Patent Publication Number: US-2023142724-A1

Title: Apparatus For Dismounting And Mounting High-Voltage Line T-Connector In Hot-Line Operation

Description:
CROSS REFERENCE TO THE RELATED APPLICATIONS 
     This application is the national phase entry of International Application No. PCT/CN2020/094541, filed on Jun. 5, 2020, which is based upon and claims priority to Chinese Patent Applications No. 201910412950.8 and No. 201910409803.5, both filed on May 17, 2019, the entire contents of which are incorporated herein by reference. 
    
    
     TECHNICAL FIELD 
     The present invention belongs to the field of electric power maintenance engineering devices, and in particular relates to an apparatus for dismounting and mounting a high-voltage line T-connector in a hot-line operation. 
     BACKGROUND 
     The high-voltage lines of the transformer substation are densely distributed with high-voltage line T-connectors, and the function thereof is to divert the high-voltage lines to various cities and towns. However, high-voltage line T-connectors are exposed outdoors for many years, and are susceptible to the weather and the environment. For example, snow and wind will cause high voltage lines to generate vibration, so that a bolt on a connection plate is loosened to generate an electric spark, thereby causing line breakage accidents; and the bolt on the connection plate may also suffer serious corrosion under a severe environment, forming an adhesion with the connection plate, and thereby easily causing accidents. Therefore, the looseness or corrosion of high-voltage line T-connector bolts is not only a potential hidden danger affecting the safe and stable operation of the power grid, but also the main source of causing a huge economic loss to the power breaker region. 
     In case of looseness or corrosion of high-voltage line T-connector bolts, the bolts shall be replaced in time so as to avoid accidents. If the current at the high-voltage bus end is cut off when replacing the bolts, the power supply region of the bus will be cut off, causing an incalculable economic loss to production and life. Therefore, at present, an equipotential is manually established between the high altitude and the high-voltage bus, and then connection plate bolts are mounted and dismounted to complete replacement. In this method, a hot-line operation is performed on a high-voltage line T-connector in an equipotential state, and the operation will be limited by the distance of hot-line operation, causing it difficult for an operator to perform an action, thus causing that the tightening torque of bolts fail to reach the national standards, and even causing the case that a wrench sleeve cannot cover the bolt. In addition, manual equipotential hot-line operations must be performed with the approval of a dispatching department, and an approval process thereof is relatively complex, causing that bolts which are loose or corroded are difficult to be replaced in time, and increasing the risk of accidents. 
     SUMMARY 
     A first objective of the present invention is to provide an apparatus for dismounting a high-voltage line T-connector in a hot-line operation, so as to achieve the safe dismounting of the high-voltage line T-connector in a hot-line operation instead of a direct manual operation. 
     In order to achieve the above objective, the present invention adopts the following technical solutions:
     An apparatus for dismounting a high-voltage line T-connector in a hot-line operation, comprising a lifting platform, a four-axis platform and an end-effector mechanism, wherein the four-axis platform and the end-effector mechanism are both electrically conductive structures;   the four-axis platform is fixedly mounted on the top of the lifting platform, an insulating layer is provided between the four-axis platform and the lifting platform; the four-axis platform is movable in the X direction, the Y direction, and the Z direction, and is rotatable around the Z direction; and the four-axis platform is provided with an equipotential mechanism capable of establishing an equipotential relationship with a high-voltage bus;   the end-effector mechanism is detachably fastened to the four-axis platform; the end-effector mechanism comprises an inverted “L”-shaped integrated frame, and damping wheels capable of traveling on the high-voltage bus is connected to the top wall of the integrated frame; a guide rail moving mechanism is movable in the X direction, the Y direction, and the Z direction is connected to the side wall of the integrated frame; a nut cutting device used for breaking a nut is connected to the guide rail moving mechanism; and a sub-line connection plate gripper used for clamping a branch line is provided on the bottom of the side wall of the integrated frame.   

     According to the described solution, the four-axis platform comprises first X-direction guide rail mechanisms, a first Y-direction guide rail mechanism, a first Z-direction guide rail mechanism and a first slewing mechanism; the first X-direction guide rail mechanisms and the first Y-direction guide rail mechanism are both horizontally arranged; the first X-direction guide rail mechanisms are fixedly mounted on the top of the lifting platform, and an insulating layer is arranged between the first X-direction guide rail mechanisms and the lifting platform; the first Y-direction guide rail mechanism is fixedly mounted on the top of the first X-direction guide rail mechanisms and is arranged perpendicular to the first X-direction guide rail mechanisms; the first Z-direction guide rail mechanism is vertically arranged and is arranged perpendicular to both the first X-direction guide rail mechanisms and the first Y-direction guide rail mechanism; the bottom of the first Z-direction guide rail mechanism is connected to the top of the first Y-direction guide rail mechanism by means of the first slewing mechanism; the equipotential mechanism is fixedly connected to the first Z-direction guide rail mechanism; and a hook used for fastening the end-effector mechanism is provided on the first Z-direction guide rail mechanism. 
     Further, the first X-direction guide rail mechanisms, the first Y-direction guide rail mechanism and the first Z-direction guide rail mechanism have the same structure, and all comprise a base plate, linear guide rails, a mounting plate, a lead screw, a motor and a speed reducer; the base plate and the mounting plate are arranged in parallel relative to each other; the lead screw is located on the central line in the length direction of the base plate; the two linear guide rails are respectively provided at two sides of the lead screw and are arranged in parallel to the lead screw; one end of the lead screw is connected to the motor and the speed reducer in a fitting manner; slide blocks are respectively provided at two ends of the mounting plate and are capable of freely sliding in the linear guide rails; and an internal thread is provided on the middle portion of the mounting plate and is connected to the lead screw in a fitting manner; 
     the base plate of each first X-direction guide rail mechanism is fixedly mounted on the top of the lifting platform, and an insulating layer is provided between the base plate and the lifting platform; the base plate of the first Y-direction guide rail mechanism is fixedly connected to the mounting plate of each first X-direction guide rail mechanism; the mounting plate of the first Y-direction guide rail mechanism is connected to the lower end of the base plate of the first Z-direction guide rail mechanism by means of the first slewing mechanism; the equipotential mechanism is fixed on the base plate of the first Z-direction guide rail mechanism; and the hook is fixedly connected to the mounting plate of the first Z-direction guide rail mechanism. 
     Further, the equipotential mechanism comprises a transverse rod arranged horizontally, an inclined rod arranged obliquely and having a variable length, a pneumatic push rod arranged vertically, and a clamping claw mounted on the top of the pneumatic push rod; one end of the transverse rod, the upper end of the inclined rod, and the lower end of the pneumatic push rod are hinged together; and the other end of the transverse rod and the lower end of the inclined rod are respectively hinged to the base plate of the first Z-direction guide rail mechanism. 
     According to the described solution, the guide rail moving mechanism comprises a second X-direction guide rail mechanism, a second Y-direction guide rail mechanism and a second Z-direction guide rail mechanism;
     the second X-direction guide rail mechanism, the second Y-direction guide rail mechanism and the second Z-direction guide rail mechanism have the same structure, and all comprise a base plate, linear guide rails, a mounting plate, a lead screw, a motor and a speed reducer; the base plate and the mounting plate are arranged in parallel relative to each other; the lead screw is located on the central line in the length direction of the base plate; the two linear guide rails are respectively provided at two sides of the lead screw and are arranged in parallel to the lead screw; one end of the lead screw is connected to the motor and the speed reducer in a fitting manner; slide blocks are respectively provided at two ends of the mounting plate and are capable of freely sliding in the linear guide rails; and an internal thread is provided on the middle portion of the mounting plate and is connected to the lead screw in a fitting manner;   the base plate of the second Y-direction guide rail mechanism is fixed on the side wall of the integrated frame; the base plate of the second Z-direction guide rail mechanism is fixedly connected to the mounting plate of the second Y-direction guide rail mechanism; the mounting plate of the second Z-direction guide rail mechanism is fixedly connected to one end of the base plate of the second X-direction guide rail mechanism; and the nut cutting device is mounted on the mounting plate of the second X-direction guide rail mechanism.   

     According to the described solution, a second slewing mechanism is connected between the nut cutting device and the mounting plate of the second X-direction guide rail mechanism. 
     A second objective of the present invention is to provide an apparatus for mounting a high-voltage line T-connector in a hot-line operation, so as to achieve the safe mounting of the high-voltage line T-connector in a hot-line operation instead of a direct manual operation. 
     In order to achieve the above objective, the present invention adopts the following technical solutions:
     An apparatus for mounting a high-voltage line T-connector in a hot-line operation, comprising a lifting platform, a four-axis platform and an end-effector mechanism, wherein the four-axis platform and the end-effector mechanism are both electrically conductive structures;   the four-axis platform is fixedly mounted on the top of the lifting platform, an insulating layer is provided between the four-axis platform and the lifting platform; the four-axis platform is movable in the X direction, the Y direction, and the Z direction, and is rotatable around the Z direction; and the four-axis platform is provided with an equipotential mechanism capable of establishing an equipotential relationship with a high-voltage bus;   the end-effector mechanism is detachably fastened to the four-axis platform; the end-effector mechanism comprises an inverted “L”-shaped integrated frame, and damping wheels capable of traveling on the high-voltage bus is connected to the top wall of the integrated frame; a left-direction guide rail mechanism and a right-direction guide rail mechanism are respectively provided on the left and right sides of the side wall of the integrated frame, and the left-direction guide rail mechanism and the right-direction guide rail mechanism are movable in the X direction, the Y direction, and the Z direction; an electric wrench used for loosening or tightening a nut is connected to the left-direction guide rail mechanism, and a bolt fixing plate is connected to the right-direction guide rail mechanism; and a sub-line connection plate gripper used for clamping a branch line is provided on the bottom of the side wall of the integrated frame.   

     According to the described solution, the four-axis platform comprises first X-direction guide rail mechanisms, a first Y-direction guide rail mechanism, a first Z-direction guide rail mechanism and a first slewing mechanism; the first X-direction guide rail mechanisms and the first Y-direction guide rail mechanism are both horizontally arranged; the first X-direction guide rail mechanisms are fixedly mounted on the top of the lifting platform, and an insulating layer is arranged between the first X-direction guide rail mechanisms and the lifting platform; the first Y-direction guide rail mechanism is fixedly mounted on the top of the first X-direction guide rail mechanisms and is arranged perpendicular to the first X-direction guide rail mechanisms; the first Z-direction guide rail mechanism is vertically arranged and is arranged perpendicular to both the first X-direction guide rail mechanisms and the first Y-direction guide rail mechanism; the bottom of the first Z-direction guide rail mechanism is connected to the top of the first Y-direction guide rail mechanism by means of the first slewing mechanism; the equipotential mechanism is fixedly connected to the first Z-direction guide rail mechanism; and a hook used for fastening the end-effector mechanism is provided on the first Z-direction guide rail mechanism. 
     Further, the first X-direction guide rail mechanisms, the first Y-direction guide rail mechanism and the first Z-direction guide rail mechanism have the same structure, and all comprise a base plate, linear guide rails, a mounting plate, a lead screw, a motor and a speed reducer; the base plate and the mounting plate are arranged in parallel relative to each other; the lead screw is located on the central line in the length direction of the base plate; the two linear guide rails are respectively provided at two sides of the lead screw and are arranged in parallel to the lead screw; one end of the lead screw is connected to the motor and the speed reducer in a fitting manner; slide blocks are respectively provided at two ends of the mounting plate and are capable of freely sliding in the linear guide rails; and an internal thread is provided on the middle portion of the mounting plate and is connected to the lead screw in a fitting manner; 
     the base plate of each first X-direction guide rail mechanism is fixedly mounted on the top of the lifting platform, and an insulating layer is provided between the base plate and the lifting platform; the base plate of the first Y-direction guide rail mechanism is fixedly connected to the mounting plate of each first X-direction guide rail mechanism; the mounting plate of the first Y-direction guide rail mechanism is connected to the lower end of the base plate of the first Z-direction guide rail mechanism by means of the first slewing mechanism; the equipotential mechanism is fixed on the base plate of the first Z-direction guide rail mechanism; and the hook is fixedly connected to the mounting plate of the first Z-direction guide rail mechanism. 
     Further, the equipotential mechanism comprises a transverse rod arranged horizontally, an inclined rod arranged obliquely and having a variable length, a pneumatic push rod arranged vertically, and a clamping claw mounted on the top of the pneumatic push rod; one end of the transverse rod, the upper end of the inclined rod, and the lower end of the pneumatic push rod are hinged together; and the other end of the transverse rod and the lower end of the inclined rod are respectively hinged to the base plate of the first Z-direction guide rail mechanism. 
     According to the described solution, the left-direction guide rail mechanism comprises a second X-direction guide rail mechanism, a second Y-direction guide rail mechanism and a second Z-direction guide rail mechanism; and the right-direction guide rail mechanism comprises a third X-direction guide rail mechanism, a third Y-direction guide rail mechanism and a third Z-direction guide rail mechanism;
     the second X-direction guide rail mechanism, the second Y-direction guide rail mechanism, the second Z-direction guide rail mechanism, the third X-direction guide rail mechanism, the third Y-direction guide rail mechanism, and the third Z-direction guide rail mechanism have the same structure, and all comprise a base plate, linear guide rails, a mounting plate, a lead screw, a motor and a speed reducer; the base plate and the mounting plate are arranged in parallel relative to each other; the lead screw is located on the central line in the length direction of the base plate; the two linear guide rails are respectively provided at two sides of the lead screw and are arranged in parallel to the lead screw; one end of the lead screw is connected to the motor and the speed reducer in a fitting manner; slide blocks are respectively provided at two ends of the mounting plate and are capable of freely sliding in the linear guide rails; and an internal thread is provided on the middle portion of the mounting plate and is connected to the lead screw in a fitting manner;   the base plate of the second Y-direction guide rail mechanism is fixed on the side wall of the integrated frame; the base plate of the second Z-direction guide rail mechanism is fixedly connected to the mounting plate of the second Y-direction guide rail mechanism; the mounting plate of the second Z-direction guide rail mechanism is fixedly connected to one end of the base plate of the second X-direction guide rail mechanism; and the electric wrench is mounted on the mounting plate of the second X-direction guide rail mechanism;   the base plate of the third Y-direction guide rail mechanism is fixed on the side wall of the integrated frame; the base plate of the third Z-direction guide rail mechanism is fixedly connected to the mounting plate of the third Y-direction guide rail mechanism; the mounting plate of the third Z-direction guide rail mechanism is fixedly connected to one end of the base plate of the third X-direction guide rail mechanism; and the bolt fixing plate is mounted on the mounting plate of the third X-direction guide rail mechanism.   

     Further, a second slewing mechanism is connected between the bolt fixing plate and the mounting plate of the third X-direction guide rail mechanism. 
     According to the described solution, a nut box used for placing a nut is further provided on the side wall of the integrated frame. 
     Compared with the prior art, the present invention has the following beneficial effects:
     (1) The present invention replaces a manual hot-line operation manner by means of a mechanical mechanism, reduces the operation risk and improves the operation efficiency, so that an operator can be away from a high-altitude and dangerous operation environment, thereby preventing accidents such as electric shock and high-altitude falls from occurring; and high-voltage line T-connectors can be dismounted or mounted under hot-line conditions by means of an end-effector mechanism, thereby avoiding the negative effects of power failure and improving power supply reliability.   (2) In the operation of the present invention, the end-effector mechanism is suspended on the high-voltage overhead line, avoiding the shaking generated by the lifting platform; by means of the combined operation mode of the lifting platform, the four-axis platform and the end-effector mechanism, different parts can be replaced at any time according to different targets of the operation, the overall structure is simple, and the stability is good.   (3) In the present invention, a slewing mechanism is provided on an end-effector mechanism, when a T-connector is dismounted, a nut cutting device can be rotated to adapt same to any angle of a screw hole on a bus connection plate, and when the T-connector is mounted, a bolt fixing plate can be rotated to adapt same to any angle of the screw hole on the bus connection plate.   

    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a diagram illustrating an operation flow of the present invention when dismounting the high-voltage line T-connector. 
         FIG.  2    is a diagram illustrating an operation flow of the present invention when mounting the high-voltage line T-connector. 
         FIG.  3    is an overall structural diagram of the present invention. 
         FIG.  4    is a structural diagram of a four-axis platform of the present invention. 
         FIG.  5    is a structural diagram of an equipotential mechanism of the present invention. 
         FIG.  6    is a structural diagram of an end-effector mechanism used during dismounting in the present invention. 
         FIG.  7    is a structural diagram of an end-effector mechanism used during mounting in the present invention. 
         FIG.  8    is a structural diagram of guide rail mechanisms of the present invention. 
         FIG.  9    is a structural diagram of a high-voltage line T-connector of the present invention. 
         FIG.  10    is the left view structural diagram of  FIG.  9   . 
     
    
    
     DETAILED DESCRIPTION OF THE EMBODIMENTS 
     The specific embodiments of the present invention will be further described in conjunction with the accompanying drawings. In the drawings, the reference signs are as follows: a lifting platform  1 , a four-axis platform  2 , a first X-direction guide rail mechanism  21 , a first Y-direction guide rail mechanism  22 , a first slewing mechanism  23 , a first Z-direction guide rail mechanism  24 , a hook  25 , an equipotential mechanism  26 , a transverse rod  261 , an inclined rod  262 , a pneumatic push rod  263 , a clamping jaw  264 , a base plate  211 , a linear guide rail  212 , a mounting plate  213 , a lead screw  214 , a motor and a speed reducer  215 , an end-effector mechanism  3 , an integrated frame  31 , a damping wheel  32 , a second X-direction guide rail mechanism  33 , a second Y-direction guide rail mechanism  34 , a second Z-direction guide rail mechanism  35 , a nut cutting device  36 , a second slewing mechanism  37 , a sub-line connection plate gripper  38 , a third X-direction guide rail mechanism  39 , a third Y-direction guide rail mechanism  310 , a third Z-direction guide rail mechanism  311 , an electric wrench  312 , a nut box  313 , a bolt fixing plate  314 , a high-voltage bus  41 , a branch line  42 , a high-voltage line T-connector  5 , a bus connection plate  51 , and a sub-line connection plate  52 . 
     To describe the technical solutions and technical objectives of the present invention, the following further describes the present invention with reference to the accompanying drawings and specific embodiments. 
     Embodiment 1 
     As shown in  FIG.  3   , the apparatus for dismounting a high-voltage line T-connector in a hot-line operation of the present embodiment comprises a lifting platform  1 , a four-axis platform  2  and an end-effector mechanism  3 . 
     The lifting platform  1  can meet the lifting requirement by means of a common lifting platform such as a QYCY type mobile lifting platform of the Taiwan HOULAR brand. 
     The four-axis platform  2  is fixed on the upper surface of the lifting platform  1  by means of bolts. The end-effector mechanism  3  is hung on the four-axis platform  2  by means of a hook  25 . 
     As shown in  FIG.  8   , the motion relationships in the four-axis platform  2  and the end-effector mechanism  3  are mostly composed of guide rail mechanisms, and the guide rail mechanisms have the same structure, are composed of a base plate  211 , linear guide rails  212 , a mounting plate  213 , a lead screw  214 , a motor and a speed reducer  215 , and can form a linear motion pair with other components by means of the mounting of the mounting plate  213 . 
     As shown in  FIG.  4   , the four-axis platform  2  is mainly composed of first X-direction guide rail mechanisms  21 , a first Y-direction guide rail mechanism  22 , a first Z-direction guide rail mechanism  24 , a first slewing mechanism  23 , an equipotential mechanism  26  and a hook  25 . The first Y-direction guide rail mechanism  22  is connected to and mounted on the two first X-direction guide rail mechanisms  21  which are parallel to each other by means of bolts. The first slewing mechanism  23  is connected and fixed to the first Y-direction guide rail mechanism  22  by means of bolts. The first Z-direction guide rail mechanism  24  is connected and fixed to the first slewing mechanism  23  by means of bolts. The hook  25  is fixed to the first Z-direction guide rail mechanism  24  by means of welding. The equipotential mechanism  26  is connected and fixed to the side surface of the first Z-direction guide rail mechanism  24  by means of bolts. 
     As shown in  FIG.  5   , the equipotential mechanism  26  comprises a transverse rod  261 , an inclined rod  262  having a variable length, a pneumatic push rod  263  and a clamping jaw  264 , and the equipotential mechanism  26  can achieve the upward and downward adjustment by a certain distance so as to clamp the high-voltage bus  41 . 
     As shown in  FIG.  6   , the end-effector mechanism  3  is mainly composed of an integrated frame  31 , damping wheels  32 , a guide rail moving mechanism, a nut cutting device  36 , a second slewing mechanism  37  and a sub-line connection plate gripper  38 . 
     The guide rail moving mechanism comprises a second X-direction guide rail mechanism  33 , a second Y-direction guide rail mechanism  34  and a second Z-direction guide rail mechanism  35 . 
     The second Y-direction guide rail mechanism  34  and the sub-line connection plate gripper  38  are connected to and mounted on the integrated frame  31  by means of bolts. The second Z-direction rail mechanism  35  is connected to and mounted on the mounting plate of the second Y-direction guide rail mechanism  34  by means of bolts. The second X-direction rail mechanism  33  is connected to and mounted on the mounting plate of the second Z-direction guide rail mechanism  35  by means of bolts. The second slewing mechanism  37  is connected to and mounted on the mounting plate of the third X-direction guide rail mechanism  33  by means of bolts. The nut cutting device  36  is connected to and mounted on the second slewing mechanism  37  by means of bolts. 
     The nut cutting device  36  can be a HHQ-1924 split-type nut cutting device to meet the requirements of the present embodiment. 
     The sub-line gripper  38  comprises two grippers driven by a geared motor, and the two grippers can be closed or separated under the drive of the reduction motor so as to clamp or loosen the sub-line connection plate  52 . The geared motor is fixed on the side wall of the integrated frame  31 , and a through hole for two grippers to pass through is provided on the side wall of the integrated frame  31 . 
     The first slewing mechanism  23  and the second slewing mechanism  37  both comprise a motor and a slewing reducer, and can achieve unlimited circumferential slewing and speed reduction. 
     As shown in  FIG.  1   , the operation manner of the present embodiment is as follows: 
     The high-voltage line T-connector  5  comprises a bus connection plate  51  connected to the high-voltage bus  41  and a sub-line connection plate  52  connected to the branch line  42 , as shown in  FIGS.  9  and  10   . The lifting platform  1  lifts up the four-axis platform  2  and the end-effector mechanism  3  to be below the high-voltage bus  41 . The four-axis platform  2  aligns an equipotential mechanism  26  mounted at an end part thereof with the high-voltage bus  41 , and the equipotential mechanism  26  immediately establishes an equipotential relationship with the high-voltage bus  41 . The four-axis platform  2  hangs the end-effector mechanism  3  mounted at the end thereof on the high-voltage bus  41 , and then the end-effector mechanism  3  is separated from the hook  25  of the four-axis platform  2 . 
     The end-effector mechanism  3  is hung on the high-voltage bus  41  by means of the damping wheels  32 , and grips the sub-line connection plate  52  connected to the branch line  42  by means of the sub-line connection plate gripper  38 , then uses the second X-direction guide rail mechanism  33 , the second Y-direction guide rail mechanism  34 , the second Z-direction guide rail mechanism  35  and the second slewing mechanism  37  on the end-effector mechanism  3  to align bolts, and uses the nut cutting device  36  at the end of the second slewing mechanism  37  to break and dismount the nut. After the nut is broken and dismounted, the four-axis platform  2  hooks the end-effector mechanism  3  again, the equipotential mechanism  26  is separated from the high-voltage bus  41 , the lifting platform  1  brings the four-axis platform  2  and the end-effector mechanism  3  back to the ground. 
     The following steps are specifically comprised:
     1. An operator performs operation preparation of an apparatus for dismounting a high-voltage line T-connector in a hot-line operation described in the present embodiment, checks meteorological conditions, checks pole numbers, arranges sites, and checks and tests tools;   1.1 checking meteorological conditions, ambient environment, line apparatuses and security measures;   1.2 arranging sites: setting security guard rails, operation signs, and related warning signs on the work site;   1.3 checking and debugging the entire device to ensure that there is no error.   2. moving the lifting platform  1  to a position in the vicinity of the high-voltage line T-connector  5  to be operated.   3. dismounting the high-voltage line T-connector;   3.1 hanging, by an operator, the end-effector mechanism  3  on the four-axis platform  2  by means of a hook  25  on the ground;   3.2 operating the lifting platform  1  to lift up the four-axis platform  2  and the end-effector mechanism  3  to a certain height;   3.3 then, by means of the upward movement of the first X-direction guide rail mechanisms  21  and the first Y-direction guide rail mechanism  22  on the four-axis platform  2 , the damping wheels  32  of the end-effector mechanism  3  is lifted up to the vicinity of the high-voltage bus  41 ;   3.4 rotating the first slewing mechanism  23  so that the integrated frame  31  of the end-effector mechanism  3  is parallel to the high-voltage bus  41 ;   3.5 then, by means of the movement of the first X-direction guide rail mechanisms  21  and the first Y-direction guide rail mechanism  22  on a plane, the damping wheels  32  of the end-effector mechanism  3  is moved to a position right above the high-voltage bus  41 ;   3.6 the first Z-direction guide rail mechanism  24  moves downwards, and the end-effector mechanism  3  is hung on a high-voltage bus  41  by means of damping wheels  32 ;   3.7 the sub-line connection plate gripper  38  clamps the part of the high-voltage branch line  42 , and the end-effector mechanism  3  is integrated with the high-voltage line;   3.8 moving the second X-direction guide rail mechanism  33  and the second Z-direction guide rail mechanism  35  to align the nut cutting device  36  with the nut;   3.9 then rotating the second slewing mechanism  37  to align the nut cutting device  36  with the nut of the target bolt;   3.10 moving the second Y-direction guide rail mechanism  34  to fasten the nut cutting device  36  into the nut of the target bolt;   3.11 then driving the nut cutting device  36  to break the nut of the target bolt;   3.12 then moving the second Y-direction guide rail mechanism  34  to withdraw the nut cutting device  36 ;   3.13 sequentially completing the described steps 3.8-3.12 to destroy the nuts of all the bolts on the high-voltage line T-connector  5 , and keeping the sub-line connection plate gripper  38  always gripping the part of the high-voltage branch line  42 .   4. The four-axis platform  2  hooks the end-effector mechanism  3  by means of the hook  25  in reverse operation, and the sub-line connection plate grippers  38  of the end-effector mechanism  3  return to the vicinity of the ground together with the high-voltage branch line  42 .   

     In the present embodiment, a control cabinet, a communication module, and a power supply battery can also be provided on the lifting platform  1 , and a camera capable of collecting an operation scenario image is mounted on the end-effector mechanism  3 , so as to remotely control the lifting platform  1 , the four-axis mechanism  2 , and the end-effector mechanism  3  to complete operation. The control cabinet, the communication module and the camera are provided, so that an operator can be away from a high-altitude and dangerous work environment, thereby preventing accidents such as electric shock and high-altitude falls from occurring; the intelligence, security and timeliness of a hot-line operation can be improved, thereby reducing the labor intensity of the operator, reducing the harm to a human body caused by a high-voltage strong magnetic field, and ensuring the continuity and reliability of power supply; and the automation level of the hot-line operation in the electric power industry can be effectively improved, thereby reducing the risk of the hot-line operation. 
     Embodiment 2 
     As shown in  FIG.  3   , an apparatus for mounting a high-voltage line T-connector in a hot-line operation of the present embodiment comprises a lifting platform  1 , a four-axis platform  2  and an end-effector mechanism  3 . 
     The lifting platform  1  can meet the lifting requirement by means of a common lifting platform such as a QYCY type mobile lifting platform of the Taiwan HOULAR brand. 
     The four-axis platform  2  is fixed on the upper surface of the lifting platform  1  by means of bolts. The end-effector mechanism  3  is hung on the four-axis platform  2  by means of a hook  25 . 
     As shown in  FIG.  8   , the motion relationships in the four-axis platform  2  and the end-effector mechanism  3  are mostly composed of guide rail mechanisms, and the guide rail mechanisms have the same structure, are composed of a base plate  211 , linear guide rails  212 , a mounting plate  213 , a lead screw  214 , a motor and a speed reducer  215 , and can form a linear motion pair with other components by means of the mounting of the mounting plate  213 . 
     As shown in  FIG.  4   , the four-axis platform  2  is mainly composed of first X-direction guide rail mechanisms  21 , a first Y-direction guide rail mechanism  22 , a first Z-direction guide rail mechanism  24 , a first slewing mechanism  23 , an equipotential mechanism  26  and a hook  25 . The first Y-direction guide rail mechanism  22  is connected to and mounted on the two first X-direction guide rail mechanisms  21  which are parallel to each other by means of bolts. The first slewing mechanism  23  is connected and fixed to the first Y-direction guide rail mechanism  22  by means of bolts. The first Z-direction guide rail mechanism  24  is connected and fixed to the first slewing mechanism  23  by means of bolts. The hook  25  is fixed to the first Z-direction guide rail mechanism  24  by means of welding. The equipotential mechanism  26  is connected and fixed to the side surface of the first Z-direction guide rail mechanism  24  by means of bolts. 
     As shown in  FIG.  5   , the equipotential mechanism  26  comprises a transverse rod  261 , an inclined rod  262  having a variable length, a pneumatic push rod  263  and a clamping jaw  264 , and the equipotential mechanism  26  can achieve the upward and downward adjustment by a certain distance so as to clamp the high-voltage bus  41 . 
     As shown in  FIG.  7   , the end-effector mechanism  3  is mainly composed of an integrated frame  31 , damping wheels  32 , a left-direction guide rail mechanism, a right-direction guide rail mechanism, a second slewing mechanism  37 , an electric wrench  312 , a sub-line connection plate grippers  38 , a bolt fixing plate  314  and a nut box  313 . 
     The left-direction guide rail mechanism comprises a second X-direction guide rail mechanism  33 , a second Y-direction guide rail mechanism  34  and a second Z-direction guide rail mechanism  35 . The right-direction guide rail mechanism comprises a third X-direction guide rail mechanism  39 , a third Y-direction guide rail mechanism  310 , and a third Z-direction guide rail mechanism  311 . 
     The second Y-direction guide rail mechanism  34 , the third Y-direction guide rail mechanism  310 , the nut box  313 , and the sub-line connection plate gripper  38  are mounted on the integrated frame  31  by means of bolts. The second Z-direction rail mechanism  35  is connected to and mounted on the mounting plate of the second Y-direction guide rail mechanism  34  by means of bolts. The third Z-direction guide rail mechanism  311  is connected to and mounted on the mounting plate of the third Y-direction guide rail mechanism  310  by means of bolts. The second X-direction rail mechanism  33  is connected to and mounted on the mounting plate of the second Z-direction guide rail mechanism  35  by means of bolts. The third X-direction guide rail mechanism  39  is connected to and mounted on the mounting plate of the third Z-direction guide rail mechanism  311  by means of bolts. The second slewing mechanism  37  is connected to and mounted on the mounting plate of the third X-direction guide rail mechanism  39  by means of bolts. The bolt fixing plate  314  is connected and fixed on the second slewing mechanism  37  by means of bolts. The electric wrench  312  is connected to and mounted on the mounting plate of the second X-direction guide rail mechanism  33  by means of bolts. 
     When there is more than one nuts of the high-voltage line T-connector  5 , a nut box  313  needs to be provided to bear excess nuts, so as to cooperate with the electric wrench  312  to perform assembly work. The electric wrench  312  can use a P1D-600 adjustable electric wrench to meet the requirements of the present embodiment. 
     The sub-line gripper  38  comprises two grippers driven by a geared motor, and the two grippers can be closed or separated under the drive of the reduction motor so as to clamp or loosen the sub-line connection plate  52 . Furthermore, the geared motor is fixed on the side wall of the integrated frame  31 , and a through hole for two grippers to pass through is provided on the side wall of the integrated frame  31 . 
     The first slewing mechanism  23  and the second slewing mechanism  37  both comprise a motor and a slewing reducer, and can achieve unlimited circumferential slewing and speed reduction. 
     As shown in  FIG.  2   , the operation manner of the present embodiment is as follows: 
     The high-voltage line T-connector  5  comprises a bus connection plate  51  connected to the high-voltage bus  41  and a sub-line connection plate  52  connected to the branch line  42 , as shown in  FIGS.  9  and  10   . When located on the ground, the bolts are placed on the sub-line connection plate  52 , and the bolts pass through the bolt fixing plate  314  on the end-effector mechanism  3 , and the sub-line connection plate  52  is fixed by the sub-line connection plate gripper  38 . 
     The lifting platform  1  lifts up the four-axis platform  2  and the end-effector mechanism  3  to be below the high-voltage bus  4 . The four-axis platform  2  aligns an equipotential mechanism  26  mounted at an end part thereof with the high-voltage bus  4 , and the equipotential mechanism  26  immediately establishes an equipotential relationship with the high-voltage bus  4 . The four-axis platform  2  hangs the end-effector mechanism  3  mounted at the end thereof on the high-voltage bus  4 , and then the end-effector mechanism  3  is separated from the hook  25  of the four-axis platform  2 . 
     The end-effector mechanism  3  is hung on the high-voltage bus  4  by means of the damping wheels  32 , aligns the sub-connection plate  52  with the bus connection plate  51  by means of the third X-direction guide rail mechanism  39 , the third Y-direction guide rail mechanism  310 , the third Z-direction guide rail mechanism  311  and the second rotating mechanism  37 , and tightens the bolt between the sub-line connection plate  52  and the bus connection plate  51  by means of the electric wrench  312 . After the bolts are tightened, the sub-line connection plate gripper  38  loosens the sub-line connection plate  52 , the four-axis platform  2  hooks the end-effector mechanism  3  again by means of the hook  25 , the equipotential mechanism  26  is separated from the high-voltage bus  4 , the lifting platform  1  brings the four-axis platform  2  and the end-effector mechanism  3  back to the ground. 
     The following steps are specifically comprised:
     1. An operator performs operation preparation of an apparatus for mounting a high-voltage line T-connector in a hot-line operation described in the present embodiment, checks meteorological conditions, checks pole numbers, arranges sites, and checks and tests tools;
   1.1 checking meteorological conditions, ambient environment, line apparatuses and security measures;   1.2 arranging sites: setting security guard rails, operation signs, and related warning signs on the work site;   1.3 checking and debugging the entire device to ensure that there is no error.   
   2. moving the lifting platform  1  to a position in the vicinity of the high-voltage line T-connector  5  to be operated.   3. mounting a high-voltage line T-connector  5 ;
   3.1 when located on the ground, the bolts are placed on the sub-line connection plate  52 , and the bolts pass through the bolt fixing plate  314  on the end-effector mechanism  3 , and the sub-line connection plate  52  is fixed by the sub-line connection plate gripper  38 .   3.2 then, by means of the upward movement of the first Z-direction guide rail mechanism  24  above the four-axis platform  2 , the damping wheels  32  of the end-effector mechanism  3  is lifted up to the vicinity of the high-voltage bus  4 ;   3.3 driving the first slewing mechanism  23  so that the integrated frame  31  of the end-effector mechanism  3  is parallel to the high-voltage bus  4 ;   3.4 then, by means of the movement of the first X-direction guide rail mechanisms  21   and the first Y-direction guide rail mechanism  22  on a plane, the damping wheels  32  of the end-effector mechanism  3  is moved to a position right above the high-voltage bus  4 ;   3.5 the first Z-direction guide rail mechanism  24  moves downwards, and the end-effector mechanism  3  is hung on a high-voltage bus  4  by means of damping wheels  32 ;   3.6 moving the third X-direction guide rail mechanism  39 , the third Z-direction guide rail mechanism  311 , and the second slewing mechanism  37  to align the bolt on the bolt fixing plate  314  with the connection plate bolt hole on the high-voltage bus  4 ;   3.7 moving the third Y-direction guide rail mechanism  310  to clamp the bolt fixing plate  314  into a connection plate bolt hole on the high-voltage bus  4 ;   3.8 moving the second X-direction guide rail mechanism  33  and the second Z-direction guide rail mechanism  35  to align the electric wrench  312  with the bolt;   3.9 moving the second Y-direction guide rail mechanism  34  to fasten the electric wrench  312  with a nut into the target bolt;   3.10 then driving the electric wrench  312  to mount the nut of the target bolt;   3.11 then moving the second Y-direction guide rail mechanism  34  to withdraw the electric wrench  312 ; moving the second X-direction guide rail mechanism  33  and the second Z-direction guide rail mechanism  35  again to align the electric wrench  312  with the nut in the nut box  313 ;   3.12 moving the second Y-direction guide rail mechanism  34  to make the electric lever  312  take the nut in the nut box  313 ;   3.13 then moving the second Y-direction guide rail mechanism  34  to withdraw the electric wrench  312 ;   3.14 then sequentially completing the described steps  3 .8-3.13, mounting the nuts of all the bolts on the high-voltage line T-connector  5 ;   3.15 loosening the gripper  38  of the sub-line connection plate to disconnect the connection with the sub-line connection plate  52 ; and   3.15 finally, the four-axis platform  2  performs reverse operation  3 .2-3.5 to hook the end-effector mechanism  3  by means of the hook  25  and then bring same back to the ground.   
   

     In the present embodiment, a control cabinet, a communication module, and a power supply battery can also be provided on the lifting platform  1 , and a camera capable of collecting an operation scenario image is mounted on the end-effector mechanism  3 , so as to remotely control the lifting platform  1 , the four-axis mechanism  2 , and the end-effector mechanism  3  to complete operation. The control cabinet, the communication module and the camera are provided, so that an operator can operate the control cabinet on the ground to complete an mounting task of high-voltage line T-connectors  5 ; compared with the insulating glove operation method, an operator can be away from a high-altitude and dangerous work environment, thereby preventing accidents such as electric shock and high-altitude falls from occurring; the intelligence, security and timeliness of a hot-line operation can be improved, thereby reducing the labor intensity of the operator, reducing the harm to a human body caused by a high-voltage strong magnetic field, and ensuring the continuity and reliability of power supply; and the automation level of the hot-line operation in the electric power industry can be effectively improved, thereby reducing the risk of the hot-line operation. 
     In the description of the present invention, it should be noted that, orientation or position relationships indicated by terms such as “up”, “down”, “front”, “back”, “left” and “right” are orientation or position relationships based on the accompanying drawings, which are only used to facilitate the description of the present invention and simplify the description, rather than indicating or implying that limitations or elements of the present invention must have specific orientations, and must be constructed and operated in specific orientations, and therefore cannot be understood as limitations to the present invention.