High-tension transmission line corridor branch trimming robot walking along ground wire and control method

Abstract

The invention provides a high-tension transmission line corridor branch trimming robot walking along a ground wire and a control method. The robot comprises a moving robot platform, an insulating ropewinding lifting platform, a rotation mechanism and a tail end trimming mechanism, wherein the moving robot platform walks on the ground wire, the insulating rope winding lifting platform can adjust the distance between a combined insulating arm mechanism and tail end trimming mechanism in a vertical surface and a wire, thereby achieving the trimming of branches at different heights. The tail endtrimming mechanism 5 adopts a laterally symmetrical distributed structure to achieve the balance. The combined insulating arm mechanism adopts a mode of arranging two insulating pipes in parallel, thereby not only satisfying the requirement of enough insulating distance, but also more greatly reducing the weight. The high-tension transmission line corridor branch trimming robot walking along the ground wire and the control method have the advantages that the trimming of branches of a high-tension transmission line corridor is achieved, the hidden danger of 'tree electricity' of the high-tension transmission line corridor is effectively solved, thereby avoiding various disadvantages of manual branch trimming operations, the security is high, the trimming efficiency is high, and the practicability is strong.

Description

technical field [0001] The invention relates to a high-voltage transmission line operation robot, in particular to a branch pruning robot and method for walking along a ground line corridor of a high-voltage transmission line, which replaces manual pruning operations and effectively solves the hidden danger of "tree electricity" in the high-voltage transmission line corridor. Background technique [0002] The distance between the branches and the conductors of the high-voltage transmission line corridor is too close, which leads to line tripping and blackout, which is an important hidden danger to the safety and stability of the line. In the large-scale and long-term power outages that have occurred at home and abroad, the cause of the accident is caused by the branches. Small-scale line tripping and blackout accidents caused by tree branches are even more common. Among them, especially under the influence of the wind, the distance between the branches and the wires meets th...

AI Technical Summary

Problems solved by technology

Among them, especially under the influence of the wind, the distance between the branches and the wires meets the safety distance requirements of the high-voltage lines of the corresponding voltage level in the case of no wind, but the slight wind vibration of the wires, wind deflection and the deviation of the branches under the influence of the wind Phenomena such as swinging may cause the distance between the wire and the branch to fail to meet the safety distance requirements of the corresponding voltage level line, resulting in a line short circuit tripping accident, resulting in serious consequences

[0003] At present, the main measures taken for the branches in the corridor are manual tree pruning or manual pruning with the assistance of operating vehicles, or even direct felling of trees. This method is not only labor-intensive, but also has high safety risks, damage to vegetation, and even social conflicts or disputes. , and the operation quality is difficult to control, and the scope of operation is limited, so it will leave a major safety hazard

In addition, helicopters are used to trim branches at home and abroad, but the cost of trimming is high, the risk is high, and it is not suitable for working in forests.

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