Substation secondary wiring mechanized intelligent equipment and construction method

Abstract

The invention discloses mechanical intelligent equipment for secondary wiring of a transformer substation. A lifting mechanism is arranged on a rack and is combined with a lifting module to control the height of a wiring working platform; the tool library module is mounted on the wiring working platform, so that cutting, peeling, cable marker sleeving and bending operations can be performed on a cable core; two mechanical arms are installed on a wiring working platform, and a main mechanical arm and an electric clamping jaw, a first visual module and a force sensing module in a main wiring execution module are used for grabbing a wire core, inserting the battery core into a terminal strip jack and detecting whether the battery core is inserted in place or fastened or not; the auxiliary mechanical arm and a tightening module and a second visual module in the auxiliary wiring execution module are used for achieving the technical purpose of screwing side screws of the terminal strip. The above secondary wiring operation can be realized through a control program deployed in the upper computer module and combined with the lower computer module for action control. The invention further discloses a transformer substation secondary wiring mechanical intelligent construction method.

Description

Technical Field

[0001] The present invention belongs to the technical field of robotics, and specifically relates to a mechanized intelligent device and construction method for secondary wiring in a substation. Background Art

[0002] The construction quality and efficiency of substations have always been important indicators for power grid construction. At present, with the development of China's power grid construction towards mechanization and intelligence, the addition of mechanized equipment in substation construction is an inevitable trend in future power grid construction, and higher requirements are also put forward for the intelligence of equipment, which conforms to the concept of "fully applying" mechanized construction by the State Grid.

[0003] The secondary wiring work in substation engineering refers to the cable wiring operation for connecting protection, measurement, control, and signal devices in a substation. In the traditional method for constructing the secondary wiring scenario, generally, the stripped cable cores are manually connected to the terminal block in sequence according to the engineering drawing, and each device is directly connected by manual operation using copper wire or aluminum wire to form a fixed electrical circuit, including steps such as cable head production, cable label identification and fixation, core wire arrangement and steps, and shield wire installation. However, this wiring method requires a large amount of manpower, the construction process is not refined enough and is prone to wiring errors, lacks effective mechanized construction means, and cannot meet the requirements of the new era's power grid construction situation.

[0004] Therefore, improving the degree of mechanization and intelligence of the work will greatly improve the construction efficiency, reduce the construction risk, reduce the labor cost, promote the transformation of the construction mode of substation engineering, and contribute to the digital transformation of infrastructure. Summary of the Invention

[0005] In view of this, aiming at the problems of complex construction process, low efficiency, and high cost in secondary wiring construction, the purpose of the present invention is to provide a mechanized intelligent device and construction method for secondary wiring in a substation, which can improve the construction efficiency, reduce the construction risk, and reduce the labor cost through human-machine cooperation.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] The present invention first proposes a mechanized intelligent device for secondary wiring in a substation, including:

[0008] A frame, on which a lifting mechanism is provided;

[0009] A wiring work platform, installed on the lifting mechanism and used for performing secondary wiring operations;

[0010] A lifting module, used to control the lifting mechanism to drive the wiring work platform to perform lifting motion to meet the wiring operation requirements of different height terminal blocks in a single switch cabinet;

[0011] A tool library module, installed on the wiring work platform and used to perform pre-treatment operations on the wire cores before secondary wiring;

[0012] A host computer module, used to deploy the control programs required for secondary wiring operations;

[0013] A slave computer module, which is correspondingly arranged with the wiring work platform, the lifting module and the tool library module one by one, and is used to control the corresponding wiring work platform, lifting module or tool library module to perform corresponding actions according to the control program;

[0014] The tool library module includes a wire cutting unit, a peeling unit, a number tube sleeving unit and a bending unit; the wire cutting unit is used to perform cutting operations on the wire cores to adjust the wire core lengths, the peeling unit is used to perform epidermal peeling operations on the wire cores and control the exposed lengths of the copper wires at the ends of the wire cores, the number tube sleeving unit is used to perform number tube sleeving operations on the wire cores, and the bending unit is used to perform bending operations on the front ends of the wire cores to bend the front ends of the wire cores into set shapes;

[0015] Two robotic arms are installed on the wiring work platform, and a main wiring execution module and a slave wiring execution module are interchangeably installed at the ends of the two robotic arms, where: the robotic arm installed with the main wiring execution module is the main robotic arm, and the robotic arm installed with the slave wiring execution module is the slave robotic arm;

[0016] The main execution module includes an electric gripper, a first vision module and a force sensing module. The electric gripper is used to grasp the wire cores, the first vision module is used to identify the positions and postures of the wire cores, and the force sensor module is used to sense whether the wire core wiring is in place and firm; the slave wiring execution module includes a tightening module and a second vision module. The tightening module is used to turn the screws on the side of the terminal block, and the second vision module is used to identify the positions of the terminal block jacks.

[0017] Further, a moving platform is provided at the bottom of the frame to meet the requirements of secondary wiring operations for different switch cabinets.

[0018] Further, the lifting mechanism includes a lifting track provided on the frame, a lifting slider slidably matched with the lifting track, and a motor drive module for driving the lifting slider to move along the lifting track; the lifting module includes an ultrasonic ranging module for detecting the distance of the lifting slider; the wiring work platform is installed on the lifting slider;

[0019] The slave computer module correspondingly arranged with the lifting module is used to control the lifting of the wiring work platform to adjust the height position through the motor drive module and measure the distance of the lifting slider through the ultrasonic ranging module to obtain the height position of the wiring work platform.

[0020] Further, the slave computer module corresponding to the wiring work platform is used to control the electric gripper to perform the action of grasping the wire core, control the first vision module and the second vision module to collect image data, control the force sensing module to collect the wire core force data, and control the tightening module to perform the action of screwing the side screws.

[0021] Further, the slave computer module corresponding to the tool library module is used to control the wire cutting unit to perform a cutting operation on the wire core to adjust the wire core length, control the skin peeling unit to perform a skin peeling operation on the wire core and control the exposed length of the copper wire at the end of the wire core, control the number tube sleeving unit to perform a number tube sleeving operation on the wire core, and control the bending unit to perform a bending operation on the front end of the wire core to bend the front end of the wire core into a set shape.

[0022] The present invention also provides a construction method using the substation secondary wiring mechanized intelligent device as described above, including the following steps:

[0023] Step 1: Initial preparation stage

[0024] Adjust the position of the rack so that the wiring work platform faces the switch cabinet directly; obtain the wiring information of the corresponding switch cabinet and the actual position information of the terminal block.

[0025] Step 2: Pretreatment stage

[0026] Select the operating cable, break the cable into multiple wire cores; use the main robotic arm to drive the electric gripper to grasp the wire cores respectively and transfer the wire cores to the tool library module, and use the tool library module to perform pretreatment on the wire cores including cutting operation, skin peeling operation, number tube sleeving operation and bending operation.

[0027] Step 3: Secondary wiring stage

[0028] Use the lifting module to control the lifting mechanism to adjust the position height of the wiring work platform to the secondary wiring height, and use the main robotic arm to drive the electric gripper to grasp one of the wire cores and insert the end of the wire core into the corresponding jack of the terminal block.

[0029] Step 4: Wiring tightening stage

[0030] Use the slave robotic arm to drive the tightening module to tighten the corresponding side screws to fix the wire core in the corresponding terminal block jack.

[0031] Step 5: Cable loop stage

[0032] Loop through Step 3 and Step 4 until all the wire cores belonging to the same cable have completed the secondary wiring operation;

[0033] Step 6: Unilateral loop stage

[0034] Execute steps two and four in a loop until all the cables on one side of the switchgear cabinet have completed the secondary wiring operation;

[0035] Step Seven: The remaining side loop stage

[0036] Interchangeably install the main wiring execution module and the slave wiring execution module in the two robotic arms, and execute steps two to six in a loop until all the secondary wiring operations of the switchgear cabinet are completed.

[0037] Furthermore, in the above-mentioned step one, the initial preparation stage includes the following steps:

[0038] 11) Adjust the position of the rack so that the wiring work platform faces the switchgear cabinet directly; initialize the upper computer module and the lower computer module so that the wiring work platform, the lifting module, and the tool library module are in the initial state;

[0039] 12) Input the switchgear cabinet model and the cable numbers to be secondarily wired into the upper computer module to obtain the wiring information of the switchgear cabinet;

[0040] 13) Use the main robotic arm to drive the first vision module to move to determine the relative position relationship between the wiring work platform and the switchgear cabinet, and identify the terminal block number and the actual position information of the corresponding jacks.

[0041] Furthermore, in the above-mentioned step two, the preprocessing stage includes the following steps:

[0042] 21) After selecting the operating cable, break the cable into multiple stranded cores and place the multiple stranded cores in the core area to be processed;

[0043] 22) Use the main robotic arm to drive the first vision module to identify the position and posture of the cores in the core area to be processed, and use the main robotic arm to drive the electric gripper to grab one of the single-stranded cores;

[0044] 23) Use the main robotic arm to drive the electric gripper to transfer the grabbed core to the wire cutting unit in the tool library module, and use the wire cutting unit to perform a cutting operation on the core to adjust the core length to a length suitable for the height of the terminal block;

[0045] 24) Use the main robotic arm to drive the electric gripper to transfer the grabbed and cut core to the peeling unit, and use the peeling unit to perform an epidermis peeling operation on the core and control the exposed length of the copper wire at the end of the core;

[0046] 26) Use the main robotic arm to drive the electric gripper to transfer the grabbed and peeled core to the number tube sleeving unit, and use the number tube sleeving unit to perform a number tube sleeving operation on the core, and sleeve the numbered number tube on the core;

[0047] 27) Use the main robotic arm to drive the electric gripper to transfer the core with the sleeve grasped to the bending unit, and the bending unit can be used to perform a bending operation on the front end of the core to bend the front end of the core into a set shape;

[0048] 28) Take out the bent core from the tool library module, and tie the core to the inner side of the switch cabinet so that the front end of the core is located near the wiring position;

[0049] 29) Use the main robotic arm to drive the core grasped by the electric gripper, and repeatedly execute steps 23)-28) until all the cores of the same cable have completed pre-treatment.

[0050] Further, in the third step, the steps in the secondary wiring stage are as follows:

[0051] 31) Use the lifting module to control the lifting mechanism to drive the wiring work platform to move to the wiring height corresponding to the core;

[0052] 32) Use the main robotic arm to drive the first vision module to identify the position and posture of the current core;

[0053] 33) Use the slave robotic arm to drive the slave wiring execution module to move to the position of the terminal block corresponding to the current core, and with the cooperation of the second vision module, align the tightening module with the side screws of the terminal block;

[0054] 34) Use the slave robotic arm to drive the tightening module to drive the corresponding side screw to reverse, so that the pressure block in the corresponding terminal block jack returns to the initial state and the terminal block jack is opened;

[0055] 35) Use the main robotic arm to drive the electric gripper to grasp the core and move it towards the corresponding terminal block jack. With the cooperation of the first vision module, align the front end of the core with the terminal block jack;

[0056] 36) Use the main robotic arm to drive the electric gripper to drive the core to move towards the corresponding terminal block jack, and use the force sensing module to detect the force on the core to sense the change in the contact surface between the core and the jack until the front end of the core contacts the bottom of the jack.

[0057] Further, in the fourth step, the steps in the wiring tightening stage are as follows:

[0058] 41) Use the slave robotic arm to drive the tightening module to drive the side screw to rotate forward, so that the pressure block in the terminal block jack presses the core tightly and fixes it in the corresponding terminal block jack;

[0059] 42) Drive the slave robotic arm to reset to the initial position and posture;

[0060] 43) Use the main robotic arm to drive the electric gripper to drive the wire core to move in the direction away from the corresponding terminal block jack, and use the force sensing module to detect the force on the wire core to determine whether the wire core is fastened: If so, execute step 44); if not, repeat step three.

[0061] 44) Use the main robotic arm to drive the electric gripper to release the wire core, and drive the main robotic arm to reset to the initial position and posture.

[0062] The beneficial effects of the present invention are as follows:

[0063] The mechanized intelligent equipment for secondary wiring of substations of the present invention controls the height of the wiring working platform by setting a lifting mechanism on the frame and combining it with a lifting module to meet the requirements of secondary wiring at different height positions inside the switch cabinet; by installing a tool library module on the wiring working platform, operations such as cutting, stripping, sleeving number tubes, and bending of the wire core can be performed by the wire cutting unit, stripping unit, number tube sleeving unit, and bending unit respectively to meet the pre-treatment work of the wire core before secondary wiring; by installing two robotic arms on the wiring working platform and installing a main wiring execution module and a slave wiring execution module at the ends of the two robotic arms, in this way, the wire core can be grasped, the core can be inserted into the terminal block jack, and it can be detected whether the core is inserted in place and whether it is fastened by using the electric gripper, the first vision module, and the force sensing module in the main robotic arm and the main wiring execution module; the technical purpose of screwing the side screws of the terminal block can be achieved by using the tightening module and the second vision module in the slave robotic arm and the slave wiring execution module; the above secondary wiring operations can all be realized through the action control of the control program deployed in the upper computer module and combined with the lower computer module, that is, the mechanized intelligent equipment for secondary wiring of substations of the present invention solves the problem of insufficient efficiency in the prior art, greatly reduces the participation of manpower, and improves the degree of construction intelligence at the same time.

[0064] The mechanized intelligent construction method for secondary wiring of substations of the present invention proposes a relatively detailed operation method for the mechanized construction equipment for secondary wiring in response to the lack and non-standardization of the operation methods of the mechanized construction equipment for secondary wiring of substations, effectively solves the problem of chaotic processes existing in the construction, and reduces the risk of construction accidents. Description of the Drawings

[0065] In order to make the objectives, technical solutions, and beneficial effects of the present invention clearer, the present invention provides the following drawings for illustration:

[0066] Figure 1 It is a schematic structural diagram of an embodiment of the mechanized intelligent equipment for secondary wiring of substations of the present invention;

[0067] Figure 2 It is an upper axonometric view of the mechanized intelligent equipment for secondary wiring of substations in this embodiment;

[0068] Figure 3 Is the lower axonometric view of the mechanized intelligent equipment for secondary wiring of the substation in this embodiment;

[0069] Figure 4 Is the system framework diagram of the mechanized intelligent equipment for secondary wiring of the substation in this embodiment;

[0070] Figure 5 Is the flowchart of the mechanized intelligent construction method for secondary wiring of the substation in the present invention;

[0071] Figure 6 Is the structural schematic diagram of the embodiment of the core pretreatment tool library of the present invention;

[0072] Figure 7 Is the structural schematic diagram of the wire cutting mechanism;

[0073] Figure 8 Is the structural schematic diagram of the peeling mechanism;

[0074] Figure 9 Is the structural schematic diagram of the number tube conveying mechanism;

[0075] Figure 10 Is the structural schematic diagram of the number tube cutting mechanism;

[0076] Figure 11 Is the structural schematic diagram of the bending mechanism;

[0077] Figure 12 Is the structural schematic diagram of the conveying mechanism.

[0078] Explanation of reference numerals:

[0079] 10 - Frame; 11 - Lifting track; 12 - Lifting slider; 13 - Motor drive module; 14 - Moving platform; 141 - Base plate; 142 - Roller; 20 - Wiring working platform; 21 - Main robotic arm; 22 - Sub - robotic arm; 23 - Main wiring execution module; 231 - Electric gripper; 232 - First vision module; 233 - Force sensing module; 24 - Sub - wiring execution module; 241 - Tightening module; 242 - Second vision module; 30 - Lifting module; 31 - Ultrasonic ranging module;

[0080] 40 - Tool library module; 41 - Wire - feeding installation frame; 42 - First wire - feeding roller; 43 - Second wire - feeding roller; 44 - Gear; 45 - Gear; 46 - Power motor; 47 - Synchronous belt mechanism; 481 - Adjusting track; 482 - Clearance adjusting slider; 483 - Screw;

[0081] 50 - Wire cutting unit; 51 - First wire - feeding mechanism; 52 - Wire cutting mechanism; 521 - Lower blade; 522 - Upper blade; 523 - First power device; 524 - Lower mounting seat; 525 - Upper mounting seat;

[0082] 60 - Stripping processing unit; 61 - Second wire conveying mechanism; 62 - Stripping mechanism; 621 - Stripping tool; 622 - Perforation; 623 - Tool head mounting hole; 624 - Second power device; 625 - Chuck; 626 - Motor connecting rod; 627 - Tool connecting rod;

[0083] 70 - Sleeve number tube unit; 71 - Third wire conveying mechanism; 72 - Number tube conveying mechanism; 721 - Sleeve conveying roller; 722 - Sleeve conveying roller; 723 - Sleeve conveying power device; 724 - Driving pulley; 725 - Driven pulley; 73 - Number tube shearing mechanism; 731 - Positioning support; 732 - First blade; 733 - Second blade; 734 - Third power device; 735 - Positioning through hole; 736 - Servo rocker; 737 - Force receiving rod; 74 - Sleeve mounting bracket;

[0084] 80 - Bending unit; 81 - Fourth wire conveying mechanism; 82 - Bending mechanism; 821 - Bending turntable; 822 - Fourth power device; 823 - Base turntable; 824 - Core guiding disk; 825 - Guide post; 826 - Guide channel; 827 - Bending post.

[0085] 90 - Host computer module; 100 - Lower computer module. Detailed implementation manners

[0086] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and be able to implement it, but the exemplified embodiments are not used as a limitation to the present invention.

[0087] Embodiment 1

[0088] As Figures 1 - 3 shown, the mechanized intelligent device for secondary wiring of a substation in this embodiment includes a frame 10, a wiring working platform 20, a lifting module 30, a tool library module 40, a host computer module 90, and a lower computer module 100.

[0089] In this embodiment, a lifting mechanism is provided on the frame 10. Specifically, the lifting mechanism in this embodiment includes a lifting track 11 provided on the frame 10, a lifting slider 12 slidably engaged with the lifting track 11, and a motor drive module 13 for driving the lifting slider 12 to move along the lifting track. In the preferred implementation manner of this embodiment, a moving platform 14 is provided at the bottom of the frame 10. The moving platform 14 includes a bottom plate 141 and rollers 142 mounted on the bottom plate 142 to meet the requirements of secondary wiring operations for different switch cabinets.

[0090] In this embodiment, the wiring working platform 20 is installed on the lifting mechanism and is used to perform secondary wiring operations. Specifically, in this embodiment, the wiring working platform 20 is installed on the lifting slider 12.

[0091] In this embodiment, the lifting module 30 is used to control the lifting mechanism to drive the wiring working platform 20 to perform lifting motion to meet the wiring operation requirements of terminal blocks at different heights in a single switch cabinet. The lifting module 30 of this embodiment includes an ultrasonic ranging module 31 for detecting the distance of the lifting slider 12. The ultrasonic ranging module 31 can measure the height where the wiring working platform 20 is located by sensing the distance of the lifting slider 12, and drive the wiring working platform 20 to different wiring heights by using the lifting mechanism to complete the secondary wiring construction operation.

[0092] In this embodiment, the tool library module 40 is installed on the wiring working platform 20 and is used to perform the pre-treatment operation of the wire core before secondary wiring.

[0093] In this embodiment, the host computer module 90 is used to deploy the control program required for the secondary wiring operation. The host computer system then performs high-level control on the three slave computer modules 100, including processing the secondary wiring task planning, deploying the visual algorithm for sensing and recognition, storing the wire core attributes, the relationship between the wire core jacks, and the position information of the terminal blocks corresponding to wire cores with different attributes, etc.

[0094] As Figure 4 shown, in this embodiment, the slave computer module 100 is set in one-to-one correspondence with the wiring working platform 20, the lifting module 30, and the tool library module 40, and is used to control the corresponding wiring working platform 20, lifting module 30, or tool library module 40 to perform corresponding actions according to the control program. The slave computer module 100 mainly includes the driving of the motor and the sensing detection of relevant data. Among them, the main robotic arm 21, the slave robotic arm 22, and the main wiring execution module 23 and the slave wiring execution module 24 carried at the end all use a special control box for robotic arms as the slave computer control.

[0095] Specifically, three slave computer modules are set and are respectively set in correspondence with the wiring working platform 20, the lifting module 30, and the tool library module 40. In this embodiment, the slave computer module II corresponding to the lifting module 30 is used to control the lifting of the wiring working platform 20 through the motor drive module 13 to adjust the height position and to measure the distance of the lifting slider 12 through the ultrasonic ranging module 31 to obtain the height position of the wiring working platform 20.

[0096] The tool library module 40 of this embodiment includes a wire cutting unit 50, a stripping unit 60, a number tube sleeving unit 70, and a bending unit 80. Specifically, the wire cutting unit 50 is used to perform a cutting operation on the wire core to adjust the length of the wire core. The stripping unit 60 is used to perform an epidermis stripping operation on the wire core and control the exposed length of the copper wire at the end of the wire core. The number tube sleeving unit 70 is used to perform a number tube sleeving operation on the wire core. The bending unit 80 is used to perform a bending operation on the front end of the wire core to bend the front end of the wire core into a set shape. Specifically, the wire core pretreatment tool library described in Embodiment 3 is adopted for the tool library module 40. The bending unit 80 can be implemented in a variety of existing ways for bending cables, which will not be elaborated here. Specifically, the lower computer module III corresponding to the tool library module 40 is used to control the wire cutting unit 50 to perform a cutting operation on the wire core to adjust the length of the wire core, control the stripping unit 60 to perform an epidermis stripping operation on the wire core and control the exposed length of the copper wire at the end of the wire core, control the number tube sleeving unit 70 to perform a number tube sleeving operation on the wire core, and control the bending unit 80 to perform a bending operation on the front end of the wire core to bend the front end of the wire core into a set shape.

[0097] Two robotic arms are installed on the wiring work platform 20 of this embodiment. The main wiring execution module 23 and the slave wiring execution module 24 are interchangeably installed at the ends of the two robotic arms, where: the robotic arm with the main wiring execution module 23 installed is the main robotic arm 21, and the robotic arm with the slave wiring execution module 24 installed is the slave robotic arm 22. The main wiring execution module 23 and the slave wiring execution module 24 can be interchangeably installed between the ends of the two robotic arms to meet the requirements of secondary wiring operations on different sides of the switch cabinet.

[0098] The main execution module 23 in this embodiment includes an electric gripper 231, a first vision module 232, and a force sensing module 233. The electric gripper 231 is used to grasp the wire core, the first vision module 232 is used to identify the position and posture of the wire core, and the force sensor module 233 is used to sense whether the wire core is properly connected and firmly fixed. The slave wiring execution module 24 of this embodiment includes a tightening module 241 and a second vision module 242. The tightening module 241 is used to turn the screws on the side of the terminal block, and the second vision module 242 is used to identify the position of the terminal block jack. Specifically, the lower computer module I corresponding to the wiring work platform 20 is used to control the electric gripper 231 to perform the action of grasping the wire core, control the first vision module 232 and the second vision module 242 to collect image data, control the force sensing module 233 to collect the force data of the wire core, and control the tightening module 231 to perform the action of turning the side screws.

[0099] Embodiment 2

[0100] It should be noted that according to the secondary wiring process standard of State Grid, for secondary wiring, after laying the cables, they need to be broken into multiple stranded cores. Then, according to the requirements of the wiring diagram, the ends of the cores are processed and connected to the corresponding terminal blocks, and the side screws in the terminal blocks are tightened to ensure the effectiveness of secondary wiring through the crimping of the cores. Due to the limitations of the conditions of mechanized construction equipment, the original manual wiring methods and processes are not fully applicable to mechanized construction. Therefore, based on the above-mentioned mechanized intelligent equipment for substation secondary wiring, this embodiment redesigned the construction process of mechanized construction equipment for secondary wiring and proposed a mechanized intelligent construction method for substation secondary wiring.

[0101] As Figure 5 shown, the mechanized intelligent construction method for substation secondary wiring in this embodiment includes the following steps:

[0102] Step 1: Initial preparation stage

[0103] Adjust the position of the rack so that the wiring work platform 20 faces the switch cabinet directly; obtain the wiring information of the corresponding switch cabinet and the actual position information of the terminal block.

[0104] Specifically, the initial preparation stage includes the following steps:

[0105] 11) Adjust the position of the rack so that the wiring work platform 20 faces the switch cabinet directly; initialize the upper computer module 90 and the lower computer module 100 to make the wiring work platform 20, the lifting module 30, and the tool library module 40 in the initial state.

[0106] 12) Input the switch cabinet model and the cable numbers to be secondarily wired into the upper computer module 90 to obtain the wiring information of the switch cabinet.

[0107] 13) Use the main robotic arm 21 to drive the first vision module 232 to move to determine the relative position relationship between the wiring work platform 20 and the switch cabinet, and identify the terminal block number and the actual position information of the corresponding jacks.

[0108] Step 2: Pretreatment stage

[0109] Select the operating cable, break the cable into multiple stranded cores; use the main robotic arm 21 to drive the electric gripper 231 to grab the cores respectively and transfer the cores to the tool library module 40, and use the tool library module 40 to perform pretreatment on the cores including cutting operation, skin peeling operation, sleeve number tube operation, and bending operation.

[0110] Specifically, the pretreatment stage includes the following steps:

[0111] 21) After selecting the operating cable, break the cable into multiple stranded cores and place the multiple stranded cores in the core waiting for processing area.

[0112] 22) Use the main robotic arm 21 to drive the first vision module 232 to identify the position and posture of the wire core in the wire core to-be-processed area, and use the main robotic arm 21 to drive the electric gripper 231 to grasp one of the single-strand wire cores.

[0113] 23) Use the main robotic arm 21 to drive the electric gripper 231 to transfer the grasped wire core to the wire cutting unit 50 of the tool library module 40, and use the wire cutting unit 50 to perform a cutting operation on the wire core to adjust the length of the wire core to a length suitable for the height of the terminal block.

[0114] 24) Use the main robotic arm 21 to drive the electric gripper 231 to transfer the grasped and cut wire core to the peeling processing unit 60, and use the peeling processing unit 60 to perform an epidermis peeling operation on the wire core and control the exposed length of the copper wire at the end of the wire core.

[0115] 26) Use the main robotic arm 21 to drive the electric gripper 231 to transfer the grasped and peeled wire core to the number tube sleeving unit 70, and use the number tube sleeving unit 70 to perform a number tube sleeving operation on the wire core, and sleeving the numbered number tube on the wire core.

[0116] 27) Use the main robotic arm 21 to drive the electric gripper 231 to transfer the wire core with the sleeved tube to the bending unit 80. The bending unit 80 can be used to perform a bending operation on the front end of the wire core to bend the front end of the wire core into a set shape. In this embodiment, the front end of the wire core is bent into an "S" shape.

[0117] 28) Manually take out the bent wire core from the tool library module 40, and tie the wire core to one side of the current wiring of the switch cabinet, so that the part where the front end of the wire core is bent into an "S" shape is located near the wiring position.

[0118] 29) Use the wire core grasped by the main robotic arm 21 to drive the electric gripper 231, and loop through steps 23)-28) until all the wire cores of the same cable have completed the preprocessing.

[0119] Step Three: Secondary Wiring Stage

[0120] Use the lifting module 30 to control the lifting mechanism to adjust the position height of the wiring working platform 20 to the secondary wiring height, and use the main robotic arm 21 to drive the electric gripper 231 to grasp one of the wire cores and insert the end of the wire core into the corresponding jack of the terminal block.

[0121] Specifically, the steps in the secondary wiring stage are as follows:

[0122] 31) Use the lifting module 30 to control the lifting mechanism to drive the wiring working platform 20 to move to the wiring height corresponding to the wire core.

[0123] 32) Use the main robotic arm 21 to drive the first vision module 232 to identify the position and posture of the current wire core.

[0124] 33) Drive the execution module 24 to move from the manipulator 22 to the position of the terminal block corresponding to the current wire core, and with the cooperation of the second vision module 242, align the tightening module 241 with the side screw of the terminal block.

[0125] 34) Drive the tightening module 241 driven by the manipulator 22 to drive the corresponding side screw to reverse, so that the pressure block in the corresponding terminal block jack returns to the initial state, and the terminal block jack is opened.

[0126] 35) Drive the electric gripper 231 by the main manipulator 21 to grab the wire core and move it towards the corresponding terminal block jack. With the cooperation of the first vision module 232, align the front end of the wire core with the terminal block jack.

[0127] 36) Drive the electric gripper 231 by the main manipulator 21 to drive the wire core to move towards the corresponding terminal block jack, and use the force sensing module 233 to detect the force on the wire core to sense the change in the contact surface between the wire core and the jack until the front end of the wire core contacts the bottom of the jack.

[0128] Step Four: Wiring Tightening Stage

[0129] Drive the tightening module 241 by the manipulator 22 to tighten the corresponding side screw to fix the wire core in the corresponding terminal block jack.

[0130] Specifically, the steps of the wiring tightening stage are as follows:

[0131] 41) Drive the tightening module 241 driven by the manipulator 22 to drive the side screw to rotate forward, so that the pressure block in the terminal block jack presses the wire core tightly and fixes it in the corresponding terminal block jack.

[0132] 42) Drive the manipulator 22 to reset to the initial position and posture.

[0133] 43) Drive the electric gripper 231 by the main manipulator 21 to drive the wire core to move in the direction away from the corresponding terminal block jack, and use the force sensing module 233 to detect the force on the wire core to judge whether the wire core is tightened: if so, execute step 44); if not, repeat step three.

[0134] 44) Drive the electric gripper 231 by the main manipulator 21 to release the wire core, and drive the main manipulator 21 to reset to the initial position and posture.

[0135] Step Five: Cable Loop Stage

[0136] Loop and execute step three and step four until all the wire cores belonging to the same cable have completed the secondary wiring operation;

[0137] Step Six: Unilateral Loop Stage

[0138] Repeat steps two and four until the secondary wiring operations for all the cables on one side of the switchgear cabinet are completed.

[0139] Step Seven: Cycle Phase for the Remaining Side

[0140] Interchange and install the main wiring execution module 23 and the slave wiring execution module 24 in the two robotic arms, and repeat steps two to six until all the secondary wiring operations for the switchgear cabinet are completed.

[0141] Embodiment 3

[0142] As Figure 6 shown, the wire core pretreatment tool library of this embodiment includes a wire cutting unit 50, a stripping unit 60, a number tube sleeving unit 70, and a bending unit 80.

[0143] In this embodiment, the wire cutting unit 50 includes a first wire feeding mechanism 51 and a wire cutting mechanism 52. The first wire feeding mechanism 51 is used to drive the wire core to be cut towards the wire cutting mechanism 52 and to drive the cut wire core to exit. As Figure 7 shown, in this embodiment, the wire cutting mechanism 52 includes a lower blade 521 and an upper blade 522 arranged oppositely, and a first power device 523 for driving the lower blade 521 and the upper blade 522 to move relatively to cut the wire core. In this embodiment, the wire cutting mechanism 52 includes a lower mounting base 524 and an upper mounting base 525. The lower blade 521 is fixedly installed on the lower mounting base 524, the first power device 523 is fixedly installed on the upper mounting base 525, and the upper blade 522 is installed on the output shaft of the first power device 523. The output shaft of the first power device 523 is in the vertical direction and makes a telescopic movement along the vertical direction to drive the lower blade 521 and the upper blade 522 to move relatively. Specifically, in this embodiment, the first power device 523 uses an electric cylinder. Of course, in some other embodiments, the first power device 523 can also use a cylinder, a hydraulic cylinder, and other linear driving mechanisms, which will not be elaborated here. Specifically, the height position of the first wire feeding mechanism 51 corresponds to that of the wire cutting mechanism 52 so that the wire core conveyed by the first wire feeding mechanism 51 can smoothly enter between the lower blade 521 and the upper blade 522 for wire cutting operations.

[0144] In this embodiment, the stripping unit 60 includes a second wire feeding mechanism 61 and a stripping mechanism 62. The second wire feeding mechanism 61 is used to drive the wire core to be peeled towards the stripping mechanism 62 and to drive the peeled wire core to exit. As Figure 8As shown, in this embodiment, the stripping mechanism 62 includes a stripping tool 621 and a second power device 624 for driving the stripping tool 621 to rotate around its axis. In this embodiment, a through hole 622 for the wire core to pass through is provided in the stripping tool 621, and a tool head mounting hole 623 is provided on the side wall of the through hole 622. A stripping tool head (not shown in the figure) for stripping the wire core is installed in the tool head mounting hole 623. In this way, after the second wire feeding mechanism 61 drives the front end of the wire core to extend into the through hole 622, the second power device 624 is used to drive the stripping tool 621 to rotate, so that the stripping operation of the wire core can be achieved. In this embodiment, the second power device 624 adopts a motor, and a chuck 625 is provided between the second power device 624 and the stripping tool 621. One end of the chuck 625 is connected to the output shaft of the second power device 624 through a motor connecting rod 626, and the other end of the chuck 625 is connected to the stripping tool 621 through a tool connecting rod 627.

[0145] In this embodiment, the number tube sleeve unit 70 includes a third line transmission mechanism 71, a number tube conveying mechanism 72 and a number tube cutting mechanism 73. Specifically, the third line transmission mechanism 71 and the number tube conveying mechanism 72 are arranged relatively and at the same height, and the number tube cutting mechanism 73 is located between the third line transmission mechanism 71 and the number tube conveying mechanism 72 and is provided with a positioning support 731 for positioning the wire core and the number tube. The third line transmission mechanism 71 is used to drive the wire core to be sleeved to move toward the number tube cutting mechanism 73 and the wire core that has completed the sleeve is withdrawn. The number tube conveying mechanism 72 is used to drive the number tube to move toward the number tube cutting mechanism 73 to sleeve the number tube on the corresponding wire core. The number tube cutting mechanism 73 is used to cut off the number tube so that the end of the number tube remains on the wire core.

[0146] In this embodiment, the sleeve number tube unit 70 includes a sleeve tube mounting frame 74, and the number tube conveying mechanism 72 includes two sleeve tube conveying rollers arranged opposite to each other, namely, a sleeve tube conveying roller 721 and a sleeve tube conveying roller 722. Figure 9 As shown. The sleeve conveying roller 721 and the sleeve conveying roller 722 are both rotatably mounted on the sleeve mounting frame 74, and the sleeve mounting frame 74 is equipped with a sleeve conveying power device 723 that is transmission-connected to the rotating shaft of one of the sleeve conveying rollers 721. The sleeve conveying roller 721 and the sleeve conveying roller 722 are transmission-connected by a synchronous belt mechanism. Specifically, the sleeve conveying roller 721 and the sleeve conveying roller 722 are respectively provided with a driving pulley 724 and a driven pulley 725, and a synchronous belt (not shown in the figure) is sleeved between the driving pulley 724 and the driven pulley 725. In this way, the sleeve conveying power device 723 drives the sleeve conveying roller 721 to rotate. Under the transmission action of the synchronous belt mechanism, the sleeve conveying roller 721 and the sleeve conveying roller 722 can rotate at the same speed and opposite direction, thereby achieving the technical purpose of number tube transportation. In this embodiment, the sleeve conveying power device 723 adopts a DC motor.

[0147] As Figure 10 shown, in this embodiment, the number tube cutting mechanism 73 includes a positioning support 731. A first blade 732 and a second blade 733 are oppositely arranged on the positioning support 731, and the second blade 733 is located below the first blade 732. In this embodiment, the second blade 733 is fixedly installed on the positioning support 731. A vertical track is provided inside the positioning support 731. The first blade 732 is slidably installed in the vertical track, and a return spring (not shown in the figure) for driving the first blade 732 to move upward and a third power device 734 for driving the first blade 732 to move downward to cut the number tube are provided on the positioning support 731. Specifically, the third power device 734 drives the first blade 732 to move downward to cut the number tube. After the number tube cutting operation is completed, the third power device 734 no longer applies a force to the first blade 732, and the first blade 732 moves upward and resets under the action of the return spring. Specifically, when the first blade 732 resets under the action of the return spring, a positioning through hole 735 for positioning the wire core and the number tube is formed between the first blade 732 and the second blade 733. The heights at which the third wire feeding mechanism 71 and the number tube feeding mechanism 72 feed the wire core and the number tube should be equal to the height of the positioning through hole 735, so that the number tube can pass through the positioning through hole 735 and be sleeved on the end of the wire core. In this embodiment, the third power device 734 uses a servo motor installed on the positioning support 731. A servo rocker 736 is provided on the rotating shaft of the servo motor. A force receiving rod 737 cooperating with the servo rocker 736 is installed on the first blade 732. The force receiving rod 737 is parallel to the rotating shaft of the servo motor and perpendicular to the vertical track. When performing the number tube cutting operation, the rotating shaft of the servo motor rotates forward, so that the servo rocker 736 applies a downward force to the force receiving rod 737. After the force receiving rod 737 receives the downward force, it overcomes the elastic force of the return spring and moves downward with the first blade 732 under the guiding action of the vertical track to cut the number tube. After the number tube cutting operation is completed, the rotating shaft of the servo motor rotates in the reverse direction, so that the servo rocker 736 is disengaged from the force receiving rod 737, and the first blade 732 moves upward and resets under the action of the return spring.

[0148] In this embodiment, the bending unit 80 includes a fourth wire feeding mechanism 81 and a bending mechanism 82. The fourth wire feeding mechanism 81 is used to feed the wire core to the bending mechanism in two times with a set length. As Figure 11As shown, the bending mechanism 82 includes a bending turntable 821 and a fourth power device 822. The bending turntable 821 is used to bend the wire core in both positive and negative directions. The fourth power device 822 is used to drive the bending turntable 821 to rotate in opposite directions after the wire core is conveyed to the bending turntable 821 twice. Specifically, the bending turntable 821 of this embodiment includes a base turntable 823, on which is mounted a wire core guide disk 824 that rotates with and is fixed thereto, and on which are mounted two guide columns 825 that are arranged opposite to each other, and between which are formed a guide channel 826 for the wire core to pass. A bending column 827 for driving the wire core to bend is mounted on the base turntable 823. The fourth power device 822 is in transmission connection with the base turntable 823. Specifically, when the fourth wire conveying mechanism 81 conveys the wire core through the guide channel 826 and reaches the bending column 827, the fourth power device 822 drives the base turntable 823 to rotate, causing the bending column 827 to rotate relative to the guide column 825, and the bending column 827 drives the wire core to bend around the guide column 825.

[0149] Specifically, in this embodiment, the first wire transmission mechanism 51, the second wire transmission mechanism 61, the third wire transmission mechanism 71 and the fourth wire transmission mechanism 81 adopt the same structure of wire transmission mechanism. Figure 12 As shown, the wire transmission mechanism of this embodiment includes a wire transmission mounting frame 41, on which the first wire transmission roller 42 and the second wire transmission roller 43 are installed, and the wire transmission power device is connected to the rotating shaft of the first wire transmission roller 42. The rotating shafts of the first wire transmission roller 42 and the second wire transmission roller 43 are respectively provided with mutually meshing gears 44 and gears 45, and the transmission ratio of the gears 44 and 45 is 1. In this way, the first wire transmission roller 42 and the second wire transmission roller 43 can be synchronously rotated at the same speed and opposite direction, so as to achieve the technical purpose of driving the wire core to move. The wire transmission power device of this embodiment includes a power motor 46 installed on the wire transmission mounting frame 41, and the output shaft of the power motor 46 is connected to the rotating shaft of the first wire transmission roller 42 by a synchronous belt mechanism 47. In this embodiment, an encoder for calculating the conveying length of the wire core is installed on the power motor 46.

[0150] The wire transmission mechanism of this embodiment also includes a spacing adjustment mechanism for adjusting the position of the second wire transmission roller 43. The spacing adjustment mechanism includes an adjustment rail 481 provided on the wire transmission mounting frame 41 and a gap adjustment slider 482 that slides with the adjustment rail 481, and the rotating shaft of the second wire transmission roller 43 rotates with the gap adjustment slider 482. A position adjustment mechanism is provided between the gap adjustment slider 482 and the wire transmission mounting frame 41, and the position adjustment mechanism is used to adjust the position of the gap adjustment slider 482 on the adjustment slide rail 481 to adjust the spacing between the second wire transmission roller 43 and the first wire transmission roller 42. In this embodiment, the position adjustment mechanism uses a screw 483 for adjusting the position of the gap adjustment slider 482 on the adjustment slide rail 481.

[0151] The wire core pretreatment tool library of this embodiment sets a wire cutting unit. The first wire feeding mechanism is used to convey the wire core, and the first power device is used to drive the relative movement of the lower blade and the upper blade to complete the operation of cutting the wire core. By setting a peeling unit, the second wire feeding mechanism is used to convey the cut wire core, and the second power device is used to drive the peeling mechanism to complete the peeling operation on the wire core. By setting a number tube sleeving unit, the third wire feeding mechanism and the number tube feeding mechanism are used to convey the peeled wire core and the number tube respectively. After the front end of the number tube is sleeved on the wire core, the number tube cutting mechanism is used to cut the number tube, so that the cut number tube remains at the front end of the wire core, realizing the operation of sleeving the number tube on the wire core. By setting a bending unit, the fourth wire feeding mechanism is used to convey the wire core to the bending mechanism, and the fourth power device is used to drive the bending mechanism to rotate forward and backward to bend the wire core into a set shape. Thus, the wire core pretreatment tool library of the present invention integrates multiple functions such as wire cutting, peeling, conveying, number tube sleeving, and bending into one, abandons the traditional mode of using multiple devices in combination with manual connection, realizes the full-process automation of wire core pretreatment, greatly improves production efficiency, and reduces operation costs.

[0152] The wire core pretreatment tool library of this embodiment has the following advantages:

[0153] (1) High degree of integration: It integrates multiple functions such as wire cutting, peeling, conveying, number tube sleeving, and bending into one, abandons the traditional mode of using multiple devices in combination with manual connection, realizes the full-process automation of wire core pretreatment, greatly improves production efficiency, and reduces operation costs.

[0154] (2) Structural optimization and innovation: The structural design of each unit is ingenious. For example, the wire cutting unit adopts the up-and-down cooperation mode of a strong push rod and a blade. The peeling unit is composed of a motor connecting shaft neck connecting rod and a chuck. The bending unit drives the wire core to be bent into a set S-shaped bend by the rotation of the base turntable relative to the wire core guiding disc and the limiting effect of the bending column on the wire core. While realizing the functions, these innovative structures simplify the traditional complex structures and reduce the volume and weight of the equipment.

[0155] (3) High precision and high adaptability: The conveying mechanism adjusts the roller spacing through a rotating gear to adapt to wire cores of different specifications, and uses an encoder of the motor to accurately control the conveying length. The number tube sleeving unit ensures the sleeving accuracy through the height consistency of the rollers and the positioning support. The bending unit can flexibly realize the S-shaped bending of the wire core and has simple control, which ensures the high precision and high adaptability of the equipment in different wire core processing tasks, and improves the stability and consistency of product quality.

[0156] (4) Simple operation and easy maintenance: Due to the integration of the equipment and the optimization of the structure, the operation process is greatly simplified, reducing manual intervention and cumbersome operation steps. At the same time, compared with traditional complex equipment, the maintenance of the present invention is more convenient, reducing the maintenance cost and difficulty, improving the reliability and availability of the equipment, and reducing the operation burden on enterprises.

[0157] Embodiment 4

[0158] This embodiment also proposes a core preprocessing method using a core preprocessing tool library as described above, including the following steps.

[0159] S1: Core cutting

[0160] S11: Use the robotic arm to pick up the core and send it into the first wire feeding mechanism 51. After using the photoelectric sensor to detect that the core is fed in place, start the first wire feeding mechanism 51 to convey the core towards the wire cutting mechanism 52. When the feeding length of the core is measured in real time and reaches the first preset length value, turn off the first wire feeding mechanism 51.

[0161] S12: Start the first power device 523 to drive the wire cutting mechanism 52 to cut the core. After using the grayscale sensor to detect that the core is cut, use the first power device 523 to drive the wire cutting mechanism 52 to reset.

[0162] S13: Start the first conveying mechanism 51 to withdraw the cut core from the wire cutting unit 50. After using the photoelectric sensor to detect that the core has completely withdrawn, execute step two.

[0163] S2: Core peeling

[0164] S21: Use the robotic arm to pick up the core and send it into the second wire feeding mechanism 61. After using the photoelectric sensor to detect that the core is fed in place, start the second wire feeding mechanism 61 to convey the core towards the peeling mechanism 62. When the feeding length of the core is measured in real time and reaches the second preset length value, insert the end of the core into the peeling tool 621, and turn off the second wire feeding mechanism 61.

[0165] S22: Start the second power device 624 to drive the peeling tool 621 to rotate around its axis to peel the end of the core. After using the grayscale sensor to detect that the end of the core has been peeled, turn off the second power device 624.

[0166] S23: Start the second conveying mechanism 61 to withdraw the peeled core from the peeling processing unit. After using the photoelectric sensor to detect that the core has completely withdrawn, execute step three.

[0167] S3: Sleeving the core with a numbered tube

[0168] S31: Use the robotic arm to pick up the wire core and feed it into the third wire conveying mechanism 71. After using the photoelectric sensor to detect that the wire core is fed in place, start the third wire conveying mechanism 71 to convey the wire core towards the number tube shearing mechanism 73. After the feeding length of the wire core is measured in real time and reaches the third preset length value, turn off the third wire conveying mechanism 71.

[0169] Start the number tube conveyor 72 to convey the number tube towards the number tube shearing mechanism 73. After the number tube passes through the number tube shearing mechanism 73 and reaches the set position, the front end of the number tube is sleeved on the wire core, and then turn off the number tube conveying mechanism.

[0170] S32: Start the number tube shearing mechanism 73 to cut the number tube. After using the grayscale sensor to detect that the wire core and the number tube are sleeved together, the number tube shearing mechanism resets.

[0171] S33: Start the third conveying mechanism 71 to withdraw the wire core with the sleeve from the number tube sleeving unit 70. After using the photoelectric sensor to detect that the wire core has completely withdrawn, execute step four.

[0172] S4: Wire core bending

[0173] S41: Use the robotic arm to pick up the wire core and feed it into the fourth wire conveying mechanism 81. After using the photoelectric sensor to detect that the wire core is fed in place, start the fourth wire conveying mechanism 81 to convey the wire core towards the bending mechanism 82. After the feeding length of the wire core is measured in real time and reaches the fourth preset length value, turn off the fourth wire conveying mechanism 81.

[0174] S42: Start the fourth power device 822 to drive the bending turntable 82 to rotate forward to the set position to perform forward bending on the wire core.

[0175] S43: Start the fourth wire conveying mechanism 81 to convey the wire core towards the bending mechanism. After the feeding length of the wire core is measured in real time and reaches the fifth preset length value, turn off the fourth wire conveying mechanism 81.

[0176] S44: Start the fourth power device 822 to drive the bending turntable 82 to rotate backward to the set position to perform reverse bending on the wire core.

[0177] S45: Use the robotic arm to pick up the bent wire core and use vision to detect the S-shaped shape of the wire core.

[0178] In this embodiment, an encoder installed on the power motor 46 is used to measure the wire core conveying length in real time.

[0179] The above-described embodiments are only preferred embodiments given to fully illustrate the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or transformations made by those skilled in the art on the basis of the present invention are all within the protection scope of the present invention. The protection scope of the present invention is subject to the claims.

Claims

1. A mechanized intelligent device for secondary wiring in a substation, characterized in that: Including: A frame, on which a lifting mechanism is provided; A wiring work platform, installed on the lifting mechanism and used for performing secondary wiring operations; A lifting module, used to control the lifting mechanism to drive the wiring work platform to perform lifting motion to meet the wiring operation requirements of terminal blocks at different heights within a single switch cabinet; A tool library module, installed on the wiring work platform and used for performing pre-treatment operations on the wire cores before secondary wiring; A host computer module, used for deploying the control programs required for secondary wiring operations; A slave computer module, correspondingly arranged with the wiring work platform, the lifting module and the tool library module, and used for controlling the corresponding wiring work platform, lifting module or tool library module to perform corresponding actions according to the control program; The tool library module includes a wire cutting unit, a stripping unit, a number tube sleeving unit and a bending unit; the wire cutting unit is used for performing cutting operations on the wire cores to adjust the wire core lengths, the stripping unit is used for performing skin stripping operations on the wire cores and controlling the exposed length of the copper wires at the ends of the wire cores, the number tube sleeving unit is used for performing number tube sleeving operations on the wire cores, and the bending unit is used for performing bending operations on the front ends of the wire cores to bend the front ends of the wire cores into a set shape; Two robotic arms are installed on the wiring work platform, and a main wiring execution module and a slave wiring execution module are interchangeably installed at the ends of the two robotic arms, where: the robotic arm installed with the main wiring execution module is the main robotic arm, and the robotic arm installed with the slave wiring execution module is the slave robotic arm; The main execution module includes an electric gripper, a first vision module and a force sensing module, the electric gripper is used for grasping the wire core, the first vision module is used for identifying the position and posture of the wire core, and the force sensor module is used for sensing whether the wire core is properly wired and firmly fixed; the slave wiring execution module includes a tightening module and a second vision module, the tightening module is used for turning the screws on the side of the terminal block, and the second vision module is used for identifying the positions of the terminal block jacks.

2. The mechanized intelligent device for secondary wiring of a substation according to claim 1, wherein: A moving platform is provided at the bottom of the frame to meet the secondary wiring operation requirements of different switch cabinets.

3. The mechanized intelligent device for secondary wiring of a substation according to claim 1, characterized in that: The lifting mechanism includes a lifting track provided on the frame, a lifting slider slidably engaged with the lifting track, and a motor drive module for driving the lifting slider to move along the lifting track; the lifting module includes an ultrasonic ranging module for detecting the distance of the lifting slider; the wiring work platform is installed on the lifting slider; The slave computer module correspondingly arranged with the lifting module is used to control the lifting of the wiring work platform to adjust the height position through the motor drive module and to measure the distance of the lifting slider through the ultrasonic ranging module to obtain the height position of the wiring work platform.

4. The mechanized intelligent device for secondary wiring of a substation according to claim 1, characterized in that: The slave computer module correspondingly arranged with the wiring work platform is used to control the electric gripper to perform the action of grasping the wire core, control the first vision module and the second vision module to collect image data, control the force sensing module to collect the wire core force data, and control the tightening module to perform the action of turning the side screws.

5. The mechanized intelligent device for secondary wiring of a substation according to claim 1, characterized in that: The slave computer module correspondingly set with the tool library module is used to control the wire cutting unit to perform a cutting operation on the wire core to adjust the length of the wire core, control the skin peeling unit to perform a skin peeling operation on the wire core and control the exposed length of the copper wire at the end of the wire core, control the number tube sleeving unit to perform a number tube sleeving operation on the wire core, and control the bending unit to perform a bending operation on the front end of the wire core to bend the front end of the wire core into a set shape.

6. A construction method of a mechanized intelligent device for secondary wiring of a substation adopting the device as described in any one of claims 1-5, characterized in that: It includes the following steps: Step 1: Initial preparation stage Adjust the position of the rack so that the wiring work platform faces the cabinet directly; obtain the wiring information of the corresponding cabinet and the actual position information of the terminal block. Step 2: Pretreatment stage Select the operating cable and break the cable into multiple wire cores. Use the main robotic arm to drive the electric gripper to grab the wire cores respectively and transfer the wire cores to the tool library module, and use the tool library module to perform pretreatment on the wire cores including cutting operation, skin peeling operation, number tube sleeving operation and bending operation. Step 3: Secondary wiring stage Use the lifting module to control the lifting mechanism to adjust the position height of the wiring work platform to the secondary wiring height, and use the main robotic arm to drive the electric gripper to grab one of the wire cores and insert the end of the wire core into the corresponding jack of the terminal block. Step 4: Wiring tightening stage Use the slave robotic arm to drive the tightening module to tighten the corresponding side screws to fix the wire core in the corresponding terminal block jack. Step 5: Cable circulation stage Loop through Step 3 and Step 4 until all the wire cores belonging to the same cable have completed the secondary wiring operation. Step 6: One-side circulation stage Loop through Step 2 and Step 4 until all the cables on one side of the cabinet have completed the secondary wiring operation. Step 7: Remaining-side circulation stage Interchangeably install the main wiring execution module and the slave wiring execution module on the two robotic arms, and loop through Step 2 to Step 6 until all the secondary wiring operations of the cabinet are completed.

7. The mechanized intelligent construction method for the secondary wiring of a substation according to claim 6, characterized in that: In the said Step 1, the initial preparation stage includes the following steps: 11) Adjust the position of the rack so that the wiring work platform faces the cabinet directly; initialize the host computer module and the slave computer module to make the wiring work platform, the lifting module and the tool library module in the initial state. 12) Input the cabinet model and the cable number to be secondarily wired into the host computer module to obtain the wiring information of the cabinet. 13) Use the main robotic arm to drive the first vision module to move to determine the relative position relationship between the wiring work platform and the cabinet, and identify the terminal block number and the actual position information of the corresponding jack.

8. The mechanized intelligent construction method for the secondary wiring of a substation according to claim 6, characterized in that: In the said Step 2, the pretreatment stage includes the following steps: 21) After selecting the operating cable, break the cable into multiple wire cores and place the multiple wire cores in the wire core to-be-treated area. 22) Use the main robotic arm to drive the first vision module to identify the position and posture of the wire cores in the wire core to-be-treated area, and use the main robotic arm to drive the electric gripper to grab one of the single wire cores. 23) Use the main robotic arm to drive the electric gripper to transfer the grabbed wire core to the wire cutting unit of the tool library module, and use the wire cutting unit to perform a cutting operation on the wire core to adjust the length of the wire core to a length suitable for the height of the terminal block. 24) Use the main robotic arm to drive the electric gripper to transfer the grabbed and cut wire core to the stripping unit, and use the stripping unit to perform the skin stripping operation on the wire core and control the exposed length of the copper wire at the end of the wire core; 26) Use the main robotic arm to drive the electric gripper to transfer the stripped wire core to the number tube sleeving unit, and use the number tube sleeving unit to perform the number tube sleeving operation on the wire core, and sleev the numbered number tube on the wire core; 27) Use the main robotic arm to drive the electric gripper to transfer the sleeved wire core to the bending unit, and the bending unit can be used to perform the bending operation on the front end of the wire core to bend the front end of the wire core into a set shape; 28) Take out the bent wire core from the tool library module and tie the wire core to the inside of the switch cabinet so that the front end of the wire core is located near the connection position; 29) Use the wire core grabbed by the main robotic arm driving the electric gripper to repeatedly execute steps 23)-28) until all the wire cores of the same cable have completed the pretreatment.

9. The mechanized intelligent construction method for the secondary wiring of a substation according to claim 6, characterized in that: In the third step above, the steps in the secondary wiring stage are: 31) Use the lifting module to control the lifting mechanism to drive the wiring work platform to move to the wiring height corresponding to the wire core; 32) Use the main robotic arm to drive the first vision module to identify the position and posture of the current wire core; 33) Use the slave robotic arm to drive the slave wiring execution module to move to the position of the terminal block corresponding to the current wire core, and with the cooperation of the second vision module, align the tightening module with the side screws of the terminal block; 34) Use the slave robotic arm to drive the tightening module to drive the corresponding side screw to reverse, so that the pressure block in the corresponding terminal block jack returns to the initial state and the terminal block jack is opened; 35) Use the main robotic arm to drive the electric gripper to grab the wire core and move it towards the corresponding terminal block jack. With the cooperation of the first vision module, align the front end of the wire core with the terminal block jack; 36) Use the main robotic arm to drive the electric gripper to drive the wire core to move towards the corresponding terminal block jack, and use the force sensing module to detect the force on the wire core to sense the change in the contact surface between the wire core and the jack until the front end of the wire core contacts the bottom of the jack.

10. The mechanized intelligent construction method for the secondary wiring of a substation according to claim 6, characterized in that: In the fourth step above, the steps in the wiring tightening stage are: 41) Use the slave robotic arm to drive the tightening module to drive the side screw to rotate forward, so that the pressure block in the terminal block jack presses the wire core firmly in the corresponding terminal block jack; 42) Drive the slave robotic arm to reset to the initial position and posture; 43) Use the main robotic arm to drive the electric gripper to drive the wire core to move in the direction away from the corresponding terminal block jack, and use the force sensing module to detect the force on the wire core to judge whether the wire core is tightened: if so, execute step 44); if not, repeat step three; 44) Use the main robotic arm to drive the electric gripper to release the wire core, and drive the main robotic arm to reset to the initial position and posture.

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