CN108839037B - Distribution network electrified drainage line connecting robot system - Google Patents
Distribution network electrified drainage line connecting robot system Download PDFInfo
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- CN108839037B CN108839037B CN201810759068.6A CN201810759068A CN108839037B CN 108839037 B CN108839037 B CN 108839037B CN 201810759068 A CN201810759068 A CN 201810759068A CN 108839037 B CN108839037 B CN 108839037B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Abstract
The invention provides a distribution network live-line connecting and leading line robot system which comprises an insulating robot working platform and an operating system, wherein the insulating robot working platform is provided with a robot body, a controller, a working tool, a video monitoring system, a wireless communication system, a power supply system and a control system; the robot body and the controller comprise an electric operating robot body and a robot control cabinet; the working tool comprises an automatic wire stripping device, an electrified fire lapping device and a wire clamp insulating cover mounting device. The invention utilizes the working tool, the automatic wire stripping device, the hot-line lapping device and the wire clamp insulating cover mounting device which are designed by matching the hot-line working robot to complete the hot-line connecting and leading line operation of the single-hand primary distribution network, and can liberate the working personnel from the dangerous environment of high pressure, high radiation and high altitude, thereby reducing the accident rate of safe production, expanding the hot-line working range, and improving the working capacity, intelligent level and working reliability of the hot-line working robot.
Description
Technical Field
The invention belongs to the field of distribution network line maintenance equipment, and particularly relates to a robot system for electrified distribution network cable-leading line connection.
Background
In the maintenance of distribution network power supply networks, the use of a third party from an existing power supply network lead line is a main operation content. With the improvement of the economic development level, the requirements of people on the reliability of power supply in production and life are continuously improved, and the operation process of connecting a power failure and a lead wire is not suitable any more.
At present, an electric power system generally adopts an equipotential operation method of an insulating bucket arm vehicle, needs to manually complete electrified connection and leading work at high altitude under an insulating protection condition, still enables workers to be in a dangerous operation environment of high altitude and a strong electric field, and is strictly limited in operation conditions. In order to reduce the operating risk of workers and improve the working condition range of hot-line work, some power supply enterprises and scientific research institutes develop research works on hot-line work robots in succession. At present, in the prior art, most of the existing methods are only to improve a moving carrier operated in an electrified way, or according to a traditional insulating glove operation method, a multi-arm robot is adopted to simulate manual operation, the advantages of heavy load and high precision of the robot are not fully utilized, and the weight of a tool and the complexity of operation control of the robot are increased.
Disclosure of Invention
In view of the above, the present invention is directed to a robot system for connecting a distribution network with a live cable to a lead wire, so as to solve the above-mentioned problems in the background art.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a distribution network live line connecting and leading line robot system comprises an insulating robot working platform and an operating system, wherein the insulating robot working platform is provided with a robot body, a controller, a working tool, a video monitoring system, a wireless communication system, a power supply system and a control system;
the robot body and the controller comprise an electric operating robot body and a robot control cabinet;
the operation tool comprises an automatic wire stripping device, an electrified fire lapping device and a wire clamp insulating cover mounting device, wherein the automatic wire stripping device is used for stripping insulating outer skins of different cables;
the electrified ignition device is used for completing the electrified ignition of the row wire for stripping the outer skin of the insulating layer at the early stage with the automatic wire stripping device;
the wire clamp insulating cover mounting device is used for mounting a protection insulating cover on the live wire clamp for live overlapping of the lead and the row wire with the insulating layer stripped;
the video monitoring system comprises a camera set, a wireless transmission module and a ground display and is used for monitoring the dynamic state of the live working robot and the working tool in real time;
the wireless communication system comprises a switch, a wireless network bridge transmitting end and a wireless network bridge receiving end of a ground operation box;
the power supply system comprises 2 sets of high-capacity and light-weight UPS and is used for meeting the power consumption requirements of the live working robot, the automatic wire stripping device, the video monitoring system and the wireless communication system;
the control system is used for controlling the work of each device on the robot working platform;
the operating system comprises an insulating bucket arm vehicle, wherein a lifting system is arranged on the insulating bucket arm vehicle and used for lifting the robot working platform to a specified position.
Furthermore, the live working robot is provided with a three-layer insulation device, wherein a first insulation pad is arranged at the contact position of the body of the live working robot and the wrist part and used for preventing high voltage from directly puncturing the body of the live working robot after the clamping jaw is electrified; the surface of the body of the live working robot is sprayed with high-voltage insulating paint for preventing the body of the live working robot from being broken down by high voltage electricity after the live working robot malfunctions and the high voltage electricity is contacted; live working robot body base is equipped with electric power insulator for prevent that the high tension electricity from puncturing the equipment of being connected with live working robot after the first floor of live working robot/second floor insulation protection became invalid.
The automatic wire stripping device comprises a wire stripping tool, a light-weight truss, an electric actuating cylinder and a special electric insulating rod, wherein the wire stripping tool is arranged in the light-weight truss, a tool bit of the wire stripping tool exposes out of the light-weight truss, an insulating protective gasket is arranged at the joint of the wire stripping tool and the light-weight truss, the lower end of the light-weight truss is connected with the electric actuating cylinder, the electric actuating cylinder drives the wire stripping tool to work, and the special electric insulating rod is connected with the light-weight truss.
Further, the wire stripping tool comprises an end face annular tool and a longitudinal straight cutting tool, the end face annular tool is used for completing annular cutting of two sides of the lead, the longitudinal straight cutting tool simultaneously performs secondary longitudinal cutting on the insulating layer between two annular cuts of the lead to be stripped, and the cuts are spaced by 180 degrees.
Further, live-line fire taking device includes that live-line fire taking execution device and live-line clamp are taken, live-line fire taking execution device wraps and is equipped with the constant head tank, takes the live-line clamp to be equipped with constant head tank complex connecting rod.
Further, the insulating installation device of fastener includes insulating boot installation device, goes up insulating boot and insulating boot down, and wherein insulating boot installation device is including the insulator spindle, the execution tongs and the tongs finger that connect gradually.
Furthermore, the main structure of the insulating robot operation platform is welded by steel structural sections, an epoxy glass plate is bonded at the bottom of the platform, and the periphery of the platform is wound by epoxy glass cloth.
Compared with the prior art, the distribution network electrified cable connecting and drainage line robot system has the following advantages:
the invention utilizes the working tool, the automatic wire stripping device, the hot-line lapping device and the wire clamp insulating cover mounting device which are designed by matching the hot-line working robot to complete the hot-line connecting and leading line operation of the single-hand primary distribution network, and can liberate the working personnel from the dangerous environment of high pressure, high radiation and high altitude, thereby reducing the accident rate of safe production, expanding the hot-line working range, and improving the working capacity, intelligent level and working reliability of the hot-line working robot.
The invention also aims to provide a control method of the robot system for connecting the live distribution network with the lead wire, which comprises the following steps:
(1) the insulating bucket arm vehicle is in place, and the lifting system lifts the robot working platform to a specified position;
(2) the method comprises the following steps that an automatic wire stripping device is picked up by a live working robot according to a preset path, an operator operates the live working robot according to an operation and control system to move the automatic wire stripping device to a cable designated position to strip a lead insulation skin, and after the operation is finished, the live working robot places the automatic wire stripping device to an original position according to the preset path;
(3) the position of the insulating bucket arm vehicle is changed, and the lifting system moves the robot working platform to be close to the cross beam fire-lapping wire clamp;
(4) the live working robot picks up the live lapping device according to a preset path, and an operator operates the live working robot according to the control system to move the live lapping device to be in butt joint with a lapping wire clamp which is placed on a distribution network pole beam in advance;
(5) changing the position of the insulating bucket arm vehicle, and moving the robot working platform to the position near the position where the insulating skin of the conducting wire is stripped in the step 2 by the lifting system;
(6) an operator operates the live working robot according to the control system to move the live lapping device and the lapping wire clamp to the cable insulation skin stripping part, the energy storage spring is released, the lapping wire clamp is connected with a row line of the stripping skin, and after the wire clamp connection is finished, the live working robot places the live lapping device to the original position according to a preset path;
(7) live working robot picks up and takes over line clamp insulating boot installation device according to predetermined route, takes out upper/lower insulating boot respectively and installs the upper and lower two sides at taking over the line clamp by operating personnel according to control system operation live working robot removal and take over line clamp insulating boot installation device, and after the operation was accomplished, live working robot placed line clamp insulating boot installation device to normal position according to predetermined route.
The control method of the distribution network electrified lead wire connecting robot system has the same beneficial effects as the distribution network electrified lead wire connecting robot system, and the description is omitted here.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic diagram of a robot system for connecting a distribution network with an electrified lead wire according to an embodiment of the present invention;
FIG. 2 is a schematic view of an insulated robot operating platform according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a body of an electric working robot according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an automatic wire stripping device according to an embodiment of the present invention;
FIG. 5 is a schematic view of a live-wire ignition device according to an embodiment of the present invention;
FIG. 6 is a schematic view of a clamp insulating boot mounting arrangement according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a video surveillance system according to an embodiment of the present invention;
fig. 8 is a diagram illustrating a wireless communication system according to an embodiment of the present invention;
fig. 9 is a schematic view of an insulator according to an embodiment of the present invention.
Description of reference numerals:
1-insulating robot working platform; 2-live working robot body; 3-a robot control cabinet; 4-video monitoring system; 5-automatic wire stripping device; 6-live fire lapping device; 7-a wire clamp insulation cover mounting device; 8-a control system; 9-wireless bridge transmit end; 10-a power supply system; 11-an insulated arm car; 12-a lifting system; 13-an insulating pad; 14-insulating paint; 15-an insulator; 16-a wire stripping cutter; 17-a lightweight truss; 18-electric actuating cylinder; 19-a special insulating rod for electric power; 20-insulating protective gaskets; 21-electric fire-lapping execution device; 22-a fire-lapping wire clamp; 23-an insulating rod; 24-executing the gripper; 25-grab hand fingers; 26-upper insulating cover; 27-lower insulating cover.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1-2, a distribution network live-line robot system for connecting a lead wire comprises an insulating robot work platform 1 and an operating system, wherein the insulating robot work platform 1 is provided with a robot body, a controller, a work tool, a video monitoring system 4, a wireless communication system, a power supply system and a control system 8;
the robot body and the controller comprise an electric operating robot body 2 and a robot control cabinet 3;
the working tool comprises an automatic wire stripping device 5, an electrified fire lapping device 6 and a wire clamp insulating cover mounting device 7;
the video monitoring system 4 comprises a camera set, a wireless transmission module and a ground display;
the wireless communication system comprises a switch, a wireless network bridge transmitting end 9 and a wireless network bridge receiving end of a ground operation box;
the power supply system 10 includes 2 sets of large capacity, lightweight UPS;
the control system 8 is used for controlling the work of each device on the robot working platform 1;
the operating system comprises an insulating bucket arm vehicle 11, wherein a lifting system 12 is arranged on the insulating bucket arm vehicle 11 and used for lifting the robot working platform 1 to a specified position.
As shown in fig. 3, which is a schematic structural diagram of a robot with a motor, all transmission cables of the robot with a motor adopt internal routing to reduce external signal interference, and meanwhile, wiring terminals adopt spiral wiring to improve the strength of wiring harnesses, and end covers are designed at the wiring positions to facilitate maintenance, in order to meet the requirement of high-voltage live working, an insulating pad 13 is added at the contact position of a robot body with a wrist to protect the robot from first-layer insulation, so that high-voltage electricity is prevented from directly puncturing the robot body with a live working after a clamping jaw is electrified; insulating protection is conducted on the surface of the body of the hot-line work robot, high-voltage insulating paint 14 is sprayed on the surface of the body of the hot-line work robot, second-layer insulating protection is conducted on the hot-line work robot, and the body of the hot-line work robot is prevented from being broken down by high voltage electricity after misoperation of the hot-line work robot is contacted with the high voltage electricity; the electric power insulator 15 insulation protection is added to the base of the body of the hot-line work robot, and the equipment connected with the hot-line work robot is prevented from being broken down by high voltage electricity after the first layer/second layer insulation protection of the hot-line work robot fails.
As shown in fig. 4, the automatic wire stripping device includes a wire stripping tool 16, a lightweight truss 17, an electric actuating cylinder 18 and an electric special insulating rod 19, wherein the wire stripping tool 16 is disposed in the lightweight truss 17, a tool bit of the wire stripping tool 16 is exposed out of the lightweight truss 17, an insulating protective gasket 20 is disposed at a connection position between the wire stripping tool 16 and the lightweight truss 17, the lower end of the lightweight truss 17 is connected to the electric actuating cylinder 18, the electric actuating cylinder 18 drives the wire stripping tool 16 to operate, and the electric special insulating rod 19 is connected to the lightweight truss 17; according to parameters corresponding to different lead types, wire diameters, insulation thicknesses, different manufacturing processes and the like, the automatic wire stripping device uses two groups of cutters during stripping, and one group of cutters completes annular cutting on two sides of a lead; the other group of cutters simultaneously performs a second longitudinal cutting of the insulation layer between two circular cuts for stripping the insulation skin, the cuts being spaced apart by 180 °. After two sets of cutting finishes, drive automatic wire stripping device through hot-line work robot to rotatory tool bit, whole insulating skin can drop.
1. The requirements of peeling common insulated wires of 120, 150, 185, 240 and the like can be met, the requirements of customers can be met, and the adjustment is convenient;
2. measures such as electromagnetic interference resistance, overcurrent/overvoltage protection and the like are taken, so that the reliability of the circuit is ensured;
3. the automatic wire stripping device is absolutely insulated, so that the safety protection of complete isolation of high voltage is achieved;
4. the automatic wire stripping device adopts the following insulation method: the epoxy glass cloth laminated board and the epoxy glass cloth (GB/T1303.1-1998 insulation protection grade) meet the safety requirement of insulation protection in distribution network electrified lead wire connecting operation.
According to the live-line lapping device shown in the figure 5, according to the actual demand of a distribution network live-line connecting and leading line and considering the actual live-line operation robot operation mode, the lapping line clamp adopts a spring initial pre-tightening mode, and the pre-tightening force of a built-in spring of the line clamp is released through the live-line lapping device, so that intelligent live-line lapping operation is achieved.
1. The requirements of the common leading wires of 120, 150, 185, 240 and the like and the electrified automatic firing technology of the row wires with stripped insulating layers can be met;
2. the lead and the row line with the stripped insulating layer are electrified and ignited, and the requirement of lap joint strength in an electrified intelligent lap joint technology is completely met.
The live working device mainly comprises a live working executing device 21 and a live working wire clamp 22, the live working executing device 21 is matched with the live working wire clamp 22 through a positioning groove in the device, after the live working robot grabs the live working executing device 21, an operator guides the live working robot to grab the live working wire clamp 22 placed on a cable cross arm in the early stage through the live working executing device 21, and the live working of a row line for stripping an insulating layer sheath in the early stage with the automatic wire stripping device is completed.
As shown in fig. 6, the clip insulating cover mounting device mainly mounts the live overlapping wire clip of the lead wire and the insulated wire, on which the insulating layer has been stripped, with a protective insulating cover. The wire clamp insulating cover mounting device mainly comprises an insulating cover mounting device, an upper insulating cover 25 and a lower insulating cover 26.
The hot-line work robot grabbing clamp insulation cover mounting device sequentially overlaps an upper insulation cover 26 and a lower insulation cover 27 on a fire wire clamp to complete insulation cover mounting.
The wire clamp insulation cover mounting device mainly comprises an insulation rod 23, an execution hand grip 24 and hand grip fingers 25. After the live working robot grabs the fastener insulating boot installation device, the operating personnel guide live working robot at first to grab and take off the insulating boot and through insulating boot 27 down with take the bonding device fastening on the live wire clamp together, accomplish the installation back of insulating boot 27 down, live working robot again snatchs insulating boot 26 and through last insulating boot 26 with take the bonding device fastening on the live wire clamp 22 together to this installation of accomplishing fastener insulating boot.
As shown in fig. 7, a working schematic diagram of a video monitoring system is shown, and the video monitoring system adopts a zoom pan-tilt camera to observe a long shot and a short shot. The video of multi-angle passes through wireless transmission to ground display for operation personnel's operation refers to, avoids some maloperations to make the operation personnel know live working robot and operation tool's developments in real time.
The video monitoring system mainly comprises a camera set, a wireless transmission module, a ground display and the like on a platform, wherein the camera set comprises 4 pan-tilt cameras, the two cameras are located on the platform and monitor the robot and the operation tool, and the two cameras are located on a control box and monitor the operation process and the field environment.
Fig. 8 is a schematic structural diagram of a wireless communication system, which includes a switch on a platform, a wireless bridge transmitter, and a wireless bridge receiver of a ground console box. Wherein connect 5 equipment on the switch, including four cameras and a wireless bridge, all adopt POE power supply. The wireless network bridge on the platform is a transmitting end, and the wireless network bridge on the ground control box is a receiving end.
The ground display has the main functions of displaying the returned image on the platform and controlling the movement and the zooming of the pan-tilt camera. The receiving end of the wireless transmission module is positioned above the ground monitor, is connected with the monitor through the LAN port and is in wireless automatic connection with the transmitting end.
A master control computer in the robot control system collects the control information of the operating personnel and sends the control information to a robot control cabinet through a wireless data transmission radio station. The wireless data transfer radio station comprises a sending end module and a receiving end module, one module is arranged in a control box on a platform, the other module is arranged in a ground operation box, low-frequency signal transmission is carried out, and a demonstrator controls and displays the motion trail and the state of the live working robot in real time through the modules.
The power supply system mainly meets the power consumption requirements of the live working robot, the automatic wire stripping device, the video monitoring system and the wireless communication system.
Guarantee a electrified robot system that takes a fire security and reliability, power supply system adopts 2 sets of large capacity, light-weight type UPS (uninterrupted power source), as follows:
1. the UPS on the platform mainly meets the power consumption requirements of a live working robot, an automatic wire stripping device, a video monitoring system (on the platform) and a wireless communication system, the power consumption is relatively large, the comprehensive consideration capacity is 10KVA, and the model is C10K;
2. the UPS under the platform mainly meets the power consumption requirement of an operation box of a video monitoring system (under the platform), but the power consumption is relatively small, the convenience required by field operation is considered, the capacity is comprehensively considered to be 3KVA, and the model is C3K.
The robot system works in a strong electric field environment, an insulation system of the robot system is a key factor for ensuring the personal safety of operating personnel and the equipment safety of a live working robot, and meanwhile, the design of the insulation system directly influences the quality of a distribution network live line connecting and leading line robot for completing a live working task and is related to the safe and reliable operation of a high-voltage distribution line.
For guaranteeing that operation personnel and high-voltage electric field keep apart completely, hot-line work robot adopts robot self artificial intelligence addressing/location, independently takes the operation mode that fire and operation personnel adopt wireless control robot operation to combine together with electric, and concrete insulation protection design includes:
1. insulating robot work platform: the main structure of the insulating robot working platform is welded by steel structural sections, an epoxy glass plate is bonded at the bottom of the platform, and the periphery of the platform is wound by epoxy glass cloth.
The epoxy glass cloth laminated board and the epoxy glass cloth adopt GB/T1303.1-1998 insulation protection grade, and the insulation protection safety requirement of the robot system with the distribution network electrified connecting and leading line is met.
2. The end of the hot-line work robot is insulated from the working tool (automatic wire stripping device/hot-line fire lapping device/wire clamp insulation cover installation device): WS-EF5 epoxy fiberglass cloth laminate suitable for machining/forming was used.
3. Insulating the insulator: in high-voltage live working, intermediate potential working is adopted, and the insulation of the control platform is mainly realized through an insulator, wherein the insulator is shown in figure 9.
The insulator insulating material is mainly wound by epoxy glass cloth rods, and for insulating support, interlayer insulation is met, and surface discharge is mainly solved. In order to ensure the reliable high-voltage insulation performance of the distribution network electrified connecting and leading line robot system, the length of the insulating material part in the middle of the insulating support is designed to be 120mm, and the insulating material part is made into a corrugated shape, so that the surface discharge distance reaches 220 mm.
Through the connection of the insulator insulation support, the insulation among all parts of the live working robot and the secondary insulation of the control platform are realized.
4. Insulating arm of bucket arm car is insulating: the insulating protection is formed by the insulating arm of the bucket arm vehicle, the breakdown of the end part of the robot and an operation tool (an automatic wire stripping device/an electrified fire lapping device/a wire clamp insulating cover mounting device) under the limit conditions of insulation, insulator insulation and insulating operation platform is prevented, high-voltage electricity is insulated to the position above the insulating arm of the bucket arm vehicle, and the personal safety of an operator is ensured.
5. In addition, in order to ensure the electrical isolation in the control signal transmission process, wireless transmission modes are adopted for signal transmission between each control module and a working tool (an automatic wire stripping device, a live wire lapping device and a wire clamp insulating cover mounting device).
The invention discloses a distribution network electrified drainage line connecting robot system, which comprises the following operation processes:
1. the insulating bucket arm vehicle is in place, and the lifting system lifts the robot working platform to a specified position;
2. the method comprises the following steps that an automatic wire stripping device is picked up by a live working robot according to a preset path, an operator operates the live working robot according to an operation and control system to move the automatic wire stripping device to a cable designated position to strip a lead insulation skin, and after the operation is finished, the live working robot places the automatic wire stripping device to an original position according to the preset path;
3. the position of the insulating bucket arm vehicle is changed, and the lifting system moves the robot working platform to be close to the cross beam fire-lapping wire clamp;
4. the live working robot picks up the live lapping device according to a preset path, and an operator operates the live working robot according to the control system to move the live lapping device to be in butt joint with a lapping wire clamp which is placed on a wire pole cross beam in advance;
5. changing the position of the insulating bucket arm vehicle, and moving the robot working platform to the position near the position where the insulating skin of the conducting wire is stripped in the step 2 by the lifting system;
6. an operator operates the live working robot according to the control system to move the live lapping device and the lapping wire clamp to the cable insulation skin stripping part, the energy storage spring is released, the lapping wire clamp is connected with a row line of the stripping skin, and after the wire clamp connection is finished, the live working robot places the live lapping device to the original position according to a preset path;
7. the live working robot picks up the insulation cover mounting device of the live working wire clamp according to a preset path, an operator operates the live working robot according to the control system to move the insulation cover mounting device of the live working wire clamp to respectively take out the upper insulation cover and the lower insulation cover and mount the upper insulation cover and the lower insulation cover on the upper surface and the lower surface of the live working wire clamp, and after the operation is finished, the live working robot places the insulation cover mounting device of the live working wire clamp according to the preset path to the original position;
8. and (4) completing the operation of connecting the other electrified lead wires according to the steps 1-7.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. A distribution network electrified drainage line connecting robot system control method is characterized in that:
the distribution network live line connection and drainage line robot system comprises an insulating robot working platform and an operating system, wherein the insulating robot working platform is provided with a robot body, a controller, a working tool, a video monitoring system, a wireless communication system, a power supply system and a control system;
the robot body and the controller comprise an electric operating robot body and a robot control cabinet;
the operation tool comprises an automatic wire stripping device, an electrified fire lapping device and a wire clamp insulating cover mounting device, wherein the automatic wire stripping device is used for stripping insulating outer skins of different cables;
the electrified ignition device is used for completing the electrified ignition of the row wire for stripping the outer skin of the insulating layer at the early stage with the automatic wire stripping device;
the wire clamp insulating cover mounting device is used for mounting a protective insulating cover on the lead and the live wire clamp with the insulated wire stripped;
the video monitoring system comprises a camera set, a wireless transmission module and a ground display and is used for monitoring the dynamic state of the live working robot and the working tool in real time;
the wireless communication system comprises a switch, a wireless network bridge transmitting end and a wireless network bridge receiving end of a ground operation box;
the power supply system comprises 2 sets of high-capacity and light-weight UPS and is used for meeting the power consumption requirements of the live working robot, the automatic wire stripping device, the video monitoring system and the wireless communication system;
the control system is used for controlling the work of each device on the robot working platform;
the operating system comprises an insulating bucket arm vehicle, and a lifting system is arranged on the insulating bucket arm vehicle and used for lifting the robot working platform to a specified position;
the control method specifically comprises the following steps:
(1) the insulating bucket arm vehicle is in place, and the lifting system lifts the robot working platform to a specified position;
(2) the method comprises the following steps that an automatic wire stripping device is picked up by a live working robot according to a preset path, an operator operates the live working robot according to an operation and control system to move the automatic wire stripping device to a cable designated position to strip a lead insulation skin, and after the operation is finished, the live working robot places the automatic wire stripping device to an original position according to the preset path;
(3) the position of the insulating bucket arm vehicle is changed, and the lifting system moves the robot working platform to be close to the cross beam fire-lapping wire clamp;
(4) the live working robot picks up the live lapping device according to a preset path, and an operator operates the live working robot according to the control system to move the live lapping device to be in butt joint with a lapping wire clamp which is placed on a distribution network pole beam in advance;
(5) changing the position of the insulating bucket arm vehicle, and moving the robot working platform to the position near the position where the insulating skin of the lead is stripped in the step (2) by the lifting system;
(6) an operator operates the live working robot according to the control system to move the live lapping device and the lapping wire clamp to the cable insulation skin stripping part, the energy storage spring is released, the lapping wire clamp is connected with a row line of the stripping skin, and after the wire clamp connection is finished, the live working robot places the live lapping device to the original position according to a preset path;
(7) the live working robot picks up the wire clamp insulating boot installation device according to the predetermined route, and the live working robot removes the wire clamp insulating boot installation device by operating personnel according to control system and takes out upper/lower insulating boot respectively and installs the upper and lower two sides at the overlap joint fastener, and after the operation was accomplished, the live working robot placed wire clamp insulating boot installation device to the normal position according to the predetermined route.
2. The method for controlling the robot system for the distribution network with the live connecting and drainage line according to claim 1, wherein the method comprises the following steps: the hot-line work robot is provided with a three-layer insulation device, wherein a first insulation pad is arranged at the contact position of the hot-line work robot body and the wrist part and used for preventing high voltage from directly puncturing the hot-line work robot body after a clamping jaw is electrified; the surface of the body of the live working robot is sprayed with high-voltage insulating paint for preventing the body of the live working robot from being broken down by high voltage electricity after the live working robot malfunctions and the high voltage electricity is contacted; live working robot body base is equipped with electric power insulator for prevent that the high tension electricity from puncturing the equipment of being connected with live working robot after the first floor of live working robot/second floor insulation protection became invalid.
3. The method for controlling the robot system for the distribution network with the live connecting and drainage line according to claim 1, wherein the method comprises the following steps: the automatic wire stripping device comprises a wire stripping cutter, a light-weight truss, an electric actuating electric cylinder and a special electric insulating rod, wherein the wire stripping cutter is arranged in the light-weight truss, a cutter head of the wire stripping cutter exposes out of the light-weight truss, an insulating protective gasket is arranged at the joint of the wire stripping cutter and the light-weight truss, the lower end of the light-weight truss is connected with the electric actuating electric cylinder, the electric actuating electric cylinder drives the wire stripping cutter to work, and the special electric insulating rod is connected with the light-weight truss.
4. The method for controlling the robot system for the distribution network with the live connecting and drainage line according to claim 3, wherein the method comprises the following steps: the wire stripping cutter comprises an end face annular cutter and a longitudinal straight cutting cutter, the end face annular cutter is used for completing annular cutting of two sides of a lead, the longitudinal straight cutting cutter simultaneously performs secondary longitudinal cutting on an insulating layer between two annular cuts of which the insulating skins are to be stripped, and the cuts are 180 degrees apart.
5. The method for controlling the robot system for the distribution network with the live connecting and drainage line according to claim 1, wherein the method comprises the following steps: the live-line fire taking device comprises a live-line fire taking execution device and a live-line clamp, wherein the live-line fire taking execution device is provided with a positioning groove, and the live-line clamp is provided with a connecting rod matched with the positioning groove.
6. The method for controlling the robot system for the distribution network with the live connecting and drainage line according to claim 1, wherein the method comprises the following steps: the wire clamp insulation cover mounting device comprises an insulation cover mounting device, an upper insulation cover and a lower insulation cover, wherein the insulation cover mounting device comprises an insulation rod, an execution gripper and a gripper finger which are connected in sequence.
7. The method for controlling the robot system for the distribution network with the live connecting and drainage line according to claim 1, wherein the method comprises the following steps: the main structure of the insulating robot working platform is welded by steel structural sections, an epoxy glass plate is bonded at the bottom of the platform, and the periphery of the platform is wound by epoxy glass cloth.
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| CN201810759068.6A CN108839037B (en) | 2018-07-11 | 2018-07-11 | Distribution network electrified drainage line connecting robot system |
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| CN201810759068.6A CN108839037B (en) | 2018-07-11 | 2018-07-11 | Distribution network electrified drainage line connecting robot system |
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| CN110071458A (en) * | 2019-04-09 | 2019-07-30 | 北京国电富通科技发展有限责任公司 | Wiring unit insulation system |
| CN110034517A (en) * | 2019-04-09 | 2019-07-19 | 北京国电富通科技发展有限责任公司 | Distribution network line connects drainage thread device and method |
| CN110021898B (en) * | 2019-05-01 | 2020-07-31 | 山东乐普韦尔自动化技术有限公司 | Special tool for operation of connecting drainage wire of 10KV line live working robot |
| CN110421586A (en) * | 2019-06-25 | 2019-11-08 | 国网安徽省电力有限公司淮南供电公司 | The control of distribution network live line work robot tool library and management system and method |
| CN110509310B (en) * | 2019-09-03 | 2020-11-10 | 亿嘉和科技股份有限公司 | Outdoor live working robot |
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| CN111452029B (en) * | 2020-04-14 | 2023-12-29 | 山东乐普韦尔自动化技术有限公司 | Live working robot control system and live working robot |
| CN111416307A (en) * | 2020-04-24 | 2020-07-14 | 国网江西省电力有限公司南昌供电分公司 | Take fire robot convenient to wire stripping drainage |
| CN111431098B (en) * | 2020-06-10 | 2020-09-01 | 天津滨电电力工程有限公司 | Control system of automatic installation device for wire clamp of live working robot |
| CN111618835B (en) * | 2020-06-12 | 2021-11-26 | 山东科曼智能科技有限公司 | Intelligent charging robot system for port shore power and operation method |
| CN111463637A (en) * | 2020-06-17 | 2020-07-28 | 天津滨电电力工程有限公司 | Distribution network live lapping lead operation flow method |
| CN112821298B (en) * | 2021-01-31 | 2022-04-19 | 西安江夏电力设备制造有限公司 | Automatic live-line work lifting platform and method |
| CN113021342A (en) * | 2021-03-19 | 2021-06-25 | 浏阳市金锋机械科技有限公司 | Distribution network live working system based on remote operation technology |
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Effective date of registration: 20220323 Address after: 300000 No. 687, Xingfu Jiayuan, Tanggu, Binhai New Area, Tianjin Applicant after: TIANJIN BINDIAN ELECTRIC POWER ENGINEERING Co.,Ltd. Applicant after: Qingyan Tongchuang robot (Tianjin) Co., Ltd Address before: No. 687, Xingfu Jiayuan, Tanggu, Binhai New Area, Tianjin 300300 Applicant before: TIANJIN BINDIAN ELECTRIC POWER ENGINEERING Co.,Ltd. Applicant before: Qingyan Huayu intelligent robot (Tianjin) Co., Ltd |
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