CN112670898A - Method, device, equipment and medium for live replacement of insulator string - Google Patents
Method, device, equipment and medium for live replacement of insulator string Download PDFInfo
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- CN112670898A CN112670898A CN202110078853.7A CN202110078853A CN112670898A CN 112670898 A CN112670898 A CN 112670898A CN 202110078853 A CN202110078853 A CN 202110078853A CN 112670898 A CN112670898 A CN 112670898A
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- 239000012212 insulator Substances 0.000 title claims abstract description 178
- 238000000034 method Methods 0.000 title claims abstract description 32
- 239000012211 strain insulator Substances 0.000 claims description 31
- 238000009413 insulation Methods 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 11
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 claims description 9
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 230000035882 stress Effects 0.000 description 25
- 238000010586 diagram Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 5
- 230000032683 aging Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 208000025274 Lightning injury Diseases 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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Abstract
The invention discloses a method for replacing an insulator string in a charged manner, which comprises the following steps: the first arm and the second arm are driven to complete the work of fixing the insulator string, pulling out the spring pins at the two ends, installing the spring pins at the two ends, dismantling special tools and the like by using the insulating operating rod. The invention can realize the replacement of the insulator string on the premise of no power failure and ensure the safety of operators. In addition, a device, equipment and a storage medium for live replacement of the insulator string are also provided.
Description
Technical Field
The invention relates to the technical field of electric power operation, in particular to a method, a device, equipment and a medium for replacing an insulator string in an electrified way.
Background
The transmission line is an important component of an electric power system, and the output power of a power plant can be transmitted to thousands of households through the transmission line. The insulator is an indispensable device in the power transmission line and is used for connecting a wire to a tower, so that the creepage distance is increased.
In the long-term operation of the transmission line, the insulated string needs to be replaced due to aging, lightning stroke, dirt accumulation and the like, and the common method is to replace the insulator by power failure. However, power transmission interruption can be caused by replacement of insulators in case of power failure, so that a user cannot perform daily work needing power, and the economic benefit and social benefit of a power supply enterprise are seriously affected. Therefore, it is very important how to replace the insulator without power failure.
Disclosure of Invention
In view of the above, it is desirable to provide a method, an apparatus, a device and a medium for live replacement of an insulator string in a non-power-off working environment.
A method of live replacement of an insulator string, the method comprising:
driving a first arm to relatively fix a first insulator string and a special tool by using an insulating operating rod, wherein the special tool comprises a screw rod;
driving a first arm to rotate the screw rod to a target position by using the insulating operating rod, driving a second arm to pull out spring pins at two ends of the first insulator string by using a pin puller of the insulating operating rod so as to separate the first insulator string from a lead and a cross arm, and driving the second arm to pick up the first insulator string by using a clamping assembly of the insulating operating rod;
the first hand arm is driven to use the bowl head centralizer of the insulation operating rod to adjust the connecting position of a second insulator string and a lead wire and/or a cross arm, the second hand arm is driven to use the spring pins arranged at two ends of the second insulator string by the pin puller, and the first hand arm is driven to use the insulation operating rod to rotate the lead screw to the original position;
driving the first arm to remove the special tool using the insulated operating rod.
In one embodiment, when the first insulator string is a strain insulator string, the special tool further comprises a wire side large knife fixture, a cross arm side large knife fixture and a bottle dragging device;
the first arm of drive uses the insulating bar to make first insulator chain and specialized tool relatively fixed, includes:
the first arm is driven to fix the wire side broadsword fixture and the wire side triangular yoke plate at one end of the strain insulator string by using the insulating operating rod, and the first arm is driven to fix the cross arm side broadsword fixture and the cross arm side triangular yoke plate at one end of the strain insulator string by using the insulating operating rod;
and driving the first arm to move the bottle dragging device to the position below the strain insulator string, and fixing the bottle dragging device with the lead side large knife fixture and the cross arm side large knife fixture respectively by using the insulation operating rod.
In one embodiment, the driving the first arm fixes the first insulator string relative to the special tool using an insulating operation rod, further comprising:
and driving the first arm to fix the screw rod and the cross arm side large-cutter clamp by using the insulating operating rod.
In one embodiment, two ends of the bottle holder are provided with sliding assemblies, and the driving the first arm to move the bottle holder to below the strain insulator string comprises:
and driving the first arm to adjust the horizontal position of the sliding assembly by using the insulation operating rod so that the bottle supporting frame is always positioned under the first insulator string.
In one embodiment, when the first insulator string is a linear insulator string, the special tool comprises a three-pulley and a safety hook, and the three-pulley is provided with a screw rod;
the first arm of drive uses the insulating bar to make first insulator chain and specialized tool relatively fixed, includes:
and driving the first arm to fix the three pulleys at a target cross arm by using the insulating operating rod and hook the safety hook at a target wire right below the target cross arm.
In one embodiment, the driving the first arm to rotate the lead screw to a target position using the insulating operation rod includes:
and driving the first arm to rotate the lead screw by using the insulating operating rod until the distance between the three pulleys and the safety car is less than or equal to the distance between the target cross arm and the target lead.
In one embodiment, the insulating operation lever further includes a pressure sensor, and after the driving the first arm rotates the lead screw to a home position using the insulating operation lever, the method further includes:
detecting real-time stress at two ends of the second insulator string, and judging whether the real-time stress is in a preset stress range;
and when the real-time stress is within the preset stress range, judging that the second insulator is replaced.
A live replacement insulator string apparatus, the apparatus comprising:
the fixing module is used for driving the first arm to enable the first insulator string and a special tool to be fixed relatively by using an insulating operating rod, and the special tool comprises a screw rod;
the first insulating sub-operation module is used for driving a first arm to rotate the screw rod to a target position by using the insulating operation rod, driving a second arm to pull out spring pins at two ends of the first insulating sub-string by using a pin puller of the insulating operation rod so as to enable the first insulator string to be separated from a lead and a cross arm, and driving the second arm to pick up the first insulator string by using a clamping assembly of the insulating operation rod;
the second insulator operating module is used for driving the first hand arm to adjust the connecting position of a second insulator string and a lead wire and/or a cross arm by using the bowl head centralizer of the insulating operating rod, driving the second hand arm to use the pin puller to install spring pins at two ends of the second insulator string, and driving the first hand arm to rotate the lead screw to an original position by using the insulating operating rod;
and the dismounting module is used for driving the first arm to dismount the special tool by using the insulating operating rod.
A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
driving a first arm to relatively fix a first insulator string and a special tool by using an insulating operating rod, wherein the special tool comprises a screw rod;
driving a first arm to rotate the screw rod to a target position by using the insulating operating rod, driving a second arm to pull out spring pins at two ends of the first insulator string by using a pin puller of the insulating operating rod so as to separate the first insulator string from a lead and a cross arm, and driving the second arm to pick up the first insulator string by using a clamping assembly of the insulating operating rod;
the first hand arm is driven to use the bowl head centralizer of the insulation operating rod to adjust the connecting position of a second insulator string and a lead wire and/or a cross arm, the second hand arm is driven to use the spring pins arranged at two ends of the second insulator string by the pin puller, and the first hand arm is driven to use the insulation operating rod to rotate the lead screw to the original position;
driving the first arm to remove the special tool using the insulated operating rod.
A charged replacement of an insulator string device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of:
driving a first arm to relatively fix a first insulator string and a special tool by using an insulating operating rod, wherein the special tool comprises a screw rod;
driving a first arm to rotate the screw rod to a target position by using the insulating operating rod, driving a second arm to pull out spring pins at two ends of the first insulator string by using a pin puller of the insulating operating rod so as to separate the first insulator string from a lead and a cross arm, and driving the second arm to pick up the first insulator string by using a clamping assembly of the insulating operating rod;
the first hand arm is driven to use the bowl head centralizer of the insulation operating rod to adjust the connecting position of a second insulator string and a lead wire and/or a cross arm, the second hand arm is driven to use the spring pins arranged at two ends of the second insulator string by the pin puller, and the first hand arm is driven to use the insulation operating rod to rotate the lead screw to the original position;
driving the first arm to remove the special tool using the insulated operating rod.
The invention provides a method, a device, equipment and a medium for replacing an insulator string in an electrified way, wherein a first arm and a second arm are driven to complete the work of fixing the insulator string, pulling out spring pins at two ends, installing the spring pins at two ends, dismantling special tools and the like by using an insulating operating rod, so that the insulator string can be replaced on the premise of no power failure, and the safety of operators is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Wherein:
FIG. 1 is a schematic flow chart of a method for replacing an insulator string in an electrified manner in one embodiment;
FIG. 2 is a schematic diagram of the operation of replacing an insulator string in one embodiment;
FIG. 3 is a schematic view of a strain insulator string secured in one embodiment;
FIG. 4 is a schematic view of a fixed linear insulator string in one embodiment;
FIG. 5 is a schematic diagram of an embodiment of an apparatus for hot swapping an insulator string;
fig. 6 is a structural block diagram of an insulator string live replacement device in one embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, fig. 1 is a schematic flow chart of a method for replacing an insulator string in an electrified manner in one embodiment, and in order to improve safety of replacing the insulator string, the insulator string is replaced by an automatic robot with a mechanical arm in this embodiment. Referring to fig. 2, fig. 2 is a schematic diagram of an embodiment of replacing an insulator string, and after the elevator lifts the automatic robot to a position near the insulator string 230 to be replaced, the automatic robot receives a remote control command sent by an operator to replace the insulator string 230. The first arm 210 is an arm for assembling and assisting, and the second arm 220 is an arm for detaching and re-fixing the insulator string 230. The first arm 210 is kept at the same potential as the ground (or a pole tower) to perform work, and the second arm 220 is kept at the same potential as the charged body (a wire) to perform work. The first and second arms 210 and 220 may use an insulating operating rod 240 for assisting in replacing the insulator string 230.
The method for replacing the insulator string in an electrified way comprises the following steps:
and 102, driving the first arm to relatively fix the first insulator string and the special tool by using the insulating operating rod.
Wherein, the insulating operation rod can be respectively installed with auxiliary devices such as a pin puller, a bowl head centralizer and a clamping assembly and the like, and is used for assisting in replacing the insulator string. The first insulator string is an insulator string that needs to be replaced due to aging, breakage, etc., and different insulator strings are used for different special tools for replacement, which is described in detail below.
In one embodiment, the first insulator string is a strain insulator string 310, and the insulators in the strain insulator string 310 are horizontally disposed, referring to fig. 3, and fig. 3 is a schematic diagram of fixing the strain insulator string in one embodiment. One end of the strain insulator string 310 is connected with the lead side triangular yoke plate 320, so that the strain insulator string is indirectly connected with the lead; and the other end of the strain insulator string 310 is connected with the cross arm side triangular yoke plate 330, thereby realizing indirect connection with the cross arm.
The special tools needed for replacing the strain insulator string 310 include a wire-side broadsword clamp 340, a cross-arm-side broadsword clamp 350, a bottle puller 360 and a lead screw 370. The wire-side broadsword fixture 340 and the cross arm-side broadsword fixture 350 are connected through an insulating pull plate 360 serving as a connecting piece, and the bottle dragging device 360 is used for dragging and dropping the replaced first insulator string. The bolt dismounting tool is mounted on the insulating operating rod, and after the first arm moves the wire side broadsword fixture 340 to the mounting position of the wire side triangular yoke plate 320, the first arm is driven to use the bolt dismounting tool to screw the fixing bolt between the wire side broadsword fixture 340 and the wire side triangular yoke plate 320, so that the wire side broadsword fixture 340 and the wire side triangular yoke plate 320 are fixed. Similarly, after the first arm moves the cross arm side large blade clamp 350 to the mounting position of the cross arm side cam yoke 330, the first arm is driven to tighten the fixing bolt between the cross arm side large blade clamp 350 and the cross arm side cam yoke 330 using the bolt attaching and detaching tool, thereby fixing the cross arm side large blade clamp 350 and the cross arm side cam yoke 330.
Further, the lead screw 370 is fixed, and after the first arm moves the lead screw 370 to the target mounting position of the cross arm side large blade clamp 350, the first arm is driven to tighten the fixing bolts of the lead screw 370 and the cross arm side large blade clamp 350 using a bolt fastening and detaching tool, thereby fixing the lead screw 370 and the cross arm side large blade clamp 350. Finally, the bottle dragging device 360 is fixed, and when the bottle dragging device 360 is moved to the position below the strain insulator string 310 by the first arm, sliding assemblies arranged at two ends of the bottle supporting device are adjusted in the horizontal direction, so that the bottle supporting frame is always located right below the first insulator string. The first arm is driven to screw the fixing bolts of the bottle holder and the wire side broadsword fixture 340 and the cross arm side broadsword fixture 350 respectively by using a bolt dismounting tool, so that the bottle holder 360 is fixed with the wire side broadsword fixture 340 and the cross arm side broadsword fixture 350 simultaneously, and finally the fixing effect shown in fig. 3 is obtained.
In one embodiment, when the first insulator string is the linear insulator string 410, the special tool includes a triple block 420 and a safety hook 430, the triple block 420 being provided with a lead screw. Referring to fig. 4, the connection between the triple block 420 and the safety hook 430 is made by a safety rope, the first arm is driven to fix the triple block 420 at the target cross arm using an insulated operating rod, and the safety hook 430 is hooked at the target wire right under the target cross arm.
And 104, driving the first arm to rotate the screw rod to a target position by using the insulating operating rod, driving the second arm to pull out the spring pins at the two ends of the first insulator string by using the pin puller of the insulating operating rod so as to separate the first insulator string from the lead and the cross arm, and driving the second arm to pick up the first insulator string by using the clamping assembly of the insulating operating rod.
The lead screw is used for converting rotary motion into linear motion, the standard of rotating the lead screw to a target position is the transfer of load of the first insulator string, and the connection of the first insulator string is changed from fastening to loosening. Specifically, in the case of the linear insulator string 410, when the first arm is driven to rotate the lead screw at the triple block 420 using the insulating operating rod, the load is transferred from the first insulator string to between the triple block 420 and the safety hook 430 until the distance between the triple block 420 and the safety car is less than or equal to the distance between the target cross arm and the target lead wire. As the screw 370 is gradually tightened, the tension insulator string 310 begins to sag from a completely horizontal state to a middle insulator, and whether the screw rotates to a target position can be determined according to the degree of sagging of the insulators.
Furthermore, the insulating operating rod is provided with a pin puller, and the second arm is driven to use the pin puller to pull out the spring pins at the two ends of the first insulator string, so that the first insulator string is separated from the lead and the cross arm. The strain insulator string 310 is placed on the drag and drop device after detachment, thereby facilitating installation of a new insulator string. The linear insulator string 410 is picked up by the insulated operating rod mounted with the gripping assembly.
And 106, driving the first arm to adjust the connecting position of the second insulator string and the conducting wire and/or the cross arm by using the bowl head centralizer of the insulating operating rod, driving the second arm to install spring pins at two ends of the second insulator string by using a pin puller, and driving the first arm to rotate the screw rod to the original position by using the insulating operating rod.
And the second insulator string is defect-free and is used for replacing the insulator string of the first insulator string.
Specifically, the insulating operation rod is installed with the bowl head centralizer, and the connecting position of the second insulator string and the lead and/or the cross arm is adjusted through the bowl head centralizer until the second rim string fixing hole is aligned with the ball head bowl head fixing hole. And after the fixing holes are aligned, the insulating operating rod is provided with a pin puller, and the second arm is driven to be inserted into the spring pins at the two ends of the second insulator string by using the pin puller, so that the second insulator string is connected with the lead and the cross arm. And then the first arm is driven to rotate the screw rod to the original position by using the insulation operating rod, so that the load is transferred to the second insulator string again, and the connection of the second insulator string is changed from loosening to fastening.
Further, in order to accurately judge whether the second insulator is replaced, after the screw rod is rotated to the original position, the real-time stress at the two ends of the second insulator string is detected through the pressure sensors of the insulating operation rods, and whether the real-time stress is within the preset stress range is judged. When the real-time stress is within the preset stress range, the load is transferred to the second insulator string, the second insulator string is completely stressed, the second insulator string is successfully replaced, and step 108 can be executed.
And step 108, driving the first arm to remove the special tool by using the insulating operating rod.
The specific removing step is opposite to step 102, and is not described herein again.
According to the method for replacing the insulator string in the electrified mode, the first arm and the second arm are driven to complete the work of fixing the insulator string, pulling out the spring pins at the two ends, installing the spring pins at the two ends, dismantling special tools and the like by using the insulating operating rods, the replacement of the insulator string can be completed on the premise of no power outage, and the safety of operators is guaranteed.
In one embodiment, as shown in fig. 5, a live replacement insulator string device is provided, the device comprising:
and the fixing module 502 is used for driving the first arm to relatively fix the first insulator string and a special tool by using an insulating operating rod, and the special tool comprises a screw rod.
The first insulating sub-operation module 504 is configured to drive the first arm to rotate the lead screw to a target position by using the insulating operation rod, drive the second arm to pull out the spring pins at two ends of the first insulating sub-string by using the pin puller of the insulating operation rod, so that the first insulating sub-string is separated from the lead wire and the cross arm, and drive the second arm to pick up the first insulating sub-string by using the clamping assembly of the insulating operation rod.
And the second insulator operating module 506 is used for driving the first arm to adjust the connecting position of the second insulator string and the lead wire and/or the cross arm by using the bowl head centralizer of the insulating operating rod, driving the second arm to install spring pins at two ends of the second insulator string by using a pin puller, and driving the first arm to rotate the lead screw to the original position by using the insulating operating rod.
A removal module 508 for actuating the first arm to remove the special tool using the insulated operating rod.
According to the device for replacing the insulator string in the electrified manner, the first arm and the second arm are driven to complete the work of fixing the insulator string, extracting the spring pins at the two ends, installing the spring pins at the two ends, dismantling special tools and the like by using the insulating operating rods, so that the replacement of the insulator string can be completed on the premise of no power failure, and the safety of operators is guaranteed.
In an embodiment, the fixing module 502 is further specifically configured to: the first arm is driven to fix the wire side large knife fixture and the wire side triangular yoke plate at one end of the strain insulator string by using an insulating operating rod, and the first arm is driven to fix the cross arm side large knife fixture and the cross arm side triangular yoke plate at one end of the strain insulator string by using the insulating operating rod; and driving the first arm to move the bottle dragging device to the position below the strain insulator string, and fixing the bottle dragging device with the wire side large-cutter clamp and the cross arm side large-cutter clamp respectively by using the insulating operating rod.
In an embodiment, the fixing module 502 is further specifically configured to: and driving the first arm to fix the screw rod and the cross arm side large knife fixture by using an insulating operating rod.
In an embodiment, the fixing module 502 is further specifically configured to: and driving the first arm to adjust the horizontal position of the sliding assembly by using the insulating operating rod so that the bottle supporting frame is always positioned under the first insulator string.
In an embodiment, the fixing module 502 is further specifically configured to: and driving the first arm to fix the three pulleys at the target cross arm by using an insulating operating rod and hooking the safety hook at a target wire right below the target cross arm.
In an embodiment, the first insulating sub-operation module 504 is further specifically configured to: and driving the first arm to rotate the screw rod by using the insulating operating rod until the distance between the three pulleys and the safety car is less than or equal to the distance between the target cross arm and the target lead.
In one embodiment, the live insulator string replacing apparatus further includes a determining module configured to: detecting real-time stress at two ends of the second insulator string, and judging whether the real-time stress is within a preset stress range; and when the real-time stress is within the preset stress range, the second insulator is judged to be replaced.
Fig. 6 shows an internal structure diagram of the equipment for replacing the insulator string in an electrified way in one embodiment. As shown in fig. 6, the charged insulator string replacing device comprises a processor, a memory and a network interface which are connected through a system bus. Wherein the memory includes a non-volatile storage medium and an internal memory. The nonvolatile storage medium of the equipment for replacing the insulator string in an electrified way is stored with an operating system and can also be stored with a computer program, and when the computer program is executed by a processor, the processor can realize the method for replacing the insulator string in the electrified way. The internal memory may also store a computer program that, when executed by the processor, causes the processor to perform a method of live replacement of an insulator string. Those skilled in the art will appreciate that the structure shown in fig. 6 is a block diagram of only a portion of the structure associated with the present application, and does not constitute a limitation on the live replacement insulator string device to which the present application is applied, and that a particular live replacement insulator string device may include more or fewer components than those shown, or combine certain components, or have a different arrangement of components.
An apparatus for electrically replacing a string of insulators comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to perform the following steps: driving a first arm to relatively fix a first insulator string and a special tool by using an insulating operating rod, wherein the special tool comprises a screw rod; the first arm is driven to rotate the screw rod to a target position by using the insulating operating rod, the second arm is driven to pull out the spring pins at two ends of the first insulator string by using a pin puller of the insulating operating rod so as to separate the first insulator string from the lead and the cross arm, and the second arm is driven to pick up the first insulator string by using a clamping assembly of the insulating operating rod; the first arm is driven to use the bowl head centralizer of the insulating operating rod to adjust the connecting position of the second insulator string and the conducting wire and/or the cross arm, the second arm is driven to use the pin puller to install spring pins at two ends of the second insulator string, and the first arm is driven to use the insulating operating rod to rotate the screw rod to the original position; the first arm is actuated to remove the special tool using the insulated operating rod.
In one embodiment, driving the first arm to secure the first insulator string relative to the special tool using the insulated operating rod comprises: the first arm is driven to fix the wire side large knife fixture and the wire side triangular yoke plate at one end of the strain insulator string by using an insulating operating rod, and the first arm is driven to fix the cross arm side large knife fixture and the cross arm side triangular yoke plate at one end of the strain insulator string by using the insulating operating rod; and driving the first arm to move the bottle dragging device to the position below the strain insulator string, and fixing the bottle dragging device with the wire side large-cutter clamp and the cross arm side large-cutter clamp respectively by using the insulating operating rod.
In one embodiment, driving the first arm fixes the first insulator string relative to the special tool using the insulating operating rod, further comprising: and driving the first arm to fix the screw rod and the cross arm side large knife fixture by using an insulating operating rod.
In one embodiment, driving the first arm to move the bottle puller below the strain insulator string comprises: and driving the first arm to adjust the horizontal position of the sliding assembly by using the insulating operating rod so that the bottle supporting frame is always positioned under the first insulator string.
In one embodiment, driving the first arm to secure the first insulator string relative to the special tool using the insulated operating rod comprises: and driving the first arm to fix the three pulleys at the target cross arm by using an insulating operating rod and hooking the safety hook at a target wire right below the target cross arm.
In one embodiment, driving the first arm to rotate the lead screw to the target position using the insulated operating rod includes: and driving the first arm to rotate the screw rod by using the insulating operating rod until the distance between the three pulleys and the safety car is less than or equal to the distance between the target cross arm and the target lead.
In one embodiment, after the driving of the first arm rotates the lead screw to the home position using the insulating lever, further comprising: detecting real-time stress at two ends of the second insulator string, and judging whether the real-time stress is within a preset stress range; and when the real-time stress is within the preset stress range, the second insulator is judged to be replaced.
A computer-readable storage medium storing a computer program which, when executed by a processor, performs the steps of: driving a first arm to relatively fix a first insulator string and a special tool by using an insulating operating rod, wherein the special tool comprises a screw rod; the first arm is driven to rotate the screw rod to a target position by using the insulating operating rod, the second arm is driven to pull out the spring pins at two ends of the first insulator string by using a pin puller of the insulating operating rod so as to separate the first insulator string from the lead and the cross arm, and the second arm is driven to pick up the first insulator string by using a clamping assembly of the insulating operating rod; the first arm is driven to use the bowl head centralizer of the insulating operating rod to adjust the connecting position of the second insulator string and the conducting wire and/or the cross arm, the second arm is driven to use the pin puller to install spring pins at two ends of the second insulator string, and the first arm is driven to use the insulating operating rod to rotate the screw rod to the original position; the first arm is actuated to remove the special tool using the insulated operating rod.
In one embodiment, driving the first arm to secure the first insulator string relative to the special tool using the insulated operating rod comprises: the first arm is driven to fix the wire side large knife fixture and the wire side triangular yoke plate at one end of the strain insulator string by using an insulating operating rod, and the first arm is driven to fix the cross arm side large knife fixture and the cross arm side triangular yoke plate at one end of the strain insulator string by using the insulating operating rod; and driving the first arm to move the bottle dragging device to the position below the strain insulator string, and fixing the bottle dragging device with the wire side large-cutter clamp and the cross arm side large-cutter clamp respectively by using the insulating operating rod.
In one embodiment, driving the first arm fixes the first insulator string relative to the special tool using the insulating operating rod, further comprising: and driving the first arm to fix the screw rod and the cross arm side large knife fixture by using an insulating operating rod.
In one embodiment, driving the first arm to move the bottle puller below the strain insulator string comprises: and driving the first arm to adjust the horizontal position of the sliding assembly by using the insulating operating rod so that the bottle supporting frame is always positioned under the first insulator string.
In one embodiment, driving the first arm to secure the first insulator string relative to the special tool using the insulated operating rod comprises: and driving the first arm to fix the three pulleys at the target cross arm by using an insulating operating rod and hooking the safety hook at a target wire right below the target cross arm.
In one embodiment, driving the first arm to rotate the lead screw to the target position using the insulated operating rod includes: and driving the first arm to rotate the screw rod by using the insulating operating rod until the distance between the three pulleys and the safety car is less than or equal to the distance between the target cross arm and the target lead.
In one embodiment, after the driving of the first arm rotates the lead screw to the home position using the insulating lever, further comprising: detecting real-time stress at two ends of the second insulator string, and judging whether the real-time stress is within a preset stress range; and when the real-time stress is within the preset stress range, the second insulator is judged to be replaced.
It should be noted that the method, the apparatus, the device and the computer-readable storage medium for replacing an insulator string in an electrified manner described above belong to a general inventive concept, and the contents in the embodiments of the method, the apparatus, the device and the computer-readable storage medium for replacing an insulator string in an electrified manner can be mutually applied.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of live replacement of an insulator string, the method comprising:
driving a first arm to relatively fix a first insulator string and a special tool by using an insulating operating rod, wherein the special tool comprises a screw rod;
driving a first arm to rotate the screw rod to a target position by using the insulating operating rod, driving a second arm to pull out spring pins at two ends of the first insulator string by using a pin puller of the insulating operating rod so as to separate the first insulator string from a lead and a cross arm, and driving the second arm to pick up the first insulator string by using a clamping assembly of the insulating operating rod;
the first hand arm is driven to use the bowl head centralizer of the insulation operating rod to adjust the connecting position of a second insulator string and a lead wire and/or a cross arm, the second hand arm is driven to use the spring pins arranged at two ends of the second insulator string by the pin puller, and the first hand arm is driven to use the insulation operating rod to rotate the lead screw to the original position;
driving the first arm to remove the special tool using the insulated operating rod.
2. The method according to claim 1, wherein when the first insulator string is a strain insulator string, the special tool further comprises a wire-side large-knife fixture, a cross-arm-side large-knife fixture and a bottle dragging device;
the first arm of drive uses the insulating bar to make first insulator chain and specialized tool relatively fixed, includes:
the first arm is driven to fix the wire side broadsword fixture and the wire side triangular yoke plate at one end of the strain insulator string by using the insulating operating rod, and the first arm is driven to fix the cross arm side broadsword fixture and the cross arm side triangular yoke plate at one end of the strain insulator string by using the insulating operating rod;
and driving the first arm to move the bottle dragging device to the position below the strain insulator string, and fixing the bottle dragging device with the lead side large knife fixture and the cross arm side large knife fixture respectively by using the insulation operating rod.
3. The method of claim 2, wherein said actuating the first arm secures the first insulator string relative to the special tool using an insulated operating rod, further comprising:
and driving the first arm to fix the screw rod and the cross arm side large-cutter clamp by using the insulating operating rod.
4. The method of claim 2, wherein the two ends of the bottle holder are provided with sliding assemblies, and the driving the first arm moves the bottle holder to the position below the strain insulator string comprises:
and driving the first arm to adjust the horizontal position of the sliding assembly by using the insulation operating rod so that the bottle supporting frame is always positioned under the first insulator string.
5. The method according to claim 1, characterized in that when the first insulator string is a linear insulator string, the special tool comprises a triple block provided with a lead screw and a safety hook;
the first arm of drive uses the insulating bar to make first insulator chain and specialized tool relatively fixed, includes:
and driving the first arm to fix the three pulleys at a target cross arm by using the insulating operating rod and hook the safety hook at a target wire right below the target cross arm.
6. The method of claim 5, wherein the driving the first arm to rotate the lead screw to a target position using the insulated operating rod comprises:
and driving the first arm to rotate the lead screw by using the insulating operating rod until the distance between the three pulleys and the safety car is less than or equal to the distance between the target cross arm and the target lead.
7. The method of claim 1, wherein the insulated operating rod further comprises a pressure sensor, further comprising, after the driving the first arm rotates the lead screw to a home position using the insulated operating rod:
detecting real-time stress at two ends of the second insulator string, and judging whether the real-time stress is in a preset stress range;
and when the real-time stress is within the preset stress range, judging that the second insulator is replaced.
8. A live replacement insulator string device, the device comprising:
the fixing module is used for driving the first arm to enable the first insulator string and a special tool to be fixed relatively by using an insulating operating rod, and the special tool comprises a screw rod;
the first insulating sub-operation module is used for driving a first arm to rotate the screw rod to a target position by using the insulating operation rod, driving a second arm to pull out spring pins at two ends of the first insulating sub-string by using a pin puller of the insulating operation rod so as to enable the first insulator string to be separated from a lead and a cross arm, and driving the second arm to pick up the first insulator string by using a clamping assembly of the insulating operation rod;
the second insulator operating module is used for driving the first hand arm to adjust the connecting position of a second insulator string and a lead wire and/or a cross arm by using the bowl head centralizer of the insulating operating rod, driving the second hand arm to use the pin puller to install spring pins at two ends of the second insulator string, and driving the first hand arm to rotate the lead screw to an original position by using the insulating operating rod;
and the dismounting module is used for driving the first arm to dismount the special tool by using the insulating operating rod.
9. A computer-readable storage medium, storing a computer program which, when executed by a processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 7.
10. A charged replacement of an insulator string device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 7.
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| CN202110078853.7A CN112670898A (en) | 2021-01-21 | 2021-01-21 | Method, device, equipment and medium for live replacement of insulator string |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110078853.7A CN112670898A (en) | 2021-01-21 | 2021-01-21 | Method, device, equipment and medium for live replacement of insulator string |
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| CN112670898A true CN112670898A (en) | 2021-04-16 |
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| CN202110078853.7A Pending CN112670898A (en) | 2021-01-21 | 2021-01-21 | Method, device, equipment and medium for live replacement of insulator string |
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| US20130269180A1 (en) * | 2010-12-28 | 2013-10-17 | Hebei Electric Power Maintenance Company | Maintenance tool for insulator of direct current transmission line |
| CN105162028A (en) * | 2015-07-17 | 2015-12-16 | 国网辽宁省电力有限公司辽阳供电公司 | Method for replacing linear insulator of 220kV steel pipe tower in live working state |
| CN105449582A (en) * | 2015-12-22 | 2016-03-30 | 国网福建省电力有限公司泉州供电公司 | Square connecting plate fixture, double-string tension insulator replacing device and method |
| CN106786140A (en) * | 2016-12-09 | 2017-05-31 | 南京理工大学 | A kind of hot line robot strain insulator replacing options |
| CN108054674A (en) * | 2017-12-16 | 2018-05-18 | 广西电网有限责任公司电力科学研究院 | A kind of substation's suspension insulator replacement operation robot system |
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- 2021-01-21 CN CN202110078853.7A patent/CN112670898A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130269180A1 (en) * | 2010-12-28 | 2013-10-17 | Hebei Electric Power Maintenance Company | Maintenance tool for insulator of direct current transmission line |
| CN105162028A (en) * | 2015-07-17 | 2015-12-16 | 国网辽宁省电力有限公司辽阳供电公司 | Method for replacing linear insulator of 220kV steel pipe tower in live working state |
| CN105449582A (en) * | 2015-12-22 | 2016-03-30 | 国网福建省电力有限公司泉州供电公司 | Square connecting plate fixture, double-string tension insulator replacing device and method |
| CN106786140A (en) * | 2016-12-09 | 2017-05-31 | 南京理工大学 | A kind of hot line robot strain insulator replacing options |
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Application publication date: 20210416 |