A live installation method for 10kV J type clamps

Abstract

A live installation method for 10kV J-type wire clamp belongs to the technical field of wire clamp installer and comprises the following steps: installing an insulating shell with a J-type wire clamp; installing the J-type wire clamp with the insulating shell on a wire clamp tool of a left arm; stripping the busbar and part of the wire segment of the current lead, identifying the position of the busbar bare wire segment through a depth camera, and placing the busbar bare wire segment in the busbar groove position of the J-type wire clamp by the left arm; calculating the position of the current lead through end positioning according to the recognition coordinates of the left arm depth camera, driving the wire clamp tool to the current lead position by the right arm, and feeding the current lead bare wire segment into the current lead groove position of the J-type wire clamp; and after the splicing is completed, the J-type wire clamp with the insulating shell is locked. The present application develops corresponding end tools which can quickly realize the installation of J-type current lead splicing clamp on the basis of the existing double-arm live working platform which can meet the voltage level, and the adaptability is high, and the safety and operation efficiency are improved.

Description

A live-line installation method for 10kV J-type clamps Technical Field

[0001] This invention belongs to the technical field of wire clamp installers, and in particular relates to a live installation method for a 10kV J-type wire clamp. Background Technology

[0002] In 10kV power systems, the live-line installation of current-diverting clamps is a high-risk, high-intensity task. Traditional manual operation poses risks of electric shock and involves strenuous work at height. While some live-line working robot technologies exist, most use customized clamps tailored to the machine itself, resulting in high operating costs. The market for fully automated live-line installation using J-type clamps remains largely untapped. Therefore, a new technological solution is urgently needed to address these issues. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a live-line installation method for 10kV J-type clamps. Based on the existing double-arm live-line working platform that can meet the voltage level, a corresponding end tool has been developed that can quickly realize the installation of J-type lead wires and clamps. It has strong adaptability and improves safety and work efficiency.

[0004] A live-line installation method for a 10kV J-type clamp includes the following steps, which are performed sequentially:

[0005] Step 1: Flip open the two side covers of the insulating shell, connect the flipping shaft end of the insulating shell to the J-type wire clamp to form a J-type wire clamp with an insulating shell;

[0006] Step 2: Pre-install the J-type wire clamp with an insulating shell onto the wire clamp tool, which is located on the left arm of the six-degree-of-freedom force-controlled robotic arm;

[0007] Step 3: Strip the insulation from some sections of the busbar and drain line. Use a depth camera to identify the location of the bare conductor section of the busbar. The robot's control system controls the left arm to move the clamping tool and place the bare conductor section of the busbar into the J-type clamp busbar groove.

[0008] Step 4: Install a wire-grabbing tool on the right arm of the six-DOF force-controlled robotic arm. Calculate the position of the guide wire using the coordinates identified by the depth camera on the left arm. The robot's control system then controls the right arm to move the wire-grabbing tool to the position of the guide wire and virtually grasp it.

[0009] Step 5: With the right arm, move the loosely gripped drainage line to the vicinity of the J-type clamp, adjust the gripping position, clamp the drainage line with the gripping tool, perform precise alignment, and send the bare drainage line segment into the drainage line groove of the J-type clamp;

[0010] Step Six: After the wires are connected, the wire clamp tool moves downwards, the J-type wire clamp with the insulating shell is locked, and it is released from the wire clamp tool. The insulating shell flips downwards, and the bottom is attracted by the built-in magnet.

[0011] The wire gripping tool includes a gripper, a torque motor, and a lead screw. The gripper has two degrees of freedom to adapt to the suspended state of the guide wire. The torque motor drives the lead screw to move the gripper up and down to open and close.

[0012] The gripper has two degrees of freedom: opening and closing, and tilting. The opening and closing motion moves up and down, with a maximum stroke of 100mm. The tilting motion has a maximum stroke of 30 degrees. After the gripper enters the gripping state, the tilting motion conforms to the verticality of the drainage line and adapts to its changes.

[0013] The method for calculating the position of the drainage line is as follows: a depth camera is used to capture an image of the drainage line, the drainage line is manually selected, the machine segments and identifies the point cloud of the selected area, the center line of the drainage line is fitted by the geometric moments of the point cloud, and the center coordinates (xc, yc) and direction angle θ are calculated; the three-dimensional coordinates of the working point are calculated using the center line equation y=tan(θ)・(x-xc)+yc; combined with the intrinsic and extrinsic parameters of the depth camera, the pixel coordinates are converted into robot base coordinate system coordinates, and the right arm is controlled to move to the drainage line.

[0014] After the two side covers of the insulating shell are flipped up, the two outer shells are attached to each other. The wire clamp tool is equipped with a buckle, which locks the two side covers in place.

[0015] The opening and closing degree and the tilting degree are achieved by the relative movement of the fixed side and the moving side of the gripper. The moving side includes a sliding tilting member, which is slidably connected to the fixed side. The sliding tilting member includes a claw, which has a wire-bearing portion. The wire-bearing portion has a clamping surface. In the closed state, the clamping surface is horizontally upward and has a groove-shaped enclosure. The tilting degree is achieved by the linkage rotation of the wire-bearing portion when the sliding tilting member slides.

[0016] The sliding tilting component also includes a sliding component, the claw is rotatably connected to the sliding component, the pivot of the claw is located below the clamping surface, and an elastic component is provided between the claw and the sliding component. The elastic component has the greatest deformation when the claw is closed.

[0017] One end of the elastic element is located at point A on the claw, and the other end is located at point B on the sliding element. The distance between points A and B is minimized when the inclination is at its maximum. The distances from points A and B to the center line of the rotation axis of the claw are equal.

[0018] The elastic element is connected to point B via a limiting rod. The limiting rod is arranged perpendicular to the rotation plane of the claw. The claw is provided with a limiting groove. When the claw is in the closed state, the limiting rod is at the first end of the limiting groove. When the claw is opened to 30 degrees, the limiting rod is at the other end of the limiting groove.

[0019] In the pre-grip state, both the opening and tilt angles are opened to their maximum strokes. As the drain line gradually approaches horizontal from its suspended state, the tilt angle of the claw adapts to the sag of the drain line under the combined action of the elastic element and the gravity of the drain line, so that the enclosing part on the clamping surface fits the drain line, preventing it from falling off and improving the success rate of the gripping process.

[0020] Through the above design scheme, the present invention can bring the following beneficial effects:

[0021] Improved safety: Robot operation avoids direct human contact with high-voltage wires, reducing the risk of electric shock.

[0022] Improved work efficiency: Automated operation reduces the time and labor intensity of manual operation.

[0023] Highly adaptable: It can adapt to J-type clamps and complex working environments. Attached Figure Description

[0024] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0025] Figure 1 is a schematic diagram of the insulating shell in the closed state of the present invention.

[0026] Figure 2 is a schematic diagram of the flip-up structure of the two side covers of the insulating shell of the present invention.

[0027] Figure 3 is a schematic diagram of the connection structure between the insulating shell and the J-type clamp of the present invention.

[0028] Figure 4 is a schematic diagram of the wire clamp tool structure of the present invention.

[0029] Figure 5 is a schematic diagram of the structure of the J-type wire clamp with insulating shell and the wire clamp tool after installation.

[0030] Figure 6 is a schematic diagram of the structure of the busbar after installation according to the present invention.

[0031] Figure 7 is a schematic diagram of the structure of the left arm after the wire clamp tool is installed.

[0032] Figure 8 is a schematic diagram of the wire-grabbing tool of the present invention.

[0033] Figure 9 is a schematic diagram of the drainage line installation structure of the present invention.

[0034] Figure 10 is a schematic diagram of the structure of the dual-arm live-line working platform of the present invention.

[0035] Figure 11 is a schematic diagram of the structure of the J-type clamp of the present invention after installation.

[0036] Figure 12 is a schematic diagram of the gripper structure of the present invention (I).

[0037] Figure 13 is a schematic diagram of the gripper structure of the present invention (II).

[0038] In the diagram, 1-insulating shell, 2-J-type wire clamp, 3-wire clamp tool, 4-left arm, 5-busbar, 6-right arm, 7-drain wire, 8-gripper, 9-torque motor, 10-lead screw, 11-clasp, 12-depth camera, 13-elastic element, 101-side cover, 102-flipping shaft, 801-fixed side, 802-wire bearing part, 803-claw, 804-rotating shaft, 805-limiting rod, 806-limiting groove. Detailed Implementation

[0039] A live-line installation method for 10kV J-type clamps, as shown in Figures 1-12, involves adding wiring tools to an existing double-arm live-line platform. The specific method is as follows:

[0040] The dual-arm platform uses a wire stripping tool to complete the preliminary process, stripping the wires of busbar 5 and drain line 7.

[0041] Prepare the insulating shell 1. Flip up the two side covers 101 of the insulating shell 1 to align and stick them together. Connect the flip shaft 102 end to the J-type wire clamp 2 to form a J-type wire clamp with an insulating shell. Use the buckle 11 on the wire clamp tool 3 to lock the two side covers 101. Pre-install the J-type wire clamp with the insulating shell onto the wire clamp tool 3.

[0042] A six-DOF force-controlled robotic arm is equipped with a wire clamp tool 3 and a depth camera 12; after the depth camera 12 identifies the bare conductor segment of the busbar, the left arm 4 delivers the wire clamp into place;

[0043] The six-DOF force-controlled robotic arm is equipped with a specially designed wire-gripping tool. The gripper 8 can adapt to different suspension states of the guide wire 7 by varying its opening and closing degrees. The gripper 8 has two degrees of freedom: vertical and horizontal. In the vertical direction, the gripper 8 is driven by a torque motor 9 to move up and down via a lead screw 10, with a travel distance of 100mm. In the horizontal direction, the gripper 8 is held at a 30-degree tilt under the tension of the elastic element 13. Since the guide wire 7 is suspended in the air and experiences some swaying, the positioning accuracy of visual recognition is limited. The large opening and closing degree provides positioning redundancy, allowing for a sustained and powerful grip on the wire clamp. The gripper 8 initially moves to a loose gripping position, at which point the guide wire 7 will not detach from the gripper 8. The gripper 8 can adjust its position back and forth along the axis of the guide wire 7. Because the guide wire has a certain rigidity, if the guide wire is gripped directly after positioning, the right arm 6 will be subjected to lateral loads during subsequent movements, which could easily lead to accidental overload. At the same time, this load may also have a negative impact on the fixed end of the drainage line 7.

[0044] The two degrees of freedom of the gripper 8, opening and closing, and tilting, are achieved through the relative movement of the fixed side and the moving side of the gripper. The moving side includes a sliding tilting member, which is slidably connected to the fixed side 801. The sliding tilting member includes a claw 803, which has a wire-bearing portion 802. The wire-bearing portion 802 has a clamping surface. In the closed state, the clamping surface is horizontally upward and has a groove-shaped enclosure. The tilting is achieved by the sliding tilting member driving the wire-bearing portion to rotate in conjunction.

[0045] The sliding tilting component also includes a sliding component, with a claw 803 rotatably connected to the sliding component. The pivot 804 of the claw 803 is located below the clamping surface. An elastic element 13 is also provided between the claw 803 and the sliding component. The elastic element 13 has the greatest deformation when the claw 803 is in the closed state.

[0046] As shown in Figure 13, one end of the elastic element 13 is located at point A on the claw, and the other end is located at point B on the sliding element. The distance between points A and B is the smallest when the inclination is at its maximum. The distances from points A and B to the center line of the rotating shaft 804 of the claw 803 are equal.

[0047] The elastic element 13 is connected to point B through a limiting rod 805. The limiting rod 805 is set perpendicular to the rotation plane of the claw 803. The claw 803 is provided with a limiting groove 806. When the claw 803 is in the closed state, the limiting rod 805 is at the first end of the limiting groove 806. When the claw 803 is opened to 30 degrees, the limiting rod 805 is at the other end of the limiting groove 806.

[0048] In the pre-grip state, both the opening and tilt angles are opened to their maximum strokes. As the guide line 7 gradually approaches horizontal from its suspended state, the tilt angle of the claw 803 adapts to the suspension angle of the guide line 7 under the combined action of the elastic element 13 and the gravity of the guide line 7, so that the enclosing part on the clamping surface fits the guide line 7, preventing it from falling off and improving the success rate of the gripping process.

[0049] The right arm 6 does not require an additional vision camera. After the left arm 4 completes visual recognition, the right arm 6 can perform end-effector positioning calculations based on the coordinates.

[0050] The specific method by which depth camera 12 identifies drainage line 7 is as follows:

[0051] The camera captures an image of the drainage line 7, the drainage line 7 is manually selected, and the machine segments and identifies the point cloud (which is cylindrical) of the selected area.

[0052] Centerline extraction and 3D reconstruction are performed by fitting the centerline of the traverse line using point cloud geometric moments to calculate the center coordinates (xc, yc) and orientation angle θ. The 3D coordinates of the work point are then calculated using the traverse centerline equation: y = tan(θ)・(x-xc) + yc. Finally, combined with camera intrinsic and extrinsic parameters, the pixel coordinates are converted to robot base coordinates.

[0053] Control the robotic arm to move to the drainage line 7, the gripper 8 loosely grasps the drainage line 7, pushes the drainage line 7 to the vicinity of the J-type clamp 2, and makes a slight adjustment to the gripping position according to the situation on site. Then clamp the drainage line 7, start precise alignment, and send the end of the drainage line into the J-type clamp 2.

[0054] After the wiring tool completes the wiring process, it disengages. During disengagement, pulling on the latch 11 causes the two side covers 101 of the insulating shell to fold downwards under the action of the torsion springs. Once closed, they are locked in place by the magnet at the bottom.

[0055] Electric wire-connecting tools can replace manual labor for connecting high-voltage lines. However, the existing wire-connecting clamps lack insulating shells and are exposed to the elements, posing a risk of arcing and leakage, potentially threatening nearby workers. Manually attaching an insulating shell after connection defeats the purpose of replacing manual labor in live-line work. Therefore, an insulating shell needs to be invented that automatically attaches to the clamp after the wire-connecting tool is released.

Claims

1. A live-line installation method for a 10kV J-type clamp, characterized in that: The steps are as follows, and the steps are performed in sequence: Step 1: Open the two side covers of the insulating shell (1), and connect the flipping shaft end of the insulating shell (1) to the J-type wire clamp (2) to form a J-type wire clamp with an insulating shell; Step 2: Pre-install the J-type wire clamp with an insulating shell onto the wire clamp tool (3), which is set on the left arm (4) of the six-degree-of-freedom force-controlled robot arm; Step 3: Strip the wires of the busbar and the drain wire, identify the position of the bare wire segment of the busbar (5) through the depth camera, and control the left arm (4) of the robot body control system to drive the wire clamp tool (3) to place the bare wire segment of the busbar (5) in the busbar groove position of the J-type wire clamp (2); Step 4: Install the wire gripper on the right arm (6) of the six-degree-of-freedom force-controlled robot arm. The tool uses the coordinates of the depth camera on the left arm to perform end-effector positioning calculations for the position of the guide wire (7). The robot body control system controls the right arm (6) to move the wire gripping tool to the position of the guide wire (7). The wire gripping tool virtually grips the guide wire (7) in a pre-gripping state. Step 5: The right arm (6) moves the virtually gripped guide wire (7) to the vicinity of the J-type wire clamp (2), adjusts the gripping position, clamps the guide wire (7) with the wire gripping tool, performs precise alignment, and sends the bare wire segment of the guide wire (7) into the guide wire groove position of the J-type wire clamp (2). Step 6: After the wire is paralleled, the wire clamp tool (3) moves downward, the J-type wire clamp with the insulating shell is locked, and it is released from the wire clamp tool (3). The insulating shell (1) flips downward and the bottom is attracted by the built-in magnet. The wire tool includes a clamp (8), a torque motor (9), and a lead screw (10). The clamp (8) has two degrees of freedom to adapt to the suspension state of the drain line (7). The torque motor (9) drives the lead screw (10) to move the clamp (8) up and down to open and close. The two degrees of freedom of the clamp (8) are opening and closing degree and tilt degree. The opening and closing degree moves up and down to open and close, with a maximum stroke of 100mm. The tilt degree has a maximum stroke of 30 degrees. After the clamp (8) enters the wire gripping state, the tilt degree conforms to the sag of the drain line (7) and adapts to its changes. The opening and closing degree and the tilt degree are achieved by the relative movement of the fixed side and the moving side of the clamp (8). The moving side includes a sliding tilting component. The sliding tilting component is related to the relative movement of the fixed side and the moving side of the clamp (8). The fixed side (801) is slidably connected. The sliding tilting member includes a claw (803). The claw (803) has a wire-bearing part (802). The wire-bearing part has a clamping surface. The clamping surface is horizontally upward in the closed state. The clamping surface has a groove-shaped enclosure. The tilting degree is achieved by driving the wire-bearing part to rotate in conjunction when the sliding tilting member slides. The sliding tilting member also includes a sliding member. The claw (803) is rotatably connected to the sliding member. The pivot (804) of the claw (803) is located below the clamping surface. An elastic member (13) is also provided between the claw (803) and the sliding member. The elastic member (13) has the greatest deformation degree when the claw (803) is closed.

2. The live-line installation method for a 10kV J-type clamp according to claim 1, characterized in that: The method for calculating the position of the drainage line (7) is as follows: a depth camera is used to capture an image of the drainage line (7), the drainage line (7) is manually selected, the point cloud of the selected area is segmented and identified by the machine, the center line of the drainage line is fitted by the geometric moments of the point cloud, and the center coordinates (xc, yc) and direction angle θ are calculated; the three-dimensional coordinates of the work point are calculated using the center line equation y = tan (θ)・(x-xc)+yc; the pixel coordinates are converted into robot base coordinate system coordinates by combining the intrinsic and extrinsic parameters of the depth camera, and the right arm is controlled to move to the drainage line (7).

3. The live-line installation method for a 10kV J-type clamp according to claim 1, characterized in that: After the two side covers of the insulating shell (1) are flipped up, the two side shells are attached to each other. The wire clamp tool (3) is provided with a buckle (11) to lock the two side covers.

4. The live-line installation method for a 10kV J-type clamp according to claim 1, characterized in that: One end of the elastic element (13) is located at point A on the claw (803), and the other end is located at point B on the sliding element. The distance between point A and point B is the smallest when the inclination is at its maximum. The distances from point A and point B to the center line of the rotation axis of the claw (803) are equal.

5. A live-line installation method for a 10kV J-type clamp according to claim 4, characterized in that: The elastic element (13) is connected to point B by a limiting rod (805). The limiting rod (805) is set perpendicular to the rotation plane of the claw (803). The claw (803) is provided with a limiting groove (806). When the claw (803) is in the closed state, the limiting rod (805) is at the first end of the limiting groove (806). When the claw (803) is opened to 30 degrees, the limiting rod (805) is at the other end of the limiting groove (806).

6. The live-line installation method for a 10kV J-type clamp according to claim 1, characterized in that: In the pre-grabbing state, both the opening and tilt angles are opened to the maximum stroke. As the drainage line (7) gradually approaches horizontal from its suspended state, the tilt angle of the claw (803) adapts to the suspension angle of the drainage line (7) under the combined action of the elastic element (13) and the gravity of the drainage line (7), so that the enclosing part on the clamping surface fits the drainage line (7).

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