A method for replacing an isolated knife switch of a live working robot

Abstract

The present invention provides an isolation switch replacing method for a live working robot. The live working robot is provided with mechanical arms arranged on a robot platform. The mechanical arms comprise 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 the replacement of an isolation switch. The control data is angle expectation values of mechanical arm joint movement. In a shaking operation, the angle expectation values are obtained according to the calculation of each joint angle change data of a main manipulator by a data processing and control system. In an independent operation, a Cartesian space path planning method is used by the data processing and control system to plan the space path of each mechanical arm, and then the angle expectation value of each mechanical arm joint movement is calculated. According to the method, an isolation switch can be replaced through the mechanical arms of the live working robot under the condition of no power cut and no load.

Description

Technical field [0001] The invention belongs to the technical field of electric power, and specifically relates to a method for replacing an isolated knife switch of a live working robot. Background technique [0002] Isolation switch is one of the most used electrical appliances in high-voltage switchgear. Its working principle and structure are relatively simple, but due to its large usage and high reliability requirements, it is necessary for the design, establishment and safe operation of substations and power plants. The impacts are greater. [0003] With the long-term operation of the power distribution network, there may be problems such as loosening of nuts, cracking and falling off of porcelain bottles, loosening and aging of components, requiring replacement. The usual method is to replace the power outage. If the power outage area is large, it will cause immeasurable losses, which will seriously affect the economic and social benefits of power supply enterprises. Now t...

AI Technical Summary

Problems solved by technology

However, for manual replacement and maintenance, operators will work near high-voltage live lines, which has certain potential safety hazards

[0004] Insulated gloves are mainly used to replace the isolation switch in the live work of the power distribution line. When the isolation switch on the tower line needs to be replaced, the operator will work near the high-voltage live line, which has certain potential safety hazards.

During the replacement process, the wires need to be disconnected, and there is also a risk of electric shock; the operator is working on the insulating bucket on the insulating arm truck, and there is a risk of falling from a high place

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