CN114260880A - Truss robot system for automatically operating switch cabinet door and operation method - Google Patents
Truss robot system for automatically operating switch cabinet door and operation method Download PDFInfo
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- CN114260880A CN114260880A CN202111616494.2A CN202111616494A CN114260880A CN 114260880 A CN114260880 A CN 114260880A CN 202111616494 A CN202111616494 A CN 202111616494A CN 114260880 A CN114260880 A CN 114260880A
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Abstract
The invention relates to the technical field of electric switch cabinet detection, and discloses a truss robot system for automatically operating a switch cabinet door and an operating method; the truss robot system comprises a truss supporting structure, a first track beam system, a second track beam system, a third track beam system and an operating robot. The invention provides an all-round operation platform in a coverage operation range for an operation end operation robot through a three-dimensional track system; according to the specification and model of the switch cabinet during detection, the operation robot is driven to move to a specified station, and the movement in place of the tail end vacuum chuck device and the movement of the automatic switch cabinet door are realized through the mechanical arm capable of performing multi-dimensional movement of the operation robot; the efficiency of cubical switchboard cabinet door switch cabinet door is greatly improved, has saved the occupation to detecting space, has reduced the input that detects the cost, further improvement applicable cubical switchboard detection type and scope.
Description
Technical Field
The invention relates to the technical field of electric switch cabinet detection, in particular to a truss robot system for automatically operating a switch cabinet door and an operating method.
Background
The high-low voltage switch cabinet is an important part in an electric power system, is mainly used for distributing electric energy, controlling, metering and connecting cables, plays an important role in controlling and protecting electric equipment, is widely applied to the aspects of power supply and distribution, production and manufacturing, resident life and the like, and has extremely important significance for the reliable operation of the electric power system.
At present, the quality defect which cannot be controlled easily occurs due to the influence of a plurality of factors such as production environment, equipment, personnel and the like in the production process of the switch cabinet, the generation of the defect not only influences the function of the switch cabinet, but also buries hidden dangers in the reliable operation of the whole power system, even causes serious accidents in serious conditions, and threatens the life and property safety of people.
The robot system for automatically detecting the switch cabinet is significant before the switch cabinet leaves factory, the system and the method for automatically detecting the switch cabinet after the switch cabinet leaves factory are provided, the efficiency and the reliability of detection of the switch cabinet are well improved, but when the robot system is used for automatically detecting the switch cabinet leaving factory, two sets of robot systems are required to be arranged to meet the requirement of automatic opening and closing of a cabinet door of the switch cabinet under the limitation of detection conditions and fields, so that the detection cost is increased, the field space is occupied, the fault point and the maintenance cost of a detection device are increased, and the requirements of high efficiency, energy conservation, environmental protection and the like cannot be met; therefore, the novel truss robot system and the operation method for automatically operating the switch cabinet door during factory detection of the switch cabinet are of great significance.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the truss robot system for automatically operating the switch cabinet door, so that the occupied detection space is saved, the investment of detection cost is reduced, and the detection type and range of the applicable switch cabinet are further improved;
another object of the present invention is to provide an operating method of the truss robot system for automatically operating the cabinet door.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a truss robot system for automatically operating a switch cabinet door comprises a truss support structure, a first track beam system, a second track beam system, a third track beam system and an operating robot; a first track beam system is installed at the upper end of the truss supporting structure, a second track beam system is installed on the first track beam system, a third track beam system is installed on the second track beam system, and a working robot is installed on the third track beam system;
the first track beam system, the second track beam system and the third track beam system are composed of track beam components, and each track beam component comprises a track beam, a sliding track, a sliding block group, an end cover, a driving wheel, a synchronous wheel, a driving belt, a reduction gearbox, a motor and an installation base; the top surface of the track beam is provided with a sliding track, a sliding block group is occluded on the sliding track and provided with two sliding blocks, the two ends of the track beam are provided with end covers, each end cover consists of four end plates, the two end plates on the side surfaces of the end covers are provided with round holes, the two end plates in the middle are provided with grooves, the round holes on the two end plates on the side surfaces of the two end covers are respectively provided with a driving wheel and a synchronizing wheel, the driving wheel and the synchronizing wheel in the grooves of the two end plates in the middle are connected through an annular driving belt, the driving belt is parallel to the sliding track, the driving side of the driving wheel is provided with a reduction box, and the power side of the reduction box is provided with a motor; the bottom surfaces of two ends of the track beam are connected with mounting bases;
the truss supporting structure is provided with four upright posts, the bottoms of the upright posts are provided with bases, the top ends of the upright posts are provided with two cross beams and two longitudinal beams, and each upright post is provided with two inclined supports for connecting the cross beams and the longitudinal beams;
the mounting base of the first track beam system is connected with the top surfaces of the four stand columns of the truss supporting structure, and the track beam of the first track beam system is parallel to the two cross beams of the truss supporting structure; the mounting base of the second track beam system is mounted on the top surface of the sliding block group of the first track beam system, and the track beam of the second track beam system is perpendicular to the track beam of the first track beam system; the mounting base of the third track beam system is mounted on the top surface of the sliding block group of the second track beam system, and the third track beam system is mounted on any side surface of the track beam of the second track beam system through the mounting base and is vertical to a plane formed by the first track beam system and the second track beam system;
the working robot comprises a robot mounting base, a mechanical arm and a vacuum chuck device; the robot mounting base is mounted on the top surface of the sliding block group of the third track beam system, the working robot is mounted on the back surface of the track beam of the third track beam system through the robot mounting base, the mechanical arm of the working robot is mounted on the robot mounting base, and the tail end of the mechanical arm is provided with a vacuum chuck device.
Preferably, there is at least one support backing plate in the middle of truss support structure's the crossbeam, and the track roof beam bottom surface of the first track beam system in crossbeam top corresponds the position and has the same support backing plate, installs the support post between two support backing plates.
Preferably, the mounting base of the third track beam system and the mounting base of the robot are of hollow cubic structures, and the central lines of the mounting bases of the third track beam system and the mounting bases of the robot are respectively superposed with the track beams of the second track beam system and the third track beam system.
Preferably, the mounting bases of the second track beam system and the third track beam system and the robot mounting base are provided with connecting plates, the connecting plates are provided with belt pressing mechanisms, and the belt pressing mechanisms press the transmission belts.
Preferably, the track beams of the first track beam system, the second track beam system and the third track beam system are provided with towline cable grooves, towline cables are placed in the towline cable grooves, one end of each towline cable is electrically connected with the motor or the mechanical arm, and the other end of each towline cable is connected with an external control system or a power supply system.
Preferably, the vacuum chuck device of the working robot comprises a combined bracket, a telescopic rod and a vacuum chuck; the sectional shelf-unit has the stand to be connected with the arm, evenly installs three at least telescopic links on the sectional shelf-unit, and vacuum chuck is installed to the front end of telescopic link, and vacuum chuck is connected with the vacuum pump through the trachea.
Preferably, the motors of the track beam assembly are provided with a control system, the control system is provided with soft travel switches, and the soft travel switches of the two motors of the first track beam system are synchronously operated and interconnected.
Preferably, there is an angle detection device on the track beam of the second track beam system, and when the perpendicularity deviation between the second track beam system and the first track beam system reaches a predetermined value, the automatic deviation rectification mode is entered.
An automatic deviation rectification mode of a truss robot system for automatically operating a switch cabinet door, comprising the steps of:
s9.1: when the angle detection device detects that the verticality deviation reaches a preset value, a feedback signal is sent out;
s9.2: stopping the operation after the control system finishes the current operation, and returning to the initial state;
s9.3: starting an automatic deviation rectifying mode, and removing synchronous action interconnection of two motor soft travel switches of the first track beam system;
s9.4: the two motors of the first track beam system start a low-speed mode, the first motor moves to a soft travel switch limit point, the motors brake, the second motor continues to move to the soft travel switch limit point, and the motors brake;
s9.5: and (5) acquiring the verticality deviation detected by the angle detection device again, and finishing automatic deviation rectification.
An operation method of the truss robot system for automatically operating the switch cabinet door comprises the following steps:
s10.1: when the switch cabinet reaches a working position, the truss robot system is started;
s10.2: motors of the first track beam system, the second track beam system and the third track beam system are started, and the working robot moves to a first working position;
s10.3: the operation robot stretches the mechanical arm according to a preset track, moves the vacuum chuck device at the tail end of the mechanical arm to a working position, and adsorbs a cabinet door of the switch cabinet;
s10.4: the mechanical arm acts, and the cabinet door is controlled to be opened or closed through the posture change of the working robot;
s10.5: the operation robot loosens the cabinet door, and the mechanical arm contracts to an initial form;
s10.6: motors of the first track beam system, the second track beam system and the third track beam system are started, and the working robot moves to a second working position;
s10.7: repeating the steps from S3 to S5, and controlling the opening or closing of the other cabinet door of the switch cabinet;
s10.8: and finishing the operation, and returning the truss robot system to the initial state.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
the invention provides an all-dimensional operation platform in a coverage operation range for an operation end operation robot through a three-dimensional stereo track system, and drives the operation robot to move to a specified station according to the specification and model of a switch cabinet during detection; the motion in-place of the tail end vacuum chuck device and the motion of automatically opening and closing the cabinet door are realized through a mechanical arm which can move in a multi-dimensional way by a working robot; the efficiency of cubical switchboard cabinet door switch cabinet door is greatly improved, has saved the occupation to detecting space, has reduced the input that detects the cost, further improvement applicable cubical switchboard detection type and scope.
Drawings
Fig. 1 is a schematic structural diagram of a truss robot system for automatically operating a switch cabinet door.
Fig. 2 is a schematic structural view of a track beam assembly.
Fig. 3 is a schematic configuration diagram of a working robot.
Fig. 4 is a partially enlarged view of the vacuum chuck device of the working robot.
Fig. 5 is a flow chart of a method of operation of a truss robot system for automatically operating a switch cabinet door.
Wherein: 1. a truss support structure; 2. a first track beam system; 3. a second track beam system; 4. a third track beam system; 5. a working robot; 501. a robot mounting base; 502. a mechanical arm; 503 vacuum chuck means; 5031. a combined bracket; 5032. a telescopic rod; 5033. a vacuum chuck; 6. a track beam assembly; 601. a track beam; 602. a sliding track; 603. a slider group; 604. an end cap; 605. a driving wheel; 606. a synchronizing wheel; 607. a drive belt; 608. a reduction gearbox; 609. a motor; 610. installing a base; 7. a connecting plate; 701. a belt pressing mechanism.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Example 1
As shown in fig. 1, a truss robot system for automatically operating a switch cabinet door comprises a truss support structure 1, a first track beam system 2, a second track beam system 3, a third track beam system 4 and a working robot 5; a first track beam system 2 is installed at the upper end of the truss supporting structure 1, a second track beam system 3 is installed on the first track beam system 2, a third track beam system 4 is installed on the second track beam system 3, and a working robot 5 is installed on the third track beam system 4;
the first track beam system 2, the second track beam system 3 and the third track beam system 4 are composed of track beam assemblies 6; as shown in fig. 2, the track beam assembly 6 comprises a track beam 601, a sliding track 602, a slider group 603, an end cover 604, a driving wheel 605, a synchronizing wheel 606, a driving belt 607, a reduction box 608, a motor 609 and a mounting base 610; the top surface of the track beam 601 is provided with a sliding track 602, a sliding block group 603 is occluded on the sliding track 602, the sliding block group 603 is provided with two sliding blocks, two ends of the track beam 601 are provided with end covers 604, each end cover 604 is composed of four end plates, two end plates on the side surface of each end cover 604 are provided with circular holes, two end plates in the middle are provided with grooves, the circular holes on the two end plates on the side surfaces of the two end covers are respectively provided with a driving wheel 605 and a synchronizing wheel 606, the driving wheel 605 and the synchronizing wheel 606 in the grooves on the two end plates in the middle are connected through an annular driving belt 607, the driving belt 607 is parallel to the sliding track 602, the driving side of the driving wheel 605 is provided with a reduction box 608, and the power side of the reduction box 608 is provided with a motor 609; the bottom surfaces of two ends of the track beam 601 are connected with mounting bases 610;
the truss support structure 1 is provided with four upright posts, the bottoms of the upright posts are provided with bases, the top ends of the upright posts are provided with two cross beams and two longitudinal beams, and each upright post is provided with two inclined supports for connecting the cross beams and the longitudinal beams;
the mounting base of the first track beam system 2 is connected with the top surfaces of four upright posts of the truss supporting structure, and the track beam of the first track beam system 2 is parallel to two cross beams of the truss supporting structure 1; the mounting base of the second track beam system 3 is mounted on the top surface of the sliding block set of the first track beam system 2, and the track beam of the second track beam system 3 is perpendicular to the track beam of the first track beam system 2; the mounting base of the third track beam system 4 is mounted on the top surface of the sliding block group of the second track beam system 3, and the third track beam system 4 is mounted on any side surface of the track beam of the second track beam system 3 through the mounting base and is vertical to the plane formed by the first track beam system 2 and the second track beam system 3;
the working robot 5 includes a robot mounting base 501, a robot arm 502, and a vacuum chuck device 503; the robot mounting base 501 is mounted on the top surface of the sliding block group of the third track beam system 4, the working robot 5 is mounted on the back surface of the track beam of the third track beam system 4 through the robot mounting base 501, the robot mounting base 501 is provided with a mechanical arm 502 of the working robot 5, and the tail end of the mechanical arm 502 is provided with a vacuum chuck device 503.
The truss support structure 1 is a cubic frame structure, and a working space of the truss robot system is constructed; the first track beam system 2, the second track beam system 3 and the third track beam system 4 are combined to form a three-dimensional coordinate system of the truss robot system, and the movement sequence and the movement track of the first track beam system 2, the second track beam system 3 and the third track beam system 4 are set through virtual coordinate positioning, so that the detection requirements of various switch cabinets are met.
At least one supporting base plate is arranged in the middle of a cross beam of the truss supporting structure 1, the same supporting base plate is arranged at the corresponding position of the bottom surface of the track beam of the first track beam system 2 above the cross beam, and a supporting upright post is arranged between the two supporting base plates.
It should be noted that the supporting columns are used for assisting in supporting the first track beam system 2, the number of the supporting columns is at least one, and the supporting columns can reduce the stress deformation of the middle portion of the track beam of the first track beam system 2 according to the reasonable increase of the load capacity and the span of the first track beam system 2, so that the stability of the track beam is improved, and the service life of the track beam is prolonged.
As shown in fig. 3, the mounting base of the third track beam system 4 and the robot mounting base 501 are hollow cubic structures, and the central lines of the mounting bases coincide with the track beams of the second track beam system 3 and the third track beam system 4, respectively.
It should be noted that the hollow cubic structure mounting base is connected with the sliding block groups on the sliding tracks through the inner surface of the cube, the cubic structure mounting base is provided with at least two sliding tracks for ensuring stability, each sliding block group is provided with at least two sliding blocks, and the sliding block groups on different tracks are in the same relative position; meanwhile, the sliding block group and the sliding track are connected in an occlusion mode, the sliding mode can adopt a rolling mode, and the gap between the sliding block group and the sliding track is reasonable in design and generally ranges from 2mm to 5 mm.
Connecting plates 7 are arranged on the mounting bases of the second track beam system 3 and the third track beam system 4 and the robot mounting base 501, a belt pressing mechanism 701 is arranged on the connecting plates, and the belt pressing mechanism 701 presses a transmission belt.
It should be noted that the belt pressing mechanism 701 adopts an upper pressing plate and a lower pressing plate structure, four corners of the upper pressing plate and the lower pressing plate are locked through bolts, and the lower pressing plate is designed into a zigzag structure, so that the transmission belt is prevented from sliding.
The track beams of the first track beam system 2, the second track beam system 3 and the third track beam system 4 are provided with tow chain cable grooves, tow chain cables are placed in the tow chain cable grooves, one end of each tow chain cable is electrically connected with the motor or the mechanical arm 502, and the other end of each tow chain cable is connected with an external control system or a power supply system.
As shown in fig. 4, the vacuum chuck device 503 of the working robot 5 includes a combination bracket 5031, an expansion link 5032, and a vacuum chuck 5033; the combined bracket 5031 is provided with a vertical column connected with the mechanical arm 502, the combined bracket 5031 is uniformly provided with at least three telescopic rods 5032, the front end of each telescopic rod 5032 is provided with a vacuum chuck 5033, and the vacuum chuck 5033 is connected with a vacuum pump through an air pipe.
It should be noted that, when the vacuum chuck device 503 is at the end of the mechanical arm 502 and is used for adsorption, the vacuum pump exhausts air, the telescopic rod 5032 contracts synchronously, an adsorption force is generated between the vacuum chuck 5033 and the cabinet door of the switch cabinet, and then the cabinet door is opened by the action of the mechanical arm 502; at least three telescopic rods 5032 and three vacuum suckers 5033 are adopted to ensure that the stress at the absorption part is balanced and stable.
The motors 609 of the track beam assembly 6 have a control system provided with soft travel switches, the soft travel switches of the two motors of the first track beam system 2 being interconnected in a synchronized action.
An angle detection device is arranged on the track beam of the second track beam system 3, and when the verticality deviation between the second track beam system 3 and the first track beam system 2 reaches a preset value, an automatic deviation rectification mode is started.
In the scheme, the automatic deviation rectifying mode comprises the following steps:
s9.1: when the angle detection device detects that the verticality deviation reaches a preset value, a feedback signal is sent out;
s9.2: stopping the operation after the control system finishes the current operation, and returning to the initial state;
s9.3: starting an automatic deviation rectifying mode, and removing the synchronous action interconnection of the two motor soft travel switches of the first track beam system 2;
s9.4: the two motors of the first track beam system 2 start a low-speed mode, the first motor moves to a soft travel switch limit point, the motors brake, the second motor continues to move to the soft travel switch limit point, and the motors brake;
s9.5: and (5) acquiring the verticality deviation detected by the angle detection device again, and finishing automatic deviation rectification.
It should be noted that the first track beam system 2 has two sets of track beam assemblies 6, including two transmission belts and two motors, and may generate a slight deviation in a long-term operation movement, and when the deviation is too large, the two sides of the second track beam system 3 are asynchronous when the second track beam system operates on the first track beam system 2, so as to generate a movement resistance, which may easily cause a slider group failure, and even seriously cause a track beam of the second track beam system 3 to deform; therefore, the predetermined value for detecting the perpendicularity deviation by the angle detection device is usually set to 2% or 3%, so that the deviation of the second track beam system 3 is corrected in time, and equipment failure is avoided.
Example 2
As shown in the flowchart of fig. 5, the present embodiment provides an operation method of the truss robot system for automatically operating a switch cabinet door in embodiment 1, including the following steps:
s10.1: when the switch cabinet reaches a working position, the truss robot system is started;
s10.2: motors of the first track beam system 2, the second track beam system 3 and the third track beam system 4 are started, and the working robot 5 moves to a first working position;
s10.3: the working robot 5 extends the mechanical arm 502 according to a preset track, moves the vacuum chuck device 503 at the tail end of the mechanical arm 502 to a working position, and adsorbs a cabinet door of the switch cabinet;
s10.4: the mechanical arm 502 acts to control the cabinet door to open or close through the posture change of the working robot 5;
s10.5: the operation robot 5 loosens the cabinet door, and the mechanical arm 502 is contracted to an initial form;
s10.6: motors of the first track beam system 2, the second track beam system 3 and the third track beam system 4 are started, and the working robot 5 moves to a second working position;
s10.7: repeating the steps from S3 to S5, and controlling the opening or closing of the other cabinet door of the switch cabinet;
s10.8: and finishing the operation, and returning the truss robot system to the initial state.
It should be noted that the first working position and the second working position in the operation method have different corresponding coordinates in the detection of the switch cabinets with different specifications and models; the initial state refers to a state before the mechanical arm 502 does not move, and is usually set to a contraction state, so that the occupation of a movement space is reduced; the working robot 5 includes a four-axis robot, a five-axis robot, or a six-axis robot.
The same or similar reference numerals correspond to the same or similar parts; the terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent; it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A truss robot system for automatically operating a switch cabinet door is characterized by comprising a truss supporting structure (1), a first track beam system (2), a second track beam system (3), a third track beam system (4) and a working robot (5); a first track beam system (2) is installed at the upper end of the truss supporting structure (1), a second track beam system (3) is installed on the first track beam system (2), a third track beam system (4) is installed on the second track beam system (3), and a working robot (5) is installed on the third track beam system (4);
the first track beam system (2), the second track beam system (3) and the third track beam system (4) are composed of track beam assemblies (6), and each track beam assembly (6) comprises a track beam (601), a sliding track (602), a sliding block set (603), an end cover (604), a transmission wheel (605), a synchronous wheel (606), a transmission belt (607), a reduction gearbox (608), a motor (609) and a mounting base (610); the top surface of the track beam (601) is provided with a sliding track (602), a sliding block set (603) is occluded on the sliding track (602), the sliding block set (603) is provided with two sliding blocks, end covers (604) are installed at two ends of the track beam (601), each end cover (604) is composed of four end plates, round holes are formed in two end plates on the side surfaces of each end cover (604), grooves are formed in two middle end plates, a transmission wheel (605) and a synchronous wheel (606) are respectively installed in the round holes of the two end plates on the side surfaces of the two end plates (604), the transmission wheel (605) and the synchronous wheel (606) in the grooves of the two end plates in the middle are connected through an annular transmission belt (607), the transmission belt (607) is parallel to the sliding track (602), a reduction gearbox (608) is installed on the transmission side of the transmission wheel (605), and a motor (609) is installed on the power side of the reduction gearbox (608); the bottom surfaces of two ends of the track beam (601) are connected with mounting bases (610);
the truss support structure (1) is provided with four upright posts, the bottoms of the upright posts are provided with bases, the top ends of the upright posts are provided with two cross beams and two longitudinal beams, and each upright post is provided with two inclined supports for connecting the cross beams and the longitudinal beams;
the mounting base of the first track beam system (2) is connected with the top surfaces of four upright posts of the truss supporting structure (1), and the track beam of the first track beam system (2) is parallel to two cross beams of the truss supporting structure (1); the mounting base of the second track beam system (3) is mounted on the top surface of the sliding block set of the first track beam system (2), and the track beam of the second track beam system (3) is perpendicular to the track beam of the first track beam system (2); the mounting base of the third track beam system (4) is mounted on the top surface of the sliding block set of the second track beam system (3), and the third track beam system (4) is mounted on any side surface of the track beam of the second track beam system (3) through the mounting base and is vertical to the plane formed by the first track beam system (2) and the second track beam system (3);
the working robot (5) comprises a robot mounting base (501), a mechanical arm (502) and a vacuum chuck device (503); the robot mounting base (501) is mounted on the top surface of the sliding block group of the third track beam system (4), the working robot (5) is mounted on the back surface of the track beam of the third track beam system (4) through the robot mounting base, the mechanical arm (502) of the working robot (5) is mounted on the robot mounting base (501), and the tail end of the mechanical arm (502) is provided with the vacuum chuck device (503).
2. The truss robot system for automatically operating a switch cabinet door as claimed in claim 1, wherein at least one supporting cushion plate is arranged in the middle of a cross beam of the truss supporting structure (1), the same supporting cushion plate is arranged at the corresponding position of the bottom surface of the track beam of the first track beam system (2) above the cross beam, and a supporting upright is arranged between the two supporting cushion plates.
3. The truss robot system for automatically operating a switch cabinet door according to claim 1, wherein the mounting base of the third track beam system (4) and the robot mounting base (501) are hollow cubic structures, and the central lines of the third track beam system and the third track beam system coincide with the track beams of the second track beam system (3) and the third track beam system (4), respectively.
4. The truss robot system for automatically operating a switch cabinet door according to claim 1, wherein the mounting bases of the second track beam system (3) and the third track beam system (4) and the robot mounting base (501) are provided with connecting plates (7), the connecting plates are provided with belt pressing mechanisms (701), and the belt pressing mechanisms (701) press a transmission belt.
5. The truss robot system for automatically operating the switch cabinet door according to claim 1, wherein the track beams of the first track beam system (2), the second track beam system (3) and the third track beam system (4) are provided with towline cable grooves, towline cables are placed in the towline cable grooves, one ends of the towline cables are electrically connected with a motor or a mechanical arm (502), and the other ends of the towline cables are connected with an external control system or a power supply system.
6. The truss robot system for automatically operating a switch cabinet door according to claim 1, wherein the vacuum chuck device (503) of the working robot (5) comprises a combination bracket (5031), a telescopic rod (5032), a vacuum chuck (5033); the combined bracket (5031) is provided with a vertical column connected with the mechanical arm (502), the combined bracket (5031) is uniformly provided with at least three telescopic rods (5032), the front end of each telescopic rod (5032) is provided with a vacuum suction cup (5033), and the vacuum suction cup (5033) is connected with a vacuum pump through an air pipe.
7. Truss robot system for automatic operation of a switch cabinet door according to claim 1, characterized in that the motors (609) of the track beam assembly (6) have a control system provided with soft travel switches, the soft travel switches of the two motors of the first track beam system (2) having a synchronous action interconnection.
8. The truss robot system for automatically operating a switch cabinet door as claimed in claim 7, wherein an angle detection device is arranged on the track beam of the second track beam system (3), and when the verticality deviation between the second track beam system (3) and the first track beam system (2) reaches a preset value, an automatic deviation rectification mode is entered.
9. The method of claim 8, wherein the automatic deskew mode comprises the steps of:
s9.1: when the angle detection device detects that the verticality deviation reaches a preset value, a feedback signal is sent out;
s9.2: stopping the operation after the control system finishes the current operation, and returning to the initial state;
s9.3: starting an automatic deviation rectifying mode, and removing the synchronous action interconnection of the two motor soft travel switches of the first track beam system (2);
s9.4: the two motors of the first track beam system (2) start a low-speed mode, the first motor moves to a soft travel switch limit point, the motors brake, the second motor continues to move to the soft travel switch limit point, and the motors brake;
s9.5: and (5) acquiring the verticality deviation detected by the angle detection device again, and finishing automatic deviation rectification.
10. An operating method of the truss robot system for automatically operating the switch cabinet door according to any one of claims 1 to 7, comprising the steps of:
s10.1: when the switch cabinet reaches a working position, the truss robot system is started;
s10.2: motors of the first track beam system (2), the second track beam system (3) and the third track beam system (4) are started, and the working robot (5) moves to a first working position;
s10.3: the operation robot (5) stretches the mechanical arm (502) according to a preset track, moves a vacuum chuck device (503) at the tail end of the mechanical arm (502) to a working position, and adsorbs a cabinet door of the switch cabinet;
s10.4: the mechanical arm (502) acts, and the cabinet door is controlled to be opened or closed through the posture change of the working robot (5);
s10.5: the operation robot (5) loosens the cabinet door, and the mechanical arm (502) contracts to an initial state;
s10.6: motors of the first track beam system (2), the second track beam system (3) and the third track beam system (4) are started, and the working robot (5) moves to a second working position;
s10.7: repeating the steps from S3 to S5, and controlling the opening or closing of the other cabinet door of the switch cabinet;
s10.8: and finishing the operation, and returning the truss robot system to the initial state.
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