CN114336410A - High-voltage transmission line live working robot and operation method thereof - Google Patents
High-voltage transmission line live working robot and operation method thereof Download PDFInfo
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- CN114336410A CN114336410A CN202111679200.0A CN202111679200A CN114336410A CN 114336410 A CN114336410 A CN 114336410A CN 202111679200 A CN202111679200 A CN 202111679200A CN 114336410 A CN114336410 A CN 114336410A
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- 238000012423 maintenance Methods 0.000 abstract description 13
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- 206010063385 Intellectualisation Diseases 0.000 abstract description 4
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Abstract
The invention discloses a live working robot for a high-voltage transmission line, which comprises a tool disc mechanical arm, wherein an assembling mechanism is arranged on the mechanical arm, the assembling mechanism comprises a first clamping piece and a second clamping piece, the first clamping piece can clamp or loosen a nut and a gasket, and the first clamping piece is far away from or close to one side of an installation hole on a wire clamping plate under the action of a first electric cylinder; and the second clamping piece can clamp or loosen the bolt, the bolt is far away from or close to the other side of the mounting hole on the wire clamping plate under the action of the second electric cylinder, the bolt can be aligned and penetrates through the mounting hole, and the second clamping piece drives the bolt to rotate while the bolt penetrates through the mounting hole, so that the bolt is screwed with the nut and the gasket. The invention solves the technical problem that the bolt and the nut of the wire clamping plate need to be assembled and screwed down manually in the traditional circuit maintenance, realizes the automation and the intellectualization of the assembly of the bolt and the nut in the live maintenance process, and ensures the safety in the circuit maintenance process.
Description
Technical Field
The invention relates to the technical field of robot control and electric power engineering, in particular to a live working robot for a high-voltage transmission line and an operation method thereof.
Background
At present, the power basic equipment directly facing to users easily breaks down under the action of external factors, a fault circuit needs to be maintained at the moment, and in order to not influence the power consumption requirements of the users in the maintenance process, the maintenance process needs to be operated in a live mode. The traditional circuit maintenance is usually carried out manually, certain operation risks exist, workers can have life risks by careless operation, and the operation quality of manual maintenance is difficult to guarantee.
Although special robots for state inspection of high-voltage transmission lines have appeared at present, the robots are generally only used for line inspection and cannot be used for live-wire work of the high-voltage transmission lines. Therefore, it is urgent for those skilled in the art to solve the problem of maintaining the high voltage transmission line in the live working environment.
Disclosure of Invention
The invention provides a live working robot for a high-voltage transmission line and an operation method thereof, solves the technical problem that bolts and nuts of a wire clamp plate need to be assembled and screwed manually in traditional circuit maintenance, realizes automation and intellectualization of assembling the bolts and the nuts in the live maintenance process, and ensures safety in the circuit maintenance process.
The invention provides a live working robot for a high-voltage transmission line, which comprises a tool disc and a mechanical arm; one end of the mechanical arm is fixed on the tool disc, the other end of the mechanical arm is provided with an assembling mechanism, the mechanical arm drives the assembling mechanism to be far away from or close to the tool disc, and a nut, a gasket and a bolt are fixed on the tool disc; the assembly devices include first holder and second holder, first holder is used for the centre gripping or loosens nut and gasket, and first holder is kept away from or is close to the one side of the mounting hole of the splint of treating the operation under the effect of first electric cylinder, the second holder is used for the centre gripping or loosens the bolt, the second holder is kept away from or is close to the opposite side of the mounting hole of the splint of treating the operation under the effect of second electric cylinder, and works as the second holder is when passing the mounting hole of the splint of treating the operation, the second holder drives the bolt and rotates.
Further, assembly devices still includes the carousel, first holder and second holder with the carousel is connected, just first holder and second holder are in the adjustment of direction is carried out under the effect of carousel.
Further, the assembling mechanism further comprises a vision camera, so that the bolt on the second clamping piece is aligned with the mounting hole on the wire clamping plate to be operated.
Further, the second clamping piece comprises an electric wrench and a reaction arm.
Further, the first clamping piece is of a telescopic structure and is used for being far away from or close to the mounting hole of the wire clamping plate.
Further, the operation method of the live working robot for the high-voltage transmission line comprises the following steps:
s1: operating the mechanical arm to approach the tool tray;
s2: the second clamping piece clamps the bolt from the tool disc, and the first clamping piece clamps the nut and the gasket from the tool disc;
s3: the mechanical arm is operated to be close to the wire clamp plate to be operated, then the first clamping piece drives the nut and the gasket to be close to one side of the wire clamp plate mounting hole, the second clamping piece drives the bolt to move towards the other side of the wire clamp plate mounting hole and penetrate through the mounting hole, and when the bolt penetrates through the mounting hole, the second clamping piece drives the bolt to rotate, so that the bolt, the nut and the gasket are screwed tightly;
s4: the bolt, the nut and the gasket complete the screwing operation, and the first clamping piece and the second clamping piece stop moving and rotating simultaneously;
s5: the second clamping piece loosens the bolt and moves towards the direction far away from the wire clamping plate, and the first clamping piece loosens the nut and the gasket and moves towards the direction far away from the wire clamping plate;
s6: the mechanical arm is far away from the wire clamping plate.
Further, in step S4, the second clamping member controls the tightening torque of the bolt through a current algorithm, and when the bolt reaches the tightening torque, the first clamping member and the second clamping member stop moving.
Further, the step S3 further includes: the direction of the first clamping piece and the second clamping piece is adjusted through the rotary disc.
Further, the direction adjustment of the first clamping piece specifically comprises: the first clamping piece enables the bolt to be aligned with the mounting hole of the clamping plate through the vision camera.
Furthermore, after the first clamping piece is far away from the wire clamping plate for a preset distance, the mechanical arm starts to start the action of keeping away from the wire clamping plate.
The embodiment of the invention provides a high-voltage transmission line live working robot which comprises a tool disc and a mechanical arm, wherein one end of the mechanical arm is fixed on the tool disc, the other end of the mechanical arm is provided with an assembling mechanism, the mechanical arm can drive the assembling mechanism to be far away from or close to the tool disc, and meanwhile, the mechanical arm can be close to or far away from a wire clamping plate to be operated. The assembling mechanism comprises a first clamping piece and a second clamping piece, the first clamping piece can clamp a nut and a gasket from the tool disc, and the first clamping piece is close to one side of the mounting hole of the wire clamping plate to be operated under the action of the first electric cylinder; and the second clamping piece can clamp the bolt from the tool plate, the bolt is close to the other side of the mounting hole of the wire clamping plate to be operated under the action of the second electric cylinder and penetrates through the mounting hole, and when the bolt is aligned with and positioned on the mounting hole of the wire clamping plate, the second clamping piece starts to drive the bolt to rotate, so that the bolt penetrates through the mounting hole of the wire clamping plate and is screwed with the nut and the gasket. When the tightening operation of the bolt and the nut is completed, the first clamping piece loosens the bolt and moves towards the direction far away from the wire clamping plate, and meanwhile, the second clamping piece loosens the nut and the gasket and moves towards the direction far away from the wire clamping plate. Compared with the traditional installation method, the live working robot for the high-voltage transmission line improves the working efficiency, ensures the working quality, realizes intellectualization and automation in the circuit maintenance process, and reduces the occurrence of safety accidents.
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, and 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 these drawings without inventive exercise.
Fig. 1 is a diagram of an initial alignment state of a live working robot of a high-voltage transmission line according to an embodiment of the invention;
fig. 2 is a state diagram of a screwing operation state of a live working robot of a high-voltage transmission line provided by the embodiment of the invention;
fig. 3 is a state diagram (bolts and nuts are not shown in the figure) of the high-voltage transmission line live working robot provided by the embodiment of the invention, which returns to the initial alignment position after being screwed down.
1-tool plate, 2-mechanical arm, 3-assembly mechanism, 4-nut, 5-gasket, 6-bolt, 7-first clamping piece, 8-second clamping piece, 9-turntable, 10-vision camera, 11-wire clamping plate and 12-mounting hole.
Detailed Description
The embodiment of the invention provides a live working robot for a high-voltage transmission line and an operating method thereof, which are used for solving the technical problem that manual operation is needed for installing nuts and bolts on a traditional wire clamping plate, realizing the intellectualization and automation of the operation under the condition of no power failure, saving labor force and guaranteeing the quality of operation.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below 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.
Referring to fig. 1, the high-voltage transmission line live working robot comprises a tool tray 1 and a mechanical arm 2, wherein one end of the mechanical arm 2 is fixed on the tool tray 1, the other end of the mechanical arm is provided with an assembling mechanism 3, a nut 4, a gasket 5 and a bolt 6 are placed on the tool tray 1, and the mechanical arm 2 can drive the assembling mechanism 3 to be far away from or close to the tool tray 1. Wherein, the assembling mechanism 3 comprises a first clamping member 7, a second clamping member 8, a rotary table 9 and a vision camera 10, the first clamping member 7 can clamp the nut 4 and the gasket 5 from the tool plate 1 and get away from or close to one side of the mounting hole 12 of the wire clamp plate 11 to be operated under the action of a first electric cylinder (not shown in the figure), and the second clamping member 8 can clamp the bolt 6 from the tool plate 1 and get away from or close to the other side of the mounting hole 12 of the wire clamp plate 11 to be operated under the action of a second electric cylinder (not shown in the figure). When the first clamping piece 7 and the second clamping piece 8 clamp the nut 4, the gasket 5 and the bolt 6 from the tool tray 1, and the first clamping piece 7 clamps the nut 4 and the gasket 5, and the second clamping piece 8 clamps the bolt 6 and is close to the mounting hole 12 of the wire clamping plate 11 to be operated, the turntable 9 can drive the first clamping piece 7 and the second clamping piece 8 mounted on the turntable to carry out direction adjustment, so that the first clamping piece 7 and the second clamping piece 8 are ensured to finish clamping and screwing operations; and the visual camera 10 can shoot the position relation between the bolt 6 clamped by the second clamping piece 8 and the mounting hole 12 on the wire clamping plate 11 in real time, so that the bolt 6 can be aligned and positioned with the mounting hole 12 on the wire clamping plate 11. Further, second holder 8 includes electric spanner and the counter force arm to drive bolt 6 and take place the rotation, and then when making bolt 6 can pass mounting hole 12 on the line splint 11, screw up together with nut 4 and gasket 5, accomplish the installation work to bolt 6 nut 4 on the line splint 11, when realizing circuit maintenance, the automation and the intellectuality of this operation have practiced thrift the manpower, and have reduced the emergence of maintenance in-process incident.
Referring to fig. 1-3, the present invention further provides an operating method for operating the live working robot of the high-voltage transmission line, including the following steps:
s1: the robot is carried to a wire clamping plate to be operated on a circuit, and the mechanical arm is close to the tool tray through remote operation;
s2: the rotary table controls the direction adjustment actions of the first clamping piece and the second clamping piece, and enables the second clamping piece to clamp the bolt on the tool disc, and the first clamping piece to clamp the nut and the gasket on the tool disc;
s3: the operation mechanical arm is close to a wire clamping plate to be operated, then a first clamping piece clamping the nut and the gasket is started to be close to one side of an installation hole on the wire clamping plate to be operated, in the process that the first clamping piece is close to the wire clamping plate, the direction of the first clamping piece is constantly adjusted by the turntable, and the nut and the gasket can be aligned with the installation hole of the wire clamping plate; simultaneously starting a second clamping piece for clamping the bolt to be close to the other side of the mounting hole on the wire clamping plate to be operated, shooting the bolt and the mounting hole by a vision camera at all times in the process, adjusting the direction of the bolt through a turntable, enabling the bolt to be aligned with the mounting hole and positioned together, and when the bolt is positioned in the mounting hole, driving the bolt to rotate by the second clamping piece;
s4: the tightening torque value of the second clamping piece is preset, the tightening torques of the bolt, the nut and the gasket are controlled at any time through a current algorithm, when the bolt reaches the tightening torque, the second clamping piece stops moving towards the direction of the wire clamping plate and rotating, and meanwhile, the first clamping piece stops driving the nut and the gasket to move towards the direction of the wire clamping plate;
s5: the second clamping piece loosens the bolt and moves towards the direction far away from the wire clamping plate, and the first clamping piece loosens the nut and the gasket and moves towards the direction far away from the wire clamping plate;
s6: after the first clamping piece is far away from the wire clamping plate for a preset distance, the mechanical arm starts to start the operation of keeping away from the wire clamping plate.
In this embodiment, the length of the first clamping member is telescopic, and the purpose of approaching or departing from the wire clamp plate and the tool tray is achieved by controlling the telescopic length of the first clamping member. Specifically, when the first clamping piece is required to clamp the nut and the gasket on the tool tray, the first clamping piece extends to a specific length to the tool tray, then the direction and the position of the first clamping piece are adjusted through the rotary table, so that the nut and the gasket are aligned with the mounting hole in the wire clamping plate, and the first clamping piece begins to gradually shrink in the process; when the bolt reaches the tightening torque in the step S4, the first clamping piece stops shrinking; and in step S5, the first clamping member is extended to achieve the purpose of moving away from the wire clamping plate.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A high-voltage transmission line live working robot is characterized by comprising a tool disc and a mechanical arm;
one end of the mechanical arm is fixed on the tool disc, the other end of the mechanical arm is provided with an assembling mechanism, the mechanical arm drives the assembling mechanism to be far away from or close to the tool disc, and a nut, a gasket and a bolt are fixed on the tool disc;
the assembly devices include first holder and second holder, first holder is used for the centre gripping or loosens nut and gasket, and first holder is kept away from or is close to the one side of the mounting hole of the splint of treating the operation under the effect of first electric cylinder, the second holder is used for the centre gripping or loosens the bolt, the second holder is kept away from or is close to the opposite side of the mounting hole of the splint of treating the operation under the effect of second electric cylinder, and works as the second holder is when passing the mounting hole of the splint of treating the operation, the second holder drives the bolt and rotates.
2. The robot of claim 1, wherein the assembly mechanism further comprises a turntable, the first clamping member and the second clamping member are connected with the turntable, and the first clamping member and the second clamping member are adjusted in direction under the action of the turntable.
3. The robot of claim 1, wherein the assembly mechanism further comprises a vision camera to align the bolt on the second clamp with the mounting hole on the cleat to be operated.
4. The robot of claim 1, wherein the second gripper comprises an electric wrench and a reaction arm.
5. The robot of claim 1, wherein the first clamp is of a telescopic construction for being positioned away from or close to the mounting hole of the wire clamp.
6. A method of operating a robot for live working of a high voltage transmission line according to any of claims 1-5, characterized in that it comprises the steps of:
s1: operating the mechanical arm to approach the tool tray;
s2: the second clamping piece clamps the bolt from the tool disc, and the first clamping piece clamps the nut and the gasket from the tool disc;
s3: the mechanical arm is operated to be close to the wire clamp plate to be operated, then the first clamping piece drives the nut and the gasket to be close to one side of the wire clamp plate mounting hole, the second clamping piece drives the bolt to move towards the other side of the wire clamp plate mounting hole and penetrate through the mounting hole, and when the bolt penetrates through the mounting hole, the second clamping piece drives the bolt to rotate, so that the bolt, the nut and the gasket are screwed tightly;
s4: the bolt, the nut and the gasket complete the screwing operation, and the first clamping piece and the second clamping piece stop moving and rotating simultaneously;
s5: the second clamping piece loosens the bolt and moves towards the direction far away from the wire clamping plate, and the first clamping piece loosens the nut and the gasket and moves towards the direction far away from the wire clamping plate;
s6: the mechanical arm is far away from the wire clamping plate.
7. The method of claim 6, wherein in the step S4, the second clamping member controls the tightening torque of the bolt through a current algorithm, and when the bolt reaches the tightening torque, the first clamping member and the second clamping member stop moving.
8. The method of claim 6, wherein the step of S3 further comprises: the direction of the first clamping piece and the second clamping piece is adjusted through the rotary disc.
9. The method of claim 8, wherein the first clamp making the directional adjustment specifically comprises: the first clamping piece enables the bolt to be aligned with the mounting hole of the clamping plate through the vision camera.
10. The method of claim 6, wherein the robotic arm initiates movement away from the cleat a predetermined distance after the first clamp is moved away from the cleat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111679200.0A CN114336410A (en) | 2021-12-31 | 2021-12-31 | High-voltage transmission line live working robot and operation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111679200.0A CN114336410A (en) | 2021-12-31 | 2021-12-31 | High-voltage transmission line live working robot and operation method thereof |
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| CN114336410A true CN114336410A (en) | 2022-04-12 |
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| CN202111679200.0A Pending CN114336410A (en) | 2021-12-31 | 2021-12-31 | High-voltage transmission line live working robot and operation method thereof |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105058032A (en) * | 2015-06-29 | 2015-11-18 | 国家电网公司 | Overhead high-voltage power transmission line strain clamp drainage plate bolt tightening robot |
| CN205319613U (en) * | 2015-12-22 | 2016-06-15 | 广东科凯达智能机器人有限公司 | Transmission line bolt -up robot |
| CN108616076A (en) * | 2018-03-20 | 2018-10-02 | 南京理工大学 | A kind of method of hot line robot dismounting arrester |
-
2021
- 2021-12-31 CN CN202111679200.0A patent/CN114336410A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105058032A (en) * | 2015-06-29 | 2015-11-18 | 国家电网公司 | Overhead high-voltage power transmission line strain clamp drainage plate bolt tightening robot |
| CN205319613U (en) * | 2015-12-22 | 2016-06-15 | 广东科凯达智能机器人有限公司 | Transmission line bolt -up robot |
| CN108616076A (en) * | 2018-03-20 | 2018-10-02 | 南京理工大学 | A kind of method of hot line robot dismounting arrester |
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