Method for replacing metal oxide arrester of live working robot

Abstract

The invention discloses a method for replacing a metal oxide arrester of a live working robot. The live working robot comprises mechanical arms, wherein the mechanical arms are arranged on a robot platform and 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 control data to complete replacement of the metal oxide arrester; the control data are expected angle values of movement of joints of different mechanical arms; in rock operation, the expected angle values are obtained by solving different joint angle variation data of a main operator by a data processing and control system; in automatic operation, spatial routes of the mechanical arms are planned by the data processing and control system by using a Cartesian space route planning method, and the expected angle values of movement of the joints of mechanical arms can be solved. By adopting the method, the metal arrester can be replaced by using the mechanical arms of the live working robot under conditions of power supply and no 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 metal oxide arrester of a live working robot. Background technique [0002] Metal oxide arresters are widely used in power transmission and distribution lines of today's power systems, and have become the main equipment for overvoltage protection in power systems. [0003] With the long-term operation of the distribution network, the nuts of the metal oxide arrester may become loose, the porcelain bushing may be broken, and the rubber ring may be aging, which needs to be replaced. The usual practice is to replace the power outage. If the power outage area is large, it will cause incalculable losses and seriously affect the economic and social benefits of the power supply company. Now the majority of researchers are also actively studying the method of replacing metal oxide arresters in live working. However, for manual replacement and...

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;

Images