Operation method and connection apparatus applied to high-voltage substation

Abstract

The invention relates to the technical field of substations, in particular to an operation method and connection apparatus applied to a high-voltage substation, comprising an operation method: first entering equipotential; by means of a connection apparatus, connecting mechanical arms in a working area; by means of a remote terminal algorithm, controlling the mechanical arms to reach preset positions; by means of a distance sensor, determining the positions of the mechanical arms; when the positions are reached, performing cleaning work. One complete workflow is divided into multiple of working paths and different pose operations according to the different tools that need to be grabbed by two arms, specific path planning is carried out for any one arm of the two arms, such that operation of the other arm is not hindered while ensuring safety. By means of the present invention, manual direct contact with a charged object is avoided, and danger is avoided. The two arm collaborative operation method simulates two arms of a person, and is easy to learn. The operation process is simple, the labor intensity of workers is reduced, the operation efficiency is improved, and workers can be better protected.

Description

An operation method and connection device applied to a high-voltage substation Technical Field

[0001] The present invention relates to the technical field of transformer substations, and in particular to an operating method and a connecting device applied to a high-voltage transformer substation. Background Art

[0002] A substation refers to a place in the power system where voltage and current are transformed, electric energy is received and distributed. In a substation, a transformer is generally used to convert the high-voltage electric energy transmitted to the substation into low-voltage electric energy to supply household, industrial and commercial purposes. At the same time, the substation is also responsible for distributing, allocating and controlling electric energy to ensure the reliability and stability of the power grid. The substation in the power plant is a step-up substation, and its function is to step up the electric energy generated by the generator and feed it back to the high-voltage power grid. High-voltage lines are important channels for power transmission, and protecting the safety of power production is of great importance. However, high-voltage lines are exposed outdoors and aged by wind and rain. Dust and looseness will appear at the connection between the T-plate and the drainage plate on the line drainage line, resulting in heating failures, increased energy consumption, and danger.

[0003] The existing maintenance method for the drainage plate is that workers wear equipotential clothing and climb insulating ladders to reach the vicinity of the drainage plate, and manually polish the connection between the drainage plate and the T-plate to remove dust and stains. The operation is cumbersome and there is a certain risk for workers when working. Therefore, we designed an operation method and connection device for high-voltage substations.

[0004] Summary of the Invention

[0005] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of this application to avoid obscuring the purpose of this section, the abstract and the title of the invention, and such simplifications or omissions should not be used to limit the scope of the present invention.

[0006] In view of the above-mentioned problems or the problems existing in the prior art in cleaning stains, the present invention is proposed.

[0007] Therefore, an object of the present invention is to provide an operating method applied to a high voltage substation.

[0008] To solve the above technical problems, the present invention provides the following technical solutions: an operating method applied to a high-voltage substation, including an operating method; first entering the equipotential state; connecting a robotic arm to a working area through a connecting device; controlling the robotic arm to reach a preset position through a remote terminal algorithm; determining the position of the robotic arm through a distance sensor; and performing cleaning work after reaching the position.

[0009] As a preferred solution of the operating method of the present invention applied to a high-voltage substation, a complete workflow is divided into multiple working paths and different posture operations according to the need for the two arms to grasp different tools.

[0010] As a preferred solution of the operating method of the present invention applied to a high-voltage substation, a specific path planning is performed for any one of the two arms to determine the posture and path of the arm without interfering with the operation of the other arm under the premise of ensuring safety.

[0011] The beneficial effects of the connection device of the present invention are as follows: the present invention avoids direct manual contact with live objects, thus avoiding the occurrence of danger; the double-arm collaborative operation method imitates the two arms of a person and is very easy to use; the operation process is simplified and processed, reducing the labor intensity of workers, improving operation efficiency, and better protecting workers.

[0012] In order to solve the connection problem of the above-mentioned robotic arm, the present invention provides the following technical solution: a connecting device, which includes a connecting component, a clamping component arranged on the connecting component, and a robotic arm arranged on the clamping component.

[0013] As a preferred solution of the connecting device of the present invention, wherein: the connecting component includes an external component and a connecting component, the external component includes a rectangular plate, a side plate arranged on the rectangular plate, a side groove arranged on the side plate, and a mounting hole arranged on the rectangular plate.

[0014] As a preferred solution of the connecting device of the present invention, the connecting component includes a hole piece opened on a rectangular plate, a base arranged on the hole piece, and the base is connected to the robotic arm.

[0015] As a preferred solution of the connecting device of the present invention, wherein: the hole member includes a square hole and multiple circular holes arranged around the square hole; the base includes a circular plate, a connecting plate arranged on the circular plate, a square rod arranged at the bottom of the circular plate, and multiple circular rods arranged around the square rod; the circular hole is adapted to the round rod, and the circular holes and the round rods are distributed in a circular array.

[0016] As a preferred solution of the connecting device of the present invention, the clamping component includes a ring frame and an inner ring arranged on the rectangular plate, a rotating assembly arranged on the ring frame, an internal plate arranged on the ring frame, an arc plate and a groove arranged on the internal plate, a plane arranged on the inner ring, a connecting rod arranged on the plane, a protrusion arranged on the connecting rod, and a compression spring arranged between the protrusion and the plane.

[0017] As a preferred solution of the connecting device of the present invention, the rotating assembly includes a rod sleeve arranged on the ring frame, a rotating rod arranged on the rod sleeve, and a handle arranged on the rotating rod.

[0018] As a preferred solution of the connecting device of the present invention, wherein: a high-voltage charged equipotential device is provided in the mounting hole, which includes a placing mechanism, including a placing component, and a placing plate arranged on the top of the placing component; a force-applying mechanism, including a force-applying component arranged in the placing component, and a movable component arranged on the force-applying component; a lifting mechanism, including a starting component and an electric telescopic rod arranged in the placing component; a clamping mechanism, including a dragging component arranged on the electric telescopic rod, and a potential clamp arranged on the dragging component.

[0019] The beneficial effects of the connecting device of the present invention: the setting of the side plates and side grooves facilitates better fixing of the device in the working area, thereby better fixing the robotic arm, the setting of the hole parts facilitates better limiting of the base, the setting of the base facilitates better limiting of the robotic arm, the ring frame is located outside the inner ring, which facilitates better driving of the protrusion into the groove, thereby better fixing the robotic arm, and the cleaning brush at the end of the robotic arm facilitates better cleaning work. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0021] FIG1 is an overall schematic diagram of the connecting device.

[0022] FIG2 is a side view of the connecting device.

[0023] FIG3 is a schematic structural diagram of the connecting components of the connecting device.

[0024] FIG4 is a schematic structural diagram of the connecting component of the connecting device from another perspective.

[0025] FIG5 is a schematic structural diagram of the clamping component of the connecting device.

[0026] FIG6 is a schematic diagram of the base structure of the connecting device.

[0027] FIG7 is a side view of the third embodiment.

[0028] FIG8 is a side sectional view of the third embodiment.

[0029] FIG9 is a schematic cross-sectional view of the third embodiment.

[0030] FIG10 is a schematic cross-sectional view of another perspective of the third embodiment.

[0031] FIG11 is a schematic diagram of the starting component of the third embodiment.

[0032] FIG12 is a schematic diagram of the drag component of the third embodiment.

[0033] FIG13 is a schematic diagram of the lifting assembly of the third embodiment.

[0034] FIG14 is a schematic diagram of the movable parts of the third embodiment.

[0035] FIG15 is a schematic diagram of the extrusion assembly of the third embodiment.

[0036] FIG16 is a schematic diagram of a trigger component of the third embodiment. DETAILED DESCRIPTION

[0037] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0038] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0039] Secondly, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive of other embodiments.

[0040] Example 1, with reference to Figures 1 to 4, is the first embodiment of the present invention. This embodiment provides an operating method applied to a high-voltage substation, including an operating method; first, entering the equipotential; connecting the robotic arm to the working area through the connecting device M; controlling the robotic arm to reach a preset position through the remote terminal algorithm; determining the position of the robotic arm through the distance sensor; and performing cleaning work after reaching the position. A complete workflow is divided into multiple working paths and different posture operations according to the need for the two arms to grasp different tools. A specific path planning is performed for any one of the two arms to ensure safety without interfering with the operation of other arms, and the posture and path of the arm are determined.

[0041] Specifically, after determining the working posture and path of the two arms, each grabs the tool and determines the posture and path of the two arms again to ensure a safe and reliable operation path. Based on the determined working path, the posture and path of the two arms are determined in sequence to achieve collaborative operation of the two arms.

[0042] Dual robotic arms replace manual labor, preventing direct contact with wires and potentially dangerous situations. Dual-arm operation is simple, significantly reduces the number of workers required, and significantly improves work efficiency.

[0043] By imitating human arms, two collaborative robots work together and use corresponding collision detection algorithms and visual recognition algorithms to complete live operations. A cleaning brush is provided at the end of the robotic arm.

[0044] Embodiment 2, referring to Figures 1 to 6, is a second embodiment of the present invention. Unlike the previous embodiment, the connecting device M includes a connecting component 501, a clamping component 502 disposed on the connecting component 501, and a robotic arm disposed on the clamping component 502. The connecting component 501 includes a peripheral assembly 501a and a connecting component 501b. The peripheral assembly 501a includes a rectangular plate 501a-1, a side plate 501a-2 disposed on the rectangular plate 501a-1, a side groove 501a-3 disposed on the side plate 501a-2, and a mounting hole 501a-4 disposed on the rectangular plate 501a-1. The connecting component 501b includes a hole 501b-1 formed on the rectangular plate 501a-1, a base 501b-2 disposed on the hole 501b-1, and the base 501b-2 is connected to the robotic arm.

[0045] Specifically, the cross-section of the side groove 501a-3 is rectangular, and the side groove 501a-3 is located on one side of the side panel 501a-2. The cross-section of the side panel 501a-2 is rectangular. The setting of the side panel 501a-2 and the side groove 501a-3 facilitates better fixing of the device in the working area, thereby better fixing the robotic arm. The setting of the hole piece 501b-1 facilitates better limiting of the base 501b-2, and the setting of the base 501b-2 facilitates better limiting of the robotic arm.

[0046] The hole member 501b-1 includes a square hole 501b-1a and multiple circular holes 501b-1b arranged around the square hole 501b-1a; the base 501b-2 includes a circular plate 501b-2a, a connecting plate 501b-2b arranged on the circular plate 501b-2a, a square rod 501b-2c arranged at the bottom of the circular plate 501b-2a, the square rod 501b-2c is located in the square hole 501b-1a, the round rod 501b-2d is located in the circular hole 501b-1b, and multiple round rods 501b-2d are arranged around the square rod 501b-2c; the circular hole 501b-1b is adapted to the round rod 501b-2d, and the circular hole 501b-1b and the round rod 501b-2d are distributed in a circular array. The clamping member 502 includes a ring frame 502a and an inner ring 502b provided on the rectangular plate 501a-1, the inner ring 502b is fixedly connected to the rectangular plate 501a-1, the ring frame 502a is rotatably connected to the rectangular plate 501a-1, a rotating assembly 502c provided on the ring frame 502a, and a built-in plate 502d provided on the ring frame 502a. The setting of the built-in plate 502d facilitates better fixing of the base 501b-2. The curved plate 502e and groove 502f on plate 502d facilitate better positioning of base 501b-2, thereby better securing the robotic arm. Also included are a flat surface 502g on inner ring 502b, a connecting rod 502h on flat surface 502g, a bump 502i on connecting rod 502h, and a compression spring 502j between bump 502i and flat surface 502g. Rotating assembly 502c includes a rod sleeve 502c-1 on ring frame 502a, a rotating rod 502c-2 on rod sleeve 502c-1, and a handle 502c-3 on rotating rod 502c-2. The handle 502c-3 facilitates better movement of rotating rod 502c-2.

[0047] Furthermore, the protrusion 502i is adapted to the groove 502f. The protrusion 502i is made of stainless steel. The cross section of the rotating rod 502c-2 is circular. The setting of the rotating rod 502c-2 facilitates better driving the ring frame 502a to rotate. The connecting rod 502h is slidably connected to the ring frame 502a.

[0048] The rest of the structure is the same as that of Example 1.

[0049] When in use, place the base 501b-2 in the inner ring 502b, insert the square rod 501b-2c and the round rod 501b-2d into the corresponding square hole 501b-1a and the round hole 501b-1b, hold the handle 502c-3, insert the rotating rod 502c-2 into the rod sleeve 502c-1, rotate the handle 502c-3 and the rotating rod 502c-2, thereby driving the rod sleeve 502c-1 and the ring frame 502a to rotate. As the ring frame 502a rotates, the arc surface drives the protrusion 502i into the groove 502f. At this time, the connecting rod 502h is located above the base 501b-2, thereby limiting the base 501b-2, thereby fixing the robotic arm, and completing the installation work.

[0050] Example 3, referring to Figures 1 to 16, is the third embodiment of the present invention. Different from the previous embodiment, a high-voltage live equipotential device is provided in the mounting hole, and the high-voltage live equipotential device includes a placement mechanism 100, which includes a placement component 101 and a placement plate 102 arranged on the top of the placement component 101; a force-applying mechanism 200, including a force-applying component 201 arranged in the placement component 101, and a movable component 202 arranged on the force-applying component 201; a lifting mechanism 300, including a starting component 301 and an electric telescopic rod 302 arranged in the placement component 101; a clamping mechanism 400, including a dragging component 401 arranged on the electric telescopic rod 302, and a potential clamp 402 arranged on the dragging component 401.

[0051] Specifically, the setting of the placement component 101 can effectively place the lifting mechanism 300 and the force-applying mechanism 200, so as to better limit them. The lifting mechanism 300 is fixedly connected to the placement component 101, and the force-applying mechanism 200 is fixedly connected to the placement component 101. The setting of the movable component 202 is convenient for better driving the movement of the components connected thereto, and convenient for better driving the clamping mechanism 400 to operate, so as to achieve an effective fixing effect. The setting of the electric telescopic rod 302 is convenient for better driving the placement plate 102 and the dragging component 401 to rise and fall, so as to achieve better connection work. The potential clamp 402 is located at the top center of the placement plate 102. The placement box 101a, placement tube 101b and placement plate 102 in the placement mechanism 100 are all made of rubber.

[0052] The placement component 101 includes a placement box 101a, a placement tube 101b arranged on the placement box 101a, the placement box 101a and the placement tube 101b are fixedly connected, the cross-section of the placement tube 101b is circular, and the two ends of the placement tube 101b pass through the placement box 101a and the placement tube 101b respectively, the placement plate 102 is connected to the placement tube 101b, and the placement tube 101b is fixedly connected to the placement box 101a and the placement plate 102 respectively. The force-applying component 201 includes a motor 201a disposed inside the placement box 101a. The motor 201a and the electric telescopic rod 302 are electrically connected to an external power supply. A rotating cover 201b is disposed on the motor 201a. The cross section of the rotating cover 201b is circular. The wall thickness of the rotating cover 201b is not less than one millimeter. The top of the inner wall of the rotating cover 201b is fixedly connected to the force-applying end of the motor 201a. The movable component 202 includes a shaft plate 202a disposed on the rotating cover 201b. The shaft plate 202a is fixedly connected to the rotating cover 201b and is disposed on the shaft. The shaft member 202b on the plate 202a is adapted to the shaft plate 202a, and the ring body 202c is arranged on the shaft member 202b. The shaft member 202b includes a shaft sleeve 202b-1, a positioning groove 202b-2 arranged inside the shaft sleeve 202b-1, and an anti-slip groove 202b-3 arranged on the positioning groove 202b-2. The cross-section of the positioning groove 202b-2 is circular, and the cross-section of the anti-slip groove 202b-3 is rectangular. The inner walls of the positioning groove 202b-2 and the anti-slip groove 202b-3 are both in contact with the outer wall of the shaft plate 202a.

[0053] Furthermore, the shaft plate 202a and the shaft member 202b are connected by sliding up and down and fit together. The shaft plate 202a can effectively drive the shaft member 202b to rotate. The setting of the rotating cover 201b facilitates better transmission of the force of the motor 201a to the shaft plate 202a and the lifting mechanism 300, thereby completing the functions of lifting and dragging. A torsion spring is provided inside the potential clamp 402.

[0054] When in use, the device is fixed at the position to be tested and adjacent to the potential clamp 402 via an external wiring, which is connected to an external test device. The force-applying component 201 in the force-applying mechanism 200 rotates while driving the movable component 202 to rotate. When the force-applying component 201 rotates clockwise, the force-applying component 201 drives the starting component 301 in the lifting mechanism 300 to start. The starting component 301 starts and drives the electric telescopic rod 302 to move. At the same time, the force-applying component 201 drives the movable component 202 to rotate. The clockwise rotation of the movable component 202 cannot drive the dragging component 401 to move, resulting in idling.

[0055] When the force-applying component 201 rotates counterclockwise, the squeezing component 301a and the trigger component 301b in the starting component 301 cannot reach the starting condition, thus idling. At the same time, the movable component 202 rotates counterclockwise, and the movable component 202 drives the dragging component 401 to move. The dragging component 401 drives the potential clamp 402 to open, thereby completing the opening work. The movable component 202 continues to rotate. After the potential clamp 402 opens to the limit, the force applied by the dragging component 401 to the potential clamp 402 ends, and the potential clamp 402 returns to its original position, thereby completing the clamping work.

[0056] The electric telescopic rod 302 first drives the potential clamp 402 to be located at the bottom of the wire, and makes the potential clamp 402 lift the wire. When the potential clamp 402 opens, the wire automatically enters the potential clamp 402 and the potential clamp 402 can be closed.

[0057] In summary, different effects are achieved according to the different directions of the force-applying component 201. The force applied by the dragging component 401 on the potential clamp 402 first causes the potential clamp 402 to open. After the opening is completed, the force is continued to be applied. The protective device of the internal components of the dragging component 401 takes effect to prevent it from applying excessive force and damaging the potential clamp 402. At the same time, the force is canceled, and the torsion spring inside the potential clamp 402 drives the potential clamp 402 to reset.

[0058] The lifting mechanism 300 and the starting component 301 include a pressing component 301a provided on the rotating cover 201b and a trigger component 301b provided on the placement box 101a.

[0059] Specifically, the provision of the trigger component 301 b facilitates better control of the raising and lowering of the electric telescopic rod 302 , and the squeezing component 301 a and the trigger component 301 b in the starting component 301 cooperate with each other.

[0060] The extrusion assembly 301a includes an extrusion box 301a-1 arranged on the rotating cover 201b, a first spring 301a-2 arranged on the extrusion box 301a-1, and a movable part 301a-3 arranged on the first spring 301a-2. The trigger assembly 301b includes a trigger slot 301b-1 and a positioning block 301b-2 arranged on the placement box 101a, a lifting switch 301b-3 arranged on the trigger slot 301b-1, a clockwork spring 301b-4 arranged on the positioning block 301b-2, and a trigger part 301b-5 arranged on the clockwork spring 301b-4. The clockwork spring 301b-4 is fixedly connected to the trigger part 301b-5, and the clockwork spring 301b-4 is fixedly connected to the positioning block 301b-2.

[0061] Furthermore, the cross-section of the squeezing box 301a-1 is rectangular, the inner wall of the squeezing box 301a-1 is fixedly connected to the first spring 301a-2, the first spring 301a-2 is fixedly connected to the movable part 301a-3, the cross-section of the trigger slot 301b-1 is arc-shaped, the cross-section of the positioning block 301b-2 is circular, the positioning block 301b-2 is fixedly connected to the placement box 101a, the lifting switch 301b-3 is electrically connected to the electric telescopic rod 302, and the lifting switch 301b-3 controls the lifting and lowering of the electric telescopic rod 302. When the lifting switch 301b-3 is squeezed for the first time, the electric telescopic rod 302 extends to its longest state, and when squeezed for the second time, the electric telescopic rod 302 contracts to its shortest state.

[0062] The movable part 301a-3 includes a plate body 301a-3a, the cross-section of the plate body 301a-3a is rectangular, a groove body 301a-3b is arranged on the plate body 301a-3a, and an arc groove 301a-3c is arranged on the plate body 301a-3a. The trigger part 301b-5 includes a trigger box 301b-5a arranged on the trigger groove 301b-1, the cross-section of the trigger box 301b-5a is rectangular, a trigger spring 301b-5b is arranged on the trigger box 301b-5a, and a trigger plate 301b-5c is arranged on the trigger spring 301b-5b. The two ends of the trigger spring 301b-5b are respectively fixedly connected to the trigger plate 301b-5c and the trigger box 301b-5a, and a trigger surface 301b-5d is arranged on the trigger plate 301b-5c.

[0063] Among them, the arc groove 301a-3c is adapted to the trigger surface 301b-5d. When the arc groove 301a-3c contacts the trigger surface 301b-5d, the trigger box 301b-5a is slidably connected to the trigger groove 301b-1. The cross-section of the trigger groove 301b-1 is arc-shaped. The setting of the trigger spring 301b-5b facilitates better driving the trigger plate 301b-5c to reset. The cross-section of the trigger plate 301b-5c is "T"-shaped.

[0064] When in use, first the extrusion assembly 301a is connected to the force-applying component 201, and the force-applying component 201 drives the extrusion assembly 301a to operate;

[0065] When the extrusion assembly 301a rotates clockwise, the trigger component 301b-5 contacts the lifting switch 301b-3, thereby completing the function of starting the electric telescopic rod 302. After starting, the force-applying component 201 will continue to operate, and the force-applying component 201 forces the arc groove 301a-3c in the extrusion assembly 301a to contact the trigger surface 301b-5d. When the arc groove 301a-3c first contacts the trigger surface 301b-5d, the arc groove 301a-3c is pressed against the trigger surface 301b-5d. 01a-3c drives the trigger surface 301b-5d to move. When the trigger surface 301b-5d is stationary, the arc groove 301a-3c transmits the repulsive force to the first spring 301a-2, forcing the first spring 301a-2 to contract. As a result, the arc groove 301a-3c and the trigger surface 301b-5d intersect, completing the activation of the electric telescopic rod 302. At the same time, the clockwork spring 301b-4 drives the trigger member 301b-5 to reset.

[0066] When rotating counterclockwise, the characteristics of the plate 301a-3a will directly force the first spring 301a-2 to contract under the pressure of the trigger 301b-5, thereby causing idling to avoid damage to the trigger 301b-5 and the plate 301a-3a.

[0067] In summary, the trigger component 301b and the extrusion component 301a in the starting component 301 cooperate with each other to control the lifting and lowering of the electric telescopic rod 302, and further control the height of the potential clamp 402, so as to better perform the work. The plate 301a-3a with an arc-shaped end can effectively drive the extrusion component 301a to idle.

[0068] The clamping mechanism 400 and the dragging component 401 include a lifting component 401a provided on the electric telescopic rod 302 and a dragging component 401b provided on the ring body 202c.

[0069] Specifically, the setting of the electric telescopic rod 302 facilitates better driving the drag component to rise and fall. The telescopic end of the electric telescopic rod 302 is fixedly connected to the drag component, which can effectively drive the drag component to move without affecting the operation of the drag component 401b.

[0070] The lifting assembly 401a includes a lifting plate 401a-1 provided on the electric telescopic rod 302, a dragging groove 401a-2 provided on the lifting plate 401a-1, a dragging base plate 401a-3 provided on the lifting plate 401a-1 at one side of the dragging groove 401a-2, a second spring 401a-4 provided on the dragging base plate 401a-3, a movable drag plate 401a-5 provided on the second spring 401a-4, and a movable drag plate 401a-5 provided on the movable drag plate 401a-5. An arc bar 401a-6, an arc surface 401a-7 arranged on the arc bar 401a-6, a movable block 401a-8 arranged on the movable drag plate 401a-5, a drag lever 401a-9 arranged on one side of the movable block 401a-8, the movable block 401a-8 is slidingly connected to the drag groove 401a-2, the cross-section of the drag groove 401a-2 is arc-shaped, and the two ends of the movable block 401a-8 are fixedly connected to the drag lever 401a-9 and the movable drag plate 401a-5 respectively.

[0071] Furthermore, the setting of the lifting plate 401a-1 facilitates better fixing of the components located thereon and can effectively drive the components to rise and fall. The dragging groove 401a-2 is a through groove, and there are two dragging grooves 401a-2. The cross section of the dragging base plate 401a-3 is rectangular. The dragging base plate 401a-3 is adapted to the movable drag plate 401a-5. The dragging base plate 401a-3 and the movable drag plate 401a-5 are both fixedly connected to the second spring 401a-4. Then, the movable drag plate 401a-5 is slidingly connected to the drag groove 401a-2, and the movable drag plate 401a-5 is fixedly connected to the arc bar 401a-6. The cross-section of the arc bar 401a-6 is arc-shaped. The arc bar 401a-6 is located on the side of the second spring 401a-4 away from the drag groove 401a-2. The cross-section of the lifting plate 401a-1 is annular. The setting of the movable block 401a-8 facilitates better connection of the drag lever 401a-9 with the movable support plate.

[0072] The dragging and rotating assembly 401b includes an annular groove 401b-1 provided on the ring body 202c, a ring block 401b-2 provided on the annular groove 401b-1, a dragging and rotating member 401b-3 provided on the ring block 401b-2, and a blocking rod 401b-4 provided on the annular groove 401b-1. The dragging and rotating member 401b-3 includes a dragging and rotating plate 401b-3a, a curved groove 401b-3b provided on the dragging and rotating plate 401b-3a, and a disengagement groove 401b-3c provided on one side of the dragging and rotating plate 401b-3a. The potential clamp 402 includes a clamp body 402a arranged on the placement plate 102, an open rope 402b arranged on both sides of the clamp body 402a, and a rope block 402c arranged on the open rope 402b. The rope block 402c is connected to the placement box 101a. The towing plate 401b-3a is made of spring steel, so that it can be deformed when encountering excessive pressure while applying force to avoid damage.

[0073] The height of the annular groove 401b-1 is not less than five millimeters, the annular groove 401b-1 is in contact with the blocking rod 401b-4, the cross section of the ring block 401b-2 is circular, the ring block 401b-2 is connected to the annular groove 401b-1 through the spring 301b-4, and the ring block 401b-2 can rotate on the annular groove 401b-1. If there is no force after rotation, it can be reset under the limiting action of the spring 301b-4. The blocking rod 401b-2 is in contact with the ring block 401b-1. The setting of 1b-4 facilitates better limiting the towing and rotating plate 401b-3a, and facilitates better supporting the towing and rotating plate 401b-3a. The setting of the bending groove 401b-3b can play a protective role when the towing and rotating plate 401b-3a is subjected to excessive pressure. The towing and rotating plate 401b-3a is most likely to deform at the position of the bending groove 401b-3b after being subjected to force. When the towing and rotating plate 401b-3a is subjected to excessive force, it will deform, thereby preventing it from being injured.

[0074] When in use, the dragging and rotating assembly 401b drives the shaft 202b to rotate, and the rotation of the shaft 202b drives the dragging and rotating member 401b-3 to rotate;

[0075] When the drag assembly 401b rotates clockwise, the dragging member 401b-3 is offset by the limit of the arc bar 401a-6 until it fits against the inner wall of the arc bar 401a-6. When it is released from the arc bar 401a-6, the torsion spring at the bottom of the ring block 401b-2 drives the dragging member 401b-3 to return to its original position. This cycle repeats, resulting in idling, which in turn causes the dragging component 401 to idling.

[0076] When the drag assembly 401b rotates counterclockwise, the drag plate 401b-3a in the drag member 401b-3 rotates, and the drag plate 401b-3a contacts the blocking rod 401b-4, so that the drag plate 401b-3a obtains an effective pulling force, and the drag plate 401b-3a contacts the arc bar 401a-6 during the rotation process, thereby driving the arc bar 401a-6 to move, and the arc bar 401a-6 drives the movable support plate, the movable block 401a-8 and the drag lever 401a-9 to move, and the drag lever 401a-9 drives the opening rope 402b to bend during the movement, so that the opening rope 402b drives the clamp The body 402a opens, and the tow plate 401b-3a continues to rotate. When the movable block 401a-8 reaches the end of the drag slot 401a-2, the movable block 401a-8 and the arc bar 401a-6 are limited, and the tow plate 401b-3a bends under the limiting action of the arc bar 401a-6. The bending slot 401b-3b plays a bending protection role. The bent tow plate 401b-3a can slide through the inside of the arc bar 401a-6. At the same time, the second spring 401a-4 is reset. When the drag lever 401a-9 is separated from the opening rope 402b, the clamp body 402a is reset, thereby clamping the rope body.

[0077] In summary, the setting of the rope block 402c can effectively limit the opening rope 402b. When the electric telescopic rod 302 drives the potential clamp 402 to rise to the limit, the force exerted by the opening rope 402b on the clamp body 402a is zero. When the electric telescopic rod 302 is retracted to the limit, the opening rope 402b is relaxed. Because the drag lever 401a-9 is long, no matter what state the opening rope 402b is in, the clamp body 402a can be driven to open after the drag lever 401a-9 is moved. When the electric telescopic rod 302 is at the contraction limit, the opening degree of the clamp body 402a still has the effect of placing the wire body, reducing but not affecting the clamping effect. The opening rope 402b is made of rubber.

[0078] It is important to note that the construction and arrangement of the present application shown in a number of different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, directional changes, etc.) without departing substantially from the novel teachings and advantages of the subject matter described in this application. For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of the element may be inverted or otherwise changed, and the nature or number or position of the discrete elements may be altered or changed. Therefore, all such modifications are intended to be included within the scope of the present invention. The order or sequence of any process or method steps may be changed or reordered according to alternative embodiments. In the claims, any "means plus function" clause is intended to cover the structure described herein that performs the function, and is not only structurally equivalent but also equivalent structures. Other replacements, modifications, changes, and omissions may be made in the design, operating conditions, and arrangement of the exemplary embodiments without departing from the scope of the present invention. Therefore, the invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0079] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (i.e., those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0080] It will be appreciated that in the development of any actual embodiment, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will, for those of ordinary skill having the benefit of this disclosure, be a routine undertaking of design, fabrication, and production without undue experimentation.

[0081] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention 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 invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An operating method applied to a high voltage substation, characterized in that: Including working methods; First enter the equipotential; Connect the robot arm to the working area via a connecting device (M); Control the robot arm to reach the preset position through the remote terminal algorithm; Determine the position of the robotic arm through distance sensors; After reaching the location, clean up.

2. The operating method applied to a high voltage substation according to claim 1, characterized in that: A complete workflow is divided into multiple working paths and different posture operations according to the needs of the dual arms to grasp different tools.

3. The operation method applied to a high voltage substation according to claim 2, characterized in that: Make specific path planning for any one of the two arms, ensure safety without interfering with the operation of other arms, and determine the position and path of the arm.

4. A connecting device, characterized in that: comprising the connecting device (M) according to claim 1, It comprises a connecting component (501), a clamping component (502) arranged on the connecting component (501), and a mechanical arm arranged on the clamping component (502).

5. The connection device according to claim 4, characterized in that: The connecting component (501) includes a peripheral component (501a) and a connecting component (501b), wherein the peripheral component (501a) includes a rectangular plate (501a-1), a side plate (501a-2) arranged on the rectangular plate (501a-1), a side groove (501a-3) arranged on the side plate (501a-2), and a mounting hole (501a-4) arranged on the rectangular plate (501a-1).

6. The connection device according to claim 5, characterized in that: The connection assembly (501b) comprises a hole member (501b-1) opened on a rectangular plate (501a-1), and a base (501b-2) arranged on the hole member (501b-1); Wherein, the base (501b-2) is connected to the robotic arm.

7. The connection device according to claim 6, characterized in that: The hole member (501b-1) comprises a square hole (501b-1a) and a plurality of circular holes (501b-1b) arranged on the periphery of the square hole (501b-1a); The base (501b-2) comprises a circular plate (501b-2a), a connecting plate (501b-2b) arranged on the circular plate (501b-2a), a square rod (501b-2c) arranged at the bottom of the circular plate (501b-2a), and a plurality of circular rods (501b-2d) arranged on the circumference of the square rod (501b-2c); The circular holes (501b-1b) are matched with the round rods (501b-2d), and the circular holes (501b-1b) and the round rods (501b-2d) are distributed in a ring array.

8. The connecting device according to claim 6 or 7, characterized in that: The clamping component (502) comprises a ring frame (502a) and an inner ring (502b) arranged on the rectangular plate (501a-1), a rotating assembly (502c) arranged on the ring frame (502a), an inner plate (502d) arranged on the ring frame (502a), an arc plate (502e) and a groove (502f) arranged on the inner plate (502d), a plane (502g) arranged on the inner ring (502b), a connecting rod (502h) arranged on the plane (502g), a convex block (502i) arranged on the connecting rod (502h), and a compression spring (502j) arranged between the convex block (502i) and the plane (502g).

9. The connection device according to claim 8, characterized in that: The rotating assembly (502c) comprises a rod sleeve (502c-1) arranged on the ring frame (502a), a rotating rod (502c-2) arranged on the rod sleeve (502c-1), and a handle (502c-3) arranged on the rotating rod (502c-2).

10. The connection device according to claim 9, characterized in that: A high-voltage charged equipotential device is provided in the mounting hole (501a-4), comprising a placement mechanism (100), comprising a placement component (101), and a placement plate (102) arranged on the top of the placement component (101); a force-applying mechanism (200), comprising a force-applying component (201) arranged in the placement component (101), and a movable component (202) arranged on the force-applying component (201); a lifting mechanism (300), comprising a starting component (301) and an electric telescopic rod (302) arranged in the placement component (101); and a clamping mechanism (400), comprising a dragging component (401) arranged on the electric telescopic rod (302), and a potential clamp (402) arranged on the dragging component (401).

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