Substation operation device and obstacle crossing method thereof

Abstract

The invention relates to a transformer substation operation device and an obstacle crossing method thereof. The transformer substation operation device comprises a movable chassis, an operation and maintenance execution mechanism and an obstacle crossing mechanism. The operation and maintenance executing mechanism is arranged on the movable chassis, the obstacle crossing mechanism comprises two obstacle crossing assemblies which are arranged on the two sides of the movable chassis in the first direction, the obstacle crossing assemblies can move relative to the movable chassis in the moving direction of the movable chassis, and the positions of the obstacle crossing assemblies can be flexibly adjusted when the device encounters an obstacle. Meanwhile, the obstacle crossing assembly can move with the movable chassis in the second direction so as to make contact with or be separated from the driving face, the stability of the device in the obstacle crossing process can be improved, the device can move conveniently, and therefore the device can reach the operation position more smoothly, and the operation efficiency is improved. And the obstacle crossing method can enable the device to cross the obstacle more quickly, simply and stably.

Description

Technical Field

[0001] The present application relates to the technical field of electric power equipment, and in particular to a substation operating device and an obstacle surmounting method thereof. Background Art

[0002] Substations are key nodes in the power grid system, and the safe operation of their equipment is of vital importance. When replacing equipment such as porcelain bottles in substations, traditional cranes are usually used for lifting. However, substations usually have complex terrain, and obstacles such as cable wells and gullies on the ground make it difficult for cranes to move in substations, resulting in low operating efficiency of the operating device. Summary of the invention

[0003] Based on this, a substation operating device and an obstacle surmounting method thereof are provided to facilitate movement, thereby improving operating efficiency.

[0004] According to one aspect of the present application, an embodiment of the present application provides a substation operation device, including:

[0005] A mobile chassis having a walking surface for contacting a traveling surface on which a substation operating device is located;

[0006] An operation and maintenance execution mechanism is arranged on the mobile chassis; and

[0007] The obstacle-crossing mechanism comprises two obstacle-crossing components, and the two obstacle-crossing components are respectively arranged on two sides of the mobile chassis along a first direction;

[0008] The obstacle-crossing component is configured to be able to move relative to the mobile chassis in the front and rear directions of the mobile chassis, so as to extend or retract relative to the mobile chassis; the obstacle-crossing component is also configured to be able to move relative to the mobile chassis in the second direction, so as to separate from or contact the driving surface;

[0009] The first direction, the second direction and the front-rear direction of the mobile chassis intersect each other.

[0010] In one of the embodiments, the substation operating device has a driving state, a first obstacle-crossing state, and a second obstacle-crossing state;

[0011] In the driving state, the obstacle crossing assembly is separated from the driving surface and retracted relative to the mobile chassis; in the first obstacle crossing state, the obstacle crossing assembly is separated from the driving surface and extends in front of the mobile chassis; in the second obstacle crossing state, the obstacle crossing assembly is in contact with the driving surface and can switch between extending and retracting relative to the mobile chassis.

[0012] In one embodiment, in the second obstacle overcoming state, the obstacle overcoming assembly can switch along the front-rear direction of the mobile chassis between a position extending in front of the mobile chassis, a position retracted relative to the mobile chassis, and a position extending behind the mobile chassis.

[0013] In one embodiment, the obstacle surmounting component comprises:

[0014] The transfer member is configured to be controllably movable relative to the mobile chassis along the front-rear direction of the mobile chassis;

[0015] A support member extending longitudinally along the moving direction of the moving chassis; and

[0016] The telescopic member is configured to be able to extend or retract along the second direction; the telescopic member has a first end and a second end arranged opposite to each other along the second direction, the first end is connected to the transfer member, and the second end is connected to the support member.

[0017] In one embodiment, a guide groove is provided on a side of the mobile chassis facing the driving surface; the guide groove is extended along the front-rear direction of the mobile chassis, and the transfer member is movable along the front-rear direction of the mobile chassis to fit in the guide groove; and / or

[0018] The telescopic member is configured as a hydraulic cylinder or a pneumatic cylinder; and / or

[0019] A plurality of telescopic members are provided, and the plurality of telescopic members are arranged at intervals along the moving direction of the moving chassis.

[0020] In one embodiment, the mobile chassis includes a chassis body and two mobile crawlers disposed on the bottom side of the chassis body;

[0021] The two moving crawlers are arranged opposite to each other and at intervals along a first direction, and the two moving crawlers are configured to be able to drive the chassis body to move along the front-rear direction of the moving chassis.

[0022] In one embodiment, the operation and maintenance execution mechanism includes a mechanical arm, a gripper, and a porcelain bottle box;

[0023] The mechanical arm is arranged on the mobile chassis, and the clamping claw is arranged at the execution end of the mechanical arm; the porcelain bottle box is arranged on the mobile chassis and is located on the movement path of the clamping claw.

[0024] In one embodiment, the operation and maintenance actuator further includes a steering drive module, which is disposed on the mobile chassis and connected to the mechanical arm, and the mechanical arm can rotate relative to the mobile chassis under the drive of the steering drive module; and / or

[0025] The robotic arm is configured to have six axes of freedom.

[0026] In one embodiment, the substation operating device also includes a plurality of telescopic legs arranged on a mobile chassis; the plurality of telescopic legs are configured to be controllably retractable so that the plurality of telescopic legs can switch between a supporting state cooperating with a driving surface support and a retracted state retracted in the mobile chassis.

[0027] According to another aspect of the present application, an embodiment of the present application provides an obstacle surmounting method for a substation operating device, wherein the substation operating device is the substation operating device in any of the above embodiments; the obstacle surmounting method comprises:

[0028] In case of encountering an obstacle, the two obstacle-crossing components are controlled to extend in front of the mobile chassis in the front-rear direction of the mobile chassis and in the second direction so that the two obstacle-crossing components are supported on the driving surface;

[0029] When the mobile chassis crosses over an obstacle, the two obstacle-crossing assemblies are controlled to retract along the second direction and along the front-rear direction of the mobile chassis, so that the two obstacle-crossing assemblies are separated from the driving surface.

[0030] In the above-mentioned substation operating device and obstacle crossing method thereof, the substation operating device at least includes a mobile chassis, an operation and maintenance execution mechanism, and an obstacle crossing mechanism. The operation and maintenance execution mechanism is arranged on the mobile chassis, and the obstacle crossing mechanism includes two obstacle crossing components arranged on both sides of the mobile chassis along a first direction, which can move relative to the mobile chassis along the front and rear directions of the mobile chassis, so that the position of the obstacle crossing component can be flexibly adjusted when the device encounters an obstacle. At the same time, the obstacle crossing component can also move with the mobile chassis along a second direction to contact or separate from the driving surface, which can improve the stability of the device when crossing obstacles, and can also make the device easier to move, so as to reach the working position more smoothly and improve working efficiency. Its obstacle crossing method can make the device cross obstacles more quickly, simply and stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] FIG1 is a schematic diagram of the three-dimensional structure of a substation operating device in one embodiment of the present application.

[0032] FIG. 2 is a schematic structural diagram of the substation operating device in FIG. 1 in a driving state.

[0033] FIG3 is a schematic structural diagram of the substation operating device in FIG1 in a first obstacle crossing state.

[0034] FIG. 4 is a partial structural schematic diagram of the substation operating device in FIG. 1 in the second obstacle crossing state.

[0035] FIG5 is another partial structural schematic diagram of the substation operating device in FIG1 in the second obstacle crossing state.

[0036] FIG. 6 is another partial structural schematic diagram of the substation operating device in FIG. 1 in the second obstacle crossing state.

[0037] FIG. 7 is a partially enlarged schematic diagram of the structure of the substation operating device in FIG. 5 .

[0038] FIG8 is a schematic diagram of a partial three-dimensional structure of the substation operating device in FIG1 .

[0039] FIG. 9 is a flow chart of an obstacle surmounting method for a substation operating device in one embodiment of the present application.

[0040] The reference numerals in the specific implementation manner are as follows:

[0041] Substation operating device 100;

[0042] Mobile chassis 110, walking surface B, chassis body 111, mobile crawler 112;

[0043] Driving surface D;

[0044] Operation and maintenance actuator 120, mechanical arm 121, gripper 122, porcelain bottle box 123, driving module 124;

[0045] A first telescopic arm F1, a second telescopic arm F2, and a third telescopic arm F3;

[0046] Obstacle surmounting mechanism 130, obstacle surmounting component 131;

[0047] Transfer member 131a, support member 131b, telescopic member 131c, first end e1, second end e2;

[0048] Guide groove c;

[0049] Driving state A, first obstacle overcoming state B1, second obstacle overcoming state B2;

[0050] Telescopic legs 140;

[0051] Gully G;

[0052] Moving direction M;

[0053] The first direction F1, the second direction F2, and the third direction F3. DETAILED DESCRIPTION

[0054] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0055] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0056] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0057] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0058] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0059] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0060] FIG1 shows a schematic diagram of the three-dimensional structure of a substation operating device in an embodiment of the present application; for ease of explanation, only the contents related to the embodiment of the present application are shown.

[0061] Please refer to Figure 1. The embodiment of the present application provides a substation operation device 100, including a mobile chassis 110, an operation and maintenance execution mechanism 120 and an obstacle crossing mechanism 130. In the embodiment of the present application, the first direction F1, the second direction F2 and the front and rear directions of the mobile chassis 110 intersect each other, and the front and rear directions of the mobile chassis 110 are defined as a third direction F3. The first direction F1, the second direction F2 and the third direction F3 are perpendicular to each other. The first direction F1, the second direction F2 and the third direction F3 are exemplarily described for reference.

[0062] The mobile chassis 110 has a walking surface B for contacting the driving surface D where the substation operating device 100 is located, wherein the walking surface B is the surface of the mobile chassis 110 in contact with the ground or other medium. The operation and maintenance execution mechanism 120 is arranged on the mobile chassis 110. The obstacle crossing mechanism 130 includes two obstacle crossing components 131, and the two obstacle crossing components 131 are respectively arranged on both sides of the mobile chassis 110 along the first direction F1.

[0063] The obstacle surmounting assembly 131 is configured to be able to move relative to the mobile chassis 110 along the front and rear directions of the mobile chassis 110, so as to extend or retract relative to the mobile chassis 110. Here, the "front and rear directions" refer to the front and rear directions when the mobile chassis 110 moves linearly. The obstacle surmounting assembly 110 is also configured to be able to move relative to the mobile chassis 110 along the second direction F2, so as to separate from or contact the driving surface D.

[0064] Specifically, when the substation operating device 100 faces different road conditions and obstacles, the obstacle crossing component 131 can be adjusted in position according to the specific situation. When the mobile chassis 110 encounters an obstacle while moving forward, the obstacle crossing component 131 can be extended relative to the mobile chassis 110 along the front-to-back direction of the mobile chassis 110 so as to reach the obstacle. The extension of the obstacle crossing component 131 can increase the overall length of the device and provide necessary support and assistance for crossing the obstacle. In this way, it is easier to deal with various obstacles and improve the passing ability in complex environments. When the device is traveling on a relatively flat road, the obstacle crossing component 131 can be retracted relative to the mobile chassis 110 along the front-to-back direction of the mobile chassis 110. In this way, the obstacle crossing component 131 can reduce unnecessary volume occupation and enable the device to travel more smoothly.

[0065] In addition, when it is necessary to overcome obstacles, the obstacle-overcoming component 110 can also move relative to the mobile chassis 110 along the second direction F2, so as to contact the driving surface D, which can provide additional support for the device to cross obstacles, making the device more stable and safe during the obstacle-overcoming process. When it is not necessary to overcome obstacles, the obstacle-overcoming component 110 can be retracted relative to the mobile chassis 110 along the second direction F2, so as to be separated from the driving surface D, so as to facilitate the smooth passage of the device.

[0066] In this way, since the two obstacle crossing components 131 are respectively arranged on both sides of the mobile chassis 110 along the first direction F1, they can not only generate relative movement along the front and rear directions of the mobile chassis 110 to extend or retract relative to the mobile chassis 110, but also generate relative movement with the mobile chassis 110 along the second direction F2 to separate from or contact the driving surface D, thereby improving the flexibility and stability of the device when crossing obstacles, and also allowing the device to reach the work site more smoothly, thereby improving the operating efficiency of the device.

[0067] In addition, in the embodiment of the present application, a remote control processing module can be set on the device to control the entire device, so that the operator can better operate and control the substation operation device 100 within the relative distance range of the observable substation operation device 100. Correspondingly, the remote control processing module can be electrically connected to the driving mechanism of the obstacle crossing component 131, so that the operator issues relevant instructions through the operating device, and the remote control processing module responds to the instructions to control the action of the obstacle crossing component 131. The remote control processing module can also be electrically connected to the driving mechanism of the mobile chassis 110, and the operator issues relevant instructions through the operating device, and the remote control processing module responds to the instructions to control the movement of the mobile chassis 110 so that the walking surface B and the driving surface D produce relative movement, and the rotation speed of the driving mechanism can also be controlled to achieve the control of the moving speed. The remote control processing module can also be electrically connected to the operation and maintenance execution mechanism 120, and the operator issues relevant instructions through the operating device, and the remote control processing module responds to the instructions to control the operation and maintenance execution mechanism 120 to perform corresponding operations. Of course, corresponding settings can also be made according to actual conditions, and no specific restrictions are made here.

[0068] Figure 2 shows a structural schematic diagram of the substation operating device in Figure 1 in a driving state, Figure 3 shows a structural schematic diagram of the substation operating device in Figure 1 in a first obstacle crossing state, Figure 4 shows a partial structural schematic diagram of the substation operating device in Figure 1 in a second obstacle crossing state, Figure 5 shows another partial structural schematic diagram of the substation operating device in Figure 1 in the second obstacle crossing state, and Figure 6 is another partial structural schematic diagram of the substation operating device in Figure 1 in the second obstacle crossing state; for ease of explanation, only the content related to the embodiments of the present application is shown.

[0069] In some embodiments, please continue to refer to FIG. 1, and in combination with FIG. 2 to FIG. 6, the substation operation device 100 has a driving state A, a first obstacle crossing state B1, and a second obstacle crossing state B2. The obstacle in the embodiment of the present application is a gully G. Of course, in other embodiments, the obstacle may also be a cable well, etc., which is not specifically limited here.

[0070] As shown in FIG2 , in driving state A, the obstacle crossing component 131 is separated from the driving surface D, and the obstacle crossing component 131 is retracted relative to the mobile chassis 110. Specifically, when the substation operating device 100 is on a relatively flat road or there are no obstacles to be crossed, the obstacle crossing component 131 is separated from the driving surface D, and the obstacle crossing component 131 will not generate friction with the ground or interfere with the smooth driving of the device. At the same time, the obstacle crossing component 131 is retracted relative to the mobile chassis 110 along the moving direction of the mobile chassis 110, so that the entire device presents a more compact shape, which allows the device to travel on a flat road more efficiently. Since the obstacle crossing component 131 is in a retracted state, the risk of the device being accidentally collided or damaged during driving can also be reduced, thereby improving the reliability of the device.

[0071] As shown in FIG3 , in the first obstacle crossing state B1, the obstacle crossing component 131 is separated from the driving surface D, and the obstacle crossing component 131 extends in front of the mobile chassis 110. Specifically, when the device needs to cross the gully G, the obstacle crossing component 131 is separated from the driving surface D, so that the obstacle crossing component 131 can extend in front of the mobile chassis 110 along the moving direction of the mobile chassis 110, so that it can reach the gully G in advance, and prepare for the subsequent crossing of the gully G by the device. The extension length of the obstacle crossing component 131 can be adjusted accordingly according to the size and shape of the gully G, so that the device can subsequently cross the obstacle safely and stably. In addition, the device can control the extension length of the obstacle crossing component 131, so as to reduce collision or jamming with obstacles, and also enable the device to smoothly return to a normal driving state after crossing the obstacle.

[0072] As shown in Figures 4 to 6, in the second obstacle crossing state B2, the obstacle crossing component 131 is in contact with the driving surface D, and the obstacle crossing component 131 can switch between extending and retracting relative to the mobile chassis 110. Specifically, the obstacle crossing component 131 extends relative to the mobile chassis 110 along the second direction F2, and the obstacle crossing component 131 is in contact with the driving surface D, so that the obstacle crossing component 131 can be supported on the driving surface D and provide appropriate support force so that the device can smoothly cross the obstacle. When the device crosses the gully G, the obstacle crossing component 131 retracts relative to the mobile chassis 110 along the second direction F2, and the obstacle crossing component 131 is separated from the driving surface D, so that the device can travel normally afterwards.

[0073] In this way, when the device encounters an obstacle, it switches from the driving state A to the first obstacle-crossing state B1, and then switches to the second obstacle-crossing state B2. In this process, the obstacle-crossing component 131 extends in front of the mobile chassis 110, and then extends relative to the mobile chassis 110 along the second direction F2, and contacts the driving surface D on both sides of the gully G. The two obstacle-crossing components 131 are supported on both sides of the front of the device along the first direction F1, so that the device can be more evenly stressed on both sides of the first direction F1 when crossing the gully G, thereby moving more smoothly. At the same time, the two obstacle-crossing components 131 are supported on both sides of the gully G along the front-to-back direction of the mobile chassis. When the device crosses the gully G, the two obstacle-crossing components 131 can provide support force on both sides of the front-to-back direction of the mobile chassis, so that even if the device fluctuates, it can cross the gully G more stably. In addition, when encountering an obstacle that is relatively protruding from the running surface D, such as a cable well with a well cover, the operator can operate and control the two obstacle-crossing components 131 to extend in front of the mobile chassis, and make the two obstacle-crossing components 131 contact the relatively flat running surface D on both sides of the obstacle along the second direction F2. Since the two obstacle-crossing components 131 are supported on the relatively flat running surface D on both sides of the obstacle along the front-rear direction of the mobile chassis, a more stable supporting force can be provided. Even when the device crosses an obstacle that is protruding relative to the running surface D, it can cross the obstacle more stably.

[0074] In some embodiments, please continue to refer to Figures 4 to 6. In the second obstacle overcoming state B2, the obstacle overcoming component 131 can switch along the front and rear direction of the mobile chassis 110 between a position extending in front of the mobile chassis 110, a position retracted relative to the mobile chassis 110, and a position extending behind the mobile chassis 110.

[0075] As shown in Figures 4 and 5, when the device encounters a gully G during its forward movement, the obstacle crossing component 131 can be switched to a position extending in front of the mobile chassis 110. After the obstacle crossing component 131 extending in front can reach above the gully G, the obstacle crossing component 131 can be extended relative to the mobile chassis 110 along the second direction F2, so that the obstacle crossing component 131 contacts the driving surface D, and prepares for the obstacle crossing action of the entire device. The obstacle crossing component 131 extending in front and contacting the driving surface D can also provide a certain support force for the mobile chassis 110. At this time, the substation operating device 100 moves relative to the obstacle crossing component 131 in the moving direction of the mobile chassis 110 to cross the gully G. In this way, the contact between the obstacle crossing component 131 and the driving surface D can help the device cross the gully G more smoothly.

[0076] As shown in FIG6 , after the device passes over the gully G, the obstacle crossing component 131 can be retracted relative to the mobile chassis 110 along the second direction F2, so that the device can travel on a relatively flat road or travel normally without the need for obstacle crossing operations. At this time, the obstacle crossing component 131 is in a position extending behind the mobile chassis 110. The obstacle crossing component 131 extending behind the mobile chassis 110 can be retracted relative to the mobile chassis 110 along the front-rear direction of the mobile chassis 110, which can reduce the overall volume of the device and improve the efficiency of the device. At the same time, the retracted obstacle crossing component 131 will not interfere with the normal travel of the device, and can make the device move more smoothly.

[0077] In this way, since the obstacle surmounting component 131 can be switched along the front-rear direction of the mobile chassis 110 between a position extending in front of the mobile chassis 110, a position retracted relative to the mobile chassis 110, and a position extending behind the mobile chassis 110, the flexibility of the obstacle surmounting process can be improved. At the same time, the flexible switching of the obstacle surmounting component 131 can make the device complete the obstacle surmounting operation more conveniently, reducing the risk of interruption of operation and waste of time due to difficulty in surmounting obstacles.

[0078] FIG7 is a schematic diagram showing a partial exploded structure of the substation operating device in FIG1 ; for ease of explanation, only the contents related to the embodiment of the present application are shown.

[0079] In some embodiments, please continue to refer to FIG. 1 and combine with FIG. 7 , the obstacle crossing assembly 131 includes a transfer member 131 a , a support member 131 b and a telescopic member 131 c .

[0080] The transfer member 131a is configured to controllably move relative to the mobile chassis 110 along the front-to-back direction of the mobile chassis 110. When the obstacle crossing component 131 needs to be extended, the transfer member 131a will move toward the front of the mobile chassis 110, driving the telescopic member 131c and the support member 131b connected thereto to move together. When the obstacle crossing component 131 needs to be retracted, the transfer member 131a will move in the opposite direction, so that the obstacle crossing component 131 can be moved to a suitable position. In some embodiments, the substation operating device 100 can be provided with a corresponding driving mechanism to drive the transfer member 131a to move relative to the mobile chassis 110 along the front-to-back direction of the mobile chassis 110. A motor and a worm gear transmission mechanism can be provided to drive the transfer member 131a, so that the transfer member 131a can achieve a linear motion relative to the mobile chassis 110 along the front-to-back direction of the mobile chassis 110. Of course, other driving mechanisms may also be used, as long as they can drive the transfer member 131a to perform linear motion. They can be configured according to actual conditions and are not specifically limited here.

[0081] The support member 131b is a component that plays an important supporting and stabilizing role in the obstacle crossing assembly 131, and is longitudinally extended along the moving direction of the mobile chassis 110. During the obstacle crossing process, when the obstacle crossing assembly 131 contacts the driving surface D, the support member 131b will play a role in supporting the entire device, improving the stability of the device, and allowing the device to smoothly cross the obstacle. At the same time, the support member 131b can also be adjusted according to different terrains and obstacle conditions, which can improve the stability of the device during the obstacle crossing process.

[0082] The telescopic member 131c refers to a component in the obstacle crossing component 131 that realizes contact or separation with the driving surface D, and is configured to be able to extend or retract along the second direction F2. The telescopic member 131c has a first end e1 and a second end e2 that are relatively arranged along the second direction F2, the first end e1 is connected to the transfer member 131a, and the second end e2 is connected to the support member 131b. When the transfer member 131a drives the support member 131b and the telescopic member 131c to reach the top of the obstacle, the telescopic member 131c extends so that the support member 131b contacts the driving surface D, so that the device can smoothly cross the obstacle. After crossing the obstacle, the telescopic member 131c retracts to separate the support member 131b from the driving surface D, so that the device can travel normally afterwards.

[0083] In this way, the transfer member 131a, the support member 131b and the telescopic member 131c work together to enable the device to smoothly cross obstacles and enhance stability during the obstacle crossing process. At the same time, it also enables the device to reach the work site more quickly, thereby improving work efficiency.

[0084] FIG8 shows a partial three-dimensional structural schematic diagram of the substation operating device in FIG1 ; for ease of explanation, only the contents related to the embodiment of the present application are shown.

[0085] In some embodiments, please continue to refer to FIG. 1 and combine with FIG. 8 , a guide groove c is provided on the side of the movable chassis 110 facing the driving surface D.

[0086] The guide groove c enables the obstacle surmounting assembly 131 to move relative to the moving chassis 110 along the moving direction of the moving chassis 110. The guide groove c extends along the moving direction of the moving chassis 110, and the transfer member 131a is movable and matched with the guide groove c along the moving direction of the moving chassis 110.

[0087] "Moveable fit" means that the transfer member 131a can slide along the moving direction of the mobile chassis 110 within the range defined by the guide groove c, and the transfer member 131a and the guide groove c are adapted to each other in terms of size and shape, so that the transfer member 131a can move smoothly in the guide groove c without getting stuck, loose, or detached. The size and shape of the transfer member 131a and the guide groove c can be set according to actual needs and are not specifically limited here.

[0088] In this way, the transfer member 131a can be movably matched with the guide groove c along the moving direction of the mobile chassis 110, so that the obstacle surmounting component 131 can reach the position of the obstacle more accurately during the extension or retraction process, thereby improving the reliability of the obstacle surmounting process.

[0089] In some embodiments, please continue to refer to Figures 1 and 8, the telescopic member 131c is configured as a hydraulic cylinder or a pneumatic cylinder, which can be configured according to actual conditions and is not specifically limited here.

[0090] In this way, since the telescopic member 131c is configured as a hydraulic cylinder or a pneumatic cylinder, the supporting member 131b can stably move along the second direction F2, thereby improving the reliability of the telescopic member 131c.

[0091] In some embodiments, please continue to refer to Figures 1 and 8, a plurality of telescopic members 131c are provided, and the plurality of telescopic members 131c are arranged at intervals along the moving direction of the moving chassis 110. The corresponding intervals can be arranged according to actual needs, and no specific limitation is made here.

[0092] In this way, the multiple telescopic members 131c are arranged at intervals along the moving direction of the mobile chassis 110, which can provide a more stable support for the device. The multiple telescopic members 131c can better disperse the pressure and reduce the situation of excessive local force, thereby further improving the stability of the device. At the same time, it can also reduce the risk of tilting, shaking or overturning of the device when crossing obstacles, thereby making the device safer to cross obstacles.

[0093] In some embodiments, please continue to refer to FIG. 1 and FIG. 8 , the mobile chassis 110 includes a chassis body 111 and two mobile tracks 112 disposed on the bottom side of the chassis body 111 .

[0094] Specifically, the two moving tracks 112 are arranged opposite to each other and spaced apart along the first direction F1, and the two moving tracks 112 are configured to drive the chassis body 111 to move along the moving direction of the moving chassis 110. In the embodiment of the present application, the device is provided with a motor-driven gear transmission system to respectively drive the two moving tracks 112 to move. Of course, other driving mechanisms can also be provided according to actual needs, which are not specifically limited here.

[0095] "Relative" means that the two mobile tracks 112 are arranged face to face on the bottom side of the chassis body 111. "Interval arrangement" means that there is a certain distance between the two mobile tracks 112. The size of this distance can be determined according to specific design requirements and actual application scenarios, and is not specifically limited here. The purpose of the interval arrangement is to enable the two mobile tracks 112 to operate independently while providing better stability and balance for the chassis body 111. When the device is traveling on uneven ground, the mobile tracks 112 arranged at intervals can better adapt to changes in terrain and reduce the shaking and tilting of the chassis body 111. In addition, the mobile tracks 112 arranged at intervals also provide space for the installation and layout of other components, which can make the structure of the entire substation operating device 100 more reasonable and compact. The mobile track 112 can also be provided with an anti-skid structure on its surface, so that the mobile track 112 is more stable during movement. The anti-skid structure can be toothed or in other shapes, as long as it has an anti-skid effect, and can be set according to actual needs, and is not specifically limited here.

[0096] When the device encounters an obstacle, the extension distance of the obstacle surmounting assembly 131 can be adjusted according to the distance between the device and the obstacle. At the same time, the obstacle surmounting assembly 131 is extended and retracted relative to the mobile chassis along the front-rear direction of the mobile chassis 110, or the obstacle surmounting assembly 131 is extended and retracted relative to the mobile chassis along the second direction F2, and the mobile crawler 112 can be moving or stationary, and can be adjusted according to actual conditions, and no specific limitation is made here.

[0097] In addition, when the rotation direction of the two mobile crawlers 112 needs to be changed, the rotation speed of the mobile crawlers 112 on both sides can be adjusted according to the turning demand. For example, when the device needs to turn left, the rotation speed of the mobile crawler 112 on the left side slows down, while the rotation speed of the mobile crawler 112 on the right side is correspondingly accelerated. In this way, the distance that the mobile crawler 112 on the right side advances is greater than the mobile crawler 112 on the left side, thereby realizing the device turning to the left. Similarly, when turning right, the rotation speed of the mobile crawler 112 on the right side slows down, and the rotation speed of the mobile crawler 112 on the left side is accelerated. Since the two mobile crawlers 112 are arranged on the bottom side of the chassis body 111, the mobile chassis 110 is connected to the two mobile crawlers 112 through the chassis body 111. When the two mobile crawlers 112 turn, the mobile crawler 112 can drive the mobile chassis 110 to turn through the chassis body 111, so that the mobile chassis 110 can turn following the turning of the two mobile crawlers 112.

[0098] In this way, the two mobile crawlers 112 are arranged oppositely and at intervals on the bottom side of the chassis body 111, providing a support basis for the entire substation operating device 100, which can better disperse the weight of the device, thereby improving the stability of the device during driving, obstacle crossing and operation.

[0099] In some embodiments, please continue to refer to FIG. 1 , the operation and maintenance execution mechanism 120 includes a robotic arm 121 , a gripper 122 , and a porcelain bottle box 123 .

[0100] Specifically, the mechanical arm 121 is arranged on the mobile chassis 110. The mechanical arm 121 has a high degree of flexibility and operability, can perform various complex movements in three-dimensional space, and can reach different positions and angles. The clamp 122 is arranged at the execution end of the mechanical arm 121 and can be used to grab porcelain bottles. Exemplarily, taking Figure 1 as an example, it is illustrated that the operation and maintenance actuator 120 has two clamps 122, and the distance between the two clamps 122 can be adjusted, so that porcelain bottles of different sizes and lengths can be grabbed. The specific length adjustment can be set according to actual conditions, and no specific restrictions are made here. The porcelain bottle box 123 is arranged on the mobile chassis 110 and is located on the movement path of the clamp 122. The porcelain bottle box 123 can be used to store and transport porcelain bottles used in the substation. Of course, some other equipment can also be stored and transported, which is not limited here. During the operation of the substation operation device 100, the porcelain bottle box 123 can more conveniently provide the mechanical arm 121 with a porcelain bottle storage and pick-up position. When the porcelain bottle needs to be replaced, the mechanical arm 121 can take out the porcelain bottle from the porcelain bottle box 123 and install it in the corresponding position. The porcelain bottle box 123 can improve the efficiency and safety of the device operation and reduce the damage and loss of the porcelain bottle.

[0101] Exemplarily, taking FIG. 1 as an example, it illustrates a situation in which the robot arm 121 has a first telescopic arm F1, a second telescopic arm F2 and a third telescopic arm F3. When the device is operating, the robot arm 121 can have three movement situations. The first situation: the hydraulic rod of the robot arm 121 telescopically moves, thereby driving the first telescopic arm F1, the second telescopic arm F2 and the third telescopic arm F3 to perform corresponding telescopic movements. The second situation: the hydraulic rod of the robot arm 121 and the first telescopic arm F1 do not move, and the second telescopic arm F2 telescopically moves, thereby driving the third telescopic arm F3 to telescopically move. The third situation: the hydraulic rod of the robot arm 121, the first telescopic arm F1 and the second telescopic arm F2 do not move, and the third telescopic arm F3 telescopically moves. These three situations can more accurately enable the gripper 122 at the end of the robot arm 121 to reach the position where the equipment needs to be replaced. After grabbing the porcelain bottle, the robot arm 121 returns to the top of the porcelain bottle box 123, and the gripper 122 releases the porcelain bottle into the porcelain bottle box 123, and then grabs a new porcelain bottle and returns to the equipment that needs to be replaced for safe installation, completing the porcelain bottle replacement operation.

[0102] By placing the mechanical arm 121 on the mobile chassis 110 and the clamp 122 at the execution end of the mechanical arm 121, the mechanical arm 121 can drive the clamp 122 to operate flexibly, thereby reaching different positions of the equipment in the substation. At the same time, the porcelain bottle box 123 is located on the movement path of the clamp 122, which makes it more convenient for the clamp 122 to quickly obtain and store porcelain bottles. In this way, the operation and maintenance actuator 120 can reach different positions more safely and quickly, and perform inspection and maintenance on the equipment in the substation, reducing the time and energy required for manual operation and improving work efficiency.

[0103] In some embodiments, please continue to refer to FIG. 1 and FIG. 8 , the operation and maintenance execution mechanism 120 also includes a steering drive module 124 .

[0104] Specifically, the steering drive module 124 is arranged on the mobile chassis 110 and connected to the mechanical arm 121, and the mechanical arm 121 can rotate relative to the mobile chassis 110 under the drive of the steering drive module 124. The steering drive module 124 provides the mechanical arm 121 with the ability to rotate in situ, so that when the mobile chassis 110 is stationary, the orientation of the clamping claw 122 can be flexibly adjusted to meet the operating needs of equipment at different positions around. The steering drive module 124 can be a structural form of a motor and a rotating shaft, that is, the motor is connected to the mechanical arm 121 through a rotating shaft; it can also be a structural form of a motor, a gear seat, and a gear ring, that is, the motor is connected to the gear seat, the gear ring is installed on the mechanical arm 121, and the gear ring is meshed and installed with the gear seat, etc. It can be set according to actual needs, and no specific restrictions are made here.

[0105] In this way, the steering drive module 124 is arranged on the mobile chassis 110 and connected to the robotic arm 121. The robotic arm 121 can rotate relative to the mobile chassis 110 under the drive of the steering drive module 124, thereby increasing the range of motion and operability of the robotic arm 121, so that the robotic arm 121 can perform inspection, maintenance and other operations on the equipment of the substation at different angles and directions, thereby improving the flexibility and efficiency of the operation.

[0106] In some embodiments, please continue to refer to FIG. 1 , the robot arm 121 is configured to have six axes of freedom.

[0107] The robot arm 121 is configured with six axes of freedom, which enables the robot arm 121 to perform six independent movements in three-dimensional space. The robot arm 121 can perform translational movements along three coordinate axes (X, Y, and Z axes), which enables the robot arm 121 to move between different positions and reach various parts of the substation equipment. The robot arm 121 can also perform rotational movements around three coordinate axes. Rotation around the X axis is usually called pitch motion, and the robot arm 121 can adjust the angle of the clamp 121 at its end through pitch motion to better adapt to the operation requirements of different heights and angles. Rotation around the Y axis is usually called yaw motion, and the yaw motion of the robot arm 121 enables it to adjust its orientation in the horizontal direction to better align with the operation target. Rotation around the Z axis is usually called roll motion, and the roll motion of the robot arm 121 can further adjust the clamp 121 at the end, so that the accuracy of the angle can be improved when the clamp 121 is operated in a complex operating environment.

[0108] In some embodiments, please continue to refer to FIG. 1 , the substation operating device 100 further includes a plurality of telescopic legs 140 disposed on the mobile chassis 110 .

[0109] The multiple telescopic legs 140 are configured to be controllably retractable so that the multiple telescopic legs 140 can switch between a supporting state in cooperation with the driving surface D and a retracted state in which the telescopic legs 140 are retracted to the mobile chassis 110. Specifically, in the non-working state, the telescopic legs 140 are retracted on the mobile chassis 110 to reduce the lateral dimensions of the substation operating device 100, thereby improving the passability in narrow spaces. In the working state, the telescopic legs 140 are movably deployed and supported on the ground, thereby forming an auxiliary lateral support effect for the mobile chassis 110, which helps to improve the stability of the substation operating device 100 during operation and reduce the risk of tipping due to unstable center of gravity caused by hoisting heavy objects.

[0110] In this way, when the multiple telescopic legs 140 are in a supporting state, they can form a stable supporting cooperation with the driving surface D, thereby effectively reducing the risk of shaking, tilting or moving of the device during operation, which is conducive to improving the accuracy of the operation. During the driving process of the device, the retracted telescopic legs 140 will not protrude from the mobile chassis 110, reducing the risk of collision with obstacles and improving the moving safety of the device.

[0111] FIG9 shows a partial three-dimensional structural schematic diagram of the substation operating device in FIG1 ; for ease of explanation, only the contents related to the embodiment of the present application are shown.

[0112] Based on the same inventive concept, please refer to FIG. 9 , an embodiment of the present application provides an obstacle crossing method for a substation operation device, the substation operation device is the substation operation device in any of the above embodiments, and the obstacle crossing method comprises the following steps:

[0113] Step S110, when encountering an obstacle, control the two obstacle-crossing components 131 to extend in front of the moving chassis 110 along the front-rear direction and extend in the second direction F2, so that the two obstacle-crossing components 131 are supported on the driving surface D.

[0114] Specifically, the operator is within the relative range of the observable device and can determine whether the device encounters an obstacle. When the operator observes that the device is about to encounter an obstacle, he is ready to start the obstacle-crossing operation. At this time, as shown in FIG. 2 , the device is in a normal driving state A, and the obstacle-crossing component 131 is separated from the driving surface D and retracted relative to the mobile chassis 110. The operator issues relevant instructions through the operating device, and the remote control processing module on the device responds to the instructions to control the two obstacle-crossing components 131 to extend in front of the mobile chassis along the front and rear direction of the mobile chassis 110 and extend in the second direction F2, so that the two obstacle-crossing components 131 are supported on the driving surface D on both sides of the gully G. As shown in FIGS. 2 to 4 , the obstacle-crossing component 131 extends forward from the mobile chassis 110, and then contacts the driving surface D to provide support for the device. In this process, the operator can adjust the length of the obstacle-crossing component 131 according to the actual situation, so that the obstacle-crossing component 131 can support the device more stably. As shown in FIG. 5 , after the obstacle crossing component 131 is supported on the driving surface D, the device starts to cross the gully G, and the mobile chassis 110 moves forward relative to the obstacle crossing component 131 , and gradually crosses the gully G with the support of the obstacle crossing component 131 .

[0115] Step S120 , when the mobile chassis 110 crosses over the obstacle, the two obstacle-crossing components 131 are controlled to retract along the second direction F1 and along the moving direction of the mobile chassis 110 , so that the two obstacle-crossing components 131 are separated from the driving surface D.

[0116] Specifically, as shown in FIG6 , after the mobile chassis 110 completely crosses the gully G, the operator again issues a command through the operating device, and the remote control processing module on the device responds to the command to control the two obstacle crossing components 131 to retract along the second direction F2, and can retract along the front and rear directions of the mobile chassis 110. At this time, the two obstacle crossing components 131 are separated from the driving surface D, and the obstacle crossing components 131 return to the normal driving state A.

[0117] When encountering an obstacle, the substation operation device 100 controls the extension and retraction of the obstacle crossing component 131, so that the device can cross the obstacle more quickly, more simply and more stably. This efficient obstacle crossing method can enable subsequent operation tasks to be completed in time, thereby improving the operation efficiency of the overall device.

[0118] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0119] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A substation operation device, characterized in that: include: A mobile chassis having a walking surface for contacting a traveling surface on which a substation operating device is located; An operation and maintenance execution mechanism is arranged on the mobile chassis; and The obstacle-crossing mechanism comprises two obstacle-crossing components, wherein the two obstacle-crossing components are respectively arranged on two sides of the mobile chassis along a first direction; The obstacle-crossing assembly is configured to be able to move relative to the mobile chassis along the front and rear directions of the mobile chassis, so as to extend or retract relative to the mobile chassis; the obstacle-crossing assembly is also configured to be able to move relative to the mobile chassis along the second direction, so as to separate from or contact the driving surface; The first direction, the second direction and the front-rear direction of the mobile chassis intersect each other.

2. The substation operation device according to claim 1, characterized in that: The substation operation device has a driving state, a first obstacle-crossing state, and a second obstacle-crossing state; In the driving state, the obstacle-crossing assembly is separated from the driving surface, and the obstacle-crossing assembly is retracted relative to the mobile chassis; In the first obstacle-crossing state, the obstacle-crossing component is separated from the driving surface, and the obstacle-crossing component extends in front of the mobile chassis; In the second obstacle-overcoming state, the obstacle-overcoming assembly is in contact with the running surface, and the obstacle-overcoming assembly can be switched between being extended and retracted relative to the mobile chassis.

3. The substation operation device according to claim 2, characterized in that: In the second obstacle overcoming state, the obstacle overcoming component can be switched along the front-rear direction of the mobile chassis between a position extending in front of the mobile chassis, a position retracted relative to the mobile chassis, and a position extending behind the mobile chassis.

4. The substation operation device according to any one of claims 1 to 3, characterized in that: The obstacle crossing component comprises: A transfer member configured to controllably move relative to the mobile chassis along the front-rear direction of the mobile chassis; A support member extending longitudinally along the front-rear direction of the mobile chassis; and The telescopic member is configured to be able to extend or retract along the second direction; the telescopic member has a first end and a second end arranged opposite to each other along the second direction, the first end is connected to the transfer member, and the second end is connected to the support member.

5. The substation operation device according to claim 4, characterized in that: A guide groove is provided on a side of the mobile chassis facing the driving surface; the guide groove is extended along the front-rear direction of the mobile chassis, and the transfer member is movable along the front-rear direction of the mobile chassis to fit in the guide groove; and / or The telescopic member is configured as a hydraulic cylinder or a pneumatic cylinder; and / or A plurality of the telescopic members are provided, and the plurality of the telescopic members are arranged at intervals along the moving direction of the moving chassis.

6. The substation operation device according to any one of claims 1 to 3, characterized in that: The mobile chassis comprises a chassis body and two mobile crawlers arranged on the bottom side of the chassis body; The two moving crawlers are arranged opposite to each other and at intervals along the first direction, and the two moving crawlers are configured to be able to drive the chassis body to move along the front-rear direction of the moving chassis.

7. The substation operation device according to any one of claims 1 to 3, characterized in that: The operation and maintenance execution mechanism includes a mechanical arm, a gripper and a porcelain bottle box; The mechanical arm is arranged on the mobile chassis, and the clamp is arranged at the execution end of the mechanical arm; the porcelain bottle box is arranged on the mobile chassis and is located on the movement path of the clamp.

8. The substation operation equipment according to claim 7, characterized in that: The operation and maintenance execution mechanism further includes a steering drive module, which is disposed on the mobile chassis and connected to the mechanical arm, and the mechanical arm can rotate relative to the mobile chassis under the drive of the steering drive module; and / or The robotic arm is configured to have six axes of freedom.

9. The substation operation device according to any one of claims 1 to 3, characterized in that: The substation operating device also includes a plurality of telescopic legs arranged on the mobile chassis; the plurality of telescopic legs are configured to be controllably retractable so that the plurality of telescopic legs can switch between a supporting state cooperating with the travel surface support and a retracted state retracted in the mobile chassis.

10. An obstacle surmounting method for a substation operation device, characterized in that: The substation operation device is the substation operation device according to any one of claims 1 to 9; the obstacle crossing method comprises: In case of encountering an obstacle, controlling the two obstacle-crossing components to extend in front of the mobile chassis along the front-rear direction of the mobile chassis and extend in the second direction, so that the two obstacle-crossing components are supported on the driving surface; When the mobile chassis crosses an obstacle, the two obstacle-crossing components are controlled to retract along the second direction and along the front-rear direction of the mobile chassis, so that the two obstacle-crossing components are separated from the driving surface.

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