WO2019233483A1 - Substation live-line maintenance operation robot system and method - Google Patents

Abstract

Disclosed herein are a substation live-line maintenance robot system and method, comprising: a robot body, a live-line operation tool, a remote control terminal, and a moving transport vehicle configured to transport the robot body; the robot body comprises: a mobile chassis and an insulated lifting arm that is disposed on the mobile chassis, a front end of the insulated lifting arm being provided with a small fly jib, a front end of the small fly jib being provided with a live-line operation platform configured to place the live-line operation tool, and the small fly jib being connected to the live-line operation tool; the live-line operation tool comprises: at least one from among a foreign article cleaning tool, a wire repair tool, an insulator cleaning tool, and a dry ice cleaning tool.

Description

Robot system and method for live maintenance work in substation

This disclosure claims priority from a Chinese patent application filed with the Chinese Patent Office on June 08, 2018, with an application number of 201810588651.5. The entire contents of the above application are incorporated herein by reference.

Technical field

This article relates to the technical field of live maintenance work in substations, for example, a robot system and method for live maintenance work in substations.

Background technique

With the continuous development of society, the development of the power grid is facing the needs of high power supply reliability, high load density, and high power quality. Users have become increasingly strict about blackout time. It is difficult to arrange power outages on important key lines, and power failure maintenance opportunities are increasing. less.

Substation equipment is prone to pollution flashover during long-term operation, leading to frequent grounding accidents in the power system, which seriously affects the safe operation of the power system. In order to prevent accidents such as power outages caused by pollution flashover of insulators, regular cleaning of insulators and replacement of poor insulators must be adopted .

In addition, the long-term exposure of overhead lines in substations to outdoor environments, wind and sun, and other severe environments often lead to strand breaks in steel-cored aluminum stranded wires. Vibration breaks may occur due to external forces during line operation. In this case, the wire needs to be repaired to prevent further expansion of the steel core aluminum stranded strands, leading to a reduction in the mechanical strength of the line and a safety accident.

According to relevant regulations, when the strength loss of the wire at the same location has exceeded 5% but less than 17% of the total breaking force, and the cross-sectional damage does not exceed 25% of the total cross-sectional area of the conductive part at the same time, the repair pipe is used. Make up. At this stage, repairs are mainly performed manually, with high work intensity, low efficiency, and low degree of automation, and there are certain safety risks.

In view of the above two situations, most of the existing working methods are power outages. However, with the increase of power users' requirements for power supply reliability, it is particularly important to reduce the number of substation power outages.

Therefore, the power grid has a very urgent need for advanced live maintenance operation technology. However, due to problems such as high voltage levels, dense equipment in the substation, and large equipment weight in the substation, there are great difficulties in carrying out manual live work. The application of robotics technology can effectively solve the above problems.

The substation live working robot disclosed in the related art mainly has the following disadvantages:

(1) The insulation performance of a robotic arm of a live working robot has high requirements. The existing way to achieve insulation of a robotic arm of a live working robot is to provide insulation by setting an insulation sleeve outside the robotic arm or outsourcing other insulating materials. It is more difficult and may even affect the free movement of the robot arm. The small flying arm at the end of the robotic arm is connected to the telescopic arm by using a connecting rod structure. Due to the chattering phenomenon of the link mechanism, it is easy to cause the small flying arm to tremble during the live working process, which seriously affects the working accuracy and efficiency.

(2) The existing mechanical arm structure can only be fixedly connected to one work tool, and flexible and rapid replacement of the work tool cannot be achieved, which seriously affects the efficiency of live working.

(3) Due to the large number of equipment in the substation and the high voltage and power, the working tools need to go deep into the substation to perform operations, so the tools are required to be miniaturized, lightweight, and intelligent. Existing wire repair devices and cleaning devices cannot achieve intelligent repair and intelligent cleaning;

(4) In the related art, the material of the wire repairing tool is metal, and it is impossible to implement live work, and the safety is poor. During the crimping process of the wire repairing sheet, the problems of tight crimping and rotation will inevitably occur, and the repair quality of the wire cannot be guaranteed.

(5) The existing insulator cleaning device needs to manually lift the two brushes to the contact position of the insulator through the insulation rod after the device is powered off, and the motor installed at the bottom of the insulation rod drives the brush to rotate through the insulation transmission rod. This structure and operation method cause a great physical and psychological burden on the operator, and the cleaning effect is only observed by the ground from the ground, and the judgment error is large. In addition, there is only one brush head, which can not form a sweep around the insulator, has a low degree of automation, and has potential safety hazards. Improper operation will cause significant damage to equipment and personal safety.

Summary of the Invention

This article provides a robot system and method for live maintenance work in a substation. By setting a live work tool at the end of the robot arm to quickly replace the connector, it can adapt to a variety of different live work forms.

This article uses the following technical solutions:

The first object of this article is to disclose a robot system for live maintenance work in a substation, including: a robot body, a live working tool, a remote control terminal, and a mobile carrying vehicle configured to transport the robot body;

The robot body includes a mobile chassis, an insulated lifting arm provided on the mobile chassis, a small flying arm provided at the front end of the insulating lifting arm, and a live working platform configured to place a live working tool at the front end of the small flying arm. The small flying boom is connected to a live working tool;

The live working tools include at least one of a foreign body cleaning tool, a wire repairing tool, an insulator cleaning tool, and a dry ice cleaning tool;

The remote control terminal includes a remote control module and a wireless communication module, and the remote control module communicates with the main controller of the robot body through the wireless communication module.

The second purpose of this article is to disclose a working method of a robot system for live maintenance work in a substation, including:

Collect the relative positions and angles of the mobile chassis and the insulated telescopic arm, and the distance between the working tool and the equipment to be operated, and combine the working state data to adjust the posture of the mobile chassis and the insulated telescopic arm. The working process during the adjustment is:

The configuration of leakage current sensors has the highest priority, followed by ultrasonic sensors, inclination sensors and encoders, and the lowest priority sensors are laser sensors and vision sensors. Among the actuators, insulated arm motion actuators have the highest priority, followed by Is the work tool, the lowest priority actuator is the chassis drive and outrigger control actuator;

The priority of any actuator is multiplied by the priority of its associated actuator. The sequence of actions of each action structure is determined by determining the priority, and the corresponding actuator action is controlled according to its determination priority.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which form a part of this document, are used to provide a further understanding of this document. The exemplary embodiments and their descriptions are used to explain this document and do not constitute an improper limitation on this document.

1 and 2 are a front view and a side view, respectively, of a mobile carrying vehicle for a live-powered maintenance robot system of a substation in this article;

Figure 3 schematic diagram of the insulator cleaning tool in this article;

Figure 4 is a front view of the structure of the insulated lifting arm system in this article;

5 is a plan view of the structure of the insulated lifting arm system in this paper;

Figure 6 is a structural side view of the insulated lifting arm system of this article;

Figure 7 is a schematic diagram of a live wire repair system for a substation in this article;

FIG. 8 is a schematic diagram of a repairing piece of a live working wire system of a substation in this paper; FIG.

FIG. 9 is a structural schematic diagram of an electric cleaning system for pillar insulators in this paper;

FIG. 10 is a structural schematic diagram of the embracing rotating mechanism in this paper; FIG.

FIG. 11 is a schematic structural diagram of a vertical lifting mechanism in this paper; FIG.

Figure 12 is a schematic diagram of the structure of the T-shaped chute in this paper;

FIG. 13 is a schematic diagram of a remote control terminal in this paper;

Figure 14 is a schematic diagram of the dry ice cleaning operation in this paper.

BRIEF DESCRIPTION OF THE DRAWINGS

1. Mobile chassis;

2, insulated lifting arm; 20, slewing reducer; 21, slewing platform; 22, main arm; 23, upper arm; 24, insulated telescopic arm; 25, small flying arm; 26, metal arm; 27, insulated arm; 28, Luffing cylinder; 29, hydraulic proportional valve; 231, upper arm swing cylinder; 241, telescopic inner arm; 242, insulated outer arm;

31. Rotating swing oil cylinder; 32. Pitching swing oil cylinder; 33. Leveling swing oil cylinder;

41. Foreign body cleaning tools; 42, wire repair tools; 43, insulator cleaning tools; 44, dry ice cleaning tools; 421, housings; 422, driving mechanisms; 423, left clamping arms; 424, right clamping arms; 425, Base; 426, wire closing device; 427, transmission gear; 428, switch; 429, wireless transceiver module; 4221, worm gear transmission mechanism; 4222, drive motor; 42211, worm shaft; 42212, worm gear; 422111, spiral teeth; 42221 、 Mounting mounting seat; 4251, repair piece; 42511, wire crimping area; 42512, crimping teeth; 42513, gap; 425111, opening; 425112, through hole; 431, vertical lifting mechanism; 432, embracing rotation mechanism; 433, Cleaning mechanism; 4321, embracing bracket; 4322, ring gear; 43211, internal cavity; 43212, T-shaped guide groove; 43221, ring gear; 432211, T-slider; 4311, insulated slide rail; 4312, connection bracket; 4313, Lifting hydraulic motors; 4314, lifting gears; 4321, embracing brackets; 4322, ring gears; 4323, embracing hydraulic motors; 4324, rotating gears; 4325, embracing limit position proximity switches; 4326, iron blocking; 4331, brushes; 43 32. Rotating motor; 4333, motor bracket; 4334, fiber optic sensor baffle; 4335, fiber optic sensor;

5. Live working platform; 51. Panoramic camera; 52. Laser scanner; 53. Laser rangefinder; 54. Position ultrasonic sensor;

6. Carrying vehicles; 61. Roof windows; 62. Dry ice insulation boxes; 63. Air filters; 64. Air storage tanks; 65. Insulator cleaning tool boxes; 66. Side warehouses; 67. Air compressors; 68. Freeze drying Machine; 69, pipe coiler; 70, dry ice cleaning tool box;

10. Remote control terminal; 101. Remote control module; 102. Wireless communication module;

100, live working robot; 200, pillar insulator.

Detailed ways

It should be noted that the following detailed descriptions are all exemplary and are intended to provide further explanation of this article. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

It should be noted that the terminology used herein is only for describing specific embodiments, and is not intended to limit the exemplary embodiments according to this document. As used herein, the singular forms are intended to include the plural forms as well, unless the context clearly indicates otherwise, and it should also be understood that when the terms "including" and / or "including" are used in this specification, they indicate There are features, steps, operations, devices, components, and / or combinations thereof.

In order to solve the deficiencies of the related technologies pointed out in the background art, as shown in FIG. 1 to FIG. 14, this paper proposes a robot system for live maintenance work in a substation, including: a robot body, a live working tool, a remote control terminal 10, and a robot configured as a transport robot. The mobile carrying vehicle 6 of the body;

The robot body includes: a mobile chassis 1, an insulated lifting arm 2 provided on the mobile chassis 1, a small flying arm 25 at the front end of the insulating lifting arm 2, and a live working platform 5 configured to place live working tools at the front end. The small flying arm 25 is connected to the live working tool through a quick connection device;

Live working tools include: at least one of a wire repair tool 42, an insulator cleaning tool 43, and a dry ice cleaning tool 44;

The working platform is mainly configured to place at least one of a wire repair tool 42, an insulator cleaning tool 43 and a dry ice cleaning tool 44, and an electric control box and other components, and a panoramic camera 51, a laser rangefinder 53, and an ultrasonic sensor are installed on the platform. (Such as: position ultrasonic sensor 54) and other control and monitoring components.

As shown in FIG. 13, the remote control terminal 10 includes a remote control module 101 and a wireless communication module 102. The remote control module 101 includes an industrial control computer, a liquid crystal display, and a handle button. The industrial control computer communicates with the main controller through the wireless communication module 102. The wireless communication module 102 is composed of a bridge and an antenna, and adopts a 2.4G wireless communication method. The handle buttons include: buttons configured to control the direction of movement of the left and right wheels of the mobile carrying vehicle 6; buttons configured to control the sweeping direction of the cleaning mechanism 433; buttons configured to control the pitch / rotation of the robotic arm; configured to control the hydraulic legs of the mobile chassis 1 Keys; one-button restore control keys, manual / automatic switch keys, etc .; remote control of the robot body, live working tools, and mobile carrying vehicle 6 through the remote control terminal 10.

Among them, the carrying vehicle 6 in this embodiment is composed of a car chassis, a carriage, a tailgate for boarding, and the like. The mobile carrier vehicle 6 uses a four-cylinder in-line water-cooled diesel engine. The rear box is a steel frame + polyurethane sandwich panel. The rear box is divided into 3 separate compartments. The front side is an air compressor system. Door; double-layer equipment compartment in the middle, built-in insulator cleaning tool box 65, dry ice cleaning tool box 70, dry ice cleaner, dry ice insulation box 62, hydraulic mechanical arm storage and transportation box, etc., with revolving doors on the left and right sides; The working robot is placed in a compartment, equipped with 2 mains and 1 wall-mounted air conditioners; the rear is an electro-hydraulic control steel plate tail door, which can be used as a robot to get on and off the bridge; the top is equipped with a pneumatic top window 61 when the robot gets on and off To prevent interference with the roof; side bins 66 on the left and right sides of the chassis of the car are equipped with robotic transport fixtures. Configure power distribution cabinets, industrial connectors, sockets, and power distribution protection systems.

The structure and driving method of the dry ice cleaning tool 44 are the same as those of the insulator cleaning tool 43. The main difference is that the brush 4331 used in the cleaning tool (such as the insulator cleaning tool 43) is replaced with a dry ice spray gun. The spray gun and the dry ice cleaning connected to the operating platform Machine connected. The dry ice cleaning machine is connected to the air compression system 300 on the carrying vehicle 6 through a pneumatic line installed inside the insulating telescopic arm 24 to implement a dry ice cleaning operation.

As shown in FIGS. 1 and 2, the dry ice cleaning air storage tank 64, the high-power air compressor 67, the freeze dryer 68, the tube coiler 69, the filter (for example, the air filter 63), and the dry ice incubator 62 The equipment is installed on the carrier vehicle 6, and a dry ice storage device is provided at the front end of the small flying arm 25. The dry ice storage device stores dry ice cubes, and the dry ice cubes are powdered by vibration. The high-power air compressor 67 generates high-pressure air. After passing through the freeze dryer 68, air filter 63 and other equipment, it enters the dry ice storage device through the air pipe, and blows powdered dry ice into the dry ice spray gun. The dry ice cleaning operation is shown in Figure 14.

Robots need to use moving tools to walk inside the substation. The substation live inspection robot adopts a crawler-type mobile chassis 1 structure. The crawler-type mobile chassis is composed of the chassis, track frame, drive wheels, load-bearing wheels, tracks, tension buffers and four hydraulic legs on both sides, which can realize obstacle-free movement in a variety of complex road conditions and provide maintenance robots with maintenance Mobile platform support.

The mobile chassis 1 of the substation live maintenance robot adopts an electro-hydraulic driving scheme, that is, a single motor + single hydraulic pump + hydraulic motor driving scheme. A motor (usually a DC motor) drives the hydraulic pump. The electric chassis is composed of a hydraulic motor and a reducer. Integrated walking device, rubber track, driving wheel, guide wheel, tensioning mechanism, etc. The advantage of this solution is that the upper body insulation part and the leg part of the robot can share a hydraulic system with the chassis, reducing system redundancy. degree.

Lithium battery pack and battery management system, high-voltage control box, charger, chassis control valve group, chassis control box, hydraulic oil tank, high-power motor, hydraulic pump, hydraulic radiator, and battery, etc. are arranged inside the mobile chassis 1; tracked The type of electric chassis structure, for the 3-3.5 tonnage chassis, is the first in the country to adopt the electric form. It has the functions of low noise, energy conservation and environmental protection, and energy conservation, which is of great significance for environmental protection.

In order to ensure the overall stability of the robot body, the layout of the mobile chassis 1 is optimized, which is mainly reflected in the following aspects:

(1) The battery position is optimized and the battery position is adjusted. It is arranged in the center of the chassis, which is convenient to increase the overall stability of the chassis;

(2) The battery high-voltage system and the charger are located at the front of the chassis, close to the battery. The battery high-voltage system and the charger and the battery are easily wired for maintenance;

(3) The hydraulic oil tank and corresponding hydraulic accessories are located at the rear right of the center of the chassis, which increases the overall stability of the chassis and saves effective space inside the chassis;

(4) The motor and the hydraulic pump are located at the lower left and rear of the center of the chassis, and are symmetrically arranged with the fuel tank to increase the overall stability of the chassis. The distance between the hydraulic pump and the fuel tank is close to the oil output;

(5) Increase the arrangement of two batteries. The main function of the battery (24V) is to provide low-voltage power for the battery's BMS system, hydraulic radiator, motor controller, and electrical equipment of the chassis. Its position is arranged above the motor and hydraulic pump. , Make effective use of the internal space of the chassis;

(6) The chassis control box is located on the upper part of the battery, and the battery is close to the chassis control box to facilitate power supply;

(7) The chassis control valve group is located at the right part of the rear of the chassis, which is convenient for operators to manually operate;

(8) The hydraulic radiator is adjusted to the rear of the chassis. The hydraulic oil circulates through the oil pump, the actuator, and the hydraulic radiator. After the hydraulic radiator dissipates heat, it flows back to the tank, which is beneficial to the cooling of the hydraulic oil.

The insulated lifting arm system used for live maintenance of the substation, as shown in FIG. 4, includes: a rotary reducer 20, a rotary platform 21, a main arm 22, an upper arm 23, an insulating telescopic arm 24, and a small flying arm 25;

The slewing platform 21 is mounted on the slewing reducer 20, the main boom 22 is connected to the slewing platform 21, and the slewing is realized by the slewing platform 21, the main boom 22 is connected with the luffing cylinder 28, and the pitching of the main boom 22 is achieved by the telescoping of the luffing cylinder 28 ;

As shown in FIG. 5, the main arm 22 and the upper arm 23 are rotatably connected. The upper arm 23 is driven by the upper arm swing cylinder 231 to achieve relative pitching movement with the main arm 22; the setting of the upper arm swing cylinder 231 realizes the upper arm 23 pitch lift, compared with The conventional luffing cylinder 28 saves the space for the arrangement of the mechanical arm, improves the compactness of the structure and the stability of the operation.

The upper arm 23 is fixedly connected to the insulated telescoping arm 24. The insulated telescoping arm 24 adopts a synchronous telescoping structure. During the telescoping process of the boom, each section of the telescoping arm simultaneously telescopes with the same stroke ratio. The insulated telescoping arm 24 is driven by a linear oil cylinder provided inside to achieve telescoping; the telescoping device 27 is used to achieve the telescoping of the insulating arm 27. The chain telescoping device uses the principle of a fixed pulley to set its telescopic speed ratio to 1: 2, that is, the oil cylinder is extended. 100mm, the insulating telescopic arm 24 extends 200mm. This telescopic method can effectively shorten the length of the insulating telescopic arm 24 and increase the insulation distance.

The front end of the insulated telescopic boom 24 has a lug plate mounted with a small flying arm 25, which is configured to connect the small flying arm 25; the small flying arm 25 is movably connected to the telescopic inner arm 241. The small flying arm 25 is a hollow rod structure of insulating material, which increases the structure Stability effectively prevents chattering due to the linkage mechanism during operation and facilitates assembly and maintenance. The driving mechanism 422 of the small flying arm 25 is a swing oil cylinder, which facilitates the installation of the sensor and improves the control accuracy. The dart boom 25 is driven by the rotary swing cylinder 31 and the pitch swing cylinder 32 to realize relative rotation swing and pitch swing with the telescopic inner arm 241; the dart boom 25 realizes platform fine adjustment by leveling the swing cylinder 33; the dart boom 25 sets a pitch Degrees of freedom, one degree of freedom for rotation and one degree of freedom for fine adjustment of the platform, make the manipulation and movement of the platform more convenient.

The main arm 22 includes two sections of metal arms 26 and an insulating arm 27 provided between the two sections of metal arms 26; the upper arm 23 includes two sections of metal arms 26 and an insulating arm 27 provided between the two sections of metal arms 26; an insulating telescopic arm 24 includes an insulated outer arm 242 and a telescopic inner arm 241; a small flying arm 25 includes two sections of metal arms 26 and an insulating arm 27 provided between the two sections of metal arms 26; the above-mentioned arrangement of the mechanical arm materials can achieve good results on the one hand Insulation to meet the needs of live work, on the other hand, reduce the overall weight of the robot arm and improve the overall stability of the robot arm.

As shown in FIG. 6, a live working platform 5 is provided at the front end of the flying jib 25, and a panoramic camera 51 configured to implement image acquisition and a laser scanner 52 configured to implement image ranging are respectively disposed on the live working platform 5.

The live work platform 5 is mainly equipped with a dedicated device for live work, such as a hydraulic robot arm (foreign body cleaning tool 41), an insulator cleaning tool 43, and a dry ice cleaning tool 44. Therefore, the leveling accuracy and leveling reliability of the live working platform 5 will directly affect the effect and efficiency of live working.

In order to ensure that the live working platform 5 has a high leveling accuracy and leveling reliability during the work process, an electro-hydraulic leveling method is used in the leveling system design process. Once the live work platform 5 tilts during work, the angle sensor installed on the live work platform 5 will send the corresponding signals detected to the drive circuit, and then control the electro-hydraulic reversing valve to adjust the level of the swinging oil cylinder 33. Position, readjust the work platform to a horizontal state.

The live working tool is connected to the flying jib 25 through a quick connection device, and the hydraulic pipelines are connected through a quick-change joint, so that different working tools can be quickly switched.

Encoders and proximity switches are installed on the main arm 22 and the upper arm 23, respectively, to obtain the rotation angle and position information of the main arm 22 and the upper arm 23. Three ultrasonic sensors are installed on the three sides of the elbow joint of the upper arm 23, which are configured to collect elbows. The distance from the joint to the equipment in the substation; the laser ranging sensor is installed on the insulated telescopic arm 24 to obtain the telescopic length of the telescopic inner arm 241; the inclination sensor and the horizontal rotary encoder are respectively installed on the small flying arm 25 to obtain the small flying arm 25 Rotation angle and horizontal inclination angle; through the fusion of multi-sensor data, according to the set priority order, one-click restoration of the insulated lifting arm system and leveling of the flying boom 25 are achieved.

The working process of the insulated arm 27 is shown in FIG. 6. By controlling the pitch of the main arm 22 and the upper arm 23, the expansion and contraction of the insulated telescopic arm 24, and the precision adjustment of the small flying arm 25, the live working tool is accurately sent to the target position.

The insulated lifting arm system used in the substation live maintenance work also includes: an insulated lifting arm control system, the insulated lifting arm control system includes: a main controller, an auxiliary controller, and a signal acquisition module; the main controller passes optical fiber The signal acquisition module communicates with the auxiliary controller respectively;

The signal acquisition module is configured to collect the rotation angle information of the upper arm 23 and the safety protection information of the main arm 22, and transmit the collected information to the main controller; (3 ultrasonic sensors are respectively installed on the three sides of the elbow joint, and are configured To collect the distance from the elbow joint to the equipment in the substation);

The auxiliary controller collects data of an ultrasonic sensor installed on the upper arm 23, obtains a voltage signal, and converts the voltage signal into distance information to implement control of the elbow joint hydraulic proportional valve 29.

The auxiliary controller collects the data of the laser ranging sensor installed on the insulated telescopic arm 24 to obtain the distance between the insulated telescopic arm 24 and the substation equipment, so as to control the telescopic length of the insulated telescopic arm 24;

The auxiliary controller collects the data of the inclination sensor installed on the automatic operation platform to obtain the rotation angle of the small fly boom 25, so as to control the rotation angle of the small fly boom 25;

The auxiliary controller collects the data of the horizontal rotary encoder installed on the jib boom 25 to obtain the horizontal tilt angle of the jib boom 25, so as to control the horizontal tilt angle of the jib boom 25;

The main controller collects data from the encoders installed on the main arm 22 and the upper arm 23, respectively, to obtain the rotation angles of the main arm 22 and the upper arm 23, so as to control the rotation angles of the main arm 22 and the upper arm 23;

The main controller collects data of the proximity switches installed on the main arm 22 and the upper arm 23, respectively, to obtain position information of the main arm 22 and the upper arm 23, so as to control the positions of the main arm 22 and the upper arm 23.

The insulated lifting arm control system includes: a small flying boom 25 leveling control system, specifically including: a tilt sensor, a leveling solenoid valve, and a signal input / output terminal; the tilt sensor is connected to the main controller through the signal input / output terminal, and the main controller Connected with solenoid valve;

The inclination sensor detects the inclination angle of the automatic working platform and outputs it as a voltage signal. The controller reads this value through the signal input and output terminals and compares the obtained inclination data with the allowable error. When the inclination data is greater than the allowable error, it is adjusted by The opening of the spool and the movement direction of the spool of the leveling solenoid valve realize the control of the leveling swing cylinder 33, thereby realizing the leveling operation.

The insulated lifting arm control system also includes: a one-button reduction control system for the insulated lifting arm; including: rotary shaft valve group, encoder, telescopic shaft valve group, telescopic shaft laser ranging sensor, leakage current sensor and ultrasonic sensor;

Wherein, encoders are respectively provided at the positions of the main arm 22 and the upper arm 23, and are configured to realize the measurement of the rotation angle of the main arm 22 and the upper arm 23;

A telescopic shaft laser ranging sensor is provided on the telescopic inner arm 241 and configured to measure the telescopic distance of the telescopic arm;

Set leakage current sensor to realize the measurement of leakage current value;

An ultrasonic sensor is provided at the position of the upper arm 23 and is configured to measure distance information between the upper arm 23 and the substation equipment.

The telescopic shaft valve group controls the expansion and contraction of the telescopic arm, and the rotary shaft valve group controls the rotation of the rotary platform.

The process of achieving one-click reduction of the insulated lifting arm includes:

① Restore the rotation axis of the insulating arm 27

When the 27-axis insulation arm is restored, the rotating shaft valve group will drive the rotating shaft to move, and the corresponding encoder will detect the angle value of the rotating shaft in real time. When the encoder value is 0, the restoration is considered complete;

② Restore the telescopic shaft of the insulating arm 27

When the telescopic shaft is restored, the telescopic shaft valve group will drive the telescopic shaft to move, and the telescopic shaft laser ranging sensor will detect the length of the telescopic shaft in real time. When the value of the laser ranging sensor is 0, the restoration is considered complete;

During the recovery of the insulating arm 27, the leakage current sensor and the ultrasonic sensor will detect the leakage current value of the robot as a whole and the distance between the corresponding part and the substation equipment; when the leakage current value exceeds the safe value, all the robot's actions will stop; when the ultrasonic wave When the sensor value exceeds the safe value, the valve group of the corresponding part will stop working.

One-click restoration is to automatically reset the robot by one button, resetting the robot from the working state to the pre-working state. The reset process realizes the monitoring of each joint, and at the same time achieves obstacle avoidance with the equipment in the substation. The realization of the one-click restoration function is based on the multi-sensor fusion of the robot.

After the robot is working, the robot chassis legs are opened, the insulating arm 27 is extended and rotated to different degrees, and the special working tool is in the working state. After one-button restoration, the robot chassis legs are recovered and leveled, the insulating arm 27 is recovered and rotated to the minimum space state, and the working tools are recovered to the minimum space state.

After the one-click restoration system is triggered, the current state of each actuator is compared with the initial state. When the difference between the current state and the initial state is less than a certain error value, the restoration system is completed.

Through one-button triggering of the automatic recovery system of the insulating arm 27, the recovery process: the leakage current sensor detects the entire leakage current of the robot, the ultrasonic sensor detects the distance from each part to the substation equipment, and the encoder compares the real-time value with the initial value. When the difference between the real-time value and the initial value is less than a certain value, the inclination sensor detects the inclination of the chassis and controls the outrigger motor to a horizontal value. So far, the recovery operation is completed. The restoration process is performed in accordance with the priorities of the sensors and actuators.

When the leakage current value and the distance value are within the normal range, each actuator is recovered in the order of up and down. Each tool is recovered first, then the small flying boom 25, telescopic boom, upper arm 23, and main boom 22 are recovered separately, and finally the chassis is leveled by the outrigger cylinder.

One-click restore operations are mainly divided into: telescopic restore, rotary restore, and tool restore. among them:

The telescopic restoration mainly refers to the restoration of the telescopic arm. The detection component of the telescopic arm restoration is a laser ranging sensor. When the error between the sensor data and the set value is less than 10mm, the reset operation is considered complete;

Rotation reduction mainly refers to the rotation reduction of each joint. The detection component of the rotation reduction is an encoder. When the encoder data error is less than 1 °, the reset operation is considered complete;

Tool restoration mainly refers to the restoration of each tool subsystem, and the status is determined separately according to the technical indicators. When the difference between the real-time data and the set data is less than the allowable error, the reset operation is considered complete.

In this process, the status of each actuator will be monitored in real time to avoid collision with the substation equipment and excessive leakage current, and to ensure that the robot is in a safe working state.

Safety protection includes robot safety protection and motion control safety protection, among which the sensors related to work safety protection are: laser scanner 52, laser ranging sensor, leakage current sensor and encoder; the sensors related to motion control safety protection are: ultrasonic sensor, tilt angle Sensors and proximity switches. Install ultrasonic sensors at the ends of the telescopic boom, elbow and forearm to measure distances, and decelerate and stop when the distance is less than the safe value.

Install a leakage current sensor in front of the tool. If the leakage current is> 1mA, the warning light will flash.

After the multi-sensor fusion system is triggered, the overall leakage current value, distance value, encoder value and chassis inclination value are detected in order, and the above data is judged in order. When each data is in the normal range, the corresponding actuator is reset in turn. operation. During the detection and execution process, each sensor and actuator will be judged at the same time, so it is necessary to prioritize them according to the urgency.

Different types of actuators and sensors have different priorities according to their functions. Among the sensors, leakage current sensors have the highest priority, followed by ultrasonic sensors, inclination sensors, and encoders. The lowest priority sensors are laser sensors and vision. Sensors; among the actuators, the insulated arm 27 action actuator has the highest priority, followed by work tools, and the lowest priority actuator is the chassis drive and outrigger control actuator.

During the operation of the robot, there will be a situation where one sensor corresponds to multiple actuators, so it will lead to the same priority and the system will misjudge. Therefore, a judgment priority is introduced to avoid similar situations, and the priority is determined: Any actuator priority Multiply the priority of its associated actuator. Therefore, when the above situation occurs, the system will determine the sequence of the actions of the actuators by determining the priority. That is, when multiple sensors make decisions at the same time, the corresponding actuators will be controlled according to their determination priorities.

Take the ultrasonic sensor as an example:

The priority of chassis drive protection ultrasonic sensors is:

2 (ultrasonic sensor) * 3 (chassis drive) = 6

The priorities of the telescopic boom rotary ultrasonic sensors are:

2 (ultrasonic sensor) * 1 (retractable arm rotation) = 2

Obviously: 2 <6, so when two ultrasonic sensors determine at the same time, the rotation of the robot arm will first decelerate and stop.

During the recovery of the insulating arm 27, the leakage current sensor and the ultrasonic sensor will detect the leakage current value of the robot as a whole and the distance between the corresponding part and the substation equipment. When the leakage current value exceeds the safe value, all movements of the robot will stop; when the ultrasonic sensor value exceeds the safe value, the valve group at the corresponding part will stop working.

As shown in FIG. 7, the substation live working wire repair tool 42 includes a housing 421, an opening is provided in the housing 421, a driving mechanism 422 is provided at the opening, the driving mechanism 422 and the left clamping arm 423, The right clamping arm 424 is respectively connected to drive the left clamping arm 423 and the right clamping arm 424 to realize opening and closing movements; between the left clamping arm 423 and the right clamping arm 424, along with the left clamping arm 423 and A base 425 configured to fix the repair piece 4251 is provided in a direction perpendicular to the movement direction of the right clamping arm 424, and a wire bonding device 426 is provided at each end of the base 425 of the repair piece 4251.

The base 425 has a concave arc shape, and trapezoidal fixing pins are arranged at both ends of the base 425, and are configured to fix the repair piece 4251.

The optional structure of the drive mechanism 422 includes: a worm gear transmission mechanism 4221 and a drive motor 4222; the worm gear transmission mechanism 4221 includes a worm shaft 42211 and a worm gear 42212;

The drive motor 4222 is connected to the transmission mounting base 42221 by bolts; the worm shaft 42211 is connected to the worm key, and the left clamping arm 423 and the right clamping arm 424 are connected to the worm wheel 42212 by bolts, respectively. The transmission gear 427 is key-connected with the motor shaft / worm shaft 42211, the housing, the clamping arm and the worm gear 42212 are fitted by a connection shaft, and the connection shaft is fixed by a retaining ring.

The drive motor 4222 drives the worm shaft 42211 to rotate through the transmission gear 427. The worm shaft 42211 is provided with two sections of helical teeth 422111. Each section of the helical teeth 422111 is connected to a worm gear 42212, and the worm gear 42212 is connected to the left clamp arm 423 and the right clamp, respectively. Holding arm 424; rotation of worm shaft 42211 drives rotation of worm gear 42212, thereby driving the movement of left clamping arm 423 and right clamping arm 424.

The start and stop of the drive motor 4222 is realized through the control board provided in the control box; there is also a wireless transceiver module 429 in the control box, the wireless transceiver module 429 has a buckle, is clamped on the mounting slide 4291, and the mounting rail 4291 is bolted Fixed on the lower board of the control box shell, the role of the wireless transceiver module 429 lies in remote wireless communication. The wireless transceiver module 429 receives the control signal for the drive motor 4222 and transmits it to the control board. The control board controls the start and stop of the drive motor 4222 to control the working state of the wire repair device.

A battery holder is also fixed to the housing 421 of the lead repair device, and the battery is matched with the battery holder. The main function of the battery is to supply power to the control board of the lead repair device, the wireless transceiver module 429, the drive motor 4222, and the information acquisition device.

The control box housing is also provided with a switch 428; the switch 428 is provided with threads and nuts, and the control box housing has an opening 425112, and the switch 428 passes through the opening 425112, and is self-tightening; the role of the switch 428 is to connect the wire repair device Power on when working and power off when not working, which is conducive to energy saving.

It should be noted that the driving mechanism 422 herein may also adopt other driving forms known to those skilled in the art, for example, the left clamping arm 423 and the right clamping arm 424 are respectively driven by a driving motor 4222 to rotate or adopt a step The feed motor directly drives the left clamping arm 423 and the right clamping arm 424 to rotate back and forth.

The wire closing device 426 includes grooves arranged at the two ends of the base 425 to gather wires, and the opening at the top of the groove is funnel-shaped; it is convenient to gather loose stranded wires; ; As shown in Figure 7, the closing head adopts a 3/4 round structure design, the lower edge is a 1/4 circle, and the upper edge is a 1/2 circle. The closing head is connected with the closing device 426 by bolts and can be rotated around the bolt; Its function is to bring the gathered stranded wires together further.

This document further discloses a live wire repair system for a substation, including: a control system, an information acquisition device, an automatic operation robotic arm, a wire repair device, and a repair piece 4251. The information acquisition device is connected to the wire repair device through a bolt. The information acquisition device includes The equipment such as the panoramic camera 51 and the laser scanner 52 are mainly used to detect the specific position of the wire to be repaired; the automatic operation robot arm clamps the wire repair device by clamping the clamping handle, and the repair piece 4251 functions in the wire repair device Press down on the wire.

As shown in FIG. 8, the patch 4251 includes:

A wire crimping area 42511, at least two crimping teeth 42512 are connected to one side of the wire crimping area 42511, and a gap 42513 of a set distance is formed between each two crimping teeth 42512. The other side is connected with the crimping teeth 42512 corresponding to the position of the gap 42513; the ends of the crimping teeth 42512 are bent inward to set the arc.

Openings 425111 are respectively provided at the front and back ends of the wire crimping area 42511, and the openings 425111 are sized to meet the transitional fitting of trapezoidal fixing pins provided at both ends of the base 425, and are positioned by bolts. Effectively solve the problem of fixing the repair sheet 4251, and prevent the rotation of the repair sheet 4251 during the wire crimping process.

A through hole 425112 is provided at the center of the wire crimping area 42511, which can reduce weight.

The wire crimping area 42511 is an arc-shaped groove, and the bending arc of the arc-shaped groove and the arc of the end of the crimping teeth 42512 are determined according to the diameter of the wire. For example, for the 400-type wire, the curvature of the arc-shaped groove is designed. The radian is 40 °; the bending radius is 15.5mm; the bending radius of the end of the crimping tooth 42512 is 12mm. By properly setting these two radians, the two crimping teeth 42512 can be secured on the wire like a snap, and the springback of the crimping teeth 42512 after crimping can also be prevented.

It should be noted that the material of the repair sheet 4251 is 2mm aluminum sheet. The thickness of the aluminum sheet is too thick, which is not conducive to bending and clamping. The thickness of the aluminum sheet is too thin, which makes it easy for the aluminum sheet to rebound and affect the crimping effect.

In the embodiment of the present invention, the wire repairing device is carried by the live working robot 100 to perform the repair work of the wire in the overhead line. The live working robot 100 includes a mobile chassis 1, an insulated telescopic arm 24 fixed on the mobile chassis 1, and an automatic operation platform fixed on the front end of the insulating telescopic arm 24. Both the automatic operation robot arm and the information acquisition device can be fixed on the automatic operation platform. The automatic operation platform is connected to the insulated telescopic arm 24, and the insulated telescopic arm 24 is fixed on the mobile chassis 1. The telescopic oil cylinder is used to achieve the expansion and contraction of the insulated telescopic arm 24, thereby driving the automatic operation platform to the working position.

It should be noted that both the automatic working robot arm and the insulating telescoping arm 24 are required to have good insulation properties. The specific insulation form can be the form of adding an insulation sleeve to the robot arm, or the robot arm can be set as an insulating material section and Forms of metal material segments arranged alternately.

The specific working process of the live wire repair system for substations is as follows:

The wire repair tool 42 is clamped by an automatic operation robot arm for operation, and the automatic work robot arm clamps the wire repair tool 42 from the undamaged side of the wire into the wire, and aligns the wire through the information acquisition device;

The robotic arm holding the wire repair tool 42 is moved from the undamaged side to the damaged part, and the broken wire is gathered under the action of the wire repair device 42 wire joining device 426 and the wire joint head: the wire repair tool 42 is not received by the wire When the damaged side enters, the wire enters the wire repairing tool 42 through the groove of the wire bonding device 426, and at the same time, the wire contacts the lower edge of the wire bonding head. When the wire enters the wire repair tool 42, the wire bonding head rotates, and the upper edge of the wire bonding head and When the wire contacts, it surrounds the upper semicircle of the wire, and the outer diameter of the wire together with the lower end of the inner groove of the wire bonding device 426. During the process of the wire repair tool 42 walking along the wire, the lower semicircle of the wire always contacts the upper and lower edges of the wire head, so that The closing head does not rotate; there is a certain gap between the wire and the closing device 426 and the closing head, and the stranded wire is gathered under the action of the closing device 426 and the closing head.

When the center of the piece to be repaired 4251 is facing the broken wire, the automatic operation robot arm stops moving, and the driving mechanism 422 of the wire repair tool 42 drives the clamping arm to press the repair piece 4251 to perform the automatic repair operation;

When the operation is completed, the clamping arm rotates in the reverse direction under the action of the driving motor 4222, and after the clamping arm is fully opened, the driving mechanism 422 is controlled to stop the movement;

The robot arm grips the wire repair tool 42 directly below the guide wire and moves the wire repair tool 42 away from the wire.

The advantages of this article wire repair system are as follows:

(1) The wire repairing operation is carried out by using an automatic operation robot arm to clamp the wire repairing device, which has the characteristics of high degree of mechanization and high degree of automation, etc., and meets the requirements of wire crimping in the substation, ensuring the safety of workers. The device can effectively reduce the work intensity of manual operations, improve the crimping efficiency and automation level, and has a positive effect on the method of crimping and repairing the wires of substations in China.

(2) The openings 425111 at both ends of the repair patch 4251 and the trapezoidal fixing pin are transitionally matched, which effectively solves the problem of fixing the repair patch 4251 and prevents the rotation of the repair patch 4251 during the wire crimping process.

(3) The worm and worm drive adopts a split and combined structure, which greatly reduces the processing difficulty of the worm shaft 42211, at the same time improves the processing accuracy of the drive, and reduces the processing cost of the worm and worm.

(4) Add two stitching heads at the front of the stitching device 426, and install the stitching devices 426 at both ends of the clamping arm to improve the stitching effect.

It should be noted that the foreign object cleaning disclosed herein is realized by an automatic operation robot arm, and the foreign object cleaning tool can be provided with an automatic operation robot arm and an information acquisition device on the automatic operation platform.

The substation pillar insulator live cleaning tool in this article, as shown in FIG. 9, includes: a vertical lifting mechanism 431, an embracing rotating mechanism 432, and two cleaning mechanisms 433. Among them, the vertical lifting mechanism 431 is provided on the embracing rotating mechanism 432 and can be provided thereon. It moves up and down on it; the embracing rotation mechanism 432 is provided on the cleaning mechanism 433 and can drive the cleaning mechanism 433 to rotate horizontally around the axis of the substation pillar insulator 200; the cleaning mechanism 433 is configured to clean the substation pillar insulator 200. Figure 3 shows a schematic diagram of the operation of a substation pillar insulator live cleaning tool.

Specifically, as shown in FIG. 11, the vertical lifting mechanism 431 includes a mounting base 425, an insulating slide rail 4111, a connection bracket 4112, a lifting hydraulic motor 4313, and a lifting gear 4314. The mounting base 425 is used to carry the weight of the cleaning device, and can be fixed on the lifting platform when the cleaning device is working, so that the lifting platform can send the cleaning device to a high place so as to contact the pillar insulator 200. Therefore, the mounting base 425 is provided with a connection structure such as a connection hole configured to be connected to the lifting platform.

The insulating sliding rail 4311 is fixed on the mounting base 425, and a rack is provided on one side thereof. The connecting bracket 4312 is arranged on the insulating slide 4311, the lifting hydraulic motor 4313 and the lifting gear 4314 are arranged on the connecting bracket 4312 and on the side opposite to the rack; the whole transmission gear assembly for lifting is moved behind the rack , Can improve the overall forward tilt of the cleaning actuator, play a role in front and rear positioning and balance weight.

The lifting hydraulic motor 4313 is connected to the lifting gear 4314 through a worm gear reducer, which can prevent the hydraulic motor from descending in the rack direction due to internal leakage. The self-locking function of the worm gear reducer can be used to stop the cleaning actuator. Any position of insulated lifting rack.

The lifting gear 4314 and the rack on the insulating slide 4311 form a first transmission pair, which can be moved up and down along the insulating slide 4311 driven by the lifting hydraulic motor 4313, thereby driving the connection bracket 4312 to move up and down along the insulating slide 4311.

The connecting bracket 4312 is also provided with two embracing limit position proximity switches 4325. The two embracing limit position proximity switches 4325 are electrically connected to the solenoid valve of the lifting hydraulic motor 4313. The connecting bracket 4312 is configured to run on the insulating slide 4311. When the upper and lower limit positions are reached, an electric signal is sent to the solenoid valve of the lifting hydraulic motor 4313. The solenoid valve controls the lifting hydraulic motor 4313 to stop running, thereby ensuring that the movement of the connecting bracket 4312 does not exceed the limit position on the insulating slide 4311.

The vertical lifting mechanism 431 may also be provided with a tow chain. One end of the tow chain is disposed on the mounting base 425, and the other end is connected to the connection bracket 4312 to stabilize and protect the operation of the connection bracket 4312.

In this embodiment, the first transmission pair composed of the insulating slide rail 4311 and the lifting gear 4314 is made of an insulating material such as polyoxymethylene (POM) to play an insulation protection function and prevent the cleaning device and the lifting platform from being punctured.

As shown in FIG. 10, the embracing rotation mechanism 432 includes an embracing bracket 4321, a ring gear 4322, a embracing hydraulic motor 4323, and a rotation gear 4324. The embracing bracket 4321 is disposed on a side of the connecting bracket 4312 of the vertical lifting mechanism 431. The embracing bracket 4321 is semi-circular and has a semi-circular inner cavity 43211. Both ends and the top surface are open. A ring gear 4322 is provided in the inner cavity 43211 of the embracing bracket 4321, and one side of the gear is exposed through an opening provided on the side of the embracing bracket 4321. (In this embodiment, the ring gear 4322 is an outer ring gear, so the side is the outer side. ), And the ring gear 4322 is also semi-circular and can be horizontally moved in the embracing bracket 4321 to penetrate the end of the embracing bracket 4321. The embracing hydraulic motor 4323 and the rotating gear 4324 are both disposed on the connecting bracket 4312. The rotating gear 4324 and the ring gear 4322 exposed through the opening on the outer side of the embracing bracket 4321 form a second transmission pair, which can be driven by the embracing hydraulic motor 4323. Rotating down, thereby driving the ring gear 4322 to rotate horizontally in the inner cavity 43211 of the embracing bracket 4321 about the axis of the embracing bracket 4321 (that is, the axis of the ring in which the embracing bracket 4321 is located).

In this embodiment, the embracing bracket 4321, the ring gear 4322, and the rotating gear 4324 are all made of an insulating material, so as to play an insulation protection function.

In order to limit the operating position of the ring gear 4322 in the embracing bracket 4321, so as to prevent it from moving within the embracing bracket 4321 and deviating from the operating position so as not to be able to closely cooperate with the embracing bracket 4321, the inner cavity 43211 of the embracing bracket 4321 is provided on the bottom plate. The T-shaped guide groove 43212 and the ring gear 43221 of the ring gear 4322 are provided with a T-shaped slider 432211 that matches the T-shaped guide groove 43212, as shown in Fig. 12; the positioning and sliding of the ring gear 43221 is through the T-shaped guide groove 43212 can realize the positioning of the ring gear 43221, and can reduce the friction resistance during the movement, and avoid the "head-up" phenomenon of the embracing mechanism during the movement.

The two cleaning mechanisms 433 are disposed on the top surface of the ring gear 4322 of the embracing rotation mechanism 432 and are located at both ends of the ring gear 4322, respectively. Therefore, the ring gear 4322 can be driven to rotate horizontally about the axis of the embracing bracket 4321. Each cleaning mechanism 433 includes a brush 4331, a rotary motor 4332, and a motor bracket 4333. The motor bracket 4333 is fixed on the ring gear 4322. The rotary motor 4332 is mounted on the motor bracket 4333. The brush 4331 is connected to the rotary motor 4332. On the rotating shaft, in this embodiment, it can be connected to the rotating shaft of the rotating motor 4332 through a flat key and a set screw, and the rotating motor 4332 drives the rotation. The brush wire of the hair brush 4331 can be made of nylon material, which can effectively remove the dirt on the surface of the pillar insulator 200 and protect the outer surface of the pillar insulator 200 from damage to the greatest extent.

It can be known from the above that the brush 4331 can not only rotate, but also can be rotated horizontally around the axis of the embracing bracket 4321 because the cleaning mechanism 433 can be driven by the ring gear 4322. In order for the brush 4331 to continuously reciprocate around the axis of the embracing bracket 4321, the ring gear 4322 needs to be able to reciprocate about the axis of the embracing bracket 4321. Therefore, the embracing rotation mechanism 432 is also provided with a rotation control member configured to rotate the ring gear 4322. The control of the operation includes two embracing limit position proximity switches 4325 and a stopper 4326, which is located at the center of the top of the embracing bracket 4321, and the two embracing limit position proximity switches 4325 are respectively provided in two cleaning mechanisms. The outside of the motor bracket 4333 of 433. After the ring gear 4322 is rotated from the starting position (that is, the ring gear 4322 is completely located in the embracing bracket 4321 and the two cleaning mechanisms 433 are located at both ends of the embracing bracket 4321), the cleaning mechanism 433 near the center position of the embracing bracket 4321 is rotated. The embracing limit position proximity switch 4325 on the outside of the motor bracket 4333 will sense the position of the blocking iron 4326. The embracing limit position proximity switch 4325 will then send an electrical signal to the proportional directional valve of the embracing hydraulic motor 4323 to reverse the proportional directional valve. The rotating gear 4324 is turned, thereby driving the ring gear 4322 to rotate in the reverse direction. After the ring gear 4322 rotates 180 ° in the reverse direction, another hug limit position proximity switch 4325 will send an electric signal to the hoop hydraulic motor 4323, the proportional directional valve, and the proportional directional valve will be reversed again. The reciprocating rotation around the axis of the embracing bracket 4321, the brush 4331 can continuously revolve around the axis of the embracing bracket 4321. In this way, the brush 4331 can rotate on its own and can reciprocate around the axis of the embracing bracket 4321, which can achieve the purpose of efficiently cleaning the post insulators during cleaning operations.

It should be noted that, in this embodiment, the rotation control member may also be implemented by using an optical fiber sensor 4335 and an optical fiber sensor baffle 4334.

When the substation pillar insulator cleaning device is used for the substation pillar insulator 200 cleaning operation, the mounting base 425 is fixed on the lifting platform, and the cleaning device is sent to a high place by the lifting platform to approach the pillar insulator 200. When the cleaning device approaches the pillar insulator 200, the pillar insulator 200 is located between the brushes 4331 of the two cleaning mechanisms 433 and contacts the two brushes 4331. At this time, the axis of the pillar insulator 200 substantially coincides with the axis of the embracing bracket 4321. The lifting hydraulic motor 4313, the embracing hydraulic motor 4323, and the rotary motor 4332 are turned on. Therefore, the insulating slide 4311 forms a first transmission pair by a rack and a lifting gear 4314, and converts the rotary motion of the lifting hydraulic motor 4313 into a brush 4331 along the pillar. The surface of the insulator 200 moves linearly up and down; the rotating gear 4324 and the ring gear 4322 form a second transmission pair, which converts the rotation of the embracing hydraulic motor 4323 into a horizontal rotation of the brush 4331 about the axis of the pillar insulator 200; the rotation motor 4332 drives the hair Brush 4331 rotation. In this way, the brush 4331 can efficiently clean the post insulator 200 in each direction.

In order to ensure that a sufficient safety distance is maintained between the charged insulator and the charged body during operation of the substation pillar insulator cleaning device, a position ultrasonic sensor 54 configured to sense the charged body may also be provided on the connection bracket 4312; The insulator 200 maintains an appropriate distance, and an infrared sensor configured to sense the position of the pillar insulator 200 may be disposed on the embracing bracket 4321.

Further, the present invention also discloses a control system of a substation pillar insulator live cleaning tool for controlling the operation of the substation pillar insulator live cleaning device. The substation pillar insulator live cleaning device is carried by the live working robot 100 to perform a substation pillar insulator 200 cleaning. operation.

The control system includes a control module, a signal transceiver module, a drive module, and a protection module, wherein the control module is configured to generate and output control instructions; the signal transceiver module is configured to transmit the control instructions output by the control module to the drive module, and the protection module The generated limit signal is transmitted to the control module; the drive module is configured to drive the live cleaning tool according to the control instruction; the protection module is configured to monitor the running position of the live cleaning tool, and generate a limit signal when it runs to the limit position, and It is fed back to the control module.

In detail, the control module includes a remote control terminal 10 and a main controller, and the remote control terminal 10 and the main controller are connected by wireless communication (such as WIFI). When the remote control terminal 10 is operated or the key is pressed, the remote control terminal 10 sends a control signal to the main controller, and the main controller realizes the control of the substation pillar insulator live cleaning device. The control signal is a multi-channel digital signal or Analog signals. The main controller also receives a limit signal from the protection module, which is a switching signal. When the main controller receives the control signal from the remote control terminal 10 or the limit signal from the protection module, it outputs a control instruction to the signal transceiver module accordingly. This control instruction is an analog signal of “0 ～ 5V”. For example, when the main controller receives the digital signal of “-127 ～ 127” output by the remote control terminal 10, it performs digital-to-analog conversion processing to output “0 ～ 5V "analog signal.

The signal transceiver module receives the control instruction from the main controller and sends it to the drive module; receives the limit signal from the protection module and sends it to the main controller. The signal transceiver module includes an analog signal wireless transceiver module and a switch signal wireless transceiver module.

The analog signal wireless transceiver module is configured to collect and remotely transmit analog signals, including an analog input module, an analog wireless transmitting module, an analog wireless receiving module, and an analog output module. Among them, the analog input module is connected to the analog wireless transmitting module, the analog wireless receiving module is connected to the analog output module, the analog wireless transmitting module and the analog wireless receiving module are connected by wireless communication, and the analog The wireless receiving module outputs “0-5V” analog signal. When the analog input module receives the control command output from the main controller, it outputs to the analog wireless transmitting module, which is sent by the analog wireless transmitting module to the analog wireless receiving module, and then output to the analog output through the analog wireless receiving module. Module, output from the analog output module to the drive module. EtherCAT communication is used between this analog output module and the drive module.

The digital signal wireless transceiver module is configured to collect and remotely transmit digital signal, including digital input module, wireless digital transmitting module, wireless digital receiving module, and digital output module. Among them, the digital input module and wireless digital transmitting module The modules are connected, the switch wireless receiving module is connected with the switch output module, and the switch wireless transmitting module and the switch wireless receiving module adopt radio frequency communication. When the digital input module receives the limit signal output by the protection module, it is output to the digital wireless transmitting module, which is sent to the digital wireless receiving module by the digital wireless transmitting module, and then output to the digital output through the digital wireless receiving module. Module, which is output by the digital output module to the main controller.

The driving module is configured to receive a control instruction transmitted by the signal transmitting and receiving module, and drive or terminate the operation of the live cleaning tool according to the control instruction. The driving module includes a servo valve and a hydraulic motor, wherein the servo valve receives a control instruction output by the analog output module, and controls the movement of the hydraulic motor according to the control instruction, thereby driving a live cleaning tool to perform a substation pillar insulator cleaning operation.

The protection module includes a photoelectric switch and a proximity switch, and is configured to monitor the running position of the live cleaning tool to limit the live cleaning tool accordingly. When the charged cleaning tool moves to the limit position, a photoelectric switch and / or a proximity switch is triggered, and the photoelectric switch and / or the proximity switch outputs a limit signal to a digital input module.

For example, the photoelectric switch or the proximity switch outputs a "5V" high level to the digital input module, and then the digital input module outputs to the digital wireless transmitter module. The digital wireless transmitter module communicates with the digital wireless receiver module, making the digital wireless The receiving module outputs the relay signal synchronously. If a 12V signal is provided to the digital wireless receiving module, its output is “12V” high level. It is connected to the digital output module and outputs the signal to one of the channels. When the high-level and low-level output corresponding to the and / or proximity switch, the main controller correspondingly receives the high and low levels.

Herein, the vertical lifting mechanism 431, the embracing rotation mechanism 432, and at least two cleaning mechanisms 433,

The operation of the vertical lifting mechanism 431 and the embracing rotating mechanism 432 is driven by the hydraulic cylinder of the driving module; the photoelectric switch monitors the position where the vertical lifting mechanism 431 operates. When the vertical lifting mechanism 431 moves to the extreme position, the photoelectric switch is triggered, and the photoelectric switch is Output the limit signal (the first limit signal) to the digital input module; the proximity switch monitors the running position of the hoop rotation mechanism 432, and when the hoop rotation mechanism 432 moves to the limit position, the proximity switch is triggered, and the proximity switch outputs the limit The bit signal (second limit signal) is sent to the digital input module.

The switch signal wireless transceiver module transmits the first limit signal and / or the second limit signal to the main controller, and the main controller outputs a control command accordingly, and controls the hydraulic cylinder movement by controlling the servo valve of the drive module, thereby controlling the vertical The lifting mechanism 431 and the embracing rotation mechanism 432 stop the operation, for example, even if the charged cleaning device continues to perform the post insulator cleaning operation or stop the charged cleaning device operation.

When the control system in this paper controls the operation of the substation pillar insulator live cleaning device, it first operates the remote control terminal 10 and sends a control signal to the main controller through it. When the main controller receives the control signal, if the control signal is a digital signal, the main controller first digital-to-analog converts the digital signal to an analog signal, and outputs a control instruction for the analog signal to the analog signal. Volume signal wireless transceiver module; if the control signal is an analog signal, it outputs a corresponding control instruction for the analog signal to the analog signal wireless transceiver module. The control instruction is transmitted via the analog signal wireless transceiver module, and finally output to the servo valve of the drive module to start the hydraulic motor. Then, the hydraulic motor drives the live cleaning device to perform the cleaning operation on the substation pillar insulator 200.

During the operation of the charged cleaning device, the photoelectric switch and the proximity switch monitor the running position of the charged cleaning tool. When the charged cleaning tool moves to the limit position, the photoelectric switch and / or the proximity switch will be triggered to output a limit signal to the digital input module. The limit signal is transmitted and output to the main controller via the wireless signal transceiver module. . When the main controller receives the limit signal, it outputs the corresponding control instruction and controls the movement of the hydraulic cylinder by controlling the servo valve of the drive module, thereby controlling the charged cleaning device to stop the operation. The control instruction is also an analog signal, and is transmitted to the driving module via the analog signal wireless transceiver module.

In this way, the control system is implemented to control the substation pillar insulator live cleaning device.

In specific implementation, a main controller, an analog input module, an analog wireless transmission module, a switch wireless receiving module, and a switch output module are provided on the mobile vehicle body of the live working robot 100, and the driving module, protection module, and analog The wireless receiving module, the analog output module, the switching input module, and the switching wireless transmitting module are installed on the live cleaning tool carried by the live working robot 100.

The control system of the substation pillar insulator live cleaning device in this paper can help the operator to remotely control and monitor the operation mode and status of the live cleaning tool, and improve the insulation, stability and safety of the robot operation.

The advantages of the live substation pillar insulator live cleaning tool are as follows:

(1) Through the setting of the embracing rotation mechanism 432, embracing and cleaning of the substation pillar insulator 200 can be performed. The vertical lifting mechanism 431 can also be used to clean the surface of the pillar insulator 200 in the up and down direction. The brush 4331 itself can also rotate. Therefore, it is possible to achieve efficient cleaning of the pillar insulator 200 from multiple angles, and the cleaning effect is good and the insulation effect is good;

(2) Hydraulically driven ring gear 4322 and lifting gear 4314 are used for operation, which not only has the characteristics of strong power, fast rotation speed, good cleaning effect, and good insulation effect, which minimizes the probability of personnel entering the substation equipment area, but also can be controlled by the terminal The purpose of controlling the rotation speed of the brush 4331 is achieved, enabling the operator to complete the cleaning work without entering the equipment area, ensuring the safety of the operator, reducing the labor intensity, improving the cleaning efficiency and automation level.

(3) The pillar insulator 200 can be automatically cleaned by being installed on a lifting platform, so it has the advantages of high mechanization and high degree of automation, and also meets the requirements of live cleaning of the pillar insulator 200 of the substation, ensuring the safety of operators.

(4) The entire transmission gear assembly configured for lifting is moved to the rear of the rack, which plays the role of positioning and balancing the weights in the front and rear, and improves the overall leaning of the cleaning actuator.

(5) The embracing transmission mechanism is based on the original guide wheel mechanism, using T-slot positioning instead, to avoid the "head-up" phenomenon of the embracing mechanism during the movement.

(6) The diameter and length of the brush assembly are designed to effectively change the drooping of the bristles, and the middle nylon pillar of the brush assembly is weight-reduced. At the same time, the length of the insulated lifting rack is reduced, and the weight of the metal connecting frame is reduced.

(7) In order to prevent the hydraulic motor from descending in the rack direction due to internal leakage, a worm gear reducer is installed at the output end of the hydraulic motor. With its self-locking function, the cleaning actuator stops at any position of the insulated lifting rack. position.

(8) The control system of the substation pillar insulator 200 live cleaning system can help the operator to remotely control and monitor the operation mode and status of the live cleaning tool, and improve the insulation, stability and safety of the robot operation.

Text can achieve the following effects:

(1) Each part of the robot arm includes two parts, the insulation section and the metal section, which can not only save material costs, but also reduce the weight of the overall robot arm, which is more conducive to the stability of the center of gravity of the robot during operation.

(2) The small flying arm is changed from a link mechanism to a hollow rod structure of insulating material. Its main advantages are that it increases the stability of the structure, effectively prevents chattering due to the linkage mechanism during operation, and facilitates assembly and maintenance. Its driving mechanism is changed from a linear oil cylinder to a swing oil cylinder, which facilitates the installation of the sensor and improves the control accuracy. On the basis of the original freedom of pitching, the small flying boom has added a degree of freedom of rotation and a platform to fine-tune the degree of freedom, which makes the control and movement of the platform more convenient.

(3) The working robot arm is provided with a quick-change head, which can quickly different working tools, providing work efficiency.

(4) Adopting multi-sensor information fusion technology, using various types of sensors installed on the robot to sense the information of the robot body and the surrounding environment, improving the safety and reliability of robot operation.

(5) In order to facilitate the recovery work after the robot operation is completed, the project adopts a one-button automatic intelligent recycling design. During the operation, the robot uses various sensors installed on the robot body to automatically establish the distance and The distributed database of magnetic fields, etc. When the operation is completed, a safe path planning algorithm is used to realize the robot's installation of a safe path to return to the default state of the robot, and realize one-click automatic intelligent recovery. Ensuring a safe distance between the robot and live equipment is an effective way to ensure insulation safety, so the design of distance measurement sensors is very important.

Claims (19)

1. A robot system for live maintenance work in a substation includes a robot body, a live working tool, a remote control terminal (10), and a mobile carrying vehicle (6) configured to transport the robot body;

   The robot body comprises a mobile chassis (1), an insulated lifting arm (2) provided on the mobile chassis (1), a small flying arm (25) is provided at the front end of the insulating lifting arm (2), and the small flying The front end of the arm (25) is provided with a live working platform (5) configured to place a live working tool, and the small flying arm (25) is connected to the live working tool;

   The live working tool includes at least one of a foreign body cleaning tool (41), a wire repairing tool (42), an insulator cleaning tool (43), and a dry ice cleaning tool (44);

   The remote control terminal (10) includes a remote control module (101) and a wireless communication module (102). The remote control module (101) communicates with the main controller of the robot body through the wireless communication module (102).
2. The substation live inspection and maintenance robot system according to claim 1, wherein the insulated lifting arm (2) comprises: a slewing platform (21), a main arm (22), an upper arm (23), and an insulating telescopic arm (24) connected in sequence. And a small flying arm (25).
3. The substation live maintenance work robot system according to claim 2, wherein the substation live maintenance work robot system further comprises an insulated lifting arm control system, and the main arm (22) and the upper arm (23) are respectively installed to be configured to detect the Sensors for rotation angle and position; The insulated telescopic arms (24) are respectively equipped with sensors configured to detect their telescopic length and position; the small flying arms (25) are respectively provided with configured to detect their rotation angle and horizontal tilt angle The insulated lifting arm control system controls the movements of the main arm (22), the upper arm (23), the insulated telescopic arm (24) and the small flying arm (25) according to the data collected by the above sensors. The priority order realizes one-click reduction of the insulated lifting arm system and leveling of the small flying arm (25).
4. The substation live maintenance work robot system according to claim 2, wherein the main arm (22) and the upper arm (23) each comprise a two-stage metal arm (26) and a metal arm (26) disposed between the two-stage metal arm (26). Insulation arm (27).
5. The electrical substation live maintenance work robot system according to claim 2 or 4, wherein the small flying arm (25) is a hollow rod structure using an insulating material.
6. The robotic system for live maintenance work of a substation according to claim 2, wherein the small flying arm (25) is connected to an insulated telescopic arm (24), and the small flying arm (25) is configured by rotating a swing oil cylinder (31) and a pitch swing oil cylinder (32) The drive realizes relative rotation swing and pitch swing with the insulated telescopic arm (24).
7. The robotic system for live maintenance work of a substation according to claim 2, wherein a live working platform (5) is provided at the front end of the small flying arm (25), and the small flying arm (25) is realized by leveling a swing oil cylinder (33) The live working platform (5) is leveled; the live working platform (5) is respectively provided with a panoramic camera (51) configured to realize image acquisition, and a laser scanner (52) configured to realize image ranging.
8. The electric substation live maintenance work robot system according to claim 1, wherein the wire repair tool (42) includes a housing (421), and a driving mechanism (422) is provided in the housing (421), and the driving mechanism (422) is connected with the left clamping arm (423) and the right clamping arm (424) respectively, and drives the left clamping arm (423) and the right clamping arm (424) to realize the opening and closing movement; A base (425) configured to fix the patch (4251) is provided between the (423) and the right clamping arm (424) and in a direction perpendicular to the movement direction of the left and right clamping arms (423) and (424). ), And a wire closing device (426) is respectively provided at both ends of the base (425).
9. The substation live maintenance work robot system according to claim 8, wherein the driving mechanism (422) comprises: a worm gear transmission mechanism (4221) and a driving motor (4222);

   The driving motor (4222) drives a worm shaft (42211) to rotate through a transmission gear (427). The worm shaft (42211) is provided with two sections of helical teeth (422111), and each section of helical teeth (422111) is connected to a worm wheel respectively. (42212), the worm gear (42212) is connected to the left clamping arm (423) and the right clamping arm (424) respectively; the rotation of the worm shaft (42211) drives the worm wheel (42212) to rotate, thereby driving the left clamping arm (423) And the movement of the right clamping arm (424).
10. The electrical substation live maintenance work robot system according to claim 8, wherein the wire repair tool (42) further comprises a repair patch (4251), and the repair patch (4251) includes:

    A wire crimping area (42511), at least two crimping teeth (42512) are connected to one side of the wire crimping area (42511), and a gap of a set distance is formed between each two crimping teeth (42512) (42513), the other side of the wire crimping area (42511) is connected with a crimping tooth (42512) corresponding to the position of the gap (42513); the end of the crimping tooth (42512) is set to bend inward radian.
11. The robot system for live maintenance work of a substation according to claim 8, wherein openings (425111) are respectively provided at the front and rear ends of the wire crimping area (42511), and the sizes of the openings (425111) meet and are provided on the base ( 425) The trapezoidal pin at both ends transitions to fit.
12. The robot system for live maintenance work of a substation according to claim 8, wherein a through hole (425112) is provided at a center position of the wire crimping area (42511).
13. The robot system for live maintenance work of a substation according to claim 8, wherein the wire crimping area (42511) is an arc-shaped groove, and the bending arc of the arc-shaped groove and the ends of the crimping teeth (42512) are bent inwardly The radian is determined by the diameter of the wire.
14. The substation live inspection and maintenance robot system according to claim 1, wherein the insulator cleaning tool (43) comprises: a vertical lifting mechanism (431), a hoop rotation mechanism (432), and a cleaning mechanism (433), the hoop rotation mechanism (433 432) is disposed on one side of the vertical lifting mechanism (431), the cleaning mechanism (433) is disposed on both ends of the embracing rotating mechanism (432) and can be respectively along the ring shape of the embracing rotating mechanism (432) The axis rotates horizontally; wherein, the embracing rotation mechanism (432) includes an embracing bracket (4321) and a ring gear (4322); the embracing bracket (4321) has an annular inner cavity (43211), and the embracing bracket (4321) A guide groove is provided on the bottom plate of the inner cavity (43211), and the ring gear (4322) is restricted in the guide groove and moves along the guide groove.
15. The substation live inspection and maintenance robot system according to claim 14, wherein the embracing rotating mechanism (432) further comprises: a embracing hydraulic motor (4323) and a rotating gear (4324), and one side of the ring gear (4322) is provided on the embracing bracket. (4321) One side opening is exposed to cooperate with the rotating gear (4324); the embracing hydraulic motor (4323) is configured to drive the rotating gear (4324) so that it drives the ring gear (4322) at The inner cavity (43211) of the embracing bracket (4321) is horizontally rotated around the axis of the embracing bracket (4321); the cleaning mechanism (433) is disposed on the top surface of the ring gear (4322) and is located in the ring respectively Both ends of the gear (4322).
16. The substation live maintenance work robot system according to claim 14, wherein the embracing rotation mechanism (432) further comprises a rotation control member, the rotation control member comprising at least two embracing limit position proximity switches (4325) and an iron stop (4326) The retaining irons (4326) are respectively provided on the cleaning mechanism (433); the embracing limit position proximity switches (4325) are respectively provided on the embracing bracket (4321), and are configured to sense the retaining irons (4321). 4326) position, an electric signal is sent to the proportional directional valve of the embracing hydraulic motor (4323), and the proportional directional valve is reversed, thereby driving the rotary gear (4324) to turn.
17. The substation live maintenance robot system according to claim 14, wherein the guide groove is a T-shaped guide groove (43212), and a ring gear (43221) of the ring gear (4322) is provided with the T-shaped guide groove (43212) ) Matching T-shaped slider (432211); the T-shaped slider (432211) moves in a T-shaped guide groove (43212).
18. The substation live inspection and maintenance robot system according to claim 14, wherein the vertical lifting mechanism (431) includes an insulating slide rail (4311), a connection bracket (4312), a lifting hydraulic motor (4313), and a lifting gear (4314) Wherein, the connection bracket (4312) is provided on the insulating slide rail (4311), the lifting hydraulic motor (4313) and the lifting gear (4314) are provided on the connection bracket (4312) and all The opposite side of the embracing rotation mechanism (432); the lifting hydraulic motor (4313) is connected to the lifting gear (4314) through a worm gear reducer, and the lifting gear (4314) is connected to the insulating slide rail (4311) ) Forms a transmission pair, and the lifting hydraulic motor (4313) is configured to drive the lifting gear (4314) to move up and down along the insulating slide (4311), thereby driving the connection bracket (4312) along the insulating slide (4311) Move up and down.
19. Working method of a robot system for live maintenance work in a substation, including:

    Collect the relative positions and angles of the mobile chassis (1) and the insulated telescopic arm (24), and the distance between the working tool and the equipment to be operated, and combine the work status data to pose the mobile chassis (1) and the insulated telescopic arm (24) Adjustment, the operation process during adjustment is:

    The configuration of leakage current sensors has the highest priority, followed by ultrasonic sensors, inclination sensors and encoders, and the lowest priority sensors are laser sensors and vision sensors. Among the actuators, the insulated arm (27) motion actuator has the highest priority. Level, followed by work tools, the lowest priority actuators are chassis drive and outrigger control actuators;

    The priority of any actuator is multiplied by the priority of its associated actuator. The sequence of actions of each action structure is determined by determining the priority, and the corresponding actuator action is controlled according to its determination priority.

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