Working robot system and method for live line maintaining of transformer substation

Abstract

The invention discloses a working robot system and method for live line maintaining of a transformer substation. The system comprises a robot body, a live line working tool, a remote control terminal,and a moving and carrying vehicle for conveying the robot body, wherein the robot body comprises a moving chassis, and an insulating lifting arm which is arranged on the moving chassis; a small fly jib is connected to the front end of the insulating lifting arm; a hotline working platform for positioning the hotline working tool is arranged at the front end of the small fly jib; the small fly jibis connected to the hotline working tool through a rapid connecting device; the electric working tool comprises a foreign matter cleaning tool, a conductor repairing tool, an insulator sweeping tooland / or a dry ice washing tool. The system has the beneficial effects that a multi-sensor information fusion technology is adopted; various types of sensors are mounted on the robot and used for sensing the robot body and the information of surrounding environment, so that the operation safety and reliability of the robot can be improved.

Description

technical field [0001] The invention relates to the technical field of substation live maintenance operation, in particular to a substation live maintenance operation robot system and method. Background technique [0002] With the continuous development of society, the development of the power grid is faced with the demand for high power supply reliability, high load density, and high power quality. Users have increasingly strict requirements for power outage time. It is difficult to arrange power outages for important key lines, and there are more and more opportunities for power outage maintenance. few. [0003] Substation equipment is prone to pollution flashover during long-term operation, which leads to frequent grounding accidents in the power system and seriously affects the safe operation of the power system; in order to prevent accidents such as power outages caused by insulator pollution flashover, methods such as regular cleaning of insulators and replacement of b...

AI Technical Summary

Problems solved by technology

[0009] (1) Live work has high requirements on the insulation performance of the robotic arm of the robot. The existing method of insulating the mechanical arm of the live working robot is to achieve insulation by setting an insulating sleeve outside the mechanical arm or outsourcing other insulating materials. This method is implemented. It is more difficult, and even affects the free movement of the robotic arm

The small flying arm at the end of the mechanical arm is connected to the telescopic arm by a connecting rod structure. Due to the flutter phenomenon of the connecting rod mechanism, it is easy to cause the small flying arm to vibrate during live work, which seriously affects the working accuracy and efficiency.

[0010] (2) The existing mechanical arm structure can only be fixedly connected to one working tool, which cannot realize flexible and quick replacement of working tools, which seriously affects the efficiency of live working

The existing wire repairing device and cleaning device cannot realize intelligent repair and intelligent cleaning;

[0012] (4) The material of wire repairing tool in the prior art is metal, can't realize live work, and safety is poor

This structure and operation method cause great physical and psychological burden to the operator, and the cleaning effect can only be observed manually from the ground, and the judgment error is large.

Moreover, there is only one brush head, which cannot clean the insulators in an encircling manner. The degree of automation is low, and there are potential safety hazards. If the operation is not done properly, it will cause serious damage to equipment and personal safety.

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