CN111002164A - Transformer substation contact polishing mechanism, polishing robot, system and method - Google Patents
Transformer substation contact polishing mechanism, polishing robot, system and method Download PDFInfo
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- CN111002164A CN111002164A CN201911252466.XA CN201911252466A CN111002164A CN 111002164 A CN111002164 A CN 111002164A CN 201911252466 A CN201911252466 A CN 201911252466A CN 111002164 A CN111002164 A CN 111002164A
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- 238000005498 polishing Methods 0.000 title claims abstract description 150
- 230000007246 mechanism Effects 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000004140 cleaning Methods 0.000 claims abstract description 66
- 239000004744 fabric Substances 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000007517 polishing process Methods 0.000 claims description 3
- 238000002604 ultrasonography Methods 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000002955 isolation Methods 0.000 abstract 1
- 238000006243 chemical reaction Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
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- B08B1/32—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
Abstract
The invention provides a transformer substation contact polishing mechanism, a polishing robot, a system and a method, which solve the problems that live-line maintenance operation cannot be carried out on a contact polishing mode, and an operation tool cannot be replaced in real time on an isolation switch contact seriously corroded, and improve the transformer substation contact polishing efficiency. The transformer substation contact polishing mechanism comprises a polishing part, a polishing head module and a cleaning module, wherein the polishing part comprises the polishing head module and the cleaning module; the polishing head module is used for polishing the disconnecting switch contact to be polished; the cleaning module is used for cleaning the disconnecting switch contact after polishing operation; a control part configured to receive a polishing work end signal of the polishing head module, switch to the cleaning module, and start a cleaning work; and the connecting part is configured to connect the polishing part and the robot mechanical arm, and the angle between the polishing part and the robot mechanical arm is adjusted within a preset angle range so as to match the position of the disconnecting switch contact to be polished, thereby realizing live working of the transformer substation contact polishing mechanism.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a transformer substation contact polishing mechanism, a polishing robot, a system and a method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The open-type transformer substation insulator is exposed in an outdoor environment, the disconnecting switch knife switch needs to be closed and opened, and in a power supply state, the disconnecting switch knife switch needs to be kept in a normally-closed state. The disconnecting switch is corroded by natural phenomena such as rainwater in the outdoor environment, corrosion is easily generated at the contact, poor contact of the disconnecting switch contact is easily caused for a long time, contact heating is caused, and power failure accidents are caused in serious cases.
The inventor finds that the contact grinding and overhauling operation at the present stage mainly has the following defects:
(1) most of contact polishing is power failure maintenance operation, and live-line maintenance operation cannot be carried out in areas where power failure maintenance cannot be arranged due to high power utilization continuity;
(2) the equipment that the contact was polished is mostly adopted cleaning cloth or the head of polishing to carry out the simplex operation mode, can not real-time change operation instrument to the serious isolator contact of corrosion, can't be to the effectual polishing of isolator contact.
Disclosure of Invention
In order to solve the problems, the invention provides a transformer substation contact polishing mechanism, a polishing robot, a system and a method.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a transformer substation contact grinding mechanism.
A transformer substation contact grinding mechanism comprises:
a polishing part including a polishing head module and a cleaning module; the polishing head module is used for polishing the disconnecting switch contact to be polished; the cleaning module is used for cleaning the disconnecting switch contact of the disconnecting switch after polishing operation;
a control part configured to receive a polishing work end signal of the polishing head module, switch to the cleaning module, and start a cleaning work;
and the connecting part is configured to connect the polishing part and the robot mechanical arm, and the angle between the polishing part and the robot mechanical arm is adjusted within a preset angle range so as to match the position of the disconnecting switch contact to be polished, thereby realizing live working of the transformer substation contact polishing mechanism.
As an embodiment, the grinding part further comprises a rotating disc, and the grinding head module and the cleaning module are fixed on the rotating disc; the rotating disk is connected with the first driving module, and the first driving module switches the polishing head module and the cleaning module to work under the control action of the control part.
Above-mentioned technical scheme's advantage lies in, utilizes the rotation of drive capstan to come conversion polishing head module and clean module work, has simplified the structure of the portion of polishing, has improved the stability of conversion efficiency and conversion moreover, has finally ensured transformer substation's contact grinding machanism's job stabilization nature.
As an embodiment, the polishing head module includes a polishing head, the polishing head is connected to a second driving module, the second driving module is connected to a control portion, and the control portion is further configured to control the second driving module to drive the polishing head to perform a polishing operation.
As an implementation manner, the cleaning module includes a cleaning cloth, the cleaning cloth is disposed on a rotating plate, the rotating plate is connected to a third driving module, the third driving module is connected to a control portion, and the control portion is further configured to control the third driving module to drive the rotating plate to rotate, so as to drive the cleaning cloth to perform a cleaning operation.
As an implementation mode, the connecting part comprises a connecting plate, one end of the connecting plate is movably connected with the polishing part through a movable part, and the other end of the connecting plate is fixedly connected with the robot arm; the movable piece is configured to adjust an included angle between the connecting plate and the polishing portion within a preset angle range.
Above-mentioned technical scheme's advantage lies in, adjusts the contained angle between connecting plate and the portion of polishing through the moving part for this contained angle and the isolator switch contact's of treating polishing position phase-match have improved the efficiency of polishing.
As an embodiment, the movable member includes: the first fixing plate and the second fixing plate are arranged on two sides of the connecting plate, are connected to the bottom of the polishing part and are arranged oppositely; a first opening groove and a second opening groove are respectively arranged at the relative positions of the first fixing plate and the second fixing plate, and are arc-shaped and equal in length;
a first rotating shaft and a second rotating shaft are further arranged on the connecting plate in a penetrating mode, and two ends of the first rotating shaft are connected with the first fixing plate and the second fixing plate respectively; two ends of the second rotating shaft can slide along the first open slot and the second open slot, so that the connecting plate can rotate along the first rotating shaft, and the angle between the polishing part and the robot mechanical arm can be adjusted within a preset angle range.
As an embodiment, a first clamping body and a second clamping body are respectively arranged on two sides of the connecting plate, and the first clamping body and the second clamping body are used for fixing the connecting plate on the robot mechanical arm.
As an embodiment, the first clamping body and the second clamping body are the same in structure; the first clamping body and the second clamping body both comprise a clamping plate, and bolts are arranged at two ends of the clamping plate.
A second aspect of the present invention provides a grinding robot.
A polishing robot comprises the transformer substation contact polishing mechanism.
A third aspect of the present invention provides a grinding robot system.
A grinding robot system comprises the grinding robot.
A fourth aspect of the present invention provides a method of operating a grinding robot system.
A method of operating a grinding robot system, comprising:
adjusting an included angle between the polishing part and the robot mechanical arm to enable the included angle to be matched with the polishing position of the disconnecting switch contact of the disconnecting switch to be polished;
controlling the polishing head module to polish the disconnecting switch contact to be polished, and sending a polishing operation end signal to the control part after the polishing head module finishes polishing operation;
and receiving a polishing operation finishing signal of the polishing head module, switching to the cleaning module and starting cleaning work.
The robot is provided with sensors of laser, vision, ultrasound and leakage current, so that the states of the robot, tools and equipment in the polishing process can be monitored at any time, and the operation safety is ensured.
The invention has the beneficial effects that:
(1) the invention constructs a multi-degree-of-freedom contact polishing model in an unstructured environment, designs a polishing method for a transformer substation disconnecting switch contact, develops a multi-degree-of-freedom polishing tool combined operation system, realizes polishing and cleaning of a disconnecting switch contact seriously corroded, and solves the problem that the transformer substation disconnecting switch contact is rusted and polished incompletely in a charged manner.
(2) The transformer substation contact polishing mechanism comprises the polishing head module and the cleaning module, has the functions of polishing operation and cleaning operation of the polishing head, and the control part receives a polishing operation finishing signal of the polishing head module, switches to the cleaning module and starts cleaning operation, so that the polishing efficiency of the transformer substation contact is improved by controlling the polishing sequence.
(3) According to the transformer substation contact polishing mechanism, the polishing part and the robot mechanical arm are connected through the connecting part, live-line operation of the transformer substation contact polishing mechanism is achieved, and polishing efficiency of a transformer substation contact is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a schematic diagram of a substation contact grinding mechanism according to an embodiment of the invention;
fig. 2 is a front view of a substation contact grinding mechanism according to an embodiment of the invention;
FIG. 3 is a side view of a substation contact grinding mechanism according to an embodiment of the present invention;
FIG. 4 is a cross-sectional view of a substation contact grinding mechanism according to an embodiment of the present invention;
FIG. 5 is a side view of a grinding robot system of an embodiment of the present invention;
FIG. 6 is a perspective view of a grinding robot system in accordance with an embodiment of the present invention;
fig. 7 is an enlarged view of the connection between the mechanical arm and the transformer substation contact grinding mechanism in the embodiment of the invention.
The polishing machine comprises a cleaning cloth 1, a cleaning cloth 2, a polishing rotary fixing plate 3, a polishing head 4, a first fixing plate, 5, a connecting plate 6, a first clamping body 7, a second clamping body 8, a second fixing plate 9, a rotary motor 10, a rotary motor mounting plate 11, a rotary plate 12, a polishing motor mounting plate 13, a polishing motor 14, a cleaning rotary fixing plate 15, a rotary plate 16, a cleaning motor 17 and a cleaning motor mounting plate.
Detailed Description
The invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only terms of relationships determined for convenience of describing structural relationships of the parts or elements of the present invention, and are not intended to refer to any parts or elements of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.
Example 1
As shown in fig. 1, the substation contact grinding mechanism of this embodiment includes:
a polishing part including a polishing head module and a cleaning module; the polishing head module is used for polishing the disconnecting switch contact to be polished; the cleaning module is used for cleaning the disconnecting switch contact of the disconnecting switch after polishing operation;
a control part configured to receive a polishing work end signal of the polishing head module, switch to the cleaning module, and start a cleaning work;
and the connecting part is configured to connect the polishing part and the robot mechanical arm, and the angle between the polishing part and the robot mechanical arm is adjusted within a preset angle range so as to match the position of the disconnecting switch contact to be polished, thereby realizing live working of the transformer substation contact polishing mechanism.
As shown in fig. 2 to 4, the polishing part further includes a rotating disk, and the polishing head module and the cleaning module are fixed on the rotating disk; the rotating disk is connected with the first driving module, and the first driving module switches the polishing head module and the cleaning module to work under the control action of the control part.
Above-mentioned technical scheme's advantage lies in, utilizes the rotation of drive capstan to come conversion polishing head module and clean module work, has simplified the structure of the portion of polishing, has improved the stability of conversion efficiency and conversion moreover, has finally ensured transformer substation's contact grinding machanism's job stabilization nature.
In the specific implementation of this embodiment, the first driving module is a rotating electrical machine 9, the rotating disk 11 is in power transmission with the rotating electrical machine 9 through key connection, a threaded hole is formed in the top of an output shaft of the rotating electrical machine 9, and the rotating disk 11 is fixedly connected with the rotating electrical machine 9 through a bolt.
It is understood that in other embodiments, the first driving module may also adopt other existing driving mechanisms, such as a rotary cylinder and the like; the technical personnel in the field can set themselves according to the specific working condition, and will not be detailed here.
As shown in fig. 2 and 4, the polishing head module includes a polishing head, the polishing head is connected to a second driving module, the second driving module is connected to a control portion, and the control portion is further configured to control the second driving module to drive the polishing head to perform a polishing operation.
It should be noted that, in this embodiment, the second driving module adopts a grinding motor, and in other embodiments, a person skilled in the art may set the second driving module according to a specific working condition, which is not described in detail herein.
Specifically, the grinding motor mounting plate 12 is bolted to the rotating disk 11, and the grinding motor 13 is bolted to the grinding motor mounting plate 12. The polishing motor 13 is in key connection transmission with the polishing head 3, a threaded hole is formed in the top of an output shaft of the polishing motor 13, and the polishing rotary fixing plate 2, the output shaft of the polishing motor 13 and the polishing head 3 are fixedly connected through bolts.
As shown in fig. 3, the cleaning module includes a cleaning cloth, the cleaning cloth is disposed on a rotating plate, the rotating plate is connected to a third driving module, the third driving module is connected to a control portion, and the control portion is further configured to control the third driving module to drive the rotating plate to rotate, so as to drive the cleaning cloth to perform a cleaning operation.
In the embodiment, the third driving module is implemented by using the cleaning motor 16, and in other embodiments, the third driving module may also use other existing driving mechanisms, such as a rotary cylinder; the technical personnel in the field can set themselves according to the specific working condition, and will not be detailed here.
Specifically, a cleaning motor mounting plate 17 is mounted on the rotating disc 11 through bolt connection, a cleaning motor 16 is connected with the rotating plate 17 through bolts, the cleaning motor 16 is in key connection transmission with the rotating plate 15, a threaded hole is formed in the top of an output shaft of the cleaning motor 16, a cleaning rotating fixing plate 14 and the rotating plate 15 are fixedly connected through bolts, and a cleaning cloth 1 is sleeved on the outer side of the rotating plate 15 through transition connection.
As shown in fig. 3, the connecting portion includes a connecting plate, one end of the connecting plate is movably connected with the polishing portion through a movable member, and the other end of the connecting plate is fixedly connected with the robot arm; the movable piece is configured to adjust an included angle between the connecting plate and the polishing portion within a preset angle range.
Specifically, the movable member includes: the first fixing plate and the second fixing plate are arranged on two sides of the connecting plate, are connected to the bottom of the polishing part and are arranged oppositely; a first opening groove and a second opening groove are respectively arranged at the relative positions of the first fixing plate and the second fixing plate, and are arc-shaped and equal in length;
a first rotating shaft and a second rotating shaft are further arranged on the connecting plate in a penetrating mode, and two ends of the first rotating shaft are connected with the first fixing plate and the second fixing plate respectively; two ends of the second rotating shaft can slide along the first open slot and the second open slot, so that the connecting plate can rotate along the first rotating shaft, and the angle between the polishing part and the robot mechanical arm can be adjusted within a preset angle range.
It is understood that in other embodiments, for the movable member, one skilled in the art can also use existing structures such as a clamping wrench.
In specific implementation, a first clamping body and a second clamping body are respectively arranged on two sides of the connecting plate, and the first clamping body and the second clamping body are used for fixing the connecting plate on the robot mechanical arm.
Specifically, the first clamping body 6 and the second clamping body 7 are respectively mounted on both sides of the connecting plate 5 through bolt connection.
The rotating electrical machine 9 is connected to the rotating electrical machine mounting plate 10 through bolts, the rotating electrical machine mounting plate 10 is connected to the first fixing plate 4 and the second fixing plate 8 through bolts, and the first fixing plate 4 and the second fixing plate 8 are connected to the connecting plate 5 through bolts.
Specifically, the first clamping body and the second clamping body have the same structure; the first clamping body and the second clamping body both comprise a clamping plate, and bolts are arranged at two ends of the clamping plate.
It is understood that in other embodiments, the first clamping body and the second clamping body can be implemented by using other clamping structures in the prior art.
Above-mentioned technical scheme's advantage lies in, adjusts the contained angle between connecting plate and the portion of polishing through the moving part for this contained angle and the isolator switch contact's of treating polishing position phase-match have improved the efficiency of polishing.
Example 2
As shown in fig. 5 to 7, a polishing robot of the present embodiment includes the substation contact polishing mechanism according to embodiment 1.
It should be noted that the mechanical arms included in the polishing robot of the present embodiment are all of the existing structures.
Example 3
An abrading robot system according to the present embodiment comprises an abrading robot as described in embodiment 2.
The working method of the grinding robot system of the embodiment comprises the following steps:
adjusting an included angle between the polishing part and the robot mechanical arm to enable the included angle to be matched with the polishing position of the disconnecting switch contact of the disconnecting switch to be polished;
controlling the polishing head module to polish the disconnecting switch contact to be polished, and sending a polishing operation end signal to the control part after the polishing head module finishes polishing operation;
and receiving a polishing operation finishing signal of the polishing head module, switching to the cleaning module and starting cleaning work. The robot is provided with sensors of laser, vision, ultrasound and leakage current, so that the states of the robot, tools and equipment in the polishing process can be monitored at any time, and the operation safety is ensured.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a transformer substation's contact grinding machanism which characterized in that includes:
a polishing part including a polishing head module and a cleaning module; the polishing head module is used for polishing the disconnecting switch contact to be polished; the cleaning module is used for cleaning the disconnecting switch contact of the disconnecting switch after polishing operation;
a control part configured to receive a polishing work end signal of the polishing head module, switch to the cleaning module, and start a cleaning work;
and the connecting part is configured to connect the polishing part and the robot mechanical arm, and the angle between the polishing part and the robot mechanical arm is adjusted within a preset angle range so as to match the position of the disconnecting switch contact to be polished, thereby realizing live working of the transformer substation contact polishing mechanism.
2. The substation contact grinding mechanism of claim 1, wherein the grinding section further comprises a rotating disc, and the grinding head module and the cleaning module are both fixed to the rotating disc; the rotating disk is connected with the first driving module, and the first driving module switches the polishing head module and the cleaning module to work under the control action of the control part.
3. The substation contact grinding mechanism of claim 1, wherein the grinding head module comprises a grinding head, the grinding head is connected with a second driving module, the second driving module is connected with the control part, and the control part is further configured to control the second driving module to drive the grinding head to perform grinding operation;
or
The cleaning module comprises cleaning cloth, the cleaning cloth is arranged on a rotating plate, the rotating plate is connected with a third driving module, the third driving module is connected with a control part, and the control part is further configured to control the third driving module to drive the rotating plate to rotate so as to drive the cleaning cloth to perform cleaning operation.
4. The substation contact grinding mechanism according to claim 1, wherein the connecting portion comprises a connecting plate, one end of the connecting plate is movably connected with the grinding portion through a movable member, and the other end of the connecting plate is fixedly connected with the robot arm; the movable piece is configured to adjust an included angle between the connecting plate and the polishing portion within a preset angle range.
5. The substation contact grinding mechanism of claim 4, wherein the movable member comprises: the first fixing plate and the second fixing plate are arranged on two sides of the connecting plate, are connected to the bottom of the polishing part and are arranged oppositely; a first opening groove and a second opening groove are respectively arranged at the relative positions of the first fixing plate and the second fixing plate, and are arc-shaped and equal in length;
a first rotating shaft and a second rotating shaft are further arranged on the connecting plate in a penetrating mode, and two ends of the first rotating shaft are connected with the first fixing plate and the second fixing plate respectively; two ends of the second rotating shaft can slide along the first open slot and the second open slot, so that the connecting plate can rotate along the first rotating shaft, and the angle between the polishing part and the robot mechanical arm can be adjusted within a preset angle range.
6. The substation contact grinding mechanism of claim 4, wherein the connection plate is provided with a first clamping body and a second clamping body on two sides, respectively, and the first clamping body and the second clamping body are used for fixing the connection plate on the robot arm.
7. The substation contact grinding mechanism of claim 6, wherein the first and second clamping bodies are identical in structure; the first clamping body and the second clamping body both comprise a clamping plate, and bolts are arranged at two ends of the clamping plate.
8. A grinding robot, characterized in that it comprises a substation contact grinding mechanism according to any of claims 1-7.
9. An abrading robot system, comprising an abrading robot according to claim 8.
10. A method of operating an abrasive robotic system as claimed in claim 9, comprising:
adjusting an included angle between the polishing part and the robot mechanical arm to enable the included angle to be matched with the polishing position of the disconnecting switch contact of the disconnecting switch to be polished;
controlling the polishing head module to polish the disconnecting switch contact to be polished, and sending a polishing operation end signal to the control part after the polishing head module finishes polishing operation;
and receiving a polishing operation finishing signal of the polishing head module, switching to the cleaning module and starting cleaning work. The robot is provided with sensors of laser, vision, ultrasound and leakage current, so that the states of the robot, tools and equipment in the polishing process can be monitored at any time, and the operation safety is ensured.
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| CN201911252466.XA CN111002164B (en) | 2019-12-09 | 2019-12-09 | Transformer substation contact polishing mechanism, polishing robot, system and method |
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| CN201911252466.XA CN111002164B (en) | 2019-12-09 | 2019-12-09 | Transformer substation contact polishing mechanism, polishing robot, system and method |
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| CN111002164B CN111002164B (en) | 2020-11-17 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112847068A (en) * | 2020-12-30 | 2021-05-28 | 惠州易拓智谱智能制造科技有限公司 | Automatic high-efficient radium mark wiping machine |
| CN113894831A (en) * | 2021-10-09 | 2022-01-07 | 衢州职业技术学院 | Mechanical arm control system through visual positioning |
| CN116865661A (en) * | 2023-08-28 | 2023-10-10 | 江苏赛拉弗光伏系统有限公司 | Cleaning robot for photovoltaic module |
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| JPH11188677A (en) * | 1997-12-26 | 1999-07-13 | Central Glass Co Ltd | Method and device for attaching/detaching sheet to/from robot hand, and method and device for slidable contact with plate surface by the sheet |
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| CN106222321A (en) * | 2016-08-26 | 2016-12-14 | 无锡市新达轻工机械有限公司 | A kind of leather processing dust arrester |
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| CN113894831A (en) * | 2021-10-09 | 2022-01-07 | 衢州职业技术学院 | Mechanical arm control system through visual positioning |
| CN113894831B (en) * | 2021-10-09 | 2022-11-22 | 衢州职业技术学院 | Mechanical arm control system through visual positioning |
| CN116865661A (en) * | 2023-08-28 | 2023-10-10 | 江苏赛拉弗光伏系统有限公司 | Cleaning robot for photovoltaic module |
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