Insulator wire clamping construction method of power overhead line

Abstract

The invention provides an insulator wire clamping construction method for an electric power overhead line, and is suitable for the field of wire installation construction. The method comprises the steps of finely adjusting the design and application of an existing insulator, completing the pre-stage of insulator wire clamping construction, insulator wire clamping construction and gap filling, plugging a wire clamping cover plate between a wire and a fixing groove of the insulator through a mechanical arm carried by an unmanned aerial vehicle, and adjusting the existing design of the insulator. A wire clamping cover plate is plugged between an insulator fixing groove and a wire, the wire can be limited in the fixing groove, the wire is prevented from falling off from the fixing groove in the shaking process, vertical and transverse constraint is provided for the wire, the unmanned aerial vehicle carries a mechanical arm to inject structural adhesive into the fixing groove, enough horizontal constraint is provided for the wire, and it is guaranteed that when the wire is broken, the wire is prevented from falling off from the fixing groove. Wires in all fixing grooves on an erected line cannot be connected and fall off; and meanwhile, workers do not need to work at a high position in the whole process, the construction efficiency can be improved, and the personal safety of the workers can be guaranteed.

Description

Technical Field

[0001] This invention relates to the field of conductor installation and construction, and specifically to a method for installing insulator clamps on overhead power lines. Background Technology

[0002] In power transmission systems, a reliable connection between conductors and insulators is a crucial aspect of conductor installation. It not only affects the stable operation of the power system but also directly impacts the safety of pedestrians and the risk of fire to property near overhead power lines. Traditional conductor fixing methods primarily involve workers performing tasks at heights, using methods such as the "cross-tying method" to secure the conductors. This approach is not only labor-intensive and inefficient but also carries the risk of falls from heights.

[0003] As the industry continues to explore and apply new non-binding fixing technologies, such as self-tightening insulator structures, snap-on non-binding line insulators, and rapid fixing devices for low-voltage conductors, these new technologies achieve rapid installation and fixing of conductors through specially designed mechanical structures. This significantly reduces on-site operation time costs and also improves work safety to a certain extent.

[0004] However, despite effective improvements in the methods for securing conductors and insulators, the risks of working at heights remain. Therefore, to further enhance the construction efficiency and safety of power transmission systems, it is urgent to develop more advanced conductor securing methods that can effectively avoid the various problems associated with working at heights and ensure a stable and reliable connection between conductors and insulators. Summary of the Invention

[0005] The purpose of this invention is to solve the problems of low construction efficiency and high risk of high-altitude operation in the fixing methods of conductors and insulators. It proposes a method for fixing insulators in overhead power lines, which can significantly improve the construction efficiency and safety of conductor installation and can be widely applied in the field of conductor installation.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A method for installing insulator clamps on overhead power lines, specifically including the following steps: S1. Fine-tune the existing insulator design and application, including changing the design of the existing insulator fixing groove, dividing the fixing groove into upper and lower semicircles, with the lower semicircle having a diameter of [missing information]. D d The diameter of the upper semicircle is D u The upper semicircle is open, and the width of the opening is equal to the diameter of the lower semicircle and larger than the diameter of the conductor. D A slope is set along the length of the conductor, including the fixing groove and the portion above it. iA stop block that is fixedly connected to the fixing groove is provided at the lower end of the fixing groove; S2. Before completing the insulator clamping construction, including selecting weather conditions with wind force level not greater than 3 and no rain for the next 7 days, the overhead line construction is carried out. After the tower is installed, the guide rope pulls the conductor into the pulley groove. Then, the transport vehicle-mounted robotic arm system is used. Based on machine vision technology, the ground image processing system issues instructions to make the robotic arm complete the transfer of the conductor from the pulley groove to the fixed groove. S3. Insulator clamping construction includes replacing the actuator at the end of the transport vehicle's robotic arm with a clamp after all towers have completed the transfer of the conductor from the pulley groove to the fixing groove. The clamp has a clamping cover plate inside. The ground image processing system identifies key targets in the image based on a pre-trained target detection model. The key targets include crossarms, fixing grooves, conductors, clamping covers, and other obstacles, and obtains the key target coordinate set in the global coordinate system. Based on the key target coordinate set, the clamp opening of the robotic arm is oriented towards the conductor in the fixing groove, and then the fine operation mode is entered. The clamping cover plate is placed on the conductor on the higher side of the fixing groove, and the clamping cover plate is pushed into the fixing groove by the pushing device at the end of the clamp. S4. Gap filling: After all the poles and towers have completed the installation of the cable clamping cover plates and pushed them into the fixing slots, structural adhesive is injected sequentially from the lower side of the fixing slot to fill the gaps in the fixing slots. The injection ends when the structural adhesive overflows from the higher side of the fixing slot.

[0007] As a preferred embodiment of the present invention, in step S1, the diameter of the lower semicircle of the fixing groove is... D d Compared to the diameter of the wire D 2mm larger, the diameter of the upper semicircle meets the requirements. D u ≥ D d +2 b ,in b This refers to the thickness of the cable clip cover.

[0008] As a preferred embodiment of the present invention, in step S1, the slope i The value range is 2% to 20%.

[0009] As a preferred embodiment of the present invention, in step S1, the material strength and thickness of the stop block must meet the following conditions. (1) (2) (3) (4) (5) In the formula, m Let be the coefficient of sliding friction between the conductor and the stop. m For the mass of the conductor at half the span of the tower, g It is the acceleration due to gravity. s This is the design value of the compressive strength of the stop material. t This represents the design value of the shear strength of the stop material. t For the thickness of the stop, i This refers to the radian of the central angle corresponding to the arc segment of the cable cover plate.

[0010] As a preferred embodiment of the present invention, the length of the fixing groove along the conductor direction is... l The strength of the structural adhesive must meet the following conditions. (6) In the formula, T represents the tension in the conductor. t g This is the design value for the shear strength of the structural adhesive.

[0011] As a preferred embodiment of the present invention, the contact surface between the fixing groove and the wire can be in the form of a rubber thread.

[0012] As a preferred embodiment of the present invention, the hot melt temperature of the structural adhesive is not greater than the maximum rated operating temperature of the wire.

[0013] The beneficial effects of this invention are as follows: By using a drone carrying a robotic arm to insert the wire clamping cover plate between the conductor and the insulator's fixing slot, and by adjusting the existing design of the insulator, the wire clamping cover plate can confine the conductor within the fixing slot, preventing it from falling out during swaying and providing vertical and lateral constraints to the conductor. Similarly, by using a drone carrying a robotic arm to inject structural adhesive into the fixing slot, sufficient horizontal constraints are provided to the conductor, ensuring that if the conductor breaks, it will not cause all conductors in the fixing slots of the erected line to fall out in succession. At the same time, the entire process does not require workers to work at heights, which increases construction efficiency and ensures the personal safety of workers. Attached Figure Description

[0014] Figure 1 This is a flowchart of the insulator clamping construction method for overhead power lines according to the present invention; Figure 2 This is a front view of the insulator of the present invention; Figure 3 This is a partial cross-sectional view of the insulator of the present invention from the side; Figure 4 This is a front view of the clamp of the present invention; Figure 5 This is a side view of the clamp of the present invention; The attached diagram is labeled as follows: 1-Insulator, 11-Fixing groove, 2-Wire clamp cover, 3-Wire, 4-Stop, 5-Clamping clamp, 51-Pushing device. Detailed Implementation

[0015] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments given herein are for illustration and explanation only and are not intended to limit the invention. It should be noted that many specific details are set forth in the following description to provide a thorough understanding of the invention; however, the invention may have other embodiments and modifications thereof. Therefore, the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0016] Example 1: The construction method for insulator clamps on overhead power lines is as follows: S1. Fine-tune the existing insulator design and application, changing the design of the existing insulator fixing groove 11, dividing the fixing groove 11 into upper and lower semicircles, with the lower semicircle having a diameter of... D d The diameter of the upper semicircle is D u The upper semicircle is open, and the opening width of the insulator 1 can be equal to or slightly smaller than the diameter of the conductor 3. When the conductor 3 is placed into the fixing groove 11, it needs to be pressed to cause elastic deformation of the outer protective layer of the conductor 3 before it is placed in. After the conductor 3 enters the fixing groove 11, the deformation recovers, which can further ensure the vertical and lateral constraints of the conductor 3. Under this condition, the control precision requirements of the robotic arm are high. In this embodiment, the opening width and the diameter of the lower semicircle are equal to and larger than the diameter of the conductor 3. D And the lower semicircular diameter of the fixing groove 11 D d 3 diameter than the wire D 2mm larger, the diameter of the upper semicircle meets the requirements. D u ≥ D d +2 b ,in b The thickness of the wire clamp cover plate 2; a slope is provided along the length of the wire 3 for the fixing groove 11 and above. i A stop block 4, which is fixedly connected to the fixing groove 11, is set at the lower end of the fixing groove 11 to ensure that the wire clamping cover 2 is always inside the fixing groove 11; the modified insulator 1 is used in the construction of overhead lines. S2. Before completing the insulator clamping construction, select weather conditions with wind force level not exceeding 3 and no rain for the next 7 days to ensure that the drone can fly normally and hover stably, and that the structural adhesive is not affected by the swaying of the conductor or rain. Then carry out the overhead line construction. After the tower is installed, use the drone to install the guide rope into the pulley groove on the tower. After the guide rope is deployed, pull the guide rope to pull the conductor until conductor 3 completely replaces the guide rope and is installed in the pulley groove. Then, use the transport vehicle-mounted robotic arm system. Based on machine vision technology, transmit the images captured by the robotic arm to the ground image processing system. The ground image processing system then issues instructions to make the robotic arm complete the transfer of conductor 3 from the pulley groove to the fixing groove 11. S3. Insulator wire clamping construction: After all towers have completed the transfer of conductor 3 from pulley groove to fixing groove 11, the actuator at the end of the robotic arm is replaced with clamp 5. The clamp 5 has a wire clamping cover plate 2 inside. The ground image processing system identifies key targets in the image based on a pre-trained target detection model. When capturing key targets in real time using a dual-spectrum camera, it continuously captures visible light and infrared images of key targets. The visible light and infrared image data are fused. The target detection model adopts the YOLOv7 target detection algorithm based on deep learning. It is trained using a dataset of nearly 5,000 labeled key target bounding boxes and categories. Then, the trained target detection model is installed into the ground image processing system and supports GPU acceleration to improve inference speed. The key targets include the crossarm, the fixed groove 11, the wire 3, the wire clamping cover 2, and other obstacles, and the coordinate set of the key targets in the global coordinate system is obtained. According to the coordinate set of the key targets, the ground image processing system sends the planned motion path to the robotic arm in the form of motion commands based on the path planning algorithm. The robotic arm gradually extends from the standby state to the working length. By adjusting the angle of each joint of the robotic arm, the opening of the clamp 5 installed on the robotic arm is made to face the wire 3 in the fixed groove 11. Then, it enters the fine operation mode. The ground image processing system acquires real-time images of the robotic arm's working area and uses a pre-trained target detection model to perform pixel-level recognition of key targets such as the crossarm, fixed slot 11, wire 3, and wire clamp cover 2. It then uses a coordinate system transformation algorithm to map the two-dimensional image coordinates to the three-dimensional global coordinate system of the robotic arm base. At this time, the system generates a spatial topology model that includes the features of obstacle boundaries, fixed slot opening center line, and wire axis. The path planning module then calculates the optimal operation path based on this model. For the end effector of clamp 5, the system uses inverse kinematics algorithm to calculate the angles of each joint and avoids obstacles in the motion path through dynamic window algorithm. When clamp 5 approaches the opening of the fixed groove, a sub-millimeter precision laser rangefinder is activated, and combined with visual servo control technology, the clamp opening plane and the axis of the fixed groove are calibrated for pose. The wire clamping cover 2 is placed on the wire 3 on the higher side of the fixed groove to ensure that the advancing direction of clamp 5 is consistent with the slope of the fixed groove. i The resulting inclined planes are strictly parallel; The robotic arm switches to a force-position hybrid control mode, using a six-dimensional force sensor to monitor the contact force between the clamp 5 and the wire clamping cover 2 in real time. When contact between the wire clamping cover 2 and the wire 3 is detected, it automatically switches to constant force control to maintain a constant contact pressure. Simultaneously, the vision system continuously monitors the alignment of the edge of the wire clamping cover with the upper semi-circular opening of the fixing groove. The clamp's posture is finely adjusted through PID closed-loop control until the deviation between the center line of the wire clamping cover and the axis of the fixing groove is less than 0.5mm. At this point, the pushing device 51 starts the servo motor to drive the ball screw, moving it at a constant speed of 0.1m / s along the slope. i The wire clamping cover 2 is pushed smoothly in the direction of the movement. During the process, the force sensor provides real-time feedback on the resistance changes. When a sudden increase in resistance is detected, the pushing is automatically stopped to ensure that the wire clamping cover 2 is accurately embedded in the predetermined position of the fixing groove 11. S4. Gap filling: After all the poles and towers have completed the installation of the cable clamp cover plate 2 and pushed into the fixing groove 11, structural adhesive is injected sequentially from the lower side of the fixing groove 11 to fill the gaps in the fixing groove 11. The injection ends when the structural adhesive overflows from the higher side of the fixing groove 11. The hot melt temperature of the structural adhesive used should not exceed the maximum rated working temperature of the wire, which is 90℃.

[0017] In a preferred embodiment of this example, in step S1, the slope... i The value range is 2% to 20%.

[0018] In a preferred embodiment of this invention, to ensure that the stop block 4 will not be pulled off during the dragging of the wire, the material strength and thickness of the stop block 4 in step S1 must meet the following conditions. (1) (2) (3) (4) (5) In the formula, m Let be the coefficient of sliding friction between conductor 3 and stop 4. m The mass of conductor 3 in half the span of the tower, g It is the acceleration due to gravity. s This is the design value of the compressive strength of the material for stop 4. t This represents the design value of the shear strength of the material for stop 4. t The thickness of stop 4 i The central angle radian corresponding to the arc segment 2 of the wire clamp cover plate.

[0019] In a preferred embodiment of this invention, to ensure that if the conductor 3 is accidentally disconnected, it will not cause all the conductors 3 in the fixing slots 11 on the erected line to fall off in succession, the length of the fixing slot 11 along the direction of the conductor 3 is [not specified]. l The strength of the structural adhesive must meet the following conditions. (6) In the formula, T is the tension of conductor 3. t g This is the design value for the shear strength of the structural adhesive.

[0020] In Example 2, the rest remains unchanged, but the contact surface between the fixing groove and the wire adopts a rubber thread form to further improve the horizontal constraint of the wire in the fixing groove.

[0021] In summary, the insulator clamping construction method for overhead power lines of the present invention has the advantages of avoiding the risks of high-altitude operations and ensuring a stable and reliable connection between the conductor and the insulator in the field of conductor installation.

[0022] It should be understood that the above embodiments are one or more embodiments of the present invention, and there are many other embodiments and variations based on the present invention; any variations and modifications made by those skilled in the art through the present invention without making pioneering innovations are all within the protection scope of the present invention.

Claims

1. A method for constructing insulator clamps for overhead power lines, characterized in that... Specifically, the following steps are included: S1. Fine-tune the existing insulator design and application, including changing the design of the existing insulator fixing groove, dividing the fixing groove into upper and lower semicircles, with the lower semicircle having a diameter of [missing information]. D d The diameter of the upper semicircle is D u The upper semicircle is open, and the width of the opening is equal to the diameter of the lower semicircle and larger than the diameter of the conductor. D A slope is set along the length of the conductor, including the fixing groove and the portion above it. i A stop block that is fixedly connected to the fixing groove is provided at the lower end of the fixing groove; S2. Before completing the insulator clamping construction, including selecting weather conditions with wind force level not greater than 3 and no rain for the next 7 days, the overhead line construction is carried out. After the tower is installed, the guide rope pulls the conductor into the pulley groove. Then, the transport vehicle-mounted robotic arm system is used. Based on machine vision technology, the ground image processing system issues instructions to make the robotic arm complete the transfer of the conductor from the pulley groove to the fixed groove. S3. Insulator clamping construction includes replacing the actuator at the end of the transport vehicle's robotic arm with a clamp after all towers have completed the transfer of the conductor from the pulley groove to the fixing groove. The clamp has a clamping cover plate inside. The ground image processing system identifies key targets in the image based on a pre-trained target detection model. The key targets include crossarms, fixing grooves, conductors, clamping covers, and other obstacles, and obtains the key target coordinate set in the global coordinate system. Based on the key target coordinate set, the clamp opening of the robotic arm is oriented towards the conductor in the fixing groove, and then the fine operation mode is entered. The clamping cover plate is placed on the conductor on the higher side of the fixing groove, and the clamping cover plate is pushed into the fixing groove by the pushing device at the end of the clamp. S4. Gap filling: After all the poles and towers have completed the installation of the cable clamping cover plates and pushed them into the fixing slots, structural adhesive is injected sequentially from the lower side of the fixing slot to fill the gaps in the fixing slots. The injection ends when the structural adhesive overflows from the higher side of the fixing slot.

2. The method for constructing insulator clamps for overhead power lines according to claim 1, characterized in that: In step S1, the diameter of the lower semicircle of the fixing groove D d Compared to the diameter of the wire D 2mm larger, the diameter of the upper semicircle meets the requirements. D u ≥ D d +2 b ,in b This refers to the thickness of the cable clip cover.

3. The method for constructing insulator clamps for overhead power lines according to claim 1, characterized in that: In step S1, the slope i The value range is 2% to 20%.

4. The method for constructing insulator clamps for overhead power lines according to claim 1, characterized in that: In step S1, the material strength and thickness of the stop block must meet the following conditions. （1） （2） （3） （4） （5） In the formula, μ Let be the coefficient of sliding friction between the conductor and the stop. m For the mass of the conductor at half the span of the tower, g It is the acceleration due to gravity. σ This is the design value of the compressive strength of the stop material. τ This represents the design value of the shear strength of the stop material. t For the thickness of the stop, θ This refers to the radian of the central angle corresponding to the arc segment of the cable cover plate.

5. The method for constructing insulator clamps for overhead power lines according to claim 1, characterized in that: The length of the fixing groove along the conductor direction l The strength of the structural adhesive must meet the following conditions. （6） In the formula, T represents the tension in the conductor. τ g This is the design value for the shear strength of the structural adhesive.

6. The method for constructing insulator clamps for overhead power lines according to claim 1, characterized in that: The contact surface between the fixing groove and the wire can be in the form of rubber threads.

7. The method for constructing insulator clamps for overhead power lines according to claim 1, characterized in that: The hot melt temperature of the structural adhesive shall not exceed the maximum rated operating temperature of the wire.

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