CN106451224A - Method for replacing metal oxide arrester of live working robot - Google Patents
Method for replacing metal oxide arrester of live working robot Download PDFInfo
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- CN106451224A CN106451224A CN201611155219.4A CN201611155219A CN106451224A CN 106451224 A CN106451224 A CN 106451224A CN 201611155219 A CN201611155219 A CN 201611155219A CN 106451224 A CN106451224 A CN 106451224A
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- mechanical arm
- arm
- metal oxide
- lead
- bolt
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a method for replacing a metal oxide arrester of a live working robot. The live working robot comprises mechanical arms, wherein the mechanical arms are arranged on a robot platform and comprises a first mechanical arm, a second mechanical arm and an auxiliary mechanical arm; the first mechanical arm, the second mechanical arm and the auxiliary mechanical arm respond to control data to complete replacement of the metal oxide arrester; the control data are expected angle values of movement of joints of different mechanical arms; in rock operation, the expected angle values are obtained by solving different joint angle variation data of a main operator by a data processing and control system; in automatic operation, spatial routes of the mechanical arms are planned by the data processing and control system by using a Cartesian space route planning method, and the expected angle values of movement of the joints of mechanical arms can be solved. By adopting the method, the metal arrester can be replaced by using the mechanical arms of the live working robot under conditions of power supply and no load.
Description
Technical field
The invention belongs to technical field of electric power, and in particular to a kind of hot line robot metal oxide arrester is changed
Method.
Background technology
Metal oxide arrester is widely used in current power system electric line, becomes excessively electric in power system
The capital equipment of pressure protection.
With the longtime running of power distribution network, metal oxide arrester is likely to occur nut loosening, and insulator ruptures, rubber ring
Aging variety of problems, needs to change.Generally way is to have a power failure to change, if power failure area is larger, can cause an immeasurable loss,
Have a strong impact on economic benefit and the social benefit of power supply enterprise.Vast research worker is also in actively research live-line replacing now
The method of metal oxide arrester.But artificial replacing and maintenance, operating personnel will in operation near electrification in high voltage circuit,
With certain potential safety hazard.
In distribution line, live-line replacing metal oxide arrester mainly adopts insulating glove working system, insulating glove
In working system, a complete set of insulating protection apparatus of operating personnel's wearing, carries out livewire work by insulating glove.Also needing to can to human body
The electrical body that can touch and grounding body carry out insulation masking.Electric arc is often produced in Renewal process, easily operating personnel is made
Become to burn；Need in Renewal process upper and lower lead is disconnected, also have the danger of electric shock；Operating personnel is in insulation bucket arm
Operation on insulation bucket on car, has the risk of high falling；In operation process, may be due to the error of manual operation, visitor
In sight, alternate lead spacing is little, is likely to result in phase fault event, gives people people's property, and personal safety threatens.
Content of the invention
Present invention solves the technical problem that being to propose a kind of hot line robot metal oxide arrester replacing side
Method, the method can be in not power-off, not in the case of on-load by the mechanical arm of hot line robot to 10kv distribution wire
Metal oxide arrester in road is changed automatically, reduce that little operating personnel faced dangerous while, simplify
Job step, improves working performance.
In order to solve above-mentioned technical problem, the present invention provides a kind of hot line robot metal oxide arrester and changes
Method, hot line robot has the mechanical arm being arranged on robot platform, including first mechanical arm, second mechanical arm
And auxiliary mechanical arm, first mechanical arm, second mechanical arm and auxiliary mechanical arm complete following work in response to control data：
Clamping device is installed in first mechanical arm, second mechanical arm and auxiliary mechanical arm end, is hidden with clamping device clamping insulation
Covering material carries out insulation masking to the electrical body of labelling；Then first mechanical arm and second mechanical arm end change the outfit bolt disassembly work
Tool；
Auxiliary mechanical arm clamp leads fixing device moves to cross-arm nearby and by the fixing hole of wire fixture and cross-arm
Intrinsic fixing hole alignment；First mechanical arm and second mechanical arm are installed using bolt disassembly instrument and fix dress for anchor leg
The bolt that puts, anchor leg fixing device is fixed on cross-arm；
The upper lead of auxiliary mechanical arm clamping, first mechanical arm and second mechanical arm remove metal-oxide using bolt disassembly instrument
The bolt of upper lead is fixed on spark gap, and then auxiliary mechanical arm moves to the upper lead for disassembling on wire fixture
Near the fixing hole at end；First mechanical arm and second mechanical arm install the spiral shell for fixing upper lead using bolt disassembly instrument
Bolt, upper lead is fixed on the upper end of wire fixture；
Auxiliary mechanical arm stops the upper lead of clamping, and moves to lower lead and nearby lower lead is clamped；First mechanical arm and
Second mechanical arm removes the bolt of fixing lower lead on metal oxide arrester using bolt disassembly instrument, then Aided Machine
Arm moves to the lower lead for disassembling near the fixing hole of wire fixture lower end；First mechanical arm and second mechanical arm
Using bolt disassembly instrument, the bolt for fixing lower lead is installed, lower lead is fixed on the lower end of wire fixture；
Auxiliary mechanical arm stops the lower lead of clamping, and moves near metal oxide arrester to enter metal oxide arrester
Row clamping；First mechanical arm and second mechanical arm are removed for fixing metal oxide spark gap and horizontal stroke using bolt disassembly instrument
The bolt of load；After disassembling bolts, auxiliary mechanical arm is moved to metal oxide arrester on robot platform and places；
The new metal oxide arrester of auxiliary mechanical arm clamping, new metal oxide arrester is moved near cross-arm；
First mechanical arm and second mechanical arm install the bolt for fixing fuse switch and cross-arm using bolt disassembly instrument, will
Fuse switch is fixed with cross-arm；
Auxiliary mechanical arm stops clamping metal oxide arrester, then is clamped to the lower lead on wire fixture；
First mechanical arm and second mechanical arm remove the bolt for fixing upper lead using bolt disassembly instrument, by lower lead from lead
Remove in fixing device；Lower lead is moved near the installing hole of metal oxide arrester lower end by auxiliary mechanical arm, the
One mechanical arm and second mechanical arm install the bolt for fixing lower lead using bolt disassembly instrument, and lower lead is fixed on gold
Category Oxide Arrester lower end；
Auxiliary mechanical arm stops the lower lead of clamping, then is clamped to the upper lead on wire fixture；First mechanical arm
Remove the bolt that lead is gone up for fixation using bolt disassembly instrument with second mechanical arm, by upper lead from wire fixture
Remove；Upper lead is moved to the installing hole near metal oxide arrester upper end by auxiliary mechanical arm, first mechanical arm with
Second mechanical arm installs the bolt for fixing upper lead using bolt disassembly instrument, upper lead is fixed on metal-oxide and is kept away
Thunder device upper end；
The upper lead of auxiliary mechanical arm stopping clamping, then clamp leads fixing device；First mechanical arm and second mechanical arm are used
Bolt disassembly instrument is removed for anchor leg fixing device and the bolt of cross-arm, and wire fixture is pulled down from cross-arm
Come；Wire fixture is put back to tool box special on robot platform by auxiliary mechanical arm；
First mechanical arm and second mechanical arm change the outfit clamping device, and the insulation for being covered on electrical body using clamping device clamping is hidden
Material is covered, removes insulation masking material；
First mechanical arm, or second mechanical arm, or the active module of auxiliary mechanical arm promotion fuse switch, so as to close
Upper fuse switch.
Further, the control data is the angle expected value of each joint of mechanical arm motion, and the angle expected value is by powered
Work robot data processing and control system change number according to each joint angles of the in-car main manipulator of insulation bucket arm are arranged at
Obtain according to resolving；Main manipulator includes the first main manipulator, the second main manipulator and auxiliary main manipulator；First main manipulator,
Second main manipulator and auxiliary main manipulator are corresponding with first mechanical arm, second mechanical arm and auxiliary mechanical arm respectively, constitute master
From operative relationship.
Further, the control data is the angle expected value of each joint of mechanical arm motion；Hot line robot data
PIAPACS according to relative position and the job task action sequence of each mechanical arm and manipulating object, using Descartes
Space path planing method cooks up the space path of each mechanical arm, then calculates each joint of mechanical arm fortune according to space path
Dynamic angle expected value.
Further, the insulation masking material is insulating sheath or epoxy glass fabric.
Further, the wire fixture includes body, be arranged on body centre position for fixing with cross-arm
Fixing hole, and it is arranged on the fixing hole for fixing above lead and lower lead of body upper and lower ends.
Further, the metal oxide arrester is placed in the tool box special being moved on robot platform.
Compared with prior art, its remarkable advantage is the present invention, due to changing automatically gold using hot line robot
Category Oxide Arrester, improves working performance and accuracy, it is to avoid the possibility of human error, can reduce to a certain extent
The probability that accident occurs；The negative effect that line outage brings largely is avoided, power off time is greatly reduced, carry
High power supply reliability；While reduce the danger faced by little operating personnel, when need not consider that electric arc is produced to human body burn with
And the problems such as Danger Electric shock risk, falling from high altitude, substantially increase the safety in operation process.
Description of the drawings
Fig. 1 is hot line robot overall structure diagram of the present invention；
Fig. 2 is the structural representation of robot platform in the present invention；
Fig. 3 is the method for the invention flow chart；
Fig. 4 is the wire fixture structural representation used in the present invention；
Fig. 5 is hot line robot charged for replacement metal oxide arrester working environment schematic diagram of the present invention.
Specific embodiment
Easy to understand, according to technical scheme, in the case of the connotation of the present invention is not changed, this area
Those skilled in the art can imagine multiple realities of hot line robot metal oxide arrester replacing options of the present invention
Apply mode.Therefore, detailed description below and accompanying drawing are only the exemplary illustrations to technical scheme, and should not
It is considered as the whole of the present invention or is considered as the restriction to technical solution of the present invention or restriction.
In conjunction with accompanying drawing, hot line robot includes aerial lift device with insulated arm 1, control room 2, telescopic arm 3, robot platform 4.Its
In, set up control room 2 and telescopic arm 3 on aerial lift device with insulated arm 1,3 end of telescopic arm connects robot platform 4, robot platform 4 with
Using fiber optic Ethernet communication or wireless communication between control room 2.
Aerial lift device with insulated arm 1 is available for operator's driving, so as to robot platform 4 is transported operation field.Insulation bucket arm
Supporting leg is housed on car 1, supporting leg can launch, so as to support firm to aerial lift device with insulated arm 1 and ground.On aerial lift device with insulated arm 1
Equipped with electromotor, so as to power to control room 2 and telescopic arm 3.
Telescopic arm 3 is provided with the driving means along telescopic direction, and operator can be by controlling driving means, so as to by machine
Device people platform 4 is elevated to operation height.The telescopic arm 3 is made up of insulant, for realizing robot platform 4 and control room 2
Insulation.In the present invention, telescopic arm 3 can have and be replaced by scissor-type lifting mechanism or other mechanisms.
Data processing and control system and display screen, the first main manipulator, the second main operation is provided with control room 2
Handss, auxiliary main manipulator and communication module etc..
Robot platform 4 includes insulator 46, first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42, the first work
Control machine 48, binocular camera 45, full-view camera 41, depth camera 410, accumulator 49, tool box special 47, communication mould
Block.
The insulator 46 of robot platform 4 is used for supporting first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42,
The shell of these three mechanical arms is insulated with robot platform 4.
Accumulator 49 is the first industrial computer 48, first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42, panorama are taken the photograph
As 41, binocular camera 45, depth camera 410, communication module are powered.
Tool box special 47 is the place for placing the power tools such as gripping apparatus, spanner.Mechanical arm tail end is provided with instrument quick change
Device.Mechanical arm obtains power tool according to the type of job task to instrument fast replacing device used in tool box special 47.
In control room 2, the first main manipulator, the second main manipulator and auxiliary main manipulator are a kind of for artificial long-range
The operation device of operating robotic arm, they constitute principal and subordinate behaviour with first mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42
Make relation.Mechanical arm and main manipulator have identical structure, and simply main manipulator dimensions is less than mechanical arm, in order to grasp
Make human users.Mechanical arm and main manipulator have six joints, and there are photoelectric encoder acquisition angles data in each joint, respectively
The angle-data in six joints is sent to the second industrial computer by serial ports by the microcontroller of main manipulator.
Data transfer between robot platform 4 and control room 2 passes through optical fiber wire transmission, or uses wireless network transmissions.
Communication module on robot platform 4 is fiber optical transceiver, and fiber optical transceiver is used for realizing the optical signal in optical fiber and twisted-pair feeder
In the signal of telecommunication mutual conversion, so as to realize the electrical isolation of robot platform 4 and control room 2 in communication.In control room 2
Communication module be fiber optical transceiver, fiber optical transceiver is used for realizing the phase of the signal of telecommunication in optical signal in optical fiber and twisted-pair feeder
Mutually change, so as to realize the electrical isolation of robot platform 4 and control room 2 in communication.
Hot line robot of the present invention both can remotely be shaken operation to complete livewire work by operating personnel, again may be used
To carry out autonomous livewire work.
The process that hot line robot changes fuse switch is as follows：
Before metal oxide arrester 120 is changed, operating personnel first carries out the operation of hot line robot and prepares, and checks
Meteorological condition, verification shaft tower number, arrangement are live, arrange safety barrier, working signal and related warning mark in working site,
Surface insulation resistance detection is carried out to the insulating tool that uses using Insulation Resistance Tester, resistance is not less than 700 megaohms.By
Aerial lift device with insulated arm driver sails aerial lift device with insulated arm 1 into shaft tower 100 neighbouring position and arranges scene.Job position is specially and waits to make
The neighbouring position of industry shaft tower 100 simultaneously avoids nearby electric lines of force and barrier, it is to avoid be parked on raceway groove cover plate, aerial lift device with insulated arm 1
Supporting leg order is first to stretch out horizontal support legs, then stretches out vertical leg, supports to place rear vehicle all around in level.
After aerial lift device with insulated arm arrangement is appropriate, hot line robot, capturing panoramic view image is opened.Operator are according to aobvious
Show the real scene image that device shows, robot platform 4 is moved to fuse switch job position by control telescopic arm 3.Operator
The real scene image that member is returned according to binocular camera on mechanical arm 45 is to the electrical body in job area in the insulating safety distances
It is marked.
First mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42 complete following work in response to control data：
Clamping device is installed in first mechanical arm 43, second mechanical arm 44 and 42 end of auxiliary mechanical arm, is clamped with clamping device
Insulation masking material carries out insulation masking to the electrical body of labelling.Insulation masking material such as insulating sheath, epoxy glass fabric etc..Auxiliary
42 clamp leads fixing device 190 of mechanical arm is helped to move to cross-arm 103 nearby and by the fixing hole of wire fixture 190 and horizontal stroke
Intrinsic fixing hole alignment in load 103；Change the outfit bolt disassembly instrument in first mechanical arm 43 and 44 end of second mechanical arm, first
Mechanical arm 43 and second mechanical arm 44 install the bolt for anchor leg fixing device 190 using bolt disassembly instrument, will be solid
Determine wire fixture 190 to be fixed on cross-arm 103；The wire fixture includes body, is arranged on body centre position
For the fixing hole fixed with cross-arm, and the fixation for fixing upper lead and lower lead for being arranged on body upper and lower ends
Hole.Perforate on wire fixture meets the standard of minimum safe distance.
The upper lead 101 of the clamping of auxiliary mechanical arm 42, while first mechanical arm 43 and second mechanical arm 44 use bolt disassembly
Instrument removes the bolt of fixing upper lead 101 on metal oxide arrester 120, and then auxiliary mechanical arm 42 will be disassembled
Upper lead 101 is moved near the fixing hole of 190 upper end of wire fixture；First mechanical arm 43 and second mechanical arm 44 are used
The bolt for fixing upper lead 101 installed by bolt disassembly instrument, and upper lead 101 is fixed on the upper of wire fixture 190
End.
Auxiliary mechanical arm 42 stops the upper lead 101 of clamping, and moves to lower lead 102 and nearby lower lead 102 is pressed from both sides
Hold.Meanwhile, first mechanical arm 43 and second mechanical arm 44 are removed on metal oxide arrester 120 admittedly using bolt disassembly instrument
The bolt of lead 102 is fixed, then the lower lead 102 for disassembling is moved to wire fixture 190 by auxiliary mechanical arm 42
Near the fixing hole of lower end；First mechanical arm 43 and second mechanical arm 44 are installed for fixing lower lead using bolt disassembly instrument
102 bolt, lower lead 102 is fixed on the lower end of wire fixture 190.
42 end of auxiliary mechanical arm stops the lower lead 102 of clamping, and moves to metal oxide arrester 120 nearby to gold
Category Oxide Arrester 120 is clamped.Now, first mechanical arm 43 and second mechanical arm 44 are removed using bolt disassembly instrument
For fixing metal oxide spark gap 120 and the bolt of cross-arm 103；After disassembling bolts, metal is aoxidized by auxiliary mechanical arm 42
Thing spark gap 120 is moved to tool box special 47 on robot platform 4.
Auxiliary mechanical arm 42 is put into the metal oxide arrester 120 for changing after tool box special 47, then folder
New metal oxide arrester 120 in tool box special 47 is held, then new metal oxide arrester 120 is moved to horizontal stroke
Near load 103.First mechanical arm 43 and second mechanical arm 44 are installed for fixing fuse switch using bolt disassembly instrument
With the bolt of cross-arm 103, fuse switch is fixed with cross-arm 103.
Auxiliary mechanical arm 42 stops clamping metal oxide arrester 120, then is clamped to wire fixture 190
On lower lead 102.First mechanical arm 43 and second mechanical arm 44 are removed for fixing upper lead 101 using bolt disassembly instrument
Bolt, lower lead 102 is removed from wire fixture 190.Lower lead 102 is moved to metal by auxiliary mechanical arm 42
Near the installing hole of 120 lower end of Oxide Arrester, first mechanical arm 43 and second mechanical arm 44 are pacified using bolt disassembly instrument
The bolt for fixing lower lead 102 is filled, lower lead 102 is fixed on 120 lower end of metal oxide arrester.
Auxiliary mechanical arm 42 stops the lower lead 102 of clamping, then is clamped to the upper lead on wire fixture 190
101.First mechanical arm 43 and second mechanical arm 44 remove the bolt for fixing upper lead 101 using bolt disassembly instrument, will
Upper lead 101 is removed from wire fixture 190.Upper lead 101 is moved to metal-oxide and keeps away by auxiliary mechanical arm 42
Installing hole near 120 upper end of thunder device, first mechanical arm 43 is installed for solid using bolt disassembly instrument with second mechanical arm 44
Surely the bolt of lead 101 is gone up, upper lead 101 is fixed on 120 upper end of metal oxide arrester.
The upper lead 101 of the stopping clamping of auxiliary mechanical arm 42, then clamp leads fixing device 190.43 He of first mechanical arm
Second mechanical arm 44 removes the bolt for anchor leg fixing device 190 with cross-arm 103 using bolt disassembly instrument, by lead
Fixing device 190 is removed from cross-arm 103.Wire fixture 190 is put back on robot platform 4 specially by auxiliary mechanical arm 42
With workbox 47.
First mechanical arm 43 and second mechanical arm 44 change the outfit clamping device, are covered on electrical body using clamping device clamping
Insulation masking material, remove insulation masking material.
First mechanical arm 43 promotes the active module of fuse switch, so as to the fuse switch that closes.
When completing said process by manually shaking operation, the control data is that the angle of each joint of mechanical arm motion is expected
Value, the angle expected value is by hot line robot data processing and control system according to the main behaviour for being arranged at insulation bucket arm in-car
Make each joint angles delta data of handss and resolve acquisition；Main manipulator includes the first main manipulator, the second main manipulator and auxiliary master
Manipulator；First main manipulator, the second main manipulator and auxiliary main manipulator respectively with first mechanical arm 43, second mechanical arm 44
Correspond to auxiliary mechanical arm 42, constitute master-slave operation relation.
When hot line robot independently completes said process, the control data is the angle of each joint of mechanical arm motion
Expected value；Hot line robot data processing and control system are according to relative position and the work of each mechanical arm and manipulating object
Industry task action sequence, cooks up the space path of each mechanical arm, then according to sky using cartesian space paths planning method
Between path calculate each joint of mechanical arm motion angle expected value.
The inventive method can be by the mechanical arm of hot line robot to gold in the case that not power-off is without load
Category Oxide Arrester carries out charged for replacement, it is to avoid have a power failure the negative effect for bringing, and power off time is greatly reduced, and improves and supplies
Electric reliability, alleviates electricity consumption and complains contradiction.The present invention replaces people to carry out livewire work using hot line robot, compared to exhausted
Edge bar working system has the function of more enriching.The present invention can be exempted from compared to insulating glove working system using hot line robot
Burning and Danger Electric shock risk, falling from high altitude problem to human body when considering that electric arc is produced.The present invention uses hot line robot
Controlled by operator's rocking bar, operating personnel labor intensity is required little, reduce that operation intensity is big human error occurs
Situation, substantially increases the safety in operation process, can reduce the generation of accident to a certain extent.
Claims (6)
1. a kind of hot line robot metal oxide arrester replacing options, it is characterised in that hot line robot has
It is arranged on robot platform（4）On mechanical arm, including first mechanical arm（43）, second mechanical arm（44）And Aided Machine
Arm（42）, first mechanical arm（43）, second mechanical arm（44）And auxiliary mechanical arm（42）Complete in response to control data following
Work：
First mechanical arm（43）, second mechanical arm（44）And auxiliary mechanical arm（42）Clamping device is installed in end, with clamping work
Tool clamping insulation masking material carries out insulation masking to the electrical body of labelling；Then first mechanical arm（43）And second mechanical arm
（44）End changes the outfit bolt disassembly instrument；
Auxiliary mechanical arm（42）Clamp leads fixing device（190）Move to cross-arm（103）Nearby and by wire fixture
（190）Fixing hole and cross-arm（103）Upper intrinsic fixing hole alignment；First mechanical arm（43）And second mechanical arm（44）Use
Bolt disassembly instrument is installed for anchor leg fixing device（190）Bolt, by anchor leg fixing device（190）It is fixed on
Cross-arm（103）On；
Auxiliary mechanical arm（42）Lead in clamping（101）, first mechanical arm（43）And second mechanical arm（44）Using bolt disassembly
Metal oxide arrester removed by instrument（120）Lead in upper fixation（101）Bolt, then auxiliary mechanical arm（42）Will dismounting
The upper lead for getting off（101）Move to wire fixture（190）Near the fixing hole of upper end；First mechanical arm（43）With second
Mechanical arm（44）Installed for fixing upper lead using bolt disassembly instrument（101）Bolt, by upper lead（101）It is fixed on and draws
Line fixing device（190）Upper end；
Auxiliary mechanical arm（42）Stop the upper lead of clamping（101）, and move to lower lead（102）Nearby to lower lead（102）Enter
Row clamping；First mechanical arm（43）And second mechanical arm（44）Metal oxide arrester is removed using bolt disassembly instrument
（120）Lead under upper fixation（102）Bolt, then auxiliary mechanical arm（42）By the lower lead for disassembling（102）Move to
Wire fixture（190）Near the fixing hole of lower end；First mechanical arm（43）And second mechanical arm（44）Using bolt disassembly
Instrument is installed for fixing lower lead（102）Bolt, by lower lead（102）It is fixed on wire fixture（190）Lower end；
Auxiliary mechanical arm（42）Stop the lower lead of clamping（102）, and move to metal oxide arrester（120）Nearby to metal
Oxide Arrester（120）Clamped；First mechanical arm（43）And second mechanical arm（44）Removed using bolt disassembly instrument
For fixing metal oxide spark gap（120）And cross-arm（103）Bolt；After disassembling bolts, auxiliary mechanical arm（42）By gold
Category Oxide Arrester（120）It is moved on robot platform 4 and places；
Auxiliary mechanical arm（42）The new metal oxide arrester of clamping（120）, by new metal oxide arrester（120）Move
Move to cross-arm（103）Near；First mechanical arm（43）And second mechanical arm（44）Installed for fixing using bolt disassembly instrument
Metal oxide arrester and cross-arm（103）Bolt, by metal oxide arrester and cross-arm（103）Fixing；
Auxiliary mechanical arm（42）Stop clamping metal oxide arrester（120）, then it is clamped to wire fixture
（190）On lower lead（102）；First mechanical arm（43）And second mechanical arm（44）Removed for solid using bolt disassembly instrument
Lead is gone up surely（101）Bolt, by lower lead（102）From wire fixture（190）On remove；Auxiliary mechanical arm（42）Will
Lower lead（102）It is moved to metal oxide arrester（120）Near the installing hole of lower end, first mechanical arm（43）With the second machine
Tool arm（44）Installed for fixing lower lead using bolt disassembly instrument（102）Bolt, by lower lead（102）It is fixed on metal
Oxide Arrester（120）Lower end；
Auxiliary mechanical arm（42）Stop the lower lead of clamping（102）, then it is clamped to wire fixture（190）On on draw
Line（101）；First mechanical arm（43）And second mechanical arm（44）Removed for fixing upper lead using bolt disassembly instrument（101）
Bolt, by upper lead（101）From wire fixture（190）On remove；Auxiliary mechanical arm（42）By upper lead（101）Move
Move to metal oxide arrester（120）Installing hole near upper end, first mechanical arm（43）With second mechanical arm（44）Use
Bolt disassembly instrument is installed for fixing upper lead（101）Bolt, by upper lead（101）It is fixed on metal oxide arrester
（120）Upper end；
Auxiliary mechanical arm（42）Stop the upper lead of clamping（101）, then clamp leads fixing device（190）；First mechanical arm
（43）And second mechanical arm（44）Removed for anchor leg fixing device using bolt disassembly instrument（190）With cross-arm（103）
Bolt, by wire fixture（190）From cross-arm（103）On remove；Auxiliary mechanical arm（42）By wire fixture
（190）Put back to robot platform（4）Upper tool box special（47）；
First mechanical arm（43）And second mechanical arm（44）Change the outfit clamping device, is covered on electrical body using clamping device clamping
Insulation masking material, remove insulation masking material.
2. hot line robot metal oxide arrester replacing options as claimed in claim 1, it is characterised in that the control
Data processed are the angle expected value of each joint of mechanical arm motion, and the angle expected value is by hot line robot data processing and control
System processed resolves acquisition according to each joint angles delta data of the in-car main manipulator of insulation bucket arm is arranged at；Main manipulator includes
First main manipulator, the second main manipulator and auxiliary main manipulator；First main manipulator, the second main manipulator and auxiliary main operation
Handss respectively with first mechanical arm（43）, second mechanical arm（44）And auxiliary mechanical arm（42）Corresponding, constitute master-slave operation relation.
3. hot line robot metal oxide arrester replacing options as claimed in claim 1, it is characterised in that the control
Data processed are the angle expected value of each joint of mechanical arm motion；Hot line robot data processing and control system are according to each machine
Tool arm and relative position and the job task action sequence of manipulating object, are cooked up using cartesian space paths planning method
The space path of each mechanical arm, then calculates the angle expected value of each joint of mechanical arm motion according to space path.
4. hot line robot metal oxide arrester replacing options as claimed in claim 1, it is characterised in that described absolutely
Edge masking material is insulating sheath or epoxy glass fabric.
5. hot line robot metal oxide arrester replacing options as claimed in claim 1, it is characterised in that described draw
Line fixing device includes body, be arranged on body centre position for the fixing hole fixed with cross-arm, and be arranged on body
The fixing hole for fixing above lead and lower lead of upper and lower ends.
6. hot line robot metal oxide arrester replacing options as claimed in claim 1, it is characterised in that the gold
Category Oxide Arrester（120）It is placed on and is moved to robot platform（4）On tool box special（47）Interior.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811281091.5A CN109473903A (en) | 2016-12-14 | 2016-12-14 | One kind being used for metal oxide arrester replacing options |
| CN201811280068.4A CN109309358A (en) | 2016-12-14 | 2016-12-14 | A kind of replacing options for hot line robot metal oxide arrester |
| CN201611155219.4A CN106451224B (en) | 2016-12-14 | 2016-12-14 | A kind of hot line robot metal oxide arrester replacing options |
| CN201811280070.1A CN109301752A (en) | 2016-12-14 | 2016-12-14 | A kind of hot line robot metal oxide arrester replacing options |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611155219.4A CN106451224B (en) | 2016-12-14 | 2016-12-14 | A kind of hot line robot metal oxide arrester replacing options |
Related Child Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811280068.4A Division CN109309358A (en) | 2016-12-14 | 2016-12-14 | A kind of replacing options for hot line robot metal oxide arrester |
| CN201811280070.1A Division CN109301752A (en) | 2016-12-14 | 2016-12-14 | A kind of hot line robot metal oxide arrester replacing options |
| CN201811281091.5A Division CN109473903A (en) | 2016-12-14 | 2016-12-14 | One kind being used for metal oxide arrester replacing options |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106451224A true CN106451224A (en) | 2017-02-22 |
| CN106451224B CN106451224B (en) | 2018-11-02 |
Family
ID=58217567
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811280068.4A Pending CN109309358A (en) | 2016-12-14 | 2016-12-14 | A kind of replacing options for hot line robot metal oxide arrester |
| CN201611155219.4A Active CN106451224B (en) | 2016-12-14 | 2016-12-14 | A kind of hot line robot metal oxide arrester replacing options |
| CN201811281091.5A Pending CN109473903A (en) | 2016-12-14 | 2016-12-14 | One kind being used for metal oxide arrester replacing options |
| CN201811280070.1A Pending CN109301752A (en) | 2016-12-14 | 2016-12-14 | A kind of hot line robot metal oxide arrester replacing options |
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| CN201811281091.5A Pending CN109473903A (en) | 2016-12-14 | 2016-12-14 | One kind being used for metal oxide arrester replacing options |
| CN201811280070.1A Pending CN109301752A (en) | 2016-12-14 | 2016-12-14 | A kind of hot line robot metal oxide arrester replacing options |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544215A (en) * | 2018-04-11 | 2018-09-18 | 南京理工大学 | A kind of hot line robot arrester replacing method based on force feedback master ＆ slave control |
| CN108616076A (en) * | 2018-03-20 | 2018-10-02 | 南京理工大学 | A kind of method of hot line robot dismounting arrester |
| CN109950830A (en) * | 2019-04-08 | 2019-06-28 | 南京理工大学 | The provision for disengagement of hot line robot arrester and method |
| CN111293626A (en) * | 2018-12-07 | 2020-06-16 | 国网内蒙古东部电力有限公司经济技术研究院 | Live replacement method based on lightning protection device |
| CN114603562A (en) * | 2022-04-19 | 2022-06-10 | 南方电网电力科技股份有限公司 | Distribution network live connection lead device and method |
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- 2016-12-14 CN CN201811280068.4A patent/CN109309358A/en active Pending
- 2016-12-14 CN CN201611155219.4A patent/CN106451224B/en active Active
- 2016-12-14 CN CN201811281091.5A patent/CN109473903A/en active Pending
- 2016-12-14 CN CN201811280070.1A patent/CN109301752A/en active Pending
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| JPH05270797A (en) * | 1992-03-27 | 1993-10-19 | Furukawa Electric Co Ltd:The | Distribution work robot operating method |
| CN1385283A (en) * | 2002-06-24 | 2002-12-18 | 山东鲁能智能技术有限公司 | Robot for high-voltage hot-line work |
| CN102601782A (en) * | 2012-04-01 | 2012-07-25 | 山东电力研究院 | High-voltage live working robot device |
| CN203398619U (en) * | 2013-05-28 | 2014-01-15 | 国家电网公司 | Line arrester replacing device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108616076A (en) * | 2018-03-20 | 2018-10-02 | 南京理工大学 | A kind of method of hot line robot dismounting arrester |
| CN108544215A (en) * | 2018-04-11 | 2018-09-18 | 南京理工大学 | A kind of hot line robot arrester replacing method based on force feedback master ＆ slave control |
| CN111293626A (en) * | 2018-12-07 | 2020-06-16 | 国网内蒙古东部电力有限公司经济技术研究院 | Live replacement method based on lightning protection device |
| CN109950830A (en) * | 2019-04-08 | 2019-06-28 | 南京理工大学 | The provision for disengagement of hot line robot arrester and method |
| CN114603562A (en) * | 2022-04-19 | 2022-06-10 | 南方电网电力科技股份有限公司 | Distribution network live connection lead device and method |
| CN114603562B (en) * | 2022-04-19 | 2024-04-30 | 南方电网电力科技股份有限公司 | Distribution network electrified lead connecting device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109301752A (en) | 2019-02-01 |
| CN106451224B (en) | 2018-11-02 |
| CN109309358A (en) | 2019-02-05 |
| CN109473903A (en) | 2019-03-15 |
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Address after: No. 27, front street, Changzhou Municipal Bureau, Jiangsu Province, Jiangsu Co-patentee after: STATE GRID JIANGSU ELECTRIC POWER Co.,Ltd. Patentee after: STATE GRID JIANGSU ELECTRIC POWER Co.,Ltd. CHANGZHOU POWER SUPPLY BRANCH Co-patentee after: STATE GRID CORPORATION OF CHINA Address before: No. 27, Tianning District Bureau, front street, Changzhou, Jiangsu Province Co-patentee before: STATE GRID JIANGSU ELECTRIC POWER Co. Patentee before: STATE GRID CHANG ZHOU CURRENT SUPPLY COMPANY OF JIANGSU ELECTRIC POWER Co. Co-patentee before: State Grid Corporation of China |
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Effective date of registration: 20190313 Address after: No. 27, front street, Changzhou Municipal Bureau, Jiangsu Province, Jiangsu Co-patentee after: YIJIAHE TECHNOLOGY Co.,Ltd. Patentee after: STATE GRID JIANGSU ELECTRIC POWER Co.,Ltd. CHANGZHOU POWER SUPPLY BRANCH Co-patentee after: NANJING University OF SCIENCE AND TECHNOLOGY Co-patentee after: STATE GRID JIANGSU ELECTRIC POWER Co.,Ltd. Co-patentee after: STATE GRID CORPORATION OF CHINA Address before: No. 27, front street, Changzhou Municipal Bureau, Jiangsu Province, Jiangsu Co-patentee before: STATE GRID JIANGSU ELECTRIC POWER Co.,Ltd. Patentee before: STATE GRID JIANGSU ELECTRIC POWER Co.,Ltd. CHANGZHOU POWER SUPPLY BRANCH Co-patentee before: STATE GRID CORPORATION OF CHINA |