A live fire connecting robot method suitable for connecting the leads of a knife switch

Abstract

The application is suitable for the field of electric power, and discloses a live fire connecting robot wiring method suitable for the butt joint of a knife switch lead, which comprises the following steps: acquiring a wiring point and a stripping positioning point, and calculating the reserved length of a lead, installing the lead with a length not less than the reserved length on a porcelain bottle, and connecting one end of the lead with the knife switch and clamping the other end of the lead on a traction clamp; controlling the live fire connecting robot to climb to a target fire connecting line, monitoring the levelness of the live fire connecting robot during the climbing process; when the live fire connecting robot climbs to the target fire connecting line, controlling the live fire connecting robot to walk to the stripping positioning point and performing stripping work, and after the stripping work is completed, controlling the live fire connecting robot to perform wire taking and wiring work to connect the wiring end of the lead with the wiring point, thereby realizing the automation and precision of the lead reservation, stripping and wiring work in the butt joint process of the knife switch lead.

Description

Technical Field

[0001] This invention relates to the field of power, and more particularly to a live-line welding robot wiring method suitable for connecting disconnector leads. Background Technology

[0002] In the power supply system, to meet the growing demand from the number of users on existing distribution lines, the diversion operation (commonly known as connection) has become a crucial link. This operation connects the diversion line to the existing distribution line to provide power to the new distribution network users, and is an important operation to ensure the rational allocation and continuous supply of power resources.

[0003] As the final link in the power system, the distribution network directly connects to a vast number of users, and its stability and reliability play a crucial role in the entire power supply system. With the continuous development of the social economy, all sectors and residents' lives are becoming increasingly reliant on electricity, placing ever higher demands on the stability and reliability of the distribution network.

[0004] To avoid disrupting the normal power supply of existing distribution lines during connection work, the industry generally adopts a live-line connection method. This method allows for the connection of new users while ensuring the normal power supply to existing users, greatly reducing power outage losses caused by the work and meeting the modern society's demand for continuous power supply.

[0005] However, current live-line connection work in power distribution networks mainly relies on manual operation. During the operation, workers must strip cables in a live environment and connect the lead wire to the corresponding cable. This manual operation method has obvious drawbacks: on the one hand, the work efficiency is low, limited by the speed and physical strength of manual operation, making it difficult to quickly complete a large number of connection tasks; on the other hand, operating in a live environment brings great safety risks to workers, and even a slight mistake can cause electric shock and other safety accidents, seriously threatening the lives of workers.

[0006] Therefore, existing technologies still need improvement and development. Summary of the Invention

[0007] The purpose of this invention is to provide a live-line welding robot wiring method suitable for disconnecting switch leads, which automates and refines the pre-reservation, stripping, and wiring operations of the lead wire during disconnecting switch lead wire connection.

[0008] To achieve the above objectives, the solution provided by the present invention is as follows:

[0009] A live-line connection robot wiring method suitable for disconnecting switch leads is disclosed. This method utilizes a live-line connection robot to connect the connection wire, the drain wire, and the switch. The live-line connection robot includes a traction clamp, and the switch is mounted on a pole. A porcelain insulator is installed on the pole. The method includes: acquiring the connection point and wire stripping positioning point, calculating the reserved length of the drain wire, installing a drain wire of at least the reserved length on the porcelain insulator, connecting one end of the drain wire to the switch, and clamping the other end to the traction clamp; controlling the live-line connection robot to climb to the target connection wire, and monitoring the live connection during the climbing process. If the robot's levelness exceeds a preset levelness threshold, a leveling command is triggered to level the live-line connection robot until its levelness is no greater than the preset levelness threshold. Then, the live-line connection robot is controlled to climb. When the live-line connection robot climbs to the target connection line, it is controlled to move to the wire stripping positioning point. When the live-line connection robot reaches the wire stripping positioning point, it is controlled to strip the wire at the connection point. After completing the wire stripping, the live-line connection robot performs wire extraction and connection operations to connect the lead wire's terminal to the connection point.

[0010] Preferably, the disconnector is installed on a pole, and the pole has a first crossarm, a second crossarm, and a third crossarm arranged sequentially from top to bottom. An insulator is installed on the first crossarm, and a porcelain insulator is installed on the second crossarm, with the porcelain insulator located below the target live wire. The disconnector is installed on the third crossarm. The calculation of the reserved length of the drain wire includes: obtaining the tension wire point, and obtaining the vertical distance from the porcelain insulator to the target live wire and the distance between the connection point and the tension wire point of the target live wire; calculating the lead length from the connection point to the porcelain insulator based on the vertical distance from the porcelain insulator to the target live wire and the distance between the connection point and the tension wire point of the target live wire; obtaining the lead length from the porcelain insulator to the disconnector, and calculating the reserved length of the drain wire based on the lead length from the connection point to the porcelain insulator and the lead length from the porcelain insulator to the disconnector.

[0011] Preferably, the lead length from the connection point to the porcelain insulator is defined as D. Then, the lead length D from the connection point to the porcelain insulator is expressed as:

[0012]

[0013] In the formula, This indicates the vertical distance from the porcelain insulator to the target live wire. Based on actual measurements, This indicates the distance between the connection point and the tension wire point of the target live wire.

[0014] Preferably, the reserved length of the drainage line is defined as L, then the reserved length L of the drainage line is expressed as:

[0015]

[0016] In the formula, This indicates the length of the lead wire from the porcelain insulator to the knife switch. The measurement was taken based on the actual installation location of the drainage line.

[0017] Preferably, the live-fire robot further includes a winch mechanism. When a leveling command is triggered, the difference in motor speed between the two winch modules of the winch mechanism is obtained. The motor speed of the winch module with the higher motor speed is reduced according to the adjustment value of the motor speed difference / 2, and the motor speed of the winch module with the lower motor speed is increased according to the adjustment value of the motor speed difference / 2.

[0018] Preferably, the winch mechanism is also equipped with a limit switch. When the limit switch on the winch mechanism senses the target live wire, it is determined that the live wire connection robot has climbed to the target live wire.

[0019] Preferably, the live-line connection robot further includes a hoisting mechanism, a front cable-tracing arm, and a rear cable-tracing arm. The front cable-tracing arm is also equipped with a laser radar, which is used to acquire the distance between the live-line connection robot and the pole. When the live-line connection robot climbs to the target connection line, controlling the live-line connection robot to move to the cable stripping positioning point includes: when the live-line connection robot climbs to the target connection line, acquiring the distance between the live-line connection robot and the pole using the laser radar, where the distance between the live-line connection robot and the pole is the distance between the front cable-tracing arm and the pole; if the live-line connection... If the distance between the live-line welding robot and the tower is greater than the distance between the stripping positioning point and the tension point of the target live-line, then the live-line welding robot is controlled to move closer to the tower until the distance between the live-line welding robot and the tower is equal to the distance between the stripping positioning point and the tension point of the target live-line; if the distance between the live-line welding robot and the tower is less than the distance between the stripping positioning point and the tension point of the target live-line, then the live-line welding robot is controlled to move away from the tower until the distance between the live-line welding robot and the tower is equal to the distance between the stripping positioning point and the tension point of the target live-line.

[0020] Preferably, the live-line welding robot further includes a first swing arm mechanism and a wire stripping mechanism. The wire stripping mechanism includes a slide rail, a rotating base, a wire clamping part, and a stripping part. The wire stripping mechanism is also equipped with a through-beam sensor, and an infrared light detection sensor is installed on the same side of the cutting head of the stripping part. When the live-line welding robot moves to the wire stripping positioning point, controlling the live-line welding robot to perform wire stripping operation at the connection point includes: when the live-line welding robot moves to the wire stripping positioning point, the first swing arm mechanism drives the wire stripping mechanism to swing in the direction of the target welding wire, and acquires the status signal output by the through-beam sensor; if the through-beam sensor... If the status signal output by the infrared sensor is blocked, it is determined that the wire stripping mechanism has reached the stripping position. The wire stripping mechanism is started, the stripping 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 stripping part has completed the extension amount adjustment. The stripping part and the wire clamping part are rotated by the rotating seat. During the stripping process, the rotating seat adaptively adjusts to slide along the slide rail to cut along the length direction of the target wire and perform wire stripping operation on the connection point. When the rotating seat slides to the end of the stroke of the slide rail, the wire stripping mechanism is controlled to leave the target wire and the wire stripping operation is completed.

[0021] Preferably, the live-line connection robot further includes a traction mechanism, a wrench mechanism, a wire clamping mechanism, and a parallel groove wire clamp. The parallel groove wire clamp is mounted on the wrench mechanism. A camera is mounted on the first swing arm mechanism. The camera is positioned parallel to the lead wire and serves as a reference. The camera is used to capture images of the bare wire at the connection point. After the wire stripping operation is completed, controlling the live-line connection robot to perform wire retrieval and connection operations to connect the lead wire's terminal to the connection point further includes: after the wire stripping operation is completed, using the traction mechanism to pull the traction clamp to a high altitude so that the lead wire's terminal is in the air; and using the wire clamping mechanism to remove the lead wire from the traction clamp. The drain wire is then moved to one of the terminals of the parallel groove clamp to complete the wire retrieval operation. After the wire retrieval operation is completed, the camera captures an image of the bare wire at the connection point. The image is then identified to obtain the tilt angle between the target live wire and the drain wire. The first swing arm mechanism drives the wrench mechanism and the parallel groove clamp to lift, with the lifting angle being the same as the tilt angle, so that the bare wire portion of the connection point is inserted into another terminal of the parallel groove clamp. The wrench mechanism then locks the parallel groove clamp, connecting the target live wire and the drain wire. Finally, the first swing arm mechanism removes the wrench mechanism from the parallel groove clamp, completing the wiring operation.

[0022] This invention provides a live-line connection robot that completely replaces maintenance personnel in performing high-risk high-altitude live-line operations, fundamentally eliminating the risks of electric shock and falls from heights, and elevating operational safety to an unprecedented level. Simultaneously, the robot's levelness is continuously monitored and adjusted during its ascent, ensuring it remains in a stable posture and reducing the risk of operational errors or tool damage due to robot tilting. Upon reaching the target connection line, the robot achieves dynamic and precise positioning by intelligently measuring the distance to the tower in real time and comparing it with the distance from the preset stripping positioning point to the tension line point. This eliminates errors and delays associated with manual positioning, improving the accuracy and efficiency of stripping operations. Furthermore, the scientific calculation of the reserved length of the lead wire, combined with the robot's autonomous completion of the entire continuous operation from ascent, positioning, stripping to wire retrieval and connection, ensures good contact at the joint points, greatly reducing the possibility of rework and improving the mechanical strength and conductivity of the electrical connection. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0024] Figure 1 This is a flowchart of a live-line welding robot wiring method for connecting knife switch leads, provided in an embodiment of the present invention.

[0025] Figure 2 This is a schematic diagram of the structure of the live fire-connecting robot provided in an embodiment of the present invention;

[0026] Figure 3 This is a structural schematic diagram of the tower provided in an embodiment of the present invention.

[0027] Explanation of reference numerals in the attached figures:

[0028] 1. Hoisting mechanism; 2. Front cable arm; 3. Rear cable arm; 4. First swing arm mechanism; 5. Wire stripping mechanism; 6. Traction mechanism; 7. Traction clamp; 8. Second swing arm mechanism; 9. Wrench mechanism; 10. Wire clamping mechanism; 11. Parallel groove clamp; 100. Pole tower; 101. First crossarm; 102. Second crossarm; 103. Insulator; 104. Porcelain insulator; 105. Tension clamp; 200. Drain wire. Detailed Implementation

[0029] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” or “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] This invention provides a live-line connection robot wiring method suitable for connecting knife switch leads. This method is implemented based on a live-line connection robot, which is disclosed in Chinese Patent CN202311238699.0. It mainly includes a hoisting mechanism 1, a front cable-carrying arm 2, a rear cable-carrying 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 described in detail here.

[0031] An embodiment of the present invention provides a live-line welding robot wiring method for connecting the lead wires of a knife switch, which involves connecting one end of the lead wire 200 to the lower terminal of the knife switch and pulling the other end to the connection point of the welding wire.

[0032] The disconnect switch is installed on the pole 100. From top to bottom, the pole 100 is provided with a first crossarm 101, a second crossarm 102 and a third crossarm. An insulator 103 is provided on the first crossarm 101, a porcelain insulator 104 is provided on the second crossarm 102, and the porcelain insulator 104 is located below the target live wire. The disconnect switch (not shown in the figure) is provided on the third crossarm (not shown in the figure).

[0033] For ease of understanding, the specific process of the embodiments of the present invention is described below. Please refer to [link / reference]. Figure 1 In this embodiment of the invention, a live-line welding robot wiring method suitable for disconnecting switch leads includes:

[0034] S101. Obtain the connection point and stripping positioning point, calculate the reserved length of the drain wire 200, install the drain wire 200 with a length not less than the reserved length on the porcelain insulator 104, and connect one end of the drain wire 200 to the knife switch and clamp the other end on the traction clamp 7.

[0035] S102. Control the live-line welding robot to climb to the target welding line. During the climbing process, monitor the levelness of the live-line welding robot. If the levelness is greater than the preset levelness threshold, trigger the leveling command to level the live-line welding robot until the levelness of the live-line welding robot is no greater than the preset levelness threshold. Then control the live-line welding robot to perform the climbing operation.

[0036] S103. When the live-line welding robot climbs to the target welding line, control the live-line welding robot to walk to the wire stripping positioning point.

[0037] S104. When the live-line welding robot moves to the wire stripping positioning point, control the live-line welding robot to perform wire stripping operation on the connection point.

[0038] S105. After completing the wire stripping operation, control the live-line welding robot to perform wire taking and wiring operations to connect the terminal of the lead wire 200 to the connection point.

[0039] In this embodiment, in step S101, the connection point is the position where the target live wire is connected to the drain wire 200.

[0040] The distance between the wire stripping positioning point and the connection point is defined according to the actual situation. In this embodiment, the wire stripping positioning point is 55cm away from the connection point. In order to facilitate robot operation, the wire stripping positioning point is set on the side of the connection point away from the tower by 100.

[0041] The tension line point is the location where the tension clamp 105 is installed on tower 100.

[0042] In this embodiment, exemplarily, calculating the reserved length of the drainage line 200 includes:

[0043] Obtain the vertical distance from porcelain insulator 104 to the target live wire and the distance between the connection point and the tension point of the target live wire;

[0044] The lead length from the connection point to the porcelain insulator 104 is calculated based on the vertical distance from the porcelain insulator 104 to the target contact wire and the distance between the connection point and the tension wire point of the target contact wire.

[0045] Obtain the lead length from porcelain insulator 104 to knife switch, and calculate the reserved length of lead wire 200 based on the lead length from the connection point to porcelain insulator 104 and the lead length from porcelain insulator 104 to knife switch.

[0046] In this embodiment, the lead length from the connection point to the porcelain insulator 104 is defined as D. The lead length D from the connection point to the porcelain insulator 104 is expressed as:

[0047] .

[0048] In the formula, This indicates the vertical distance from porcelain insulator 104 to the target live wire. Based on actual measurements, This indicates the distance between the connection point and the tension wire point of the target live wire.

[0049] In this embodiment, It is typically 1.7m.

[0050] 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:

[0051] .

[0052] In the formula, This indicates the length of the lead wire from porcelain insulator 104 to the knife switch. The measurement was taken based on the actual installation location of the drainage line 200.

[0053] In this embodiment, when installing the drain wire 200, the insulation of the terminal of the drain wire 200 is stripped in advance, with a stripping length of 10±0.5cm. After stripping, the exposed aluminum wire end is wrapped with electrical tape 3 times to prevent the aluminum wire from unraveling. The drain wire 200 should be straight within 20cm of the terminal and should not have obvious bends. If there are bends, they need to be corrected.

[0054] In this embodiment, the end of the drain wire 200 away from the knife switch is bent and hangs down in the direction of the connection point.

[0055] In this embodiment, the end of the drain line 200 away from the knife switch is mounted on the traction clamp 7.

[0056] In this embodiment, in step S102, the hoisting mechanism 1 drives the live-lined welding robot to climb to the target welding line.

[0057] In this embodiment, a gyroscope is installed on the energized welding robot to monitor its levelness.

[0058] During the climb, the gyroscope enters a high-frequency monitoring mode (e.g., collecting data 100 times per second) to continuously capture the robot's tilt angle in three-dimensional space (including forward and backward tilt and left and right tilt). Levelness is usually measured in tilt angle, and a preset levelness threshold is set according to the work scenario (e.g., ±2 degrees). When the gyroscope detects that the levelness is greater than the preset levelness threshold, it triggers a leveling command, pauses the climb, and enters the dynamic leveling phase.

[0059] When the leveling command is triggered, the motor speed difference between the two hoisting modules of hoisting mechanism 1 is obtained. The motor speed of the hoisting module with the higher motor speed is reduced according to the adjustment value of motor speed difference / 2, and the motor speed of the hoisting module with the lower motor speed is increased according to the adjustment value of motor speed difference / 2.

[0060] During the leveling process, the gyroscope continuously feeds back levelness data. When the levelness drops to a preset threshold, the leveling is deemed complete, the leveling command is immediately terminated, and the climbing operation resumes. At this point, the robot's two winch mechanisms 1 resume synchronous rotation and continue climbing towards the target contact line. During subsequent climbing, the gyroscope maintains high-frequency monitoring, forming a closed-loop control of "climb-monitoring-leveling-re-climbing" until the robot reaches the target contact line position.

[0061] In this embodiment, a limit switch is also provided on the hoisting mechanism 1. When the limit switch on the hoisting mechanism 1 senses the target connection wire, it is determined that the live connection robot has climbed to the target connection wire.

[0062] In this embodiment, step S103, when the live-line welding robot climbs to the target welding line, controlling the live-line welding robot to walk to the stripping positioning point includes: when the live-line welding robot climbs to the target welding line, obtaining the distance between the live-line welding robot and the tower 100; if the distance between the live-line welding robot and the tower 100 is greater than the distance between the stripping positioning point and the tension point of the target welding line, then controlling the live-line welding robot to walk closer to the tower 100 until the distance between the live-line welding robot and the tower 100 is equal to the distance between the stripping positioning point and the tension point of the target welding line; if the distance between the live-line welding robot and the tower 100 is less than the distance between the stripping positioning point and the tension point of the target welding line, then controlling the live-line welding robot to walk away from the tower 100 until the distance between the live-line welding robot and the tower 100 is equal to the distance between the stripping positioning point and the tension point of the target welding line.

[0063] In this embodiment, the distance between the live-line welding robot and the pole 100 refers to the distance between the front cable arm 2 and the pole 100.

[0064] In this embodiment, a lidar is also provided on the front cable arm 2. The lidar is used to obtain the distance between the energized welding robot and the pole 100.

[0065] In this embodiment, if the distance between the live-line welding robot and the tower 100 is greater than the distance between the stripping positioning point and the tension point of the target welding wire, it means that the live-line welding robot is located on the side of the stripping positioning point away from the tower 100 and needs to move towards the tower 100.

[0066] If the distance between the live-line welding robot and the pole 100 is less than the distance between the stripping positioning point and the tension point of the target welding wire, it means that the front wire arm 2 is located on the side of the stripping positioning point closer to the pole 100, and needs to be moved away from the pole 100.

[0067] During the movement, the lidar continuously monitors the distance between the live-line welding robot and the tower 100 in real time until the distance between the live-line welding robot and the tower 100 is equal to the distance between the wire stripping positioning point and the tension point of the target welding wire.

[0068] In this embodiment, the difference between the distance between the live-line welding robot and the tower 100 and the distance between the stripping positioning point and the tension point of the target welding wire can also be calculated as the adjustment distance, and then the movement of the live-line welding robot can be controlled according to the adjustment distance.

[0069] In this embodiment, in step S104, the first swing arm mechanism 4 drives the wire stripping mechanism 5 to swing towards the target live wire until the wire stripping mechanism 5 reaches the stripping position and performs wire stripping operation on the target live wire until the insulation outer sheath of the target live wire is completely removed to form a connection point.

[0070] In this embodiment, the wire stripping mechanism 5 is also equipped with a through-beam sensor. When the through-beam sensor detects a signal from the live wire, it indicates that the wire stripping mechanism 5 has reached the wire stripping position.

[0071] Specifically, the through-beam sensor includes a transmitter and a receiver, which are respectively mounted on the first and second clamping plates of the wire-clamping section of the wire-stripping mechanism 5. As the first swing arm mechanism 4 drives the wire-stripping mechanism 5 to swing towards the target wire, the transmitter continuously emits a beam of light, while the receiver waits to receive it. Since the two clamping plates are open, there is no obstruction between the transmitter and receiver, allowing direct transmission of the beam. The receiver can stably receive the signal, and at this time, the sensor outputs an "unobstructed" state signal. As the swinging motion progresses, the wire-stripping mechanism 5 gradually approaches the target wire. When the target wire enters the gap between the first and second clamping plates, it blocks the beam emitted by the transmitter. That is, after the beam is emitted from the transmitter, it is blocked by the target wire and cannot reach the receiver. Because the receiver cannot receive the beam, its internal circuit state changes (e.g., from high level to low level), and it feeds back this blocking signal.

[0072] In this embodiment, an infrared light detection sensor is installed on the same side of the stripping section of the wire stripping mechanism 5, for example, 5mm from the cutting edge of the blade. When the transmitting end sends a light source, the light source is absorbed by the black outer sheath of the cable, and the light source cannot be reflected. The receiving end at the other end cannot receive the light source at all. At this time, the blade is controlled to continue to slide down. When the light source hits the wire core, the silver-white wire core reflects the light and the receiving end receives the light source. Therefore, it is determined that the blade has stripped the wire core at this moment, and the blade stops sliding down, which means that the extension of the stripping section meets the cutting depth of the insulation outer sheath.

[0073] In this embodiment, the wire stripping mechanism includes a slide rail, a rotating seat, a wire clamping part, and a stripping part. When the live-line welding robot moves to the wire stripping positioning point, the live-line welding robot is controlled to perform wire stripping operations on the connection point. Specifically, when the live-line welding robot moves to the wire stripping positioning point, the status signal output by the through-beam sensor is obtained. If the status signal output by the through-beam 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 stripping 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 stripping part has completed the extension amount adjustment, and the rotating seat drives the stripping part and the wire clamping part to rotate. During the stripping process, the rotating seat adaptively adjusts to slide along the slide rail to cut along the length direction of the target welding wire and perform wire stripping operations on the connection point. When the rotating seat slides to the end of the travel of the slide rail, the wire stripping mechanism 5 is controlled to leave the target welding wire and complete the wire stripping operation.

[0074] In this embodiment, in step S105, a camera is provided on the first swing arm mechanism. The camera is located parallel to the drain line and serves as a reference. The camera is used to capture images of the bare wires at the connection point.

[0075] After the wire stripping operation is completed, the live-line connection robot is controlled to perform wire retrieval and connection operations to connect the terminal of the lead wire 200 to the connection point. This includes: after the wire stripping operation is completed, the traction mechanism 6 pulls the traction clamp 7 to a high altitude so that the terminal of the lead wire 200 is in the air; the wire clamping mechanism 10 removes the lead wire 200 from the traction clamp 7 and moves the lead wire 200 to a connection position of the parallel groove clamp 11 to complete the wire retrieval operation; after the wire retrieval operation is completed, the camera captures an image of the bare wire at the connection point, and the captured connection point is then analyzed. The bare wire image is identified to obtain the tilt angle between the target live wire and the drain wire 200. The first swing arm mechanism 4 drives the wrench mechanism 9 and the parallel groove clamp 11 to be raised, and the raising angle is the same as the tilt angle, so that the bare wire part of the connection point is inserted into another connection position of the parallel groove clamp. The wrench mechanism 9 locks the parallel groove clamp 11 to connect the target live wire and the drain wire 200. The first swing arm mechanism 4 then takes the wrench mechanism 9 away from the parallel groove clamp 11 to complete the wiring operation.

[0076] In this embodiment, a first encoder is installed on the traction clamp 7. The first encoder can accurately measure the tilt angle of the traction clamp 7. The clamping mechanism 10 automatically adjusts the movement trajectory according to the measured angle signal, and can accurately clamp the drainage line 200.

[0077] In this embodiment, the lifting angle of the first swing arm mechanism 4, i.e. the lifting angle of the parallel groove clamp, can be calculated by the second encoder set on the first swing arm mechanism.

[0078] In this embodiment, in the three-phase transmission line, three porcelain insulators 104 are installed on the second crossarm 102, with each porcelain insulator 104 located below a corresponding phase of the transmission line. When performing wiring operations for each phase of the transmission line, the above wiring method is followed, and the reserved length of the lead wire 200 is calculated based on the distance between the corresponding porcelain insulator 104 and the transmission line.

[0079] This embodiment describes a live-line welding robot wiring method for disconnecting switch leads. The robot performs high-risk, high-altitude live-line operations entirely on behalf of maintenance personnel, fundamentally eliminating the risks of electric shock and falls from heights, elevating operational safety to unprecedented levels. Simultaneously, the robot's level is continuously monitored and adjusted during its ascent, ensuring a stable posture and reducing the risk of operational errors or tool damage due to robot tilting. Upon reaching the target connection line, the robot achieves dynamic and precise positioning by real-time measurement of the distance to the tower (100mm) and intelligent comparison with the distance from the preset stripping positioning point to the tension line point. This eliminates errors and delays associated with manual positioning, improving the accuracy and efficiency of stripping operations. Furthermore, the scientifically calculated 200mm reserved length of the lead wire, combined with the robot's autonomous completion of the entire continuous operation from ascent, positioning, stripping to wire retrieval and connection, ensures good contact at the connection point, significantly reducing rework and enhancing the mechanical strength and conductivity of the electrical connection.

[0080] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A wiring method for a live-line welding robot suitable for disconnecting switch leads, characterized in that, The described live-line connection robot wiring method for connecting disconnector leads is based on a live-line connection robot to connect the connection wire, the drain wire, and the disconnector. The live-line connection robot includes a traction clamp, and the disconnector is installed on a pole. The pole is equipped with a porcelain insulator. Obtain the connection point and stripping positioning point, calculate the reserved length of the drain wire, install the drain wire with a length not less than the reserved length on the porcelain insulator, and connect one end of the drain wire to the knife switch and clamp the other end on the traction clamp. The live-line welding robot is controlled to climb to the target welding line. During the climbing process, the level of the live-line welding robot is monitored. If the level is greater than the preset level threshold, a leveling command is triggered to level the live-line welding robot until the level of the live-line welding robot is no greater than the preset level threshold. Then the live-line welding robot is controlled to perform the climbing operation. When the live-line welding robot climbs to the target welding line, control the live-line welding robot to walk to the wire stripping positioning point; When the live-line welding robot moves to the wire stripping positioning point, control the live-line welding robot to perform wire stripping operation at the connection point; After the wire stripping operation is completed, the controlled live-line welding robot performs wire taking and wiring operations to connect the terminal of the lead wire to the connection point.

2. The live-line welding robot wiring method for disconnecting switch leads as described in claim 1, characterized in that, The tower is provided with a first crossarm, a second crossarm, and a third crossarm from top to bottom. An insulator is installed on the first crossarm, and the porcelain insulator is installed on the second crossarm, located below the target live wire. The disconnect switch is installed on the third crossarm. The calculated allowable length of the drain wire includes: Obtain the tension line point, and obtain the vertical distance from the porcelain insulator 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 insulator is calculated based on the vertical distance from the porcelain insulator to the target contact wire and the distance between the connection point and the tension point of the target contact wire. Obtain the lead length from the porcelain insulator to the knife switch, and calculate the reserved length of the drain line based on the lead length from the connection point to the porcelain insulator and the lead length from the porcelain insulator to the knife switch.

3. The live-line welding robot wiring method for disconnecting switch leads as described in claim 2, characterized in that, Let D be the length of the lead from the connection point to the porcelain insulator. Then, the length of the lead from the connection point to the porcelain insulator, D, is expressed as: In the formula, This indicates the vertical distance from the porcelain insulator to the target live wire. Based on actual measurements, This indicates the distance between the connection point and the tension wire point of the target live wire.

4. The live-line welding robot wiring method for disconnecting switch leads as described in claim 3, characterized in that, Let L be the reserved length of the drainage line. Then, the reserved length L of the drainage line is expressed as: In the formula, This indicates the length of the lead wire from the porcelain insulator to the knife switch. The measurement was taken based on the actual installation location of the drainage line.

5. The live-line welding robot wiring method for disconnecting switch leads as described in claim 1, characterized in that, The live-fire robot also includes a winch mechanism. When a leveling command is triggered, the difference in motor speed between the two winch modules of the winch mechanism is obtained. The motor speed of the winch module with the higher motor speed is reduced according to the adjustment value of the motor speed difference / 2, and the motor speed of the winch module with the lower motor speed is increased according to the adjustment value of the motor speed difference / 2.

6. The live-line welding robot wiring method for disconnecting switch leads as described in claim 5, characterized in that, The winch mechanism is also equipped with a limit switch. When the limit switch on the winch mechanism senses the target live wire, it determines that the live wire connection robot has climbed to the target live wire.

7. The live-line welding robot wiring method for disconnecting switch leads as described in claim 1, characterized in that, The live-line contacting robot also includes a winch mechanism, a front cable-tracing arm, and a rear cable-tracing arm. The front cable-tracing arm is equipped with a laser radar, which is used to obtain the distance between the live-line contacting robot and the tower. When the live-line contacting robot climbs to the target contact line, controlling the robot to move to the cable stripping positioning point includes: When the live-line welding robot climbs to the target welding line, the distance between the live-line welding robot and the tower is obtained by the laser radar. The distance between the live-line welding robot and the tower is the distance between the front cable arm and the tower. If the distance between the live-line welding robot and the tower is greater than the distance between the stripping positioning point and the tension point of the target welding wire, then control the live-line welding robot to move closer to the tower until the distance between the live-line welding robot and the tower is equal to the distance between the stripping positioning point and the tension point of the target welding wire. If the distance between the live-line connection robot and the tower is less than the distance between the stripping positioning point and the tension point of the target connection wire, then control the live-line connection robot to move away from the tower until the distance between the live-line connection robot and the tower is equal to the distance between the stripping positioning point and the tension point of the target connection wire.

8. The live-line welding robot wiring method for disconnecting switch leads as described in claim 1, characterized in that, The live-line welding robot further includes a first swing arm mechanism and a wire stripping mechanism. The wire stripping mechanism includes a slide rail, a rotating base, a wire clamping part, and a stripping part. The wire stripping mechanism is also equipped with a through-beam sensor, and an infrared light detection sensor is installed on the same side of the blade on the stripping part of the wire stripping mechanism. When the live-line welding robot moves to the wire stripping positioning point, controlling the live-line welding robot to perform wire stripping operations at the connection point includes: When the live wire-connecting robot walks to the wire-stripping positioning point, the first swing arm mechanism drives the wire-stripping mechanism to swing in the direction of the target wire and acquires the status signal output by the through-beam sensor. If the status signal output by the through-beam sensor is "obstruction", then it is determined that the wire stripping mechanism has reached the wire stripping position. The wire stripping mechanism is activated, the stripping section adjusts its 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 indicates that the wire core has been detected, it is determined that the stripping section has completed the extension amount adjustment. The stripping section and the wire clamping section are rotated by the rotating seat. During the stripping process, the rotating seat adaptively adjusts to slide along the slide rail to cut along the length of the target wire and perform wire stripping operations on the connection point. When the rotating seat slides to the end of the slide rail's stroke, the wire stripping mechanism is controlled to leave the target wire, completing the wire stripping operation.

9. The live-line welding robot wiring method for disconnecting switch leads as described in claim 8, characterized in that, The live-line connection robot further includes a traction mechanism, a wrench mechanism, a wire clamping mechanism, and a grooved wire clamp. The grooved wire clamp is mounted on the wrench mechanism. A camera is mounted on the first swing arm mechanism. The camera is positioned parallel to the lead wire and serves as a reference. The camera is used to capture images of the bare wire at the connection point. After the wire stripping operation is completed, controlling the live-line connection robot to perform wire picking and connection operations to connect the lead wire's terminal to the connection point also includes: After the wire stripping operation is completed, the traction mechanism pulls the traction clamp to a high altitude so that the terminal of the drain wire is in the air. The wire is removed from the traction clamp by the clamping mechanism and transferred to a terminal position of the parallel groove clamp to complete the wire removal operation. After the wire extraction operation is completed, the camera captures an image of the bare wire at the connection point. The image is then analyzed to determine the tilt angle between the target live wire and the drain wire. The first swing arm mechanism then lifts the wrench mechanism and the parallel groove clamp at the same angle as the tilt angle, so that the bare wire at the connection point is inserted into another connection position of the parallel groove clamp. The wrench mechanism then locks the parallel groove clamp, connecting the target live wire and the drain wire. Finally, the first swing arm mechanism removes the wrench mechanism from the parallel groove clamp, completing the wiring operation.

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