WO2024255775A1 - Procédé de fonctionnement et appareil de connexion appliqués à une sous-station haute tension - Google Patents

Procédé de fonctionnement et appareil de connexion appliqués à une sous-station haute tension Download PDF

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Publication number
WO2024255775A1
WO2024255775A1 PCT/CN2024/098796 CN2024098796W WO2024255775A1 WO 2024255775 A1 WO2024255775 A1 WO 2024255775A1 CN 2024098796 W CN2024098796 W CN 2024098796W WO 2024255775 A1 WO2024255775 A1 WO 2024255775A1
Authority
WO
WIPO (PCT)
Prior art keywords
component
plate
rod
placement
arms
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2024/098796
Other languages
English (en)
Chinese (zh)
Inventor
赵维谚
陈康
马大鹏
庞峰
郑瑞东
孙逊
沈志
张智华
杨润东
焦鹏达
杨腾
王雪涛
李长武
郑欣
陈义忠
方明
王洪武
杨亮
弓旭强
李正文
陈宣林
曹安全
王献力
张海东
杨洋
姜立超
张田庚
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yunnan Electric Power Testing And Research Institute Group Co Ltd
Yunnan Power Grid Co Ltd Transmission Branch
Original Assignee
Yunnan Electric Power Testing And Research Institute Group Co Ltd
Yunnan Power Grid Co Ltd Transmission Branch
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yunnan Electric Power Testing And Research Institute Group Co Ltd, Yunnan Power Grid Co Ltd Transmission Branch filed Critical Yunnan Electric Power Testing And Research Institute Group Co Ltd
Publication of WO2024255775A1 publication Critical patent/WO2024255775A1/fr
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors

Definitions

  • the invention relates to the technical field of transformer substations, and in particular to an operating method and a connecting device applied to high-voltage transformer substations.
  • a substation is a place in the power system where voltage and current are transformed, electric energy is received and distributed.
  • a transformer is generally used to convert high-voltage electric energy transmitted to the substation into low-voltage electric energy for household, industrial and commercial use.
  • the substation is also responsible for distributing, allocating and controlling electric energy to ensure the reliability and stability of the power grid.
  • the substation in the power plant is a step-up substation, and its function is to step up the electric energy generated by the generator and feed it back to the high-voltage power grid.
  • High-voltage lines are important channels for power transmission, and protecting the safety of power production is of great importance. High-voltage lines are exposed outdoors, and after aging due to wind and rain, dust and looseness will appear at the connection between the T-plate and the drainage plate on the line drainage line, and heat failures will occur, increasing energy consumption and being dangerous.
  • the existing maintenance of the drainage plate is that workers wear equipotential clothing and climb insulating ladders to reach the vicinity of the drainage plate, manually polish the connection between the drainage plate and the T-plate to remove dust and stains.
  • the operation is cumbersome and workers are at risk. Therefore, we designed an operation method and connection device for high-voltage substations.
  • an object of the present invention is to provide an operating method applied to a high voltage substation.
  • an operation method applied to a high-voltage substation including an operation method; first entering the equipotential; connecting the robotic arm to the working area through a connecting device; controlling the robotic arm to reach a preset position through a remote terminal algorithm; determining the position of the robotic arm through a distance sensor; and performing cleaning work after reaching the position.
  • a complete work process is divided into multiple work paths and different positions according to the need for the two arms to grasp different tools. Posture operation.
  • a specific path planning is performed for any one of the two arms to determine the position and path of the arm without hindering the operation of other arms under the premise of ensuring safety.
  • connection device of the present invention avoids direct manual contact with live objects and avoids the occurrence of danger; the double-arm collaborative operation method imitates two arms of a person and is very convenient to use; the operation process is simplified and processed, which reduces the labor intensity of workers, improves operation efficiency, and can better protect workers.
  • a connecting device which includes a connecting component, a clamping component arranged on the connecting component, and a robot arm arranged on the clamping component.
  • the connecting component includes an external component and a connecting component
  • the external component includes a rectangular plate, a side plate arranged on the rectangular plate, a side groove arranged on the side plate, and a mounting hole arranged on the rectangular plate.
  • connection component includes a hole piece opened on a rectangular plate, a base arranged on the hole piece, and the base is connected to the mechanical arm.
  • the hole member includes a square hole and a plurality of circular holes arranged around the square hole
  • the base includes a circular plate, a connecting plate arranged on the circular plate, a square rod arranged at the bottom of the circular plate, and a plurality of circular rods arranged around the square rod
  • the circular hole is adapted to the circular rod, and the circular hole and the circular rod are distributed in a circular array.
  • the clamping component includes a ring frame and an inner ring arranged on the rectangular plate, a rotating assembly arranged on the ring frame, an inner plate arranged on the ring frame, an arc plate and a groove arranged on the inner plate, a plane arranged on the inner ring, a connecting rod arranged on the plane, a protrusion arranged on the connecting rod, and a compression spring arranged between the protrusion and the plane.
  • the rotating assembly includes a rod sleeve arranged on the ring frame, a rotating rod arranged on the rod sleeve, and a handle arranged on the rotating rod.
  • the installation hole is provided with a high-voltage charged equipotential device, which includes a placement mechanism, including a placement component, a placement plate arranged on the top of the placement component; a force-applying mechanism, including a force-applying component arranged in the placement component, and a movable component arranged on the force-applying component; a lifting mechanism, including a starting component arranged in the placement component and an electric extension component.
  • the setting of the side plates and the side grooves facilitates better fixing of the device in the working area, thereby better fixing the robotic arm
  • the setting of the hole pieces facilitates better limiting of the base
  • the setting of the base facilitates better limiting of the robotic arm
  • the ring frame is located outside the inner ring, which facilitates better driving of the protrusion into the groove, thereby better fixing the robotic arm
  • the cleaning brush at the end of the robotic arm facilitates better cleaning work.
  • FIG. 1 is an overall schematic diagram of a connecting device.
  • FIG. 2 is a side view of the connecting device.
  • FIG. 3 is a schematic diagram of the structure of the connecting components of the connecting device.
  • FIG. 4 is a schematic structural diagram of the connecting component of the connecting device from another perspective.
  • FIG. 5 is a schematic diagram of the structure of the clamping component of the connecting device.
  • FIG. 6 is a schematic diagram of the base structure of the connecting device.
  • FIG. 7 is a side view of the third embodiment.
  • FIG8 is a side sectional view of the third embodiment.
  • FIG. 9 is a schematic cross-sectional view of the third embodiment.
  • FIG. 10 is a schematic cross-sectional view of the third embodiment from another viewing angle.
  • FIG. 11 is a schematic diagram of the starting components of the third embodiment.
  • FIG. 12 is a schematic diagram of a drag component of the third embodiment.
  • FIG. 13 is a schematic diagram of a lifting assembly of the third embodiment.
  • FIG. 14 is a schematic diagram of the movable parts of the third embodiment.
  • FIG. 15 is a schematic diagram of an extrusion assembly of the third embodiment.
  • FIG. 16 is a schematic diagram of a trigger component of the third embodiment.
  • one embodiment or “embodiment” as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention.
  • the term “in one embodiment” that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.
  • Embodiment 1 referring to Figures 1 to 4, is the first embodiment of the present invention, which provides an operation method applied to a high-voltage substation, including an operation method; first entering the equipotential; connecting the robot arm to the working area through the connecting device M; controlling the robot arm to reach a preset position through the remote terminal algorithm; determining the position of the robot arm through the distance sensor; and performing cleaning work after reaching the position.
  • a complete workflow is divided into multiple working paths and different posture operations according to the need for the two arms to grasp different tools.
  • a specific path planning is performed for any one of the two arms to ensure safety without interfering with the operation of other arms, and the posture and path of the arm are determined.
  • the use of dual robotic arms replaces manual work to avoid direct contact with the wires and avoid danger.
  • the dual-arm operation is simple to operate, greatly reduces the number of workers required, and significantly improves work efficiency.
  • a cleaning brush is provided at the end of the robotic arm.
  • Embodiment 2 referring to FIGS. 1 to 6, is the second embodiment of the present invention.
  • the difference from the previous embodiment is that the connecting device M includes a connecting component 501, a clamping component 502 disposed on the connecting component 501, and a mechanical arm disposed on the clamping component 502.
  • the connecting component 501 includes an external component 501a and a connecting component 501b.
  • the external component 501a includes a rectangular plate 501a-1, a side plate 501a-2 disposed on the rectangular plate 501a-1, a side groove 501a-3 disposed on the side plate 501a-2, and a mounting hole 501a-4 disposed on the rectangular plate 501a-1.
  • the connecting component 501b includes a hole member 501b-1 opened on the rectangular plate 501a-1, a base 501b-2 disposed on the hole member 501b-1, and the base 501b-2 is connected to the mechanical arm.
  • the cross-section of the side groove 501a-3 is rectangular, and the side groove 501a-3 is located on one side of the side plate 501a-2.
  • the cross-section of the side plate 501a-2 is rectangular.
  • the setting of the side plate 501a-2 and the side groove 501a-3 facilitates better fixing of the device in the working area, thereby better fixing the robotic arm.
  • the setting of the hole piece 501b-1 facilitates better limiting of the base 501b-2, and the setting of the base 501b-2 facilitates better limiting of the robotic arm.
  • the hole member 501b-1 includes a square hole 501b-1a and a plurality of round holes 501b-1b arranged around the square hole 501b-1a;
  • the base 501b-2 includes a circular plate 501b-2a, a connecting plate 501b-2b arranged on the circular plate 501b-2a, a square rod 501b-2c arranged at the bottom of the circular plate 501b-2a, the square rod 501b-2c is located in the square hole 501b-1a, the round rod 501b-2d is located in the circular hole 501b-1b, and a plurality of round rods 501b-2d are arranged around the square rod 501b-2c; the round hole 501b-1b is matched with the round rod 501b-2d, and the round hole 501b-1b and the round rod 501b-2d are distributed in a circular array.
  • the clamping member 502 includes a ring frame 502a and an inner ring 502b disposed on the rectangular plate 501a-1, the inner ring 502b is fixedly connected to the rectangular plate 501a-1, the ring frame 502a is rotatably connected to the rectangular plate 501a-1, a rotating assembly 502c disposed on the ring frame 502a, and an internal plate 502d disposed on the ring frame 502a.
  • the internal plate 502d is disposed to better fix the base 501b-2.
  • the arc plate 502e and the groove 502f on the plate 502d are arranged to better limit the base 501b-2, so as to better fix the robot arm, the plane 502g arranged on the inner ring 502b, the connecting rod 502h arranged on the plane 502g, the protrusion 502i arranged on the connecting rod 502h, and the compression spring 502j arranged between the protrusion 502i and the plane 502g.
  • the rotating assembly 502c includes a rod sleeve 502c-1 arranged on the ring frame 502a, a rotating rod 502c-2 arranged on the rod sleeve 502c-1, and a handle 502c-3 arranged on the rotating rod 502c-2. The arrangement of the handle 502c-3 facilitates better movement of the rotating rod 502c-2.
  • the protrusion 502i is matched with the groove 502f, the protrusion 502i is made of stainless steel, the cross section of the rotating rod 502c-2 is circular, the setting of the rotating rod 502c-2 is convenient for better driving the ring frame 502a to rotate, and the connecting rod 502h is slidably connected to the ring frame 502a.
  • Embodiment 3 is a third embodiment of the present invention, which is different from the previous embodiment in that:
  • a high-voltage charged equipotential device is provided in the mounting hole, and the high-voltage charged equipotential device includes a placing mechanism 100, which includes a placing component 101 and a placing plate 102 arranged on the top of the placing component 101; a force-applying mechanism 200, including a force-applying component 201 arranged in the placing component 101, and a movable component 202 arranged on the force-applying component 201; a lifting mechanism 300, including a starting component 301 and an electric telescopic rod 302 arranged in the placing component 101; a clamping mechanism 400, including a dragging component 401 arranged on the electric telescopic rod 302, and a potential clamp 402 arranged on the dragging component 401.
  • the setting of the placement component 101 can effectively place the lifting mechanism 300 and the force-applying mechanism 200, so as to better limit them.
  • the lifting mechanism 300 is fixedly connected to the placement component 101
  • the force-applying mechanism 200 is fixedly connected to the placement component 101.
  • the setting of the movable component 202 is convenient for better driving the movement of the components connected thereto, and is convenient for better driving the clamping mechanism 400 to operate, so as to achieve an effective fixing effect.
  • the setting of the electric telescopic rod 302 is convenient for better driving the placement plate 102 and the dragging component 401 to rise and fall, so as to achieve better connection work.
  • the potential clamp 402 is located at the top center of the placement plate 102.
  • the placement box 101a, the placement tube 101b and the placement plate 102 in the placement mechanism 100 are all made of rubber.
  • the placement component 101 includes a placement box 101a, a placement tube 101b arranged on the placement box 101a, the placement box 101a and the placement tube 101b are fixedly connected, the cross-section of the placement tube 101b is circular, and the two ends of the placement tube 101b respectively pass through the placement box 101a and the placement tube 101b, the placement plate 102 is connected to the placement tube 101b, and the placement tube 101b is fixedly connected to the placement box 101a and the placement plate 102.
  • the force-applying component 201 includes a motor 201a disposed inside the placement box 101a, the motor 201a and the electric telescopic rod 302 are electrically connected to an external power source, a rotating cover 201b disposed on the motor 201a, the cross section of the rotating cover 201b is circular, the wall thickness of the rotating cover 201b is not less than one millimeter, the top of the inner wall of the rotating cover 201b is fixedly connected to the force-applying end of the motor 201a, and the movable component 202 includes a shaft plate 202a disposed on the rotating cover 201b, the shaft plate 202a is fixedly connected to the rotating cover 201b, and is disposed on the shaft
  • the shaft member 202b on the plate 202a is adapted to the shaft plate 202a, and a ring body 202c is arranged on the shaft member 202b.
  • the shaft member 202b includes a sleeve 202b-1, a positioning groove 202b-2 arranged inside the sleeve 202b-1, and an anti-slip groove 202b-3 arranged on the positioning groove 202b-2.
  • the cross-section of the positioning groove 202b-2 is circular, and the cross-section of the anti-slip groove 202b-3 is rectangular.
  • the inner walls of the positioning groove 202b-2 and the anti-slip groove 202b-3 are both in contact with the outer wall of the shaft plate 202a.
  • the shaft plate 202a and the shaft member 202b are connected by sliding up and down and fit each other.
  • the shaft plate 202a can effectively drive the shaft member 202b to rotate.
  • the setting of the rotating cover 201b facilitates better transmission of the force of the motor 201a to the shaft plate 202a and the lifting mechanism 300, thereby completing the functions of lifting and dragging.
  • a torsion spring is provided inside the potential clamp 402.
  • the device When in use, the device is fixed at the position to be tested and is adjacent to the potential clamp 402 through an external wiring, and the external wiring is connected to an external test device.
  • the force-applying component 201 in the force-applying mechanism 200 rotates while driving the movable component 202 to rotate.
  • the force-applying component 201 rotates clockwise, the force-applying component 201 drives the starting component 301 in the lifting mechanism 300 to start, and the starting component 301 starts to drive the electric telescopic rod 302 to move.
  • the force-applying component 201 drives the movable component 202 to rotate.
  • the clockwise rotation of the movable component 202 cannot drive the dragging component 401 to move, so that idling occurs.
  • the force-applying component 201 rotates counterclockwise, the extrusion component 301a and the trigger component 301b in the starting component 301 cannot reach the starting condition, thereby idling.
  • the movable component 202 rotates counterclockwise, and the movable component 202 drives the dragging component 401 to move, and the dragging component 401 drives the potential clamp 402 to open, thereby completing the opening work.
  • the movable component 202 continues to rotate, and after the potential clamp 402 opens to the limit, the force applied by the dragging component 401 to the potential clamp 402 ends, and the potential clamp 402 resets, thereby completing the clamping work;
  • the electric telescopic rod 302 first drives the potential clamp 402 to be located at the bottom of the wire, and makes the potential clamp 402 lift the wire. When the potential clamp 402 is opened, the wire automatically enters the potential clamp 402 to close the potential clamp 402.
  • the force applied by the dragging component 401 to the potential clamp 402 first causes the potential clamp 402 to open. After the opening is completed, the force is continued to be applied, and the protection device of the internal components of the dragging component 401 takes effect to prevent excessive force from damaging the potential clamp 402. At the same time, the force is canceled, and the internal torsion spring of the potential clamp 402 drives the potential clamp 402 to reset.
  • the lifting mechanism 300 and the starting component 301 include a pressing component 301a disposed on the rotating cover 201b and a trigger component 301b disposed on the placing box 101a.
  • the setting of the trigger component 301b facilitates better control of the raising and lowering of the electric telescopic rod 302, and the squeezing component 301a and the trigger component 301b in the starting component 301 are used in conjunction with each other.
  • the extrusion assembly 301a includes an extrusion box 301a-1 arranged on the rotating cover 201b, a first spring 301a-2 arranged on the extrusion box 301a-1, and a movable part 301a-3 arranged on the first spring 301a-2.
  • the trigger assembly 301b includes a trigger slot 301b-1 and a positioning block 301b-2 arranged on the placement box 101a, a lifting switch 301b-3 arranged on the trigger slot 301b-1, a clockwork spring 301b-4 arranged on the positioning block 301b-2, and a trigger part 301b-5 arranged on the clockwork spring 301b-4.
  • the clockwork spring 301b-4 is fixedly connected to the trigger part 301b-5
  • the clockwork spring 301b-4 is fixedly connected to the positioning block 301b-2.
  • the cross section of the squeeze box 301a-1 is rectangular, the inner wall of the squeeze box 301a-1 is fixedly connected to the first spring 301a-2, the first spring 301a-2 is fixedly connected to the movable member 301a-3, the cross section of the trigger slot 301b-1 is arc-shaped, the cross section of the positioning block 301b-2 is circular, and the positioning block 301b-2 is fixedly connected to the placement box 101a
  • the lifting switch 301b-3 is electrically connected to the electric telescopic rod 302, and the lifting switch 301b-3 controls the lifting and lowering of the electric telescopic rod 302. When the lifting switch 301b-3 is squeezed for the first time, the electric telescopic rod 302 is extended to the longest state, and when it is squeezed for the second time, the electric telescopic rod 302 is contracted to the shortest state.
  • the movable part 301a-3 includes a plate body 301a-3a, the cross-section of the plate body 301a-3a is rectangular, a groove body 301a-3b is arranged on the plate body 301a-3a, and an arc groove 301a-3c is arranged on the plate body 301a-3a.
  • the trigger part 301b-5 includes a trigger box 301b-5a arranged on the trigger groove 301b-1, the cross-section of the trigger box 301b-5a is rectangular, a trigger spring 301b-5b is arranged on the trigger box 301b-5a, and a trigger plate 301b-5c is arranged on the trigger spring 301b-5b.
  • the two ends of the trigger spring 301b-5b are respectively fixedly connected to the trigger plate 301b-5c and the trigger box 301b-5a, and a trigger surface 301b-5d is arranged on the trigger plate 301b-5c.
  • the arc groove 301a-3c is adapted to the trigger surface 301b-5d.
  • the trigger box 301b-5a is slidably connected to the trigger groove 301b-1.
  • the cross-section of the trigger groove 301b-1 is arc-shaped.
  • the setting of the trigger spring 301b-5b is convenient for better driving the trigger plate 301b-5c to reset.
  • the cross-section of the trigger plate 301b-5c is "T"-shaped.
  • the extrusion assembly 301a When in use, first, the extrusion assembly 301a is connected to the force-applying component 201, and the force-applying component 201 drives the extrusion assembly 301a to operate;
  • the trigger component 301b-5 contacts the lifting switch 301b-3, thereby completing the function of starting the electric telescopic rod 302.
  • the force-applying component 201 will continue to operate, and the force-applying component 201 forces the arc groove 301a-3c in the extrusion assembly 301a to contact the trigger surface 301b-5d.
  • the arc groove 301a-3c contacts the trigger surface 301b-5d first, the arc groove 301a-3c contacts the trigger surface 301b-5d. 01a-3c will drive the trigger surface 301b-5d to move.
  • the arc groove 301a-3c will transmit the repulsive force to the first spring 301a-2, thereby forcing the first spring 301a-2 to contract, so that the arc groove 301a-3c and the trigger surface 301b-5d are intertwined, thereby completing the start of the electric telescopic rod 302.
  • the clockwork spring 301b-4 drives the trigger member 301b-5 to reset;
  • the characteristics of the plate body 301a-3a will directly force the first spring 301a-2 to contract under the pressure of the trigger member 301b-5, thereby causing idling to avoid damage to the trigger member 301b-5 and the plate body 301a-3a.
  • the trigger component 301b and the extrusion component 301a in the starting component 301 cooperate with each other to control the lifting and lowering of the electric telescopic rod 302, and further control the height of the potential clamp 402, so as to better perform the work.
  • the plate body 301a-3a with an arc-shaped end can effectively drive the extrusion component 301a to idle.
  • the clamping mechanism 400 and the dragging component 401 include a lifting component arranged on the electric telescopic rod 302. 401a, a towing and rotating assembly 401b disposed on the ring body 202c.
  • the arrangement of the electric telescopic rod 302 facilitates better driving the towing component to rise and fall.
  • the telescopic end of the electric telescopic rod 302 is fixedly connected to the towing component, which can effectively drive the towing component to move without affecting the operation of the towing component 401b.
  • the lifting assembly 401a includes a lifting plate 401a-1 disposed on the electric telescopic rod 302, a dragging groove 401a-2 disposed on the lifting plate 401a-1, a dragging base plate 401a-3 disposed on the lifting plate 401a-1 and located on one side of the dragging groove 401a-2, a second spring 401a-4 disposed on the dragging base plate 401a-3, a movable drag plate 401a-5 disposed on the second spring 401a-4, and a movable drag plate 401a-5 disposed on the movable drag plate 401a-5.
  • the setting of the lifting plate 401a-1 facilitates better fixing of the components thereon and can effectively drive the components to be lifted and lowered.
  • the dragging groove 401a-2 is a through groove, and there are two dragging grooves 401a-2.
  • the cross section of the dragging base plate 401a-3 is rectangular, and the dragging base plate 401a-3 is adapted to the movable drag plate 401a-5.
  • the dragging base plate 401a-3 and the movable drag plate 401a-5 are both fixedly connected to the second spring 401a-4. Then, the movable drag plate 401a-5 is slidingly connected to the drag groove 401a-2, and the movable drag plate 401a-5 is fixedly connected to the arc bar 401a-6.
  • the cross-section of the arc bar 401a-6 is arc-shaped.
  • the arc bar 401a-6 is located on the side of the second spring 401a-4 away from the drag groove 401a-2.
  • the cross-section of the lifting plate 401a-1 is annular.
  • the setting of the movable block 401a-8 facilitates better connection between the drag lever 401a-9 and the movable support plate.
  • the towing and rotating assembly 401b includes an annular groove 401b-1 arranged on the ring body 202c, a ring block 401b-2 arranged on the annular groove 401b-1, a towing and rotating member 401b-3 arranged on the ring block 401b-2, and a blocking rod 401b-4 arranged on the annular groove 401b-1.
  • the towing and rotating member 401b-3 includes a towing and rotating plate 401b-3a, a curved groove 401b-3b arranged on the towing and rotating plate 401b-3a, and a disengagement groove 401b-3c arranged on one side of the towing and rotating plate 401b-3a.
  • the potential clamp 402 includes a clamp body 402a arranged on the placement plate 102, an open rope 402b arranged on both sides of the clamp body 402a, and a rope block 402c arranged on the open rope 402b.
  • the rope block 402c is connected to the placement box 101a.
  • the material of the towing and turning plate 401b-3a is spring steel, so that it can be deformed when encountering excessive pressure while applying force to avoid damage.
  • the height of the annular groove 401b-1 is not less than 5 mm, the annular groove 401b-1 is in close contact with the blocking rod 401b-4, the cross section of the ring block 401b-2 is circular, and the ring block 401b-2 is connected to the annular groove 401b-1 through the spring 301b-4.
  • the ring block 401b-2 can rotate on the ring groove 401b-1. If there is no force after rotation, it can be reset under the limiting action of the clockwork spring 301b-4.
  • the setting of the blocking rod 401b-4 is convenient for better limiting the towing and rotating plate 401b-3a, so as to better support the towing and rotating plate 401b-3a.
  • the setting of the curved groove 401b-3b can play a protective role when the towing and rotating plate 401b-3a is subjected to excessive pressure.
  • the towing and rotating plate 401b-3a is most likely to be deformed at the position of the curved groove 401b-3b after being subjected to force. If the towing and rotating plate 401b-3a is subjected to excessive force, it will be deformed to avoid injury.
  • the dragging and rotating assembly 401b drives the shaft 202b to rotate, and the rotation of the shaft 202b drives the dragging and rotating member 401b-3 to rotate;
  • the dragging member 401b-3 When the dragging assembly 401b rotates clockwise, the dragging member 401b-3 is offset in angle under the limiting action of the arc bar 401a-6 until it fits into the inner wall of the arc bar 401a-6.
  • the torsion spring at the bottom of the ring block 401b-2 drives the dragging member 401b-3 to reset, and the cycle repeats, resulting in idling, thereby causing the dragging component 401 to idling.
  • the movable block 401a-8 When the movable block 401a-8 reaches the end of the dragging groove 401a-2, the movable block 401a-8 and the arc bar 401a-6 are limited, and the towing plate 401b-3a bends under the limiting action of the arc bar 401a-6.
  • the bending groove 401b-3b plays a bending protection role.
  • the bent towing plate 401b-3a can slide through the inside of the arc bar 401a-6.
  • the second spring 401a-4 is reset.
  • the drag lever 401a-9 When the drag lever 401a-9 is separated from the opening rope 402b, the clamp body 402a is reset, thereby clamping the rope body.
  • the setting of the rope block 402c can effectively limit the opening rope 402b.
  • the electric telescopic rod 302 drives the potential clamp 402 to rise to the limit, the force exerted by the opening rope 402b on the clamp body 402a is zero.
  • the opening rope 402b is relaxed. Because the drag lever 401a-9 is relatively long, no matter what state the opening rope 402b is in, the clamp body 402a can be driven to open after the drag lever 401a-9 is moved.
  • the opening degree of the clamp body 402a still has the effect of placing the wire body, reducing but not affecting the clamping effect.
  • the opening rope 402b is made of rubber.
  • any “device plus function” clause is intended to cover the structure described herein that performs the function, and is not only structurally equivalent but also equivalent structure.
  • substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the present invention is not limited to a specific embodiment, but extends to a variety of modifications that still fall within the scope of the appended claims.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne le domaine technique des sous-stations, en particulier un procédé de fonctionnement et un appareil de connexion appliqués à une sous-station haute tension, comprenant un procédé de fonctionnement : d'abord l'entrée en phase équipotentielle ; au moyen d'un appareil de connexion, la connexion de bras mécaniques dans une zone de travail ; au moyen d'un algorithme de terminal distant, la commande des bras mécaniques pour atteindre des positions prédéfinies ; au moyen d'un capteur de distance, la détermination des positions des bras mécaniques ; lorsque les positions sont atteintes, la réalisation d'un travail de nettoyage. Un flux de travail complet est divisé en de multiples trajets de travail et différents fonctionnements de pose selon les différents outils qui doivent être saisis par deux bras, une planification de trajet spécifique est effectuée pour n'importe quel bras des deux bras, de telle sorte que le fonctionnement de l'autre bras n'est pas entravé tout en garantissant la sécurité. La présente invention permet d'éviter le contact manuel direct avec un objet chargé et d'éviter un danger. Le procédé de fonctionnement collaboratif à deux bras simule deux bras d'une personne et est facile à apprendre. Le processus de fonctionnement est simple, l'intensité d'action des travailleurs est réduite, l'efficacité de fonctionnement est améliorée et les travailleurs peuvent être mieux protégés.
PCT/CN2024/098796 2023-06-14 2024-06-12 Procédé de fonctionnement et appareil de connexion appliqués à une sous-station haute tension Pending WO2024255775A1 (fr)

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CN202310705894.3 2023-06-14

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CN116896019A (zh) * 2023-06-14 2023-10-17 云南电网有限责任公司输电分公司 一种应用于高压变电站的作业方法及连接装置

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CN116896019A (zh) * 2023-06-14 2023-10-17 云南电网有限责任公司输电分公司 一种应用于高压变电站的作业方法及连接装置

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