Wiring method of live-line welding robot suitable for disconnecting link lead lap joint

Abstract

The invention is suitable for the field of electric power, and discloses a wiring method of a live-line welding robot suitable for disconnecting link lead lap joint, which comprises the following steps: acquiring a wiring point and a wire stripping positioning point, calculating the reserved length of a drainage wire, installing the drainage wire with the length not less than the reserved length on a porcelain bottle, connecting one end of the drainage wire with a disconnecting link, and connecting the other end of the drainage wire with the disconnecting link; the other end is clamped on the traction clamp; controlling the live line welding robot to climb to the target live line welding line, and monitoring the levelness of the live line welding robot in the climbing process; when climbing to the target live wire, the live wire welding robot is controlled to walk to a wire stripping positioning point and perform wire stripping operation, and after the wire stripping operation is completed, the live wire welding robot is controlled to perform wire taking and wiring operation so as to connect the wiring end of the drainage wire with the wiring point; automation and precision of drainage wire reserving, wire stripping and wiring operation in the disconnecting link lead lap joint process are achieved.

Description

Technical Field

[0001] The invention relates to the field of electric power, and in particular to a live-wire connection robot method suitable for overlapping knife switch leads. Background Art

[0002] In the power supply system, diversion operations (commonly known as connection) have become a critical link to meet the growing demand for users of existing distribution lines. This operation connects diversion lines to existing distribution lines, ensuring power supply to newly added users. It is a crucial operation to ensure the rational allocation and continuous supply of power resources.

[0003] As the terminal link of the power system, the distribution network directly connects to the vast majority of users. Its operational stability and reliability play a crucial role in the entire power supply system. With the continuous development of society and economy, the dependence of various industries and residents on electricity has become increasingly deep, placing increasingly high demands on the stability and reliability of the distribution network power supply. To prevent the disruption of existing distribution lines from power outages during connection operations, the industry currently employs a non-stop connection method—live connection. This approach ensures the connection of new customers while ensuring the normal power supply of existing customers, significantly reducing losses from power outages caused by the connection, and meeting modern society's demand for a continuous power supply. However, current live-wire connection work in distribution networks relies primarily on manual labor. During this process, workers must strip the cables and connect the drain wires to the corresponding cables while operating in a live environment. This manual approach has significant drawbacks: Firstly, it is inefficient, limited by manual speed and physical strength, making it difficult to quickly complete large-scale connection tasks. Secondly, operating in a live environment poses significant safety risks to workers, and even the slightest carelessness can lead to accidents such as electric shock, seriously threatening their lives.

[0004] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0005] The purpose of the present invention is to provide a live wire connection robot wiring method suitable for knife switch lead connection, which realizes the automation and precision of the drainage wire reservation, wire stripping and wiring operations during the knife switch lead connection process.

[0006] To achieve the above object, the present invention provides the following solutions: A live fire connection robot wiring method suitable for knife switch lead connection, the live fire connection robot wiring method suitable for knife switch lead connection is based on the live fire connection robot to achieve the connection of the live wire, the drain wire and the knife switch, the live fire connection robot includes a traction clamp, the knife switch is installed on the pole tower, the pole tower is provided with a porcelain bottle, including: obtaining the connection point and the wire stripping positioning point, and calculating the reserved length of the drain wire, installing the drain wire that is not less than the reserved length on the porcelain bottle, and connecting one end of the drain wire to the knife switch, and clamping the other end on the traction clamp; controlling the live fire connection robot to climb to the target live fire line, and monitoring the live fire connection during the climbing process. The levelness of the robot, if the levelness is greater than the preset levelness threshold, the leveling instruction is triggered to level the live firing robot until the levelness of the live firing robot is no greater than the preset levelness threshold, and the live firing robot is controlled to perform a climbing operation; when the live firing robot climbs to the target firing line, the live firing robot is controlled to walk to the wire stripping positioning point; when the live firing robot walks to the wire stripping positioning point, the live firing robot is controlled to perform a wire stripping operation on the wiring point; after completing the wire stripping operation, the live firing robot is controlled to perform wire taking and wiring operations to connect the wiring end of the drainage wire with the wiring point.

[0007] Preferably, the knife switch is installed on a pole tower, and the pole tower is provided with a first crossarm, a second crossarm and a third crossarm in sequence from top to bottom, the first crossarm is provided with an insulator, the second crossarm is provided with a porcelain bottle, and the porcelain bottle is located below the target live wire, and the knife switch is provided on the third crossarm, and the calculation of the reserved length of the drainage line includes: obtaining the tension line point, and obtaining the vertical distance from the porcelain bottle to the target live wire and the distance between the connection point and the tension line point of the target live wire; calculating the lead length from the connection point to the porcelain bottle according to the vertical distance from the porcelain bottle to the target live wire and the distance between the connection point and the tension line point of the target live wire; obtaining the lead length from the porcelain bottle to the knife switch, and calculating the reserved length of the drainage line according to the lead length from the connection point to the porcelain bottle and the lead length from the porcelain bottle to the knife switch.

[0008] Preferably, the lead length from the connection point to the porcelain bottle is defined as D, and the lead length D from the connection point to the porcelain bottle is expressed as:

[0009] Where, Indicates the vertical distance from the porcelain bottle to the target live wire. According to actual measurements, Indicates the distance between the connection point and the tension line point of the target live wire.

[0010] Preferably, the reserved length of the drainage line is defined as L, and the reserved length L of the drainage line is expressed as:

[0011] Where, Indicates the lead length from the porcelain bottle to the knife switch. Measured based on the actual installation position of the drainage line.

[0012] Preferably, the live-fire robot also includes a winch mechanism. When the leveling command is triggered, the motor speed difference of the two winch modules of the winch mechanism is obtained, and the motor speed of the winch module with a higher motor speed is lowered according to the adjustment value of the motor speed difference / 2, and the motor speed of the winch module with a lower motor speed is increased according to the adjustment value of the motor speed difference / 2.

[0013] Preferably, a travel switch is further provided on the hoisting mechanism. When the travel switch on the hoisting mechanism senses the target firing line, it is determined that the live firing robot has climbed onto the target firing line.

[0014] Preferably, the live firing robot further comprises a winch mechanism, a front routing arm and a rear routing arm, the front routing arm is further provided with a laser radar, the laser radar is used to obtain the distance between the live firing robot and the pole tower, and when the live firing robot climbs to the target firing line, the live firing robot is controlled to walk to the wire stripping positioning point, including: when the live firing robot climbs to the target firing line, the distance between the live firing robot and the pole tower is obtained by the laser radar, and the distance between the live firing robot and the pole tower is the distance between the front routing arm and the pole tower; if the live firing robot climbs to the target firing line, ... If the distance between the live fire robot and the pole tower is greater than the distance between the wire stripping positioning point and the tension line point of the target fire line, the live fire robot is controlled to move towards the pole tower until the distance between the live fire robot and the pole tower is equal to the distance between the wire stripping positioning point and the tension line point of the target fire line; if the distance between the live fire robot and the pole tower is less than the distance between the wire stripping positioning point and the tension line point of the target fire line, the live fire robot is controlled to move away from the pole tower until the distance between the live fire robot and the pole tower is equal to the distance between the wire stripping positioning point and the tension line point of the target fire line.

[0015] Preferably, the live-wire connection robot further comprises a first swing arm mechanism and a wire stripping mechanism, the wire stripping mechanism comprises a slide rail seat, a rotating seat, a wire clamping portion and a peeling portion, the wire stripping mechanism is further provided with a beam sensor, and the peeling portion of the wire stripping mechanism is installed with an infrared light detection sensor on the same side of the cutter head, and when the live-wire connection robot walks to the wire stripping positioning point, the live-wire connection robot is controlled to perform wire stripping operations on the wire connection points, comprising: when the live-wire connection robot walks to the wire stripping positioning point, the wire stripping mechanism is driven to swing in the direction of the target connection wire by the first swing arm mechanism, and the status signal output by the beam sensor is obtained; if the beam sensor is When the status signal output by the infrared sensor is blocked, it is determined that the wire stripping mechanism has reached the wire stripping position; the wire stripping mechanism is started, the peeling part adjusts the extension amount, and receives the status signal output by the infrared light detection sensor. When the status signal output by the infrared light detection sensor is that the wire core is detected, it is determined that the peeling part has completed the extension amount adjustment, and the peeling part and the wire clamping part are driven to rotate through the rotating seat, and the rotating seat adaptively adjusts to slide along the slide rail seat during the peeling process to cut along the length direction of the target live wire and strip the wiring point. When the rotating seat slides to the end of the stroke of the slide rail seat, the wire stripping mechanism is controlled to leave the target live wire and complete the wire stripping operation.

[0016] Preferably, the live connection robot further comprises a traction mechanism, a wrench mechanism, a wire clamping mechanism and a parallel groove wire clamp, the parallel groove wire clamp being mounted on the wrench mechanism, a camera being provided on the first swing arm mechanism, the camera being located parallel to the drainage line and serving as a reference, the camera being used to capture an image of the bare wire at the connection point, and after the stripping operation is completed, the live connection robot is controlled to perform wire taking and wiring operations to connect the terminal of the drainage line to the connection point, and further comprising: after the stripping operation is completed, the traction clamp is pulled to a high altitude by the traction mechanism so that the terminal of the drainage line is in the high altitude; the drainage line in the traction clamp is taken out by the wire clamping mechanism and move the drainage wire to a wiring position of the parallel groove wire clamp to complete the wire removal operation; after completing the wire removal operation, the camera is used to capture the image of the bare wire of the wiring point, and the image of the bare wire captured at the wiring point is identified to obtain the inclination angle of the target live wire and the drainage wire, and the first swing arm mechanism is used to drive the wrench mechanism and the parallel groove wire clamp to lift, and the lifting angle is the same as the inclination angle, so that the bare wire part of the wiring point is stuck in another wiring position of the parallel groove wire clamp, and the parallel groove wire clamp is locked by the wrench mechanism to connect the target live wire and the drainage wire, and the wrench mechanism is taken away from the parallel groove wire clamp by the first swing arm mechanism to complete the wiring operation.

[0017] The charged fire contact robot provided by the application can replace operation and maintenance personnel to perform high-risk high-altitude charged operation, fundamentally eliminates the risk of electric shock and falling from a high place, and improves the operation safety to an unprecedented height, and the charged fire contact robot is continuously leveled during climbing to ensure that the charged fire contact robot is always in a stable posture, and the risk of operation failure or tool damage caused by the inclination of the charged fire contact robot is reduced, after reaching the target fire contact line, the distance from the tower is measured in real time and compared with the preset distance from the stripping positioning point to the tension wire point, dynamic accurate positioning is realized, the error and delay of manual positioning are eliminated, and the accuracy and efficiency of the stripping operation are improved, in addition, the reserved length of the drainage wire is scientifically calculated, and the charged fire contact robot is automatically completed from climbing, positioning, stripping to wire taking and wiring, the contact of the lap joint point is ensured, the possibility of rework is greatly reduced, and the mechanical strength and conductive performance of the electrical connection are improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor based on the drawings shown.

[0019] Figure 1 is a flowchart of the charged fire contact robot wiring method suitable for the knife switch lead lap joint provided by the embodiment of the present application; Figure 2 is a structural schematic diagram of the charged fire contact robot provided by the embodiment of the present application; Figure 3 is a structural schematic diagram of the tower provided by the embodiment of the present application.

[0020] Explanation of reference signs: 1, winch mechanism; 2, front wire walking arm; 3, rear wire walking arm; 4, first swing arm mechanism; 5, stripping mechanism; 6, traction mechanism; 7, traction clamp; 8, second swing arm mechanism; 9, pull phone mechanism; 10, wire clamping mechanism; 11, parallel groove clamp; 100, tower; 101, first cross arm; 102, second cross arm; 103, insulator; 104, porcelain bottle; 105, tension clamp; 200, drainage wire. DETAILED DESCRIPTION

[0021] The terms "first," "second," "third," "fourth," and so forth (if any) in the description and claims of the present invention and in the accompanying drawings are used to distinguish similar items and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that shown or described herein. In addition, the terms "including" or "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, product, or apparatus.

[0022] An embodiment of the present invention provides a live-wire connection robot wiring method suitable for splicing knife switch leads. The method is implemented based on a live-wire connection robot. The live-wire connection robot is a live-wire connection robot disclosed in Chinese patent CN202311238699.0, which mainly includes a winch mechanism 1, a front routing arm 2, a rear routing arm 3, a first swing arm mechanism 4, a wire stripping mechanism 5, a traction mechanism 6, a traction clamp 7, a second swing arm mechanism 8, a wrench mechanism 9, a wire clamping mechanism 10 and a parallel groove wire clamp 11. The parallel groove wire clamp 11 is installed on the wrench mechanism 9. The specific structure of each mechanism is not repeated here.

[0023] An embodiment of the present invention provides a live wire connection robot wiring method suitable for knife switch lead connection, which connects one end of the drain wire 200 to the lower pile head of the knife switch and pulls the other end to the connection point of the live wire.

[0024] The knife switch is installed on the pole tower 100. The pole tower 100 is provided with a first cross arm 101, a second cross arm 102 and a third cross arm from top to bottom. The first cross arm 101 is provided with an insulator 103, and the second cross arm 102 is provided with a porcelain bottle 104. The porcelain bottle 104 is located below the target live wire. The knife switch (not shown) is provided on the third cross arm (not shown).

[0025] For ease of understanding, the specific process of the embodiment of the present invention is described below. Figure 1 In an embodiment of the present invention, a live wire connection method for a robot suitable for connecting a knife switch lead includes: S101. Obtain the connection point and the wire stripping positioning point, and calculate the reserved length of the drainage wire 200. Install the drainage wire 200, which is not less than the reserved length, on the porcelain bottle 104, and connect one end of the drainage wire 200 to the knife switch, and clamp the other end on the traction clamp 7; S102: Control the live firing robot to climb to the target firing line. During the climbing process, monitor the levelness of the live firing robot. If the levelness is greater than a preset levelness threshold, trigger a leveling command to level the live firing robot until the levelness of the live firing robot is no greater than the preset levelness threshold. Then, control the live firing robot to perform a climbing operation. S103, when the live wire connection robot climbs to the target wire connection line, controlling the live wire connection robot to move to the wire stripping positioning point; S104, when the live connection robot moves to the wire stripping positioning point, control the live connection robot to perform wire stripping operation on the connection point; S105. After the wire stripping operation is completed, the live wire connection robot is controlled to perform wire removal and connection operations to connect the connection terminal of the drainage wire 200 to the connection point.

[0026] In this embodiment, in step S101 , the connection point is the location on the target live wire where the drain wire 200 is connected.

[0027] The distance between the stripping positioning point and the connection point is defined according to actual conditions. In this embodiment, the stripping positioning point is 55 cm away from the connection point. In order to facilitate robot operation, the stripping positioning point is set on the side of the connection point away from the tower 100.

[0028] The tension line point is the position on the tower 100 where the tension clamp 105 is installed.

[0029] In this embodiment, illustratively, calculating the reserved length of the drainage line 200 includes: Obtain the vertical distance from the porcelain bottle 104 to the target live wire and the distance between the connection point and the tension line point of the target live wire; The lead length from the connection point to the porcelain bottle 104 is calculated based on the vertical distance from the porcelain bottle 104 to the target live wire and the distance between the connection point and the tension line point of the target live wire; The lead length from the porcelain bottle 104 to the knife switch is obtained, and the reserved length of the drainage line 200 is calculated according to the lead length from the connection point to the porcelain bottle 104 and the lead length from the porcelain bottle 104 to the knife switch.

[0030] In this embodiment, the lead length from the connection point to the porcelain bottle 104 is defined as D. The lead length D from the connection point to the porcelain bottle 104 is expressed as: .

[0031] Where, Indicates the vertical distance from the porcelain bottle 104 to the target live wire, According to actual measurements, Indicates the distance between the connection point and the tension line point of the target live wire.

[0032] In this embodiment, Generally 1.7m.

[0033] In this embodiment, the reserved length of the drainage line 200 is defined as L, and the reserved length L of the drainage line 200 is expressed as: .

[0034] Where, Indicates the lead length from porcelain bottle 104 to knife switch, It is measured based on the actual installation position of the drainage line 200.

[0035] In this embodiment, when installing the drain wire 200, the insulation of the terminal of the drain wire 200 is pre-stripped, and the stripping length is 10±0.5 cm. The front end of the aluminum wire exposed after stripping is wrapped with electrical tape 3 times to prevent the aluminum wire from unraveling. The drain wire 200 within 20 cm of the terminal should be straight without any obvious bends. If there are any bends, they need to be corrected.

[0036] In this embodiment, one end of the drain wire 200 away from the knife switch is bent and drooped toward the connection point.

[0037] In this embodiment, the end of the drain wire 200 away from the knife switch is installed on the traction clamp 7.

[0038] In this embodiment, in step S102, the live firing robot is driven by the hoisting mechanism 1 to climb to the target firing line.

[0039] In this embodiment, a gyroscope is provided on the live fire connection robot, and the levelness of the live fire connection robot is monitored by the gyroscope.

[0040] During the climb process, the gyroscope enters a high-frequency monitoring mode (e.g., collecting data 100 times per second), continuously capturing the robot's tilt angle in three-dimensional space (including forward and backward tilt and left and right tilt). Levelness is typically measured in degrees, with a preset leveling threshold set based on the operating scenario (e.g., ±2 degrees). When the gyroscope detects a leveling error greater than the preset threshold, a leveling command is triggered, pausing the climb operation and entering the dynamic leveling phase.

[0041] When the leveling command is triggered, the motor speed difference of the two winch modules of the winch mechanism 1 is obtained, and the motor speed of the winch module with a higher motor speed is lowered according to the adjustment value of the motor speed difference / 2, and the motor speed of the winch module with a lower motor speed is increased according to the adjustment value of the motor speed difference / 2.

[0042] During the leveling process, the gyroscope continuously provides feedback on horizontality. When the levelness drops below the preset threshold, leveling is considered complete, the leveling command is immediately terminated, and climbing operations resume. At this point, the robot's two hoisting mechanisms 1 resume synchronous rotation and continue climbing toward the target contact line. During the subsequent climb, the gyroscope maintains high-frequency monitoring, forming a closed-loop control cycle of "climb-monitor-level-reclimb" until the robot reaches the target contact line.

[0043] In this embodiment, a travel switch is further provided on the hoisting mechanism 1. When the travel switch on the hoisting mechanism 1 senses the target firing line, it is determined that the live firing robot has climbed to the target firing line.

[0044] In this embodiment, in step S103, when the live firing robot climbs to the target firing line, the live firing robot is controlled to walk to the wire stripping positioning point, including: when the live firing robot climbs to the target firing line, obtaining the distance between the live firing robot and the pole tower 100; if the distance between the live firing robot and the pole tower 100 is greater than the distance between the wire stripping positioning point and the tension line point of the target firing line, the live firing robot is controlled to walk in the direction approaching the pole tower 100 until the distance between the live firing robot and the pole tower 100 is equal to the distance between the wire stripping positioning point and the tension line point of the target firing line; if the distance between the live firing robot and the pole tower 100 is less than the distance between the wire stripping positioning point and the tension line point of the target firing line, the live firing robot is controlled to walk in the direction away from the pole tower 100 until the distance between the live firing robot and the pole tower 100 is equal to the distance between the wire stripping positioning point and the tension line point of the target firing line.

[0045] In this embodiment, the distance between the live wire connection robot and the pole tower 100 refers to the distance between the front routing arm 2 and the pole tower 100.

[0046] In this embodiment, a laser radar is further provided on the front routing arm 2, and the laser radar is used to obtain the distance between the live firing robot and the tower 100.

[0047] In this embodiment, if the distance between the live connection robot and the pole tower 100 is greater than the distance between the wire stripping positioning point and the tension wire point of the target connection wire, it means that the live connection robot is located on the side of the wire stripping positioning point away from the pole tower 100 and needs to move closer to the pole tower 100.

[0048] If the distance between the live wire connection robot and the pole tower 100 is smaller than the distance between the wire stripping positioning point and the tension line point of the target wire connection, it means that the front routing arm 2 is located on the side of the wire stripping positioning point close to the pole tower 100 and needs to be moved away from the pole tower 100.

[0049] During the movement, the laser radar continuously monitors the distance between the live firing robot and the pole tower 100 in real time until the distance between the live firing robot and the pole tower 100 is equal to the distance between the wire stripping positioning point and the tension line point of the target firing wire.

[0050] In this embodiment, the difference between the distance between the live fire connection robot and the pole tower 100 and the distance between the wire stripping positioning point and the tension wire point of the target fire connection wire can also be calculated as the adjustment distance, and then the movement of the live fire connection robot is controlled according to the adjustment distance.

[0051] In this embodiment, in step S104, the first swing arm mechanism 4 drives the wire stripping mechanism 5 to swing toward the target live wire until the wire stripping mechanism 5 reaches the stripping position, and performs a wire stripping operation on the target live wire until the insulating outer sheath on the target live wire is completely stripped off to form a wiring point.

[0052] In this embodiment, the wire stripping mechanism 5 is further provided with a beam sensor. When the beam sensor detects a signal of a live wire, it indicates that the wire stripping mechanism 5 has reached the wire stripping position.

[0053] Specifically, the through-beam sensor comprises a transmitter and a receiver, respectively mounted on the first and second clamping plates of the wire stripping mechanism 5. As the first swing arm mechanism 4 swings the wire stripping mechanism 5 toward the target live wire, the transmitter continuously emits a light beam, while the receiver waits to receive it. Because the two clamping plates are open, there's no obstruction between the transmitter and receiver, allowing direct transmission of the light beam. The receiver can stably receive the signal, and the sensor outputs an "unobstructed" status signal. As the swinging motion progresses, the wire stripping mechanism 5 gradually approaches the target live wire. When the target live wire enters the gap between the first and second clamping plates, the target live wire blocks the light beam emitted by the transmitter. That is, after emitting the light beam, it is blocked by the target live wire and prevents it from reaching the receiver. Unable to receive the light beam, the receiver's internal circuitry changes state (e.g., from a high level to a low level), and transmits this blockage signal as feedback.

[0054] In this embodiment, the stripping portion of the wire stripping mechanism 5 is equipped with an infrared light detection sensor on the same side of the blade as the cutter head, for example, 5 mm from the cutting edge of the cutter head. When the transmitting end transmits light, the light is absorbed by the black outer covering of the cable and cannot be reflected. The receiving end at the other end does not receive the light at all. At this time, the cutter head is controlled to continue cutting downward. When the light hits the wire core, the silver-white wire core reflects the light to the receiving end, thus detecting that the cutter has stripped the wire core. The cutter head stops cutting downward, indicating that the extending distance of the stripping portion meets the required cutting depth of the insulation.

[0055] In this embodiment, the wire stripping mechanism includes a slide rail seat, a rotating seat, a wire clamping part and a peeling part. When the live wire connection robot walks to the wire stripping positioning point, the live wire connection robot is controlled to perform wire stripping operations on the connection points, specifically including: when the live wire connection robot walks to the wire stripping positioning point, the status signal output by the opposing radiation sensor is obtained. If the status signal output by the opposing radiation sensor is blocked, it is determined that the wire stripping mechanism 5 has reached the wire stripping position; the wire stripping mechanism 5 is started, the peeling part adjusts the extension amount, and receives the status signal output by the infrared light detection sensor. When the status signal output by the infrared light detection sensor is that the wire core is detected, it is determined that the peeling part completes the extension amount adjustment, and drives the peeling part and the wire clamping part to rotate through the rotating seat, and the rotating seat adaptively adjusts to slide along the slide rail seat during the peeling process to cut along the length direction of the target connection wire and perform wire stripping operations on the connection points. When the rotating seat slides to the end of the travel of the slide rail seat, the wire stripping mechanism 5 is controlled to leave the target connection wire to complete the wire stripping operation.

[0056] In this embodiment, in step S105, a camera is provided on the first swing arm mechanism. The camera is located parallel to the drainage line and serves as a reference. The camera is used to capture an image of the bare wire at the connection point.

[0057] After the stripping operation is completed, the live wire connection robot is controlled to perform wire taking and wiring operations to connect the terminal of the drainage wire 200 to the wiring point, including: after the stripping operation is completed, the traction clamp 7 is pulled to a high altitude by the traction mechanism 6 so that the terminal of the drainage wire 200 is in the air; the drainage wire 200 in the traction clamp 7 is taken out by the wire clamping mechanism 10, and the drainage wire 200 is transferred to a wiring position of the parallel groove wire clamp 11 to complete the wire taking operation; after the wire taking operation is completed, the bare wire image of the wiring point is photographed by the camera, and the photographed wiring point is The bare wire image is identified to obtain the inclination angle of the target live wire and the drain wire 200, and the first swing arm mechanism 4 drives the wrench mechanism 9 and the parallel groove wire clamp 11 to be lifted, and the lifting angle is the same as the inclination angle, so that the bare wire part of the wiring point is stuck in another wiring position of the parallel groove wire clamp, and the parallel groove wire clamp 11 is locked by the wrench mechanism 9 to connect the target live wire and the drain wire 200, and the wrench mechanism 9 is taken away from the parallel groove wire clamp 11 by the first swing arm mechanism 4 to complete the wiring operation.

[0058] In this embodiment, a first encoder is installed on the traction clamp 7, and the first encoder can accurately measure the inclination angle of the traction clamp 7. The wire clamping mechanism 10 automatically adjusts the motion trajectory according to the measured angle signal, and can accurately clamp the drainage wire 200.

[0059] In this embodiment, the lifting angle of the first swing arm mechanism 4, that is, the lifting angle of the parallel groove clamp, can be calculated by the second encoder provided on the first swing arm mechanism.

[0060] In this embodiment, three porcelain bottles 104 are installed on the second crossarm 102 of a three-phase power transmission line. Each porcelain bottle 104 is located below a corresponding phase of the power transmission line. Wiring operations for each phase of the power transmission line are performed according to the above wiring method. When calculating the reserved length of the drain line 200, the distance between the corresponding porcelain bottle 104 and the power transmission line is used for calculation.

[0061] The live-wire connection robot wiring method of the present embodiment is suitable for knife switch lead connection. The live-wire connection robot replaces the operation and maintenance personnel to perform high-risk high-altitude live operations throughout the process, fundamentally eliminating the risks of electric shock and falling from heights, and improving the safety of operations to an unprecedented level. At the same time, the live-wire connection robot continuously monitors its horizontality and levels it during its climbing process to ensure that the live-wire connection robot is always in a stable posture, reducing the risk of operational errors or tool damage due to the tilt of the live-wire connection robot. After arriving at the target connection line, dynamic and precise positioning is achieved by real-time measurement of the distance from the pole tower 100 and intelligent comparison with the preset distance from the stripping positioning point to the tension line point, eliminating the errors and delays of manual positioning and improving the accuracy and efficiency of the stripping operation. In addition, the reserved length of the drainage line 200 is scientifically calculated, and the live-wire connection robot independently completes the entire process from climbing, positioning, stripping to wire taking and wiring, ensuring good contact at the connection point, greatly reducing the possibility of rework, and improving the mechanical strength and conductive performance of the electrical connection.

[0062] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention description and drawings under the inventive concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A live wire connection robot method suitable for knife switch lead connection, characterized in that: The live-wire connection robot wiring method suitable for knife switch lead connection is based on the live-wire connection robot to achieve the connection of the live wire, the drain wire and the knife switch. The live-wire connection robot includes a traction clamp, and the knife switch is installed on the pole tower. The pole tower is provided with a porcelain bottle, including: Obtain the connection point and wire stripping positioning point, and calculate the reserved length of the drainage wire. Install the drainage wire that is not less than the reserved length on the porcelain bottle, connect one end of the drainage wire to the knife switch, and clamp the other end on the traction fixture; Control the live firing robot to climb to the target firing line. During the climbing process, monitor the levelness of the live firing robot. If the levelness is greater than a preset levelness threshold, trigger a leveling instruction to level the live firing robot until the levelness of the live firing robot is no greater than the preset levelness threshold. Then control the live firing robot to perform a climbing operation. When the live wire-connecting robot climbs to the target wire-connecting line, the live wire-connecting robot is controlled to move to the wire stripping positioning point; When the live wire connection robot moves to the wire stripping positioning point, the live wire connection robot is controlled to perform wire stripping operation on the connection point; After the wire stripping operation is completed, the live wire connection robot is controlled to perform wire taking and wiring operations to connect the wiring terminal of the drainage wire to the wiring point.

2. The live wire connection robot method for knife switch lead connection according to claim 1, characterized in that: The tower is provided with a first cross arm, a second cross arm and a third cross arm in sequence from top to bottom, the first cross arm is provided with an insulator, the second cross arm is provided with the porcelain bottle, and the porcelain bottle is located below the target live wire, the knife switch is provided on the third cross arm, and the calculation of the reserved length of the drainage line includes: Get the tension line point, and get the vertical distance from the porcelain bottle to the target live wire and the distance between the connection point and the tension line point of the target live wire; The lead length from the connection point to the porcelain bottle is calculated based on the vertical distance from the porcelain bottle to the target live wire and the distance between the connection point and the tension line point of the target live wire; Obtain the lead length from the porcelain bottle to the knife switch, and calculate the reserved length of the drainage line based on the lead length from the connection point to the porcelain bottle and the lead length from the porcelain bottle to the knife switch.

3. The live wire connection robot method for knife switch lead connection according to claim 2, characterized in that: Define the lead length from the connection point to the porcelain bottle as D, then the lead length D from the connection point to the porcelain bottle is expressed as: Where, Indicates the vertical distance from the porcelain bottle to the target live wire. According to actual measurements, Indicates the distance between the connection point and the tension line point of the target live wire.

4. The live wire connection robot method for knife switch lead connection according to claim 3 is characterized in that: Define the reserved length of the drainage line as L, then the reserved length L of the drainage line is expressed as: Where, Indicates the lead length from the porcelain bottle to the knife switch. Measured based on the actual installation position of the drainage line.

5. The live wire connection method for a live wire connection robot suitable for knife switch lead connection according to claim 1, characterized in that: The live fire connection robot also includes a winch mechanism. When the leveling command is triggered, the motor speed difference of the two winch modules of the winch mechanism is obtained, and the motor speed of the winch module with a higher motor speed is lowered according to the adjustment value of the motor speed difference / 2, and the motor speed of the winch module with a lower motor speed is increased according to the adjustment value of the motor speed difference / 2.

6. The live wire connection robot method for knife switch lead connection according to claim 5, characterized in that: A travel switch is also provided on the hoisting mechanism. When the travel switch on the hoisting mechanism senses the target firing line, it is determined that the live firing robot has climbed onto the target firing line.

7. The live wire connection robot method for knife switch lead connection according to claim 1, characterized in that: The live-fire connection robot further includes a hoisting mechanism, a front routing arm, and a rear routing arm. The front routing arm is further provided with a laser radar, which is used to obtain the distance between the live-fire connection robot and the tower. When the live-fire connection robot climbs to the target connection line, the live-fire connection robot is controlled to walk to the wire stripping positioning point, including: When the live firing robot climbs to the target firing line, the distance between the live firing robot and the pole tower is obtained by the laser radar, and the distance between the live firing robot and the pole tower is the distance between the front routing arm and the pole tower; If the distance between the live firing robot and the pole tower is greater than the distance between the stripping positioning point and the tension line point of the target firing line, the live firing robot is controlled to move closer to the pole tower until the distance between the live firing robot and the pole tower is equal to the distance between the stripping positioning point and the tension line point of the target firing line; If the distance between the live firing robot and the pole tower is less than the distance between the wire stripping positioning point and the tension line point of the target firing wire, the live firing robot is controlled to move away from the pole tower until the distance between the live firing robot and the pole tower is equal to the distance between the wire stripping positioning point and the tension line point of the target firing wire.

8. The live wire connection robot method for knife switch lead connection according to claim 1, characterized in that: The live wire connection robot further includes a first swing arm mechanism and a wire stripping mechanism, the wire stripping mechanism includes a slide rail seat, a rotating seat, a wire clamping portion and a peeling portion, the wire stripping mechanism is further provided with a beam sensor, and the peeling portion of the wire stripping mechanism is installed with an infrared light detection sensor on the same side of the cutter head. When the live wire connection robot walks to the wire stripping positioning point, the live wire connection robot is controlled to perform a wire stripping operation on the connection point, including: When the live wire connection robot walks to the wire stripping positioning point, the wire stripping mechanism is driven to swing toward the target wire connection direction by the first swing arm mechanism, and the status signal output by the beam sensor is obtained; If the state signal output by the through-beam sensor is blocked, it is determined that the wire stripping mechanism has reached the wire stripping position; The wire stripping mechanism is started, the peeling part adjusts the extension amount, and receives the status signal output by the infrared light detection sensor. When the status signal output by the infrared light detection sensor is that the wire core is detected, it is determined that the peeling part has completed the extension amount adjustment, and the peeling part and the wire clamping part are driven to rotate through the rotating seat. The rotating seat adaptively adjusts to slide along the slide rail seat during the peeling process to cut along the length direction of the target live wire and strip the wiring point. When the rotating seat slides to the end of the stroke of the slide rail seat, the wire stripping mechanism is controlled to leave the target live wire and complete the wire stripping operation.

9. The live wire connection robot method for knife switch lead connection according to claim 8, characterized in that: The live wire connection robot further includes a traction mechanism, a wrench mechanism, a wire clamp mechanism, and a parallel groove wire clamp, wherein the parallel groove wire clamp is mounted on the wrench mechanism. A camera is provided on the first swing arm mechanism, wherein the camera is located parallel to the drainage line and serves as a reference. The camera is used to capture an image of the bare wire at the connection point. After the stripping operation is completed, the live wire connection robot is controlled to perform wire removal and wiring operations to connect the terminal of the drainage line to the connection point. The robot further includes: After the wire stripping operation is completed, the traction fixture is pulled to a high altitude by the traction mechanism so that the terminal of the drainage wire is in the high altitude; The drainage wire in the traction clamp is taken out by the wire clamping mechanism, and the drainage wire is transferred to a wiring position of the parallel groove clamp to complete the wire taking operation; After completing the wire removal operation, the camera is used to capture the image of the bare wire at the connection point, and the image of the bare wire at the connection point is identified to obtain the inclination angle of the target live wire and the drain wire, and the first swing arm mechanism is used to drive the wrench mechanism and the parallel groove wire clamp to be lifted, and the lifting angle is the same as the inclination angle, so that the bare wire part of the connection point is stuck in another connection position of the parallel groove wire clamp, and the parallel groove wire clamp is locked by the wrench mechanism to connect the target live wire and the drain wire, and the wrench mechanism is taken away from the parallel groove wire clamp by the first swing arm mechanism to complete the wiring operation.

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