Method for disconnecting lead by live-line work robot

Abstract

The invention provides a method for disconnecting a lead by a live-line work robot. Based on a main mechanical arm, an auxiliary mechanical arm and a camera used for collecting image data of a workingscene on a robot platform, the mechanical arms are controlled through a control room to complete the following work: the auxiliary mechanical arm clamps the lead; the main mechanical arm firmly grasps a wire clamp, a pneumatic wrench at the tail end of the main mechanical arm aligns to a nut on the wire clamp and unscrews the nut; the auxiliary mechanical arm clamps the lead, enables the lead tobreak away from the wire clamp and then clamps the lead to be away from the working area; and the main mechanical arm enables the wire clamp to break away from a wire and places the wire clamp in a toolbox. According to the invention, the lead supported and connected to the wire is disassembled through the mechanical arms of the live-line work robot under the condition that the power is not interrupted, so that negative effects brought about by power interruption are avoided, and the reliability of power supply is improved.

Description

technical field [0001] The invention belongs to the technical field of robot control and electric power engineering, and in particular relates to a method for breaking a lead wire of a live working robot. Background technique [0002] Live disconnection and connection of drain wires are one of the main work items of live work on the distribution network side in China. At present, this kind of work mostly uses the direct operation method of insulating gloves. Therefore, before power distribution work, it is necessary to prepare various safety measures and clarify the operation method , and select the operation tool. Live work largely avoids the negative impact of line power outages, greatly reduces power outage time, improves power supply reliability, and alleviates power complaints. Compared with the transmission network, although the distribution network has a lower voltage, it has the characteristics of dense equipment, complex lines, narrow space, and small distance to t...

AI Technical Summary

Problems solved by technology

Chinese Patent Application No. CN201611129645.0 discloses a method for lapping lead wires of a live working robot, which uses remote operation of the robot or autonomously to lap or remove the lead wires, but the scheme uses three mechanical arms for simultaneous operations, and No special jigs and clamps are designed for the robot arm. The operation steps are cumbersome, and it is easy to interfere with each other in a small space, which may cause short circuit or collision of the wires and damage the robot arm.

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