KR20080024845A - Approaching method to live line in transmission towers - Google Patents

Approaching method to live line in transmission towers Download PDF

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Publication number
KR20080024845A
KR20080024845A KR1020060089519A KR20060089519A KR20080024845A KR 20080024845 A KR20080024845 A KR 20080024845A KR 1020060089519 A KR1020060089519 A KR 1020060089519A KR 20060089519 A KR20060089519 A KR 20060089519A KR 20080024845 A KR20080024845 A KR 20080024845A
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KR
South Korea
Prior art keywords
guide rail
live
worker
insulator
move
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Application number
KR1020060089519A
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Korean (ko)
Inventor
김효진
김대식
이동일
이형권
최인혁
정준호
배상길
박해완
Original Assignee
한국전기공사협회
한국전력공사
한전케이피에스 주식회사
합자회사 광명전업사
한국전기연구원
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Application filed by 한국전기공사협회, 한국전력공사, 한전케이피에스 주식회사, 합자회사 광명전업사, 한국전기연구원 filed Critical 한국전기공사협회
Priority to KR1020060089519A priority Critical patent/KR20080024845A/en
Publication of KR20080024845A publication Critical patent/KR20080024845A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B12/00—Component parts, details or accessories not provided for in groups B61B7/00 - B61B11/00
    • B61B12/02—Suspension of the load; Guiding means, e.g. wheels; Attaching traction cables
    • B61B12/028—Cabin or seat suspension means
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B17/00—Insulators or insulating bodies characterised by their form
    • H01B17/02—Suspension insulators; Strain insulators
    • H01B17/06—Fastening of insulator to support, to conductor, or to adjoining insulator
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
    • H02G1/04—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables for mounting or stretching
    • 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
    • H02G7/00—Overhead installations of electric lines or cables
    • H02G7/05—Suspension arrangements or devices for electric cables or lines

Abstract

A live-line approaching method in 765kv double circuit transmission lines is provided to move a worker safely and to perform maintenance and repair operations at a jumper apparatus or a suspension insulator apparatus. A live-line approaching method in 765kv double circuit transmission lines is composed of first and second methods. A guide rail set(11), a polymer insulator(12), a suspension worktable(13), and an equipotential rod(14) are used in the first and second methods. The guide rail set is composed of a bracket attached to a pylon arm, a guide rail of a predetermined length, and a trolley horizontally moved on the guide rail. The polymer insulator maintains electrical insulation and supports a worker. The suspension worktable is made of steel to move the worker. The equipotential rod equalizes electric potentials of the worker and a transmitting voltage.

Description

765킬로볼트 2회선 송전선로에서 활선접근공법{Approaching method to live line in transmission towers} Approaching method to live line in transmission towers

도 1은 본 발명에 따른 765kV 2회선 송전선로에서 활선접근공법의 제1실시예(현수철탑에서 활선접근공법)를 나타낸 도면,1 is a view showing a first embodiment of a live approach in a 765kV two-wire transmission line according to the present invention (live approach in suspension tower),

도 2는 본 발명에 따른 765kV 2회선 송전선로에서 활선접근공법의 제2실시예(내장철탑에서 활선접근공법)를 나타낸 도면,FIG. 2 is a view showing a second embodiment of a live approach in a 765 kV two-wire transmission line according to the present invention (live approach in a built-in steel tower);

도 3은 가이드레일세트 조립도의 상면도,3 is a top view of the guide rail set assembly view,

도 4는 가이드레일세트 조립도의 정면도,4 is a front view of the guide rail set assembly view,

도 5는 가이드레일세트용 브라켓트 정면도,5 is a front view of the bracket for the guide rail set;

도 6은 가이드레일용 브라켓트 상면도,6 is a top view of the bracket for the guide rail,

도 7은 가이드레일 상면도,7 is a top view of the guide rail,

도 8은 가이드레일 정면도,8 is a front view of the guide rail,

도 9는 가이드레일 단면도,9 is a cross-sectional view of the guide rail,

도 10은 트롤리의 정면도,10 is a front view of a trolley,

도 11은 트롤리의 단면도,11 is a cross-sectional view of the trolley,

도 12는 절연용 폴리머장간애자와 각 연결부 형태 도면,12 is an insulating polymer long insulator and each connection part shape drawing,

도 13은 활선작업대 측면도,13 is a side view of the live workbench,

도 14는 활선작업대 정면도,14 is a live workbench front view,

도 15는 등전위봉의 정면도(a)와 상면도(b)이다.15 is a front view (a) and a top view (b) of an equipotential rod.

<도면의 주요부분에 대한 부호의 설명><Description of the symbols for the main parts of the drawings>

11 : 가이드레일세트 12 : 절연용 폴리머장간애자11: guide rail set 12: polymer insulator for insulation

13 : 활선작업대 14 : 등전위봉13: live work platform 14: equipotential rod

15 : 절연로프 16 : 현수애자장치15: insulation rope 16: suspension insulator device

17 : 점퍼장치 21 : 브라켓트17: jumper device 21: bracket

22 : 가이드레일 31 : 아이형 연결부22: guide rail 31: eye connection

32 : 크레비스형 연결부 41 : 몸체32: crevis connector 41: the body

42 : 폴리머장간애자연결부42: polymer long insulator connection

43 : 작업자용 의자 51 : 의자43: chair for workers 51: chair

52 : 헤드 53 : 키퍼52: Head 53: Keeper

54 : 동선54: copper wire

본 발명은 활선접근공법에 관한 것으로, 보다 상세하게는 765kV 2회선 송전 선로에서 전압이 인가된 활선상태에서 유지보수를 위해 현수철탑이나 내장철탑으로부터 활선(전선)으로 접근하고자 할 때, 전기적으로나 기계적으로 안전하게 작업자를 활선에 접근시킬 수 있는 765kV 2회선 송전선로에서 활선접근공법에 관한 것이다.The present invention relates to a live line approach, and more specifically, when attempting to approach a live line (wire) from a suspension tower or a built-in steel tower for maintenance in a live state where voltage is applied on a 765 kV two-wire transmission line, The present invention relates to a live ship approach on a 765kV two-wire transmission line that can safely approach workers to live ships.

이러한, 일반적인 765kV 2회선 송전선로에서 낙뢰나 오손 등에 의해 애자가 손상을 받은 경우, 각종 자연현상에 의해 전선이 손상을 받거나 각종 금구류가 손상을 받은 경우 전기를 끊지 않고 전압이 인가된 활선상태에서 작업자를 전선에 접근시켜 작업을 할 수 밖에 없는 실정이다.If the insulator is damaged by lightning or fouling in the general 765kV two-wire transmission line, the wire is damaged by various natural phenomena or various brackets are damaged in the live state without voltage. There is no choice but to work by bringing workers close to the wire.

그러나, 전선에 접근하기 위해서는 현수철탑에서는 현수애자련의 전선 지지점에 작업자가 접근해야 하고, 내장철탑에서는 점퍼장치에 접근해야 한다. 이때 전기적으로 안전한 방법에 의해 접근하지 않으면 작업자에게 전기적 충격이 가해질 수 있고, 접근 중 전기적 사고로 인해 과전압이 발생하게 되면 작업자 인명에 영향을 미칠 수 있기 때문에 이러한 전기적 문제를 고려하여 접근공법이 정해지지 않으면 작업자가 매우 위험한 상황에 이를 수 있다.However, in order to access the electric wires, the suspension steel tower requires the operator to access the wire support points of the suspension insulator and the jumper device in the built-in steel tower. At this time, the electric shock may be applied to the worker if it is not approached by the electrically safe method, and if the overvoltage occurs due to the electric accident during the approach, it may affect the worker's life. Workers can be in a very dangerous situation.

따라서 활선상태에서 철탑으로부터 전선에 접근할 경우에는 전기적으로 안전한 접근공법에 의해 접근하는 것이 매우 중요하다.Therefore, when accessing the wire from the steel tower in the live state, it is very important to access by an electrically safe approach.

따라서, 본 발명은 상기와 같은 문제점을 해결하기 위하여 창작된 것으로서, 전압이 인가된 상태 즉, 전기가 살아 있는 활선상태에서도 전기적으로 안전하게 765kV 2회선 송전선로의 현수철탑과 내장철탑에서 활선에 직접 접근할 수 있고, 접근 후에는 작업자가 전선으로 이동하거나 활선작업대에 앉은 상태에서 유지보수도 할 수 있는 765kV 2회선 송전선로에서 활선접근공법을 제공하는데 그 목적이 있다.Therefore, the present invention was created to solve the above problems, and directly access the live ships from the suspended steel tower and the built-in steel tower of the 765kV two-wire transmission line electrically safe even when voltage is applied, that is, live live state. Its purpose is to provide a live access approach on a 765kV two-wire transmission line that can be maintained and, after access, also be maintained by workers moving on the wire or sitting on a live platform.

상기와 같은 목적을 달성하기 위한 본 발명에 따른 765kV 2회선 송전선로에서 활선접근공법은, 크게 철탑암에 설치하는 가이드레일세트(11)와 작업자를 절연시키기 위한 폴리머장간애자(12)와 작업자가 탑승하는 활선작업대(13)와 등전위봉(14)으로 구성되어 있다. 먼저, 가이드레일세트에 있어서 가이드레일은 철탑암의 앵글부재에 고정시키기 위한 브라켓트(21); 브라켓트에 설치되는 가이드레일(22); 가이드레일에 삽입되어 수평이동을 하는 트롤리(23)로 구성되어 있고, 폴리머장간애자(12)는 연결이 쉽도록 하기 위해 아이형 연결부(31)와 크레비스형 연결부(32)로 구성되어 있고, 활선작업대(13)는 일반 철(steel)로 제작된 몸체(41)와 폴리머장간애자 연결부(42)와 작업자용 의자(43)로 구성되어 있고, 등전위봉(14)은 손잡이(51)와 헤드(52)와 키퍼(53)과 동선(54)으로 구성되어 있는 것을 특징으로 한다.In the 765kV two-wire transmission line according to the present invention for achieving the above object, the liveline approach method is large, the guide rail set 11 is installed on the pylon arm and the polymer insulator 12 and the worker to insulate the worker It consists of a live work platform 13 and an equipotential pole 14 to board. First, the guide rail in the set of guide rails brackets for fixing to the angle member of the pylon arm; A guide rail 22 installed on the bracket; It is composed of a trolley 23 inserted into the guide rail to move horizontally, polymer insulator 12 is composed of a child-type connecting portion 31 and a crevis-type connecting portion 32 for easy connection, live The work table 13 is composed of a body 41 made of ordinary steel (steel), a polymer insulator connection portion 42 and a worker chair 43, the equipotential rod 14 is a handle 51 and the head ( 52), the keeper 53, and the copper wire 54, characterized by the above-mentioned.

상기와 같이 이루어진 본 발명에 따른 765kV 2회선 송전선로에서 활선접근공법은, 먼저 철탑암에 브라켓트(21)를 설치하여 고정시킨 후, 가이드레일(22)를 브라켓트에 삽입하여 철탑암 길이에 맞게 여러 개를 설치한 후, 트롤리(23)를 가이드레일에 설치한 후, 트롤리에 절연로프(15)를 연결한다. 다음으로 트롤리에 폴리머 장간애자(12)를 애자련의 길이나 점퍼장치 깊이에 맞게 2∼3개를 조립하여 연결한 후, 폴리머장간애자 끝단에 일반 철로 제작된 활선작업대(13)를 연결한 후, 철탑 주주재에서 도전복을 입은 작업자가 활선작업대와 동선(54)으로 연결된 등전위봉(14)을 갖고 활선작업대에 탑승을 하면, 철탑 내 작업자는 절연로프를 서서히 당겨서 활선작업대를 활선에 천천히 접근시킨 후, 활선작업대가 전선으로부터 약 0.5m 지점에 접근했을 때 활선작업자는 등전위봉(14)으로 전선을 접촉하여 접근선로의 전압과 자기 자신을 등전위로 만든 후, 활선지점에서 유지보수 작업을 하게 된다.In the 765kV two-wire transmission line according to the present invention made as described above, the liveline approach method, first installed by fixing the bracket 21 to the pylon arm, and then insert the guide rail 22 into the bracket to match the length of the pylon arm After the dog is installed, the trolley 23 is installed on the guide rail, and then the insulation rope 15 is connected to the trolley. Next, the polymer trolley insulator 12 is assembled to the trolley according to the length of the insulator or the jumper device, and then assembled by two or three, and then the live workbench 13 made of general steel is connected to the end of the polymer insulator. If a worker wearing a conductive suit in the main tower of a steel tower rides on a live work platform with an equipotential rod 14 connected to the live work platform and a copper wire 54, the worker in the tower slowly pulls the insulation rope and slowly approaches the live work platform to the live ship. When the workbench approaches about 0.5m from the wire, the live worker makes contact with the wire with the equipotential rod 14 to make the voltage of the access line and the equipotential, and then perform maintenance work at the live point. do.

이하, 본 발명에 따른 765kV 2회선 송전선로에서 활선접근공법의 바람직한 실시예의 구성 및 동작에 대해 첨부한 도면에 의거하여 상세히 설명한다.Hereinafter, the configuration and operation of a preferred embodiment of the liveline approach method in the 765kV two-wire transmission line according to the present invention will be described in detail with reference to the accompanying drawings.

도 1은 본 발명에 따른 765kV 2회선 송전선로에서 활선접근공법의 제1실시예(현수철탑에서 활선접근공법)를 나타낸 도면이고, 도 2는 본 발명에 따른 765kV 2회선 송전선로에서 활선접근공법의 제2실시예(내장철탑에서 활선접근공법)를 나타낸 도면이며, 도 3은 가이드레일세트 조립도의 상면도이고, 도 4는 가이드레일세트 조립도의 정면도이며, 도 5는 가이드레일세트용 브라켓트 정면도이고, 도 6은 가이드레일용 브라켓트 상면도이며, 도 7은 가이드레일 상면도이고, 도 8은 가이드레일 정면도이며, 도 9는 가이드레일 단면도이고, 도 10은 트롤리의 정면도이며, 도 11은 트롤리의 단면도이고, 도 12는 절연용 폴리머장간애자와 각 연결부 형태 도면이며, 도 13은 활선작업대 측면도이고, 도 14는 활선작업대 정면도이며, 도 15는 등전위봉의 정면도(a)와 상면도(b)로서, 본 발명에 따른 송전철탑에서 활선접 근공법은 활선작업대를 쉽게 이동시킬 수 있도록 하기 위한 가이드레일세트(11), 작업자를 절연시키고 지지하기 위한 폴리머장간애자(12), 작업자를 탑승시켜 이동시키거나 안전하게 작업할 수 있도록 설계된 활선작업대(13), 활선에 접근 후 활선전압과 등전위를 하기 위한 등전위봉(14)을 이용한다.1 is a view showing a first embodiment of a live approach in a 765 kV two-line transmission line according to the present invention (live approach method in suspension tower), Figure 2 is a live approach in a 765 kV two-line transmission line according to the present invention Figure 2 is a view showing a bow-shaped approach method in the built-in steel tower, Figure 3 is a top view of the guide rail set assembly, Figure 4 is a front view of the guide rail set assembly, Figure 5 is a guide rail set Bracket front view, Figure 6 is a guide rail top view, Figure 7 is a guide rail top view, Figure 8 is a guide rail front view, Figure 9 is a guide rail cross-sectional view, Figure 10 is a front view of a trolley, Figure 11 12 is a cross-sectional view of the trolley, FIG. 12 is a diagram illustrating the shape of the polymer insulator for each insulator, and FIG. 13 is a side view of a live workbench, FIG. 14 is a front view of a live workbench, and FIG. 15 is a front view (a) and a top view of an equipotential rod. (b) As, the wire-line approach in the transmission tower according to the present invention is a guide rail set (11) for easily moving the workbench, polymer insulators (12) to insulate and support the worker, moving by boarding the worker Using a live work platform 13, designed to be able to work or to safely work, the equipotential rod 14 for the live voltage and equipotential after approaching the live line.

상기와 같이 구성된 본 발명에 따른 765kV 2회선 송전선로에서 활선접근공법을 준비하는 과정과 활선에 접근시키는 과정을 도 1과 도 2를 참조하여 설명하면 다음과 같다.Referring to FIGS. 1 and 2, a process of preparing a live approach in a 765 kV two-line transmission line according to the present invention configured as described above and a process of approaching the live line will be described.

먼저, 철탑암에 브라켓트(21)를 설치하여 고정시킨 후, 가이드레일(22)를 브라켓트에 삽입하여 철탑암 길이에 맞게 여러 개를 설치한 후, 트롤리(23)를 가이드레일에 설치한 후, 트롤리에 절연로프(15)를 연결한다.First, after installing and fixing the bracket 21 on the pylon arm, inserting the guide rail 22 into the bracket to install a plurality of iron tower arm length, and then install the trolley 23 on the guide rail, Connect the insulation rope 15 to the trolley.

다음으로 트롤리에 폴리머장간애자(12)를 애자련의 길이나 점퍼장치 깊이에 맞게 2∼3개를 조립하여 연결한 후, 폴리머장간애자 끝단에 활선작업대(13)를 연결한 후, 철탑 주주재에서 도전복을 입은 작업자가 활선작업대와 동선(54)으로 연결된 등전위봉(14)을 갖고 활선작업대에 탑승을 하면, 철탑 내 작업자는 절연로프를 서서히 당겨서 활선작업대를 활선에 천천히 접근시킨 후, 활선작업대가 전선으로부터 약 0.5m 지점에 접근했을 때 활선작업자는 등전위봉(14)으로 전선을 접촉하여 접근선로의 전압과 자기 자신을 등전위로 만든 후, 활선에 완전히 접촉하게 된다.Next, the polymer trolleys 12 are assembled to the trolley according to the length of the insulator or the depth of the jumper, and then assembled by two or three. After connecting the live work platform 13 to the ends of the polymer insulators, the steel tower main material When the worker wearing the conductive suit boards the live work platform with the equipotential rod 14 connected to the live work platform and the copper line 54, the worker in the pylon slowly pulls the insulation rope and slowly approaches the live work platform to the live ship. When the workbench approaches about 0.5m from the wire, the live worker makes contact with the wire with an equipotential rod 14 to make the voltage of the access line and itself equal and then completely contact the live wire.

상기와 같이 접근이 완료되면, 작업자는 활선작업대에 앉아 있는 상태에서 작업을 하거나 또는 필요에 따라서는 활선작업대에서 이탈하여 전선으로 이동을 한 후 필요한 유지보수 작업을 할 수 있다.When the access is completed as described above, the worker may work in a state sitting on the live workbench or, if necessary, move away from the live workbench and move to the wire to perform necessary maintenance work.

상기와 같이 구성된 본 발명에 따른765kV 2회선 송전선로에서 활선접근공법은, 송전선로에서 전압이 인가된 활선상태로 전선이나 애자장치에 안전하게 접근할 수 있는 공법이고, 특히 작업자를 전기적으로 안전하게 이동시킬 수 있고 점퍼장치나 현수애자장치 등에서 유지보수 작업을 할 수 있도록 하기 때문에 765kV 송전선로를 정전시키지 않고도 유지보수를 할 수 있는 효과가 있다.In the 765kV two-wire transmission line according to the present invention configured as described above, the liveline approach method is a method that can safely access the wire or insulator device in a live state in which a voltage is applied from the power line, in particular to move the worker safely It is possible to perform maintenance work on the jumper device or suspension insulator device, so that the maintenance work can be performed without power failure of the 765kV transmission line.

Claims (3)

765kV 2회선 송전선로에서 활선에 접근하기 위해 가이드레일세트, 폴리머장간애자, 활선작업대와 등전위봉을 이용하여 활선에 접근하는 제1공법;A first method of accessing livelines using guide rail sets, polymer rails, livelines and equipotential rods to access liveliness on 765kV two-wire transmission lines; 상기 공법에서 이용되는 장비로 철탑암에 부착되는 브라켓트, 일정한 길이로 만들어진 가이드레일, 가이드레일 위를 수평 이동하는 트롤리로 구성된 가이드레일세트; 전기적인 절연을 유지하고 작업자를 지지하기 위한 폴리머장간애자; 작업자를 탑승시켜서 이동시키기 위해 일반 철로 제작된 활선작업대; 도전복을 입은 작업자 자신과 송전전압과 등전위를 만들기 위한 등전위봉을 이용하여 활선에 접근하는 제2공법을 포함하여 이루어지는 것을 특징으로 하는 765kV 2회선 송전선로에서 활선접근공법.A guide rail set consisting of a bracket attached to the pylon arm with the equipment used in the method, a guide rail made of a predetermined length, and a trolley moving horizontally on the guide rail; A polymer insulator for maintaining electrical insulation and supporting workers; A live workbench made of ordinary steel to move a worker on board; A liveline approach in a 765kV two-line transmission line, comprising a second method of approaching the liveline using an equipotential rod to create a transmission voltage and isopotential with the worker in a conductive suit. 제 1 항에 있어서,The method of claim 1, 작업자를 이동시키기 위해 가이드레일 위에서 수평 이동하는 트롤리를 철탑 내 작업자가 절연로프로 당겨서 작업자를 활선으로 서서히 접근시키는 공법을 더 추가 하여 이루어지는 것을 특징으로 하는 765kV 2회선 송전선로에서 활선접근공법.A liveline approach in a 765kV two-wire transmission line, characterized in that the trolley that moves horizontally on the guide rail to move the worker to the steel tower pulls the insulator into the insulated furnace and slowly moves the worker closer to the ship. 제 1 항에 있어서,The method of claim 1, 작업자가 편리하게 이동하고 작업할 수 있도록 하기 위해, 그리고 활선에 접근하였을 때 전계분포를 고르게 하고 자계로부터의 영향을 최소화하기 위해 자성체인 일반 철로 제작된 활선작업대를 탑승하고 활선에 접근하는 공법을 더 추가 하여 이루어지는 것을 특징으로 하는 765kV 2회선 송전선로에서 활선접근공법.In order to make it easier for workers to move and work, and to access the liveliness, the electric platform is more accessible and aboard the livelines made of ordinary steel, which is made of magnetic steel, to even out the electric field distribution and minimize the influence from the magnetic fields. Live access method in a 765kV two-line transmission line characterized in that the addition.
KR1020060089519A 2006-09-15 2006-09-15 Approaching method to live line in transmission towers KR20080024845A (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102136693A (en) * 2010-12-28 2011-07-27 中国南方电网有限责任公司超高压输电公司百色局 Method and device for realizing long-distance equal electric potential access of winch hanging basket guide rail
CN102623926A (en) * 2012-03-29 2012-08-01 中国南方电网有限责任公司超高压输电公司百色局 Distant equipotential tackle and method for realizing charged equipotential access by using same
CN103715630A (en) * 2013-12-16 2014-04-09 国家电网公司 Method for entering same-tower double-circuit alternating-current transmission line tangent tower equal potential
CN103715629A (en) * 2013-12-16 2014-04-09 国家电网公司 Method for entering high-voltage direct-current transmission line tangent tower equal potential
WO2015123260A1 (en) * 2014-02-11 2015-08-20 Classic Connectors Electrical transmission line repair apparatus
CN107332154A (en) * 2017-06-20 2017-11-07 国网福建省电力有限公司泉州供电公司 Power line tension bar intelligence outgoing line device control circuit
CN114597814A (en) * 2022-02-25 2022-06-07 长沙理工大学 Potential transfer model modeling and parameter control method of live working robot

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102136693A (en) * 2010-12-28 2011-07-27 中国南方电网有限责任公司超高压输电公司百色局 Method and device for realizing long-distance equal electric potential access of winch hanging basket guide rail
CN102623926A (en) * 2012-03-29 2012-08-01 中国南方电网有限责任公司超高压输电公司百色局 Distant equipotential tackle and method for realizing charged equipotential access by using same
CN103715630A (en) * 2013-12-16 2014-04-09 国家电网公司 Method for entering same-tower double-circuit alternating-current transmission line tangent tower equal potential
CN103715629A (en) * 2013-12-16 2014-04-09 国家电网公司 Method for entering high-voltage direct-current transmission line tangent tower equal potential
WO2015123260A1 (en) * 2014-02-11 2015-08-20 Classic Connectors Electrical transmission line repair apparatus
US9761960B2 (en) 2014-02-11 2017-09-12 Classic Connectors Electrical transmission line repair apparatus
CN107332154A (en) * 2017-06-20 2017-11-07 国网福建省电力有限公司泉州供电公司 Power line tension bar intelligence outgoing line device control circuit
CN114597814A (en) * 2022-02-25 2022-06-07 长沙理工大学 Potential transfer model modeling and parameter control method of live working robot
CN114597814B (en) * 2022-02-25 2024-02-13 长沙理工大学 Potential transfer model modeling and parameter control method for live working robot

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