Intelligent live-line insulator replacement method for power transmission line

By using technical means such as insulator replacement robots, neural networks and sliding mode control algorithms in the insulator replacement technology, the problems of insufficient control methods, accuracy and efficiency in the existing technology are solved, and efficient and safe insulator live replacement operations are achieved.

CN119651412AInactive Publication Date: 2025-03-18MAINTENANCE COMPANY OF STATE GRID XINJIANG ELECTRIC POWER COMPANY
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Patent Information

Application Number
CN202411806622.3
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2024-12-10
Publication Date
2025-03-18
Estimated Expiration
Not applicable · inactive patent

AI Technical Summary

Technical Problem

The existing insulator live replacement technology has huge shortcomings in control methods, control accuracy and operating efficiency, resulting in limited application scope and unsatisfactory actual operation performance.

Method used

The insulator replacement robot is used to lift the robot to reach the working site through a drone. The robot is fixed to the crossbar and uses the push-in and push-out spring pin on the robot arm to complete the insulator replacement. At the same time, a robust controller was designed for external perturbation estimation and sliding mode control algorithms, and flexible control method was adopted based on force feedback for impedance control, and bidirectional data transmission between the robot and the ground was realized through the ground base station.

Benefits of technology

It significantly improves the safety and efficiency of insulator electrical replacement operations, reduces work costs, and effectively solves problems such as visual positioning, coordination between drones and robotic arms, multi-intelligent body planning and intelligent grasping of robotic arms.

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Abstract

The invention provides an intelligent live-line insulator replacement method for a power transmission line, and belongs to the technical field of power operation and maintenance. An unmanned aerial vehicle is adopted to lift the insulator replacement robot to a working site, the robot is fixed to a cross arm, and then a mechanical arm is driven to execute insulator replacement work. In the aspect of the entity structure of the robot, a cross arm fixing mechanism carried on a chassis is designed, insulator replacement is completed through spring pins on mechanical arms, and operation is accurate and efficient; and meanwhile, an insulation structure and an electromagnetic shielding device are designed for the machine body, so that the safety is ensured. In addition, a position tracking and impedance control method is designed for the robot, and the reliability and safety of the robot during execution of an installation task are guaranteed in a power complex environment. And a remote monitoring and remote control operation system is designed, so that efficient two-way communication between the ground base station and the robot is realized. According to the invention, the safety and efficiency of insulator electric replacement operation can be obviously improved, and the working cost is reduced.
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