CN115036838A - Overhead line disconnecting and replacing method based on line disconnecting and replacing robot - Google Patents
Overhead line disconnecting and replacing method based on line disconnecting and replacing robot Download PDFInfo
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- CN115036838A CN115036838A CN202210625693.8A CN202210625693A CN115036838A CN 115036838 A CN115036838 A CN 115036838A CN 202210625693 A CN202210625693 A CN 202210625693A CN 115036838 A CN115036838 A CN 115036838A
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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 provides an overhead line dismantling and replacing method based on a line dismantling and replacing robot, wherein an operating system comprises the line dismantling and replacing robot, a traction line retracting and releasing mechanism, a hook automatic installation mechanism and a remote monitoring module, the line dismantling and replacing robot is started up for self-checking, receives a starting instruction sent by the remote control module and drives a traction rope to travel from a pole tower on one side to a pole tower on the other side at a preset speed along the line after receiving the starting instruction, and in the traveling process, the line dismantling and replacing robot sends a control instruction to the traction line retracting and releasing mechanism; the traction line retracting mechanism releases a traction line at a preset speed according to a control instruction, and the automatic hook mounting mechanism is used for placing a self-locking hook on the traction line at intervals of a preset distance; when the robot reaches the tower on the other side, the robot is fixed on the tower on the other side, the traction line is locked, and when two ends of the overhead line are twisted off, the overhead line to be disassembled and replaced is conveyed to the pavement tractor through the take-up auxiliary device.
Description
Technical Field
The invention relates to the technical field of electric power construction, in particular to an overhead line disconnecting and replacing method based on a line disconnecting and replacing robot.
Background
In the related technology, the old line of the power grid is basically dismantled manually, the construction process involves multiple departments such as transportation, city management and the like, multiple factors such as safety, environment and the like must be considered, the line dismantling work is completed manually, and the multiple departments are difficult to coordinate and consume much time.
Disclosure of Invention
The invention aims to solve the technical problems and provides an overhead line disconnecting and changing method based on a line disconnecting and changing robot.
The technical scheme adopted by the invention is as follows:
the utility model provides an overhead line takes out and trades line method based on trade line robot, operating system include trade line robot, pull wire jack, couple automatic installation mechanism and remote monitoring module, trade line robot hangs on waiting to tear open the overhead line who trades, pull wire jack with couple automatic installation mechanism fixes on one side shaft tower, operating system responds to control data and accomplishes following work: the dismounting and replacing robot is used for power-on self-checking, receiving a starting instruction sent by the remote control module after the self-checking is finished, and driving a traction rope to move to the other side tower from the tower on one side at a preset speed along the line after the starting instruction is received, wherein the dismounting and replacing robot sends a control instruction to the traction line retracting and releasing mechanism in the moving process; the traction wire retracting mechanism releases the traction wire at the preset speed according to the control instruction, wherein the automatic hook mounting mechanism is used for placing a self-locking hook on the traction wire at intervals of a preset distance so as to hang and buckle the traction wire on the overhead wire; and the wire-removing and replacing robot is fixed on the tower on the other side when reaching the tower on the other side, locks the traction wire, and transmits the overhead wire to be removed and replaced to a road surface tractor through the wire-collecting auxiliary device when two ends of the overhead wire are twisted and broken.
The wire-changing robot comprises a first fixed wheel and a second fixed wheel which are arranged on the overhead wire, a first tensioning wheel and a third fixed wheel which are arranged below the overhead wire, a jacking device which is used for jacking the tensioning wheel set to provide tensioning force, and a driving motor which is arranged corresponding to the first fixed wheel, wherein the control data comprises the driving force of the driving motor and the pressure of the tensioning wheel set on the overhead wire, in the advancing process, the driving motor provides corresponding driving force according to the inclination and the vibration condition of the overhead wire, and the jacking device adjusts the pressure of the first tensioning wheel on the overhead wire according to the inclination and the vibration condition of the overhead wire, so that the wire-changing robot drives a traction rope to advance to the tower on the other side from the tower on one side at the preset speed along the line.
The wire-changing robot further comprises an attitude sensor, wherein in the advancing process of the wire-changing robot, the attitude sensor acquires the acceleration, the attitude angle and the change rate of the attitude angle of the wire-changing robot in real time, and calculates the inclination and the vibration condition of the overhead wire according to the acceleration, the attitude angle and the change rate of the attitude angle.
The first fixed wheel is arranged right above the first tensioning wheel, and the second fixed wheel is arranged right above the third fixed wheel.
The wheel surfaces of the first fixed wheel, the second fixed wheel, the third fixed wheel and the first tensioning wheel, which are contacted with the overhead line, are groove-shaped.
The jacking device comprises a fixed end and an adjustable end, the fixed end is fixed on a shell of the line-changing robot, the adjustable end is connected with the first tensioning wheel, the adjustable end adopts an electric cylinder structure, and the pressure of the tensioning wheel set on the overhead line is adjusted through the lifting motion of the adjustable end.
A computer device comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, and when the processor executes the computer program, the overhead wire disconnecting and changing method based on the wire disconnecting and changing robot is realized.
A non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described overhead wire clearing method based on a wire-clearing robot.
The invention has the beneficial effects that:
the invention adopts the wire-removing and replacing robot to replace manual work and the existing semi-automatic equipment to remove and replace wires, greatly improves the working efficiency of removing and replacing wires, is safe and reliable, and reduces the operation and maintenance risks of the power grid.
Drawings
Fig. 1 is a flowchart of an overhead line disconnecting and changing method based on a line-changing robot according to an embodiment of the present invention;
FIG. 2 is a block diagram of an operating system according to one embodiment of the present invention;
fig. 3 is a schematic structural diagram of a wire-detaching robot according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a flowchart of an overhead wire disconnecting and changing method based on a wire-changing robot according to an embodiment of the present invention.
It should be noted that the invention can realize the overhead line disconnecting and changing method based on the operating system. Specifically, as shown in fig. 2, the operating system may include: the automatic cable replacement robot comprises a cable replacement robot 100, a traction cable retracting and releasing mechanism 200, an automatic hook mounting mechanism 400 and a remote monitoring module 300, wherein the cable replacement robot 100 is hung on an overhead cable to be replaced, and the traction cable retracting and releasing mechanism 200 and the automatic hook mounting mechanism 400 are fixed on a tower on one side.
The wire detaching and replacing robot 100, the pull wire retracting and releasing mechanism 200, the hook automatic installation mechanism 400 and the remote monitoring module 300 form a local area network through a communication route, and exchange information and data with each other.
As shown in fig. 1, the operating system of the present invention performs the following work in response to the control data to effect the disconnection of the overhead wire.
And S1, the disconnecting and switching robot is started and self-checked, receives a starting instruction sent by the remote control module after the self-check is completed, and drives the traction rope to move to the tower on the other side from the tower on one side at a preset speed after receiving the starting instruction, wherein the disconnecting and switching robot sends a control instruction to the traction rope retracting and releasing mechanism in the moving process.
And S2, releasing the traction wire at a preset speed by the traction wire retracting mechanism according to the control instruction, wherein the automatic hook mounting mechanism is used for placing a self-locking hook on the traction wire at a preset distance so as to hang and buckle the traction wire on the overhead wire.
Specifically, first, the constructor checks the robot on the ground, and puts the battery, the traction denyman rope, the hook, and other materials into the tools of the wire detaching and replacing robot 100, the traction wire retracting and releasing mechanism 200, and the hook automatic mounting mechanism 400, respectively. Next, the constructor brings the wire removing and replacing robot 100, the traction wire retracting mechanism 200 and the hook automatic installation mechanism 400 to the pole/tower, fixes the traction wire retracting mechanism 200 and the hook automatic installation mechanism 400 at appropriate positions of the pole/tower, and hangs the wire removing and replacing robot 100 on the overhead wire to be removed and replaced. Then, the constructor turns on the power supplies of the wire detaching and replacing robot 100 and the traction wire retracting and releasing mechanism 200, the wire detaching and replacing robot 100 performs power on self-check, sends out prompt information after the power on self-check is completed, and waits for a start instruction. After receiving the starting instruction, the wire removing and changing robot 100 drives the traction rope to move from the tower on one side to the tower on the other side at a preset speed along the line. How to control the wire detaching and replacing robot 100 will be described in detail below with reference to the specific structure of the wire detaching and replacing robot 100.
In one embodiment of the present invention, as shown in fig. 3, the wire detaching and replacing robot 100 may include first and second fixed wheels 110 and 120 to be disposed above the overhead wire, first and third fixed wheels 130 and 140 to be disposed below the overhead wire, a jacking device 150 to jack the first tensioning wheel 130 to provide a tensioning force, a driving motor 160 disposed corresponding to the first tensioning wheel 130, control data including a driving force of the driving motor 160 and a pressure of the first tensioning wheel 130 against the overhead wire, wherein, during the traveling, the driving motor 160 provides a corresponding driving force according to the inclination and the vibration condition of the overhead line, the jacking device 150 adjusts the pressure of the first tensioning wheel 130 on the overhead line according to the inclination and the vibration condition of the overhead line, so that the wire-detaching robot drives the traction rope to move to the tower on the other side from the tower on one side at a preset speed along the wire.
Wherein the first fixed wheel 110 is disposed directly above the first tension wheel 130, and the second fixed wheel 120 is disposed directly above the third fixed wheel 140. Thus, by providing the first fixed sheave 110 directly above the first tension sheave 130, the pressure of the first tension sheave 130 on the overhead wire can be increased, and the pressure can be effectively applied to the flexible overhead wire, which leads to high reliability. When the wire-removing and replacing robot is hung on the overhead wire to be removed and replaced, the overhead wire can be arranged between the second fixed wheel 120 and the third fixed wheel 140 through one-way locking of the third fixed wheel 140, and when the wire-removing and replacing robot is taken down from the overhead wire, the third fixed wheel 140 can be unlocked through the unlocking button.
The first fixed sheave 110, the second fixed sheave 120, the third fixed sheave 140, and the first tension sheave 130 are groove-shaped. The jacking device 150 comprises a fixed end 151 and an adjustable end 152, the fixed end is fixed on the shell of the wire-removing robot, the adjustable end 152 is connected with the first tensioning wheel 130, the adjustable end 152 adopts an electric cylinder structure, and the pressure of the first tensioning wheel 130 on the overhead wire is adjusted through the lifting motion of the adjustable end 152. The remote monitoring module 300 issues a control command to the main controller, and the main controller correspondingly controls the electric cylinder of the jacking device 150, the driving motor 160 of the first fixed pulley 110 and the power supply according to the control command.
Specifically, the robot 100 may further include an attitude sensor, and during the traveling of the robot 100, the acceleration, the attitude angle, and the change rate of the attitude angle of the robot 100 may be obtained in real time by the attitude sensor, and the inclination and the vibration of the overhead line may be calculated according to the acceleration, the attitude angle, and the change rate of the attitude angle.
Then, a driving force is provided by the driving motor 160 according to the inclination and the vibration of the overhead line, and the pressure of the first tension wheel 130 on the overhead line is adjusted by the jacking device 150 according to the inclination and the vibration of the overhead line, wherein the inclination of the overhead line is greater, the more serious the vibration is, the greater the driving force is required, and the greater the inclination of the overhead line is, the greater the pressure of the first tension wheel 130 on the overhead line is, so as to provide sufficient friction (so as to prevent slipping and the like caused by insufficient tension). Therefore, according to the inclination and the vibration condition of the overhead line, the driving force of the driving motor and the pressure of the tensioning wheel set on the overhead line are comprehensively controlled, so that the line disassembling and replacing robot 100 drives the traction rope to move to the tower on the other side from the tower on one side at a preset speed along the line. And in the process that the line-changing robot drives the traction rope to move from the tower on one side to the tower on the other side at a preset speed along the line, the traction line retracting mechanism releases the traction line at the preset speed according to the control instruction.
It should be noted that, in the traveling process, the automatic hook mounting mechanism 400 places one self-locking hook on the traction line at preset intervals, and places the overhead line in the self-locking hook to realize the clamping of the traction line and the looping of the overhead line, so that a cableway composed of a plurality of self-locking hooks can be formed on the traction line, and the overhead line is looped in the cableway.
In an embodiment of the present invention, the robot 100 may further include a cradle head, wherein the cradle head is installed with an industrial camera for observing the cable diameter and the change thereof before the robot travels, and providing a necessary feedback signal for the travel control of the robot. Wherein, the visual angle of industry camera can be adjusted in real time to the cloud platform, with the speed of travel cooperation in order to realize more steady motion control effect. In addition, the abnormal condition of the front cable can be timely found through the industrial camera, and therefore the safety of the system is improved.
In an embodiment of the present invention, the wire detaching and replacing robot 100 may further include a pressure sensor for sensing a pressure applied to the jacking device 150 in real time, so as to ensure sufficient friction force, ensure a traveling power of the wire hanging of the wire detaching and replacing robot 100, and implement accurate control.
And S3, when the line disassembling and replacing robot reaches the pole tower on the other side, the line disassembling and replacing robot is fixed on the pole tower on the other side, the traction line is locked, and when two ends of the overhead line are twisted off, the overhead line to be disassembled and replaced is conveyed to the road surface tractor through the line collecting auxiliary device.
Specifically, when the wire removing and replacing robot 100 reaches the tower on the other side, the robot can be fixed on the tower on the other side, and at the moment, the traction wire is locked to provide enough tension to bear the falling force of the overhead wire. When constructors twist off two ends of the overhead line, steel rope sleeves matched with the overhead line are sleeved on the two ends of the overhead line respectively, and the overhead line to be disassembled and replaced is conveyed to a pavement tractor through the take-up auxiliary device.
Furthermore, when the stitches are removed, when the overhead lines need to be replaced, tail ropes can be arranged at one ends of the new overhead lines through steel rope sleeves and arranged in the cableway, and the new overhead lines are driven to pass through the cableway by drawing the tail ropes. When a new overhead line passes through from one end of the cableway to the other end of the cableway, the tail rope is disconnected from the new overhead line, and the new overhead line is installed on the insulators at the two ends, so that the line change of the overhead line can be realized.
Furthermore, after the wire is disconnected or replaced, when the traction wire needs to be detached, the traction wire can be slowly recovered at a corresponding speed, and when the hook reaches a recovery position, the hook can be automatically recovered by means of the mechanism action of the recovery device.
Therefore, the intelligent cableway line-changing robot replaces manual work and existing semi-automatic equipment to change lines, the line-changing working efficiency is greatly improved, the operation and maintenance risks of a power grid are reduced, and the intelligent cableway line-changing robot is safer and more reliable.
In an embodiment of the present invention, the disconnecting and replacing robot 100 may further include a dual-mode communication component, which supports 5G/Wifi and is a data communication channel between the disconnecting and replacing robot 100 and the remote monitoring module 300. In the working process, the robot 100 sends its working state data to the remote monitoring module 300 via the dual-mode communication module periodically or aperiodically, and receives the control instruction information sent by the remote monitoring module 300, so as to adjust the working state of the robot 100 at any time.
In an embodiment of the present invention, the wire detaching and replacing robot 100 may further include a power detection module including a current/voltage detection unit, a filter, and a transmitter, and a power supply module including a filtering and energy storage unit, a voltage conversion unit, and a power conditioning unit, where the power detection module is configured to detect an electric energy condition of the lithium battery pack, and the current/voltage detection unit is in a manner of a resistance sampling circuit, so that a circuit cost is low. The power supply module can convert the power output by the lithium battery pack into the voltage levels required by all the modules of the system, such as 12V and 5V required by the main controller module, 24V required by the on-line operation module and the like. The energy storage circuit is composed of a large-capacity capacitor and a related circuit and is responsible for buffering electric energy output by the lithium battery, so that the quality of a power supply can be improved, and meanwhile, when the motor needs large current, the energy storage circuit assists in outputting partial electric energy, and the phenomenon that the power supply is greatly reduced and fluctuated to cause instability of a system is avoided.
In summary, according to the overhead wire disconnecting and replacing method based on the wire disconnecting and replacing robot of the embodiment of the present invention, the operating system includes the wire disconnecting and replacing robot, the pull wire retracting and releasing mechanism and the remote monitoring module, the wire disconnecting and replacing robot is suspended on the overhead wire to be disconnected and replaced, the pull wire retracting and releasing mechanism is fixed on the tower on one side, and the operating system responds to the control data to complete the following operations: the method comprises the steps that the line disconnecting and replacing robot is started up and self-checked, receives a starting instruction sent by a remote control module after the self-checking is finished, and drives a traction rope to move to the other side tower from the tower on one side at a preset speed along the line after the starting instruction is received, wherein the line disconnecting and replacing robot sends a control instruction to a traction line retracting and releasing mechanism in the moving process; the traction line retracting mechanism releases the traction line at a preset speed according to a control instruction, wherein the automatic hook mounting mechanism is used for placing a self-locking hook on the traction line at intervals of a preset distance so as to hang and buckle the traction line on the overhead line; when reaching the tower on the other side, the wire-detaching and replacing robot is fixed on the tower on the other side, locks the traction wire, and transmits the overhead wire to be detached and replaced to the road tractor through the wire-retracting auxiliary device when the two ends of the overhead wire are twisted off.
Corresponding to the above embodiment, the present invention further provides a computer device.
The computer device comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, and when the processor executes the computer program, the overhead wire disconnecting and changing method based on the wire-disconnecting and changing robot is realized.
According to the computer equipment provided by the embodiment of the invention, the wire-changing robot is adopted to replace manual work and existing semi-automatic equipment to change wires, so that the wire-changing working efficiency is greatly improved, the safety and the reliability are realized, and the operation and maintenance risks of a power grid are reduced.
In response to the above embodiments, the present invention also provides a non-transitory computer-readable storage medium.
A non-transitory computer-readable storage medium according to an embodiment of the present invention stores thereon a computer program that, when executed by a processor, implements the above-described overhead wire disconnecting and changing method based on a wire-disconnecting robot.
According to the non-transitory computer-readable storage medium provided by the embodiment of the invention, the wire-changing robot is adopted to replace manual work and existing semi-automatic equipment to change wires, so that the wire-changing working efficiency is greatly improved, the operation and maintenance risks of a power grid are reduced, and the non-transitory computer-readable storage medium is safe and reliable.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. The meaning of "plurality" is two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (8)
1. The overhead line disconnecting and replacing method based on the line disconnecting and replacing robot is characterized in that an operating system comprises the line disconnecting and replacing robot, a traction line retracting mechanism, a hook automatic installation mechanism and a remote monitoring module, the line disconnecting and replacing robot is hung on an overhead line to be disconnected and replaced, the traction line retracting mechanism and the hook automatic installation mechanism are fixed on a tower on one side, and the operating system responds to control data to complete the following work:
the wire-disconnecting and replacing robot is used for power-on self-test, receiving a starting instruction sent by the remote control module after the self-test is completed, and driving a traction rope to move to the tower on the other side from the tower on one side at a preset speed along the wire, wherein the wire-disconnecting and replacing robot sends a control instruction to the traction wire retracting and releasing mechanism in the moving process;
the traction wire retracting mechanism releases the traction wire at the preset speed according to the control instruction, wherein the automatic hook mounting mechanism is used for placing a self-locking hook on the traction wire at intervals of a preset distance so as to hang and buckle the traction wire on the overhead wire;
and the wire-removing and replacing robot is fixed on the tower on the other side when reaching the tower on the other side, locks the traction wire, and transmits the overhead wire to be removed and replaced to a road surface tractor through the wire-collecting auxiliary device when two ends of the overhead wire are twisted and broken.
2. The overhead line replacement method based on the line replacement robot of claim 1, wherein the line replacement robot comprises a first fixed wheel and a second fixed wheel arranged above the overhead line, a first tension wheel and a third fixed wheel arranged below the overhead line, a jacking device for jacking the tension wheel set to provide tension, and a driving motor arranged corresponding to the first fixed wheel, the control data comprises a driving force of the driving motor and a pressure of the tension wheel set on the overhead line, the driving motor provides a corresponding driving force according to an inclination and a vibration condition of the overhead line during traveling, the jacking device adjusts the pressure of the first tension wheel on the overhead line according to the inclination and the vibration condition of the overhead line, so that the line replacement robot drives the traction rope to travel from the tower on one side to the tower on the other side at the preset speed .
3. The trolley wire disconnecting and replacing method based on the wire-disconnecting and replacing robot as claimed in claim 2, wherein the wire-disconnecting and replacing robot further comprises an attitude sensor, the attitude sensor acquires acceleration, an attitude angle and a change rate of the attitude angle of the wire-disconnecting and replacing robot in real time during the traveling of the wire-disconnecting and replacing robot, and calculates the inclination and the vibration condition of the trolley wire according to the acceleration, the attitude angle and the change rate of the attitude angle.
4. The overhead wire clearing and changing method based on the wire clearing and changing robot of claim 2 wherein the first fixed wheel is disposed directly above the first tension wheel and the second fixed wheel is disposed directly above the third fixed wheel.
5. The overhead wire clearing and changing method based on the wire clearing robot of claim 4, wherein the wheel surfaces of the first fixed wheel, the second fixed wheel, the third fixed wheel and the first tension wheel contacting the overhead wire are groove-shaped.
6. The overhead line removing and changing method based on the line removing and changing robot as claimed in claim 2, wherein the jacking device comprises a fixed end and an adjustable end, the fixed end is fixed on the shell of the line removing and changing robot, the adjustable end is connected with the first tensioning wheel, the adjustable end adopts an electric cylinder structure, and the pressure of the first tensioning wheel on the overhead line is adjusted through the lifting motion of the adjustable end.
7. A computer arrangement comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements a method for de-routing an overhead wire based de-routing robot according to any of claims 1-6.
8. A non-transitory computer-readable storage medium having stored thereon a computer program, wherein the program, when executed by a processor, implements a method for changing an overhead wire based on a changing robot according to any of claims 1-6.
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| CN202210625693.8A CN115036838A (en) | 2022-06-02 | 2022-06-02 | Overhead line disconnecting and replacing method based on line disconnecting and replacing robot |
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| CN202210625693.8A CN115036838A (en) | 2022-06-02 | 2022-06-02 | Overhead line disconnecting and replacing method based on line disconnecting and replacing robot |
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| CN103500964A (en) * | 2013-09-26 | 2014-01-08 | 国家电网公司 | Method of live-wire replacement of overhead ground wire |
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| US20220024031A1 (en) * | 2020-07-22 | 2022-01-27 | Saudi Arabian Oil Company | Cable suspended robot for industrial plants |
| CN112803296A (en) * | 2021-01-11 | 2021-05-14 | 国网江苏省电力有限公司常州供电分公司 | Traction device and overhead line construction equipment that takes out stitches |
| CN113848934A (en) * | 2021-10-11 | 2021-12-28 | 国网江苏省电力有限公司常州供电分公司 | Construction robot for replacing line and device and method for controlling traveling speed of construction robot |
| CN113889904A (en) * | 2021-10-11 | 2022-01-04 | 国网江苏省电力有限公司常州供电分公司 | Self-locking hook for wire removing and replacing construction and operation method thereof |
| CN113741569A (en) * | 2021-11-01 | 2021-12-03 | 国网江苏省电力有限公司常州供电分公司 | Line-changing construction robot and tension control device and method thereof |
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