Robot suitable for ultrahigh-voltage transformer substation

Abstract

The invention relates to the technical field of robot hot-line work, in particular to a robot suitable for an ultra-high voltage transformer substation, which comprises an operation robot, the operation robot comprises a robot hand mechanism used for clamping a drainage wire and a robot arm used for driving the robot hand mechanism to move, and the robot arm is provided with a visual auxiliary device; the lifting mechanism is used for driving the mechanical arm to lift, and the transport vehicle is arranged at the bottom of the lifting mechanism and used for transporting the lifting mechanism to a designated position; and the polishing assembly comprises a barrel arranged in the robot arm mechanism and a compression mechanism arranged on the outer side of the barrel, and the compression mechanism operates according to the opening degree of the robot arm mechanism. The robot arm has the beneficial effects that a wide motion range is provided for introduction of the robot arm, and a visual auxiliary device is combined, so that the robot can accurately position and execute tasks in a complex and high-risk ultrahigh-pressure environment, and the risk of manual operation is reduced.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of robot live working, in particular to a robot suitable for an ultrahigh-voltage transformer substation. BACKGROUND

[0002] In a power transmission system, the maintenance and upgrading of a power transmission line is one of key links for ensuring stable operation of a power grid, in particular, for an overhead power transmission line, which is exposed to the natural environment for a long time, is easily affected by various factors such as wind erosion, rain, ultraviolet radiation, etc., so that components such as a hardware plate of the line appear problems such as rust and damage, which not only increases the resistance of the line and affects the efficient transmission of electric energy, but also can cause a safety hazard, therefore, timely and effective treatment of the rusted hardware plate and re-lapping of a current-carrying wire are important tasks for ensuring safe operation of the power system.

[0003] Traditional hardware plate maintenance work often relies on manual operation, which not only has high labor intensity and low efficiency, but also has high safety risks in a high-voltage environment. SUMMARY

[0004] In this section as well as the abstract of the specification and the title of the application, some simplifications or omissions may be made to avoid obscuring the purpose of this section, the abstract of the specification and the title of the application, and such simplifications or omissions are not to be construed as limiting the scope of the application.

[0005] The application aims to provide a robot suitable for an ultrahigh-voltage transformer substation.

[0006] Therefore, the purpose is to solve the problem that hardware plate maintenance work often relies on manual operation.

[0007] To solve the above technical problems, the application provides the following technical scheme: a robot suitable for an ultrahigh-voltage transformer substation, which comprises a working robot, a machine hand mechanism for clamping a current-carrying wire, a machine arm for driving the machine hand mechanism to move, a visual auxiliary device arranged on the machine arm, a lifting mechanism for driving the machine arm to lift, and a transport vehicle arranged at the bottom of the lifting mechanism for transporting the lifting mechanism to a specified position; a polishing assembly comprising a cylinder arranged inside the machine hand mechanism, a compression mechanism arranged outside the cylinder, the compression mechanism being driven to operate by the opening and closing degree of the machine hand mechanism, and a polishing mechanism arranged at the bottom of the cylinder and driven to move by the compression mechanism.

[0008] As a preferred scheme of the robot suitable for an ultrahigh-voltage transformer substation, the machine hand mechanism comprises a rotating seat rotatably arranged at the top of the machine arm, a motor fixedly arranged inside the rotating seat, a housing fixedly connected to a transmission shaft at the bottom of the motor, and two symmetrical machine claws movably hinged to the housing.

[0009] As a preferred scheme of the robot suitable for the ultra-high voltage substation of the application, wherein: the inside of the barrel is sequentially provided with a first cavity and a second cavity, a magnetic piston is slidably connected in the first cavity for extruding the gas below, a lifting piston is slidably connected in the second cavity for pushing the polishing mechanism to extend and retract, and a return spring is fixed between the lifting piston and the barrel.

[0010] As a preferred scheme of the robot suitable for the ultra-high voltage substation of the application, wherein: a separation wall is arranged between the first cavity and the second cavity, and a connecting hole is arranged in the separation wall for connecting the first cavity and the second cavity.

[0011] As a preferred scheme of the robot suitable for the ultra-high voltage substation of the application, wherein: the compression mechanism comprises a gear rotatably arranged on the barrel, a rack is engaged with the outside of the gear, a sliding groove is arranged in the housing for accommodating the horizontal sliding of the rack, and the end of the rack away from the gear is fixed with the machine claw through a pull belt.

[0012] As a preferred scheme of the robot suitable for the ultra-high voltage substation of the application, wherein: a shielding plate is arranged above the magnetic piston, the shielding plate is fixedly connected with the barrel, and through holes are arranged on the shielding plate at intervals.

[0013] As a preferred scheme of the robot suitable for the ultra-high voltage substation of the application, wherein: magnetic blocks are arranged above the shielding plate at intervals, the magnetic blocks are fixedly arranged on the gear, and the magnetic blocks push the magnetic piston to slide downward when corresponding to the through holes.

[0014] As a preferred scheme of the robot suitable for the ultra-high voltage substation of the application, wherein: the polishing mechanism comprises a polishing rod for polishing, a polishing wire ball is fixedly arranged in the middle of the polishing rod, and the polishing wire ball is slidably arranged on the top of the barrel.

[0015] As a preferred scheme of the robot suitable for the ultra-high voltage substation of the application, wherein: a cavity is arranged in the polishing wire ball, and a twisting rod is slidably connected in the cavity.

[0016] As a preferred scheme of the robot suitable for the ultra-high voltage substation of the application, wherein: a pushing piston is fixedly arranged on the top of the twisting rod and sealingly slidably connected with the cavity, and a stretching spring is fixed between the pushing piston and the polishing wire ball.

[0017] The robot suitable for the ultra-high voltage substation of the application has the beneficial effects that: the introduction of the robot not only provides a wide range of motion, but also combines with a visual auxiliary device, so as to ensure that the robot can accurately and accurately locate and perform tasks in a complex and high-risk ultra-high voltage environment, and reduce the risk of manual operation.

[0018] The design of the lifting mechanism enables the robot to work on equipment at different heights, greatly improving its application range and practicability, especially in the maintenance of multi-layer structures in large substations.

[0019] The polishing assembly realizes effective polishing of the contact surface, ensures good contact and power transmission efficiency of the power transmission equipment, and avoids safety hazards that may be caused by manual polishing through automatic operation.

[0020] The design of the rotating seat and the machine claw not only enhances the operational flexibility of the robot, but also can perform clamping, rotating, screw tightening and other operations, realizes the integration of the operation process, and reduces the operation conversion time. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor. Among them:

[0022] Fig. 1 It is a schematic diagram of the overall structure of the robot suitable for the ultra-high voltage substation in the present application.

[0023] Fig. 2 It is an enlarged structural schematic diagram of the robot hand structure of the robot suitable for the ultra-high voltage substation in the present application.

[0024] Fig. 3 It is an exploded structural schematic diagram of the polishing assembly of the robot suitable for the ultra-high voltage substation in the present application.

[0025] Fig. 4 It is an exploded structural schematic diagram of the cylinder of the robot suitable for the ultra-high voltage substation in the present application.

[0026] Fig. 5 It is a sectional structural schematic diagram of the cylinder of the robot suitable for the ultra-high voltage substation in the present application.

[0027] Fig. 6 It is a sectional structural schematic diagram of the tightening rod of the robot suitable for the ultra-high voltage substation in the present application.

[0028] In the figure:

[0029] 100, work robot; 101, robot hand structure; 102, robot arm; 103, lifting mechanism; 104, transport vehicle;

[0030] 101a, rotating seat; 101b, shell; 101c, machine claw;

[0031] 200, polishing assembly; 201, barrel; 202, compression mechanism; 203, polishing mechanism;

[0032] 201a, first cavity; 201b, magnetic piston; 201c, second cavity; 201d, lifting piston; 201e, connecting hole; 201f, shielding plate; 201g, magnetic block;

[0033] 202a, gear; 202b, rack; 202c, pull belt;

[0034] 203a, polishing rod; 203b, polishing ball;

[0035] 301, twisting rod; 302, pushing piston; 303, stretching spring. DETAILED DESCRIPTION

[0036] In order to make the above objectives, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0037] In the following description, a lot of specific details are set forth in order to provide a thorough understanding of the present application, but the present application can also be implemented in other ways different from those described herein, and those skilled in the art can make similar generalizations without departing from the spirit of the present application, therefore the present application is not limited to the specific embodiments disclosed below.

[0038] Secondly, the "one embodiment" or "embodiment" referred to herein means that the specific features, structures or characteristics can be included in at least one implementation of the present application. "In one embodiment" appearing in different places in the specification does not mean the same embodiment, nor is it an embodiment that is separate or alternative to other embodiments.

[0039] Embodiment 1

[0040] Reference Figs. 1-3 For the first embodiment of the present application, the embodiment provides a robot suitable for an ultra-high voltage substation, which comprises a working robot 100, the working robot 100 comprises a robot mechanism 101 for clamping a drainage wire, a robot arm 102 is arranged to drive the robot mechanism 101 to move, a visual auxiliary device is arranged on the robot arm 102, a lifting mechanism 103 is arranged to drive the robot arm 102 to lift, a transport vehicle 104 is arranged at the bottom of the lifting mechanism 103 to transport the lifting mechanism 103 to a designated position; a polishing assembly 200, which comprises a barrel 201 arranged inside the robot mechanism 101, a compression mechanism 202 arranged outside the barrel 201, the compression mechanism 202 is driven to operate by the opening and closing degree of the robot mechanism 101, and a polishing mechanism 203 is arranged at the bottom of the barrel 201 and driven to move by the compression mechanism 202.

[0041] The machine hand mechanism 101 is used to clamp the drainage wire, the machine arm 102 drives the machine hand mechanism 101 to move, provides necessary flexibility and range, so that the machine hand mechanism 101 can position and operate the target object in a complex environment, and the visual auxiliary device, which can be a camera or a laser scanner, integrated on the machine arm 102 is used to monitor the working environment in real time, thereby improving the accuracy and safety of operation; the lifting mechanism 103 allows the machine arm 102 and the machine hand mechanism 101 to move in the vertical direction, thereby expanding the working range of the robot and enabling the robot to reach equipment at different heights in the transformer substation; the transport vehicle 104 serves as a moving platform of the robot and can transport the entire robot system to a designated position in the transformer substation, thereby improving the convenience and efficiency of deployment; the polishing mechanism 203 is driven by the compression mechanism 202 to move and is used to polish other components, thereby ensuring efficient and safe power transmission.

[0042] Embodiment 2

[0043] With reference to Figs. 2-5 For the second embodiment of the present application, different from the previous embodiment, a rotating seat 101a is further arranged at the top of the machine arm 102, a motor is fixed in the rotating seat 101a, a housing 101b is fixedly connected to the transmission shaft at the bottom of the motor, and two symmetrical machine claws 101c are movably hinged to the housing 101b. The machine claws 101c are opened and closed by using compressed air as a power source, a first cavity 201a and a second cavity 201c are sequentially formed in the cylinder 201, a magnetic piston 201b is slidably connected in the first cavity 201a and is used to extrude the gas below, a lifting piston 201d is slidably connected in the second cavity 201c and is used to push the polishing mechanism 203 to extend and retract, and a return spring is fixed between the lifting piston 201d and the cylinder 201. A separation wall is arranged between the first cavity 201a and the second cavity 201c, a connecting hole 201e is formed in the separation wall and is used to communicate the first cavity 201a and the second cavity 201c.

[0044] The magnetic piston 201b installed in the first cavity 201a is not only used for simple gas extrusion, but also can adjust the pressure by extruding the gas below, thereby affecting the power transmission of other parts; the lifting piston 201d in the second cavity 201c is directly related to the driving of the polishing mechanism 203, and the up-and-down movement of the lifting piston 201d can control the extension and retraction of the polishing mechanism 203, thereby realizing the start and stop of the polishing operation; the return spring is installed between the lifting piston 201d and the cylinder 201, and functions to provide a force for the lifting piston 201d to return to the initial position when there is no external driving force, thereby quickly returning after each operation and improving the working efficiency.

[0045] The compression mechanism 202 comprises a gear 202a rotatably arranged on the barrel 201, the gear 202a is externally engaged with a rack 202b, a sliding groove for accommodating the horizontal sliding of the rack 202b is arranged in the inside of the shell 101b, and the end of the rack 202b away from the gear 202a is fixed with the machine claw 101c through a pull belt 202c. The magnetic piston 201b is provided with a shielding plate 201f above, the shielding plate 201f is fixedly connected with the barrel 201, and through holes are arranged on the shielding plate 201f in a spaced manner. The magnetic block 201g is arranged in a spaced manner above the shielding plate 201f, and the magnetic block 201g is fixedly arranged on the gear 202a, and when the magnetic block 201g corresponds to the through hole, the magnetic block 201g pushes the magnetic piston 201b to slide downward. The polishing mechanism 203 comprises a polishing rod 203a for polishing, and a polishing ball 203b is fixedly arranged in the middle of the polishing rod 203a, and the polishing ball 203b is slidably arranged on the barrel 201.

[0046] In this embodiment, when the substation overlap is connected to the drainage line, the specific device (such as the equal potential connector, the potential transfer rod / rod) is used to establish the equal potential connection with the working environment, so that the robot is equal to the surrounding electric field potential, thereby avoiding the discharge phenomenon caused by the potential difference, and ensuring the safety of the operation; the machine arm 102 can be transported to the specified working area through the transport vehicle 104, the human contact is reduced, the lifting mechanism 103 installed on the transport vehicle 104 can automatically adjust the working height of the machine arm 102 close to the working line, and through the cooperation of the machine arm 102 and the machine hand mechanism 101, the operation flexibility is high.

[0047] When the overlap is connected to the drainage line, in order to improve the conductivity between the two, the gold fitting plate needs to be polished, so as to avoid the problem of heating caused by the increase of resistance due to dirty objects, therefore, the machine claw 101c can be controlled by the worker to rotate to a specific angle, for example, 90°, at the same time, the machine claw 101c rotates to pull the fixed pull belt 202c, the pull belt 202c pulls the fixed rack 202b to slide to a predetermined stroke, the rack 202b slides to drive the engaged gear 202a to rotate to a preset angle, the gear 202a synchronously drives the magnetic block 201g to rotate, so that the magnetic block 201g gradually exposes from the through hole on the shielding plate 201f, so that the magnetic repulsion generated by the magnetic block 201g is greater than the friction resistance of the magnetic piston 201b, and the magnetic piston 201b slides downward to compress the gas, the compressed gas enters the second cavity 201c through the connecting hole 201e, and the polishing ball 203b is pushed outwards by the lifting piston 201d, so that the polishing ball 203b drives the polishing rod 203a to move away from the shell 101b, thereby facilitating the polishing work of the polishing rod 203a on the gold fitting plate.

[0048] Subsequently, the arc-extinguishing rope end is connected to the drainage wire, the drainage wire is pulled to the vicinity of the hardware plate by external force, the control mechanical claw 101c clamps the drainage wire, it should be noted that when the mechanical claw 101c is not at a specific angle, the lifting piston 201d is reset under the pull of the reset spring, so as to drive the polishing rod 203a to reset, avoid interference of the polishing rod 203a to the normal clamping of the mechanical claw 101c, the mechanical claw 101c is connected to the hardware plate under the assistance of the visual auxiliary device, and the hardware plate is connected by screwing.

[0049] Secondly, the work robot 100 is provided with a trolley, and the use of the trolley can reduce the friction of the drainage wire and save labor.

[0050] Embodiment 3

[0051] Reference Figs. 4-6 For the third embodiment of the application, the embodiment further provides a robot suitable for an ultrahigh-voltage substation. The robot comprises a polishing wire ball 203b, a cavity is formed in the polishing wire ball 203b, a torsion rod 301 is slidably connected in the cavity, a push piston 302 in sealing sliding connection with the cavity is fixed to the top of the torsion rod 301, and a tension spring 303 is fixed between the push piston 302 and the polishing wire ball 203b.

[0052] As can be known from the second embodiment, when the mechanical claw 101c clamps the screw and penetrates the hardware plate, the screw needs to be twisted and fixed, so the mechanical claw 101c is controlled to rotate to a preset angle, such as 120°, so that the pull belt 202c further pulls the rack 202b, the gear 202a is driven to rotate at a larger angle, the area of the magnetic block 201g exposed in the through hole is larger, the magnetic repulsion on the magnetic piston 201b is stronger, and the sliding distance of the magnetic piston 201b is farther, so that the compressed gas overcomes the elastic force of the tension spring 303, and the torsion rod 301 slides out of the polishing wire ball 203b, so the screw is aligned with the torsion rod 301, and the screw can be twisted.

[0053] In summary, the work robot 100 first safely enters the working area, and ensures that the electric potential thereof is equal to that of the working environment through equipotential connection, so as to prevent electric shock and arc discharge and ensure work safety;

[0054] The polishing assembly 200 provided by the work robot 100 removes rust and dirt on the surface of the hardware plate, because a clean and flat contact surface can ensure good electrical contact between the drainage wire and the hardware plate, reduce resistance, and prevent local overheating and potential electrical failure caused by excessive resistance;

[0055] Through the installation of the trolley on the work robot 100 and the connection of the arc extinguishing rope, the latter is connected with the drain wire. The introduction of the trolley mechanism can effectively reduce the force required for directly pulling the drain wire, and the arc extinguishing rope can reduce the generation of electric arc when the drain wire moves, further ensuring the safety of the work.

[0056] The drain wire is guided close to the fitting plate by remote control operation using external control force, but usually mechanical or human force;

[0057] The work robot 100 precisely positions with the help of visual aids, grabs the drain wire and accurately connects it to the fitting plate;

[0058] The work robot 100 uses a special tightening rod 301 to tighten the screws that fix the drain wire, ensuring that the connection is stable and reliable, and preventing the connection from loosening due to vibration or external force;

[0059] After the work is completed, the work robot 100 safely controls the arc extinguishing rope to loosen, then removes the trolley and puts it in the special tool library;

[0060] Finally, the work robot 100 releases the equipotential connection and safely exits the electric field, marking the end of the entire work process.

[0061] This process not only demonstrates the application of modern robot technology in power maintenance work, but also reflects the high attention to safety measures, work efficiency and precision in live work, while minimizing the risk of direct exposure of personnel to high-voltage electric environment.

[0062] It is important to note that the construction and arrangement of the application shown in the various exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review the present disclosure will readily appreciate that many modifications can be made to the embodiments without departing from the spirit and scope of the application, for example, variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters, mounting arrangements, use of materials, colors, orientations, locations, and the like. For example, the position of elements can be reversed or otherwise varied, and the nature or number of elements can be altered or varied. Thus, all such modifications are intended to be included within the scope of the present application. The order or sequence of any process or method steps can be varied or re-sequenced without departing from the spirit of the application. Any "apparatus" or "device" or "structure" described herein can be embodied in many different forms and a "means" for performing an operation described herein can be implemented in many different ways. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes, and omissions can be made in the design, operating conditions, and arrangement of the exemplary embodiments without departing from the scope of the present application. Accordingly, the present application is not limited to the particular embodiments described in the specification. Instead, the application is intended to cover all modifications that are within the scope of the present application as defined by the appended claims.

[0063] Also, in an effort to provide a concise description of the exemplary embodiments, all features of an actual implementation can not be described that pertain to the

[0064] It is to be understood that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions can be made. Such development efforts can inevitably lead to a solution that is somewhat different from those solutions described in the present disclosure, such as due to, for example, changes in design, changes in implementation-related technology, and / or the like. To the extent such changes do occur, the disclosed subject matter should be understood as being incorporated with the changes and

[0065] It should be noted that the above examples are merely intended to illustrate the technical solutions of the present application but not to limit the present application, and although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the spirit and scope of the present application, and all such modifications and equivalents should be included in the scope of the claims of the present application.

Claims

1. A robot suitable for use in an ultra-high voltage substation, characterized in that: The utility model relates to a kind of work robot (100), including the machine tool (101) for clamping drainage line, be provided with the machine arm (102) of driving the machine tool (101) activity, be provided with the lifting mechanism (103) of driving the machine arm (102) lift, be arranged in the lifting mechanism (103) bottom for the lifting mechanism (103) transport to specified position transport vehicle (104); Polishing assembly (200), including the barrel (201) being arranged in the machine tool (101), the compression mechanism (202) being arranged outside the barrel (201), the compression mechanism (202) is operated by the opening and closing degree of machine tool (101), the barrel (201) bottom is equipped with the polishing mechanism (203) being driven and being active by compression mechanism (202). The machine tool (101) includes a rotating seat (101a) rotatably arranged on the top of the machine arm (102), a motor is fixedly arranged inside the rotating seat (101a), a transmission shaft at the bottom of the motor is fixedly connected with a shell (101b), and two symmetrical machine claws (101c) are movably hinged on the shell (101b).

2. The robot suitable for use in an ultra-high voltage substation of claim 1, wherein: The barrel (201) is sequentially provided with a first cavity (201a) and a second cavity (201c) inside, a magnetic piston (201b) is slidably connected inside the first cavity (201a) for extruding the gas below, a lifting piston (201d) is slidably connected inside the second cavity (201c) for pushing the polishing mechanism (203) to extend and retract, and a return spring is fixed between the lifting piston (201d) and the barrel (201).

3. The robot suitable for use in an ultra-high voltage substation of claim 2, wherein: A separation wall is arranged between the first cavity (201a) and the second cavity (201c), a connecting hole (201e) is formed in the separation wall for connecting the first cavity (201a) and the second cavity (201c).

4. The robot suitable for use in an ultra-high voltage substation of claim 3, wherein: The compression mechanism (202) includes a gear (202a) rotatably arranged on the barrel (201), the gear (202a) is engaged with a rack (202b) outside, a sliding groove is formed in the shell (101b) for accommodating the horizontal sliding of the rack (202b), and one end of the rack (202b) away from the gear (202a) is fixed with the machine claw (101c) through a pull belt (202c).

5. The robot suitable for use in an ultra-high voltage substation of claim 4, wherein: A shielding plate (201f) is arranged above the magnetic piston (201b), the shielding plate (201f) is fixedly connected with the barrel (201), and through holes are formed in the shielding plate (201f) at intervals.

6. The robot suitable for use in an EHV substation of claim 5, wherein: A magnetic block (201g) is arranged above the shielding plate (201f) at intervals, the magnetic block (201g) is fixedly arranged on the gear (202a), and the magnetic block (201g) pushes the magnetic piston (201b) to slide downward when the magnetic block (201g) corresponds to the through hole.

7. The robot suitable for use in an ultra-high voltage substation of claim 6, wherein: ​ 8. The robot suitable for use in an ultra-high voltage substation of claim 1, wherein: The polishing mechanism (203) comprises a polishing rod (203a) for polishing, a polishing wire ball (203b) is fixed in the middle of the polishing rod (203a), and the top of the polishing wire ball (203b) is slidably arranged with the barrel (201).

9. The robot suitable for use in an ultra-high voltage substation of claim 8, wherein: A cavity is formed in the polishing wire ball (203b), and a twisting rod (301) is slidably connected in the cavity.

10. The robot suitable for use in an ultra-high voltage substation of claim 9, wherein: A push piston (302) in sealing sliding connection with the cavity is fixed at the top of the twisting rod (301), and a tension spring (303) is fixed between the push piston (302) and the polishing wire ball (203b).

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