Equipotential device and high-voltage double-arm cooperation platform

Abstract

The embodiment of the invention provides an equipotential device and a high-voltage double-arm cooperation platform. The equipotential device comprises a grounding structure, a driving module, a transmission module and a connection module, the transmission module comprises a fixed assembly and a movable assembly which are connected. The fixing assembly is fixedly connected with a working platform of the high-pressure double-arm cooperation platform. The upper end of the moving assembly is connected with the lower end of the connecting module, and the lower end of the moving assembly is connected with the driving module and the grounding structure. The driving module can drive the moving assembly and the fixed assembly to slide relatively, so that the grounding structure and the connecting module can move upwards or downwards relative to the working platform under the driving of the driving module; when the equipotential device is in a working state, the grounding structure is disconnected from the ground, and the upper end of the connecting module is in contact with the high-voltage transmission line; when the equipotential device is in a non-working state, the grounding structure is connected or disconnected with the ground, the upper end of the connection module is separated from the high-voltage transmission line, and the safety risk of manual operation is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission and transformation, and in particular to an equipotential device and a high-voltage double-arm cooperation platform. Background Art

[0002] In a substation, a high-voltage double-arm cooperation platform can be used for operations. To ensure the safety of the operations, it is usually necessary to perform insulation operations or equipotential operations on the operation platform of the high-voltage double-arm cooperation platform. In the related art, the insulation (potential isolation) between the operation platform and the high-voltage transmission line is achieved by covering the entire body with insulating materials. This potential isolation method has extremely high requirements for the fineness of the process. If the process is not fine, there is an easy risk of breakdown, and the unit price cost of the material is high; in the related art, a conductive rope is connected to the operation platform, and through manual operation, this conductive rope is hung on the high-voltage transmission line to achieve equipotential between the operation platform and the high-voltage transmission line. Although this method of achieving equipotential between the operation platform and the high-voltage transmission line by manually hanging the conductive rope can reduce the safety risk through standardized operation processes, it is manual high-voltage power connection, and the safety risk is still relatively large. Summary of the Invention

[0003] The purpose of the embodiments of the present invention is to provide an equipotential device and a high-voltage double-arm cooperation platform, so as to achieve equipotential between the operation platform and the high-voltage transmission line through an automated operation method, avoiding the safety risks of manual operations. The specific technical solutions are as follows:

[0004] An embodiment of the first aspect of the present application proposes an equipotential device applied to a high-voltage double-arm cooperation platform. The equipotential device includes a grounding structure, a driving module, a transmission module, and a connection module; the grounding structure, the transmission module, and the connection module are arranged in sequence from bottom to top; the transmission module includes a fixed component and a moving component connected; the fixed component is fixedly connected to the operation platform of the high-voltage double-arm cooperation platform; the upper end of the moving component is connected to the lower end of the connection module, and the lower end of the moving component is respectively connected to the driving module and the grounding structure; the driving module can drive the moving component to slide relative to the fixed component, so that the grounding structure and the connection module can move upward or downward relative to the operation platform under the drive of the driving module; when the equipotential device is in a working state, the grounding structure is disconnected from the ground, and the upper end of the connection module contacts the high-voltage transmission line; when the equipotential device is in a non-working state, the grounding structure is connected to or disconnected from the ground, and the upper end of the connection module is separated from the high-voltage transmission line.

[0005] In some embodiments of the present application, the moving component includes:

[0006] The synchronous belt is arranged in the up and down direction and is fixedly connected to the fixed component. A plurality of synchronous belt meshing teeth are provided on the inner side thereof;

[0007] The upper synchronous wheel component includes an upper synchronous wheel and an upper limit structure, which are rotatably connected; the upper synchronous wheel is arranged at the upper end of the synchronous belt, and a plurality of upper meshing teeth meshing with the plurality of synchronous belt meshing teeth are provided thereon;

[0008] The lower synchronous wheel component includes a lower synchronous wheel and a lower limit structure, which are rotatably connected; the lower synchronous wheel is arranged at the lower end of the synchronous belt, and a plurality of lower meshing teeth meshing with the plurality of synchronous belt meshing teeth are provided thereon; the lower synchronous wheel is connected to the drive module;

[0009] The guide member extends in the up and down direction. Its upper end is fixedly connected to the upper limit structure, its lower end is fixedly connected to the lower limit structure, and it is slidably connected to the fixed component.

[0010] In some embodiments of the present application, the fixed component includes: a support structure, a fixing member, and a pressing member;

[0011] The support structure is fixedly connected to the working platform;

[0012] The fixing member is fixedly connected to the support structure and is slidably connected to the guide member;

[0013] The pressing member is fixedly connected to the support structure, and a plurality of pressing member meshing teeth are provided on the side thereof facing the support structure;

[0014] The synchronous belt is partially clamped between the support structure and the pressing member, and the plurality of synchronous belt meshing teeth and the plurality of pressing member meshing teeth are meshed to fixedly connect the synchronous belt and the fixed component.

[0015] In some embodiments of the present application, the number of the guide members is two. In the width direction of the synchronous belt, the two guide members are respectively arranged on both sides of the synchronous belt;

[0016] The number of the fixing members is two. The two fixing members include a first fixing member and a second fixing member arranged at intervals; the first fixing member is located above the second fixing member; guide holes are provided on both the first fixing member and the second fixing member; the guide member is sequentially inserted into the guide holes of the first fixing member and the second fixing member;

[0017] The number of the pressing members is two. The two pressing members are arranged at intervals in the up and down direction and are respectively fixedly connected to the first fixing member and the second fixing member.

[0018] In some embodiments of the present application, the upper limit structure includes:

[0019] Upper limit member, having two upper connection holes oppositely arranged in the width direction of the synchronous belt;

[0020] Upper connection shaft, the middle position of which is rotatably connected to the upper synchronous pulley, and both ends of which are respectively arranged in one of the upper connection holes;

[0021] Adjusting member, one end of which is exposed outside the upper limit member, and the other end extends into the inside of the upper limit member and is connected to the upper connection shaft; Rotating the adjusting member can make the upper connection shaft move up and down in the upper connection hole.

[0022] In some embodiments of the present application, the connection module includes: a contact component, an elastic member and a cage;

[0023] The cage includes a guide shaft and a floating component; the guide shaft extends in the up and down direction, the lower end of the guide shaft is slidably connected to the floating component, and the upper end of the guide shaft is fixedly connected to the contact component; the floating component is fixedly connected to the upper end of the moving component;

[0024] The elastic member is sleeved outside the guide shaft and is located between the contact component and the floating component.

[0025] In some embodiments of the present application, the drive module includes: an insulating coupling, a drive motor and an insulating motor support;

[0026] The insulating coupling connects the drive motor and the lower synchronous pulley;

[0027] The drive motor is installed on the insulating motor support, and the insulating motor support is fixedly connected to the lower limit structure.

[0028] In some embodiments of the present application, the grounding structure is connected to the lower limit structure;

[0029] The grounding structure is a conductive rod or a conductive rope.

[0030] An embodiment of the second aspect of the present application provides a high-voltage double-arm collaborative platform, including an operation platform and an equipotential device according to any one of the embodiments of the first aspect; the fixing component of the equipotential device is fixedly connected to the operation platform.

[0031] In some embodiments of the present application, the operation platform includes: a robot main body, an insulating footrest and a double-arm module;

[0032] The double-arm module is arranged above the robot main body;

[0033] The equipotential device is connected to the robot body and is spaced apart from the double-arm module;

[0034] The insulating footrest is arranged below the robot body;

[0035] The high-voltage double-arm collaborative platform further includes: a lifting mechanism;

[0036] The lifting mechanism is located below the insulating footrest;

[0037] The equipotential device can descend to be connected to the grounding structure and the lifting mechanism, and the grounding structure is connected to the ground through the lifting mechanism.

[0038] Advantageous effects of the embodiments of the present invention:

[0039] For the equipotential device in the embodiments of the present application, when the equipotential device is in the working state, the grounding structure is disconnected from the ground, and the upper end of the connection module contacts the high-voltage transmission line; when the equipotential device is in the non-working state, the grounding structure is connected or disconnected from the ground, and the upper end of the connection module is separated from the high-voltage transmission line. That is, when the high-voltage double-arm collaborative platform is in the working position, the driving module is started, so that the moving component drives the grounding structure and the connection module to move upward. The grounding structure moves away from the ground, and the connection module moves closer to the high-voltage transmission line, so that after the grounding structure is first disconnected from the ground, the upper end of the connection module contacts the transmission line, and the equipotential device is in the working state to realize the equipotential of the high-voltage transmission line and the operation platform. After the operation is completed, the driving module is started, so that the moving component drives the grounding structure and the connection module to move downward. The grounding structure moves closer to the ground, and the connection module moves away from the high-voltage transmission line, so that after the connection module is first separated from the high-voltage transmission line, the lower end of the grounding structure contacts the ground, and the equipotential device is in the non-working state, so that the operation platform returns to the initial potential and is equipotential with the ground; after the connection module is separated from the high-voltage transmission line, the grounding structure can still be in the position disconnected from the ground and not connected to the ground, and is connected to the ground as the subsequent operation platform descends, thereby realizing the equipotential of the operation platform and the ground. The equipotential device in the embodiments of the present application realizes the equipotential of the operation platform and the high-voltage transmission line through an automated operation method, without manual operation, avoiding the safety risks of manual operation; compared with the solution of realizing the potential isolation between the operation platform and the high-voltage transmission line by covering the entire body of the operation platform with insulating materials, the equipotential device in the embodiments of the present application can realize the equipotential of the operation platform and the high-voltage transmission line without covering the entire body of the operation platform with insulating materials, thereby avoiding the occurrence of breakdown caused by poor process and reducing the cost.

[0040] The high-voltage two-arm collaborative platform according to the embodiments of the present application includes the equipotential device of any one of the first aspects, realizing the equipotential between the operation platform and the high-voltage transmission line through an automated operation method, without manual operation, and avoiding the safety risks of manual operation. Compared with the solution of realizing the potential isolation between the operation platform and the high-voltage transmission line by covering the entire fuselage with insulating materials, the equipotential device of the embodiments of the present application can realize the equipotential between the operation platform and the high-voltage transmission line without covering the entire fuselage of the operation platform with insulating materials, thus avoiding the occurrence of breakdown caused by rough craftsmanship and reducing the cost. The high-voltage two-arm collaborative platform according to the embodiments of the present application is a high-voltage two-arm collaborative platform carrying an adaptive lifting equipotential device, suitable for the harsh operation environments under all high-voltage electrical environments.

[0041] Of course, it is not necessary for any product implementing the present invention to achieve all the above-mentioned advantages simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other embodiments based on these drawings.

[0043] Figure 1 Structural schematic diagram of the first perspective of the high-voltage two-arm collaborative platform according to the embodiments of the present application (working state);

[0044] Figure 2 Structural schematic diagram of the first perspective of the equipotential device according to the embodiments of the present application;

[0045] Figure 3 Structural schematic diagram of the second perspective of the equipotential device according to the embodiments of the present application;

[0046] Figure 4 Position schematic diagram of the equipotential device according to the embodiments of the present application in the working state;

[0047] Figure 5 Position schematic diagram of the equipotential device according to the embodiments of the present application in the non-working state;

[0048] Figure 6 Structural schematic diagram of the second perspective of the high-voltage two-arm collaborative platform according to the embodiments of the present application (non-working state);

[0049] Figure 7 Structural schematic diagram of the moving component according to the embodiments of the present application;

[0050] Figure 8 For Figure 7 Partial enlarged schematic diagram of the P position of

[0051] Figure 9 is Figure 7 Partial enlarged view of the Q position of ;

[0052] Figure 10 is Figure 1 Partial enlarged view of the M position of ;

[0053] Figure 11 is Figure 10 Partial sectional view of ;

[0054] Figure 12 Structural schematic diagram of the fixing component in the embodiment of the present application;

[0055] Figure 13 Structural schematic diagram of the upper synchronous pulley component in the embodiment of the present application;

[0056] Figure 14 is Figure 13 A-A sectional view of ;

[0057] Figure 15 Structural schematic diagram of the lower synchronous pulley component in the embodiment of the present application;

[0058] Figure 16 Structural schematic diagram of the connection module in the embodiment of the present application;

[0059] Figure 17 is Figure 2 Partial enlarged view of the N position of ;

[0060] Figure 18 Connection relationship diagram of the drive module and the lower limit structure in the embodiment of the present application;

[0061] Figure 19 Structural schematic diagram of the third perspective of the high-voltage double-arm cooperation platform in the embodiment of the present application (working state);

[0062] Figure 20 Structural schematic diagram of the fourth perspective of the high-voltage double-arm cooperation platform in the embodiment of the present application (non-working state);

[0063] Figure 21 Structural schematic diagram of the robot main body in the embodiment of the present application;

[0064] Figure 22 Structural schematic diagram of the insulating footrest in the embodiment of the present application;

[0065] Figure 23 Structural schematic diagram of the fifth perspective of the high-voltage double-arm cooperation platform in the embodiment of the present application (working state);

[0066] Figure 24Schematic diagram of the operation of the wire clamp disassembly and assembly device in the embodiment of the present application;

[0067] Figure 25 Operation flow chart of the high-voltage dual-arm collaborative platform in the embodiment of the present application;

[0068] Figure 26 Schematic diagram of the operation of the high-voltage dual-arm collaborative platform in the embodiment of the present application (corresponding to S1);

[0069] Figure 27 Schematic diagram of the operation of the high-voltage dual-arm collaborative platform in the embodiment of the present application (corresponding to S2);

[0070] Figure 28 Schematic diagram of the operation of the high-voltage dual-arm collaborative platform in the embodiment of the present application (corresponding to S3);

[0071] Figure 29 Schematic diagram of the operation of the high-voltage dual-arm collaborative platform in the embodiment of the present application (corresponding to S4);

[0072] Figure 30 Schematic diagram of the operation of the high-voltage dual-arm collaborative platform in the embodiment of the present application (corresponding to S5).

[0073] Explanation of reference numerals:

[0074] Equipotential device 10; operation platform 20; robot main body 21; housing 21a; main switch 21b; charging connector 21c; debugging interface 21d; communication network port 21e; power display structure 21f; extension hole 21g; maintenance board 21h; lifting ring 21i; insulating leg support 22; reinforcement plate 22a; dual-arm module 23; robotic arm 23a; live working tool 23b; clamping and fixing module 23b1; clamping structure 23b11; fixing structure 23b12; disassembly and assembly module 23b2; pan-tilt camera 24; wire clamp 40; connecting screw 50; nut 60; high-voltage transmission line 70; connecting piece 80; lifting mechanism 30; tabletop 31; base 32; driving mechanism 33; telescopic support 34; scissor structure 34a; scissor arm 34b; connecting rod 34c;

[0075] Grounding structure 100; driving module 200; insulating coupling 210; driving motor 220; insulating motor support 230; transmission module 300; fixing component 310; supporting structure 311; sheet metal fixing and limiting part 3111; horizontal part 31111; vertical part 31112; cushion block 3112; fixing piece 312; first fixing piece 312a; second fixing piece 312b; straight plate part 3122; bending part 3121; ball linear bearing 313; pressing piece 314; pressing piece meshing tooth 3141; moving component 320; synchronous belt 321; synchronous belt meshing tooth 3211; upper synchronous pulley component 322; upper synchronous pulley 3221; upper meshing tooth 32211; upper limiting structure 3222; upper limiting part 3222a; first limiting part 32221; second limiting part 32222; upper connecting shaft 32223; adjusting piece 32224; upper connecting hole 32225; lower synchronous pulley component 323; lower synchronous pulley 3231; lower meshing tooth 32311; lower limiting structure 3232; lower limiting part 3232a; third limiting part 32321; fourth limiting part 32322; lower connecting shaft 32323; guiding piece 324; connecting module 400; contact component 410; contact piece 411; adapter piece 412; elastic piece 420; cage 430; guiding shaft 431; floating component 432; first floating block 432a; second floating block 432b; fixed connecting part 4321; sliding connecting part 4322; linear bearing 433. Detailed implementation mode

[0076] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art based on this application belong to the scope of protection of the present invention.

[0077] In a substation, a high-voltage double-arm collaborative platform can be used for operations. To ensure the safety of the operations, it is usually necessary to perform insulation operations or equipotential operations on the operation platform of the high-voltage double-arm collaborative platform. In related technologies, the insulation (potential isolation) between the operation platform and the high-voltage transmission line is achieved by covering the entire body with insulating materials and installing it in an insulating barrel. This potential isolation method has extremely high requirements for the fineness of the process. If the process is not fine, there is an easy risk of breakdown, and the unit price cost of the materials is high; in related technologies, an electrically conductive rope is connected to the operation platform, and through manual operation, this electrically conductive rope is hung on the high-voltage transmission line to make the operation platform and the high-voltage transmission line achieve equipotential. This method of achieving equipotential between the operation platform and the high-voltage transmission line by manually hanging the electrically conductive rope, although the safety risk can be reduced by standardizing the operation process, is manual high-voltage power connection, and the safety risk is still relatively high, and the labor cost increases.

[0078] To solve the above technical problems, an equipotential device and a high-voltage double-arm cooperation platform are proposed in the embodiments of the present application.

[0079] It should be noted that high-voltage transmission lines usually refer to transmission lines for transmitting voltages above 10 kV, and high voltage generally does not include 1000 V.

[0080] As Figures 1 to 3 shown, Figure 1 is a schematic structural diagram (working state) of the first perspective of the high-voltage double-arm cooperation platform according to the embodiment of the present application. Figure 2 is a schematic structural diagram of the first perspective of the equipotential device 10 according to the embodiment of the present application. Figure 3 is a schematic structural diagram of the second perspective of the equipotential device 10 according to the embodiment of the present application. An embodiment of the first aspect of the present application proposes an equipotential device 10, which is applied to a high-voltage double-arm cooperation platform. The equipotential device 10 includes a grounding structure 100, a driving module 200, a transmission module 300, and a connection module 400; the grounding structure 100, the transmission module 300, and the connection module 400 are arranged in sequence from bottom to top; the transmission module 300 includes a fixed component 310 and a moving component 320 connected; the fixed component 310 is fixedly connected to the operation platform 20 of the high-voltage double-arm cooperation platform; the upper end of the moving component 320 is connected to the lower end of the connection module 400, and the lower end of the moving component 320 is respectively connected to the driving module 200 and the grounding structure 100; the driving module 200 can drive the moving component 320 to slide relative to the fixed component 310, so that the grounding structure 100 and the connection module 400 can move upward or downward relative to the operation platform 20 under the drive of the driving module 200.

[0081] As Figure 1 and 4 shown, Figure 4 is a schematic position diagram of the equipotential device 10 in the working state according to the embodiment of the present application. When the equipotential device 10 is in the working state, the grounding structure 100 is disconnected from the ground, and the upper end of the connection module 400 is in contact with the high-voltage transmission line 70; as Figure 5 and Figure 6 shown, Figure 5 is a schematic position diagram of the equipotential device 10 in the non-working state according to the embodiment of the present application. Figure 6 is a schematic structural diagram of the second perspective of the high-voltage double-arm cooperation platform according to the embodiment of the present application (non-working state). When the equipotential device 10 is in the non-working state, the grounding structure 100 is connected or disconnected from the ground, and the upper end of the connection module 400 is separated from the high-voltage transmission line 70.

[0082] The equipotential device 10 of the embodiment of the present application is applied to a high-voltage double-arm collaborative platform. The equipotential device 10 includes a grounding structure 100, a driving module 200, a transmission module 300, and a connection module 400. The grounding structure 100, the transmission module 300, and the connection module 400 are arranged in sequence from bottom to top. The grounding structure 100 is located below, and its lower end is used for grounding. The connection module 400 is located above, and its upper end is used to contact the high-voltage transmission line 70. The transmission module 300 includes a fixed component 310 and a moving component 320 connected together; the fixed component 310 is fixedly connected to the working platform 20 of the high-voltage double-arm collaborative platform to fix the equipotential device 10 to the working platform 20; the upper end of the moving component 320 is connected to the lower end of the connection module 400, and the lower end of the moving component 320 is respectively connected to the driving module 200 and the grounding structure 100. The driving module 200 can drive the moving component 320 to slide relative to the fixed component 310, so that the grounding structure 100 and the connection module 400 can move upward or downward relative to the working platform 20 under the drive of the driving module 200. When the equipotential device 10 is in the working state, the grounding structure 100 is disconnected from the ground, and the upper end of the connection module 400 contacts the high-voltage transmission line; when the equipotential device 10 is in the non-working state, the grounding structure 100 is connected to or disconnected from the ground, and the upper end of the connection module 400 is separated from the high-voltage transmission line.

[0083] That is, when the high-voltage double-arm collaborative platform is in the working position, the driving module 200 is started, so that the moving component 320 drives the grounding structure 100 and the connection module 400 to move upward. The grounding structure 100 moves in a direction away from the ground, and the connection module 400 moves in a direction close to the high-voltage transmission line 70, so that after the grounding structure 100 is first disconnected from the ground, the upper end of the connection module 400 contacts the transmission line, and the equipotential device 10 is in the working state to realize the equipotential of the high-voltage transmission line 70 and the working platform 20. After the operation is completed, the driving module 200 is started, so that the moving component 320 drives the grounding structure 100 and the connection module 400 to move downward. The grounding structure 100 moves in a direction close to the ground, and the connection module 400 moves in a direction away from the high-voltage transmission line 70, so that after the connection module 400 is first separated from the high-voltage transmission line, the lower end of the grounding structure 100 is connected to the ground, and the equipotential device 10 is in the non-working state, so that the working platform 20 returns to the initial potential and is equipotential with the ground; after the connection module 400 is separated from the high-voltage transmission line 70, the grounding structure 100 can also remain in the position disconnected from the ground and is not connected to the ground, and is connected to the ground as the subsequent working platform 20 descends, thereby realizing the equipotential of the working platform 20 and the ground.

[0084] The equipotential device 10 of the embodiment of the present application realizes the equipotential of the operation platform 20 and the high-voltage transmission line 70 through an automated operation method, eliminating the need for manual operation and avoiding the safety risks associated with manual operation. Compared with the solution of achieving potential isolation between the operation platform and the high-voltage transmission line 70 by covering the entire fuselage with insulating materials, the equipotential device 10 of the embodiment of the present application can achieve the equipotential of the operation platform 20 and the high-voltage transmission line 70 without covering the entire fuselage of the operation platform 20 with insulating materials, thus avoiding the occurrence of breakdown caused by poor workmanship and reducing costs.

[0085] It can be understood that when the equipotential device 10 is in the working state, the equipotential device 10 is connected to the high-voltage transmission line 70, making the high-voltage transmission line 70 and the operation platform 20 equipotential. When the equipotential device 10 changes from the working state to the non-working state, the equipotential device 10 is disconnected from the high-voltage transmission line 70. At this time, the voltages of the equipotential device 10 and the operation platform 20 are higher than that of the ground, and there is a potential difference from the ground. To ensure operation safety, it is necessary to connect the operation platform 20 to the ground through the grounding structure 100 to make the operation platform 20 equipotential with the ground.

[0086] In some embodiments of the present application, as Figure 6 and Figure 7 shown, Figure 7 is a schematic structural diagram of the moving component 320 of the embodiment of the present application. The moving component 320 includes a synchronization member and a guide member 324. The synchronization member is connected to the fixed component 310. The upper end of the synchronization member is connected to the lower end of the connection module 400, and the lower end of the synchronization member is connected to the driving module 200. The guide member 324 extends in the up and down direction. Its upper end is fixedly connected to the upper end of the synchronization member, and its lower end is fixedly connected to the lower end of the synchronization member. The guide member 324 is slidably connected to the fixed component 310. The driving module 200 drives the synchronization member to drive the grounding structure 100 and the connection module 400 to move up or down relative to the operation platform 20 to realize the switching between the working state and the non-working state of the equipotential device 10. The synchronization member can drive the grounding structure 100 and the connection module 400 to move synchronously. The relative positions of the grounding structure 100 and the connection module 400 are fixed, facilitating the observation of the movement position. By controlling the distance between the grounding structure 100 and the ground, and the distance between the connection module 400 and the high-voltage transmission line, the sequence of connection between the grounding structure 100 and the ground, and the connection between the connection module 400 and the high-voltage transmission line can be ensured, thereby ensuring the safety of the operation. The synchronization member may include a synchronous belt 321, an upper synchronous wheel member 322, and a lower synchronous wheel member 323.

[0087] In some embodiments of the present application, as Figures 6 to 9 shown, Figure 8 is Figure 7Partial enlarged schematic diagram at P, Figure 9 is Figure 7 Partial enlarged schematic diagram at Q of. The moving component 320 includes a synchronous belt 321, an upper synchronous pulley member 322, a lower synchronous pulley member 323, and a guide member 324; the synchronous belt 321 is arranged in the up-down direction and is fixedly connected to the fixed component 310, and a plurality of synchronous belt engaging teeth 3211 are provided on its inner side; the upper synchronous pulley member 322 includes an upper synchronous pulley 3221 (synchronous idler pulley) and an upper limiting structure 3222, and the two are rotatably connected; the upper synchronous pulley 3221 is arranged at the upper end of the synchronous belt 321, and a plurality of upper engaging teeth 32211 meshing with the plurality of synchronous belt engaging teeth 3211 are provided thereon; the lower synchronous pulley member 323 includes a lower synchronous pulley 3231 (synchronous belt pulley) and a lower limiting structure 3232, and the two are rotatably connected; the lower synchronous pulley 3231 is arranged at the lower end of the synchronous belt 321, and a plurality of lower engaging teeth 32311 meshing with the plurality of synchronous belt engaging teeth 3211 are provided thereon; the lower synchronous pulley 3231 is connected to the driving module 200; the guide member 324 extends in the up-down direction, its upper end is fixedly connected to the upper limiting structure 3222, its lower end is fixedly connected to the lower limiting structure 3232, and is slidably connected to the fixed component 310.

[0088] The upper engaging teeth 32211 of the upper synchronous pulley 3221 and the lower engaging teeth 32311 of the lower synchronous pulley 3231 are respectively meshed with the synchronous belt engaging teeth 3211, and the lower synchronous pulley 3231 can drive the upper synchronous pulley 3221 to move through the synchronous belt 321; since the synchronous belt 321 is fixedly connected to the fixed component 310, there is no relative movement at the connection between the synchronous belt 321 and the fixed component 310. When the driving module 200 drives the lower synchronous pulley 3231 to rotate, the synchronous belt 321 cannot rotate as a whole clockwise or counterclockwise. The lower synchronous pulley 3231 and the upper synchronous pulley 3221 will roll up or down a certain distance along the synchronous belt 321; both ends of the guide member 324 are fixedly connected to the upper limiting structure 3222 and the lower limiting structure 3232 respectively, keeping the distance between the upper limiting structure 3222 and the lower limiting structure 3232 fixed, ensuring the distance between the upper synchronous pulley 3221 and the lower synchronous pulley 3231 is fixed, and ensuring that the synchronous belt 321 is in a tensioned state. Thus, when the upper synchronous pulley 3221 and the lower synchronous pulley 3231 roll along the synchronous belt 321, they will drive the synchronous belt 321, the upper limiting structure 3222, and the lower limiting structure 3232 to rise or fall, and further realize the upward movement or downward movement of the grounding structure 100 and the connection module 400 connected to the moving component 320 relative to the working platform 20.

[0089] For example, when the lower synchronous pulley 3231 rotates in the first direction, it rolls upward along the synchronous belt 321 by a certain distance, driving the lower limit structure 3232 to move upward synchronously. The lower limit structure 3232 pushes the upper limit structure 3222 upward through the guide member 324. The upper limit structure 3222 drives the upper synchronous pulley 3221 upward. At the same time, the lower synchronous pulley 3231 drives the upper synchronous pulley 3221 to roll upward along the transmission belt through the transmission belt, thereby realizing the upward movement of the moving assembly 320, and further realizing the upward movement of the grounding structure 100 and the connection module 400 relative to the operation platform 20. The first direction can be the clockwise direction or the counterclockwise direction, which is determined according to the observation orientation; for the downward movement of the grounding structure 100 and the connection module 400 relative to the operation platform 20, it can be achieved by driving the lower synchronous pulley 3231 to rotate in the reverse direction by the driving module 200. The operation method is simple and does not require manual operation.

[0090] The synchronous belt 321, the upper synchronous pulley 3221 and the lower synchronous pulley 3231 constitute a synchronous belt drive, and the synchronous belt drive has the advantages of accurate transmission, high transmission efficiency and compact structure. The guide member 324 has a guiding function to further improve the accuracy of the transmission direction, thereby ensuring the connection reliability between the grounding structure 100 and the ground and the connection reliability between the connection module 400 and the high-voltage transmission line.

[0091] Optionally, the guide member 324 can be an optical axis, and the optical axis has the advantages of high precision and stability, making the transmission precision higher and the movement smoother.

[0092] In some embodiments of the present application, as Figure 10 and Figure 11 shown, Figure 10 is Figure 1 a partial enlarged schematic view of the M position of Figure 11 is Figure 10 a partial cross-sectional view of

[0093] such asFigures 10 to 12 As shown Figure 12 is a schematic structural diagram of the fixing component 310 in the embodiment of the present application. The support structure 311 includes a sheet metal fixing and limiting member 3111 and a spacer 3112. The sheet metal fixing and limiting member 3111 is a part prepared by a sheet metal bending process, which is fixedly connected to the working platform 20, and includes a horizontal part 31111 and a vertical part 31112, which are connected. Among them, the horizontal part 31111 is fixedly connected to the upper surface of the housing 21a of the working platform 20, and the vertical part 31112 is perpendicular to the upper surface of the housing 21a and is located above the housing 21a. The spacer 3112 is arranged between the fixing member 312 and the synchronous belt 321 to fill the gap therebetween, so that the meshing teeth 3211 of the synchronous belt and the meshing teeth 3141 of the pressing member can be better meshed, thereby ensuring the reliability of the movement process.

[0094] In some embodiments of the present application, as Figures 9 to 12 shown, the number of the guide members 324 is two. In the width direction of the synchronous belt 321, the two guide members 324 are respectively arranged on both sides of the synchronous belt 321. This setting method makes the force on the synchronous belt 321 in its width direction more uniform, and can further prevent the synchronous belt 321 from twisting during the transmission process, thereby further improving the transmission stability. The number of the fixing members 312 is two. The two fixing members 312 include a first fixing member 312a and a second fixing member 312b arranged at intervals; the first fixing member 312a is located above the second fixing member 312b; both the first fixing member 312a and the second fixing member 312b are provided with guide holes; the guide members 324 are sequentially inserted into the guide holes of the first fixing member 312a and the second fixing member 312b; the number of the pressing members 314 is two. The two pressing members 314 are arranged at intervals in the up and down direction and are respectively fixedly connected to the first fixing member 312a and the second fixing member 312b. By arranging two pressing members 314 in the up and down direction, and a plurality of pressing member meshing teeth 3141 are provided on both pressing members 314 to provide multi-point fixing, thereby ensuring that the synchronous belt 321 will not have relative sliding with the fixing component 310 and ensuring the working stability of the equipotential device 10. The two fixing members 312 are respectively connected to the same guide member 324 to ensure the verticality of the guide member 324, thereby ensuring the accuracy of the movement direction. The first fixing member 312a and the second fixing member 312b are limited by the sheet metal fixing and limiting member 3111, and the guide member 324 is limited by the linear ball bearings 313 on the first fixing member 312a and the second fixing member 312b, so that the equipotential device 10 has good stability during the rising or falling process.

[0095] Optionally, a linear ball bearing 313 may be disposed in the guiding hole of the fixing member 312, and the guiding member 324 is inserted through the linear ball bearing 313. The linear ball bearing 313 greatly improves the ascending or descending efficiency and meets the speed requirement for the contact between the equipotential device 10 and the high-voltage transmission line during equipotential operation.

[0096] As Figure 11 and Figure 12 shown, the fixing member 312 may include a straight plate portion 3122 and two bending portions 3121. The two bending portions 3121 are respectively located on both sides of the straight plate portion 3122 and are arranged at an angle with the straight plate portion 3122. The straight plate portion 3122 and the two bending portions together form an installation space; the spacer 3112 is disposed in the installation space; the straight plate portion 3122 is fixedly connected to the vertical portion 31112 of the sheet metal fixing and limiting member 3111; a through-hole structure is respectively provided on the two bending portions 3121 to dispose the linear ball bearing 313; the synchronous belt 321 is annular, a part of which is located between the spacer 3112 and the pressing member 314, and the other part is located on the side of the pressing member 314 away from the straight plate portion 3122. Fasteners may be sequentially passed through the vertical portion 31112, the straight plate portion 3122, the spacer 3112 and the pressing member 314 to fix the three together; the pressing member 314 may be a plate-like structure.

[0097] In some embodiments of the present application, as Figure 13 and Figure 14 shown, Figure 13 is a schematic structural diagram of the upper synchronous pulley member 322 in the embodiment of the present application, Figure 14 is Figure 13The A-A cross-sectional view, the upper limit structure 3222 (upper pulley limit member) includes an upper limit member 3222a, an upper connecting shaft 32223, and an adjusting member 32224; the upper limit member 3222a has two upper connecting holes 32225 oppositely arranged in the width direction of the synchronous belt 321; the middle position of the upper connecting shaft 32223 is rotatably connected to the upper synchronous pulley 3221, and its two ends are respectively arranged in an upper connecting hole 32225; one end of the adjusting member 32224 is exposed outside the upper limit member 3222a, and the other end extends into the upper limit member 3222a and is connected to the upper connecting shaft 32223; rotating the adjusting member 32224 can make the upper connecting shaft 32223 move up and down in the upper connecting hole 32225. The upper synchronous pulley 3221 is rotatably connected to the upper limit member 3222a through the upper connecting shaft 32223, and the connection method is simple; by rotating the adjusting member 32224, the upper connecting shaft 32223 can be moved upward in parallel, so that the synchronous belt 321 can always maintain the required pre-tension, thereby ensuring the position control accuracy of the rising height. Since the tension of the synchronous belt 321 will also give a tightening force to the entire transmission module 300 in the direction to maintain the stability of the module. Rotating the adjusting member 32224 can adjust the position of the upper connecting shaft 32223 in the upper connecting hole 32225, and the adjustment method is simple.

[0098] In some embodiments of the present application, as Figure 13 and Figure 14 shown, the upper limit member 3222a includes a first limit member 32221 and a second limit member 32222; the first limit member 32221 is located above the second limit member 32222, and the two are fixedly connected to jointly enclose an accommodation space for the upper synchronous pulley 3221; there are two upper connecting holes 32225 on the second limit member 32222, and the split design is convenient for assembly.

[0099] Optionally, as Figure 13 and Figure 14 shown, the first limit member 32221 may be provided with a first concave portion, and the second limit member 32222 may be provided with a second concave portion. The first concave portion and the second concave portion are oppositely arranged to form an accommodation space for the upper synchronous pulley 3221 in a mouth shape. The first limit member 32221 and the second limit member 32222 are fixedly connected by fasteners. The upper connecting shaft 32223 may be provided with an adjusting threaded hole, and the adjusting member 32224 may be an adjusting screw. The adjusting screw extends in the up and down direction, its head is located above the first limit member 32221, and its tail passes through the first limit member 32221 and is arranged in the adjusting threaded hole. The adjusting member 32224 is threadedly connected to the upper connecting shaft 32223.

[0100] In some embodiments of the present application, as Figure 15 shown, Figure 15This is a schematic structural diagram of the lower synchronous pulley member 323 in the embodiments of the present application. The lower limit structure 3232 (lower pulley limit member) includes a lower limit member 3232a and a lower connecting shaft 32323 (central shaft of the synchronous belt pulley); the lower limit member 3232a has two lower connecting holes oppositely arranged in the width direction of the synchronous belt 321. The middle part of the lower connecting shaft 32323 is rotatably connected to the lower synchronous pulley 3231, and both ends of the lower connecting shaft 32323 are respectively arranged in a lower connecting hole. The lower synchronous pulley 3231 is rotatably connected to the lower limit member 3232a through the lower connecting shaft 32323, and the connection method is simple. The lower limit structure 3232 provides the supporting and driving functions for the entire equipotential device 10.

[0101] In some embodiments of the present application, as Figure 15 shown, the lower limit member 3232a includes a third limit member 32321 and a fourth limit member 32322. The third limit member 32321 is located above the fourth limit member 32322, and the two are fixedly connected to jointly enclose an accommodation space for the lower synchronous pulley 3231; the lower connecting hole is arranged on the third limit member 32321.

[0102] Optionally, as Figure 15 shown, the third limit member 32321 may be provided with a third recess, and the fourth limit member 32322 may be provided with a fourth recess. The third recess and the fourth recess are oppositely arranged to form an accommodation space for the lower synchronous pulley 3231 in a rectangular shape. The third limit member 32321 and the fourth limit member 32322 are fixedly connected by fasteners; the third limit member 32321 and the fourth limit member 32322 may be in a U shape.

[0103] In some embodiments of the present application, as Figure 15 shown, the grounding structure 100 is connected to the lower limit structure 3232; the grounding structure 100 is a conductive rod or a conductive rope. The grounding structure 100 is connected to the lower limit structure 3232 and is located at the lower end of the entire equipotential device 10, which is beneficial to reducing the length of the grounding structure 100 and facilitating grounding. Both the conductive rod and the conductive rope can achieve connection with the ground. The conductive rope is a flexible structure and is convenient for storage. The conductive rod is a rigid structure and is not easily affected by wind, and the risk of misconnection with other structures is lower.

[0104] Optionally, the grounding structure 100 and the lower limit structure 3232 may be detachably connected or may be an integrally formed structure, and the present application does not limit this. Figure 15 In the shown embodiment, the grounding structure 100 is a strip-shaped grounding rod formed by the downward extension of the lower limit structure 3232. The structure is simple and can be prepared through one process, saving process steps.

[0105] In some embodiments of the present application, as Figure 16 and Figure 17As shown, Figure 16 is a schematic diagram of the structure of the connection module 400 in an embodiment of the present application, Figure 17 for Figure 2 The schematic diagram of the partial enlargement at N shows that the connection module 400 (floating module) includes a contact component 410, an elastic member 420 and a retaining frame 430; the retaining frame 430 includes a guide shaft 431 and a floating component 432; the guide shaft 431 extends in the up and down directions, the lower end of the guide shaft 431 is slidingly connected to the floating component 432, and the upper end of the guide shaft 431 is fixedly connected to the contact component 410; the floating component 432 is fixedly connected to the upper end of the moving component 320; the elastic member 420 is sleeved on the outside of the guide shaft 431, and is located between the contact component 410 and the floating component 432. The contact assembly 410 is used to connect with the high-voltage transmission line, the floating assembly 432 can slide along the guide shaft 431, the floating assembly 432 is fixedly connected to the upper end of the moving assembly 320, and can move with the moving assembly 320. When the moving assembly 320 drives the connection module 400 to move upward, the contact assembly 410 is connected to the high-voltage transmission line and can move until the floating assembly 432 moves upward along the guide shaft 431 for a certain distance, so that the distance between the floating assembly 432 and the contact assembly 410 is reduced, and the elastic member 420 is compressed to provide an upward thrust, so that the contact between the contact assembly 410 and the high-voltage transmission line is closer, thereby ensuring the connection reliability, so that the equipotential device 10 of the embodiment of the present application can adapt to meet the working height of the dual-arm collaborative platform. The retaining frame 430 provides stability for the up and down movement of the connection module 400, eliminating the torsion problem caused by the excessive length of the equipotential device 10.

[0106] The elastic member 420 can provide a certain buffer when the equipotential device 10 contacts the high-voltage transmission line. At the same time, when the working space of the two arms is limited, the height of the working platform can be appropriately lowered to provide a larger working space for the two arms. In this process, the elastic member 420 gradually extends, but always remains in a compressed state, thereby ensuring that when the working height is lowered, the contact assembly 410 is provided with a pre-pressure with the high-voltage transmission line, so that the contact assembly 410 can be firmly adsorbed on the high-voltage transmission line. Optionally, the elastic member 420 can be a spring, and the spring provides support for the contact assembly 410. Further, a square spring can be selected. The square spring has the advantages of high stiffness, large load-bearing capacity, good energy absorption capacity and long life, and can provide greater support for the contact assembly 410.

[0107] like Figure 16 and Figure 17As shown, the floating assembly 432 may include two floating blocks, a first floating block 432a and a second floating block 432b, both of which are slidably connected to the guide shaft 431, and the first floating block 432a is located above the second floating block 432b, wherein the first floating block 432a may be located on the outside of the first limiting member 32221, and the two are fixedly connected, and the first floating block 432a may cover the top of the adjusting member 32224; the second floating block 432b may be located on the outside of the second limiting member 32222, and the two are fixedly connected. The floating block may include a horizontally arranged fixed connection part 4321 and two vertically arranged sliding connection parts 4322, the two sliding connection parts 4322 are connected to the two ends of the fixed connection part 4321 to form a U-shaped floating block, the sliding connection part 4322 is provided with a sliding connection hole, a linear bearing 433 is provided in the sliding connection hole, and the guide shaft 431 is passed through the linear bearing 433; the two U-shaped floating blocks are arranged in a mouth shape, the first limit member 32221 and the second limit member 32222 are arranged in the mouth-shaped space, wherein the fixed connection part 4321 of the first floating block 432a is fixedly connected to the first limit member 32221, and the fixed connection part 4321 of the second floating block 432b is fixedly connected to the second limit member 32222.

[0108] like Figure 16 As shown, the contact assembly 410 may include a contact piece 411 and an adapter piece 412, the adapter piece 412 is in a U-shaped structure, and the U-shaped adapter piece 412 is arranged in an inverted U-shape, with the two ends of its lower side respectively fixedly connected to a guide shaft 431, and the upper end of the adapter piece 412 is fixedly connected to the contact piece 411; the contact piece 411 is in a strip-shaped sheet structure, extending along the width direction of the equipotential device 10, and the two ends in the length direction are respectively bent downward to form a structure of an inclined section, a horizontal section and an inclined section connected in sequence, thereby avoiding collision between the two ends of the contact piece 411 and the high-voltage transmission line, so as to prevent damage to the two ends of the contact piece 411. The contact piece 411 is relatively long, which extends the lateral area and increases the lateral contact area between the contact piece 411 and the high-voltage transmission line, ensuring that the working platform 20 can maintain the same potential in real time and is compatible with the lateral deviation of the machine placement. The contact piece 411 can contact one high-voltage transmission line or two high-voltage transmission lines, and can be operated according to the work requirements. The contact piece 411 is relatively long and can be connected to two high-voltage transmission lines at a long distance at the same time, so it is suitable for more application scenarios.

[0109] In some embodiments of the present application, Figure 18 As shown, Figure 18This is a connection diagram of the drive module 200 and the lower limit structure 3232 in the embodiments of the present application. The drive module 200 includes an insulated coupling 210, a drive motor 220, and an insulated motor support 230. The insulated coupling 210 connects the drive motor 220 and the lower synchronous pulley 3231. The drive motor 220 is installed on the insulated motor support 230, and the insulated motor support 230 is fixedly connected to the lower limit structure 3232. An insulated connection method is adopted to reduce the risk of the drive motor 220 being broken down by high voltage.

[0110] As Figure 18 shown, the insulated motor support 230 may have a hollow accommodating space. The insulated coupling 210 is arranged in the hollow accommodating space. One side of the hollow accommodating space is open, and the opening is arranged towards the lower limit structure 3232, so that a part of the lower limit structure 3232 is inserted into the opening. The lower limit structure 3232 and the insulated motor support 230 are fixedly connected. The lower connecting shaft 32323 is inserted into the hollow accommodating space and connected to one side of the insulated coupling 210. The other side of the insulated coupling 210 is connected to the output shaft of the drive motor 220. The drive motor 220 may be arranged on the side of the insulated motor support 230 away from the lower limit structure 3232, and its output shaft extends into the hollow accommodating space to be connected to the insulated coupling 210.

[0111] Optionally, the drive motor 220 may be an encoder motor, which provides a power source for the lifting of the equipotential device 10. At the same time, the movement distance of the equipotential device 10 can be accurately obtained through the data of the encoder. The insulated coupling 210 and the insulated motor support 230 may be prepared from insulated materials to reduce the risk of the drive motor 220 being broken down by high voltage. Specifically, plastic materials may be used.

[0112] The equipotential device 10 of the embodiment of the present application realizes the automatic lifting and power connection of the equipotential device 10 by using the synchronous belt drive function. Moreover, the floating mechanism (connection module 400) composed of multiple-stage springs at the top of the equipotential device 10 enables the two arms of the high-voltage double-arm cooperation platform to adjust the working space in real time during operation. At the same time, it ensures that the equipotential device 10 can be in contact with the power transmission line in real time, realizing the equipotential operation between the operation platform 20 and the high-voltage power transmission line, so that the operation platform 20 can be compatible with various high-voltage live working scenarios. In the related art, the method of realizing equipotential between the operation platform and the high-voltage power transmission line by manually hanging a conductive rope. Since the conductive rope is a flexible structure, it may shake under the action of wind, thus coming into contact with a structure that cannot be connected to the power transmission line, resulting in misconnection and accidents. To prevent the occurrence of the above situation, the hanging conductive rope should not be too long, which makes the working space of the high-voltage double-arm cooperation platform relatively fixed, resulting in a narrow working potential field of the robotic arm 23a of the high-voltage double-arm cooperation platform and easily forming a dead point. The equipotential device 10 of the embodiment of the present application is an equipotential rod, which is a rigid structure and is not easily affected by wind. It can reduce the occurrence of the above accidents. Its length can be made longer, so that its stroke is longer, thereby providing a larger working space for the operation platform 20 and reducing the situation where the working potential field of the robotic arm 23a is narrow and easily forms a dead point.

[0113] As Figure 19 shown, Figure 19 FIG. is a schematic structural diagram (working state) of the third perspective of the high-voltage double-arm cooperation platform according to the embodiment of the present application. An embodiment of the second aspect of the present application provides a high-voltage double-arm cooperation platform, which includes an operation platform 20 and the equipotential device 10 of any embodiment of the first aspect; the fixed component 310 of the equipotential device 10 is fixedly connected to the operation platform 20.

[0114] The high-voltage double-arm cooperation platform of the embodiment of the present application includes the equipotential device 10 of any embodiment of the first aspect, and realizes the equipotential between the operation platform 20 and the high-voltage power transmission line 70 through an automated operation method, without manual operation, avoiding the safety risks of manual operation; compared with the solution of realizing the potential isolation between the operation platform and the high-voltage power transmission line 70 by covering the entire body of the operation platform with insulating materials, the equipotential device 10 of the embodiment of the present application can realize the equipotential between the operation platform 20 and the high-voltage power transmission line 70 without covering the entire body of the operation platform 20 with insulating materials, thus avoiding the occurrence of breakdown caused by poor workmanship and reducing the cost. The high-voltage double-arm cooperation platform of the embodiment of the present application is a high-voltage double-arm cooperation platform carrying an adaptive lifting equipotential device 10, which is suitable for the harsh working environments under all high-voltage electrical environments.

[0115] In some embodiments of the present application, as Figure 19 and Figure 20 shown,Figure 20 This is a schematic structural diagram of the fourth perspective of the high-voltage dual-arm collaborative platform according to an embodiment of the present application (non-operating state). The operation platform 20 includes a robot main body 21, an insulating footrest 22, and a dual-arm module 23; the dual-arm module 23 is arranged above the robot main body 21; the equipotential device 10 is connected to the robot main body 21 and is arranged at an interval from the dual-arm module 23; the insulating footrest 22 is arranged below the robot main body 21; the high-voltage dual-arm collaborative platform further includes a lifting mechanism 30; the lifting mechanism 30 is located below the insulating footrest 22; the equipotential device 10 can descend to be connected to the grounding structure 100 and the lifting mechanism 30, and the grounding structure 100 is connected to the ground through the lifting mechanism 30.

[0116] The equipotential device 10 is connected to the robot main body 21 to achieve equipotential of the robot main body 21 and the dual-arm module 23 with the high-voltage transmission line. The lifting mechanism 30 is connected to the ground, and the insulating footrest 22 supports the operation platform 20, which can achieve potential isolation between the operation platform 20 and the structure below the insulating footrest 22 (for example: the lifting mechanism 30). The insulating footrest 22 isolates the entire operation platform 20 from the lifting mechanism 30 (lifting vehicle) to prevent the lifting vehicle from malfunctioning due to high-voltage breakdown. By controlling whether the grounding structure 100 is connected to the lifting mechanism 30, it is possible to control whether the operation platform 20 is connected to the ground, and the implementation method is simple; when the grounding structure 100 contacts the lifting mechanism 30, the operation platform 20 is connected to the ground through the equipotential device 10 and the lifting mechanism 30. Specifically, the grounding contact point can be designed on the tabletop 31 of the lifting mechanism 30. In this way, it is beneficial to reduce the length and complexity of the grounding structure 100 and reduce the design difficulty. At the same time, only by ensuring that the distance between the grounding structure 100 and the tabletop 31 is sufficient, it is possible to ensure that the insulation distance between the working platform 20 and the equipotential device 10 meets the requirements, thereby preventing the occurrence of high-voltage breakdown, facilitating the determination of the insulation distance, and improving the operation stability of the equipment. For example, for a 66 kV high-voltage transmission line, an insulation distance of 500 mm is required, that is, when the equipotential device 10 is in the working state, the distance between the working platform 20 and the equipotential device 10 and the lifting mechanism 30 should be greater than or equal to 500 mm.

[0117] Such as Figure 19 and Figure 20As shown in the figure, the equipotential device 10 can be arranged on the side of the robot main body 21, and the double-arm module 23 can be arranged on the top of the robot main body 21 and set away from the equipotential device 10 to prevent interference between the two and provide a larger working space for the double-arm module 23. The double-arm module 23 can include two robotic arms 23a. Each robotic arm 23a includes multiple arm segments and joints. Adjacent arm segments are connected by joints, and motors are arranged inside the joints to control the posture of the robotic arm 23a. Insulation is provided between the motors and the outer shells of the robotic arms 23a to prevent the motors from being punctured. Robotic arms 23a with multiple degrees of freedom and high precision can be selected to achieve actions that cannot be operated manually in some narrow environments. Different tools are arranged at the ends of the robotic arms 23a to meet the operation requirements in a high-voltage electrical environment.

[0118] As Figure 20 and Figure 21 shown Figure 21 As shown in the figure, it is a schematic structural diagram of the robot main body 21 in the embodiment of the present application. The robot main body 21 includes a housing 21a. Multiple electrical devices (not shown in the figure) can be arranged inside the housing 21a. The electrical devices can be arranged on an insulating board (not shown in the figure). The insulating board can be, for example, a bakelite board to be insulated from the housing 21a. When the equipotential device 10 contacts a high-voltage transmission line, the high voltage is conducted to the operation platform 20 through the equipotential device 10, so that the operation platform 20 and the high-voltage transmission line belong to the same potential. The electrical devices are connected to the housing 21a through the bakelite board and are in an isolated state from the operation platform 20. A main switch 21b, a charging connector 21c, a debugging interface 21d, a communication network port 21e, and a power display structure 21f of the operation platform 20 connected to the internal electrical devices can be arranged on the housing 21a of the robot main body 21. Multiple through holes 21g can be opened on the housing 21a, and a router antenna (not shown in the figure) can extend from the through hole 21g to the inside of the housing 21a to obtain a better signal. An inspection port (not shown in the figure) and an inspection board 21h can be arranged at the top of the housing 21a for easy inspection. Hoisting rings 21i can be arranged at the four corners of the housing 21a for hoisting the working platform. The housing 21a can be welded by metal sheet parts.

[0119] As Figure 22 shown Figure 22 As shown in the figure, it is a schematic structural diagram of the insulating footrest 22 in the embodiment of the present application. The insulating footrest 22 can be a box structure, and multiple reinforcing plates 22a are arranged inside it to increase its load-bearing capacity. The insulating footrest 22 can be made of a glass fiber composite material with a withstand voltage level ≥120 kV. This value can be reserved with redundancy through calculation to ensure the insulation performance.

[0120] As Figure 23 shown Figure 23This is a schematic structural diagram of the fifth perspective of the high-voltage dual-arm collaborative platform according to an embodiment of the present application. The lifting mechanism 30 includes a tabletop 31, a base 32, a driving mechanism 33, and a telescopic bracket 34. The tabletop 31 is located above the base 32. The telescopic bracket 34 is disposed between the base 32 and the tabletop 31. The driving mechanism 33 drives the telescopic bracket 34 to shorten or extend, so as to realize the rising or falling of the tabletop 31. The working platform 20 is arranged on the tabletop 31. The lifting mechanism 30 can be a scissor lift truck. The telescopic bracket 34 can include a plurality of scissor arms 34b. Among them, every two scissor arms 34b are cross-arranged to form an X-shaped scissor assembly. The X-shaped scissor assembly has four connection points. Adjacent two scissor assemblies are arranged up and down and are connected through two connection points to form a scissor structure 34a. The two connection points at the lower end of the scissor structure 34a are hinged to the base 32. One connection point at the upper end of the scissor structure 34a is hinged to the bottom surface of the platform, and the other connection point is slidably connected to the bottom surface of the tabletop 31. The sliding connection can be realized by means of a slide rail and a pulley. The number of scissor structures 34a can be two. The two scissor structures 34a are parallel and spaced apart and are connected by a connecting rod 34c to realize synchronous movement. One of the connecting rods 34c is connected to the driving mechanism 33 to drive the telescopic bracket 34 to expand and contract. Optionally, the driving mechanism 33 can be a hydraulic push rod.

[0121] As Figure 19 shown, the working platform 20 can further include a pan-tilt camera 24. The pan-tilt camera 24 is arranged on the upper surface of the robot body 21 and is used to observe the operation at the end of the robotic arm 23a, which is beneficial to the disassembly and assembly of the wire clamp.

[0122] The high-voltage dual-arm collaborative platform according to the embodiment of the present application can be used for all high-voltage live working environments, reducing the risk caused by human operation errors. By using different end tools and remote vision algorithm control, long-distance live operation can be realized to meet the operation requirements of power projects. Since the adaptive lifting equipotential device 10 is integrated, the time under the equipotential operation condition is shortened, and the operation efficiency is significantly improved compared with traditional manual work. By using a synchronous belt 321 connection, the automatic lifting equipotential device 10 can be realized. The stroke of the equipotential device 10 is relatively long, which can shorten the stroke of the scissor lift truck, reduce the number of scissor assemblies of the scissor lift truck, make the lifting more stable, or shorten the length of the scissor arms 34b, thereby reducing the space occupied by the scissor assemblies laterally and facilitating the miniaturized design of the equipment.

[0123] In some embodiments of the present application, as Figure 24 shown, Figure 24This is a working schematic diagram of the wire clamp disassembly and assembly device in the embodiments of the present application. An energized operation tool 23b can be provided at the end of the double-arm module 23. The energized operation tool 23b can be a wire clamp disassembly and assembly device, including a clamping and fixing module 23b1 and a disassembly and assembly module 23b2. Among them, the clamping and fixing module 23b1 is arranged on one robotic arm 23a, and the disassembly and assembly module 23b2 is arranged on the other robotic arm 23a. The clamping and fixing module 23b1 can include a clamping structure 23b11 and a fixing structure 23b12. The clamping structure 23b11 can be used to clamp the wire clamp 40. The wire clamp 40 is connected to a connecting piece 80 on the high-voltage transmission line 70 through a connecting screw 50 and a nut 60. The fixing structure 23b12 can be used to fix the connecting screw 50. After clamping and fixing, the disassembly and assembly module 23b2 can tighten or loosen the nut 60, so that the connecting screw 50 and the nut 60 are fixed or separated, thereby realizing the disassembly and assembly of the wire clamp 40 by the robotic arm 23a without manual operation, reducing the operation risk of manual operation.

[0124] The following will detail the wire clamp removal operation process of the high-voltage double-arm cooperation platform in the embodiments of the present application. As Figures 25 to 30 shown, Figure 25 This is the operation flow chart of the high-voltage double-arm cooperation platform in the embodiments of the present application. Figure 26 This is the working schematic diagram of the high-voltage double-arm cooperation platform in the embodiments of the present application (corresponding to S1). Figure 27 This is the working schematic diagram of the high-voltage double-arm cooperation platform in the embodiments of the present application (corresponding to S2). Figure 28 This is the working schematic diagram of the high-voltage double-arm cooperation platform in the embodiments of the present application (corresponding to S3). Figure 29 This is the working schematic diagram of the high-voltage double-arm cooperation platform in the embodiments of the present application (corresponding to S4). Figure 30 This is the working schematic diagram of the high-voltage double-arm cooperation platform in the embodiments of the present application (corresponding to S5). The operation process includes:

[0125] S1. Ground operation positioning: Manually remotely control the lifting mechanism 30 to move the high-voltage double-arm cooperation platform to the substation operation position; specifically, it can include:

[0126] Step 11. Remotely control the lifting mechanism 30 (scissor lift truck) to move the high-voltage double-arm cooperation platform to the operation position.

[0127] Step 12. Conduct a preliminary positioning before the operation through the human eye.

[0128] Step 13. After the positioning is completed, deploy the telescopic support 34 (lifting vehicle outrigger).

[0129] S2. The high-voltage double-arm cooperation platform reaches the operation height: Use the lifting mechanism 30 to lift the operation platform 20 to the specified height; specifically, it can include:

[0130] Step 21. Confirm that the telescopic support 34 is fixedly completed;

[0131] Step 22. The lifting mechanism 30 lifts the working platform 20 to a predetermined working height;

[0132] Step 23. Confirm whether the highest lifting position is reached;

[0133] S3. Equipotential operation: Start the equipotential device 10 so that the equipotential device 10 contacts the high-voltage transmission line 70, and realize the equipotential between the working platform 20 and the high-voltage transmission line 70; specifically, it may include:

[0134] Step 31. Restore the equipotential device 10 to the initial position to realize the initial position calibration;

[0135] Step 32. Raise the equipotential device 10 to the program preset height and contact the high-voltage transmission line 70;

[0136] Step 33. Observe that the elastic member 420 of the connection module 400 (floating mechanism) of the equipotential device 10 is compressed, and confirm that the equipotential is successfully realized;

[0137] S4. The double-arm module 23 performs the operation of removing the wire clamp; specifically, it may include:

[0138] Step 41. After the double arms are unfolded, all tools perform self-inspection and return to the initial position;

[0139] Step 42. Determine the working distance through visual processing and move the robotic arm 23a to the preliminary working position;

[0140] Step 43. Operate the end tool (wire clamp disassembly and assembly device) through a 3D mouse (not shown in the figure) to make precise positioning and perform the operation of removing the wire clamp;

[0141] Step 44. After the operation of removing the wire clamp is completed, the double-arm module 23 leaves the working area;

[0142] S5. The high-voltage double-arm cooperation platform is separated from the high-voltage transmission line 70 and returns to the initial position: The equipotential device 10 disconnects from the high-voltage transmission line 70 and returns to the initial position, and the lifting mechanism 30 descends to restore the high-voltage double-arm cooperation platform to the ground position; specifically, it may include:

[0143] Step 51. The equipotential device 10 contracts and is withdrawn;

[0144] Step 52. The lifting mechanism 30 lowers the high-voltage double-arm cooperation platform back to the initial position;

[0145] Step 53. The grounding structure of the equipotential device 10 is connected to the ground to restore the initial potential.

[0146] In the above operation process, there is no need for manual high-voltage operation, thus avoiding the safety risks of manual operation.

[0147] It should be noted that in this text, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

[0148] Each embodiment in this specification is described in a related manner. For the same or similar parts among the embodiments, reference can be made to each other, and the differences between each embodiment and other embodiments are emphasized. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and reference can be made to the relevant part of the method embodiment for the related content.

[0149] The above is only the preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are all included within the protection scope of the present invention.

Claims

1. An equipotential device, characterized in that, Applied to a high-voltage dual-arm collaborative platform, the equipotential device includes a grounding structure (100), a driving module (200), a transmission module (300), and a connection module (400); The grounding structure (100), the transmission module (300), and the connection module (400) are arranged in sequence from bottom to top; The transmission module (300) includes: a fixed component (310) and a moving component (320) connected together; the fixed component (310) is fixedly connected to the working platform (20) of the high-voltage dual-arm collaborative platform; the upper end of the moving component (320) is connected to the lower end of the connection module (400), and the lower end of the moving component (320) is respectively connected to the driving module (200) and the grounding structure (100); The driving module (200) can drive the moving component (320) to slide relative to the fixed component (310), so that the grounding structure (100) and the connection module (400) can move upward or downward relative to the working platform (20) under the drive of the driving module (200); When the equipotential device is in the working state, the grounding structure (100) is disconnected from the ground, and the upper end of the connection module (400) is in contact with the high-voltage transmission line; When the equipotential device is in the non-working state, the grounding structure (100) is connected to or disconnected from the ground, and the upper end of the connection module (400) is separated from the high-voltage transmission line.

2. The equipotential device according to claim 1, wherein The moving component (320) includes: A synchronous belt (321), arranged in the vertical direction, fixedly connected to the fixed component (310), and provided with a plurality of synchronous belt engaging teeth (3211) on its inner side; An upper synchronous wheel member (322), including an upper synchronous wheel (3221) and an upper limit structure (3222), which are rotatably connected; the upper synchronous wheel (3221) is arranged at the upper end of the synchronous belt (321), and is provided with a plurality of upper engaging teeth (32211) that engage with the plurality of synchronous belt engaging teeth (3211); A lower synchronous wheel member (323), including a lower synchronous wheel (3231) and a lower limit structure (3232), which are rotatably connected; the lower synchronous wheel (3231) is arranged at the lower end of the synchronous belt (321), and is provided with a plurality of lower engaging teeth (32311) that engage with the plurality of synchronous belt engaging teeth (3211); the lower synchronous wheel (3231) is connected to the driving module (200); A guide member (324), extending in the vertical direction, with its upper end fixedly connected to the upper limit structure (3222), its lower end fixedly connected to the lower limit structure (3232), and slidably connected to the fixed component (310).

3. The equipotential device according to claim 2, characterized in that, The fixed component (310) includes: a support structure (311), a fixing member (312), and a pressing member (314); The support structure (311) is fixedly connected to the working platform (20); The fixing member (312) is fixedly connected to the support structure (311) and slidably connected to the guide member (324); The pressing member (314) is fixedly connected to the support structure (311), and a plurality of pressing member engaging teeth (3141) are provided on one side thereof facing the support structure (311); A part of the synchronous belt (321) is clamped between the support structure (311) and the pressing member (314), and a plurality of synchronous belt engaging teeth (3211) and a plurality of pressing member engaging teeth (3141) are engaged with each other, so that the synchronous belt (321) is fixedly connected to the fixing assembly (310).

4. The equipotential device according to claim 3, wherein The number of the guiding members (324) is two, and the two guiding members (324) are respectively arranged on both sides of the synchronous belt (321) in the width direction of the synchronous belt (321); The number of the fixing members (312) is two, and the two fixing members (312) include a first fixing member (312a) and a second fixing member (312b) arranged at intervals; the first fixing member (312a) is located above the second fixing member (312b); guiding holes are provided on both the first fixing member (312a) and the second fixing member (312b); the guiding members (324) are sequentially inserted into the guiding holes of the first fixing member (312a) and the second fixing member (312b); The number of the pressing members (314) is two, and the two pressing members (314) are arranged at intervals in the up-down direction and are respectively fixedly connected to the first fixing member (312a) and the second fixing member (312b).

5. The equipotential device according to claim 2, characterized in that The upper limit structure (3222) includes: An upper limit member (3222a) having two upper connection holes (32225) oppositely arranged in the width direction of the synchronous belt (321); An upper connection shaft (32223) whose middle position is rotatably connected to the upper synchronous pulley (3221), and both ends thereof are respectively arranged in one of the upper connection holes (32225); An adjusting member (32224) with one end exposed outside the upper limit member (3222a) and the other end extending into the upper limit member (3222a) and connected to the upper connection shaft (32223); rotating the adjusting member (32224) can make the upper connection shaft (32223) move up and down in the upper connection hole (32225).

6. The equipotential device according to any one of claims 1 to 5, characterized in that The connection module (400) includes: a contact component (410), an elastic component (420) and a cage (430); The cage (430) includes a guiding shaft (431) and a floating component (432); the guiding shaft (431) extends in the up-down direction, the lower end of the guiding shaft (431) is slidably connected to the floating component (432), and the upper end of the guiding shaft (431) is fixedly connected to the contact component (410); the floating component (432) is fixedly connected to the upper end of the moving component (320); The elastic component (420) is sleeved outside the guiding shaft (431) and is located between the contact component (410) and the floating component (432).

7. The equipotential device according to any one of claims 2 to 5, characterized in that, The drive module (200) includes: an insulating coupling (210), a drive motor (220), and an insulating motor support (230); The insulating coupling (210) connects the drive motor (220) and the lower synchronous pulley (3231); The drive motor (220) is installed on the insulating motor support (230), and the insulating motor support (230) is fixedly connected to the lower limit structure (3232).

8. The equipotential device according to any one of claims 2 to 5, characterized in that The grounding structure (100) is connected to the lower limit structure (3232); The grounding structure (100) is a conductive rod or a conductive rope.

9. A high-voltage dual-arm collaborative platform, characterized in that, Including: An operation platform (20) and the equipotential device according to any one of claims 1-8; The fixing component (310) of the equipotential device is fixedly connected to the operation platform (20).

10. The high-voltage double-arm collaborative platform according to claim 9, wherein The operation platform (20) includes: a robot main body (21), an insulating leg (22), and a double-arm module (23); The double-arm module (23) is arranged above the robot main body (21); The equipotential device is connected to the robot main body (21) and is arranged at an interval from the double-arm module (23); The insulating leg (22) is arranged below the robot main body (21); The high-voltage double-arm collaborative platform further includes: a lifting mechanism (30); The lifting mechanism (30) is located below the insulating leg (22); The equipotential device can be lowered to connect the grounding structure (100) to the lifting mechanism (30), and the grounding structure (100) is connected to the ground through the lifting mechanism (30).

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