Flexible direct current converter valve submodule replacement device and replacement method

Abstract

The invention discloses a flexible direct current converter valve submodule replacement device and method, and belongs to the technical field of high-voltage direct current transmission. The device comprises a frame, a lifting assembly, a traction assembly, a lifting tripping assembly, a guide rail and a control unit, a first storage station, a second storage station and a third storage station are arranged in the frame; the lifting assembly is arranged in the frame and is used for lifting the spare sub-module in the frame; the guide rails are oppositely arranged at the bottom of the frame; the traction assembly drives the lifting tripping assembly to move back and forth so as to drive the spare sub-module to be pushed into the flexible direct current converter valve tower or drive the to-be-replaced sub-module to be pulled out of the flexible direct current converter valve tower; the control unit is in communication connection with the lifting assembly, the traction assembly and the lifting tripping assembly. The temporary storage station of the spare part sub-module is arranged, so that replacement of new and old sub-modules can be completed on the valve tower, operation is simple, and the module replacement efficiency and safety are improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of high-voltage direct current transmission, and particularly relates to a flexible direct current transmission converter valve sub-module replacement device and a replacement method. BACKGROUND

[0002] Flexible direct current transmission has the remarkable characteristics of low loss, flexible controllability, and the like, can quickly respond to power grid fluctuations, and is suitable for long-distance and large-capacity power transmission. The support type flexible direct current transmission converter valve adopting a modular multilevel (MMC) topology structure is the core equipment of the flexible direct current transmission. In order to realize accurate control of voltage and current, each flexible direct current transmission converter valve is generally composed of thousands of sub-modules in cascade. With the increase of voltage level and transmission capacity, the weight of the sub-modules has increased from the initial 200 Kg to more than 500 Kg. At the same time, these sub-modules are usually installed on a valve tower 5 to 15 meters away from the ground, which brings great challenges to the replacement and maintenance of the sub-modules and guarantees the safe and stable operation of the flexible direct current transmission converter valve.

[0003] At present, the replacement of the sub-modules usually adopts the following methods, each of which has advantages and disadvantages, but also has some obvious limitations: 1. The replacement device is used in combination with the valve tower structure: this method connects the suspension fixing part of the replacement device to the insulating beam of the converter valve tower, uses the vertical lifting part to lift the sub-module, and realizes the horizontal movement of the sub-module through the horizontal sliding part. The sub-module is manually moved out of or into the valve tower, and the replacement of the new and old sub-modules is completed by means of the crane. Although this method is relatively common, it is relatively complex, and each time a sub-module is replaced, the replacement device needs to be fixed on the insulating beam first, and then disassembled and re-fixed after the operation is completed, resulting in low efficiency.

[0004] 2. The replacement device is used in combination with the aerial platform truck: this method connects the replacement device between the converter valve tower and the aerial platform truck through the guide rail or the roller, manually moves the sub-module to the aerial platform truck by the operator, and replaces the new and old sub-modules by means of the crane. However, this method has high requirements for the physical quality of the operator, and the aerial platform truck cannot be loaded in principle. Since the replacement device is only connected to one side of the aerial platform truck, there is a risk of overturning of the aerial platform truck during the extraction of the sub-module, which is not conducive to safe operation.

[0005] 3. The replacement device is hoisted together with the sub-module: this method connects the replacement device to the converter valve tower by means of the crane, moves the sub-module to the replacement tool by manpower, and hoists the new and old sub-modules to the ground together to complete the replacement of the new and old sub-modules. Although this method avoids some direct operation risks, the process is complicated, the number of personnel required is high, the tool needs to be disassembled and reassembled many times, and the overall replacement efficiency is low.

[0006] In summary, the existing sub-module replacement method generally has the problems of complex operation, insufficient safety and low efficiency, and a more efficient and safer solution is needed to optimize this key process. SUMMARY

[0007] The present application aims to overcome the deficiencies in the prior art, and provides a flexible direct current valve sub-module replacement device, which sets a temporary storage station for spare sub-modules to enable the replacement of new and old sub-modules on the valve tower, is simple to operate, and improves the efficiency and safety of module replacement.

[0008] The present application provides the following technical solutions: In a first aspect, a flexible direct current valve sub-module replacement device is provided, comprising a frame, a lifting assembly, a traction assembly, a lifting tripping assembly, a guide rail and a control unit; the frame is provided with a first storage station, a second storage station and a third storage station for storing spare sub-modules or sub-modules to be replaced; the lifting assembly is provided in the frame and is used to lift the spare sub-modules or sub-modules to be replaced in the frame; the guide rail is oppositely provided at the bottom of the frame, and one end of the guide rail is provided with a limiting claw for connecting the flexible direct current valve tower; the traction assembly is provided between the guide rails and moves forward and backward relative to the guide rails; the lifting tripping assembly is provided on the traction assembly and is used to connect the bottom of the spare sub-modules or the sub-modules to be replaced; the traction assembly drives the lifting tripping assembly to move forward and backward to drive the spare sub-modules to be pushed into the flexible direct current valve tower or to drive the sub-modules to be replaced to be pulled out of the flexible direct current valve tower; the control unit is communicatively connected to the lifting assembly, the traction assembly and the lifting tripping assembly.

[0009] As an optional technical solution of the present application, the top of the frame is provided with a lifting structure for lifting.

[0010] As an optional technical solution of the present application, the first storage station is located above the second storage station, and the third storage station is located on one side of the second storage station.

[0011] As an optional technical solution of the present application, the lifting assembly comprises a hydraulic oil cylinder, a module support plate and a guide rod; the hydraulic oil cylinder is fixed in the first storage station in the frame, the guide rod is fixed in the second storage station in the frame and is located in the extension direction of the hydraulic oil cylinder; the output end of the hydraulic oil cylinder is connected to the module support plate for supporting the spare sub-modules, and the hydraulic oil cylinder drives the module support plate to lift along the guide rod to drive the spare sub-modules to lift.

[0012] As an optional technical scheme of the present application, the traction assembly comprises a traction motor, a transmission structure and a traction trolley; the transmission structure is arranged between the guide rails, the traction motor is mounted on the guide rails; the output end of the traction motor is drivingly connected to the transmission structure, and the traction trolley is arranged on the transmission structure; the traction motor drives the transmission structure to operate to drive the traction trolley to move back and forth.

[0013] As an optional technical scheme of the present application, the lifting and tripping assembly comprises a tripping motor, a pushing slider and a tripping slider; the tripping motor is arranged at one end of the traction trolley, the pushing slider is arranged in the traction trolley, the output end of the tripping motor is connected to the pushing slider to drive the pushing slider to move back and forth; the other end of the traction trolley is provided with a clamping groove, and the tripping slider is arranged in the clamping groove.

[0014] As an optional technical scheme of the present application, the pushing slider is provided with an inclined portion at the end away from the tripping motor; the end close to the tripping motor of the inclined portion is higher than the end close to the tripping slider; the low side of the inclined portion extends to the bottom of the tripping slider and moves back and forth with the pushing slider; with the back and forth movement of the inclined portion, the tripping slider is lifted or dropped; when the tripping slider is lifted, the cross beam at the bottom of the spare sub-module or the to-be-replaced sub-module is connected; when the tripping slider is dropped, the cross beam at the bottom of the spare sub-module or the to-be-replaced sub-module is separated.

[0015] As an optional technical scheme of the present application, the control unit is communicatively connected to the traction motor and the tripping motor.

[0016] As an optional technical scheme of the present application, the support cross beam is arranged on the HVDC valve tower, and the limiting clamping jaw is connected to the support cross beam.

[0017] In the second aspect, a replacement method applied to the HVDC valve sub-module replacement device of the first aspect is provided, which comprises the following steps: The HVDC valve sub-module replacement device is lifted by the travelling crane, and then the HVDC valve sub-module replacement device is hoisted to the corresponding position of the to-be-replaced sub-module, and the limiting clamping jaw is connected to the HVDC valve tower. The control unit is operated to connect the lifting and tripping assembly to the bottom of the to-be-replaced sub-module, the control unit is operated to move the traction assembly backward to drive the to-be-replaced sub-module to be pulled out of the HVDC valve tower and moved to the third storage station, and the control unit is operated to disconnect the lifting and tripping assembly from the bottom of the to-be-replaced sub-module. The control unit is operated to lower the spare sub-module to the second storage station by the lifting assembly. The operation control unit connects the lifting and tripping assembly to the bottom of the spare sub-module, the operation control unit drives the traction assembly to move forward, and the spare sub-module is pushed into the valve tower of the HVDC valve, and the operation control unit disconnects the lifting and tripping assembly from the bottom of the spare sub-module; The operation control unit connects the lifting and tripping assembly to the bottom of the spare sub-module, the operation control unit drives the traction assembly to move forward, and the spare sub-module is pushed into the valve tower of the HVDC valve, and the operation control unit disconnects the lifting and tripping assembly from the bottom of the spare sub-module;

[0018] Compared with the prior art, the beneficial effects of the present application are: The HVDC valve sub-module replacement device provided by the present application has simple structure, and the spare sub-module enables the replacement of new and old sub-modules to be completed on the valve tower, improves the replacement efficiency of the sub-modules, and reduces the power-off time; meanwhile, the control unit is used to operate each component, which greatly reduces the requirement for the physical quality of the workers, reduces the labor intensity, improves the safety of the sub-module replacement work, and ensures the personal safety of the operators. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a structural schematic view of the HVDC valve sub-module replacement device in the embodiment of the present application; Figure 2 is a structural schematic view of the lifting assembly in the embodiment of the present application; Figure 3 is a structural schematic view of the traction assembly in the embodiment of the present application; Figure 4 is a partial enlarged view of Figure 3 ; Figure 5 is a bottom view of the spare sub-module in the embodiment of the present application; Figure 6 is a partial enlarged view of Figure 5 ; Figure 7 is a working state schematic view of the HVDC valve sub-module replacement device in the embodiment of the present application Figure 1 ; Figure 8 is a working state schematic view of the HVDC valve sub-module replacement device in the embodiment of the present application Figure 2 ; Figure 9 is a working state schematic view of the HVDC valve sub-module replacement device in the embodiment of the present application Figure 3 ; Figure 10 is a working state schematic view of the HVDC valve sub-module replacement device in the embodiment of the present application Figure 4 ; Figure 11Schematic diagram of the working state of the flexible direct current valve submodule replacement device in the embodiment of the present invention Figure 5 .

[0020] Marked in the figure: 10. Frame, 11. First storage station, 12. Second storage station, 13. Third storage station, 20. Hoisting structure, 30. Power supply, 40. Lifting assembly, 41. Hydraulic cylinder, 42. Module support plate, 43. Guide rod, 50. Traction assembly, 51. Guide rail, 52. Traction motor, 53. Conveying structure, 54. Traction trolley, 55. Lifting and tripping assembly, 56. Tripping motor, 57. Pushing slider, 58. Tripping slider, 60. Limiting claw, 70. Flexible DC converter valve tower, 80. Spare sub-module, 90. Sub-module to be replaced, 100. Control unit, 110. Support beam, 120. Beam. DETAILED DESCRIPTION

[0021] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0022] Example 1 like Figure 1 As shown, this embodiment provides a flexible DC converter valve submodule replacement device, including a frame 10, a power supply 30, a lifting assembly 40, a traction assembly 50, a lifting trip assembly 55, a guide rail 51 and a control unit 100.

[0023] The frame 10 is provided with a first storage station 11, a second storage station 12, and a third storage station 13 for storing spare submodules 80 or submodules to be replaced 90. The spare submodule 80 is temporarily stored in the first storage station 11. After the submodule to be replaced 90 is removed, the spare submodule 80 can be pushed into the valve tower, where the old submodule can be replaced with the new one.

[0024] Furthermore, a hoisting structure 20 for hoisting is provided on the top of the frame 10 .

[0025] like Figure 1 As shown, the first storage station 11 is located above the second storage station 12 , and the third storage station 13 is located on one side of the second storage station 12 .

[0026] The lifting assembly 40 is provided in the frame 10 and is used to lift the spare submodule 80 or the submodule to be replaced 90 in the frame 10. Figure 2As shown, the lifting assembly comprises a hydraulic cylinder 41, a module support plate 42 and a guide rod 43; the hydraulic cylinder 41 is fixed in the first storage station 11 in the frame 10, the guide rod 43 is fixed in the second storage station 12 in the frame 10 and is located in the extension direction of the hydraulic cylinder 41; the output end of the hydraulic cylinder 41 is connected with the module support plate 42 for supporting the spare sub-module 80, and the hydraulic cylinder 41 drives the module support plate 42 to lift along the guide rod 43 to drive the spare sub-module 80 to lift.

[0027] The guide rail 51 is arranged on the bottom of the frame 10, and one end of the guide rail 51 is provided with a limiting claw 60 for connecting the HVDC valve tower 70; the traction assembly 50 is arranged between the guide rails 51 and moves back and forth relative to the guide rails 51; the lifting and tripping assembly 55 is arranged on the traction assembly 50 and is used for connecting the bottom of the spare sub-module 80 or the to-be-replaced sub-module 90; the traction assembly 50 drives the lifting and tripping assembly 55 to move back and forth to drive the spare sub-module 80 to be pushed into the HVDC valve tower 70 or to drive the to-be-replaced sub-module 90 to be pulled out of the HVDC valve tower 70.

[0028] As shown in Figure 3 The traction assembly 50 comprises a traction motor 52, a transmission structure 53 and a traction trolley 54. The transmission structure 53 is arranged between the guide rails 51, and the traction motor 52 is mounted on the guide rails 51; the output end of the traction motor 52 is drivingly connected with the transmission structure 53, and the traction trolley 54 is arranged on the transmission structure 53; the traction motor 52 drives the transmission structure 53 to operate to drive the traction trolley 54 to move back and forth.

[0029] As shown in Figure 4 The lifting and tripping assembly 55 comprises a tripping motor 56, a pushing sliding block 57 and a tripping sliding block 58. The tripping motor 56 is arranged at one end of the traction trolley 54, the pushing sliding block 57 is arranged in the traction trolley 54, and the output end of the tripping motor 56 is connected with the pushing sliding block 57 and is used for driving the pushing sliding block 57 to move back and forth; the other end of the traction trolley 54 is provided with a clamping groove, and the tripping sliding block 58 is arranged in the clamping groove. The tripping sliding block 58 is in the shape of C and can move up and down in the clamping groove without moving horizontally.

[0030] Further, one end of the pushing sliding block 57 away from the tripping motor 56 is provided with an inclined portion, one end of the inclined portion close to the tripping motor 56 is higher than the other end close to the tripping sliding block 58; the low side of the inclined portion extends to the bottom of the tripping sliding block 58 and moves back and forth with the pushing sliding block 57. With the back and forth movement of the inclined portion, the tripping sliding block 58 is lifted or falls, the tripping sliding block 58 is connected with the cross beam 120 at the bottom of the spare sub-module 80 or the to-be-replaced sub-module 90 when the tripping sliding block 58 is lifted, and the tripping sliding block 58 is separated from the cross beam 120 at the bottom of the spare sub-module 80 or the to-be-replaced sub-module 90 when the tripping sliding block 58 falls. As shown in Figure 5and Figure 6 Shown is the crossbeam 120 .

[0031] Basic working process of lifting trip assembly: When the lifting and lowering trip assembly 55 needs to be connected to the submodule, the operation control unit 100 controls the trip motor 56 to rotate, and the pushing slider 57 is pushed forward by the screw. The inclined portion at the front of the pushing slider 57 will lift the C-shaped trip slider 58, and the notched portion of the trip slider 58 is connected to the submodule bottom plate crossbeam. At this time, when the traction trolley 54 moves back and forth, it will drive the lifting and lowering trip assembly 55 and the submodule to move synchronously. When the lifting and lowering trip assembly 55 needs to be separated from the submodule, the operation control unit 100 controls the trip motor 56 to rotate in the opposite direction, and the pushing slider 57 is driven backward by the screw. The inclined portion at the front of the pushing slider 57 will move away from the trip slider 58, and the trip slider 58 will fall, eventually separating the trip slider 58 from the submodule bottom plate crossbeam. The submodule can be moved without the help of manpower, thereby improving work efficiency and safety.

[0032] The control unit 100 is in communication with the lifting assembly 40, the traction assembly 50, and the lifting and tripping assembly 55. Specifically, the control unit 100 is in communication with the traction motor 52 and the tripping motor 56. The control unit is manually operated to control the operation of the lifting assembly 40, the traction motor 52, and the tripping motor 56.

[0033] like Figure 7 As shown, the flexible DC converter valve tower 70 is provided with a support beam 110, and the limiting claw 60 is connected to the support beam 110. In this embodiment, two limiting claws 60 are provided, and the two limiting claws 60 are mounted on the support beam 110 and fixed on both sides of the guide rail.

[0034] The power supply 30 is used to provide power to various components in the replacement device.

[0035] Example 2 This embodiment provides a replacement method based on embodiment 1. Figures 7-11 As shown, in this embodiment, the side where the flexible direct current valve tower 70 is located is regarded as the front side, and the side where the replacement device is located is regarded as the rear side.

[0036] The replacement process includes: Step 1: Use a crane to hoist the spare parts submodule 80 to the first storage station 11.

[0037] Step 2: Use a crane to lift the flexible DC converter valve submodule replacement device, adjust the lifting rope to keep the replacement device level during the operation, lift the flexible DC converter valve submodule replacement device to the corresponding position of the submodule 90 to be replaced, and connect the limiting claw 60 to the support beam 110 on the flexible DC converter valve tower 70.

[0038] Step three: the operation control unit 100 makes the lifting and tripping assembly 55 connect the bottom of the to-be-replaced sub-module 90, the operation control unit 100 makes the traction assembly 50 move backward, thereby pulling out the to-be-replaced sub-module 90 from the valve tower 70 of the HVDC valve and moving to the third storage station 13, and the operation control unit 100 makes the lifting and tripping assembly 55 disengage from the bottom of the to-be-replaced sub-module 90.

[0039] Step four: the operation control unit 100 makes the lifting assembly 40 lower the spare sub-module 80 to the second storage station 12.

[0040] Step five: the operation control unit 100 makes the lifting and tripping assembly 55 connect the bottom of the spare sub-module 80, the operation control unit 100 makes the traction assembly 50 move forward, thereby pushing the spare sub-module 80 into the valve tower 70 of the HVDC valve, and the operation control unit 100 makes the lifting and tripping assembly 55 disengage from the bottom of the spare sub-module 80.

[0041] Step six: the operation control unit 100 makes the lifting and tripping assembly 55 connect the bottom of the to-be-replaced sub-module 90, the operation control unit 100 makes the traction assembly 50 move forward, thereby moving the to-be-replaced sub-module 90 to the second storage station 12, and hoisting the HVDC valve sub-module replacement device and the to-be-replaced sub-module 90 to the ground.

[0042] In the description of the present application, it needs to be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" and the like can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0043] In the description of the present application, it needs to be understood that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0044] The above description is only preferred embodiments of the present application, it should be pointed out that, for those skilled in the art, without departing from the technical principles of the present application, a number of improvements and variations can be made, which should be considered as the protection scope of the present application.

Claims

1. A device for replacing a flexible DC converter valve submodule, characterized in that: It comprises a frame (10), a lifting assembly (40), a traction assembly (50), a lifting trip assembly (55), a guide rail (51) and a control unit (100); The frame (10) is provided with a first storage station (11), a second storage station (12), and a third storage station (13) for storing spare submodules (80) or submodules to be replaced (90); The lifting assembly (40) is disposed in the frame (10) and is used to lift the spare part submodule (80) in the frame (10); The guide rail (51) is relatively arranged at the bottom of the frame (10), and one end of the guide rail (51) is provided with a limit claw (60) for connecting to the flexible direct current converter valve tower (70); the traction assembly (50) is arranged between the guide rails (51) and moves forward and backward relative to the guide rails (51); the lifting and tripping assembly (55) is arranged on the traction assembly (50) and is used to connect to the bottom of the spare submodule (80) or the submodule to be replaced (90); the traction assembly (50) drives the lifting and tripping assembly (55) to move forward and backward, so as to drive the spare submodule (80) to be pushed into the flexible direct current converter valve tower (70) or drive the submodule to be replaced (90) to be pulled out of the flexible direct current converter valve tower (70); The control unit (100) is communicatively connected to the lifting assembly (40), the traction assembly (50), and the lifting tripping assembly (55).

2. The flexible DC converter valve submodule replacement device according to claim 1, characterized in that: A hoisting structure (20) for hoisting is provided on the top of the frame (10).

3. The flexible DC converter valve submodule replacement device according to claim 1, characterized in that: The first storage station (11) is located above the second storage station (12), and the third storage station (13) is located on one side of the second storage station (12).

4. The flexible DC converter valve submodule replacement device according to claim 3, characterized in that: The lifting assembly (40) includes a hydraulic cylinder (41), a module support plate (42) and a guide rod (43); The hydraulic cylinder (41) is fixed in the first storage station (11) in the frame (10), and the guide rod (43) is fixed in the second storage station (12) in the frame (10) and is located in the extension direction of the hydraulic cylinder (41); The output end of the hydraulic cylinder (41) is connected to a module support plate (42) for supporting the spare submodule (80), and the hydraulic cylinder (41) drives the module support plate (42) to move up and down along the guide rod (43), thereby driving the spare submodule (80) to move up and down.

5. The flexible DC converter valve submodule replacement device according to claim 1, characterized in that: The traction assembly (50) includes a traction motor (52), a transmission structure (53) and a traction trolley (54); The conveying structure (53) is arranged between the guide rails (51), and the traction motor (52) is installed on the guide rails (51); the output end of the traction motor (52) is connected to the conveying structure (53) through transmission, and the traction trolley (54) is arranged on the conveying structure (53). The traction motor (52) drives the conveying structure (53) to operate so as to drive the traction trolley (54) to move forward and backward.

6. The flexible DC converter valve submodule replacement device according to claim 5, characterized in that: The lifting and tripping assembly (55) comprises a tripping motor (56), a pushing slider (57) and a tripping slider (58); The tripping motor (56) is provided at one end of the traction trolley (54), the pushing slider (57) is provided in the traction trolley (54), and the output end of the tripping motor (56) is connected to the pushing slider (57) for driving the pushing slider (57) to move forward and backward; The other end of the traction trolley (54) is provided with a slot, and the tripping slider (58) is arranged in the slot.

7. The flexible DC converter valve submodule replacement device according to claim 6, characterized in that: An end of the push slider (57) away from the tripping motor (56) is provided with an inclined portion, and an end of the inclined portion close to the tripping motor (56) is higher than an end close to the tripping slider (58); The lower side of the inclined portion extends to the bottom of the tripping slider (58) and moves forward and backward along with the pushing slider (57); As the inclined portion moves forward and backward, the tripping slider (58) is lifted up or lowered. When the tripping slider (58) is lifted up, it is connected to the crossbeam (120) at the bottom of the spare submodule (80) or the submodule to be replaced (90). When the tripping slider (58) is lowered, it is separated from the crossbeam at the bottom of the spare submodule (80) or the submodule to be replaced (90).

8. The flexible DC converter valve submodule replacement device according to claim 6, characterized in that: The control unit (100) is communicatively connected to the traction motor (52) and the trip motor (56).

9. The flexible DC converter valve submodule replacement device according to claim 1, characterized in that: A supporting crossbeam (110) is provided on the flexible direct current converter valve tower (70), and the limiting claw (60) is connected to the supporting crossbeam (110).

10. A replacement method for the flexible direct current converter valve submodule replacement device according to any one of claims 1 to 9, characterized in that: include: Using a crane to hoist the spare parts submodule (80) to the first storage station (11); Using a crane to lift the flexible direct current converter valve submodule replacement device, lift the flexible direct current converter valve submodule replacement device to a corresponding position of the submodule (90) to be replaced, and connect the limiting claw (60) to the flexible direct current converter valve tower (70); The control unit (100) is operated to connect the lifting and tripping assembly (55) to the bottom of the submodule to be replaced (90), the control unit (100) is operated to move the traction assembly (50) backward, driving the submodule to be replaced (90) to extract the flexible direct current valve tower (70) and move it to the third storage station (13), and the control unit (100) is operated to separate the lifting and tripping assembly (55) from the bottom of the submodule to be replaced (90); Operating the control unit (100) to cause the lifting assembly (40) to lower the spare parts submodule (80) to the second storage station (12); The control unit (100) is operated to connect the lifting and tripping assembly (55) to the bottom of the spare submodule (80), the control unit (100) is operated to move the traction assembly (50) forward, driving the spare submodule (80) to push into the flexible direct current converter valve tower (70), and the control unit (100) is operated to separate the lifting and tripping assembly (55) from the bottom of the spare submodule (80); The control unit (100) is operated to connect the lifting and tripping assembly (55) to the bottom of the submodule to be replaced (90), and the control unit (100) is operated to move the traction assembly (50) forward, driving the submodule to be replaced (90) to move to the second storage station (12), and the flexible direct current valve submodule replacement device and the submodule to be replaced (90) are lifted to the ground.

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