CN114614397A - Live working robot capable of eliminating heating defect of overhead transmission line drainage plate through intermediate potential and operation method of live working robot - Google Patents
Live working robot capable of eliminating heating defect of overhead transmission line drainage plate through intermediate potential and operation method of live working robot Download PDFInfo
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- CN114614397A CN114614397A CN202210437643.7A CN202210437643A CN114614397A CN 114614397 A CN114614397 A CN 114614397A CN 202210437643 A CN202210437643 A CN 202210437643A CN 114614397 A CN114614397 A CN 114614397A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The invention relates to an electrified operation robot for temporarily eliminating the heating defect of a drainage plate of an overhead transmission line at an intermediate potential, belonging to the technical field of electrified overhaul sites of transmission lines. Comprises an insulating flat ladder, a walking platform and a robot main body; the middle and rear ends of the insulating flat ladder are provided with buckles and are fixed on the iron tower angle iron through ropes and the buckles; the robot main part includes the shell, two operation arms of shell top installation, and the operation arm includes six degree of freedom arms, insulating bar, hedgehog hydnum fastener fixture, the clear camera of third height, and the clear camera of third height is installed in six degree of freedom arms terminally, and insulating bar directly links with the terminal swivelling joint that is located the arm, and hedgehog hydnum fastener fixture is installed to insulating bar end. The robot can replace a robot which is manually installed with a bypass lead on an electrified overhead transmission line and temporarily eliminates the heating of the drainage plate, thereby improving the working efficiency of treating the heating defect of the drainage plate and greatly reducing the labor intensity and the operation risk.
Description
Technical Field
The invention relates to an electrified operation robot for temporarily eliminating the heating defect of a drainage plate of an overhead transmission line at an intermediate potential and an operation method thereof, belonging to the technical field of electrified overhaul sites of transmission lines.
Background
With the expansion of the scale of the power grid and the continuous improvement of the importance of electric energy to life, the requirement of the society on the reliability of power supply is higher and higher. The transmission line is used as an important component of the power system, and the reliability of the transmission line plays an important role in the safe and stable operation of the whole power system. The transmission line is at the operation in-process, often takes place the trouble that transmission line strain clamp drainage plate generates heat, and strain clamp drainage plate generates heat because the heat effect of electric current causes, and strain clamp drainage plate itself has certain resistance, must have a part electric energy loss when passing through the electric current to make strain clamp drainage plate temperature rise. Under normal conditions, the contact resistance of strain clamp drainage plate is very little, and it generates heat can not be higher than adjacent current-carrying wire generate heat, nevertheless in long-term operation in-process, because the bolt is not hard up, the dirty reason such as piling up in surface causes strain clamp drainage plate contact resistance increase, and then leads to strain clamp drainage plate to generate heat. The strain clamp drainage plate generates heat and can accelerate the oxidation of the metal of the drainage plate, the contact resistance is increased, vicious circle is formed, the drainage plate generates heat and is blown out when serious, and great threat is brought to the safe and stable operation of a power grid. In order to ensure safe operation and uninterrupted continuous power supply of the transmission line, hot-line work is usually adopted for temporary treatment, and equipotential work is the only treatment method for the defects. The operation steps comprise measuring the temperature of a fault drainage plate, installing a bearing tool (an insulating flat ladder, an insulating rope ladder and the like), enabling equipotential personnel to reach an overhead line operation position along the bearing tool, additionally installing a bypass shunt wire on the drainage plate, treating the defect of the heating drainage plate, measuring the temperature of the drainage plate after the defect is eliminated, and finishing the defect elimination of a withdrawing operation site after the temperature meets the requirement. The operation method has the advantages of long time, high labor intensity, high risk and high requirement on the skills of operators.
Therefore, a hot-line work robot for temporarily eliminating the heating defect of the drainage plate of the power transmission line at the intermediate potential and a use method thereof are needed to be developed, so that the hot-line work robot is used for replacing manual work to carry out work, the labor intensity of operators is reduced, and the work risk is reduced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the robot which can replace the manual work to install the bypass lead on the electrified overhead transmission line to temporarily eliminate the heating of the drainage plate, thereby improving the working efficiency of treating the heating defect of the drainage plate and greatly reducing the labor intensity and the operation risk.
An electrified operation robot for eliminating the heating defect of a drainage plate of an overhead transmission line by using a middle potential is characterized by comprising an insulating flat ladder, a walking platform capable of moving back and forth along the length direction of the insulating flat ladder, and a robot main body arranged on the walking platform;
buckles are arranged at the middle end and the rear end of the insulating flat ladder and fixed on angle iron of the iron tower through ropes and buckles, and the front end of the insulating flat ladder and the main guide wire extend out to the lower part of the heating position of the drainage plate in parallel;
the robot comprises a robot body and a robot control system, wherein the robot body comprises an all-metal shell, two working arms, namely a working arm A and a working arm B, are arranged above the shell, and comprise a six-degree-of-freedom mechanical arm, an insulating operating rod, a hericium erinaceus wire clamp fixture and a third high-definition camera, the third high-definition camera is arranged at the tail end of the six-degree-of-freedom mechanical arm, the insulating operating rod is directly connected with a rotating joint positioned at the tail end of the mechanical arm, and the hericium erinaceus wire clamp fixture used for clamping and rotating a drainage wire clamp is arranged at the tail end of the insulating operating rod;
preferably, the robot body is internally provided with an automatic controller, a driving motor in communication connection with the automatic controller, a communication module, a video server and a battery module;
preferably, the front end and the rear end of the robot body are respectively provided with a first high-definition camera for observing the advancing position of the robot, and a second high-definition camera for observing the working position is arranged above the robot body;
preferably, the tail end of the insulating flat ladder is provided with a limiting mechanism for preventing the robot body from separating from the insulating flat ladder;
preferably, the walking platform comprises two driving wheels, two bearing wheels and eight auxiliary wheels which are arranged below the robot body, the eight auxiliary wheels are held below the insulating horizontal ladder, and the driving wheels are driven by a driving motor arranged in the robot body.
An operation method of an electric operating robot for eliminating the heating defect of a drainage plate of an overhead transmission line by using an intermediate potential is characterized by comprising the following steps:
1) the ground electrician uses a thermodetector to detect the temperature of the heating drainage plate and records the temperature.
2) Carrying out appearance inspection on an insulating operating rod and an insulating flat ladder of the operating arm to confirm no damage or deformation, and carrying out insulation resistance detection by using an insulation detector, wherein the insulation resistance value is more than 700M omega, and the electricians A and B sequentially ascend to the position of an operating phase conductor about 1.8M away from a charged body;
3) the ground electrician transmits the insulating flat ladder, the robot body and the group of bypass drainage tools b to the electricians A and B on the tower through the insulating rope;
4) the first electrician and the second electrician are mutually matched to install the insulating flat ladder on the iron tower;
5) the electricians A and B are mutually matched to install the robot body on the insulating flat ladder;
6) the first electrician and the second electrician are mutually matched to connect the bypass drainage tool b with the two hericium erinaceus wire clamp clamps on the insulating operating rod respectively;
7) the ground electrician controls the robot body to walk to the heating operation position of the drainage plate along the insulating horizontal ladder by observing a first high-definition camera positioned at the front end of the robot body;
8) the ground electrician observes and controls the robot body through a second high-definition camera and a third high-definition camera which are arranged above the robot body, an operation arm A of the robot body drives an insulating operation rod to install a wire clamp at one end of a bypass drainage tool b on a main guide line, the robot body controls a rotary joint at the tail end of the operation arm A to drive the insulating operation rod to tighten the wire clamp, and then the operation arm A is controlled to withdraw from an electric field; the other operation arm B drives an insulating operation rod to install the wire clamp at the other end of the bypass drainage tool B at a proper position of a lead, a rotary joint at the tail end of the operation arm B is controlled to drive the insulating operation rod to screw the wire clamp tightly, and then the operation arm B is controlled to exit the electric field;
9) the ground electrician controls the robot body to retreat to the position of the iron tower along the insulating flat ladder by observing a first high-definition camera positioned at the rear end of the robot body;
10) the ground electrician uses a thermodetector to measure the temperature of the operation phase diversion plate and other two diversion plates, and after the temperature requirement is met, the first electrician and the second electrician remove the robot on the tower and the insulating flat ladder and transmit the robot and the insulating flat ladder to the ground;
11) and (5) operating electricians on the tower, and moving the electricians off the tower to finish the operation.
The hot-line work robot for eliminating the heating defect of the drainage plate of the overhead transmission line by the intermediate potential has the following advantages:
1. the live working robot for eliminating the heating defect of the drainage plate of the overhead transmission line at the intermediate potential can replace manual work to eliminate the heating work of the drainage plate of the transmission line, improve the working efficiency and the automation level of the power industry, reduce the labor risk of operators and enable the live working operators to get rid of the dangerous working environment of high voltage and high altitude for a long time.
2. The live working robot for eliminating the heating defect of the drainage plate of the overhead transmission line at the intermediate potential is different from a conventional robot line loading and unloading method, adopts the mode of entering the working position along the insulating flat ladder, avoids the problem that the robot for the overhead transmission line is difficult to load and unload, improves the working efficiency and reduces the working risk.
3. According to the live working robot for eliminating the heating defect of the drainage plate of the overhead transmission line by the intermediate potential, the insulating operating rod is arranged at the tail end of the mechanical arm, and the intermediate potential working method is adopted, so that the impact of impact current brought by the contact of the high-voltage line with the equipotential working method on a robot control circuit is avoided, the interference of high-voltage electric field mutation on the robot communication is reduced, and the difficulty of the electromagnetic protection of the robot is reduced.
Drawings
FIG. 1 is a schematic structural diagram of an electric operating robot for eliminating the heating defect of a drainage plate of an overhead transmission line by using an intermediate potential according to the invention;
FIG. 2 is a side view of the robot body, the walking platform and the insulating horizontal ladder;
FIG. 3 is a schematic structural view of a bypass drainage tool;
FIG. 4 is an operation state diagram of an electrified operation robot for eliminating the heating defect of the drainage plate of the overhead transmission line by the intermediate potential.
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.
Example 1
The hot-line work robot for eliminating the heating defect of the drainage plate of the overhead transmission line by the intermediate potential comprises an insulating flat ladder 4, a walking platform 2 capable of moving back and forth along the length direction of the insulating flat ladder 4 and a robot main body 1 arranged on the walking platform 2, wherein the walking platform 2 is provided with a plurality of guide rails; the middle and rear ends of the insulating flat ladder 4 are provided with buckles and fixed on iron tower angle iron 20 through ropes 8 and buckles, and the front end of the insulating flat ladder 4 and a main guide wire 18 extend to the lower part of a heating position 9 of a drainage plate in parallel; robot main part 1 includes all-metal casing, two operation arms 3 of shell top installation, be operation arm A respectively, operation arm B, operation arm 3 includes six degrees of freedom arm 11, insulating bar 12, hedgehog hydnum clamp fixture 13, the clear camera 14 of third height is installed in 11 ends in six degrees of freedom arm, insulating bar 12 with be located 11 terminal revolute joint 15 of arm and directly link, insulating bar 12 end is installed and is used for blocking and rotatory drainage wire clamp 16's hedgehog hydnum clamp fixture 13.
The walking platform 2 comprises two driving wheels 5, two bearing wheels 6 and eight auxiliary wheels 7, the insulating flat ladder 4 can bear double working voltage of a power transmission line, the robot body 1 moves to an operation position through the insulating flat ladder 4, and the tail end of the insulating flat ladder 4 is provided with a limiting mechanism to prevent the robot from derailing. The driving wheels 5 are arranged on two sides of the bottom of the robot body 1, and the driving wheels 5 are directly connected with a direct current speed reducing motor in the robot body 1 and used for the robot body to walk on the insulating flat ladder 4; the bearing wheel 6 is arranged above the insulating flat ladder 4, and a bearing support of the bearing wheel 6 is directly connected with a robot shell and used for supporting the weight of the robot body 1; the auxiliary wheel 7 is installed in insulating flat ladder 4 below and side for block the robot on insulating flat ladder 4, prevent that the robot from turning on one's side.
The shell of the robot body 1 is made of all metal materials and used for shielding an external electric field, modules such as an automatic controller, a motor drive, a communication module, a video server and a battery are arranged inside the shell, a first high-definition camera 10 is arranged at each of the front end and the rear end of the robot body 1 and used for observing the advancing position of the robot, and a second high-definition camera 17 is arranged above the robot body 1 and used for observing the situation of the operating position.
The insulating operating rod 12 is made of special insulating materials and can bear twice line working voltage, and the insulating operating rod 12 is directly connected with the tail end rotating joint 15 of the mechanical arm 11 and can be driven to rotate by controlling the tail end rotating joint 15 of the mechanical arm; the end of the insulating operating rod 12 is provided with a monkey head wire clamp fixture 13 for clamping and rotating a drainage wire clamp 16.
An operation method of an electric operating robot for eliminating the heating defect of a drainage plate of an overhead transmission line by using an intermediate potential comprises the following steps:
1) the ground electrician uses the temperature measuring instrument to detect the temperature of the heating drainage plate 9 and records the temperature.
2) Carrying out appearance inspection on the insulating operating rod 12 and the insulating flat ladder 4 of the operating arm to confirm no damage or deformation, and carrying out insulation resistance detection by using an insulation detector, wherein the insulation resistance value is more than 700M omega, and the electricians A and B sequentially ascend to the position of an operating phase conductor about 1.8M away from a charged body;
3) the ground electrician transmits the insulating flat ladder 4, the robot body 1 and a group of bypass drainage tools b to the electricians A and B on the tower through an insulating rope;
4) the electricians A and B are mutually matched to install the insulating flat ladder 4 on the iron tower;
5) the electricians A and B are mutually matched to install the robot body 1 on the insulating flat ladder 4;
6) the electrician A and the electrician B are mutually matched to connect the bypass drainage tool b with the two hericium erinaceus clamp fixtures 13 on the insulating operating rod 12 respectively;
7) a ground electrician controls the robot body 1 to walk to a drainage plate heating operation position 9 along the insulating horizontal ladder 4 by observing a first high-definition camera 10 positioned at the front end of the robot body 1;
8) the ground electrician observes and controls the robot body 1 through a second high-definition camera 17 and a third high-definition camera 14 above the robot body, an operation arm A of the robot body 1 drives an insulating operation rod 12 to install a wire clamp 16 at one end of a bypass drainage tool b on a main guide wire 18, the robot body 1 controls a tail end rotating joint 15 of the operation arm A to drive the insulating operation rod 12 to tighten the wire clamp 16, and then the operation arm A is controlled to withdraw from an electric field; the other working arm B drives the insulating operating rod 12 to install the wire clamp 16 at the other end of the bypass drainage tool B at a proper position of the lead 19, the tail end rotating joint 15 of the working arm B is controlled to drive the insulating operating rod 12 to tighten the wire clamp 16, and then the working arm B is controlled to exit the electric field;
9) a ground electrician controls the robot body 1 to retreat to the position of the iron tower along the insulating flat ladder 4 by observing a first high-definition camera 10 positioned at the rear end of the robot body 1;
10) the ground electrician uses a thermodetector to measure the temperature of the operation phase diversion plate 9 and other two diversion plates, and after the temperature requirement is met, the first electrician and the second electrician remove the robot on the tower and the insulating horizontal ladder 4 and transmit the robot and the insulating horizontal ladder to the ground;
11) and (5) operating electricians on the tower, and moving the electricians off the tower to finish the operation.
The live working robot for temporarily eliminating the heating defect of the drainage plate of the power transmission line at the intermediate potential and the use method thereof are used for replacing manual work to carry out operation, reduce the labor intensity of operators and reduce the operation risk.
Claims (6)
1. An electrified operation robot for eliminating the heating defect of a drainage plate of an overhead transmission line by using a middle potential is characterized by comprising an insulating flat ladder, a walking platform capable of moving back and forth along the length direction of the insulating flat ladder, and a robot main body arranged on the walking platform;
buckles are arranged at the middle end and the rear end of the insulating flat ladder and fixed on angle iron of the iron tower through ropes and buckles, and the front end of the insulating flat ladder and the main guide wire extend out to the lower part of the heating position of the drainage plate in parallel;
the robot main part includes all-metal casing, and two operation arms of shell top installation are operation arm A, operation arm B respectively, and the operation arm includes six degree of freedom arms, insulating bar, hedgehog hydnum fastener fixture, the clear camera of third height, and the clear camera of third height is installed in six degree of freedom arms end, and insulating bar directly links with the terminal swivelling joint that is located the arm, and insulating bar end is installed and is used for blocking and rotatory hedgehog hydnum fastener fixture of drainage wire fastener.
2. The live working robot for eliminating the heating defect of the drainage plate of the overhead transmission line at the intermediate potential according to claim 1, characterized in that an automatic controller, a driving motor in communication connection with the automatic controller, a communication module, a video server and a battery module are arranged in the robot body.
3. The hot-line work robot for eliminating the heating defect of the drainage plate of the overhead transmission line at the intermediate potential according to claim 1 is characterized in that the front end and the rear end of the robot body are respectively provided with a first high-definition camera for observing the advancing position of the robot, and a second high-definition camera for observing the condition of the operation position is arranged above the robot body.
4. The live working robot for eliminating the heating defect of the drainage plate of the overhead transmission line at the intermediate potential according to claim 1, characterized in that a limiting mechanism for preventing the robot body from separating from the insulating flat ladder is installed at the tail end of the insulating flat ladder.
5. The live working robot for eliminating the heating defect of the drainage plate of the overhead transmission line at the intermediate potential according to claim 1, characterized in that the walking platform comprises two driving wheels, two bearing wheels and eight auxiliary wheels which are arranged below the robot body, the eight auxiliary wheels are held below the insulating horizontal ladder, and the driving wheels are driven by a driving motor arranged in the robot body.
6. The operation method of the hot-line work robot for eliminating the heating defect of the drainage plate of the overhead transmission line by the intermediate potential according to claim 1 is characterized by comprising the following steps:
1) the ground electrician uses a thermodetector to detect the temperature of the heating drainage plate and records the temperature;
2) carrying out appearance inspection on an insulating operating rod and an insulating flat ladder of the operating arm to confirm no damage or deformation, and carrying out insulation resistance detection by using an insulation detector, wherein the insulation resistance value is more than 700M omega, and the electricians A and B sequentially ascend to the position of an operating phase conductor about 1.8M away from a charged body;
3) the ground electrician transmits the insulating flat ladder, the robot body and the group of bypass drainage tools b to the electricians A and B on the tower through the insulating rope;
4) the first electrician and the second electrician are mutually matched to install the insulating flat ladder on the iron tower;
5) the electricians A and B are mutually matched to install the robot body on the insulating flat ladder;
6) the first electrician and the second electrician are mutually matched to connect the bypass drainage tool b with the two hericium erinaceus wire clamp clamps on the insulating operating rod respectively;
7) the ground electrician controls the robot body to walk to the heating operation position of the drainage plate along the insulating horizontal ladder by observing a first high-definition camera positioned at the front end of the robot body;
8) the ground electrician observes and controls the robot body through a second high-definition camera and a third high-definition camera which are arranged above the robot body, an operation arm A of the robot body drives an insulating operation rod to install a wire clamp at one end of a bypass drainage tool b on a main guide line, the robot body controls a tail end rotating joint of the operation arm A to drive the insulating operation rod to tighten the wire clamp, and then the operation arm A is controlled to withdraw from an electric field; the other operation arm B drives an insulating operation rod to install the wire clamp at the other end of the bypass drainage tool B at a proper position of a lead, a rotary joint at the tail end of the operation arm B is controlled to drive the insulating operation rod to screw the wire clamp tightly, and then the operation arm B is controlled to exit the electric field;
9) the ground electrician controls the robot body to retreat to the position of the iron tower along the insulating flat ladder by observing a first high-definition camera positioned at the rear end of the robot body;
10) the ground electrician uses a thermodetector to measure the temperature of the operation phase diversion plate and other two diversion plates, and after the temperature requirement is met, the first electrician and the second electrician remove the robot on the tower and the insulating flat ladder and transmit the robot and the insulating flat ladder to the ground;
11) and (5) operating electricians on the tower, and moving the electricians off the tower to finish the operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210437643.7A CN114614397A (en) | 2022-04-25 | 2022-04-25 | Live working robot capable of eliminating heating defect of overhead transmission line drainage plate through intermediate potential and operation method of live working robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210437643.7A CN114614397A (en) | 2022-04-25 | 2022-04-25 | Live working robot capable of eliminating heating defect of overhead transmission line drainage plate through intermediate potential and operation method of live working robot |
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| CN114614397A true CN114614397A (en) | 2022-06-10 |
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| CN202210437643.7A Pending CN114614397A (en) | 2022-04-25 | 2022-04-25 | Live working robot capable of eliminating heating defect of overhead transmission line drainage plate through intermediate potential and operation method of live working robot |
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| CN113285388A (en) * | 2021-05-24 | 2021-08-20 | 安徽悦得自动化有限公司 | Bus drainage wire disconnecting device |
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2022
- 2022-04-25 CN CN202210437643.7A patent/CN114614397A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105207123A (en) * | 2015-10-13 | 2015-12-30 | 国网辽宁省电力有限公司丹东供电公司 | Equipotential operation method of tubular bus |
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| CN108598990A (en) * | 2018-04-11 | 2018-09-28 | 南京理工大学 | A kind of hot line robot aerial earth wire replacement method for repairing and mending based on force feedback master ＆ slave control technology |
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