CN114974962B - Switch cabinet operating device and operating robot - Google Patents
Switch cabinet operating device and operating robot Download PDFInfo
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- CN114974962B CN114974962B CN202210638713.5A CN202210638713A CN114974962B CN 114974962 B CN114974962 B CN 114974962B CN 202210638713 A CN202210638713 A CN 202210638713A CN 114974962 B CN114974962 B CN 114974962B
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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
Landscapes
- 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 which is used for being 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 which is fixed on the frame body and a pair of clamping rods which are driven by the driving part to realize relative or opposite movement, clamping blocks used for clamping a knob are respectively arranged on the pair of clamping rods, and avoidance grooves used for avoiding the button 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 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. Because the push rod can move relative to the two clamping blocks, the push rod can be ensured to be pressed in place, and then the brake separating operation is finished.
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 mainly electric equipment of a breaker, and related high-low voltage electric appliances (including control appliances, protection appliances and measuring appliances), buses, current-carrying conductors, insulators and the like are assembled in a closed or open metal cabinet body according to the requirements of an electric primary main wiring diagram so as to receive and distribute electric energy in a power system.
The cabinet surface of the 10kV-35kV switch cabinet is provided with a switch button for operating the opening and closing of the breaker. Typically, the conventional manner is to manually operate the switch button, but this may cause electric shock to the related personnel, causing unnecessary accidents.
The Chinese patent document with the authorized bulletin number of CN205944755U discloses a switch cabinet brake separating operation device, which comprises an operation mechanism, wherein the operation mechanism comprises a first brake separating assembly and a second brake separating assembly, the first brake separating assembly is used for operating a rotary button and a rotary telescopic integrated button on the switch cabinet, and the second brake separating assembly is used for operating the telescopic button on the switch cabinet so as to realize brake separating operation on buttons with different models.
The first brake separating assembly in the technology can realize brake separating operation of the rotary and telescopic integrated button. With regard to the brake release button device disclosed in the chinese patent document with the authorized publication number CN204793662U, since the rotary fork of the first brake release assembly and the flexible glue contact are synchronously operated, when the flexible glue contact presses the brake release button, the rotary fork easily interferes with the rotary button, so as to prevent the rotary fork from moving along the pressing direction, and further, the flexible glue contact is easily caused to fail to press the brake release button in place, and the brake release operation cannot be completed.
Disclosure of Invention
The invention aims to provide a switch cabinet operation device, which solves the technical problem that the switch cabinet opening operation device in the prior art is difficult to finish opening operation on certain rotary and telescopic integrated buttons; the invention also aims to provide an operating robot.
In order to achieve the above purpose, the technical scheme of the switch cabinet operating device of the invention is as follows:
the switch cabinet operating device comprises a frame body which is used for being 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 which is fixed on the frame body and a pair of clamping rods which are driven by the driving part to realize relative or opposite movement, clamping blocks used for clamping a knob are respectively arranged on the pair of clamping rods, and avoidance grooves used for avoiding the button 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 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 is provided with a rotating mode, a pressing mode and a rotating pressing mode, and in the rotating mode, the electric clamping jaw drives the two clamping block clamping knobs and drives the knobs to rotate through the mechanical arm; in the pressing mode, the electric push rod drives the push rod to penetrate through a space surrounded by the two avoidance grooves to press the button; when the rotary pressing mode is adopted, the electric clamping jaw drives the two clamping blocks to clamp the knob and drives the knob to rotate through the mechanical arm, and the electric push rod drives the push rod to penetrate through the space enclosed by the two avoidance grooves to press the button.
The beneficial effects are that: according to the invention, the electric push rod and the electric clamping jaw are arranged on the frame body connected to the mechanical arm, and the pushing rod and the clamping blocks on the two clamping rods are driven by the electric push rod and the electric clamping jaw respectively, so that the pushing rod and the two clamping blocks can move independently, the pushing rod and the two clamping rods are arranged in parallel, and the central axis of the pushing 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 drives the two clamping blocks to perform clamping action so as to finish the clamping operation on the knob, and then the operation is kept, and the rotating operation is finished through the rotating joint of the mechanical arm so as to realize a rotating mode; the electric push rod is used for driving the push rod to finish the pressing operation so as to realize a pressing mode; the rotary pressing mode can be realized by combining the above-described rotary mode and pressing mode. Because the push rod can move relative to the two clamping blocks, the push rod can be ensured to be pressed in place, and then the brake separating operation is finished.
As a further improvement, the two avoidance grooves are positioned on the same side of the plane where the central axes of the two clamping rods are positioned, and the push 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 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 pushing 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 avoidance groove is a semicircular groove.
The beneficial effects are that: this design can accommodate most of the 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 functions of the switch cabinet operation device are increased, so that the switch cabinet operation device meets more operation scenes.
As a further improvement, the coupling is a bellows coupling.
The beneficial effects are that: the bellows coupling can offset the problem of jogging and bouncing in the process of butting the handcart operation tool and the handcart operation hole.
As a further improvement, the frame body is provided with a partial discharge detector, and the partial discharge detector is guided and floatingly assembled on the frame body in the first direction.
The beneficial effects are that: because the local detector is assembled on the frame body in a guiding and floating manner, in the working process, if the local discharge detector collides with other objects, the local discharge detector can float up and down so as to weaken the impact received by the local discharge detector, and further the local discharge detector is effectively protected.
As a further improvement, a guide structure is arranged between the frame body and the partial discharge detector, the guide structure comprises a sliding rail fixed on the frame body and a sliding block in sliding fit with the sliding rail, a first limiting block and a second limiting block which are used for limiting the sliding block in the first direction are arranged on the sliding rail, a connecting plate is fixedly connected to the sliding block, and the partial discharge detector is fixed on the connecting plate.
The beneficial effects are that: the first limiting block and the second limiting block are utilized to limit the sliding block in the first direction, so that the floating range of the partial discharge detector is ensured.
Still be equipped with the fixed plate on the support body as further improving, the fixed plate is in one side of connecting plate in first direction, and the connecting plate is the L template, and the connecting plate includes vertical plate section and horizontal plate section, and the detector is fixed on vertical plate section to the office, is 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 purpose, the technical scheme of the operating robot of the invention is as follows:
the operation robot comprises a mechanical arm and a switch cabinet operation device fixed on the mechanical arm, the switch cabinet operation device comprises a frame body which is used for being 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 a pair of clamping rods which are driven by the driving part to realize relative or opposite movement, clamping blocks used for clamping a knob are respectively arranged on the pair of clamping rods, and avoidance grooves used for avoiding the button are respectively arranged on 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 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 is provided with a rotating mode, a pressing mode and a rotating pressing mode, and in the rotating mode, the electric clamping jaw drives the two clamping block clamping knobs and drives the knobs to rotate through the mechanical arm; in the pressing mode, the electric push rod drives the push rod to penetrate through a space surrounded by the two avoidance grooves to press the button; when the rotary pressing mode is adopted, the electric clamping jaw drives the two clamping blocks to clamp the knob and drives the knob to rotate through the mechanical arm, and the electric push rod drives the push rod to penetrate through the space enclosed by the two avoidance grooves to press the button.
The beneficial effects are that: according to the invention, the electric push rod and the electric clamping jaw are arranged on the frame body connected to the mechanical arm, and the pushing rod and the clamping blocks on the two clamping rods are driven by the electric push rod and the electric clamping jaw respectively, so that the pushing rod and the two clamping blocks can move independently, the pushing rod and the two clamping rods are arranged in parallel, and the central axis of the pushing 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 drives the two clamping blocks to perform clamping action so as to finish the clamping operation on the knob, and then the operation is kept, and the rotating operation is finished through the rotating joint of the mechanical arm so as to realize a rotating mode; the electric push rod is used for driving the push rod to finish the pressing operation so as to realize a pressing mode; the rotary pressing mode can be realized by combining the above-described rotary mode and pressing mode. Because the push rod can move relative to the two clamping blocks, the push rod can be ensured to be pressed in place, and then the brake separating operation is finished.
As a further improvement, the two avoidance grooves are positioned on the same side of the plane where the central axes of the two clamping rods are positioned, and the push 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 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 pushing 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 avoidance groove is a semicircular groove.
The beneficial effects are that: this design can accommodate most of the 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 functions of the switch cabinet operation device are increased, so that the switch cabinet operation device meets more operation scenes.
As a further improvement, the coupling is a bellows coupling.
The beneficial effects are that: the bellows coupling can offset the problem of jogging and bouncing in the process of butting the handcart operation tool and the handcart operation hole.
As a further improvement, the frame body is provided with a partial discharge detector, and the partial discharge detector is guided and floatingly assembled on the frame body in the first direction.
The beneficial effects are that: because the local detector is assembled on the frame body in a guiding and floating manner, in the working process, if the local discharge detector collides with other objects, the local discharge detector can float up and down so as to weaken the impact received by the local discharge detector, and further the local discharge detector is effectively protected.
As a further improvement, a guide structure is arranged between the frame body and the partial discharge detector, the guide structure comprises a sliding rail fixed on the frame body and a sliding block in sliding fit with the sliding rail, a first limiting block and a second limiting block which are used for limiting the sliding block in the first direction are arranged on the sliding rail, a connecting plate is fixedly connected to the sliding block, and the partial discharge detector is fixed on the connecting plate.
The beneficial effects are that: the first limiting block and the second limiting block are utilized to limit the sliding block in the first direction, so that the floating range of the partial discharge detector is ensured.
Still be equipped with the fixed plate on the support body as further improving, the fixed plate is in one side of connecting plate in first direction, and the connecting plate is the L template, and the connecting plate includes vertical plate section and horizontal plate section, and the detector is fixed on vertical plate section to the office, is 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 diagram of a switchgear operating apparatus of the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1 at a first viewing angle;
FIG. 3 is a schematic view of the structure of FIG. 1 at a second viewing angle;
fig. 4 is a schematic structural diagram of the third view angle of fig. 1.
In the figure: 11. a cart operation tool; 12. a tool mounting sleeve; 13. a bellows coupling; 14. a driving motor; 15. a frame body; 16. a wire clamp; 17. a partial discharge detector; 18. a clamping rod; 19. clamping blocks; 20. pushing the push rod; 21. a vision module; 22. a driving section; 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 slide block; 30. a connecting flange; 31. a first mounting plate; 32. and a second mounting plate.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the particular embodiments described herein are illustrative only and are not intended to limit the invention, i.e., the embodiments described are merely some, but not all, of the embodiments of the invention. The components of the 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 invention, as 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 made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
It is noted that relational terms such as "first" and "second", and the like, 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. Moreover, 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 one … …" 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," "rear," "upper," "lower," "left," and "right" are based on the orientation and positional relationship shown in the drawings, and are merely for convenience of description of the invention, and do not denote that the device or component in question must have a particular orientation, and thus should not be construed as limiting the invention.
The switch cabinet is a device mainly comprising a circuit breaker, and related high-low voltage electrical appliances, buses, current-carrying conductors, insulators and the like are assembled in a closed or open metal cabinet body so as to receive and distribute electric energy in a power system. Typically, the switch cabinet is provided with knobs and buttons on the cabinet surface, through which the corresponding functions are implemented.
The traditional mode is through manual work going to operating knob and button action, because operating personnel closely contacts the cubical switchboard, probably leads to operating personnel to electrocute, causes unnecessary accident. While there are also operating robots in the prior art to operate knobs and buttons, the following problems exist: (1) The operation is not flexible enough, and the operation according to the standard operation flow also needs to change appliances or replace tool bits; (2) The functions are single, most designs can smoothly complete single action or specify a certain function, actual use cannot completely replace people, and applicability and universality are slightly insufficient; (3) The partial design movement and the conversion orientation are realized through a triaxial mechanism, and the space positioning and the operation coordination are slightly deficient.
The invention provides a switch cabinet operation device which integrates a 3D camera, a handcart operation tool, a clamping block, a push rod, a partial discharge detector and a connecting flange. The 3D camera is used for identifying the running state of the switch cabinet, and identifying and positioning an operation connecting piece (pressing plate), a far-near control conversion knob, an energy storage conversion knob, a breaker opening and closing knob, a meter and an indicator lamp. The handcart operation tool realizes the hand-shake in and out operation of the handcart. The clamping block is used for realizing the operation of the operation connecting piece (pressing plate) rotary connection, the far and near control conversion knob, the energy storage conversion knob and the breaker opening and closing knob. The push rod is used for realizing the operation of the button of the switch cabinet measurement and control device. The partial discharge detector is used for detecting partial discharge of the handcart room of the switch cabinet. The connecting flange is used for realizing 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 capabilities of the present invention are described in further detail below in connection with the examples.
Embodiment 1 of the switchgear operation device of the present invention:
as shown in fig. 1 and 3, the switch cabinet operating device includes a frame body 15, where the frame body 15 is in a cuboid structure, a connecting flange 30 is provided on a side plate of the frame body 15, and the frame body 15 is installed on a mechanical arm through the connecting flange 30, so that the frame body 15 can perform movement at various angles under the drive of the mechanical arm, and further conversion of different stations is achieved. Wherein the connection flange 30 constitutes a connection portion. The connecting flange 30 and the mechanical arm are installed by adopting standard installation interfaces (according with 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 adopting the same interface for use, and the universality and the applicability of tools and appliances are ensured.
In this embodiment, the frame 15 is made of aluminum alloy, so that the mechanical strength is ensured and the overall weight is reduced. The side plates of the frame body 15 are fixed by stainless steel socket head cap screws.
As shown in fig. 2 and 4, the frame 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 15 and a pair of clamping bars 18, the pair of clamping bars 18 are driven by the driving portion 22 to realize relative or opposite movement, clamping blocks 19 for clamping a knob on the switch cabinet are respectively arranged on the pair of clamping bars 18, and opposite sides of the two clamping blocks 19 are respectively provided with avoiding grooves. 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 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 15, the driving end of the electric push rod 23 is provided with a push rod 20 for pushing 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 the space surrounded by the two avoidance grooves. The electric push rod 23 is a conventional mature product, and the structure and operation principle thereof will not be described in detail herein.
In this embodiment, the ejector pin 20 and the two clamping bars 18 are disposed on the same side of the frame 15, and the connection portion and the ejector pin 20 are on opposite sides of the frame 15.
In this embodiment, the two clamping bars 18 move relatively or oppositely in the first direction, and the plane in which the central axes of the two clamping bars 18 lie is a vertical plane. The two clamping blocks 19 comprise connecting sections and clamping sections connected with the connecting sections, the two connecting sections are respectively and detachably fixed on the opposite inner sides of the two clamping rods 18, and the two clamping sections and the pushing rod 20 are positioned on the same side of the plane where the central axes of the two clamping rods 18 are positioned; the holding section is provided with the avoiding groove. That is, the two avoidance grooves are positioned on the same side of the plane, and the push rod 20 and the two avoidance grooves are correspondingly arranged, so that the push rod 20 and the two clamping rods 18 are arranged in a delta shape, and the arrangement of the driving part 22 and the electric push rod 23 on the frame body 15 is facilitated.
In this embodiment, the two avoidance grooves are both semicircular grooves, so as to adapt to most of the circular buttons in the prior art, such as the brake release button disclosed in the grant publication number CN 204793662U.
As shown in fig. 1 and 2, a driving motor 14 is fixed on the frame 15, and the driving motor 14 includes a servo motor and a speed reducer, so as to effectively solve the problems of unbalance, shake, jamming and the like in the operation process. The drive end of driving motor 14 is connected with instrument installation sleeve 12 through bellows shaft coupling 13, and instrument installation sleeve 12 is used for installing handcart operation tool 11 to realize the operation of shaking in and out of handcart, bellows shaft coupling 13 can offset the running of handcart operation tool 11 and handcart operation hole butt joint process and bounce problem.
In this embodiment, the handcart operation tool 11 is detachably connected to the tool mounting sleeve 12, so that the handcart operation tool 11 with different sizes can be replaced for different circuit breaker carts, and the universality is improved.
In this embodiment, the frame body 15 is further fixed with a second mounting plate 32, and a vision module 21 for observing an operation position on the switch cabinet is fixed on the second mounting plate 32, where the vision module 21 can send the obtained position and posture parameters to a mechanical arm controller, and the mechanical arm controller adjusts the operation position according to the related information. Preferably, the vision module 21 is a 3D camera, which can recognize the operation state of the switch cabinet, the meter and the indicator light, and recognize and position the remote control conversion knob, the energy storage conversion knob and the opening and closing knob of the circuit breaker. Wherein the vision module 21 is on the same side of the frame body 15 as the tool mounting sleeve 12.
In this embodiment, the 3D camera has 3D scanning and laser positioning functions, and 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 image processing is performed under the support of image processing software. The 3D camera has the functions of infrared laser positioning and light supplementing, the 3D camera can realize the plane position of the hole through laser edge detection, meanwhile, the position and the gesture of the three-dimensional hole relative to the camera are estimated through the ellipticity and the size information of the round hole image, position gesture parameters are sent to the mechanical arm controller through image processing, and the mechanical arm controller adjusts the operation position in real time according to related information. The meter information (including live display, switch-on and switch-off indicator, energy storage state, locking state, voltage and current value, intelligent control device screen display data), knob and button position, switch-on and switch-off state position collected by the camera are transmitted to the operation platform analysis host computer through the data channel; the data channel adopts RJ45 network cable interface and wireless WIFI communication, and supports various standard networks and bus protocols.
As shown in fig. 1 and 3, the frame 15 is provided with a partial discharge detector 17, and the partial discharge detector 17 is used for accurately detecting a partial discharge part of the switch cabinet.
In this embodiment, the partial discharge detector 17 is an existing mature product, for example, 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, and the detection is completed to transmit collected AE amplitude spectrum data, AE waveform spectrum data, AE phase spectrum data, AE pulse spectrum data and TEV amplitude data to the mobile electric intelligent linkage operation platform through an RS-485 communication interface, and the mobile electric intelligent linkage operation platform transmits data to a remote data management platform to finally complete a detection task. The local discharge detection module is communicated with the mobile intelligent electric power linkage operation platform by adopting an RS485 interface, and a communication protocol adopts a self-defining mode. The partial discharge detection module is powered by the body of the mobile electric intelligent linkage operation platform (sharing the same interface with RS485 communication, and the power supply is 12 v/1A).
In this embodiment, the partial discharge detector 17 is guided and floatingly mounted on the frame body 15 in the first direction (i.e., the up-down direction of fig. 3). Specifically, a guiding structure is arranged between the frame 15 and the partial discharge detector 17, the guiding structure comprises a sliding rail 28 fixed on the frame 15 and a sliding block 29 in sliding fit with the sliding rail 28, and a first limiting block (i.e. an upper limiting block in fig. 3) and a second limiting block (i.e. a lower limiting block in fig. 3) for limiting the sliding block 29 are respectively arranged at the upper end and the lower end of the sliding rail 28. The slide block 29 is fixedly connected with a connecting plate 24, a first mounting plate 31 is fixed on the connecting plate 24, and the partial discharge detector 17 is fixed on the first mounting plate 31.
In this embodiment, still be equipped with fixed plate 26 on the support body 15 in the top of connecting plate 24, connecting plate 24 is the L template, connecting plate 24 includes vertical plate section and horizontal plate section, first mounting panel 31 is fixed on vertical plate 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 floating of partial discharge detector. Wherein, the upper end of the guide post 25 is provided with a limiting ring to prevent the guide post 25 from falling out of the fixing plate 26.
As shown in fig. 1 and 4, the frame 15 is further provided with a wire clamp 16, and the wire clamp 16 is used for fixing the wire harness so that the wire harness on the mechanical arm is connected with each part on the frame 15.
The switch cabinet operation device of the present invention has a rotation mode, a pressing mode, and a rotation pressing mode.
The rotary switch is used for operating a knob switch in a rotary mode, such as a far-near control change-over knob switch, a mechanism energy storage manual-automatic change-over knob switch, a switch-on/switch-off knob switch and the like: the clamping operation of the rotary switch is completed by driving the two clamping blocks 19 with the electric clamping jaw, then the operation is maintained, and the rotating operation is completed by the rotating joint of the mechanical arm. At this time, the electric push rod 23 does not operate.
The push button switch is used for operating a button switch, such as a button of a switch cabinet measurement and control device, in a push mode: the push rod 20 is driven by the electric push rod 23 to complete the pressing operation. At this time, the motorized jaw is not operated.
A switch for operating a first rotation and then pressing in the rotation pressing mode, such as an emergency brake switch: the first step, the clamping operation of the knob is completed by driving the two clamping blocks 19 by the electric clamping jaw to do clamping action, then the operation is kept, and the rotating operation is completed by the rotating joint of the mechanical arm; in the second step, the push rod 20 is driven by the electric push rod 23 to complete the pressing operation.
The switch cabinet operating device is flexible and compact in structure, can be flexibly matched according to the requirements of users, is matched with a mobile intelligent power linkage operating platform for use, and meets the requirement of remote switching operation of a 10kV-35kV switch cabinet. The product can replace or assist manual emergency operation, greatly reduces the workload of workers, shortens the fault processing time, standardizes the flow operation, prevents misoperation, ensures the personal safety of operators and the safety of a power grid, improves the intelligent level of power distribution operation, and has quite huge market under the condition of huge stock of a switch cabinet power distribution room.
Embodiment 2 of the switchgear operation device of the present invention:
this embodiment differs from embodiment 1 in that in embodiment 1, the ejector pins and the two clamp pins are arranged in a delta shape. In this embodiment, the push rod is located between two clamping bars, and the push rod and the two clamping bars are arranged in a straight line, at this time, the two clamping bars have a certain length, and the electric push rod is located between the two clamping bars.
Embodiment 3 of the switchgear operation device of the present invention:
the difference between this embodiment and embodiment 1 is that in embodiment 1, both of the avoiding grooves are semicircular grooves. In this embodiment, the two avoidance grooves are trapezoidal grooves, but it is ensured that the buttons can be avoided.
Example 4 of the switchgear operation device of the present invention:
the present embodiment differs 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., without bellows).
The invention operates the robot embodiment: the operation robot includes a mechanical arm and a switch cabinet operation device fixed on the mechanical arm, and the switch cabinet operation device in this embodiment has the same structure as any one of embodiments 1 to 4 of the switch cabinet operation device, and is not described herein again. The switch cabinet operating device is driven to move through the mechanical arm so as to realize conversion of all stations.
The above description is only a preferred embodiment of the present invention, and the patent protection scope of the present invention is defined by the claims, and all equivalent structural changes made by the specification and the drawings of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The switch cabinet operation device is characterized by comprising a frame body (15) which is used for being 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) which is fixed on the frame body (15) and a pair of clamping rods (18) which are driven by the driving part (22) to realize relative or opposite movement, clamping blocks (19) which are used for clamping a knob are respectively arranged on the pair of clamping rods (18), and avoidance grooves which are used for avoiding the button are respectively arranged on 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 pushing 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 vision module (21) for observing the operation position on the switch cabinet is also fixed on the frame body (15); the switch cabinet operating device is provided with a rotating mode, a pressing mode and a rotating pressing mode, and in the rotating 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 the pressing mode, the electric push rod (23) drives the push rod (20) to penetrate through a space surrounded by the two avoidance grooves to press the button; when in a rotary pressing mode, the electric clamping jaw drives the two clamping blocks (19) to clamp the knob and rotate through the mechanical arm driving knob, and the electric push rod (23) drives the push rod (20) to penetrate through the space surrounded by the two avoidance grooves to press the button.
2. The switch cabinet operation device according to claim 1, characterized in that the two avoidance grooves are on the same side of the plane where the central axes of the two clamping bars (18) lie, and the ejector pin (20) and the two clamping bars (18) are arranged in a delta-shape.
3. The switch cabinet operation device according to claim 2, characterized in that both clamping blocks (19) comprise a connecting section and a clamping section connected to the connecting section, both connecting sections being detachably fixed to opposite inner sides of both clamping bars (18), respectively, both clamping sections being on the same side of the plane as the central axis of both clamping bars (18) with the ejector rod (20); the clamping section is provided with the avoiding groove.
4. A switch cabinet operation device according to any one of claims 1 to 3, wherein the relief groove is a semicircular groove.
5. A switchgear operating device according to any one of claims 1-3, characterized in that a drive motor (14) is fixed to the frame body (15), the drive end of the drive motor (14) being connected by means of a coupling to a tool mounting sleeve (12), the tool mounting sleeve (12) being used for mounting a trolley operating tool (11).
6. The switchgear operating device according to claim 5, characterized in that the coupling is a bellows coupling (13).
7. A switchgear operation device according to any of claims 1-3, characterized in that the frame body (15) is provided with a partial discharge detector (17), the partial discharge detector (17) being guided in a first direction and floatingly mounted on the frame body (15).
8. The switch cabinet operation device according to claim 7, characterized in that a guiding structure is arranged between the frame body (15) and the partial discharge detector (17), the guiding structure comprises a sliding rail (28) fixed on the frame body (15) and a sliding block (29) in guiding sliding fit with the sliding rail (28), a first limiting block and a second limiting block for limiting the sliding block (29) in a first direction are arranged on the sliding rail (28), a connecting plate (24) is fixedly connected to the sliding block (29), and the partial discharge detector (17) is fixed on the connecting plate (24).
9. The switch cabinet operation device according to claim 8, characterized in that a fixing plate (26) is further arranged on the frame body (15), the fixing plate (26) is located at 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 column (25) is fixed on the horizontal plate section, a guide hole matched with the guide column (25) in a guiding manner is formed in the fixing plate (26), a pressure spring (27) is sleeved on the guide column (25), one end of the pressure spring (27) is propped against the fixing plate (26), and the other end of the pressure spring (27) is propped against the horizontal plate section of the connecting plate (24).
10. Operating robot comprising a robot arm and a switch cabinet operating device fixed on 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210638713.5A CN114974962B (en) | 2022-06-07 | 2022-06-07 | Switch cabinet operating device and operating robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210638713.5A CN114974962B (en) | 2022-06-07 | 2022-06-07 | Switch cabinet operating device and operating robot |
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| CN114974962A CN114974962A (en) | 2022-08-30 |
| CN114974962B true CN114974962B (en) | 2023-07-25 |
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| CN202210638713.5A Active CN114974962B (en) | 2022-06-07 | 2022-06-07 | Switch cabinet operating device and operating robot |
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| Publication number | Publication date |
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| CN114974962A (en) | 2022-08-30 |
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