CN-122000814-A - Split type spacing rod installation robot for double split three-phase wires and upper line and lower line and co-positioning method thereof

CN122000814ACN 122000814 ACN122000814 ACN 122000814ACN-122000814-A

Abstract

The invention discloses a split type spacing rod mounting robot for double split three-phase wires and an upper line and lower line and a cooperative positioning method thereof, wherein the robot comprises an upper mounting module and a lower mounting module, wherein the upper mounting module is provided with a travelling wheel, at least one pair of coiling and uncoiling devices, an upper mounting guide mechanism and an upper mounting butting mechanism which are detachably mounted; the lower mounting module is provided with a lower mounting guide mechanism and a lower mounting butt joint mechanism which are detachably mounted, the lower mounting butt joint mechanism is matched with the upper mounting butt joint mechanism to realize quick butt joint, the upper mounting guide mechanism is in an inverted V shape when passing through a wire upwards and in a positive V shape when passing through the wire downwards by controlling the upper mounting guide mechanism, and the lower mounting guide mechanism is used for pulling out the wire when passing through the wire upwards. The three-phase conductor wire winding and unwinding device is simple and convenient to operate and accurate in positioning, and can realize the winding and unwinding of the three-phase conductor wire of the split type spacer installation robot only by means of an unmanned aerial vehicle, and has good universality for the three-phase conductor wires in different arrangement modes.

Inventors

YIN JIANGANG
LI QIANG
YE JIANFENG
FANG WEI
PI ZHIJUN
LIU JIWU
PENG MIAO
LI DENG
TIAN ZE
MAO XIAOPO

Assignees

国网湖北省电力有限公司电力科学研究院
武汉楚前电力技术有限公司
武汉大学

Dates

Publication Date: 20260508
Application Date: 20260127

Claims (10)

1. Split type spacer installation robot towards two split three-phase wires, its characterized in that, the robot includes upper assembling module and lower assembling module, wherein: The upper mounting module is provided with a travelling wheel, at least one pair of coiling and uncoiling devices, and a detachably mounted upper mounting guide mechanism and an upper mounting docking mechanism; The lower mounting module is provided with a lower mounting guide mechanism and a lower mounting butt joint mechanism which are detachably mounted, and the lower mounting butt joint mechanism is matched with the upper mounting butt joint mechanism to realize quick butt joint; The upper guide mechanism is used for controlling the inverted V-shaped wire passing upwards and the positive V-shaped wire passing downwards, and the lower guide mechanism is used for pulling out the wire passing upwards.
2. The split spacer mounting robot for double split three-phase wires of claim 1, wherein the upper mounting docking mechanism comprises a docking male head, the lower mounting docking mechanism comprises a docking female head, a guide cone plate and a clamping plate, the docking female head is matched with the docking male head, the guide cone plate is used for guiding the docking male head to align with the docking female head, and the clamping plate is used for clamping the docking male head.
3. The split spacer mounting robot for double split three-phase wires according to claim 1, wherein the underfilling guide mechanism comprises at least one group of first guide plates arranged at the periphery of the underfilling module, at least one group of first guide plates are symmetrically arranged at both sides of the underfilling module, and an inclined guide member is arranged at the top of each first guide plate.
4. The split spacer mounting robot for double-split three-phase wires according to claim 1, wherein the upper mounting guide mechanism comprises at least one group of second guide plates, at least one group of second guide plates are symmetrically arranged in the direction perpendicular to the wires, each second guide plate is connected with a motor through a connecting rod, the motor drives the connecting rod to rotate, and further drives at least one group of second guide plates to rotate, so that an inverted V shape is formed between two upper inclined surfaces of each group of second guide plates, or a positive V shape is formed between two lower inclined surfaces of each group of second guide plates.
5. The split spacer mounting robot for double split three-phase wires of claim 4, wherein the motor is disposed on a side of the upper module perpendicular to the wires, the second guide plate is disposed on a side of the upper module parallel to the wires, and the plane of the connecting rod is perpendicular to the plane of the second guide plate and parallel to the plane of the motor.
6. The split spacer mounting robot for double split three-phase conductors according to claim 1, wherein the upper mounting module is further provided with a conductor clamping mechanism.
7. A split spacer bar installation robot on-line method for a double split three-phase wire, the three-phase wire including A, B, C three phases, each corresponding to a split spacer bar installation robot according to any one of claims 1 to 6, characterized in that each camera robot is installed with an on-line docking mechanism and an off-line docking mechanism, when A, C phases are in the same vertical plane, an a-phase off-line installation module is installed with an off-line installation guiding mechanism, a C-phase on-line installation module is installed with an on-line installation guiding mechanism, and an on-line installation method for A, C phases includes: After the A-phase upper mounting module is hoisted to the A-phase guide wire, the A-phase upper mounting module hangs down the cable to a preset position; The phase A lower mounting module and the phase C upper mounting module are self-twisted and wired through a mooring rope by a butt joint mechanism body; When entering a preset distance range of the C-phase lead, the A-phase lower mounting module and the C-phase upper mounting module upwards penetrate through the C-phase lead through the guide mechanism, and then the C-phase upper mounting module is separated from the A-phase lower mounting module through the docking mechanism and falls on the C-phase lead; the phase A lower mounting module continues to self-twist and ascend until the phase A upper mounting module is opposite to the joint body; The C-phase upper mounting module hangs down the cable, and the C-phase lower mounting module rises by the cable and is connected with the C-phase upper mounting module pair.
8. A split spacer installation robot offline method for a double split three-phase wire, the three-phase wire including A, B, C three phases, each corresponding to a split spacer installation robot according to any one of claims 1 to 6, characterized in that each camera robot is installed with an upper installation docking mechanism and a lower installation docking mechanism, when A, C phases are in the same vertical plane, an a-phase lower installation module is installed with a lower installation guiding mechanism, a C-phase upper installation module is installed with an upper installation guiding mechanism, and the offline method for A, C phases includes: A. The C-phase lower mounting module is separated from the A, C-phase upper mounting module and descends from the winch; the C-phase lower mounting module descends to a preset position to finish the offline, and when the A-phase lower mounting module enters a preset distance range of a C-phase lead, the A-phase lower mounting module and the C-phase upper mounting module are combined through a butt joint mechanism; The phase A lower mounting module and the phase C upper mounting module downwards pass through the phase C lead through the guide mechanism and then downwards drop to a preset position to finish the offline; And D, lifting and assembling the lower line by the A-phase upper assembling module.
9. The method of claim 7 or 8, wherein each camera robot mounts a top mount docking mechanism and a bottom mount docking mechanism when the ABC three-phase conductors are all in the same vertical plane, wherein the a-phase bottom mount module, the B-phase bottom mount module, and the B-phase top mount module, and the C-phase top mount module each mount a bottom mount guiding mechanism.
10. The split type spacer installation robot co-location method for the double split three-phase lead comprises A, B, C three phases, and each corresponding split type spacer installation robot is characterized in that after the line loading process of claim 7 is completed, a B-phase upper installation module is hoisted and the B-phase lower installation module is self-twisted and line-loaded, then a master-slave type co-location method is adopted, a camera is used as a host, and the other two-phase robots are used as slaves, and the following co-location steps are executed: the three-phase robot moves to the vicinity of the target position through the GNSS system; According to a physical mark preset on a guide line, a host computer utilizes a binocular camera to identify the distance between a robot and the mark, acquires coordinates and moves to a position where a spacer is installed; The slave machine performs triangular ranging through the laser range finder and the angle encoder to obtain relative coordinates taking the host machine as a reference, and the slave machine moves to enable the three-phase robot to be located on the same vertical plane so as to meet the installation requirement of the three-phase spacer.

Description

Split type spacing rod installation robot for double split three-phase wires and upper line and lower line and co-positioning method thereof Technical Field The invention belongs to the technical field of power transmission wire tool winding and unwinding, and particularly relates to a split type spacer installation robot for double split three-phase wires and a winding and unwinding and co-positioning method thereof. Background The split type spacer installation robot is an intelligent operation robot capable of realizing automatic spacer installation and comprises an upper installation module and a lower installation module, wherein the upper installation module is used for assisting the lower installation module to be on-line and off-line, and the lower installation module is a main body part for executing spacer installation. The upper line process is generally that an unmanned aerial vehicle hangs an upper loading module to be line, the upper loading module hangs down a cable, and a lower loading module is self-twisted to be line through the cable. In the field of power systems, three-phase three-wire systems are commonly used for high-voltage overhead lines of the voltage class of 10kV and above. The three lines respectively correspond to A, B, C three phases of alternating current, and electric energy transmission is realized through sinusoidal alternating current potentials with a phase difference of 120 degrees. The three-phase wires are arranged in a horizontal arrangement, a vertical arrangement, a triangular arrangement, an umbrella-shaped arrangement, a hexagonal arrangement and the like. When the spacer installation robot is used for simultaneously installing the three-phase conductor spacers, the upper lines and the lower lines of the split type spacer installation robot can be influenced by the three-phase conductors which are arranged in certain ways. Taking hexagonal arrangement as an example, three layers from top to bottom are respectively an A phase wire, a B phase wire and a C phase wire, wherein the A phase wire and the C phase wire are arranged on the same vertical plane, the distance is about 7m, the B phase wire is positioned in the middle of the A, C phase wire, and the distance in the horizontal direction is about 2m. For the B-phase lead, the split type spacer installation robot can normally go up and down, and the upper and lower lines of the A-phase lead and the C-phase lead can be interfered by the leads. In addition, the installation of the three-phase conductor spacer requires that the three-phase conductor spacer be positioned on the same vertical plane (110-750 kV overhead transmission line construction and acceptance criterion (GB 50233-2014)), and high requirements are set for the positioning of the robot. Disclosure of Invention In order to overcome the defects of the prior art, the split type spacer installation robot for the double-split three-phase wires and the wire feeding and discharging and co-positioning method thereof are provided, the method is simple and convenient to operate and accurate in positioning, the wire feeding and discharging of the split type spacer installation robot for the three-phase wires can be realized only by means of an unmanned aerial vehicle, and the split type spacer installation robot has good universality for the three-phase wires with different arrangement modes. According to an aspect of the present disclosure, there is provided a split spacer mounting robot for a double split three-phase wire, the robot including an upper mounting module and a lower mounting module, wherein: The upper mounting module is provided with a travelling wheel, at least one pair of coiling and uncoiling devices, and a detachably mounted upper mounting guide mechanism and an upper mounting docking mechanism; The lower mounting module is provided with a lower mounting guide mechanism and a lower mounting butt joint mechanism which are detachably mounted, and the lower mounting butt joint mechanism is matched with the upper mounting butt joint mechanism to realize quick butt joint; The upper guide mechanism is used for controlling the inverted V-shaped wire passing upwards and the positive V-shaped wire passing downwards, and the lower guide mechanism is used for pulling out the wire passing upwards. As a further technical scheme, the upper mounting butt joint mechanism comprises a butt joint male head, the lower mounting butt joint mechanism comprises a butt joint female head, a guide cone plate and a clamping plate, the butt joint female head is matched with the butt joint male head, the guide cone plate is used for guiding the butt joint male head to align with the butt joint female head, and the clamping plate is used for clamping the butt joint male head. As a further technical scheme, the lower guiding mechanism comprises at least one group of first guiding plates arranged on the periphery of the lower module, at least one group of first guiding plate