CN114899759B - Operation method for robot live replacement of high-voltage transmission line insulator - Google Patents
Operation method for robot live replacement of high-voltage transmission line insulator Download PDFInfo
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- CN114899759B CN114899759B CN202210729701.3A CN202210729701A CN114899759B CN 114899759 B CN114899759 B CN 114899759B CN 202210729701 A CN202210729701 A CN 202210729701A CN 114899759 B CN114899759 B CN 114899759B
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- 239000012212 insulator Substances 0.000 title claims abstract description 231
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000005540 biological transmission Effects 0.000 title claims abstract description 15
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 24
- 239000010959 steel Substances 0.000 claims abstract description 24
- 239000012211 strain insulator Substances 0.000 claims abstract description 4
- 210000000078 claw Anatomy 0.000 claims description 37
- 230000007246 mechanism Effects 0.000 claims description 30
- 229910052573 porcelain Inorganic materials 0.000 claims description 15
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 4
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
Abstract
The patent discloses an operation method for replacing a high-voltage transmission line insulator by a robot in an electrified way, wherein the insulator replacing robot straddles adjacent strain insulator strings of an insulator (1) to be replaced, and forms a support of a movable platform (5) on the insulator string where the insulator (1) to be replaced is located by a robot arm (6) before an insulator automatic tightening clamp (2) acts; after the insulator (1) is replaced, the mechanical arm (6) is continuously clamped on a steel cap (101) of a new insulator (1) to form a support of the moving platform (5), and after the insulator automatically tightens up the clamp (2) and resets, the mechanical arm (6) resets again; the advantages are that: the robot rides on the single-string insulator and operates stably, and is safe and reliable; the motion of the robot arm (6) is not interfered by the space of the moving platform (5); the continuous multiple insulators can be replaced.
Description
Technical Field
The patent relates to a method for replacing insulators of a high-voltage transmission line, in particular to an operation method for replacing insulators of the high-voltage transmission line by a robot in an electrified mode.
Background
The existing operation method for replacing the high-voltage transmission line insulator of the robot is that a robot moving platform straddles on the double-string insulator and walks along the double-string insulator; for example, in the Chinese patent with the patent number ZL202011380307.0 and the patent name of a robot for live-line replacement of a tension-resistant single-chip insulator of an extra-high voltage line and an operation method, a man-machine interaction mode is adopted, and automatic replacement of an overhead insulator is realized through the robot; the automatic machine has the advantages of high automation degree and high working efficiency; but also has the following disadvantages: 1) The mobile platform has large structural size, heavy weight and inconvenient carrying and transportation in outdoor high-altitude operation; 2) When the robot arm of the robot replaces the insulator, the operation space is insufficient: because the platform body of the mobile platform spans on the double-string insulator, the mobile platform has large volume and large occupied space, and the travel track of the normal work of the robot arm is interfered with the mobile platform on the insulator when the degraded insulator is clamped, the robot arm lacks enough operation space, so that the platform mechanism is complex; 3) Under the condition that two continuous insulators porcelain bottles are damaged (porcelain bottle defects), as the belt of the belt travelling mechanism cannot be supported at the top of the damaged porcelain bottle, the moving platform cannot pass through the damaged insulator when travelling on the double-string insulator, so that the moving platform cannot travel above the insulator which needs to be replaced.
Disclosure of Invention
The purpose of this patent just designs a robot live replacement high tension transmission line insulator operating method, straddles on single-string insulator, carries out automatic replacement to the insulator that became invalid on the adjacent insulator string.
The technical scheme of this patent is: the operation method for replacing the insulator of the high-voltage transmission line by the robot in an electrified manner comprises the following steps of:
1) The insulator replacing robot straddles adjacent strain insulator strings needing to be replaced with insulators, and an insulator automatic tightening clamp is positioned on one side of the insulator to be replaced; starting a belt travelling mechanism to enable the insulator replacement robot to travel to the side surface of the insulator to be replaced along the single string of insulator strings and then stopping;
2) Starting the robot arm, enabling the holding claw of the robot arm to move to the position above the insulator string where the insulator to be replaced is located, enabling the holding claw to be held on the steel cap of one insulator in a downward encircling mode, and forming a supporting point for the robot;
3) Starting an insulator to automatically tighten the clamp, so that the clamp is clamped on steel caps of insulators on two sides of the insulator to be replaced; operating the mechanical arm to loosen the holding claw and separate the holding claw from the steel cap of the clamped insulator; then, the insulator automatically tightens up the clamp to relax the tension of the tension insulator to be replaced;
4) Starting a bottle rotator, rotating an insulator to be replaced, and resetting the bottle rotator after an R pin of the insulator faces upwards; starting the mechanical arm to enable the holding claw to prop against the insulator steel cap to be replaced, and pulling out the R pin of the insulator by using the hook head of the pin puller;
5) Operating the mechanical arm to enable the holding claw to take down the insulator to be replaced from the insulator string, and then installing a new insulator; after the new insulator is installed, the holding claw is continuously clamped on the steel cap of the new insulator to form a supporting point for the robot;
6) Operating the insulator automatic tightening clamp, opening the clamped insulator, resetting the insulator automatic tightening clamp, and returning to the initial position;
7) Resetting the robot arm, returning to the initial position, and completing replacement of the single insulator;
further, the insulator robot includes: the robot moving platform straddles the single-string insulator, the belt travelling mechanism is arranged at the lower part of the moving platform, the insulator arranged at the lower part of the left side of the moving platform automatically tightens the clamp and the bottle rotating device, the robot arm is arranged at the upper part of the left side of the moving platform, the controller, the power supply, the hydraulic power source and the wireless control module are arranged at the right side of the moving platform, and the video cameras are arranged on the moving platform; an operation control center arranged on the ground; the device also comprises a counterweight mechanism arranged on the right side of the mobile platform, and a power supply and a hydraulic power source are used as partial counterweight bodies; the hydraulic power source provides hydraulic power for the robot, the controller is used for controlling the automatic tightening clamp, the belt travelling mechanism, the bottle rotating device, the robot arm and the hydraulic power source to act, and the operation control center is electrically connected with the controller and the video camera on the mobile platform in a wireless mode through the wireless communication module;
further, the belt travelling mechanism comprises a group of travelling belt wheels and two groups of guide belt wheels, the lower parts of the belts of the travelling belt wheels are longitudinally attached to the tops of porcelain bottles of 4 to 6 insulators, and the lower parts of the belts of the guide belt wheels are longitudinally attached to the two sides of the upper parts of the porcelain bottles of 4 to 6 insulators;
further, the pulleys of the guide pulley and the travelling pulley are synchronous pulleys, and the belt is an annular belt matched with the synchronous pulleys;
further, the walking belt wheel is driven by a walking motor, the walking motor is fixed on the moving platform, a motor shaft of the walking motor is connected with one wheel shaft of the walking belt wheel, and the walking motor is electrically connected with the robot controller;
further, a holding claw and a pin puller are arranged at the end part of the robot arm.
The advantage of this patent is:
1) Because the robot moving platform walks on the single insulator string along the direction of the lead, the robot replaces the invalid insulator on the adjacent insulator string through the robot arm arranged on the moving platform, and the robot arm is not interfered by the space of the platform body when clamping and moving to replace the insulator on the adjacent insulator string, so that the movable space range is sufficient, the structure of the robot arm is simplified, and the operation is convenient; meanwhile, the size and the weight of the platform body are reduced, so that the carrying, the transportation and the operation are convenient;
2) When the existing robot walks on double-string insulators and runs into defects of more than two continuous insulator porcelain bottles on one string of insulators or the insulator porcelain bottles have larger outer diameter difference, the robot cannot reach the damaged insulator because the supporting platform cannot bear the belt travelling mechanism on the top of the insulator porcelain bottles; the robot can realize that two continuous insulators and more than two insulators are broken or insulator replacement under the irregular outer diameter condition of the insulators is realized by walking on a single insulator string, and when the insulator string is replaced, the robot moving platform straddles the insulator string which is adjacent to the right side of the insulator string which needs to be replaced, and the robot moving platform walks on the insulator string which is adjacent to the right side of the insulator string and reaches the side surface of the broken insulator to replace the broken insulator.
3) The volume weight of the insulator automatic tightening clamp is the heaviest in the robot, generally reaches tens of kilograms, the initial position of the insulator automatic tightening clamp is generally arranged at the lower part of one side of the moving platform adjacent to the insulator to be replaced, but the gravity center of the insulator automatic tightening clamp is seriously deviated to one side of the insulator to be replaced when the insulator is clamped, the double-serial walking robot is reliably supported on the double insulator strings due to the fact that the double-serial walking robot is supported, instability and even rollover caused by gravity center change are avoided, and if the robot walks on a single-serial insulator, the moving platform of the robot is easy to be unstable; in this patent, before operating insulator tightening mechanism leaves initial position, operate the arm earlier and make the holding claw centre gripping of arm on waiting to change the steel cap of an insulator of insulator chain that the insulator is located, form the support protection to robot moving platform, so the robot operates steadily on single cluster insulator, safe and reliable.
Drawings
FIG. 1 is a schematic diagram of a robot in an initial state on an insulator string;
fig. 2 is a schematic diagram of an insulator automatic tightening clamp of a robot in a clamping state;
FIG. 3 is a schematic diagram of a belt running gear on an insulator string;
FIG. 4 is a schematic view of the bottle rotator of the robot in an operating state;
in the figure: 1-an insulator; 101-steel caps; 102-porcelain bottle; 2-the insulator automatically tightens up the clamp; 3-a counterweight mechanism; 4-a belt running mechanism; 401-a walking belt wheel; 402-a guide pulley; 5-a mobile platform; 6-a robotic arm; 601-holding claws; 602-pin puller; 7-bottle rotating device.
Detailed Description
The invention will be described in detail below with reference to the drawings and the detailed description.
As shown in fig. 1 to 4, the insulator robot in this patent includes: the robot comprises a robot moving platform 5 straddling on a single string of insulators, a belt travelling mechanism 4 arranged at the lower part of the robot moving platform 5, an insulator automatic tightening clamp 2 arranged at the lower part of the left side of the moving platform 5, a bottle rotating device 7, a robot arm 6 arranged at the upper part of the left side of the moving platform 5, a controller, a power supply, a hydraulic power source and a wireless control module (not shown in the figure) arranged on the moving platform 5, and a plurality of video cameras (not shown in the figure) arranged on the moving platform 5; an operation control center (not shown) provided on the ground; the automatic tightening clamp device for the insulators of the mobile platform comprises a movable platform, and is characterized by further comprising a counterweight mechanism 3 positioned on the right side of the movable platform, wherein the counterweight mechanism 3 is used for balancing components with larger weight such as an automatic tightening clamp device 2 for insulators on the left side of the movable platform 5, so that the movable platform 5 straddles on single-string insulators and is balanced in an initial state and a walking process; the power supply and the hydraulic power source have relatively large weight and are used as basic configuration of the counterweight mechanism; the weight mechanism 3 may also include all or a portion of a controller, a power source, a hydraulic power source, a wireless control module. The power supply is used for supplying power to the automatic insulator tightening clamp 2, the belt travelling mechanism 4, the robot arm 6, the bottle rotating device 7, the controller, the video camera and the wireless communication module on the robot mobile platform 5, and the operation control center is electrically connected with the controller and the video camera on the mobile platform 5 in a wireless mode through the wireless communication module; the hydraulic power source provides hydraulic power for the hydraulic telescopic rods on the automatic insulator tightening clamp 2, the robot arm 6 and the bottle rotating device 7, and the controller is used for controlling the automatic insulator tightening clamp 2, the belt running mechanism 4, the robot arm 6, the bottle rotating device 7, the hydraulic power source and the video camera to act.
The belt travelling mechanism 4 comprises a group of travelling belt wheels 401 and two groups of guide belt wheels 402, wherein the lower parts of the belts of the travelling belt wheels 401 are longitudinally attached to the tops of the porcelain bottles 102 of 4 to 6 insulators 1, and the lower parts of the belts of the guide belt wheels 402 are longitudinally attached to the two sides of the upper parts of the porcelain bottles 102 of 4 to 6 insulators 1; the pulleys of the guide pulley 402 and the synchronous pulley 401 are synchronous pulleys, and the belt is an annular belt matched with the synchronous pulleys; the walking belt wheel 401 is driven by a walking motor, the walking motor is fixed on the mobile platform 5, a motor shaft of the walking motor is connected with one wheel shaft of the walking belt wheel, and the walking motor is electrically connected with the robot controller.
The automatic insulator tightening clamp 2 is of a frame structure formed by a front clamp, a rear clamp, an adjusting screw and a hydraulic tightening device, wherein the adjusting screw and the hydraulic tightening device are respectively and rigidly connected to the two ends of the front clamp and the rear clamp through bolts, and the end part of the adjusting screw is hinged to the lower part of the left side of the mobile platform 1 through a hydraulic telescopic rod; the hydraulic telescopic rod contracts to drive the insulator to automatically tighten the clamp 2 to move upwards, so that after the clamp bodies of the front clamp and the rear clamp are respectively clamped on the outer circumferences of the steel caps of the two insulators 1, the upper covers of the front clamp and the rear clamp are respectively and automatically closed, the controller controls the lock nut to rotate to respectively clamp the front clamp and the rear clamp on the insulators on two adjacent sides of the deteriorated single-chip insulator to be replaced, according to the principle of crossing the four clamps, the robot operates the insulator to automatically tighten the clamp 2, adjusts and adjusts the lead screw to adjust the distance between the front clamp and the rear clamp, so that the rear clamp is clamped on the steel cap of the insulator 1 adjacent to the rear end of the deteriorated insulator 1 to be replaced, the front clamp is clamped on the steel cap of the second insulator 1 at the front end of the deteriorated insulator 1 to be replaced, and after the hydraulic tightener tightens, the tension on the deteriorated single-chip insulator 1 to be replaced and the insulators adjacent to the front end thereof is relaxed.
The robot arm 6 is formed by sequentially connecting three sections of joint arms and a holding claw 601, the root of a first joint arm is connected to a support, the support is hinged with a platform body of the robot moving platform 5, and two adjacent joint arms between the first joint arm and the manufacture are respectively hinged through a hydraulic push rod to form a connecting rod mechanism; the holding claw 601 is connected to the head of the third joint arm through a rotating shaft, a holding claw motor is arranged on the rotating shaft, the holding claw 601 can rotate around the rotating shaft, the holding claw 601 is an openable arc-shaped jaw formed by hinging two semicircular forceps arms with cylindrical gears at one ends on a holding claw body through gear shafts, and the shape of the arc-shaped jaw is matched with a steel cap of the insulator 1; cylindrical gears at the end parts of the two clamp arms are meshed, and one gear shaft is connected with a motor shaft of a gear motor; the hydraulic source of each hydraulic push rod is respectively connected with the hydraulic power source of the robot, and the support motor, the claw holding motor and the gear motor are respectively and electrically connected with the controller, so that the action of the robot arm 6 is controlled by the controller.
When the machine arm 6 is used for picking the insulator 1, the positions of all the joint arms are respectively adjusted through the hydraulic push rod, so that the holding claw 601 is clamped on a steel cap of the insulator 1 and the jaw is folded, the insulator 1 to be replaced is separated from two adjacent insulators through left and right shaking and up and down shaking of the machine arm 6, and finally the machine arm 6 is lifted up again to lift the insulator 1 and place the insulator on an insulator shelf on the mobile platform 5, and a new insulator 1 is replaced.
The end part of the robot arm 6 is also provided with a pin puller 602, the pin puller 602 is formed by arranging a hook head at the end part of a hydraulic push rod, a hydraulic cylinder of the hydraulic push rod is fixed on the robot arm 6, and a hydraulic source of the hydraulic push rod is connected with a hydraulic power source of the robot.
One end of the bottle rotating device 7 is hinged to the left side of the moving platform 5, the other end of the bottle rotating device 7 is a circular arc-shaped movable claw, two electric friction wheels are arranged on the circular arc in the claw, a cylinder body of a hydraulic telescopic rod of the bottle rotating device 7 is hinged to the moving platform 5, and the end part of the hydraulic rod of the hydraulic telescopic rod is hinged to a claw arm; the controller controls the hydraulic telescopic rod to act to lift the bottle rotating device 7 to move upwards to the lower part of the insulator 1 to be replaced, clamps the claw on the steel cap 101 of the insulator 1, and the friction wheel in the claw rotates under the drive of the motor, so that the insulator 1 is driven to rotate.
The robot live replacement operation method for the insulator of the high-voltage transmission line comprises the following steps:
1) Lifting the insulator replacing robot to the position of the cross arm of the iron tower, straddling the robot on the adjacent strain insulator strings needing to replace the insulator 1 along the cross arm, and positioning the insulator automatic tightening clamp 2 at one side close to the insulator to be replaced; the lower parts of the belts of the travelling belt wheels 401 of the belt travelling mechanism 4 are longitudinally attached to the tops of the porcelain bottles 102 of 4-6 insulators 1, and the lower parts of the belts of the two groups of guide belt wheels 402 of the belt travelling mechanism 4 are longitudinally attached to the two sides of the upper parts of the porcelain bottles 102 of 4-6 insulators 1 respectively; the robot arm 6, the insulator automatic tightening clamp 2 and the bottle rotating device 7 are in an initial state, at this time, the robot arm 6 is positioned above the insulator string, and the bottle rotating device 7 and the insulator automatic tightening clamp 2 are positioned at the lower part of the side, close to the insulator to be replaced, of the mobile platform; starting a robot belt travelling mechanism 2 to enable the insulator replacement robot to travel to the side surface of the insulator 1 to be replaced along the single string of insulator strings and then stopping;
2) Starting the robot arm 6, and enabling hydraulic push rods on all joints of the robot arm 6 to act, so that all joint main bodies of the robot arm 6 rotate from one side of a straddled insulator to one side of an insulator to be replaced, namely, from the upper side of a right-side insulator string to the upper side of a left-side insulator string, enabling a holding claw 601 of the robot arm 6 to move to the upper side of the insulator string where the insulator to be replaced 1 is located, and enabling the holding claw 601 of the robot arm 6 to encircle and clamp the steel cap 101 of one of the insulators 1 downwards to form a supporting point for the robot;
3) Starting the insulator to automatically tighten the clamp 2, clamping the clamp on the steel caps 101 of the insulator 1 at two sides of the insulator 1 to be replaced, and locking the upper cover of the clamp and the clamp body after closing; operating the mechanical arm 6 again, enabling the holding claw 601 of the mechanical arm 6 to open and separate from the steel cap 101 of the clamped insulator 1, and resetting the mechanical arm 6 to the initial position; then the automatic insulator tightening clamp 2 is operated, and the front clamp and the rear clamp clamped on the two sides of the insulator to be replaced are tightened through the hydraulic tightener, so that the tension on the two sides of the insulator to be replaced on the tension insulator 1 is loosened;
4) Starting the bottle rotator 7, rotating the insulator 1 to be replaced, and resetting the bottle rotator 7 after an R pin of the insulator faces upwards; starting the mechanical arm 6, enabling the holding claw 601 of the mechanical arm 6 to downwards prop against the steel cap 101 of the insulator 1 to be replaced, and resetting the pin puller 602 to the initial position after the R pin of the insulator 1 is pulled up by the hook head of the pin puller 602;
5) Operating the robot arm 6, enabling the holding claw 601 of the robot arm 6 to take down the insulator 1 to be replaced from the insulator string, placing the insulator on an old insulator shelf on the mobile platform, and grabbing a new insulator from the new insulator shelf to replace the old insulator 1; after the new insulator 1 is installed, the holding claw 601 of the robot arm 6 is continuously clamped on the steel cap 101 of the new insulator 1 to form a supporting point for the robot;
6) Operating the automatic insulator tightening clamp 2, operating the hydraulic tightener, releasing tightening force between the front clamp and the rear clamp, respectively opening upper covers of the automatic insulator tightening clamp and the front clamp and the rear clamp, resetting the automatic insulator tightening clamp 2, and returning to an initial position;
7) The robot arm 6 is reset, returns to the initial position and completes the replacement of the single insulator 1.
When the video camera is used for ground or remote operation, the state and action execution condition of each executing mechanism are monitored in real time. In the operation process, an operator detects the states and action execution conditions of the insulator automatic tightening clamp 2, the belt running mechanism 4, the robot arm 6 and the bottle rotating device 7 on the robot moving platform 5 through a video picture at the ground control center.
Claims (6)
1. The operation method for replacing the insulator of the high-voltage transmission line by the robot in an electrified manner comprises the following steps of:
1) The insulator replacing robot straddles adjacent strain insulator strings needing to be replaced with insulators (1), and an insulator automatic tightening clamp (2) is positioned on one side of the insulator (1) to be replaced; starting a belt travelling mechanism (4) to enable the insulator replacement robot to travel to the side surface of the insulator (1) to be replaced along the single string of insulator strings and then stop;
2) Starting the robot arm (6), enabling the holding claw (601) of the robot arm (6) to move to the position above the insulator string where the insulator (1) to be replaced is located, enabling the holding claw (601) to be held on the steel cap (101) of one insulator (1) in a downward encircling mode, and forming a supporting point for the robot;
3) Starting an insulator automatic tightening clamp (2) to clamp and clamp the insulator on steel caps (101) of insulators on two sides of the insulator (1) to be replaced; operating the mechanical arm (6) to release the holding claw (601) and separate the holding claw from the steel cap (101) of the clamped insulator (1); then, the insulator automatically tightens up the clamp (2) to relax the tension on the two sides of the tension insulator (1) to be replaced;
4) Starting a bottle rotating device (7), rotating an insulator (1) to be replaced, and resetting the bottle rotating device (7) after an R pin of the insulator (1) faces upwards; starting the mechanical arm (6) to enable the holding claw (601) to prop against the steel cap of the insulator (1) to be replaced, and pulling out the R pin of the insulator (1) by using the hook head of the pin puller (602);
5) Operating the mechanical arm (6) to enable the holding claw (601) to take down the insulator (1) to be replaced from the insulator string, and then installing a new insulator (1); the rear holding claw (601) of the new insulator (1) is mounted and is continuously clamped on the steel cap (101) of the new insulator (1), so that a supporting point for the robot is formed;
6) Operating the insulator automatic tightening clamp (2), opening the clamped insulator (1), resetting the insulator automatic tightening clamp (2), and returning to the initial position;
7) The robot arm (6) is reset, returns to the initial position and completes the replacement of the single insulator (1).
2. The robot live replacement operation method for high-voltage transmission line insulators according to claim 1, characterized in that:
the insulator replacement robot includes: the robot comprises a robot moving platform (5) straddling on a single string of insulators, a belt travelling mechanism (4) arranged at the lower part of the moving platform (5), an insulator automatic tightening clamp (2) and a bottle rotating device (7) arranged at the lower part of the left side of the moving platform (5), a robot arm (6) arranged at the upper part of the left side of the moving platform (5), a controller, a power supply, a hydraulic power source and a wireless control module arranged at the right side of the moving platform (5) and a plurality of video cameras arranged on the moving platform (5); an operation control center arranged on the ground; the device also comprises a counterweight mechanism (3) arranged on the right side of the mobile platform (5), and a power supply and a hydraulic power source are used as partial counterweight bodies; the hydraulic power source provides hydraulic power for the robot, the controller is used for controlling the automatic tightening clamp (2), the belt travelling mechanism (4), the bottle rotating device (7), the robot arm (6) and the hydraulic power source to act, and the operation control center is electrically connected with the controller and the video on the mobile platform (5) in a wireless mode through the wireless communication module.
3. The robot live replacement operation method for high-voltage transmission line insulators according to claim 2, characterized in that: the belt travelling mechanism (4) comprises a group of travelling belt wheels (401) and two groups of guide belt wheels (402), wherein the lower parts of the travelling belt wheels (401) are longitudinally attached to the tops of porcelain bottles (102) of 4 to 6 insulators (1), and the lower parts of the guide belt wheels (402) are longitudinally attached to the two sides of the upper parts of the porcelain bottles (102) of 4 to 6 insulators (1).
4. The method for operating the robot to replace the insulator of the high-voltage transmission line in a live manner according to claim 3, wherein the method comprises the following steps: the pulleys of the guide pulley (402) and the traveling pulley (401) are synchronous pulleys, and the belt is an annular belt matched with the synchronous pulleys.
5. The method for operating the robot to replace the insulator of the high-voltage transmission line in a live manner according to claim 3, wherein the method comprises the following steps: the walking belt wheel (401) is driven by a walking motor, the walking motor is fixed on the mobile platform (5), a motor shaft of the walking motor is connected with one wheel shaft of the walking belt wheel, and the walking motor is electrically connected with the robot controller.
6. The robot live replacement operation method for high-voltage transmission line insulators according to claim 2, characterized in that: the end part of the robot arm (6) is provided with a holding claw (601) and a pin puller (602).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210729701.3A CN114899759B (en) | 2022-06-24 | 2022-06-24 | Operation method for robot live replacement of high-voltage transmission line insulator |
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| CN202210729701.3A CN114899759B (en) | 2022-06-24 | 2022-06-24 | Operation method for robot live replacement of high-voltage transmission line insulator |
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