Intelligent transformer substation tubular busbar lap joint drainage wire robot

Abstract

The invention discloses an intelligent transformer substation tubular busbar lap joint drainage wire robot, and relates to the technical field of power equipment. Comprising a transverse block and a controller, movable grooves are formed in the two sides of the transverse block, inserting blocks are movably arranged in the movable grooves, movable supporting blocks are fixed to the ends of the inserting blocks, a driving piece is arranged between the two inserting blocks, and the two inserting blocks are driven by the driving piece to move towards each other or away from each other. The transmission assembly, the movable arm assembly, the wiring assembly and the clamping assembly are arranged, the robot is moved to a lap joint position through the transmission assembly, the wiring assembly and the clamping assembly are moved through the movable arm assembly, the wiring assembly is moved to one side of a bus to be installed, and finally the wiring assembly and the bus are fixed through the clamping assembly. The robot is suitable for working in a narrow space between two buses, and the installation process only needs to be intelligently controlled by constructors, so that the safety of lap joint of the tubular bus and the drainage wire of the transformer substation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power equipment, in particular to an intelligent transformer substation busbar overlapping drainage line robot. Background Art

[0002] With the rapid development of modern industry and the improvement of people's living standards, power users' requirements for power supply reliability are also increasing. In order to reduce power outage time or even avoid power outage, power supply companies in various places have accelerated the development and promotion of live-line operations. Substations are places in power systems that transform voltage and current, receive and distribute electric energy. Therefore, live-line bonding of busbars in substations is also crucial.

[0003] There are many problems in the live work of dismantling and installing the main tube drainage line of the substation: 1. Electric workers use insulating ladders or insulating equipment to climb the tube bus and perform work in an equipotential manner. High-voltage live work is very harmful to the human body. Electric workers have very strict requirements for the narrow position of the substation tube bus maintenance work space. The human body is relatively flexible, and the control of the safe distance is not accurate, which is easy to cause danger and is very dangerous. 2. Electric workers need to carefully check each step before the operation, and start the live work after confirming that it is correct. The inspection process takes a long time and the work efficiency is low. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent transformer substation busbar overlapping drainage line robot to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent transformer substation busbar overlapping drainage line robot, comprising a horizontal block and a controller, both sides of the horizontal block are provided with movable grooves, plug blocks are movably arranged in the movable grooves, movable support blocks are fixed at the ends of the plug blocks, and a driving member is arranged between the two plug blocks, and the two plug blocks are driven by the driving member to move toward or away from each other;

[0006] The outer side of the movable support block is rollingly connected with a plurality of rollers, and a receiving groove for receiving the busbar is formed between the rollers and the movable support block, and a transmission assembly is arranged on the side of one of the rollers;

[0007] The transmission assembly includes a first motor and a rotating shaft, wherein the output end of the first motor is fixed to the end of the rotating shaft, and the other end of the rotating shaft is fixed to the roller, and when the rotating shaft rotates, the roller is driven to rotate;

[0008] Two symmetrical movable arm assemblies are arranged on one side of the transverse block facing the overlap position, and a battery shell is fixed on the side of the transverse block facing away from the overlap position, and a storage battery is fixed in the battery shell;

[0009] The movable arm assembly includes a first electric track arranged transversely, an extension block parallel to the busbar is fixed on the first slider of the first electric track, a second electric track arranged transversely is fixed on the end of the extension block, when the extension block is located on the right side of the first electric track, the first electric track, the extension block and the second electric track form a Z shape, a connecting plate arranged transversely is fixed on the second slider of the second electric track, a third electric track arranged vertically is fixed on the right side of the connecting plate, and a clamping assembly is fixed on the third slider of the third electric track;

[0010] Clamping the wiring assembly by means of a clamping assembly;

[0011] The clamping assembly includes a vertical plate, and a plurality of nut mounting members are arranged on the side of the vertical plate facing the busbar, and the busbar on the wiring assembly is clamped and fixed by the nut mounting members;

[0012] Two symmetrical cameras are arranged on one side of the movable supporting block facing the overlapping position, and the cameras are electrically connected to the controller.

[0013] Furthermore, a pressing piece is provided at the bottom of the transmission assembly, and when the busbar is located in the receiving groove, the pressing piece is located directly below the busbar;

[0014] The pressing member includes a socket provided on the movable support block and the inserting block, a receiving groove is formed on the side of the socket facing the roller, a cross bar is movably inserted in the socket, one end of the cross bar is fixed to the side wall of the cross block, and the other end of the cross bar is movably connected to the movable wheel;

[0015] In the initial state, the insert block is away from the horizontal block, and the movable wheel is stored in the storage groove.

[0016] Furthermore, a slope inclined inwardly is formed on the side of the insert block facing the accommodating groove.

[0017] Furthermore, a guide plate is provided on the top of the slope, and the plate body of the guide plate is flush with the slope. When the movable support blocks move toward each other, the busbar at the bottom of the movable support blocks enters the accommodating groove along the slope and the guide plate.

[0018] Furthermore, a positioning assembly is provided directly above the rotating shaft;

[0019] The positioning assembly includes a socket-and-spigot pipe and a plug shaft movably plugged therewith, a first spring is fixed between the top end of the plug shaft and the inner wall of the top end of the socket-and-spigot pipe, a plurality of circumferential array limiting grooves are opened on the shaft body of the rotating shaft, a plug plate is fixed at the bottom end of the plug shaft, and the plug plate is adapted to the limiting groove;

[0020] An annular electromagnet is fixed at the bottom of the socket pipe, and an annular magnetic block is fixed on the top shaft of the plug shaft. When the electromagnet is conductive and magnetic, the magnetic block is attracted by the electromagnet. At this time, the first spring extends and the plug shaft moves downward, so that the plug plate is inserted into the limit groove, thereby limiting the rotating shaft after it stops rotating.

[0021] Furthermore, a sensing sheet is fixed in the limiting groove, a detection head is fixed at the bottom end of the vertical groove accommodating the rotating shaft, and the detection head is electrically connected to the controller.

[0022] Furthermore, the wiring assembly includes a bottom block, a drainage line is fixed in the middle of the bottom block, a fixed clamping block is integrally formed on one side of the top of the bottom block, a movable clamping block is movably arranged on the opposite side of the fixed clamping block, and semicircular grooves are arranged on the opposite sides of the fixed clamping block and the movable clamping block, and the circular through groove formed by the two semicircular grooves is adapted to the busbar;

[0023] Two laterally distributed support rods are fixed at the bottom of the movable clamping block, the support rods are movably plugged with the fixed clamping block, sleeves equal in number to the support rods are fixed on the outside of the fixed clamping block, the support rods extending out of the fixed clamping block are located in the sleeves, and a second spring is fixed between the side wall of the sleeve and the support rod;

[0024] A plurality of studs are fixed on the top and bottom of one side of the movable clamping block facing the fixed clamping block, and a plurality of plug holes matched with the studs are arranged on the fixed clamping block.

[0025] Furthermore, conductive cotton is fixed on opposite sides of the fixed clamping block and the movable clamping block.

[0026] Furthermore, the clamping assembly also includes a U-shaped frame and a second motor, the bottom of the U-shaped frame is movably connected with a bidirectional screw rod, the output end of the second motor is fixed to the end of the bidirectional screw rod, and the threaded rods on both sides of the bidirectional screw rod are screwed with clamping plates, and when the bidirectional screw rod rotates, the clamping plates on both sides move toward or away from each other;

[0027] The vertical plate is fixed to the side of the clamping plate at the bottom of the fixed clamping block, and the width of the vertical plate is smaller than the gap formed by the two sleeves, that is, the vertical plate can move horizontally and vertically along the gap formed by the two sleeves;

[0028] An electric telescopic rod is arranged on the outer side of the movable clamping block, and an insulating plate is fixed to the telescopic end of the electric telescopic rod. When the electric telescopic rod is extended, the movable clamping block is pushed through the insulating plate.

[0029] Furthermore, the nut mounting member includes a third motor, a roller, a sleeve and a polygonal nut, the output end of the third motor is fixed to the end of the roller, the roller is fixed to the sleeve, a polygonal cavity is formed in the sleeve, and the polygonal cavity is adapted to the polygonal nut;

[0030] The sleeve is located on the outside of the socket;

[0031] The polygonal nut is matched with the stud, and when the roller rotates, the sleeve and the polygonal nut are synchronously driven to rotate, thereby realizing the threaded connection between the polygonal nut and the stud.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] The intelligent transformer substation busbar overlap drainage line robot is provided with a transmission component, a movable arm component, a wiring component and a clamping component. The robot is moved to the overlap position by the transmission component, and the wiring component and the clamping component are moved by the movable arm component to move the wiring component to the installation on one side of the busbar. Finally, the wiring component and the busbar are fixed by the clamping component. The robot is suitable for working in a narrow space between two busbars. The installation process only requires construction personnel to intelligently control the robot, thereby improving the safety of the overlap between the transformer substation busbar and the drainage line.

[0034] At the same time, the solution enables robots to splice the substation busbar and drainage line, eliminating the inspection steps required for manual installation in the existing technology and improving work efficiency.

[0035] In addition, when placing the robot, it is only necessary to place the movable support block on the busbar, and the driving member drives the movable support block to move toward each other, so that the busbar can enter the receiving groove. Therefore, when placing the robot, there is no need to accurately place the busbar into the receiving groove, which saves the loading time between the robot and the busbar and improves construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is the working state diagram of the present invention;

[0037] Figure 2 It is a left rear axial view of the present invention;

[0038] Figure 3 A half-section diagram of the present invention;

[0039] Figure 4 This is a top view of the present invention after removing the movable arm assembly;

[0040] Figure 5 A half-section view of the pressing member and the positioning assembly of the present invention;

[0041] Figure 6 A half-section view of the positioning assembly of the present invention;

[0042] Figure 7 It is a connection diagram between the movable arm assembly and the clamping assembly of the present invention;

[0043] Figure 8 is an axial view of the clamping assembly of the present invention;

[0044] Fig. 9 It is a schematic diagram of the nut mounting piece of the present invention.

[0045] In the figure: 1, horizontal block; 101, movable groove; 2, movable support block; 201, plug block; 202, guide plate; 3, roller; 301, receiving groove; 4, pressing member; 401, receiving groove; 402, cross bar; 403, movable wheel; 5, transmission assembly; 501, rotating shaft; 502, limiting groove; 6, positioning assembly; 601, socket pipe; 602, plug shaft; 603, first spring; 604, magnetic block; 605, electromagnet; 606, plug plate; 607, induction sheet; 608, detection head; 7, movable arm assembly; 701, first electric track; 702, extension block; 703, The second electric track; 704, connecting plate; 705, the third electric track; 706, the third slider; 8, the clamping assembly; 801, the bidirectional screw rod; 802, the clamping plate; 803, the vertical plate; 804, the electric telescopic rod; 9, the wiring assembly; 901, the bottom block; 902, the movable clamping block; 903, the stud; 904, the conductive cotton; 905, the support rod; 906, the sleeve; 907, the second spring; 10, the busbar; 11, the drainage line; 12, the camera; 13, the battery shell; 14, the driving part; 15, the nut mounting part; 151, the roller; 152, the sleeve; 153, the polygonal nut. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] like Figure 1-Figure 9 As shown, the present invention provides a technical solution: an intelligent transformer substation busbar overlapping drainage line robot, comprising a horizontal block 1 and a controller, movable grooves 101 are opened on both sides of the horizontal block 1, plug blocks 201 are movably arranged in the movable grooves 101, and movable support blocks 2 are fixed at the ends of the plug blocks 201. A driving member 14 is arranged between the two plug blocks 201. The driving member 14 can be a double-headed electric telescopic rod, a double-headed hydraulic cylinder or other components that can drive the two plug blocks 201 to move toward or away from each other at the same time. In order to ensure the stability of the robot during operation and facilitate the installation of related components of the robot, as shown in FIG. Figure 3As shown, the height of the horizontal block 1 is greater than the height of the movable support block 2, and a plurality of rollers 3 are rollingly connected to the outer side of the movable support block 2. In a specific embodiment of the present scheme, the number of rollers 3 on one side is set to two, and a circular baffle is formed on the outer side of the roller 3, and a horizontal axis is formed between the circular baffle and the movable support block 2. In this way, a receiving groove 301 that can accommodate the busbar 10 is formed between the roller 3 and the movable support block 2. In order to reduce the overall weight of the robot, in the present scheme, a transmission assembly 5 is arranged on the side of one of the rollers 3. In a specific embodiment of the present scheme, the transmission assembly 5 is arranged at the bottom of the roller 3 on the side away from the overlapping position to realize the rear drive of the robot.

[0048] like Figure 4-Figure 6 As shown, a vertical groove is opened at the top of the movable support block 2, a partition is fixed in the vertical groove, and a cover is detachably fixed on the top of the vertical groove, the transmission assembly 5 includes a first motor and a rotating shaft 501, the rotating shaft 501 is movably connected to the partition, the first motor is fixed on one side of the partition, the output end of the first motor is fixed to the end of the rotating shaft 501, and the other end of the rotating shaft 501 is fixed to the roller 3, so that when the controller controls the first motor to start, the first motor drives the rotating shaft 501 to rotate, and when the rotating shaft 501 rotates, it drives the roller 3 to rotate.

[0049] like Figure 1 and Figure 5 As shown, a pressure piece 4 is provided at the bottom of the transmission assembly 5, wherein the pressure piece 4 includes a socket opened on the movable support block 2 and the plug block 201, a receiving groove 401 is formed on the side of the socket facing the roller 3, a cross bar 402 is movably inserted in the socket, one end of the cross bar 402 is fixed to the side wall of the cross block 1, and the other end of the cross bar 402 is movably connected to a movable wheel 403. In the initial state, the plug block 201 is away from the cross block 1, and the movable wheel 403 is stored in the receiving groove 401. In order to prevent the busbar 10 from directly entering the receiving groove 301 and causing the robot to shake drastically, thereby improving the safety of the robot, an inwardly inclined slope is formed on the side of the plug block 201 facing the receiving groove 301. In addition, a guide plate 202 is provided on the top of the slope, and the plate body of the guide plate 202 is flush with the slope.

[0050] Specifically, in the initial state, the movable support block 2 is located at the outermost side of the horizontal block 1. The staff lifts the horizontal block 1 through a drone or other lifting device, and then places the movable support blocks 2 on both sides on the corresponding busbars 10 respectively. The drone or other lifting device is separated from the horizontal block 1, and the controller controls the drive member 14 to contract, and the two movable support blocks 2 move toward each other. At this time, the busbar 10 located at the bottom end of the movable support block 2 enters the accommodating groove 301 along the slope and the guide plate 202. When the busbar 10 is located in the accommodating groove 301, the pressing member 4 extends out of the receiving groove 401 and is located directly below the busbar 10, blocking the bottom of the busbar 10 to prevent the movable support block 2 from being separated from the busbar 10 when the roller 3 rotates.

[0051] When the busbar 10 is located in the accommodating groove 301, the controller controls the first motor to start, and the first motor drives the rotating shaft 501 to rotate, and when the rotating shaft 501 rotates, it drives the roller 3 to rotate, and the robot moves on the busbar 10 under the static friction between the roller 3 and the busbar 10 and between the movable wheel 403 and the busbar 10.

[0052] It can be understood that when placing the robot, it is only necessary to place the movable support block 2 on the busbar 10, and the driving member 14 drives the movable support block 2 to move toward each other, so that the busbar 10 can enter the receiving groove 301. Therefore, when placing the robot, there is no need to accurately place the busbar 10 into the receiving groove 301, which saves the loading time between the robot and the busbar 10 and improves the construction efficiency.

[0053] During wiring, a positioning assembly 6 is provided directly above the rotating shaft 501 to prevent the robot from moving on the busbar 10 and thus affecting the construction.

[0054] like Figure 5 and Figure 6 As shown, the positioning assembly 6 includes a socket pipe 601 and an insertion shaft 602 movably connected thereto, the socket pipe 601 is fixed to the bottom end of the cover plate, a first spring 603 is fixed between the top end of the insertion shaft 602 and the top inner wall of the socket pipe 601, a plurality of circular array limiting grooves 502 are provided on the shaft body of the rotating shaft 501, and an insertion plate 606 is fixed to the bottom end of the insertion shaft 602, an annular electromagnet 605 is fixed to the bottom of the socket pipe 601, and an annular magnetic block 604 is fixed to the top shaft body of the insertion shaft 602, when the electromagnet 605 is conductive and magnetic, the magnetic block 604 is attracted by the electromagnet 605, at this time the first spring 603 is extended and the insertion shaft 602 moves downward, so that the insertion plate 606 is inserted into the limiting groove 502, so as to limit the rotating shaft 501 after it stops rotating.

[0055] In another specific embodiment of the present scheme, in order to achieve accurate insertion of the plug plate 606 into the limit slot 502, a sensing plate 607 is fixed in the limit slot 502, and a detection head 608 is fixed at the bottom end of the vertical slot accommodating the rotating shaft 501. The sensing plate 607 is detected by the detection head 608, and the detection head 608 is electrically connected to the controller.

[0056] Specifically, when the robot moves to the overlapping position, the controller controls the first motor to stop rotating. By changing the frequency or pole speed of the first motor, the controller controls the first motor to rotate slowly. When the detection head 608 detects the induction sheet 607, the controller controls the first motor to stop rotating again. When the controller controls the electromagnet 605 to conduct electricity and become magnetic, the magnetic block 604 is attracted by the electromagnet 605, and the plug-in shaft 602 moves downward, so that the plug-in plate 606 is inserted into the limit slot 502, thereby limiting the rotating shaft 501 after it stops rotating, and preventing the robot from moving when working.

[0057] like Figure 1 As shown, two symmetrical movable arm assemblies 7 are arranged on the side of the horizontal block 1 facing the overlapping position, and a battery shell 13 is fixed on the side of the horizontal block 1 facing away from the overlapping position. A battery is fixed in the battery shell 13. The battery supplies power to all electrical equipment of the robot in this scheme. The purpose of symmetrically distributing the batteries and the movable arm assemblies 7 on both sides of the horizontal block 1 is to increase the balance of the robot.

[0058] like Figure 7 As shown, the movable arm assembly 7 includes a first electric rail 701 arranged horizontally, an extension block 702 parallel to the busbar 10 is fixed on the first slider of the first electric rail 701, and a second electric rail 703 arranged horizontally is fixed on the end of the extension block 702. When the extension block 702 is located on the right side of the first electric rail 701, the first electric rail 701, the extension block 702 and the second electric rail 703 form a Z shape, a second slider of the second electric rail 703 is fixed with a horizontally arranged connecting plate 704, and a third electric rail 705 arranged vertically is fixed to the right side of the connecting plate 704, and a clamping assembly 8 for clamping the wiring assembly 9 is fixed on the third slider 706 of the third electric rail 705.

[0059] Specifically, Figure 7 As shown, in the initial state, the extension block 702 and the second electric rail 703 are located at the leftmost side of the first electric rail 701, the connecting plate 704 and the third electric rail 705 are located at the leftmost side of the second electric rail 703, and the third slider 706, the clamping assembly 8 and the wiring assembly 9 are located at the bottom of the third electric rail 705. In this way, when the robot is placed, the movable arm assembly 7, the clamping assembly 8 and the wiring assembly 9 will not interfere with the placement position of the busbar 10.

[0060] like Figure 7 and Figure 8 As shown, the wiring assembly 9 includes a bottom block 901, and a drainage line 11 is fixed in the middle of the bottom block 901. In order to prevent the drainage line 11 from contacting the busbar 10 when the robot is hoisted, the two drainage lines 11 are merged together by snapping, and a fixed clamping block is integrally formed on one side of the top of the bottom block 901, and a movable clamping block 902 is movably arranged on the opposite side of the fixed clamping block. Specifically, an extension plate is fixed on the top of the bottom block 901, and a dovetail groove is opened on the extension plate. A dovetail block is fixed at the bottom end of the movable clamping block 902, and the dovetail block is adapted to the dovetail groove, so that the movable clamping block 902 can move laterally along the top of the bottom block 901.

[0061] Semicircular grooves are provided on opposite sides of the fixed clamping block and the movable clamping block 902. After the fixed clamping block and the movable clamping block 902 are moved toward each other and connected together, the circular through groove formed by the two semicircular grooves is adapted to the busbar 10. In addition, conductive cotton 904 is fixed on opposite sides of the fixed clamping block and the movable clamping block 902. This structure not only enhances conductivity, but also buffers the busbar 10.

[0062] Two laterally distributed support rods 905 are fixed at the bottom of the movable clamping block 902, and the support rods 905 are movably plugged into the fixed clamping block. The outer side of the fixed clamping block is fixed with sleeves 906 equal to the number of support rods 905. The support rods 905 extending from the fixed clamping block are located in the sleeves 906, and a second spring 907 is fixed between the side wall of the sleeve 906 and the support rods 905. In addition, a plurality of studs 903 are fixed to the top and bottom of the movable clamping block 902 facing the fixed clamping block, and a plurality of jacks compatible with the studs 903 are opened on the fixed clamping block. In the initial state, Figure 8 As shown, under the elastic force of the second spring 907 , the movable clamping block 902 is located at the rightmost position of the bottom block 901 . When the wiring assembly 9 moves upward, the busbar 10 can enter the top space formed by the fixed clamping block and the movable clamping block 902 .

[0063] Two symmetrical cameras 12 are arranged on the side of the movable support block 2 facing the overlapping position. The cameras 12 are electrically connected to the controller. Construction personnel can control the relevant components of the robot accordingly according to the images transmitted in real time by the cameras 12, so as to facilitate the overlapping of the busbar 10 and the drainage line 11.

[0064] like Figure 8As shown, the clamping assembly 8 includes a U-shaped frame and a second motor, a bidirectional screw rod 801 is movably connected to the bottom of the U-shaped frame, and the output end of the second motor is fixed to the end of the bidirectional screw rod 801, and clamping plates 802 are screwed on the threaded rods on both sides of the bidirectional screw rod 801. In this way, when the bidirectional screw rod 801 rotates, the clamping plates 802 on both sides move toward or away from each other, thereby clamping and fixing the bottom block 901 and releasing the limit, and the side of the clamping plate 802 at the bottom of the fixed clamping block is fixed with a vertical plate 80 3. A plurality of nut mounting members 15, the number of which is equal to the number of the studs 903, are provided on the side of the vertical plate 803 facing the busbar 10. It can be understood that the busbar 10 on the wiring assembly 9 is clamped and fixed by the nut mounting members 15. After the overlap is completed, in order to enable the clamping assembly 8 to be detached from the wiring assembly 9 when moving downward, in this solution, the width of the vertical plate 803 is smaller than the gap formed by the two sleeves 906, so that the vertical plate 803 can move horizontally and vertically along the gap formed by the two sleeves 906.

[0065] An electric telescopic rod 804 is arranged on the outside of the movable clamping block 902, and an insulating plate is fixed to the telescopic end of the electric telescopic rod 804. When the electric telescopic rod 804 is extended, the movable clamping block 902 is pushed through the insulating plate. In addition, it should be noted that in this solution, the parts in contact with the wiring assembly 9 (such as the nut mounting part 15 and the clamping plate 802 and other parts / components) are all made of insulating materials.

[0066] like Figure 8 and Fig. 9 As shown, the nut mounting member 15 includes a third motor, a roller 151, a sleeve 152 and a polygonal nut 153. The sleeve 152 is located on the outside of the jack, and the third motor is fixed on the outside of the vertical plate 803. The roller 151 is movably connected with the roller 151, and the output end of the third motor is fixed to the end of the roller 151. The roller 151 is fixed to the sleeve 152. A polygonal cavity is formed in the sleeve 152, and the polygonal cavity is adapted to the polygonal nut 153. It can be known that the polygonal nut 153 is adapted to the stud 903. When the third motor rotates, it drives the roller 151 to rotate, and the roller 151 synchronously drives the sleeve 152 and the polygonal nut 153 to rotate, so as to realize the threaded connection between the polygonal nut 153 and the stud 903. In order to prevent the polygonal nut 153 from being out of contact with the sleeve 152, the inner wall of the sleeve 152 and the side of the polygonal nut 153 relative to the sleeve 152 are sprayed with mutually attractive magnetic powder.

[0067] To supplement this solution, when the robot drives the movable arm assembly 7 to move to the overlapping position, the robot stops moving, and the rotating shaft 501 is positioned by the positioning assembly 6. Under the control of the controller, the extension block 702 and the second electric track 703 move to the rightmost side of the first electric track 701, and the connecting plate 704 and the third electric track 705 are controlled to move to the right on the second electric track 703. The position of the wiring assembly 9 is observed by the camera 12. When the wiring assembly 9 is located directly below the busbar 10, the second slider stops moving. At the same time, the controller controls the third slider 706 on the third electric track 705 to move upward until the busbar 10 is located in the semicircle on the side of the fixed clamping block. On the outside of the groove, the controller controls the electric telescopic rod 804 to extend, the stud 903 is inserted into the jack of the fixed clamping block, and the end face of the stud 903 contacts the polygonal nut 153. At this time, the controller controls the third motor to start, and the roller 151 synchronously drives the sleeve 152 and the polygonal nut 153 to rotate, so as to realize the screw connection between the polygonal nut 153 and the stud 903. During the screw connection process, the electric telescopic rod 804 slowly extends until the polygonal nut 153 and the stud 903 are screwed together, thereby realizing the fixing of the busbar 10 in the circular through groove formed by the two semicircular grooves. In addition, under the rebound force of the second spring 907, the screw connection stability between the polygonal nut 153 and the stud 903 can be increased.

[0068] After the overlap is completed, the controller controls the second motor to rotate in the opposite direction. When the two clamping plates 802 move in opposite directions, they respectively drive the nut mounting part 15 and the electric telescopic rod 804 to move outward, thereby laterally disengaging from the wiring assembly 9. Then the controller controls the third slider 706 to move downward until the clamping assembly 8 is laterally disengaged from the wiring assembly 9. After the first slider and the second slider are reset, the robot is lifted off the busbar 10 by a drone or a lifting machine.

[0069] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is limited by the attached embodiments and their equivalents.

Claims

1. An intelligent substation busbar overlapping drainage line robot, comprising a horizontal block (1) and a controller, characterized in that: Both sides of the transverse block (1) are provided with movable grooves (101), an insert block (201) is movably arranged in the movable groove (101), a movable support block (2) is fixed at the end of the insert block (201), a driving member (14) is arranged between the two insert blocks (201), and the driving member (14) drives the two insert blocks (201) to move towards or away from each other; A plurality of rollers (3) are rollingly connected to the outer side of the movable support block (2); a receiving groove (301) capable of receiving the busbar (10) is formed between the rollers (3) and the movable support block (2); a transmission assembly (5) is disposed on the side of one of the rollers (3); The transmission assembly (5) comprises a first motor and a rotating shaft (501), wherein the output end of the first motor is fixed to the end of the rotating shaft (501), and the other end of the rotating shaft (501) is fixed to the roller (3), and when the rotating shaft (501) rotates, the roller (3) is driven to rotate; Two symmetrical movable arm assemblies (7) are arranged on the side of the transverse block (1) facing the overlapping position, and a battery shell (13) is fixed on the side of the transverse block (1) facing away from the overlapping position, wherein a storage battery is fixed in the battery shell (13); The movable arm assembly (7) comprises a first electric track (701) arranged transversely, an extension block (702) parallel to the busbar (10) is fixed on a first slider of the first electric track (701), a second electric track (703) arranged transversely is fixed at the end of the extension block (702), when the extension block (702) is located on the right side of the first electric track (701), the first electric track (701), the extension block (702) and the second electric track (703) are in a Z shape, a connecting plate (704) arranged transversely is fixed on the second slider of the second electric track (703), a third electric track (705) arranged vertically is fixed on the right side of the connecting plate (704), and a clamping assembly (8) is fixed on a third slider (706) of the third electric track (705); Clamping the wiring assembly (9) by means of the clamping assembly (8); The clamping assembly (8) comprises a vertical plate (803), and a plurality of nut mounting members (15) are arranged on the side of the vertical plate (803) facing the busbar (10), and the busbar (10) on the wiring assembly (9) is clamped and fixed by the nut mounting members (15); Two symmetrical cameras (12) are arranged on one side of the movable support block (2) facing the overlapping position, and the cameras (12) are electrically connected to the controller.

2. According to claim 1, an intelligent substation busbar overlapping drainage line robot is characterized by: A pressing member (4) is provided at the bottom of the transmission assembly (5); when the busbar (10) is located in the receiving groove (301), the pressing member (4) is located directly below the busbar (10); The pressing member (4) comprises a socket provided on the movable support block (2) and the inserting block (201), a receiving groove (401) being formed on the side of the socket facing the roller (3), a cross bar (402) being movably inserted in the socket, one end of the cross bar (402) being fixed to the side wall of the cross block (1), and the other end of the cross bar (402) being movably connected to a movable wheel (403); In the initial state, the insert block (201) is away from the transverse block (1), and the movable wheel (403) is stored in the storage groove (401).

3. According to claim 1, an intelligent substation busbar overlapping drainage line robot is characterized by: A sloped surface inclined inwards is formed on the side of the insert block (201) facing the receiving groove (301).

4. According to claim 3, an intelligent substation busbar overlapping drainage line robot is characterized in that: A guide plate (202) is provided at the top of the slope, and the plate body of the guide plate (202) is flush with the slope. When the movable support blocks (2) move toward each other, the busbar (10) located at the bottom of the movable support blocks (2) enters the receiving groove (301) along the slope and the guide plate (202).

5. The intelligent substation busbar overlapping drainage line robot according to claim 1 is characterized by: A positioning assembly (6) is arranged directly above the rotating shaft (501); The positioning assembly (6) comprises a socket-and-spigot pipe (601) and an insert shaft (602) movably inserted therewith, a first spring (603) is fixed between the top end of the insert shaft (602) and the inner wall of the top end of the socket-and-spigot pipe (601), a plurality of circumferential array limiting grooves (502) are provided on the shaft body of the rotating shaft (501), an insert plate (606) is fixed at the bottom end of the insert shaft (602), and the insert plate (606) is adapted to the limiting groove (502); An annular electromagnet (605) is fixed at the bottom of the socket (601), and an annular magnetic conductive block (604) is fixed on the top shaft of the plug shaft (602). When the electromagnet (605) is conductive and magnetic, the magnetic conductive block (604) is attracted by the electromagnet (605), and at this time, the first spring (603) is extended and the plug shaft (602) moves downward, so that the plug plate (606) is inserted into the limiting groove (502), thereby limiting the rotating shaft (501) after the rotation stops.

6. The intelligent substation busbar overlapping drainage line robot according to claim 5 is characterized by: A sensing sheet (607) is fixed in the limiting groove (502), a detection head (608) is fixed at the bottom end of the vertical groove accommodating the rotating shaft (501), and the detection head (608) is electrically connected to the controller.

7. The intelligent substation busbar overlapping drainage line robot according to claim 1 is characterized by: The wiring assembly (9) comprises a bottom block (901), a drainage line (11) is fixed in the middle of the bottom block (901), a fixed clamping block is integrally formed on one side of the top end of the bottom block (901), a movable clamping block (902) is movably arranged on the opposite side of the fixed clamping block, and semicircular grooves are arranged on the opposite sides of the fixed clamping block and the movable clamping block (902), and a circular through groove formed by the two semicircular grooves is adapted to the busbar (10); Two laterally distributed support rods (905) are fixed at the bottom of the movable clamping block (902), the support rods (905) are movably plugged into the fixed clamping block, the outer side of the fixed clamping block is fixed with sleeves (906) equal in number to the support rods (905), the support rods (905) extending out of the fixed clamping block are located in the sleeves (906), and a second spring (907) is fixed between the side wall of the sleeve (906) and the support rod (905); A plurality of studs (903) are fixed to the top and bottom of the movable clamping block (902) facing the fixed clamping block, and a plurality of plug holes matching the studs (903) are provided on the fixed clamping block.

8. The intelligent substation busbar overlapping drainage line robot according to claim 7 is characterized by: Conductive cotton (904) is fixed on opposite sides of the fixed clamping block and the movable clamping block (902).

9. The intelligent substation busbar overlapping drainage line robot according to claim 7 is characterized by: The clamping assembly (8) also includes a U-shaped frame and a second motor, the bottom of the U-shaped frame is movably connected to a bidirectional screw rod (801), the output end of the second motor is fixed to the end of the bidirectional screw rod (801), and the threaded rods on both sides of the bidirectional screw rod (801) are both screwed with clamping plates (802), and when the bidirectional screw rod (801) rotates, the clamping plates (802) on both sides move towards or away from each other; The vertical plate (803) is fixed to the side of the clamping plate (802) at the bottom of the fixed clamping block, and the width of the vertical plate (803) is smaller than the gap formed by the two sleeves (906), that is, the vertical plate (803) can move horizontally and vertically along the gap formed by the two sleeves (906); An electric telescopic rod (804) is arranged outside the movable clamping block (902), and an insulating plate is fixed to the telescopic end of the electric telescopic rod (804). When the electric telescopic rod (804) is extended, the movable clamping block (902) is pushed through the insulating plate.

10. The intelligent substation busbar overlapping drainage line robot according to claim 7 is characterized by: The nut mounting member (15) comprises a third motor, a roller (151), a sleeve (152) and a polygonal nut (153); the output end of the third motor is fixed to the end of the roller (151); the roller (151) is fixed to the sleeve (152); a polygonal cavity is formed in the sleeve (152); the polygonal cavity is adapted to the polygonal nut (153); The sleeve (152) is located outside the insertion hole; The polygonal nut (153) is matched with the stud (903). When the roller (151) rotates, the sleeve (152) and the polygonal nut (153) are synchronously driven to rotate, thereby realizing the threaded connection between the polygonal nut (153) and the stud (903).

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