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Transformer substation insulator hot-line work robot system and method

A robot system and live working technology, applied in manipulators, electrical components, program-controlled manipulators, etc., can solve problems such as uneven spraying, difficulty in guaranteeing coating quality, poor cleaning effect of oily dirt, etc., to ensure spraying quality and improve operations Efficiency, the effect of solving the dead angle of spraying

Active Publication Date: 2020-03-17
STATE GRID INTELLIGENCE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] (1) The cleaning and spraying of insulators in substations is often a continuous process. However, the existing mechanical arm structure can only be fixedly connected to one working tool. After cleaning, it needs to be replaced when switching to the spraying task. The robot system cannot achieve continuous operation, which affects the efficiency of live work
[0009] (2) The existing cleaning device for insulators mainly adopts brush dry cleaning, which only cleans the surface of the insulator, which is effective for the floating dust on the surface of the insulator, but the cleaning effect for the oily dirt attached to the surface of the insulator is poor
[0010] (3) Use insulating agent to clean insulators, mostly manual power outage cleaning, using the method of connecting insulating rods and cleaning brushes, dipping the cleaning brush into insulating agent and then cleaning the insulators with insulating agent, cleaning an insulator requires much The insulating agent is dipped for the first time, and continuous cleaning operations cannot be realized
[0011] (4) The cleaning effect is the best when the center of the insulating cleaning tool’s embracing device coincides with the axis of the insulator. The inventors have found that the process of judging the coincidence of the center of the insulating cleaning tool’s embracing device with the axis of the insulator is still done manually and intelligently. The degree is low, and then there is the defect of inaccurate positioning in the visual positioning of insulators
[0012] (5) Spraying anti-fouling flashover coatings on substation insulators is mainly achieved by manual spraying by workers, which can flexibly spray different positions of insulating porcelain parts. However, during the spraying process, a large amount of paint will not be sprayed on the porcelain parts but will be sprayed into the air, resulting in The waste is relatively serious and pollutes the surrounding environment; during the construction process, construction workers need to step on the surface of the porcelain bottle, and the safety rope is hung on the pillar of the porcelain bottle, which is easy to damage the porcelain umbrella skirt and is not safe; the construction quality mainly depends on the experience of the construction personnel Lead to uneven spraying, the quality of the coating is difficult to guarantee

Method used

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  • Transformer substation insulator hot-line work robot system and method
  • Transformer substation insulator hot-line work robot system and method
  • Transformer substation insulator hot-line work robot system and method

Examples

Experimental program
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Effect test

Embodiment 1

[0083] In one or more embodiments, a live working robot system for substation insulators is disclosed, referring to figure 1 , including: the robot body, the control module set in the robot body, and the insulation lifting mechanism set on the robot body; the end of the insulation lifting mechanism is connected to the live working tool through a quick connector; using electromagnetic field detection, leakage current detection, ultrasonic The multi-sensor fusion technology based on various detection technologies such as detection and visual detection solves the safety protection problem of live-line operation of robots under high voltage levels.

[0084] Live working tools include: live cleaning device or RTV spraying device.

[0085] Among them, the robot body includes: a mobile chassis, an insulating lifting arm set on the mobile chassis, the front end of the insulating lifting arm is connected to the small flying arm, and the front end of the small flying arm is provided with ...

specific Embodiment approach

[0090] As a specific embodiment, the cleaning part includes a cleaning brush structure and a driving motor 1-2;

[0091] The cleaning brush structure includes a hollow structure cleaning brush, and an insulating agent sponge 1-16 and a centrifugal motor 1-14 arranged inside the hollow structure;

[0092] The driving motor 1-2 is connected with the cleaning brush, the output shaft of the centrifugal motor 1-14 is connected with the insulating agent centrifugal mechanism 1-15, and the insulating agent sponge 1-16 is located in the hollow cleaning brush 1-11 and the insulating agent centrifugal mechanism 1-15 between;

[0093] When the drive motor 1-2 and the centrifugal motor 1-14 make their output shafts rotate in opposite directions, the hollow cleaning brush 1-11 rotates in the opposite direction with the insulating agent centrifugal mechanism 1-15, and the insulating agent centrifugal mechanism 1-15 rotates and squeezes the insulation The agent sponge 1-16, the insulating a...

Embodiment 2

[0172] In one or more embodiments, a live working robot system for substation insulators is disclosed, referring to figure 1 , including: the robot body, the control module set in the robot body, and the insulation lifting mechanism set on the robot body; the end of the insulation lifting mechanism is connected to the live working tool through a quick connector; the live working tool includes: substation contact grinding device , Substation insulator defect live detection device and bolt fastening device.

[0173] Of course, the live working tool may also include the live cleaning device or the RTV spraying device in Embodiment 1, and those skilled in the art can make a reasonable design according to actual needs.

[0174] refer to Figure 13 , The substation contact grinding device includes:

[0175] The grinding part includes a grinding head 3-3 module and a cleaning module; the grinding head 3-3 module is used for grinding the isolating switch knife switch contact to be p...

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Abstract

The invention discloses a transformer substation insulator hot-line work robot system and method. The system comprises a robot body, a control module arranged in the robot body and an insulating lifting mechanism arranged on the robot body. The tail end of the insulating lifting mechanism is connected with a live-line work tool through a quick connecting part; the live-line work tool comprises a live-line cleaning device or an RTV spraying device. The invention has the beneficial effects that the system can be quickly switched to the RTV spraying device after an insulator sweeping operation iscompleted, so the continuous operation of sweeping-spraying of the insulators of a transformer substation can be achieved.

Description

technical field [0001] The invention belongs to the technical field of live working on substation insulators, and in particular relates to a robot system and method for live working on substation insulators. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] Most of the high-voltage electrical equipment in the substation is installed outdoors, and the surface of the equipment will accumulate dirt when it is operated all the year round. Affected by the atmospheric environment, flashovers often occur under humid weather conditions, resulting in power outages. With the aggravation of industrial pollution, the deterioration of climatic conditions and the use of high-voltage power grids, the pollution flashover accidents of power grid equipment show a trend of high frequency and wide area. Moreover, the maintenance and recovery time is long, ca...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/04B25J11/00B25J15/00B25J9/16B25J19/02H02B3/00
CPCB25J9/047B25J9/1689B25J11/0065B25J11/0075B25J11/0085B25J15/0066B25J19/023H02B3/00
Inventor 李健王振利李建祥周大洲李猷民许玮慕世友鉴庆之任杰黄锐吕俊涛陈强董旭刘继志许荣浩张海龙
Owner STATE GRID INTELLIGENCE TECH CO LTD
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