Mechanized intelligent equipment and construction method for substation secondary wiring

Abstract

The application discloses a substation secondary wiring mechanization intelligent equipment, which is characterized in that a lifting mechanism is arranged on a rack, and the height of a wiring work platform is controlled in combination with a lifting module; a tool library module is installed on the wiring work platform, so that cutting, peeling, number tube sleeving and bending operations can be performed on a wire core; two mechanical arms are installed on the wiring work platform, and a main mechanical arm and an electric clamp jaw, a first vision module and a force sensing module in a main wiring execution module are utilized to realize wire core grabbing, wire core insertion into a terminal row insertion hole, detection of whether the wire core is inserted in place and whether the wire core is fastened; a slave mechanical arm and a tightening module and a second vision module in a slave wiring execution module are utilized to realize the technical purpose of tightening the side screws of the terminal row; the above secondary wiring operations can be realized through action control of a control program arranged in an upper computer module in combination with a lower computer module. The application further discloses a substation secondary wiring mechanization intelligent construction method.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically a mechanized intelligent device and construction method for secondary wiring in substations. Background Technology

[0002] The construction quality and efficiency of substations have always been important indicators of power grid construction. The inclusion of mechanized equipment in substation construction is an inevitable trend in future power grid construction, which also places higher demands on the intelligence of equipment.

[0003] Secondary wiring work in substation engineering refers to the cable wiring operations used to connect protection, measurement, control, and signaling devices in a substation. Traditionally, secondary wiring involves manually connecting stripped cable cores to terminal blocks according to engineering drawings. Each device is then directly connected using copper or aluminum wire to form a fixed electrical circuit. This includes steps such as cable termination, cable tag marking and fixing, core wire arrangement, and shielding installation. However, this wiring method requires a large workforce, lacks detailed construction techniques, is prone to wiring errors, and lacks effective mechanized construction methods.

[0004] Therefore, increasing the level of mechanization and intelligence in the work will greatly improve construction efficiency, reduce construction risks, reduce labor costs, promote the transformation of substation construction methods, and help the digital transformation of infrastructure. Summary of the Invention

[0005] In view of this, and in response to the problems of complex construction process, low efficiency and high cost of secondary wiring, the purpose of this invention is to provide a mechanized intelligent equipment and construction method for substation secondary wiring, which can improve construction efficiency, reduce construction risks and reduce labor costs through human-machine collaboration.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] This invention first proposes a mechanized intelligent device for secondary wiring in substations, comprising:

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

[0009] A wiring work platform is installed on the lifting mechanism and is used to perform secondary wiring operations;

[0010] The lifting module is used to control the lifting mechanism to drive the wiring work platform to perform lifting movements to meet the wiring operation requirements of terminal blocks at different heights within a single cabinet;

[0011] The tool library module is installed on the wiring work platform and is used to perform wire core pretreatment operations before secondary wiring;

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

[0013] The lower-level machine module is set up one-to-one with the wiring work platform, the lifting module and the tool library module, and is used to control the corresponding wiring work platform, the lifting module or the tool library module to perform corresponding actions according to the control program;

[0014] The tool library module includes a wire cutting unit, a stripping unit, a number tube fitting unit, and a bending unit. The wire cutting unit is used to perform a cutting operation on the wire core to adjust the wire core length. The stripping unit is used to perform an outer sheath peeling operation on the wire core and control the exposed length of the copper wire at the end of the wire core. The number tube fitting unit is used to perform a number tube fitting operation on the wire core. The bending unit 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.

[0015] The wiring platform is equipped with two robotic arms, and the ends of the two robotic arms are interchangeably equipped with a main wiring execution module and a slave wiring execution module, wherein: the robotic arm equipped with the main wiring execution module is the main robotic arm, and the robotic arm equipped with the slave wiring execution module is the slave robotic arm;

[0016] The main wiring execution module includes an electric gripper, a first vision module, and a force sensing module. The electric gripper is used to grip the wire core, the first vision module is used to identify the position and orientation of the wire core, and the force sensing module is used to sense whether the wire core is properly connected and secure. The secondary wiring execution module includes a tightening module and a second vision module. The tightening module is used to tighten the screws on the side of the terminal block, and the second vision module is used to identify the position of the terminal block socket.

[0017] Furthermore, the bottom of the rack is equipped with a mobile platform to meet the secondary wiring requirements of different cabinets.

[0018] Furthermore, the lifting mechanism includes a lifting rail mounted on the frame, a lifting slider slidably engaged with the lifting rail, and a motor drive module for driving the lifting slider to move along the lifting rail; the lifting module includes an ultrasonic ranging module for detecting the distance of the lifting slider; the wiring platform is mounted on the lifting slider.

[0019] The lower-level module, corresponding to the lifting module, is used to control the lifting of the wiring platform via the motor drive module to adjust its height and position, and to measure the distance of the lifting slider via the ultrasonic ranging module to obtain the height position of the wiring platform.

[0020] Furthermore, the lower-level machine module corresponding to the wiring work platform is used to control the electric gripper to perform the action of gripping 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 force data of the wire core, and control the tightening module to perform the action of tightening the side screw.

[0021] Furthermore, the lower-level machine module corresponding to the tool library module is used to control the wire cutting unit to perform cutting operations on the wire core to adjust the wire core length, control the stripping unit to perform stripping operations on the wire core and control the exposed length of the copper wire at the end of the wire core, control the number tube fitting unit to perform number tube fitting operations on the wire core, and control the bending unit to perform bending operations on the front end of the wire core to bend the front end of the wire core into a set shape.

[0022] This invention also proposes a construction method using the mechanized intelligent equipment for secondary wiring in substations as described above, comprising the following steps:

[0023] Step 1: Initial Preparation Phase

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

[0025] Step 2: Preprocessing stage

[0026] Select the operating cable and break it into multiple strands; use the main robotic arm to drive the electric gripper to pick up the strands and transfer them to the tool library module; use the tool library module to perform pre-processing on the strands, including cutting, stripping, attaching number tubes and bending.

[0027] Step 3: Secondary Wiring Stage

[0028] The lifting module controls the lifting mechanism to adjust the position and height of the wiring work platform to the secondary wiring height. The main robotic arm drives the electric gripper to grab one of the wire cores and insert the end of the wire core into the corresponding socket of the terminal block.

[0029] Step 4: Wiring Tightening Stage

[0030] The wire core is fixed in the corresponding terminal block socket by tightening the corresponding side screws using the tightening module driven by the robotic arm;

[0031] Step 5: Cable Looping Phase

[0032] Repeat steps three and four until all cores belonging to the same cable have completed the secondary wiring operation;

[0033] Step Six: Unilateral Cyclic Phase

[0034] Repeat steps two and four until all cables on one side of the cabinet have been rewired.

[0035] Step 7: Residual Circulation Phase

[0036] The main wiring execution module and the slave wiring execution module are interchanged and installed in the two robotic arms. Steps two through six are executed repeatedly until all secondary wiring operations of the cabinet are completed.

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

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

[0039] 12) Input the cabinet model and the cable number to be rewired into the host computer module to obtain the cabinet wiring information;

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

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

[0042] 21) After selecting the operating cable, break the cable into multiple strands and place the multiple strands in the core processing area;

[0043] 22) The main robotic arm drives the first vision module to identify the position and orientation of the wire core in the area to be processed, and the main robotic arm drives the electric gripper to pick up one of the single wire cores.

[0044] 23) The main robotic arm drives the electric gripper to transfer the gripped wire core to the wire cutting unit of the tool library module. The wire cutting unit performs a cutting operation on the wire core to adjust the wire core length to a length suitable for the height of the terminal block.

[0045] 24) The main robotic arm drives the electric gripper to transfer the cut wire core to the stripping unit. The stripping unit performs the stripping operation on the wire core and controls the length of the exposed copper wire at the end of the wire core.

[0046] 25) The main robotic arm drives the electric gripper to transfer the stripped wire core to the number tube unit. The number tube unit performs the number tube application operation on the wire core, and puts the numbered tube on the wire core.

[0047] 26) The main robotic arm drives the electric gripper to transfer the wire core after the sleeve to the bending unit. The bending unit can be used to perform bending operations on the front end of the wire core to bend the front end of the wire core into a set shape.

[0048] 27) Take the bent wire core out of the tool library module and tie the wire core to the inside of the cabinet, so that the front end of the wire core is close to the wiring position;

[0049] 28) Use the main robotic arm to drive the electric gripper to grab the wire core, and repeat steps 23)-27) until all wire cores of the same cable have been pre-processed.

[0050] Furthermore, in step three, the steps of the secondary wiring stage are as follows:

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

[0052] 32) The main robotic arm drives the first vision module to identify the current position and orientation of the wire core;

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

[0054] 34) The corresponding side screw is reversed by the tightening module driven by the robotic arm, so that the pressure block in the corresponding terminal block socket returns to the initial state and the terminal block socket is opened;

[0055] 35) The main robotic arm drives the electric gripper to grasp the wire core and move it toward the corresponding terminal block socket. With the cooperation of the first vision module, the front end of the wire core is aligned with the terminal block socket.

[0056] 36) The main robotic arm drives the electric gripper to move the wire core toward the corresponding terminal block socket. The force sensing module detects the force on the wire core to sense the change in the contact surface between the wire core and the socket until the front end of the wire core contacts the bottom of the socket.

[0057] Furthermore, in step four, the steps for the wiring tightening stage are as follows:

[0058] 41) The tightening module driven by the robotic arm drives the side screw to rotate forward, so that the pressure block in the terminal block socket presses and fixes the wire core in the corresponding terminal block socket;

[0059] 42) Drive the robotic arm to reset to its initial position and orientation;

[0060] 43) Use the main robotic arm to drive the electric gripper to move the wire core in the direction away from the corresponding terminal block socket. Use the force sensing module to detect the force on the wire core to determine whether the wire core is tight: if yes, then proceed to step 44); if no, then 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 this invention are as follows:

[0063] The substation secondary wiring mechanized intelligent equipment of the present invention, by setting a lifting mechanism on the frame and combining it with a lifting module to control the height of the wiring work platform, can meet the secondary wiring requirements at different height positions within the cabinet; by installing a tool library module on the wiring work platform, it can perform cutting, stripping, number tube fitting, and bending operations on the wire core through a wire cutting unit, a stripping unit, a number tube fitting unit, and a bending unit, respectively, to meet the pre-processing work before secondary wiring of the wire core; by installing two robotic arms on the wiring work platform, and installing a main wiring execution module and a slave wiring execution module at the ends of the two robotic arms, it can utilize the main robotic arm... The electric gripper, first vision module, and force sensing module in the arm and main wiring execution module realize the grasping of wire cores, insertion of wire cores into terminal block sockets, and detection of whether the wire cores are inserted in place and whether they are tightened. The tightening module and second vision module in the slave arm and slave wiring execution module can be used to tighten the side screws of the terminal block. All the above secondary wiring operations can be realized by the control program deployed in the upper computer module and combined with the lower computer module for action control. That is, the substation secondary wiring mechanized intelligent equipment of the present invention solves the problem of insufficient efficiency of the existing technology, greatly reduces the participation of manpower, and improves the level of intelligence of construction.

[0064] The present invention provides a mechanized and intelligent construction method for secondary wiring in substations. Addressing the lack and non-standardization of mechanized construction equipment operation methods for secondary wiring in substations, it proposes a relatively detailed method for operating mechanized construction equipment for secondary wiring, effectively solving the problem of chaotic processes during construction and reducing the risk of construction accidents. Attached Figure Description

[0065] To make the objectives, technical solutions, and beneficial effects of this invention clearer, the following figures are provided for illustration:

[0066] Figure 1 This is a schematic diagram of the structure of an embodiment of the mechanized intelligent equipment for secondary wiring in substations according to the present invention;

[0067] Figure 2 This is an isometric drawing of the mechanized intelligent equipment for secondary wiring in the substation in this embodiment;

[0068] Figure 3 This is a lower isometric view of the mechanized intelligent equipment for secondary wiring in the substation according to this embodiment;

[0069] Figure 4 This is a system framework diagram of the mechanized intelligent equipment for secondary wiring in substations in this embodiment;

[0070] Figure 5 This is a flowchart of the mechanized intelligent construction method for secondary wiring in substations according to the present invention;

[0071] Figure 6 This is a schematic diagram of the structure of an embodiment of the wire core preprocessing tool library of the present invention;

[0072] Figure 7 This is a schematic diagram of the wire-cutting mechanism;

[0073] Figure 8 This is a schematic diagram of the peeling mechanism;

[0074] Figure 9 This is a schematic diagram of the number tube conveying mechanism;

[0075] Figure 10 This is a schematic diagram of the number tube shearing mechanism;

[0076] Figure 11 This is a schematic diagram of the bending mechanism;

[0077] Figure 12 This is a schematic diagram of the conveying mechanism.

[0078] Explanation of reference numerals in the attached figures:

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

[0080] 40-Tool library module; 41-Wire feeder mounting frame; 42-First wire feeder roller; 43-Second wire feeder roller; 44-Gear; 45-Gear; 46-Power motor; 47-Synchronous belt mechanism; 481-Adjusting track; 482-Gap 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 unit; 524 - Lower mounting base; 525 - Upper mounting base;

[0082] 60 - Stripping unit; 61 - Second wire feeding mechanism; 62 - Stripping mechanism; 621 - Stripping cutter; 622 - Perforation; 623 - Cutter head mounting hole; 624 - Second power unit; 625 - Chuck; 626 - Motor connecting rod; 627 - Cutter connecting rod;

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

[0084] 80-Bending unit; 81-Fourth transmission mechanism; 82-Bending mechanism; 821-Bending turntable; 822-Fourth power unit; 823-Base turntable; 824-Wire core guide plate; 825-Guide column; 826-Guide channel; 827-Bending column.

[0085] 90 - Host computer module; 100 - Subordinate computer module. Detailed Implementation

[0086] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0087] Example 1

[0088] like Figure 1-3 As shown, the substation secondary wiring mechanized intelligent equipment of this embodiment includes a frame 10, a wiring work platform 20, a lifting module 30, a tool library module 40, a host computer module 90, and a slave 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 rail 11 disposed on the frame 10, a lifting slider 12 slidably engaged with the lifting rail 11, and a motor transmission module 13 for driving the lifting slider 12 to move along the lifting rail. In a preferred embodiment, a moving platform 14 is provided at the bottom of the frame 10. The moving platform 14 includes a base plate 141 and rollers 142 mounted on the base plate 141 to meet the secondary wiring requirements of different cabinets.

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

[0091] In this embodiment, the lifting module 30 is used to control the lifting mechanism to drive the wiring work platform 20 to perform lifting movements to meet the wiring operation requirements of terminal blocks at different heights within a single cabinet. The lifting module 30 in 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 of the wiring work platform 20 by sensing the distance of the lifting slider 12, and use the lifting mechanism to drive the wiring work platform 20 to different wiring heights to complete secondary wiring operations.

[0092] In this embodiment, the tool library module 40 is installed on the wiring work platform 20 and is used to perform wire core preprocessing operations before secondary wiring.

[0093] In this embodiment, the host computer module 90 is used to deploy the control program required for secondary wiring operations. The host computer system then performs high-level control over the three slave computer modules 100, including processing secondary wiring task planning, deploying visual algorithms for perception and recognition, and storing information such as the captured wire core attributes, wire core socket relationships, and terminal block position information corresponding to wire cores with different attributes.

[0094] like Figure 4 As shown, in this embodiment, the lower-level machine module 100 is configured one-to-one with the wiring work platform 20, the lifting module 30, and the tool library module 40, and is used to control the corresponding wiring work platform 20, lifting module 30, or tool library module 40 to perform corresponding actions according to the control program. The lower-level machine module 100 mainly includes the driving of the motor and the sensing and detection of related data. The main robotic arm 21, the slave robotic arm 22, and the main wiring execution module 23 and the slave wiring execution module 24 mounted at the end are all controlled by a dedicated robotic arm control box.

[0095] Specifically, three lower-level modules are configured and corresponding to the wiring work platform 20, the lifting module 30, and the tool library module 40, respectively. In this embodiment, the lower-level module II, which corresponds to the lifting module 30, is used to control the lifting of the wiring work platform 20 via the motor drive module 13 to adjust its height and to measure the distance of the lifting slider 12 via the ultrasonic ranging module 31 to obtain the height position of the wiring work platform 20.

[0096] The tool library module 40 of this embodiment includes a wire cutting unit 50, a stripping unit 60, a number tube attaching 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 wire core length. The stripping unit 60 is used to perform an outer sheath 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 attaching unit 70 is used to perform a number tube attaching 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 tool library module 40 adopts the wire core pre-processing tool library described in Embodiment 3. The bending unit 80 can be implemented using various existing methods for bending cables, which will not be described in detail here. Specifically, the lower-level computer module III, which is set up in accordance with the tool library module 40, is used to control the wire cutting unit 50 to perform cutting operations on the wire core to adjust the wire core length, control the stripping unit 60 to perform stripping operations on the wire core and control the exposed length of the copper wire at the end of the wire core, control the number tube sleeve unit 70 to perform number tube sleeve operations on the wire core, and control the bending unit 80 to perform bending operations on the front end of the wire core to bend the front end of the wire core into a set shape.

[0097] In this embodiment, the wiring platform 20 is equipped with two robotic arms. A main wiring execution module 23 and a slave wiring execution module 24 are interchangeably mounted on the ends of the two robotic arms. Specifically, the robotic arm equipped with the main wiring execution module 23 is the main robotic arm 21, and the robotic arm equipped with the slave wiring execution module 24 is the slave robotic arm 22. The main wiring execution module 23 and the slave wiring execution module 24 can be interchangeably mounted between the ends of the two robotic arms to meet the secondary wiring operation requirements on different sides of the cabinet.

[0098] In this embodiment, the main wiring execution module 23 includes an electric gripper 231, a first vision module 232, and a force sensing module 233. The electric gripper 231 is used to grip the wire core, the first vision module 232 is used to identify the position and orientation of the wire core, and the force sensing module 233 is used to sense whether the wire core is properly connected and secure. In this embodiment, the slave wiring execution module 24 includes a tightening module 241 and a second vision module 242. The tightening module 241 is used to tighten 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 socket. Specifically, the lower-level computer module I, corresponding to the wiring work platform 20, controls the electric gripper 231 to perform the action of gripping the wire core, controls the first vision module 232 and the second vision module 242 to acquire image data, controls the force sensing module 233 to acquire the force data of the wire core, and controls the tightening module 241 to perform the action of tightening the side screws.

[0099] Example 2

[0100] It should be noted that, according to the State Grid's secondary wiring process standards, secondary wiring requires splitting the laid cables into multiple strands, processing the ends of the strands according to the wiring diagram, connecting them to the corresponding terminal blocks, and tightening the side screws in the terminal blocks. The effectiveness of the secondary wiring is ensured through the crimping of the strands. Due to the limitations of mechanized construction equipment, the original manual wiring methods and processes are not entirely suitable for mechanized construction. Therefore, this embodiment, based on the aforementioned intelligent mechanized secondary wiring equipment for substations, redesigns the construction process of the mechanized secondary wiring equipment and proposes an intelligent mechanized construction method for substation secondary wiring.

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

[0102] Step 1: Initial Preparation Phase

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

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

[0105] 11) Adjust the position of the rack so that the wiring work platform 20 faces the cabinet; initialize the host computer module 90 and the slave computer module 100 so that the wiring work platform 20, the lifting module 30 and the tool library module 40 are in the initial state.

[0106] 12) Input the cabinet model and the cable number to be rewired into the host computer module 90 to obtain the cabinet wiring information.

[0107] 13) The main robotic arm 21 drives the first vision module 232 to move to determine the relative position of the wiring work platform 20 and the cabinet, and to identify the actual position information of the terminal block number and the corresponding socket.

[0108] Step 2: Preprocessing stage

[0109] Select the operating cable and break it into multiple strands. Use the main robotic arm 21 to drive the electric gripper 231 to grab the strands and transfer them to the tool library module 40. Use the tool library module 40 to perform pre-processing on the strands, including cutting, stripping, attaching number tubes, and bending.

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

[0111] 21) After selecting the operating cable, break the cable into multiple strands and place the multiple strands in the strand processing area.

[0112] 22) The main robotic arm 21 drives the first vision module 232 to identify the position and posture of the wire core in the wire core processing area, and the main robotic arm 21 drives the electric gripper 231 to grab one of the single wire cores.

[0113] 23) The main robotic arm 21 drives the electric gripper 231 to transfer the gripped wire core to the wire cutting unit 50 of the tool library module 40. The wire cutting unit 50 is used to perform a cutting operation on the wire core to adjust the wire core length to a length suitable for the height of the terminal block.

[0114] 24) The main robotic arm 21 drives the electric gripper 231 to transfer the cut wire core to the stripping unit 60. The stripping unit 60 performs the stripping operation on the wire core and controls the length of the exposed copper wire at the end of the wire core.

[0115] 25) The main robotic arm 21 drives the electric gripper 231 to transfer the stripped wire core to the number tube unit 70. The number tube unit 70 performs the number tube application operation on the wire core, and puts the numbered tube on the wire core.

[0116] 26) The main robotic arm 21 drives the electric gripper 231 to transfer the gripped wire core behind the sleeve 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] 27) Manually remove the bent wire core from the tool library module 40 and tie the wire core to the side of the current wiring of the cabinet, so that the part of the wire core bent into an "S" shape is located close to the wiring.

[0118] 28) Use the main robotic arm 21 to drive the electric gripper 231 to grab the wire core, and repeat steps 23)-27) until all wire cores of the same cable have been pre-processed.

[0119] Step 3: Secondary Wiring Stage

[0120] The lifting module 30 controls the lifting mechanism to adjust the position and height of the wiring work platform 20 to the secondary wiring height. The main robotic arm 21 drives the electric gripper 231 to grab one of the wire cores and insert the end of the wire core into the corresponding socket 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 move the wiring work platform 20 to the wiring height of the corresponding wire core.

[0123] 32) The main robotic arm 21 drives the first vision module 232 to identify the position and orientation of the current wire core.

[0124] 33) Using the robotic arm 22 to drive the wiring execution module 24 to the terminal block position corresponding to the current wire core, and with the cooperation of the second vision module 242, the tightening module 241 is aligned with the side screw of the terminal block.

[0125] 34) The tightening module 241 driven by the robotic arm 22 drives the corresponding side screw to reverse, so that the pressure block in the corresponding terminal block socket returns to the initial state and opens the terminal block socket.

[0126] 35) The main robotic arm 21 drives the electric gripper 231 to grab the wire core and move it toward the corresponding terminal block socket. With the cooperation of the first vision module 232, the front end of the wire core is aligned with the terminal block socket.

[0127] 36) The main robotic arm 21 drives the electric gripper 231 to move the wire core toward the corresponding terminal block socket. The force sensing module 233 detects the force on the wire core to sense the change in the contact surface between the wire core and the socket until the front end of the wire core contacts the bottom of the socket.

[0128] Step 4: Wiring Tightening Stage

[0129] The wire core is fixed in the corresponding terminal block socket by tightening the corresponding side screws using the tightening module 241 driven by the robotic arm 22.

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

[0131] 41) The tightening module 241 driven by the robotic arm 22 drives the side screw to rotate forward, so that the pressure block in the terminal block socket presses and fixes the wire core in the corresponding terminal block socket.

[0132] 42) Drive the robotic arm 22 to reset to its initial position and posture.

[0133] 43) The main robotic arm 21 drives the electric gripper 231 to move the wire core in the direction away from the corresponding terminal block socket. The force sensor module 233 detects the force on the wire core to determine whether the wire core is tight. If yes, then proceed to step 44); if no, then repeat step three.

[0134] 44) Use the main robotic arm 21 to drive the electric gripper 231 to release the wire core, and drive the main robotic arm 21 to reset to the initial position and posture.

[0135] Step 5: Cable Looping Phase

[0136] Repeat steps three and four until all cores belonging to the same cable have completed the secondary wiring operation;

[0137] Step Six: Unilateral Cyclic Phase

[0138] Repeat steps two and four until all cables on one side of the cabinet have been rewired.

[0139] Step 7: Residual Circulation Phase

[0140] The main wiring execution module 23 and the slave wiring execution module 24 are interchanged and installed in the two robotic arms. Steps two to six are executed in a loop until all secondary wiring operations of the cabinet are completed.

[0141] Example 3

[0142] like Figure 6 As shown, the wire core pretreatment tool library of this embodiment includes a wire cutting unit 50, a stripping unit 60, a number tube sleeve 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 toward the wire cutting mechanism 52 and to drive the cut wire core out of the device. Figure 7 As shown, in this embodiment, the wire cutting mechanism 52 includes a lower blade 521 and an upper blade 522 disposed opposite to each other, and a first power device 523 for driving the lower blade 521 and the upper blade 522 to move relative to each other 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 mounted on the lower mounting base 524, and the first power device 523 is fixedly mounted on the upper mounting base 525. The upper blade 522 is mounted on the output shaft of the first power device 523. The output shaft of the first power device 523 is located in the vertical direction and performs telescopic movement along the vertical direction to drive the lower blade 521 and the upper blade 522 to move relative to each other. Specifically, in this embodiment, the first power device 523 is an electric cylinder. Of course, in some other embodiments, the first power device 523 may also be a cylinder, a hydraulic cylinder, or other linear drive mechanisms, which will not be described in detail here. Specifically, the height of the first wire feeding mechanism 51 corresponds to that of the wire cutting mechanism 52, so that the wire core fed by the first wire feeding mechanism 51 can smoothly enter between the lower blade 521 and the upper blade 522 for wire cutting.

[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 stripped toward the stripping mechanism 62 and to drive the stripped wire core out of the machine. Figure 8As shown, in this embodiment, the stripping mechanism 62 includes a stripping blade 621 and a second power device 624 for driving the stripping blade 621 to rotate around its axis. In this embodiment, the stripping blade 621 has a through hole 622 for the wire core to pass through, and a blade mounting hole 623 is provided on the side wall of the through hole 622. A stripping blade (not shown in the figure) for stripping the wire core is installed in the blade mounting hole 623. Thus, 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 drives the stripping blade 621 to rotate, thereby achieving the stripping operation of the wire core. In this embodiment, the second power device 624 is a motor. A chuck 625 is provided between the second power device 624 and the stripping blade 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 blade 621 through a blade connecting rod 627.

[0145] In this embodiment, the number tube unit 70 includes a third wire feeding mechanism 71, a number tube conveying mechanism 72, and a number tube cutting mechanism 73. Specifically, the third wire feeding mechanism 71 and the number tube conveying mechanism 72 are arranged opposite each other and at the same height. The number tube cutting mechanism 73 is located between the third wire feeding 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 wire feeding mechanism 71 is used to drive the wire core to be fitted towards the number tube cutting mechanism 73 and to remove the fitted wire core. The number tube conveying mechanism 72 is used to drive the number tube towards the number tube cutting mechanism 73 to fit the number tube onto the corresponding wire core. The number tube cutting mechanism 73 is used to cut the number tube so that the end of the number tube remains on the wire core.

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

[0147] like Figure 10 As 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 disposed opposite each other on the positioning support 731, with the second blade 733 located below the first blade 732. In this embodiment, the second blade 733 is fixedly mounted on the positioning support 731. A vertical track is provided inside the positioning support 731, and the first blade 732 is slidably mounted within the vertical track. The positioning support 731 is provided with 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. 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 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 is reset 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 height 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 the same as the height of the positioning through hole 735 so that the number tube can pass through the positioning through hole 735 and be fitted onto the end of the wire core. In this embodiment, the third power device 734 adopts a servo motor mounted on the positioning support 731. A servo motor rocker arm 736 is provided on the servo motor's rotating shaft. A force-bearing rod 737 that cooperates with the servo motor rocker arm 736 is installed on the first blade 732. The force-bearing rod 737 is parallel to the servo motor's rotating shaft and perpendicular to the vertical track. When the number tube is cut off, the servo motor shaft rotates in the forward direction, causing the servo motor stick 736 to apply a downward force to the force rod 737. After being subjected to the downward force, the force rod 737 overcomes the elastic force of the return spring and moves downward with the first blade 732 under the guidance of the vertical track, cutting off the number tube. After the number tube cutting operation is completed, the servo motor shaft rotates in the reverse direction, causing the servo motor stick 736 to disengage from the force rod 737, and the first blade 732 moves upward to reset 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 stages to a predetermined length. 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 forward and reverse directions. The fourth power device 822 is used to drive the bending turntable 821 to rotate in opposite directions after the wire core is fed to it twice. Specifically, in this embodiment, the bending turntable 821 includes a base turntable 823. A wire core guide plate 824, which rotates and is fixed, is mounted on the base turntable 823. Two guide posts 825 are mounted on the wire core guide plate 824, which are arranged opposite to each other. A guide channel 826 for the wire core to pass through is formed between the two guide posts 825. A bending post 827 for driving the wire core to bend is mounted on the base turntable 823. The fourth power device 822 is connected to the base turntable 823 in a transmission manner. Specifically, when the fourth transmission mechanism 81 transmits 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 transmission mechanism 51, the second transmission mechanism 61, the third transmission mechanism 71, and the fourth transmission mechanism 81 adopt the same transmission mechanism structure. For example... Figure 12 As shown, the wire feeding mechanism of this embodiment includes a wire feeding mounting frame 41. A first wire feeding roller 42 and a second wire feeding roller 43, arranged opposite to each other, are mounted on the mounting frame 41. A wire feeding power device is also connected to the rotating shaft of the first wire feeding roller 42. The rotating shafts of the first and second wire feeding rollers 42 and 43 are respectively equipped with meshing gears 44 and 45, with a transmission ratio of 1. This allows the first and second wire feeding rollers 42 and 43 to rotate synchronously at the same speed but in opposite directions, achieving the technical objective of driving the wire core to move. The wire feeding power device of this embodiment includes a power motor 46 mounted on the mounting frame 41. The output shaft of the power motor 46 is connected to the rotating shaft of the first wire feeding roller 42 via a synchronous belt mechanism 47. In this embodiment, an encoder for calculating the wire core feeding length is mounted on the power motor 46.

[0150] The wire feeding mechanism in this embodiment also includes a gap adjustment mechanism for adjusting the position of the second wire feeding roller 43. The gap adjustment mechanism includes an adjustment rail 481 mounted on the wire feeding mounting frame 41 and a gap adjustment slider 482 that slides in cooperation with the adjustment rail 481. The shaft of the second wire feeding roller 43 rotates in cooperation with the gap adjustment slider 482. A position adjustment mechanism is provided between the gap adjustment slider 482 and the wire feeding mounting frame 41. This position adjustment mechanism is used to adjust the position of the gap adjustment slider 482 on the adjustment rail 481 to adjust the gap between the second wire feeding roller 43 and the first wire feeding 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 rail 481.

[0151] The wire core pretreatment tool library in this embodiment includes a wire cutting unit that uses a first wire feeding mechanism to transport the wire core and a first power device to drive the lower and upper blades to move relative to each other to cut the wire core; a stripping unit that uses a second wire feeding mechanism to transport the cut wire core and a second power device to drive a stripping mechanism to remove the outer sheath from the wire core; and a number tube fitting unit that uses a third wire feeding mechanism and a number tube conveying mechanism to transport the stripped wire core and number tube respectively. After the front end of the number tube is fitted onto the wire core, it is cut by a number tube cutting mechanism. The number tube is used to keep the cut number tube at the front end of the wire core, enabling the number tube to be fitted onto the wire core. By setting up a bending unit, the wire core is transported to the bending mechanism by the fourth wire feeding mechanism, and the bending mechanism is driven to rotate forward and backward by the fourth power device, bending the wire core into the set shape. In this way, the wire core pretreatment tool library of the present invention integrates multiple functions such as wire cutting, stripping, conveying, number tube fitting, and bending into one, abandoning the traditional mode of multiple devices used together and manual connection, realizing the full automation of the wire core pretreatment process, greatly improving production efficiency and reducing operating costs.

[0152] The wire core preprocessing tool library in this embodiment has the following advantages:

[0153] (1) High degree of integration: It integrates multiple functions such as wire cutting, stripping, conveying, numbering tube application, and bending into one, abandoning the traditional mode of multiple equipment combined with manual connection, realizing full automation of wire core pretreatment, greatly improving production efficiency and reducing operating costs.

[0154] (2) Structural optimization and innovation: Each unit has a clever structural design. For example, the wire cutting unit uses a combination of a strong push rod and a blade. The stripping unit uses a combination of a motor connecting shaft connecting rod and a clamp. The bending unit uses the base turntable to rotate relative to the wire core guide plate and uses the bending column to limit the wire core to drive the wire core to bend into a set S-shaped bend. These innovative structures simplify the traditional complex structure and reduce the size and weight of the equipment while realizing the function.

[0155] (3) High precision and high adaptability: The conveying mechanism adjusts the roller spacing through rotating gears to adapt to different specifications of wire cores, and uses motor encoders to accurately control the conveying length; the sleeve tube unit ensures the sleeve accuracy through roller height consistency and positioning support; the bending unit can flexibly realize the S-shaped bending of wire cores and is easy to control. All of these ensure the high precision and high adaptability of the equipment in different wire core processing tasks, and improve 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 this invention is also more convenient, reducing maintenance costs and difficulties, improving the reliability and availability of the equipment, and reducing the operational burden on enterprises.

[0157] Example 4

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

[0159] S1: Core trimming

[0160] S11: The robotic arm grips the wire core and feeds it into the first wire feeding mechanism 51. After the photoelectric sensor detects that the wire core has been fed into place, the first wire feeding mechanism 51 is started to feed the wire core toward the wire cutting mechanism 52. After the wire core feeding length is measured in real time and reaches the first preset length value, the first wire feeding mechanism 51 is turned off.

[0161] S12: Start the first power device 523 to drive the wire cutting mechanism 52 to cut the wire core. After the grayscale sensor detects that the wire core has been cut, the first power device 523 drives the wire cutting mechanism 52 to reset.

[0162] S13: Start the first wire feeding mechanism 51 to remove the cut wire core from the wire cutting unit 50. After the photoelectric sensor detects that the wire core has been completely removed, proceed to step two.

[0163] S2: Stripping the wire core

[0164] S21: The robotic arm grips the wire core and feeds it into the second wire feeding mechanism 61. After the photoelectric sensor detects that the wire core has been fed into place, the second wire feeding mechanism 61 is started to feed the wire core toward the stripping mechanism 62. After the wire core is fed into the second preset length value, the end of the wire core is inserted into the stripping cutter 621 and the second wire feeding mechanism 61 is closed.

[0165] S22: Start the second power unit 624 to drive the stripping cutter 621 to rotate around its axis to strip the wire core end. After the grayscale sensor detects that the wire core end has been stripped, turn off the second power unit 624.

[0166] S23: Start the second wire feeding mechanism 61 to remove the stripped wire core from the stripping processing unit. After the photoelectric sensor detects that the wire core has been completely removed, proceed to step three.

[0167] S3: Core sleeve number tube

[0168] S31: The robotic arm grips the wire core and feeds it into the third wire feeding mechanism 71. After the photoelectric sensor detects that the wire core has been fed into place, the third wire feeding mechanism 71 is started to feed the wire core toward the number tube cutting mechanism 73. After the wire core feeding length is measured in real time and reaches the third preset length value, the third wire feeding mechanism 71 is turned off.

[0169] The number tube conveying mechanism 72 is activated to convey the number tube toward the number tube cutting mechanism 73. After the number tube passes through the number tube cutting mechanism 73 and reaches the set position, the front end of the number tube is fitted onto the wire core, and the number tube conveying mechanism is closed.

[0170] S32: The number tube cutting mechanism 73 is activated to cut the number tube. After the grayscale sensor detects that the wire core is fitted with the number tube, the number tube cutting mechanism is reset.

[0171] S33: Start the third transmission mechanism 71 to remove the wire core of the sleeve from the sleeve number tube unit 70. After the photoelectric sensor detects that the wire core has been completely removed, proceed to step four.

[0172] S4: Core bending

[0173] S41: The robotic arm grips the wire core and feeds it into the fourth wire feeding mechanism 81. After the photoelectric sensor detects that the wire core has been fed into place, the fourth wire feeding mechanism 81 is started to feed the wire core toward the bending mechanism 82. After the wire core feeding length is measured in real time and reaches the fourth preset length value, the fourth wire feeding mechanism 81 is turned off.

[0174] S42: Start the fourth power unit 822 to drive the bending turntable 82 to rotate forward to the set position and bend the wire core in the forward direction.

[0175] S43: Start the fourth wire feeding mechanism 81 to feed the wire core toward the bending mechanism. After the wire core feeding length reaches the fifth preset length value, the fourth wire feeding mechanism 81 is turned off.

[0176] S44: Start the fourth power unit 822 to drive the bending turntable 82 to rotate in the opposite direction to the set position, and bend the wire core in the opposite direction.

[0177] S45: Use a robotic arm to grip the bent wire core and use visual inspection to detect the S-bend shape of the wire core.

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

[0179] The above-described embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention. The scope of protection of the present invention is defined by the claims.

Claims

1. A substation secondary wiring mechanization intelligent device, characterized by: The utility model relates to a secondary wiring device, including: a rack provided with a lifting mechanism; a wiring work platform installed on the lifting mechanism and used for performing secondary wiring work; a lifting module for controlling the lifting mechanism to drive the wiring work platform to perform lifting movement to meet the wiring work requirements of different height terminal rows in a single screen cabinet; a tool library module installed on the wiring work platform and used for performing wire core pretreatment work before secondary wiring; a host computer module for deploying control programs required by secondary wiring work; a slave computer module corresponding to the wiring work platform, the lifting module and the tool library module and used for controlling corresponding actions of the wiring work platform, the lifting module or the tool library module according to the control programs; the tool library module includes a wire cutting unit, a skinning treatment unit, a number sleeve fitting unit and a bending unit; the wire cutting unit is used for performing cutting work on the wire core to adjust the length of the wire core, the skinning treatment unit is used for performing skin peeling work on the wire core and controlling the exposed length of the copper wire at the end of the wire core, the number sleeve fitting unit is used for performing number sleeve fitting work on the wire core, and the bending unit is used for performing bending work on the front end of the wire core to bend the front end of the wire core into a set shape; two mechanical arms are installed on the wiring work platform, and the distal ends of the two mechanical arms are interchangeably provided with master wiring execution modules and slave wiring execution modules; the mechanical arm provided with the master wiring execution module is a master mechanical arm, and the mechanical arm provided with the slave wiring execution module is a slave mechanical arm; the master wiring execution module includes an electric clamp, a first vision module and a force sensing module; the electric clamp is used for grabbing the wire core, the first vision module is used for identifying the position and posture of the wire core, and the force sensing module is used for sensing 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 for tightening the terminal row side screw, and the second vision module is used for identifying the terminal row insertion hole position; the slave computer module corresponding to the tool library module is used for controlling the wire cutting unit to perform cutting work on the wire core to adjust the length of the wire core, controlling the skinning treatment unit to perform skin peeling work on the wire core and controlling the exposed length of the copper wire at the end of the wire core, controlling the number sleeve fitting unit to perform number sleeve fitting work on the wire core, and controlling the bending unit to perform bending work on the front end of the wire core to bend the front end of the wire core into a set shape.

2. The substation secondary wiring mechanization smart device of claim 1, wherein: The bottom of the rack is provided with a moving platform to meet the secondary wiring work requirements of different screen cabinets.

3. The substation secondary wiring mechanization smart device of claim 1, wherein: The lifting mechanism includes a lifting track arranged on the rack, a lifting slider in sliding cooperation with the lifting track and a motor transmission module for driving the lifting slider to move along the lifting track; the lifting module includes an ultrasonic distance measuring module for detecting the distance of the lifting slider; and the wiring work platform is installed on the lifting slider. The lower computer module corresponding to the lifting module is configured to control the lifting of the wiring work platform by the motor transmission module to adjust the height position and measure the distance of the lifting slider by the ultrasonic ranging module to obtain the height position of the wiring work platform.

4. The substation secondary wiring mechanization smart device of claim 1, wherein: The lower computer module corresponding to the wiring work platform is configured to control the electric clamping jaw to perform the action of grabbing the wire core, control the first and second visual modules to collect image data, control the force sensing module to collect wire core stress data, and control the tightening module to perform the action of tightening the side screw.

5. A construction method using the substation secondary wiring mechanization intelligent device according to any one of claims 1 to 4, characterized by: The method comprises the following steps: Step one: initial preparation stage Adjust the position of the rack so that the wiring work platform faces the screen cabinet directly; obtain the wiring information and actual position information of the terminal block corresponding to the screen cabinet; Step two: preprocessing stage Select the operating cable and break the cable into multiple strands of wire cores; Use the main mechanical arm to drive the electric clamping jaw to grab the wire cores and transfer them to the tool library module, and use the tool library module to preprocess the wire cores, including cutting, skin peeling, number tube sleeving, and bending; Step three: 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, use the main mechanical arm to drive the electric clamping jaw to grab one of the wire cores and insert the end of the wire core into the corresponding insertion hole of the terminal block; Step four: wiring and fastening stage Use the slave mechanical arm to drive the tightening module to tighten the corresponding side screw to fix the wire core in the corresponding insertion hole of the terminal block; Step five: cable circulation stage Cyclically execute steps three and four until all wire cores belonging to the same cable complete the secondary wiring operation; Step six: single-side circulation stage Cyclically execute steps two and four until all cables on one side of the screen cabinet complete the secondary wiring operation; Step seven: remaining side circulation stage Interchange the main wiring execution module and the slave wiring execution module in the two mechanical arms, and cyclically execute steps two to six until the secondary wiring operation of the screen cabinet is completed.

6. The substation secondary wiring mechanized intelligent construction method of claim 5, wherein: In step one, the initial preparation stage comprises the following steps: 11) Adjust the position of the rack so that the wiring work platform faces the screen 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; 12) Input the screen cabinet model and the cable number to be secondarily wired into the upper computer module to obtain the wiring information of the screen cabinet; 13) Use the main mechanical arm to drive the first visual module to determine the relative position relationship between the wiring work platform and the screen cabinet, and identify the actual position information of the terminal block number and the corresponding insertion hole.

7. The substation secondary wiring mechanized intelligent construction method of claim 5, wherein: In step two, the preprocessing stage comprises the following steps: 21) After selecting the operating cable, break the cable into multiple strands of wire cores and place them in the wire core processing area; 22) Use the main mechanical arm to drive the first visual module to identify the position and posture of the wire cores in the wire core processing area, and use the main mechanical arm to drive the electric clamping jaw to grab one of the single-strand wire cores; 23) The main mechanical arm drives the electric clamping jaw to transfer the grabbed core to the wire cutting unit of the tool library module, and the wire cutting unit performs the cutting operation on the core to adjust the length of the core to the length suitable for the terminal row height; 24) The main mechanical arm drives the electric clamping jaw to transfer the grabbed cut core to the stripping processing unit, and the stripping processing unit performs the skin peeling operation on the core and controls the exposed length of the copper wire at the end of the core; 25) The main mechanical arm drives the electric clamping jaw to transfer the grabbed stripped core to the sleeve number tube unit, and the sleeve number tube unit performs the sleeve number tube operation on the core to sleeve the numbered number tube on the core; 26) The main mechanical arm drives the electric clamping jaw to transfer the grabbed sleeved core to the bending unit, which can be used to perform the bending operation on the front end of the core to bend the front end of the core into a set shape; 27) The bent core is taken out of the tool library module, and the core is bound inside the screen cabinet, so that the front end of the core is located close to the connection; 28) The main mechanical arm drives the electric clamping jaw to grab the core, and steps 23)-27) are repeatedly performed until all cores of the same cable are preprocessed.

8. The substation secondary wiring mechanized intelligent construction method of claim 5, wherein: In step three, the steps of the secondary wiring stage are: 31) The lifting module controls the lifting mechanism to move the wiring workbench to the wiring height corresponding to the core; 32) The main mechanical arm drives the first vision module to identify the position and posture of the current core; 33) The slave mechanical arm drives the slave wiring execution module to move to the terminal row position corresponding to the current core, and the second vision module aligns the tightening module with the side screw of the terminal row; 34) The slave mechanical arm drives the tightening module to reverse the corresponding side screw, so that the pressure block in the terminal row socket returns to the initial state, and the terminal row socket is opened; 35) The main mechanical arm drives the electric clamping jaw to grab the core and move it towards the corresponding terminal row socket, and the first vision module aligns the front end of the core with the terminal row socket; 36) The main mechanical arm drives the electric clamping jaw to move the core towards the corresponding terminal row socket, and the force sensing module detects the force of the core to sense the change of the contact surface between the core and the socket until the front end of the core contacts the bottom of the socket.

9. The substation secondary wiring mechanized intelligent construction method of claim 5, wherein: In step four, the steps of the wiring fastening stage are: 41) The slave mechanical arm drives the tightening module to rotate the side screw in the positive direction, so that the pressure block in the terminal row socket tightly fixes the core in the corresponding terminal row socket; 42) The slave mechanical arm is driven to reset to the initial position and posture; 43) The main mechanical arm drives the electric clamping jaw to move the core in the direction away from the corresponding terminal row socket, and the force sensing module detects the force of the core to determine whether the core is fastened: if yes, step 44) is performed; if not, step three is repeated; 44) The main mechanical arm drives the electric clamping jaw to loosen the core, and the main mechanical arm is driven to reset to the initial position and posture.

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