WO2020233727A1 - 一种带电作业拆卸和安装高压线t型线夹的装置 - Google Patents

一种带电作业拆卸和安装高压线t型线夹的装置 Download PDF

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Publication number
WO2020233727A1
WO2020233727A1 PCT/CN2020/094541 CN2020094541W WO2020233727A1 WO 2020233727 A1 WO2020233727 A1 WO 2020233727A1 CN 2020094541 W CN2020094541 W CN 2020094541W WO 2020233727 A1 WO2020233727 A1 WO 2020233727A1
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WO
WIPO (PCT)
Prior art keywords
direction guide
rail mechanism
guide rail
mounting plate
bottom plate
Prior art date
Application number
PCT/CN2020/094541
Other languages
English (en)
French (fr)
Inventor
张葛祥
杨强
曾有鑫
Original Assignee
成都理工大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201910412950.8A external-priority patent/CN110112675B/zh
Priority claimed from CN201910409803.5A external-priority patent/CN110165603B/zh
Application filed by 成都理工大学 filed Critical 成都理工大学
Priority to US17/919,546 priority Critical patent/US11855423B2/en
Publication of WO2020233727A1 publication Critical patent/WO2020233727A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
    • 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
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/14—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for joining or terminating cables

Definitions

  • the invention belongs to the field of electric power maintenance engineering equipment, and specifically relates to a device for disassembling and installing a T-shaped clamp of a high-voltage line during live operation.
  • the bolts of the high-voltage line When the T-clamp bolts of the high-voltage line are loose or corroded, the bolts need to be replaced in time to avoid accidents. If the high-voltage bus terminal current is cut off when replacing the bolts, it will cause power outages in the bus power supply area, causing incalculable economic losses to production and life. Therefore, at present, it is generally used manually to establish equipotential at high altitude and high voltage bus, and then disassemble and assemble the connecting plate bolts to complete the replacement. This method is based on manually performing live work on high-voltage line T-clamps in an equipotential state.
  • the first object of the present invention is to provide a device for disassembling the T-clamp of a high-voltage line under live operation, which can replace the direct manual operation, and realize the safe removal of the T-clamp of the high-voltage line under a live condition.
  • a device for disassembling T-clamps of high-voltage lines during live operation including a lifting platform, a four-axis platform and an end effector; the four-axis platform and the end effector are all conductive structures;
  • the four-axis platform is fixedly installed on the top of the lifting platform. There is an insulating layer between the four-axis platform and the lifting platform; the four-axis platform can move in the X, Y, and Z directions and rotate around the Z direction; the four-axis platform is equipped with Equipotential mechanism for high-voltage bus to establish equipotential relationship;
  • the end effector is detachably fastened to the four-axis platform;
  • the end effector includes an inverted "L"-shaped integral frame, the top wall of the integral frame is connected with a shock-absorbing wheel that can walk on the high-voltage bus; the side wall of the integral frame
  • a rail moving mechanism that can move in the X, Y, and Z directions is connected to the rail moving mechanism;
  • a nut breaker for breaking nuts is connected to the rail moving mechanism;
  • the bottom of the side wall of the overall frame is provided with a sub-line connecting plate gripper for clamping the branch line hand.
  • the four-axis platform includes a first X-direction guide rail mechanism, a first Y-direction guide rail mechanism, a first Z-direction guide rail mechanism, and a first turning mechanism; the first X-direction guide rail mechanism and the first Y-direction guide rail mechanism are both Horizontal arrangement; the first X-direction guide rail mechanism is fixedly installed on the top of the lifting platform with an insulating layer between the lifting platform; the first Y-direction guide rail mechanism is fixedly installed on the top of the first X-direction guide rail mechanism and perpendicular to the first X The first Z-direction guide rail mechanism is set up vertically and at the same time perpendicular to the first X-direction guide rail mechanism and the first Y-direction guide rail mechanism.
  • the bottom of the first Z-direction guide rail mechanism is connected to the first slewing mechanism.
  • the top of the Y-direction guide rail mechanism; the equipotential mechanism is fixedly connected to the first Z-direction guide rail mechanism, and the first Z-direction guide rail mechanism is also provided with a hook for buckling the end effector.
  • first X-direction guide rail mechanism, the first Y-direction guide rail mechanism, and the first Z-direction guide rail mechanism have the same structure, and all include a bottom plate, a linear guide rail, a mounting plate, a screw rod, a motor, and a reducer; the bottom plate and installation The plates are arranged relatively parallel; the screw rod is located on the center line of the length of the bottom plate, two linear guides are respectively arranged on both sides of the screw rod and parallel to the screw rod, one end of the screw rod is matched with the motor and the reducer; both ends of the mounting plate Each is provided with a sliding block and can slide freely in the linear guide, the middle of the mounting plate is provided with an internal thread and is connected with the screw rod;
  • the bottom plate of the first X-direction rail mechanism is fixedly installed on the top of the lifting platform and an insulating layer is provided between the lifting platform; the bottom plate of the first Y-direction rail mechanism is fixedly connected to the mounting plate of the first X-direction rail mechanism On; the lower end of the bottom plate of the first Z-direction rail mechanism is connected to the mounting plate of the first Y-direction rail mechanism through the first turning mechanism; the equipotential mechanism is fixed on the bottom plate of the first Z-direction rail mechanism; the hook It is fixedly connected to the mounting plate of the first Z-direction guide rail mechanism.
  • the equipotential mechanism includes a horizontally arranged horizontal rod, an inclined and variable length inclined rod, a vertically arranged pneumatic push rod, and a clamping jaw installed on the top of the pneumatic push rod; one end of the horizontal rod, the inclined rod
  • the upper end of the cross bar and the lower end of the pneumatic push rod are hinged together, and the other end of the cross bar and the lower end of the inclined rod are respectively hinged to the bottom plate of the first Z-direction guide rail mechanism.
  • the guide rail moving mechanism includes a second X-direction guide rail mechanism, a second Y-direction guide rail mechanism, and a second Z-direction guide rail mechanism;
  • the second X-direction guide rail mechanism, the second Y-direction guide rail mechanism, and the second Z-direction guide rail mechanism have the same structure, including a bottom plate, a linear guide rail, a mounting plate, a screw rod, a motor and a reducer; the bottom plate and the mounting plate are relatively parallel;
  • the screw rod is located on the center line of the length of the bottom plate.
  • Two linear guides are respectively arranged on both sides of the screw rod and parallel to the screw rod. One end of the screw rod is connected with the motor and the reducer;
  • the block can slide freely in the linear guide, the middle of the mounting plate is provided with internal threads and is connected with the screw rod;
  • the bottom plate of the second Y-direction rail mechanism is fixed on the side wall of the integral frame; the bottom plate of the second Z-direction rail mechanism is fixedly connected with the mounting plate of the second Y-direction rail mechanism; one end of the bottom plate of the second X-direction rail mechanism is connected to the first
  • the two mounting plates of the Z-direction rail mechanism are fixedly connected; the nut breaker is installed on the mounting plate of the second X-direction rail mechanism.
  • a second turning mechanism is connected between the nut breaker and the mounting plate of the second X-direction rail mechanism.
  • the second object of the present invention is to provide a device for installing high-voltage line T-clamps in live work, instead of direct manual operation, to realize the safe installation of high-voltage line T-clamps under live conditions.
  • a device for installing a high-voltage line T-clamp for live work including a lifting platform, a four-axis platform and an end effector; the four-axis platform and the end effector are all conductive structures;
  • the four-axis platform is fixedly installed on the top of the lifting platform. There is an insulating layer between the four-axis platform and the lifting platform; the four-axis platform can move in the X, Y, and Z directions and rotate around the Z direction; the four-axis platform is equipped with Equipotential mechanism for high-voltage bus to establish equipotential relationship;
  • the end effector is detachably fastened to the four-axis platform;
  • the end effector includes an inverted "L"-shaped integral frame, the top wall of the integral frame is connected with a shock-absorbing wheel that can walk on the high-voltage bus;
  • the left and right sides are respectively provided with a left direction guide rail mechanism and a right direction guide rail mechanism.
  • the left direction guide rail mechanism and the right direction guide rail mechanism can move in the X, Y, and Z directions; the left direction guide mechanism is connected with an electric drive for tightening nuts A wrench;
  • a bolt fixing plate is connected to the right direction guide rail mechanism;
  • the bottom of the side wall of the integral frame is provided with a sub-line connecting plate gripper for clamping the branch line.
  • the four-axis platform includes a first X-direction guide rail mechanism, a first Y-direction guide rail mechanism, a first Z-direction guide rail mechanism, and a first turning mechanism; the first X-direction guide rail mechanism and the first Y-direction guide rail mechanism are both Horizontal arrangement; the first X-direction guide rail mechanism is fixedly installed on the top of the lifting platform with an insulating layer between the lifting platform; the first Y-direction guide rail mechanism is fixedly installed on the top of the first X-direction guide rail mechanism and perpendicular to the first X The first Z-direction guide rail mechanism is set up vertically and at the same time perpendicular to the first X-direction guide rail mechanism and the first Y-direction guide rail mechanism.
  • the bottom of the first Z-direction guide rail mechanism is connected to the first slewing mechanism.
  • the top of the Y-direction guide rail mechanism; the equipotential mechanism is fixedly connected to the first Z-direction guide rail mechanism, and the first Z-direction guide rail mechanism is also provided with a hook for buckling the end effector.
  • first X-direction guide rail mechanism, the first Y-direction guide rail mechanism, and the first Z-direction guide rail mechanism have the same structure, and all include a bottom plate, a linear guide rail, a mounting plate, a screw rod, a motor, and a reducer; the bottom plate and installation The plates are arranged relatively parallel; the screw rod is located on the center line of the length of the bottom plate, two linear guides are respectively arranged on both sides of the screw rod and parallel to the screw rod, one end of the screw rod is matched with the motor and the reducer; both ends of the mounting plate Each is provided with a sliding block and can slide freely in the linear guide, the middle of the mounting plate is provided with an internal thread and is connected with the screw rod;
  • the bottom plate of the first X-direction rail mechanism is fixedly installed on the top of the lifting platform and an insulating layer is provided between the lifting platform; the bottom plate of the first Y-direction rail mechanism is fixedly connected to the mounting plate of the first X-direction rail mechanism On; the lower end of the bottom plate of the first Z-direction rail mechanism is connected to the mounting plate of the first Y-direction rail mechanism through the first turning mechanism; the equipotential mechanism is fixed on the bottom plate of the first Z-direction rail mechanism; the hook It is fixedly connected to the mounting plate of the first Z-direction guide rail mechanism.
  • the equipotential mechanism includes a horizontally arranged horizontal rod, an inclined and variable length inclined rod, a vertically arranged pneumatic push rod, and a clamping jaw installed on the top of the pneumatic push rod; one end of the horizontal rod, the inclined rod
  • the upper end of the cross bar and the lower end of the pneumatic push rod are hinged together, and the other end of the cross bar and the lower end of the inclined rod are respectively hinged to the bottom plate of the first Z-direction guide rail mechanism.
  • the left direction guide rail mechanism includes a second X direction guide rail mechanism, a second Y direction guide rail mechanism, and a second Z direction guide rail mechanism;
  • the right direction guide rail mechanism includes a third X direction guide rail mechanism, and a third Y direction guide rail mechanism. Guide rail mechanism and the third Z direction guide rail mechanism;
  • the second X-direction guide rail mechanism, the second Y-direction guide rail mechanism, the second Z-direction guide rail mechanism, the third X-direction guide rail mechanism, the third Y-direction guide rail mechanism and the third Z-direction guide rail mechanism have the same structure, and all include a bottom plate , Linear guide rail, mounting plate, screw, motor and reducer; the bottom plate and the mounting plate are arranged relatively parallel; the screw rod is located on the midline of the length of the bottom plate, and the two linear guides are respectively arranged on both sides of the screw rod and parallel to the screw rod.
  • One end of the screw rod is matched and connected with the motor and the reducer; both ends of the mounting plate are respectively provided with a sliding block and can slide freely in the linear guide, and the middle of the mounting plate is provided with internal threads and is connected with the screw rod;
  • the bottom plate of the second Y-direction rail mechanism is fixed on the side wall of the integral frame; the bottom plate of the second Z-direction rail mechanism is fixedly connected with the mounting plate of the second Y-direction rail mechanism; one end of the bottom plate of the second X-direction rail mechanism is connected to the first 2.
  • the mounting plate of the Z-direction rail mechanism is fixedly connected; the electric wrench is installed on the mounting plate of the second X-direction rail mechanism;
  • the bottom plate of the third Y-direction rail mechanism is fixed on the side wall of the integral frame; the bottom plate of the third Z-direction rail mechanism is fixedly connected with the mounting plate of the third Y-direction rail mechanism; one end of the bottom plate of the third X-direction rail mechanism is connected to the first
  • the mounting plate of the three Z-direction rail mechanism is fixedly connected; the bolt fixing plate is installed on the mounting plate of the third X-direction rail mechanism.
  • a second turning mechanism is also connected between the bolt fixing plate and the mounting plate of the third X-direction rail mechanism.
  • the side wall of the integral frame is also provided with a nut library for placing nuts.
  • the present invention has the following beneficial effects:
  • the present invention replaces the manual electrification work by the form of mechanical mechanism, reduces the risk of work and improves the work efficiency, can keep the operator away from the high altitude and dangerous working environment, and avoid accidents such as electric shock and falling from high altitude. Occurred; the high-voltage line T-shaped clamp can be removed or installed through the end effector when the power is on, avoiding the negative impact caused by the power outage and improving the reliability of power supply.
  • the end effector of the present invention is suspended on a high-voltage overhead line, which can avoid the shaking of the lifting platform; it adopts a combination of lifting platform, four-axis platform and end effector, which can be replaced at any time according to different objectives of the operation
  • the different parts have simple overall structure and good stability.
  • the present invention is equipped with a rotating mechanism on the end effector.
  • the nut cutter can be rotated to adapt it to any angle of the screw hole on the busbar connecting plate, and it can be rotated when the T-shaped clamp is installed.
  • the bolt fixing plate makes it adapt to any angle of the screw hole on the busbar connecting plate.
  • Fig. 1 is a schematic diagram of the working process of the present invention when removing the T-shaped clamp of the high-voltage line.
  • Figure 2 is a schematic diagram of the working process of the present invention when installing the T-clamp of the high-voltage line.
  • Figure 3 is a schematic diagram of the overall structure of the present invention.
  • Figure 4 is a schematic diagram of the structure of the four-axis platform in the present invention.
  • Figure 5 is a schematic diagram of the structure of the equipotential mechanism of the present invention.
  • Figure 6 is a schematic diagram of the structure of the end effector used during disassembly in the present invention.
  • Figure 7 is a schematic diagram of the structure of the end effector used in the installation of the present invention.
  • Fig. 8 is a schematic diagram of the structure of the guide rail mechanism in the present invention.
  • Fig. 9 is a schematic diagram of the structure of the T-shaped clamp of the high-voltage line of the present invention.
  • Fig. 10 is a schematic diagram of the left side view of Fig. 9.
  • each reference number in the figure is: lifting platform 1, four-axis platform 2, first X-direction guide mechanism 21, first Y-direction guide mechanism 22, first rotation Mechanism 23, first Z-direction guide mechanism 24, hook 25, equipotential mechanism 26, cross bar 261, inclined rod 262, pneumatic push rod 263, clamping jaw 264, bottom plate 211, linear guide 212, mounting plate 213, screw 214 , Motor and reducer 215, end effector 3, overall frame 31, damping wheel 32, second X-direction guide mechanism 33, second Y-direction guide mechanism 34, second Z-direction guide mechanism 35, nut breaker 36 , The second rotating mechanism 37, the sub-line connecting plate gripper 38, the third X-direction guide mechanism 39, the third Y-direction guide mechanism 310, the third Z-direction guide mechanism 311, electric wrench 312, nut library 313, bolt fixing plate 314, high-voltage bus 41, branch line 42, high-voltage line T-shaped clamp
  • the device for disassembling T-clamps of high-voltage lines in live operation includes a lifting platform 1, a four-axis platform 2 and an end effector 3.
  • the lifting platform 1 can be a common lifting platform such as a Taiwan HOULAR brand QYCY mobile lifting platform to meet the lifting requirements.
  • the four-axis platform 2 is fixed on the upper surface of the lifting platform 1 by bolts.
  • the end effector 3 is hung on the four-axis platform 2 through a hook 25.
  • the motion relationship between the four-axis platform 2 and the end effector 3 is mostly composed of guide rail mechanisms, and the guide rail mechanisms are all the same in structure, consisting of a bottom plate 211, a linear guide 212, a mounting plate 213, and a screw rod. 214, a motor and a reducer 215, which can form a linear motion pair through the installation of the mounting plate 213 and other components.
  • the four-axis platform 2 is mainly composed of a first X-direction guide rail mechanism 21, a first Y-direction guide rail mechanism 22, a first Z-direction guide rail mechanism 24, a first turning mechanism 23, an equipotential mechanism 26 and a hook 25 .
  • the first Y-direction guide rail mechanism 22 is installed on two first X-direction guide rail mechanisms 21 parallel to each other by bolt connection.
  • the first turning mechanism 23 is fixed on the first Y-direction rail mechanism 22 by bolt connection.
  • the first Z-direction guide rail mechanism 24 is fixed on the first turning mechanism 23 by bolt connection.
  • the hook 25 is fixed on the first Z-direction rail mechanism 24 by welding.
  • the equipotential mechanism 26 is fixed on the side of the first Z-direction guide rail mechanism 24 by bolt connection.
  • the equipotential mechanism 26 includes a cross bar 261, a variable-length inclined rod 262, a pneumatic push rod 263 and a clamping jaw 264.
  • the equipotential mechanism 26 can achieve a certain distance up and down adjustment to clamp the high voltage bus 41.
  • the end effector 3 is mainly composed of an integral frame 31, a shock-absorbing wheel 32, a guide rail moving mechanism, a nut breaker 36, a second rotating mechanism 37 and a sub-line connecting plate gripper 38.
  • the rail moving mechanism includes a second X-direction rail mechanism 33, a second Y-direction rail mechanism 34, and a second Z-direction rail mechanism 35.
  • the second Y-direction guide rail mechanism 34 and the sub-line connecting plate gripper 38 are installed on the integral frame 31 by bolt connection.
  • the second Z-direction rail mechanism 35 is installed on the mounting plate of the second Y-direction rail mechanism 34 by bolt connection.
  • the second X-direction guide rail mechanism 33 is installed on the mounting plate of the second Z-direction guide rail mechanism 35 by bolt connection.
  • the second turning mechanism 37 is installed on the mounting plate of the third X-direction guide rail mechanism 33 by bolt connection.
  • the nut cutter 36 is fixed on the second rotating mechanism 37 by bolt connection.
  • the nut breaker 36 can adopt the HHQ-1924 split nut breaker to meet the requirements of this embodiment.
  • the sub-line connecting plate gripper 38 includes two claws driven by a decelerating motor, and the two claws can be simultaneously closed or separated under the drive of the decelerating motor to clamp or loosen the sub-line connecting plate 52.
  • the geared motor is fixed on the side wall of the integral frame 31, and the side wall of the integral frame 31 is provided with a through hole for two claws to pass through.
  • Both the first slewing mechanism 23 and the second slewing mechanism 37 include a motor and a slewing reducer, which can realize unlimited circular rotation and deceleration.
  • the working mode of this embodiment is as follows:
  • the high-voltage line T-shaped clamp 5 includes a bus-bar connecting plate 51 connected to the high-voltage bus bar 41 and a sub-line connecting plate 52 connected to the branch line 42, as shown in FIGS. 9 and 10.
  • the lifting platform 1 lifts the four-axis platform 2 and the end effector 3 below the high-voltage bus 41.
  • the four-axis platform 2 aligns the equipotential mechanism 26 installed at its end with the high-voltage bus 41. Establish equipotential relationship.
  • the four-axis platform 2 hangs the end effector 3 installed at its end on the high-voltage bus 41, and then detaches the end effector 3 from the hook 25 of the four-axis platform 2.
  • the end effector 3 is hung on the high-voltage bus 41 through the damping wheel 32, the sub-line connecting plate 52 connected to the branch line 42 is grasped by the sub-line connecting plate gripper 38, and then the second X direction on the end effector 3 is used
  • the rail mechanism 33, the second Y-direction rail mechanism 34, the second Z-direction rail mechanism 35, and the second turning mechanism 37 are aligned with the bolts, and the nut breaker 36 at the end of the second turning mechanism 37 is used to break the nut.
  • the four-axis platform 2 hooks the end effector 3 again, the equipotential mechanism 26 is separated from the high-voltage bus 41, and the lifting platform 1 brings the four-axis platform 2 and the end effector 3 back to the ground.
  • the staff prepares for the operation of the device for disassembling the T-clamp of the high-voltage line in the live operation described in this embodiment, checks the weather conditions, checks the number of the tower, arranges the site, and checks and tests the tools;
  • a control cabinet, a communication module, and a power supply battery can also be installed on the lifting platform 1, and then a camera capable of collecting images of operating scenes can be installed on the end effector 3 to realize remote control of the lifting platform 1, the four-axis mechanism 2, The end effector 3 completes the work.
  • the device for installing a high-voltage line T-clamp for live work in this embodiment includes a lifting platform 1, a four-axis platform 2 and an end effector 3.
  • the lifting platform 1 can be a common lifting platform such as a Taiwan HOULAR brand QYCY mobile lifting platform to meet the lifting requirements.
  • the four-axis platform 2 is fixed on the upper surface of the lifting platform 1 by bolts.
  • the end effector 3 is hung on the four-axis platform 2 through a hook 25.
  • the motion relationship between the four-axis platform 2 and the end effector 3 is mostly composed of guide rail mechanisms, and the guide rail mechanisms are all the same in structure, consisting of a bottom plate 211, a linear guide 212, a mounting plate 213, and a screw rod. 214, a motor and a reducer 215, which can form a linear motion pair through the installation of the mounting plate 213 and other components.
  • the four-axis platform 2 is mainly composed of a first X-direction guide rail mechanism 21, a first Y-direction guide rail mechanism 22, a first Z-direction guide rail mechanism 24, a first turning mechanism 23, an equipotential mechanism 26 and a hook 25 .
  • the first Y-direction guide rail mechanism 22 is installed on two first X-direction guide rail mechanisms 21 parallel to each other by bolt connection.
  • the first turning mechanism 23 is fixed on the first Y-direction rail mechanism 22 by bolt connection.
  • the first Z-direction guide rail mechanism 24 is fixed on the first turning mechanism 23 by bolt connection.
  • the hook 25 is fixed on the first Z-direction rail mechanism 24 by welding.
  • the equipotential mechanism 26 is fixed on the side of the first Z-direction guide rail mechanism 24 by bolt connection.
  • the equipotential mechanism 26 includes a cross bar 261, a variable-length inclined rod 262, a pneumatic push rod 263 and a clamping jaw 264.
  • the equipotential mechanism 26 can achieve a certain distance up and down adjustment to clamp the high voltage bus 41.
  • the end effector 3 is mainly composed of an integral frame 31, a shock-absorbing wheel 32, a left-direction guide mechanism, a right-direction guide mechanism, a second rotation mechanism 37, an electric wrench 312, and a sub-line connecting plate gripper 38 , Bolt fixing plate 314 and nut library 313 are composed.
  • the left-direction guide rail mechanism includes a second X-direction guide rail mechanism 33, a second Y-direction guide rail mechanism 34, and a second Z-direction guide rail mechanism 35.
  • the right-direction guide rail mechanism includes a third X-direction guide rail mechanism 39, a third Y-direction guide rail mechanism 310, and a third Z-direction guide rail mechanism 311.
  • the second Y-direction guide rail mechanism 34, the third Y-direction guide rail mechanism 310, the nut storage 313, and the sub-line connecting plate gripper 38 are installed on the integral frame 31 by bolt connection.
  • the second Z-direction rail mechanism 35 is installed on the mounting plate of the second Y-direction rail mechanism 34 by bolt connection.
  • the third Z-direction rail mechanism 311 is installed on the mounting plate of the third Y-direction rail mechanism 310 by bolt connection.
  • the second X-direction guide rail mechanism 33 is installed on the mounting plate of the second Z-direction guide rail mechanism 35 by bolt connection.
  • the third X-direction rail mechanism 39 is installed on the mounting plate of the third Z-direction rail mechanism 311 through bolt connection.
  • the second turning mechanism 37 is installed on the mounting plate of the third X-direction guide rail mechanism 39 through bolt connection.
  • the bolt fixing plate 314 is fixed on the second rotating mechanism 37 by bolt connection.
  • the electric wrench 312 is installed on the mounting plate of the second X-direction rail mechanism 33 by bolt connection.
  • a nut library 313 needs to be provided to carry the excess nuts, so as to cooperate with the electric wrench 312 for assembly work.
  • the electric wrench 312 can adopt a P1D-600 adjustable electric wrench to meet the requirements of this embodiment.
  • the sub-line connecting plate gripper 38 includes two claws driven by a decelerating motor, and the two claws can be simultaneously closed or separated under the drive of the decelerating motor to clamp or loosen the sub-line connecting plate 52.
  • the geared motor is fixed on the side wall of the integral frame 31, and the side wall of the integral frame 31 is provided with a through hole for two claws to pass through.
  • Both the first slewing mechanism 23 and the second slewing mechanism 37 include a motor and a slewing reducer, which can realize unlimited circular rotation and deceleration.
  • the high-voltage line T-shaped clamp 5 includes a bus-bar connecting plate 51 connected to the high-voltage bus bar 41 and a sub-line connecting plate 52 connected to the branch line 42, as shown in FIGS. 9 and 10.
  • a bolt is placed on the sub-line connecting plate 52, and the bolt is passed through the bolt-fixing plate 314 on the end effector 3, and the sub-line connecting plate 52 is fixed by the sub-line connecting plate gripper 38.
  • the lifting platform 1 lifts the four-axis platform 2 and the end effector 3 below the high-voltage bus 4.
  • the four-axis platform 2 aligns the equipotential mechanism 26 installed at its end with the high-voltage bus 4, and the equipotential mechanism 26 is immediately aligned with the high-voltage bus 4. Establish an equipotential relationship.
  • the four-axis platform 2 hangs the end effector 3 installed at its end on the high-voltage bus 4, and then detaches the end effector 3 from the hook 25 of the four-axis platform 2.
  • the end effector 3 is hung on the high-voltage bus 4 through the damping wheel 32, and the sub-lines are connected by the third X-direction guide mechanism 39, the third Y-direction guide mechanism 310, the third Z-direction guide mechanism 311, and the second rotation mechanism 37
  • the plate 52 is aligned with the busbar connecting plate 51, and the bolts between the sub-line connecting plate 52 and the busbar connecting plate 51 are tightened by an electric wrench 312.
  • the sub-line connecting plate gripper 38 loosens the sub-line connecting plate 52, the four-axis platform 2 hooks the end effector 3 through the hook 25 again, the equipotential mechanism 26 is separated from the high-voltage bus 4, and the lifting platform 1 carries four The shaft platform 2 and the end effector 3 return to the ground.
  • the staff prepares for the installation of the T-clamp device for the high-voltage line for live work described in this embodiment, checks the meteorological conditions, checks the number of the tower, arranges the site, and checks and tests the tools;
  • a control cabinet, a communication module, and a power supply battery can also be installed on the lifting platform 1, and then a camera capable of collecting images of operating scenes can be installed on the end effector 3 to realize remote control of the lifting platform 1, the four-axis mechanism 2, The end effector 3 completes the work.
  • the operator can complete the installation task of the high-voltage line T-clamp 5 by operating the control box on the ground.
  • the operator can stay away from high altitude and dangerous
  • the working environment can avoid accidents such as electric shock and falling from high altitude; it can improve the intelligence, safety and timeliness of live working, reduce the labor intensity of operators, reduce the hazards of high-voltage and strong magnetic fields to the human body, and ensure the continuity of power supply and Reliability can effectively improve the automation level of live work in the power industry and reduce the risk of live work.

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Abstract

一种带电作业拆卸和安装高压线T型线夹的装置，包括升降平台（1）、四轴平台（2）和末端执行机构（3）；四轴平台（2）和末端执行机构（3）均为可导电结构；四轴平台（2）固定安装于升降平台（1）的顶部，四轴平台（2）与升降平台（1）之间设有绝缘层；四轴平台（2）可沿X、Y、Z方向移动以及绕Z方向转动；四轴平台（2）上设有等电位机构（26）；末端执行机构（3）可拆卸地扣接于四轴平台（2）上；末端执行机构（3）上设有可沿X、Y、Z方向移动的螺栓松紧机构（312）或螺母破切器（36）。该装置代替了人工带电作业的方式，能使操作人员远离高空、危险的作业环境，避免触电、高空坠落等意外情况的发生；能够在带电的情况下通过末端执行机构对高压线T型线夹进行拆除或安装作业，避免了停电带来的负面影响，提高供电可靠性。

Description

一种带电作业拆卸和安装高压线T型线夹的装置 技术领域
本发明属于电力检修工程设备领域，具体涉及到一种带电作业拆卸和安装高压线T型线夹的装置。
背景技术
变电站高压线路分布着密密麻麻的高压线T型线夹，其作用是将高压线路向各个城市、乡镇进行分流。但由于高压线T型线夹常年裸露在室外，极易受到天气和环境的影响，例如降雪和刮风会导致高压线产生振动，使得连接板上的螺栓发生松动产生电火花，引发断线事故；同时恶劣环境下连接板上的螺栓也会遭受严重腐蚀，与连接板形成粘接，容易造成事故。因此，高压线T型线夹螺栓的松动或锈蚀现象，不仅是影响电网安全平稳运行的潜在隐患，而且也是对断电片区造成巨大经济损失的主要根源。
在高压线T型线夹螺栓出现松动或锈蚀时，需要及时对螺栓进行更换，以免酿成事故。更换螺栓时若断掉高压母线端电流，会造成母线供电区域停电，对生产、生活造成难以估量的经济损失。故目前一般采用人工在高空与高压母线先建立等电位，再对连接板螺栓进行拆装以完成更换。这种方法基于人工在等电位状态下对高压线T型线夹进行带电作业，作业时会受到带电作业距离的限制，导致作业人员难以施展动作，因而引起螺栓紧固扭矩未能达到国家标准，甚至出现扳手套筒无法套住螺栓的情况。此外，人工等电位带电作业必须经调度部门批准才能进行，其审批流程较为繁琐，导致出现松动或锈蚀的螺栓难以得到及时更换，增加了发生事故的风险。
发明内容
本发明的第一目的在于提供一种带电作业拆卸高压线T型线夹的装置，以 替代直接人工作业的方式，实现在带电的情况下安全拆卸高压线T型线夹。
为了实现上述目的，本发明采用的技术方案如下：
一种带电作业拆卸高压线T型线夹的装置，包括升降平台、四轴平台和末端执行机构；四轴平台和末端执行机构均为可导电结构；
四轴平台固定安装于升降平台的顶部，四轴平台与升降平台之间设有绝缘层；四轴平台可沿X、Y、Z方向移动以及绕Z方向转动；四轴平台上设有可与高压母线建立等电位关系的等电位机构；
末端执行机构可拆卸地扣接于四轴平台上；末端执行机构包括倒“L”形的整体框架，整体框架的顶壁连接有可在高压母线上行走的减震轮；整体框架的侧壁上连接有可沿X、Y、Z方向移动的导轨移动机构；导轨移动机构上连接有用于破碎螺母的螺母破切器；整体框架侧壁的底部设有用于夹持分支线的子线连接板抓手。
根据上述方案，所述四轴平台包括第一X方向导轨机构、第一Y方向导轨机构、第一Z方向导轨机构和第一回转机构；第一X方向导轨机构和第一Y方向导轨机构均水平设置；第一X方向导轨机构固定安装于升降平台的顶部并与升降平台之间设有绝缘层；第一Y方向导轨机构固定安装于第一X方向导轨机构的顶部并垂直于第一X方向导轨机构设置；第一Z方向导轨机构竖向设置并同时垂直于第一X方向导轨机构和第一Y方向导轨机构设置，第一Z方向导轨机构的底部通过第一回转机构连接于第一Y方向导轨机构的顶部；所述等电位机构固定连接于第一Z方向导轨机构上，第一Z方向导轨机构上还设有用于扣接末端执行机构的挂钩。
进一步的，所述第一X方向导轨机构、第一Y方向导轨机构和第一Z方向导轨机构的结构相同，均包括底板、直线导轨、安装板、丝杆、电机及减速器；底板和安装板相对平行设置；丝杆位于底板长度方向的中线上，两个直线导轨 分别设于丝杆的两侧且平行丝杆设置，丝杆的一端与电机及减速器配合连接；安装板的两端分别设有一个滑块并可在直线导轨内自由滑动，安装板的中部设有内螺纹并与丝杆配合连接；
所述第一X方向导轨机构的底板固定安装于升降平台的顶部并与升降平台之间设有绝缘层；所述第一Y方向导轨机构的底板固定连接于第一X方向导轨机构的安装板上；第一Z方向导轨机构的底板的下端通过第一回转机构连接于第一Y方向导轨机构的安装板上；所述等电位机构固定于第一Z方向导轨机构的底板上；所述挂钩固定连接于第一Z方向导轨机构的安装板上。
进一步的，所述等电位机构包括水平设置的横杆、倾斜设置且长度可变的斜杆、竖向设置的气动推杆和安装于气动推杆顶部的夹爪；横杆的一端、斜杆的上端以及气动推杆的下端铰接到一起，横杆的另一端以及斜杆的下端分别铰接到第一Z方向导轨机构的底板上。
根据上述方案，所述导轨移动机构包括第二X方向导轨机构、第二Y方向导轨机构、第二Z方向导轨机构；
第二X方向导轨机构，第二Y方向导轨机构，第二Z方向导轨机构的结构相同，均包括底板、直线导轨、安装板、丝杆、电机及减速器；底板和安装板相对平行设置；丝杆位于底板长度方向的中线上，两个直线导轨分别设于丝杆的两侧且平行丝杆设置，丝杆的一端与电机及减速器配合连接；安装板的两端分别设有一个滑块并可在直线导轨内自由滑动，安装板的中部设有内螺纹并与丝杆配合连接；
第二Y方向导轨机构的底板固定于整体框架的侧壁上；第二Z方向导轨机构的底板与第二Y方向导轨机构的安装板固定连接；第二X方向导轨机构的底板的一端与第二Z方向导轨机构的安装板固定连接；所述螺母破切器安装于第二X方向导轨机构的安装板上。
根据上述方案，所述螺母破切器与第二X方向导轨机构的安装板之间连接有第二回转机构。
本发明的第二目的在于提供一种带电作业安装高压线T型线夹的装置，以替代直接人工作业的方式，实现在带电的情况下安全安装高压线T型线夹。
为了实现上述目的，本发明采用的技术方案如下：
一种带电作业安装高压线T型线夹的装置，包括升降平台、四轴平台和末端执行机构；四轴平台和末端执行机构均为可导电结构；
四轴平台固定安装于升降平台的顶部，四轴平台与升降平台之间设有绝缘层；四轴平台可沿X、Y、Z方向移动以及绕Z方向转动；四轴平台上设有可与高压母线建立等电位关系的等电位机构；
末端执行机构可拆卸地扣接于四轴平台上；末端执行机构包括倒“L”形的整体框架，整体框架的顶壁连接有可在高压母线上行走的减震轮；整体框架侧壁的左侧和右侧分别设有左方向导轨机构和右方向导轨机构，左方向导轨机构和右方向导轨机构均可沿X、Y、Z方向移动；左方向导轨机构上连接有用于松紧螺母的电动扳手；右方向导轨机构上连接有螺栓固定板；整体框架侧壁的底部设有用于夹持分支线的子线连接板抓手。
根据上述方案，所述四轴平台包括第一X方向导轨机构、第一Y方向导轨机构、第一Z方向导轨机构和第一回转机构；第一X方向导轨机构和第一Y方向导轨机构均水平设置；第一X方向导轨机构固定安装于升降平台的顶部并与升降平台之间设有绝缘层；第一Y方向导轨机构固定安装于第一X方向导轨机构的顶部并垂直于第一X方向导轨机构设置；第一Z方向导轨机构竖向设置并同时垂直于第一X方向导轨机构和第一Y方向导轨机构设置，第一Z方向导轨机构的底部通过第一回转机构连接于第一Y方向导轨机构的顶部；所述等电位机构固定连接于第一Z方向导轨机构上，第一Z方向导轨机构上还设有用于扣 接末端执行机构的挂钩。
进一步的，所述第一X方向导轨机构、第一Y方向导轨机构和第一Z方向导轨机构的结构相同，均包括底板、直线导轨、安装板、丝杆、电机及减速器；底板和安装板相对平行设置；丝杆位于底板长度方向的中线上，两个直线导轨分别设于丝杆的两侧且平行丝杆设置，丝杆的一端与电机及减速器配合连接；安装板的两端分别设有一个滑块并可在直线导轨内自由滑动，安装板的中部设有内螺纹并与丝杆配合连接；
所述第一X方向导轨机构的底板固定安装于升降平台的顶部并与升降平台之间设有绝缘层；所述第一Y方向导轨机构的底板固定连接于第一X方向导轨机构的安装板上；第一Z方向导轨机构的底板的下端通过第一回转机构连接于第一Y方向导轨机构的安装板上；所述等电位机构固定于第一Z方向导轨机构的底板上；所述挂钩固定连接于第一Z方向导轨机构的安装板上。
进一步的，所述等电位机构包括水平设置的横杆、倾斜设置且长度可变的斜杆、竖向设置的气动推杆和安装于气动推杆顶部的夹爪；横杆的一端、斜杆的上端以及气动推杆的下端铰接到一起，横杆的另一端以及斜杆的下端分别铰接到第一Z方向导轨机构的底板上。
根据上述方案，所述左方向导轨机构包括第二X方向导轨机构、第二Y方向导轨机构和第二Z方向导轨机构；所述右方向导轨机构包括第三X方向导轨机构、第三Y方向导轨机构和第三Z方向导轨机构；
所述第二X方向导轨机构、第二Y方向导轨机构、第二Z方向导轨机构、第三X方向导轨机构、第三Y方向导轨机构和第三Z方向导轨机构的结构相同，均包括底板、直线导轨、安装板、丝杆、电机及减速器；底板和安装板相对平行设置；丝杆位于底板长度方向的中线上，两个直线导轨分别设于丝杆的两侧且平行丝杆设置，丝杆的一端与电机及减速器配合连接；安装板的两端分别设有一个滑块并可在直线导轨内自由滑动，安装板的中部设有内螺纹并与丝杆配 合连接；
第二Y方向导轨机构的底板固定于整体框架的侧壁上；第二Z方向导轨机构的底板与第二Y方向导轨机构的安装板固定连接；第二X方向导轨机构的底板的一端与第二Z方向导轨机构的安装板固定连接；所述电动扳手安装于第二X方向导轨机构的安装板上；
第三Y方向导轨机构的底板固定于整体框架的侧壁上；第三Z方向导轨机构的底板与第三Y方向导轨机构的安装板固定连接；第三X方向导轨机构的底板的一端与第三Z方向导轨机构的安装板固定连接；所述螺栓固定板安装于第三X方向导轨机构的安装板上。
进一步的，所述螺栓固定板与第三X方向导轨机构的安装板之间还连接有第二回转机构。
根据上述方案，所述整体框架的侧壁上还设有用于放置螺母的螺母库。
与现有技术相比，本发明具有以下有益效果：
(1)本发明通过机械机构的形式代替了人工带电作业的方式，降低了作业危险性并提高了作业效率，能使操作人员远离高空、危险的作业环境，避免触电、高空坠落等意外情况的发生；能够在带电的情况下通过末端执行机构对高压线T型线夹进行拆除或安装，避免了停电带来的负面影响，提高供电可靠性。
(2)本发明作业时末端执行机构是悬挂在高压架空线上，可避免升降平台产生的抖动；采用升降平台、四轴平台和末端执行机构的组合工作方式，可根据作业的不同目标随时更换不同的部分，整体结构简单，稳定性好。
(3)本发明在末端执行机构上设有回转机构，在拆卸T型线夹时能够旋转螺母破切器使其适应母线连接板上螺孔的任意角度，在安装T型线夹时能够旋转螺栓固定板使其适应母线连接板上螺孔的任意角度。
附图说明
图1为本发明进行高压线T型线夹拆卸时的工作流程示意图。
图2为本发明进行高压线T型线夹安装时的工作流程示意图。
图3为本发明的整体结构示意图。
图4为本发明中四轴平台的结构示意图。
图5为本发明中等电位机构的结构示意图。
图6为本发明中拆卸时采用的末端执行机构的结构示意图。
图7为本发明中安装时采用的末端执行机构的结构示意图。
图8为本发明中导轨机构的结构示意图。
图9为本发明中高压线T型线夹的结构示意图。
图10为图9的左视结构示意图。
具体实施方式
下面结合附图对本发明的具体实施方式作进一步说明，图中各标号的释义为：升降平台1，四轴平台2，第一X方向导轨机构21，第一Y方向导轨机构22，第一回转机构23，第一Z方向导轨机构24，挂钩25，等电位机构26，横杆261，斜杆262，气动推杆263，夹爪264，底板211，直线导轨212，安装板213，丝杆214，电机及减速器215，末端执行机构3，整体框架31，减震轮32，第二X方向导轨机构33，第二Y方向导轨机构34，第二Z方向导轨机构35，螺母破切器36，第二回转机构37，子线连接板抓手38，第三X方向导轨机构39，第三Y方向导轨机构310，第三Z方向导轨机构311，电动扳手312，螺母库313，螺栓固定板314，高压母线41，分支线42，高压线T型线夹5，母线连接板51，子线连接板52。
为了说明本发明的技术方案及技术目的，下面结合附图及具体实施例对本发明做进一步的介绍。
实施例1
如图3所示，本实施例所述的一种带电作业拆卸高压线T型线夹的装置包括升降平台1、四轴平台2和末端执行机构3。
所述升降平台1可采用台湾HOULAR牌QYCY型移动式升降台等常见升降平台即可满足升降要求。
所述四轴平台2通过螺栓固定在升降平台1上表面。所述末端执行机构3通过挂钩25挂在四轴平台2上。
如图8所示，所述四轴平台2和末端执行机构3中的运动关系多由导轨机构组成，其所述导轨机构结构均相同，由底板211、直线导轨212、安装板213、丝杆214、电机及减速器215组成，可通过安装板213的安装与其他部件形成直线运动副。
如图4所示，四轴平台2主要由第一X方向导轨机构21、第一Y方向导轨机构22、第一Z方向导轨机构24、第一回转机构23、等电位机构26和挂钩25组成。所述第一Y方向导轨机构22通过螺栓连接安装在两个相互平行的第一X方向导轨机构21上。所述第一回转机构23通过螺栓连接固定在第一Y方向导轨机构22上。所述第一Z方向导轨机构24通过螺栓连接固定在第一回转机构23上。所述挂钩25通过焊接的方式固定在第一Z方向导轨机构24上。所述等电位机构26通过螺栓连接固定在第一Z方向导轨机构24侧面。
如图5所示，等电位机构26包括横杆261、长度可变的斜杆262、气动推杆263和夹爪264，等电位机构26可实现一定距离的上下调节以夹持高压母线41。
如图6所示，所述末端执行机构3主要由整体框架31、减震轮32、导轨移动机构、螺母破切器36、第二回转机构37和子线连接板抓手38组成。
所述导轨移动机构包括第二X方向导轨机构33、第二Y方向导轨机构34、第二Z方向导轨机构35。
所述第二Y方向导轨机构34和子线连接板抓手38通过螺栓连接安装在整体框架31上。所述第二Z方向导轨机构35通过螺栓连接安装在第二Y方向导轨机构34的安装板上。所述第二X方向导轨机构33通过螺栓连接安装在第二Z方向导轨机构35的安装板上。所述第二回转机构37通过螺栓连接安装在第三X方向导轨机构33的安装板上。所述螺母破切器36通过螺栓连接固定在第二回转机构37上。
螺母破切器36可采用HHQ-1924型分体式螺母破拆器即可满足本实施例的需求。
子线连接板抓手38包括两个由减速电机驱动的爪手，两个爪手在减速电机的驱动下可实现同时合拢或分离以对子线连接板52实现夹紧或松开。而减速电机则固定在整体框架31的侧壁上，整体框架31的侧壁上则设有供两个爪手通过的通孔。
第一回转机构23和第二回转机构37均包括电机和回转减速器，可实现无限制的圆周回转和减速。
如图1所示，本实施例的工作方式如下：
高压线T型线夹5包括与高压母线41连接的母线连接板51及与分支线42连接的子线连接板52，如图9和图10所示。升降平台1将四轴平台2、末端执行机构3抬升至高压母线41下方，四轴平台2将安装在其端部的等电位机构26对准高压母线41，等电位机构26马上与高压母线41建立等电位关系。四轴平台2将安装在其末端的末端执行机构3挂在高压母线41上，然后将末端执行机 构3从四轴平台2的挂钩25上脱离。
末端执行机构3通过减震轮32挂在高压母线41上，通过子线连接板抓手38抓住与分支线42连接的子线连接板52，然后利用末端执行机构3上的第二X方向导轨机构33、第二Y方向导轨机构34、第二Z方向导轨机构35和第二回转机构37对准螺栓，使用第二回转机构37的末端的螺母破切器36对螺母进行破拆。完成螺母的破拆后，四轴平台2重新钩住末端执行机构3，等电位机构26脱离高压母线41，升降平台1带着四轴平台2、末端执行机构3回到地面。
具体包含以下步骤：
1、工作人员进行本实施例所述的一种带电作业拆卸高压线T型线夹的装置的作业准备，检查气象条件、核对杆塔号、布置现场、对工具进行检查测试；
1.1检查气象条件、周围环境、线路装置和安全措施；
1.2布置现场：在工作现场设置安全护栏、作业标志、和相关警示标志；
1.3对整个装置进行检查调试，确保无误。
2、将升降平台1移动至待作业高压线T型线夹5附近位置。
3、拆除高压线T型线夹；
3.1在地面由工作人员将末端执行机构3通过挂钩25挂在四轴平台2上面；
3.2操作升降平台1将四轴平台2和末端执行机构3升到一定高度；
3.3利用四轴平台2上面的第一X方向导轨机构21和第一Y方向导轨机构22的向上运动，将末端执行机构3的减震轮32抬升至高压母线41附近；
3.4旋转第一回转机构23使得末端执行机构3的整体框架31与高压母线41平行；
3.5随后通过第一X方向导轨机构21和第一Y方向导轨机构22在平面上 的运动，将末端执行机构3的减震轮32移动至高压母线41的正上方；
3.6第一Z方向导轨机构24向下运动，末端执行机构3通过减震轮32挂在高压母线41上；
3.7子线连接板抓手38夹住高压分支线42部分，此时末端执行机构3已经和高压线成为一个整体；
3.8运动第二X方向导轨机构33和第二Z方向导轨机构35将螺母破切器36对准螺母；
3.9然后旋转第二回转机构37，将螺母破切器36对准目标螺栓的螺母；
3.10运动第二Y方向导轨机构34将螺母破切器36卡进目标螺栓的螺母；
3.11接着驱动螺母破切器36破坏目标螺栓的螺母；
3.12然后运动第二Y方向导轨机构34使螺母破切器36退出；
3.13依次完成上述3.8-3.12工序破坏高压线T型线夹5上所有螺栓的螺母，过程中始终保持子线连接板抓手38抓住高压分支线42部分。
4.四轴平台2逆向操作通过挂钩25将末端执行机构3勾住，末端执行机构3的子线连接板抓手38带着高压分支线42部分一起回到地面附近。
本实施例还可在升降平台1上设置控制柜、通信模块及供电电池，再配合在末端执行机构3上安装可采集作业场景图像的摄像头，以实现远程控制升降平台1、四轴机构2、末端执行机构3完成工作。通过设置控制柜、通信模块及摄像头，可以使操作人员远离高空、危险的作业环境，避免触电、高空坠落等意外情况的发生；可提高带电作业的智能性、安全性和时效性，减轻操作人员的劳动强度，降低高压强磁场对人体的危害，同时保证供电连续性及可靠性，可以有效提升电力行业带电作业自动化水平，降低带电作业风险。
实施例2
如图3所示，本实施例所述的一种带电作业安装高压线T型线夹的装置包括升降平台1、四轴平台2和末端执行机构3。
所述升降平台1可采用台湾HOULAR牌QYCY型移动式升降台等常见升降平台即可满足升降要求。
所述四轴平台2通过螺栓固定在升降平台1上表面。所述末端执行机构3通过挂钩25挂在四轴平台2上。
如图8所示，所述四轴平台2和末端执行机构3中的运动关系多由导轨机构组成，其所述导轨机构结构均相同，由底板211、直线导轨212、安装板213、丝杆214、电机及减速器215组成，可通过安装板213的安装与其他部件形成直线运动副。
如图4所示，四轴平台2主要由第一X方向导轨机构21、第一Y方向导轨机构22、第一Z方向导轨机构24、第一回转机构23、等电位机构26和挂钩25组成。所述第一Y方向导轨机构22通过螺栓连接安装在两个相互平行的第一X方向导轨机构21上。所述第一回转机构23通过螺栓连接固定在第一Y方向导轨机构22上。所述第一Z方向导轨机构24通过螺栓连接固定在第一回转机构23上。所述挂钩25通过焊接的方式固定在第一Z方向导轨机构24上。所述等电位机构26通过螺栓连接固定在第一Z方向导轨机构24侧面。
如图5所示，等电位机构26包括横杆261、长度可变的斜杆262、气动推杆263和夹爪264，等电位机构26可实现一定距离的上下调节以夹持高压母线41。
如图7所示，所述末端执行机构3主要由整体框架31、减震轮32、左方向导轨机构、右方向导轨机构、第二回转机构37、电动扳手312、子线连接板抓手38、螺栓固定板314和螺母库313组成。
所述左方向导轨机构包括第二X方向导轨机构33、第二Y方向导轨机构34和第二Z方向导轨机构35。所述右方向导轨机构包括第三X方向导轨机构39、第三Y方向导轨机构310和第三Z方向导轨机构311。
所述第二Y方向导轨机构34、第三Y方向导轨机构310、螺母库313和子线连接板抓手38通过螺栓连接安装在整体框架31上。所述第二Z方向导轨机构35通过螺栓连接安装在第二Y方向导轨机构34的安装板上。所述第三Z方向导轨机构311通过螺栓连接安装在第三Y方向导轨机构310的安装板上。所述第二X方向导轨机构33通过螺栓连接安装在第二Z方向导轨机构35的安装板上。所述第三X方向导轨机构39通过螺栓连接安装在第三Z方向导轨机构311的安装板上。所述第二回转机构37通过螺栓连接安装在第三X方向导轨机构39的安装板上。所述螺栓固定板314通过螺栓连接固定在第二回转机构37上。所述电动扳手312通过螺栓连接安装在第二X方向导轨机构33的安装板上。
当高压线T型线夹5的螺母数量大于一个时，则需要设置螺母库313来承载多余的螺母，以便于配合电动扳手312进行装配工作。电动扳手312可采用P1D-600可调式电动扳手即可满足本实施例的需求。
子线连接板抓手38包括两个由减速电机驱动的爪手，两个爪手在减速电机的驱动下可实现同时合拢或分离以对子线连接板52实现夹紧或松开。而减速电机则固定在整体框架31的侧壁上，整体框架31的侧壁上则设有供两个爪手通过的通孔。
第一回转机构23和第二回转机构37均包括电机和回转减速器，可实现无限制的圆周回转和减速。
如图2所示，本实施例的工作方式如下：
高压线T型线夹5包括与高压母线41连接的母线连接板51及与分支线42连接的子线连接板52，如图9和图10所示。位于地面时，在子线连接板52上 放置好螺栓，并将螺栓穿过末端执行机构3上面的螺栓固定板314，由子线连接板抓手38固定子线连接板52。
升降平台1将四轴平台2、末端执行机构3抬升至高压母线4下方，四轴平台2将安装在其端部的等电位机构26对准高压母线4，等电位机构26马上与高压母线4建立等电位关系。四轴平台2将安装在其末端的末端执行机构3挂在高压母线4上，然后将末端执行机构3从四轴平台2的挂钩25上脱离。
末端执行机构3通过减震轮32挂在高压母线4上，通过第三X方向导轨机构39、第三Y方向导轨机构310、第三Z方向导轨机构311和第二回转机构37将子线连接板52与母线连接板51对齐，通过电动扳手312将子线连接板52与母线连接板51之间的螺栓扭紧。螺栓扭紧后，子线连接板抓手38松开子线连接板52，四轴平台2重新通过挂钩25钩住末端执行机构3，等电位机构26脱离高压母线4，升降平台1带着四轴平台2、末端执行机构3回到地面。
具体包含以下步骤：
1、工作人员进行本实施例所述的一种带电作业安装高压线T型线夹的装置的作业准备，检查气象条件、核对杆塔号、布置现场、对工具进行检查测试；
1.1检查气象条件、周围环境、线路装置和安全措施；
1.2布置现场：在工作现场设置安全护栏、作业标志、和相关警示标志；
1.3对整个装置进行检查调试，确保无误。
2、将升降平台1移动至待作业高压线T型线夹5附近位置。
3、安装高压线T型线夹5；
3.1位于地面时在子线连接板52上放置好螺栓，并将螺栓穿过末端执行机构3上面的螺栓固定板314，由子线连接板抓手38固定子线连接板52；
3.2然后利用四轴平台2上面的第一Z方向导轨机构24的向上运动，将末端执行机构3的减震轮32抬升至高压母线4附近；
3.3驱动第一回转机构23使得末端执行机构3的整体框架31与高压母线4平行；
3.4随后通过第一X方向导轨机构21和第一Y方向导轨机构22在平面上的运动，将末端执行机构3的减震轮32移动至高压母线4的正上方；
3.5第一Z方向导轨机构24向下运动，末端执行机构3通过减震轮32挂在高压母线4上；
3.6运动第三X方向导轨机构39、第三Z方向导轨机构311和第二回转机构37将螺栓固定板314上的螺栓与高压母线4上的连接板螺栓孔对准；
3.7运动第三Y方向导轨机构310将螺栓固定板314卡进高压母线4上的连接板螺栓孔；
3.8运动第二X方向导轨机构33和第二Z方向导轨机构35将电动扳手312对准螺栓；
3.9运动第二Y方向导轨机构34将带有螺母的电动扳手312卡进目标螺栓；
3.10接着驱动电动扳手312安装好目标螺栓的螺母；
3.11然后运动第二Y方向导轨机构34使电动扳手312退出；再次运动第二X方向导轨机构33和第二Z方向导轨机构35将电动扳手312对准螺母库313里面的螺母；
3.12运动第二Y方向导轨机构34让电动扳手312取到螺母库313里面的螺母；
3.13接着运动第二Y方向导轨机构34使电动扳手312退出；
3.14然后依次完成上述3.8-3.13工序安装好高压线T型线夹5上所有螺栓的螺母；
3.15松开子线连接板抓手38，断开与子线连接板52的联系；
3.15最后四轴平台2逆向操作3.2-3.5通过挂钩25将末端执行机构3勾住，然后将其带回到地面。
本实施例还可在升降平台1上设置控制柜、通信模块及供电电池，再配合在末端执行机构3上安装可采集作业场景图像的摄像头，以实现远程控制升降平台1、四轴机构2、末端执行机构3完成工作。通过设置控制柜、通信模块及摄像头，可以使操作人员在地面通过对控制箱进行操作完成高压线T型线夹5的安装任务，相比于绝缘手套作业法，能使操作人员远离高空、危险的作业环境，避免触电、高空坠落等意外情况的发生；可提高带电作业的智能性、安全性和时效性，减轻操作人员的劳动强度，降低高压强磁场对人体的危害，同时保证供电连续性及可靠性，可以有效提升电力行业带电作业自动化水平，降低带电作业风险。
在本发明的描述中，需要说明的是，术语“上”“下”“前”“后”“左”“右”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示对本发明的限制或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。

Claims (13)

  1. 一种带电作业拆卸高压线T型线夹的装置，其特征在于，包括升降平台(1)、四轴平台(2)和末端执行机构(3)；四轴平台(2)和末端执行机构(3)均为可导电结构；四轴平台(2)固定安装于升降平台(1)的顶部，四轴平台(2)与升降平台(1)之间设有绝缘层；四轴平台(2)可沿X、Y、Z方向移动以及绕Z方向转动；四轴平台(2)上设有可与高压母线(41)建立等电位关系的等电位机构(26)；末端执行机构(3)可拆卸地扣接于四轴平台(2)上；末端执行机构(3)包括倒“L”形的整体框架(31)，整体框架(31)的顶壁连接有可在高压母线(41)上行走的减震轮(32)；整体框架(31)的侧壁上连接有可沿X、Y、Z方向移动的导轨移动机构；导轨移动机构上连接有用于破碎螺母的螺母破切器(36)；整体框架(31)侧壁的底部设有用于夹持分支线(42)的子线连接板抓手(38)。
  2. 根据权利要求1所述的一种带电作业拆卸高压线T型线夹的装置，其特征在于，所述四轴平台(2)包括第一X方向导轨机构(21)、第一Y方向导轨机构(22)、第一Z方向导轨机构(24)和第一回转机构(23)；第一X方向导轨机构(21)和第一Y方向导轨机构(22)均水平设置；第一X方向导轨机构(21)固定安装于升降平台(1)的顶部并与升降平台(1)之间设有绝缘层；第一Y方向导轨机构(22)固定安装于第一X方向导轨机构(21)的顶部并垂直于第一X方向导轨机构(21)设置；第一Z方向导轨机构(24)竖向设置并同时垂直于第一X方向导轨机构(21)和第一Y方向导轨机构(22)设置，第一Z方向导轨机构(24)的底部通过第一回转机构(23)连接于第一Y方向导轨机构(22)的顶部；所述等电位机构(26)固定连接于第一Z方向导轨机构(24)上，第一Z方向导轨机构(24)上还设有用于扣接末端执行机构(3)的挂钩(25)。
  3. 根据权利要求2所述的一种带电作业拆卸高压线T型线夹的装置，其特征在于，所述第一X方向导轨机构(21)、第一Y方向导轨机构(22)和第一Z方向导轨机构(24)的结构相同，均包括底板(211)、直线导轨(212)、安装板(213)、丝杆(214)、电机及减速器(215)；底板(211)和安装板(213)相对平行设置；丝杆(214)位于底板(211)长度方向的中线上，两个直线导轨(212)分别设于丝杆(214)的两侧 且平行丝杆(214)设置，丝杆(214)的一端与电机及减速器(215)配合连接；安装板(213)的两端分别设有一个滑块并可在直线导轨(212)内自由滑动，安装板(213)的中部设有内螺纹并与丝杆(214)配合连接；所述第一X方向导轨机构(21)的底板(211)固定安装于升降平台(1)的顶部并与升降平台(1)之间设有绝缘层；所述第一Y方向导轨机构(22)的底板(211)固定连接于第一X方向导轨机构(21)的安装板(213)上；第一Z方向导轨机构(24)的底板(211)的下端通过第一回转机构(23)连接于第一Y方向导轨机构(22)的安装板(213)上；所述等电位机构(26)固定于第一Z方向导轨机构(24)的底板(211)上；所述挂钩(25)固定连接于第一Z方向导轨机构(24)的安装板(213)上。
  4. 根据权利要求3所述的一种带电作业拆卸高压线T型线夹的装置，其特征在于，所述等电位机构(26)包括水平设置的横杆(261)、倾斜设置且长度可变的斜杆(262)、竖向设置的气动推杆(263)和安装于气动推杆(263)顶部的夹爪(264)；横杆(261)的一端、斜杆(262)的上端以及气动推杆(263)的下端铰接到一起，横杆(261)的另一端以及斜杆(262)的下端分别铰接到第一Z方向导轨机构(24)的底板(211)上。
  5. 根据权利要求1所述的一种带电作业拆卸高压线T型线夹的装置，其特征在于，所述导轨移动机构包括第二X方向导轨机构(33)、第二Y方向导轨机构(34)、第二Z方向导轨机构(35)；第二X方向导轨机构(33)，第二Y方向导轨机构(34)，第二Z方向导轨机构(35)的结构相同，均包括底板(211)、直线导轨(212)、安装板(213)、丝杆(214)、电机及减速器(215)；底板(211)和安装板(213)相对平行设置；丝杆(214)位于底板(211)长度方向的中线上，两个直线导轨(212)分别设于丝杆(214)的两侧且平行丝杆(214)设置，丝杆(214)的一端与电机及减速器(215)配合连接；安装板(213)的两端分别设有一个滑块并可在直线导轨(212)内自由滑动，安装板(213)的中部设有内螺纹并与丝杆(214)配合连接；第二Y方向导轨机构(34)的底板(211)固定于整体框架(31)的侧壁上；第二Z方向导轨机构(35)的底板(211)与第二Y方向导轨机构(34)的安装板(213)固定连接；第二X方 向导轨机构(33)的底板(211)的一端与第二Z方向导轨机构(35)的安装板(213)固定连接；所述螺母破切器(36)安装于第二X方向导轨机构(33)的安装板(213)上。
  6. 根据权利要求5所述的一种带电作业拆卸高压线T型线夹的装置，其特征在于，所述螺母破切器(36)与第二X方向导轨机构(33)的安装板(213)之间连接有第二回转机构(37)。
  7. 一种带电作业安装高压线T型线夹的装置，其特征在于，包括升降平台(1)、四轴平台(2)和末端执行机构(3)；四轴平台(2)和末端执行机构(3)均为可导电结构；四轴平台(2)固定安装于升降平台(1)的顶部，四轴平台(2)与升降平台(1)之间设有绝缘层；四轴平台(2)可沿X、Y、Z方向移动以及绕Z方向转动；四轴平台(2)上设有可与高压母线(41)建立等电位关系的等电位机构(26)；末端执行机构(3)可拆卸地扣接于四轴平台(2)上；末端执行机构(3)包括倒“L”形的整体框架(31)，整体框架(31)的顶壁连接有可在高压母线(41)上行走的减震轮(32)；整体框架(31)侧壁的左侧和右侧分别设有左方向导轨机构和右方向导轨机构，左方向导轨机构和右方向导轨机构均可沿X、Y、Z方向移动；左方向导轨机构上连接有用于松紧螺母的电动扳手(312)；右方向导轨机构上连接有螺栓固定板(314)；整体框架(31)侧壁的底部设有用于夹持分支线(42)的子线连接板抓手(38)。
  8. 根据权利要求7所述的一种带电作业安装高压线T型线夹的装置，其特征在于，所述四轴平台(2)包括第一X方向导轨机构(21)、第一Y方向导轨机构(22)、第一Z方向导轨机构(24)和第一回转机构(23)；第一X方向导轨机构(21)和第一Y方向导轨机构(22)均水平设置；第一X方向导轨机构(21)固定安装于升降平台(1)的顶部并与升降平台(1)之间设有绝缘层；第一Y方向导轨机构(22)固定安装于第一X方向导轨机构(21)的顶部并垂直于第一X方向导轨机构(21)设置；第一Z方向导轨机构(24)竖向设置并同时垂直于第一X方向导轨机构(21)和第一Y方向导轨机构(22)设置，第一Z方向导轨机构(24)的底部通过第一回转机构(23)连接于第一Y方向导轨机构(22)的顶部；所述等电位机构(26)固定连接于第一Z 方向导轨机构(24)上，第一Z方向导轨机构(24)上还设有用于扣接末端执行机构(3)的挂钩(25)。
  9. 根据权利要求8所述的一种带电作业安装高压线T型线夹的装置，其特征在于，所述第一X方向导轨机构(21)、第一Y方向导轨机构(22)和第一Z方向导轨机构(24)的结构相同，均包括底板(211)、直线导轨(212)、安装板(213)、丝杆(214)、电机及减速器(215)；底板(211)和安装板(213)相对平行设置；丝杆(214)位于底板(211)长度方向的中线上，两个直线导轨(212)分别设于丝杆(214)的两侧且平行丝杆(214)设置，丝杆(214)的一端与电机及减速器(215)配合连接；安装板(213)的两端分别设有一个滑块并可在直线导轨(212)内自由滑动，安装板(213)的中部设有内螺纹并与丝杆(214)配合连接；所述第一X方向导轨机构(21)的底板(211)固定安装于升降平台(1)的顶部并与升降平台(1)之间设有绝缘层；所述第一Y方向导轨机构(22)的底板(211)固定连接于第一X方向导轨机构(21)的安装板(213)上；第一Z方向导轨机构(24)的底板(211)的下端通过第一回转机构(23)连接于第一Y方向导轨机构(22)的安装板(213)上；所述等电位机构(26)固定于第一Z方向导轨机构(24)的底板(211)上；所述挂钩(25)固定连接于第一Z方向导轨机构(24)的安装板(213)上。
  10. 根据权利要求9所述的一种带电作业安装高压线T型线夹的装置，其特征在于，所述等电位机构(26)包括水平设置的横杆(261)、倾斜设置且长度可变的斜杆(262)、竖向设置的气动推杆(263)和安装于气动推杆(263)顶部的夹爪(264)；横杆(261)的一端、斜杆(262)的上端以及气动推杆(263)的下端铰接到一起，横杆(261)的另一端以及斜杆(262)的下端分别铰接到第一Z方向导轨机构(24)的底板(211)上。
  11. 根据权利要求7所述的一种带电作业安装高压线T型线夹的装置，其特征在于，所述左方向导轨机构包括第二X方向导轨机构(33)、第二Y方向导轨机构(34)和第二Z方向导轨机构(35)；所述右方向导轨机构包括第三X方向导轨 机构(39)、第三Y方向导轨机构(310)和第三Z方向导轨机构(311)；所述第二X方向导轨机构(33)、第二Y方向导轨机构(34)、第二Z方向导轨机构(35)、第三X方向导轨机构(39)、第三Y方向导轨机构(310)和第三Z方向导轨机构(311)的结构相同，均包括底板(211)、直线导轨(212)、安装板(213)、丝杆(214)、电机及减速器(215)；底板(211)和安装板(213)相对平行设置；丝杆(214)位于底板(211)长度方向的中线上，两个直线导轨(212)分别设于丝杆(214)的两侧且平行丝杆(214)设置，丝杆(214)的一端与电机及减速器(215)配合连接；安装板(213)的两端分别设有一个滑块并可在直线导轨(212)内自由滑动，安装板(213)的中部设有内螺纹并与丝杆(214)配合连接；第二Y方向导轨机构(34)的底板(211)固定于整体框架(31)的侧壁上；第二Z方向导轨机构(35)的底板(211)与第二Y方向导轨机构(34)的安装板(213)固定连接；第二X方向导轨机构(33)的底板(211)的一端与第二Z方向导轨机构(35)的安装板(213)固定连接；所述电动扳手(312)安装于第二X方向导轨机构(33)的安装板(213)上；第三Y方向导轨机构(310)的底板(211)固定于整体框架(31)的侧壁上；第三Z方向导轨机构(311)的底板(211)与第三Y方向导轨机构(310)的安装板(213)固定连接；第三X方向导轨机构(39)的底板(211)的一端与第三Z方向导轨机构(311)的安装板(213)固定连接；所述螺栓固定板(314)安装于第三X方向导轨机构(39)的安装板(213)上。
  12. 根据权利要求11所述的一种带电作业安装高压线T型线夹的装置，其特征在于，所述螺栓固定板(314)与第三X方向导轨机构(39)的安装板(213)之间连接有第二回转机构(37)。
  13. 根据权利要求7所述的一种带电作业安装高压线T型线夹的装置，其特征在于，所述整体框架(31)的侧壁上还设有用于放置螺母的螺母库(313)。
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