Transformer substation multifunctional emergency processing device and transformer substation inspection robot

Abstract

The invention belongs to the technical field of specialized robots, and discloses a multifunctional emergency processing device for a transformer substation and a transformer substation inspection robot. The multifunctional emergency processing device for the transformer substation comprises a mounting seat, a handcart type circuit breaker rocking-out mechanism, a disconnecting link disconnecting mechanism, a knob switch rotating mechanism and a force sensing assembly. By adjusting the position of the mounting seat, the handcart type circuit breaker rocking-out mechanism, the disconnecting link disconnecting mechanism or the knob switch rotating mechanism is moved to a specified operation position, and emergency operations of switching off a high-voltage switch cabinet, rotating the knob switch and rocking out the handcart type circuit breaker can be completed. The force sensing assembly can detect force data of the handcart type circuit breaker rocking-out mechanism, the disconnecting link disconnecting mechanism or the knob switch rotating mechanism and feed back the force data to the mechanical arm in real time, the mechanical arm controls the moving position of the mechanical arm according to the force data, complex path planning does not need to be conducted on the mechanical arm, and the mechanical arm can be automatically adjusted, so that the labor intensity of workers is reduced. The moving position is more accurate, operation is easy and convenient, and working efficiency is high.

Description

Technical Field

[0001] The present invention relates to the technical field of special robots, and in particular to a multifunctional emergency processing device for a substation and a substation inspection robot. Background Art

[0002] Routine substation maintenance requires operations such as switching on high-voltage switchgear, turning rotary switches, and deploying trolley circuit breakers. Traditional substation inspections rely primarily on manual labor, typically requiring two operators to conduct a patrol and respond to any abnormalities, such as switching on switches, turning rotary switches, and deploying trolley circuit breakers.

[0003] These tasks involve high-voltage electrical equipment, which carries certain risks for operators. With the development of intelligent robotics, substation inspection robots are gradually replacing human operators in performing these inspection tasks. To improve the robots' efficiency, multiple tools are often attached to the end of their arms, allowing a single robot to perform operations such as switching on and off, turning rotary switches, and deploying trolley-type circuit breakers.

[0004] Therefore, a robotic arm must move various working tools to designated locations. However, existing substation inspection robots primarily rely on pre-planned motion paths to guide the arm to designated locations for emergency operations. This requires complex motion control algorithms to calculate the appropriate working position for the arm and multiple debugging steps before the robot can finally complete the desired action. This entire process is time-consuming and labor-intensive, resulting in low efficiency, low reliability, and a high risk of failure. Summary of the Invention

[0005] The purpose of the present invention is to provide a multifunctional emergency handling device for a substation and a substation inspection robot. The multifunctional emergency handling device for a substation can complete emergency operations such as pulling the switch of a high-voltage switch cabinet, turning a knob switch, and swinging out a trolley-type circuit breaker. The force data is fed back to the robotic arm in real time through a force sensing component, and the moving position of the robotic arm is accurately controlled. The operation is simple and convenient, and the work efficiency is high.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] In one aspect, a multifunctional emergency handling device for a substation is provided, comprising:

[0008] Mounting seat;

[0009] A trolley-type circuit breaker swing-out mechanism, a knife switch disconnecting mechanism, and a knob switch rotating mechanism, wherein the trolley-type circuit breaker swing-out mechanism, the knife switch disconnecting mechanism, and the knob switch rotating mechanism are all connected to the mounting base, and the trolley-type circuit breaker swing-out mechanism, the knife switch disconnecting mechanism, and the knob switch rotating mechanism are spaced apart around the axis of the mounting base;

[0010] A force sensing component is connected to the mounting base, the trolley-type circuit breaker swing-out mechanism, the knife switch disconnecting mechanism and the knob switch rotating mechanism are all communicatively connected to the force sensing component, and the force sensing component can be communicatively connected to the robotic arm.

[0011] As an optional solution to the above-mentioned substation multifunctional emergency handling device, the trolley-type circuit breaker swing-out mechanism includes an inner square sleeve, a first driving member and a first mounting bracket, the first mounting bracket is fixedly connected to the mounting seat, the first driving member is fixedly connected to the first mounting bracket, and the first driving member is drivingly connected to the inner square sleeve.

[0012] As an optional solution to the above-mentioned substation multifunctional emergency handling device, the trolley-type circuit breaker swing-out mechanism also includes a reducer and a flexible coupling. The first driving member is driven and connected to the input end of the reducer, and the output end of the reducer and the inner square sleeve are connected through the flexible coupling.

[0013] As an optional solution to the above-mentioned substation multifunctional emergency handling device, the knife switch disconnecting mechanism includes a second mounting bracket, a second driving member, a connecting rod assembly and a switch pulling claw, the second mounting bracket is fixedly connected to the mounting seat, the second driving member is drivingly connected to the connecting rod assembly, and the switch pulling claw is connected to the connecting rod assembly.

[0014] As an optional solution to the above-mentioned substation multifunctional emergency handling device, the knife switch disconnecting mechanism also includes a ball joint and an elastic member, the switch pulling claw is connected to the connecting rod assembly through the ball joint, one end of the elastic member is connected to the switch pulling claw, and the other end is connected to the connecting rod assembly.

[0015] As an optional solution for the above-mentioned substation multifunctional emergency handling device, the knob switch rotation mechanism includes a third driving member, a turntable, a fourth driving member and a clamping assembly, the third driving member is fixedly connected to the mounting seat, the third driving member is drivingly connected to the turntable, the clamping assembly is connected to the turntable, the fourth driving member is drivingly connected to the clamping assembly, and the fourth driving member can drive the clamping assembly to clamp the knob switch.

[0016] As an optional solution to the above-mentioned substation multifunctional emergency handling device, the clamping assembly includes a Y-shaped push rod, two rotating rods and two clamps. The two ends of the Y-shaped push rod correspond one-to-one to the two rotating rods and the two clamps. The Y-shaped push rod is slidingly connected to the two rotating rods. The first end of the rotating rod is rotatably connected to the turntable, and the clamp is connected to the second end of the rotating rod. The fourth driving member is drivingly connected to the Y-shaped push rod, and the fourth driving member can drive the Y-shaped push rod to move along the axial direction of the turntable.

[0017] As an optional solution for the above-mentioned substation multifunctional emergency processing device, the force sensing component includes a connecting flange, a force sensor and an intermediate flange. The connecting flange, the force sensor and the intermediate flange are connected in sequence. The intermediate flange is connected to the mounting seat, and the connecting flange is used to connect the robotic arm.

[0018] As an optional solution for the above-mentioned substation multifunctional emergency handling device, three mounting positions are provided on the mounting base, and the three mounting positions are arranged in a ring around the axis of the mounting base at intervals. The three mounting positions are all inclined to the side away from the axis of the mounting base, and the trolley-type circuit breaker swing-out mechanism, the knife switch disconnecting mechanism and the knob switch rotation mechanism are all connected to one of the mounting positions.

[0019] On the other hand, a substation inspection robot is provided, comprising a robotic arm and the above-mentioned substation multifunctional emergency processing device, wherein the mounting base is connected to the robotic arm, and the force sensing component is communicatively connected to the robotic arm.

[0020] Beneficial effects of the present invention:

[0021] The present invention provides a multifunctional emergency handling device for a substation and a substation inspection robot. The multifunctional emergency handling device for a substation includes a mounting seat, a trolley-type circuit breaker swing-out mechanism, a knife switch disconnecting mechanism, a knob switch rotating mechanism, and a force sensing component. The trolley-type circuit breaker swing-out mechanism, the knife switch disconnecting mechanism, and the knob switch rotating mechanism are all connected to the mounting seat, and the trolley-type circuit breaker swing-out mechanism, the knife switch disconnecting mechanism, and the knob switch rotating mechanism are spaced apart around the axis of the mounting seat. The mounting seat provides an installation base for the trolley-type circuit breaker swing-out mechanism, the knife switch disconnecting mechanism, and the knob switch rotating mechanism. The trolley-type circuit breaker swing-out mechanism can swing out the trolley-type circuit breaker, the knife switch disconnecting mechanism can perform a closing operation, and the knob switch rotating mechanism can rotate the knob switch. By adjusting the position of the mounting seat, the trolley-type circuit breaker swing-out mechanism, the knife switch disconnecting mechanism, or the knob switch rotating mechanism can be moved to a designated operating position, thereby completing the emergency operations of closing the high-voltage switch cabinet, rotating the knob switch, and swinging out the trolley-type circuit breaker. The force sensing component is connected to the mounting base. The trolley-type circuit breaker swing-out mechanism, knife switch disconnect mechanism, and knob switch rotation mechanism are all connected to the force sensing component, which can also communicate with the robotic arm. The force sensing component can detect force data from the trolley-type circuit breaker swing-out mechanism, knife switch disconnect mechanism, or knob switch rotation mechanism and feed this force data back to the robotic arm in real time. The robotic arm controls its movement based on this force data, eliminating the need for complex path planning and the automatic adjustment of the robotic arm, eliminating the need for multiple debugging. This allows for more precise movement, simple and convenient operation, and high work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a structural diagram of a high-voltage switchgear, a mechanical arm, and a multifunctional emergency processing device for a substation provided by an embodiment of the present invention;

[0023] Figure 2 Schematic diagram of the structure of a mechanical arm and a multifunctional emergency processing device for a substation provided by an embodiment of the present invention;

[0024] Figure 3 This is a schematic structural diagram of a multifunctional emergency processing device for a substation provided by an embodiment of the present invention;

[0025] Figure 4 is a structural schematic diagram of a mounting base involved in an embodiment of the present invention;

[0026] Figure 5 1 is a structural diagram of a trolley-type circuit breaker swing-out mechanism according to an embodiment of the present invention;

[0027] Figure 6 1 is a schematic structural diagram of the knife switch disconnecting mechanism in a retracted state according to an embodiment of the present invention;

[0028] Figure 71 is a schematic structural diagram of the knife switch disconnecting mechanism in an extended state according to an embodiment of the present invention;

[0029] Figure 8 yes Figure 6 A partial enlarged view of point A in the middle;

[0030] Figure 9 1 is a structural diagram of the knob switch rotating mechanism in an expanded state according to an embodiment of the present invention;

[0031] Figure 10 1 is a structural diagram of the knob switch rotating mechanism in a clamping state according to an embodiment of the present invention;

[0032] Figure 11 This is one of the structural diagrams of the mounting base and the force sensing assembly involved in the embodiment of the present invention;

[0033] Figure 12 This is the second structural schematic diagram of the mounting base and force sensing component involved in the embodiment of the present invention.

[0034] In the picture:

[0035] 1. Mounting seat; 11. Mounting position;

[0036] 2. Trolley-type circuit breaker swing-out mechanism; 21. Inner square sleeve; 22. First drive member; 23. First mounting bracket; 24. Speed ​​reducer; 25. Flexible coupling;

[0037] 3. Knife switch disconnect mechanism; 31. Second mounting bracket; 32. Second driving member; 33. Connecting rod assembly; 331. Active rod; 332. Driven rod; 333. Connecting rod; 34. Switch-pulling claw; 35. Ball joint; 36. Elastic member;

[0038] 4. Knob switch rotation mechanism; 41. Turntable; 42. Clamping assembly; 421. Y-shaped push rod; 422. Rotating rod; 423. Clamping head; 424. Crossbar; 425. Driven rotating rod; 426. Friction-increasing gasket; 43. Third mounting bracket;

[0039] 5. Force sensing component; 51. Connecting flange; 52. Force sensor; 53. Intermediate flange;

[0040] 100. Robotic arm; 200. High-voltage switchgear. DETAILED DESCRIPTION

[0041] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0042] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0043] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0044] In the description of this embodiment, the terms "upper," "lower," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meanings.

[0045] like Figure 1-Figure 3As shown, this embodiment provides a multifunctional emergency handling device for a substation, comprising a mounting base 1, a trolley-type circuit breaker swing-out mechanism 2, a knife switch disconnecting mechanism 3, a knob switch rotating mechanism 4, and a force sensing component 5. The trolley-type circuit breaker swing-out mechanism 2, the knife switch disconnecting mechanism 3, and the knob switch rotating mechanism 4 are all connected to the mounting base 1, and the trolley-type circuit breaker swing-out mechanism 2, the knife switch disconnecting mechanism 3, and the knob switch rotating mechanism 4 are spaced apart around the axis of the mounting base 1, and the mounting base 1 provides an installation base for the trolley-type circuit breaker swing-out mechanism 2, the knife switch disconnecting mechanism 3, and the knob switch rotating mechanism 4. The trolley-type circuit breaker swing-out mechanism 2 can swing out the trolley-type circuit breaker, the knife switch disconnecting mechanism 3 can perform a switch-pulling operation, and the knob switch rotating mechanism 4 can rotate the knob switch. This makes the multifunctional emergency handling device for a substation diverse, reduces production costs, and improves overall economic efficiency. By adjusting the position of the mounting base 1, the trolley-type circuit breaker swing-out mechanism 2, the knife switch disconnecting mechanism 3 or the knob switch rotating mechanism 4 are moved to the designated operating position, and the emergency operations of switching off the high-voltage switchgear 200, rotating the knob switch and swinging out the trolley-type circuit breaker can be completed.

[0046] The force sensing component 5 is connected to the mounting base 1. The trolley-type circuit breaker swing-out mechanism 2, the knife switch disconnect mechanism 3, and the knob switch rotation mechanism 4 are all in communication with the force sensing component 5. The force sensing component 5 can also be in communication with the robotic arm 100. The force sensing component 5 can detect force data from the trolley-type circuit breaker swing-out mechanism 2, the knife switch disconnect mechanism 3, or the knob switch rotation mechanism 4, and feed that force data back to the robotic arm 100 in real time. The robotic arm 100 controls its movement position based on the force data, eliminating the need for complex path planning for the robotic arm 100. The robotic arm 100 can automatically adjust, eliminating the need for multiple debugging, resulting in more precise movement, simple and convenient operation, and high work efficiency.

[0047] Alternatively, as Figure 3 and Figure 4 As shown, three mounting positions 11 are provided on the mounting base 1, and the three mounting positions 11 are arranged in a ring around the axis of the mounting base 1 at intervals. The three mounting positions 11 are all inclined to the side away from the axis of the mounting base 1, and the trolley-type circuit breaker swing-out mechanism 2, the knife switch disconnecting mechanism 3 and the knob switch rotating mechanism 4 are all connected to one mounting position 11, so that the overall structure of the substation multifunctional emergency processing device is compact, which can save installation space, and at the same time ensure that the trolley-type circuit breaker swing-out mechanism 2, the knife switch disconnecting mechanism 3 and the knob switch rotating mechanism 4 do not interfere with each other.

[0048] Specifically, the mounting base 1 is in the shape of a circular plate. The three mounting positions 11 are spaced evenly apart, meaning that the angle between each mounting position 11 and the axis of the mounting base 1 is 120°. Each mounting position 11 is tilted at a 60° angle relative to the axis of the mounting base 1. This ensures that the trolley-type circuit breaker swing-out mechanism 2, the knife switch disconnect mechanism 3, and the knob switch rotation mechanism 4 do not interfere with each other while minimizing the installation space. In other embodiments, the tilt angle of the mounting position 11 relative to the axis of the mounting base 1 can also be set according to specific circumstances and is not limited to this embodiment.

[0049] Alternatively, as Figure 1 、 Figure 4 and Figure 5 As shown, the trolley-type circuit breaker swing-out mechanism 2 includes an inner square sleeve 21, a first drive member 22, and a first mounting bracket 23. The first mounting bracket 23 is fixedly connected to the mounting base 1, and the first drive member 22 is fixedly connected to the first mounting bracket 23. The first drive member 22 is driven and connected to the inner square sleeve 21. When the trolley-type circuit breaker swing-out mechanism 2 is in operation, the mechanical arm 100 drives the trolley-type circuit breaker swing-out mechanism 2 to move to a designated operating position. The mechanical arm 100 is further moved to insert the inner square sleeve 21 into the circuit breaker square rocker of the high-voltage switchgear 200. At this time, the first drive member 22 drives the inner square sleeve 21 to rotate continuously, and the inner square sleeve 21 drives the circuit breaker square rocker to rotate, thereby swinging the circuit breaker square rocker out of the circuit breaker, completing the operation. The trolley-type circuit breaker swing-out mechanism 2 has a simple structure, is easy to install, and can quickly disconnect the trolley-type circuit breaker. Specifically, the first drive member 22 is a motor. The first mounting bracket 23 is fixed to a mounting position 11 by screws.

[0050] Furthermore, the trolley-type circuit breaker swing-out mechanism 2 also includes a reducer 24 and a flexible coupling 25. The first driving member 22 is driven and connected to the input end of the reducer 24. The output end of the reducer 24 and the inner square sleeve 21 are connected through the flexible coupling 25. The reducer 24 can reduce the rotation speed of the inner square sleeve 21. The flexible coupling 25 has compensation for axial, radial and angular offsets, and provides greater tolerance for the movement accuracy of the robotic arm 100. When the axis of the inner square sleeve 21 is not completely coaxial with the axis of the output shaft of the reducer 24, the inner square sleeve 21 can be inserted into the circuit breaker square rocker of the high-voltage switch cabinet 200, so as to work stably and transmit torque.

[0051] Specifically, reducer 24 has an L-shaped, right-angled structure, which reduces the axial distance along the output shaft of reducer 24 and makes the overall structure more compact. First mounting bracket 23 is positioned at the end of the output shaft of reducer 24, axially away from inner square sleeve 21. Flexible coupling 25 is a bellows coupling. In other embodiments, flexible coupling 25 can also be a rubber coupling, a metallic coupling, or the like.

[0052] Alternatively, as Figure 1 、 Figure 4 and Figure 6 and Figure 7 As shown, the knife switch disconnect mechanism 3 includes a second mounting bracket 31, a second driver 32, a connecting rod assembly 33, and a switch-pulling claw 34. The second mounting bracket 31 is fixedly connected to the mounting base 1, the second driver 32 is drivingly connected to the connecting rod assembly 33, and the switch-pulling claw 34 is connected to the connecting rod assembly 33. The switch-pulling claw 34 has an extended state and a retracted state. When the knife switch disconnect mechanism 3 is in operation, the switch-pulling claw 34 is initially in the extended state. The robot arm 100 drives the knife switch disconnect mechanism 3 to the designated operating position. The robot arm 100 continues to move, causing the front edge of the switch-pulling claw 34 to engage the knife handle. At this point, the second driver 32 drives the connecting rod assembly 33 to move, which drives the switch-pulling claw 34 to the retracted state, thereby pulling the knife handle and completing the emergency switch operation. Conversely, the second driver 32 drives the connecting rod assembly 33 in the opposite direction, driving the connecting rod assembly 33 to move the switch-pulling claw 34 to the extended state, preparing for the next switch operation.

[0053] Specifically, the second mounting bracket 31 is fixed to a mounting position 11 by screws. The second driving member 32 is a servo. The second driving member 32 is fixed to the second mounting bracket 31 by screws. The connecting rod assembly 33 includes an active rod 331, a driven rod 332 and a connecting rod 333. The active rod 331, the driven rod 332, the connecting rod 333 and the second mounting bracket 31 are combined into a four-bar mechanism to make the closing process smoother. The servo output shaft is a spline shaft, which is fixedly connected to the steering wheel by screws. One end of the active rod 331 is connected to the steering wheel by screws, and the other end is hinged to the connecting rod 333. The two ends of the driven rod 332 are hinged to the second mounting bracket 31 and the connecting rod 333 respectively. Among them, the active rod 331 and the driven rod 332 are equal in length and parallel. The closing handle 34 is fixedly connected to the connecting rod 333. Rotation of the second drive member 32 drives the steering wheel, which in turn drives the active lever 331 to swing. Constrained by the driven lever 332, the connecting rod 333 drives the brake claw 34 to move between an extended and retracted position. The brake claw 34 has a U-shaped notch to facilitate gripping the blade handle. The inner wall of the U-shaped notch, facing away from the connecting rod 333, has an inward angle to prevent the brake claw 34 from slipping during operation. In other embodiments, a non-slip pad may also be provided on the inner wall of the U-shaped notch, facing away from the connecting rod 333.

[0054] Furthermore, if Figure 6-Figure 8As shown, the knife switch disconnect mechanism 3 also includes a ball joint 35 and an elastic member 36. The switch-pulling claw 34 is connected to the connecting rod assembly 33 via the ball joint 35. One end of the elastic member 36 is connected to the switch-pulling claw 34, and the other end is connected to the connecting rod assembly 33. The connection between the switch-pulling claw 34 and the connecting rod assembly 33 via the ball joint 35 and the elastic member 36 provides the switch-pulling claw 34 with a certain degree of motion flexibility, effectively compensating for the non-collinearity between the switch-pulling claw 34 and the connecting rod assembly 33 during the switch-pulling process. Even if there is an error between the position of the switch-pulling claw 34 and the knife switch handle, the switch-pulling claw 34 can be fully engaged with the knife switch handle, thereby successfully completing the switch-pulling operation. This also provides the knife switch disconnect mechanism 3 with multi-angle adaptability during the switch-pulling process.

[0055] Specifically, the brake handle 34 is connected to the connecting rod 333 via a ball joint 35. Four elastic members 36 are springs, arranged at intervals along the circumference of the connecting rod 333 and outside the ball joint 35. Cylindrical bosses are provided on the brake handle 34 and the connecting rod 333 at locations corresponding to the elastic members 36. The ends of the elastic member 36 are respectively fitted over the cylindrical bosses to secure the elastic member 36.

[0056] Alternatively, as Figure 1 、 Figure 4 、 Figure 9 and Figure 10 As shown, the knob switch rotating mechanism 4 includes a third driving member, a turntable 41, a fourth driving member, and a clamping assembly 42. The third driving member is fixedly connected to the mounting base 1, the third driving member is drivably connected to the turntable 41, the clamping assembly 42 is connected to the turntable 41, and the fourth driving member is drivably connected to the clamping assembly 42. The fourth driving member can drive the clamping assembly 42 to clamp the knob switch. The clamping assembly 42 has an expanded state and a clamping state. When the knob switch rotating mechanism 4 is working, the initial state of the clamping assembly 42 is the expanded state. The knob switch rotating mechanism 4 is driven by the mechanical arm 100 to move to the designated working position. The mechanical arm 100 is further moved to make the clamping assembly 42 close to the knob switch on the high-voltage switch cabinet 200. At this time, the clamping assembly 42 is driven by the fourth driving member to move to the clamping state, thereby clamping the knob switch. Then, the turntable 41 is driven to rotate by the third driving member, and the turntable 41 drives the clamping assembly 42 to rotate, thereby rotating the knob switch.

[0057] Specifically, the rotary switch rotating mechanism 4 also includes a third mounting bracket 43, which is fixed to a mounting position 11 by screws. The third driving member is also fixed to the third mounting bracket 43 by screws. The third driving member is a motor, and the fourth driving member is an electric cylinder. Both the third and fourth driving members are disposed within the third mounting bracket 43, making the overall structure of the rotary switch rotating mechanism 4 more compact and aesthetically pleasing.

[0058] Furthermore, if Figure 9 and Figure 10As shown, the clamping assembly 42 includes a Y-shaped push rod 421, two rotating rods 422 and two clamps 423. The two ends of the Y-shaped push rod 421 correspond one-to-one to the two rotating rods 422 and the two clamps 423. The Y-shaped push rod 421 is slidingly connected to the two rotating rods 422. The first end of the rotating rod 422 is rotatably connected to the turntable 41, and the clamp 423 is connected to the second end of the rotating rod 422. The fourth driving member is drivingly connected to the Y-shaped push rod 421, and the fourth driving member can drive the Y-shaped push rod 421 to move axially along the turntable 41. When the clamping assembly 42 is in the expanded state, the Y-shaped push rod 421 approaches the first end of the rotating rod 422, and the second ends of the two rotating rods 422 move away from each other, thereby moving the two clamps 423 away from each other. The fourth driving member drives the Y-shaped push rod 421 to extend along the axial direction of the turntable 41, causing the Y-shaped push rod 421 to approach the second end of the rotating rod 422. The Y-shaped push rod 421 limits the distance between the two rotating rods 422, thereby driving the rotating rods 422 to rotate, causing the second ends of the two rotating rods 422 to move toward each other, thereby moving the two clamps 423 toward each other to a clamping state, thereby clamping the knob switch. The fourth driving member drives the Y-shaped push rod 421 to retract along the axial direction of the turntable 41, causing the Y-shaped push rod 421 to move toward the second end of the rotating rod 422, causing the second ends of the two rotating rods 422 to move away from each other, thereby moving the two clamps 423 away from each other to the expanded state, and disengaging the two clamps 423 from the knob switch.

[0059] Specifically, the clamping assembly 42 also includes a cross bar 424 and two driven rotating rods 425, and the cross bar 424 is fixedly connected to the turntable 41. The driven rotating rod 425 corresponds to the rotating rod 422 one by one, and the driven rotating rod 425 and the rotating rod 422 are both hinged to the cross bar 424, and the driven rotating rod 425 is located on the side opposite to the two rotating rods 422. The chuck 423 is hinged to the driven rotating rod 425 and the rotating rod 422. The cross bar 424, the rotating rod 422, the driven rotating rod 425 and the chuck 423 constitute a four-bar mechanism, which enables the two chucks 423 to be clamped in parallel, making the clamping area larger and the clamping more stable. The two sides where the Y-shaped push rod 421 is connected to the two rotating rods 422 are provided with a slide groove extending along its length direction, and both rotating rods 422 are provided with a cylindrical slider, which is slidably connected in the slide groove. The fourth driving member drives the Y-shaped push rod 421 to extend along the axial direction of the turntable 41, so that the slider slides in the slide groove, driving the two rotating rods 422 to move closer to each other. Under the constraint of the driven rotating rod 425, the two clamps 423 move closer to each other.

[0060] Specifically, the clamping assembly 42 further includes two friction-increasing pads 426 , which correspond one-to-one to the clamp 423 and are installed on opposite sides of the clamp 423 to increase the friction force when the clamp 423 clamps the rotary switch to prevent slipping.

[0061] Alternatively, as Figure 1 、 Figure 3 、 Figure 11 and Figure 12 As shown, the force sensing component 5 includes a connecting flange 51, a force sensor 52, and an intermediate flange 53. The connecting flange 51, the force sensor 52, and the intermediate flange 53 are connected in sequence. The intermediate flange 53 is connected to the mounting base 1. The connecting flange 51 is used to connect to the robotic arm 100. The force data of the trolley-type circuit breaker swing-out mechanism 2, the knife switch disconnecting mechanism 3, or the knob switch rotating mechanism 4 can be transmitted to the intermediate flange 53 through the mounting base 1. The force sensor 52 can receive the axial, radial, and angular force data transmitted by the intermediate flange 53 and transmit the force data to the robotic arm 100. The mounting base 1 is driven to move by the robotic arm 100, and the trolley-type circuit breaker swing-out mechanism 2, the knife switch disconnecting mechanism 3, or the knob switch rotating mechanism 4 can be moved relatively accurately to the designated operating position to prepare for emergency response operations.

[0062] Specifically, the mounting base 1 and the intermediate flange 53 , the intermediate flange 53 and the force sensor 52 , and the force sensor 52 and the connecting flange 51 are all fixedly connected by screws.

[0063] like Figures 1-12 As shown, this embodiment also provides a substation inspection robot, comprising a robotic arm 100 and the aforementioned multifunctional substation emergency handling device. A mounting base 1 is connected to the robotic arm 100, and a force sensing component 5 is communicatively connected to the robotic arm 100. The robotic arm 100 can drive the mounting base 1 to move and rotate, thereby moving the trolley-type circuit breaker swing-out mechanism 2, the knife switch disconnect mechanism 3, or the knob switch rotation mechanism 4 to a designated position.

[0064] Specifically, the side of the connecting flange 51 facing away from the mounting base 1 is fixedly connected to the end of the robotic arm 100 by screws. The robotic arm 100 is a mature technology in this field, and this embodiment will not be described in detail here.

[0065] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A multifunctional emergency treatment device for a substation, characterized in that: include: Mounting seat (1); A trolley-type circuit breaker swing-out mechanism (2), a knife switch disconnecting mechanism (3), and a knob switch rotating mechanism (4), wherein the trolley-type circuit breaker swing-out mechanism (2), the knife switch disconnecting mechanism (3), and the knob switch rotating mechanism (4) are all connected to the mounting base (1), and the trolley-type circuit breaker swing-out mechanism (2), the knife switch disconnecting mechanism (3), and the knob switch rotating mechanism (4) are spaced apart around the axis of the mounting base (1); A force sensing component (5) is connected to the mounting base (1); the trolley-type circuit breaker swing-out mechanism (2), the knife switch disconnecting mechanism (3), and the knob switch rotating mechanism (4) are all communicatively connected to the force sensing component (5); and the force sensing component (5) is capable of being communicatively connected to the robotic arm (100).

2. The multifunctional emergency handling device for substation according to claim 1, characterized in that: The trolley-type circuit breaker swing-out mechanism (2) comprises an inner square sleeve (21), a first driving member (22) and a first mounting bracket (23); the first mounting bracket (23) is fixedly connected to the mounting seat (1); the first driving member (22) is fixedly connected to the first mounting bracket (23); and the first driving member (22) is drivingly connected to the inner square sleeve (21).

3. The multifunctional emergency handling device for substation according to claim 2, characterized in that: The trolley-type circuit breaker swing-out mechanism (2) further comprises a reducer (24) and a flexible coupling (25); the first driving member (22) is drivingly connected to the input end of the reducer (24); and the output end of the reducer (24) and the inner square sleeve (21) are connected via the flexible coupling (25).

4. The multifunctional emergency handling device for substation according to claim 1, characterized in that: The knife switch disconnect mechanism (3) comprises a second mounting bracket (31), a second driving member (32), a connecting rod assembly (33) and a switch-pulling claw (34); the second mounting bracket (31) is fixedly connected to the mounting base (1); the second driving member (32) is drivingly connected to the connecting rod assembly (33); and the switch-pulling claw (34) is connected to the connecting rod assembly (33).

5. The multifunctional emergency handling device for substation according to claim 4, characterized in that: The knife switch disconnect mechanism (3) further comprises a ball joint (35) and an elastic member (36); the switch-pulling claw (34) is connected to the connecting rod assembly (33) via the ball joint (35); one end of the elastic member (36) is connected to the switch-pulling claw (34), and the other end is connected to the connecting rod assembly (33).

6. The multifunctional emergency handling device for substation according to claim 1, characterized in that: The knob switch rotating mechanism (4) comprises a third driving member, a turntable (41), a fourth driving member and a clamping assembly (42); the third driving member is fixedly connected to the mounting seat (1); the third driving member is drivingly connected to the turntable (41); the clamping assembly (42) is connected to the turntable (41); the fourth driving member is drivingly connected to the clamping assembly (42); and the fourth driving member is capable of driving the clamping assembly (42) to clamp the knob switch.

7. The multifunctional emergency handling device for substation according to claim 6, characterized in that: The clamping assembly (42) includes a Y-shaped push rod (421), two rotating rods (422) and two clamps (423), the two ends of the Y-shaped push rod (421) correspond one to one with the two rotating rods (422) and the two clamps (423), the Y-shaped push rod (421) is slidingly connected to the two rotating rods (422), the first end of the rotating rod (422) is rotatably connected to the turntable (41), the clamp (423) is connected to the second end of the rotating rod (422), and the fourth driving member is drivingly connected to the Y-shaped push rod (421), and the fourth driving member can drive the Y-shaped push rod (421) to move axially along the turntable (41).

8. The multifunctional emergency handling device for substation according to claim 1, characterized in that: The force sensing component (5) comprises a connecting flange (51), a force sensor (52) and an intermediate flange (53), wherein the connecting flange (51), the force sensor (52) and the intermediate flange (53) are connected in sequence, the intermediate flange (53) is connected to the mounting seat (1), and the connecting flange (51) is used to connect to the robotic arm (100).

9. The multifunctional emergency handling device for substation according to claim 1, characterized in that: Three mounting positions (11) are provided on the mounting seat (1), and the three mounting positions (11) are arranged in a ring at intervals around the axis of the mounting seat (1). The three mounting positions (11) are all inclined toward a side away from the axis of the mounting seat (1), and the trolley-type circuit breaker swing-out mechanism (2), the knife switch disconnecting mechanism (3) and the knob switch rotating mechanism (4) are all connected to one of the mounting positions (11).

10. A substation inspection robot, characterized in that: The invention comprises a mechanical arm (100) and a multifunctional emergency handling device for a substation according to any one of claims 1 to 9, wherein the mounting base (1) is connected to the mechanical arm (100), and the force sensing component (5) is communicatively connected to the mechanical arm (100).

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