Tubular busbar drainage wire detaching and erecting robot applied to high-voltage transformer substation

Abstract

The invention discloses a tubular busbar drainage wire detaching and erecting robot applied to a high-voltage transformer substation, and relates to the technical field of robots. Comprising a trolley, a controller and an insulation lifting frame, a plurality of first X-axis sliding rails are fixed to the top of the insulation lifting frame in the axis direction of a tubular bus, a sliding plate is arranged at the tops of the first X-axis sliding rails, a plurality of Y-axis sliding rails perpendicular to the first X-axis sliding rails are fixed to the top of the sliding plate, and a supporting table is arranged at the tops of the Y-axis sliding rails. The device is provided with the trolley, the related rails, the two six-axis mechanical arms, the first camera, the second camera, the pressure sensor, the positioning sensor and other parts, and a worker can control the disassembling and assembling robot to disassemble an old drainage wire and assemble a new drainage wire in a safe area; therefore, the safety of disassembling and assembling the tubular bus and the drainage wire of the transformer substation is improved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a robot for dismantling and erecting mother pipe drain lines in high-voltage substations. 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 constantly increasing. In order to reduce power outage time or even avoid power outages, power supply companies in various places have accelerated the development and promotion of live operations. Substations are places in the power system that transform voltage and current, receive and distribute electrical energy.

[0003] In the tube bus system, the lapped drain wire is used to connect the tube bus with other power equipment to ensure smooth current transmission. However, as time goes by, some old drain wires may have aged or been damaged. In order to ensure the normal operation and safety of the power system, these old drain wires need to be removed and replaced with new and better-performing drain wires. Alternatively, with the continuous advancement and upgrading of power system technology, some old drain wires may not meet the new system requirements. In order to improve the performance and stability of the system, these old drain wires need to be removed and replaced with drain wires that meet the requirements of the new system.

[0004] There are many problems in the live work of dismantling and installing the main busbar of the transformer substation: First, the power workers use insulating ladders or insulating equipment to climb the main busbar and perform the work in an equipotential manner. First, high-voltage live work is very harmful to the human body. Second, the power workers have a small space for maintenance of the main busbar of the transformer substation, and they cannot accurately control the safety distance, which is prone to danger and very dangerous. Second, the power workers need to carefully check each step before the operation, and start the live work after confirming that there is no error. The inspection process takes a long time and the work efficiency is low. Summary of the invention

[0005] The object of the present invention is to provide a robot for dismantling and erecting mother pipe drain lines in high-voltage substations to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a robot for dismantling and erecting a mother tube drainage line in a high-voltage substation, comprising a trolley, a controller and an insulating lifting frame, wherein a plurality of first X-axis slide rails are fixed on the top of the insulating lifting frame along the axis direction of the mother tube, a slide plate is arranged on the top of the first X-axis slide rail, a plurality of Y-axis slide rails perpendicular to the first X-axis slide rail are fixed on the top of the slide plate, and a support platform is arranged on the top of the Y-axis slide rail;

[0007] Two second X-axis slide rails are symmetrically fixed on the top of the support platform facing the guide plate, and the first six-axis mechanical arm and the second six-axis mechanical arm are respectively fixed on the two second X-axis slide rails through sliders. A channel is formed on the opposite sides of the two second X-axis slide rails, and at least one ranging sensor and at least two first cameras are fixed in the middle of the channel;

[0008] The position of the tube busbar is detected by two distance measuring sensors and the first camera, and the position of the support platform is moved to ensure that the tube busbar is located directly above the channel;

[0009] Four through slots are provided on the back of the support table, and placement slots are provided on both sides of the through slots. A top plate clamping assembly, a new part clamping assembly, an old part clamping assembly and another top plate clamping assembly are sequentially placed in the placement slots from the second six-axis robot arm to the first six-axis robot arm;

[0010] The top plate clamping assembly, the new part clamping assembly and the old part clamping assembly all include a clamping part, the new part clamping assembly also includes a driving part and a mounting part for mounting the polygonal nut on the new guide plate, and the old part clamping assembly also includes a driving part and a disassembly part for disassembling the polygonal nut on the old guide plate;

[0011] Two mounting plates are arranged at the ends of the first connecting arms of the first six-axis robot arm and the second six-axis robot arm, and a pressure sensor is fixed between the two mounting plates;

[0012] The clamping part includes a top block, both sides of which are fixed with placement blocks, the placement blocks are adapted to the placement grooves, the bottom of the top block is movably provided with two clamping plates, the bottom of the top block is fixed with a double-headed electric telescopic rod through a connecting piece, and the two telescopic ends of the double-headed electric telescopic rod are respectively fixed to the two clamping plates;

[0013] The bottom mounting plates of the first six-axis robot arm and the second six-axis robot arm are connected to the top block of the clamping portion via a clamping portion;

[0014] The bottom of the top block of the new part clamping assembly and the old part clamping assembly are both connected with a second camera.

[0015] Preferably, the support platform is close to one side of the first six-axis robot arm, and at least two old parts placement positions for placing the base plate to be disassembled are arranged in the width direction of the support platform;

[0016] The old parts placement position includes a side plate, and a plurality of vertical rods are fixed to the top of the side plate, and the rod diameter of the vertical rods is smaller than the inner diameter of the threaded hole of the bottom plate.

[0017] Preferably, the support platform is close to one side of the second six-axis robot arm, and at least two new component placement positions for placing the base plate to be installed are arranged in the width direction of the support platform;

[0018] Among them, the new parts placement position includes a storage plate, and a number of plug rods are movably connected to the plate body on both sides of the storage plate. The plug rods are adapted to the threaded holes of the bottom plate, and a connecting plate is fixed at the bottom end of the plug rod, and a number of third springs are fixed between the connecting plate and the storage plate.

[0019] Preferably, a plurality of placement racks for placing top plates are fixed to the top of the support platform, a plurality of through holes are opened on the placement racks, and the through holes are adapted to the studs fixed at the bottom of the top plates, and placement racks extend from both sides of the top plates. After the top plates are placed, a gap is formed between two adjacent top plates.

[0020] Preferably, the driving member comprises two L-shaped plates, a rotating shaft and a motor, the output end of the motor is fixed to the end of the rotating shaft, a plurality of rotating drums are rotatably connected to the plate body of the L-shaped plate, a circular block is fixed to the top of the rotating drum, a driving wheel is fixed to the shaft body of the rotating shaft, and a belt is connected between the driving wheel and all the circular blocks;

[0021] When the driving wheel rotates, all the circular blocks are driven to rotate synchronously through the belt.

[0022] Preferably, the disassembling part comprises an annular block fixed on the top of the drum, a movable block is arranged on the top of the annular block, and a plurality of telescopic rods and a plurality of first springs are fixed between the movable block and the annular block;

[0023] A first polygonal groove is provided in the rotating drum, the first polygonal groove is matched with the polygonal nut, and a magnetic material is coated on the side wall of the first polygonal groove, and the magnetic material and the polygonal nut are attracted to each other.

[0024] Preferably, the mounting portion comprises a second polygonal groove provided in the drum, the second polygonal groove is adapted to the polygonal nut, and a magnetic material is coated on the side wall of the second polygonal groove, and the magnetic material is attracted to the polygonal nut;

[0025] A closing block is fixed on the top of the rotating drum, a magnetic plate is movably arranged in the rotating drum, and a second spring is fixed between the magnetic plate and the closing block.

[0026] Preferably, two symmetrically arranged positioning sensors are fixed on the bottom mounting plate of the first six-axis robotic arm or the second six-axis robotic arm, and two symmetrically arranged positioning receivers are fixed on the bottom mounting plate of the other first six-axis robotic arm or the second six-axis robotic arm.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The robot for dismantling and installing the mother pipe and drainage lines in high-voltage substations is equipped with a trolley, related tracks, two six-axis robotic arms, a first camera, a second camera, a pressure sensor, a positioning sensor and other components. Workers can control the dismantling robot to dismantle the old drainage lines and install the new drainage lines in a safe area, thereby improving the safety of dismantling and installing the mother pipe and drainage lines in the substation.

[0029] At the same time, the solution enables robots to dismantle and install substation busbars and drainage lines, eliminating the inspection steps required for manual installation in existing technologies and improving work efficiency.

[0030] In addition, a top clamping assembly, a new part clamping assembly, an old part clamping assembly, a new part placement position and an old part placement position are also provided. The old drainage line can be quickly removed through the relevant clamping assemblies, and the new drainage line can be quickly taken out and installed, which effectively improves the construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the working state of the present invention;

[0032] Figure 2 It is a left front axial view of the present invention;

[0033] Figure 3 It is a right rear axial view of the present invention;

[0034] Figure 4 This is an axial view of the present invention after removing the new part clamping assembly, the old part clamping assembly and the top plate clamping assembly;

[0035] Figure 5 It is an axial diagram of the top plate clamping assembly of the present invention;

[0036] Figure 6 It is an axial view of the old parts clamping assembly of the present invention;

[0037] Figure 7 An axial view of the novel clamping assembly of the present invention;

[0038] Figure 8 A half-section view of the new clamping assembly of the present invention;

[0039] Fig. 9 A detailed view of the placement rack of the present invention;

[0040] Fig.10 An axial view of the new part of the present invention in position;

[0041] Fig.11 It is a working state diagram between the top plate clamping assembly and the old part clamping assembly when the old guide plate of the present invention is removed;

[0042] Fig.12It is a connection diagram between the guide plate and the tube busbar of the present invention;

[0043] Fig.13 A detailed view of one of the robot arms of the present invention;

[0044] Fig.14 This is a visual field judgment diagram of the first camera when the trolley of the present invention moves to the optimal disassembly and assembly position;

[0045] Fig.15 This is a diagram showing the visual field of the second camera when disassembling components of the present invention;

[0046] Fig.16 This is a diagram showing the visual field of the first camera when the vehicle is moved according to the present invention.

[0047] In the figure: 1. Trolley; 2. Controller; 3. Insulated lifting frame; 401. First X-axis slide rail; 402. Slide plate; 403. Y-axis slide rail; 5. Support table; 501. Through slot; 502. Placement slot; 6. Second X-axis slide rail; 701. First six-axis robot arm; 702. Second six-axis robot arm; 8. New part placement position; 801. Storage plate; 802. Connecting plate; 803. Insert rod; 804. Third spring; 901. Side plate; 902. Vertical rod; 10. Top plate clamping assembly; 101. Top block; 102. Placement block; 103. Clamping plate; 104. Double-head electric telescopic rod; 11. New part Clamping assembly; 111, second camera; 112, magnetic plate; 113, second spring; 12, old parts clamping assembly; 121, L-shaped plate; 122, rotating drum; 123, circular block; 124, rotating shaft; 125, driving wheel; 126, annular block; 127, movable block; 128, first spring; 13, ranging sensor; 14, first camera; 15, placement rack; 16, drainage plate; 161, bottom plate; 162, top plate; 17, polygonal nut; 18, first connecting arm; 19, mounting plate; 20, pressure sensor; 21, positioning sensor; 22, busbar; 23, drainage line. DETAILED DESCRIPTION

[0048] 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.

[0049] like Figure 1-Figure 13 As shown, the present invention provides a technical solution: a robot for dismantling and installing a mother pipe drainage line in a high-voltage substation, comprising a trolley 1, a controller 2 and an insulating lifting frame 3, wherein the controller 2 controls the insulating lifting frame 3 to lift and lower. Figure 1As shown, a plurality of first X-axis rails 401 are fixed on the top of the insulating lifting frame 3 along the axial direction of the tube busbar 22, a slide plate 402 is arranged on the top of the first X-axis rail 401, and the driving component of the first X-axis rail 401 is controlled by the controller to operate so as to realize the movement of the slide plate 402 on the first X-axis rail 401, and a plurality of Y-axis rails 403 perpendicular to the first X-axis rail 401 are fixed on the top of the slide plate 402, and a support platform 5 is arranged on the top of the Y-axis rail 403. Similarly, the controller controls the driving component of the Y-axis rail 403 to operate so as to realize the movement of the support platform 5 on the Y-axis rail 403, thereby finally realizing the position adjustment of the support platform 5.

[0050] like Figure 2 As shown, two symmetrically arranged second X-axis slide rails 6 are fixed on the side of the top of the support platform 5 facing the guide plate 16, and the two second X-axis slide rails 6 are respectively fixed with the first six-axis robot 701 and the second six-axis robot 702 through sliders. The driving components of the second X-axis slide rails 6 are controlled by the controller to work, and the position of the first six-axis robot 701 or the second six-axis robot 702 on the corresponding second X-axis slide rails 6 is adjusted. It can be seen that the first six-axis robot 701 and the second six-axis robot 702 each have six rotating joints, each of which can move independently, so the robot can move flexibly in six degrees of freedom, including up and down. Movement, forward and backward movement, left and right movement, rotation around the X-axis, rotation around the Y-axis and rotation around the Z-axis are mature existing technologies and will not be repeated in this solution. It should be understood that although the six-axis robotic arm can move in multiple directions and complete complex operations, in this solution, two second X-axis slide rails 6 are still provided to drive the first six-axis robotic arm 701 and the second six-axis robotic arm 702 to move. The reason for this setting is that it can reduce the length of the corresponding arm body of the robotic arm, while reducing the manufacturing cost of the tube mother drainage line disassembly and assembly robot, it can also reduce its overall volume and weight, which is convenient for the operation and transportation of the tube mother drainage line disassembly and assembly robot.

[0051] like Figure 3 As shown, a channel is formed on the opposite sides of the two second X-axis slide rails 6, and at least one distance measuring sensor 13 and at least two first cameras 14 are fixed in the middle of the channel. The distance measuring sensor 13 is a laser sensor or a radar sensor. It can be known that the position of the tube busbar 22 is detected by the two distance measuring sensors 13 and the first camera 14, and the position of the support platform 5 is moved to realize that the tube busbar 22 is located directly above the channel.

[0052] The specific implementation steps are as follows: first, push the trolley 1 to the bottom of one of the tube busbars 22 and the guide plate 16, and adjust the position of the trolley 1, such as Fig.16As shown, until the tube busbar 22 is located in the S4 area of ​​the two first cameras 14, then the position of the trolley 1 is adjusted multiple times and the driving component of the Y-axis slide rail 403 is controlled by the controller to work, and the support platform 5 moves on the Y-axis slide rail 403 until the central axis of the tube busbar 22 coincides with the intersection of the two oblique judgment lines S5 of the two first cameras 14, so that the tube busbar 22 is located directly above the channel;

[0053] The distance between the tube busbar 22 and the channel is measured by the distance measuring sensor 13. When the measured value is greater than the set value, the controller controls the insulating lifting frame 3 to be lifted. When the measured value is less than the set value, the controller controls the insulating lifting frame 3 to be lowered until the measured value is equal to the set value. It can be understood that the set value is the optimal working height of the two six-axis manipulators, which is determined by the technical personnel in this field through a limited number of experiments based on the height of the six-axis manipulators and the distance between the tube busbar 22 and the support platform 5.

[0054] Finally, if Fig.14 As shown, the controller 2 controls the driving component of the first X-axis slide rail 401 to operate, so that the slide plate 402 moves on the first X-axis slide rail 401 until the edge of the guide plate 16 (the guide plate 16 is viewed from above) is located in the S1 area of ​​the outermost first camera 14.

[0055] like Figure 4 As shown, four through slots 501 are opened on the back side of the support table 5, and placement slots 502 are opened on both sides of the through slots 501. The top plate clamping assembly 10, the new part clamping assembly 11, the old part clamping assembly 12 and another top plate clamping assembly 10 are placed in sequence in the placement slots 502 from the second six-axis robot 702 to the first six-axis robot 701. It can be understood that the sequential placement of the relevant clamping assemblies is to facilitate the two six-axis robots to take the relevant clamping assemblies, which can effectively reduce the length of the first X-axis slide rail 401 and the volume of the two six-axis robots.

[0056] like Figure 2 and Figure 3 As shown, the top plate clamping assembly 10, the new part clamping assembly 11 and the old part clamping assembly 12 all include a clamping portion, the new part clamping assembly 11 also includes a driving member and a mounting portion for mounting the polygonal nut 17 on the new guide plate 16, and the old part clamping assembly 12 also includes a driving member and a disassembly portion for disassembling the polygonal nut 17 on the old guide plate 16.

[0057] Among them, Figure 5As shown, the clamping part includes a top block 101, and a placement block 102 is fixed on both sides of the top block 101. The placement block 102 is adapted to the placement groove 502, that is, after the clamping part is placed in the through groove 501, the placement block 102 is located in the placement groove 502, and the top of the placement groove 502 supports the placement block 102, thereby improving the placement stability of the clamping part and the accuracy of the placement position. Two clamping plates 103 are movably arranged at the bottom of the top block 101, and a double-headed electric telescopic rod 104 is fixed to the bottom of the top block 101 through a connecting piece. The two telescopic ends of the double-headed electric telescopic rod 104 are respectively connected to the two clamping The plates 103 are fixed to each other. When the splint 103 clamps an object, the two telescopic rods of the double-headed electric telescopic rod 104 will be subjected to downward pulling force. In order to improve the service life of the double-headed electric telescopic rod 104, in a specific embodiment of the present scheme, a dovetail groove is opened at the bottom of the top block 101, and a dovetail block is fixed on the top of the splint 103. The dovetail groove and the dovetail block are adapted to each other. In this way, the double-headed electric telescopic rod 104 can drive the two splints 103 to move toward or away from each other when it is extended and retracted, and no vertical pulling force will be generated on the two telescopic rods of the double-headed electric telescopic rod 104 due to the weight of the clamped object.

[0058] like Fig.13 As shown, two mounting plates 19 are provided at the ends of the first connecting arms 18 of the first six-axis robot 701 and the second six-axis robot 702, a pressure sensor 20 is fixed between the two mounting plates 19, and the bottom mounting plates 19 of the first six-axis robot 701 and the second six-axis robot 702 are connected to the top block 101 of the clamping part through a clamping part.

[0059] In the present solution, the clamping part may be composed of an electromagnet and a magnetic conductive block. The connection and separation between the first six-axis robot arm 701 and the second six-axis robot arm 702 and the clamping part are realized through the attraction between the electromagnet and the magnetic conductive block. Of course, a connection structure similar to the clamping of the tool head and the spindle in the existing machine tool technology may also be adopted.

[0060] like Figure 7 As shown, a second camera 111 is connected to the bottom of the top block 101 of the new part clamping assembly 11 and the old part clamping assembly 12 .

[0061] In a specific embodiment of the present invention, the disassembled bottom plates 161 are conveniently placed together, such as Figure 3As shown, on the side of the support platform 5 close to the first six-axis robot 701, at least two old parts placement positions for placing the base plate 161 to be removed are set in the width direction of the support platform 5, wherein the old parts placement position includes a side plate 901, and a plurality of vertical rods 902 are fixed to the top of the side plate 901, and the rod diameter of the vertical rods 902 is smaller than the inner diameter of the threaded hole of the base plate 161. In this way, the first six-axis robot 701 places the removed base plate 161 on the top of the corresponding side plate 901, and then inserts the threaded hole of the base plate 161 downward onto the vertical rod 902, and loosens the clamp 103 of the top plate clamping assembly 10.

[0062] In this solution, the number of studs fixed at the bottom of the top plate 162 is set to four, and correspondingly, the number of the vertical rods 902 is also four.

[0063] like Figure 2 As shown, in order to facilitate the clamping of the base plate 161 to be installed, in another specific embodiment of the present scheme, the support platform 5 is close to one side of the second six-axis robot arm 702, and at least two new parts placement positions 8 for placing the base plate 161 to be installed are arranged in the width direction of the support platform 5, wherein the new parts placement position 8 includes a storage plate 801, and four insertion rods 803 are movably plugged into the plate body on both sides of the storage plate 801, and the insertion rods 803 are adapted to the threaded holes of the base plate 161, and a connecting plate 802 is fixed at the bottom end of the insertion rod 803, and four third springs 804 are fixed between the connecting plate 802 and the storage plate 801, and the insertion rod 803 is located in the spiral circle of the third spring 804.

[0064] It can be known that the base plate 161 to be installed is manually placed in advance on the new component placement position 8. Therefore, in order to ensure the stability and accuracy of the placement of the base plate 161 to be installed, and to facilitate the new component clamping assembly 11 to clamp the base plate 161 to be installed, the diameter of the insert rod 803 is equal to the diameter of the threaded hole of the base plate 161.

[0065] like Figure 3 As shown, in another specific embodiment of the present scheme, in order to facilitate the clamping of the placement rack 15 to be installed and the placement of the removed placement rack 15, a plurality of placement racks 15 for placing the top plate 162 are fixed on the top of the support table 5, and the placement racks 15 are arranged in two groups along the channel direction. Four through holes are opened on the placement racks 15, and the through holes are adapted to the studs fixed at the bottom of the top plate 162. The placement racks 15 extend from both sides of the top plate 162. After the top plate 162 is placed, a spacing is formed between two adjacent top plates 162. It can be known that the spacing is adapted to the clamping plate 103 of the top plate clamping assembly 10.

[0066] It is also necessary to know that the two new part placement positions 8, the two old part placement positions, the positions of the four through slots 501 and the positions of the four placement racks 15 are pre-marked by the controller. By inputting relevant instructions into the controller, the two robotic arms can be controlled to move to the pre-marked positions respectively.

[0067] like Figure 6 As shown, the driving member includes two L-shaped plates 121, a rotating shaft 124 and a motor. The motor is fixed at the top of the top block 101, and the output end of the motor is fixed to the end of the rotating shaft 124. Four rotating drums 122 are rotatably connected to the plate body of the L-shaped plate 121. A circular block 123 is fixed on the top of the rotating drum 122. A driving wheel 125 is fixed on the shaft body of the rotating shaft 124. A belt is connected between the driving wheel 125 and all the circular blocks 123. In this way, when the controller controls the motor to rotate, the motor drives the driving wheel 125 to rotate, and drives all the circular blocks 123 to rotate synchronously through the belt, thereby realizing the disassembly or installation of the polygonal nut.

[0068] like Figure 6 As shown, the disassembly portion of the old part clamping assembly 12 includes an annular block 126 fixed on the top of the rotating drum 122, a movable block 127 is arranged on the top of the annular block 126, a plurality of telescopic rods and a plurality of first springs 128 are fixed between the movable block 127 and the annular block 126, a first polygonal groove is opened in the rotating drum 122, the first polygonal groove is adapted to the polygonal nut 17, a magnetic material is coated on the side wall of the first polygonal groove, the magnetic material is attracted to the polygonal nut 17, it can be understood that since the old part clamping assembly 12 is placed inverted, the removed polygonal nut 17 is attracted to the side wall of the first polygonal groove, which can prevent the polygonal nut 17 from falling off.

[0069] Figure 8 As shown, the mounting portion of the new component clamping assembly 11 includes a second polygonal groove provided in a rotating drum 122, the second polygonal groove is adapted to the polygonal nut 17, a magnetic material is coated on the side wall of the second polygonal groove, the magnetic material and the polygonal nut 17 are attracted to each other, a closing block is fixed to the top of the rotating drum 122, a magnetic plate 112 is movably provided in the rotating drum 122, a second spring 113 is fixed between the magnetic plate 112 and the closing block, before work, the worker places two polygonal nuts 17 to be installed in the second polygonal groove, as shown in FIG. Figure 7 As shown, a portion of the polygonal nut 17 extends out of the rotating drum 122 before installation.

[0070] In another specific embodiment of the present scheme, in order to facilitate the positioning of the bottom mounting plate 19 of the first six-axis robotic arm 701 or the second six-axis robotic arm 702 and realize accurate disassembly and installation of the guide plate 16, two symmetrically arranged positioning sensors 21 are fixed on the bottom mounting plate 19 of the first six-axis robotic arm 701 or the second six-axis robotic arm 702, wherein two symmetrically arranged positioning receivers are fixed on the bottom mounting plate 19 of the other first six-axis robotic arm 701 or the second six-axis robotic arm 702.

[0071] To supplement this solution, the support platform 5, the first six-axis robot 701 and the second six-axis robot 702 are moved to the position directly below the drainage plate 16 to be disassembled (the moving process has been described in the previous text and will not be repeated here), the controller controls the first six-axis robot 701 to move to the position directly above the old part clamping assembly 12, fixes the old part clamping assembly 12 through the clamping portion and pulls the old part clamping assembly 12 out of the through slot 501, and after the first six-axis robot 701 drives the old part clamping assembly 12 to move to the bottom of the drainage plate 16 to be disassembled, the first connecting arm 18 of the first six-axis robot 701 is rotated, so that the clamping plate 103 of the old part clamping assembly 12 is upward, and the control personnel controls the relevant arms of the first six-axis robot 701 to rotate through the controller, such as Fig.15 As shown, when the drainage plate 16 to be removed is located in the S2 area of ​​the second camera 111 on the old part clamping assembly 12, and the center of the drainage plate 16 to be removed coincides with the intersection of the two oblique judgment lines S3 of the second camera 111, the old part clamping assembly 12 is vertically moved by controlling the relevant arms of the first six-axis robot 701. When the old part clamping assembly 12 moves upward, the polygonal nut 17 to be removed on the drainage plate 16 to be removed is inserted into the rotating drum 122, and the rotating drum 122 is pressed against the bottom plate 161 of the drainage plate 16 to be removed. At this time, the pressure signal of the pressure sensor 20 changes, and the first six-axis robot 701 is controlled by the controller to stop moving;

[0072] Using the same operating principle, the controller controls the second six-axis robot 702 to move the top plate clamping assembly 10 on one side of the second six-axis robot 702, and pulls the top plate clamping assembly 10 out of the through slot 501. The controller controls the relevant arms of the second six-axis robot 702 to rotate so that the top plate clamping assembly 10 is located on the top of the drainage plate 16 to be removed, and continues to rotate the relevant arms of the second six-axis robot 702 until the two positioning receivers on the second six-axis robot 702 can respectively receive the signals of the two positioning sensors 21 of the first six-axis robot 701, and move the top plate clamping assembly 10 downward. At this time, the pressure signal of the pressure sensor 20 changes, and the second six-axis robot 702 is controlled by the controller to stop moving. The positions of the top plate clamping assembly 10 and the old parts clamping assembly 12 and the drainage plate 16 to be removed are as shown in FIG. Fig.11 As shown;

[0073] At this time, the movement information of the first six-axis robot arm 701 and the second six-axis robot arm 702 are stored in the controller, which is convenient for the later installation of the new guide plate 16 at the corresponding position of the tube busbar 22;

[0074] The controller controls the motor on the old part clamping assembly 12 to rotate, so as to remove the polygonal nut 17 on the drainage plate 16 to be removed. After two subsequent removals (two tube busbars), the removed polygonal nut 17 is adsorbed and fixed in the first polygonal groove of the rotating drum 122. After the removal is completed, all polygonal nuts 17 are taken out by pulling the movable block 127.

[0075] By rotating the first six-axis robot arm 701 and the second six-axis robot arm 702, the removed bottom plate 161 and top plate 162 are placed on the corresponding old parts placement positions and placement racks 15;

[0076] When installing the new drain plate 16, based on the movement information of the first six-axis robot 701 and the second six-axis robot 702 when disassembling the drain plate 16 to be disassembled, and the same working principle, the controller controls the first six-axis robot 701 to move to the top of the new part clamping assembly 11 and connects and fixes the new part clamping assembly 11. Through the rotation of the relevant arms of the first six-axis robot 701, the new part clamping assembly 11 moves to the top of the new part placement position 8. When the new part clamping assembly 11 moves downward, the polygonal nut 17 in the rotating cylinder 122 on the new part clamping assembly 11 is squeezed with the insertion rod 803. At this time, the second spring 113 contracts, the third spring 804 extends, and the insertion rod 803 moves downward. The bottom end of the rotating cylinder 122 on the new part clamping assembly 11 is squeezed with the two sides of the bottom plate 161 to be installed.

[0077] The new part clamping assembly 11 moves the bottom plate 161 to be installed to the right below the guide plate 16 to be installed on the tube busbar 22, and moves the new part clamping assembly 11 upward until the tube busbar 22 is squeezed with the installation groove on the bottom plate 161 to be installed. At this time, the pressure signal of the pressure sensor 20 on the first six-axis robot 701 changes, and the first six-axis robot 701 is controlled by the controller to stop moving. Similarly, the top plate clamping assembly 10 on this side is connected and fixed by the second six-axis robot 702, and the top plate 162 to be installed is clamped and fixed by the rotation of the relevant arm of the second six-axis robot 702, and the top plate 162 to be installed is moved to the bottom plate 1 to be installed. 61, the top plate clamping assembly 10 is horizontally moved, based on the movement information of the first six-axis robot 701 and the second six-axis robot 702 when disassembling the guide plate 16 to be disassembled, or the two positioning receivers on the second six-axis robot 702 can respectively receive the signals of the two positioning sensors 21 of the first six-axis robot 701, when the top plate 162 to be installed on the top plate clamping assembly 10 is located directly above the bottom plate 161 to be installed, the second six-axis robot 702 moves vertically downward until the pressure signal of the pressure sensor 20 on the second six-axis robot 702 changes, at which time the second six-axis robot 702 is controlled by the controller to stop moving;

[0078] It can be known that at this time, the stud on the top plate 162 to be installed is inserted into the rotating drum 122, the stud squeezes the polygonal nut 17, the second spring 113 contracts, and the controller controls the motor on the new part clamping assembly 11 to rotate. When the motor rotates, it drives all the rotating drums 122 to rotate through the belt, so that the polygonal nut 17 in the rotating drum 122 is screwed onto the stud of the top plate 162 to be installed, thereby realizing the installation of the new guide plate 16 and the guide line 23.

[0079] 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. A robot for dismantling and installing a mother pipe drainage line in a high-voltage substation, comprising a trolley (1), a controller (2) and an insulating lifting frame (3), characterized in that: A plurality of first X-axis slide rails (401) are fixed on the top of the insulating lifting frame (3) along the axial direction of the tube busbar (22); a slide plate (402) is arranged on the top of the first X-axis slide rail (401); a plurality of Y-axis slide rails (403) perpendicular to the first X-axis slide rail (401) are fixed on the top of the slide plate (402); and a support platform (5) is arranged on the top of the Y-axis slide rail (403); Two second X-axis slide rails (6) are symmetrically fixed on the top of the support platform (5) and facing the guide plate (16); the two second X-axis slide rails (6) are respectively fixed with a first six-axis mechanical arm (701) and a second six-axis mechanical arm (702) via sliders; channels are formed on opposite sides of the two second X-axis slide rails (6); at least one distance measuring sensor (13) and at least two first cameras (14) are fixed in the middle of the channels; The position of the tube busbar (22) is detected by two distance measuring sensors (13) and a first camera (14), and the position of the support platform (5) is moved to ensure that the tube busbar (22) is located directly above the channel; The back of the support platform (5) is provided with four through slots (501), and both sides of the through slots (501) are provided with placement slots (502), and a top plate clamping assembly (10), a new part clamping assembly (11), an old part clamping assembly (12) and another top plate clamping assembly (10) are sequentially placed in the placement slots (502) in the direction from the second six-axis mechanical arm (702) to the first six-axis mechanical arm (701); The top plate clamping assembly (10), the new component clamping assembly (11) and the old component clamping assembly (12) all comprise a clamping portion, the new component clamping assembly (11) further comprises a driving member and a mounting portion for mounting a polygonal nut (17) on a new guide plate (16), and the old component clamping assembly (12) further comprises a driving member and a disassembly portion for disassembling the polygonal nut (17) on an old guide plate (16); Two mounting plates (19) are provided at the ends of the first connecting arms (18) of the first six-axis robotic arm (701) and the second six-axis robotic arm (702), and a pressure sensor (20) is fixed between the two mounting plates (19); The clamping portion comprises a top block (101), a placement block (102) is fixed on both sides of the top block (101), the placement block (102) is adapted to the placement groove (502), two clamping plates (103) are movably arranged at the bottom of the top block (101), a double-headed electric telescopic rod (104) is fixed at the bottom of the top block (101) via a connecting piece, and two telescopic ends of the double-headed electric telescopic rod (104) are respectively fixed to the two clamping plates (103); The bottom mounting plates (19) of the first six-axis mechanical arm (701) and the second six-axis mechanical arm (702) are connected to the top block (101) of the clamping portion via a clamping portion; The bottoms of the top blocks (101) of the new part clamping assembly (11) and the old part clamping assembly (12) are both connected to a second camera (111).

2. According to claim 1, a robot for dismantling and erecting mother pipe drainage lines in a high-voltage substation is characterized in that: The support platform (5) is close to one side of the first six-axis robot arm (701), and at least two old parts placement positions for placing the base plate (161) to be removed are arranged in the width direction of the support platform (5); The old parts placement position includes a side plate (901), a plurality of vertical rods (902) are fixed to the top of the side plate (901), and the rod diameter of the vertical rod (902) is smaller than the inner diameter of the threaded hole of the bottom plate (161).

3. The robot for dismantling and erecting mother pipe drainage lines in a high-voltage substation according to claim 1 is characterized in that: The support platform (5) is located close to one side of the second six-axis robot arm (702), and is provided with at least two new component placement positions (8) for placing the base plate (161) to be installed in the width direction of the support platform (5); The new component placement position (8) includes a storage plate (801), and a plurality of insertion rods (803) are movably inserted on the plate bodies on both sides of the storage plate (801), the insertion rods (803) are adapted to the threaded holes of the bottom plate (161), a connecting plate (802) is fixed at the bottom end of the insertion rod (803), and a plurality of third springs (804) are fixed between the connecting plate (802) and the storage plate (801).

4. The robot for dismantling and erecting mother pipe drainage lines in a high-voltage substation according to claim 1 is characterized in that: A plurality of placement racks (15) for placing the top plate (162) are fixed at the top of the support platform (5), and a plurality of through holes are provided on the placement racks (15), which are adapted to be matched with studs fixed at the bottom of the top plate (162). The placement racks (15) extend from both sides of the top plate (162), and after the top plate (162) is placed, a spacing is formed between two adjacent top plates (162).

5. The robot for dismantling and erecting mother pipe drainage lines in a high-voltage substation according to claim 1 is characterized in that: The driving member comprises two L-shaped plates (121), a rotating shaft (124) and a motor, wherein the output end of the motor is fixed to the end of the rotating shaft (124), a plurality of rotating drums (122) are rotatably connected to the plate body of the L-shaped plate (121), a circular block (123) is fixed to the top of the rotating drum (122), a driving wheel (125) is fixed to the shaft body of the rotating shaft (124), and a belt is connected between the driving wheel (125) and all the circular blocks (123); When the driving wheel (125) rotates, all the circular blocks (123) are driven to rotate synchronously through the belt.

6. The robot for dismantling and erecting mother pipe drainage lines in a high-voltage substation according to claim 5 is characterized in that: The disassembling part comprises an annular block (126) fixed on the top of the rotating drum (122), a movable block (127) is arranged on the top of the annular block (126), and a plurality of telescopic rods and a plurality of first springs (128) are fixed between the movable block (127) and the annular block (126); A first polygonal groove is provided in the rotating drum (122), and the first polygonal groove is matched with the polygonal nut (17). The side wall of the first polygonal groove is coated with a magnetic material, and the magnetic material and the polygonal nut (17) are attracted to each other.

7. The robot for dismantling and erecting mother pipe drainage lines in a high-voltage substation according to claim 5 is characterized in that: The mounting portion comprises a second polygonal groove formed in the rotating drum (122), the second polygonal groove being adapted to the polygonal nut (17), and a magnetic material being coated on the side wall of the second polygonal groove, the magnetic material being attracted to the polygonal nut (17); A closing block is fixed at the top of the rotating drum (122), a magnetic plate (112) is movably arranged inside the rotating drum (122), and a second spring (113) is fixed between the magnetic plate (112) and the closing block.

8. The robot for dismantling and erecting mother pipe drainage lines in a high-voltage substation according to claim 1 is characterized in that: Two symmetrically arranged positioning sensors (21) are fixed on the bottom mounting plate (19) of the first six-axis robotic arm (701) or the second six-axis robotic arm (702), and two symmetrically arranged positioning receivers are fixed on the bottom mounting plate (19) of the other first six-axis robotic arm (701) or the second six-axis robotic arm (702).

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