CN219018272U - Substation electrical connector processing robot - Google Patents

Abstract

The utility model provides a transformer substation electrical joint processing robot, mobile airborne platform can travel in ground through running gear for carry on robot operating system and take it to the workstation, reach the back of workstation, the elevating system on the mobile airborne platform bears and carries on the robot operating system cooperation operation terminal and carry out electrical joint processing operation. The device adopts three groups of operation end tools, wherein the first group of temperature detection ends can test the surface temperature of the connector and judge whether maintenance treatment is required to be carried out on the electrical connector; the second assembling and disassembling end can tighten and loosen the bolts and nuts, and the bolts and nuts are re-fastened after finishing the sanding treatment of the contact surface to recover the drainage wire; the third group of sanding tail ends can finish the polishing operation of the contact surface of the electric connector. Like this make this device can replace the manual work to accomplish the maintenance work of transformer substation electrical connector, promote transformer maintenance work efficiency, reduce transformer maintenance personnel operation risk.

Description

Substation electrical connector processing robot

Technical Field

The utility model belongs to the technical field of live overhaul operation of distribution lines, and particularly relates to a transformer substation electrical connector processing robot.

Background

The vertical insulator distributes in the different places of distribution network converter station, owing to often there is natural weather such as sun-drying rain drenches, thunder and ringing electric flashover outdoors, drain wire and insulator uninterrupted operation for a long time simultaneously, drain wire and vertical insulator joint department produce high temperature very easily, the bolt, the nut also easily appear rust, wearing and tearing scheduling problem to cause the temperature rise of electric joint, electric joint temperature rise can not only cause the electric energy extravagant, but also can influence vertical insulator's normal work, can also influence even to electric power safety, in order to guarantee the power supply safety of distribution network, need carry out regular and irregular maintenance to the electric joint of converter station vertical insulator. At present, the electrical connector is generally replaced manually, and because the vertical insulator is at a certain height from the ground, the manual replacement of the electrical connector is a double-high and high-risk work type of high-altitude operation and live working, so that equipment capable of replacing manual treatment is urgently needed.

Disclosure of Invention

The utility model solves the defects of the prior art and provides the transformer substation electrical joint processing robot which reduces the labor intensity of workers and improves the working efficiency.

In order to achieve the above purpose, the utility model firstly provides a transformer substation electrical joint processing robot, which comprises a robot operation system, wherein the robot operation system comprises a chassis, a first mechanical arm, a second mechanical arm and a third mechanical arm;

the first mechanical arm and the second mechanical arm are symmetrically arranged on two sides of the chassis, the first mechanical arm and the second mechanical arm are six-degree-of-freedom mechanical arms, the tail ends of the first mechanical arm and the second mechanical arm are provided with arm tail end male heads,

a third mechanical arm is arranged on the upper side surface of the case, the third mechanical arm is a three-degree-of-freedom mechanical arm, and a tail end clamping jaw is arranged on the third mechanical arm;

the machine case comprises a machine case body, wherein a plurality of tail end fixing seats are uniformly fixed on the upper side surface of the machine case and along the edge of the front side surface, outer connecting seats are fixed on the tail end fixing seats, the outer connecting seats extend out of the front side surface of the machine case, tool end female heads matched with the tail end male heads of arms are clamped on the outer connecting seats, and each tool end female head comprises an upper section clamped on the outer connecting seat and a lower section connected with an operation tool.

In this embodiment, operating means includes temperature detection probe, bolt nut loading and unloading gripper and sanding instrument, and tool end female head and temperature detection probe are connected and are formed the temperature detection end, and tool end female head and bolt nut loading and unloading gripper are connected and form the loading and unloading end, and tool end female head and sanding instrument are connected and are formed the sanding end, the outer seat that allies oneself with is provided with six, six the midpoint that first arm and second arm are connected line is the symmetry axis symmetry and lays, the temperature detection end clamps on the outer seat that allies oneself with at the outside both ends, the terminal clamps of sanding are on two outer seats in the middle, the terminal clamps of loading and unloading are on the outer seat that allies oneself with between temperature detection end and the terminal of sanding.

In this embodiment, the top of machine case is provided with a plurality of district of placing that are used for placing bolt and nut, place and be provided with a plurality of jack that vertically lay, internal diameter and bolt screw rod external diameter assorted in the district.

In this embodiment, the six-degree-of-freedom mechanical arm includes a first arm and a second arm, the first arm is connected with the chassis, the first arm is connected with the second arm, and the second arm is connected with the male end at the tail end of the arm through a first rotary joint, two ends of the first rotary joint can rotate independently, and rotation shafts at two ends of the first rotary joint are distributed vertically.

In this embodiment, the three-degree-of-freedom mechanical arm includes telescopic third arm and fourth arm, the third arm is fixed on the quick-witted case along vertical, third arm and fourth arm pass through the second rotary joint and connect, terminal clamping jaw is installed to the end of fourth arm, but the rotation axis mutually perpendicular at the both ends of second rotary joint and second rotary joint both ends lay alone.

In this embodiment, a power supply and a control system are installed in the chassis, and the first mechanical arm, the second mechanical arm and the third mechanical arm are connected with the power supply through the control system.

In this embodiment, an auxiliary moving wheel with a self-locking function is installed at the bottom of the case.

In this embodiment, still include the mobile airborne platform, running gear is installed to mobile airborne platform bottom, but vertical movable's elevating system is installed at the top, robot operating system fixes on mobile airborne platform's vertical elevating system movable end.

By adopting the structure, the mobile airborne platform can run on the ground through the travelling mechanism and is used for carrying the robot operation system and bringing the robot operation system to the working position, and after the robot operation system reaches the working position, the vertical lifting mechanism on the mobile airborne platform carries the robot operation system to carry out electric joint processing operation in cooperation with the operation tail end. The robot operation system adopts three groups of operation end tools on the robot operation system aiming at a series of standardized processing flows of temperature measurement, tightening and loosening of bolts, nuts, sanding, restoration and the like of the electric joint, wherein the first group is a temperature detection end, the temperature detection end adopts a temperature detection probe to test the surface temperature of the joint, and whether maintenance treatment on the electric joint is needed is judged; the second group is a loading and unloading terminal, the loading and unloading terminal adopts a bolt and nut loading and unloading mechanical claw, the bolt and nut loading and unloading mechanical claw can grasp the bolt and the nut, the loading and unloading of the bolt and the nut are realized through rotation, and the bolt and the nut are re-fastened after the sanding treatment of the contact surface is completed to recover a drainage wire; and the polishing operation on the contact surface of the electrical connector can be completed by adopting a polishing tool at the tail end of the third group of polishing. By adopting the structure, the device can replace manual work to complete overhaul work of the electric joint of the transformer substation, so that the transformer substation overhaul work efficiency is improved, and the operation risk of transformer substation overhaul personnel is reduced.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a schematic view of the structure of the butt joint temperature detecting tip of the present utility model;

FIG. 3 is a schematic view of the structure of the temperature detecting end of the present utility model;

FIG. 4 is a diagram of the operation of the present utility model for testing temperature through a temperature sensing tip;

FIG. 5 is a schematic view of the structure of the replacement handling terminal of the present utility model;

FIG. 6 is a process diagram of the first, second and third mechanical arms of the present utility model engaged with the unloading nut;

FIG. 7 is a diagram of an electrical joint handling robot replacement sanding tool of the present utility model;

FIG. 8 is a drawing of the sanding operation of the sanding tool of the electrical joint handling robot of the present utility model;

fig. 9 is a view showing the replacement of a new nut by the screw-nut attaching/detaching gripper of the electric joint processing robot of the present utility model.

In the attached drawings, 1, a case; 2. a first mechanical arm; 3. a second mechanical arm; 4. a terminal fixing seat; 5. a temperature detection terminal; 6. loading and unloading the tail end; 7. sanding the tail end; 8. a third mechanical arm; 9. a terminal jaw; 10. and an auxiliary moving wheel.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In addition, the technical solutions of the embodiments of the present utility model may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present utility model.

As shown in fig. 1 to 9, the utility model provides a transformer substation electrical joint processing robot, which comprises a robot operating system and a mobile airborne platform, wherein a travelling mechanism is arranged at the bottom of the mobile airborne platform, a vertically movable lifting mechanism is arranged at the top of the mobile airborne platform, the robot operating system is fixed on the movable end of the lifting mechanism of the mobile airborne platform, and the robot operating system comprises a case 1, a first mechanical arm 2, a second mechanical arm 3 and a third mechanical arm 8, and further comprises a patent application number 202111369982.8, and the patent name is: the utility model discloses a robot arm end quick-change connector device and an application method thereof, wherein the robot arm end quick-change connector device comprises an external connection seat, a tool end female connector and an arm end male connector;

install power and control system in the machine case 1, first arm 2, second arm 3 and third arm 8 are connected with the power through control system, first arm 2 and second arm 3 symmetry are laid on machine case 1 both sides, and first arm 2 and second arm 3 are six degree of freedom arms, install the terminal public head of arm on the end of first arm 2 and second arm 3, six degree of freedom arms include first arm, second arm and a plurality of first rotary joint, all connect each other through first rotary joint between first arm and machine case 1, first arm and second arm, second arm and the terminal public head of arm, but the rotation axis mutually perpendicular at first rotary joint both ends is laid to the both ends of first rotary joint alone. The left side and right side connecting lines of the chassis are arranged in the X-axis direction, the front side and rear side connecting lines are arranged in the Y-axis direction, the upper side and lower side connecting lines are arranged in the Z-axis direction, the first arm and the second arm are vertically arranged, the second arm is arranged in the X-axis direction, the first arm can rotate around the X-axis direction through the first rotary joint, the first arm can rotate around the central axis of the first arm, the second arm can rotate around the central axis of the second arm, the male head at the tail end of the arm can rotate around the central axis of the second arm, the first mechanical part and the second mechanical part pass through the structure, the tail end of the mechanical arm can reach the operation position, the dead zone free movement at the tail end of the operation can be effectively guaranteed, the operation range is larger, and the operation precision is higher.

A third mechanical arm 8 is arranged on the upper side surface of the case 1, the third mechanical arm 8 is a three-degree-of-freedom mechanical arm, and a tail end clamping jaw 9 is arranged on the third mechanical arm 8; the three-degree-of-freedom mechanical arm comprises a telescopic third arm and a fourth arm, the third arm is vertically fixed on the chassis 1, the third arm and the fourth arm are connected through a second rotary joint, the tail end of the fourth arm is provided with a tail end clamping jaw 9, two ends of the second rotary joint can independently rotate and rotating shafts at two ends of the second rotary joint are mutually perpendicular to each other, through the structure, the third arm is arranged along a Z axis, the third arm can stretch and retract along the Z axis, the fourth arm and the third arm are vertically arranged, the fourth arm can rotate around the third arm as a center, the fourth arm can rotate around a central shaft of the fourth arm, the tail end clamping jaw 9 can stretch through the fourth arm, and when the three-degree-of-freedom mechanical arm is used, the tail end clamping jaw 9 is used for being close to a drainage wire and clamping the drainage wire, and the drainage wire is pulled to enable the three-degree-of-freedom mechanical arm to move back and forth, and separation and combination of an electrical joint and the drainage wire are achieved.

A plurality of tail end fixing seats 4 are uniformly fixed on the upper side surface of the case 1 along the edge of the front side surface, the tail end fixing seats 4 are fixedly provided with outer connecting seats, the outer connecting seats extend out of the front side surface of the case 1, each outer connecting seat is clamped with a tool end female head matched with the tail end male head of an arm, and each tool end female head comprises an upper section clamped on the outer connecting seat and a lower section connected with an operation tool;

the operation tool comprises a temperature detection probe, a bolt and nut assembling and disassembling mechanical claw and a sanding tool, wherein a tool end female head is connected with the temperature detection probe to form a temperature detection tail end 5, a tool end female head is connected with the bolt and nut assembling and disassembling mechanical claw to form an assembling and disassembling tail end 6, and the tool end female head is connected with the sanding tool to form a sanding tail end 7, as shown in fig. 1, in the embodiment, six outer connecting seats are arranged symmetrically by taking the middle point of a connecting line of a first mechanical arm 2 and a second mechanical arm 3 as a symmetrical axis, the temperature detection tail ends 5 are clamped on the outer connecting seats at the two outermost ends, the sanding tail ends 7 are clamped on the two outer connecting seats in the middle, and the assembling and disassembling tail ends 6 are clamped on the outer connecting seats between the temperature detection tail end 5 and the sanding tail end 7; the top of the case 1 is provided with a plurality of placing areas for placing bolts and nuts, and a plurality of jacks which are vertically distributed and have inner diameters matched with the outer diameters of bolt screws are arranged in the placing areas; in the above description, the temperature detection probe is used for detecting whether the temperature at the contact surface of the electrical connector exceeds a limit value so as to determine whether the connector needs to be overhauled; the bolt and nut assembling and disassembling mechanical claw is used for loosening and tightening nuts at the electric joint and disconnecting the electric joint from the drainage wire; the sanding tool is used for sanding the contact surface of the electric connector so as to reduce the temperature rise of the contact surface, and the jack is used for ensuring that the detached bolt can be vertically placed after the bolt and nut assembling and disassembling mechanical claw is used for removing the bolt, so that the bolt and nut assembling and disassembling mechanical claw can grasp the bolt conveniently during subsequent installation;

the auxiliary moving wheel 10 is installed at the bottom of the chassis 1, and the auxiliary moving wheel 10 has a self-locking function, on one hand, the auxiliary moving wheel 10 is used for assisting the free movement of the robot operating system in a non-working state, so that the labor intensity of the manual handling robot operating system is reduced, and on the other hand, the auxiliary moving wheel 10 can be locked in a working state, so that the robot operating system is fixed at the top of the lifting platform, relative sliding and offset are prevented, and the robot operating system is ensured to be in a stable state to complete an operation task.

The specific control process of the device is as follows:

the operation system of the carrying robot is arranged on a lifting platform of the mobile machine platform, the mobile machine platform is controlled to move to an operation point, and the first, second and third mechanical arms 8 of the operation system of the carrying robot reach the same horizontal height as the operation point by lifting the lifting platform carried on the machine platform.

a. And controlling the first mechanical arm 2 and the second mechanical arm 3 to enable the male ends of the arm ends of the first mechanical arm 2 and the second mechanical arm 3 to be respectively connected with the temperature detection tail end 5, then enabling the first mechanical arm 2 and the second mechanical arm 3 to drive the temperature detection probes to respectively contact the left joint contact panel and the right joint contact panel of the insulator, and testing whether the temperature of the joint contact panel exceeds a limiting value.

If the temperature does not exceed the limit value, the joint touch panel meets the requirement, the first mechanical arm 2 and the second mechanical arm 3 drive the temperature detection tail end 5 to return, and the mobile airborne platform moves to another operation point;

b. if the temperature exceeds the limit value, the first mechanical arm 2 and the second mechanical arm 3 put the temperature detection tail end 5 back to the original positions, and the arm ends of the first mechanical arm 2 and the second mechanical arm 3 are connected with the loading and unloading tail end 6;

the first mechanical arm 2 is controlled to move to the left side of the joint contact panel, the bolt-nut assembling and disassembling mechanical claw on the first mechanical arm 2 is controlled to grasp one bolt on the left side of the joint contact panel, the second mechanical arm 3 is simultaneously moved to the right side of the joint contact panel, the bolt-nut assembling and disassembling mechanical claw on the second mechanical arm 3 is controlled to clamp the nut on the corresponding side of the bolt, the tail end clamping jaw 9 of the third mechanical arm 8 is controlled to clamp the drainage wire, so that the amplitude of vibration is smaller after the bolt is removed, the subsequent recovery of an electric joint is facilitated, the first mechanical arm 2 is kept still, the second mechanical arm 3 drives the bolt-nut assembling and disassembling mechanical claw to rotate, the nut is unscrewed and removed, the second mechanical arm 3 places the nut in a placing area of the chassis 1 close to one side of the second mechanical arm 3, the first mechanical arm 2 inserts the bolt into a jack of the placing area close to one side of the first mechanical arm 2, and reciprocates in this way until the nuts of all the joint contact panel are removed, and the drainage wire is driven by the third mechanical arm 8 to be separated from the joint contact panel.

After the screw replacing operation is completed, the loading and unloading tail end 6 is replaced by the first mechanical arm 2 and the second mechanical arm 3, the sanding tail end 7 is replaced, and a sanding tool on the sanding tail end 7 consists of a sticky plate and sand paper. The first mechanical arm 2 and the second mechanical arm 3 polish the fixing plate at the electric joint through the sanding tool, and the specific implementation process is that the tail end of the control mechanical arm is attached to the fixing plate at the joint surface, the rotary joint is utilized to enable the sand paper to move on the fixing plate in a small range, the sand paper is uniformly polished, the joint contact panel of the sand paper is enabled to be smoother, and the temperature rise of the contact surface is effectively reduced.

After sanding, the drainage wire is slowly pulled back to the original position by the third mechanical arm 8, the first mechanical arm and the second mechanical arm are replaced by the loading and unloading tail end 6 again, and the drainage wire and the joint contact panel are fastened again through bolts and nuts.

After the operation is finished, the whole operation flow is finished, the first, second and third mechanical arms 8 are controlled to return to the initial positions, the lifting platform is controlled to descend to be flush with the vehicle body, and the airborne platform drives away from the operation site.

The foregoing description of the preferred embodiments of the present utility model should not be construed as limiting the scope of the utility model, but rather utilizing equivalent structural changes made in the present utility model description and drawings or directly/indirectly applied to other related technical fields are included in the scope of the present utility model.

Claims (8)

1. The utility model provides a transformer substation's electrical joint processing robot which characterized in that: the robot comprises a robot operating system, wherein the robot operating system comprises a chassis (1), a first mechanical arm (2), a second mechanical arm (3) and a third mechanical arm (8);

the first mechanical arm (2) and the second mechanical arm (3) are symmetrically arranged on two sides of the chassis (1), the first mechanical arm (2) and the second mechanical arm (3) are six-degree-of-freedom mechanical arms, the tail ends of the first mechanical arm (2) and the second mechanical arm (3) are provided with arm tail end male heads,

a third mechanical arm (8) is arranged on the upper side surface of the case (1), the third mechanical arm (8) is a three-degree-of-freedom mechanical arm, and a tail end clamping jaw (9) is arranged on the third mechanical arm (8);

the machine case comprises a machine case body, and is characterized in that a plurality of tail end fixing seats (4) are uniformly fixed on the upper side surface of the machine case body (1) along the edge of the front side surface, an outer connecting seat is fixed on the tail end fixing seats (4), the outer connecting seat extends out of the front side surface of the machine case body (1), tool end female heads matched with the tail end male heads of the arms are clamped on the outer connecting seats, and each tool end female head comprises an upper section clamped on the outer connecting seat and a lower section connected with an operation tool.

2. The substation electrical joint processing robot of claim 1, wherein: the operation tool comprises a temperature detection probe, a bolt and nut loading and unloading mechanical claw and a sanding tool, wherein a tool end female head is connected with the temperature detection probe to form a temperature detection tail end (5), the tool end female head is connected with the bolt and nut loading and unloading mechanical claw to form a loading and unloading tail end (6), the tool end female head is connected with the sanding tool to form a sanding tail end (7), six outer connecting seats are arranged symmetrically by taking the middle point of a connecting line of a first mechanical arm (2) and a second mechanical arm (3) as a symmetrical axis, the temperature detection tail end (5) is clamped on the outer connecting seats at the two outermost ends, the sanding tail end (7) is clamped on the two outer connecting seats in the middle, and the loading and unloading tail end (6) is clamped on the outer connecting seats between the temperature detection tail end (5) and the sanding tail end (7).

3. The substation electrical joint processing robot of claim 2, wherein: the top of machine case (1) is provided with a plurality of placing areas that are used for placing bolt and nut, be provided with a plurality of jack that vertically lay, internal diameter and bolt screw rod external diameter assorted in the placing area.

4. A substation electrical joint processing robot according to claim 3, characterized in that: the six-degree-of-freedom mechanical arm comprises a first arm and a second arm, wherein the first arm is connected with a chassis (1), the first arm is connected with the second arm, and the second arm is connected with the male end at the tail end of the arm through a first rotary joint, the two ends of the first rotary joint can rotate independently, and the rotating shafts at the two ends of the first rotary joint are distributed vertically.

5. The substation electrical joint processing robot of claim 4, wherein: the three-degree-of-freedom mechanical arm comprises a telescopic third arm and a fourth arm, the third arm is vertically fixed on the chassis (1), the third arm and the fourth arm are connected through a second rotary joint, the tail end of the fourth arm is provided with a tail end clamping jaw (9), two ends of the second rotary joint can independently rotate, and rotating shafts at two ends of the second rotary joint are mutually perpendicular to each other.

6. The substation electrical joint processing robot according to any one of claims 1 to 5, wherein: and a power supply and a control system are arranged in the case (1), and the first mechanical arm (2), the second mechanical arm (3) and the third mechanical arm (8) are connected with the power supply through the control system.

7. The substation electrical joint processing robot of claim 6, wherein: an auxiliary moving wheel (10) with a self-locking function is arranged at the bottom of the case (1).

8. The substation electrical joint processing robot of claim 6, wherein: the robot operation system is fixed on the movable end of the vertical lifting mechanism of the mobile airborne platform.

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