WO2024255775A1 - 一种应用于高压变电站的作业方法及连接装置 - Google Patents

一种应用于高压变电站的作业方法及连接装置 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
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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.)
Ceased
Application number
PCT/CN2024/098796
Other languages
English (en)
French (fr)
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/zh
Anticipated expiration legal-status Critical
Ceased 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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Abstract

本发明涉及变电站技术领域，特别是一种应用于高压变电站的作业方法及连接装置，包括作业方法；首先进入等电位；通过连接装置将机械臂连接在工作区域；通过远程终端算法控制机械臂达到预设位置；通过距离传感器确定机械臂位置；达到位置后进行清扫工作，将一个完整的工作流程，按照双臂需要抓取不同的工具分为多段工作路径和不同的位姿操作，对于双臂中其中任一一只臂做具体路径规划，保障安全的前提下不妨碍其他臂操作，本发明避免人工直接接触带电体，避免危险的发生；双臂协同作业方法模仿人的两只手臂，很方便上手应用；作业流程简单处理化，降低工人的劳动强度，提高作业效率，可以更好的保护工人。

Description

一种应用于高压变电站的作业方法及连接装置 技术领域
本发明涉及变电站技术领域，特别是一种应用于高压变电站的作业方法及连接装置。
背景技术
变电站是指电力系统中对电压和电流进行变换，接受电能及分配电能的场所，在变电站中，一般会采用变压器将输送到变电站的高电压电能转换为低电压电能，以供给家庭、工业和商业用途，同时，变电站也负责对电能进行分布、分配和控制，以确保电网的可靠性和稳定性，在发电厂内的变电站是升压变电站，其作用是将发电机发出的电能升压反馈送到高压电网中，高压线路是电力传输的重要通道，保护电力生产安全事关重大，而高压线路裸露在室外，经过风吹雨淋老化，线路引流线上T型板与引流板连接处会出现积灰，松弛现象，出现发热故障，增大耗能，并且具有危险性。
现有的对引流板的检修是人工身穿等电位服通过攀爬绝缘梯到达引流板附近，人工打磨引流板与T型板的连接处，将灰尘与污渍去掉，操作繁琐，工人工作时具备一定危险，从而我们设计一种应用于高压变电站的作业方法及连接装置。
发明内容
本部分的目的在于概述本发明的实施例的一些方面以及简要介绍一些较佳实施例。在本部分以及本申请的说明书摘要和发明名称中可能会做些简化或省略以避免使本部分、说明书摘要和发明名称的目的模糊，而这种简化或省略不能用于限制本发明的范围。
鉴于上述或现有技术中存在污渍清扫的问题，提出了本发明。
因此，本发明的目的是提供一种应用于高压变电站的作业方法。
为解决上述技术问题，本发明提供如下技术方案：一种应用于高压变电站的作业方法，包括作业方法；首先进入等电位；通过连接装置将机械臂连接在工作区域；通过远程终端算法控制机械臂达到预设位置；通过距离传感器确定机械臂位置；达到位置后进行清扫工作。
作为本发明应用于高压变电站的作业方法的一种优选方案，其中：将一个完整的工作流程，按照双臂需要抓取不同的工具分为多段工作路径和不同的位 姿操作。
作为本发明应用于高压变电站的作业方法的一种优选方案，其中：对于双臂中其中任一一只臂做具体路径规划，保障安全的前提下不妨碍其他臂操作，确定臂的位姿与路径。
本发明的于连接装置的有益效果：本发明避免人工直接接触带电体，避免危险的发生；双臂协同作业方法模仿人的两只手臂，很方便上手应用；作业流程简单处理化，降低工人的劳动强度，提高作业效率，可以更好的保护工人。
为解决上述机械臂的连接问题，本发明提供如下技术方案：连接装置，其包括连接部件，设置于所述连接部件上的卡接部件，设置于所述卡接部件上的机械臂。
作为本发明连接装置的一种优选方案，其中：所述连接部件包括外设组件与连接组件，所述外设组件包括矩形板，设置于所述矩形板上的侧板，设置于所述侧板上的侧槽，设置于所述矩形板上安装孔。
作为本发明连接装置的一种优选方案，其中：所述连接组件包括开设在矩形板上的孔件，设置于所述孔件上的底座，所述底座上与机械臂相连接。
作为本发明连接装置的一种优选方案，其中：所述孔件包括方孔，设置于所述方孔周侧的多个圆孔；所述底座包括圆板，设置于所述圆板上的连接板，设置于所述圆板底部的方杆，设置于所述方杆周侧的多个圆杆；所述圆孔与圆杆相适配，所述圆孔与圆杆均呈环形阵列分布。
作为本发明连接装置的一种优选方案，其中：所述卡接部件包括设置于所述矩形板上的环架与内环，设置于所述环架上的转动组件，设置于所述环架上的内置板，设置于所述内置板上的弧板与凹槽，设置于所述内环上的平面，设置于所述平面上的接杆，设置于所述接杆上的凸块，设置于所述凸块与平面之间的压缩弹簧。
作为本发明连接装置的一种优选方案，其中：所述转动组件包括设置于所述环架上的杆套，设置于所述杆套上的转杆，设置于所述转杆上的握把。
作为本发明连接装置的一种优选方案，其中：所述安装孔内设有高压带电等电位装置，其包括放置机构，包括放置部件，设置于所述放置部件顶部的放置板；施力机构，包括设置于所述放置部件内的施力部件，设置于所述施力部件上的活动部件；升降机构，包括设置于所述放置部件内的启动部件与电动伸 缩杆；夹持机构，包括设置于所述电动伸缩杆上的拖拽部件，设置于所述拖拽部件上的电位夹。
本发明的连接装置的有益效果：侧板与侧槽的设置便于更好的将该装置固定在工作区，从而更好的固定机械臂，孔件的设置便于更好的对底座进行限位，底座的设置便于更好的对机械臂进行限位，环架位于内环外部，便于更好的带动凸块进入凹槽中，从而更好的对机械臂进行固定，机械臂末端的清洗刷便于更好的进行清洗工作。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其它的附图。
图1为连接装置的整体示意图。
图2为连接装置的侧视图。
图3为连接装置的连接部件结构示意图。
图4为连接装置的连接部件另一视角结构示意图。
图5为连接装置的卡接部件结构示意图。
图6为连接装置的底座结构示意图。
图7为实施例三的侧视图。
图8为实施例三的侧面剖视图。
图9为实施例三的横截面示意图。
图10为实施例三另一视角的横截面示意图。
图11为实施例三的启动部件示意图。
图12为实施例三的拖拽部件示意图。
图13为实施例三的升降组件示意图。
图14为实施例三的活动部件示意图。
图15为实施例三的挤压组件示意图。
图16为实施例三的触发组件示意图。
具体实施方式
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合说明书 附图对本发明的具体实施方式做详细的说明。
在下面的描述中阐述了很多具体细节以便于充分理解本发明，但是本发明还可以采用其他不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本发明内涵的情况下做类似推广，因此本发明不受下面公开的具体实施例的限制。
其次，此处所称的“一个实施例”或“实施例”是指可包含于本发明至少一个实现方式中的特定特征、结构或特性。在本说明书中不同地方出现的“在一个实施例中”并非均指同一个实施例，也不是单独的或选择性的与其他实施例互相排斥的实施例。
实施例1，参照图1至图4，为本发明第一个实施例，该实施例提供了一种应用于高压变电站的作业方法，包括作业方法；首先进入等电位；通过连接装置M将机械臂连接在工作区域；通过远程终端算法控制机械臂达到预设位置；通过距离传感器确定机械臂位置；达到位置后进行清扫工作。将一个完整的工作流程，按照双臂需要抓取不同的工具分为多段工作路径和不同的位姿操作。对于双臂中其中任一一只臂做具体路径规划，保障安全的前提下不妨碍其他臂操作，确定臂的位姿与路径。
具体的，确定双臂作业位姿与路径后，各自抓取工具，再次确定双臂的位姿与路径，保障安全可靠运行路径，基于确定好的工作路径，确定双臂先后移动位姿与路径，实现双臂协同作业。
采用双机械臂代替人工作业，避免人工直接接触导线，避免危险的发生。双臂作业操作简单，需要的工人大大减少，显著提高工作效率。
通过模仿人的两只手臂，用两只协作机器人协同配合，通过相应的碰撞检测算法及视觉识别算法，完成带电作业工作，机械臂末端设有清洗刷。
实施例2，参照图1～6，为本发明第二个实施例，与上个实施例不同的是，连接装置M，其包括连接部件501，设置于连接部件501上的卡接部件502，设置于卡接部件502上的机械臂。连接部件501包括外设组件501a与连接组件501b，外设组件501a包括矩形板501a-1，设置于矩形板501a-1上的侧板501a-2，设置于侧板501a-2上的侧槽501a-3，设置于矩形板501a-1上安装孔501a-4。连接组件501b包括开设在矩形板501a-1上的孔件501b-1，设置于孔件501b-1上的底座501b-2，底座501b-2上与机械臂相连接。
具体的，侧槽501a-3的断面呈矩形，侧槽501a-3位于侧板501a-2一侧，侧板501a-2的断面呈矩形，侧板501a-2与侧槽501a-3的设置便于更好的将该装置固定在工作区，从而更好的固定机械臂，孔件501b-1的设置便于更好的对底座501b-2进行限位，底座501b-2的设置便于更好的对机械臂进行限位。
孔件501b-1包括方孔501b-1a，设置于方孔501b-1a周侧的多个圆孔501b-1b；底座501b-2包括圆板501b-2a，设置于圆板501b-2a上的连接板501b-2b，设置于圆板501b-2a底部的方杆501b-2c，方杆501b-2c位于方孔501b-1a内，圆杆501b-2d位于圆孔501b-1b内，设置于方杆501b-2c周侧的多个圆杆501b-2d；圆孔501b-1b与圆杆501b-2d相适配，圆孔501b-1b与圆杆501b-2d均呈环形阵列分布。卡接部件502包括设置于矩形板501a-1上的环架502a与内环502b，内环502b与矩形板501a-1固定连接，环架502a与矩形板501a-1转动连接，设置于环架502a上的转动组件502c，设置于环架502a上的内置板502d，内置板502d的设置便于更好的对底座501b-2进行固定，设置于内置板502d上的弧板502e与凹槽502f，弧板502e与凹槽502f的设置便于更好的对底座501b-2进行限位，从而更好的对机械臂进行固定，设置于内环502b上的平面502g，设置于平面502g上的接杆502h，设置于接杆502h上的凸块502i，设置于凸块502i与平面502g之间的压缩弹簧502j。转动组件502c包括设置于环架502a上的杆套502c-1，设置于杆套502c-1上的转杆502c-2，设置于转杆502c-2上的握把502c-3，握把502c-3的设置便于更好的移动转杆502c-2。
进一步的，凸块502i与凹槽502f相适配，凸块502i为不锈钢材质，转杆502c-2的断面呈圆形，转杆502c-2的设置便于更好的带动环架502a转动，接杆502h与环架502a滑动连接。
其余结构均与实施例1相同。
在使用时，将底座501b-2放置在内环502b中，将方杆501b-2c与圆杆501b-2d插入对应方孔501b-1a与圆孔501b-1b中，手握握把502c-3，将转杆502c-2插入杆套502c-1中，转动握把502c-3与转杆502c-2，从而带动杆套502c-1与环架502a转动，环架502a转动的同时弧面带动凸块502i进入凹槽502f中，此时接杆502h位于底座501b-2上方，从而对底座501b-2进行限位，从而对机械臂进行固定，从而完成安装工作。
实施例3，参照图1～16，为本发明第三个实施例，与上个实施例不同的是， 所述安装孔内设有高压带电等电位装置，高压带电等电位装置包括放置机构100，其包括放置部件101，设置于放置部件101顶部的放置板102；施力机构200，包括设置于放置部件101内的施力部件201，设置于施力部件201上的活动部件202；升降机构300，包括设置于放置部件101内的启动部件301与电动伸缩杆302；夹持机构400，包括设置于电动伸缩杆302上的拖拽部件401，设置于拖拽部件401上的电位夹402。
具体的，放置部件101的设置可以有效的对升降机构300与施力机构200进行放置，便于更好的对其进行限位，升降机构300与放置部件101固定连接，施力机构200与放置部件101固定连接，活动部件202的设置便于更好的带动与其相连的组件运动，便于更好的带动夹持机构400进行运转，达到有效的固定效果，电动伸缩杆302的设置便于更好的带动放置板102与拖拽部件401升降，从而达到更好的进行连接工作，电位夹402位于放置板102顶端中心处，放置机构100中的放置箱101a、放置管101b与放置板102均为橡胶材质。
放置部件101包括放置箱101a，设置于放置箱101a上的放置管101b，放置箱101a与放置管101b固定连接，放置管101b的断面呈圆形，且放置管101b两端分别贯穿放置箱101a与放置管101b，放置板102与放置管101b相连接，放置管101b分别与放置箱101a、放置板102固定连接。施力部件201包括设置于放置箱101a内部的电机201a，电机201a、电动伸缩杆302均与外部电源电性连接，设置于电机201a上的旋转罩201b，旋转罩201b的断面呈圆形，旋转罩201b的壁厚不低于一毫米，旋转罩201b内壁顶端与电机201a施力端固定连接，活动部件202包括设置于旋转罩201b上的轴板202a，轴板202a与旋转罩201b固定连接，设置于轴板202a上的轴件202b，轴件202b与轴板202a相适配，设置于轴件202b上的环体202c，轴件202b包括轴套202b-1，设置于轴套202b-1内部的定位槽202b-2，设置于定位槽202b-2上的防脱槽202b-3，定位槽202b-2的断面呈圆形，防脱槽202b-3的断面呈矩形，定位槽202b-2、防脱槽202b-3的内壁均与轴板202a的外壁贴合。
进一步的，轴板202a与轴件202b上下滑动连接，且相互贴合，轴板202a可以有效的带动轴件202b发生转动，旋转罩201b的设置便于更好的将电机201a的施力传导向轴板202a与升降机构300，从而可以完成升降与拖拽的功能，电位夹402内部设有扭力弹簧。
在使用时，将该装置固定在待测位置，并通过外置接线与电位夹402相邻，外置接线与外部测试装置连接，施力机构200中的施力部件201自转的同时带动活动部件202转动，当施力部件201顺时针转动时，施力部件201带动升降机构300中的启动部件301启动，启动部件301启动从而带动电动伸缩杆302运动，与此同时施力部件201带动活动部件202转动，活动部件202转动顺时针转动无法带动拖拽部件401运动，从而发生空转；
施力部件201逆时针转动时，启动部件301中的挤压组件301a与触发组件301b无法达成启动条件，从而发生空转，与此同时活动部件202逆时针转动，活动部件202带动拖拽部件401运动，拖拽部件401带动电位夹402张开，从而完成张开工作，活动部件202继续转动，电位夹402张开到极限后拖拽部件401对电位夹402的施力结束，电位夹402复位，从而完成夹持工作；
电动伸缩杆302首先带动电位夹402位于电线底部，并使得电位夹402顶起电线，电位夹402张开时，电线自动进入电位夹402内即可闭合电位夹402。
综上，根据施力部件201的转向不同，达到不同的效果，拖拽部件401对电位夹402的施力先使电位夹402张开，张开完成后继续施力，拖拽部件401内部组件的保护器件生效，避免其过度施力而损伤电位夹402，同时取消施力，电位夹402内部扭力弹簧复带动电位夹402复位。
升降机构300，启动部件301包括设置于旋转罩201b上的挤压组件301a，设置于放置箱101a上的触发组件301b。
具体的，触发组件301b的设置便于更好的控制电动伸缩杆302的升与降，启动部件301中的挤压组件301a与触发组件301b相互配合使用。
挤压组件301a包括设置于旋转罩201b上的挤压箱301a-1，设置于挤压箱301a-1上的第一弹簧301a-2，设置于第一弹簧301a-2上的活动件301a-3，触发组件301b包括设置于放置箱101a上的触发槽301b-1与定位块301b-2，设置于触发槽301b-1上的升降开关301b-3，设置于定位块301b-2上的发条弹簧301b-4，设置于发条弹簧301b-4上的触发件301b-5，发条弹簧301b-4与触发件301b-5固定连接，发条弹簧301b-4与定位块301b-2固定连接。
进一步的，挤压箱301a-1的断面呈矩形，挤压箱301a-1内壁与第一弹簧301a-2固定连接，第一弹簧301a-2与活动件301a-3固定连接，触发槽301b-1的断面呈弧形，定位块301b-2的断面呈圆形，定位块301b-2与放置箱101a固 定连接，升降开关301b-3与电动伸缩杆302电性连接，升降开关301b-3控制电动伸缩杆302的升降，当升降开关301b-3第一次受到挤压时，电动伸缩杆302伸展到最长状态，第二次受到挤压，电动伸缩杆302收缩到最短状态。
活动件301a-3包括板体301a-3a，板体301a-3a的断面呈矩形，设置于板体301a-3a上的槽体301a-3b，设置于板体301a-3a上的弧槽301a-3c，触发件301b-5包括设置于触发槽301b-1上的触发箱301b-5a，触发箱301b-5a的断面呈矩形，设置于触发箱301b-5a上的触发弹簧301b-5b，设置于触发弹簧301b-5b上的触发板301b-5c，触发弹簧301b-5b两端分别与触发板301b-5c、触发箱301b-5a固定连接，设置于触发板301b-5c上的触发面301b-5d。
其中，弧槽301a-3c与触发面301b-5d相适配，当弧槽301a-3c与触发面301b-5d相接触时，触发箱301b-5a与触发槽301b-1滑动连接，触发槽301b-1的断面呈弧形，触发弹簧301b-5b的设置便于更好的带动触发板301b-5c复位，触发板301b-5c的断面呈“T”型。
在使用时，首先挤压组件301a与施力部件201相连接，施力部件201带动挤压组件301a运转；
顺时针转动时挤压组件301a与触发部件相抵从而使得触发件301b-5与升降开关301b-3发生接触，从而完成启动电动伸缩杆302的功能，启动后施力部件201会继续运转，施力部件201迫使挤压组件301a中的弧槽301a-3c与触发面301b-5d相接处，弧槽301a-3c与触发面301b-5d首先接触时，弧槽301a-3c会带动触发面301b-5d移动，当触发面301b-5d静止时，弧槽301a-3c会将斥力传导向第一弹簧301a-2，从而迫使第一弹簧301a-2收缩，从而使得弧槽301a-3c与触发面301b-5d发生交错，从而完成一次电动伸缩杆302的启动，与此同时发条弹簧301b-4带动触发件301b-5复位；
逆时针转动时板体301a-3a的特性会直接在触发件301b-5的压力作用下迫使第一弹簧301a-2收缩，从而发生空转，避免损伤触发件301b-5与板体301a-3a。
综上，启动部件301中的触发组件301b与挤压组件301a相互配合从而控制电动伸缩杆302的升降工作，进一步的控制电位夹402的高度，从而更好的进行工作，一端呈弧状的板体301a-3a，可以有效的带动挤压组件301a发生空转。
夹持机构400，拖拽部件401包括设置于电动伸缩杆302上的升降组件 401a，设置于环体202c上的拖转组件401b。
具体的，电动伸缩杆302的设置便于更好的带动拖拽组件升降，电动伸缩杆302的伸缩端与拖拽组件固定连接，其可以有效的带动拖拽组件活动，并且不影响拖转组件401b的运行。
升降组件401a包括设置于电动伸缩杆302上的升降板401a-1，设置于升降板401a-1上的拖拽槽401a-2，设置于升降板401a-1位于拖拽槽401a-2一侧的拖拽基板401a-3，设置于拖拽基板401a-3上的第二弹簧401a-4，设置于第二弹簧401a-4上的活动拖板401a-5，设置于活动拖板401a-5上的弧条401a-6，设置于弧条401a-6上的弧面401a-7，设置于活动拖板401a-5上的活动块401a-8，设置于活动块401a-8一侧的拖拽拨杆401a-9，活动块401a-8与拖拽槽401a-2滑动连接，拖拽槽401a-2的断面呈弧形，活动块401a-8两端分别与拖拽拨杆401a-9、活动拖板401a-5固定连接。
进一步的，升降板401a-1的设置便于更好的固定位于其上的组件，并且可以有效的带动其组件升降，拖拽槽401a-2为贯穿槽，拖拽槽401a-2的数量为两个，拖拽基板401a-3的断面呈矩形，拖拽基板401a-3与活动拖板401a-5相适配，拖拽基板401a-3、活动拖板401a-5均与第二弹簧401a-4固定连接，活动拖板401a-5与拖拽槽401a-2滑动连接，活动拖板401a-5与弧条401a-6固定连接，弧条401a-6的断面呈弧形，弧条401a-6位于第二弹簧401a-4远离拖拽槽401a-2的一侧，升降板401a-1的断面呈环形，活动块401a-8的设置便于更好的将拖拽拨杆401a-9与活动托板进行连接。
拖转组件401b包括设置于环体202c上的环槽401b-1，设置于环槽401b-1上的环块401b-2，设置于环块401b-2上的拖转件401b-3，设置于环槽401b-1上的挡杆401b-4，拖转件401b-3包括拖转板401b-3a，设置于拖转板401b-3a上的弯曲槽401b-3b，设置于拖转板401b-3a一侧的脱离槽401b-3c。电位夹402包括设置于放置板102上的夹体402a，设置于夹体402a两侧的张开绳402b，设置于张开绳402b上的绳块402c，绳块402c与放置箱101a相连接，拖转板401b-3a的材质为弹簧钢，使其在可以施力的同时遇到过大压力可形变，避免其损伤。
其中，环槽401b-1的高度不低于五毫米，环槽401b-1与挡杆401b-4贴合，环块401b-2的断面呈圆形，环块401b-2通过发条弹簧301b-4与环槽401b-1相 连接，环块401b-2可以在环槽401b-1上转动，转动后若不受力，在发条弹簧301b-4的限位作用下即可复位，挡杆401b-4的设置便于更好的对拖转板401b-3a进行限位，便于更好的支撑拖转板401b-3a，弯曲槽401b-3b的设置可以在拖转板401b-3a受到过大压力时起到保护作用，拖转板401b-3a在受力后位于弯曲槽401b-3b的位置最容易形变，受力过大拖转板401b-3a发生形变从而避免其受伤。
在使用时，拖转组件401b带动轴件202b转动，轴件202b转动带动拖转件401b-3转动；
当拖转组件401b顺时针转动时拖转件401b-3在弧条401a-6限位作用下发生角度偏移，直至与弧条401a-6内壁贴合，当脱离弧条401a-6时，环块401b-2底部的扭力弹簧带动拖转件401b-3复位，循环往复，发生空转，从而使得拖拽部件401发生空转；
当拖转组件401b逆时针转动时拖转件401b-3中的拖转板401b-3a转动，拖转板401b-3a与挡杆401b-4接触，从而使得拖转板401b-3a得到有效拨动力，拖转板401b-3a在转动的过程中与弧条401a-6接触，从而带动弧条401a-6移动，弧条401a-6带动活动托板、活动块401a-8与拖拽拨杆401a-9移动，拖拽拨杆401a-9移动的过程中带动张开绳402b发生弯折，从而使得张开绳402b带动夹体402a发生张开动作，拖转板401b-3a继续转动，当活动块401a-8到达拖拽槽401a-2末端时，活动块401a-8与弧条401a-6被限位，拖转板401b-3a在弧条401a-6限位作用下发生弯折，弯曲槽401b-3b起到弯折保护作用，弯折后的拖转板401b-3a自弧条401a-6内部滑过即可，与此同时第二弹簧401a-4复位，拖拽拨杆401a-9脱离张开绳402b时夹体402a复位，从而对绳体进行夹持即可。
综上，绳块402c的设置可以有效的对张开绳402b进行限位，电动伸缩杆302带动电位夹402上升到极限时，张开绳402b对夹体402a的施力为零，当电动伸缩杆302收缩到极限时，张开绳402b呈松弛状，因拖拽拨杆401a-9较长，无论张开绳402b处于什么状态，在拖拽拨杆401a-9拨动后均可带动夹体402a张开，电动伸缩杆302位于收缩极限时夹体402a张开程度依旧具备放置线体的效果，减少但不影响夹持效果，张开绳402b为橡胶材质。
重要的是，应注意，在多个不同示例性实施方案中示出的本申请的构造和布置仅是例示性的。尽管在此公开内容中仅详细描述了几个实施方案，但参阅此公开内容的人员应容易理解，在实质上不偏离该申请中所描述的主题的新颖 教导和优点的前提下，许多改型是可能的(例如，各种元件的尺寸、尺度、结构、形状和比例、以及参数值(例如，温度、压力等)、安装布置、材料的使用、颜色、定向的变化等)。例如，示出为整体成形的元件可以由多个部分或元件构成，元件的位置可被倒置或以其它方式改变，并且分立元件的性质或数目或位置可被更改或改变。因此，所有这样的改型旨在被包含在本发明的范围内。可以根据替代的实施方案改变或重新排序任何过程或方法步骤的次序或顺序。在权利要求中，任何“装置加功能”的条款都旨在覆盖在本文中所描述的执行所述功能的结构，且不仅是结构等同而且还是等同结构。在不背离本发明的范围的前提下，可以在示例性实施方案的设计、运行状况和布置中做出其他替换、改型、改变和省略。因此，本发明不限制于特定的实施方案，而是扩展至仍落在所附的权利要求书的范围内的多种改型。
此外，为了提供示例性实施方案的简练描述，可以不描述实际实施方案的所有特征(即，与当前考虑的执行本发明的最佳模式不相关的那些特征，或与实现本发明不相关的那些特征)。
应理解的是，在任何实际实施方式的开发过程中，如在任何工程或设计项目中，可做出大量的具体实施方式决定。这样的开发努力可能是复杂的且耗时的，但对于那些得益于此公开内容的普通技术人员来说，不需要过多实验，所述开发努力将是一个设计、制造和生产的常规工作。
应说明的是，以上实施例仅用以说明本发明的技术方案而非限制，尽管参照较佳实施例对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或者等同替换，而不脱离本发明技术方案的精神和范围，其均应涵盖在本发明的权利要求范围当中。

Claims (10)

  1. 一种应用于高压变电站的作业方法，其特征在于：包括作业方法；
    首先进入等电位；
    通过连接装置(M)将机械臂连接在工作区域；
    通过远程终端算法控制机械臂达到预设位置；
    通过距离传感器确定机械臂位置；
    达到位置后进行清扫工作。
  2. 如权利要求1所述的应用于高压变电站的作业方法，其特征在于：将一个完整的工作流程，按照双臂需要抓取不同的工具分为多段工作路径和不同的位姿操作。
  3. 如权利要求2所述的应用于高压变电站的作业方法，其特征在于：对于双臂中其中任一一只臂做具体路径规划，保障安全的前提下不妨碍其他臂操作，确定臂的位姿与路径。
  4. 连接装置，其特征在于：包括权利要求1所述的连接装置(M)，
    其包括连接部件(501)，设置于所述连接部件(501)上的卡接部件(502)，设置于所述卡接部件(502)上的机械臂。
  5. 如权利要求4所述的连接装置，其特征在于：所述连接部件(501)包括外设组件(501a)与连接组件(501b)，所述外设组件(501a)包括矩形板(501a-1)，设置于所述矩形板(501a-1)上的侧板(501a-2)，设置于所述侧板(501a-2)上的侧槽(501a-3)，设置于所述矩形板(501a-1)上安装孔(501a-4)。
  6. 如权利要求5所述的连接装置，其特征在于：所述连接组件(501b)包括开设在矩形板(501a-1)上的孔件(501b-1)，设置于所述孔件(501b-1)上的底座(501b-2)；
    其中，所述底座(501b-2)上与机械臂相连接。
  7. 如权利要求6所述的连接装置，其特征在于：所述孔件(501b-1)包括方孔(501b-1a)，设置于所述方孔(501b-1a)周侧的多个圆孔(501b-1b)；
    所述底座(501b-2)包括圆板(501b-2a)，设置于所述圆板(501b-2a)上的连接板(501b-2b)，设置于所述圆板(501b-2a)底部的方杆(501b-2c)，设置于所述方杆(501b-2c)周侧的多个圆杆(501b-2d)；
    所述圆孔(501b-1b)与圆杆(501b-2d)相适配，所述圆孔(501b-1b)与圆杆(501b-2d)均呈环形阵列分布。
  8. 如权利要求6或7所述的连接装置，其特征在于：所述卡接部件(502)包括设置于所述矩形板(501a-1)上的环架(502a)与内环(502b)，设置于所述环架(502a)上的转动组件(502c)，设置于所述环架(502a)上的内置板(502d)，设置于所述内置板(502d)上的弧板(502e)与凹槽(502f)，设置于所述内环(502b)上的平面(502g)，设置于所述平面(502g)上的接杆(502h)，设置于所述接杆(502h)上的凸块(502i)，设置于所述凸块(502i)与平面(502g)之间的压缩弹簧(502j)。
  9. 如权利要求8所述的连接装置，其特征在于：所述转动组件(502c)包括设置于所述环架(502a)上的杆套(502c-1)，设置于所述杆套(502c-1)上的转杆(502c-2)，设置于所述转杆(502c-2)上的握把(502c-3)。
  10. 如权利要求9所述的连接装置，其特征在于：所述安装孔(501a-4)内设有高压带电等电位装置，其包括放置机构(100)，包括放置部件(101)，设置于所述放置部件(101)顶部的放置板(102)；施力机构(200)，包括设置于所述放置部件(101)内的施力部件(201)，设置于所述施力部件(201)上的活动部件(202)；升降机构(300)，包括设置于所述放置部件(101)内的启动部件(301)与电动伸缩杆(302)；夹持机构(400)，包括设置于所述电动伸缩杆(302)上的拖拽部件(401)，设置于所述拖拽部件(401)上的电位夹(402)。
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CN107650127A (zh) * 2017-08-25 2018-02-02 长沙理工大学 一种变电站金属部件探伤机器人及其应用方法
CN108673467A (zh) * 2018-06-08 2018-10-19 山东鲁能智能技术有限公司 变电站带电检修作业机器人系统及方法
CN115881487A (zh) * 2022-11-14 2023-03-31 云南电网有限责任公司昆明供电局 一种开关柜远方紧急遥控分闸装置
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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