Transformer substation drainage wire lap joint robot and operation method

Abstract

The invention relates to the technical field of hot-line work, in particular to a transformer substation drainage wire lap joint robot and an operation method, and provides the transformer substation drainage wire lap joint robot which comprises a high-voltage equipotential device, a multi-direction position adjusting device, a robot limiting device, a robot body and a lap joint device. The device can be suitable for robot mechanical arm operation on a transformer substation drainage wire, equipotential is formed, an equipotential body is formed, the safety and reliability of equipment are ensured, transverse and longitudinal position adjustment is achieved in the horizontal direction for a multi-direction position adjusting device part, height position adjustment is achieved in the vertical direction, and the safety and reliability of the equipment are guaranteed. The position of a maintenance robot is adjusted from three dimensions, and for a robot limiting device part, a first limiting part and a second limiting part are adopted to limit a live main line where a T-connection fitting is located from the two ends, so that a small working environment tending to be static is formed in a working area.

Description

Technical Field

[0001] This invention relates to the field of live-line working technology, specifically a robot and method for splicing substation lead wires. Background Technology

[0002] Power transmission lines play a vital role in delivering electricity. Regular maintenance is necessary to ensure their normal operation. Ensuring the safe and reliable operation of power transmission lines is crucial for guaranteeing the stable development of the national economy.

[0003] like Figure 1 The image shows a common substation feeder scenario in a power transmission line, in which multiple energized main lines are arranged side by side, and T-junctions are installed on the main lines. The feeder clamps on these lines need to be removed and maintained manually or by a robot.

[0004] Whether it is a manual operation or a robotic arm, alignment is required to move the working parts to the designated position on the energized main line for subsequent operations. This inevitably involves directional position adjustment, which includes horizontal and vertical position adjustment in the horizontal direction and height adjustment in the vertical direction.

[0005] Chinese patent CN110854741A discloses a substation duct inspection robot, which completes the inspection work through components such as connecting arms and main control mechanisms. However, its direction and position adjustment components are mostly concentrated on the side close to the energized main line, which makes it necessary to avoid electromagnetic hazards in narrow spaces during operation.

[0006] Meanwhile, in a high-voltage electric field, the electric field strength is strong, making it easy for discharge to occur. If two points have the same electric potential, then no discharge will occur between them. Therefore, in a high-voltage electric field, to protect the safety of people and equipment, equipment or conductors need to be connected at high voltage equipotential bonding to avoid discharge accidents.

[0007] Chinese patent CN114759488A discloses a method for equipotential entry of a high-voltage substation's lead-in line into an electric field. The solution provides a lifting ring, pulley hook, and unlocking rope for use by workers. With the development of technology, robots or robotic arms are used in many scenarios to replace manual labor for live-line work. Although the work has changed from manual to mechanical, mechanical equipment also needs to be equipotential during operation. Currently, equipotential equipment or devices based on human labor, such as lifting rings and pulley hooks, are difficult to adapt to robotic arms or robots.

[0008] Furthermore, after the robot is properly aligned with the T-junction using the position adjustment device, subsequent splicing or disassembly procedures need to be carried out. Since the T-junction is connected to one or two live main lines, it may shake due to wind or other external factors during subsequent operations. At this point, it is troublesome and impractical to change the robot's position using the position adjustment device. Summary of the Invention

[0009] The purpose of this invention is to provide a substation lead wire splicing robot and operation method to address the aforementioned problems.

[0010] The technical solution adopted in this invention is as follows: a substation lead wire splicing robot, which is suitable for the operation of a substation lead wire robot arm, including a high voltage equipotential device, a multi-directional position adjustment device, a robot limiting device, a robot body and a splicing device.

[0011] The robot limiting device is located on the top of the robot body and includes a first limiting part and a second limiting part. The first limiting part and the second limiting part can be placed on both sides of the T-connector and limit the robot body and the live main line.

[0012] The overlapping device includes a fourth slide rail and a fifth slide rail. The fourth slide rail is located below the second limiting part and a first positioning mechanism is provided on the fourth slide rail.

[0013] The fifth slide rail is located below the first limiting part. The fifth slide rail is provided with a second positioning mechanism and a clamping mechanism. The second positioning mechanism and the first positioning mechanism are arranged opposite to each other for positioning the T-connector. The clamping mechanism is used to clamp the lead wire clamp and the T-connector.

[0014] The multi-directional position adjustment device includes a base, a first position adjustment mechanism, a second position adjustment mechanism, and a third position adjustment mechanism;

[0015] The first position adjustment mechanism is mounted on the base and can be adjusted in one direction on the horizontal plane;

[0016] The second position adjustment mechanism is mounted on the first position adjustment mechanism and can adjust the position in another direction on the horizontal plane;

[0017] The third position adjustment mechanism is mounted on the second position adjustment mechanism and is detachably connected to the robot body, enabling the vertical adjustment of the robot body's position.

[0018] The high-voltage equipotential device includes a first connecting part, a second connecting part, an electric cylinder, and an equipotential adjustment part;

[0019] The equipotential adjustment unit can come into contact with the live main line. The equipotential adjustment unit is detachably connected to the robot body through the first connection part, so that the robot body enters the equipotential.

[0020] The second connection part is located below the equipotential adjustment part and is connected to the side wall of the robot body;

[0021] The electric cylinder is located between the second connecting part and the equipotential adjustment part, and its two ends are connected to the second connecting part and the equipotential adjustment part respectively, and can provide an upward or downward force to the equipotential adjustment part.

[0022] Furthermore, the equipotential adjustment unit includes a first connecting frame, a second connecting frame, and a contact rod;

[0023] One side of the first connecting frame is connected to the first connecting part, the other side of the first connecting frame is connected to the second connecting frame, and the lower part of the first connecting frame is connected to the electric cylinder;

[0024] The contact rod is connected to the second connecting frame, and the contact rod can abut against the live main line;

[0025] The first connecting part includes a pair of connecting rod hinge supports, and the pair of connecting rod hinge supports are respectively located on both sides of the robot body.

[0026] Furthermore, an equipotential support frame is provided on the upper part of the first connecting frame, and the equipotential support frame is connected to the second connecting frame through a tension spring.

[0027] Furthermore, the contact rod is a square tube, and both ends of the square tube are bent upwards to form bent sections, so that the energized main line can contact the square tube.

[0028] Furthermore, the contact rod is a circular tube with circular fins at both ends. The diameter of the circular fins is larger than the inner diameter of the circular tube, and the energized main wire can contact the circular tube.

[0029] Furthermore, the first position adjustment mechanism includes a first robot position adjustment seat, a first slide rail, a first slider, and a first power unit;

[0030] The first slide rail is laid on the upper surface of the base;

[0031] The first slider is disposed on the first slide rail and can slide on the first slide rail;

[0032] The first robot position adjustment seat is mounted on the first slider;

[0033] The first power unit is located on one side of the base and can drive the first robot position adjustment seat to move on the first slide rail;

[0034] The first power unit includes a first motor, a first synchronous belt, and a first lead screw. The power output end of the first motor can drive the first lead screw to rotate through the first synchronous belt.

[0035] The first lead screw passes through the bottom of the first robot position adjustment seat;

[0036] The second position adjustment mechanism includes a second robot position adjustment seat, a second slide rail, a second slider, and a second power unit;

[0037] The second slide rail is laid on the upper surface of the first robot position adjustment seat;

[0038] The second slider is mounted on the second slide rail and can slide on the second slide rail;

[0039] The second robot position adjustment seat is mounted on the second slider;

[0040] The second power unit is located on one side of the first robot position adjustment seat and can drive the second robot position adjustment seat to move on the second slide rail.

[0041] Furthermore, the second power unit includes a second motor, a second synchronous belt, and a second lead screw. The power output end of the second motor can drive the second lead screw to rotate through the second synchronous belt.

[0042] The second lead screw passes through the bottom of the second robot position adjustment seat;

[0043] The second robot position adjustment base is equipped with a triangular support frame, and one side of the triangular support frame is a right angle side;

[0044] The third position adjustment mechanism includes a third slide rail, a third slider, and a third power unit;

[0045] The third slide rail is laid on the right-angled side surface of the triangular support frame;

[0046] The third slider is mounted on the third slide rail and can slide on the third slide rail. The third slider is connected to the robot body.

[0047] The third power unit is mounted on a triangular support frame and can push the robot body to move on the third slide rail;

[0048] The third power unit includes a third motor, a third synchronous belt, and a third lead screw. The power output end of the third motor can drive the third lead screw to rotate through the third synchronous belt.

[0049] The third lead screw passes through the robot's body.

[0050] Furthermore, the first limiting part and the second limiting part are symmetrically arranged, and each includes a limiting unit with the same structure.

[0051] The limiting unit includes a limiting base, a driving mechanism, a transmission mechanism, and a limiting mechanism;

[0052] The limiting base is connected to the top of the robot body;

[0053] The drive mechanism is mounted on the limiting base and is used to provide power to the transmission mechanism;

[0054] The transmission mechanism is mounted on the limiting base and is used to transmit the power of the drive mechanism to the limiting mechanism;

[0055] The limiting mechanism and the limiting base are mounted on the limiting base and can rotate under the action of the transmission mechanism. The limiting mechanism can clamp the live main line.

[0056] The drive mechanism includes a drive motor and a drive belt;

[0057] The drive motor is mounted on the limiting base;

[0058] The drive belt wraps around the power output end of the drive motor and transmits the power of the drive motor to the transmission mechanism.

[0059] Furthermore, the limiting mechanism includes a first limiting mechanism and a second limiting mechanism;

[0060] The first limiting mechanism includes a first fixed block and a first movable block. One end of the first movable block is axially connected to the center of the first worm gear and can rotate with the first worm gear.

[0061] The first fixed block is disposed on the limiting base and located below the first movable block, and the energized main line can pass through the first movable block and the first fixed block;

[0062] The second limiting mechanism includes a second fixed block and a second movable block. One end of the second movable block is axially connected to the center of the second worm gear and can rotate with the second worm gear.

[0063] The second fixed block is disposed on the limiting base and located below the second movable block, and the energized main line can pass through the space between the second fixed block and the second movable block;

[0064] The first movable block is provided with a first buffer pad, which faces the first fixed block and can abut against the live main line. The second movable block is provided with a second buffer pad, which faces the second fixed block and can abut against the live main line.

[0065] This application also provides a method for operating a substation lead wire splicing robot, including the following steps:

[0066] S1. Move the substation feeder cable splicing robot to the area to be dismantled and stop it;

[0067] S2. Install the lead wire and lead wire clamp on the clamping mechanism, and align the lead wire and lead wire clamp;

[0068] S3. The robot body is raised to a specified height by a multi-directional position adjustment device, so that the second positioning mechanism and the first positioning mechanism are on the same plane as the T-connector.

[0069] S4. Install the high voltage equipotential bonding device on the robot body, and make the high voltage equipotential bonding device abut against the live main line where the T-connector is located;

[0070] S5. The robot limiting device limits the robot body to the live main line where the T-junction hardware is located;

[0071] S6. The clamping mechanism clamps the T-connector and aligns the lead wire clamp pin, and installs the lead wire clamp on the T-connector;

[0072] S7. The robot limiting device is released from the live main line where the T-junction hardware is located;

[0073] S8. The high-voltage equipotential bonding device is disconnected from the live main line where the T-junction hardware is located;

[0074] S9. The multi-directional position adjustment device lowers the robot body to a specified height.

[0075] The beneficial effects of the present invention include at least one of the following;

[0076] 1. A substation lead wire splicing robot is provided, including a high voltage equipotential device, a multi-directional position adjustment device, a robot limiting device, a robot body and a splicing device, which can be applied to the lead wire clamp splicing operation of the live main line in outdoor live working scenarios.

[0077] 2. For the high-voltage equipotential bonding device, it can be used for robotic arm operations on substation lead lines. It connects to the live main line on the substation lead line through the equipotential adjustment part and is connected to the robot body through the first connection part, thereby forming an equipotential body to ensure the safety and reliability of the equipment. At the same time, the structure of the electric cylinder and the second connection part allows the contact position between the equipotential adjustment part and the live main line to be adjusted after the equipotential bonding device is installed, thereby avoiding incomplete connections.

[0078] 3. Regarding the multi-directional position adjustment device, on the one hand, it achieves horizontal and vertical position adjustment in the horizontal direction and vertical position adjustment in the vertical direction, that is, it adjusts the position of the maintenance robot from three dimensions. On the other hand, its position adjustment devices are mostly concentrated in the base area, which is far away from the live main line. From a design perspective, this avoids the electromagnetic influence caused by proximity to the live main line. At the same time, the design of the first position adjustment mechanism, the second position adjustment mechanism and the third position adjustment mechanism basically adopt the same scheme of adjustment seat, slide rail, slider and power unit. The overall modularity is high and it is easy to assemble quickly in the field.

[0079] 4. For the robot limiting device, the first limiting part and the second limiting part limit the live main line where the T-connector is located from both ends, so as to form a small and nearly static working environment in the working area, minimize the interference of the external environment, and reduce the difficulty of subsequent splicing or dismantling processes. At the same time, the driving mechanism, transmission mechanism and limiting mechanism are used to clamp and limit the live main line where the T-connector is located. The worm gear and worm structure changes the transmission direction, which is simpler in overall structure and easier to operate than other methods.

[0080] 5. For the overlapping device, the fourth and fifth slide rails provide the first and second positioning mechanisms with the possibility of moving on the horizontal plane, thereby enabling the positioning of the T-joint hardware. At the same time, the clamping mechanism can overlap the installed and aligned lead wire clamp onto the T-joint hardware. Attached Figure Description

[0081] Figure 1 This is a schematic diagram of a work scenario;

[0082] Figure 2 A schematic diagram of a substation drain line splicing robot structure;

[0083] Figure 3 This is a schematic diagram of the splicing structure of a substation diversion line splicing robot.

[0084] Figure 4 This is a schematic diagram of a three-dimensional structure of a limiting unit;

[0085] Figure 5 A schematic diagram of a limiting unit structure from another perspective;

[0086] Figure 6 This is a schematic diagram of a contact rod structure;

[0087] Figure 7 This is a schematic diagram of another contact rod structure;

[0088] Figure 8This is a schematic diagram of a multi-directional position adjustment device.

[0089] Figure 9 This is a schematic diagram of a multi-directional position adjustment device from another perspective.

[0090] In the picture:

[0091] 1 is a T-connector; 2 is a live main line; 3 is a base; 4 is the first robot position adjustment seat; 5 is the second robot position adjustment seat; 6 is a triangular support frame; 7 is the first power unit; 8 is the second power unit; 9 is the third power unit; 10 is the first slide rail; 11 is the second slide rail; 12 is the third slide rail; 13 is the first slider; 14 is the second slider; 15 is the third slider; 16 is the first lead screw; 17 is the second lead screw; 18 is the third lead screw; 20 is the robot body; 21 is the first limiting part; 22 is the second limiting part; 23 is the limiting base; 24 is the drive motor; 25 is the transmission shaft; 26 is the drive belt; 27 is the first worm gear. 28 is the first worm gear, 29 is the first movable block, 30 is the second worm, 31 is the second worm gear, 32 is the second movable block, 33 is the first buffer pad, 34 is the second buffer pad, 35 is the first fixed block, 36 is the second fixed block, 40 is the electric cylinder, 41 is the connecting rod hinge support, 42 is the first connecting frame, 43 is the second connecting frame, 44 is the equipotential support frame, 45 is the tension spring, 46 is the contact rod, 4601 is the square tube, 4602 is the round tube, 47 is the bent section, 48 is the circular fin, 50 is the fourth slide rail, 51 is the fifth slide rail, 52 is the first positioning mechanism, 53 is the second positioning mechanism, and 54 is the clamping mechanism. Detailed Implementation

[0092] 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 in the accompanying drawings can generally be arranged and designed in various different configurations.

[0093] 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.

[0094] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined with each other.

[0095] 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.

[0096] In the description of this invention, it should be noted that the terms "center," "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, or the orientation or positional relationship commonly understood by those skilled in the art. They are only used for the convenience of describing this invention and 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, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0097] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" 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; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0098] like Figure 2 and Figure 3 The aforementioned substation lead wire splicing robot is suitable for substation lead wire robotic arm operations, including a high-voltage equipotential device, a multi-directional position adjustment device, a robot limiting device, a robot body 20, and a splicing device.

[0099] The robot limiting device is located on the top of the robot body 20 and includes a first limiting part 21 and a second limiting part 22. The first limiting part 21 and the second limiting part 22 can be placed on both sides of the T-connector 1 and limit the robot body 20 and the live main line 2.

[0100] The overlapping device includes a fourth slide rail 50 and a fifth slide rail 51. The fourth slide rail 50 is located below the second limiting part 22, and a first positioning mechanism 52 is provided on the fourth slide rail 50.

[0101] The fifth slide rail 51 is located below the first limiting part 21. The fifth slide rail 51 is provided with a second positioning mechanism 53 and a clamping mechanism 54. The second positioning mechanism 53 and the first positioning mechanism 52 are arranged opposite to each other for positioning the T-connector 1. The clamping mechanism 54 is used to clamp the lead wire clamp and the T-connector 1.

[0102] The multi-directional position adjustment device includes a base 3, a first position adjustment mechanism, a second position adjustment mechanism, and a third position adjustment mechanism;

[0103] The first position adjustment mechanism is mounted on the base 3 and can be adjusted in one direction on the horizontal plane;

[0104] The second position adjustment mechanism is mounted on the first position adjustment mechanism and can adjust the position in another direction on the horizontal plane;

[0105] The third position adjustment mechanism is mounted on the second position adjustment mechanism and is detachably connected to the robot body 20, enabling the vertical adjustment of the position of the robot body 20.

[0106] The high-voltage equipotential device includes a first connecting part, a second connecting part, an electric cylinder 40, and an equipotential adjustment part;

[0107] The equipotential adjustment unit can abut against the live main line 2. The equipotential adjustment unit is detachably connected to the robot body 20 through the first connection part, so that the robot body 20 enters the equipotential.

[0108] The second connection part is located below the equipotential adjustment part and is connected to the side wall of the robot body 20;

[0109] The electric cylinder 40 is located between the second connecting part and the equipotential adjustment part, and both ends of the electric cylinder 40 are connected to the second connecting part and the equipotential adjustment part respectively, and can provide an upward or downward force to the equipotential adjustment part.

[0110] The purpose of this design is to provide a substation lead wire splicing robot, including a high-voltage equipotential device, a multi-directional position adjustment device, a robot limiting device, a robot clamping device, a robot body, and a splicing device, which can be applied to the removal of lead wire clamps on live main lines in outdoor live-line working scenarios.

[0111] It should also be noted that a protruding structure is provided on the side wall of the robot body 20, and the second connecting part can be installed on it, so that it can move together with the robot body 20.

[0112] For the overlapping device, the fourth and fifth slide rails provide the first and second positioning mechanisms with the possibility of horizontal movement, thereby enabling the positioning of the T-joint hardware. Simultaneously, the clamping mechanism allows the aligned lead wire clamp to overlap onto the T-joint hardware.

[0113] At the same time, such as Figure 4 and Figure 5As shown in the figure, in this embodiment, the first limiting part 21 and the second limiting part 22 are symmetrically arranged, and each includes a limiting unit with the same structure.

[0114] The limiting unit includes a limiting base 23, a driving mechanism, a transmission mechanism, and a limiting mechanism.

[0115] The limiting base 23 is connected to the top of the robot body 20;

[0116] The drive mechanism is mounted on the limiting base 23 and is used to provide power to the transmission mechanism;

[0117] The transmission mechanism is mounted on the limiting base 23 and is used to transmit the power of the drive mechanism to the limiting mechanism;

[0118] The limiting mechanism and the limiting base 23 are mounted on the limiting base 23 and can rotate under the action of the transmission mechanism. The limiting mechanism can clamp the live main line 2.

[0119] Meanwhile, the drive mechanism includes a drive motor 24 and a drive belt 26;

[0120] The drive motor 24 is mounted on the limiting base 23;

[0121] The drive belt 26 is wrapped around the power output end of the drive motor 24 and transmits the power of the drive motor 24 to the transmission mechanism.

[0122] Furthermore, the transmission mechanism includes a transmission shaft 25, a first worm 27, a first worm wheel 28, a second worm 30, and a second worm wheel 31;

[0123] The drive shaft 25 is connected to the drive belt 26 and rotates under the drive of the drive belt 26;

[0124] The first worm 27 and the second worm 30 are respectively connected to both ends of the transmission shaft 25;

[0125] The first worm gear 28 is located above the first worm 27 and is connected to the first worm 27 in a transmission manner;

[0126] The second worm gear 31 is located above the second worm 30 and is connected to the second worm 30 in a transmission manner.

[0127] The purpose of this design is to use a drive mechanism, a transmission mechanism, and a limiting mechanism to clamp and limit the live main line where the T-connector is located. The use of a worm gear and worm shaft structure changes the transmission direction, making the overall structure simpler and easier to operate than other methods.

[0128] Meanwhile, in this embodiment, the limiting mechanism includes a first limiting mechanism and a second limiting mechanism;

[0129] The first limiting mechanism includes a first fixed block 35 and a first movable block 29. One end of the first movable block 29 is axially connected to the center of the first worm gear 28 and can rotate with the first worm gear 28.

[0130] The first fixed block 35 is disposed on the limiting base 23 and located below the first movable block 29, and the live main line 2 can pass through the first movable block 29 and the first fixed block 35;

[0131] The second limiting mechanism includes a second fixed block 36 and a second movable block 32. One end of the second movable block 32 is connected to the central axis of the second worm gear 31 and can rotate with the second worm gear 31.

[0132] The second fixed block 36 is disposed on the limiting base 23 and located below the second movable block 32, and the energized main line 2 can pass through the second fixed block 36 and the second movable block 32.

[0133] In practical use, the drive motor drives the drive belt to rotate, which in turn drives the transmission shaft to rotate. The force is then transmitted to the worm wheel through the rotation of the worm. Since one end of the movable block is connected to the central shaft of the worm wheel, the movable block will also rotate, thereby squeezing the live main wire located between the movable block and the fixed block to complete the limit.

[0134] After the limit is completed, there are actually two ways to handle it. One is to drive the motor to continue rotating, so that the limit is continued. This operation is the easiest. The other is that those skilled in the art can add an additional locking structure, that is, after the limit is completed, the locking mechanism is used to prevent the moving block from rebounding. Since this embodiment mainly discusses how to achieve the limit, those skilled in the art can refer to the corresponding existing technology for how to handle it after the limit is completed. It will not be elaborated here.

[0135] Furthermore, in this embodiment, a first buffer pad 33 is provided on the first movable block 29, and the first buffer pad 33 faces the first fixed block 35 and can abut against the live main line 2. A second buffer pad 34 is provided on the second movable block 32, and the second buffer pad 34 faces the second fixed block 36 and can abut against the live main line 2.

[0136] The purpose of this design is to provide a buffer pad on the movable block. The buffer pad has a certain degree of flexibility and can deform to a certain extent compared to rigid materials, thereby increasing the contact area with the live main line. On the other hand, it can also protect the live main line and prevent additional wear during operation.

[0137] like Figure 6 and Figure 7 As shown, the equipotential adjustment unit includes a first connecting frame 42, a second connecting frame 43, and a contact rod 46;

[0138] One side of the first connecting frame 42 is connected to the first connecting part, the other side of the first connecting frame 42 is connected to the second connecting frame 43, and the lower part of the first connecting frame 42 is connected to the electric cylinder 40;

[0139] The contact rod 46 is connected to the second connecting frame 43, and the contact rod 46 can abut against the energized main line 2.

[0140] Furthermore, the first connecting part includes a pair of connecting rod hinge supports 41, and the pair of connecting rod hinge supports 41 are respectively provided on both sides of the robot body 20, and the connection angle between the first connecting frame 42 and the second connecting frame 43 is an obtuse angle.

[0141] The purpose of this design is to use multiple hinges in the specific structure of the equipotential adjustment section, so that its angle can be adjusted within a certain range, while being stably fixed to the live main line by its own gravity.

[0142] It should also be noted that in this embodiment, both the first connecting frame and the second connecting frame are frame structures composed of metal connecting rods. Taking the first connecting frame as an example, it can be a rectangular structure with an opening on one side to facilitate the metal connecting rod on this side to be hinged to the connecting rod hinge support. At the same time, a metal connecting rod can also be attached to the middle of the rectangular structure so that one end of the electric cylinder can be connected to it, so that the electric cylinder applies force from the geometric center of the first connecting frame, making the upward or downward force distribution more balanced.

[0143] Furthermore, in this embodiment, an equipotential support frame 44 is provided on the upper part of the first connecting frame 42, and the equipotential support frame 44 is connected to the second connecting frame 43 through a tension spring 45.

[0144] The purpose of this design is to strengthen the locking effect in the specific structural part of the equipotential adjustment section by using a tension spring to prevent slippage and detachment.

[0145] Meanwhile, the contact rod 46 is a square tube 4601, and both ends of the square tube 4601 are bent upward to form bent sections 47, so that the energized main line 2 can contact the square tube 4601.

[0146] The purpose of this design is to create an open-top structure for the contact rod by using the square tube and the bent section. When it comes into contact with the live main line, the main line is restricted horizontally between the bent sections, making it less likely to detach from the square tube.

[0147] The contact rod 46 can also be a round tube 4602, and the round tube 4602 is provided with round fins 48 at both ends. The diameter of the round fins 48 is larger than the inner diameter of the round tube 4602, and the energized main line 2 can contact the round tube 4602.

[0148] The purpose of this design is to limit the movement of the energized main line by setting up a circular tube structure and combining it with circular fins on both sides.

[0149] like Figure 8 and Figure 9 As shown, for the multi-directional position adjustment device, the first position adjustment mechanism includes a first robot position adjustment seat 4, a first slide rail 10, a first slider 13, and a first power unit 7.

[0150] The first slide rail 10 is laid on the upper surface of the base 3;

[0151] The first slider 13 is disposed on the first slide rail 10 and can slide on the first slide rail 10;

[0152] The first robot position adjustment seat 4 is mounted on the first slider 13;

[0153] The first power unit 7 is located on one side of the base 3 and can drive the first robot position adjustment seat 4 to move on the first slide rail 10.

[0154] Furthermore, the first power unit 7 includes a first motor, a first synchronous belt, and a first lead screw 16. The power output end of the first motor can drive the first lead screw 16 to rotate through the first synchronous belt.

[0155] The first lead screw 16 passes through the bottom of the first robot position adjustment seat 4.

[0156] The purpose of this design is to provide directional displacement adjustment for the first robot position adjustment seat by laying the first slide rail on the base, under the action of the first power unit.

[0157] Furthermore, in this embodiment, the second position adjustment mechanism includes a second robot position adjustment seat 5, a second slide rail 11, a second slider 14, and a second power unit 8;

[0158] The second slide rail 11 is laid on the upper surface of the first robot position adjustment seat 4;

[0159] The second slider 14 is disposed on the second slide rail 11 and can slide on the second slide rail 11;

[0160] The second robot position adjustment seat 5 is mounted on the second slider 14;

[0161] The second power unit 8 is located on one side of the first robot position adjustment seat 4 and can drive the second robot position adjustment seat 5 to move on the second slide rail 11.

[0162] Meanwhile, the second power unit 8 includes a second motor, a second synchronous belt, and a second lead screw 17. The power output end of the second motor can drive the second lead screw 17 to rotate through the second synchronous belt.

[0163] The second lead screw 17 passes through the bottom of the second robot position adjustment seat 5.

[0164] The purpose of this design is to provide a directional displacement adjustment for the second robot position adjustment seat by laying the second slide rail on the first robot position adjustment seat under the action of the second power unit. It should be noted that since this application aims to achieve position adjustment in more than one direction on the horizontal plane, the first robot position adjustment seat and the second robot position adjustment seat must be at a right angle or an acute angle, and cannot be set in parallel.

[0165] In this embodiment, a triangular support frame 6 is provided on the second robot position adjustment seat 5, and one side of the triangular support frame 6 is a right angle side.

[0166] Meanwhile, the third position adjustment mechanism includes a third slide rail 12, a third slider 15, and a third power unit 9;

[0167] The third slide rail 12 is laid on the right-angled side surface of the triangular support frame 6;

[0168] The third slider 15 is disposed on the third slide rail 12 and can slide on the third slide rail 12. The third slider 15 is connected to the robot body 20.

[0169] The third power unit 9 is mounted on the triangular support frame 6 and can push the robot body 20 to move on the third slide rail 12.

[0170] Furthermore, the third power unit 9 includes a third motor, a third synchronous belt, and a third lead screw 18. The power output end of the third motor can drive the third lead screw 18 to rotate through the third synchronous belt.

[0171] The third lead screw 18 passes through the robot body 20.

[0172] The purpose of this design is to provide a vertical displacement adjustment for the robot body by laying the third slide rail on the triangular support frame, under the action of the third power unit.

[0173] Meanwhile, the triangular support frame is designed as a right-angled triangle structure, which facilitates its position adjustment in the vertical direction. The triangle also has good stability. Thus, the design of the first position adjustment mechanism, the second position adjustment mechanism and the third position adjustment mechanism basically adopt the same scheme of adjustment seat, slide rail, slider and power unit. The overall modularity is high and it is easy to assemble quickly in the field.

[0174] This application also provides an operation method adapted to a substation lead wire splicing robot, including the following steps:

[0175] S1. Move the substation feeder cable splicing robot to the area to be dismantled and stop it;

[0176] S2. Install the lead wire and lead wire clamp on the clamping mechanism 54, and align the lead wire and lead wire clamp;

[0177] S3. The robot body 20 is raised to a specified height by the multi-directional position adjustment device, so that the second positioning mechanism 53 and the first positioning mechanism 52 are on the same plane as the T-connector 1;

[0178] S4. Install the high voltage equipotential bonding device on the robot body 20, and connect the high voltage equipotential bonding device to the live main line 2 where the T-connector 1 is located;

[0179] S5. The robot limiting device limits the robot body 20 to the live main line 2 where the T-connector 1 is located;

[0180] S6. The clamping mechanism 54 clamps the T-connector 1, aligns the lead wire clamp pin, and installs the lead wire clamp on the T-connector 1;

[0181] S7. The robot limiting device is released from the live main line 2 where the T-connector 1 is located;

[0182] S8. The high-voltage equipotential bonding device is disconnected from the live main line 2 where the T-connector 1 is located;

[0183] S9. The multi-directional position adjustment device lowers the robot body 20 to a specified height.

[0184] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A substation feeder cable splicing robot, suitable for substation feeder cable robotic arm operations, characterized in that, It includes a high-voltage equipotential bonding device, a multi-directional position adjustment device, a robot limiting device, a robot body (20), and an overlapping device; The robot limiting device is located on the top of the robot body (20) and includes a first limiting part (21) and a second limiting part (22). The first limiting part (21) and the second limiting part (22) can be placed on both sides of the T-connector (1) and limit the robot body (20) and the live main line (2). The overlapping device includes a fourth slide rail (50) and a fifth slide rail (51). The fourth slide rail (50) is located below the second limiting part (22), and a first positioning mechanism (52) is provided on the fourth slide rail (50). The fifth slide rail (51) is located below the first limiting part (21). The fifth slide rail (51) is provided with a second positioning mechanism (53) and a clamping mechanism (54). The second positioning mechanism (53) and the first positioning mechanism (52) are arranged opposite to each other for positioning the T-connector (1). The clamping mechanism (54) is used to clamp the lead wire clamp and the T-connector (1). The multi-directional position adjustment device includes a base (3), a first position adjustment mechanism, a second position adjustment mechanism, and a third position adjustment mechanism; The first position adjustment mechanism is located on the base (3) and can be adjusted in one direction on the horizontal plane; The second position adjustment mechanism is mounted on the first position adjustment mechanism and can adjust the position in another direction on the horizontal plane; The third position adjustment mechanism is located on the second position adjustment mechanism and is detachably connected to the robot body (20), and can adjust the position of the robot body (20) in the vertical direction; The high-voltage equipotential device includes a first connecting part, a second connecting part, an electric cylinder (40), and an equipotential adjustment part; The equipotential adjustment unit can abut against the charged main line (2). The equipotential adjustment unit is detachably connected to the robot body (20) through the first connection part, so that the robot body (20) enters the equipotential. The second connection part is located below the equipotential adjustment part and is connected to the side wall of the robot body (20); The electric cylinder (40) is located between the second connecting part and the equipotential adjustment part, and both ends of the electric cylinder (40) are connected to the second connecting part and the equipotential adjustment part respectively, and can provide an upward or downward force to the equipotential adjustment part.

2. The substation feeder splicing robot according to claim 1, characterized in that, The first position adjustment mechanism includes a first robot position adjustment seat (4), a first slide rail (10), a first slider (13), and a first power unit (7); The first slide rail (10) is laid on the upper surface of the base (3); The first slider (13) is disposed on the first slide rail (10) and can slide on the first slide rail (10); The first robot position adjustment seat (4) is mounted on the first slider (13); The first power unit (7) is located on one side of the base (3) and can push the first robot position adjustment seat (4) to move on the first slide rail (10); The first power unit (7) includes a first motor, a first synchronous belt and a first lead screw (16). The power output end of the first motor can drive the first lead screw (16) to rotate through the first synchronous belt. The first lead screw (16) passes through the bottom of the first robot position adjustment seat (4); The second position adjustment mechanism includes a second robot position adjustment seat (5), a second slide rail (11), a second slider (14), and a second power unit (8); The second slide rail (11) is laid on the upper surface of the first robot position adjustment seat (4); The second slider (14) is disposed on the second slide rail (11) and can slide on the second slide rail (11); The second robot position adjustment seat (5) is mounted on the second slider (14); The second power unit (8) is located on one side of the first robot position adjustment seat (4) and can push the second robot position adjustment seat (5) to move on the second slide rail (11).

3. The substation feeder splicing robot according to claim 2, characterized in that, The second power unit (8) includes a second motor, a second synchronous belt, and a second lead screw (17). The power output end of the second motor can drive the second lead screw (17) to rotate through the second synchronous belt. The second lead screw (17) passes through the bottom of the second robot position adjustment seat (5); The second robot position adjustment seat (5) is provided with a triangular support frame (6), and one side of the triangular support frame (6) is a right angle side; The third position adjustment mechanism includes a third slide rail (12), a third slider (15), and a third power unit (9). The third slide rail (12) is laid on the right-angled side surface of the triangular support frame (6); The third slider (15) is set on the third slide rail (12) and can slide on the third slide rail (12). The third slider (15) is connected to the robot body (20). The third power unit (9) is mounted on the triangular support frame (6) and can push the robot body (20) to move on the third slide rail (12); The third power unit (9) includes a third motor, a third synchronous belt and a third lead screw (18). The power output end of the third motor can drive the third lead screw (18) to rotate through the third synchronous belt. The third lead screw (18) passes through the robot body (20).

4. A substation feeder splicing robot according to claim 1, characterized in that, The first limiting part (21) and the second limiting part (22) are symmetrically arranged and each includes a limiting unit with the same structure; The limiting unit includes a limiting base (23), a driving mechanism, a transmission mechanism, and a limiting mechanism; The limiting base (23) is connected to the top of the robot body (20); The drive mechanism is mounted on the limiting base (23) and is used to provide power to the transmission mechanism; The transmission mechanism is mounted on the limiting base (23) and is used to transmit the power of the drive mechanism to the limiting mechanism; The limiting mechanism and the limiting base (23) are located on the limiting base (23) and can rotate under the action of the transmission mechanism. The limiting mechanism can clamp the live main line (2). The drive mechanism includes a drive motor (24) and a drive belt (26). The drive motor (24) is mounted on the limiting base (23); The drive belt (26) wraps around the power output end of the drive motor (24) and transmits the power of the drive motor (24) to the transmission mechanism.

5. A substation feeder splicing robot according to claim 4, characterized in that, The limiting mechanism includes a first limiting mechanism and a second limiting mechanism; The first limiting mechanism includes a first fixed block (35) and a first movable block (29). One end of the first movable block (29) is connected to the central axis of the first worm wheel (28) and can rotate with the first worm wheel (28). The first fixed block (35) is disposed on the limiting base (23) and located below the first movable block (29). The live main line (2) can pass through the first movable block (29) and the first fixed block (35). The second limiting mechanism includes a second fixed block (36) and a second movable block (32). One end of the second movable block (32) is connected to the central axis of the second worm wheel (31) and can rotate with the second worm wheel (31). The second fixed block (36) is disposed on the limiting base (23) and located below the second movable block (32), and the live main line (2) can pass through the second fixed block (36) and the second movable block (32); The first movable block (29) is provided with a first buffer pad (33), and the first buffer pad (33) faces the first fixed block (35) and can abut against the live main line (2). The second movable block (32) is provided with a second buffer pad (34), and the second buffer pad (34) faces the second fixed block (36) and can abut against the live main line (2).

6. A substation feeder splicing robot according to claim 1, characterized in that, The equipotential adjustment unit includes a first connecting frame (42), a second connecting frame (43), and a contact rod (46). One side of the first connecting frame (42) is connected to the first connecting part, the other side of the first connecting frame (42) is connected to the second connecting frame (43), and the lower part of the first connecting frame (42) is connected to the electric cylinder (40); The contact rod (46) is connected to the second connecting frame (43), and the contact rod (46) can abut against the energized main line (2); The first connecting part includes a pair of connecting rod hinge supports (41), and the pair of connecting rod hinge supports (41) are respectively disposed on both sides of the robot body (20).

7. A substation feeder splicing robot according to claim 6, characterized in that, The upper part of the first connecting frame (42) is provided with an equipotential support frame (44), and the equipotential support frame (44) is connected to the second connecting frame (43) through a tension spring (45).

8. A substation feeder splicing robot according to claim 6, characterized in that, The contact rod (46) is a square tube (4601), and both ends of the square tube (4601) are bent upward to form a bent section (47), and the energized main line (2) can contact the square tube (4601).

9. A substation feeder splicing robot according to claim 6, characterized in that, The contact rod (46) is a round tube (4602), and the two ends of the round tube (4602) are provided with circular fins (48). The diameter of the circular fins (48) is larger than the inner diameter of the round tube (4602), and the energized main line (2) can contact the round tube (4602).

10. A method for operating a substation drain line splicing robot, implemented based on the substation drain line splicing robot described in any one of claims 1 to 9, characterized in that, Includes the following steps: S1. Move the substation feeder cable splicing robot to the area to be dismantled and stop it; S2. Install the lead wire and lead wire clamp on the clamping mechanism (54) and align the lead wire and lead wire clamp; S3. The robot body (20) is raised to a specified height by a multi-directional position adjustment device, so that the second positioning mechanism (53) and the first positioning mechanism (52) are on the same plane as the T-connector (1); S4. Install the high voltage equipotential bonding device on the robot body (20), and make the high voltage equipotential bonding device abut against the live main line (2) where the T-connector (1) is located; S5. The robot limiting device limits the robot body (20) to the live main line (2) where the T-connector (1) is located; S6. The clamping mechanism (54) clamps the T-connector (1) and aligns the lead wire clamp pin, and installs the lead wire clamp on the T-connector (1); S7. The robot limiting device releases the live main line (2) where the T-connector (1) is located; S8. The high-voltage equipotential bonding device is disconnected from the live main line (2) where the T-connector (1) is located; S9. The multi-directional position adjustment device lowers the robot body (20) to a specified height.

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