Tension insulator replacing method of live-line work robot

Abstract

The invention provides a tension insulator replacing method of a live-line work robot. The live-line work robot comprises a mechanical arm arranged on a robot platform. The mechanical arm comprises a first mechanical arm, a second mechanical arm and an auxiliary mechanical arm. The first mechanical arm, the second mechanical arm and the auxiliary mechanical arm respond to finishing of replacing of the tension insulator by the control data, wherein the control data is an angle expected value of joint movement of each mechanical arm. During the shaking operation, the data processing and the control system carries out resolving according to each joint angle change data of a main manipulator, so the angle expected values are acquired. During autonomous working, the data processing and control system plans out a space path of each mechanical arm by using the Cartesian space route planning method, and the resolves the angle expected value of the joint movement of each mechanical arm. According to the invention, the tension insulator can be changed through the mechanical arm of the live-line work with no need to cut off the electricity and carry load.

Description

technical field [0001] The invention belongs to the technical field of electric power, and in particular relates to a method for replacing a tension insulator of a live working robot. Background technique [0002] Tensile insulators are the most common and indispensable devices in the transmission and distribution lines of power systems today. They are devices used to increase the creepage distance between conductors at different potentials or between conductors and ground potential components. [0003] With the development of the distribution network, a large number of tension insulators need to be replaced every year. The usual method is to replace them in a power outage. If the power outage area is large, it will cause incalculable losses and seriously affect the economic and social benefits of power supply enterprises. Now the majority of researchers are also actively studying the method of replacing tension insulators in live work. However, for manual replacement and m...

AI Technical Summary

Problems solved by technology

Arcs are often generated during the replacement process, which can easily cause burns to operators; the upper and lower leads need to be disconnected during the replacement process, and there is also a risk of electric shock; In the process of operation, due to human error, objectively, the distance between the lead wires between phases is small, which may cause a short circuit between phases, posing a threat to people's property and personal safety.

Images