CN107253461B - Automatic addressing maintenance tool car - Google Patents
Automatic addressing maintenance tool car Download PDFInfo
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- CN107253461B CN107253461B CN201710444502.7A CN201710444502A CN107253461B CN 107253461 B CN107253461 B CN 107253461B CN 201710444502 A CN201710444502 A CN 201710444502A CN 107253461 B CN107253461 B CN 107253461B
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- 238000012423 maintenance Methods 0.000 title abstract description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 13
- 238000004891 communication Methods 0.000 claims abstract description 9
- 230000009471 action Effects 0.000 claims description 11
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 238000012937 correction Methods 0.000 claims description 4
- 238000003079 width control Methods 0.000 claims description 4
- 239000003921 oil Substances 0.000 description 13
- 230000006872 improvement Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 6
- 239000010720 hydraulic oil Substances 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Classifications
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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
- B60P3/14—Vehicles adapted to transport, to carry or to comprise special loads or objects the object being a workshop for servicing, for maintenance, or for carrying workmen during work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H5/00—Tool, instrument or work supports or storage means used in association with vehicles; Workers' supports, e.g. mechanics' creepers
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
Abstract
The invention discloses an automatic addressing maintenance tool car, and relates to electric power maintenance equipment, which comprises a self-propelled chassis, a tool box, a movable frame and a control system, wherein the self-propelled chassis is provided with a front chassis and a rear chassis; the self-propelled chassis is provided with a tool box and moves in a straight way indoors; the self-propelled chassis is provided with a movable frame, and the movable frame moves perpendicular to the moving direction of the self-propelled chassis; the movable frame is provided with a lifting mechanism, the upper end of the lifting mechanism is provided with a tray, and the tray is provided with a positioning and locking device and an electric wrench; the control system comprises a walking control module, a height adjusting control module, a target identification module and a communication module. The invention solves the problems that the position and the shape of the upper tray of the circuit breaker operation trolley for overhauling can not be adjusted and the stress part is easy to damage in the prior art.
Description
Technical Field
The invention relates to electric power overhaul equipment, in particular to an automatic addressing overhaul tool car.
Background
At present, a switch cabinet transformer substation provided with a middle-mounted circuit breaker handcart needs to be provided with switch cabinets with various models and functions due to various reasons, and each switch cabinet needs to be maintained with an operating trolley, so that the operating trolleys with various models exist in the substation, and the circuit breaker handcart can be conveniently pushed into the switch cabinet. The middle-mounted switchgear operation trolley in the prior art controls fine adjustment of the tray by shaking the lead screw through the hand wheel, cannot be applied to adjustment in a large range, and is heavy, so that shaking of the hand wheel is laborious, inconvenient to operate, unstable in lifting and low in safety. In addition, the screw transmission is very easy to damage under the action of gravity. Simultaneously, the relevant instrument of electric power that electric power field staff used is very much, and the operation workman often need carry the operation instrument, generally puts equipment in wrapping bag or case, has following problem: firstly, the confusion is placed to the instrument, and difficult swiftly finds required instrument, secondly wrapping bag or toolbox often need the workman to back on, has aggravated operation workman's burden, has reduced work efficiency.
Chinese patent CN201956610U a middle-mounted switchgear operation trolley, which relates to a power transmission and transformation manufacturing device, comprising a support plate and a base with wheels, two crossed hinged support bars are arranged between the support plate and the base, the end parts of one side of the two support bars are hinged with the support plate and the base respectively, the end parts of the other side of the two support bars are connected with a support plate guide rail and a base guide rail respectively, and a hydraulic cylinder is hinged between the upper part of the hinged support bar and the base. Due to the adoption of the hydraulic transmission lifting technology, the lifting device has the characteristics of stable lifting, convenient operation, safe and reliable work and the like, and is an ideal tool for reducing the labor intensity, improving the production efficiency and realizing the safe transportation of the circuit breaker. But this utility model can't be accompanied by the maintenance instrument on the vehicle, also can't adjust the width of layer board.
Chinese patent CN205791139U discloses a moving tool for maintaining electrical equipment, specifically a height-adjustable operation trolley, which comprises an operation trolley, wherein the operation trolley comprises an upper tray, the bottom of the upper tray is mounted on a lower tray through an adjusting turntable and a lifting screw, one side of the bottom of the lower tray is mounted with a directional wheel, and the other side is mounted with a universal wheel; the side wall of the upper tray is provided with a trolley guide rail and a locking interlocking rod, and the locking interlocking rod is connected with a locking rod turntable; the circuit breaker handcart is arranged on a handcart guide rail of the operating vehicle; the running trolley is also provided with a handcart limiting hole; the switch cabinet is provided with a handcart guide rail of the switch cabinet and a locking interlocking rod limiting hole. This but height-adjusting's operation dolly installs the circuit breaker handcart in transferring to the cubical switchboard on the operation dolly, and the circuit breaker locking on the circuit breaker handcart is on the operation dolly, can directly install the procedure lock additional and debug the circuit breaker bottom interlocking, need not raise the circuit breaker in addition again, and is firm reliable, and factor of safety is high, flexible operation. However, the screw rod transmission of the utility model is very easy to be damaged under the action of gravity.
Disclosure of Invention
In view of the above, the present invention provides an automatic addressing tool car, which solves the problems that the position and shape of the upper tray of the breaker operation car for maintenance in the prior art cannot be adjusted, and the stressed component is easily damaged.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic addressing maintenance tool car comprises a self-propelled chassis, a tool box, a movable frame and a control system; the self-propelled chassis is provided with a tool box and moves in a straight way indoors; the self-propelled chassis is provided with a movable frame, and the movable frame moves perpendicular to the moving direction of the self-propelled chassis; the movable frame is provided with a lifting mechanism, the upper end of the lifting mechanism is provided with a tray, and the tray is provided with a positioning and locking device and an electric wrench; the control system comprises a walking control module, a height adjusting control module, a target identification module and a communication module.
As a further improvement of the invention, the bicycle chassis comprises a power supply and electric wheels.
As a further improvement of the invention, the lifting mechanism comprises a hydraulic lift.
As a further improvement of the invention, the walking control module also comprises obstacle alarm and route deviation correction.
As a further improvement of the invention, the tray is provided with a width adjusting device, and the control system comprises a width control module.
As a further improvement of the invention, the tray comprises an underframe, an upper frame and a width adjusting device, wherein the width adjusting device comprises a slide bar, a lead screw, a speed reducer and a motor.
As a further improvement of the invention, the control system comprises the following control steps:
(1) the communication module receives the instruction and judges the target position;
(2) the walking control module system runs according to a preset route to reach a specified position;
(3) the target identification module controls the system to scan the sign at the arrival position, and judges whether the target is accurate or not according to the displayed information and the comparison with the instruction; if the actual position is inaccurate, judging the actual position of the robot, issuing an action instruction according to the distance between a preset actual target and the current position, continuing to advance, and repeating the previous action after reaching the position until reaching the target position;
(4) adjusting the position and the shape of the upper tray according to preset information;
(5) the movable frame extends forwards and is close to the target, the positioning and locking device enters the positioning hole, and the positioning and locking device is operated to be combined with the target.
The invention has the beneficial effects that:
the invention comprises a self-propelled chassis, a tool box, a movable frame and a control system; the self-propelled chassis is provided with a tool box and moves in a straight way indoors; the self-propelled chassis is provided with a movable frame, and the movable frame moves perpendicular to the moving direction of the self-propelled chassis; the movable frame is provided with a lifting mechanism, the upper end of the lifting mechanism is provided with a tray, and the tray is provided with a positioning and locking device and an electric wrench; the control system comprises a walking control module, a height adjusting control module, a target identification module and a communication module; the self-propelled chassis comprises a power supply and electric wheels, the lifting mechanism comprises a hydraulic lifter, and the walking control module further comprises obstacle alarming and route deviation correction. Through the cooperation of the self-propelled chassis and the movable frame, the tool car can move on an indoor plane to reach a designated working place.
The tray is provided with a width adjusting device, and the control system comprises a width control module. The tray comprises an underframe, an upper frame and a width adjusting device, wherein the width adjusting device comprises a slide bar, a lead screw, a speed reducer and a motor. The width adjusting device can realize the change of the width of the upper tray so as to be suitable for switch cabinets of various specifications, and the upper tray can realize position fine adjustment on a plane, so that the phenomenon that the positioning locking device cannot be locked due to the inaccuracy of the position of the self-propelled chassis is reduced.
Drawings
Fig. 1 is a schematic view of a main view of a tool vehicle in accordance with embodiment 1 of the present invention.
Fig. 2 is a flowchart of the control procedure in embodiment 1 of the present invention.
Fig. 3 is a schematic view of a main view of a tool car in accordance with embodiment 2 of the present invention.
Fig. 4 is a schematic top view of the tool cart according to embodiment 2 of the present invention.
Fig. 5 is a flowchart of the control procedure of embodiment 2 of the present invention.
In the figure: 1-a switch cabinet, 2-a breaker trolley, 3-an electric wrench, 4-a hydraulic lifter, 5-a positioning and locking device, 6-a tool box, 7-a self-propelled chassis, 8-a bidirectional oil cylinder, 9-an electric wheel, 10-a unidirectional oil cylinder, 11-a movable frame, 12-a sliding block, 13-a screw rod, 14-a motor, 15-a speed reducer, 16-a supporting block and 17-a sliding bar.
Detailed Description
The invention is further described below with reference to the figures and examples.
Example 1
As shown in fig. 1 and 2, an automatic addressing maintenance tool car comprises a self-propelled chassis 7, a tool box 6, a movable frame 11 and a control system; the self-propelled chassis 7 is provided with a tool box 6, and the self-propelled chassis 7 moves in a straight line indoors; the bicycle chassis 7 is provided with a movable frame 11, and the movable frame 11 moves perpendicular to the moving direction of the bicycle chassis 7; the adjustable shelf 11 set up elevating system, elevating system include hydraulic lift 4, thereby hydraulic lift 4 mainly is the function that realizes going up and down through the pressure transmission of hydraulic oil, its cuts fork mechanical structure, makes the lift rise to have higher stability, wide operation platform and higher bearing capacity make the operating range bigger, the operating efficiency is higher, the safety is more ensured.
The hydraulic lifter 4 adopts the one-way oil cylinder 10, when rising, the vane pump outputs hydraulic oil to enter the lower part of the oil cylinder through a series of control valves and pipelines, the oil cylinder is pushed to go upwards, when the platform is driven to lift and descend, the vane pump stops, the control valves open an oil drainage loop, the platform slowly descends under the action of self weight, and the hydraulic oil in the oil cylinder is extruded and drained.
Hydraulic oil is pressurized by a vane pump, and enters the lower end of the hydraulic cylinder through an oil filter, an explosion-proof electromagnetic directional valve, a throttle valve, a hydraulic control one-way valve and a balance valve, so that a piston of the hydraulic cylinder moves upwards to lift a heavy object, return oil at the upper end of the hydraulic cylinder returns to an oil tank through the explosion-proof electromagnetic directional valve, the rated pressure of the hydraulic cylinder is adjusted through an overflow valve, and a pressure gauge is used for observing the reading value of the pressure gauge.
The piston of the hydraulic cylinder moves downward (i.e., the weight descends). Hydraulic oil enters the upper end of the hydraulic cylinder through the explosion-proof electromagnetic directional valve, and return oil at the lower end of the hydraulic cylinder returns to the oil tank through the balance valve, the hydraulic control one-way valve, the throttle valve and the explosion-proof electromagnetic directional valve. In order to make the heavy object descend stably and brake safely and reliably, a balance valve is arranged on the oil return path to balance the loop and maintain the pressure, so that the descending speed is not changed by the heavy object, and the flow is regulated by a throttle valve to control the ascending and descending speed. In order to ensure safe and reliable braking and prevent accidents, a hydraulic control one-way valve, namely a hydraulic lock, is added, and the safety self-locking can be ensured when a hydraulic pipeline is accidentally burst. An overload sound control alarm is installed to distinguish overload or equipment failure.
The upper end of the lifting mechanism is provided with a tray, the side wall of the upper tray is provided with a running trolley guide rail and a locking interlocking rod, and the locking interlocking rod is connected with a locking rod turntable; the circuit breaker handcart moves on the running trolley guide rail; the running trolley is also provided with a handcart limiting device; the switch cabinet 1 is provided with a circuit breaker handcart guide rail and a locking interlocking rod limiting hole.
Two crossed and hinged supporting gears are arranged between the supporting plate and the base, the end parts of one sides of the two supporting gears are respectively hinged with the supporting plate and the base, the end parts of the other sides of the two supporting gears are respectively connected with the supporting plate guide rail and the base guide rail, and a hydraulic cylinder is hinged between the upper part of the hinged supporting gear of the base and the base. Due to the adoption of the hydraulic transmission lifting technology, the lifting device has the characteristics of stable lifting, convenient operation, safe and reliable work and the like, and is an ideal tool for reducing the labor intensity, improving the production efficiency and realizing the safe transportation of the circuit breaker.
The tray is provided with a positioning locking device 5 and an electric wrench 3; electric spanner 3 include the special cover barrel head of cubical switchboard 1, cubical switchboard 1 reachs the assigned position, the cover barrel head gets into 2 handle holes of circuit breaker dolly, through adjusting turning to of electric spanner 3, can realize the entering and withdraw from of circuit breaker dolly 2.
The control system comprises a walking control module, a height adjusting control module, a target identification module and a communication module; the self-propelled chassis 7 comprises a power supply, electric wheels 9 and a steering mechanism, and the walking control module can perform obstacle alarm and route deviation correction. Through the cooperation of the self-propelled chassis 7 and the movable frame 11, the tool car can move in a plane indoors and reach a designated working place.
The control system comprises the following control steps:
(1) the communication module receives the instruction and judges the target position;
(2) the walking control module system runs according to a preset route to reach a specified position;
(3) the target identification module controls the system to scan the sign at the arrival position, and judges whether the target is accurate or not according to the displayed information and the comparison with the instruction; if the actual position is inaccurate, judging the actual position of the robot, issuing an action instruction according to the distance between a preset actual target and the current position, continuing to advance, and repeating the previous action after reaching the position until reaching the target position;
(4) adjusting the height of the upper tray according to preset information;
(5) the movable frame 11 extends forwards and is close to the target, so that the positioning and locking device 5 enters the positioning hole, and the positioning and locking device 5 is operated to be combined with the target.
Example 2
The present embodiment is an improvement on embodiment 1, and the main structure is similar to embodiment 1, and the difference technical characteristics are as follows: as shown in fig. 3, 4 and 5, the tray is provided with a width adjusting device, and the control system comprises a width control module. The tray comprises a bottom frame, an upper frame and a width adjusting device, wherein the width adjusting device comprises a slide bar 17, a lead screw 13, a slide block 12, a speed reducer 15 and a motor 14; the sliding bar 17 and the screw rod 13 are arranged on the underframe, the upper frame is provided with a supporting block 16, and the movement of the upper frame is realized by the movement of the supporting block 16 on the sliding bar 17. The width adjusting device can realize the change of the width of the upper tray through the independent operation of the two lead screws 13 so as to be suitable for switch cabinets 1 of various specifications, and the upper tray can realize the position fine adjustment on a plane, so that the phenomenon that the positioning locking device 5 cannot be locked due to the inaccuracy of the position of the self-propelled chassis 7 is reduced.
The control system comprises the following control steps:
(1) the communication module receives the instruction and judges the target position;
(2) the walking control module system runs according to a preset route to reach a specified position;
(3) the target identification module controls the system to scan the sign at the arrival position, and judges whether the target is accurate or not according to the displayed information and the comparison with the instruction; if the actual position is inaccurate, judging the actual position of the robot, issuing an action instruction according to the distance between a preset actual target and the current position, continuing to advance, and repeating the previous action after reaching the position until reaching the target position;
(4) adjusting the position and the shape of the upper tray according to preset information;
(5) the movable frame 11 extends forwards and is close to the target, so that the positioning and locking device 5 enters the positioning hole, and the positioning and locking device 5 is operated to be combined with the target.
Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and other modifications or equivalent substitutions made by the technical solutions of the present invention by those of ordinary skill in the art should be covered within the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solutions of the present invention.
Claims (4)
1. The utility model provides an automatic addressing overhauls tool bogie which characterized in that: comprises a self-propelled chassis, a tool box, a movable frame and a control system; the self-propelled chassis is provided with a tool box and moves in a straight way indoors; the self-propelled chassis is provided with a movable frame, and the movable frame moves perpendicular to the moving direction of the self-propelled chassis; the movable frame is provided with a lifting mechanism, the upper end of the lifting mechanism is provided with a tray, and the tray is provided with a positioning and locking device and an electric wrench; the control system comprises a walking control module, a height adjusting control module, a target identification module and a communication module; the tray is provided with a width adjusting device, and the control system comprises a width control module; the tray comprises an underframe, an upper frame and a width adjusting device, wherein the width adjusting device comprises a slide bar, a lead screw, a slide block, a speed reducer and a motor; the sliding bar and the screw rod are arranged on the underframe, the upper frame is provided with a supporting block, and the movement of the upper frame is realized by the movement of the supporting block on the sliding bar;
the control system comprises the following control steps:
(1) the communication module receives the instruction and judges the target position;
(2) the walking control module system runs according to a preset route to reach a specified position;
(3) the target identification module controls the system to scan the sign at the arrival position, and judges whether the target is accurate or not according to the displayed information and the comparison with the instruction; if the actual position is inaccurate, judging the actual position of the robot, issuing an action instruction according to the distance between a preset actual target and the current position, continuing to advance, and repeating the previous action after reaching the position until reaching the target position;
(4) adjusting the position and the shape of the upper tray according to preset information;
(5) the movable frame (11) extends forwards and is close to the target, the positioning and locking device (5) enters the positioning hole, and the positioning and locking device (5) is operated to be combined with the target.
2. An automatic addressing service tool cart according to claim 1, characterized in that: the self-propelled chassis comprises a power supply and electric wheels.
3. An automatic addressing service tool cart according to claim 1, characterized in that: the lifting mechanism comprises a hydraulic lifter.
4. An automatic addressing service tool cart according to claim 1, characterized in that: the walking control module can perform obstacle alarm and route deviation correction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710444502.7A CN107253461B (en) | 2017-06-13 | 2017-06-13 | Automatic addressing maintenance tool car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710444502.7A CN107253461B (en) | 2017-06-13 | 2017-06-13 | Automatic addressing maintenance tool car |
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| CN107253461A CN107253461A (en) | 2017-10-17 |
| CN107253461B true CN107253461B (en) | 2021-05-04 |
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| CN201710444502.7A Active CN107253461B (en) | 2017-06-13 | 2017-06-13 | Automatic addressing maintenance tool car |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131487B (en) * | 2018-09-19 | 2023-11-03 | 国网山东省电力公司五莲县供电公司 | Cabinet positioning device |
| CN110031730B (en) * | 2019-03-27 | 2021-11-05 | 内蒙古京能盛乐热电有限公司 | Insulation testing equipment and method for 6/10kV switch cabinet with five-prevention function |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201956610U (en) * | 2010-12-02 | 2011-08-31 | 浙江亚东电器制造有限公司 | Transfer trolley for central switch equipment |
| CN104210519A (en) * | 2014-01-27 | 2014-12-17 | 浙江时通电气制造有限公司 | Vacuum circuit breaker transfer trolley |
| JP2015109788A (en) * | 2013-10-24 | 2015-06-11 | 株式会社不二電業社 | Wheeled platform for carrying electrical equipment |
| CN205791139U (en) * | 2016-07-04 | 2016-12-07 | 浙宝电气(杭州)集团有限公司 | Height-adjustable transportation trolley |
| CN106736057A (en) * | 2016-11-29 | 2017-05-31 | 北京卫星制造厂 | A kind of welding robot system of portable automatic addressing |
-
2017
- 2017-06-13 CN CN201710444502.7A patent/CN107253461B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201956610U (en) * | 2010-12-02 | 2011-08-31 | 浙江亚东电器制造有限公司 | Transfer trolley for central switch equipment |
| JP2015109788A (en) * | 2013-10-24 | 2015-06-11 | 株式会社不二電業社 | Wheeled platform for carrying electrical equipment |
| CN104210519A (en) * | 2014-01-27 | 2014-12-17 | 浙江时通电气制造有限公司 | Vacuum circuit breaker transfer trolley |
| CN205791139U (en) * | 2016-07-04 | 2016-12-07 | 浙宝电气(杭州)集团有限公司 | Height-adjustable transportation trolley |
| CN106736057A (en) * | 2016-11-29 | 2017-05-31 | 北京卫星制造厂 | A kind of welding robot system of portable automatic addressing |
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| CN107253461A (en) | 2017-10-17 |
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