Insulation lifting arm system and method used for hotline maintenance work of transformer substation

Abstract

The invention discloses an insulation lifting arm system and method used for hotline maintenance work of a transformer substation. The system comprises a rotation platform, a main arm, an upper arm, an insulation telescopic arm and a small fly arm which are connected in sequence and further comprises an insulation lifting arm control system; and sensors for detecting the corners and the positionsof the main arm and the upper arm are arranged on the main arm and the upper arm, sensors used for detecting the telescopic length and the position of the insulation telescopic arm are arranged on theinsulation telescopic arm, sensors used for detecting the rotating angle and the horizontal inclination angles are arranged on the small fly arm, the insulation lifting arm control system controls the main arm, the upper arm, the insulation telescopic arm and the small fly arm to move according to data collected by the sensors, and one-key reset and leveling of the small fly arm of the insulationlifting arm system can be achieved. The system has the beneficial effects that the multi-sensor information fusing technology is adopted, the multiple types of sensors mounted on a robot are used, information of the robot body and the surrounding can be perceived, and operation safety and reliability of the robot can be improved.

Description

technical field [0001] The invention relates to the technical field of substation live maintenance operations, in particular to an insulating lifting arm system and method for substation live maintenance operations. Background technique [0002] With the continuous development of society, the development of the power grid is faced with the demand for high power supply reliability, high load density, and high power quality. Users have increasingly strict requirements for power outage time. It is difficult to arrange power outages for important key lines, and there are more and more opportunities for power outage maintenance. few. [0003] Substation equipment is prone to pollution flashover during long-term operation, which leads to frequent grounding accidents in the power system and seriously affects the safe operation of the power system; in order to prevent accidents such as power outages caused by insulator pollution flashover, methods such as regular cleaning of 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 mechanical 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

[0010] (2) The small flying arm at the end of the mechanical arm is connected with 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.

[0011] (3) The existing mechanical arm structure can only be fixedly connected to one working tool, which cannot realize flexible and rapid replacement of working tools, which seriously affects the efficiency of live working

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