CN110601082A - Distribution network live disconnection and connection method and corresponding system thereof - Google Patents
Distribution network live disconnection and connection method and corresponding system thereof Download PDFInfo
- Publication number
- CN110601082A CN110601082A CN201910978799.4A CN201910978799A CN110601082A CN 110601082 A CN110601082 A CN 110601082A CN 201910978799 A CN201910978799 A CN 201910978799A CN 110601082 A CN110601082 A CN 110601082A
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- Prior art keywords
- wire
- arm
- main
- main arm
- auxiliary
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Classifications
-
- 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
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
- H01R43/26—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for engaging or disengaging the two parts of a coupling device
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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
- H02G1/04—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables for mounting or stretching
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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
- H02G1/12—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for removing insulation or armouring from cables, e.g. from the end thereof
- H02G1/1202—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for removing insulation or armouring from cables, e.g. from the end thereof by cutting and withdrawing insulation
- H02G1/1248—Machines
Abstract
The invention discloses a method for connecting a distribution network with a live lead wire and a corresponding system thereof.A crawler-type overhead working truck sends an operating robot to the vicinity of an insulated wire to carry out the operation of connecting the lead wire and disconnecting the lead wire, and the operation of each step is independently finished by an automatic tool head without direct operation of a mechanical arm. The main arm can be automatically connected with the barker, the thread trimmer and the thread clamp seat of the thread clamp of the fixed equipment, and the auxiliary arm is connected with the clamp holder. Each operating head can automatically complete peeling, wire clamp installation and drainage wire cutting operation, the complexity of the operation is reduced, and the clamp holder is mainly used for clamping a main drainage wire during operation of the peeler and clamping and conveying the drainage wire during installation of the drainage wire. The two mechanical arms can work in a coordinated way: when the peeler works, the tail end of the auxiliary arm clamps the main guide wire to avoid shaking, and when the drainage wire is cut off by the wire cutter, the clamp clamps the cut drainage wire, so that the operation complexity is reduced, the operation reliability is improved, and the wire cutter is particularly suitable for the operation of breaking and connecting the drainage wire on the insulating main guide wire of the distribution network in a narrow space.
Description
Technical Field
The invention belongs to the fields of robot application and live-line work in the power industry, and particularly relates to a method for disconnecting and connecting a distribution network with a live-line and a corresponding system thereof.
Background
The high-altitude live working is an important maintenance means for ensuring the safe and reliable operation of power supply equipment and improving the economic operation and service quality of a power grid. The live line disconnection and connection is one of main operation items of distribution network live working, the operation is mostly an insulating glove direct operation method or an insulating rod indirect operation method at present, live working personnel bear huge psychological pressure in some complex operation scenes and high altitudes, and meanwhile, the operation labor intensity is high, the operation efficiency is low, and safety accidents are easily caused.
The robot is used for replacing manual operation and is a development trend of future operation and maintenance. The live working robot is a novel operation mode and operation equipment for distribution network live maintenance rush-repair operation, development of the distribution network live working robot is developed, and the requirement for meeting the civil power demand is very necessary and urgent.
With the advance of domestic intelligent power grids, a great amount of research and development efforts are put on electrified operation robots by each unit, and certain achievements are obtained. However, the existing hot-line work robot has a single work project, and part of the hot-line work robots are only suitable for bare conductors and are not suitable for insulating main conductors.
Disclosure of Invention
The invention aims to provide a method and a corresponding system for disconnecting and connecting a main insulated conductor and a lead wire in a narrow space of a distribution network, which are convenient and reliable to operate.
The invention provides a method for connecting a distribution network with a live line, which is characterized in that an operating robot is arranged at the tail end of an insulated telescopic arm of a crawler-type overhead working truck, the operating robot comprises a mechanical arm and an operating head connected with the mechanical arm at the tail end, the operating head comprises a peeler, a wire cutter and a clamp which are all driven by a motor, the operating head further comprises a control box and a field operation control device, and the mechanical arm is fixed on a box body of the control box. The two mechanical arms are respectively a main arm and an auxiliary arm, the main arm and the auxiliary arm are both multi-degree-of-freedom arms, cameras with cloud platforms are respectively installed at the tail ends of the main arm and the auxiliary arm to serve as field image transmission cameras, and laser range finders are further installed at the tail ends of the auxiliary arms; an industrial personal computer is installed in the control box and matched with a router, a platform tray is connected above a box body of the control box, an equipment wire clamp is connected to a wire clamp seat, and the wire clamp seat, a peeler and a wire cutter are positioned on the platform tray in advance; the clamp holder is connected to the tail end of the auxiliary arm; the main arm is connected with the peeler, the wire holder and the wire cutter through electric rotary joints, each electric rotary joint comprises two parts, one part is driven to rotate by a motor and is matched with the other part through a plug-in structure, the tail end of the main arm is connected with the part with the motor, the peeler, the wire holder and the wire cutter are respectively connected with the other part, and the main arm can be automatically connected with and replace an operating head according to the process requirement; the process of connecting the drainage line comprises the following steps:
(1) after the crawler-type overhead working truck travels to a working place, the robot at the tail end of the telescopic arm is lifted to a position which is away from the insulated main conductor by a set proper distance;
(2) the field image transmission cameras on the main arm and the auxiliary arm transmit the field operation condition back to the field operation device in real time through the industrial personal computer and the router, and the operation personnel make judgment according to the field condition;
(3) the main arm is connected with the electric peeler, and the auxiliary arm searches the position of the insulated main guide line through a laser range finder at the tail end of the auxiliary arm;
(4) the main arm sends the stripper to a working position, the clamp holder at the tail end of the auxiliary arm clamps the insulated main guide wire, and the stripper carries out stripping operation with a set length on the insulated main guide wire and returns to the working position;
(5) the main arm sends the stripper back to the platform tray, and the auxiliary arm loosens the insulated main guide wire;
(6) the main arm is connected with the wire clamp seat, the auxiliary arm clamps the drainage wire through the clamp holder and sends the drainage wire into the drainage wire position of the equipment wire clamp, and the equipment wire clamp automatically clamps the drainage wire;
(7) the main arm and the auxiliary arm move cooperatively to send the equipment wire clamp and the drainage wire to the peeled position of the insulated main conductor, the main wire position of the electric wire clamp is hung in the insulated main conductor and clamped tightly, and the main arm separates the wire clamp seat from the electric wire clamp;
(8) the main arm sends the wire clamp seat back to the platform tray, and the main arm and the auxiliary arm return to the standby position;
(9) adjusting the control box to the other two phases of leads by the movement of the large arm and the telescopic arm of the crawler-type overhead working truck, and repeating the operation of connecting the lead lines;
the drainage wire breaking steps are as follows:
(10) the main arm is connected with the thread cutter, and the auxiliary arm clamps the lower part of the part needing to cut the drainage thread;
(11) the main arm moves the thread cutter to a thread cutting position to cut off the drainage thread;
(12) the main arm sends the thread cutter back to the platform tray, and the auxiliary arm clamps the cut drainage thread to a specified position;
(13) and the main arm and the auxiliary arm return to standby positions, and the crawler-type overhead working truck leaves the field after the large arm and the telescopic arm of the crawler-type overhead working truck are retracted.
The invention provides a distribution network live-line disconnection and connection streamline system using the method, which is characterized in that an operating robot is arranged at the tail end of an insulated telescopic arm of a crawler-type overhead working truck, the operating robot comprises a mechanical arm and an operating head connected with the mechanical arm at the tail end, the operating head comprises a peeler, a wire cutter and a clamp which are all driven by a motor, and further comprises a control box and a field operation control device, the mechanical arm is fixed on a box body of the control box, and the distribution network live-line disconnection and connection streamline system is characterized in that: the two mechanical arms are respectively a main arm and an auxiliary arm, the main arm and the auxiliary arm are both multi-degree-of-freedom arms, cameras with cloud platforms are respectively installed at the tail ends of the main arm and the auxiliary arm to serve as field image transmission cameras, and laser range finders are further installed at the tail ends of the auxiliary arms; an industrial personal computer is installed in the control box and matched with a router, a platform tray is connected above a box body of the control box, an equipment wire clamp is connected to a wire clamp seat, and the wire clamp seat, a peeler and a wire cutter are positioned on the platform tray in advance; the clamp holder is connected to the tail end of the auxiliary arm; the main arm is connected with the peeler, the wire holder and the wire cutter through the electric rotary joint, the electric rotary joint comprises two parts, one part of the electric rotary joint is matched with the other part of the electric rotary joint through a plug-in structure in a motor-driven rotating mode, the tail end of the main arm is connected with a part with a motor, the other part of the electric rotary joint is connected onto the peeler, the wire holder and the wire cutter respectively, and the main arm can be automatically connected and replaced with the operating head according to process requirements.
In an embodiment of the above technical solution, the device wire clamp and the wire clamp seat are connected by a plug structure.
In one embodiment of the above technical solution, the wire holder, the peeler, and the wire cutter are all inserted into the platform tray.
In an embodiment of the above technical scheme, the portion of the main arm connected to the electric rotary joint is a male head, and the stripper, the wire holder and the wire cutter are respectively connected to corresponding female heads.
In an embodiment of the above technical solution, a laser range finder is fixed on the platform tray.
In one embodiment of the above technical solution, the outer layers of the main arm and the auxiliary arm are coated with insulating materials.
In one embodiment of the above technical scheme, the peeler is provided with a laser thickness measuring sensor capable of automatically measuring the thickness of the insulation sheath of the wire.
In one embodiment of the above technical solution, the control box is connected with a storage battery as a power supply.
In one embodiment of the above technical solution, the crawler type aerial work vehicle includes three large arms and the telescopic arm connected with the last large arm.
According to the invention, the crawler-type overhead working truck is used for conveying the working robot to the vicinity of the overhead insulated wire for disconnection and connection of the lead wire, so that the working personnel can be far away from the high-altitude and high-voltage working environment, and the working safety and the labor intensity of the working personnel are improved; all the steps of operation are independently completed through the automatic tool head, and direct operation of a mechanical arm is not needed. The main arm can be automatically connected with different operating head barkers, wire cutters and wire clamp seats of wire clamps of the fixed equipment from the platform tray according to the process requirements, and the tail end of the auxiliary arm is connected with a clamp holder. The mechanical arm of the main arm sends the operating heads to the designated positions, and each operating head can automatically complete peeling, wire clamp installation and drainage wire cutting operation, so that the complexity of the operation is reduced, and the clamp at the tail end of the auxiliary arm clamps the insulated main conductor during the operation of the peeler; when the drainage wire is installed, the drainage wire is clamped to the drainage wire position of the equipment wire clamp through the clamp holder. The invention adopts two mechanical arms and can work in coordination: when the tail end of the main arm is used for peeling, the tail end of the auxiliary arm clamps the main guide wire to avoid shaking, and when the tail end of the main arm cuts off the drainage wire, the tail end of the auxiliary arm clamps the cut drainage wire, so that the operation complexity is reduced, the operation reliability is improved, and the auxiliary arm is particularly suitable for performing disconnection and connection of the drainage wire on the insulating main guide wire of the distribution network in a narrow space.
Drawings
FIG. 1 is a schematic view of the assembly of one embodiment of the present invention in a system.
Fig. 2 is a schematic view of the main arm of the present embodiment in a state of taking out the peeler from the platform tray.
Fig. 3 is a schematic view illustrating an incoming peeling operation state of the insulated main conductor according to the present embodiment.
Fig. 4 is a system application framework diagram of the embodiment.
Number in the figure:
1-crawler type overhead working truck; 2-an operating robot; 3-operating the control device on site; 4-insulating the main conductor;
201-main arm; 202-laser rangefinder; 203-electric rotary joint male head;
204-an electric wire clamp; 205-wire holder; 206-a peeler; 207-a thread trimmer;
208-secondary arm; 209-wire clamping device;
210-a platform tray; 211-control box; 212-a battery;
213-first live view camera; 214-second live view camera.
Detailed Description
As shown in fig. 1, the distribution network live-line disconnection and connection streamline system disclosed by the embodiment comprises a crawler-type overhead working truck 1 and a working robot 2 installed at the tail end of an insulated telescopic arm of the crawler-type overhead working truck.
The tracked aerial working vehicle 1 of the present embodiment is preferably an italian tracked spider van, a proxy for electric power assistance equipment, new lanling, york, usa.
As can be seen from fig. 2 and 3, the working robot 2 has two arms, namely a main arm 201 and an auxiliary arm 208, which are symmetrically installed on opposite sides of a control box 211, and a platform tray 210 is fixed above the control box 211.
The main arm 201 and the auxiliary arm 208 are both six-degree-of-freedom arms, and the UR series cooperative mechanical arm of the Youhao robot purchased from Denmark is preferably purchased from the embodiment and is provided with an electric rotating joint.
An industrial personal computer and a router are installed in the control box 211.
The operating head is provided with a peeler 206, a wire cutter 207 and a clamp 209 which are provided with driving motors, finished products can be purchased, the peeler 206 is provided with a laser thickness measuring sensor capable of automatically measuring the thickness of the insulating cortex of the lead, the peeling depth of the tool bit can be automatically adjusted according to the thickness of the insulating layer, and the automatic peeling of the insulating cortex of the lead is automatically realized.
The clamp 209 is always connected to the end of the secondary arm 208, the stripper 206 and the thread trimmer 207 are fixed on the platform tray 210 through a plug-in connector, and the primary arm 201 is selectively connected as required during the operation.
The equipment clamp 204 of the embodiment adopts an outsourced electric clamp which can automatically clamp the bare ends of stripped insulating layers of bare conductors and drainage wires of main conductors. The device cable clamp is fixed on the cable clamp seat 205 in an inserting mode, and the cable clamp seat 205 is fixed on the platform tray 210 through an inserting connector.
The main arm 201 is connected with the peeler 206, the wire holder 205 and the wire cutter 207 through electric rotary joints.
The laser range finder 202 is fixed on the platform tray 210 close to the main arm side, the laser range finder is also installed at the tail end of the auxiliary arm 208, and the first field image transmission camera 213 and the second field image transmission camera 214 are respectively installed at the joints of the main mechanical arm and the auxiliary mechanical arm. The distance between two points on the insulated main conductor 4 is measured, and the conductor distance and the space attitude are calculated through a data processing module on the industrial personal computer; the first field image transmission camera 213 and the second field image transmission camera 214 with the cloud platform cameras can shoot operation pictures in real time and transmit the operation pictures back to a display screen on the field operation control device 3 through an industrial personal computer and a router, and the router can be in real-time communication with each operation head and the field operation control device 3 through WIFI signals.
The field operation control device 3 is a handheld device, can display a working field image in real time, and comprises an automatic control unit and a manual control unit, and the working process of connecting the drainage wire to the insulated main drainage wire by starting and controlling the main and auxiliary arms and the operating head at the tail end of the main and auxiliary arms through the field operation control device is as follows (see fig. 4):
peeling operation
As can be seen from fig. 2 and 3, the main arm 201 is connected with the peeler 206, and the auxiliary arm 208 finds the position of the insulated main conductor 4 through the laser range finder 202 at the end of the mechanical arm;
the main arm 201 sends the barker 206 to a working position, the auxiliary arm 208 clamps the insulating main conducting wire 4 at the position 20cm right of the barker 206 through the clamping device 209 at the tail end of the auxiliary arm, the conducting wire is effectively prevented from touching other interphase conducting wires, and the barker 206 finishes automatic thickness measurement and barking of the cortex of the conducting wire through the laser thickness measurement sensor on the barker 206 and returns to the working position; the stripper 206 can automatically move along the insulated main conductor 4 when stripping the skin of the conductor, and the main arm 201 can move along the conductor along with the stripper 206;
main arm 201 returns stripper 206 to tool platform tray 210 and auxiliary arm 208 releases insulated main conductor 4.
Secondly, installing the drainage wire and the equipment wire clamp
The main arm 201 is connected with the wire clamp seat 205, the auxiliary arm 208 clamps the drainage wire and sends the drainage wire to the drainage wire position of the wire clamp 204, and the motor of the equipment wire clamp 204 works to enable the equipment wire clamp to clamp the drainage wire;
the main arm 201 and the auxiliary arm 208 move cooperatively to send the wire clamp 204 and the drainage wire to the position of the insulated main conductor 4 and hang the main wire position of the wire clamp 204 in the insulated main conductor 4, the motor of the equipment wire clamp 204 works to enable the equipment wire clamp to clamp the insulated main conductor 4, and the main arm 201 drives the wire clamp seat 205 to separate from the wire clamp 204;
the main arm 201 returns the wire clamp holder 205 to the tool platform tray 210, and the main arm 201 and the auxiliary arm 208 return to the standby position;
adjusting the operation robot 2 to the other two-phase lead wire, and repeating the operation of connecting the lead wire;
thirdly, cutting off the drainage thread
The main arm 201 is connected with a thread cutter 207, and the auxiliary arm 208 clamps the lower end of the part needing to cut off the drainage thread through a clamp 209; the main arm 201 moves the thread cutter 207 to a thread cutting position, and the thread cutter 207 cuts off the drainage thread; the main arm 201 puts the thread cutter 207 back to the tool platform tray 210, and the auxiliary arm 208 clamps and cuts off the drainage thread to a designated position through the clamp 209;
fourthly, the main arm 201 and the auxiliary arm 208 return to the standby position and retract the aerial cage.
Claims (10)
1. The utility model provides a join in marriage electrified method of breaking, connecing the streamline of leading of net, installs work robot at the insulating flexible arm end of crawler-type high altitude construction car, and work robot includes arm and end-to-end connection's operating head, and the operating head still includes control box and field operation controlling means including being motor drive's barker, wire cutter and holder, and the arm is fixed in on the box of control box, its characterized in that: the two mechanical arms are respectively a main arm and an auxiliary arm, the main arm and the auxiliary arm are both multi-degree-of-freedom arms, cameras with cloud platforms are respectively installed at the tail ends of the main arm and the auxiliary arm to serve as field image transmission cameras, and laser range finders are further installed at the tail ends of the auxiliary arms; an industrial personal computer is installed in the control box and matched with a router, a platform tray is connected above a box body of the control box, an equipment wire clamp is connected to a wire clamp seat, and the wire clamp seat, a peeler and a wire cutter are positioned on the platform tray in advance; the clamp holder is connected to the tail end of the auxiliary arm; the main arm is connected with the peeler, the wire holder and the wire cutter through electric rotary joints, each electric rotary joint comprises two parts, one part is driven to rotate by a motor and is matched with the other part through a plug-in structure, the tail end of the main arm is connected with the part with the motor, the peeler, the wire holder and the wire cutter are respectively connected with the other part, and the main arm can be automatically connected with and replace an operating head according to the process requirement; the process of connecting the drainage line comprises the following steps:
(1) after the crawler-type overhead working truck travels to a working place, the robot at the tail end of the telescopic arm is lifted to a position which is away from the insulated main conductor by a set proper distance;
(2) the field image transmission cameras on the main arm and the auxiliary arm transmit the field operation condition back to the field operation device in real time through the industrial personal computer and the router, and the operation personnel make judgment according to the field condition;
(3) the main arm is connected with the electric peeler, and the auxiliary arm searches the position of the insulated main guide line through a laser range finder at the tail end of the auxiliary arm;
(4) the main arm sends the stripper to a working position, the clamp holder at the tail end of the auxiliary arm clamps the insulated main guide wire, and the stripper carries out stripping operation with a set length on the insulated main guide wire and returns to the working position;
(5) the main arm sends the stripper back to the platform tray, and the auxiliary arm loosens the insulated main guide wire;
(6) the main arm is connected with the wire clamp seat, the auxiliary arm clamps the drainage wire through the clamp holder and sends the drainage wire into the drainage wire position of the equipment wire clamp, and the equipment wire clamp automatically clamps the drainage wire;
(7) the main arm and the auxiliary arm move cooperatively to send the equipment wire clamp and the drainage wire to the peeled position of the insulated main conductor, the main wire position of the electric wire clamp is hung in the insulated main conductor and clamped tightly, and the main arm separates the wire clamp seat from the electric wire clamp;
(8) the main arm sends the wire clamp seat back to the platform tray, and the main arm and the auxiliary arm return to the standby position;
(9) adjusting the control box to the other two phases of leads by the movement of the large arm and the telescopic arm of the crawler-type overhead working truck, and repeating the operation of connecting the lead lines;
the drainage wire breaking steps are as follows:
(10) the main arm is connected with the thread cutter, and the auxiliary arm clamps the lower part of the part needing to cut the drainage thread;
(11) the main arm moves the thread cutter to a thread cutting position to cut off the drainage thread;
(12) the main arm sends the thread cutter back to the platform tray, and the auxiliary arm clamps the cut drainage thread to a specified position;
(13) and the main arm and the auxiliary arm return to standby positions, and the crawler-type overhead working truck leaves the field after the large arm and the telescopic arm of the crawler-type overhead working truck are retracted.
2. A distribution network live line disconnection and connection streamline system utilizing the method of claim 1, wherein an operation robot is arranged at the tail end of an insulated telescopic arm of a crawler-type overhead working truck, the operation robot comprises a mechanical arm and an operation head connected with the mechanical arm, the operation head comprises a peeler, a wire cutter and a clamp which are all driven by a motor, and further comprises a control box and a field operation control device, the mechanical arm is fixed on a box body of the control box, and the distribution network live line disconnection and connection streamline system is characterized in that: the two mechanical arms are respectively a main arm and an auxiliary arm, the main arm and the auxiliary arm are both multi-degree-of-freedom arms, cameras with cloud platforms are respectively installed at the tail ends of the main arm and the auxiliary arm to serve as field image transmission cameras, and laser range finders are further installed at the tail ends of the auxiliary arms; an industrial personal computer is installed in the control box and matched with a router, a platform tray is connected above a box body of the control box, an equipment wire clamp is connected to a wire clamp seat, and the wire clamp seat, a peeler and a wire cutter are positioned on the platform tray in advance; the clamp holder is connected to the tail end of the auxiliary arm; the main arm is connected with the peeler, the wire holder and the wire cutter through the electric rotary joint, the electric rotary joint comprises two parts, one part of the electric rotary joint is matched with the other part of the electric rotary joint through a plug-in structure in a motor-driven rotating mode, the tail end of the main arm is connected with a part with a motor, the other part of the electric rotary joint is connected onto the peeler, the wire holder and the wire cutter respectively, and the main arm can be automatically connected and replaced with the operating head according to process requirements.
3. The system of claim 2, wherein: the equipment wire clamp and the wire clamp seat are connected through a plugging structure.
4. The system of claim 2, wherein: the wire clamp seat, the peeler and the wire cutter are all inserted on the platform tray.
5. The system of claim 2, wherein: the tail end of the main arm is connected with the electric rotary joint part and is a male head, and the peeler, the wire holder and the wire cutter are respectively connected with corresponding female heads.
6. The system of claim 2, wherein: and a laser range finder is fixed on the platform tray.
7. The system of claim 2, wherein: the outer layers of the main arm and the auxiliary arm are coated with insulating materials.
8. The system of claim 2, wherein: and the peeler is provided with a laser thickness measuring sensor capable of automatically measuring the thickness of the insulating sheath of the lead.
9. The system of claim 2, wherein: the control box is connected with a storage battery as a power supply.
10. The system of claim 2, wherein: the crawler-type overhead working truck comprises three large arms and a telescopic arm connected with the last large arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910978799.4A CN110601082B (en) | 2019-10-15 | 2019-10-15 | Distribution network live disconnection and drainage wire connection method and corresponding system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910978799.4A CN110601082B (en) | 2019-10-15 | 2019-10-15 | Distribution network live disconnection and drainage wire connection method and corresponding system |
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| CN110601082A true CN110601082A (en) | 2019-12-20 |
| CN110601082B CN110601082B (en) | 2023-10-17 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113681566A (en) * | 2021-09-10 | 2021-11-23 | 广东电网有限责任公司广州供电局 | Control method and controller of drainage wire operation robot |
| CN114614318A (en) * | 2022-03-25 | 2022-06-10 | 国网湖北省电力有限公司电力科学研究院 | Live working robot lead wire connecting system for narrow and complex working conditions and working method thereof |
| CN114614397A (en) * | 2022-04-25 | 2022-06-10 | 国网山东省电力公司烟台供电公司 | Live working robot capable of eliminating heating defect of overhead transmission line drainage plate through intermediate potential and operation method of live working robot |
| CN114770498A (en) * | 2022-03-31 | 2022-07-22 | 常州市盈能电气有限公司 | Live working robot operation method |
| CN114770524A (en) * | 2022-06-02 | 2022-07-22 | 广州南方电安科技有限公司 | Distribution network hot-line work robot |
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| CN113681566A (en) * | 2021-09-10 | 2021-11-23 | 广东电网有限责任公司广州供电局 | Control method and controller of drainage wire operation robot |
| CN114614318A (en) * | 2022-03-25 | 2022-06-10 | 国网湖北省电力有限公司电力科学研究院 | Live working robot lead wire connecting system for narrow and complex working conditions and working method thereof |
| CN114614318B (en) * | 2022-03-25 | 2023-07-11 | 国网湖北省电力有限公司电力科学研究院 | Live working robot lead connecting system for narrow and complicated working conditions and working method thereof |
| CN114770498A (en) * | 2022-03-31 | 2022-07-22 | 常州市盈能电气有限公司 | Live working robot operation method |
| CN114614397A (en) * | 2022-04-25 | 2022-06-10 | 国网山东省电力公司烟台供电公司 | Live working robot capable of eliminating heating defect of overhead transmission line drainage plate through intermediate potential and operation method of live working robot |
| CN114770524A (en) * | 2022-06-02 | 2022-07-22 | 广州南方电安科技有限公司 | Distribution network hot-line work robot |
| CN114770524B (en) * | 2022-06-02 | 2023-10-13 | 广州南方电安科技有限公司 | Live working robot for power distribution network |
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