CN114974962A - Switch cabinet operating device and operating robot - Google Patents
Switch cabinet operating device and operating robot Download PDFInfo
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- CN114974962A CN114974962A CN202210638713.5A CN202210638713A CN114974962A CN 114974962 A CN114974962 A CN 114974962A CN 202210638713 A CN202210638713 A CN 202210638713A CN 114974962 A CN114974962 A CN 114974962A
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- clamping
- push rod
- switch cabinet
- frame body
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H13/00—Switches having rectilinearly-movable operating part or parts adapted for pushing or pulling in one direction only, e.g. push-button switch
- H01H13/02—Details
- H01H13/12—Movable parts; Contacts mounted thereon
- H01H13/14—Operating parts, e.g. push-button
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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
- B25J18/00—Arms
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H13/00—Switches having rectilinearly-movable operating part or parts adapted for pushing or pulling in one direction only, e.g. push-button switch
- H01H13/02—Details
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H13/00—Switches having rectilinearly-movable operating part or parts adapted for pushing or pulling in one direction only, e.g. push-button switch
- H01H13/02—Details
- H01H13/04—Cases; Covers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Mechanisms For Operating Contacts (AREA)
Abstract
The invention relates to the technical field of switch cabinet operation, in particular to a switch cabinet operation device and an operation robot. The switch cabinet operating device comprises a frame body connected to a mechanical arm, wherein the frame body is provided with an electric clamping jaw and an electric push rod, the electric clamping jaw comprises a driving part fixed on the frame body and paired clamping rods driven by the driving part to move oppositely or back to back, the paired clamping rods are respectively provided with clamping blocks for clamping a knob, and the opposite sides of the two clamping blocks are respectively provided with an avoiding groove for avoiding a button; the electric push rod is fixed on the frame body, the driving end of the electric push rod is provided with a push rod for pushing the press button, the push rod and the two clamping rods are arranged in parallel, and the central axis of the push rod is positioned in a space surrounded by the two avoidance grooves; the frame body is also fixed with a vision module for observing the operation position on the switch cabinet. The ejector push rod can move relative to the two clamping blocks, so that the ejector push rod can be pressed in place, and the brake separating operation is completed.
Description
Technical Field
The invention relates to the technical field of switch cabinet operation, in particular to a switch cabinet operation device and an operation robot.
Background
The switch cabinet is an electrical device mainly comprising a circuit breaker, and related high-low voltage electrical appliances (including control electrical appliances, protection electrical appliances and measuring electrical appliances), a bus, a current-carrying conductor, an insulator and the like are assembled in a closed or open metal cabinet body according to the requirements of an electrical primary main wiring diagram so as to receive and distribute electric energy in an electric power system.
A switch button for operating the opening and closing of the circuit breaker is arranged on the surface of the 10kV-35kV switch cabinet. Generally, the conventional method is to operate the switch button manually, but this may cause electric shock to the relevant person, causing unnecessary accidents.
Chinese patent document No. CN205944755U discloses a switch cabinet opening operation device, which includes an operation mechanism, the operation mechanism includes a first switch component and a second switch component, the first switch component is used for operating a rotary button and a rotary telescopic integrated button on a switch cabinet, the second switch component is used for operating a telescopic button on the switch cabinet, so as to realize opening operation of buttons of different models.
The first switching-off assembly in the above technology can realize the switching-off operation of the rotary telescopic integrated button. For the opening button device disclosed in chinese patent document No. CN204793662U, since the rotating fork and the soft rubber contact of the first opening component are operated synchronously, when the soft rubber contact presses the opening button, the rotating fork is easily interfered with the rotating button, and the rotating fork is prevented from moving along the pressing direction, so that the soft rubber contact is easily unable to press the opening button in place, and the opening operation cannot be completed.
Disclosure of Invention
The invention aims to provide a switch cabinet operating device, which solves the technical problem that the switch cabinet opening operating device in the prior art is difficult to complete opening operation on certain rotary telescopic integrated buttons; the invention also aims to provide the operating robot.
In order to achieve the purpose, the technical scheme of the switch cabinet operating device is as follows:
the switch cabinet operating device comprises a frame body connected to a mechanical arm, wherein the frame body is provided with an electric clamping jaw and an electric push rod, the electric clamping jaw comprises a driving part fixed on the frame body and paired clamping rods driven by the driving part to move oppositely or oppositely, the paired clamping rods are respectively provided with clamping blocks for clamping a knob, and the opposite sides of the two clamping blocks are respectively provided with an avoiding groove for avoiding a button; the electric push rod is fixed on the frame body, the driving end of the electric push rod is provided with a push rod for pushing the press button, the push rod and the two clamping rods are arranged in parallel, and the central axis of the push rod is positioned in a space surrounded by the two avoidance grooves; the frame body is also fixed with a vision module for observing the operation position on the switch cabinet; the switch cabinet operation device is provided with a rotation mode, a pressing mode and a rotation pressing mode, and in the rotation mode, the electric clamping jaw drives the two clamping block clamping knobs and drives the knobs to rotate through the mechanical arm; in a pressing mode, the electric push rod drives the ejector rod to penetrate through a space formed by the two avoiding grooves to press the button; when the push button is in a rotary pressing mode, the electric clamping jaw drives the two clamping block clamping knobs to rotate through the mechanical arm driving knob, and the electric push rod drives the push rod to penetrate through a space formed by the two avoidance grooves to press the button.
The beneficial effects are that: according to the invention, the frame body used for being connected to the mechanical arm is provided with the electric push rod and the electric clamping jaw, the push rod and the clamping blocks on the two clamping rods are respectively driven by the electric push rod and the electric clamping jaw, so that the push rod and the two clamping blocks can independently move, the push rod and the two clamping rods are arranged in parallel, and the central axis of the push rod is positioned in a space surrounded by the avoidance grooves on the two clamping blocks. After the vision module observes and records the operation position on the switch cabinet, the electric clamping jaw is utilized to drive the two clamping blocks to do clamping action so as to finish the clamping operation of the knob, then the operation is kept, and the rotation operation is finished through the rotating joint of the mechanical arm so as to realize the rotation mode; the electric push rod is used for driving the ejector rod to complete the pressing operation so as to realize the pressing mode; the rotation-pressing mode can be realized by combining the above-described rotation mode and pressing mode. The ejector push rod can move relative to the two clamping blocks, so that the ejector push rod can be pressed in place, and the brake separating operation is completed.
As a further improvement, the two avoiding grooves are positioned on the same side of the plane where the central axes of the two clamping rods are positioned, and the ejector rod and the two clamping rods are arranged in a delta shape.
The beneficial effects are that: the design is convenient for the arrangement of the driving part of the electric clamping jaw and the electric push rod on the frame body.
As a further improvement, the two clamping blocks respectively comprise a connecting section and a clamping section connected with the connecting section, the two connecting sections are respectively and detachably fixed on the opposite inner sides of the two clamping rods, and the two clamping sections and the ejector rod are positioned on the same side of the plane where the central axes of the two clamping rods are positioned; the clamping section is provided with the avoiding groove.
As a further improvement, the avoiding groove is a semicircular groove.
The beneficial effects are that: so designed, can accommodate most circular buttons in the prior art.
As a further improvement, a driving motor is fixed on the frame body, the driving end of the driving motor is connected with a tool mounting sleeve through a coupler, and the tool mounting sleeve is used for mounting a handcart operation tool.
The beneficial effects are that: by the design, the function of the switch cabinet operation device is increased, so that the switch cabinet operation device can meet more operation scenes.
As a further improvement, the coupling is a bellows coupling.
The beneficial effects are that: the corrugated pipe coupler can solve the problems of rushing and bouncing in the butt joint process of the handcart operating tool and the handcart operating hole.
As a further improvement, the frame body is provided with a partial discharge detector which is guided in a first direction and is assembled on the frame body in a floating mode.
The beneficial effects are that: because the direction of local detector is floated and is assembled on the support body, in the course of the work, if the detector is put to the office hits other objects and can fluctuate to weaken the impact that the detector received is put to the office, and then the detector is put to effectual protection office.
As further improvement, be equipped with guide structure between detector is put in the office to the support body, guide structure including fix the slide rail on the support body and with slide rail sliding fit's slider, be equipped with on the slide rail and be used for spacing first stopper and the second stopper to the slider on the first direction, fixedly connected with connecting plate on the slider, the detector is put in the office is fixed on the connecting plate.
The beneficial effects are that: the first limiting block and the second limiting block are used for limiting the sliding block in the first direction, and the floating range of the partial discharge detector is guaranteed.
As further improvement, still be equipped with the fixed plate on the support body, the fixed plate is located one side of connecting plate on the first direction, the connecting plate is the L template, the connecting plate includes vertical board section and horizontal plate section, the partial discharge detector is fixed on vertical board section, be fixed with the guide post on the horizontal plate section, be equipped with on the fixed plate with guide post direction complex guiding hole, the cover is equipped with the pressure spring on the guide post, the one end roof pressure of pressure spring is on the fixed plate, the other end roof pressure of pressure spring is on the horizontal plate section of connecting plate.
In order to achieve the above object, the technical solution of the robot of the present invention is:
the operating robot comprises a mechanical arm and a switch cabinet operating device fixed on the mechanical arm, wherein the switch cabinet operating device comprises a frame body connected to the mechanical arm, an electric clamping jaw and an electric push rod are arranged on the frame body, the electric clamping jaw comprises a driving part fixed on the frame body and paired clamping rods driven by the driving part to move oppositely or back to back, clamping blocks used for clamping a knob are respectively arranged on the paired clamping rods, and avoidance grooves used for avoiding buttons are respectively arranged on the opposite sides of the two clamping blocks; the electric push rod is fixed on the frame body, the driving end of the electric push rod is provided with a push rod for pushing the press button, the push rod and the two clamping rods are arranged in parallel, and the central axis of the push rod is positioned in a space surrounded by the two avoidance grooves; the frame body is also fixed with a vision module for observing the operation position on the switch cabinet; the switch cabinet operating device has a rotation mode, a pressing mode and a rotation pressing mode, and in the rotation mode, the electric clamping jaw drives the two clamping block clamping knobs and drives the knobs to rotate through the mechanical arm; in a pressing mode, the electric push rod drives the ejector rod to penetrate through a space formed by the two avoiding grooves to press the button; in a rotary pressing mode, the electric clamping jaw drives the two clamping block clamping knobs to rotate through the mechanical arm, and then the electric push rod drives the push rod to penetrate through a space formed by the two avoidance grooves to press the button.
The beneficial effects are that: according to the invention, the frame body used for being connected to the mechanical arm is provided with the electric push rod and the electric clamping jaw, the push rod and the clamping blocks on the two clamping rods are respectively driven by the electric push rod and the electric clamping jaw, so that the push rod and the two clamping blocks can independently move, the push rod and the two clamping rods are arranged in parallel, and the central axis of the push rod is positioned in a space surrounded by the avoidance grooves on the two clamping blocks. After the vision module observes and records the operation position on the switch cabinet, the electric clamping jaw is utilized to drive the two clamping blocks to do clamping action so as to finish the clamping operation of the knob, then the operation is kept, and the rotation operation is finished through the rotating joint of the mechanical arm so as to realize the rotation mode; the electric push rod is used for driving the ejector rod to complete the pressing operation so as to realize the pressing mode; the rotation-pressing mode can be realized by combining the above-described rotation mode and pressing mode. The ejector push rod can move relative to the two clamping blocks, so that the ejector push rod can be pressed in place, and the brake separating operation is completed.
As a further improvement, the two avoiding grooves are positioned on the same side of the plane where the central axes of the two clamping rods are positioned, and the ejector rod and the two clamping rods are arranged in a delta shape.
The beneficial effects are that: the design is convenient for the arrangement of the driving part of the electric clamping jaw and the electric push rod on the frame body.
As a further improvement, the two clamping blocks respectively comprise a connecting section and a clamping section connected with the connecting section, the two connecting sections are respectively and detachably fixed on the opposite inner sides of the two clamping rods, and the two clamping sections and the ejector rod are positioned on the same side of the plane where the central axes of the two clamping rods are positioned; the clamping section is provided with the avoiding groove.
As a further improvement, the avoiding groove is a semicircular groove.
The beneficial effects are that: so designed, can accommodate most circular buttons in the prior art.
As a further improvement, a driving motor is fixed on the frame body, the driving end of the driving motor is connected with a tool mounting sleeve through a coupler, and the tool mounting sleeve is used for mounting a handcart operation tool.
The beneficial effects are that: by the design, the function of the switch cabinet operation device is increased, so that the switch cabinet operation device can meet more operation scenes.
As a further improvement, the coupling is a bellows coupling.
The beneficial effects are that: the corrugated pipe coupler can solve the problems of rushing and bouncing in the butt joint process of the handcart operating tool and the handcart operating hole.
As a further improvement, the frame body is provided with a partial discharge detector which is guided in a first direction and is assembled on the frame body in a floating mode.
The beneficial effects are that: because the direction of local detector is floated and is assembled on the support body, in the course of the work, if the detector is put to the office hits other objects and can fluctuate to weaken the impact that the detector received is put to the office, and then the detector is put to effectual protection office.
As further improvement, be equipped with guide structure between detector is put in the office to the support body, guide structure including fix the slide rail on the support body and with slide rail sliding fit's slider, be equipped with on the slide rail and be used for spacing first stopper and the second stopper to the slider on the first direction, fixedly connected with connecting plate on the slider, the detector is put in the office is fixed on the connecting plate.
The beneficial effects are that: the first limiting block and the second limiting block are used for limiting the sliding block in the first direction, and the floating range of the partial discharge detector is guaranteed.
As further improvement, still be equipped with the fixed plate on the support body, the fixed plate is located one side of connecting plate on the first direction, the connecting plate is the L template, the connecting plate includes vertical board section and horizontal plate section, the partial discharge detector is fixed on vertical board section, be fixed with the guide post on the horizontal plate section, be equipped with on the fixed plate with guide post direction complex guiding hole, the cover is equipped with the pressure spring on the guide post, the one end roof pressure of pressure spring is on the fixed plate, the other end roof pressure of pressure spring is on the horizontal plate section of connecting plate.
Drawings
FIG. 1 is a schematic view of the structure of the switchgear operating apparatus of the present invention;
FIG. 2 is a schematic diagram of the structure of FIG. 1 from a first perspective;
FIG. 3 is a schematic diagram of the structure of FIG. 1 from a second perspective;
fig. 4 is a schematic structural diagram of a third viewing angle of fig. 1.
In the figure: 11. a handcart handling tool; 12. a tool mounting sleeve; 13. a bellows coupling; 14. a drive motor; 15. a frame body; 16. wire clamps; 17. a partial discharge detector; 18. a clamping bar; 19. a clamping block; 20. pushing the push rod; 21. a vision module; 22. a driving portion; 23. an electric push rod; 24. a connecting plate; 25. a guide post; 26. a fixing plate; 27. a pressure spring; 28. a slide rail; 29. a slider; 30. a connecting flange; 31. a first mounting plate; 32. a second mounting plate.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration only, not by way of limitation, i.e., the embodiments described are intended as a selection of the best mode contemplated for carrying out the invention, not as a full mode. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that relational terms such as "first" and "second," and the like, which may be present, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …," or the like, does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, the terms "front", "back", "upper", "lower", "left" and "right" are based on the orientations and positional relationships shown in the drawings and are only for convenience in describing the present invention, but do not indicate that the referred device or component must have a specific orientation, and thus, should not be construed as limiting the present invention.
A switchgear is a device which is mainly a circuit breaker and which assembles related high and low voltage electric appliances, bus bars, current-carrying conductors, insulators, etc. in a closed or open metal cabinet body to receive and distribute electric energy in an electric power system. Generally, a switch cabinet panel is provided with a knob and a button, and the knob and the button are operated to realize corresponding functions.
The traditional mode is to go to operation knob and button action through the manual work, because operating personnel closely contacts the cubical switchboard, probably leads to operating personnel to electrocute, causes unnecessary accident. However, in the prior art, an operation robot is used to operate the knob and the button, but the following problems exist: (1) the operation is not flexible enough, and the operation also needs to switch appliances or replace a tool bit according to the standard operation flow; (2) the functions are single, most designs can smoothly complete single actions or specify a certain function, the actual use cannot completely replace people, and the applicability and the universality are slightly insufficient; (3) part of the design movement and the direction conversion are realized by a three-axis mechanism, and the space positioning and the operation matching are slightly deficient.
The invention provides a switch cabinet operating device which integrates a 3D camera, a handcart operating tool, a clamping block, a push rod, a partial discharge detector and a connecting flange. The 3D camera realizes the identification of the running state of the switch cabinet and the identification and positioning of an operation connecting sheet (pressing plate), a distance control conversion knob, an energy storage conversion knob button, a circuit breaker opening and closing knob, a meter and an indicator lamp. The handcart operation tool realizes the shaking-in and shaking-out operation of the handcart. The clamping block realizes the operation of the rotary connection of the operation connecting piece (pressure plate), the far and near control conversion knob, the energy storage conversion knob and the switch-on and switch-off knob of the circuit breaker. The push rod realizes the operation of the switch cabinet measurement and control device button. The partial discharge detector detects partial discharge of a handcart room of the switch cabinet. The connecting flange realizes mechanical connection between the switch cabinet operating device and the tail end of the six-axis mechanical arm, and the six-axis mechanical arm is used for driving the whole device to move so as to realize station conversion.
The features and properties of the present invention are described in further detail below with reference to examples.
Embodiment 1 of the switchgear operating apparatus of the present invention:
as shown in fig. 1 and 3, the switch cabinet operating device includes a frame body 15, the frame body 15 is a rectangular parallelepiped structure, a connecting flange 30 is disposed on a side plate of the frame body 15, and the frame body 15 is mounted on the mechanical arm through the connecting flange 30, so that the frame body 15 can move at various angles under the driving of the mechanical arm, and further, the conversion of different stations is realized. Wherein the connection flange 30 constitutes a connection portion. The connecting flange 30 and the mechanical arm are installed by adopting a standard installation interface (which conforms to the GB/T14468.1-50-4-M6 and ISO 9409-1-50-4-M6 standards), so that the connecting flange can be connected with the mechanical arm with the same interface for use, and the universality and the applicability of the tool are ensured.
In this embodiment, support body 15 adopts the aluminum alloy material, reduces whole weight when guaranteeing mechanical strength. And each side plate of the frame body 15 is fixedly installed by adopting a stainless steel inner hexagonal screw.
As shown in fig. 2 and 4, the frame body 15 is provided with an electric clamping jaw and an electric push rod 23, the electric clamping jaw includes a driving portion 22 fixed on the frame body 15 and a pair of clamping bars 18, the pair of clamping bars 18 are driven by the driving portion 22 to move relatively or oppositely, the pair of clamping bars 18 are respectively provided with clamping blocks 19 for clamping a knob on the switch cabinet, and opposite sides of the two clamping blocks 19 are respectively provided with an avoiding groove. The electric clamping jaw is an existing mature product, taking one of the electric clamping jaws as an example, the driving part comprises a motor, a gear and two racks which are arranged in parallel, the gear is arranged on an output shaft of the motor, the two racks are positioned on two sides of the gear and meshed with the gear, and the clamping rods are respectively fixed on the corresponding racks so as to move along with the racks under the driving of the motor.
In this embodiment, the electric push rod 23 is fixed on the frame body 15, the driving end of the electric push rod 23 is provided with the push rod 20 for pushing and pressing the button on the switch cabinet, the push rod 20 and the two clamping rods 18 are arranged in parallel, and the central axis of the push rod 20 is located in a space surrounded by the two avoiding grooves. The electric push rod 23 is a mature product, and the structure and the working principle thereof are not explained in detail.
In this embodiment, the ejector pin 20 and the two clamping bars 18 are disposed on the same side of the frame body 15, and the connecting portion and the ejector pin 20 are on opposite sides of the frame body 15.
In this embodiment, the two clamping bars 18 move oppositely or oppositely in the first direction, and the plane of the central axes of the two clamping bars 18 is a vertical plane. The two clamping blocks 19 respectively comprise a connecting section and a clamping section connected with the connecting section, the two connecting sections are respectively detachably fixed on the opposite inner sides of the two clamping rods 18, and the two clamping sections and the ejector rod 20 are positioned on the same side of the plane where the central axes of the two clamping rods 18 are positioned; the clamping section is provided with the avoiding groove. Namely, the two avoidance grooves are on the same side of the plane, and the ejector rod 20 and the two avoidance grooves are correspondingly arranged, so that the ejector rod 20 and the two clamping rods 18 are arranged in a delta shape, which is convenient for the arrangement of the driving part 22 and the electric push rod 23 on the frame body 15.
In this embodiment, the two avoiding grooves are both semicircular grooves to accommodate most circular buttons in the prior art, such as the opening button disclosed in CN 204793662U.
As shown in fig. 1 and 2, a driving motor 14 is fixed on the frame body 15, and the driving motor 14 includes a servo motor and a reducer, so as to effectively solve the problems of unbalance, jitter, clamping stagnation and the like in the operation process. The driving end of the driving motor 14 is connected with a tool mounting sleeve 12 through a corrugated pipe coupler 13, the tool mounting sleeve 12 is used for mounting a handcart operation tool 11 so as to realize the shaking-in and shaking-out operation of a handcart, and the corrugated pipe coupler 13 can counteract the problems of rushing and bouncing in the butt joint process of the handcart operation tool 11 and a handcart operation hole.
In this embodiment, 11 detachably of handcart operating means connect on instrument installation sleeve 12, and the design like this can change not unidimensional handcart operating means 11 to different circuit breaker handcarts, improves the commonality.
In this embodiment, still be fixed with second mounting panel 32 on the support body 15, be fixed with the vision module 21 that is used for observing the last operating position of cubical switchboard on the second mounting panel 32, vision module 21 can send the position posture parameter who obtains to the arm controller, and the arm controller adjusts the operation position according to relevant information. Preferably, the vision module 21 is a 3D camera, which can realize the identification of the operation state of the switch cabinet, the meter and the indicator light, and the identification and positioning of the remote control conversion knob, the energy storage conversion knob and the circuit breaker opening and closing knob. Wherein the vision module 21 and the tool mounting sleeve 12 are on the same side of the frame body 15.
In this embodiment, the 3D camera has 3D scanning and laser positioning functions, the CCD unit and the image processing unit are integrally designed, and the image acquisition unit is built in, so that image data can be stored in real time and processed with the support of image processing software. The 3D camera possesses infrared laser location and light filling function, and the 3D camera passes through the plane position that laser edge detection can realize the hole, estimates the position and the gesture of three-dimensional hole for the camera through the ovality and the size information of round hole image simultaneously to through image processing with position gesture parameter transmission to mechanical arm controller, mechanical arm controller adjusts the operation position according to relevant information in real time. Meter information (including a charged display, an opening and closing indicator, an energy storage state, a locking state, a voltage and current numerical value, screen display data of an intelligent control device), knob and button positions and opening and closing state positions acquired by a camera are transmitted to an operation platform analysis host through a data channel; the data channel adopts RJ45 network cable interface and wireless WIFI communication, and supports various standard network and bus protocols.
As shown in fig. 1 and 3, a partial discharge detector 17 is disposed on the frame body 15, and the partial discharge detector 17 is used for accurately detecting a partial discharge portion of the switch cabinet.
In this embodiment, the partial discharge detector 17 is an existing mature product, if an AE and TEV partial discharge collection module is adopted, the collection module receives a control instruction of the mobile electric intelligent linkage operation platform, detects a switch cabinet test point preset by the mobile electric intelligent linkage operation platform, detects collected AE amplitude map data, AE waveform map data, AE phase map data, AE pulse map data and TEV amplitude data, transmits the data to the mobile electric intelligent linkage operation platform through an RS-485 communication interface, transmits the data to the remote data management platform through the mobile electric intelligent linkage operation platform, and finally completes a detection task. The partial discharge detection module and the mobile electric power intelligent linkage operation platform are communicated through an RS485 interface, and a user-defined mode is adopted for a communication protocol. The partial discharge detection module is powered by a mobile electric power intelligent linkage operation platform body (the partial discharge detection module and the RS485 communication share the same interface, and the power supply is 12 v/1A).
In this embodiment, the partial discharge detector 17 is guided in the first direction (i.e., the up-down direction in fig. 3) and is floatingly mounted on the frame body 15. Specifically, a guide structure is arranged between the frame body 15 and the local placement detector 17, the guide structure includes a slide rail 28 fixed on the frame body 15 and a slide block 29 in sliding fit with the slide rail 28, and a first limit block (i.e., an upper limit block in fig. 3) and a second limit block (i.e., a lower limit block in fig. 3) for limiting the slide block 29 are respectively arranged at the upper end and the lower end of the slide rail 28. The slider 29 is fixedly connected with a connecting plate 24, the connecting plate 24 is fixed with a first mounting plate 31, and the partial discharge detector 17 is fixed on the first mounting plate 31.
In this embodiment, still be equipped with fixed plate 26 in the top of connecting plate 24 on the support body 15, connecting plate 24 is the L template, connecting plate 24 includes vertical board section and horizontal plate section, first mounting panel 31 is fixed on vertical board section, be fixed with guide post 25 on the horizontal plate section, be equipped with on the fixed plate 26 with guide post 25 direction complex guiding hole, the cover is equipped with the pressure spring 27 that is in between the horizontal plate section of fixed plate 26 and connecting plate 24 on the guide post 25, the one end roof pressure of pressure spring 27 is on fixed plate 26, the other end roof pressure of pressure spring 27 is on the horizontal plate section of connecting plate 24, utilize the compression of pressure spring 27 to realize the unsteady of partial discharge detector. Wherein, the upper end of the guide post 25 is provided with a limit ring to prevent the guide post 25 from being separated from the fixing plate 26.
As shown in fig. 1 and 4, a wire clamp 16 is further disposed on the frame body 15, and the wire clamp 16 is used for fixing a wire harness, so that the wire harness on the mechanical arm is connected with each component on the frame body 15.
The switch cabinet operating device of the invention has a rotation mode, a pressing mode and a rotation pressing mode.
Be used for operating knob switch during the rotation mode, like far and near accuse change knob switch, the manual automatic change knob switch of mechanism energy storage, divide-shut brake knob switch etc.: the electric clamping jaws drive the two clamping blocks 19 to perform clamping action to complete the clamping operation of the knob switch, and then the operation is maintained, and the rotation operation is completed through the rotating joint of the mechanical arm. At this time, the electric push rod 23 does not operate.
Be used for operating button switch during the mode of pressing, like cubical switchboard measurement and control device's button: the ejector pin 20 is driven by the electric push rod 23 to complete the pressing operation. At this time, the electric jaw does not work.
When in the rotary pressing mode, the switch which is firstly rotated and then pressed is operated, such as an emergency brake-separating switch: firstly, an electric clamping jaw is used for driving two clamping blocks 19 to do clamping action so as to finish the clamping operation of a knob, then the operation is kept, and the rotation operation is finished through a rotary joint of a mechanical arm; in the second step, the electric push rod 23 is used to drive the push rod 20 to complete the pressing operation.
The switch cabinet operating device is flexible and compact in structure, can be flexibly matched according to user requirements, is matched with a mobile electric intelligent linkage operating platform for use, and meets the requirement of remote switching operation of a 10kV-35kV switch cabinet. This product can replace or assist artifical emergency operation, and the staff's that significantly reduces work burden shortens the fault handling time, and the operation of standardized flow prevents the maloperation, guarantees operation personnel personal safety and electric wire netting safety, promotes the intelligent level of distribution operation, under the condition of the huge stock of cubical switchboard electricity distribution room, has fairly huge market.
Embodiment 2 of the switchgear operating apparatus of the present invention:
the present embodiment is different from embodiment 1 in that in embodiment 1, the ejector pins and the two clamping bars are arranged in a delta shape. In this embodiment, the ejector rod is located between the two clamping rods, and the ejector rod and the two clamping rods are arranged in a line, at this time, the two clamping rods have a certain length, and the electric push rod is located between the two clamping rods.
Embodiment 3 of the switchgear operating apparatus of the present invention:
the present embodiment is different from embodiment 1 in that in embodiment 1, both of the two avoiding grooves are semicircular grooves. In this embodiment, two dodge the recess and be the dovetail groove, nevertheless guarantee to dodge the button.
Embodiment 4 of the switchgear operating apparatus of the present invention:
the present embodiment is different from embodiment 1 in that in embodiment 1, the coupling is a bellows coupling. In this embodiment, the bellows coupling is replaced by a conventional coupling (i.e., no bellows).
The embodiment of the operation robot of the invention comprises the following steps: the operation robot comprises a mechanical arm and a switch cabinet operation device fixed on the mechanical arm, wherein the switch cabinet operation device in the embodiment has the same structure as that of any one of embodiments 1 to 4 of the switch cabinet operation device, and the details are not repeated. Wherein, cubical switchboard operating means passes through the arm drive and removes to realize the conversion of each station.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention, the scope of the present invention is defined by the appended claims, and all structural changes that can be made by using the contents of the description and the drawings of the present invention are intended to be embraced therein.
Claims (10)
1. The switch cabinet operating device is characterized by comprising a frame body (15) connected to a mechanical arm, wherein an electric clamping jaw and an electric push rod (23) are arranged on the frame body (15), the electric clamping jaw comprises a driving part (22) fixed on the frame body (15) and a pair of clamping rods (18) driven by the driving part (22) to move oppositely or back to back, clamping blocks (19) used for clamping a knob are respectively arranged on the pair of clamping rods (18), and avoiding grooves used for avoiding buttons are respectively arranged on the opposite sides of the two clamping blocks (19); the electric push rod (23) is fixed on the frame body (15), a push rod (20) for jacking the button is arranged at the driving end of the electric push rod (23), the push rod (20) and the two clamping rods (18) are arranged in parallel, and the central axis of the push rod (20) is positioned in a space surrounded by the two avoidance grooves; a visual module (21) for observing the operation position on the switch cabinet is also fixed on the frame body (15); the switch cabinet operating device has a rotation mode, a pressing mode and a rotation pressing mode, and in the rotation mode, the electric clamping jaw drives the two clamping blocks (19) to clamp the knob and drives the knob to rotate through the mechanical arm; in a pressing mode, the electric push rod (23) drives the ejector rod (20) to penetrate through a space formed by two avoiding grooves to press the button; in a rotary pressing mode, the electric clamping jaw drives the two clamping blocks (19) to clamp the knob and drives the knob to rotate through the mechanical arm, and the electric push rod (23) drives the ejector rod (20) to penetrate through a space formed by the two avoidance grooves to press the button.
2. The switch cabinet operating device according to claim 1, wherein the two avoiding grooves are located on the same side of a plane where central axes of the two clamping bars (18) are located, and the ejector rod (20) and the two clamping bars (18) are arranged in a delta shape.
3. The switch cabinet operating device according to claim 2, wherein the two clamping blocks (19) each comprise a connecting section and a clamping section connected with the connecting section, the two connecting sections are respectively detachably fixed at the opposite inner sides of the two clamping bars (18), and the two clamping sections and the push rod (20) are positioned at the same side of the plane where the central axes of the two clamping bars (18) are positioned; the clamping section is provided with the avoiding groove.
4. The switchgear panel operating device according to any of claims 1 to 3, wherein the escape recess is a semicircular groove.
5. The switch cabinet operating device according to any one of claims 1 to 3, characterized in that a driving motor (14) is fixed on the frame body (15), a driving end of the driving motor (14) is connected with a tool mounting sleeve (12) through a coupling, and the tool mounting sleeve (12) is used for mounting a handcart operating tool (11).
6. The switch cabinet operating device according to claim 5, characterized in that the coupling is a bellows coupling (13).
7. Switchgear cabinet operating device according to one of claims 1 to 3, characterized in that a partial discharge detector (17) is provided on the frame (15), the partial discharge detector (17) being guided in a first direction and being floatingly mounted on the frame (15).
8. The operating device of the switch cabinet according to claim 7, wherein a guide structure is arranged between the frame body (15) and the partial discharge detector (17), the guide structure comprises a slide rail (28) fixed on the frame body (15) and a slide block (29) in guide sliding fit with the slide rail (28), the slide rail (28) is provided with a first limiting block and a second limiting block for limiting the slide block (29) in a first direction, the slide block (29) is fixedly connected with a connecting plate (24), and the partial discharge detector (17) is fixed on the connecting plate (24).
9. The operating device of the switch cabinet according to claim 8, wherein a fixing plate (26) is further arranged on the frame body (15), the fixing plate (26) is located on one side of the connecting plate (24) in the first direction, the connecting plate (24) is an L-shaped plate, the connecting plate (24) comprises a vertical plate section and a horizontal plate section, the partial discharge detector (17) is fixed on the vertical plate section, a guide post (25) is fixed on the horizontal plate section, a guide hole matched with the guide post (25) in a guiding mode is formed in the fixing plate (26), a pressure spring (27) is sleeved on the guide post (25), one end of the pressure spring (27) is pressed on the fixing plate (26), and the other end of the pressure spring (27) is pressed on the horizontal plate section of the connecting plate (24).
10. Operating robot comprising a robot arm and a switch cabinet operating device fixed to the robot arm, characterized in that the switch cabinet operating device is a switch cabinet operating device according to any one of claims 1 to 9.
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| CN202210638713.5A CN114974962B (en) | 2022-06-07 | 2022-06-07 | Switch cabinet operating device and operating robot |
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| CN202210638713.5A CN114974962B (en) | 2022-06-07 | 2022-06-07 | Switch cabinet operating device and operating robot |
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| CN114974962B CN114974962B (en) | 2023-07-25 |
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| Publication number | Publication date |
|---|---|
| CN114974962B (en) | 2023-07-25 |
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