RU-2861515-C1 - ADAPTIVE MOBILE SPATIAL ROBOT-MANIPULATOR FOR SERVICING POWER LINES AND METHOD FOR SERVICING POWER LINES BY MEANS OF ADAPTIVE MOBILE SPATIAL ROBOT-MANIPULATOR

RU2861515C1RU 2861515 C1RU2861515 C1RU 2861515C1RU-2861515-C1

Abstract

FIELD: electric power industry. SUBSTANCE: invention can be used for servicing long strings of cap insulators of overhead power transmission lines, namely for cleaning ice, snow, and dirt from cap insulators regardless of their spatial orientation, shape, transverse dimensions, and material of manufacture. The device is made in the form of a two-section active structure formed by combining two identical active octahedral modules to form a common, rear and front faces containing three-support adaptive grippers in the form of three two-link impact-clamping devices 8 with surface deformation sensors 9 (Fig. 1). The edges of the structure are formed by linear wires 3, the ends of which are pivotally connected at the vertices of the structure and contain axial force sensors 4, relative displacement sensors 5 and relative speed sensors 6, as well as combined spatial position sensors 10 and acceleration sensors 11 (Fig. 2). The control system 7 of the device includes a neurocomputer 12, software and algorithmic support 13, digital-to-analogue converters 14 with power amplifiers 20 and analogue-to-digital converters 15, 16-19 of sensors 4, 5, 6, 9, 10, 11. EFFECT: increasing reliability, expanding functionality, and simplifying the control algorithm for cleaning a cap insulator. 2 cl, 4 dwg

Inventors

SAYAPIN SERGEJ NIKOLAEVICH

Dates

Publication Date: 20260505
Application Date: 20250918

Claims (2)

1. An adaptive mobile spatial robot manipulator for servicing power transmission lines, comprising a control system and a spatial structure in the form of an active octahedral module in the initial position, configured to move along the wire and fix and remove ice from the wire, and its ribs are made in the form of rods, the ends of which are pivotally connected at the vertices of the active octahedral module, wherein the rods are equipped with linear drives with axial sensors of force, relative displacement and relative speed, wherein the rods of the back and front faces are equipped with radial stops with the possibility of forming adaptive grippers of the front and back faces of the robot manipulator in the form of two-link impact-crimping devices, the outer ends of which are pivotally connected to the ends of the rods and the vertices of the active octahedral module by common cylindrical hinges, and the inner ends are connected to each other by cylindrical hinges, wherein the linear drives, sensors of force, relative displacement and relative speed electrically connected through analog-to-digital converters with a control system designed with the possibility of operational monitoring and control in real time, characterized in that the adaptive mobile spatial robot manipulator is made in two sections in the form of two active octahedral modules with the formation of a common middle face and rear and front faces parallel to it, wherein the inner ends of the rods of each two-link impact-crimping device of the adaptive grippers of the rear, middle and front faces are connected to each other by fork hinges and are made in the form of plates elastic in orthogonal directions to the faces of the corresponding adaptive grippers with surface deformation sensors, located in planes parallel to the rear, middle and front faces and electrically connected through analog-to-digital converters with the control system.
2. A method for servicing a power transmission line using an adaptive mobile spatial robot-manipulator according to paragraph 1, consisting in that the robot-manipulator is installed on a power transmission line wire with an ice coating in an accessible and safe place, the removal of the coating is remotely controlled and the robot-manipulator is moved along the wire, wherein before installing the robot-manipulator, its mass, the geometric parameters of the wire and the ice coating, the inter-support length of the wire and its permissible load are entered into the control system, after which the wire is cleared of the ice coating, during which the lengths of the face rods are changed in a coordinated manner, characterized in that data on the number of disc insulators in the garland, the material and the geometric dimensions, including the distances between the ridges and the bases of adjacent disc insulators, as well as data on the dependence of the stress of the surface deformation of the elastic plates of the two-link impact-crimping device on the deviation of the edge of the fork hinge from the plane of the corresponding face of the two-section device are entered into the control system, then the lengths of the rods of the side faces are reduced to a minimum and the lengths of the rods of the rear, middle and front faces of the two-section robot manipulator are increased to a maximum, the corresponding rods of one of the pairs of adjacent side faces are disconnected and it is installed on a garland of disc insulators of the power transmission line wire that is cleared of snow, after which the connection of the rods is restored and the plane of the adaptive grip of the rear face is positioned perpendicular to the garland near the end of the outermost disc insulator, then the lengths of the rods of the rear face are reduced until the moment of contact of the radial stops with the cap of the outermost disc insulator with a given force and the corresponding linear drives are switched off, then the linear drives of the side faces are switched on between the rear and middle faces and the plane of the adaptive grip of the middle face is moved until it is aligned with the middle of the space between the nearest adjacent disc insulators, then the lengths of the rods of the middle face are reduced until the moment of contact of the radial stops with the cap of the corresponding disc insulator with a given force and the corresponding linear drives are switched off, as a result, the rear section of the two-section robotic manipulator is fixed on the garland of disc insulators in the initial position with the front section in the form of a spatial robotic manipulator with nine degrees of freedom and an adaptive gripper, with the help of the radial stops of which they begin cleaning the disc insulators of the garland, while first changing the lengths of the rods of the side faces of the front section and aligning the tangent plane of the forks of the radial stops of the adaptive gripper of the front face with the upper edge of the ridge of the nearest disc insulator, after which the lengths of the rods of the middle face are reduced and the corresponding end surface is cleaned of the ice coating, in case the permissible compression force developed by the radial stops, the lengths of the rods of the side faces of the front section are changed in a coordinated manner and multidirectional axial rotations of the front face with radial stops are performed relative to the average with a maximum angular amplitude, then the radial movements of the radial stops are repeated until the moment of contact with the cap of the corresponding disc insulator with an allowable force and by changing the lengths of the rods of the side and front faces of the front section, the radial stops are moved until contact with the opposite upper edge of the ridge of the adjacent disc insulator, and the operation of clearing the ice coating is repeated, after clearing the inter-disk space from the ice coating, the radial stops of the front face are moved apart and moved to the next pair of end surfaces of the adjacent disc insulators, while the change in the thicknesses of the transverse profiles of the adjacent disc insulators is compensated by elastic deformations of the rods of the two-link impact-crimping devices of the adaptive grip of the front face, the magnitude of which is judged by the readings of the sensors surface deformation, then the cleaning of the disc insulators continues until the maximum increase in the lengths of the rods of the side faces of the front section, after which the plane of the adaptive gripper is moved to the nearest inter-disk space and the lengths of the rods of the front face are reduced until the moment of contact of the radial stops with the cap of the corresponding disc insulator with a given force, and the lengths of the rods of the rear face are increased to a maximum, and as a result, the fixation of the front section of the two-section robot manipulator on the garland of disc insulators is ensured, and from the rear section a spatial robot manipulator with nine degrees of freedom and an adaptive gripper is obtained, with the help of the radial stops of which the cleaning of the disc insulators of the initial section of the garland begins, which is stopped after reaching the minimum length of the rods of the side faces of the rear section of the two-section robot manipulator, after which the rear face is fixed with garland of disc insulators, and the lengths of the rods of the middle face are increased to the maximum, then the lengths of the rods of the side faces of the middle section and the middle face are reduced to the maximum until it is fixed with the garland of disc insulators, and the lengths of the rods of the front face are increased to the maximum, as a result, the two-section robotic manipulator is moved along the garland by one step and from its new initial position the cycle of operations for cleaning the next section of the garland of disc insulators is repeated, after finishing cleaning the entire garland, the two-section robotic manipulator is moved to the initial position and after disconnecting the corresponding rods, it is removed from the garland of disc insulators and, if necessary, installed on the next garland.

Description

Field of technology The invention relates to the field of electric power engineering and can be used in servicing long strings of disc insulators of overhead power lines, namely for cleaning ice, snow and dirt from disc insulators regardless of their spatial orientation, shape, transverse dimensions and material of manufacture. State of the art A device is known for carrying out maintenance operations, in particular washing strings of disc insulators of high-voltage overhead power lines (Paris L. Equipment to carry out maintenance operations, particularly washing, on insulator chains of high voltage electric lines. Patent Number: US5119851. Int. Cl. B08B 3/02. 1989). Washing of the insulator circuit is carried out using jets of washing liquid sprayed in the immediate vicinity of the insulators and along their entire contour. The device comprises a guide housing movable along the string of disc insulators, a plurality of nozzles for spraying washing liquid mounted on said guide housing, and moving means for guiding said housing along the string of disc insulators. This transfer device consists of at least one guide rotating on two transfer rollers, at least one of which is driven by a motor, and the active portion of the guide is in contact with the peripheral edge of the insulators in the string. The guide element encircles the string of disc-shaped insulators at a small distance along the string and consists of a plurality of teeth projecting perpendicularly from its outer surface. The guide body and guide track have multiple points of contact with the periphery of each insulator, distributed along the entire contour of adjacent insulators. The device is universal and can be used for strings of various external diameters, as well as conical shapes. The specified device has the following disadvantages: • The device cannot be installed on a string of disc insulators with a thick layer of icing. • The device is not suitable for operation at low ambient temperatures and for cleaning insulators from ice and snow. • The device is not capable of moving on icy disc insulators with uneven thickness of the ice coating on the peripheral edge of the disc insulator. • If the device is installed on the peripheral edge of a disc insulator with an ice coating, its thawing will result in a disruption of the device’s contact with the disc insulators being cleaned, which will lead to its inoperability. • The device is not capable of overcoming axial obstacles in garlands, for example, in the form of garlands of variable profile with alternating disc insulators of different diameters, as well as in the presence of several destroyed disc insulators in the garland. A robot for cleaning insulators is known (Jiang B., Guo Zh., Jia Q. et al. Robot for cleaning insulators. Russian Federation Patent for Invention No. 2659252, IPC: B08B 1/04 (2006.01); H01B 17/52 (2006.01). Published in BI No. 19, 2018). The robot comprises a crawling mechanism, a cleaning device, locking mechanisms, a sensor and a controlled power supply. The crawling mechanism has a closed annular structure for covering a string of insulators and is configured to set the robot in continuous motion along the string of insulators. The cleaning device has a closed annular structure for covering a string of insulators. The locking mechanisms are evenly distributed on the crawling mechanism, which is connected to the cleaning device via said locking mechanisms. The sensor is located on one side of the locking mechanisms. The controlled power supply is mounted on a crawler mechanism. The crawler mechanism contains drives located on the upper and lower levels, coupling devices, and several guide rails evenly spaced around the crawler's circumference. Each drive contains a motor, a transmission, a feed drive mechanism, and a mounting frame. The motor output shafts are connected to the transmission, which is a gearbox. The robot is capable of continuous movement and can be used to move along strings of various heights and diameters of disc insulators. The specified device has the following disadvantages: • The device cannot be installed on a string of disc insulators with a thick layer of icing. • The device is not suitable for cleaning insulators with brushes from hard ice coating. • The device has an open, unprotected design with a gear transmission in the form of a pinion and a mating gear sector of large radius and a number of other open moving elements, which makes it unsuitable for operation at low ambient temperatures due to the risk of icing. • The device is not capable of moving on icy disc insulators with uneven thickness of the ice coating on the peripheral edge of the disc insulator. • The device is not capable of overcoming axial obstacles in garlands, for example, in the form of garlands of variable profile with alternating disc insulators of different diameters, as well as in the presence of several destroyed disc insulators in the garland. An adaptive mobile