A high-voltage equipotential device based on a robot arm

Abstract

The utility model relates to live working technical field, concretely is a kind of high voltage equipotential device based on mechanical arm, applicable to transmission line robot mechanical arm operation, including device ontology, wherein the device ontology includes first connecting part and equipotential regulating part etc.;Equipotential regulating part can be abutted with live main line, and equipotential regulating part is detachably connected with robot main body by first connecting part;Second connecting part is located below equipotential regulating part, and is connected with robot position adjusting seat;Electric cylinder is located between second connecting part and equipotential regulating part, and the both ends of electric cylinder are connected with second connecting part and equipotential regulating part respectively, so that it can be applicable to the robot mechanical arm operation on transmission line, and it is abutted with live main line on transmission line by equipotential regulating part, and is connected with robot main body by first connecting part, to form equipotential, form equipotential body, ensure the safety and reliability of equipment.

Description

Technical Field

[0001] This utility model relates to the field of live-line working technology, specifically a high-voltage equipotential device based on a robotic arm. Background Technology

[0002] 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 people and equipment safety, equipment or conductors need to be connected at high voltage equipotential bonding to avoid discharge accidents.

[0003] Chinese patent CN114759488A discloses a method for equipotential entry into an electric field in high-voltage transmission lines. The solution provides a lifting ring, pulley hook, and unlocking rope for workers to use. With the development of technology, robots or robotic arms are used to replace manual labor in many scenarios for live-line work. Although the work has changed from manual to mechanical equipment, the mechanical equipment also needs to be equipotentially operated. However, the current equipotential equipment or devices, which are mainly based on human beings, such as lifting rings and pulley hooks, are difficult to adapt to robotic arms or robots. Utility Model Content

[0004] The purpose of this invention is to provide a high-voltage equipotential device based on a robotic arm to address the aforementioned problems.

[0005] The technical solution adopted by this utility model is as follows: a high voltage equipotential device based on a robotic arm, suitable for operation of a robotic arm in power transmission lines, including a device body, wherein the device body includes a first connecting part, a second connecting part, an electric cylinder and an equipotential adjustment part;

[0006] 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.

[0007] The second connecting part is located below the equipotential adjustment part and is connected to the robot position adjustment seat;

[0008] The electric cylinder is located between the second connecting part and the equipotential adjustment part, and both ends of the electric cylinder 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.

[0009] Furthermore, the equipotential adjustment unit includes a first connecting frame, a second connecting frame, and a contact rod;

[0010] 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;

[0011] The contact rod is connected to the second connecting frame, and the contact rod can abut against the live main line.

[0012] Furthermore, the first connecting part includes a pair of connecting rod hinge supports, and the pair of connecting rod hinge supports are respectively disposed on both sides of the robot body.

[0013] Furthermore, the first connecting frame is composed of multiple metal connecting rods and is rectangular in shape, with an open structure on the side facing the connecting rod hinge support, and is hinged to the connecting rod hinge support;

[0014] The second connecting frame consists of multiple metal connecting rods and is rectangular in shape, and is hinged to the side of the first connecting frame away from the connecting rod hinge support.

[0015] Furthermore, the connection angle between the first connecting frame and the second connecting frame is an obtuse angle.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] The beneficial effects of this utility model include at least one of the following;

[0020] 1. A high-voltage equipotential bonding device based on a robotic arm is provided, which can be applied to the operation of a robotic arm on a power transmission line. It is connected to the live main line on the power transmission line through an equipotential adjustment part and connected to the robot body through a first connection part, thereby forming an equipotential body and ensuring the safety and reliability of the equipment.

[0021] 2. 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 device is installed, thereby avoiding the occurrence of incomplete connection.

[0022] 3. In the specific structure of the equipotential adjustment section, multiple hinges are used, which allows the angle to be adjusted within a certain range, while being stably fixed to the live main line by its own gravity.

[0023] 4. In the specific structural part of the equipotential adjustment section, a tension spring is used to strengthen the locking effect and prevent slippage and detachment. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of a high-voltage equipotential bonding device in operation.

[0025] Figure 2 A schematic diagram of the work scenario and the robotic arm;

[0026] Figure 3 This is a schematic diagram of a high-voltage equipotential bonding device based on a robotic arm.

[0027] Figure 4 This is a schematic diagram of a contact rod structure;

[0028] Figure 5 This is a schematic diagram of another contact rod structure.

[0029] In the picture:

[0030] 1 is a T-connector, 2 is a live main line, 5 is a robot position adjustment seat, 20 is the robot body, 40 is an electric cylinder, 41 is a connecting rod hinge support, 42 is the first connecting frame, 43 is the second connecting frame, 44 is an equipotential support frame, 45 is a tension spring, 46 is a contact rod, 4601 is a square tube, 4602 is a round tube, 47 is a bent section, and 48 is a circular fin. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. The components of the embodiments of this utility model described in the accompanying drawings can typically be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present 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 present invention without inventive effort are within the scope of protection of the present invention.

[0033] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0034] 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.

[0035] In the description of this utility model, 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 utility model 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 utility model 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. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0036] In the description of this utility model, 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 utility model based on the specific circumstances.

[0037] like Figure 3 As shown, a high-voltage equipotential device based on a robotic arm is suitable for operation of a robotic arm in power transmission lines. It includes a device body, wherein the device body includes a first connecting part, a second connecting part, an electric cylinder 40, and an equipotential adjustment part.

[0038] 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.

[0039] The second connecting part is located below the equipotential adjustment part and is connected to the robot position adjustment seat 5;

[0040] 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.

[0041] The purpose of this design is to provide a high-voltage equipotential bonding device based on a robotic arm, suitable for robotic arm operations on power transmission lines. It connects to the live main line of the power transmission line via an equipotential adjustment unit and is connected to the robot body via a first connection unit, thereby establishing equipotentiality and forming an equipotential body to ensure the safety and reliability of the equipment. The structure employing an electric cylinder and a second connection unit allows for adjustment of the contact position between the equipotential adjustment unit and the live main line after the equipotential bonding device is installed, thus preventing incomplete connections.

[0042] It should be pointed out that, such as Figure 1 and Figure 2 As shown, Figure 1 In a typical power transmission line operation scenario, a T-junction 1 is installed between adjacent live main lines 2. The high-voltage equipotential bonding device provided in this application is used in conjunction with the robot body to connect or dismantle the components on the T-junction 1.

[0043] like Figure 2 As shown, the high voltage equipotential bonding device provided in this application is used to remove the components on the T-connector fittings in conjunction with the robot body. In the specific operation, the position of the robot body 20 is first adjusted by the robot position adjustment seat 5 to bring it close to the T-connector fitting 1. Then, the high voltage equipotential bonding device is installed on the robot body, and the position of the equipotential adjustment part is adjusted by the second connection part and the electric cylinder so that it can provide the necessary equipotential to the robot body.

[0044] Meanwhile, in this embodiment, the equipotential adjustment unit includes a first connecting frame 42, a second connecting frame 43, and a contact rod 46;

[0045] 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;

[0046] The contact rod 46 is connected to the second connecting frame 43, and the contact rod 46 can abut against the live main line 2.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] like Figure 4 As shown, this embodiment provides a specific structure of a contact rod, wherein 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, and the energized main line 2 can contact the square tube 4601.

[0053] 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.

[0054] like Figure 5 As shown, this embodiment provides another specific structure for the contact rod, wherein the contact rod 46 is a circular tube 4602, and circular fins 48 are provided at both ends of the circular tube 4602. The diameter of the circular fins 48 is larger than the inner diameter of the circular tube 4602, and the energized main wire 2 can contact the circular tube 4602.

[0055] 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.

[0056] 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 high-voltage equipotential bonding device based on a robotic arm, suitable for robotic arm operations on power transmission lines, comprising a device body, characterized in that, The device body 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 connecting part is located below the equipotential adjustment part and is connected to the robot position adjustment seat (5); 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 high-voltage equipotential bonding device based on a robotic arm 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).

3. The high-voltage equipotential bonding device based on a robotic arm according to claim 2, characterized in that, The first connecting part includes a pair of connecting rod hinge supports (41), and the pair of connecting rod hinge supports (41) are respectively located on both sides of the robot body (20).

4. A high-voltage equipotential bonding device based on a robotic arm according to claim 3, characterized in that, The first connecting frame (42) is composed of multiple metal connecting rods and is rectangular. The side facing the connecting rod hinge support (41) is an open structure and is hinged to the connecting rod hinge support (41). The second connecting frame (43) is composed of multiple metal connecting rods and is rectangular in shape. It is hinged to the side of the first connecting frame (42) away from the connecting rod hinge support (41).

5. A high-voltage equipotential bonding device based on a robotic arm according to claim 4, characterized in that, The connection angle between the first connecting frame (42) and the second connecting frame (43) is an obtuse angle.

6. A high-voltage equipotential bonding device based on a robotic arm according to claim 4, 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).

7. A high-voltage equipotential bonding device based on a robotic arm according to any one of claims 2 to 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 live main line (2) can contact the square tube (4601).

8. A high-voltage equipotential bonding device based on a robotic arm according to any one of claims 2 to 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).

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