CN112936296A - Robot system for automatically detecting surface material of switch cabinet bus - Google Patents
Robot system for automatically detecting surface material of switch cabinet bus Download PDFInfo
- Publication number
- CN112936296A CN112936296A CN202110089892.7A CN202110089892A CN112936296A CN 112936296 A CN112936296 A CN 112936296A CN 202110089892 A CN202110089892 A CN 202110089892A CN 112936296 A CN112936296 A CN 112936296A
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- China
- Prior art keywords
- guide rail
- switch cabinet
- horizontal moving
- robot
- horizontal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000463 material Substances 0.000 title claims abstract description 28
- 238000007689 inspection Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 abstract description 8
- 238000000034 method Methods 0.000 abstract description 3
- 238000012790 confirmation Methods 0.000 abstract description 2
- 239000002994 raw material Substances 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007747 plating Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 229910052709 silver Inorganic materials 0.000 description 1
- 239000004332 silver Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000004753 textile Substances 0.000 description 1
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of electrical switch cabinet detection, and discloses a robot system for automatically detecting the surface material of a switch cabinet bus, which comprises a four-degree-of-freedom mobile platform, an industrial robot and a material detector, wherein the four-degree-of-freedom mobile platform comprises the following components in parts by weight: the four-degree-of-freedom mobile platform comprises a third horizontal mobile guide rail and a fourth horizontal mobile guide rail which are arranged in parallel to form a longitudinal horizontal linear guide rail and a transverse horizontal mobile guide rail; the vertical upright guide rail is connected with a horizontal moving slide block on the horizontal moving guide rail through a rotating cylinder; the industrial robot is arranged on a vertical moving slide block of the vertical upright post guide rail; and the horizontal moving guide rail and the vertical upright post guide rail are provided with a driver and a controller for driving the sliding block to move. The method can realize on-site rapid and accurate nondestructive reliable identification and confirmation of the surface material of the switch cabinet bus, control the material quality, further accurately judge the purity of the switch cabinet bus material, effectively prevent the mixing of raw materials and ensure the safety and quality of the switch cabinet.
Description
Technical Field
The invention relates to the technical field of electrical switch cabinet detection, in particular to a robot system for automatically detecting the surface material of a switch cabinet bus.
Background
The high-low voltage switch cabinet is an indispensable device in the power system, and the high-low voltage switch cabinet has a very important influence on the normal operation and the power distribution of the whole power system. The high-low voltage switch cabinet is mainly used for opening, closing, controlling and protecting electric equipment in the process of generating, transmitting, distributing and converting electric energy of an electric power system, and is widely applied to various different places such as power plants, transformer substations, petrochemical industry, metallurgical steel rolling, light industrial textiles, industrial and mining enterprises, residential districts, high-rise buildings and the like.
However, some defects are inevitably generated in the production process of the switch cabinet due to the influence of equipment, environment, human factors and the like. Besides not playing a good role in the isolation protection of the switch cabinet, the defects may also have negative effects on the power grid, thereby causing accidents. Therefore, in order to guarantee the production quality of the switch cabinet, the detection work of the switch cabinet is indispensable before the switch cabinet is put into use.
The bus bars are conductors used in the switchgear assembly to collect, distribute and transfer electrical energy between and among the electrical devices in the switchgear assembly. When short-circuit failure occurs, the short-circuit current is subjected to heating and electromotive force, and the short-circuit current is an important primary element in high-voltage and low-voltage complete electrical appliances. The requirement on the conductivity and reliability of the bus material is extremely high. In practical application, in order to further ensure the reliability of copper bar lapping and reduce the temperature rise of the lapping part, silver plating treatment can be carried out on important lapping parts in the cabinet body, so that the overall quality of the switch cabinet is further improved on the premise of meeting the standard.
In order to guarantee the production quality of cubical switchboard generating line surface material, be indispensable to the detection achievement of material purity before putting into operation. However, in actual detection, the detection is mainly performed manually by a professional, and the working efficiency is low.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a robot system for automatically detecting the surface material of a switch cabinet bus.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a robot system for cubical switchboard generating line surface material automated inspection, includes four degrees of freedom moving platform, industrial robot that realize 3 vertical direction and 1 direction of rotation motion and installs in the material inspection appearance of industrial robot handle end:
the four-degree-of-freedom moving platform comprises a third horizontal moving guide rail and a fourth horizontal moving guide rail which are arranged in parallel to form a longitudinal horizontal linear guide rail;
the sliding blocks on the third horizontal moving guide rail and the fourth horizontal moving guide rail are provided with transverse horizontal moving guide rails;
the vertical upright guide rail is connected with a horizontal moving slide block on the horizontal moving guide rail through a rotating cylinder;
the industrial robot is arranged on a vertical moving slide block of the vertical upright post guide rail;
and the horizontal moving guide rail and the vertical upright post guide rail are provided with a driver and a controller for driving the sliding block to move.
Further, the industrial robot is fixed on the vertical moving slide block through bolt connection so as to limit the motion of the robot base in the vertical direction.
Furthermore, the horizontal movement sliding block is provided with a sliding block seat, a stop block, a limiting device and an inclined strut tip.
Further, the industrial robot comprises a four-axis robot, a five-axis robot and a six-axis robot.
Further, the floor is a floor, or a floor of a vehicle compartment.
The device for automatically opening the cabinet door of the switch cabinet comprises a horizontal moving guide rail, a horizontal moving sliding block, a vertical upright guide rail, a vertical moving sliding block and an industrial robot, wherein the horizontal moving guide rail is installed on a bottom plate, the horizontal moving sliding block moves along the horizontal moving guide rail, the vertical upright guide rail is fixed on the horizontal moving sliding block, the vertical moving sliding block moves along the vertical upright guide rail, the industrial robot is installed on the vertical moving sliding block, and the operating end of the industrial robot is connected with a vacuum chuck device;
and the horizontal moving guide rail and the vertical upright post guide rail are provided with a driver and a controller for driving the sliding block to move.
Further, the connecting flange is connected with the operating end of the industrial robot through a connecting column.
Further, the horizontal moving guide rail comprises a first horizontal moving guide rail and a second horizontal moving guide rail which are arranged in parallel.
Compared with the prior art, the invention has the following technical effects:
the method can realize on-site rapid and accurate nondestructive reliable identification and confirmation of the surface material of the switch cabinet bus, control the material quality, further accurately judge the purity of the switch cabinet bus material, effectively prevent the mixing of raw materials and ensure the safety and quality of the switch cabinet. Meanwhile, the automatic detection of the robot solves the problem that the material on the surface of the switch cabinet bus is detected in a manual site, and time and labor are saved.
Drawings
FIG. 1 is a schematic view of a robotic system for automated inspection of switchgear bus surface materials;
FIG. 2 is a schematic diagram of a four degree-of-freedom motion stage;
FIG. 3 is a schematic view of a horizontally moving guide rail;
fig. 4 is a schematic view of an automatic opening device for a cabinet door of a switch cabinet.
Detailed Description
The following further describes the embodiments of the present invention. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto.
As shown in the accompanying drawings 1-4, a robot system for switch cabinet bus surface material automatic detection comprises a four-degree-of-freedom moving platform for realizing 3 vertical directions and 1 rotation direction movement, an industrial robot 4 and a material detector 406 installed at an operation end of the industrial robot:
the four-degree-of-freedom moving platform comprises a third horizontal moving guide rail 24 and a fourth horizontal moving guide rail 25 which are arranged in parallel to form a longitudinal horizontal linear guide rail;
the sliders on the third horizontal moving guide rail 24 and the fourth horizontal moving guide rail 25 are provided with a transverse horizontal moving guide rail 26;
the vertical upright guide rail 3 is connected with a horizontal moving slide block 21 on a horizontal moving guide rail 26 through a rotary cylinder 32;
the industrial robot 4 is arranged on a vertical moving slide block 31 of the vertical upright guide rail 3; the industrial robot 4 is fixed to the vertically moving slide 31 by bolting to restrict the vertical movement of the robot base.
The horizontal moving guide rail 2 and the vertical column guide rail 3 are provided with a driver (not shown) and a controller (not shown) for driving the slider to move.
The horizontal moving slide block 21 is provided with a slide block seat, a stop block, a limiting device and an inclined strut tip.
The industrial robot 4 includes one or more of a four-axis robot, a five-axis robot, and a six-axis robot.
The bottom plate is a floor or a bottom plate of a carriage of the automobile.
The automatic opening device of the switch cabinet door is also arranged and comprises a horizontal moving guide rail 2 arranged on the bottom plate 1, a horizontal moving slide block 21 moving along the horizontal moving guide rail, a vertical upright post guide rail 3 fixed on the horizontal moving slide block 21, a vertical moving slide block 31 moving along the vertical upright post guide rail 3 and an industrial robot 4 arranged on the vertical moving slide block 31, wherein the operating end of the industrial robot 4 is connected with a vacuum chuck device 5;
the vacuum chuck device 5 comprises a connecting flange 51, a vacuum chuck 53 connected with the connecting flange 51 through a flexible connecting column 52, and a gas pipe (not shown) and the vacuum chuck 53 connected with both ends of the flexible connecting column 52.
The connecting flange 51 is connected to the handling end of the industrial robot 4 via a connecting column 54.
The horizontal movement rail 2 includes a first horizontal movement rail 22 and a second horizontal movement rail 23 which are arranged in parallel.
The embodiments of the present invention have been described in detail, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, and the scope of protection is still within the scope of the invention.
Claims (6)
1. The utility model provides a robot system for cubical switchboard generating line surface material automated inspection which characterized in that, including realizing four degree of freedom moving platform, industrial robot of 3 vertical direction and 1 direction of rotation motion and installing in the material inspection appearance of industrial robot operation end:
the four-degree-of-freedom moving platform comprises a third horizontal moving guide rail and a fourth horizontal moving guide rail which are arranged in parallel to form a longitudinal horizontal linear guide rail;
the sliding blocks on the third horizontal moving guide rail and the fourth horizontal moving guide rail are provided with transverse horizontal moving guide rails;
the vertical upright guide rail is connected with a horizontal moving slide block on the horizontal moving guide rail through a rotating cylinder;
the industrial robot is arranged on a vertical moving slide block of the vertical upright post guide rail;
and the horizontal moving guide rail and the vertical upright post guide rail are provided with a driver and a controller for driving the sliding block to move.
2. The robot system for automatically detecting the material of the surface of the switch cabinet bus bar according to claim 1, wherein the industrial robot is fixed on the vertical moving slide block through bolt connection so as to limit the motion of the robot base in the vertical direction.
3. The robot system for automatically detecting the material of the surface of the switch cabinet bus bar according to claim 1, wherein the horizontal moving slide block is provided with a slide block seat, a stop block, a limiting device and an inclined strut pin.
4. The robot system for automatically detecting the material of the surface of the switch cabinet bus bar according to claim 1, wherein the industrial robot comprises a four-axis robot, a five-axis robot and a six-axis robot.
5. The robotic system for automated inspection of switchgear bus bar surface materials as claimed in claim 1, wherein the floor is a floor, or a floor of an automobile compartment.
6. The robot system for automatically detecting the surface material of the switch cabinet bus bar according to claim 1, further comprising a device for automatically opening a cabinet door of the switch cabinet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110089892.7A CN112936296A (en) | 2021-01-22 | 2021-01-22 | Robot system for automatically detecting surface material of switch cabinet bus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110089892.7A CN112936296A (en) | 2021-01-22 | 2021-01-22 | Robot system for automatically detecting surface material of switch cabinet bus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112936296A true CN112936296A (en) | 2021-06-11 |
Family
ID=76235975
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110089892.7A Pending CN112936296A (en) | 2021-01-22 | 2021-01-22 | Robot system for automatically detecting surface material of switch cabinet bus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112936296A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015133671A1 (en) * | 2014-03-07 | 2015-09-11 | 한재형 | Industrial multi-joint robot and method for using same |
| WO2018076286A1 (en) * | 2016-10-28 | 2018-05-03 | 陈海涛 | Three-dimensional engraving machine |
| CN111216095A (en) * | 2020-03-17 | 2020-06-02 | 江苏双双高新科技有限公司 | Novel manipulator capable of rotating circumferentially |
| CN111331290A (en) * | 2020-03-26 | 2020-06-26 | 湖南蓝锋精密机械有限公司 | Movable welding robot with system provided with positioning points |
| CN111375946A (en) * | 2020-03-31 | 2020-07-07 | 陈盛泉 | Industrial welding robot |
-
2021
- 2021-01-22 CN CN202110089892.7A patent/CN112936296A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015133671A1 (en) * | 2014-03-07 | 2015-09-11 | 한재형 | Industrial multi-joint robot and method for using same |
| WO2018076286A1 (en) * | 2016-10-28 | 2018-05-03 | 陈海涛 | Three-dimensional engraving machine |
| CN111216095A (en) * | 2020-03-17 | 2020-06-02 | 江苏双双高新科技有限公司 | Novel manipulator capable of rotating circumferentially |
| CN111331290A (en) * | 2020-03-26 | 2020-06-26 | 湖南蓝锋精密机械有限公司 | Movable welding robot with system provided with positioning points |
| CN111375946A (en) * | 2020-03-31 | 2020-07-07 | 陈盛泉 | Industrial welding robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210611 |
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| RJ01 | Rejection of invention patent application after publication |