CN111559300B - Switch cabinet overhauling transfer trolley and posture adjusting method thereof - Google Patents
Switch cabinet overhauling transfer trolley and posture adjusting method thereof Download PDFInfo
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- CN111559300B CN111559300B CN202010325379.9A CN202010325379A CN111559300B CN 111559300 B CN111559300 B CN 111559300B CN 202010325379 A CN202010325379 A CN 202010325379A CN 111559300 B CN111559300 B CN 111559300B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B2900/00—Purpose of invention
- B60B2900/50—Improvement of
- B60B2900/541—Servicing
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Abstract
The invention relates to the technical field of switch cabinets, and discloses a switch cabinet overhauling transfer trolley which comprises a chassis and a working platform, wherein the chassis is provided with an omnidirectional moving device, the working platform is arranged on the chassis and comprises a supporting platform and a posture adjusting mechanism, and the supporting platform is connected with the posture adjusting mechanism to adjust the posture and the position of the supporting platform. The omnidirectional moving device is arranged on the chassis, so that the omnidirectional moving device can move or rotate in any direction and can realize transverse movement, the transfer trolley can move in all directions, the transfer trolley can be oriented without a certain distance from the switch cabinet, the transfer trolley can move in any direction after approaching the switch cabinet to be adjusted, the positioning is accurate and convenient, and the working efficiency is improved. The telescopic push rods are adopted in the posture adjusting mechanism, so that the push rods can act cooperatively and accurately. The invention also provides a posture adjusting method of the transfer trolley, which can accurately adjust the telescopic length of the push rod, so that the supporting platform has stable support.
Description
Technical Field
The invention relates to the technical field of switch cabinets, in particular to a switch cabinet overhauling transfer trolley and an attitude adjusting method thereof.
Background
In an electric power system, an indoor complete device, namely a 10kV high-voltage switch cabinet, is generally adopted for a power distribution device with a 10kV voltage class. The middle part in the cubical switchboard sets up the circuit breaker, also known as central-positioned cubical switchboard. The circuit breaker of the central switch cabinet generally adopts a switch trolley, and two sides of the bottom of the switch trolley are respectively provided with 2 rollers close to corner positions for moving the switch trolley. In the case of servicing, testing or inspection, the switching trolley needs to be pulled to a servicing or testing position. After the middle cabinet door is opened, the switch trolley needs to be pulled out to the transfer trolley, and the switch trolley is conveyed to a proper position by the transfer trolley to be overhauled, tested or inspected. Therefore, the transfer trolley has the performance requirement that the transfer trolley can move and turn on the ground, a platform for supporting the switch trolley needs to be arranged on the transfer trolley, and the height and the posture of the platform of the transfer trolley need to be adjustable, so that the platform can be kept consistent with the bottom surface of the switch cabinet, and the switch trolley can be conveniently and smoothly pulled out and transferred.
The existing transfer trolley comprises a steel frame and wheels arranged at the bottom of the frame, and is required to be pushed by manpower to realize movement and turning, and the top of the frame is provided with a working platform and a screw rod adjusting mechanism for adjusting the height and the posture of the working platform.
However, the transfer trolley in the prior art is difficult to position and inconvenient to pull out and push the switch trolley into the switch cabinet. At present, before the switch trolley enters and exits the switch cabinet, the transfer trolley needs to be pushed to the front of the switch cabinet, so that the rollers of the switch trolley are aligned with the rails in the switch cabinet, and then the platform of the transfer trolley is adjusted to be flush with the bottom surface of the switch cabinet. Although the wheels of the existing transfer trolley adopt universal wheels, the transverse translation cannot be realized. Therefore, if the direction of the transfer trolley is not adjusted before the transfer trolley is pushed to the switch cabinet, the transfer trolley needs to be pulled out for a certain distance for repositioning, and due to the fact that the switch trolley is heavy in weight, a plurality of operators are needed for cooperation in the positioning process, physical strength is high, labor cost is high, and time consumption is high. Moreover, the transfer trolley needs to be positioned when the transfer trolley has a certain distance with the switch cabinet, so that inaccurate positioning and repeated work can be caused, and the efficiency is extremely low.
Disclosure of Invention
The invention aims to provide a switch cabinet overhauling transfer trolley which can be accurately positioned, is convenient to operate and has high working efficiency.
In order to achieve the above object, the present invention provides a switch cabinet overhaul transfer trolley, comprising:
the chassis is provided with an omnidirectional moving device;
the working platform is arranged on the chassis and comprises a supporting platform and a posture adjusting mechanism, and the supporting platform is connected with the posture adjusting mechanism to adjust the posture and the position of the supporting platform; the supporting platform comprises an upper platform, a lower platform and a sliding mechanism, the upper platform is connected to the lower platform in a sliding mode through the sliding mechanism, the sliding mechanism comprises a limiting block and a connecting block, a sliding rail is arranged on the lower platform, a sliding hole with the length smaller than that of the sliding rail is formed in the sliding rail, the length of the limiting block is larger than that of the sliding hole, the connecting block penetrates through the sliding hole, and two ends of the connecting block are connected with the limiting block and the upper platform respectively;
the lower platform is provided with a track to form the slide rail, the track is a hollow shell, the lower platform is provided with a chute, the track is embedded in the chute, the track is provided with a plurality of slide holes distributed along the length direction of the track, the slide holes are formed in the side wall of the track, the limiting block is arranged in the track, and balls are arranged between the limiting block and the inner wall of the track;
the sliding mechanism further comprises a sliding block, a sliding motor and a sliding rod, the sliding motor is in transmission connection with the sliding rod, the sliding block is slidably sleeved on the sliding rod and in threaded connection with the sliding rod, the sliding block is connected with the upper platform, a mounting groove is formed in the lower platform, and the sliding block, the sliding motor and the sliding rod are mounted in the mounting groove.
Preferably, the omnidirectional moving device comprises a moving wheel and a driving device for driving the moving wheel to move, the moving wheel and the driving device are mounted on the chassis, and the driving device is in transmission connection with the moving wheel.
Preferably, the moving wheels are omni wheels or mecanum wheels.
Preferably, the working platform further comprises an installation platform located below the supporting platform, the posture adjusting mechanism comprises a lifting mechanism, the installation platform is connected with the chassis, and the installation platform is connected with the supporting platform through the lifting mechanism.
Preferably, the lifting mechanism comprises at least four telescopic push rods and an adjusting device for driving the push rods to stretch, the push rods and the adjusting device are installed on the installation platform, and the supporting platform is connected to the extending end of the push rods.
As an optimal scheme, the supporting platform comprises an upper platform, a lower platform and a sliding mechanism, the upper platform is connected to the lower platform in a sliding mode through the sliding mechanism, the sliding mechanism comprises a limiting block and a connecting block, a sliding rail is arranged on the lower platform, the length of the sliding rail is smaller than the sliding hole of the sliding rail, the length of the limiting block is larger than the length of the sliding hole, the connecting block penetrates through the sliding hole, and the two ends of the connecting block are respectively connected with the limiting block and the upper platform.
According to the preferable scheme, the working platform is provided with a hook used for being hooked with the switch cabinet, the hook comprises a hook body, a worm, a locking motor, a rotating shaft and a shell, the hook body is rotatably connected to the shell through the rotating shaft, the locking motor is in transmission connection with the worm, the hook body is provided with worm gear teeth, and the worm gear teeth are meshed with the worm.
As a preferred scheme, a positioning hook used for being hooked with the switch cabinet is arranged on the working platform and comprises a positioning hook body, a screw rod and a positioning motor, the positioning motor is in transmission connection with the screw rod, the positioning hook body is slidably sleeved on the screw rod, and the positioning hook body is in threaded connection with the screw rod.
Preferably, the device further comprises a control mechanism, wherein the control mechanism comprises a controller, an attitude sensor and a control panel, the attitude sensor is arranged on the supporting platform, and the attitude sensor, the control panel, the driving device and the attitude adjusting mechanism are respectively in communication connection with the controller.
The invention also provides a posture adjusting method of the switch cabinet overhauling transfer trolley, which comprises the following steps:
the method comprises the following steps: collecting the position information of the extending ends of any three push rods which are stretched in place on the same coordinate system and recording the position information as A (x)a，ya,za),B(xb，yb，zb),C(xc，yc，zc) (ii) a And collecting the current position of the push rod to be stretched in the same coordinate system and recording as (x)u，yu，zu)；
Step two: recording the target position of the extending end of the push rod to be stretched in the same coordinate system as (x)u，yu，zi) The length to be stretched of the push rod to be stretched is h; according to
And
obtaining ziAnd according to h ═ zi-zuAnd obtaining the telescopic length h of the push rod to be telescopic.
Compared with the prior art, the switch cabinet overhauling transfer trolley has the beneficial effects that:
the omnidirectional moving device is arranged on the chassis, so that the omnidirectional moving device can move or rotate in any direction and can realize transverse movement, the transfer trolley can move in all directions, the transfer trolley can be oriented without a certain distance from the switch cabinet, the transfer trolley can move in any direction after approaching the switch cabinet to be adjusted, the positioning is accurate and convenient, and the working efficiency is improved.
Drawings
Fig. 1 is a schematic structural view of a switch cabinet maintenance transfer trolley according to a first embodiment of the invention.
Fig. 2 is an exploded view of a switchgear cabinet inspection transfer car according to a first embodiment of the present invention.
Fig. 3 is an exploded view of the chassis according to the first embodiment of the present invention.
Fig. 4 is an exploded view of the attitude adjustment mechanism according to the first embodiment of the present invention.
Fig. 5 is an exploded view of a support platform according to a first embodiment of the present invention.
Fig. 6 is a schematic diagram of a track according to a first embodiment of the invention.
Fig. 7 is a schematic structural diagram of a hook according to a first embodiment of the present invention.
Fig. 8 is a schematic structural diagram of a control panel according to a first embodiment of the present invention.
Fig. 9 is a schematic structural view of a switch cabinet maintenance transfer trolley according to a second embodiment of the invention.
Fig. 10 is an exploded view of a chassis according to a second embodiment of the present invention.
Fig. 11 is an exploded view of a support platform according to a third embodiment of the invention.
Fig. 12 is a schematic structural diagram of a lower platform according to a third embodiment of the present invention.
Fig. 13 is a schematic structural view of a switch cabinet maintenance transfer trolley according to a fourth embodiment of the invention.
Fig. 14 is an exploded view of a positioning hook according to a fourth embodiment of the present invention.
In the figure, 1-chassis; 2-a support platform; 201-upper platform; 202-lower platform; 203-a limiting block; 204-connecting block; 205-a slide hole; 206-a slider; 207-a slide motor; 208-a slide bar; 209-mounting groove; 210-a chute; 3-an omni wheel; 4-driving the motor; 5-a suspension mechanism; 6, mounting a platform; 7-a push rod; 701-a push rod body; 702-a push rod housing; 8-adjusting the motor; 9-track; 10-a ball bearing; 11-hanging hooks; 1101-a hook body; 1102-a worm; 1103-locking motor; 1104-a shaft; 1105-a housing; 1106-worm gear teeth; 12-a positioning cone; 13-a baffle; 14-a controller; 15-attitude sensors; 16-a control panel; 1601-rocker; 1602-key; 17-a height measuring device; 18-mecanum wheels; 19-a roller; 20-positioning hooks; 2001-positioning the hook body; 2002-a screw rod; 2003-positioning the motor.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the terms "central", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., used herein are used in the orientation or positional relationship indicated in the drawings, which are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
Referring to fig. 1 to 8, a switch cabinet overhaul transfer trolley according to a preferred embodiment of the present invention includes a chassis 1 and a working platform, the chassis 1 is provided with an omnidirectional moving device, the working platform is disposed on the chassis 1, the working platform includes a supporting platform 2 and a posture adjusting mechanism, and the supporting platform 2 is connected with the posture adjusting mechanism to adjust the posture and position of the supporting platform 2. The omnidirectional moving device is arranged on the chassis 1, so that the transfer trolley can move or rotate in any direction and can move transversely, the transfer trolley can move in all directions and can be oriented without a distance from the switch cabinet, the transfer trolley can move in any direction after being close to the switch cabinet to be adjusted, the positioning is accurate and convenient, and the working efficiency is improved.
Further, referring to fig. 1, 2 and 3, the omnidirectional moving device comprises moving wheels and a driving device for driving the moving wheels to move, the moving wheels and the driving device are mounted on the chassis 1, the driving device is in transmission connection with the moving wheels, and the driving device is adopted to drive the moving wheels to move, so that the transfer trolley has power, the transfer trolley does not need to be pushed by manpower, the transfer trolley moves stably, and the risk that the maintenance trolley is easy to topple when the trolley is pushed by manpower when the ground is uneven is greatly reduced. The movable wheel of this embodiment adopts omni wheel 3, and drive arrangement adopts driving motor 4, and omni wheel 3 connects on chassis 1 and is connected with driving motor 4 transmission through hanging mechanism 5. The chassis 1 of the embodiment is provided with four omnidirectional wheels 3, the axial directions of the four omnidirectional wheels 3 and the advancing direction of the transfer trolley are arranged at 45-degree opposite angles, the cross section of the chassis 1 of the embodiment is square, and the four omnidirectional wheels 3 are respectively arranged at the corners of the chassis 1 and are obliquely arranged at 45 degrees. The four omnidirectional wheels 3 are respectively connected with one driving motor 4, so that the chassis 1 is independently driven by four shafts, and the omnidirectional movement such as forward, backward, transverse movement, turning and the like can be realized through the cooperation of different forward and reverse rotations of the driving motors 4. The driving motor 4 of the embodiment can adopt an external motor or a hub motor, if the external motor is adopted, the external motor is arranged on the chassis 1, and the omnidirectional wheel 3 is driven to rotate through the connecting shaft; if a hub type motor is adopted, the hub type motor is arranged inside the hub of the omnidirectional wheel 3, and the omnidirectional wheel 3 is directly driven to rotate.
Further, please refer to fig. 1, fig. 2 and fig. 4, the working platform of this embodiment further includes a mounting platform 6 located below the supporting platform 2, the posture adjusting mechanism includes a lifting mechanism, the mounting platform 6 is connected with the chassis 1, the mounting platform 6 is connected with the supporting platform 2 through the lifting mechanism, through setting the mounting platform 6, a mounting base can be provided for setting the posture adjusting mechanism, and the working platform can be separated from the chassis 1, thereby facilitating the overhaul and maintenance of the chassis 1. Optionally, elevating system includes four at least telescopic push rods 7 and drives the telescopic adjusting device of push rod 7, and push rod 7 and adjusting device install on mounting platform 6, and supporting platform 2 is connected at the end that stretches out of push rod 7, realizes the adjustment of supporting platform 2's height and gesture through the flexible of push rod 7 to use adjusting device can realize accurate control and each push rod 7 simultaneous concerted action, avoid the expense time that manual regulation leads to long, the degree of accuracy is low and switch dolly skew, danger such as topple over. Because three points determine one surface, the specific position and posture of the supporting platform 2 can be determined by the support of the three push rods 7, however, only three support points can cause the instability of the supporting platform 2, especially the supporting platform 2 needs to bear a switch trolley with a large weight, and only three support points not only can greatly stress the push rods 7 but also can unbalance the stress of the supporting platform 2, so at least 4 push rods 7 are arranged for supporting to avoid the instability of the supporting platform 2. The adjusting device of this embodiment adopts adjusting motor 8, and rotation through adjusting motor 8 drives push rod 7 flexible, should point out that adjusting device can also adopt cylinder, hydraulic means etc.. The push rod 7 of the present embodiment includes a push rod body 701 and a push rod housing 702, the push rod body 701 is axially movably disposed in the push rod housing 702, and the push rod housing 702 can provide a fixed support for the push rod body 701, ensure the moving direction of the push rod body 701, and protect the push rod body 701. The mounting platform 6 and the supporting platform 2 of this embodiment adopt parallel arrangement's rectangle platform, and this embodiment respectively sets up a push rod 7 in four corners of mounting platform 6 to the end that stretches out of push rod 7 is connected in supporting platform 2's corner, can realize the stable support, makes things convenient for the location installation.
Further, please refer to fig. 5 and fig. 6, the supporting platform 2 of this embodiment includes an upper platform 201, a lower platform 202 and a sliding mechanism, the upper platform 201 is slidably connected to the lower platform 202 through the sliding mechanism, the sliding mechanism includes a limiting block 203 and a connecting block 204, a sliding rail is disposed on the lower platform 202, a sliding hole 205 whose length is smaller than that of the sliding rail is disposed on the sliding rail, the length of the limiting block 203 is greater than that of the sliding hole 205, the connecting block 204 passes through the sliding hole 205, and two ends of the connecting block 204 are respectively connected to the limiting block 203 and the upper platform 201. The upper platform 201 is connected with the lower platform 202 in a sliding mode, fine adjustment can be conducted after the transfer trolley is positioned in front of the switch cabinet, and the situation that the switch trolley cannot be pulled out or pushed in due to the fact that a gap exists between the supporting platform 2 and the switch cabinet is prevented. The upper platform 201 and the limiting block 203 of this embodiment are connected through the connecting block 204 passing through the sliding hole 205, so that the connecting block 204 cannot slide continuously when moving to the two ends of the sliding hole 205, and the sliding of the upper platform 201 is limited, and meanwhile, the length of the limiting block 203 is greater than that of the sliding hole 205, so that the connection between the upper platform 201 and the sliding rail can be maintained.
Optionally, referring to fig. 6, in this embodiment, a rail 9 is disposed on the lower platform 202 to form a sliding rail, the rail 9 is a hollow shell, the limiting block 203 is disposed in the rail 9, the sliding hole 205 is disposed on a side wall of the rail 9, and the rail 9 of this embodiment is provided with a plurality of sliding holes 205 distributed along a length direction thereof, so that connection points between the upper platform 201 and the limiting block 203 are increased, and connection is more secure. In addition, the ball 10 is arranged between the limiting block 203 and the inner wall of the track 9, so that friction is reduced, and sliding is facilitated. In this embodiment, the sliding mechanism further includes a sliding block 206, a sliding motor 207 and a sliding rod 208, the sliding motor 207 is in transmission connection with the sliding rod 208, the sliding block 206 is slidably sleeved on the sliding rod 208 and is in threaded connection with the sliding rod 208, the sliding block 206 is connected with the upper platform 201, the sliding motor 207 drives the sliding rod 208 to rotate and further drives the sliding block 206 to slide, so as to drive the upper platform 201 to move, accurate control over movement of the upper platform 201 can be achieved, and after the upper platform is moved in place, the sliding motor 207 stops rotating, the sliding block 206 cannot continuously slide, the upper platform 201 is positioned and locked, and the upper platform 201 is prevented from moving when the switch trolley is loaded and unloaded. In this embodiment, the lower platform 202 is provided with a mounting groove 209, and the slider 206, the sliding motor 207 and the sliding rod 208 are mounted in the mounting groove 209, so that the protection effect can be achieved, the distance between the upper platform 201 and the lower platform 202 can be reduced, and the damage to the sliding mechanism caused by the switch trolley with heavy load of the upper platform 201 can be prevented. The lower platform 202 of this embodiment is further provided with a chute 210, and the rail 9 is embedded in the chute 210, so that the positioning and installation are facilitated, and the deformation and the deviation of the rail 9 can be prevented.
Further, a hook 11 used for being hooked with the switch cabinet is arranged on the working platform, the hook 11 comprises a hook body 1101, a worm 1102, a locking motor 1103, a rotating shaft 1104 and a shell 1105, the hook body 1101 is rotatably connected to the shell 1105 through the rotating shaft 1104, the locking motor 1103 is in transmission connection with the worm 1102, worm gear teeth 1106 are arranged on the hook body 1101, and the worm gear teeth 1106 are meshed with the worm 1102. After the transfer trolley is positioned in front of the switch cabinet, the transfer trolley needs to be locked to prevent sliding, and the transfer trolley is hung on the switch cabinet through the hook 11 to realize positioning and locking. When the locking motor 1103 drives the worm 1102 to rotate, the worm 1102 is meshed with the worm gear teeth 1106 to drive the hook body 1101 to rotate, so that the hook body 1101 swings, and the functions of hooking, locking and releasing are achieved. The couple 11 of this embodiment sets up on last platform 201, and last platform 201 still is provided with the location awl 12 that is used for pegging graft with the locating hole of cubical switchboard, articulates at couple 11 before, through location awl 12 location, can guarantee to couple 11 success and articulate. In addition, the upper platform 201 is also provided with a baffle 13 which can prevent the switch trolley from deviating from the upper platform 201.
In addition, the transfer trolley of the embodiment further comprises a control mechanism, the control mechanism comprises a controller 14, an attitude sensor 15 and a control panel 16, the attitude sensor 15 is arranged on the supporting platform 2, and the attitude sensor 15, the control panel 16, the driving device and the attitude adjusting mechanism are respectively in communication connection with the controller 14. The embodiment realizes the control and adjustment of the movement and the posture of the transfer trolley by arranging the control mechanism; the attitude sensor 15 can monitor the height and attitude of the supporting platform, and realize closed-loop control, so that the control is more accurate; the control panel 16 can realize manual control and is convenient to operate. The driving device of the present embodiment uses the driving motor 4 and the posture adjustment mechanism uses the adjustment motor 8, and therefore, the present embodiment controls the driving motor 4 and the rotation speed and the number of rotations of the adjustment motor 8 by the controller 14. The moving speed of the transfer vehicle is controlled by controlling the rotating speed of the driving motor 4, and the moving distance of the transfer vehicle is controlled by controlling the number of revolutions of the driving motor 4. The stretching speed of the push rod 7 is controlled by controlling the rotating speed of the adjusting motor 8, and the stretching distance of the push rod 7 is controlled by controlling the revolution of the adjusting motor 8. In addition, the controller 14 of this embodiment is also communicatively connected to the sliding motor 207 of the sliding mechanism to control the movement of the upper platform 201, and communicatively connected to the locking motor 1103 of the hook 11 to control the locking and unlocking. Referring to fig. 8, a joystick 1601 and a key 1602 are disposed on the control panel 16. In the embodiment, two rocking bars 1601 are arranged, wherein one rocking bar 1601 controls the left-hand turning and the right-hand turning of the transfer trolley and the lifting and descending of the supporting platform 2, and the other rocking bar 1601 controls the omnidirectional movement of the transfer trolley, such as the forward and backward movement, the left-right translation and the like. In the present embodiment, four push rods 7 are provided to adjust the height and posture of the supporting platform 2, and a hook 11 and a sliding mechanism are further provided, so that in the present embodiment, 6 key pairs are provided on the control panel 16, two keys 1602 of each key pair respectively control actions in opposite directions, wherein 4 key pairs respectively control the extension and retraction of the four push rods 7, another key pair controls the swing of the hook 11, and the other key pair controls the movement of the upper platform 201. The controller 14 of this embodiment may be a single chip, a PLC or an industrial personal computer, and the attitude sensor 15, the control panel 16, the driving motor 4, the sliding motor 207, the adjusting motor 8, the locking motor 1103 and the controller 14 may be connected by a wireless connection or a wired connection. In addition, the extending end of the push rod 7 is also provided with a height measuring device 17, so that the telescopic movement of the push rod 7 is further monitored.
Example two
The difference between this embodiment and the first embodiment is that the moving wheel of this embodiment is a mecanum wheel 18. Referring to fig. 9 and 10, the chassis 1 of the present embodiment is connected with four mecanum wheels 18, the axial direction of the mecanum wheels 18 is installed at 0 ° or 90 ° to the advancing direction of the transfer vehicle, the cross section of the chassis 1 of the present embodiment is square, and the four mecanum wheels 18 are connected at positions close to four corners of the chassis 1. The Mecanum wheel 18 is adopted in the embodiment, so that the mounting difficulty of the moving wheel on the chassis 1 can be reduced, the mounting is convenient, and the chassis 1 can adapt to different shapes. Also, the contact points of mecanum wheels 18 with the ground may be closer to the four corner positions of chassis 1, making the chassis more stable. Other structures of this embodiment are the same as those of the first embodiment, and are not described herein again.
EXAMPLE III
Referring to fig. 11 and 12, the difference between the first embodiment and the second embodiment is that a sliding groove 210 disposed on a lower platform 202 forms a sliding rail, a sliding hole 205 is disposed at the bottom of the sliding groove 210 and penetrates through the lower platform 202, a plurality of sliding holes 205 distributed along the length direction of the sliding groove 210 are disposed at the bottom of the sliding groove 210, the upper platform 201 is connected to a plurality of connecting blocks 204, one connecting block 204 penetrates through one sliding hole 205 to be connected to one limiting block 203, and the limiting block 203 is located below the lower platform 202. The sliding mechanism of the embodiment enables the upper platform 201 and the lower platform 202 to be connected more tightly, prevents the upper platform 201 and the lower platform 202 from being separated, and has higher structural strength. The rotatable roller 19 is arranged in the sliding groove 210, the roller 19 is located between two adjacent sliding holes 205, the upper platform 201 is supported, sliding friction of the upper platform 201 is reduced, and movement of the upper platform 201 is facilitated. Other structures of this embodiment are the same as those of the first embodiment, and are not described herein again.
Example four
Referring to fig. 13 and fig. 14, the difference between the present embodiment and the first embodiment is that a positioning hook 20 for hooking with a switch cabinet is disposed on the working platform of the present embodiment, the positioning hook 20 includes a positioning hook body 2001, a screw rod 2002 and a positioning motor 2003, the positioning motor 2003 is in transmission connection with the screw rod 2002, the positioning hook body 2001 is slidably sleeved on the screw rod 2002, and the positioning hook body 2001 is in threaded connection with the screw rod 2002. The screw rod 2002 is driven to rotate by the positioning motor 2003 so as to drive the positioning hook body 2001 on the screw rod to move, the hanging locking and releasing functions of the transfer trolley and the switch cabinet are realized, and the transfer trolley is prevented from sliding after being positioned.
The posture adjusting mechanism of the invention adopts at least four push rods 7 to control the height and the posture of the supporting platform 2, correspondingly, the invention also provides a posture adjusting method of the supporting platform of the transfer trolley, which comprises the following steps:
the method comprises the following steps: collecting the position information of the extending ends of any three push rods which are stretched in place on the same coordinate system and recording the position information as A (x)a，ya,za),B(xb，yb，zb),C(xc，yc，zc) (ii) a And collecting the current position of the push rod to be stretched in the same coordinate system and recording as (x)u，yu，zu) (ii) a In the present embodiment, the upper plane of the mounting platform 6 or a plane parallel to the upper surface of the mounting platform 6 is used as the xoy plane of the coordinate system.
Step two: recording the target position of the extending end of the push rod to be stretched in the same coordinate system as (x)u，yu，zi) The length to be stretched of the push rod to be stretched is h; according to
And
obtaining ziAnd according to h ═ zi-zuAnd obtaining the telescopic length h of the push rod to be telescopic.
In the present embodiment, the height of the projecting end of each push rod 7 is acquired by the height measuring device 17, and the posture and height of the support platform 2 are monitored by the posture sensor 15. According to the embodiment, the controller 14 can automatically adjust the heights of four or more push rods 7 according to the posture adjusting method, so that the tops of the push rod bodies 701 are constantly positioned on the same plane, and a tester only needs to adjust the height and the posture of the supporting platform 2 as required, so that time and labor are saved, the risk is reduced, and the problem that when the height and the posture of the supporting platform are adjusted by a traditional maintenance vehicle, an operator needs to manually match a lead screw to adjust the height of each supporting seat is avoided.
To sum up, the embodiment of the invention provides a switch cabinet overhauling transfer trolley, which can move or rotate in any direction and can move transversely by arranging an omnidirectional moving device on a chassis 1, so that the transfer trolley can move in all directions, can be oriented without a certain distance from the switch cabinet, can move in any direction after approaching the switch cabinet for adjustment, is accurate and convenient to position, and improves the working efficiency. The invention also provides a posture adjusting method, which can obtain the lengths to be stretched of the rest push rods 7 according to the positions of the extending ends of any three push rods 7 stretched in place, and provide stable support for the support platform 2.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (9)
1. The utility model provides a cubical switchboard maintenance transfer car (buggy), its characterized in that includes:
the chassis (1), the said chassis (1) has all-round mobile devices;
the working platform is arranged on the chassis (1) and comprises a supporting platform (2) and a posture adjusting mechanism, and the supporting platform (2) is connected with the posture adjusting mechanism to adjust the posture and the position of the supporting platform (2);
the supporting platform (2) comprises an upper platform (201), a lower platform (202) and a sliding mechanism, the upper platform (201) is connected to the lower platform (202) in a sliding mode through the sliding mechanism, the sliding mechanism comprises a limiting block (203) and a connecting block (204), a sliding rail is arranged on the lower platform (202), a sliding hole (205) with the length smaller than that of the sliding rail is formed in the sliding rail, the length of the limiting block (203) is larger than that of the sliding hole (205), the connecting block (204) penetrates through the sliding hole (205), and two ends of the connecting block (204) are connected with the limiting block (203) and the upper platform (201) respectively;
a track (9) is arranged on the lower platform (202) to form the sliding rail, the track (9) is a hollow shell, a sliding groove (210) is formed in the lower platform, the track (9) is embedded in the sliding groove (210), a plurality of sliding holes (205) distributed along the length direction of the track (9) are formed in the track (9), the sliding holes (205) are formed in the side wall of the track (9), the limiting block (203) is arranged in the track (9), and a ball (10) is arranged between the limiting block (203) and the inner wall of the track (9);
the sliding mechanism further comprises a sliding block (206), a sliding motor (207) and a sliding rod (208), the sliding motor (207) is in transmission connection with the sliding rod (208), the sliding block (206) is slidably sleeved on the sliding rod (208) and in threaded connection with the sliding rod (208), the sliding block (206) is connected with the upper platform (201), a mounting groove (209) is formed in the lower platform (202), and the sliding block (206), the sliding motor (207) and the sliding rod (208) are mounted in the mounting groove (209).
2. The switch cabinet service trolley according to claim 1, characterized in that the omnidirectional movement means comprise movement wheels and drive means for moving the movement wheels, the movement wheels and the drive means being mounted on the chassis (1), the drive means being in driving connection with the movement wheels.
3. The switch cabinet service trolley according to claim 2, characterized in that the moving wheels are omni wheels (3) or mecanum wheels (18).
4. The switch cabinet inspection trolley according to claim 1, characterized in that the working platform further comprises a mounting platform (6) located below the supporting platform (2), the attitude adjustment mechanism comprises a lifting mechanism, the mounting platform (6) is connected with the chassis (1), and the mounting platform (6) is connected with the supporting platform (2) through the lifting mechanism.
5. The switch cabinet service trolley according to claim 4, characterized in that the lifting mechanism comprises at least four telescopic push rods (7) and an adjusting device driving the push rods (7) to telescope, the push rods (7) and the adjusting device are mounted on the mounting platform (6), and the support platform (2) is connected to the extending end of the push rods (7).
6. The switch cabinet overhauling transfer trolley according to claim 1, wherein the working platform is provided with a hook (11) for hooking with the switch cabinet, the hook (11) comprises a hook body (1101), a worm (1102), a locking motor (1103), a rotating shaft (1104) and a housing (1105), the hook body (1101) is rotatably connected to the housing (1105) through the rotating shaft (1104), the locking motor (1103) is in transmission connection with the worm (1102), the hook body (1101) is provided with worm gear teeth (1106), and the worm gear teeth (1106) are meshed with the worm (1102).
7. The switch cabinet overhauling transfer trolley according to claim 1, wherein a positioning hook (20) used for hooking with the switch cabinet is arranged on the working platform, the positioning hook (20) comprises a positioning hook body (2001), a screw rod (2002) and a positioning motor (2003), the positioning motor (2003) is in transmission connection with the screw rod (2002), the positioning hook body (2001) is slidably sleeved on the screw rod (2002), and the positioning hook body (2001) is in threaded connection with the screw rod (2002).
8. The switch cabinet overhauling transfer trolley according to claim 2, further comprising a control mechanism, wherein the control mechanism comprises a controller (14), an attitude sensor (15) and a control panel (16), the attitude sensor (15) is arranged on the supporting platform (2), and the attitude sensor (15), the control panel (16), the driving device and the attitude adjusting mechanism are respectively in communication connection with the controller (14).
9. The attitude adjustment method of the switch cabinet service transfer car according to claim 5, characterized by comprising the steps of:
the method comprises the following steps: push for collecting any three in-place telescopic partsThe position information of the extended end of the rod on the same coordinate system is marked as A (x)a，ya,za),B(xb，yb，zb),C(xc，yc，zc) (ii) a And collecting the current position of the push rod to be stretched in the same coordinate system and recording as (x)u，yu，zu)；
Step two: recording the target position of the extending end of the push rod to be stretched in the same coordinate system as (x)u，yu，zi) The length to be stretched of the push rod to be stretched is h; according to
And
obtaining ziAnd according to h ═ zi-zuAnd obtaining the telescopic length h of the push rod to be telescopic.
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| CN202010325379.9A CN111559300B (en) | 2020-04-23 | 2020-04-23 | Switch cabinet overhauling transfer trolley and posture adjusting method thereof |
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| CN202010325379.9A CN111559300B (en) | 2020-04-23 | 2020-04-23 | Switch cabinet overhauling transfer trolley and posture adjusting method thereof |
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| CN111942451A (en) * | 2020-08-28 | 2020-11-17 | 国网河南省电力公司濮阳供电公司 | Handcart switch cart with adjustable size |
| CN115122289A (en) * | 2022-06-13 | 2022-09-30 | 国网天津市电力公司 | Intelligent maintenance operation platform of 10kV switch |
| CN115214822B (en) * | 2022-08-22 | 2024-01-19 | 国网福建省电力有限公司泰宁县供电公司 | Electric transfer trolley for handcart switch |
| CN115447656A (en) * | 2022-09-13 | 2022-12-09 | 广西新电力投资集团融水供电有限公司 | 10kV switch of transformer substation transports dolly based on mecanum wheel |
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| CN111559300A (en) | 2020-08-21 |
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