CN112847397A

CN112847397A - Power-on and power-off operation robot for mine power distribution room

Info

Publication number: CN112847397A
Application number: CN202110018773.2A
Authority: CN
Inventors: 李兵; 刘梦诗; 卢彦; 张志伟; 陈高灿
Original assignee: Hefei Xiaobu Intelligent Technology Co ltd
Current assignee: Hefei Xiaobu Intelligent Technology Co ltd
Priority date: 2021-01-07
Filing date: 2021-01-07
Publication date: 2021-05-28

Abstract

The invention discloses a power-on and power-off operation robot for a mine power distribution room, which belongs to the technical field of power grid management and comprises a robot body, a positioning module and a detection module, wherein the positioning module is installed on a power distribution cabinet, and the detection module is installed on the robot body and is used for determining the position of the robot body by acquiring the information of the positioning module; the robot body comprises a movable case, a support frame arranged on the case, a camera and an operating mechanism, wherein the camera and the operating mechanism are arranged on the support frame, and the operating mechanism is used for executing power-on and power-off operation; the X-axis roller and the Y-axis roller are installed below the case and are arranged on the power distribution cabinet through the positioning module, so that the robot body can accurately reach a switch operation area in the moving process, the moving mechanism of the robot body is arranged to be formed by the X-axis roller and the Y-axis roller, the steering is realized by switching the working modes of the two rollers, and the robot is suitable for power cut and transmission in complex scenes.

Description

Power-on and power-off operation robot for mine power distribution room

Technical Field

The invention relates to the technical field of power grid management, in particular to a power-on and power-off operation robot for a mine power distribution room.

Background

The mine power distribution room manages the operation of the whole mine equipment, the equipment needs to be powered off and powered on all the year round, and the manual operation is low in efficiency, long in time consumption and high in cost. The market also has one kind and uses the PLC switch board, but need reform transform the switch board, and general mine joins in marriage the electrical room and does not allow the transformation to be not conform to safe operation regulation, still have an operation robot, but this operation robot can only walk the straight line, so an operation robot can only operate one row of switch board, general electricity distribution room need dispose 3 to 4 operation robots, the consumption cost is big, and the operation is got up and need control different robots, also relatively more troublesome.

Disclosure of Invention

The invention aims to solve the problems that more robots are needed to be used in cooperation with a power distribution cabinet of a power distribution room during power outage and transmission, the cost is overlarge, and the power distribution cabinet cannot be accurately moved to a specified position of the power distribution cabinet to perform power outage and transmission operation.

The invention achieves the aim through the following technical scheme, and the power-on and power-off operation robot for the mine power distribution room comprises a robot body, a positioning module and a detection module, wherein the positioning module is installed on a power distribution cabinet, and the detection module is installed on the robot body and is used for determining the position of the robot body by acquiring the information of the positioning module;

the robot body comprises a movable case, a support frame arranged on the case, a camera and an operating mechanism, wherein the camera and the operating mechanism are arranged on the support frame, and the operating mechanism is used for executing power-on and power-off operation;

an X-axis roller and a Y-axis roller are arranged below the case, and any one of the X-axis roller and the Y-axis roller is driven by a lifting mechanism to enable the robot body to move along a straight line.

Preferably, the positioning module comprises an infrared laser transmitter, a positioning label and a proximity sensor reflection end, and the detection module comprises an infrared laser transmitter, a label identification module and a proximity sensor transmission end.

Preferably, the top of the case is provided with a turntable driven by a steering motor, the surface of the turntable is provided with a slide rail, and the support frame is slidably mounted on the slide rail and driven by the propelling mechanism.

Preferably, the X-axis roller is installed on a first lifting frame, and the first lifting frame is driven by a first air cylinder.

Preferably, the Y-axis roller is installed on a second lifting frame, and the second lifting frame is driven by a second air cylinder.

Preferably, the side wall of the case is further provided with a charging module, and the charging module is matched with a charging pile arranged on one side of the power distribution cabinet.

Compared with the prior art, the invention has the beneficial effects that:

1. through the setting of orientation module on the switch board, make the robot can be accurate in the removal in-process reach switch operation region, and the moving mechanism setting of robot is by X axle gyro wheel and Y axle gyro wheel, through the mode of switching two gyro wheels, the realization turns to, under the more circumstances of switch board, be fit for the power transmission and power cut of complicated scene, and the location of cooperation orientation module, guarantee can not skew the track at the in-process that removes, and only need a robot to accomplish the power transmission and power cut operation of all switch boards under the circumstances of multiunit switch board, use cost is reduced.

2. The robot body is positioned by the mode that the detection module collects the information of the positioning module, so that the track does not need to be laid, and the use cost is saved.

Drawings

Fig. 1 is a schematic diagram of a power-on/off movement locus of a robot body according to the present invention.

Fig. 2 is a schematic structural diagram of the robot body according to the present invention.

In the figure: 1. switch board, 2, orientation module, 3, the robot, 4, fill electric pile, 5, quick-witted case, 6, support frame, 7, carousel, 8, slide rail, 9, advancing mechanism, 10, turn to the motor, 11, camera, 12, operating device, 13, detection module, 14, first cylinder, 15, first crane, 16, X axle gyro wheel, 17, second cylinder, 18, second crane, 19, Y axle gyro wheel.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 2, a power-on and power-off operation robot for a mine power distribution room comprises a robot body 3, a positioning module 2 and a detection module 13, wherein the positioning module 2 is installed on a power distribution cabinet 1, the detection module 13 is installed on the robot body 3 and used for determining the position of the robot body 3 by collecting information of the positioning module 2, the positioning module 2 serves as a mobile beacon, and in the moving process of the robot body 3, after the detection module 13 collects the information of the positioning module 2, the robot is proved to reach a specified position, so that power-on and power-off operation is accurately performed on the power distribution cabinet 1. The robot body 3 comprises a movable case 5, a support frame 6 installed on the case 5, and a camera 11 and an operating mechanism 12 installed on the support frame 6, wherein the operating mechanism 12 is used for executing power cut and transmission operations, after the robot body 3 reaches the position of a power distribution cabinet, the operating mechanism 12 executes operations such as switch conversion or shaking of a handcart of the power distribution cabinet, so that power cut and transmission of the power distribution cabinet 1 are realized, and the camera 11 is used for capturing a switch image picture after operation and storing and backing up the picture.

X-axis roller 16 and Y-axis roller 19 are installed below the case 5, any one of the X-axis roller 16 and the Y-axis roller 19 is driven by the lifting mechanism, the robot body 3 is enabled to move along a straight line, the case 5 is enabled to move through the rollers, the rollers are two groups, one is the X-axis roller 16, the case 5 can move along the X axis, the other is the Y-axis roller 19, the case 5 can move along the Y axis, the X-axis roller 16 and the Y-axis roller 19 are not simultaneously put into operation, one of the rollers is selected to be withdrawn through the lifting mechanism, and therefore normal movement of the case 5 is achieved, under the condition that the power distribution cabinets 1 are more, the robot body 3 can pass through each power distribution cabinet 1 through ceaselessly switching the X-axis roller 16 or the Y-axis roller 19.

Positioning module 2 includes infrared laser correlation ware, location label and proximity sensor reflection end, detection module 13 includes infrared laser correlation ware, label identification module and proximity sensor transmitting terminal, the signal of location label is discerned to the label identification module of detection module 13 on robot body 3, surface robot body 3 reachs switch board 1 position, detection module 13's laser correlation ware detects behind the laser correlation ware signal that is located switch board 1, the position that is used for accurate definite operating switch, when proximity sensor transmitting terminal receives the signal of proximity sensor reflection end, can confirm the interval between robot body 3 and switch board 1.

The top of machine case 5 is installed by the carousel 7 that turns to motor 10 driven, the surface of carousel 7 sets up slide rail 8, support frame 6 slidable mounting is on slide rail 8 to by advancing mechanism 9 drive, carousel 7 can remove operating device 12's sensing direction, after machine case 5 realized turning to through X axle gyro wheel 16 and Y axle gyro wheel 19, carousel 7 cooperation rotates, guarantees that operating device 12 can be all the time to the operating switch of switch board 1, advancing mechanism 9 drive operating device 12 and advance and carry out and stop the power transmission operation.

The X-axis roller 16 is installed on the first lifting frame 15, the first lifting frame 15 is driven by the first air cylinder 14, the Y-axis roller 19 is installed on the second lifting frame 18, the second lifting frame 18 is driven by the second air cylinder 17, when the first lifting frame 15 is driven by the first air cylinder 14 to lift, the X-axis roller 16 leaves the ground, the Y-axis roller 19 is in contact with the ground to move, the second air cylinder 17 drives the second lifting frame 18 to lift, when the first lifting frame 15 is driven by the first air cylinder 14 to descend, the Y-axis roller 19 leaves the ground, the X-axis roller 16 is in contact with the ground to move, and therefore the robot body 3 can conveniently turn to 90 degrees at each time.

Still install the module of charging on the lateral wall of quick-witted case 5, the module of charging and the setting fill 4 adaptations of electric pile in 1 one side of switch board, fill electric pile 4 and make things convenient for 3 automatic charges of robot.

As shown in fig. 1, the power distribution cabinets 1 are arranged in four groups, each group of power distribution cabinets 1 has a moving path of the robot body 3 in front of it, solid black dots are the initial point positions of the robot body 3, hollow black dots are the end point positions of the robot body 3, when the robot body 3 walks the line from the initial point position to the end point position, the power distribution cabinets 1 along the line can be powered on and powered off (at this time, the Y-axis roller 19) to work, the positioning module 2 is not only installed at each cabinet position of the power distribution cabinet 1, but also installed at the initial point and the end point, when the robot body 3 reaches the end point of the first line, the X-axis roller 16 is switched by the cylinder to work, the initial point position of the second line is reached, and then the Y-axis roller 19 is switched to move, the second line is known to have been walked, and the end point position of the second line is reached, and this, four lines formed by the four groups of power distribution cabinets 1 can be walked, the original line is returned at last, and the robot body 3 returns to the position of the charging pile 4 to be charged.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The power-on and power-off operation robot for the mine power distribution room is characterized by comprising a robot body (3), a positioning module (2) and a detection module (13), wherein the positioning module (2) is installed on a power distribution cabinet (1), and the detection module (13) is installed on the robot body (3) and used for determining the position of the robot body (3) by collecting information of the positioning module (2);

the robot body (3) comprises a movable case (5), a support frame (6) arranged on the case (5), and a camera (11) and an operating mechanism (12) which are arranged on the support frame (6), wherein the operating mechanism (12) is used for executing power-on and power-off operation;

an X-axis roller (16) and a Y-axis roller (19) are mounted below the case (5), and the X-axis roller (16) and the Y-axis roller (19) are driven by a lifting mechanism to enable the robot body (3) to move along a straight line.

2. The mine power distribution room power-off operation robot as claimed in claim 1, wherein the positioning module (2) comprises an infrared laser transmitter, a positioning tag and a proximity sensor reflection end, and the detection module (13) comprises an infrared laser transmitter, a tag identification module and a proximity sensor transmission end.

3. The power-on and power-off operation robot for the mine power distribution room is characterized in that a turntable (7) driven by a steering motor (10) is mounted at the top of the case (5), a sliding rail (8) is arranged on the surface of the turntable (7), and the supporting frame (6) is slidably mounted on the sliding rail (8) and driven by a propelling mechanism (9).

4. The mine power-cut and power-supply operation robot of the power distribution room as claimed in claim 1, characterized in that the X-axis roller (16) is mounted on a first lifting frame (15), and the first lifting frame (15) is driven by a first air cylinder (14).

5. The mine power distribution room power-cut and power-supply operation robot as claimed in claim 1, characterized in that the Y-axis roller (19) is mounted on a second crane (18), and the second crane (18) is driven by a second air cylinder (17).

6. The mine power distribution room power-on and power-off operation robot as claimed in claim 1, characterized in that a charging module is further installed on the side wall of the case (5), and the charging module is adapted to a charging pile (4) arranged on one side of the power distribution cabinet (1).