CN108616076A - A kind of method of hot line robot dismounting arrester - Google Patents
A kind of method of hot line robot dismounting arrester Download PDFInfo
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- CN108616076A CN108616076A CN201810227802.4A CN201810227802A CN108616076A CN 108616076 A CN108616076 A CN 108616076A CN 201810227802 A CN201810227802 A CN 201810227802A CN 108616076 A CN108616076 A CN 108616076A
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- arrester
- mechanical arm
- nut
- arm
- main mechanical
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The invention discloses a kind of method that hot line robot dismounts arrester, secondary mechanical arm clamping high-voltage connection makes it be completely disengaged with terminal bolt on arrester；Main mechanical arm pneumatic impact spanner moves down end nut on register arrester, unclamps arrester after top nut is reinstalled on arrester at bolt；Lower nut is removed in the rotation of main mechanical arm；Main mechanical arm clamping arrester makes bolt be detached from cross-arm, and the arrester removed is mounted on tool box；Main mechanical arm clamps new arrester, and removes lower nut；Main mechanical arm is clamped new arrester and is detached from tool box；New arrester is clamped in main mechanical arm, and lower end fixing bolt is made to be inserted on cross-arm；By lower nut and new arrester lower end of the bolt and tighten；Main mechanical arm firmly grasps new arrester, and removes top nut, and disengages it from bolt on arrester；Secondary mechanical arm clamping high-voltage connection end penetrates terminal bolt on new arrester；Main mechanical arm tightens top nut；The present invention improves the safety of dismounting arrester in the case where not powering off.
Description
Technical field
The invention belongs to robot control and electric power project engineering field, especially a kind of hot line robot dismounting is kept away
The method of thunder device.
Background technology
Metal oxide arrester is widely used in power train as the capital equipment of overvoltage protection in electric system
In system electric line.In the longtime running of power distribution network, it is broken that metal oxide arrester is likely to occur nut loosening, insulator
Split, rubber ring aging the problems such as, need replacing.Live-line replacing metal oxide arrester is mainly adopted in current power distribution circuit
With insulating glove working system, operating personnel needs to dress a full set of insulating protection apparatus in this kind of operational method, it is also necessary to people
The electrical body and grounding body that body may touch carry out insulation masking.But electric arc is often generated in replacement process, easily to operation
Personnel cause to burn；It needs to disconnect upper and lower lead in replacement process, also has the danger of electric shock；Operating personnel is exhausted
Operation in insulation bucket on edge bucket arm vehicle, there is the risk of high falling；It, may be due to the mistake of manual operation in operation process
Accidentally, phase fault event may be caused, is threatened to the personal safety of operating personnel.
Chinese Patent Application No. CN201611129533.5 discloses a kind of hot line robot strain insulator replacement
Method and Chinese Patent Application No. CN201611128518.9 disclose a kind of isolation switch replacement of hot line robot
Method is all made of robot and fulfils assignment task, but is required to coordinate using three mechanical arms, and narrow in insulation headwall vehicle
In space, control is more complicated for three mechanical arms, is easy to interfere with each other, collides and mechanical arm is made to damage.
Invention content
The purpose of the present invention is to provide a kind of methods that hot line robot dismounts arrester, to solve do not powering off
In the case of, dismount safety problem caused by arrester.
Realize that the technical solution of the object of the invention is：
A kind of method of hot line robot dismounting arrester, based on main mechanical arm, the secondary machinery on robot platform
The camera of arm and Collecting operation scene image data completes following work by control room control machinery arm：
Secondary mechanical arm clamping arrester upper end high-voltage connection；Main mechanical arm firmly grasps arrester upper end, main mechanical arm end gas
Arrester top nut is aligned and removes upper end nut by wrench；Secondary mechanical arm clamping high-voltage connection makes high-voltage connection and arrester
Upper terminal bolt completely disengages, and high-voltage connection is then clamped far from operating area；
Main mechanical arm pneumatic impact spanner moves down end nut on register arrester, and the top nut of dismounting is reinstalled to and is kept away
On thunder device at bolt after unclamp arrester；Main mechanical arm firmly grasps arrester lower end position after rotating 180 degree, removes lower nut, makes
Lower nut is detached from arrester；Main mechanical arm clamping arrester is lifted up a distance, makes fixed arrester bolt and cross-arm
It is detached from, the arrester removed is mounted on tool box；
Main mechanical arm clamps new arrester lower end, is directed at and removes new arrester lower nut, lower nut and arrester are taken off
From；Main mechanical arm is clamped new arrester and is moved up and tool box disengaging；Main mechanical arm is clamped above new arrester to cross-arm, makes
New arrester lower end fixing bolt is inserted into the mounting hole on cross-arm；By lower nut and new arrester lower end of the bolt register and twist
Tightly；Main mechanical arm firmly grasps new arrester, is directed at and removes top nut, and disengages it from bolt on arrester；Secondary mechanical arm clamping
High-voltage connection is moved near new arrester upper end, and high-voltage connection end mounting hole is made to penetrate terminal bolt on new arrester；
Main mechanical arm tightens top nut.
Compared with prior art, the present invention its remarkable advantage：
(1) present invention can take shelter from the thunder to metal oxide in the case that not powering off the mechanical arm by hot line robot
Device is replaced, and the negative effect for having a power failure and bringing is avoided, and improves power supply reliability.
(2) hot line robot that uses of the present invention can make operating personnel use in ground level control room remote operating and
The mode being independently combined completes the replacement task of metal oxide arrester, compared to insulating glove working system, can make operation
Personnel avoid the generation of the fortuitous events such as electric shock, falling from high altitude far from high-altitude, dangerous operating environment.
(3) hot line robot that the present invention uses provides remote operating and autonomous two kinds of operating types, can make work
The control of industry personnel take over mechanical arm at any time, the generation of fortuitous event is avoided using remote operating.
(4) present invention uses the dismounting that the air-actuated jaw specially designed carries out metal oxide arrester, compared to it
His hot line robot only needs two mechanical arms that job task can be completed, and work is improved while reducing task difficulty
Industry efficiency.
(5) the second air-actuated jaw of the invention is set there are two swing clamp cylinder, it can be achieved that the switching of pneumatic impact spanner positive and negative rotation, together
When can avoid nut and fall off, it is compact-sized ingenious.
Present invention is further described in detail below in conjunction with the accompanying drawings.
Description of the drawings
Fig. 1 is the method for the present invention flow chart；
Fig. 2 is a kind of overall structure diagram of embodiment of hot line robot of the present invention；
Fig. 3 is the structural schematic diagram of robot platform in the present invention；
Fig. 4 is a kind of overall structure diagram of embodiment of the first air-actuated jaw in the present invention；
Fig. 5 is a kind of overall structure diagram of embodiment of the second air-actuated jaw in the present invention；
Fig. 6 is the block diagram of system of aerial lift device with insulated arm in the present invention；
Fig. 7 is the structural schematic diagram of mechanical arm in the present invention；
Fig. 8 is the structural schematic diagram of laying rack in the present invention；
Fig. 9 is hot line robot operating environment schematic diagram of the present invention.
Specific implementation mode
In order to illustrate technical scheme of the present invention and technical purpose, below in conjunction with the accompanying drawings and specific embodiment is the present invention
It is further to introduce.
In conjunction with Fig. 1, the method that a kind of hot line robot of the invention dismounts arrester, based on robot platform
The camera of main mechanical arm, secondary mechanical arm and Collecting operation scene image data is completed following by control room control machinery arm
Work：
120 upper end high-voltage connection 101 of arrester is clamped in secondary mechanical arm 43；Main mechanical arm 42 firmly grasps 120 upper end of arrester, main
120 top nut 103 of arrester is aligned and removes upper end nut 103 by 42 end pneumatic impact spanner of mechanical arm；Secondary mechanical arm 43 is clamped
High-voltage connection 101 makes high-voltage connection 101 be completely disengaged with terminal bolt on arrester 120；
42 end pneumatic impact spanner of main mechanical arm moves down end nut 103 on register arrester 120, by the top nut of dismounting
103 reinstall on arrester 120 at bolt after unclamp arrester 120；Main mechanical arm 42 firmly grasps arrester after rotating 180 degree
120 lower end positions remove lower nut 102, and lower nut 102 is made to be detached from arrester 120；Arrester 120 is clamped in main mechanical arm 42
It is lifted up a distance, fixed 120 bolt of arrester is made to be detached from cross-arm 104, the arrester 120 removed is mounted on tool
On case 47；
Main mechanical arm 42 clamps 120 lower end of new arrester, is aligned and removes new 120 lower nut 102 of arrester, by lower spiral shell
Mother 102 is detached from arrester 120；Main mechanical arm 42 is clamped new arrester 120 and is moved up and the disengaging of tool box 47；Main mechanical arm
The 42 new arresters 120 of clamping make 120 lower end fixing bolt of new arrester be inserted into the fixation on cross-arm 104 to 104 top of cross-arm
Kong Zhong；By lower nut 102 and 120 lower end of the bolt register of new arrester and tighten；Main mechanical arm 42 firmly grasps new arrester 120, right
Standard simultaneously removes top nut 102, and disengages it from bolt on arrester 120；Secondary mechanical arm 43 is clamped high-voltage connection 101 and is moved to newly
120 upper end of arrester near, and 101 end mounting hole of high-voltage connection is made to penetrate terminal bolt on new arrester 120；Main mechanical arm
42 tighten top nut 102.
In conjunction with Fig. 2, Fig. 3, hot line robot of the invention, including bucket arm vehicle 1, control room 2, telescopic arm 3, robot
Platform 4；Control room 2 and telescopic arm 3 are set up on the aerial lift device with insulated arm 1,3 upper end of telescopic arm connects robot platform 4, described exhausted
Generator is housed, to give control room 2 and telescopic arm 3 to power on edge bucket arm vehicle 1；
The robot platform 4 is equipped with full-view camera 41, main mechanical arm 42, secondary mechanical arm 43, air compressor machine 44, binocular and takes the photograph
As head 45, insulated column 46, switch board 48, accumulator 49 and communication module.
The accumulator 49 is main mechanical arm 42, secondary mechanical arm 43, air compressor machine 44, camera and communication module power supply；Institute
Full-view camera 41 is stated to the image data of Collecting operation scene, image data is passed through into the communication module of robot platform 4
It is sent to control room 2；The main mechanical arm 42 and secondary 43 bottom of mechanical arm are connected by insulated column 46 with robot platform 4, will
The shell of the two mechanical arms insulate with robot platform 4；Binocular is equipped on the main mechanical arm 42 and secondary mechanical arm 43 to take the photograph
As image data is sent to control room 2 by head 45 to the image data of Collecting operation scene；The main mechanical arm 42, slave
43 end of tool arm is equipped with air-actuated jaw, and the air compressor machine 44 is used to provide power to air-actuated jaw, to control air-actuated jaw
Movement；The switch board 48 receives the manipulator motion from control room 2 by communication module and controls data, and control machinery arm arrives
Up to corresponding position, the pair mechanical arm 43 is coordinated by the first air-actuated jaw 6 completes livewire work, and the main mechanical arm 42 passes through
Second air-actuated jaw completes clamping arrester and carries out Job Operations.
As an implementation, in conjunction with Fig. 4, the first air-actuated jaw 6 on the pair mechanical arm 43 includes two fixations
601, two block 60, the first cylinder clamping jaws being oppositely arranged 602；First cylinder 601 is arranged between two fixed blocks 60,
Two 60 ends of fixed block are connected with clamping jaw 602；One fixed block 60 is connected with 43 end of secondary mechanical arm；Another fixed block 60
Can be under the drive of the first cylinder 601, aforementioned fixed block 60 moves back and forth relatively, to drive two clamping jaws 602 clamping and
Separation.
As an implementation, in conjunction with Fig. 5, the second air-actuated jaw on the main mechanical arm 42 includes the first pneumatic clamps
Tool 6, fixed plate 50, straight line cylinder 503, guide rail 507, sliding block 508, mounting plate 506, pneumatic impact spanner 502, the first swing clamp cylinder
504, the second swing clamp cylinder 505；
The fixed plate 50 is connected with the end of main mechanical arm 42；First air-actuated jaw 6 is arranged in fixed plate 50
Lower end, for arrester to be clamped；The straight line cylinder 503 is arranged in the upper end of fixed plate 50, the piston rod of straight line cylinder 503 with
Mounting plate 506 is connected；The pneumatic impact spanner 502 is fixed on mounting plate 506, and 502 bottom of pneumatic impact spanner is equipped with sleeve, for twisting
Tightly and unscrew the nut on arrester；Among the clamping jaw of first air-actuated jaw of sleeve face 6；506 both ends of the mounting plate
It is respectively fixed with sliding block 508；Two guide rails 507,507 axial direction of the guide rail and straight line cylinder are additionally provided in the fixed plate 50
503 axial direction is parallel, and the sliding block 508 can be slided up and down along guide rail 507；502 lower end of the pneumatic impact spanner is equipped with the first corner
Cylinder 504, there are two L-shaped baffles 509 for connection on the swing clamp cylinder 504；Gap is equipped between described two L-shaped baffles 509,
For avoiding waiting for the screw rod on nutting；Non- working condition, two L-shaped baffles 509 are located at sleeve side, after nut is unscrewed, the
One swing clamp cylinder 504 drives L-shaped baffle 509 to turn to sleeve lower end, and two 509 holding nut lower end both sides of L-shaped baffle avoid spiral shell
Mother falls off out of sleeve；Second swing clamp cylinder 505 is fixed on 502 upper end of pneumatic impact spanner, and second swing clamp cylinder 505 is solid
It is scheduled on 502 upper end of pneumatic impact spanner, second swing clamp cylinder 505 is connected with fixture block 510, and fixture block 510 is equipped with groove, groove card
Enter the positive and negative rotation knob 502-1 on pneumatic impact spanner 502, the second swing clamp cylinder 505, which turns to, drives fixture block 510 to rotate, to drive
Knob realizes the positive and negative rotation of pneumatic impact spanner 502, to tighten or unscrew nut.
Further, the distance between described two L-shaped baffles are adjustable, to realize the support of different size nuts.
Further, 602 center of the clamping jaw is equipped with semi-circular recesses, to be caught in the outer toroid such as arrester.
As one embodiment of the invention, in conjunction with Fig. 7, the mechanical arm is sixdegree-of-freedom simulation, including pedestal
431, the rotary axis direction waist joint 432 vertical with base plane, the shoulder joint 433 being connect with waist joint 432, with shoulder joint
The large arm 434 of 433 connections, the elbow joint 435 being connect with large arm 434, the forearm 436 being connect with elbow joint 435, with forearm 436
The wrist joint 437 of connection, wrist joint 437 are made of three rotary joints, respectively wrist pitching joint, wrist swinging joint and wrist rotation
Turn joint；Each joint all has corresponding orthogonal rotary encoder 31 and servo drive motor in the mechanism in six degree of freedom,
Orthogonal rotary encoder 31 is used to acquire the angle-data in each joint, and servo drive motor is used to control the movement in each joint；
Control room 2 calculates the movement angle in each joint according to the space path of the mechanical arm, and control servo drive motor is according to institute
State each joint motions of movement angle control machinery arm.
Further, insulating materials is wrapped up outside the mechanical arm.
As an implementation, the data transmission between robot platform 4 and control room 2 is by optical fiber wire transmission,
Or use wireless network transmissions.Communication module on robot platform 4 is fiber optical transceiver, and fiber optical transceiver is for realizing light
The mutual conversion of the electric signal in optical signal and twisted-pair feeder in fibre, to realize robot platform 4 and control room 2 in communication
Electrical isolation.Communication module in control room 2 is fiber optical transceiver, fiber optical transceiver for realizing in optical fiber optical signal with
The mutual conversion of electric signal in twisted-pair feeder, to realize the electrical isolation of robot platform 4 and control room 2 in communication.
As an implementation, in conjunction with Fig. 6, the control room 2 include the first industrial personal computer, the second industrial personal computer, display,
Main remote operating bar, secondary remote operating bar, communication module；The main remote operating bar and secondary 42 He of remote operating bar difference corresponding host tool arm
Secondary mechanical arm 43 constitutes master-slave operation relationship；Second industrial personal computer Built-in Image processor and livewire work action sequence library, display
Screen and main manipulator are located in control room；The working scene image of camera acquisition is sent to the second industrial personal computer, at image
The 3D dummy activity scenes that reason device obtains after handling working scene image, and display is sent to show.
The corresponding action sequence data of every livewire work are previously stored in livewire work action sequence library；It is described
The working scene image of camera acquisition is sent to the second industrial personal computer, and image processor obtains after handling working scene image
Mechanical arm and arrester between relative position relation, the second industrial personal computer is according to the relative position relation and specific electrification
The space path of action sequence planning mechanical arm corresponding to operation, and the space path data of the mechanical arm are sent to the
One industrial personal computer；First industrial personal computer calculates the movement angle in each joint according to the space path of the mechanical arm, and control servo is driven
Dynamic motor is according to each joint motions of movement angle control machinery arm.
Further, the main mechanical arm 42, secondary mechanical arm 43 are sixdegree-of-freedom simulation and wrap up insulating materials,
Further, the binocular camera 45 is made of two parallel industrial cameras of optical axis, between parallel optical axis
Distance is fixed.
Further, the robot platform 4 is additionally provided with tool box special 47, and the tool box special 47 is placement first
The place of the power tools such as air-actuated jaw 6, the second air-actuated jaw, pneumatic impact spanner 502.In conjunction with Fig. 8, on the tool box special 47
It is additionally provided with the laying rack of arrester, when such as dismounting arrester, the laying rack structure is identical as cross-arm structure, which is provided with multiple
Mounting hole is used for zinc oxide surge arresters.
Further, the telescopic arm 3 is equipped with the driving device along telescopic direction, and operating personnel can pass through control room 2
It controls the driving device, to which robot platform 4 is elevated to operation height.The telescopic arm 3 is made of insulating materials, for realizing
The insulation of robot platform 4 and control room 2.In the present invention, telescopic arm 3 can have by scissor-type lifting mechanism or other mechanism generations
It replaces.
According to the combination for the different task that the second industrial personal computer and the first industrial personal computer are completed, hot line robot of the present invention was both
Remote tele-operation can be carried out by operating personnel to complete livewire work, and can carry out autonomous livewire work.It is being charged
Before operation, operating personnel first passes through observation panoramic picture, and robot platform 4 is moved near arrester.
It is virtual according to binocular image and panoramic picture structure 3D by the second industrial personal computer if selecting artificial remote tele-operation
Working scene simultaneously send display to show, operating personnel passes through main operation manual control by 3D dummy activity scene monitoring operating process
The action of mechanical arm processed, to complete livewire work.In the process, after operating personnel changes main remote operating bar posture, main distant behaviour
The photoelectric encoder for making each joint in bar acquires each joint angles, and the microcontroller of each main remote operating bar is by serial ports by each pass
The angle-data of section is sent to the second industrial personal computer.Second industrial personal computer is using the angle-data in main each joint of remote operating bar as mechanical arm
The desired value of each joint angles is sent to the first industrial personal computer, and the first industrial personal computer passes through servomotor controller according to angle desired value
The movement in each joint of tool arm, to complete livewire work.
If selection AUTONOMOUS TASK, calculated according to binocular image and panoramic picture by the second industrial personal computer obtain arrester and
Then relative position relation between mechanical arm carries out mechanical arm space path rule according to the action sequence corresponding to job task
It draws, and space path is sent to the first industrial personal computer, the first industrial personal computer calculates each joint of mechanical arm and needs the angle number rotated
According to the desired value as each joint angles of mechanical arm, by the movement in each joint of servomotor controller tool arm, to complete to charge
Operation.
Embodiment 1：
The method of the hot line robot dismounting arrester of the present invention includes the following steps in conjunction with Fig. 9：
1, staff carries out the operation preparation that hot line robot replaces metal oxide arrester 120, checks gas
As condition, verification shaft tower number, arrangement scene, inspection test is carried out to insulation apparatus.
1.1 check meteorological condition, ambient enviroment, line unit and safety measure；
1.2 arrangement scenes：In working site, safety barrier, working signal and related warning mark are set；
1.3 pairs of insulation apparatus carry out inspection test：Using Insulation Resistance Tester to the insulating tool carry out table used
Face insulation resistance detection, resistance value are not less than 700 megaohms.
2, aerial lift device with insulated arm 1 is driven into 100 neighbouring position of shaft tower, and mobile robot platform 4 by aerial lift device with insulated arm driver
To job position
Aerial lift device with insulated arm 1 is driven into 100 neighbouring position of shaft tower and arranges scene by 2.1 aerial lift device with insulated arm drivers：Operation position
It sets and specially waits for position near operation shaft tower 100 and avoid nearby power line and barrier, avoid being parked on raceway groove cover board,
Aerial lift device with insulated arm 1 supporting leg sequence is first to stretch out horizontal support legs, then stretch out vertical leg, and it is in water to support to place rear vehicle all around
It is flat.
Operating personnel control telescopic arm according to the real scene image shown on display, operation operation rocking bar in 2.2 control rooms 2
3, robot platform 4 is moved near job position.
3, operating personnel control main mechanical arm 42 with secondary mechanical arm 43 to operation by major and minor remote operating bar in control room 2
Conducting wire, insulator chain, cross-arm 104 in range carry out necessary insulation masking.
The outdoor scene operation field that operating personnel return according to the full-view camera 41 on robot platform 4 in 3.1 control rooms 2
The electrical body in job area in insulating safety distances is marked in image.
The mark mode is that operating personnel is schemed in real time by the operation field that touch display in control room 2 is shown
Picture carries out manual frame to the electrical body in the visual field and takes.
3.2 main mechanical arms 42 and the secondary clamping insulation masking material of mechanical arm 43 (special isolation sheath, epoxy glass fabric) are right
Label electrical body carries out insulation masking.
4, main mechanical arm 42 removes the metal oxide arrester 120 on 100 cross-arm 104 of shaft tower with secondary mechanical arm 43.
4.1. dismounting arrester top nut 103
4.1.1 by observing the realtime graphic of the operation field shown on the display in control room 2, main remote operating is operated
Bar controls main mechanical arm 42 and reaches near metal oxide arrester 120 so that 120 upper part of arrester completely appears in peace
Loaded in the binocular camera visual field on main mechanical arm.
4.1.2 the packet that the second industrial personal computer is transmitted with binocular measuring principle from binocular camera using image object detection algorithm
Image containing arrester identifies and positions the three-dimensional space position and posture of end nut on arrester.
4.1.3 the second industrial personal computer is by the three-dimensional space position and posture of end nut on the arrester measured in 4.1.2
Data send the first industrial personal computer to by the communication module in control room 2, the first industrial personal computer by Mechanical transmission test resolve with
Trajectory planning algorithm cooks up manipulator motion track.
4.1.4 manipulator motion track data is transmitted to machine by the first industrial personal computer by the communication module in control room 2
Mechanical arm switch board 48 in people's platform 4.
4.1.5 it is mounted on clamping jaw 602 made of the insulating materials of 42 end of main mechanical arm to open, mechanical arm switch board 48 makes
It is moved to 120 corresponding position of arrester with the mechanical arm track data control main mechanical arm 42 received.
4.1.6 main mechanical arm 42 firmly grasps 120 upper end position of arrester using the clamping jaw 602 mounted on end, and passes through gas
502 sleeve of wrench is aligned with arrester top nut 102.
4.1.7 by observing the realtime graphic of the operation field shown on the display in control room 2, secondary remote operating is operated
Bar control pair mechanical arm 43 is moved near 120 high-voltage connection 101 of arrester, and the clamping jaw mounted on 43 end of secondary mechanical arm is used in combination
602 firmly grasp high-voltage connection 101, prevent upper end high-voltage connection 101 from shaking when dismantling arrester top nut 103, after influencing
The progress of continuous action.
4.1.8 the pneumatic impact spanner 502 for being mounted on 42 end of main mechanical arm is opened, and 120 upper end of register arrester is moved down
Nut 103 end nut 103 and disengages it from bolt on arrester 120 in dismounting, and the first swing clamp cylinder 504 rotates 90 degree, makes peace
L-shaped baffle 509 mounted in 504 end of the first swing clamp cylinder covers wrench socket, prevents nut from falling.
4.2 dismounting arrester high-voltage connections 101
4.2.1 by observing the realtime graphic of the operation field shown on the display in control room 2, secondary remote operating is operated
The secondary mechanical arm 43 of bar control is clamped high-voltage connection 101 and moves up a distance, makes high-voltage connection 101 and 120 upper end of arrester
Bolt 103 completely disengages, and high-voltage connection 101 is then clamped far from operating area.
4.2.2 the pneumatic impact spanner 502 for being mounted on 42 end of main mechanical arm is opened, and spiral shell on register arrester 120 is moved down
Mother 103, the top nut 103 of dismounting is reinstalled on arrester 120 at bolt.
4.2.3 be mounted on 42 end of main mechanical arm clamping jaw 501 unclamp, stop clamping arrester 120, main mechanical arm 42 to
After move, leave arrester a distance.
4.3 dismounting arrester lower nuts 102
4.3.1 42 end of main mechanical arm rotates clockwise 180 degree, keeps end pneumatic impact spanner 502 opening up.
4.3.2 main mechanical arm 42 is moved near arrester 120, then promptly lightning-arrest with the clamping jaw 501 mounted on end
120 lower end position of device, and the opening of pneumatic impact spanner 502 is made to be aligned with arrester lower nut 102.
4.3.3 the pneumatic impact spanner 502 of 42 end of main mechanical arm is opened, and is moved up, register lower nut 102, by lower nut
102 remove, and it is made to be detached from arrester 120.
4.4 dismounting arresters 120
4.4.1 the clamping jaw 501 on the second air-actuated jaw of 42 end of main mechanical arm clamps arrester 120 and is lifted up one
Segment distance makes the bolt of fixed arrester 120 be detached from cross-arm 104.
4.4.2 42 level of main mechanical arm moves backward, and makes arrester 120 far from installation region.
4.4.3 the arrester 120 removed is clamped in main mechanical arm 42, is moved at tool box 47, the arrester removed is made
It is mounted on the laying rack on tool box 47, and twisted with the lower nut 102 entrained by 42 end pneumatic impact spanner 502 of main mechanical arm
Tightly.
5, main mechanical arm 42 installs new arrester 120 with secondary mechanical arm 43.
5.1 place new arrester 120
5.1.1 main mechanical arm 42 adjusts terminal angle, keeps the pneumatic impact spanner 502 of end opening up, is moved to mechanical arm
Near the position for placing new arrester in tool box special 47.
5.1.2 main mechanical arm 42 clamps 120 lower end position of new arrester using the clamping jaw 501 of end, and makes pneumatic impact spanner
502 trepannings are aligned with the lower nut 102 of fixed new arrester 120.
5.1.3 42 end of main mechanical arm pneumatic impact wrench 502 open, move up, register lower nut 102, will under
Nut 102 removes, and it is made to be detached from arrester 120.
5.1.4 main mechanical arm 42 is clamped new arrester 120 using the clamping jaw 501 of end and is moved up, and makes itself and tool box
Mounting hole in 47 on mounting plate is detached from, and new arrester 120 is taken out from tool box 47.
5.1.4 new arrester 120 is clamped to 104 top of cross-arm in main mechanical arm 42, and makes 120 lower section fixing bolt of arrester
102 are aligned with the mounting hole on cross-arm 104.
5.1.5 main mechanical arm 42 moves down a distance, and the lower end fixing bolt of new arrester 120 is made to be completely inserted into
In mounting hole on cross-arm 104.
5.2 fix lower nut 102.
5.2.1 the pneumatic impact spanner 502 of 42 end of main mechanical arm is opened, and is moved up, by lower nut 102 and new arrester
120 lower end of the bolt registers are simultaneously tightened.
5.2.2 the clamping jaw 501 of 42 end of main mechanical arm unclamps, and stops that new arrester 120 is clamped, and move backward, leave
New 120 a distance of arrester.
5.2.3 42 end of main mechanical arm rotates 180 degree counterclockwise, keeps the pneumatic impact spanner 502 of end opening down.
5.3 fix high-voltage connection 101.
5.3.1 main mechanical arm 42 is moved near new arrester 120, is firmly grasped on new arrester 120 with the clamping jaw 501 of end
End position, and the opening of pneumatic impact spanner 502 is made to be aligned in the top nut 103 of 120 upper end of arrester with carrying.
5.3.2 the pneumatic impact spanner 502 of 42 end of main mechanical arm is opened, and moves down register top nut 103, removes top nut
103 and disengage it from bolt on arrester 120.
5.3.3 by observing the realtime graphic of the operation field shown on the display in control room 2, secondary remote operating is operated
The secondary mechanical arm 43 of bar control is clamped high-voltage connection 101 and is moved near new 120 upper end of arrester, and keeps high-voltage connection 101 last
End mounting hole is aligned with terminal bolt on new arrester 120.
5.3.4 secondary mechanical arm 43 is clamped high-voltage connection 101 and is moved to underface, keeps terminal bolt on new arrester 120 complete
Across the mounting hole of high-voltage connection 101.
5.4 fix top nut 103.
5.4.1 the pneumatic impact spanner 502 of 42 end of main mechanical arm is opened, and is moved down register and is tightened top nut 103.
5.4.2 it operates the first air-actuated jaw 6 that secondary remote operating bar control is mounted on 43 end of secondary mechanical arm to unclamp, stops folder
High-voltage connection 101 is held, secondary mechanical arm 43 moves backward, and leaves 104 top operating area of cross-arm.
5.4.3 the insulation clamping jaw 501 of 42 end of main mechanical arm unclamps, and stops clamping arrester 120, and move backward, from
Open 104 top operating area of cross-arm.
6, operating personnel are led by major and minor remote operating bar control main mechanical arm 42 and the secondary dismounting of mechanical arm 43 in control room 2
Line, insulator chain, the insulation masking on cross-arm 104.
7, staff withdraws shaft tower 100.
The hot line robot of the present invention reduces operation danger and carries instead of the mode of artificial livewire work
High operating efficiency, can make operating personnel far from high-altitude, dangerous operating environment, avoid the fortuitous events such as electric shock, falling from high altitude
Generation.It only needs two mechanical arms that job task can be completed compared to other hot line robots, it is difficult to reduce operation
Operating efficiency is improved while spending.
Claims (8)
1. a kind of method of hot line robot dismounting arrester, which is characterized in that based on the main mechanical on robot platform
The camera of arm, secondary mechanical arm and Collecting operation scene image data completes following work by control room control machinery arm：
Secondary mechanical arm clamping arrester upper end high-voltage connection；Main mechanical arm firmly grasps arrester upper end, and main mechanical arm end is pneumatically pulled
Arrester top nut is aligned and removes upper end nut by hand；Secondary mechanical arm clamping high-voltage connection makes high-voltage connection and arrester upper end
Bolt completely disengages；
Main mechanical arm pneumatic impact spanner moves down end nut on register arrester, and the top nut of dismounting is reinstalled to arrester
Arrester is unclamped after at upper bolt；Main mechanical arm firmly grasps arrester lower end position after rotating 180 degree, removes lower nut, makes lower spiral shell
It is female to be detached from arrester；Main mechanical arm clamping arrester is lifted up a distance, and fixed arrester bolt is made to be detached from cross-arm,
The arrester removed is mounted on tool box；
Main mechanical arm clamps new arrester lower end, is directed at and removes new arrester lower nut, and lower nut and arrester are detached from；It is main
Mechanical arm is clamped new arrester and is moved up and tool box disengaging；Main mechanical arm is clamped above new arrester to cross-arm, makes newly to keep away
Thunder device lower end fixing bolt is inserted into the mounting hole on cross-arm；By lower nut and new arrester lower end of the bolt register and tighten；
Main mechanical arm firmly grasps new arrester, is directed at and removes top nut, and disengages it from bolt on arrester；High pressure is clamped in secondary mechanical arm
Lead is moved near new arrester upper end, and high-voltage connection end mounting hole is made to penetrate terminal bolt on new arrester；Host
Tool arm tightens top nut.
2. a kind of method of hot line robot dismounting arrester according to claim 1, which is characterized in that the pair
High-voltage connection is clamped by the first air-actuated jaw of end in mechanical arm, and the main mechanical arm is complete by the second air-actuated jaw of end
At clamping arrester and turn nut.
3. a kind of method of hot line robot dismounting arrester according to claim 2, which is characterized in that described the
One air-actuated jaw includes two fixed blocks, the first cylinder, two clamping jaws being oppositely arranged；First cylinder (is arranged at two
Between fixed block, two fixed block ends are connected with clamping jaw；One fixed block is connected with secondary mechanical arm tail end；Another fixed block
Can be under the drive of the first cylinder, relatively aforementioned fixed block moves back and forth, to drive two clamping jaws that high-voltage connection is clamped.
4. a kind of method of hot line robot dismounting arrester according to claim 2, which is characterized in that described the
Two air-actuated jaws include the first air-actuated jaw, fixed plate, straight line cylinder, guide rail, sliding block, mounting plate, pneumatic impact spanner, the first corner
Cylinder, the second swing clamp cylinder；
The fixed plate and main mechanical arm) end be connected；First air-actuated jaw is arranged in the lower end of fixed plate, for pressing from both sides
Hold arrester；The straight line cylinder is arranged in the upper end of fixed plate, and the piston rod of straight line cylinder is connected with mounting plate；It is described pneumatic
Spanner is fixed on a mounting board, and pneumatic impact spanner bottom is equipped with sleeve, for rotating the nut on arrester；The sleeve face
Among the clamping jaw of one air-actuated jaw；The mounting plate both ends are respectively fixed with sliding block；Two guide rails are additionally provided in the fixed plate,
The guide rail is axial parallel with the axial direction of straight line cylinder, and the sliding block can be slided up and down along guide rail；The pneumatic impact spanner lower end is set
There is the first swing clamp cylinder, there are two L-shaped baffles for connection on the swing clamp cylinder；It is equipped with gap between described two L-shaped baffles, uses
In avoiding waiting for the screw rod on nutting；Non- working condition, two L-shaped baffles are located at sleeve side, after nut is unscrewed, the first corner
Cylinder drives L-shaped baffle to turn to sleeve lower end, and two L-shaped baffle holding nut lower ends both sides avoid nut from falling off out of sleeve；
Second swing clamp cylinder is fixed on pneumatic impact spanner upper end, and second swing clamp cylinder is connected with fixture block, and fixture block is equipped with groove,
Groove is caught in the positive and negative rotation knob on pneumatic impact spanner, and the second swing clamp cylinder, which turns to, drives fixture block rotation, to drive knob,
Realize the positive and negative rotation of pneumatic impact spanner.
5. a kind of method of hot line robot dismounting arrester according to claim 4, which is characterized in that the folder
Pawl center is equipped with semi-circular recesses, to be caught in the outer toroid such as arrester.
6. a kind of method of hot line robot dismounting arrester according to claim 2, which is characterized in that described to take the photograph
As head includes full-view camera, binocular camera；The full-view camera to Collecting operation scene image data, by image
Data are sent to control room by the communication module of robot platform；Binocular is equipped on the main mechanical arm and secondary mechanical arm to take the photograph
As image data is sent to control room by head to the image data of Collecting operation scene；The control room includes the first industry control
Machine, the second industrial personal computer, display, main remote operating bar, secondary remote operating bar, communication module；The main remote operating bar and secondary remote operating
Bar distinguishes corresponding host tool arm and secondary mechanical arm, constitutes master-slave operation relationship；Second industrial personal computer Built-in Image processor and electrification
Operation action sequence library, display screen and main manipulator are located in control room；The working scene image of the camera acquisition is sent
To the second industrial personal computer, the 3D dummy activity scenes that image processor obtains after handling working scene image, and send display
Display.
7. a kind of method of hot line robot dismounting arrester according to claim 2, which is characterized in that the machine
Device people's platform is additionally provided with the tool box for placing the power tools such as the first air-actuated jaw, the second air-actuated jaw, pneumatic impact spanner；It is described special
With the laying rack for being additionally provided with arrester on tool box, the laying rack structure is identical as cross-arm structure, which is provided with multiple installations
Hole.
8. a kind of method of hot line robot dismounting arrester according to claim 1, which is characterized in that in operation
Before, secondary mechanical arm and main mechanical arm clamping insulation masking material carry out insulation masking to electrical body；After operation, secondary machinery
Arm and main mechanical arm remove the insulation masking material being covered on electrical body.
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| CN201810227802.4A CN108616076B (en) | 2018-03-20 | 2018-03-20 | Method for disassembling and assembling lightning arrester by live working robot |
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|---|---|---|---|
| CN201810227802.4A CN108616076B (en) | 2018-03-20 | 2018-03-20 | Method for disassembling and assembling lightning arrester by live working robot |
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| CN108616076B CN108616076B (en) | 2020-04-17 |
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| CN109327002A (en) * | 2018-11-01 | 2019-02-12 | 井冈山大学 | Mechanical paw used in X-type power line clamp and its assembly and disassembly line method and assembly and disassembly line |
| CN109659860A (en) * | 2019-02-17 | 2019-04-19 | 国网浙江省电力有限公司杭州供电公司 | A kind of transmission line of electricity bolt fastening live line tool case and its application method |
| CN109950830A (en) * | 2019-04-08 | 2019-06-28 | 南京理工大学 | The provision for disengagement of hot line robot arrester and method |
| CN110039561A (en) * | 2019-05-14 | 2019-07-23 | 南京理工大学 | Hot line robot remote operating staff training system and method based on cloud |
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| CN110039561A (en) * | 2019-05-14 | 2019-07-23 | 南京理工大学 | Hot line robot remote operating staff training system and method based on cloud |
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| CN112072555A (en) * | 2020-09-11 | 2020-12-11 | 云南电网有限责任公司带电作业分公司 | Working method for live installation of 35kV overhead line lightning arrester |
| CN114123039A (en) * | 2021-12-13 | 2022-03-01 | 国网福建省电力有限公司宁德供电公司 | Lightning arrester high-voltage electrode assembling and disassembling device and method |
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| CN114336410A (en) * | 2021-12-31 | 2022-04-12 | 广东电网有限责任公司江门供电局 | High-voltage transmission line live working robot and operation method thereof |
| CN117047804B (en) * | 2023-10-11 | 2023-12-22 | 广东电网有限责任公司广州供电局 | Intelligent lightning arrester installation robot based on tower pole operation |
| CN117047804A (en) * | 2023-10-11 | 2023-11-14 | 广东电网有限责任公司广州供电局 | Intelligent lightning arrester installation robot based on tower pole operation |
| CN118198933A (en) * | 2024-05-11 | 2024-06-14 | 国网瑞嘉(天津)智能机器人有限公司 | Lightning arrester installation method, device and equipment based on live working robot |
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