CN113103253A - Low-voltage power distribution cabinet operation robot and control system - Google Patents
Low-voltage power distribution cabinet operation robot and control system Download PDFInfo
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- CN113103253A CN113103253A CN202110410010.2A CN202110410010A CN113103253A CN 113103253 A CN113103253 A CN 113103253A CN 202110410010 A CN202110410010 A CN 202110410010A CN 113103253 A CN113103253 A CN 113103253A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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Abstract
The invention discloses an operating robot and a control system for a low-voltage power distribution cabinet, which comprise a travelling mechanism for driving the whole device to move forwards and backwards, and a lifting mechanism arranged on the travelling mechanism for adjusting the height; the low-voltage distribution cabinet is arranged on the lifting mechanism and is connected with the low-voltage distribution cabinet; the control system controls the execution and action of the travelling mechanism, the execution mechanism and the lifting mechanism, and the lifting mechanism is fixed with the travelling mechanism through the buffer propulsion device; the robot replaces manpower to carry out power cut-off and power transmission operation of the low-voltage power distribution cabinet, a large amount of power cut-off and power transmission work is completed, the safety of operating personnel can be guaranteed, and the safety is guaranteed.
Description
Technical Field
The invention relates to the technical field of low-voltage power cut-off and transmission, in particular to an operating robot and a control system for a low-voltage power distribution cabinet.
Background
When the ground production system equipment is used for daily maintenance operation, in order to ensure the safety of a human machine, the main body equipment and the upstream and downstream equipment thereof need to be applied simultaneously according to actual conditions when power failure is applied, and the number of power-on and power-off operation equipment is large. When power cut and transmission are performed, multiple power distribution loops and multiple equipment numbers are provided, the consideration to all the power distribution loops is difficult, misoperation is easy to occur, the operation safety risk is high, the ground production system has large area and wide distribution room distribution, the power cut needs to be performed manually by electricians running from east to west, the work round trip time is long, the power cut and transmission work efficiency is low, and how to fully complete a large amount of power cut and transmission work can be performed to ensure that the power cut and transmission work is inexhaustible; becomes a problem to be solved urgently.
The low-voltage power distribution cabinet is suitable for industries such as power plants, petroleum, chemical industry, metallurgy, textile, high-rise buildings and the like, and is used for power transmission, power distribution and electric energy conversion; the existing low-voltage power distribution cabinet generally comprises a cabinet body, a drawer frame, a drawer unit and other components, and plays roles in power transmission, power distribution and electric energy conversion; each drawer unit is provided with a change-over switch, and the change-over switch can be changed after being pressed; the handle of the change-over switch controls the switching-on and switching-off operation through the conversion of the horizontal position and the vertical position, so that the corresponding equipment is powered on and off.
The switching functions of the high-voltage switch cabinet and the low-voltage switch cabinet are the same; the high-voltage switch cabinet is used for high voltage of 6000V and above, and the low-voltage distribution cabinet is used for low voltage of 380/220V; how to fully finish a large amount of power cut-off and transmission work, and ensure the safety of operating personnel and ensure the safety; the high-voltage power-on and power-off robot designed and developed 201911138031.2 by our company moves to a designated position through a walking mechanism, and a rotating joint rod extends into a switch cabinet of a high-voltage power distribution cabinet to be matched with a switch button and then rotates to switch on and off; however, the position of a switch button of a high-voltage cabinet is fixed, the switch modes of a low-voltage cabinet and the high-voltage cabinet are different, a change-over switch is arranged on each drawer unit, the position of each change-over switch is not fixed, and each change-over switch needs to be taken care of.
Disclosure of Invention
The invention aims to provide an operation robot and a control system for a low-voltage power distribution cabinet, which are used for carrying out power supply and power interruption operations of the low-voltage power distribution cabinet by replacing manpower through the robot, can complete a large amount of power supply and power interruption work, and can ensure the safety of operating personnel and ensure the safety.
The technical scheme adopted by the invention is as follows: a low-voltage power distribution cabinet operation robot comprises a traveling mechanism for driving the whole device to move forward and backward, and a lifting mechanism arranged above the traveling mechanism and used for adjusting the height; the low-voltage distribution cabinet is arranged on the lifting mechanism and is connected with the low-voltage distribution cabinet; the control system controls the execution and action of the travelling mechanism, the execution mechanism and the lifting mechanism, and the lifting mechanism is fixed with the travelling mechanism through the buffering propulsion device.
Further, the buffering propulsion device comprises a first guide rail lead screw sliding table fixed with the travelling mechanism; sliding shafts are oppositely arranged on two sides of the first guide rail screw rod sliding table and are fixed with the traveling mechanism; a sliding sleeve is penetrated on the sliding shaft, and the lower side of the lifting mechanism is fixed with the sliding sleeve; a pushing block is arranged on a sliding block of the first guide rail screw sliding table, and a buffer shaft is arranged on one side of the pushing block opposite to the stepping motor of the first guide rail screw sliding table; a buffer plate corresponding to the buffer shaft is horizontally arranged on the lifting mechanism, and a buffer channel is formed in the buffer plate; the buffer shaft is connected with the buffer channel in a sliding manner; a compression spring is arranged on the buffer shaft between the buffer plate and the propelling block in a penetrating way.
Specifically, the lifting mechanism comprises two inverted U-shaped support frames, the lower sides of the two support frames are fixed through a connecting plate, a second guide rail screw rod sliding table is arranged on the inner side of each support frame, and a sliding block of the second guide rail screw rod sliding table is fixed with the bottom of a third guide rail screw rod sliding table; the actuating mechanism is arranged on a sliding block of the third guide rail screw sliding table; the position of the actuating mechanism in the height direction is controlled by changing the positions of the sliding blocks on the second guide rail screw rod sliding table and the third guide rail screw rod sliding table; and a pull rope encoder is arranged on the actuating mechanism, one end of a rope of the pull rope encoder is fixed with the connecting plate, and the pull rope encoder is electrically connected with the control system.
Furthermore, the actuating mechanism comprises a fourth guide rail screw rod sliding table and a conversion motor arranged on a sliding block of the fourth guide rail screw rod sliding table, and a conversion head for performing switching-on and switching-off operation with the low-voltage power distribution cabinet is arranged on a motor shaft of the conversion motor; a mounting plate is arranged on one side of a motor shaft of the conversion motor, and a motor shaft channel allowing the motor shaft to pass through is arranged on the mounting plate; an electromagnet is arranged on the mounting plate; the drawer units of the low-voltage power distribution cabinet are provided with adsorption blocks, and the relative positions of the adsorption blocks on each drawer unit are the same; when the switching head is switched on and off, the electromagnet and the adsorption block are fixed in a magnetic attraction manner; the fourth guide rail screw rod sliding table, the conversion motor and the electromagnet are respectively electrically connected with the control system; the electromagnet is fixed on the mounting plate through a mounting frame; and an electromagnet laser sensor is arranged on the mounting frame and is electrically connected with the control system.
Specifically, the conversion head comprises a first pressure plate, the first pressure plate is connected with a second pressure plate through a fastener, and a space is reserved between the first pressure plate and the second pressure plate; the first pressure plate is provided with an installation channel, and a motor shaft of the conversion motor is fixed with the installation channel of the first pressure plate through a torque limiter; be equipped with a plurality of elastic positioning post on the second clamp plate, the contact jaw of elastic positioning post carries out the flexible deformation of self-adaptation under the effect of reaction force to surround low-voltage distribution cabinet's handle.
A control system comprises a low-voltage power distribution cabinet operation robot, a high-voltage power distribution cabinet operation robot, an inspection robot and a master control unit, wherein the high-voltage power distribution cabinet operation robot, the inspection robot and the master control unit are arranged in a power distribution room; the low-voltage power distribution cabinet operation robot is used for power-on and power-off operation of the low-voltage power distribution cabinet, the inspection robot is used for monitoring the temperature of a cable in real time and generating early warning in an abnormal state, and the high-voltage power distribution cabinet operation robot is used for power-on and power-off operation of the high-voltage power distribution cabinet; the master control unit can remotely communicate with the low-voltage power distribution cabinet operating robot and the high-voltage power distribution cabinet operating robot; remotely controlling the low-voltage power distribution cabinet operation robot and the high-voltage power distribution cabinet operation robot to perform power transmission operation; the master control unit and the inspection robot can carry out remote data communication.
The invention has the beneficial effects that: the robot replaces manpower to perform power cut-off and power transmission operation of the low-voltage power distribution cabinet, a large amount of power cut-off and power transmission work is completed, the safety of operating personnel can be guaranteed, and the safety is guaranteed.
In addition, the invention also has the following characteristics:
1. according to the device, the second guide rail screw rod sliding table and the third guide rail screw rod sliding table are arranged, and the two sliding tables are overlapped together in a natural state, so that the gravity center of the operation robot is reduced; under the condition that covers the high range of whole low-voltage switchgear, make operation robot more steady at the walking process for among the solution prior art, low pressure operation robot is when walking, and the upside shake is great, the unstable problem of whole robot.
2. A pull rope encoder is arranged on the actuating mechanism, one end of a rope of the pull rope encoder is fixed with the connecting plate, and the pull rope encoder is electrically connected with the control system; stay cord encoder can be accurate measurement detect actuating mechanism's rise distance, and when the step motor of first guide rail lead screw slip table and second guide rail lead screw slip table was unusual, play the guard action simultaneously.
3. A motor shaft of the conversion motor is fixed with the mounting channel of the first pressing plate through the torque limiter; if the system has serious errors, the conversion motor always rotates and cannot be stopped according to a set scheme; or the second pressure plate does not press down the preset position, and the handle of the low-voltage power distribution cabinet is still in a self-locking state; the elastic positioning column rotates after carrying out self-adaptive matching on a handle of the low-voltage power distribution cabinet, and the handle is directly damaged; the torque limiter can enable a motor shaft of the conversion motor to rotate when the torque limiter exceeds a preset torque value, and the first pressing plate and the second pressing plate are static; the handle of the low-voltage switch cabinet is protected.
4. The device is in self-adaptive contact with the handle of the low-voltage switch cabinet through the elastic positioning column, and the self-adaptive handle is matched with the handle of the low-voltage switch cabinet, so that the rigid collision is avoided, and the handle of the low-voltage switch cabinet is directly damaged in a squeezing mode.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic view of the traveling mechanism of the present invention.
Fig. 3 is a schematic view of the position of the buffer propulsion device of the present invention.
FIG. 4 is a schematic view of the position of the buffer plate according to the present invention.
Fig. 5 is a schematic structural view of the buffering propulsion device of the invention.
Fig. 6 is a first structural schematic diagram of the lifting mechanism of the present invention.
Fig. 7 is a second schematic structural diagram of the lifting mechanism of the present invention.
Fig. 8 is a schematic view of the switching motor position of the present invention.
Fig. 9 is a schematic view of the position of the torque limiter of the present invention.
FIG. 10 is a schematic view of a first platen structure according to the present invention.
Fig. 11 is a schematic view of a resilient positioning post according to the present invention.
Fig. 12 is a schematic diagram of the position of the electromagnet of the present invention.
Fig. 13 is a schematic view of the position of the adsorption block of the present invention.
Fig. 14 is a control block diagram of the present invention.
In the figure: the device comprises a traveling mechanism 1, an executing mechanism 2, a lifting mechanism 3, a buffering propelling device 4, a first guide rail screw sliding table 5, a sliding shaft 6, a sliding sleeve 7, a propelling block 8, a buffering shaft 9, a buffering plate 10, a buffering channel 11, a compression spring 12, a support frame 13, a connecting plate 14, a second guide rail screw sliding table 15, a third guide rail screw sliding table 16, a stay cord encoder 17, a fourth guide rail screw sliding table 18, a conversion motor 19, a conversion head 20, a mounting plate 21, a motor shaft channel 22, an electromagnet 23, a mounting frame 24, an electromagnet laser sensor 25, a first pressing plate 26, a second pressing plate 27, a mounting channel 28, a torque limiter 29, an elastic positioning column 30, a low-voltage power distribution cabinet operating robot 31, a high-voltage power distribution cabinet operating robot 32, an inspection robot 33, a master control unit 34 and an adsorbing block.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the present invention will be further described in detail with reference to the accompanying drawings, which are only used for illustrating the technical solution of the present invention and are not limited.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other; the specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The invention will be further described in detail with reference to fig. 1 to 7, and a low voltage distribution cabinet operation robot has the following principle structure.
A low-voltage power distribution cabinet operation robot comprises a travelling mechanism 1 for driving the whole device to move forward and backward, wherein the travelling mechanism 1 comprises two front drive motors, two rear drive motors and a frame, the front drive motors and the rear drive motors are fixedly connected with the bottom of the frame through motor supports, and motor shafts of the front drive motors and the rear drive motors are fixedly connected with wheels; a trackless deviation correcting device is arranged on one side of the frame close to the low-voltage power distribution cabinet; the lifting mechanism 2 is arranged on the frame and can lift to adjust the height; the lifting mechanism 2 is provided with an actuating mechanism 3 for switching on and off the low-voltage power distribution cabinet; the control system is used for controlling the execution and the action of the travelling mechanism 1, the execution mechanism 2 and the lifting mechanism 3, and the lifting mechanism is fixed with the travelling mechanism through the buffer propulsion device 4; the height of the existing low-voltage switch cabinet is about two meters generally, each row is provided with 5-12 drawer units, each drawer unit is provided with a change-over switch, namely the position of each change-over switch is not fixed, and each change-over switch needs to be taken care of; the robot replaces manpower to carry out power cut-off and power transmission operation of the low-voltage power distribution cabinet, a large amount of power cut-off and power transmission work is completed, the safety of operating personnel can be guaranteed, and the safety is guaranteed.
The buffer propulsion device 4 is used for driving the lifting mechanism 3 and the actuating mechanism 2 to integrally approach and depart from the power distribution cabinet; however, in the implementation process, the low-voltage robot is selected to be in flexible contact with the low-voltage power distribution cabinet in order to protect the power distribution cabinet, and slight errors exist in the propelling position of the buffering propelling device 4 due to the structure errors, the assembly errors of the robot, the ground and other external environmental factors; in a specific embodiment, the buffering propulsion device 4 comprises a first guide rail screw sliding table 5 fixed with the travelling mechanism 1; sliding shafts 6 are oppositely arranged on two sides of the first guide rail lead screw sliding table 5, and the sliding shafts 6 are fixed with the upper side of the travelling mechanism 1 through shaft seats; a sliding sleeve 7 penetrates through the sliding shaft 6, and the lower side of the lifting mechanism 2 is fixed with the sliding sleeve 7; a pushing block 8 is fixed on a sliding block of the first guide rail screw sliding table 5, and a buffer shaft 9 is arranged on one side, facing the low-voltage power distribution cabinet, of the pushing block 8 and the first guide rail screw sliding table 5; a buffer plate 10 corresponding to the buffer shaft 8 is horizontally arranged on the lifting mechanism 2, and a buffer channel 11 is arranged on the buffer plate 10; the buffer shaft 8 passes through the buffer channel 11 and is fixed through a fastener, and the buffer shaft 8 and the buffer channel 11 can slide relatively; a compression spring 12 penetrates through the buffer shaft 9 between the buffer plate 10 and the propelling block 8; when the buffering propulsion device 4 executes a command, the control system controls the stepping motor of the first guide rail screw sliding table 5 to move so as to drive the sliding block to move; a pushing block 8 is fixed on a sliding block of the first guide rail lead screw sliding table 5 and pushes a buffer plate 10 through a compression spring 12, and the pushing block 8 is fixed with the lifting mechanism 3 and pushes the actuating mechanism 2 and the lifting mechanism 3 to move along the direction of the sliding shaft 6 through the compression spring 12; the actuating mechanism 2 is in flexible contact with the power distribution cabinet.
The height of the existing low-voltage switch cabinet is about two meters generally, each row is provided with 5-12 drawer units, each drawer unit is provided with a change-over switch, namely the position of each change-over switch is not fixed, and each change-over switch needs to be taken care of; this means that the lifting mechanism 3 needs to be set to a height of about two meters; after the implementation of the inventor, the lifting device is set to be so high that the upper side of the operating robot shakes greatly when the operating robot walks, so that the whole robot is easy to be unstable; the lifting mechanism 2 comprises two inverted U-shaped support frames 13, and the lower sides of the two support frames 13 are fixed through a connecting plate 14; the lower side of the connecting plate 14 is fixed with the sliding sleeve 7, and the buffer plate 10 is fixed with the connecting plate 14; a second guide rail lead screw sliding table 15 is arranged on the inner side of the support frame 13, and a sliding block of the second guide rail lead screw sliding table 15 is fixed with the bottom of a third guide rail lead screw sliding table 16; the actuating mechanism 2 is arranged on a sliding block of the third guide rail screw sliding table 16; the position of the actuating mechanism 2 in the height direction is controlled by changing the positions of the sliding blocks on the second guide rail screw sliding table 15 and the third guide rail screw sliding table 16; the lifting mechanism is arranged into a double-sliding table structure, so that the gravity center of the operation robot is reduced; under the condition of covering the height range of the whole low-voltage switch cabinet, the operation robot is more stable in the walking process; in order to accurately lift the elevator, a pull rope encoder 17 is arranged on the actuating mechanism 2, one end of a rope of the pull rope encoder 17 is fixed with the connecting plate 14, and the pull rope encoder 15 is electrically connected with a control system; the lift distance of the detection executing mechanism 2 can be accurately measured by the pull rope encoder 17, the precision is improved, and meanwhile, when the stepping motors of the second guide rail screw sliding table 15 and the third guide rail screw sliding table 16 are abnormal, the protection effect is also achieved.
The actuating mechanism 2 comprises a fourth guide rail screw sliding table 18 and a conversion motor 19 arranged on a sliding block of the fourth guide rail screw sliding table 18, and the conversion motor 19 is fixed with the sliding block of the fourth guide rail screw sliding table 18 through a motor support; a switching head 20 for performing switching-on and switching-off operation with the low-voltage power distribution cabinet is arranged on a motor shaft of the switching motor 19; a mounting plate 21 is arranged on one side of a motor shaft of the conversion motor 19, and a motor shaft channel 22 allowing the motor shaft to pass through is arranged on the mounting plate 21; an electromagnet 23 is arranged on the mounting plate 21; the drawer units of the low-voltage power distribution cabinet are provided with adsorption blocks 35, and the relative positions of the adsorption blocks 35 on each drawer unit are the same; the handle of the change-over switch at the highest position is about two meters generally, when the change-over head 20 moves to the upper part, the whole device has large vibration, the positioning is easy to be inaccurate, and when the change-over head 20 extrudes and pushes the handle of the low-voltage power distribution cabinet, even the risk of toppling over exists; therefore, when the switching head 20 is switched on and off, the electromagnet 23 and the adsorption block 35 are fixed in a magnetic attraction manner, so that the low-voltage robot and the low-voltage power distribution cabinet are attracted into a whole to avoid shaking of the upper part and toppling when the low-voltage robot and the low-voltage power distribution cabinet are pushed; the fourth guide rail screw sliding table 18, the conversion motor 19 and the electromagnet 23 are respectively electrically connected with the control system; the electromagnet 23 is fixed on the mounting plate 21 through a mounting frame 24; an electromagnet laser sensor is arranged on the mounting frame 24 and is used for detecting whether the electromagnet 23 is in contact with the mounting frame in place.
As a further preferred scheme, the conversion head 20 comprises a first pressure plate 26, the first pressure plate 26 is connected with a second pressure plate 27 through a fastener, and a space exists between the first pressure plate 26 and the second pressure plate 27; the first pressure plate 26 is provided with a mounting channel 28, and a motor shaft of the conversion motor 19 is fixed with the mounting channel 28 of the first pressure plate 27 through a torque limiter 29; a plurality of elastic positioning columns 30 are arranged on the second pressing plate 27, the elastic positioning columns 30 can be spring pins with external thread connection structures, and contact ends of the elastic positioning columns 30 are subjected to self-adaptive telescopic deformation under the action of a reaction force so as to surround a handle of the low-voltage power distribution cabinet; the elastic positioning column 30 is in self-adaptive contact with a handle of the low-voltage switch cabinet and is matched with the handle of the low-voltage switch cabinet in a self-adaptive mode, so that rigid collision is avoided, and the handle of the low-voltage switch cabinet is damaged by squeezing; meanwhile, the motor shaft of the switching motor 19 is fixed with the first pressure plate 26 through the torque limiter 29, and if a serious error occurs in the system, the switching motor always rotates and cannot be stopped according to a set scheme; or the second pressure plate 27 does not press down the preset position, and the handle of the low-voltage power distribution cabinet is still in a self-locking state; the elastic positioning column 30 rotates after self-adaptive matching is carried out on a handle of the low-voltage power distribution cabinet, and the handle is directly damaged; the torque limiter 29 can rotate the motor shaft of the switching motor 19 when it exceeds a preset torque value, the first pressure plate 26 and the second pressure plate 27 being stationary; the handle of the low-voltage switch cabinet is protected.
The control system comprises a plc and a charging power supply, wherein the charging power supply is electrically connected with the plc; the input end of plc is connected with obstacle laser sensor, return deceleration sensor, cabinet number identification hall sensor, camera, touch screen, pull rope encoder 17, electromagnet laser sensor 25; the obstacle laser sensor is used for detecting obstacles in the advancing process, and if pedestrians or obstacles exist on the front side of the device, the obstacle laser sensor can monitor that signals are transmitted to the plc to control the travelling mechanism 1 to stop avoiding the obstacles; the return deceleration sensor is used for ranging and decelerating in advance when the device is reset; the camera is arranged on the fourth guide rail screw rod sliding table 18, and the lens of the camera is opposite to the conversion head 20; the conversion head 20 can be remotely checked through a camera, and interaction with plc is remotely controlled through WiFi; the touch screen is used for realizing short-range human-computer interaction control; the pull rope encoder 17 is used for detecting the lifting height of the lifting mechanism 3; and the electromagnet laser sensor 25 is used for detecting whether the electromagnet is connected with the power distribution cabinet or not.
The output end of the plc is respectively electrically connected with the traveling mechanism 1, the first guide rail screw sliding table 5, the second guide rail screw sliding table 15, the third guide rail screw sliding table 16, the fourth guide rail screw sliding table 18 and the conversion motor 19, and the traveling mechanism 1, the first guide rail screw sliding table 5, the second guide rail screw sliding table 15, the third guide rail screw sliding table 16 and the fourth guide rail screw sliding table 18 perform positioning work on the conversion head when power is off; the conversion motor 19 is used to rotate the handle of the low-voltage distribution cabinet.
Meanwhile, the applicant considers that the distribution room is integrally divided into three layers at present, wherein a first floor low-voltage drawer cabinet area and a second floor are cable interlayers and are cable junctions of the whole distribution room; the third floor is mainly a high-voltage switch cabinet; the applicant considers that power outage and transmission are carried out through remote control by the low-voltage power distribution cabinet operation robot 31 and the high-voltage power distribution cabinet operation robot 32, so that the problems that when power outage and transmission are carried out, power distribution loops are multiple, equipment numbers are multiple, all the equipment numbers are difficult to consider, misoperation is easy to occur, operation safety risk is high, and due to the fact that a ground production system is large in area and wide in distribution room distribution, an electrician needs to run for manual power outage, the working round trip time is long, and the power outage and transmission working efficiency is low are solved; a control system comprises a low-voltage power distribution cabinet operation robot 31, a high-voltage power distribution cabinet operation robot 32, an inspection robot 33 and a master control unit 34, wherein the high-voltage power distribution cabinet operation robot, the inspection robot and the master control unit are arranged in a power distribution room; the low-voltage power distribution cabinet operation robot 31 is used for power-on and power-off operation of the low-voltage power distribution cabinet, the inspection robot 33 is used for monitoring the temperature of a cable in real time and giving an early warning in an abnormal state, and the high-voltage power distribution cabinet operation robot 32 is used for power-on and power-off operation of the high-voltage power distribution cabinet; the master control unit 34 can remotely communicate with the low-voltage power distribution cabinet operation robot 31 and the high-voltage power distribution cabinet operation robot 32; remotely controlling the low-voltage power distribution cabinet operation robot 31 and the high-voltage power distribution cabinet operation robot 32 to perform power transmission operation; the total control unit 34 and the inspection robot 33 can perform remote data communication.
Although the present invention has been described in detail with reference to the foregoing examples, it will be apparent to one skilled in the art that various changes and modifications can be made, and equivalents can be substituted for elements thereof without departing from the scope of the invention.
Claims (10)
1. The utility model provides a low-voltage distribution cabinet operation robot which characterized in that: comprises a traveling mechanism for driving the whole device to move forward and backward and a lifting mechanism arranged on the traveling mechanism for adjusting the height; the low-voltage distribution cabinet is arranged on the lifting mechanism and is connected with the low-voltage distribution cabinet; the control system controls the execution and action of the travelling mechanism, the execution mechanism and the lifting mechanism, and the lifting mechanism is fixed with the travelling mechanism through the buffering propulsion device.
2. A low-voltage distribution cabinet operating robot according to claim 1, characterized in that: the buffer propulsion device comprises a first guide rail lead screw sliding table fixed with the travelling mechanism; sliding shafts are oppositely arranged on two sides of the first guide rail screw rod sliding table and are fixed with the traveling mechanism; a sliding sleeve is penetrated on the sliding shaft, and the lower side of the lifting mechanism is fixed with the sliding sleeve; a pushing block is arranged on a sliding block of the first guide rail screw sliding table, and a buffer shaft is arranged on one side of the pushing block opposite to the stepping motor of the first guide rail screw sliding table; a buffer plate corresponding to the buffer shaft is horizontally arranged on the lifting mechanism, and a buffer channel is formed in the buffer plate; the buffer shaft is connected with the buffer channel in a sliding manner; a compression spring is arranged on the buffer shaft between the buffer plate and the propelling block in a penetrating way.
3. A low-voltage distribution cabinet operating robot according to claim 1, characterized in that: the lifting mechanism comprises two inverted U-shaped support frames, the lower sides of the two support frames are fixed through a connecting plate, a second guide rail screw rod sliding table is arranged on the inner side of each support frame, and a sliding block of the second guide rail screw rod sliding table is fixed with the bottom of a third guide rail screw rod sliding table; the actuating mechanism is arranged on a sliding block of the third guide rail screw sliding table; the position of the actuating mechanism in the height direction is controlled by changing the positions of the upper sliding blocks of the second guide rail screw rod sliding table and the third guide rail screw rod sliding table.
4. A low-voltage switch board operating robot according to claim 3, characterized in that: and a pull rope encoder is arranged on the actuating mechanism, one end of a rope of the pull rope encoder is fixed with the connecting plate, and the pull rope encoder is electrically connected with the control system.
5. A low-voltage distribution cabinet operating robot according to claim 1, characterized in that: the actuating mechanism comprises a fourth guide rail screw sliding table and a conversion motor arranged on a sliding block of the fourth guide rail screw sliding table, and a conversion head for performing switching-on and switching-off operation with the low-voltage power distribution cabinet is arranged on a motor shaft of the conversion motor.
6. A low-voltage distribution cabinet operating robot according to claim 5, characterized in that: a mounting plate is arranged on one side of a motor shaft of the conversion motor, and a motor shaft channel allowing the motor shaft to pass through is arranged on the mounting plate; an electromagnet is arranged on the mounting plate; the drawer units of the low-voltage power distribution cabinet are provided with adsorption blocks, and the relative positions of the adsorption blocks on each drawer unit are the same; when the switching head is switched on and off, the electromagnet and the adsorption block are fixed in a magnetic attraction manner; the fourth guide rail screw rod sliding table, the conversion motor and the electromagnet are respectively electrically connected with the control system.
7. A low-voltage distribution cabinet operating robot according to claim 6, characterized in that: the electromagnet is fixed on the mounting plate through a mounting frame; and an electromagnet laser sensor is arranged on the mounting frame and is electrically connected with the control system.
8. A low-voltage distribution cabinet operating robot according to claim 5, characterized in that: the conversion head comprises a first pressure plate, the first pressure plate is connected with a second pressure plate through a fastener, and a space is reserved between the first pressure plate and the second pressure plate; be equipped with a plurality of elastic positioning post on the second clamp plate, the contact jaw of elastic positioning post carries out the flexible deformation of self-adaptation under the effect of reaction force to surround low-voltage distribution cabinet's handle.
9. A low-voltage switch board operating robot according to claim 8, characterized in that: and the first pressing plate is provided with an installation channel, and a motor shaft of the conversion motor is fixed with the installation channel of the first pressing plate through a torque limiter.
10. A control system, characterized by: the low-voltage power distribution cabinet operating robot comprises the low-voltage power distribution cabinet operating robot as claimed in any one of claims 1 to 9, and further comprises a high-voltage power distribution cabinet operating robot, an inspection robot and a master control unit which are arranged in a power distribution room; the low-voltage power distribution cabinet operation robot is used for power-on and power-off operation of the low-voltage power distribution cabinet, the inspection robot is used for monitoring the temperature of a cable in real time and generating early warning in an abnormal state, and the high-voltage power distribution cabinet operation robot is used for power-on and power-off operation of the high-voltage power distribution cabinet; the master control unit can remotely communicate with the low-voltage power distribution cabinet operating robot and the high-voltage power distribution cabinet operating robot; remotely controlling the low-voltage power distribution cabinet operation robot and the high-voltage power distribution cabinet operation robot to perform power transmission operation; the master control unit and the inspection robot can carry out remote data communication.
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| CN202110410010.2A CN113103253A (en) | 2021-04-16 | 2021-04-16 | Low-voltage power distribution cabinet operation robot and control system |
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| CN202110410010.2A CN113103253A (en) | 2021-04-16 | 2021-04-16 | Low-voltage power distribution cabinet operation robot and control system |
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Cited By (2)
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| CN116365400A (en) * | 2023-03-28 | 2023-06-30 | 上海新联合电气有限公司 | Full-electric control unmanned intelligent power distribution system |
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Application publication date: 20210713 |