CN205944755U - Cubical switchboard separating brake operating means and handling robot - Google Patents
Cubical switchboard separating brake operating means and handling robot Download PDFInfo
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- CN205944755U CN205944755U CN201620910183.5U CN201620910183U CN205944755U CN 205944755 U CN205944755 U CN 205944755U CN 201620910183 U CN201620910183 U CN 201620910183U CN 205944755 U CN205944755 U CN 205944755U
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- separating brake
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- switch cubicle
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Abstract
The utility model relates to a cubical switchboard separating brake operating means installs in handling robot's arm, cubical switchboard separating brake operating means includes support and operating device, the support include first support and connect in the second support of first support one side, the cubical switchboard separating brake operating means pass through first support mounting in handling robot's arm, operating device includes first separating brake subassembly, first separating brake subassembly includes first separating brake pincers and driving piece, first separating brake pincers install in the second support, the driving piece install in first support, and drive rotary motion is made to first separating brake pincers. So, adaptable on -the -spot complicated operational environment to equipment to the needs operation is operated, has avoided the possibility of casualties, the security that has improved the field operation of transformer substation. In addition, the operation is convenient, has reduced fortune dimension personnel's work burden, reduced the operation cost, and response speed is fast, has reduced power system fault to the loss that the trouble caused has been reduced.
Description
Technical field
This utility model is related to substation field operation Aided Machine technical field, more particularly to a kind of switch cubicle separating brake
Operation device and operation robot.
Background technology
Transformer station (Substation) is that some equipment are assembled, in order to be switched off or on, to change or to adjust electricity
Pressure, in power system, transformer station is the assembly place of transmission and disttrbution.And high-tension switch cabinet is indispensable one in transformer station
Plant distribution switchgear, the transmission for electric energy and control.
Usually, the operation of the master switch facility being equipped with inside high-tension switch cabinet to be realized using electric operation button switching
Action, for example, the cabinet face of 10kV switch cubicle has operating breaker separating brake, close a floodgate shift knob part.Generally, tradition
Mode be by manually go operate separating brake, feed motion, but so may lead to related personnel's electric shock, cause unnecessary
Accident.Therefore, also have by the way of electrically operated device to execute sub-switching operation, but 10kV switch cabinet face is more, need
The shift knob number of components of operation is more and position is also indefinite, if thus being respectively provided with fixing electricity at the position of each button
Dynamic operation button, can increase the overall space burden of 10kV switch cubicle, be also unfavorable for that patrol officer's patrols and examines operation, if passing through people
Work control realization electrically operated device and the positioning of operation button, then the amount of labour of human users can be very big.Additionally, it is tight running into
Anxious situation chopper is unable to remote control separating brake, and must carry out manual brake separating operation, and in emergency opening operation, there is switch
The danger of blast, jeopardizes personal safety.
Utility model content
Based on this it is necessary to have for traditional high-tension switch cabinet separating brake, combined floodgate mode that to jeopardize life safety, operation multiple
Miscellaneous, the problem of operation maintenance personnel burden weight, a kind of switch avoiding and jeopardizing life safety, operation facility and reduce O＆M cost is provided
Cabinet sub-switching operation device and operation robot.
A kind of switch cubicle sub-switching operation device, is installed on the mechanical arm of operation robot, described switch cubicle sub-switching operation dress
Put including：
Support, including first support and the second support that is connected to described first support side, described switch cubicle separating brake behaviour
Make the mechanical arm that device is installed on described operation robot by described first support；
Operating mechanism, including the first separating brake assembly, described first separating brake assembly includes the first separating brake pincers and actuator, described
First separating brake pincers are installed on described second support, and described actuator is installed on described first support, and drives described first separating brake
Pincers rotate.
Wherein in an embodiment, described first support includes gripper shoe, is connected to the reinforcing plate of described gripper shoe both sides,
And it is connected to top board between described gripper shoe and described two reinforcing plates, described gripper shoe, side plate and described top board enclose and set shape
Become a receiving space, described actuator is installed on described gripper shoe side, and be located at described receiving space, described second support is solid
It is connected to the relative opposite side of described gripper shoe.
Wherein in an embodiment, described second support includes connecting plate, is connected to the installing plate of described connecting plate both sides,
And it is connected to fixed plate between described connecting plate and described installing plate, described connecting plate, installing plate and described fixed plate are enclosed
If forming an installing space, described first separating brake pincers are installed on the side of described fixed plate dorsad described installing plate.
Wherein in an embodiment, described operating mechanism also includes the second separating brake assembly, and described second separating brake assembly includes
Second separating brake pincers and fixed part, described fixed part is connected to described installing plate and described fixed plate, and relatively described connecting plate sets
It is placed in described installing space, described second separating brake pincers are installed on described second support by described fixed part.
Wherein in an embodiment, described fixed part includes mounting bracket and adjustable plate, described mounting bracket include base plate,
It is connected to the side plate of described base plate both sides, and the end plate being connected respectively with described base plate and described side plate, described in two, side plate divides
It is not fixed on installing plate described in two, described end plate is fixed on fixed plate, and described base plate offers spaced in the first direction
First chute, described adjustable plate offers spaced second chute in a second direction, and described second separating brake pincers are by described
Second chute is installed on described adjustable plate, and described adjustable plate is installed on described base plate by described first chute；
Wherein, described first direction and described second direction are mutually perpendicular to.
Wherein in an embodiment, described first separating brake assembly also includes support, and described support is fixed on described
Two supports, described first separating brake pincers are rotatably installed on described support, and are connected with described actuator, with described driving
Rotate under the driving of part.
Wherein in an embodiment, described actuator is servomotor.
A kind of operation robot, including switch cubicle sub-switching operation device described above.
Wherein in an embodiment, including：
Patrol and examine mechanism, for walking；
Walking alignment system, be installed on described in patrol and examine mechanism, in order to patrol and examine the walking of mechanism described in guiding, realize switch cubicle
Positioning；
Mechanical arm, be installed on described in patrol and examine mechanism, to carry out the space motion of 6DOF, described switch cubicle sub-switching operation
Device is installed on described mechanical arm by described first support；
Control device, patrols and examines mechanism, walking alignment system, mechanical arm and described switch cubicle sub-switching operation dress with described respectively
Put connection.
Wherein in an embodiment, described walking alignment system includes：
Laser Detecting Set, is used for carrying out environment detection, and detection information is transferred to described control device, thus in head
Secondary detect when build walking environment under map and in subsequent probe with described map match and realize walking positioning.
Brief description
Fig. 1 is the structural representation of the switch cubicle sub-switching operation device in this utility model one embodiment；
Fig. 2 is the structural representation of the support of switch cubicle sub-switching operation device shown in Fig. 1；
Fig. 3 is the structural representation of the mounting bracket of fixed part of switch cubicle sub-switching operation device shown in Fig. 1；
Fig. 4 is the structural representation of the adjustable plate of fixed part of switch cubicle sub-switching operation device shown in Fig. 1.
Specific embodiment
For the ease of understanding this utility model, below with reference to relevant drawings, this utility model is more fully retouched
State.Preferred embodiment of the present utility model is given in accompanying drawing.But, this utility model can come real in many different forms
Existing however it is not limited to embodiment described herein.On the contrary, providing the purpose of these embodiments to be to make to public affairs of the present utility model
The understanding opening content is more thoroughly comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or can also there is element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or may be simultaneously present centering elements.Term as used herein " vertical ", " level ", " left ",
" right " and similar statement are for illustrative purposes only.
Unless otherwise defined, all of technology used herein and scientific terminology are led with belonging to technology of the present utility model
The implication that the technical staff in domain is generally understood that is identical.In term used in the description of the present utility model it is simply herein
The purpose of description specific embodiment is it is not intended that in limiting this utility model.Term as used herein " and/or " include
The arbitrary and all of combination of one or more related Listed Items.
Operation robot in this utility model one embodiment, including patrol and examine mechanism, walking alignment system, mechanical arm, control
Device processed and switch cubicle sub-switching operation device.
Patrol and examine mechanism for realizing the walking of this operation robot, mechanical arm is installed on patrols and examines mechanism, to carry out 6DOF
Space motion, switch cubicle sub-switching operation device is installed on this mechanical arm one end, and control device controls patrols and examines mechanism towards designated parties
To traveling, and manipulate manipulator motion, and switch cubicle sub-switching operation device makees separating brake action.So, it is suitable for scene complexity
Working environment, and the equipment needing operation is operated, it is to avoid the probability of casualties, improves substation field
The safety of operation.Additionally, operation facility, decrease the work load of operation maintenance personnel, reduce operation cost, and response speed
Hurry up, reduce electric network fault, and decrease the loss that fault causes.
Specifically, this is patrolled and examined mechanism and can include hoofing part mechanism and road wheel, and hoofing part mechanism is by control device
Control, then road wheel under the driving of walking mechanism towards direction running that is default or specifying so that this operation robot reaches
By switch cubicle, it is convenient for sub-switching operation.
Walking alignment system, realizes the direction guiding in operation robot walking process and positions.Walking alignment system
It is arranged on and patrols and examines in mechanism, and patrol and examine mechanism and together move, the walking of mechanism is patrolled and examined in guiding during patrolling and examining mechanism's walking,
Realize the positioning of switch cabinet, after the guidance information of walking alignment system can be transferred to control device, by control device control
That patrols and examines mechanism runs to the corresponding position of switch cubicle.
Specific in an embodiment, walking alignment system can include Laser Detecting Set.Laser Detecting Set is for example
It is laser radar, in order to carry out environment detection, according to the position of transmitting and the time difference measuring environmental objects of feedback signal, laser
Detection information is transferred to control device during detecting by detection device.Build the ground under walking environment when detecting first
Figure, in subsequent probe with map match and realize walking positioning.Laser Detecting Set, after detecting first, prestores environment
In coordinate figure soil boy structure map under global coordinate system for all road signs.During in the later stage, operation operation is patrolled and examined, laser is visited
Survey device and the road sign detecting is carried out Auto-matching with the road sign in the environmental map of storage, the current seat calculating
Mark, realizes the positioning in walking process.Control device controls also dependent on default route patrols and examines mechanism's walking, in walking process
Detect matched environment road sign, correct walking mistake.In walking process, Laser Detecting Set detects the road of coupling switch cubicle
Mark, then realize the positioning of switch cubicle.
Mechanical arm can carry out the motion of 6DOF, in order to switch cubicle sub-switching operation device to switch cubicle multi-form
Button operated.For example, switch cubicle is provided with turnbutton, telescopic button or turning type telescopic integral button,
To operation button, after switch cubicle sub-switching operation device positioning be aligned, mechanical arm moves forward and backward, thus realizing for mechanical arm movement
Switch cubicle sub-switching operation device presses to telescopic button, and then realizes separating brake.Specific in an embodiment, this mechanical arm
It is made up of with some joint arms being connected on joint some joints, to realize the space motion of 6DOF, it is preferred that mechanical
The two ends of arm are disposed as joint, thus realizing the flexible rotating in termination.
It is appreciated that the structure of the structure of mechanical arm and walking alignment system is not limited thereto, enable aforesaid making
Operation robot prepares guiding and positions, and auxiliary switch cabinet sub-switching operation device realizes separating brake action.
Specifically switch cubicle sub-switching operation device is illustrated below：
Refer to Fig. 1 and Fig. 2, this switch cubicle sub-switching operation device includes support 12 and operating mechanism 14.This support 12 wraps
The second support 124 including first support 122 and being connected to first support 122 side, this switch cubicle sub-switching operation device passes through the
One support 122 is installed on the mechanical arm of operation robot.This operating mechanism 14 includes the first separating brake assembly 142, the first separating brake group
Part 142 includes the first separating brake pincers 1422 and actuator 1424, and this first separating brake pincers 1422 are installed on second support 124, this driving
Part 1424 is installed on first support 122, and drives the first separating brake pincers 1422 to rotate.
In the present embodiment, this actuator 1424 is servomotor, and the first separating brake clamps 1422 operating side that has, and operating side fills
It is provided with flexible glue contact (figure is not marked) and rotates shift fork (figure is not marked), mechanical arm movement makes this first separating brake clamp 1422 rotation shift fork
The opening button of cooperation flush switch cabinet, after rotating to an angle, the operating side with flexible glue contact is under the driving of mechanical arm
Push action is made to the opening button of switch cubicle, thus realizing sub-switching operation.
Preferably, this first support 122 includes gripper shoe 1222, is connected to the reinforcing plate 1224 of gripper shoe 1222 both sides,
And it is connected to top board 1226 between gripper shoe 1222 and two reinforcing plates 1224, this gripper shoe 1222, side plate and top board 1226
Enclose and set formation one receiving space, this actuator 1424 is installed on this gripper shoe 1222 side, and is located at this receiving space, and this second
Support 124 is fixed in the relative opposite side of this gripper shoe 1222.
In the present embodiment, this gripper shoe 1222, reinforcing plate 1224 and top board 1226 are all using the rustless steel steel of 0.3 cm thick
Plate is made, and gripper shoe 1222 is rectangular, the rectangular triangle of reinforcing plate 1224, and top board 1226 is rectangular, gripper shoe 1222, reinforcement
Plate 1224 and top board 1226 are welded as a whole, and are also associated with bracing piece, to strengthen first support 122 between two reinforcing plates 1224
Intensity, prevent this switch cubicle sub-switching operation device from shaking in operation.Wherein, the width of gripper shoe 1222 is 8.3 centimetres, high
For 13 centimetres, two right-angle sides of this reinforcing plate 1224 are respectively 8 centimetres and 13 centimetres, the right-angle side that 122413 centimetres of reinforcing plate
It is to align welding in 13 centimetres of side with gripper shoe 1222.
Preferably, this second support 124 includes connecting plate 1242, is connected to the installing plate 1244 of connecting plate 1242 both sides,
And it is connected to fixed plate 1246 between connecting plate 1242 and installing plate 1244, connecting plate 1242, installing plate 1244 and fixing
Plate 1246 encloses and sets formation one installing space, and the first separating brake pincers 1422 are installed on described fixed plate 1246 dorsad described installing plate 1244
Side.
In the present embodiment, this connecting plate 1242 is fixed in gripper shoe 1222, and the height of second support 124 is less than first support
122,1422 supporting and installation thus forming a step, is clamped for the first separating brake.Wherein, the width of connecting plate 1242 is 8.3
Centimetre, identical with gripper shoe 1222, a height of 6 centimetres, the width of installing plate 1244 is 9 centimetres, a height of 6 centimetres.
Wherein, this first separating brake assembly 142 also includes support 1429, and this support 1429 is fixed on second support 124
Fixed plate 1246, this first separating brake pincers 1422 are rotatably installed on this support 1429, and are connected with actuator 1424, with
Rotate under the driving of actuator 1424.Specific in an embodiment, this support 1429 is journal stirrup, this first point
Lock pincers 1422 include sleeve and tumbler, and this sleeve is connected to gripper shoe 1222 and this support 1429, and this tumbler is worn
And if be rotationally connected with sleeve, and one end is connected with actuator 1424, and the other end stretches out sleeve, forms the operation of Flange-shaped Parts
End.
In one embodiment, this operating mechanism 14 also includes the second separating brake assembly 144, and this second separating brake assembly 144 wraps
Include the second separating brake pincers 1442 and fixed part 1444, this fixed part 1444 is connected to installing plate 1244 and fixed plate 1246, and relatively
This connecting plate 1242 is arranged at installing space, and this second separating brake pincers 1442 are installed on second support 124 by fixed part 1444.
It should be appreciated that this first support 122 and second support 124 make the first separating brake assembly 142 and the second separating brake group
Part 144 can be arranged simultaneously, to be applied to the opening button of the switch cubicle of different model and specification.Wherein, this first separating brake assembly
142 are applied to switch cubicle turnbutton and rotary extension integral button, and this second separating brake pincers 1442 are applied to switch cubicle and stretch
The operation of contracting formula button, under the driving of mechanical arm, can carry out tactile depressing action to telescopic button.So, make operation robot
The opening button of different model and the switch cubicle of specification can be operated, easy-to-use.
Preferably, refer to Fig. 3 and Fig. 4, this fixed part 1444 includes mounting bracket 1443 and adjustable plate 1445, this installation
Support 1443 includes base plate 1441, is connected to the side plate 1446 of base plate 1441 both sides, and is connected to base plate 1441 and side plate
1446 end plate 1448, biside plate 1446 is individually fixed in two installing plates 1244, and end plate 1448 is fixed on fixed plate 1246.This bottom
Plate 1441 offers spaced first chute 1447 in the first direction, and this adjustable plate 1445 offers interval in a second direction
Second chute 1446 of setting, this second separating brake pincers 1442 are installed on adjustable plate 1445 by the second chute 1446, this adjustable plate
1445 are installed on base plate 1441 by the first chute 1447.
In the present embodiment, the installing plate 1244 of this second support 124 offers installing hole (figure is not marked), and screw wears this peace
Dress hole and side plate 1446, thus realize the fixation of mounting bracket 1443.First chute 1447 is two, and adjustable plate 1445 opens up
There is via, bolt is passed through this via and the first chute 1447 and fixed with nut screw connection, when needing to adjust the second separating brake pincers 1442
Upper-lower position when, make bolt mobile along the first chute 1447.Second chute 1446 is also two, the second separating brake pincers 1442
On be welded with screw rod, screw rod wears the second chute 1446, and fixes with nut screw connection, when needing to adjust the second separating brake pincers 1442
During right position, make screw rod mobile along the second chute 1446.
So, the position that can clamp 1442 to the second separating brake is adjusted, easy-to-use.
It may be noted that this first direction and second direction are mutually perpendicular to, this first direction refers to, as shown in Figure 1 is vertical
Direction, second direction refers to horizontal direction as shown in Figure 1.
Above-mentioned switch cubicle sub-switching operation device and operation robot, are suitable for the working environment of scene complexity, and to need
Equipment to be operated is operated, it is to avoid the probability of casualties, improves the safety of substation field operation.This
Outward, operation facility, decreases the work load of operation maintenance personnel, reduces operation cost, and fast response time, reduces electrical network event
Barrier, and decrease the loss that fault causes.
Each technical characteristic of embodiment described above can arbitrarily be combined, for making description succinct, not to above-mentioned reality
The all possible combination of each technical characteristic applied in example is all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all it is considered to be the scope of this specification record.
Embodiment described above only have expressed several embodiments of the present utility model, and its description is more concrete and detailed,
But therefore can not be interpreted as the restriction to utility model patent scope.It should be pointed out that the common skill for this area
For art personnel, without departing from the concept of the premise utility, some deformation can also be made and improve, these broadly fall into
Protection domain of the present utility model.Therefore, the protection domain of this utility model patent should be defined by claims.
Claims (10)
1. a kind of switch cubicle sub-switching operation device, is installed on the mechanical arm of operation robot it is characterised in that described switch cubicle divides
Lock operation device includes：
Support, including first support and the second support that is connected to described first support side, described switch cubicle sub-switching operation dress
Put the mechanical arm being installed on described operation robot by described first support；
Operating mechanism, including the first separating brake assembly, described first separating brake assembly includes the first separating brake and clamps and actuator, and described first
Separating brake pincers are installed on described second support, and described actuator is installed on described first support, and drive described first separating brake pincers to make
Rotary motion.
2. switch cubicle sub-switching operation device according to claim 1 is it is characterised in that described first support includes supporting
Plate, it is connected to the reinforcing plate of described gripper shoe both sides, and be connected to the top board between described gripper shoe and described two reinforcing plates,
Described gripper shoe, side plate and described top board enclose and set formation one receiving space, and described actuator is installed on described gripper shoe side, and
Positioned at described receiving space, described second support is fixed in the relative opposite side of described gripper shoe.
3. switch cubicle sub-switching operation device according to claim 2 is it is characterised in that described second support includes connecting
Plate, it is connected to the installing plate of described connecting plate both sides, and be connected to the fixed plate between described connecting plate and described installing plate,
Described connecting plate, installing plate and described fixed plate are enclosed and are set formation one installing space, and described first separating brake pincers are installed on described fixation
Backboard is to the side of described installing plate.
4. switch cubicle sub-switching operation device according to claim 3 is it is characterised in that described operating mechanism also includes second
Separating brake assembly, described second separating brake assembly include second separating brake pincers and fixed part, described fixed part be connected to described installing plate and
Described fixed plate, and relatively described connecting plate is arranged at described installing space, described second separating brake pincers are pacified by described fixed part
It is loaded on described second support.
5. switch cubicle sub-switching operation device according to claim 4 is it is characterised in that described fixed part includes mounting bracket
And adjustable plate, described mounting bracket includes base plate, is connected to the side plate of described base plate both sides, and respectively with described base plate and institute
State the end plate of side plate connection, side plate described in two is individually fixed in installing plate described in two, and described end plate is fixed on fixed plate, described bottom
Plate offers spaced first chute in the first direction, and described adjustable plate offers spaced second in a second direction
Chute, described second separating brake pincers are installed on described adjustable plate by described second chute, and it is sliding that described adjustable plate passes through described first
Groove is installed on described base plate；
Wherein, described first direction and described second direction are mutually perpendicular to.
6. the switch cubicle sub-switching operation device according to claim 2～5 any one is it is characterised in that described first point
Gate assembly also includes support, and described support is fixed on described second support, and described first separating brake pincers are rotatably installed on
Described support, and be connected with described actuator, to rotate under the driving of described actuator.
7. switch cubicle sub-switching operation device according to claim 1 is it is characterised in that described actuator is servomotor.
8. a kind of operation robot is it is characterised in that include the switch cubicle separating brake behaviour as described in claim 1～7 any one
Make device.
9. operation robot according to claim 8 is it is characterised in that include：
Patrol and examine mechanism, for walking；
Walking alignment system, be installed on described in patrol and examine mechanism, in order to patrol and examine the walking of mechanism described in guiding, realize determining of switch cubicle
Position；
Mechanical arm, be installed on described in patrol and examine mechanism, to carry out the space motion of 6DOF, described switch cubicle sub-switching operation device
Described mechanical arm is installed on by described first support；
Control device, patrols and examines mechanism, walking alignment system, mechanical arm and described switch cubicle sub-switching operation device even with described respectively
Connect.
10. operation robot as claimed in claim 9 is it is characterised in that described walking alignment system includes：
Laser Detecting Set, is used for carrying out environment detection, and detection information is transferred to described control device, thus visiting first
During survey build walking environment under map and in subsequent probe with described map match and realize walking positioning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620910183.5U CN205944755U (en) | 2016-08-19 | 2016-08-19 | Cubical switchboard separating brake operating means and handling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620910183.5U CN205944755U (en) | 2016-08-19 | 2016-08-19 | Cubical switchboard separating brake operating means and handling robot |
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| CN205944755U true CN205944755U (en) | 2017-02-08 |
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ID=57948201
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620910183.5U Active CN205944755U (en) | 2016-08-19 | 2016-08-19 | Cubical switchboard separating brake operating means and handling robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110832718A (en) * | 2017-06-28 | 2020-02-21 | Abb瑞士股份有限公司 | Robot for unmanned operation and maintenance of indoor medium or high voltage switchgear stations |
| CN110832719A (en) * | 2017-06-28 | 2020-02-21 | Abb瑞士股份有限公司 | Internal robotic manipulator for unmanned operation and maintenance in withdrawable circuit breakers and method of operation thereof |
| CN112018647A (en) * | 2019-05-29 | 2020-12-01 | Abb瑞士股份有限公司 | Improved diagnostic solution for medium voltage switchgear |
| US11362489B2 (en) | 2017-06-28 | 2022-06-14 | Abb Schweiz Ag | Substation for medium or high voltage, containing switchgear or controlgear with unmanned operation and maintenance |
| US11626713B2 (en) | 2017-06-28 | 2023-04-11 | Abb Schweiz Ag | Substation containing switch-gear or control-gear with unmanned operation and maintenance |
-
2016
- 2016-08-19 CN CN201620910183.5U patent/CN205944755U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110832718A (en) * | 2017-06-28 | 2020-02-21 | Abb瑞士股份有限公司 | Robot for unmanned operation and maintenance of indoor medium or high voltage switchgear stations |
| CN110832719A (en) * | 2017-06-28 | 2020-02-21 | Abb瑞士股份有限公司 | Internal robotic manipulator for unmanned operation and maintenance in withdrawable circuit breakers and method of operation thereof |
| CN110832718B (en) * | 2017-06-28 | 2022-03-01 | Abb瑞士股份有限公司 | Switching or control device system for medium or high voltage and method for operating the same |
| US11362489B2 (en) | 2017-06-28 | 2022-06-14 | Abb Schweiz Ag | Substation for medium or high voltage, containing switchgear or controlgear with unmanned operation and maintenance |
| US11451015B2 (en) | 2017-06-28 | 2022-09-20 | Abb Schweiz Ag | Substation containing switchgear or controlgear with unmanned operation and maintenance |
| US11581712B2 (en) | 2017-06-28 | 2023-02-14 | Abb Schweiz Ag | Robot for unmanned operation and maintenance in an indoor medium or high voltage switch-gear station |
| US11626713B2 (en) | 2017-06-28 | 2023-04-11 | Abb Schweiz Ag | Substation containing switch-gear or control-gear with unmanned operation and maintenance |
| CN112018647A (en) * | 2019-05-29 | 2020-12-01 | Abb瑞士股份有限公司 | Improved diagnostic solution for medium voltage switchgear |
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