CN114899759A - Operation method for replacing insulator of high-voltage transmission line in live-line mode by robot - Google Patents
Operation method for replacing insulator of high-voltage transmission line in live-line mode by robot Download PDFInfo
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- CN114899759A CN114899759A CN202210729701.3A CN202210729701A CN114899759A CN 114899759 A CN114899759 A CN 114899759A CN 202210729701 A CN202210729701 A CN 202210729701A CN 114899759 A CN114899759 A CN 114899759A
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- 239000012212 insulator Substances 0.000 title claims abstract description 228
- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000005540 biological transmission Effects 0.000 title claims abstract description 15
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 24
- 239000010959 steel Substances 0.000 claims abstract description 24
- 239000012211 strain insulator Substances 0.000 claims abstract description 5
- 210000000078 claw Anatomy 0.000 claims description 35
- 230000007246 mechanism Effects 0.000 claims description 31
- 229910052573 porcelain Inorganic materials 0.000 claims description 15
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 4
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000008859 change Effects 0.000 description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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Abstract
The patent discloses an operation method for replacing insulators of a high-voltage transmission line in an electrified manner by a robot, wherein the robot for replacing the insulators straddles adjacent strain insulator strings of the insulators (1) to be replaced to walk, and before an automatic insulator tightening fixture (2) acts, a robot arm (6) forms a support of a moving platform (5) at the insulator string where the insulator (1) to be replaced is located; after the insulator (1) is replaced, the mechanical arm (6) is continuously clamped on the steel cap (101) of the new insulator (1) to form the support of the mobile platform (5), and after the insulator automatic tightening clamp (2) resets, the mechanical arm (6) resets again; the advantages are that: the robot rides on the single insulator string and operates stably, and is safe and reliable; the movement of the mechanical arm (6) is not interfered by the space of the moving platform (5); the continuous multiple insulators can be replaced.
Description
Technical Field
The patent relates to a method for replacing insulators of a high-voltage transmission line, in particular to an operation method for replacing insulators of the high-voltage transmission line in an electrified mode by a robot.
Background
The existing operation method for replacing the insulator of the high-voltage transmission line by the robot is that a robot moving platform straddles on the double strings of insulators and walks along the double strings of insulators; for example, Chinese patent with patent number ZL202011380307.0 and patent name "robot for replacing strain insulator single sheet insulator of extra-high voltage line in live line and operation method" adopts man-machine interaction mode to realize automatic replacement of high-altitude insulator by robot; its advantages are high automation degree and high working efficiency; however, the following disadvantages are present: 1) the mobile platform has large structural size and heavy weight, and is inconvenient to carry and transport in outdoor high-altitude operation; 2) the robot arm of the robot does not have enough operating space when replacing the insulator: the platform body of the moving platform spans the double strings of insulators, so that the moving platform is large in size and large in occupied space, a stroke track of normal work of the machine arm interferes with the moving platform on the insulators when the deteriorated insulators are clamped, and the machine arm lacks enough operating space, so that the platform mechanism is complex; 3) under the condition that two continuous insulator porcelain bottles are damaged (porcelain bottles are damaged), because a belt of the belt travelling mechanism cannot be supported at the tops of the damaged porcelain bottles, the moving platform cannot pass through the damaged insulators when travelling on the double strings of insulators, and the moving platform cannot travel to the positions above the insulators to be replaced.
Disclosure of Invention
The purpose of this patent is exactly to design a robot and change high tension transmission line insulator operating method with electricity, straddles on single cluster insulator, carries out automatic change to the insulator that became invalid on the adjacent insulator cluster.
The technical scheme of this patent is: the operation method for replacing the insulator of the high-voltage transmission line in an electrified way by the robot comprises the following steps:
1) the insulator replacing robot is bestrided on an adjacent strain insulator string of the insulator to be replaced, and the insulator automatic tightening clamp is positioned at one side of the insulator to be replaced; starting a belt walking mechanism to enable the insulator replacing robot to move to the side face of the insulator to be replaced along the single insulator string in series and then stop;
2) starting the robot arm, enabling the holding claw of the robot arm to move to the position above the insulator string where the insulator to be replaced is located, and enabling the holding claw to be clamped on the steel cap of one insulator in a downward surrounding manner to form a supporting point for the robot;
3) starting the automatic insulator tightening clamp to clamp and clamp the automatic insulator tightening clamp on steel caps of insulators on two sides of the insulator to be replaced; operating the mechanical arm to release the holding claw and separate the holding claw from the clamped insulator steel cap; then operating the automatic tightening clamp of the insulator to relax the tension of the tension insulator to be replaced;
4) starting the bottle rotating device, rotating the insulator to be replaced, and resetting the bottle rotating device after the R pin of the insulator is upward; starting the mechanical arm to enable the holding claw to abut against the steel cap of the insulator to be replaced, and pulling out the R pin of the insulator by using the hook head of the pin puller;
5) operating the mechanical arm to enable the holding claw to take down the insulator to be replaced from the insulator string, and then installing a new insulator; after a new insulator is installed, the holding claw is continuously clamped on a steel cap of the new insulator to form a supporting point for the robot;
6) operating the automatic insulator tightening clamp, opening the clamped insulator, resetting the automatic insulator tightening clamp, and returning to an initial position;
7) the mechanical arm resets and returns to the initial position to finish the replacement of the single insulator;
further, the insulator robot includes: the robot comprises a robot moving platform straddling a single string of insulators, a belt walking mechanism arranged at the lower part of the moving platform, an automatic insulator tightening fixture and a bottle rotating device arranged at the lower part of the left side of the moving platform, a robot arm arranged at the upper part of the left side of the moving platform, a controller, a power supply, a hydraulic power supply, a wireless control module and a plurality of video cameras, wherein the controller, the power supply, the hydraulic power supply and the wireless control module are arranged at the right side of the moving platform; the operation control center is arranged on the ground; the counterweight mechanism is arranged on the right side of the mobile platform, and the power supply and the hydraulic power source are used as part of counterweight bodies; the robot comprises a robot body, a hydraulic power source, a controller, an operation control center and a video camera, wherein the hydraulic power source provides hydraulic power for the robot, the controller is used for controlling the automatic tightening clamp, a belt walking mechanism, a bottle rotating device, a robot arm and the hydraulic power source to act, and the operation control center is electrically connected with the controller and the video camera on the mobile platform in a wireless mode through a wireless communication module;
further, the belt travelling mechanism comprises a group of travelling belt wheels and two groups of guide belt wheels, the lower parts of the belts of the travelling belt wheels are longitudinally attached to the tops of the porcelain bottles with 4-6 insulators, and the lower parts of the belts of the guide belt wheels are longitudinally attached to two sides of the upper parts of the porcelain bottles with 4-6 insulators;
further, the belt wheels of the guide belt wheel and the walking belt wheel are synchronous belt wheels, and the belt is an annular belt matched with the synchronous belt wheels;
furthermore, the walking belt wheel is driven by a walking motor, the walking motor is fixed on the moving platform, a motor shaft of the walking motor is connected with a wheel shaft of the walking belt wheel, and the walking motor is electrically connected with the robot controller;
furthermore, the end part of the machine arm is provided with a holding claw and a pin puller.
The advantage of this patent is:
1) the robot moving platform travels on the single string of insulator strings along the direction of the conducting wire, the robot replaces the failed insulators on the adjacent insulator strings through the robot arm arranged on the moving platform, and the robot arm does not suffer from the space interference of the platform body when clamping and moving the insulators on the adjacent insulator strings, so that the range of the movable space is sufficient, the structure of the robot arm is simplified, and the operation is convenient; meanwhile, the volume and the weight of the platform are reduced, so that the platform is convenient to carry, transport and operate;
2) the existing robot walks on double strings of insulators, and when more than two continuous insulator porcelain bottles on one string of insulators are damaged or the difference of the outer diameters of the insulator porcelain bottles is large, the robot cannot reach the damaged insulators due to the fact that a supporting platform cannot bear a belt walking mechanism and cannot be arranged on the tops of the insulator porcelain bottles; this patent robot walking can realize two continuous and above insulator vase damages or insulator change under the irregular condition of vase external diameter on the single cluster insulator, and robot moving platform strides and rides the walking on the adjacent insulator cluster in insulator cluster right side that needs to be changed during the change, and the side that reachs damaged insulator is changed damaged insulator.
3) The size and weight of the automatic insulator tightening clamp are the heaviest in the robot, generally reach dozens of kilograms, the initial position of the automatic insulator tightening clamp is generally arranged at the lower part of one side of the moving platform adjacent to the insulator to be replaced, but the gravity center of the automatic insulator tightening clamp is seriously deviated to one side of the insulator to be replaced when the automatic insulator tightening clamp clamps the insulator, the double-serial walking robot is reliably supported on the double-insulator string, instability and even side turning cannot be caused by gravity center change, but if the robot walks on the single-string insulator, the robot moving platform is easy to be unstable; in this patent, before operation insulator tightening mechanism left initial position, operate the robotic arm earlier and make embracing of robotic arm claw centre gripping on waiting to change the steel cap of an insulator of the insulator chain at insulator place, form the support protection to robot moving platform, so the robot operates steadily, safe and reliable on single cluster insulator.
Drawings
FIG. 1 is a schematic diagram of an initial state of a robot on an insulator string;
FIG. 2 is a schematic view of the robot with the insulator automatic tightening clamp in a clamping state;
FIG. 3 is a schematic structural view of a belt running mechanism on an insulator chain;
FIG. 4 is a schematic view of a robot bottle rotator in a working state;
in the figure: 1-an insulator; 101-a steel cap; 102-porcelain bottle; 2-automatic tightening clamp of insulator; 3-a counterweight mechanism; 4-a belt running mechanism; 401-a running pulley; 402-a deflector sheave; 5-moving the platform; 6-a robot arm; 601-holding the claw; 602-a pin puller; 7-bottle rotating device.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 4, the insulator robot of the present patent includes: the automatic insulator tightening device comprises a robot moving platform 5 straddling a single string of insulators, a belt walking mechanism 4 arranged at the lower part of the robot moving platform 5, an automatic insulator tightening fixture 2 and a bottle rotating device 7 arranged at the lower part of the left side of the moving platform 5, a robot arm 6 arranged at the upper part of the left side of the moving platform 5, a controller, a power supply, a hydraulic power supply and a wireless control module (not shown in the figure) arranged on the moving platform 5, and further comprises a plurality of video cameras (not shown in the figure) arranged on the moving platform 5; an operation control center (not shown) arranged on the ground; the balance weight mechanism 3 is positioned on the right side of the moving platform, and the balance weight mechanism 3 is used for balancing relatively heavy components such as the automatic insulator tightening clamp 2 on the left side of the moving platform 5 so that the moving platform 5 can be conveniently spanned on a single string of insulators to be balanced in an initial state and a walking process; the power supply and the hydraulic power source have relatively large weights and are used as basic configuration of the counterweight mechanism; the counterweight mechanism 3 may also include all or a portion of a controller, power supply, hydraulic power source, and wireless control module. The power supply is used for supplying power to the automatic insulator tightening clamp 2, the belt walking mechanism 4, the robot arm 6, the bottle rotating device 7, the controller, the video camera and the wireless communication module on the robot moving platform 5, and the operation control center is electrically connected with the controller and the video camera on the moving platform 5 in a wireless mode through the wireless communication module; the hydraulic power source provides hydraulic power for the insulator automatic tightening clamp 2, the machine arm 6 and the hydraulic telescopic rod on the bottle rotating device 7, and the controller is used for controlling the insulator automatic tightening clamp 2, the belt walking mechanism 4, the machine arm 6, the bottle rotating device 7, the hydraulic power source and the video camera to act.
The belt travelling mechanism 4 comprises a group of travelling pulleys 401 and two groups of guide pulleys 402, the lower parts of belts of the travelling pulleys 401 are longitudinally attached to the tops of the porcelain bottles 102 of 4 to 6 insulators 1, and the lower parts of belts of the guide pulleys 402 are longitudinally attached to two sides of the upper parts of the porcelain bottles 102 of 4 to 6 insulators 1; the pulleys of the guide pulley 402 and the synchronous pulley 401 are synchronous pulleys, and the belt is an annular belt matched with the synchronous pulleys; the walking belt wheel 401 is driven by a walking motor, the walking motor is fixed on the moving platform 5, a motor shaft of the walking motor is connected with a wheel shaft of the walking belt wheel, and the walking motor is electrically connected with the robot controller.
The automatic insulator tightening clamp 2 is of a frame structure consisting of a front clamp, a rear clamp, an adjusting screw rod and a hydraulic tightener, the adjusting screw rod and the hydraulic tightener are respectively and rigidly connected to the two ends of the front clamp and the rear clamp through bolts, and the end part of the adjusting screw rod is hinged to the lower part of the left side of the moving platform 1 through a hydraulic telescopic rod; the hydraulic telescopic rod contracts to drive the insulator automatic tightening clamp 2 to move upwards, so that the clamp bodies of the front clamp and the rear clamp are respectively clamped on the outer circumferences of the steel caps of the two insulators 1, the upper covers of the front card and the rear card are respectively and automatically closed, the controller controls the locking nut to rotate, the front card and the rear card are respectively clamped on the insulators on two adjacent sides of the degraded single-chip insulator to be replaced and locked, according to the principle of spanning four cards and three cards, the robot operates the insulator automatic tightening fixture 2, the adjusting screw rod is adjusted to adjust the distance between the front card and the rear card, the rear card is clamped on the steel cap of the insulator 1 adjacent to the rear end of the degraded insulator 1 to be replaced, the front card is clamped on the steel cap of the second insulator 1 at the front end of the degraded insulator 1 to be replaced, and after the hydraulic tightener is tightened, the tension on the deteriorated single-piece insulator 1 to be replaced and the insulator 1 adjacent to the front end thereof is relaxed.
The robot arm 6 is formed by sequentially connecting three sections of joint arms and holding claws 601, the root of a first joint arm is connected to a support, the support is hinged with a platform body of the robot moving platform 5, and the first joint arm is hinged with a part between the first joint arm and the second joint arm adjacent to the first joint arm through a hydraulic push rod to form a link mechanism; the holding claw 601 is connected to the head of the third joint arm through a rotating shaft, a holding claw motor is arranged on the rotating shaft, the holding claw 601 can rotate around the rotating shaft, the holding claw 601 is an arc-shaped jaw which can be opened and closed and is formed by hinging two semi-circular arc clamp arms with cylindrical gears at one ends on a holding claw body through gear shafts respectively, and the shape of the arc-shaped jaw is matched with a steel cap of the insulator 1; cylindrical gears at the end parts of the two tong arms are meshed, and one gear shaft is connected with a motor shaft of a gear motor; the hydraulic source of each hydraulic push rod is respectively connected with the hydraulic power source of the robot, the support motor, the claw holding motor and the gear motor are respectively and electrically connected with the controller, and the controller controls the robot arm 6 to move.
When the insulator 1 is picked up by using the mechanical arm 6, the positions of the joint arms are respectively adjusted by the hydraulic push rod, so that the holding claw 601 is clamped on the steel cap of the insulator 1 and is folded in the jaw, then the mechanical arm 6 is shaken left and right and up and down to separate the insulator 1 to be replaced from two adjacent insulators, and finally the mechanical arm 6 is lifted up to lift the insulator 1 and place the insulator on the insulator shelf on the moving platform 5 to replace a new insulator 1.
The end part of the robot arm 6 is also provided with a pin puller 602, the pin puller 602 is formed by arranging a hook at the end part of a hydraulic push rod, a hydraulic cylinder of the hydraulic pull rod is fixed on the robot arm 6, and a hydraulic source of the hydraulic pull rod is connected with a hydraulic power source of the robot.
One end of the bottle rotating device 7 is hinged to the left side of the moving platform 5, the other end of the bottle rotating device 7 is an arc-shaped movable clamping jaw, two electric friction wheels are arranged on the inner arc of the clamping jaw, a cylinder body of a hydraulic telescopic rod of the bottle rotating device 7 is hinged to the moving platform 5, and the end part of a hydraulic rod of the hydraulic telescopic rod is hinged to a clamping jaw arm; the controller controls the hydraulic telescopic rod to move to lift the bottle rotating device 7 to move upwards to the lower part of the insulator 1 to be replaced, the claw is clamped on the steel cap 101 of the insulator 1, and the friction wheel in the claw is driven by the motor to rotate, so that the insulator 1 is driven to rotate.
The operation method for replacing the insulator of the high-voltage transmission line by the robot in an electrified way comprises the following steps:
1) lifting the insulator replacing robot to the cross arm of the iron tower, straddling the robot on the adjacent strain insulator string of the insulator 1 to be replaced along the cross arm, and positioning the automatic insulator tightening clamp 2 at one side close to the insulator to be replaced; the lower parts of the belts of the traveling belt wheels 401 of the belt traveling mechanism 4 are longitudinally attached to the tops of the porcelain bottles 102 of 4-6 insulators 1, and the lower parts of the belts of the two groups of guide belt wheels 402 of the belt traveling mechanism 4 are respectively and longitudinally attached to the two sides of the upper parts of the porcelain bottles 102 of 4-6 insulators 1; the mechanical arm 6, the automatic insulator tightening clamp 2 and the bottle rotating device 7 are in an initial state, at the moment, the mechanical arm 6 is positioned above the bestrided insulator string, and the bottle rotating device 7 and the automatic insulator tightening clamp 2 are positioned at the lower part of one side of the moving platform, which is close to the insulator to be replaced; starting the robot belt walking mechanism 2 to enable the insulator replacing robot to move to the side face of the insulator 1 to be replaced along the single insulator string in series and then stop;
2) starting the robot arm 6, and enabling hydraulic push rods on joints of the robot arm 6 to act to rotate joint main bodies of the robot arm 6 from one side of a bestrided insulator to one side of an insulator to be replaced, namely from the upper part of a right insulator string to the upper part of a left insulator string, so that the holding claw 601 of the robot arm 6 moves to the upper part of the insulator string where the insulator 1 to be replaced is located, and the holding claw 601 of the robot arm 6 is made to downwards surround and clamp the steel cap 101 of one insulator 1 to form a supporting point for the robot;
3) starting the insulator automatic tightening fixture 2 to clamp and clamp the fixture on the steel caps 101 of the insulators 1 on two sides of the insulator 1 to be replaced, and locking the upper cover and the clamp body of the fixture after closing; then operating the mechanical arm 6 to open the holding claw 601 of the mechanical arm 6 and separate the holding claw from the clamped steel cap 101 of the insulator 1, and resetting the mechanical arm 6 to the initial position; then operating the automatic insulator tightening clamp 2, tightening the front clamp and the rear clamp which are clamped at the two sides of the insulator to be replaced through a hydraulic tightener, and loosening the tension at the two sides of the tension insulator 1 to be replaced;
4) starting the bottle rotating device 7, rotating the insulator 1 to be replaced to enable the R pin of the insulator to face upwards, and then resetting the bottle rotating device 7; starting the mechanical arm 6, enabling the holding claw 601 of the mechanical arm 6 to abut against the steel cap 101 of the insulator 1 to be replaced downwards, and resetting the pin remover 602 to the initial position after the R pin of the insulator 1 is pulled out upwards by using the hook head of the pin remover 602;
5) operating the mechanical arm 6 to enable the holding claw 601 of the mechanical arm 6 to take down the insulator 1 to be replaced from the insulator string, placing the insulator on an old insulator shelf on the moving platform, and then grabbing a new insulator from a new insulator shelf to replace the old insulator 1; after a new insulator 1 is installed, the holding claw 601 of the robot arm 6 is continuously clamped on the steel cap 101 of the new insulator 1 to form a supporting point for the robot;
6) the automatic insulator tightening clamp 2 is operated, the hydraulic tightener is operated, the tightening force between the front clamp and the rear clamp is released, and after the upper covers of the automatic insulator tightening clamp and the front clamp and the upper cover of the rear clamp are opened respectively, the automatic insulator tightening clamp 2 resets and returns to the initial position;
7) the robot arm 6 is reset and returned to the initial position, and the replacement of the single insulator 1 is completed.
When the video camera is used for ground or remote operation, the state and action execution condition of each execution mechanism are monitored in real time. In the operation process, an operator detects the states and action execution conditions of the automatic insulator tightening clamp 2, the belt walking mechanism 4, the robot arm 6 and the bottle rotating device 7 on the robot moving platform 5 through video pictures in a ground control center.
Claims (6)
1. The operation method for replacing the insulator of the high-voltage transmission line in an electrified way by the robot comprises the following steps:
1) the insulator replacing robot is bestrided on an adjacent strain insulator string of the insulator (1) to be replaced, and the automatic insulator tightening clamp (2) is positioned on one side of the insulator (1) to be replaced; starting the belt walking mechanism (4) to enable the insulator replacing robot to walk to the side face of the insulator (1) to be replaced along the single insulator string in series and then stop;
2) starting the robot arm (6), moving a holding claw (601) of the robot arm (6) to the position above an insulator string where the insulator (1) to be replaced is located, and enabling the holding claw (601) to downwards surround and clamp the insulator string on a steel cap (101) of one insulator (1) to form a supporting point for the robot;
3) starting the automatic insulator tightening clamp (2) to clamp and clamp the automatic insulator tightening clamp on steel caps (101) of insulators on two sides of the insulator (1) to be replaced; then operating the mechanical arm (6) to release the holding claw (601) and separate the holding claw from the steel cap (101) of the clamped insulator (1); then operating the automatic insulator tightening clamp (2) to relax the tension on the two sides of the tension insulator (1) to be replaced;
4) starting the bottle rotating device (7), rotating the insulator (1) to be replaced, and resetting the bottle rotating device (7) after the R pin of the insulator (1) is upward; starting a mechanical arm (6), enabling the holding claw (601) to abut against the steel cap of the insulator (1) to be replaced, and pulling out the R pin of the insulator (1) by using the hook head of the pin puller (602);
5) operating the mechanical arm (6) to enable the holding claw (601) to take down the insulator (1) to be replaced from the insulator string, and then installing a new insulator (1); after a new insulator (1) is installed, the holding claw (601) continues to be clamped on the steel cap (101) of the new insulator (1) to form a supporting point for the robot;
6) the insulator automatic tightening clamp (2) is operated, after the clamped insulator (1) is opened, the insulator automatic tightening clamp (2) resets and returns to an initial position;
7) the mechanical arm (6) is reset and returns to the initial position, and the replacement of the single insulator (1) is completed.
2. The operation method for replacing the insulator of the high-voltage transmission line by the robot in a charged manner according to claim 1, which is characterized in that:
the insulator replacing robot includes: the robot comprises a robot moving platform (5) straddling a single string of insulators, a belt walking mechanism (4) arranged at the lower part of the moving platform (5), an automatic insulator tightening fixture (2) and a bottle rotating device (7) arranged at the lower part of the left side of the moving platform (5), a robot arm (6) arranged at the upper part of the left side of the moving platform (5), a controller, a power supply, a hydraulic power source, a wireless control module and a plurality of video cameras arranged on the moving platform (5); the operation control center is arranged on the ground; the counterweight mechanism (3) is arranged on the right side of the mobile platform (5), and a power supply and a hydraulic power source are used as part of counterweight bodies; the hydraulic power source provides hydraulic power for the robot, the controller is used for controlling the automatic tightening clamp (2), the belt walking mechanism (4), the bottle rotating device (7), the robot arm (6) and the hydraulic power source to act, and the operation control center is electrically connected with the controller and the video camera on the mobile platform (5) in a wireless mode through the wireless communication module.
3. The operation method for replacing the insulator of the high-voltage transmission line by the robot in a charged manner according to claim 2, which is characterized in that: the belt travelling mechanism (4) comprises a group of travelling belt wheels (401) and two groups of guide belt wheels (402), the lower parts of the belts of the travelling belt wheels (401) are longitudinally attached to the tops of the porcelain bottles (102) of 4-6 insulators (1), and the lower parts of the belts of the guide belt wheels (402) are longitudinally attached to the two sides of the upper parts of the porcelain bottles (102) of 4-6 insulators (1).
4. The operation method for replacing the insulator of the high-voltage transmission line by the robot in a charged manner according to claim 3, which is characterized in that: the guide belt wheel (402) and the belt wheel of the walking belt wheel (401) are synchronous belt wheels, and the belt is an annular belt matched with the synchronous belt wheels.
5. The operation method for replacing the insulator of the high-voltage transmission line by the robot in a charged manner according to claim 3, characterized by comprising the following steps: the walking belt wheel (401) is driven by a walking motor, the walking motor is fixed on the moving platform (5), a motor shaft of the walking motor is connected with one wheel shaft of the walking belt wheel, and the walking motor is electrically connected with the robot controller.
6. The operation method for replacing the insulator of the high-voltage transmission line by the robot in a charged manner according to claim 2, which is characterized in that: and a holding claw (601) and a pin puller (602) are arranged at the end part of the machine arm (6).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210729701.3A CN114899759B (en) | 2022-06-24 | 2022-06-24 | Operation method for robot live replacement of high-voltage transmission line insulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210729701.3A CN114899759B (en) | 2022-06-24 | 2022-06-24 | Operation method for robot live replacement of high-voltage transmission line insulator |
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| CN114899759A true CN114899759A (en) | 2022-08-12 |
| CN114899759B CN114899759B (en) | 2024-01-19 |
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