CN114883963A - 一种基于柔性协作机器人的低压抽屉柜智能巡检方法 - Google Patents

一种基于柔性协作机器人的低压抽屉柜智能巡检方法 Download PDF

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CN114883963A
CN114883963A CN202210611806.9A CN202210611806A CN114883963A CN 114883963 A CN114883963 A CN 114883963A CN 202210611806 A CN202210611806 A CN 202210611806A CN 114883963 A CN114883963 A CN 114883963A
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卓海龙
王权华
赵俊
武艳文
张冠鹏
刘海云
毛丽娟
李春辉
顾彬彬
刘威
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Sinoma Intelligent Technology Chengdu Co ltd
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Nanjing Kisen International Engineering Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
    • H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
    • H02J13/00001—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by the display of information or by user interaction, e.g. supervisory control and data acquisition systems [SCADA] or graphical user interfaces [GUI]
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
    • H02J13/00002—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by monitoring
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
    • H02J13/00006—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment
    • H02J13/00022—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment using wireless data transmission
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
    • H02J13/00006—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment
    • H02J13/00022—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment using wireless data transmission
    • H02J13/00026—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment using wireless data transmission involving a local wireless network, e.g. Wi-Fi, ZigBee or Bluetooth
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S40/00—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them
    • Y04S40/12—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment
    • Y04S40/126—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment using wireless data transmission

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Abstract

本发明公开了一种基于柔性协作机器人的低压抽屉柜智能巡检方法，所述柔性协作机器人包括末端操作机构，所述末端操作机构包括电动夹爪、卡片式红外摄像机、吸盘、以及3D定位相机，包括如下步骤：(1)开柜门：柔性协作机器人按用户预先设定指令到达目标低压抽屉柜，所述电动夹爪抓取开关柜门钥匙，插入门锁并顺利针方向旋转开锁，然后通过吸盘吸住抽屉柜柜门；(2)测温：所述3D定位相机定位需要测温的抽屉单元，所述卡片式红外摄像机对相应低压出线接线柱测温，并把测温信号通过无线方式传输给用户；(3)关柜门：吸盘吸住抽屉柜柜门将柜门关到位后，再用电动夹爪抓取开关柜门钥匙，插入门锁并逆利针旋转关闭门锁。

Description

一种基于柔性协作机器人的低压抽屉柜智能巡检方法
技术领域
本发明主要涉及低压抽屉柜的远程巡检技术领域，特别是涉及一种基于柔性协作机器人的低压抽屉柜智能巡检方法。
背景技术
低压抽屉柜是一种广泛应用的供配电设备，柜体采用封闭式结构，散热条件差，而且长期工作在高电压、大电流的环境下，发热的现象时常发生，进而导致设备故障甚至带来安全隐患。
一次接插件是抽屉柜的重要器件之一，具有接通和断开电路的功能。由于受到抽屉插拔次数多、接插件质量差等问题影响，一次接插件很容易接触不良并产生发热，使得其周围温度升高，导致各相之间电气性能下降，容易产生短路故障，造成抽屉柜损坏或用电设备烧毁。
现有的低压抽屉柜高度集成、抽屉都较多，若每个抽屉都安装测温装置，工程造价会大幅度增加。
在实际生产中，低压抽屉柜的巡检测温工作，基本上都是巡检电工用测温枪手动测温，巡检工作量大且容易产生触电事故，同时，每个低压开关室在地理位置上较为分散，巡检电工来回路程多、用时长、工作效率低。因此需要一种低压抽屉柜智能巡检方法来满足生产、检修的需求，通过机器人代替人力，完成大量低压抽屉柜巡检测温工作，又能保证巡检人员安全。
发明内容
针对上述现有技术的不足，本发明提供了一种基于柔性协作机器人的低压抽屉柜智能巡检方法，具备自动开关柜门、智能识别、自动巡检测温等优点，解决了一般低压抽屉柜自动测温、智能巡检、操作危险性高等问题。
为达到上述目的，本发明是通过以下技术方案实现的：
一种基于柔性协作机器人的低压抽屉柜智能巡检方法，所述柔性协作机器人包括末端操作机构，所述末端操作机构包括电动夹爪、卡片式红外摄像机、吸盘、以及3D定位相机，包括如下步骤：
(1)开柜门：柔性协作机器人按用户预先设定指令到达目标低压抽屉柜，所述电动夹爪抓取开关柜门钥匙，插入门锁并顺利针方向旋转开锁，然后通过吸盘吸住抽屉柜柜门；
(2)测温：所述3D定位相机定位需要测温的抽屉单元，所述卡片式红外摄像机对相应低压出线接线柱测温，并把测温信号通过无线方式传输给用户；
(3)关柜门：吸盘吸住抽屉柜柜门将柜门关到位后，再用电动夹爪抓取开关柜门钥匙，插入门锁并逆利针旋转关闭门锁。
进一步的，所述电动夹爪的上侧设有卡片式红外摄像机，所述卡片式红外摄像机的上侧设有3D定位相机，所述3D定位相机的一侧设有多个吸盘。
进一步的，所述吸盘为电动吸盘或气动吸盘。
与现有技术相比，本发明具有如下有益效果：
本发明提供的一种基于柔性协作机器人的低压抽屉柜智能巡检方法，柔性协作机器人系统和末端操作机构相互配合使用，通过机器人代替人力，达到了智能巡检的目的，解决了一般低压抽屉柜出线柱巡检测温、巡检工作量大、工作危险性高的问题，提高了实用性，降低了工作危险程度，优化了低压抽屉柜巡检测温方式。
附图说明
图1为本发明的系统组成示意图；
图2为本发明的抽屉柜局部剖面示意图；
图3为本发明的末端操作机构组成示意图；
其中：1、柔性协作机器人；2、末端操作机构；2.1、电动夹爪；2.2、卡片式红外摄像机；2.3、吸盘；2.4、3D定位相机；3、低压抽屉柜；3.1、抽屉柜柜门；3.2、门锁；3.3、低压出线接线柱。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明的描述中，需要说明的是术语“安装”、“连接”等，应做广义理解，例如“连接”，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
下面结合附图对本发明的优选实施进行详细说明。
如图1-3所示，一种基于柔性协作机器人的低压抽屉柜，包括柜体，所述柜体上设有抽屉柜柜门3.1，所述抽屉柜柜门3.1上设有门锁3.2，柜体内设有多个抽屉柜，每个抽屉柜上设有低压出线接线柱3.3。这里的门锁3.2可以是圆柱锁、平面锁、把手锁、连杆锁、搭扣锁等任何形式的锁具；而低压出线接线柱3.3可以是低压出线铜排或低压端子排。
如图1、3所述，所述柔性协作机器人1包括末端操作机构2，所述末端操作机构2包括电动夹爪2.1、卡片式红外摄像机2.2、吸盘2.3、以及3D定位相机2.4。所述电动夹爪2.1的上侧设有卡片式红外摄像机2.2，所述卡片式红外摄像机2.2的上侧设有3D定位相机2.4，所述3D定位相机2.4的一侧设有多个吸盘2.3，这里的吸盘2.3可以电动吸盘或气动吸盘。
上述基于柔性协作机器人的低压抽屉柜智能巡检方法，包括如下步骤：
(1)开柜门：柔性协作机器人1按用户预先设定指令到达目标低压抽屉柜，所述电动夹爪2.1抓取开关柜门钥匙，插入门锁3.2并顺利针方向旋转开锁，然后通过吸盘2.3吸住抽屉柜柜门3.1；
(2)测温：所述3D定位相机2.4定位需要测温的抽屉单元，所述卡片式红外摄像机2.2对相应低压出线接线柱3.3测温，并把测温信号通过无线方式传输给用户；当检测到温度异常时，准确将异常信号发送给用户；
(3)关柜门：吸盘2.3吸住抽屉柜柜门3.1将柜门关到位后，再用电动夹爪2.1抓取开关柜门钥匙，插入门锁3.2并逆利针旋转关闭门锁。
以上操作完成了一台低压抽屉柜的智能巡检测温，可重复上述操作进行下一台低压抽屉柜的巡检测温，达到智能巡检的目的，提高了巡检工作效率，降低了人工巡检的危险性，优化了巡检方式。
综上所述，本发明应用于低压抽屉柜智能巡检测温方法，解决了一般低压抽屉柜巡检测温工作量大、危险性高的问题。同时，在多重安全技术措施的保障下，通过机器人代替人力，实现智能巡检，既解决了电工跑腿奔波和人员不足的问题，又保障了作业安全。
最后应说明的是：以上仅为本发明的优选实施例而已，并不用于限制本发明，尽管参照实施例对本发明进行了详细的说明，对于本领域的技术人员来说，其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换，但是凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (3)

1.一种基于柔性协作机器人的低压抽屉柜智能巡检方法，所述柔性协作机器人包括末端操作机构(2)，所述末端操作机构(2)包括电动夹爪(2.1)、卡片式红外摄像机(2.2)、吸盘(2.3)、以及3D定位相机(2.4)，其特征在于，包括如下步骤：
(1)开柜门：柔性协作机器人(1)按用户预先设定指令到达目标低压抽屉柜，所述电动夹爪(2.1)抓取开关柜门钥匙，插入门锁(3.2)并顺利针方向旋转开锁，然后通过吸盘(2.3)吸住抽屉柜柜门(3.1)；
(2)测温：所述3D定位相机(2.4)定位需要测温的抽屉单元，所述卡片式红外摄像机(2.2)对相应低压出线接线柱(3.3)测温，并把测温信号通过无线方式传输给用户；
(3)关柜门：吸盘(2.3)吸住抽屉柜柜门(3.1)将柜门关到位后，再用电动夹爪(2.1)抓取开关柜门钥匙，插入门锁(3.2)并逆利针旋转关闭门锁。
2.根据权利要求1所述的基于柔性协作机器人的低压抽屉柜智能巡检方法，其特征在于，所述电动夹爪(2.1)的上侧设有卡片式红外摄像机(2.2)，所述卡片式红外摄像机(2.2)的上侧设有3D定位相机(2.4)，所述3D定位相机(2.4)的一侧设有多个吸盘(2.3)。
3.根据权利要求2所述的基于柔性协作机器人的低压抽屉柜智能巡检方法，其特征在于，所述吸盘(2.3)为电动吸盘或气动吸盘。
CN202210611806.9A 2022-05-31 2022-05-31 一种基于柔性协作机器人的低压抽屉柜智能巡检方法 Pending CN114883963A (zh)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116032015A (zh) * 2023-02-17 2023-04-28 青岛华欧集团四海自动化控制工程有限公司 一种配电柜运维状态巡检装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116032015A (zh) * 2023-02-17 2023-04-28 青岛华欧集团四海自动化控制工程有限公司 一种配电柜运维状态巡检装置

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