CN104317238B - Automatic control system of 10 kV switch cabinet and transfer vehicle - Google Patents
Automatic control system of 10 kV switch cabinet and transfer vehicle Download PDFInfo
- Publication number
- CN104317238B CN104317238B CN201410519827.3A CN201410519827A CN104317238B CN 104317238 B CN104317238 B CN 104317238B CN 201410519827 A CN201410519827 A CN 201410519827A CN 104317238 B CN104317238 B CN 104317238B
- Authority
- CN
- China
- Prior art keywords
- switch
- fixedly mounted
- buggy
- mechanical arm
- transfer car
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000012546 transfer Methods 0.000 title claims abstract description 96
- 238000009434 installation Methods 0.000 claims description 17
- 230000003068 static effect Effects 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000009467 reduction Effects 0.000 claims description 6
- 238000013519 translation Methods 0.000 claims description 4
- 229910052751 metal Inorganic materials 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 210000001364 upper extremity Anatomy 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000004807 localization Effects 0.000 claims description 2
- 241000237858 Gastropoda Species 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 20
- 230000009471 action Effects 0.000 description 13
- 230000000694 effects Effects 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 5
- 238000012360 testing method Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000036461 convulsion Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000003054 catalyst Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 235000001674 Agaricus brunnescens Nutrition 0.000 description 1
- 101150029234 Hes5 gene Proteins 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007747 plating Methods 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 210000000515 tooth Anatomy 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/058—Safety, monitoring
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/16—Plc to applications
- G05B2219/163—Domotique, domestic, home control, automation, smart, intelligent house
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Handcart (AREA)
Abstract
The invention relates to an automatic control system of a 10 kV switch cabinet and a transfer vehicle. The system comprises the switch cabinet, a switch dolly, a switch dolly clamping device, the transfer vehicle, a transfer vehicle conveyor belt, a mechanical arm, a mechanical arm platform vehicle, a mechanical arm platform vehicle conveyor belt, a positioning rod and a proximity switch. The switch dolly is installed through the switch dolly clamping device in the switch cabinet, the transfer vehicle conveyor belt is installed in a parallel mode at a certain distance away from the switch cabinet at one side of the cabinet door of the switch cabinet, the mechanical arm platform vehicle conveyor belt is installed in a parallel mode at a certain distance away from the transfer vehicle conveyor belt at the outer side of the transfer vehicle conveyor belt, the mechanical arm platform vehicle is installed on the mechanical arm platform vehicle conveyor belt between the mechanical arm platform vehicle conveyor belt and the transfer vehicle conveyor belt in a sliding mode, and the mechanical arm is installed on a mechanical arm platform. According to the invention, the system is driven by use of motors on the basis of an original mechanical structure, such that the work intensity of workers is reduced, and the equipment reliability and safety are improved.
Description
Technical field
The invention belongs to switch cubicle field, relate to transfer car(buggy), a kind of 10kv switch cubicle and the Automated condtrol system of transfer car(buggy)
System.
Background technology
In daily switch cubicle maintenance experimentation, before needing first to shift transfer car(buggy) onto switch cubicle, then cabinet door is opened,
Being dragged on transfer car(buggy) by switch cart, switch cart is all that people's craft push-and-pull puts in place in maintenance and the process sent back in switch cubicle,
And need people to be pulled out from switch cubicle by switch cart by hand, there is certain danger.Due to switch cart and transfer car(buggy) from
Weight is the biggest, so it is the most physical to expend workman, haulage time is long, inefficiency.And, switch cart is at transfer car(buggy)
On easily topple over being transported to overhaul during position, the safety of equipment is constituted a threat to.
By retrieval, discovery is as follows about the patent document of transfer car(buggy):
1, transfer trolley special for switch cabinet bus bars (CN202245016U), including the underframe of band universal wheel, it is characterised in that the described end
Frame is provided with the bracing frame that can adjust height, and bracing frame upper end level is provided with supporting plate.
2, switch cabinet body transfer trolley (CN202245013U), including base plate, baseplate underside arranges wheel, and base plate arranges spiral shell
Hole, four the region lines successively arranging screw are square.Described base plate is rectangle, and four regions arranging screw lay respectively at
Four angle points of rectangular base plate.
The transfer car(buggy) structure of above-mentioned patent is the most fairly simple, it is impossible to solves transfer car(buggy) automatic push-pull and puts in place and automatically pull out, push out
Close the technical problem of dolly.
Summary of the invention
In place of it is an object of the invention to overcome the deficiencies in the prior art, it is provided that a kind of based on PLC control 10kv switch cubicle and turn
The automation control system of fortune car.
The present invention solves technical problem and be the technical scheme is that
A kind of 10kv switch cubicle and the automation control system of transfer car(buggy), including switch cubicle, switch cart, the clamping of switch cart
Device, transfer car(buggy), transfer car(buggy) conveyer belt, mechanical arm, mechanical arm platform truck, mechanical arm platform truck conveyer belt, location bar and
Proximity switch, installs switch cart by the clamping device of switch cart, at cabinet door side and the switch of switch cubicle in switch cubicle
Cabinet keeps at a certain distance away parallel installation transfer car(buggy) conveyer belt, and the multiple stage that is slidably installed on transfer car(buggy) conveyer belt transfer car(buggy), at transfer car(buggy)
The outside of conveyer belt keeps at a certain distance away with transfer car(buggy) conveyer belt parallel fitting machine mechanical arm platform truck conveyer belt, at mechanical arm platform truck
Be slidably installed on conveyer belt a mechanical arm platform truck, fitting machine mechanical arm on mechanical arm platform, at mechanical arm platform truck conveyer belt
And the outside of transfer car(buggy) conveyer belt installs a positioning rod corresponding to the cabinet door of each switch cubicle, every a positioning rod is mounted on connecing
Nearly switch, is separately installed with locating piece on mechanical arm platform truck and transfer car(buggy), for carrying out determining with the proximity switch on the bar of location
Position detection.
And, the structure of described transfer car(buggy) conveyer belt and mechanical arm platform truck conveyer belt is identical, is driven by high-power translation door machine
Dynamic, this two conveyer belt by multipair axle bed, multiple driving gear, multiple wheel shaft, multiple driven gear, many linkage chains and
One crawler belt is constituted, and the described uniform interval of multipair axle bed is packed in outside transfer car(buggy) or on ground outside mechanical arm platform truck, often
It is fixedly mounted with a wheel shaft between a pair axle bed, is respectively set with a driving gear in the both sides of each wheel shaft, the wheel shaft between two driving gears
Upper symmetrical suit two driven gears, between adjacent two axles, the outer rim of two driven gears of relevant position engages installation one jointly
Dynamic chain, the outer rim at all driving gears and linkage chain engages installation one crawler belt jointly, at inside upper part and the crawler belt of crawler belt
Upper limb level be fixedly mounted with a gripper shoe, by crawler belt drive gripper shoe translational motion, the end face in gripper shoe be fixedly mounted with multiple transfer car(buggy) or
One mechanical arm platform truck, is respectively fixedly mounted with a rubber wheel in the corner, bottom surface of gripper shoe, is shaped with on the ground of corresponding rubber wheel
Slideway.
And, described transfer car(buggy) includes that car body, push-rod electric machine, baffle plate and steady pin, described car body are four directions empty van structure,
End face at car body is respectively shaped with a groove near four edges, is respectively fixedly mounted with a baffle plate and pushes away on the body inner side wall of corresponding each groove
Bar motor, push rod head at each baffle plate push-rod electric machine is each is vertically fixedly mounted with a baffle plate, and this baffle plate be able to pass in car body from groove
Portion, in car body, the bottom surface of car body roof plate is fixedly mounted with a steady pin push-rod electric machine, and the push rod head at steady pin push-rod electric machine is fixedly mounted with one
T-shaped connecting plate, is respectively fixedly mounted with a steady pin at the two ends of T-shaped connecting plate transverse slat, corresponding on the sidewall that car body is relative with switch cubicle
Respectively being shaped with a through hole in two steady pins, steady pin can be passed car body by through hole under the drive of steady pin push-rod electric machine and be inserted into switch
In the pin-and-hole of cabinet, outside car body roof plate, the both sides of groove are respectively fixedly mounted with a switch cart proximity switch.
And, described mechanical arm is made up of screw mandrel slide unit, handgrip and handgrip push-rod electric machine, and described screw mandrel slide unit is vertically packed in
The end face of mechanical arm platform truck, is fixedly mounted with handgrip push-rod electric machine on the slide unit of screw mandrel slide unit, at the push rod head of handgrip push-rod electric machine
Be fixedly mounted with a handgrip, this handgrip for catching the handle at switch cart, described screw mandrel slide unit by Frequency Converter Control, this converter control
Control equipment is arranged in mechanical arm platform truck.
And, the clamping device of described switch cart include straight-line ball screw mandrel slide unit, slide unit motor, supporting plate, bracing frame,
Push-rod electric machine, pressing plate and block, be fixedly mounted with a straight line ball screw slide unit, this straight line in the bottom surface of switch of switch cabinet dolly installation room
Ball screw slide unit is driven by the slide unit motor being arranged on slide unit rear, Frequency Converter Control, at the slide unit of straight-line ball screw mandrel slide unit
On be fixedly mounted with a supporting plate, be respectively fixedly mounted with a roller in the corner, bottom surface of supporting plate, supporting plate end face place switch cart, at switch cart
Respectively it is fixedly mounted with a bracing frame on the supporting plate of both sides, each on each bracing frame is vertically fixedly mounted with pressing push rod motor on, press on each
The push rod head closing push-rod electric machine each is laterally fixedly mounted with a top board, this top board from the end face clamping switch dolly of switch cart,
The both sides of the end face correspondence top board of switch cart are respectively fixedly mounted with block on, and supporting plate both sides at bracing frame rear are each is vertically fixedly mounted with one
Lower pressing push rod motor, push rod head at every pressing push rod motor the most once is each is laterally fixedly mounted with a lower platen, after switch cart
Portion is respectively fixedly mounted with a lower position block corresponding to each lower platen, is respectively fixedly mounted with a lower block in the both sides of the end face lower platen of each lower position block
Block, connects two bracing frames on the top of two bracing frames and is fixedly mounted with a crossbeam, be fixedly mounted with secondary inserting piece in the bottom surface of crossbeam towards switch cart
Moving contact push-rod electric machine and moving contact, the end face at switch cart is fixedly mounted with the static contact of secondary inserting piece corresponding to moving contact.
And, respectively it is fixedly mounted with a dolly proximity switch in the both sides, rear portion of supporting plate, is respectively fixedly mounted with on the supporting plate of both sides before and after two front wheels
One limit switch.
And, one end coaxial package one at door of switch cabinet door-hinge slows down diverter, at the deceleration diverter vertical with door-hinge
Other end coaxial package one connecting rod, the other end of this connecting rod is connected with cabinet door motor, and the other end at door-hinge is fixedly mounted with a metal derby,
Each on door-hinge switch cubicle medial wall over and under a cabinet door proximity switch is installed, for the situation that puts in place of detecting box door,
Between both sides and the both sides inwall of switch cart installation room of door of switch cabinet inwall, symmetry is fixedly mounted with two cabinet door hydraulic stems.
And, in switch cubicle, it is also equipped with grounding switch, connects Worm reduction motor in wheel bar one end of grounding switch,
This takes turns bar makes ground cutter moving contact rotate to ground cutter static contact and contact with static contact under the drive of Worm reduction motor, completes
Feed motion, on wheel bar, welding is fixedly mounted with a detection block, and combined floodgate, open position at switch cubicle inwall correspondence moving contact are pacified respectively
Fill a moving contact proximity switch.
Advantages of the present invention and good effect be:
1, native system utilizes sensor technology and programmable logic controller (PLC) technology, controls all types of motor-driven by PLC and sets
Whether standby action, put in place by the proximity switch being arranged on everywhere or limit switch detection action, by touch screen selection action, and
Display action performance on the touchscreen, to ensure that the normal reliable of equipment is run.Wherein, the logical relation between equipment by
Program realizes.
2, the transfer car(buggy) of native system installs retractable baffle on four limits of car body, neither hinders the push pull maneuver of switch cart, and
And switch cart can be prevented in transit landing, threaten workman's personal safety.
3, native system is configured with multiple stage transfer car(buggy), multiple switch carts can be transported through, be overhauled simultaneously, improves work effect
Rate.
4, the door of switch cabinet of native system is driven by cabinet door motor, PLC controls, can open/close automatically, automaticity height,
Design science is reasonable.
5, the mode of operation of native system, on the basis of original frame for movement, uses motor-driven, reduces staff's
Working strength, improves equipment dependability safety.Native system can realize reducing the personnel to operate, automatically controls, improving safety can
By effects such as property.
Accompanying drawing explanation
Fig. 1 is the schematic front view of native system；
Fig. 2 is the schematic top plan view of Fig. 1；
Fig. 3 is native system conveyer structure schematic diagram；
Fig. 4 is the connection diagram of native system conveyer belt driving gear and driven gear；
Fig. 5 is native system conveyer belt linkage chain and driven gear and the connection diagram of driving gear；
Fig. 6 is the schematic top plan view of transfer car(buggy)；
Fig. 7 is the connection diagram of baffle plate push-rod electric machine and baffle plate；
Fig. 8 is the connection diagram of steady pin push-rod electric machine and steady pin；
Fig. 9 is the structural representation of mechanical arm；
Figure 10 is that (right side is in order to show upper pressing push rod motor and the structure of top board for the structural representation of switch cart clamping device
Remove part bracing frame)；
Figure 11 is that the right side of Figure 10 regards schematic diagram；
Figure 12 is the schematic diagram that the moving contact of switch cart clamping device secondary inserting piece is inserted in static contact；
Figure 13 is the schematic diagram that the moving contact of switch cart clamping device secondary inserting piece is extracted in static contact.
Figure 14 is door of switch cabinet open mode schematic diagram；
Figure 15 is door of switch cabinet closure state schematic diagram；
Figure 16 is the structural representation (opening) of grounding switch；
Figure 17 is the structural representation (closure state) of grounding switch；
Figure 18 be detection block and the moving contact proximity switch of grounding switch coordinate schematic diagram (opening)；
Figure 19 be detection block and the moving contact proximity switch of grounding switch coordinate schematic diagram (closure state)；
Figure 20 is native system touch screen homepage schematic diagram；
Figure 21 is native system touch screen time page schematic diagram；
Figure 22 is native system mastery routine schematic diagram；
Figure 23 is native system work subprogram schematic diagram；
Figure 24 is that native system tests subprogram schematic diagram；
Figure 25 is that native system overhauls subprogram schematic diagram；
Figure 26 is native system grounding switch subprogram schematic diagram；
Figure 27 is native system secondary inserting piece subprogram schematic diagram.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings and by specific embodiment, and following example are illustrative, no
It is determinate, it is impossible to limit protection scope of the present invention with this.
A kind of 10kv switch cubicle and the automation control system of transfer car(buggy), including switch cubicle 12, switch cart 6, switch cart
Clamping device 9, transfer car(buggy) 19, transfer car(buggy) conveyer belt 20, mechanical arm 5, mechanical arm platform truck 21, mechanical arm platform truck transmission
Band 22, location bar 2 and proximity switch 3, install switch cart by the clamping device of switch cart in switch cubicle, opening
Cabinet door 7 side closing cabinet keeps at a certain distance away with switch cubicle parallel installation transfer car(buggy) conveyer belt, slides and pacify on transfer car(buggy) conveyer belt
Dress multiple stage transfer car(buggy), keep at a certain distance away with transfer car(buggy) conveyer belt parallel fitting machine mechanical arm platform truck in the outside of transfer car(buggy) conveyer belt
Conveyer belt, be slidably installed on mechanical arm platform truck conveyer belt a mechanical arm platform truck, fitting machine mechanical arm on mechanical arm platform.
In the outside of mechanical arm platform truck conveyer belt and transfer car(buggy) conveyer belt, the cabinet door corresponding to each switch cubicle installs a positioning rod, often
It is mounted on proximity switch on a positioning rod, mechanical arm platform truck and transfer car(buggy) are separately installed with locating piece 4, for fixed
Proximity switch on the bar of position carries out detection and localization.As shown in Figure 1.
Native system is arranged in operation Control Room 23, by PLC control cabinet 25 centralized Control, by touch screen selection action, and
Display action performance on the touchscreen, to ensure that the normal reliable of equipment is run, the logical relation between equipment is real by program
Existing, operation Control Room arranges implosion guard window 24.As shown in Figure 2.
Transfer car(buggy) conveyer belt and the nethermost proximity switch of mechanical arm platform truck conveyer belt are used for positioning transfer car(buggy) and mechanical arm platform truck
Initial position (do not disturb observation switch cubicle situation), transfer car(buggy) and mechanical arm platform truck are in initial position at ordinary times.
The structure of described transfer car(buggy) conveyer belt and mechanical arm platform truck conveyer belt is identical, is driven by high-power translation door machine 1,
This two conveyer belt is by multipair axle bed 29, multiple driving gear 26, multiple wheel shaft 28, multiple driven gear 30, many linkages
Chain 31 and a crawler belt 27 are constituted, and the described uniform interval of multipair axle bed is packed in outside transfer car(buggy) or outside mechanical arm platform truck
On ground, each to axle bed between be fixedly mounted with a wheel shaft, be respectively set with a driving gear in the both sides of each wheel shaft, at two driving tooths
Symmetrical suit two driven gears on wheel shaft between wheel, between adjacent two axles, the outer rim of two driven gears of relevant position is common
A linkage chain is installed in engagement, and the outer rim at all driving gears and linkage chain engages installation one crawler belt jointly, in crawler belt
Upper lateral part is fixedly mounted with a gripper shoe 18 with the upper limb level of crawler belt, crawler belt drive gripper shoe translational motion.Solid at the end face of gripper shoe
Fill multiple transfer car(buggy) or a mechanical arm platform truck, be respectively fixedly mounted with a rubber wheel 17 in the corner, bottom surface of gripper shoe, at corresponding rubber
It is shaped with slideway, for ensureing the traffic direction of wheel on the ground of wheel.As shown in Fig. 3, Fig. 4, Fig. 5.
The present invention uses PLC to control high-power translation door machine and drives conveyer belt action, and door machine fixes on the ground, passes through conveyer belt
Control transfer car(buggy) or mechanical arm platform truck moves, the proximity switch being arranged on conveyer belt side detect transfer car(buggy) or mechanical arm platform
Whether car puts in place, to ensure that the normal reliable of equipment is run.Wherein the logical relation between equipment is realized by program, due to switch
When dolly is on transfer car(buggy), weight is relatively big, and conveyer belt uses all steel structure.
Described transfer car(buggy) includes car body 36, push-rod electric machine, baffle plate 33 and steady pin 32, and described car body is four directions empty van structure,
End face at car body is respectively shaped with a groove near four edges, is respectively fixedly mounted with a baffle plate and pushes away on the body inner side wall of corresponding each groove
Bar motor 34, push rod head at each baffle plate push-rod electric machine is each is vertically fixedly mounted with a baffle plate, and this baffle plate be able to pass car body from groove
Inside, the effect of baffle plate is to prevent switch cart landing from transfer car(buggy).In car body, the bottom surface of car body roof plate is fixedly mounted with a steady pin
Push-rod electric machine 35, the push rod head at steady pin push-rod electric machine is fixedly mounted with a T-shaped connecting plate 38, at the two of T-shaped connecting plate transverse slat
End is respectively fixedly mounted with a steady pin, is respectively shaped with a through hole corresponding to two steady pins on the sidewall that car body is relative with switch cubicle, and steady pin can
Under the drive of steady pin push-rod electric machine, passed car body by through hole be inserted in the pin-and-hole of switch cubicle.Groove outside car body roof plate
Both sides are respectively fixedly mounted with a switch cart proximity switch 37, and the effect of this switch cart proximity switch is whether detection switch cart is pulled to
Position.As shown in Fig. 6, Fig. 7, Fig. 8.
The present invention uses PLC to control push-rod electric machine and drives baffle plate or steady pin action, and push-rod electric machine joint location is installed additional switch cubicle
Special plating (applying) aluminum zine plate, pull bar whether puts in place by built-in limit switch via PLC control, and this operation completes via touch screen,
To ensure that the normal reliable of equipment is run.Wherein, the logical relation of equipment is realized by program.Transfer car(buggy) is the most linearly
Travelling, transfer car(buggy) equipment is controlled by transfer car(buggy) internally installed PLC expansion module, passes through work between expansion module and CPU
Industrial Ethernet connects.
The present invention cancels the height adjustment knob on original transfer car(buggy), in operation, it is no longer necessary to be adjusted height of the carbody.
For cabinet, it is desirable to the 10kv switch cart room of the reinforcement switch cubicle precision away from ground level, i.e. each type of switch dolly room is high
Spend corresponding with transfer car(buggy) height.
Due in certain situations it is desirable to be pulled to multiple switch carts overhaul position, so that needing multiple transfer car(buggy)s: assume certain
10kV switch gear room needs to be equipped with five transfer car(buggy)s, in fig. 2, is accomplished by installing five proximity switches before each switch cubicle, needs
During operation, select the transfer car(buggy) needed to carry out operating under the switch cubicle interface that touch screen is corresponding every time.
Transfer car(buggy) communication and power supply cabling, node is in the position of center about conveyer belt vertical lower, is connected with exchange and power supply,
Owing to transfer car(buggy) needs horizontal movement, circuit need to install additional can be movable the trough with IP67 degree of protection (as chain one
The trough that sample is connected).
Above-mentioned baffle plate push-rod electric machine and steady pin push-rod electric machine are connect 220v voltage by controller control, controller input, and output connects
Push-rod electric machine.The DC source that controller exports is connected with motor by D.C. contactor, by PLC by D.C. contactor control
Power supply processed passes through motor forward or backwards or does not pass through motor.
Described mechanical arm is made up of screw mandrel slide unit 39, handgrip 41 and handgrip push-rod electric machine 40, and described screw mandrel slide unit is vertically fixedly mounted with
At the end face of mechanical arm platform truck, the slide unit of screw mandrel slide unit is fixedly mounted with handgrip push-rod electric machine, at the push rod cup of handgrip push-rod electric machine
Portion is fixedly mounted with a handgrip, and this handgrip is for catching the handle at switch cart.Described screw mandrel slide unit by Frequency Converter Control, this converter
Control equipment is arranged in mechanical arm platform truck.As shown in Figure 9.
The present invention uses PLC to control screw mandrel slide unit action, the limit switch being arranged on screw mandrel slide unit screw mandrel edge detect slide unit and move
Whether put in place, to ensure that the normal reliable of equipment is run, after completing the operation of a whole set of instruction, shown on the touchscreen
Show.Wherein, the logical relation between equipment is realized by program.
Describing the micromotion of mechanical arm pull-out switch cart at this, (1) mechanical arm platform truck moves to needs and is pulled to maintenance
Before the transfer car(buggy) of position；(2) exercise under mechanical arm and be slightly below switch cart subordinate along height along height on handgrip；(3) mechanical arm is right
Exercise handgrip groove to be in below switch cart handle；(4) mechanical arm is up catches on handle；(5) switch cart is drawn by mechanical arm left lateral
To transfer car(buggy), i.e. return to original horizontal position；(6) exercise under mechanical arm on handgrip and be slightly below subordinate along height along height；
(7) mechanical arm platform truck moves to initial position, and action completes.
The clamping device of described switch cart includes straight-line ball screw mandrel slide unit 15, slide unit motor 14, supporting plate 16, bracing frame
48, push-rod electric machine, pressing plate and block, is fixedly mounted with a straight line ball screw slide unit in the bottom surface of switch of switch cabinet dolly installation room, should
Straight-line ball screw mandrel slide unit is driven by the slide unit motor being arranged on slide unit rear, Frequency Converter Control.At straight-line ball screw mandrel slide unit
Being fixedly mounted with a supporting plate on slide unit, be respectively fixedly mounted with a roller 50 in the corner, bottom surface of supporting plate, the end face at supporting plate places switch cart, is opening
Close and be respectively fixedly mounted with a bracing frame on the supporting plate of dolly both sides, each on each bracing frame be vertically fixedly mounted with pressing push rod motor 47 on,
The push rod head of each upper pressing push rod motor is each is laterally fixedly mounted with a top board 45, and this top board compresses from the end face of switch cart and opens
Close dolly, be respectively fixedly mounted with block 46 in the both sides of the end face correspondence top board of switch cart, be used for fixing top board.Supporting
The supporting plate both sides at frame rear are each is vertically fixedly mounted with pressing push rod motor 49, at each horizontal stroke of push rod head of every pressing push rod motor once
To being fixedly mounted with a lower platen 51, respectively it is fixedly mounted with a lower position block 53, at each lower limit at the rear portion of switch cart corresponding to each lower platen
The both sides of the end face lower platen of position block are respectively fixedly mounted with block 52, are used for fixing lower platen.Two are connected on the top of two bracing frames
Support is fixedly mounted with a crossbeam 42, is fixedly mounted with moving contact push-rod electric machine and the moving contact of secondary inserting piece towards switch cart in the bottom surface of crossbeam
43, the end face at switch cart corresponds to moving contact and is fixedly mounted with the static contact 44 of secondary inserting piece.Such as Figure 10, Figure 11, Figure 12, figure
Shown in 13.
And, respectively it is fixedly mounted with a dolly proximity switch in the both sides, rear portion of supporting plate, is used for detecting whether switch cart is on supporting plate
(this proximity switch figure does not gives and marks).Before and after two front wheels, on the supporting plate of both sides, respectively it is fixedly mounted with a limit switch, is used for detecting torr
Switch cart on plate is in testing position or operating position, and arrow represents limit switch installation site.
The present invention drives the top board top clamping switch dolly from switch cart by upper pressing push rod motor, is pushed away by lower pressing
Bar motor drives the lower platen bottom clamping switch dolly from switch cart, and above-mentioned push-rod electric machine is all controlled by PLC, works as needs
When switch cart is pulled out switch cubicle, top board and lower platen carry, trip switch dolly, when in switch cart access switch cabinet
Time, press under top board and lower platen, clamping switch dolly so that it is position is fixed.Remove original location interlocking member and driving is fixed
The handle of position interlocking member, and manually shook into the frame for movement shaken out on relevant switch cart and in cabinet to the past, little at switch
Additionally mounted a pair ring-shaped handle on car.
Described upper pressing push rod motor, lower pressing push rod motor, moving contact push-rod electric machine and slide unit motor by PLC control,
Operation to be carried out is selected by touch screen.
Original secondary plug moving contact is arranged on switch cart, and static contact is arranged on switch cubicle, in the present invention, and moving contact
Being arranged on switch cubicle inwall, control to plug together by endways moving contact push-rod electric machine, static contact is arranged on switch cart, quiet
Contact is directly imported and exported with secondary line and is connected, and syringe needle, pin hole are also exchanged with home position, and curve represents the electricity being connected with moving contact
Cable pipe.
In order to make cabinet door to automatically turn on, one end coaxial package one at door of switch cabinet door-hinge slows down diverter 8, with door-hinge
Other end coaxial package one connecting rod 10 of vertical deceleration diverter, the other end of this connecting rod is connected with cabinet door motor 11, at cabinet
The driving lower cabinet door of door motor can automatically open up.The other end at door-hinge 55 is fixedly mounted with a metal derby 56, above door-hinge and under
Each installation one cabinet door proximity switch 54 on the switch cubicle medial wall of side, for the situation that puts in place of detecting box door.For supporting switch cabinet
Cabinet door, between the both sides inwall of the both sides of door of switch cabinet inwall and switch cart installation room, symmetry is fixedly mounted with two cabinet door hydraulic stems 57,
As shown in Figure 14, Figure 15.
In switch cubicle, it is also equipped with grounding switch 13, connects Worm reduction motor 58 in wheel bar 60 one end of grounding switch,
This takes turns bar makes ground cutter moving contact 61 rotate to ground cutter static contact 62 and contact with static contact under the drive of Worm reduction motor,
Complete feed motion.In order to detect whether moving contact has rotated to position, on wheel bar, welding is fixedly mounted with a detection block 59, at switch
The combined floodgate of cabinet inwall correspondence moving contact, open position are respectively mounted a moving contact proximity switch 63, as Figure 16, Figure 17, Figure 18,
Shown in Figure 19.
PLC controls Worm reduction motor and drives grounding switch action, by the proximity switch detection earthing being arranged on cabinet wall
Whether lock puts in place, is shown the most on the touchscreen, to ensure that the normal reliable of equipment is run.Wherein, grounding switch is with disconnected
Logical relation between the device of road is realized by program.
Inventive touch screen is described as follows:
(1) touch screen homepage:
As shown in figure 20, each bar line button, each line name, the dual title i.e. device name using equipment and numbering, press
The arrangement of button is arranged according to the order on layout, and mother is placed separately as a line.
(2) touch screen time page:
Have selected in homepage and need the line facility of operation, enter time page, as shown in figure 21.
The left side is circuit and equipment, and chopper and disconnecting link displacement situation can show in real time, select the operation (middle) needing to carry out,
Program by enter duty subprogram corresponding to this line facility, trystate subprogram, inspecting state subprogram, cutter
Subprogram or plug-in unit subprogram.
After clicking on digital & analog signal button, will jump to digital & analog signal interface, this interface retains time headline of page, line facility name
Claim, return page up and time showing, show every digital & analog signal data of this line facility to staff in table form,
This interface does not has program, only completes to redirect logic by the button of touch screen.
The switching handle of a distant place/on the spot carries out a distant place and selects on the spot.
Point/close switching handle and carry out deciliter, in a program, if grounding switch is in conjunction state, program is by refusal execution.
1～5 squares represent 5 transfer car(buggy)s, when needing to use, first select state, are selecting corresponding transfer car(buggy).(due to 4 Hes
5 is to be dedicated for the transfer car(buggy) that mother uses, thus wider relative to other transfer car(buggy)s, can increase and decrease according to practical situation and turn
The quantity of fortune car).
In cabinet, shift knob represents past each switch in switch cubicle Top Tank, now operation is all moved to touch screen through PLC
Process.
Depending on the line facility quantity that secondary number of pages is had according to 10kV switch gear room.
Other shift knobs still can continue to add to touch screen and program.
(3) every single stepping that touch screen respective operations ticket is carried out, be required for operator and guardian confirm errorless after, input close
Code, just can determine that and performs operation.
(4) cabinet door button can carry out the cabinet door of folding breaker chamber.Need the password inputting two people just can open, the most should be with
Meaning is opened.
Present procedure is described as follows:
Motor in program all uses the control mode of the power-off that puts in place, and motor all has the self-retaining function that puts in place.Must as run into
Palpus manpower carries out the situation of intervention operation, and the self-sustaining moment of general motor is set moment 1.2 times.
(1) main program logic:
As shown in figure 22.Program uses warm Starting mode.
(2) work subprogram
As shown in figure 23.
(3) test subprogram
As shown in figure 24.When switch is in conjunction state, refusal operation.
(4) overhaul subprogram
As shown in figure 25.
(5) knife program
As shown in figure 26.In program, the output of grounding switch: 0 represents separating brake, and 1 represents combined floodgate.
(6) plug-in unit subprogram
As shown in figure 27.In program, the output of secondary inserting piece: 0 expression is taken off, 1 expression is plugged.
(7) jerk subprogram
When needs jerk, pressing jerk mushroom button, motor power-off is maintained at current state.
In procedure above, if detection state is not required state, refusal is performed by program, and program often performs a step and is required for
Carry out position to detect to guarantee that operation puts in place.
Operating position refers to that switch cart is in operating position, gripping means grips switch cart.
Testing position refers to that switch cart is in testing position, gripping means grips switch cart.
Maintenance position refers to that switch cart is in maintenance position, and clamping device is in releasing orientation.
All kinds of remote measure and communication signals that past 10kV switch cubicle is relevant need to connect cause touch screen to be shown.Grasp through computer simulation
Making, operation order is sent to PLC, staff must be according to corresponding order operation, similar GIS device operational approach.
Scram button is at the mushroom-shaped button on touch screen side, in case of emergency presses, and makes whole system action be maintained at
Under current action motionless, wait further operation.
All catalysts that PLC controls are required for installing additional thermorelay, increase equipment dependability.
The all devices related in patent has been required for reliable ground protection.
For saving wiring space, switch cubicle, transfer car(buggy), mechanical arm, conveyer belt all use expansion module and PLC exchange to pass through work
Industrial Ethernet is connected.
The degree of protection of IP67 is used for laying the control chamber of the equipment such as module and catalyst.The outside cabling of control chamber uses leaves one
Individual square opening, by the wire casing cabling of same degree of protection.Transfer car(buggy) communicates with mechanical arm platform truck and power supply cabling, and node is in
About conveyer belt vertical lower, the position of center, is connected with exchange and power supply.Owing to both cars need horizontal movement, circuit needs
Install additional can be movable the trough (trough being connected as chain) with IP67 degree of protection.
Above-described is only the preferred embodiment of the present invention, it is noted that for the person of ordinary skill of the art,
On the premise of without departing from inventive concept, it is also possible to make some deformation and improvement, these broadly fall into protection scope of the present invention.
Claims (8)
1. a 10kv switch cubicle and the automation control system of transfer car(buggy), it is characterised in that: include switch cubicle, switch cart,
The clamping device of switch cart, transfer car(buggy), transfer car(buggy) conveyer belt, mechanical arm, mechanical arm platform truck, mechanical arm platform truck transmission
Band, location bar and proximity switch, install switch cart by the clamping device of switch cart, at switch cubicle in switch cubicle
Cabinet door side keeps at a certain distance away with switch cubicle parallel installation transfer car(buggy) conveyer belt, and the multiple stage that is slidably installed on transfer car(buggy) conveyer belt turns
Fortune car, keep at a certain distance away with transfer car(buggy) conveyer belt parallel fitting machine mechanical arm platform truck conveyer belt in the outside of transfer car(buggy) conveyer belt,
Be slidably installed on mechanical arm platform truck conveyer belt a mechanical arm platform truck, and fitting machine mechanical arm on mechanical arm platform, at machinery
A positioning rod is installed, in each location corresponding to the cabinet door of each switch cubicle in the outside of arm platform truck conveyer belt and transfer car(buggy) conveyer belt
It is mounted on proximity switch on bar, mechanical arm platform truck and transfer car(buggy) are separately installed with locating piece, be used for and position on bar
Proximity switch carries out detection and localization.
10kv switch cubicle the most according to claim 1 and the automation control system of transfer car(buggy), it is characterised in that: described
Transfer car(buggy) conveyer belt and the structure of mechanical arm platform truck conveyer belt identical, driven by high-power translation door machine, this two conveyer belt
Constituted by multipair axle bed, multiple driving gear, multiple wheel shaft, multiple driven gear, many linkage chains and a crawler belt, institute
State the uniform interval of multipair axle bed and be packed in outside transfer car(buggy) or on ground outside mechanical arm platform truck, each to axle bed between solid
Fill a wheel shaft, be respectively set with a driving gear in the both sides of each wheel shaft, on the wheel shaft between two driving gears symmetrical suit two from
Moving gear, between adjacent two axles, the outer rim of two driven gears of relevant position engages installation one linkage chain jointly, all
The outer rim of driving gear and linkage chain engages installation one crawler belt jointly, is fixedly mounted with the upper limb level of crawler belt in the inside upper part of crawler belt
One gripper shoe, is driven gripper shoe translational motion by crawler belt, and the end face in gripper shoe is fixedly mounted with multiple transfer car(buggy) or a mechanical arm platform
Car, is respectively fixedly mounted with a rubber wheel in the corner, bottom surface of gripper shoe, is shaped with slideway on the ground of corresponding rubber wheel.
10kv switch cubicle the most according to claim 1 and the automation control system of transfer car(buggy), it is characterised in that: described
Transfer car(buggy) include car body, push-rod electric machine, baffle plate and steady pin, described car body be four directions empty van structure, the end face at car body leans on
Nearly four edges are respectively shaped with a groove, are respectively fixedly mounted with a baffle plate push-rod electric machine, each on the body inner side wall of corresponding each groove
The push rod head of baffle plate push-rod electric machine is each is vertically fixedly mounted with a baffle plate, and this baffle plate be able to pass vehicle body from groove, car in car body
The bottom surface of body top board is fixedly mounted with a steady pin push-rod electric machine, and the push rod head at steady pin push-rod electric machine is fixedly mounted with a T-shaped connecting plate,
The two ends of T-shaped connecting plate transverse slat are respectively fixedly mounted with a steady pin, respectively make corresponding to two steady pins on the sidewall that car body is relative with switch cubicle
Having a through hole, steady pin can be passed car body by through hole under the drive of steady pin push-rod electric machine and be inserted in the pin-and-hole of switch cubicle,
Outside car body roof plate, the both sides of groove are respectively fixedly mounted with a switch cart proximity switch.
10kv switch cubicle the most according to claim 1 and the automation control system of transfer car(buggy), it is characterised in that: described
Mechanical arm be made up of screw mandrel slide unit, handgrip and handgrip push-rod electric machine, described screw mandrel slide unit is vertically packed in mechanical arm platform truck
End face, is fixedly mounted with handgrip push-rod electric machine on the slide unit of screw mandrel slide unit, and the push rod head at handgrip push-rod electric machine is fixedly mounted with a handgrip, should
Handgrip is for catching the handle at switch cart, and described screw mandrel slide unit is by Frequency Converter Control, and this Frequency Converter Control equipment is arranged on machine
In mechanical arm platform truck.
10kv switch cubicle the most according to claim 1 and the automation control system of transfer car(buggy), it is characterised in that: described
The clamping device of switch cart include straight-line ball screw mandrel slide unit, slide unit motor, supporting plate, bracing frame, push-rod electric machine, pressing plate and
Block, is fixedly mounted with a straight line ball screw slide unit in the bottom surface of switch of switch cabinet dolly installation room, and this straight-line ball screw mandrel slide unit is by pacifying
It is contained in the slide unit motor driving at slide unit rear, Frequency Converter Control, the slide unit of straight-line ball screw mandrel slide unit is fixedly mounted with a supporting plate,
The corner, bottom surface of supporting plate is respectively fixedly mounted with a roller, and the end face at supporting plate places switch cart, each solid on the supporting plate of switch cart both sides
Fill a bracing frame, each on each bracing frame be vertically fixedly mounted with pressing push rod motor on, push rod of pressing push rod motor on each
Head is each is laterally fixedly mounted with a top board, and this top board is from the end face clamping switch dolly of switch cart, at the end face pair of switch cart
The both sides answering top board are respectively fixedly mounted with block on, and supporting plate both sides at bracing frame rear are each is vertically fixedly mounted with pressing push rod motor,
Push rod head at every pressing push rod motor the most once is each is laterally fixedly mounted with a lower platen, at the rear portion of switch cart corresponding to often once pressing
Plate is respectively fixedly mounted with a lower position block, is respectively fixedly mounted with block in the both sides of the end face lower platen of each lower position block, at two bracing frames
Top connects two bracing frames and is fixedly mounted with a crossbeam, is fixedly mounted with the moving contact push-rod electric machine of secondary inserting piece towards switch cart in the bottom surface of crossbeam
And moving contact, the end face at switch cart corresponds to moving contact and is fixedly mounted with the static contact of secondary inserting piece.
10kv switch cubicle the most according to claim 5 and the automation control system of transfer car(buggy), it is characterised in that: in torr
The both sides, rear portion of plate are respectively fixedly mounted with a dolly proximity switch, are respectively fixedly mounted with a limit switch before and after two front wheels on the supporting plate of both sides.
10kv switch cubicle the most according to claim 1 and the automation control system of transfer car(buggy), it is characterised in that: opening
One end coaxial package one closing cabinet cabinet every axle slows down diverter, at the other end coaxial package of the deceleration diverter vertical with door-hinge
One connecting rod, the other end of this connecting rod is connected with cabinet door motor, and the other end at door-hinge is fixedly mounted with a metal derby, above door-hinge and under
Each installation one cabinet door proximity switch on the switch cubicle medial wall of side, for the situation that puts in place of detecting box door, at door of switch cabinet inwall
Both sides and the both sides inwall of switch cart installation room between symmetry be fixedly mounted with two cabinet door hydraulic stems.
10kv switch cubicle the most according to claim 1 and the automation control system of transfer car(buggy), it is characterised in that: opening
Being also equipped with grounding switch in closing cabinet, connect Worm reduction motor in wheel bar one end of grounding switch, this takes turns bar worm gear snail
Make ground cutter moving contact rotate to ground cutter static contact and contact with static contact under the drive of bar reducing motor, complete feed motion, at wheel
On bar, welding is fixedly mounted with a detection block, switch cubicle inwall correspondence moving contact combined floodgate, that open position is respectively mounted a moving contact is close
Switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410519827.3A CN104317238B (en) | 2014-09-30 | 2014-09-30 | Automatic control system of 10 kV switch cabinet and transfer vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410519827.3A CN104317238B (en) | 2014-09-30 | 2014-09-30 | Automatic control system of 10 kV switch cabinet and transfer vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104317238A CN104317238A (en) | 2015-01-28 |
| CN104317238B true CN104317238B (en) | 2017-01-11 |
Family
ID=52372481
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410519827.3A Active CN104317238B (en) | 2014-09-30 | 2014-09-30 | Automatic control system of 10 kV switch cabinet and transfer vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104317238B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107610794B (en) * | 2017-10-13 | 2023-09-19 | 四川大学 | Electron gun overhauling equipment under nuclear radiation environment |
| CN107610795B (en) * | 2017-10-13 | 2023-09-19 | 四川大学 | Electron gun overhauling equipment under nuclear radiation environment |
| CN112310877A (en) * | 2020-10-21 | 2021-02-02 | 国网天津市电力公司 | Semi-automatic switch dolly push-and-pull device towards 10kV |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4281955A (en) * | 1979-10-31 | 1981-08-04 | Mcwilliams Joseph E | Method and apparatus for unloading bulk mail vans |
| CN201149965Y (en) * | 2007-12-18 | 2008-11-12 | 川开电气有限公司 | 18kV and lower lever high-voltage switchgear |
| CN201478724U (en) * | 2009-08-13 | 2010-05-19 | 浙江亚东电器制造有限公司 | Conveying cart for high-voltage mid-set type switchgear |
| CN102403663A (en) * | 2011-11-18 | 2012-04-04 | 绍兴电力局 | Central high pressure cabinet handcart transfer trolley |
| CN103171933A (en) * | 2013-04-01 | 2013-06-26 | 江苏省宜兴中等专业学校 | Yarn regiment automatic blanking device for bobbin winder |
| CN203850692U (en) * | 2014-05-30 | 2014-09-24 | 国家电网公司 | PLC-based dolly switch type push-and-pull control dolly for 10 kV switch cabinet |
-
2014
- 2014-09-30 CN CN201410519827.3A patent/CN104317238B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4281955A (en) * | 1979-10-31 | 1981-08-04 | Mcwilliams Joseph E | Method and apparatus for unloading bulk mail vans |
| CN201149965Y (en) * | 2007-12-18 | 2008-11-12 | 川开电气有限公司 | 18kV and lower lever high-voltage switchgear |
| CN201478724U (en) * | 2009-08-13 | 2010-05-19 | 浙江亚东电器制造有限公司 | Conveying cart for high-voltage mid-set type switchgear |
| CN102403663A (en) * | 2011-11-18 | 2012-04-04 | 绍兴电力局 | Central high pressure cabinet handcart transfer trolley |
| CN103171933A (en) * | 2013-04-01 | 2013-06-26 | 江苏省宜兴中等专业学校 | Yarn regiment automatic blanking device for bobbin winder |
| CN203850692U (en) * | 2014-05-30 | 2014-09-24 | 国家电网公司 | PLC-based dolly switch type push-and-pull control dolly for 10 kV switch cabinet |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104317238A (en) | 2015-01-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104444214B (en) | A kind of 10kv switch cubicle and the automation control method of transfer car(buggy) | |
| CN103350708B (en) | A kind of electric locomotive off-shift operation system | |
| CN202138783U (en) | Handcart type car frame assembly for maintenance car of breaker equipment | |
| CN104317238B (en) | Automatic control system of 10 kV switch cabinet and transfer vehicle | |
| CN108231458B (en) | Circuit breaker assembly detection production line based on robot auxiliary operation and operation method | |
| CN102315600A (en) | Maintenance car of handcart type breaker equipment | |
| CN107984216B (en) | Automatic production line for mixed line production of multiple varieties of low-voltage switch equipment and operation method | |
| CN104362527B (en) | A kind of movement system towards 10kV switch cart | |
| CN209581548U (en) | Adjustable breaker transfer car(buggy) | |
| CN216232481U (en) | Drawer switch cabinet overhauls transfer car (buggy) | |
| CN109531804A (en) | Double-block type sleeper embedded sleeve and spiral bar automatic installation apparatus | |
| CN106486910A (en) | Device at handtruck for dc circuit breaker | |
| CN208690827U (en) | A kind of handcart type high voltage switch cabinet | |
| CN108557698A (en) | Liftable type station trolley | |
| CN105207089A (en) | Novel handcart-switch delivering and overhauling cart | |
| CN111262182A (en) | Overhead line wire live repairing machine and using method | |
| CN207681909U (en) | The automatic production line of multi items low voltage switch equipment Flexible production | |
| CN105197128B (en) | Passive trolley suitable for multiple vehicle types | |
| CN104444212B (en) | A kind of full-automatic movement system of switch cart | |
| CN104444162B (en) | A kind of switch cart automatically capture movement system | |
| CN102963716B (en) | Control system for accompanying lifting transshipping mechanism | |
| CN205484588U (en) | Automatic test equipment of cubical switchboard | |
| CN213230297U (en) | Automatic conveying loop line for air conditioner compressor detection | |
| CN201443309U (en) | Automatic drill stem throwing device | |
| CN203095104U (en) | Control system of following lifting and reshipping mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |