CN104966157A - Remote control maintenance method and device based on human factor simulation analysis - Google Patents
Remote control maintenance method and device based on human factor simulation analysis Download PDFInfo
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Abstract
The invention relates to a remote control maintenance method and device in a hot cell, especially a remote control maintenance method and device based on human factor simulation analysis in a mode of human factor simulation movement analysis and optimization maintenance. The method comprises the steps: 1) building a remote control maintenance device through Catia three-dimensional modeling software, and constructing a virtual three-dimensional remote control maintenance operation environment; 2) building a virtual human and simulation movement thereof; 3) setting an index inspection value interval of each index evaluation system as [0, 1], and setting the limits of the interval; 4) obtaining the value intervals of all indexes; 5) comprehensively evaluating the whole index of remote control maintenance according to interval vectors of all index factors and the evaluation indexes; 6) comprehensively improving a weak index in a process of maintenance operation. The method and device effectively prevent and control problems, demanding a prompt solution, of remote control maintenance, optimize the operation of remote control maintenance, improve the reliability and safety of the remote control maintenance, and improve the work efficiency and operation precision.
Description
Technical field
The present invention relates to the remote maintaining method under the environment of a kind of hot cell and device thereof, espespecially a kind of by people because of simulating sports analysis and Optimal Maintenance mode a kind of based on people because of the remote maintaining method of simulation analysis and attending device thereof.
Background technology
The nuclear science devices such as nuclear power station, study of high energy physics device generally have large-scale, at a high speed, strong to carry, running and baroque feature continuously, particularly device internal equipment itself or its running environment have radioactivity, consider the impact in irradiation damage core component life-span, the probability that its nucleus equipment breaks down is inevitable to be improved greatly; If the key equipment of equipment or component malfunction, the result of gently then impact equipment experiment and cause the non-programmed halt of device, heavy then cause serious nuclear pollution and nuclear accident, cause huge loss; Therefore built and at the nuclear science institute equipment of founding a capital plant maintenance made the key link of its operational management, by carrying out strict monitoring and maintenance to equipment, Timeliness coverage also changes aging, faulty equipment and parts, and the process such as decontamination and dismounting is carried out, to guarantee the operation that equipment is normal, safe to discarded equipment and parts; Consider the singularity safeguarding environment, the radiation component maintenance work of nuclear science equipment needs emphasis to consider following factor: the reliability of the security of maintenance work, the feasibility of maintenance work, maintenance work, manual operation task is thus heavy, bad environments, easily cause human error, serious accident may be caused.
The maintenance task of nuclear science equipment is not suitable for being in the action by people operating, need to consider that development machines people or automation equipment are carried out assist support personnel and finished the work, but because the support technologies such as control, sensor, artificial intelligence are also comprehensively unripe, particularly consider the requirement of maintenance task reliability, full autonomous robot can't meet the demand that nuclear energy equipment is safeguarded well; For this reason, nuclear science equipment adopts the mode of people's straighforward operation to safeguard usually, remote maintaining is that plant maintenance personnel are in the safety zone away from the scene of safeguarding, by obtaining on-the-spot various heat transfer agent, by adopting mechanical arm (people) or special equipment to carry out in the inside of nuclear energy equipment to carry out overhaul of the equipments and daily monitoring and the maintenance work such as peace is unloaded, radioactive-waste disposal, reduce staff's radioactive dose and labour intensity, improve the level of plant maintenance.
Based on nuclear science device, there is system composition complicated, technical sophistication, the features such as complicate fabrication process, especially when safeguarding, parts assembling and disassembling section complexity, maintenance time is long, and it is various to contain large amount of complex, the domain knowledge of flexible form, very high to the requirement of maintainer, therefore, the present invention is intended to for the actual remote maintaining demand of CSNS, set up the remote maintaining emulation platform based on virtual reality hot cell, to the slowing-down device & reflecting body plug-in unit in target body system, the remote maintaining process of target body plug-in unit carries out simulated environment planning, and contrasted by the program results of emulation platform and the artificial program results of hot cell remote maintaining equipment test stand, the correctness of assessment checking achievement in research, thus optimize the maintenance work of nuclear energy equipment remote control.
Summary of the invention
For solving the problem, the present invention is intended to remote maintaining method under open a kind of hot cell environment and device thereof, espespecially a kind of by people because of simulating sports analysis and Optimal Maintenance mode a kind of based on people because of the remote maintaining method of simulation analysis and attending device thereof.
For achieving the above object, the technical solution used in the present invention is: a kind of based on the remote maintaining method of people because of simulation analysis, it is characterized in that: described maintaining method comprises the following steps:
1) set up remote maintaining device by Catia 3 d modeling software, build virtual three-dimensional remote maintaining operating environment;
2) in virtual three-dimensional remote maintaining operating environment, set up visual human, set up the simulating sports of visual human in three-dimensional remote maintaining operating environment, by the quantification of targets value of the vision accessibility of simulating sports analysis and evaluation visual human, operation accessibility, physical injury, radiation injury, fatigue strength, human-equation error probability and psychological cognition simultaneously;
3) set the index investigation value of indices appraisement system interval as [0,1], adopt interval vector to represent the quantized value of evaluation index; Then set up the quantitative criteria of indices, define according between quantitative criteria setting area;
4) interval of indices is obtained:
Adopt Catia Software on Drawing to go out the radiation areas of the visual range of visual human, opereating specification and operating environment, obtain the quantification interval of vision accessibility, operation accessibility and radiation injury;
By the extruding contact stress of analyzing virtual people and remote maintaining device, obtain the quantification interval of physical injury;
Adopt the comfortableness of RULA analytic approach assessment virtual human simulation operation, obtain the quantification interval of fatigue strength;
Adopt the correctness of successful likelihood index method and the operation of analytical hierarchy process assessment virtual human simulation, obtain the quantification interval of human-equation error probability;
The quantification interval of psychological cognition is obtained from the actual mental emotion of operator;
5) according to the global index of each index factor interval vector and evaluation index comprehensive evaluation remote maintaining, the binary interval number vector sum weight sector vector of each index of COMPREHENSIVE CALCULATING, obtains the assessment of global index;
6) the weakness index in attended operation process is comprehensively improved, to improve the operating efficiency of three-dimensional remote maintaining.
Described virtual people is the manikin of 50 hundredths, visual human height 1704.5mm, brachium 722.261mm.
The interval of described step 3) is defined as five grade intervals, is respectively interval [0,0.2], [0.3,0.4], [0.5,0.6], [0.7,0.8], [0.9,1], grade is represented respectively: non-constant, difference, general, good, very good.
A kind of for based on people because of simulation analysis remote maintaining method based on the remote maintaining device of people because of simulation analysis, described attending device mainly comprises target platform frame and remote maintaining frock tool, it is characterized in that, described target platform frame is primarily of main backstop, stand platform, stair, XYZ crane and fence composition, main backstop is arranged on the support forming fixed rack platform below stand platform, described fence is vertically centered around the flat edge of table of stand, fence surrounding is provided with the baffle plate upwards extended from stand platform, described stair are arranged on main backstop side and lead to the upper surface of stand platform, in the middle part of described stand platform, stand jacking gear is installed, described XYZ crane is movably arranged on stand jacking gear top.
The overall dimensions of described remote maintaining device is: reach 5.0-5.5 rice, widely reaches 5.0-5.5 rice, up to 6.3-6.8 rice.
The middle part that stand jacking gear installed by described stand platform offers dead slot, and the bottom of dead slot and stand jacking gear is mutually through, the inner side of formation stand jacking gear with in the middle part of stand platform, main backstop in the vertical direction communicates.
Described stand jacking gear with in the middle part of stand platform, the place of communicating of main backstop is the activity space of remote maintaining frock tool.
Beneficial effect of the present invention is embodied in: the present invention is realized from people because analyzing the feasibility of practical operation problem by virtual human simulation operation, the people that likely occurs is found out because of problem in virtual emulation operating process, thus analyze and solve people because of problem, implement the improvement of mode of operation, with this effective prevention and corntrol remote maintaining problem demanding prompt solution, and optimize the working method of remote maintaining and optimize the factor index of participation work, make the reliability of remote maintaining, security raising, increase work efficiency and manipulation accuracy simultaneously; To be one be remote maintaining with the complex human-machine system of artificial main, man-machine one, the performance of human factor to system plays an important role, the present invention sets up the realistic model be made up of visual human and virtual environment by three-dimensional software, and set up evaluation index, and index is analysed item by item, realize from the quality of people because of angle estimator straighforward operation scheme.
Accompanying drawing explanation
Fig. 1 is the workflow diagram of remote maintaining method of the present invention.
Fig. 2 is the analysis process figure of the present invention's success likelihood index method binding hierarchy analytic approach.
Fig. 3 is the structural representation of remote maintaining device of the present invention.
Accompanying drawing mark illustrates: 1-main backstop, 2-stand platform, 3-stair, 4-XYZ crane, 5-fence, 6-baffle plate, 7-stand jacking gear, 8-pillar, 9-crossbeam.
Embodiment
The specific embodiment of the present invention is described in detail below in conjunction with accompanying drawing:
Based on the remote maintaining method of people because of simulation analysis, described maintaining method comprises the following steps:
1) set up remote maintaining device by Catia 3 d modeling software, build virtual three-dimensional remote maintaining operating environment, the virtual three-dimensional remote maintaining operating environment set up and the dimension scale of actual operating condition are 1:1;
2) in virtual three-dimensional remote maintaining operating environment, set up visual human, described virtual people is the manikin of 50 hundredths, visual human height 1704.5mm, brachium 722.261mm; Set up the simulating sports of visual human in three-dimensional remote maintaining operating environment, by the quantification of targets value of the vision accessibility of simulating sports analysis and evaluation visual human, operation accessibility, physical injury, radiation injury, fatigue strength, human-equation error probability and psychological cognition simultaneously;
3) set the index investigation value of indices appraisement system interval as [0,1], adopt interval vector to represent the quantized value of evaluation index; Then set up the quantitative criteria of indices, define according between quantitative criteria setting area; Interval is defined as five grade intervals, is respectively interval [0,0.2], [0.3,0.4], [0.5,0.6], [0.7,0.8], [0.9,1], represents grade respectively: non-constant, difference, general, good, very good;
4) interval of indices is obtained:
Adopt Catia Software on Drawing to go out the radiation areas of the visual range of visual human, opereating specification and operating environment, obtain the quantification interval of vision accessibility, operation accessibility and radiation injury;
By the extruding contact stress of analyzing virtual people and remote maintaining device, obtain the quantification interval of physical injury;
Adopt the comfortableness of RULA analytic approach assessment virtual human simulation operation, obtain the quantification interval of fatigue strength;
Adopt the correctness of successful likelihood index method and the operation of analytical hierarchy process assessment virtual human simulation, obtain the quantification interval of human-equation error probability;
The quantification interval of psychological cognition is obtained from the actual mental emotion of operator;
5) according to the global index of each index factor interval vector and evaluation index comprehensive evaluation remote maintaining, the binary interval number vector sum weight sector vector of each index of COMPREHENSIVE CALCULATING, obtains the assessment of global index;
6) the weakness index in attended operation process is comprehensively improved, to improve the operating efficiency of three-dimensional remote maintaining.
A kind of for based on people because of simulation analysis remote maintaining method based on the remote maintaining device of people because of simulation analysis, described attending device mainly comprises target platform frame and remote maintaining frock tool, described target platform frame is primarily of main backstop 1, stand platform 2, stair 3, XYZ crane 4 and fence 5 form, main backstop 1 is arranged on the support forming fixed rack platform 2 below stand platform 2, described fence 5 is vertically centered around the edge of stand platform 2, fence 5 surrounding is provided with the baffle plate 6 upwards extended from stand platform 2, described stair 3 are arranged on main backstop 1 side and lead to the upper surface of stand platform 2, in the middle part of described stand platform 2, stand jacking gear 7 is installed, described XYZ crane 4 is movably arranged on stand jacking gear 7 top, the overall dimensions of described remote maintaining device is: reach 5.0-5.5 rice, widely reaches 5.0-5.5 rice, up to 6.3-6.8 rice, the middle part that stand jacking gear 7 installed by described stand platform 2 offers dead slot, and the bottom of dead slot and stand jacking gear 7 is mutually through, the inner side of formation stand jacking gear 7 with in the middle part of stand platform 2, main backstop 1 in the vertical direction communicates, described stand jacking gear 7 with in the middle part of stand platform 2, the place of communicating of main backstop 1 is the activity space of remote maintaining frock tool.
In described remote maintaining device, main backstop 1 is made up of with some crossbeams 9 some pillars 8, and add reinforcement and buttress brace, involved pillar 8, the material of crossbeam 9 are channel-section steel, reinforcement material is round iron rod, the material of reinforcement is channel-section steel, stand platform 2 adopts and can guarantee to support people and apparatus iron plate material, can avoid the generation of large deformation; And XYZ crane 4, stair 3, stair 3 step are due to not quite stressed, therefore main body adopts square tube material; Material choose the Rigidity and strength that can improve target platform frame.During assembling remote maintaining device, under the iron plate of forming station body panel 2, adopt square tube to reinforce again after reinforcing channel-section steel, when guaranteeing that people and other apparatuses are placed on platform, stand platform 2 can not produce large flexural deformation; And then install base additional bottom main backstop 1, base plays fixing main supporting seat and prevents main supporting seat slippage, described in be centered around stand platform 2 surrounding fence 5 have baffle plate 6, prevent parts from dropping; Can welding technology be adopted during assembling, spray paint in target platform frame appearance after having welded, prevent the corrosion of target platform frame.
a kind of based on the implementation process of people because of the remote maintaining method of simulation analysis:
A kind of based on people because the remote maintaining method of simulation analysis comprises the following steps:
1) set up remote maintaining device by Catia 3 d modeling software, build virtual three-dimensional remote maintaining operating environment, the virtual three-dimensional remote maintaining operating environment set up and the dimension scale of actual operating condition are 1:1;
2) in virtual three-dimensional remote maintaining operating environment, set up visual human, described virtual people is the manikin of 50 hundredths, visual human height 1704.5mm, brachium 722.261mm; Set up the simulating sports of visual human in three-dimensional remote maintaining operating environment, by the quantification of targets value of the vision accessibility of simulating sports analysis and evaluation visual human, operation accessibility, physical injury, radiation injury, fatigue strength, human-equation error probability and psychological cognition simultaneously;
3) set the index investigation value of indices appraisement system interval as [0,1], adopt interval vector to represent the quantized value of evaluation index; Then set up the quantitative criteria of indices, define according between quantitative criteria setting area; Interval is defined as five grade intervals, is respectively interval [0,0.2], [0.3,0.4], [0.5,0.6], [0.7,0.8], [0.9,1], represents grade respectively: non-constant, difference, general, good, very good;
4) interval of indices is obtained:
A. adopt Catia Software on Drawing to go out the radiation areas of the visual range of visual human, opereating specification and operating environment, obtain the quantification interval of vision accessibility, operation accessibility and radiation injury:
Vision accessibility: show according to Catia emulation platform simulating the operating personnel's visual range come, remote maintaining personnel carry out remote maintaining operation by viewing computer display screen, and computer display screen is illustrated in the place of the inferior horn to the left in the best angular field of view of remote maintaining operating personnel, it not middle, show that remote maintaining personnel are when carrying out remote maintaining operation, display screen can be seen more easily from the inferior horn to the left in visual range, namely the quantification value of vision accessibility is: [0.7,0.8];
Operation accessibility: when considering finger and wrist flex operation, arm length is located the quantitative criterion of 18cm as reachable characteristic design, recycling catia software, the 3 D stereo regional extent that the both hands can drawing operating personnel can arrive, the both hands of remote maintaining operating personnel can touch control lever completely like a cork, and the both hands range coverage of remote maintaining personnel does not comprise display screen, so remote maintaining personnel are in the process of carrying out remote maintaining, both hands can not unexpectedly be encountered display screen and cause accident to occur, remote maintaining operation easy and convenient normally can be realized, but the both hands of remote maintaining personnel can arrive region and radiation comparatively large regions overlap, so next just must analyze and research to overlapping region, from measurement data, in order to the personal safety of remote maintaining personnel, in remote maintaining process, the arm of remote maintaining personnel should not rest on for a long time and upwards lift between 101.023 degree to 156.947 degree, and in practical operation, due to the height limitation of control lever, operating personnel seldom may rest on for a long time and upwards lift between 101.023 degree to 156.947 degree, so judge that its operation accessibility is in the interval of " very good ", namely the quantification value operating accessibility is: [0.9, 1],
Radiation injury: by measuring the distance between human body and radiation areas, distance range is 0-1 rice, the size of radiation injury is subject to evaluator, in remote maintaining operating process, remote maintaining personnel have been close to described fence 5 railing, have 0.773 meter far away with radiation compared with the minimum distance of large regions, the quantized value that can obtain radiation injury is: [0.7,0.8];
B. pass through the extruding contact stress of analyzing virtual people and remote maintaining device, obtain the quantification interval of physical injury:
By observe visual human and virtual attending device contact-palm of the hand contacts with the extruding of handle, swivel of hand contacts with the extruding of handle, point contact with the extruding of handle, thumb points with all the other and the extruding of handle contacts, and the extruding that the health of operator and fence 5 railing occur, can show that the probability of the physical injury causing extruding injured is larger, the quantification value of physical injury is: [0.3,0.4]; C. adopt the comfortableness of RULA analytic approach assessment virtual human simulation operation, obtain the quantification interval of fatigue strength:
Quick upper limbs assessment (the rapid upper limb assessment, RULA) is that a kind of a kind of ergonomic being used for assessing the impact that mankind's posture, strength and muscle activity are brought learns a skill; A work posture is determined in simulating sports, RULA assessment can to the fatigue strength when quantity of its motion of inspected object analytical review, static muscular acting, operation attitude, non-stop run time, because the muscle power of people limits, the quantification value of fatigue strength is: [0,0.2];
D. adopt the correctness of successful likelihood index method and the operation of analytical hierarchy process assessment virtual human simulation, obtain the quantification interval of human-equation error probability:
The analysis process of success likelihood index method binding hierarchy analytic approach as shown in Figure 3, by carrying out a series of record, conclusion, analysis, summary to the problem occurred, finally draws following result: one is that parts are lost; Two is that some parts forgets assembling; Three is that parts are wrongly installed; Four is twisting resistances of mistake in, causes damage of components, extruding, scuffing, distortion; Five is ignore safety factor, swarms into radiation areas, causes radiation injury, to the quantification value of human error probability is: [0.7,0.8];
E. from the actual mental emotion of operator, obtain the quantification interval of psychological cognition:
Assess the heart mood after remote maintaining personnel experienced by long-term remote maintaining operation, the quantification value obtaining psychological cognition is: [0.7,0.8];
5) according to the global index of each index factor interval vector and evaluation index comprehensive evaluation remote maintaining, the binary interval number vector sum weight sector vector of each index of COMPREHENSIVE CALCULATING, obtains the assessed value of global index;
A. utilize Pyatyi scaling law to determine the weight coefficient of evaluation index, the importance of index to evaluation object is divided into 5 ranks: particular importance, of the utmost importance, more important, important and general, and be respectively each grade setting span: (0.9,1.0), (0.8,0.9), 0.7,0.8), (0.6,0.7) and (0.5,0.6); By careful evaluation studies, the initial weight obtaining each evaluation index of this remote maintaining operation is interval, then carries out Fuzzy Processing and normalization to initial weight interval, finally obtains each index weights interval vector;
B. the vector operation of binary interval number is carried out to the weight sector vector of each factor interval vector and evaluation index, thus determine that the binary interval number evaluation of estimate that remote maintaining operates is [0.11,0.30];
C. for appraisement system sets up corresponding evaluation criterion, get and evaluate set for the outstanding ︱ one-level of V={, good ︱ secondary, medium ︱ tri-grades, general ︱ level Four, poor ︱ Pyatyi, difference ︱ six grades }, and give corresponding interval for it and define: one-level/outstanding: [0.91,1]; Secondary/good: [0.71,0.90]; Three grades/medium: [0.51,0.70]; Level Four/general: [0.31,0.50]; Pyatyi/poor: [0.11,0.30]; Six grades/very poor: [0,0.10];
D. the binary interval number evaluation of estimate operated by the remote maintaining of gained is carried out corresponding with the evaluation criterion of foundation, can obtain the opinion rating of remote maintaining system for " Pyatyi " i.e. " poor ".Think that the security of this remote maintaining scheme is bad, need to carry out further people because of analysis and research to equipment and environment, and make larger improvement as much as possible;
6) the weakness index in attended operation process is comprehensively improved, to improve the operating efficiency of three-dimensional remote maintaining:
Show according to result, optimizable maintenance work is embodied in: the work posture of improvement people makes its fatigue strength reduce, or the improvement both hands of people and the surface of contact of attending device thus alleviate physical injury, or install radiation shield instrument additional to alleviate radiation injury, or the work habit of trainer is to reduce human-equation error probability, or tempers the physique of people and psychological quality thus improve the psychological cognition situation etc. of people.
The above, it is only preferred embodiment of the present invention, not technical scope of the present invention is imposed any restrictions, the technician of the industry, under the inspiration of the technical program, some distortion and amendment can be made, every above embodiment is done according to technical spirit of the present invention any amendment, equivalent variations and modification, all still belong in the scope of technical solution of the present invention.
Claims (7)
1., based on the remote maintaining method of people because of simulation analysis, it is characterized in that: described maintaining method comprises the following steps:
1) set up remote maintaining device by Catia 3 d modeling software, build virtual three-dimensional remote maintaining operating environment;
2) in virtual three-dimensional remote maintaining operating environment, set up visual human, set up the simulating sports of visual human in three-dimensional remote maintaining operating environment, by the quantification of targets value of the vision accessibility of simulating sports analysis and evaluation visual human, operation accessibility, physical injury, radiation injury, fatigue strength, human-equation error probability and psychological cognition simultaneously;
3) set the index investigation value of indices appraisement system interval as [0,1], adopt interval vector to represent the quantized value of evaluation index; Then set up the quantitative criteria of indices, define according between quantitative criteria setting area;
4) interval of indices is obtained:
Adopt Catia Software on Drawing to go out the radiation areas of the visual range of visual human, opereating specification and operating environment, obtain the quantification interval of vision accessibility, operation accessibility and radiation injury;
By carrying out force analysis to the extruding contact stress of visual human and remote maintaining device, obtain the quantification interval of physical injury;
Adopt the comfortableness of RULA analytic approach assessment virtual human simulation operation, obtain the quantification interval of fatigue strength;
Adopt the correctness of successful likelihood index method and the operation of analytical hierarchy process assessment virtual human simulation, obtain the quantification interval of human-equation error probability;
The quantification interval of psychological cognition is obtained from the actual mental emotion of operator;
5) according to the global index of each index factor interval vector and evaluation index comprehensive evaluation remote maintaining, the binary interval number vector sum weight sector vector of each index of COMPREHENSIVE CALCULATING, obtains the assessment of global index;
6) the weakness index in attended operation process is comprehensively improved, to improve the operating efficiency of three-dimensional remote maintaining.
2. according to claim 1 a kind of based on the remote maintaining method of people because of simulation analysis, it is characterized in that: described virtual people is the manikin of 50 hundredths, visual human height 1704.5mm, brachium 722.261mm.
3. according to claim 1 a kind of based on the remote maintaining method of people because of simulation analysis, it is characterized in that: the interval of described step 3) is defined as five grade intervals, be respectively interval [0,0.2], [0.3,0.4], [0.5,0.6], [0.7,0.8], [0.9,1], grade is represented respectively: non-constant, difference, general, good, very good.
4. one kind for based on people because of simulation analysis remote maintaining method based on the remote maintaining device of people because of simulation analysis, described attending device mainly comprises target platform frame and remote maintaining frock tool, it is characterized in that, described target platform frame is primarily of main backstop, stand platform, stair, XYZ crane and fence composition, main backstop is arranged on the support forming fixed rack platform below stand platform, described fence is vertically centered around the flat edge of table of stand, fence surrounding is provided with the baffle plate upwards extended from stand platform, described stair are arranged on main backstop side and lead to the upper surface of stand platform, in the middle part of described stand platform, stand jacking gear is installed, described XYZ crane is movably arranged on stand jacking gear top.
5. according to claim 4 a kind of based on the remote maintaining device of people because of simulation analysis, it is characterized in that: the overall dimensions of described remote maintaining device is: reach 5.0-5.5 rice, widely reach 5.0-5.5 rice, up to 6.3-6.8 rice.
6. according to claim 4 a kind of based on the remote maintaining device of people because of simulation analysis, it is characterized in that: the middle part that stand jacking gear installed by described stand platform offers dead slot, the bottom of dead slot and stand jacking gear is mutually through, the inner side forming stand jacking gear with in the middle part of stand platform, main backstop in the vertical direction communicates.
7. according to claim 6 a kind of based on the remote maintaining device of people because of simulation analysis, it is characterized in that: described stand jacking gear with in the middle part of stand platform, the place of communicating of main backstop is the activity space of remote maintaining frock tool.
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| CN111832939A (en) * | 2020-07-13 | 2020-10-27 | 中国南方电网有限责任公司超高压输电公司柳州局 | Method for evaluating overhaul quality of main equipment of extra-high voltage direct current transmission system |
| CN111832939B (en) * | 2020-07-13 | 2021-05-25 | 中国南方电网有限责任公司超高压输电公司柳州局 | Method for evaluating overhaul quality of main equipment of extra-high voltage direct current transmission system |
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