CN112837965B - Grounding disconnecting link operating mechanism - Google Patents
Grounding disconnecting link operating mechanism Download PDFInfo
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- CN112837965B CN112837965B CN202110375393.4A CN202110375393A CN112837965B CN 112837965 B CN112837965 B CN 112837965B CN 202110375393 A CN202110375393 A CN 202110375393A CN 112837965 B CN112837965 B CN 112837965B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 84
- 210000001503 joint Anatomy 0.000 claims abstract description 68
- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- 238000001514 detection method Methods 0.000 claims description 148
- 230000003044 adaptive effect Effects 0.000 claims description 17
- 238000007789 sealing Methods 0.000 claims description 15
- 125000006850 spacer group Chemical group 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 238000012360 testing method Methods 0.000 abstract description 2
- 238000003780 insertion Methods 0.000 description 16
- 230000037431 insertion Effects 0.000 description 16
- 238000003032 molecular docking Methods 0.000 description 13
- 238000010586 diagram Methods 0.000 description 12
- 230000006835 compression Effects 0.000 description 5
- 238000007906 compression Methods 0.000 description 5
- 230000006978 adaptation Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H31/00—Air-break switches for high tension without arc-extinguishing or arc-preventing means
- H01H31/02—Details
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H3/00—Mechanisms for operating contacts
- H01H3/02—Operating parts, i.e. for operating driving mechanism by a mechanical force external to the switch
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H31/00—Air-break switches for high tension without arc-extinguishing or arc-preventing means
- H01H31/003—Earthing switches
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- Electric Cable Installation (AREA)
Abstract
The invention discloses a grounding disconnecting link operating mechanism, which comprises: a butt joint bracket; the telescopic pressing plate assembly is rotatably installed on the butt joint bracket through a bearing, and a telescopic pressing plate for pressing down the ground knife interlocking pressing plate of the cabinet body is installed on the telescopic pressing plate assembly; the operation head assembly is in butt joint with the robot transmission mechanism, and the robot related transmission mechanism provides telescopic and rotary degrees of freedom; the front end of the earthing knife switch is provided with a butt joint groove matched with the earthing knife switch operating rod for the earthing knife switch operation; the operation head component is connected with the butt joint support in a matched mode through the self-adaptive component, and the self-adaptive positioning of the operation head component is achieved through the self-adaptive component. The invention realizes the passive self-adaption of 5 degrees of freedom by utilizing the single-stage or double-stage inner and outer hexagonal gap butt joint characteristic, directly realizes the transmission of large moment through the hexagonal connecting rod test, and has stronger self-adaption capability and simple structure.
Description
Technical Field
The invention relates to the field of mechanical structures, in particular to a grounding disconnecting link operating mechanism.
Background
The switching operation is an operation for changing the running state of power grid equipment, and is an essential operation link of a power system. The operation of the grounding switch is a key step of switching the cabinet between standby and maintenance states. The operation of the grounding switch of the 10kv switch cabinet has the problems that the operation space is small, the operation moment is large, the clamping robot of the cabinet body mechanism is difficult to judge to operate in place, and the like. Meanwhile, the outer side of the switch cabinet grounding disconnecting link operation hole is provided with cabinet body grounding disconnecting link interlocking plate pressure, and the pressing plate is pressed down and the manual operation rod is inserted by the cooperation of two hands in the manual operation process.
The invention provides an operating mechanism and an operating method capable of realizing the grounding switch operation by a robot. The device has the functions of single-stage floating multi-degree-of-freedom passive adaptation, insertion in-place judgment, visual auxiliary centering, torsion tolerance and the like.
The handcart switch and the earthing knife-switch special tool disclosed in the prior art are operated by the published invention patent (CN 105914634A), and the corresponding operation of the handcart switch or the earthing knife-switch is realized in an electric or manual control mode, so that the operation and the use are convenient, and the improvement of the working efficiency is facilitated. The patent is a manually operated electric tool, which is not applicable to robots without consideration of opening of a pressing plate interlock, insertion tolerance of an operation barrel, insertion identification, torsion in-place judgment of a grounding knife switch and the like.
Disclosure of Invention
The invention aims to: the invention provides a grounding switch operating mechanism aiming at the defects,
the technical scheme is as follows:
a grounding switch operating mechanism comprising:
a butt joint bracket;
the telescopic pressing plate assembly is rotatably installed on the butt joint bracket through a bearing, and a telescopic pressing plate for pressing down the ground knife interlocking pressing plate of the cabinet body is installed on the telescopic pressing plate assembly;
the operation head assembly is in butt joint with the robot transmission mechanism, and the robot related transmission mechanism provides telescopic and rotary degrees of freedom; the front end of the earthing knife switch is provided with a butt joint groove matched with the earthing knife switch operating rod for the earthing knife switch operation;
the operation head component is connected with the butt joint support in a matched mode through the self-adaptive component, and the self-adaptive positioning of the operation head component is achieved through the self-adaptive component.
The micro-view camera assembly is arranged in the operation head of the operation head assembly and used for realizing concentric positioning of the operation head assembly and the cabinet body grounding knife switch operation rod.
The micro-view camera assembly comprises a fixing piece, a camera rod and a micro-view camera, wherein the fixing piece is in butt joint with the robot transmission mechanism, the camera rod is connected with the fixing piece through a self-adjusting spring, and the micro-view camera is fixedly installed at the front end of the camera rod.
The system also comprises an in-place detection component, wherein the in-place detection component comprises:
the detection trigger cylinder is matched and arranged in the operation head of the operation head assembly and sleeved outside the camera rod of the micro-view camera assembly;
the detection mounting ring is matched with the detection trigger cylinder and moves along with the detection trigger cylinder, and a buffer spring is arranged between the detection mounting ring and the end part of the operation head assembly;
the proximity switch is fixedly arranged on the side surface of the end part of the operation head assembly, and whether the operation head assembly is operated in place is judged by detecting the movement of the detection mounting ring.
A detection strip which is matched with the detection groove in an axial direction is arranged at a position corresponding to the detection groove of the proximity switch on the side surface of the detection mounting ring; the proximity switch judges whether the operation head assembly is operated in place by detecting whether the detection strip enters the detection groove.
And a plastic bearing is further arranged between the camera rod of the micro-view angle camera assembly and the detection trigger cylinder.
A butt joint groove is formed in the end face of the butt joint support, facing the grounding knife switch, and the other end face of the butt joint groove is in butt joint with the robot transmission mechanism;
the end part of the operation head component is matched with the self-adaptive component;
a butt joint groove is formed in the detection mounting ring, and butt joint structures corresponding to the butt joint groove of the butt joint bracket and the butt joint groove of the detection mounting ring are respectively arranged at two ends of the fixing piece of the micro-vision angle camera assembly, and butt joint is carried out;
the detection trigger cylinder is arranged at the end face of the detection mounting ring, a positioning key is arranged on the side face of the detection trigger cylinder, a sliding limiting groove is formed in the operation head of the operation head assembly, corresponding to the positioning key on the side face of the detection trigger cylinder, and in an initial state, the positioning key is positioned at the rear end of the sliding limiting groove; the detection trigger cylinder and the operation head slide relatively and are limited by the cooperation of the limit key and the sliding limit groove.
The length of the sliding limiting groove is larger than the travel distance of the robot for inserting the operation head assembly into the ground knife operation hole of the cabinet body by using the telescopic freedom degree.
The end part of the operating head assembly is a centering ring, and at least three support rods extending axially are arranged on the circumferential direction of the end surface of the abutting support, which faces the grounding disconnecting link; the centering ring is fixed at the tail end of the supporting rod through a limiting flange.
The centering ring is a conical centering ring, the limiting flange is provided with a conical mounting hole corresponding to the centering ring, and the self-centering of the operation head assembly is realized through the cooperation of the limiting flange and the conical mounting hole.
And the butt joint groove of the butt joint bracket and the butt joint groove of the detection mounting ring are hexagonal grooves.
The butt joint groove of the butt joint bracket and the butt joint groove of the detection mounting ring are designed to be formed by mutually deflecting two corresponding hexagonal grooves by a certain angle.
The butt joint support is provided with a butt joint hole with the diameter larger than that of the robot transmission mechanism; one end of the self-adaptive component is arranged on the butt joint bracket;
the fixing piece of the micro-view camera assembly is fixedly arranged in the robot transmission mechanism penetrating through the butt joint bracket;
the end part of the operation head assembly is in butt joint with the robot transmission mechanism and is fixedly connected with the self-adaptive assembly.
An axial waist-shaped hole is formed in the side wall of the operation head, a pin hole is formed in the side wall of the detection trigger cylinder at a position corresponding to the waist-shaped hole in the side wall of the operation head, the detection mounting ring is fixedly sleeved on the rear end of the operation head, and the proximity switch is fixedly mounted on the side surface of the detection mounting ring; the buffer spring is sleeved outside the operation head, one end of the buffer spring is limited by the detection mounting ring, and the other end of the buffer spring is compressed through a buffer sleeve sleeved outside the operation head;
a limiting hole is formed in the outer end face of the buffer sleeve at a position corresponding to the waist-shaped hole in the side wall of the operation head, after the buffer spring is compressed by the buffer sleeve, the buffer sleeve passes through the limiting hole of the buffer sleeve and the waist-shaped hole in the operation head respectively and is fixedly arranged on the pin hole in the side wall of the detection trigger cylinder through a positioning key, and in an initial state, when the detection trigger cylinder is arranged in the operation head, the positioning key is positioned at the rear end of the waist-shaped hole; the limiting holes of the buffer sleeve are matched with the positioning keys to limit the buffer sleeve and slide outside the operation head;
the side wall of the buffer sleeve is provided with a detection strip at a position corresponding to the detection groove of the proximity switch, and the proximity switch judges whether the operation head is operated in place by detecting whether the detection strip enters the detection groove of the proximity switch.
The length of the waist-shaped hole is larger than the travel distance of the robot for inserting the operation head assembly into the cabinet body ground knife operation hole by using the telescopic freedom degree.
The rear end of the operation head is provided with a sealing groove along the circumferential direction, the circumferential direction of the sealing groove is provided with a plurality of mounting grooves, and the tail end of the self-adaptive assembly is arranged on the sealing groove and is reinforced by a fixing pin arranged in the mounting groove.
And a sealing ring is arranged on the sealing groove to strengthen the fixing pin.
The grounding knife switch operating rod is a hexagonal shaft, and the butt joint grooves arranged at the front end of the corresponding operating head assembly are designed to be formed by mutually deflecting two corresponding hexagonal grooves by a certain angle.
The self-adaptive assembly is a self-adaptive spring, and the front end of the self-adaptive spring is fixedly arranged on the end face of the butt joint bracket through a spacer bush.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention realizes the passive self-adaption of 5 degrees of freedom by utilizing the single-stage or double-stage inner and outer hexagonal gap butt joint characteristic, directly realizes the transmission of large moment through the hexagonal connecting rod test, and has stronger self-adaption capability and simple structure.
2. The invention utilizes the spring pre-pressing to realize the multi-freedom passive self-adaption capability, ensures that a certain structural rigidity is provided between the operation head and the adjustment freedom degree when the mechanism performs concentric alignment positioning so that the posture of the operation head is controllable, and provides a certain tolerance capability to facilitate the insertion and extraction when the mechanism performs the insertion action.
3. The invention designs the floating pressing plate and the floating operating head for the operation of the grounding disconnecting link, and completes the opening of the interlocking pressing plate of the grounding disconnecting link and the operation of the hexagonal operating head of the grounding disconnecting link through a single component, thereby improving the alignment success rate of the hexagonal operating rod of the grounding disconnecting link and the flow execution efficiency.
4. The invention realizes the concentric positioning of the operating head and the hexagonal operating rod of the grounding disconnecting link by utilizing the micro-view camera in the operating head, and the micro-view camera has certain gesture passive self-adaptation capability, avoids the stress on the camera caused by external structural deformation, improves the service life of the camera, and simultaneously ensures that the camera and the operating head are concentric and improves the accuracy of the algorithm.
5. According to the invention, the trigger mechanism in the operating rod is used for realizing the in-place judgment of the insertion of the operating rod, and the pickup device is used for realizing the in-place judgment of the torsion of the grounding knife switch, so that the influence of the blocking of the cabinet mechanism is effectively avoided.
Drawings
FIG. 1 is a schematic diagram showing a press-state assembly of a pressing plate of a ground knife operating mechanism according to a first embodiment of the present invention;
FIG. 2 is a schematic view of a natural state of a ground blade operating mechanism according to a first embodiment of the present invention;
FIG. 3 is an exploded view of a ground blade operating mechanism according to a first embodiment of the present invention;
FIG. 4 is a schematic view of a retractable platen assembly according to a first embodiment of the present invention;
FIG. 5 is a schematic view of a micro-view device according to a first embodiment of the present invention;
FIG. 6 is a schematic view of an operation head assembly according to a first embodiment of the present invention;
FIG. 7 is a diagram illustrating a torque tolerance implementation according to a first embodiment of the present invention;
FIG. 8 is a schematic view of a cabinet floor cutter; fig. 8a is a schematic diagram of a state before the operation of the cabinet body ground knife, and fig. 8b is a schematic diagram of a state after the operation of the cabinet body ground knife;
FIG. 9 is a schematic diagram of a coarse alignment of an operating mechanism according to a first embodiment of the present invention;
FIG. 10 is a schematic illustration of the insertion of an actuator platen according to a first embodiment of the present invention;
FIG. 11 is a schematic diagram illustrating concentric positioning of an operating mechanism micro-view camera according to a first embodiment of the present invention;
FIG. 12 is a schematic diagram illustrating concentric pressing of an operating mechanism according to a first embodiment of the present invention;
fig. 13 is a schematic view showing the hexagonal shaft and the socket of the operating mechanism according to the first embodiment of the present invention inserted in place.
Fig. 14 is a schematic diagram showing a press-state assembly of a pressing plate of a ground knife operating mechanism according to a second embodiment of the present invention;
FIG. 15 is a schematic view of a natural state of a ground blade operating mechanism in a partial cutaway of a second embodiment of the present invention;
FIG. 16 is an exploded view of a second embodiment of the present invention;
FIG. 17 is a schematic diagram of an operation head according to a second embodiment of the present invention;
FIG. 18 is a schematic diagram illustrating a rough alignment of a grounding switch operating mechanism according to a second embodiment of the present invention;
FIG. 19 is a schematic illustration of a platen insertion of a grounding switch operating mechanism according to a second embodiment of the present invention;
FIG. 20 is a schematic diagram illustrating concentric positioning of a micro-view camera with a grounding switch operating mechanism according to a second embodiment of the present invention;
FIG. 21 is a schematic diagram illustrating concentric pressing of a grounding switch operating mechanism according to a second embodiment of the present invention;
fig. 22 is a schematic view showing the insertion of a hexagonal shaft and a socket of a grounding switch operating mechanism according to a second embodiment of the present invention.
In the figure, 1, a telescopic pressing plate assembly, 11, a lantern ring, 12, a linear bearing, 13, a pressing plate, 14, a guide rod, 15, a limiting block, 16, a tension spring and 17, and a circlip for a shaft;
2. the mechanism bracket assembly 21, a deep groove ball bearing 22, a bearing spacer and 23, a supporting rod;
3. the self-adaptive assembly, 31, the self-adaptive spring, 32, the spring spacer;
4. micro-view camera assembly 41, fixing piece 42, self-adjusting spring 43, camera rod 44, micro-view camera 45, plastic bearing;
5. the device comprises an operation head assembly 51, an operation head 511, a butt joint groove 512, a mounting groove 513, a sealing groove 514, a waist-shaped hole 52, a buffer spring 53, a centering ring 54, a fixing pin 55 and a sealing ring;
6. the device comprises an in-place detection assembly 61, a detection trigger cylinder 611, a fixing hole 612, a positioning key 613, a positioning pin 62, a proximity switch 621, a detection groove 63, a detection mounting ring 631 and a detection strip;
7. the fixing piece 71, the limiting flange 72 and the buffer sleeve;
8. the cabinet body is provided with a grounding knife operation hole 81, a grounding knife interlocking pressing plate 82 and a grounding knife switch operation rod;
A. the section of the operating head, B, the section of the grounding knife switch operating rod;
10. and a robot transmission mechanism.
Detailed Description
The invention is further elucidated below in connection with the drawings and the specific embodiments.
Embodiment one:
as shown in fig. 1, 2 and 3, the grounding switch operating mechanism of the present embodiment includes a telescopic pressing plate assembly 1, a mechanism bracket assembly 2, an adaptive assembly 3, a micro-view camera assembly 4, an operating head assembly 5 and an in-place detection assembly 6;
as shown in fig. 2 and 3, the mechanism support assembly 2 includes a docking bracket (not shown) and a supporting rod 23, wherein a hexagonal groove is formed on an end surface of the docking bracket facing the grounding switch, and the other end surface of the docking bracket is docked with the robot transmission mechanism 10 through a flat key and the robot related transmission mechanism provides expansion and rotation degrees of freedom; at least three support rods 23 extending axially are uniformly arranged on the circumferential direction of the end surface of the butt joint support, which faces the grounding knife switch; in the present embodiment, the number of support rods 23 is four.
As shown in fig. 2, 3 and 4, the telescopic pressing plate assembly 1 comprises a collar 11, a linear bearing 12, a pressing plate 13, a guide rod 14, a limiting block 15 and a tension spring 16, wherein the collar 11 is sleeved outside a butt joint support of the mechanism support assembly 2 through a deep groove ball bearing 21, the number of the deep groove ball bearings 21 is two in parallel, a spacer bearing 22 is arranged between the two deep groove ball bearings 21, so that the bearing distance is increased, and further the collar 11 sleeved outside the two deep groove ball bearings 21 is prevented from shaking. A linear bearing 12 parallel to the axis of the collar 11 is fixedly arranged below the collar 11, a guide rod 14 is arranged in the linear bearing 12 in a matched manner, and a circlip 17 for a shaft is arranged at the end surface of the linear bearing 12 for further fixation. A limiting block 15 is fixedly arranged at the rear end of the guide rod 14, and a tension spring 16 is arranged between the limiting block 15 and the lantern ring 11; a pressing plate 13 is fixedly installed on the front end of the guide rod 14.
As shown in fig. 2 and 3, the adaptive assembly 3 includes an adaptive spring 31 axially installed, one end of the adaptive spring 31 is fixedly installed on the docking bracket through a spring spacer 32, and is limited by a supporting rod 23 on the circumference of the docking bracket, and the length of the supporting rod 23 is greater than that of the adaptive spring 31 in a limited compression state.
As shown in fig. 2, 3 and 6, the operating head assembly 5 includes an operating head 51, a buffer spring 52 and a centering ring 53, wherein the operating head 51 has a hollow structure, the shape of which is designed as a fitting groove 511 to be fitted with a grounding knife switch operating lever, and in the present invention, the shape of the grounding knife switch operating lever has a hexagonal shaft shape, so that the hollow structure of the operating head 51 is designed as a fitting groove to be correspondingly fitted therewith; in the present invention, the hollow structure of the operating head 51 is designed as two identical hexagonal grooves corresponding to the grounding knife switch operating rod are mutually deflected by a certain angle (in the present invention, the angle is designed to be 15-60 degrees) to form a matching groove, so as to realize a 3-degree-of-freedom deflection tolerance between the grounding knife switch operating rod and the operating head 51, as shown in fig. 7.
The centering ring 53 is a conical centering ring, the limit flange 71 is designed with a conical mounting hole corresponding to the centering ring 53, and the centering ring 53 is fixed at the tail end of the supporting rod 23 through the cooperation of screws and screw holes formed at the tail end of the supporting rod 23 of the mechanism support assembly 2.
The buffer spring 52 is fixedly arranged on the end face of the centering ring 53, a positioning detection assembly 6 is arranged between the tail end of the buffer spring and the operation head 51, as shown in fig. 2 and 6, the positioning detection assembly 6 comprises a detection trigger cylinder 61, a detection mounting ring 63, a proximity switch 62 and the detection mounting ring 63, wherein the proximity switch 62 is fixedly arranged on the centering ring 53 through screws, the end face of the detection mounting ring 63 is fixedly connected with the buffer spring 52, and an axial detection strip 631 corresponding to the detection groove is arranged on the side face of the detection mounting ring 63 at the position corresponding to the detection groove 621 of the proximity switch 62; the buffer spring 52 pre-presses the detection mounting ring 63 in a natural state, and the detection strip 631 is positioned at a position outside the detection groove 621 of the proximity switch 62; the proximity switch 62 determines whether the operation head 51 is operated in place by detecting whether the detection bar 631 enters the detection groove 621 thereof. A hexagonal groove is formed in the end surface of the detection mounting ring 63 connected to the buffer spring 52. The detection trigger cylinder 61 is fixedly arranged on the other end face of the detection mounting ring 63, an axial positioning key 612 is arranged on at least one side face or the opposite side face of the detection trigger cylinder 61, the detection trigger cylinder 61 is arranged in the operation head 51 in a penetrating manner, a sliding limit groove is formed in the operation head 51 corresponding to the positioning key 612 on the side face of the detection trigger cylinder 61, relative sliding and limit between the detection trigger cylinder 61 and the operation head 51 are realized through the cooperation of the positioning key 612 and the sliding limit groove, and the length of the sliding limit groove is larger than the travel distance of the robot for inserting the operation head assembly 5 into the ground knife operation hole 8 of the cabinet body by using the telescopic degree of freedom. In the initial state, the positioning key 612 is located at the rear end of the sliding limiting groove (i.e. the end close to the end of the operating head 51), so that a stroke is formed between the operating head 51 and the detection trigger cylinder 61, the stroke length is longer than the stroke distance of the robot for inserting the operating head assembly 5 into the cabinet ground knife operating hole 8 by using the telescopic degree of freedom, so that when the robot inserts the operating head assembly 5 into the stroke of the cabinet ground knife operating hole 8 by using the telescopic degree of freedom, the operating head 51 and the detection trigger cylinder 61 slide relatively, and after the stroke of the operating head assembly 5 inserted into the cabinet ground knife operating hole 8 is finished, the end of the operating head 51 is sleeved outside the detection mounting ring 63, and at this time, the detection trigger cylinder 61 does not move.
The micro-view camera assembly 4 comprises a fixing piece 41, a self-adjusting spring 42, a camera rod 43 and a micro-view camera 44, wherein both ends of the fixing piece 41 are respectively provided with a hexagonal structure corresponding to a hexagonal groove of a docking bracket and a hexagonal groove of a detection mounting ring 63, so as to respectively realize docking installation of the fixing piece 41 and the docking bracket and the detection mounting ring 63, realize docking between the docking bracket and the detection mounting ring 63, and further transmit torque; further, the hexagonal grooves of the butting support and the hexagonal grooves of the detection mounting ring 63 can be designed to be formed by mutually deflecting two corresponding hexagonal grooves by a certain angle, and further the two-stage corresponding characteristic hexagonal shaft holes on two sides of the fixing piece 41 can be matched to enable the operation head assembly 5 sleeved outside to have 5-degree-of-freedom tolerance capability; in the present invention, the angle of mutual deflection of the two hexagonal grooves is designed to be 15-60 degrees.
The self-adjusting spring 42 is fixedly arranged on the front end surface of the fixing piece 41, and the elastic coefficient of the self-adjusting spring 42 is smaller than that of the self-adapting spring 31; the camera lever 43 is fixedly installed at the end of the self-adjusting spring 42; the diameters of the self-adjusting spring 42 and the camera rod 43 are smaller than the inner diameter of the detection trigger cylinder 61, and both are penetrated in the detection trigger cylinder 61; further, the camera rod 43 and the detection trigger barrel 61 are matched and installed through the plastic bearing 45, so that sliding friction resistance of the camera rod 43 and the detection trigger barrel 61 is reduced; the camera lever 43 is a hollow structure, a micro-angle camera 44 is mounted at the end of the hollow structure, and a harness of the micro-angle camera 44 is connected and energized through the camera lever 43 and the self-adjusting spring 42. In this embodiment, the micro-angle camera 44 in the camera bar 43 is provided with six degrees of freedom tolerance capability by the self-adjusting spring 42 to realize concentric adaptation of the micro-angle camera 44 and the operation head assembly 5.
In the present embodiment, the distance from the lower end surface of the pressing plate 13 to the axial center of the operating head 51 is identical to the radius of the cabinet ground knife operating hole 8, and the length of the guide rod 14 is longer than the distance from the collar 11 to the end of the operating head 51 in a natural state.
The working principle of this embodiment is as follows:
as shown in fig. 8 to 13, when the grounding switch operation is performed, the whole operation mechanism is first brought close to the cabinet grounding switch operation hole 8, the cabinet grounding switch interlocking pressing plate 81 is pressed down, the operation head 51 is aligned and inserted into the grounding switch operation rod 82, and the grounding switch operation is realized by twisting the operation mechanism.
First, when the robot operates, the robot moves the grounding switch actuating mechanism to a preset position by using the vision positioning camera and the related degrees of freedom, as shown in fig. 9.
The robot then inserts the platen 13 with a telescopic degree of freedom over the earth-knife interlocking platen 81 as shown in fig. 10.
The robot then depresses the ground blade interlock platen 81 with its own degrees of freedom and achieves concentric positioning of the operating head assembly 5 and the ground blade switch lever 82 with the internal miniature camera 44 as shown in fig. 11.
Then, the robot inserts the operation head assembly 5 into the cabinet ground knife operation hole 8 by using the degree of freedom of extension and retraction, at this time, since the hexagonal feature in the operation head 51 cannot guarantee the alignment with the external hexagonal angle of the ground knife switch operation rod 82, the operation head assembly 5 and the detection trigger cylinder 61 slide relatively in the inserted stroke, and after the stroke of inserting the operation head assembly 5 into the cabinet ground knife operation hole 8 is finished, the end part of the operation head 51 is sleeved outside the detection mounting ring 63, at this time, the detection trigger cylinder 61 cannot move; the operation head 51 compresses the adaptive spring 31 in the process, and the six-freedom passive adaptation capability of the operation head assembly 5 can be obtained to compensate the positioning error of the miniature camera 44, so that the insertion is more convenient. After the end of the insertion stroke, in order to further adjust the angular deviation between the hexagonal feature in the operating head 51 and the outer hexagon of the grounding knife switch operating rod 82, the twisting operation of the actuator is controlled by the robot, and in the twisting process, when the hexagonal feature in the operating head 51 is aligned with the outer hexagon of the grounding knife switch operating rod 82, the pressure release of the compression adaptive spring 31 of the operating head 51 presses the operating head 51 into the grounding knife switch operating rod 82, and meanwhile, the pressure release of the buffer spring 52 causes the grounding knife switch operating rod 82 to press the detection trigger cylinder 61, the detection trigger cylinder 61 drives the detection mounting ring 63 to compress the buffer spring 52, and at this time, the detection strip 631 on the side surface of the detection mounting ring 63 is inserted into the detection groove 621 of the proximity switch 62, so as to realize the insertion in-place judgment, as shown in fig. 12.
After the robot receives the inserting in-place instruction, the power limit on the torsion driving motor is reduced, the torsion of the grounding knife switch operating rod 82 is realized, and the operation in-place detection of the grounding knife switch is realized by utilizing the mechanism collision sound generated by the cabinet body after the robot picks up the grounding knife switch to operate in place by using pickup equipment of the robot. The torsion tolerance of the operating mechanism release mechanism is reversed after the operation is in place, so that the situation that the mechanism is reversed to drive the grounding knife switch operating rod 82 to rotate is avoided while the loaded plug-in is avoided, as shown in fig. 13.
Embodiment two:
as shown in fig. 14 and 15, the grounding switch operating mechanism of the present embodiment also includes a retractable platen assembly 1, a mechanism support assembly 2, an adaptive assembly 3, a micro-view camera assembly 4, an operation head assembly 5, and an in-place detection assembly 6, and the retractable platen assembly 1 and the adaptive assembly 3 are structurally identical to the embodiment.
The mechanism support assembly 2 in this embodiment also comprises a docking support provided with a docking aperture having a diameter greater than the diameter of the robot drive 10 threaded therein; one end of an adaptive spring 31 of the adaptive assembly 3 is fixedly arranged on the butting bracket through a spring spacer 32.
The micro-angle camera assembly 4 of the present embodiment also includes a fixing member 41, a self-adjusting spring 42, a camera rod 43, and a micro-angle camera 44, but the fixing member 41 of the present embodiment is different from the first embodiment in that the fixing member 41 of the present embodiment is fixedly installed in the robot transmission mechanism 10 penetrating the docking bracket by a pin, and other structures are the same as the first embodiment.
The operation head assembly 5 of the present embodiment includes an operation head 51 and a buffer spring 52, wherein the operation head 51 has a structure as shown in fig. 17, a sealing groove 513 is formed at the rear end of the operation head 51 along the circumferential direction, a plurality of mounting grooves 512 are formed in the circumferential direction of the sealing groove 513, and the end of the adaptive spring 31 is wound on the sealing groove 513 and is reinforced by a fixing pin 54 mounted in the mounting groove 512; a seal ring is provided in the seal groove 513 to further reinforce the fixing pin 54. An axial waist-shaped hole 514 is formed in one side wall or the opposite side wall of the operation head 51. The buffer spring 52 is sleeved outside the operation head 51;
the in-place detection assembly of the embodiment also comprises a detection trigger cylinder 61, a proximity switch 62 and a detection mounting ring 63, wherein a pin hole is formed on one side wall or the opposite side wall of the detection trigger cylinder 61 at a position corresponding to a waist-shaped hole on the side wall of the operation head 51, and the detection trigger cylinder 61 is arranged in the operation head 51; in a similar way to the embodiment, the diameters of the self-adjusting spring 42 and the camera rod 43 are smaller than the inner diameter of the detection trigger cylinder 61, and both the self-adjusting spring and the camera rod 43 penetrate the detection trigger cylinder 61, and the camera rod 43 and the detection trigger cylinder 61 are matched and installed through the plastic bearing 45 so as to reduce the sliding friction resistance of the self-adjusting spring and the camera rod 43.
The detection mounting ring 63 is fixedly sleeved on the rear end of the operation head 51, a proximity switch mounting block is formed by extending radially outwards, and the proximity switch 62 is fixedly mounted on the proximity switch mounting block through a screw; one end of the buffer spring 52 is limited by the detection mounting ring 63, and the other end is compressed by a buffer sleeve 72 sleeved outside the operation head 51; the outer end surface of the buffer sleeve 72 is provided with a limit hole at a position corresponding to the waist-shaped hole 514 on the side wall of the operation head 51, after the buffer sleeve 72 compresses the buffer spring 52, the positioning key 612 respectively passes through the limit hole of the buffer sleeve 72 and the waist-shaped hole on the operation head 51 and is fixed on the pin hole on the side wall of the detection trigger barrel 61 through a screw, and at the moment, the positioning key 612 realizes the limit of the buffer sleeve 72 and the compression of the buffer spring 52 through the cooperation with the limit hole of the buffer sleeve 72. In this embodiment, the length of the waist-shaped hole 514 is longer than the travel distance of the robot to insert the operating head assembly 5 into the cabinet floor knife operating hole 8 with a telescopic degree of freedom.
In the present embodiment, a detection strip 631 is provided on the side wall of the buffer sleeve 72 at a position corresponding to the detection groove 621 of the proximity switch 62 on the detection mount ring 63, and the proximity switch 62 determines whether the operation head 51 is operated in place by detecting whether the detection strip 631 enters into its detection groove 621.
In this embodiment, when the detection trigger cylinder 61 is mounted in the operation head 51 in the initial state, the positioning key 612 on the detection trigger cylinder is located at the rear end of the waist-shaped hole 514 on the side surface of the operation head 51, and since the length of the waist-shaped hole 514 is longer than the travel distance of the robot for inserting the operation head assembly 5 into the cabinet ground knife operation hole 8 by using the telescopic degree of freedom, when the robot inserts the operation head assembly 5 into the travel of the cabinet ground knife operation hole 8 by using the telescopic degree of freedom, the operation head 51 and the detection trigger cylinder 61 slide relatively, and after the travel of the operation head assembly 5 into the cabinet ground knife operation hole 8 is finished, the positioning key 612 on the detection trigger cylinder 61 moves to the front end of the waist-shaped hole 514 on the side surface of the operation head 51, and at this time, the detection trigger cylinder 61 does not move.
The working principle of this embodiment is as follows:
fig. 18 to 22 show a main flow of the operation of the mechanism for executing the earthing knife-switch:
as shown in fig. 18, first, the robot moves the earthing knife-switch actuator to a preset position by using its own vision positioning camera and related degrees of freedom.
Then, the robot inserts the platen 13 above the earth-knife interlocking platen 81 using the degree of freedom of extension and contraction, as shown in fig. 19.
Thereafter, the robot depresses the ground blade interlock platen 81 with its own degrees of freedom and achieves concentric positioning of the operating head assembly 5 and the cabinet ground blade switch lever 82 with the internal miniature camera 44, as shown in fig. 20.
Then, the robot inserts the operation head assembly 5 into the cabinet ground knife operation hole 8 by using the degree of freedom of extension and retraction, at this time, since the hexagonal characteristic in the operation head 51 cannot ensure the alignment with the external hexagonal angle of the ground knife switch operation rod 82, during the insertion stroke, the operation head 51 and the detection trigger barrel 61 slide relatively, after the stroke of inserting the operation head assembly 5 into the cabinet ground knife operation hole 8 is finished, the positioning key 612 on the detection trigger barrel 61 moves to the front end of the waist-shaped hole 514 on the side surface of the operation head 51, and at this time, the detection trigger barrel 61 does not move; the operation head assembly 5 compresses the adaptive spring 31, thereby enabling the operation head assembly 5 to obtain six-freedom passive adaptation capability to compensate for the positioning error of the miniature camera 44 so as to facilitate its insertion. After the end of the insertion stroke, in order to further adjust the angular deviation between the hexagonal feature in the operating head 51 and the outer hexagon of the grounding knife switch operating rod 82, the twisting operation of the actuator is controlled by the robot, during the twisting process, after the hexagonal feature in the operating head 51 is aligned with the outer hexagon of the grounding knife switch operating rod 82, the pre-compression force of the compression adaptive spring 31 of the operating head 51 is released to press the operating head 51 into the grounding knife switch operating rod 82, and meanwhile, the grounding knife switch operating rod 82 presses the detection trigger cylinder 61 in the operating head 51 after the pressure of the buffer spring 52 is released, at this time, the positioning key 612 on the detection trigger cylinder 61 drives the buffer sleeve 72 to move in the waist-shaped hole 514 on the operating head 51, the buffer sleeve 72 compresses the buffer spring 52, the detection strip 631 on the side wall of the buffer sleeve is inserted into the detection groove 621 of the proximity switch 62, and the detection mounting ring 63 compresses the buffer spring 52, so that the insertion position judgment is realized, as shown in fig. 21.
After the robot receives the inserting in-place instruction, the power limit on the torsion driving motor is reduced, the torsion of the grounding knife switch operating rod 82 is realized, and the operation in-place detection of the grounding knife switch is realized by utilizing the mechanism collision sound generated by the cabinet body after the robot picks up the grounding knife switch to operate in place by using pickup equipment of the robot. The torsion tolerance of the operating mechanism release mechanism is reversed after the operation is in place, so that the situation that the mechanism is reversed to drive the grounding knife switch operating rod 82 to rotate is avoided while the loaded plug-in is avoided, as shown in fig. 22.
The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the specific details of the above embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and these equivalent changes all fall within the scope of the present invention.
Claims (18)
1. The utility model provides a ground connection switch operating device which characterized in that: comprising the following steps:
a butt joint bracket;
the telescopic pressing plate assembly is rotatably arranged on the butt joint bracket, and a telescopic pressing plate for pressing down the ground knife interlocking pressing plate of the cabinet body is arranged on the telescopic pressing plate assembly;
the operation head assembly is in butt joint with the robot transmission mechanism, and the robot related transmission mechanism provides telescopic and rotary degrees of freedom; the front end of the earthing knife switch is provided with a butt joint groove matched with the earthing knife switch operating rod for the earthing knife switch operation;
the grounding knife switch operating rod is a hexagonal shaft, and the butt joint grooves arranged at the front end of the corresponding operating head assembly are designed to be formed by mutually deflecting two corresponding hexagonal grooves by a certain angle;
the operation head component is connected with the butt joint support in a matched mode through an adaptive spring, and the adaptive positioning of the operation head component is achieved through the adaptive spring.
2. The grounding switch operating mechanism as in claim 1, wherein: the micro-view camera assembly is arranged in the operation head of the operation head assembly and used for realizing concentric positioning of the operation head assembly and the cabinet grounding knife switch operation rod.
3. The grounding switch operating mechanism as in claim 2, wherein: the micro-view camera assembly comprises a fixing piece, a camera rod and a micro-view camera, wherein the fixing piece is in butt joint with the robot transmission mechanism, the camera rod is connected with the fixing piece through a self-adjusting spring, and the micro-view camera is fixedly installed at the front end of the camera rod.
4. A grounding switch operating mechanism as in claim 3 wherein: the system also comprises an in-place detection component, wherein the in-place detection component comprises:
the detection trigger cylinder is matched and arranged in the operation head of the operation head assembly and sleeved outside the camera rod of the micro-view camera assembly;
the detection mounting ring is matched with the detection trigger cylinder and moves along with the detection trigger cylinder, and a buffer spring is arranged between the detection mounting ring and the end part of the operation head assembly;
the proximity switch is fixedly arranged on the side surface of the end part of the operation head assembly, and whether the operation head assembly is operated in place is judged by detecting the movement of the detection mounting ring.
5. The grounding switch operating mechanism as in claim 4, wherein: a detection strip which is matched with the detection groove in an axial direction is arranged at a position corresponding to the detection groove of the proximity switch on the side surface of the detection mounting ring; the proximity switch judges whether the operation head assembly is operated in place by detecting whether the detection strip enters the detection groove.
6. The grounding switch operating mechanism as in claim 4, wherein: and a plastic bearing is further arranged between the camera rod of the micro-view angle camera assembly and the detection trigger cylinder.
7. The grounding switch operating mechanism as in claim 4, wherein: a butt joint groove is formed in the end face of the butt joint support, facing the grounding knife switch, and the other end face of the butt joint groove is in butt joint with the robot transmission mechanism;
the end part of the operation head component is matched and installed with the self-adaptive spring;
a butt joint groove is formed in the detection mounting ring, and butt joint structures corresponding to the butt joint groove of the butt joint bracket and the butt joint groove of the detection mounting ring are respectively arranged at two ends of the fixing piece of the micro-vision angle camera assembly, and butt joint is carried out;
the detection trigger cylinder is arranged at the end face of the detection mounting ring, a positioning key is arranged on the side face of the detection trigger cylinder, a sliding limiting groove is formed in the operation head of the operation head assembly, corresponding to the positioning key, and in an initial state, the positioning key is positioned at the rear end of the sliding limiting groove; the detection trigger barrel and the operation head slide relatively and are limited by the cooperation of the positioning key and the sliding limiting groove.
8. The grounding switch operating mechanism as in claim 7, wherein: the length of the sliding limiting groove is larger than the travel distance of the robot for inserting the operation head assembly into the ground knife operation hole of the cabinet body by using the telescopic freedom degree.
9. The grounding switch operating mechanism as in claim 7, wherein: the end part of the operating head assembly is a centering ring, and at least three support rods extending axially are arranged on the circumferential direction of the end surface of the abutting support, which faces the grounding disconnecting link; the centering ring is fixed at the tail end of the supporting rod through a limiting flange.
10. The grounding switch operating mechanism as in claim 9, wherein: the centering ring is a conical centering ring, the limiting flange is provided with a conical mounting hole corresponding to the centering ring, and the self-centering of the operation head assembly is realized through the cooperation of the limiting flange and the conical mounting hole.
11. The grounding switch operating mechanism as in claim 7, wherein: and the butt joint groove of the butt joint bracket and the butt joint groove of the detection mounting ring are hexagonal grooves.
12. The grounding switch operating mechanism as in claim 11, wherein: the butt joint groove of the butt joint bracket and the butt joint groove of the detection mounting ring are designed to be formed by mutually deflecting two corresponding hexagonal grooves by a certain angle.
13. The grounding switch operating mechanism as in claim 4, wherein: the butt joint support is provided with a butt joint hole with the diameter larger than that of the robot transmission mechanism; one end of the self-adaptive spring is arranged on the butt joint bracket;
the fixing piece of the micro-view camera assembly is fixedly arranged in the robot transmission mechanism penetrating through the butt joint bracket;
the end part of the operation head assembly is in butt joint with the robot transmission mechanism and is fixedly connected with the self-adaptive spring.
14. The grounding switch operating mechanism as in claim 13, wherein: an axial waist-shaped hole is formed in the side wall of the operation head, a pin hole is formed in the side wall of the detection trigger cylinder at a position corresponding to the waist-shaped hole in the side wall of the operation head, the detection mounting ring is fixedly sleeved on the rear end of the operation head, and the proximity switch is fixedly mounted on the side surface of the detection mounting ring; the buffer spring is sleeved outside the operation head, one end of the buffer spring is limited by the detection mounting ring, and the other end of the buffer spring is compressed through a buffer sleeve sleeved outside the operation head;
a limiting hole is formed in the outer end face of the buffer sleeve at a position corresponding to the waist-shaped hole in the side wall of the operation head, after the buffer spring is compressed by the buffer sleeve, the buffer sleeve passes through the limiting hole of the buffer sleeve and the waist-shaped hole in the operation head respectively and is fixedly arranged on the pin hole in the side wall of the detection trigger cylinder through a positioning key, and in an initial state, when the detection trigger cylinder is arranged in the operation head, the positioning key is positioned at the rear end of the waist-shaped hole; the limiting holes of the buffer sleeve are matched with the positioning keys to limit the buffer sleeve and slide outside the operation head;
the side wall of the buffer sleeve is provided with a detection strip at a position corresponding to the detection groove of the proximity switch, and the proximity switch judges whether the operation head is operated in place by detecting whether the detection strip enters the detection groove of the proximity switch.
15. The grounding switch operating mechanism as in claim 14, wherein: the length of the waist-shaped hole is larger than the travel distance of the robot for inserting the operation head assembly into the cabinet body ground knife operation hole by using the telescopic freedom degree.
16. The grounding switch operating mechanism as in claim 13, wherein: the rear end of the operation head is provided with a sealing groove along the circumferential direction, the circumferential direction of the sealing groove is provided with a plurality of mounting grooves, and the tail end of the self-adaptive spring is arranged on the sealing groove and is reinforced by a fixing pin arranged in the mounting groove.
17. The grounding switch operating mechanism as in claim 16, wherein: and a sealing ring is arranged on the sealing groove to strengthen the fixing pin.
18. The grounding switch operating mechanism as in claim 1, wherein: the front end of the self-adaptive spring is fixedly arranged on the end face of the butt joint bracket through a spacer bush.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2020114582446 | 2020-12-11 | ||
| CN202011458244.6A CN112542342A (en) | 2020-12-11 | 2020-12-11 | Floating grounding knife switch operating mechanism |
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| Publication Number | Publication Date |
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| CN112837965A CN112837965A (en) | 2021-05-25 |
| CN112837965B true CN112837965B (en) | 2024-03-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011458244.6A Pending CN112542342A (en) | 2020-12-11 | 2020-12-11 | Floating grounding knife switch operating mechanism |
| CN202110375393.4A Active CN112837965B (en) | 2020-12-11 | 2021-04-08 | Grounding disconnecting link operating mechanism |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN202011458244.6A Pending CN112542342A (en) | 2020-12-11 | 2020-12-11 | Floating grounding knife switch operating mechanism |
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| CN (2) | CN112542342A (en) |
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| CN203387100U (en) * | 2013-07-19 | 2014-01-08 | 国家电网公司 | Cabinet interlocking device preventing false closing of grounding knife switch after pushing handcart in |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN112837965A (en) | 2021-05-25 |
| CN112542342A (en) | 2021-03-23 |
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