GIS bus duct automatic butt joint device and butt joint method

Abstract

The application relates to the technical field of pipeline butt joint construction, and discloses a GIS bus pipeline automatic butt joint device and a butt joint method. The GIS bus pipeline automatic butt joint device comprises a truss mechanism, a transmission mechanism, a clamping mechanism, a tracking mechanism and a controller. The truss mechanism comprises a moving beam and a truss, and the moving beam can slide on the truss. The transmission mechanism comprises a moving assembly, an adjusting assembly and a lifting assembly, the moving assembly is arranged on the moving beam to slide in a first direction, the moving assembly drives the transmission mechanism to move in the first direction, the adjusting assembly adjusts the position of the lifting assembly in three-dimensional space, and the lifting assembly drives the clamping mechanism to move in the extension direction of the lifting assembly. The tracking mechanism comprises a laser tracker and multiple groups of targets, a first group of targets is arranged on a fixed GIS bus pipeline, a second group of targets is arranged on a to-be-butted GIS bus pipeline, and a third group of targets is arranged on a clamping jaw assembly; and the laser tracker is used for acquiring the straight-line distance between the laser tracker and each group of targets.

Description

Technical Field

[0001] This invention relates to the field of pipeline connection construction technology, and in particular to an automatic connection device and method for GIS busbar pipelines. Background Technology

[0002] The usage rate of GIS (Gas Insulated Switchgear) equipment in power systems is increasing year by year. Statistics show that GIS equipment failures are mostly concentrated in the initial stage of operation, mainly due to non-standard on-site installation. Traditional GIS busbar connection is a manual operation, where workers use cranes and slings to move the GIS busbars. Multiple workers from different work areas communicate verbally via walkie-talkies to adjust the connection, wasting manpower and resulting in low efficiency. Furthermore, the connection between the slings and the GIS busbars is flexible, leading to swaying. Maintaining the horizontal alignment of the GIS busbars during connection is difficult, requiring experienced workers to make repeated adjustments and fine-tuning to complete the connection. This creates complex on-site conditions and poses a safety risk to construction personnel. In summary, traditional GIS busbar connection methods suffer from complex on-site coordination, low efficiency, low automation, reliance on manual experience, and high potential safety risks.

[0003] Therefore, there is an urgent need for an automatic GIS busbar pipeline connection device and connection method to solve the above problems. Summary of the Invention

[0004] One objective of this invention is to provide an automatic GIS busbar pipeline docking device that can solve the problems of complex on-site coordination, low docking efficiency, low automation and reliance on manual experience, and high potential safety risks associated with traditional GIS busbar pipeline docking methods.

[0005] Based on the above concept, the technical solution adopted by this invention is as follows:

[0006] An automatic connection device for GIS busbar pipelines is provided, comprising:

[0007] A truss mechanism includes a movable beam and two trusses spaced apart along a first direction, wherein the two ends of the movable beam are slidably mounted on the two trusses respectively, and the movable beam is capable of sliding on the trusses along a second direction;

[0008] The transmission mechanism includes a moving component, an adjusting component, and a lifting component. The moving component is slidably disposed on the moving beam in the first direction. The adjusting component is disposed on the moving component. The lifting component is disposed on the adjusting component. The moving component is used to drive the transmission mechanism to move in the first direction. The adjusting component is used to adjust the position of the lifting component in three-dimensional space.

[0009] A clamping mechanism is disposed on the lifting assembly, the lifting assembly being used to drive the clamping mechanism to move in the extension direction of the lifting assembly, the second direction being perpendicular to the first direction;

[0010] The clamping mechanism includes a connecting component, a positioning component, and a gripper assembly. The positioning component is disposed on the gripper assembly, and the gripper assembly is rotatably disposed on the connecting component. The connecting component is connected to the lifting component. The connecting component enables the gripper assembly to rotate relative to the lifting component and the distance between the gripper assembly and the lifting component in the extending direction of the lifting component is adjustable. The positioning component is used to fix the gripper assembly in an initial position relative to the lifting component. The positioning component is also used to enable the gripper assembly to rotate relative to the lifting component by a preset angle. The gripper assembly is used to clamp the GIS busbar pipeline to be connected.

[0011] The tracking mechanism includes a laser tracker and multiple sets of targets. The first set of targets is set on a fixed GIS busbar pipeline, the second set of targets is set on the GIS busbar pipeline to be connected, and the third set of targets is set on the gripper assembly. The laser tracker is used to obtain the straight-line distance between the laser tracker and each set of targets.

[0012] The controller is signal-connected to the tracking mechanism, the gripping mechanism, the transmission mechanism, and the truss mechanism.

[0013] Optionally, the connecting assembly includes a connecting shaft and a bearing. The connecting shaft is connected to the lifting assembly. The bearing is sleeved on the connecting shaft. The outer ring of the bearing is fixed to the gripper assembly. The outer ring of the bearing can rotate relative to the inner ring of the bearing, so that the gripper assembly can rotate relative to the lifting assembly.

[0014] The positioning component includes a first driving member, a positioning member, and a first guide rail. The first driving member and the first guide rail are both disposed on the gripper assembly. The first driving member is used to drive the positioning member to slide on the first guide rail.

[0015] The connecting assembly further includes a positioning block disposed on the connecting assembly. The positioning block has a positioning groove on the side facing the positioning member. The positioning member is located in the positioning groove and abuts against the inner wall of the positioning groove. The gripper assembly is fixed relative to the positioning block. The positioning member has a distance from the inner wall of the positioning groove. The gripper assembly is rotatable relative to the positioning block.

[0016] Optionally, the connecting assembly further includes a connecting plate and an elastic connector, one end of which is connected to the lifting assembly, and the other end of which is movably connected to the connecting plate. The elastic connector is used to ensure that the connecting plate always has a tendency to move toward the side away from the lifting assembly.

[0017] Optionally, the gripper assembly includes a second drive member, a lead screw, a nut, a second guide rail, and two gripper bodies. Each gripper body includes a fixed gripper and a movable gripper. The middle section of the movable gripper is rotatably connected to the fixed gripper. One end of the movable gripper is connected to the nut. The nut is sleeved on the lead screw and slidably connected to the second guide rail. The second drive member drives the lead screw to rotate, so that the nut drives one end of the movable gripper to move along the extension direction of the lead screw, thereby causing the middle section of the movable gripper to rotate relative to the fixed gripper. The other ends of the movable grippers of the two gripper bodies move closer to or further away from each other.

[0018] Optionally, the adjustment component includes a first telescopic drive member, a first hinge member, and a second hinge member. Multiple sets of the first telescopic drive members are provided. Each set of the first telescopic drive members includes two first telescopic drive members, and the extension directions of the two first telescopic drive members intersect. One first telescopic drive member is connected to one first hinge member, and a second hinge member is provided at the output end of each first telescopic drive member.

[0019] The adjustment assembly further includes a first mounting plate and a second mounting plate, the first hinge is disposed on the first mounting plate, the second hinge is disposed on the second mounting plate, and the lifting assembly is disposed on the side of the second mounting plate opposite to the second hinge.

[0020] Optionally, the lifting assembly includes a second telescopic drive member and a third mounting plate. The second telescopic drive member is disposed on the adjustment assembly, and the third mounting plate is disposed at the output end of the second telescopic drive member. The second telescopic drive member is used to drive the third mounting plate to move in a direction perpendicular to the plane where the second mounting plate of the adjustment assembly is located. The clamping mechanism is disposed on the third mounting plate.

[0021] Optionally, the lifting assembly further includes a guide shaft, one end of which is disposed on the third mounting plate, and the other end of which slides through the second mounting plate. The guide shaft is used to make the third mounting plate parallel to the second mounting plate.

[0022] Optionally, the movable beam is provided with a set of racks extending along the first direction, and the set of racks includes two racks spaced apart along the second direction;

[0023] The moving component includes a moving part, a third driving part, a rotating shaft, and two rotating gears. The third driving part is disposed on the moving part. The rotating shaft is disposed at the output end of the third driving part and extends along the second direction. The two rotating gears are respectively disposed at both ends of the rotating shaft and mesh with the two racks. The third driving part is used to drive the rotating shaft to rotate so that the rotating gears move along the first direction on the racks.

[0024] Optionally, the movable beam is further provided with a set of slide rails extending along the first direction, the set of slide rails including two slide rails spaced apart along the second direction, and the movable member is slidably disposed on the slide rails;

[0025] The movable beam is provided with a movable groove, the slide rail and the rack are arranged along the extension direction of the movable groove, the movable groove passes through the movable beam in a third direction, the adjustment component passes through the movable groove and is located below the movable beam, and the third direction is perpendicular to both the second direction and the first direction.

[0026] Another objective of this invention is to provide a docking method that can solve the problems of complex on-site coordination, low docking efficiency, low degree of automation and reliance on manual experience, and high potential safety risks in traditional GIS busbar pipeline docking methods.

[0027] Based on the above concept, the technical solution adopted by this invention is as follows:

[0028] A docking method is provided for use with the aforementioned automatic docking device for GIS busbar pipelines. The docking method includes the following steps:

[0029] S1. The laser tracker detects the fixed GIS busbar pipe, the GIS busbar pipe to be docked, and the target on the gripper assembly, obtains the spatial attitude and position of the GIS busbar pipe to be docked and the gripper assembly, and sends it to the controller.

[0030] S2. The controller controls the moving beam to move by the first target displacement value in the first direction and the moving component to move by the second target displacement value in the second direction according to the calculated first target displacement value of the moving beam and the second target displacement value of the moving component, thereby driving the gripper assembly to move above the material picking position, and the gripper assembly is unlocked so that the gripper assembly can rotate relative to the lifting component.

[0031] S3. The controller controls the lifting component to move the gripper component in a third direction according to the calculated third target displacement value of the lifting component, so that the gripper component descends to the material picking position and the gripper component closes to clamp the GIS busbar pipeline to be connected.

[0032] S4. The controller controls the lifting component to move the gripper component by the fourth target displacement value of the lifting component according to the calculated fourth target displacement value in the third direction, so that the gripper component rises to the rough docking height, and the gripper component is locked to fix the gripper component relative to the lifting component.

[0033] S5. The laser tracker detects the target on the fixed GIS busbar and the GIS busbar to be connected, obtains the spatial attitude and position of the fixed GIS busbar and the GIS busbar to be connected, and sends it to the controller.

[0034] S6. The controller controls the moving beam to move by the fifth target displacement value in the first direction and the moving component to move by the sixth target displacement value in the second direction, based on the calculated fifth target displacement value of the moving beam and the sixth target displacement value of the moving component, thereby driving the gripper assembly to move to the rough docking position, so that the axial distance between the flange face of the fixed GIS busbar and the flange face of the GIS busbar to be docked is 200mm-300mm.

[0035] S7. The laser tracker detects the target on the fixed GIS busbar and the GIS busbar to be connected again, obtains the spatial attitude and position of the fixed GIS busbar and the GIS busbar to be connected, and sends it to the controller.

[0036] S8. The controller, based on the calculated seventh target displacement value of the adjustment component, causes the adjustment component to move the clamping mechanism to the fine docking position, thereby completing the fine docking of the fixed GIS busbar pipeline and the GIS busbar pipeline to be docked.

[0037] The beneficial effects of the present invention include at least the following:

[0038] This invention provides an automatic docking device for GIS busbar pipelines, comprising a truss mechanism, a transmission mechanism, a clamping mechanism, a tracking mechanism, and a controller. The truss mechanism includes a movable beam and two trusses spaced apart along a first direction. The two ends of the movable beam are slidably mounted on the two trusses, and the movable beam can slide along the trusses in a second direction. The transmission mechanism includes a moving component, an adjusting component, and a lifting component. The moving component is slidably mounted on the movable beam in the first direction, the adjusting component is mounted on the moving component, and the lifting component is mounted on the adjusting component. The moving component drives the transmission mechanism to move in the first direction, and the adjusting component adjusts the position of the lifting component in three-dimensional space. A gripping mechanism is mounted on a lifting assembly, which drives the gripping mechanism to move along its extension direction, perpendicular to the first direction. The gripping mechanism includes a connecting assembly, a positioning assembly, and a gripper assembly. The positioning assembly is mounted on the gripper assembly, which is rotatably mounted on the connecting assembly. The connecting assembly is connected to the lifting assembly and allows the gripper assembly to rotate relative to the lifting assembly, with an adjustable distance between them along the lifting assembly's extension direction. The positioning assembly fixes the gripper assembly in its initial position relative to the lifting assembly and also allows the gripper assembly to rotate relative to the lifting assembly by a preset angle. The gripper assembly grips the GIS busbar to be docked. A tracking mechanism includes a laser tracker and multiple sets of targets. The first set of targets is mounted on a fixed GIS busbar, the second set is mounted on the GIS busbar to be docked, and the third set is mounted on the gripper assembly. The laser tracker acquires the straight-line distance between the laser tracker and each set of targets. A controller is connected to the tracking mechanism, gripping mechanism, transmission mechanism, and truss mechanism.

[0039] The automatic GIS busbar pipeline docking device provided in this embodiment replaces the traditional ground-based mobile docking or manual aerial docking methods by movably mounting the clamping mechanism on the truss, thus adopting an automated aerial operation mode. This eliminates the influence of terrain and the relative position of the GIS busbar pipeline to the ground, improving operational flexibility. Furthermore, by utilizing the tracking mechanism in conjunction with the moving beam, transmission mechanism, and clamping mechanism, the complex on-site coordination issues in the GIS busbar pipeline docking process are effectively resolved. This improves the automation level of the GIS busbar pipeline docking process, enhances the standardization and consistency of on-site construction and installation of GIS busbar pipelines, effectively increases the efficiency of pipeline docking operations, reduces reliance on manual experience, reduces the amount of manual labor, and improves operational safety. The method is reliable and easy to operate.

[0040] This invention provides a docking method applied to the aforementioned automatic docking device for GIS busbar pipes. The docking method includes the following steps: S1, a laser tracker detects a target on a fixed GIS busbar pipe, the GIS busbar pipe to be docked, and the gripper assembly, obtains the spatial attitude and position of the GIS busbar pipe to be docked and the gripper assembly, and sends it to a controller; S2, the controller, based on the calculated first target displacement value of the moving beam and the second target displacement value of the moving assembly, controls the moving beam to move in the first direction by the first target displacement value, and controls the moving assembly to move in the second direction by the second target displacement value, thereby moving the gripper assembly to above the material-picking position, and unlocking the gripper assembly to allow it to rotate relative to the lifting assembly; S3, the controller, based on the calculated third target displacement value of the lifting assembly, controls the lifting assembly to move the gripper assembly in the third direction by the third target displacement value, so that the gripper assembly descends to the material-picking position, and the gripper assembly closes to clamp the GIS busbar pipe to be docked; S4, the controller, based on the calculated fourth target displacement value of the lifting assembly, controls the lifting assembly to move the gripper assembly in the third direction by the fourth target displacement value, so that the gripper assembly rises to the coarse docking position. S5. Upon reaching the desired height, the gripper assembly locks to fix the gripper assembly relative to the lifting assembly; S6. The laser tracker detects the targets on the fixed GIS busbar and the GIS busbar to be connected, obtains the spatial attitude and position of the fixed GIS busbar and the GIS busbar to be connected, and sends it to the controller; S7. Based on the calculated fifth target displacement value of the moving beam and the sixth target displacement value of the moving assembly, the controller controls the moving beam to move the fifth target displacement value in the first direction and the moving assembly to move the sixth target displacement value in the second direction, thereby driving the gripper assembly to move to the rough connection position, so that the axial distance between the flange face of the fixed GIS busbar and the flange face of the GIS busbar to be connected is 200mm-300mm; S8. The laser tracker detects the targets on the fixed GIS busbar and the GIS busbar to be connected again, obtains the spatial attitude and position of the fixed GIS busbar and the GIS busbar to be connected, and sends it to the controller; S9. Based on the calculated seventh target displacement value of the adjustment assembly, the controller causes the adjustment assembly to drive the gripping mechanism to move to the fine connection position, thereby completing the fine connection of the fixed GIS busbar and the GIS busbar to be connected. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0042] Figure 1This is a schematic diagram of the structure of the automatic GIS busbar pipeline docking device and the GIS busbar pipeline provided in this embodiment of the invention;

[0043] Figure 2 This is a schematic diagram (without truss) of the structure of the automatic GIS busbar pipeline docking device and the GIS busbar pipeline to be docked provided in the embodiment of the present invention.

[0044] Figure 3 yes Figure 2 Enlarged view of point A in the middle;

[0045] Figure 4 This is an assembly diagram of the transmission mechanism, clamping mechanism, and GIS busbar pipeline to be connected, provided in an embodiment of the present invention;

[0046] Figure 5 This is an assembly diagram of the transmission mechanism, clamping mechanism, and the GIS busbar pipeline to be connected, provided in an embodiment of the present invention, from a second perspective.

[0047] Figure 6 This is a first-view structural schematic diagram of the clamping mechanism provided in an embodiment of the present invention;

[0048] Figure 7 This is a schematic diagram of the clamping mechanism provided in an embodiment of the present invention from a second perspective;

[0049] Figure 8 This is a cross-sectional view of the clamping mechanism provided in the embodiment of the present invention from a first perspective;

[0050] Figure 9 This is a cross-sectional view of the clamping mechanism provided in the embodiment of the present invention from a third perspective;

[0051] Figure 10 This is a flowchart of the docking method provided in the embodiments of the present invention.

[0052] Figure Labels

[0053] 1. Truss mechanism; 11. Truss; 12. Moving beam; 121. Rack; 122. Slide rail;

[0054] 2. Transmission mechanism; 21. Moving assembly; 211. Moving part; 212. Third driving component; 213. Rotating shaft; 214. Rotating gear; 22. Adjusting assembly; 221. First mounting plate; 222. Second mounting plate; 223. First hinge; 224. Second hinge; 225. First telescopic driving component; 23. Lifting assembly; 231. Third mounting plate; 232. Second telescopic driving component; 233. Guide shaft;

[0055] 3. Clamping mechanism; 31. Connecting assembly; 311. Connecting shaft; 312. Bearing; 3121. Outer ring; 3122. Inner ring; 313. Connecting column; 314. Elastic element; 315. Connecting plate; 316. Positioning block; 3161. Positioning groove; 32. Positioning assembly; 321. First driving component; 322. Positioning component; 3221. Rotating positioning column; 323. First guide rail; 324. Third guide rail; 33. Clamping jaw assembly; 331. Second driving component; 332. Lead screw; 333. Nut; 334. Second guide rail; 335. Fixed clamping jaw; 336. Movable clamping jaw; 337. Protective roller;

[0056] 4. Tracking mechanism; 41. Laser tracker; 42. Target;

[0057] 100. Fixed GIS busbar pipeline; 200. GIS busbar pipeline to be connected. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0059] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0060] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0061] In the description of this invention, it should be noted that the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0062] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0063] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0064] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0065] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0066] like Figures 1 to 5As shown, this embodiment provides an automatic GIS busbar pipe docking device, including a truss mechanism 1, a transmission mechanism 2, a clamping mechanism 3, a tracking mechanism 4, and a controller. The truss mechanism 1 includes a movable beam 12 and two trusses 11 spaced apart along a first direction. The movable beam 12 extends along the first direction, and its two ends are slidably mounted on the two trusses 11. The movable beam 12 can slide along the trusses 11 in a second direction. The transmission mechanism 2 includes a movable component 21, an adjusting component 22, and a lifting component 23. The movable component 21 is slidably mounted on the movable beam 12 in the first direction, the adjusting component 22 is mounted on the movable component 21, and the lifting component 23 is mounted on the adjusting component 22. That is, the movable beam 12 can drive the transmission mechanism 2 to move in the second direction, the movable component 21 can drive the transmission mechanism 2 to move in the first direction, and the adjusting component 22 is used to adjust the position of the lifting component 23 in three-dimensional space. The clamping mechanism 3 is mounted on the lifting component 23 so that the lifting component 23 can drive the entire clamping mechanism 23 to move in the extending direction of the lifting component 23. In summary, the clamping mechanism 3 can move in the first direction, the second direction, and the third direction respectively, and adjust its posture at the corners in the first direction, the second direction, and the third direction, thereby satisfying the clamping of the GIS busbar pipe 200 to be connected at different positions, and moving the GIS busbar pipe 200 to be connected to the connection position of the fixed GIS busbar pipe 100. In this embodiment, the first direction is... Figure 1 In the direction of ab, the second direction is Figure 1 In the cd direction, the third direction is Figure 1 In the ef direction, the third direction, the second direction, and the first direction are all perpendicular to each other.

[0067] The clamping mechanism 3 includes a connecting component 31, a positioning component 32, and a gripper assembly 33. The positioning component 32 is mounted on the gripper assembly 33, which is rotatably mounted on the connecting component 31. The connecting component 31 is connected to the lifting component 23 and enables the gripper assembly 33 to rotate relative to the lifting component 23, with an adjustable distance between them in a third direction. Specifically, when the transmission mechanism 2 moves the clamping mechanism 3 to the clamping position, the lifting component 23 moves the clamping mechanism 3 downwards. When the gripper assembly 33 touches the GIS busbar pipe 200 to be connected, the gripper assembly 33 moves upwards relative to the lifting component 23 to avoid damaging the GIS busbar pipe 200. When the gripper assembly 33 touches the GIS busbar 200 to be connected, the gripping center of the gripper assembly 33 is not collinear with the central axis of the GIS busbar 200. The gripper assembly 33 can then rotate due to the resistance force from the GIS busbar 200, facilitating the gripping of the GIS busbar 200. Once the gripper assembly 33 has gripped the GIS busbar 200, the positioning component 32 fixes the gripper assembly 33 relative to the lifting component 23 in its initial position. This ensures that the gripper assembly 33 can return to its initial position after gripping the GIS busbar 200, guaranteeing the subsequent connection accuracy between the GIS busbar 200 and the fixed GIS busbar 100.

[0068] The tracking mechanism 4 includes a laser tracker 41 and multiple sets of targets 42. The first set of targets 42 is set on the fixed GIS busbar duct 100, the second set of targets 42 is set on the GIS busbar duct 200 to be docked, and the third set of targets 42 is set on the gripper assembly 33. The laser tracker 41 is used to obtain the straight-line distance between the laser tracker 41 and each set of targets 42. Each set of targets 42 includes at least three targets 42, preferably arranged in a triangular position. Six degrees of freedom can be determined based on three targets 42 that are not on a straight line. Based on the straight-line distance and angle, the coordinates of all targets 42 with the laser tracker 41 as the origin can be determined. Then, the relative coordinates or vectors between the targets 42 can be obtained by combining vector calculations. After clarifying the spatial position of each target 42, the gripper assembly 33 can adjust its movement path accordingly to ensure that each target 42 can be accurately matched, thereby achieving high-precision docking of the GIS busbar duct.

[0069] The controller is signal-connected to the aforementioned truss mechanism 1, transmission mechanism 2, clamping mechanism 3, and tracking mechanism 4. The controller can control the actions of the truss mechanism 1, transmission mechanism 2, and clamping mechanism 3 based on the position information obtained from the tracking mechanism 4. In specific implementation, the laser tracker 41 can be used to obtain and calculate the spatial attitude and position of the GIS busbar pipe 200 to be docked and the gripper assembly 33, and send the target value to the controller of the automatic GIS busbar pipe docking device. The controller controls the moving beam 12 to move the transmission mechanism 2 and the clamping mechanism 3, so that the clamping mechanism 3 clamps the GIS busbar pipe 200 to be docked. Then, the laser tracker 41 obtains and calculates the spatial attitude and position of the fixed GIS busbar pipe 100 and the GIS busbar pipe 200 to be docked, and sends the target value to the controller of the automatic GIS busbar pipe docking device. The controller controls the moving beam 12 to move the transmission mechanism 2 and the clamping mechanism 3, so that the GIS busbar pipe 200 to be docked moves to the rough docking position. Then, the laser tracker 41 acquires and calculates the spatial attitude and position of the fixed GIS busbar 100 and the GIS busbar 200 to be docked, and sends the target value to the controller of the GIS busbar automatic docking device. The controller controls the adjustment component 22 to adjust so as to drive the gripper component 33 to complete the precise docking of the fixed GIS busbar 100 and the GIS busbar 200 to be docked.

[0070] The automatic GIS busbar pipeline docking device provided in this embodiment replaces the traditional ground-based mobile docking or manual aerial docking methods by movably mounting the clamping mechanism 3 on the truss 11, thus adopting an automatic aerial operation mode. This eliminates the influence of terrain and the relative position of the GIS busbar pipeline to the ground, improving operational flexibility. Furthermore, by utilizing the tracking mechanism 4 in conjunction with the moving beam 12, transmission mechanism 2, and clamping mechanism 3, the complex on-site coordination issues in the GIS busbar pipeline docking process are effectively resolved. This improves the automation level of the GIS busbar pipeline docking process, enhances the standardization and consistency of on-site construction and installation of GIS busbar pipelines, effectively increases the efficiency of pipeline docking operations, reduces reliance on manual experience, reduces the amount of manual labor, and improves operational safety. The method is reliable and easy to operate.

[0071] Optionally, such as Figures 6 to 9As shown, the connecting assembly 31 includes a connecting shaft 311 and a bearing 312. The connecting shaft 311 is connected to the lifting assembly 23. The bearing 312 is sleeved on the connecting shaft 311. The outer ring 3121 of the bearing 312 is fixed to the gripper assembly 33. The outer ring 3121 of the bearing 312 can rotate relative to the inner ring 3122 of the bearing 312, so that the gripper assembly 33 can rotate relative to the connecting assembly 31. The positioning assembly 32 includes a first driving member 321, a positioning member 322, and a first guide rail 323. The first driving member 321 and the first guide rail 323 are both disposed on the gripper assembly 33. The first driving member 321 is used to drive the positioning member 322 to slide on the first guide rail 323. The connecting component 31 also includes a positioning block 316, which is disposed on the connecting component 31. A positioning groove 3161 is provided on the side of the positioning block 316 facing the positioning member 322. The positioning member 322 is located within the positioning groove 3161. When the positioning member 322 abuts against the inner wall of the positioning groove 3161, the positioning component 32 and the positioning block 316 are relatively fixed, that is, the gripper assembly 33 and the lifting assembly 23 are relatively fixed. However, when there is a gap between the positioning member 322 and the inner wall of the positioning groove 3161, the gripper assembly 33 can rotate relative to the positioning block 316, that is, the gripper assembly 33 can rotate relative to the lifting assembly 23. (Refer to...) Figure 9 The positioning element 322 is always located within the positioning groove 3161. When the first driving element 321 drives the positioning element 322 to move, only the distance between the positioning element 322 and the inner wall of the positioning groove 3161 changes. When the positioning element 322 abuts against the inner wall of the positioning groove 3161, the positioning element 322 and the positioning block 316 are relatively fixed. When the positioning element 322 moves away from the positioning block 316, there is a gap between the positioning element 322 and the inner wall of the positioning groove 3161. This gap provides space for the positioning element 322 to rotate relative to the positioning block 316. At this time, if the gripper assembly 33 touches the GIS busbar pipe 200 to be connected, the force applied by the GIS busbar pipe 200 to the gripper assembly 33 will cause the gripper assembly 33 to rotate axially around the connecting shaft 311. When it is necessary to fix the gripper assembly 33, the first driving member 321 can drive the positioning member 322 to move towards the side closer to the positioning block 316 until the positioning member 322 abuts against the inner wall surface of the positioning groove 3161 and can no longer move. The fixed positioning block 316 forces the gripper assembly 33 to return to the initial position. In this embodiment, the positioning groove 3161 is a V-shaped groove with a centrally symmetrical structure. When the gripper assembly 33 is locked, the positioning member 322 abuts against the inner wall surface at the central axis of the positioning groove 3161. When the gripper assembly 33 rotates away from the initial position, the positioning member 322 can also rotate to other positions and abut against the inner wall surface at other positions of the positioning groove 3161, thereby limiting the gripper assembly 33 from continuing to rotate.

[0072] In this embodiment, as Figure 7As shown, the positioning component 32 also includes two third guide rails 324, which are arranged parallel to the first guide rail 323 and located on both sides of the first guide rail 323. The positioning member 322 includes a positioning member body and a rotating positioning post 3221. The rotating positioning post 3221 is connected to the positioning member body and can rotate around its own axis. The positioning member body is slidably disposed on the first guide rail 323 and simultaneously slidably disposed on the third guide rails 324 on both sides. The first guide rail 323 and the third guide rails 324 limit the positioning member body to move only in a first direction. The positioning component body is connected to the output end of the first driving component 321, and the rotating positioning pin 3221 is connected to the end of the positioning component body away from the first driving component 321, so that the rotating positioning pin 3221 abuts against the positioning block 316, which can reduce the frictional resistance between the positioning component 322 and the positioning block 316, so as to ensure that the positioning component 322 can drive the gripper assembly 33 back to the initial position.

[0073] Optionally, such as Figure 7 As shown, the connecting assembly 31 includes a connecting plate 315 and an elastic connector. One end of the elastic connector is connected to the lifting assembly 23, and the other end is movably connected to the connecting plate 315. The elastic connector is used to ensure that the connecting plate 315 always tends to move away from the lifting assembly 23. In this embodiment, the elastic connector includes a connecting post 313 and an elastic element 314 sleeved on the connecting post 313. One end of the connecting post 313 is fixedly connected to the lifting assembly 23, and the other end of the connecting post 313 passes through the connecting plate 315 and is movably connected to the connecting plate 315. The elastic element 314 is located between the lifting assembly 23 and the connecting plate 315. Axially, one end of the elastic element 314 abuts against the lifting assembly 23, and the other end abuts against the connecting plate 315. The elastic force of the elastic element 314 exerts a force on the connecting plate 315 away from the lifting assembly 23. However, when an external force presses on the elastic element 314, such as when an external force pushes the connecting plate 315 closer to the lifting assembly 23, the elastic element 314 will be compressed, thereby achieving position adjustment between the gripper assembly 33 and the lifting assembly 23. One end of the connecting post 313 has an annular limiting protrusion, allowing the connecting post 313 to pass through the side of the connecting plate 315 away from the lifting assembly 23. Then, the other end of the connecting post 313 without the annular limiting protrusion is fixed to the lifting assembly 23. The annular limiting protrusion here serves to prevent the connecting plate 315 from detaching from the elastic connecting element. In practice, when the gripper assembly 33 touches the GIS busbar pipe 200 to be connected, the gripper assembly 33 can move towards the lifting assembly 23 side under external force, thereby achieving flexible contact between the gripper assembly 33 and the GIS busbar pipe 200 to be connected.

[0074] Optionally, such as Figure 8As shown, the gripper assembly 33 includes a second drive member 331, a lead screw 332, a nut 333, a second guide rail 334, and two gripper bodies. Each gripper body includes a fixed gripper 335 and a movable gripper 336. The middle section of the movable gripper 336 is rotatably connected to the fixed gripper 335, and one end of the movable gripper 336 is connected to the nut 333. The nut 333 is sleeved on the lead screw 332 and slidably connected to the second guide rail 334. The second guide rail 334 extends in the same direction as the lead screw 332. In this embodiment, the second guide rail 334 restricts the nut 333 to move only along the extension direction of the second guide rail 334 and the lead screw 332. When the second driving member 331 drives the lead screw 332 to rotate, the nut 333 sleeved on the lead screw 332 will drive one end of the movable gripper 336 to move along the extension direction of the lead screw 332, thereby causing the middle section of the movable gripper 336 to rotate relative to the fixed gripper 335, so that the other ends of the movable gripper 336 of the two gripper bodies move closer or further apart. In this embodiment, the cooperation between the lead screw 332 and the nut 333 allows the rotational force given to the lead screw 332 by the second driving member 331 to be converted into the movement of the nut 333 in the extension direction of the lead screw 332, thereby driving one end of the movable gripper 336 connected to the nut 333 to move along the axial direction of the lead screw 332. Both the movable jaws 336 and the fixed jaws 335 are arranged in pairs. The two movable jaws 336 must be close together to allow the jaw body to grip an item, and their movement away from each other allows the jaw body to release the gripped item. Each movable jaw 336 is connected to a nut 333. The internal threads of the nuts 333 connected to the two movable jaws 336 have different directions, ensuring that when the lead screw 332 rotates in one direction, the two nuts 333 can move closer together, and when the lead screw 332 rotates in the other direction, the two nuts 333 can move away from each other.

[0075] Optionally, such as Figure 8 As shown, the gripper assembly 33 also includes a protective roller 337. Multiple protective rollers 337 are provided and spaced apart on the gripper body. The protective rollers 337 can rotate around their own axis so that when the gripper body clamps the GIS busbar pipe 200 to be connected, the rotating protective rollers 337 can come into contact with the GIS busbar pipe 200 to be connected, thus avoiding damage to the GIS busbar pipe 200 to be connected.

[0076] Furthermore, such as Figure 5As shown, the adjustment assembly 22 includes a first telescopic drive member 225, a first hinge member 223, and a second hinge member 224. Multiple sets of the first telescopic drive members 225 are provided, with each set including two first telescopic drive members 225 whose extension directions intersect. Furthermore, one first telescopic drive member 225 is mounted on one first hinge member 223, and each output end of one first telescopic drive member 225 is provided with a second hinge member 224. The adjustment assembly 22 also includes a first mounting plate 221 and a second mounting plate 222. The first hinge member 223 is mounted on the first mounting plate 221, the second hinge member 224 is mounted on the second mounting plate 222, and the lifting assembly 23 is mounted on the second mounting plate 222. The two first telescopic drive members 225 are arranged at an angle. Therefore, the different degrees of extension and retraction of the two first telescopic drive members 225 can cause changes in the spatial position of the second mounting plate 222, thereby achieving position adjustment of the second mounting plate 222 and the lifting assembly 23 in three-dimensional space. In this embodiment, the first telescopic drive member 225 is a servo electric cylinder. The controller of the GIS busbar pipeline automatic docking device controls the action of the servo electric cylinder based on the positioning information fed back by the tracking mechanism 4, to ensure that the adjusting assembly 22 can drive the clamping mechanism 3 to move to the designated position.

[0077] Optionally, such as Figure 5 As shown, the lifting assembly 23 includes a second telescopic drive member 232 and a third mounting plate 231. The second telescopic drive member 232 is disposed on the adjusting assembly 22, and the third mounting plate 231 is disposed at the output end of the second telescopic drive member 232. The second telescopic drive member 232 is used to drive the third mounting plate 231 to move in the direction perpendicular to the plane where the second mounting plate 222 of the adjusting assembly 22 is located. The clamping mechanism 3 is disposed on the third mounting plate 231. In this embodiment, the second telescopic drive member 232 adopts a multi-stage servo electric cylinder. The controller of the GIS busbar pipeline automatic docking device controls the action of the multi-stage servo electric cylinder according to the positioning information fed back by the tracking mechanism 4, so as to ensure that the lifting assembly 23 can drive the gripper assembly 33 to move to the designated position.

[0078] Optionally, such as Figure 4As shown, the lifting assembly 23 also includes a guide shaft 233. One end of the guide shaft 233 is disposed on the third mounting plate 231, and the other end of the guide shaft 233 slides through the second mounting plate 222. The guide shaft 233 is used to make the third mounting plate 231 parallel to the second mounting plate 222. In this embodiment, the second telescopic drive member 232 can only extend and retract in its own extension direction to ensure that the distance between the third mounting plate 231 and the second mounting plate 222 changes. However, the second telescopic drive member 232 uses a multi-stage servo electric cylinder, and the moving distance of the third mounting plate 231 is relatively large. To prevent the third mounting plate 231 from deviating during movement, the guide shaft 233 is set to restrict its movement path. In this embodiment, multiple guide shafts 233 are provided, and the multiple guide shafts 233 are evenly spaced along the circumference of the third mounting plate 231.

[0079] Furthermore, such as Figure 2 and Figure 3 As shown, a set of racks 121 extending along a first direction is provided on the moving beam 12. The set of racks 121 includes two racks 121 spaced apart along a second direction. The moving assembly 21 includes a moving member 211, a third driving member 212, a rotating shaft 213, and two rotating gears 214. The third driving member 212 is disposed on the moving member 211. The rotating shaft 213 is disposed at the output end of the third driving member 212 and extends along the second direction. The two rotating gears 214 are respectively disposed at both ends of the rotating shaft 213 and mesh with the two racks 121 for transmission. When the third driving member 212 drives the rotating shaft 213 to rotate, the rotating shaft 213 drives the rotating gears 214 to rotate synchronously. The rotation of the rotating gears 214 allows them to move along the first direction on the racks 121, thereby driving the moving member 211 to move in the first direction. In this embodiment, the meshing transmission of the rotating gear 214 and the rack 121 enables precise movement of the moving component 211, thereby ensuring that the moving component 21 can accurately drive the connected adjusting component 22, lifting component 23, and clamping mechanism 3 to a predetermined position. In other embodiments, the movement of the moving component 21 along the first direction can also employ other driving methods, such as belt drive, cylinder drive, etc.

[0080] Optionally, such as Figure 2As shown, the movable beam 12 is also provided with a set of slide rails 122 extending along the first direction. The set of slide rails 122 includes two slide rails 122 spaced apart along the second direction. The movable member 211 is slidably disposed on the slide rails 122. The slide rails 122 are arranged parallel to the rack 121. When the third driving member 212 drives the movable member 211 to move on the rack 121, the movable member 211 also moves synchronously on the slide rails 122. The arrangement of the slide rails 122 can further ensure that the movable member 211 moves in the first direction without deviating. In this embodiment, the movable member 211 is provided with a groove on the side of the third direction facing the slide rail 122. The slide rail 122 passes through the groove. The groove covers the slide rails 122 on both sides in the second direction, which can ensure that the movable member 211 can only move in the first direction.

[0081] like Figure 10 As shown, this embodiment also provides a docking method applied to the above-mentioned GIS busbar pipeline automatic docking device. The docking method includes the following steps:

[0082] S1. The laser tracker 41 detects the target 42 on the fixed GIS busbar pipe 100, the GIS busbar pipe 200 to be docked, and the gripper assembly 33, obtains the spatial attitude and position of the GIS busbar pipe 200 to be docked and the gripper assembly 33, and sends it to the controller.

[0083] S2. Based on the calculated first target displacement value of the moving beam 12 and the second target displacement value of the moving component 21, the controller controls the moving beam 12 to move in the first direction by the first target displacement value and controls the moving component 21 to move in the second direction by the second target displacement value, thereby driving the gripper component 33 to move above the material picking position. The gripper component 33 is unlocked so that the gripper component 33 can rotate relative to the lifting component 23.

[0084] S3. The controller controls the lifting component 23 to move the gripper component 33 in a third direction according to the calculated third target displacement value of the lifting component 23, so that the gripper component 33 is lowered to the material picking position and the gripper component 33 closes to clamp the GIS busbar pipe 200 to be connected.

[0085] S4. The controller controls the lifting component 23 to move the gripper component 33 in a third direction according to the fourth target displacement value of the calculated lifting component 23, so that the gripper component 33 rises to the rough docking height, and the gripper component 33 is locked to fix the gripper component 33 relative to the lifting component 23.

[0086] S5. The laser tracker 41 detects the target 42 on the fixed GIS busbar 100 and the GIS busbar 200 to be connected, obtains the spatial attitude and position of the fixed GIS busbar 100 and the GIS busbar 200 to be connected, and sends it to the controller.

[0087] S6. Based on the calculated fifth target displacement value of the moving beam 12 and the sixth target displacement value of the moving component 21, the controller controls the moving beam 12 to move in the first direction by the fifth target displacement value and the moving component 21 to move in the second direction by the sixth target displacement value, thereby driving the gripper component 33 to move to the rough docking position, so that the axial distance between the flange face of the fixed GIS busbar pipe 100 and the flange face of the GIS busbar pipe 200 to be docked is 200mm-300mm.

[0088] S7. The laser tracker 41 re-detects the target 42 on the fixed GIS busbar 100 and the GIS busbar 200 to be docked, obtains the spatial attitude and position of the fixed GIS busbar 100 and the GIS busbar 200 to be docked, and sends it to the controller.

[0089] S8. The controller, based on the calculated seventh target displacement value of the adjustment component 22, causes the adjustment component 22 to move the clamping mechanism 3 to the fine docking position, thereby completing the fine docking of the fixed GIS busbar pipe 100 and the GIS busbar pipe 200 to be docked.

[0090] In practical implementation, when using the automatic GIS busbar connection device, targets 42 can be installed on the fixed GIS busbar 100, the GIS busbar 200 to be connected, and the gripper assembly 33. After completing one GIS busbar connection, when performing another, targets 42 can be installed only on the fixed GIS busbar 100 and the GIS busbar 200 to be connected, without needing to reinstall targets 42 on the gripper assembly 33. After completing one GIS busbar connection, the controller can control the movement of the moving beam 12, the moving assembly 21, and the lifting assembly 23, causing the gripper assembly 33 to return to its initial position for subsequent operations.

[0091] In this embodiment, when the gripper assembly 33 moves above the material picking position, the gripper assembly 33 needs to be unlocked. The unlocking of the gripper assembly 33 can be achieved by the controller controlling the first drive member 321 to drive the positioning member 322 to move away from the positioning block 316, thereby unlocking the gripper assembly 33 so that the gripper assembly 33 can rotate relative to the lifting component 23.

[0092] In this embodiment, when the gripper assembly 33 rises to the rough docking height, the gripper assembly 33 needs to be locked. The locking of the gripper assembly 33 can be achieved by the controller controlling the first drive member 321 to drive the positioning member 322 to move towards the side closer to the positioning block 316, thereby fixing the gripper assembly 33 so that the gripper assembly 33 is fixed relative to the lifting assembly 23.

[0093] This docking method provides an automated operation mode that can replace traditional manual or semi-automatic operation modes. It can effectively solve the complex on-site coordination problems in the field docking of GIS busbar pipelines and improve the automation level of the GIS busbar pipeline docking process. It can also improve the standardization and consistency of on-site construction docking and installation of GIS busbar pipelines, effectively improve the efficiency of pipeline docking operations, reduce reliance on human experience, reduce the amount of manual or manual operation, and improve operational safety. The method is reliable and easy to operate.

[0094] Obviously, the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

[0095] Note that in the description of this specification, the references to terms such as "some embodiments," "other embodiments," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A GIS bus duct automatic butt joint device, characterized in that, The utility model relates to a kind of GIS pipe fitting device, including: Truss mechanism (1), including moving beam (12) and two trusses (11) spaced apart along the first direction, both ends of the moving beam (12) are respectively slidingly erected on two trusses (11), and the moving beam (12) can slide on the truss (11) along the second direction; Transmission mechanism (2), including moving assembly (21), adjusting assembly (22) and lifting assembly (23), the moving assembly (21) is slidably arranged on the moving beam (12) in the first direction, the adjusting assembly (22) is arranged on the moving assembly (21), and the lifting assembly (23) is arranged on the adjusting assembly (22), the moving assembly (21) is used to drive the transmission mechanism (2) to move in the first direction, and the adjusting assembly (22) is used to adjust the position of the lifting assembly (23) in three-dimensional space; Clamping mechanism (3) is arranged on the lifting assembly (23), and the lifting assembly (23) is used to drive the clamping mechanism (3) to move in the extension direction of the lifting assembly (23), and the second direction is perpendicular to the first direction; The clamping mechanism (3) includes connecting assembly (31), positioning assembly (32) and jaw assembly (33), the positioning assembly (32) is arranged on the jaw assembly (33), the jaw assembly (33) is rotatably arranged on the connecting assembly (31), the connecting assembly (31) is connected with the lifting assembly (23), the connecting assembly (31) is used to make the jaw assembly (33) can rotate relative to the lifting assembly (23) and the distance between the lifting assembly (23) in the extension direction of the lifting assembly (23) is adjustable, the positioning assembly (32) is used to make the jaw assembly (33) be fixed in initial position relative to the lifting assembly (23), and the positioning assembly (32) is also used to make the jaw assembly (33) can rotate preset angle relative to the lifting assembly (23), and the jaw assembly (33) is used to clamp GIS bus pipe (200) to be butt-jointed; Tracking mechanism (4), including laser tracker (41) and multiple groups of targets (42), the first group of targets (42) is arranged on fixed GIS bus pipe (100), the second group of targets (42) is arranged on the GIS bus pipe (200) to be butt-jointed, the third group of targets (42) is arranged on the jaw assembly (33), and the laser tracker (41) is used to obtain the linear distance between the laser tracker (41) and each group of targets (42); Controller, signal connection with tracking mechanism (4), clamping mechanism (3), transmission mechanism (2) and truss mechanism (1).

2. The GIS bus duct automatic docking apparatus of claim 1, wherein, The connecting assembly (31) comprises a connecting shaft (311) connected with the lifting assembly (23) and a bearing (312) sleeved on the connecting shaft (311), an outer ring (3121) of the bearing (312) is fixed with the clamping jaw assembly (33), and the outer ring (3121) of the bearing (312) can rotate relative to an inner ring (3122) of the bearing (312), so that the clamping jaw assembly (33) can rotate relative to the lifting assembly (23); The positioning assembly (32) comprises a first driving member (321), a positioning member (322) and a first guide rail (323), the first driving member (321) and the first guide rail (323) are both arranged on the clamping jaw assembly (33), and the first driving member (321) is used to drive the positioning member (322) to slide on the first guide rail (323); The connecting assembly (31) further comprises a positioning block (316) arranged on the connecting assembly (31), a positioning groove (3161) is arranged on one side of the positioning block (316) facing the positioning member (322), the positioning member (322) is located in the positioning groove (3161), the positioning member (322) abuts against an inner wall surface of the positioning groove (3161), the clamping jaw assembly (33) is fixed relative to the positioning block (316), the positioning member (322) has a spacing from the inner wall surface of the positioning groove (3161), and the clamping jaw assembly (33) can rotate relative to the positioning block (316).

3. The GIS bus duct automatic docking apparatus of claim 1, wherein, The connecting assembly (31) further comprises a connecting plate (315) and an elastic connecting member, one end of the elastic connecting member is connected with the lifting assembly (23), the other end of the elastic connecting member is movably connected with the connecting plate (315), and the elastic connecting member is used to make the connecting plate (315) always have a tendency to move away from the lifting assembly (23).

4. The GIS bus duct automatic docking apparatus of claim 1, wherein, The clamping jaw assembly (33) comprises a second driving member (331), a lead screw (332), a nut (333), a second guide rail (334) and two clamping jaw bodies, each clamping jaw body comprises a fixed clamping jaw (335) and a movable clamping jaw (336), a middle segment of the movable clamping jaw (336) is rotatably connected with the fixed clamping jaw (335), one end of the movable clamping jaw (336) is connected with the nut (333), the nut (333) is sleeved on the lead screw (332) and is slidably connected with the second guide rail (334), the second driving member (331) drives the lead screw (332) to rotate, so that the nut (333) drives one end of the movable clamping jaw (336) to move along the extension direction of the lead screw (332), thereby making the middle segment of the movable clamping jaw (336) rotate relative to the fixed clamping jaw (335), and the other ends of the movable clamping jaws (336) of the two clamping jaw bodies are close to or away from each other.

5. The GIS bus duct automatic docking apparatus of claim 1, wherein, The adjusting assembly (22) comprises first telescopic driving members (225), first hinging members (223) and second hinging members (224), the first telescopic driving members (225) are provided in groups, each group of the first telescopic driving members (225) comprises two first telescopic driving members (225), the extending directions of the two first telescopic driving members (225) are crossed, one first telescopic driving member (225) is connected with one first hinging member (223), and the output ends of the first telescopic driving members (225) are respectively provided with one second hinging member (224); The adjusting assembly (22) further comprises first mounting plates (221) and second mounting plates (222), the first hinging members (223) are arranged on the first mounting plates (221), the second hinging members (224) are arranged on the second mounting plates (222), and the lifting assembly (23) is arranged on the side of the second mounting plates (222) away from the second hinging members (224).

6. The GIS bus duct automatic docking apparatus of claim 1, wherein, The lifting assembly (23) comprises second telescopic driving members (232) and third mounting plates (231), the second telescopic driving members (232) are arranged on the adjusting assembly (22), and the third mounting plates (231) are arranged at the output ends of the second telescopic driving members (232); the second telescopic driving members (232) are used for driving the third mounting plates (231) to move in the direction perpendicular to the plane in which the second mounting plates (222) of the adjusting assembly (22) are located; and the clamping mechanism (3) is arranged on the third mounting plates (231).

7. The GIS bus duct automatic docking apparatus of claim 6, wherein, The lifting assembly (23) further comprises guide shafts (233), one end of each guide shaft (233) is arranged on the third mounting plate (231), and the other end of each guide shaft (233) slides through the second mounting plate (222); and the guide shafts (233) are used for making the third mounting plates (231) parallel to the second mounting plates (222).

8. The GIS bus duct automatic docking apparatus of claim 1, wherein, A group of racks (121) extending in the first direction are arranged on the moving beam (12), and each group of the racks (121) comprises two racks (121) arranged at intervals in the second direction; The moving assembly (21) comprises moving members (211), third driving members (212), rotating shafts (213) and two rotating gears (214), the third driving members (212) are arranged on the moving members (211), the rotating shafts (213) are arranged at the output ends of the third driving members (212) and extend in the second direction, and the two rotating gears (214) are respectively arranged at the two ends of the rotating shafts (213) and are in meshing transmission with the two racks (121); and the third driving members (212) are used for driving the rotating shafts (213) to rotate, so that the rotating gears (214) move on the racks (121) in the first direction.

9. The GIS bus duct automatic docking apparatus of claim 8, wherein, A set of slide rails (122) extending along the first direction are arranged on the moving beam (12), and each set of slide rails (122) includes two slide rails (122) arranged at intervals along the second direction, and the moving piece (211) is slidingly arranged on the slide rails (122); The moving beam (12) is provided with a moving groove, the slide rails (122) and the rack (121) are arranged along the extension direction of the moving groove, the moving groove penetrates the moving beam (12) in a third direction, the adjusting assembly (22) passes through the moving groove and is located below the moving beam (12), and the third direction is perpendicular to the second direction and the first direction.

10. A method of docking, characterized in that The automatic butt joint method is applied to the GIS bus duct automatic butt joint device in any one of claims 1 to 9, and the butt joint method comprises the following steps: S1, the laser tracker (41) detects the target (42) on the fixed GIS bus duct (100), the to-be-butted GIS bus duct (200), and the jaw assembly (33), obtains the spatial pose and position of the to-be-butted GIS bus duct (200) and the jaw assembly (33), and sends the spatial pose and position to the controller; S2, the controller controls the moving beam (12) to move in the first direction by a first target displacement value according to the first target displacement value of the moving beam (12) and the second target displacement value of the moving assembly (21), controls the moving assembly (21) to move in the second direction by the second target displacement value, thereby driving the jaw assembly (33) to move above the material taking position, the jaw assembly (33) is unlocked to enable the jaw assembly (33) to rotate relative to the lifting assembly (23); S3, the controller controls the lifting assembly (23) to drive the jaw assembly (33) to move in the third direction by a third target displacement value according to the third target displacement value of the lifting assembly (23), so that the jaw assembly (33) is lowered to the material taking position, and the jaw assembly (33) is closed to clamp the to-be-butted GIS bus duct (200); S4, the controller controls the lifting assembly (23) to drive the jaw assembly (33) to move in the third direction by a fourth target displacement value according to the fourth target displacement value of the lifting assembly (23), so that the jaw assembly (33) is raised to a coarse butt joint height, and the jaw assembly (33) is locked to fix the jaw assembly (33) relative to the lifting assembly (23); S5, the laser tracker (41) detects the target (42) on the fixed GIS bus duct (100) and the to-be-butted GIS bus duct (200), obtains the spatial pose and position of the fixed GIS bus duct (100) and the to-be-butted GIS bus duct (200), and sends the spatial pose and position to the controller; S6、the controller controls the moving beam (12) to move in the first direction by a fifth target displacement value and the moving assembly (21) to move in the second direction by a sixth target displacement value according to the calculated fifth target displacement value of the moving beam (12) and the sixth target displacement value of the moving assembly (21), so as to drive the jaw assembly (33) to move to a coarse butt joint position, so that the axial distance between the flange faces of the fixed GIS bus pipe (100) and the to-be-butted GIS bus pipe (200) is 200-300 mm; S7、the laser tracker (41) detects the targets (42) on the fixed GIS bus pipe (100) and the to-be-butted GIS bus pipe (200) again, obtains the spatial poses and positions of the fixed GIS bus pipe (100) and the to-be-butted GIS bus pipe (200) and sends them to the controller; S8、the controller controls the adjusting assembly (22) to move to a fine butt joint position according to the calculated seventh target displacement value of the adjusting assembly (22), so as to complete the fine butt joint of the fixed GIS bus pipe (100) and the to-be-butted GIS bus pipe (200).

Images