robot platform, and their left and right positions cannot be interchanged. However, in actual live-line working of power distribution networks, different working scenarios and positions have different requirements for the left and right configuration of the robotic arms, such as line routing, working space constraints, and operating angles. The fixed dual-arm configuration is difficult to flexibly adapt to various working scenarios. Existing solutions that allow for left and right interchange require disassembling and assembling the robotic arms or using complex sliding rail movements or lead screw mechanisms to achieve position switching. These solutions are structurally complex, bulky, costly, and difficult to maintain. For example: Fixed left and right positions, poor adaptability: The left and right mechanical arms of the existing dual-arm live-line working robot are in fixed positions, which cannot flexibly adjust the configuration of the left and right arms according to the working scenario. When the working position or route changes, the overall orientation of the robot needs to be readjusted, which affects the working efficiency. The interchangeable structure is complex and bulky: There are strict requirements on the size and weight of the power distribution network live working robot. Some devices that can realize left and right interchange need to rely on complex slide rail movement, lead screw mechanism or multiple drive motors, resulting in a bulky overall structure. High cost: The drive source, high-precision slide rails or lead screws, etc., increase material costs and processing difficulty; Insufficient rigidity and positioning accuracy: An unreasonable design of the interchange mechanism leads to a decrease in the rigidity of the robotic arm or insufficient positioning accuracy after switching. Maintenance difficulties: Both the slide rail and the lead screw require regular maintenance and lubrication, and the complex interchangeable structure makes daily maintenance and parts replacement inconvenient. Summary of the Invention

[0003] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0004] To address the technical problem of difficulty in switching positions between robotic arms in existing technologies, this invention provides the following technical solution: A live-line working robot for power distribution networks with a dual-arm interchangeable structure includes a platform and a robotic arm. A turntable is rotatably mounted on the platform. The robotic arm and the turntable are movably connected to the turntable and the platform respectively through adjusting components. The adjusting components are moved by hydraulic pressure. Multiple adjusting components are connected in series in the same oil circuit. When the oil circuit performs fluid flow action, it acts on multiple adjusting components respectively.

[0005] According to one embodiment of the present invention, the adjusting member includes a lower adjusting member disposed between the platform and the turntable and an upper adjusting member disposed between the turntable and the robotic arm. The robotic arm is rotatably disposed on the turntable via a rotating base, and the upper adjusting member is disposed between the rotating base and the turntable.

[0006] According to one embodiment of the present invention, both the upper adjusting member and the lower adjusting member include an annular oil cylinder, an annular oil cavity is formed inside the oil cylinder, a force-bearing end for isolating the oil cavity is provided inside the oil cavity, two connection ports are provided on the oil cylinder, and the two connection ports are respectively connected to the oil cavity areas on both sides of the force-bearing end, and the oil circuit is connected in series with the oil cavity through the connection ports.

[0007] According to one embodiment of the present invention, the oil circuit is provided with a fluid flow drive source and a plurality of solenoid valves. By switching the on / off state of each of the solenoid valves, the fluid flow drive source can selectively drive one or more of the regulating elements to operate.

[0008] According to one embodiment of the present invention, the oil circuit is composed of at least a plurality of branches, a plurality of solenoid valves are provided, and each of the plurality of branches is controlled to open or close, and the lower adjusting member and the upper adjusting member are respectively provided in different branches.

[0009] According to one embodiment of the present invention, it further includes a pressure booster that acts on the oil circuit, and a support member is provided on the platform. When the support member obtains oil pressure, it supports the rotating seat. Both the pressure booster and the support member are disposed on the oil circuit.

[0010] According to one embodiment of the present invention, the support member includes a cylinder body and a piston rod slidably disposed in the cylinder body. The cylinder body is fixedly connected to the platform and connected in series in the oil circuit. The piston rod extends out under hydraulic pressure and abuts against the bottom of the rotating seat.

[0011] According to one embodiment of the present invention, friction plates are fixedly provided at the end of the piston rod and at the bottom of the rotating seat, and the two friction plates abut against each other when the piston rod is extended.

[0012] According to one embodiment of the present invention, the booster includes a main connecting pipe and a branch pipe cavity communicating with the main connecting pipe. The main connecting pipe is connected in series in the oil circuit. A top plug is slidably disposed in the branch pipe cavity. A drive motor is also disposed on the branch pipe cavity. The output end of the drive motor is threadedly engaged with the top plug to drive the top plug to slide along the branch pipe cavity and apply auxiliary pressure to the oil circuit.

[0013] According to one embodiment of the present invention, an angle sensor is provided at the rotational connection between the turntable and the platform and at the rotational connection between the rotating seat and the turntable, and an electrical signal linkage is established between the angle sensor and the hydraulic flow drive source of the oil circuit.

[0014] The live-line working robot with a dual-arm interchangeable structure provided by this invention has the following beneficial effects: This application utilizes a turntable on a platform to simultaneously support two robotic arms, and employs hydraulically driven adjustment mechanisms to achieve the rotation of the turntable relative to the platform and the independent rotation of each robotic arm relative to the turntable. This allows the two robotic arms to interchange their left and right positions as a whole during the turntable's rotation, while each robotic arm can also independently adjust its orientation and posture. The left and right arm positions can be quickly interchanged without disassembling or assembling any parts, fundamentally solving the problems of difficulty in interchangeping the left and right positions of robotic arms in existing technologies, which require complex mechanisms or disassembly and assembly operations. This significantly improves the adaptability of live-line working robots for power distribution networks to different operating scenarios and line routes.

[0015] This application connects multiple regulating components in series in the same hydraulic circuit, enabling a single hydraulic system to simultaneously serve the motion control of the turntable and multiple robotic arms. The fluid flow in the hydraulic circuit can act on each regulating component to achieve selective actuation of the turntable and / or robotic arms. Compared to existing technologies that configure a drive source or control circuit independently for each actuator, this application significantly reduces the number of hydraulic components and piping complexity, resulting in a more compact structure and facilitating the miniaturization and weight reduction of the entire live-line working robot.

[0016] This application utilizes multiple solenoid valves in the hydraulic circuit, allowing the same hydraulic system to flexibly switch between various operating modes by changing the on / off combinations of these valves. This enables individual adjustment of the turntable, individual adjustment of the robotic arm, or simultaneous adjustment of all three. Operators only need to control the on / off states of the solenoid valves to switch modes, without any disassembly or reconnection of the pipelines, making operation simple and quick. When all solenoid valves are closed, the oil chambers of each adjusting component are simultaneously in a locked, pressure-holding state, achieving instant locking of the current position of the turntable and robotic arm. This eliminates the need for a separate mechanical locking mechanism, further simplifying the overall structure.

[0017] This application also incorporates a pressure booster and a support component connected in series in the hydraulic circuit. Both share the same hydraulic circuit and require no additional power source. The support component, after receiving hydraulic pressure, provides bottom support to the rotating base, effectively enhancing the rotating base's anti-tipping ability and structural rigidity during robotic arm operation. The pressure booster can apply auxiliary pressure to the hydraulic circuit to improve the overall locking rigidity of the system. The combined effect of these two components allows the robotic arm to maintain a stable working posture even under heavy-duty operating conditions, ensuring operational accuracy and safety during live-line work.

[0018] In this application, the rotation adjustment of the turntable and each rotating seat is achieved through hydraulic drive. The process of exchanging positions and adjusting postures of the robotic arms is smooth and shock-free, avoiding equipment damage that may be caused by vibration or mechanical collision during the exchange process. At the same time, compared with the purely mechanical exchange structure, the hydraulic drive method has no friction and wear parts, resulting in a longer maintenance cycle and service life, further reducing the total life cycle maintenance cost of the live-line working robot for power distribution networks. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a structural illustration of an embodiment of the present invention.

[0020] Figure 2 For about Figure 1 A frontal view diagram.

[0021] Figure 3 This is a structural breakdown diagram of multiple upper and lower adjusting components in an embodiment of the present invention.

[0022] Figure 4 This is a cross-sectional view of the internal structure of the lower adjustment component described in an embodiment of the present invention.

[0023] Figure 5 This is a simplified layout diagram of the oil circuit described in an embodiment of the present invention.

[0024] Figure 6 This is a cross-sectional view of the internal structure of the top cylinder described in an embodiment of the present invention.

[0025] Figure 7 This is a cross-sectional view of the internal structure of the pressure booster described in an embodiment of the present invention.

[0026] Figure label: 1. Platform; 2. Turntable; 3. Rotary seat; 4. First robotic arm; 5. Second robotic arm; 6. Lower adjusting component; 7. Upper adjusting component; 8. Hydraulic cylinder; 9. Rotating end; 10. Force-bearing end; 11. Connection port; A. Top cylinder; 12. Cylinder body; 13. Piston rod; 14. Friction plate; 15. Main connecting pipe; 16. Branch pipe cavity; 17. Top plug. Detailed Implementation

[0027] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0028] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0029] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0030] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0031] Example:

[0032] Reference Figures 1 to 7 This invention provides a live-line working robot for power distribution networks with a dual-arm interchangeable structure, including a robot platform 1. A turntable 2 is horizontally rotatable on the platform 1, and rotating seats 3 are horizontally rotatable at both ends of the turntable 2. A first robotic arm 4 and a second robotic arm 5 are respectively mounted on the two rotating seats 3. By rotating the turntable 2 180° relative to the platform 1, the positions of the first robotic arm 4 and the second robotic arm 5 can be interchanged; by rotating the rotating seats 3 relative to the turntable 2, the orientation angle of the corresponding robotic arm can be adjusted to adapt to different working posture requirements.

[0033] like Figures 1 to 4 As shown, the turntable 2 is rotatably mounted on the platform 1 via the lower adjusting member 6, and the rotating seat 3 is rotatably mounted on the turntable 2 via the upper adjusting member 7. The upper adjusting member 7 and the lower adjusting member 6 have the same structural principle. (See below for reference.) Figure 4The following explanation will use the structure of the adjusting component 6 as an example.

[0034] The lower adjusting component 6 includes an annular hydraulic cylinder 8, which is fixedly connected to the platform 1. The rotating end 9 at the bottom of the turntable 2 rotatably engages with the hydraulic cylinder 8, forming an annular oil cavity between them. A protruding force-bearing end 10 is also constructed on the connecting end at the bottom of the turntable 2. This force-bearing end 10 extends into the oil cavity and blocks it, thus dividing the oil cavity into two independent areas. Connection ports 11 are respectively provided on the hydraulic cylinder 8 at the locations corresponding to the two areas. The two connection ports 11 are used to connect the oil cavity in series to an external oil circuit. When hydraulic oil flows through the oil cavity, the flow pushes the force-bearing end 10, thereby driving the turntable 2 to rotate relative to the platform 1. The rotation adjustment of the rotating seat 3 on the turntable 2 is achieved through the upper adjusting component 7, whose structural principle is completely consistent with that of the lower adjusting component 6, and will not be described further here.

[0035] The two upper adjusting components 7 and the lower adjusting component 6 are interconnected via an oil passage. For example... Figure 5 As shown, the oil circuit is also equipped with a fluid drive source (which can be a hydraulic pump) and multiple solenoid valves. The solenoid valves are used to control the on / off state of their respective oil circuit sections. These multiple solenoid valves are referred to as F1, F2, F3, and F4, respectively.

[0036] When it is necessary to adjust the angle of turntable 2 relative to platform 1, control solenoid valves F1 and F4 are turned off, and solenoid valves F2 and F3 are turned on. At this time, when the hydraulic drive source is working, the lower regulating component 6 flows through the first passage in the oil circuit (such as...). Figure 5 (as shown in the middle green segment) and the second pathway (as shown in the middle green segment) Figure 5 (As shown in the orange section) is connected in series with the hydraulic drive source. The hydraulic oil flows through the oil chamber of the lower adjusting component 6, pushing the force-receiving end 10 to drive the turntable 2 to rotate, thereby realizing the angle adjustment of the turntable 2.

[0037] When it is necessary to adjust the angles of the two rotating seats 3 relative to the turntable 2 simultaneously, control solenoid valves F1 and F4 are activated, while solenoid valves F2 and F3 are deactivated. At this time, the two upper adjusting components 7 are connected through the third passage in the oil circuit (such as...). Figure 5 (as shown in the middle blue section) and the fourth pathway (as shown in the middle blue section) Figure 5 (As shown in the pink section) is connected in series with the hydraulic drive source. The hydraulic oil flows through the oil chambers of the two upper adjusting parts 7 at the same time, which pushes the two rotating seats 3 to rotate synchronously, thereby realizing the synchronous adjustment of the angle of the two rotating seats 3.

[0038] When it is necessary to adjust the turntable 2 and the two rotating seats 3 simultaneously, the control solenoid valves F1 and F2 are turned on, while the solenoid valves F3 and F4 are turned off. At this time, when the hydraulic drive source is working, the hydraulic oil flows through the lower adjusting component 6 and the two upper adjusting components 7 simultaneously, realizing the synchronous angle adjustment of the turntable 2 and the two rotating seats 3.

[0039] Once all adjustments are complete, control solenoid valves F1, F2, F3, and F4 are all shut off. At this point, all oil circuit sections are closed, hydraulic oil cannot flow, and the oil chambers of the lower adjusting component 6 and the two upper adjusting components 7 are in a locked and pressure-holding state, thereby simultaneously locking the positions of the turntable 2 and the two rotating seats 3. By switching the solenoid valves, three working modes can be flexibly achieved in the same oil circuit system: adjustment of a single actuator, synchronous adjustment of multiple actuators, and complete locking.

[0040] like Figure 5 and Figure 6 As shown, platform 1 is also equipped with at least two top cylinders A. Top cylinder A includes a cylinder body 12 and a piston rod 13. The cylinder body 12 is fixedly connected to platform 1, and a return spring connects the piston rod 13 to the cylinder body 12. The cylinder body 12 is connected in series in the oil circuit (its specific position in the oil circuit is shown in the figure). Figure 5 (As shown). Under the action of the return spring, the piston rod 13 remains in its initial position within the cylinder 12. Friction plates 14 are fixedly connected to both the end of the piston rod 13 and the bottom of the rotary seat 3. When the turntable 2 rotates to position the first robotic arm 4 and the second robotic arm 5 in their working positions, hydraulic oil in the oil circuit enters the cylinder 12 and pushes the piston rod 13 out. The friction plates 14 on the piston rod 13 press against the lower surface of the friction plates 14 at the bottom of the rotary seat 3, thus providing auxiliary support for the rotary seat 3. After the two piston rods 13 support the two rotary seats 3 respectively, the friction between the friction plates 14 further stabilizes the current position of the turntable 2 and fixes the working positions of the two robotic arms.

[0041] like Figure 5 and Figure 7 As shown, a pressure booster is also connected in series in the oil circuit. The pressure booster includes a main connecting pipe 15 and a branch pipe 16 connected to the main connecting pipe 15. The main connecting pipe 15 is connected in series in the oil circuit, and a top plug 17 is disposed in the branch pipe 16. The top plug 17 can only slide axially within the branch pipe 16. A drive motor is also fixedly installed on the branch pipe 16. The output end of the drive motor is threadedly engaged with the top plug 17 to drive the top plug 17 to slide within the branch pipe 16. When locking is required, the drive motor drives the top plug 17 to slide into the branch pipe 16, compressing the hydraulic oil in the branch pipe 16, thereby applying auxiliary pressure to the entire oil circuit, further pressing the piston rod 13 of the top cylinder A, and simultaneously increasing the holding pressure of the oil chambers of the lower adjusting member 6 and the upper adjusting member 7, thereby further enhancing the locking effect on the turntable 2 and the rotating seat 3. When unlocking is required, the drive motor rotates in the opposite direction, driving the top plug 17 to slide out of the branch pipe 16, and the oil circuit pressure returns to the normal level.

[0042] In this embodiment, rotation angle sensors are installed at the rotational connection points of turntable 2 and platform 1, and at the rotational connection points of rotary seat 3 and turntable 2. The rotation angle sensors establish electrical signal linkage with the hydraulic drive source and multiple solenoid valves F1, F2, F3, and F4. When the operator inputs the target rotation angle through the control terminal, the control system sends start / stop commands to the hydraulic drive source based on the current angle value of turntable 2 or rotary seat 3 fed back in real time by the rotation angle sensors. Simultaneously, it sends on / off commands to each solenoid valve according to preset logic. When the rotation angle sensors detect that turntable 2 or rotary seat 3 has rotated to the preset target angle, they send a position signal to the control system. The control system then sends a stop command to the hydraulic drive source to stop the oil supply and simultaneously sends switching commands to each solenoid valve, causing each solenoid valve to switch to the cut-off state according to a preset program, achieving immediate locking after turntable 2 or rotary seat 3 has rotated to its position. The introduction of angle sensors allows for real-time monitoring and precise control of the rotation angles of turntable 2 and rotary seat 3. When turntable 2 rotates to the target 180° angle that allows the two robotic arms to completely interchange positions, or when rotary seat 3 rotates to the target working posture angle, the control system automatically cuts off the oil circuit and locks the current position. This avoids problems of incomplete or excessive rotation caused by operator visual judgment, ensuring the repeatability and accuracy of the working posture after the robotic arms are interchanged. Simultaneously, through the linkage between the angle sensors and the hydraulic drive source, coordinated control of multiple actuators can be achieved. When it is necessary to synchronously adjust turntable 2 and the two rotary seats 3, the control system can coordinate and control the rotation progress of each actuator based on real-time feedback from each angle sensor, ensuring that all components reach the preset position simultaneously and avoiding interference between robotic arms due to improper sequence.

[0043] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0044] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A live-line working robot for power distribution networks with an interchangeable dual-arm structure, characterized in that: The system includes a platform and a robotic arm. A turntable is rotatably mounted on the platform. The robotic arm and the turntable are movably connected to the turntable and the platform respectively through adjusting components. The adjusting components are moved by hydraulic pressure. Multiple adjusting components are connected in series in the same oil circuit. When the oil circuit performs a fluid flow action, it acts on multiple adjusting components respectively.

2. The live-line working robot with a dual-arm interchangeable structure according to claim 1, characterized in that: The adjusting components include a lower adjusting component disposed between the platform and the turntable, and an upper adjusting component disposed between the turntable and the robotic arm. The robotic arm is rotatably mounted on the turntable via a rotating base, and the upper adjusting component is disposed between the rotating base and the turntable.

3. The live-line working robot with a dual-arm interchangeable structure according to claim 2, characterized in that: Both the upper adjusting member and the lower adjusting member include an annular oil cylinder. An annular oil cavity is formed inside the oil cylinder. A force-bearing end for isolating the oil cavity is provided inside the oil cavity. Two connection ports are opened on the oil cylinder. The two connection ports are respectively connected to the oil cavity areas on both sides of the force-bearing end. The oil circuit is connected in series with the oil cavity through the connection ports.

4. The live-line working robot with a dual-arm interchangeable structure according to claim 1, characterized in that: The oil circuit is equipped with a fluid flow drive source and multiple solenoid valves. By switching the on / off state of each solenoid valve, the fluid flow drive source can selectively drive one or more of the regulating components to operate.

5. The live-line working robot with a dual-arm interchangeable structure according to claim 4, characterized in that: The oil circuit consists of at least multiple branches, and multiple solenoid valves are provided to control the on / off state of multiple branches respectively. The lower adjustment element and the upper adjustment element are respectively provided in different branches.

6. The live-line working robot with a dual-arm interchangeable structure according to claim 1, characterized in that: It also includes a booster that acts on the oil circuit, and a support is provided on the platform. When the support receives oil pressure, it supports the rotating seat. Both the booster and the support are disposed on the oil circuit.

7. The live-line working robot with a dual-arm interchangeable structure according to claim 6, characterized in that: The support includes a cylinder and a piston rod slidably disposed in the cylinder. The cylinder is fixedly connected to the platform and connected in series in the oil circuit. The piston rod extends out under hydraulic pressure and abuts against the bottom of the rotating seat.

8. The live-line working robot with a dual-arm interchangeable structure according to claim 6, characterized in that: Friction plates are fixedly provided at the end of the piston rod and at the bottom of the rotating seat, and the two friction plates abut against each other when the piston rod extends.

9. The live-line working robot with a dual-arm interchangeable structure according to claim 6, characterized in that: The booster includes a main connecting pipe and a branch pipe cavity communicating with the main connecting pipe. The main connecting pipe is connected in series in the oil circuit. A top plug is slidably disposed in the branch pipe cavity. A drive motor is also disposed on the branch pipe cavity. The output end of the drive motor is threadedly engaged with the top plug to drive the top plug to slide along the branch pipe cavity and apply auxiliary pressure to the oil circuit.

10. The live-line working robot with a dual-arm interchangeable structure according to claim 1, characterized in that: Angle sensors are provided at the rotational connection between the turntable and the platform, and at the rotational connection between the rotating seat and the turntable. An electrical signal linkage is established between the angle sensors and the hydraulic flow drive source of the oil circuit.

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