An autonomous working robot platform for live maintenance of substations

Abstract

The invention discloses a hot-line maintenance autonomous working robot platform for a transformer substation. The hot-line maintenance autonomous working robot platform comprises a robot body, a hot-line operation tool, a remote terminal and a mobile transport vehicle for transporting the robot body, wherein the robot body comprises a mobile chassis and an insulating lifting arm arranged on the mobile chassis; a small fly jib is connected to the front end of the insulating lifting arm; a hot-line operation platform for placing the hot-line operation tool is arranged at the front end of the small fly jib; the small fly jib is connected to the hot-line operation tool through a quick connecting device; and the hot-line operation tool comprises a foreign matter cleaning tool, a wire repair tool, an insulator sub-cleaning tool and / or a dry ice cleaning tool. The hot-line maintenance autonomous working robot platform has the following beneficial effects: the multi-sensor information fusiontechnology is adopted, and various sensors mounted on a robot are utilized to sense information of the robot body and the ambient environment, so that the operation security and reliability of the robot are improved.

Description

technical field [0001] The invention relates to the technical field of live maintenance work in substations, in particular to an autonomous operation robot platform for live maintenance of substations. Background technique [0002] With the continuous development of society, the development of the power grid is faced with the demands of high power supply reliability, high load density, and high power quality. Users are more and more strict about the time of power outages. It is difficult to arrange power outages for important key lines, and the opportunities for power outage maintenance are getting more and more few. [0003] Substation equipment is prone to pollution flashover during long-term operation, resulting in frequent grounding accidents of the power system and seriously affecting the safe operation of the power system; in order to prevent power outages caused by pollution flashover of insulators, it is necessary to regularly clean insulators and replace bad insulat...

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 robotic 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 the wire repair tool in the prior art is metal, which cannot realize live work and has poor safety

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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