CN110434825A - A kind of automatic divide-shut brake robot and its open/close method - Google Patents
A kind of automatic divide-shut brake robot and its open/close method Download PDFInfo
- Publication number
- CN110434825A CN110434825A CN201910682498.7A CN201910682498A CN110434825A CN 110434825 A CN110434825 A CN 110434825A CN 201910682498 A CN201910682498 A CN 201910682498A CN 110434825 A CN110434825 A CN 110434825A
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- Prior art keywords
- processor
- data
- cabinet
- shut brake
- rocking bar
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of automatic divide-shut brake robots, comprising: traveler car, 360 degree rotation frame, image capture device, row traces data acquisition equipment, mechanical rocking bar, adapting operation head and processor；Traveler car is internally provided with processor, and the upper surface of traveler car is arranged in 360 degree rotation frame, and image capture device, mechanical rocking bar and adapting operation head are arranged on 360 degree rotation frame.The instruction for marching to target cabinet that robot provided by the invention passes through the wifi interface user of processor, processor obtains the row traces data of row traces data acquisition equipment acquisition, it can automatically proceed to the front of target cabinet, processor carries out position by the image data that image capture device obtains cabinet panel and accurately adjusts, and then it is able to achieve long-range control adapting operation head and the automatic open-close lock of the high pressure lock switch of cabinet is operated, when avoiding high-tension apparatus failure, the accident risk of artificial execute-in-place.
Description
Technical field
The present invention relates to high voltage equipment control technology fields, more particularly to a kind of automatic divide-shut brake robot and its divide
Closing switch method.
Background technique
There are a large amount of high-tension apparatuses in substation.When high-tension apparatus breaks down, when master control room can not disconnect switch, if disconnecting
It is excessive that the higher level of high-tension apparatus switchs coverage.And there is such as switch explosion in artificial execute-in-place, electric arc burn etc. is great
Accident risk.Meanwhile power transformation station equipment is numerous, maintenance workload is big, and personnel's investment is more, and mechanical repeatability inspection work is more.
Therefore, it is badly in need of researching and developing a kind of robot that can under remote control carry out high-tension apparatus automatic breaking-closing operating in industry.
Summary of the invention
In view of the above-mentioned problems existing in the prior art, the present invention provides a kind of automatic divide-shut brake robot and its divide-shut brake side
Method.
The concrete scheme of the application is as follows:
A kind of automatic divide-shut brake robot, comprising: traveler car, 360 degree rotation frame, image capture device, row traces data
Acquire equipment, mechanical rocking bar, adapting operation head and processor；Traveler car is internally provided with processor, and the setting of 360 degree rotation frame exists
The upper surface of traveler car, image capture device, mechanical rocking bar and adapting operation head are arranged on 360 degree rotation frame, row traces
The front surface of traveler car, image capture device, row traces data acquisition equipment, mechanical rocking bar, 360 degree is arranged in data acquisition equipment
Swivel mount, adapting operation head are connected with processor.
Preferably, the 360 degree rotation frame includes: elevation cylinder, lifting platform, stereo block, longitudinal slide rail and horizontal slide rail；
The lower end of elevation cylinder is fixed in traveler car, and lifting platform is fixed on the upper end of elevation cylinder, and stereo block is slidably connected at longitudinal direction
In sliding rail, longitudinal slide rail vertical sliding motion is connected in horizontal slide rail, and horizontal slide rail is fixed on the upper surface of horizontal slide rail lifting platform.
Preferably, image capture device, mechanical rocking bar and adapting operation head are arranged in stereo block.
Preferably, the bottom of traveler car is provided with pulley.
Preferably, image capture device is camera, and row traces data acquisition equipment is infrared electro sending and receiving apparatus.
A kind of open/close method of automatic divide-shut brake robot, comprising:
S1, the instruction for marching to target cabinet of the wifi interface user of processor；Processor obtains trace line number
According to the row traces data of acquisition equipment acquisition；The instruction for marching to target cabinet includes the number and position letter of target cabinet
Breath；
S2, processor is positioned according to row traces data, and the location information of combining target cabinet judges travel path, is generated
Traveler car is controlled after driving instruction to advance；
S3, after traveler car advances to the front of target cabinet, processor obtains cabinet panel by image capture device
Image data determines alignment position according to described image data；
S4, processor carry out position adjustment according to alignment position control 360 degree rotation frame, until adapting operation head is directed at machine
The high pressure lock of cabinet switchs；Processor controls adapting operation head and carries out automatic switching operation to the high pressure lock switch of cabinet.
Preferably, after step S3 further include: processor carries out position tune according to alignment position control 360 degree rotation frame
Whole, on mechanical rocking bar alignment cabinet rocking bar hole；Processor controls mechanical rocking bar and is inserted into rocking bar hole, thus by high pressure trolley
It shakes and is separated into installation or shake out high pressure trolley.
Preferably, further includes: the telecommand of the wifi interface user of processor, and controlled and gone according to telecommand
Into garage into the telecommand includes: at least one of advance, retrogressing, left-hand rotation, right-hand rotation.
Preferably, further includes: the automatic detecting of the wifi interface user of processor instructs, and processor obtains row traces
The row traces data of data acquisition equipment acquisition, are positioned according to row traces data, judge travel path in conjunction with default route,
Processor controls traveler car and carries out done site by site inspection by default route.
Preferably, further includes: during inspection, image capture device acquisition cabinet on instrument data, instrumented data, refer to
Show lamp and environmental data, and be sent to processor, processor to instrument data, instrumented data, indicator light, environmental data at
It manages and judges, if being more than preset alarm thresholding, report inspection abnormal to user by wifi interface.
Compared with prior art, the invention has the following beneficial effects:
This programme provides a kind of automatic divide-shut brake robot, which passes through the wifi interface user's of processor
The instruction of target cabinet is marched to, processor obtains the row traces data of row traces data acquisition equipment acquisition, can advance automatically
To the front of target cabinet, processor carries out position by the image data that image capture device obtains cabinet panel and accurately adjusts
It is whole, and then be able to achieve long-range control adapting operation head and the automatic open-close lock of the high pressure lock switch of cabinet is operated, or long-range control
Mechanical rocking bar insertion rocking bar hole is made to be suitable for so that high pressure trolley be shaken in cabinet or high pressure trolley is isolated cabinet
The high-tension apparatus of different model, when avoiding high-tension apparatus failure, the accident risk of artificial execute-in-place.In addition, using adaptation
Operating head design can be adapted to a variety of different equipment by replacement operation head, improve the versatility of robot.Finally use high definition
Video camera automatic detecting, can be to each equipment long-time inspection of substation, and solution equipment is more, maintenance workload is big, personnel's investment is more
The problem of.
Detailed description of the invention
Fig. 1 is the schematic diagram of automatic divide-shut brake robot of the invention.
Fig. 2 is the schematic flow chart of automatic divide-shut brake robot open/close method of the invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Referring to Fig. 1, a kind of automatic divide-shut brake robot, comprising: traveler car 1,360 degree rotation frame, image capture device 6,
Row traces data acquisition equipment 11, mechanical rocking bar 4, adapting operation head 5 and processor 10；Traveler car 1 is internally provided with processor
10,360 degree rotation frame is arranged in traveler car 1, and image capture device 6, mechanical rocking bar 4 and adapting operation head 5 are arranged at 360
It spends on swivel mount, the front surface of traveler car 1 is arranged in row traces data acquisition equipment 11, and image capture device 6, row traces data are adopted
Collect equipment 11, mechanical rocking bar 4,360 degree rotation frame, adapting operation head 5 to connect with processor 10.
It should be noted that the automatic divide-shut brake robot further includes supplying cell.Supplying cell and traveler car 1,360
It is equal to spend swivel mount, image capture device 6, row traces data acquisition equipment 11, mechanical rocking bar 4, adapting operation head 5, processor 10
Connection, for powering to it.
In the present embodiment, the 360 degree rotation frame includes: elevation cylinder 2, lifting platform 3, stereo block 7,8 and of longitudinal slide rail
Horizontal slide rail 9；The lower end of elevation cylinder 2 is fixed in traveler car 1, and lifting platform 3 is fixed on the upper end of elevation cylinder 2, stereo block 7
It is slidably connected in longitudinal slide rail 8,8 vertical sliding motion of longitudinal slide rail is connected in horizontal slide rail 9, and horizontal slide rail 9 is fixed on transverse direction
The upper surface of 9 lifting platform 3 of sliding rail.Image capture device 6, mechanical rocking bar 4 and adapting operation head 5 are arranged in stereo block 7.It rises
It dropping 2 liftable of cylinder and 360 degree is rotatable, elevation cylinder 2 is rotatable by drive stereo block 7 lifting of lifting platform 3 and 360 degree,
And then drive image capture device 6, machinery rocking bar 4 and adapting operation head 5 are gone up and down and 360 degree rotatable.Stereo block 7 is in longitudinal cunning
Longitudinal (front and back) sliding is realized in sliding in rail 8.Longitudinal slide rail 8 is slided in horizontal slide rail 9 together with stereo block 7, is realized laterally (left
It is right) sliding.
In the present embodiment, the bottom of traveler car 1 is provided with pulley 12.Traveler car 1 slides row under control of processor 10
Into.
In the present embodiment, image capture device 6 is camera, and row traces data acquisition equipment 11 is that infrared electro transmitting connects
Receiving apparatus.
In the present embodiment, the processor 10 is 4 generation of raspberry pie Raspberry Pi 4B.
Referring to fig. 2, the open/close method of above-mentioned automatic divide-shut brake robot, comprising:
S1, the instruction for marching to target cabinet of the wifi interface user of processor 10；Processor 10 obtains trace
The row traces data that line data acquisition equipment 11 acquires；It is described march to target cabinet instruction include target cabinet number and
Location information；
S2, processor 10 is positioned according to row traces data, and the location information of combining target cabinet judges travel path, raw
It advances at traveler car 1 is controlled after driving instruction；
Step S1 and S2 realize the robot autonomous traveling function of automatic divide-shut brake, and user only needs to send traveling instruction,
Automatic divide-shut brake robot can advance to target cabinet.In the present embodiment, the open/close method is passively advanced function, specifically
Ground, passive the step of advancing are as follows: the telecommand of the wifi interface user of processor 10, and controlled and gone according to telecommand
It advances into vehicle 1, the telecommand includes: at least one of advance, retrogressing, left-hand rotation, right-hand rotation.
S3, after traveler car 1 advances to the front of target cabinet, processor 10 obtains cabinet face by image capture device 6
The image data of plate determines alignment position according to described image data；
S4, processor 10 carries out position adjustment according to alignment position control 360 degree rotation frame, until adapting operation head 5 is right
The high pressure lock of quasi- cabinet switchs；Processor 10 controls adapting operation head 5 and carries out automatic switching to the high pressure lock switch of cabinet
Operation；After step S3 further include:
Processor 10 carries out position adjustment according to alignment position control 360 degree rotation frame, until mechanical rocking bar 4 is directed at cabinet
On rocking bar hole；Processor 10 controls mechanical rocking bar 4 and is inserted into rocking bar hole, to high pressure trolley be shaken into installation or high pressure is small
Vehicle, which shakes out, to be separated.
Specifically, processor 10 obtains cabinet panel image by image capture device 6, pasted according to cabinet panel
Auxiliary positioning mark determines alignment position, to control longitudinal slide rail 8, elevation cylinder 2, horizontal slide rail 9, be slided or gone up and down
Spinning movement, and this process is repeated, until adapting operation head 5 is directed at cabinet high pressure lock switch (when breaking-closing operating) or machinery
The rocking bar hole of the alignment cabinet of rocking bar 4.In addition, user can also use remote manual control to operate 360 degree rotation frame, if it is auxiliary to open equipment
Alignment function is helped, when range will be directed at by manually controlling the arrival of 360 degree rotation frame, 360 degree rotation frame will be carried out from dynamic auxiliary
Alignment improves alignment precision, and after the completion of auxiliary alignment, it is bright that indicator light is completed in alignment.
Wherein, adapting operation head 5 can switch according to different high pressure cabinet locks and replace corresponding operating head, adapting operation head
5 switch progress breaking-closing operating to high pressure cabinet lock under control of processor 10；Mechanical rocking bar 4 can be according to different cabinets
Rocking bar bore dia replaces corresponding pitman head, and mechanical rocking bar 4 shake into installation to high pressure trolley under control of processor 10
With shake out the operation separated, while mechanical rocking bar 4 has the function of that operation hinders and stops, and encountering obstruction (or to stroke top) can stop automatically
Only, it prevents from damaging equipment.Wherein it is hampered and stops referring to, mechanical rocking bar 4 turns not when shaking into rocking bar hole if encountering obstacle
It moves, or has shaken and turned motionless to the end, the signal for stopping the motor of function with resistance can be automatically cut off, stopping continues reinforcing rotation
Turn, causes equipment damage.Can resistance be set on processor 10 and stops thresholding, prevents damage equipment.Its mesohigh trolley is high-pressure unit
A component inside cabinet shake using mechanical rocking bar separating into installation and shaking out.
In the present embodiment, the open/close method further include: the telecommand of the wifi interface user of processor 10,
And traveler car 1 is controlled according to telecommand and is advanced, the telecommand includes: advance, retrogressing, left-hand rotation, at least one in right-hand rotation
Kind.
In the present embodiment, the open/close method further include: the automatic detecting of the wifi interface user of processor 10
Instruction, processor 10 obtain the row traces data that row traces data acquisition equipment 11 acquires, are positioned according to row traces data,
Judge that travel path, processor 10 control traveler car 1 and carry out done site by site inspection by default route in conjunction with default route.Inspection process
In, image capture device 6 acquires instrument data, instrumented data, indicator light and the environmental data on cabinet, and is sent to processor
10, processor 10 is handled and is judged to instrument data, instrumented data, indicator light, environmental data, if being more than preset alarm door
Limit then reports inspection abnormal to user by wifi interface.
In processor 10, user can send to processor 10 by wireless communication and control the wifi Interface integration of the present embodiment
System order or task.Control command includes the advance of traveler car 1, retrogressing, left steering, right turn, the sliding of horizontal slide rail 9, indulges
It shakes to the sliding of sliding rail 8, the lifting of elevation cylinder 2 and rotation, breaking-closing operating, machinery rocking bar 4 into shaking into grasping out；Task includes certainly
It is dynamic to march to target cabinet, panel automatic positioning, automatic detecting etc..User can be received by wifi interface from processor 10 simultaneously
The image data obtained from image capture device 6 and the row traces data etc. obtained from infrared photoelectric sensor.
To sum up, the automatic divide-shut brake robot of this programme controls robot by the wifi interface remote of processor 10 and carries out
It shakes into installation and shakes out lock out operation, breaking-closing operating is carried out to high-tension apparatus, is suitable for the high-tension apparatus of different model, and
All mechanically actuateds all have resistance and stop function, while the robot has the function of automatic detecting, acquisition environmental data.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of automatic divide-shut brake robot characterized by comprising traveler car, 360 degree rotation frame, image capture device, row
Trace data acquires equipment, mechanical rocking bar, adapting operation head and processor；
Traveler car is internally provided with processor, and the upper surface of traveler car, image capture device, machinery is arranged in 360 degree rotation frame
Rocking bar and adapting operation head are arranged on 360 degree rotation frame, and the front surface of traveler car, figure is arranged in row traces data acquisition equipment
As acquisition equipment, row traces data acquisition equipment, mechanical rocking bar, 360 degree rotation frame, adapting operation head are connected with processor.
2. automatic divide-shut brake robot according to claim 1, which is characterized in that the 360 degree rotation frame includes: lifting
Cylinder, lifting platform, stereo block, longitudinal slide rail and horizontal slide rail；
The lower end of elevation cylinder is fixed in traveler car, and lifting platform is fixed on the upper end of elevation cylinder, and stereo block is slidably connected at
In longitudinal slide rail, longitudinal slide rail vertical sliding motion is connected in horizontal slide rail, and horizontal slide rail is fixed on the upper of horizontal slide rail lifting platform
Surface.
3. automatic divide-shut brake robot according to claim 1, which is characterized in that image capture device, mechanical rocking bar and
Adapting operation head is arranged in stereo block.
4. automatic divide-shut brake robot according to claim 1, which is characterized in that the bottom of traveler car is provided with pulley.
5. automatic divide-shut brake robot according to claim 1, which is characterized in that image capture device is camera, row
It is infrared electro sending and receiving apparatus that trace data, which acquires equipment,.
6. a kind of open/close method of automatic divide-shut brake robot described in -5 any one according to claim 1, feature exist
In, comprising:
S1, the instruction for marching to target cabinet of the wifi interface user of processor；Processor obtains row traces data and adopts
Collect the row traces data of equipment acquisition；The instruction for marching to target cabinet includes the number and location information of target cabinet；
S2, processor are positioned according to row traces data, and the location information of combining target cabinet judges travel path, generate driving
Traveler car is controlled after instruction to advance；
S3, after traveler car advances to the front of target cabinet, processor obtains the image of cabinet panel by image capture device
Data determine alignment position according to described image data；
S4, processor carry out position adjustment according to alignment position control 360 degree rotation frame, until adapting operation head alignment cabinet
High pressure lock switch；Processor controls adapting operation head and carries out automatic switching operation to the high pressure lock switch of cabinet.
7. automatic divide-shut brake robot according to claim 6, which is characterized in that after step S3 further include:
Processor carries out position adjustment according to alignment position control 360 degree rotation frame, until shaking on mechanical rocking bar alignment cabinet
Rod aperture；Processor controls mechanical rocking bar and is inserted into rocking bar hole, divides to shaking high pressure trolley into installation or shake out high pressure trolley
From.
8. automatic divide-shut brake robot according to claim 6, which is characterized in that further include: the wifi interface of processor
The telecommand of user is received, and traveler car is controlled according to telecommand and is advanced, the telecommand includes: advance, retrogressing, a left side
At least one of turn, turn right.
9. automatic divide-shut brake robot according to claim 6, which is characterized in that further include: the wifi interface of processor
The automatic detecting instruction of user is received, processor obtains the row traces data of row traces data acquisition equipment acquisition, according to trace
Line number judges that travel path, processor control traveler car and patrol by default route progress done site by site according to being positioned, in conjunction with default route
Inspection.
10. automatic divide-shut brake robot according to claim 9, which is characterized in that further include: during inspection, image
Instrument data, instrumented data, indicator light and the environmental data on equipment acquisition cabinet are acquired, and is sent to processor, processor
Instrument data, instrumented data, indicator light, environmental data are handled and judged, if being more than preset alarm thresholding, is passed through
Wifi interface reports inspection abnormal to user.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910682498.7A CN110434825A (en) | 2019-07-26 | 2019-07-26 | A kind of automatic divide-shut brake robot and its open/close method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910682498.7A CN110434825A (en) | 2019-07-26 | 2019-07-26 | A kind of automatic divide-shut brake robot and its open/close method |
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| Publication Number | Publication Date |
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| CN110434825A true CN110434825A (en) | 2019-11-12 |
Family
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| CN201910682498.7A Pending CN110434825A (en) | 2019-07-26 | 2019-07-26 | A kind of automatic divide-shut brake robot and its open/close method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112619978A (en) * | 2020-12-02 | 2021-04-09 | 李春群 | Municipal afforestation tree is protector of full-automatic whitewash lime wash winter |
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| CN207603299U (en) * | 2017-09-19 | 2018-07-10 | 广东电网有限责任公司江门供电局 | A kind of transformer equipment far controls sub-switching operation device |
| CN108628321A (en) * | 2018-07-09 | 2018-10-09 | 国网福建省电力有限公司 | Special feelings inspection machine people in a kind of unattended operation transformer station room |
| CN109687331A (en) * | 2018-12-29 | 2019-04-26 | 上海南华兰陵电气有限公司 | It is a kind of can autonomous inspection intelligent Prefabricated Cubical Substation |
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2019
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| GB9306259D0 (en) * | 1992-03-25 | 1993-05-19 | Samsung Electronics Co Ltd | Remote control device |
| CN202817555U (en) * | 2012-07-30 | 2013-03-20 | 许超华 | Operation device for dolly switch of high-voltage switch cabinet of transformer substation |
| CN207603299U (en) * | 2017-09-19 | 2018-07-10 | 广东电网有限责任公司江门供电局 | A kind of transformer equipment far controls sub-switching operation device |
| CN108628321A (en) * | 2018-07-09 | 2018-10-09 | 国网福建省电力有限公司 | Special feelings inspection machine people in a kind of unattended operation transformer station room |
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| CN112619978A (en) * | 2020-12-02 | 2021-04-09 | 李春群 | Municipal afforestation tree is protector of full-automatic whitewash lime wash winter |
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Application publication date: 20191112 |