CN117410866A - Automatic placing platform and robot for handcart type circuit breaker of high-voltage switch cabinet - Google Patents
Automatic placing platform and robot for handcart type circuit breaker of high-voltage switch cabinet Download PDFInfo
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- CN117410866A CN117410866A CN202311390417.9A CN202311390417A CN117410866A CN 117410866 A CN117410866 A CN 117410866A CN 202311390417 A CN202311390417 A CN 202311390417A CN 117410866 A CN117410866 A CN 117410866A
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- platform
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- circuit breaker
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- handcart type
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- 239000003638 chemical reducing agent Substances 0.000 claims description 21
- 210000000078 claw Anatomy 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000010008 shearing Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 4
- 238000012546 transfer Methods 0.000 description 3
- 238000000605 extraction Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of electric power overhaul, and provides an automatic placement platform and a robot for a handcart type circuit breaker of a high-voltage switch cabinet, which solve the problem that the existing device does not have a whole-course automatic operation function and needs manual intervention, and the technical scheme is as follows: the device comprises a handcart type breaker picking and placing assembly, a lifting rotating assembly and a moving platform; the movable platform is provided with a lifting rotating assembly, the lifting rotating assembly is provided with a linear guide rail and a scissor bracket, one end of the bottom of the scissor bracket is fixed on a bearing seat connecting block, the other end of the scissor bracket is fixed on a sliding block through a fixing, and the sliding block is in sliding connection with the linear guide rail; the top of the shear fork support is fixed with a rotary support plate, a rotary platform is assembled on the rotary support plate, and the rotary platform is rotationally connected with the handcart type breaker picking and placing assembly; and pulling the handcart type circuit breaker out of the switch cabinet through the handcart type circuit breaker picking and placing component.
Description
Technical Field
The invention belongs to the technical field of electric power overhaul, and particularly relates to an electric placing platform and a robot of a handcart type circuit breaker of a high-voltage switch cabinet.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The handcart type breaker of the high-voltage switch cabinet is required to be pulled out of the high-voltage switch cabinet during maintenance operation. The traditional operation method is carried out manually by means of the transfer trolley, and the height adjusting knob of the transfer trolley is manually rotated to adjust the upper surface of the tray and the bottom surface of the handcart breaker chamber to be in the same vertical position. The flanges on two sides of the tray are basically flush with the two sides of the left rail and the right rail of the handcart through two taper pins at the front end of the transportation trolley. After the adjustment, locking the high-voltage switch cabinet by using a clamping tongue on the transfer trolley.
For example, CN114825142a discloses a method for replacing a handcart type circuit breaker, which describes a structure and a using method of a handcart type circuit breaker placing platform, but the handcart type circuit breaker placing platform does not have a full-process automatic operation function and needs manual intervention. The manual intervention operation mode has large workload, and personnel operate in a short distance, so that risks of electric shock, collision, injury and the like caused by misoperation exist. In addition, the pose adjusting function of the platform is single, and the use conditions of various on-site actual sites cannot be met.
Disclosure of Invention
In order to solve at least one technical problem in the background art, the first aspect of the invention provides an automatic placement platform and a robot for a handcart type breaker of a high-voltage switch cabinet, which can realize full-automatic pose adjustment of the handcart type breaker, do not need manual work, increase rotational freedom degree and solve the problem that the pose of parking of a moving platform body and the cabinet body of the switch cabinet are not parallel in the field use process.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
an automatic placement platform of a handcart type circuit breaker of a high-voltage switch cabinet, comprising: the handcart type circuit breaker picking and placing assembly, the lifting rotating assembly and the mobile platform;
the movable platform is provided with a lifting rotating assembly, the lifting rotating assembly is provided with a linear guide rail and a scissor bracket, one end of the bottom of the scissor bracket is fixed on a bearing seat connecting block, the other end of the scissor bracket is fixed on a sliding block through a fixing, and the sliding block is in sliding connection with the linear guide rail;
the rotary support plate is fixed at the top of the scissor bracket, the rotary platform is assembled on the rotary support plate, the rotary platform is rotationally connected with the handcart type circuit breaker picking and placing component, and the handcart type circuit breaker is pulled out of the switch cabinet through the handcart type circuit breaker picking and placing component.
As an implementation mode, the lifting rotating assembly comprises a bottom plate, a shearing fork connecting plate is arranged on the shearing fork support, a motor connecting seat is arranged on the bottom plate, one end of the motor connecting seat is connected with a lifting motor, the other end of the motor connecting seat is connected with a first speed reducer, the first speed reducer is fixed on the shearing fork connecting plate, and the lifting motor and the first speed reducer convert linear reciprocating motion into lifting motion of the shearing fork through the shearing fork connecting plate.
As one embodiment, the rotating platform comprises a circular rail sliding block, a rotating platform plate, a circular rail, a circular motor, a second speed reducer and a positioning pin;
the bottom of the rotating table plate is fixed with a circular rail sliding block, the circular rail sliding block is connected with a circular rail in a sliding manner, and the circular rail sliding block is fixed on the slewing bearing plate through the sliding connection circular rail; the bottom of the rotating table plate is provided with a locating pin, one end of the locating pin is connected with the second speed reducer and the loop motor, the other end of the locating pin is connected to the handcart type circuit breaker picking and placing assembly, and the rotating table and the handcart type circuit breaker picking and placing assembly are driven to rotate through the second speed reducer and the loop motor.
As one embodiment, the lifting rotation assembly further comprises a slewing support plate adjusting motor assembly, wherein the slewing support plate adjusting motor assembly comprises an adjusting support seat, a telescopic shaft, a base, a bearing fulcrum and a telescopic motor; the telescopic support is characterized in that the bearing fulcrum is connected to the top of the scissor support, the base is fixedly connected with the bearing fulcrum, the base is provided with a telescopic motor and a telescopic shaft, the telescopic shaft is provided with an adjusting support seat, the telescopic motor is connected to the slewing support plate through the adjusting support seat, the telescopic motor drives the screw rod to rotate through a pair of bevel gears in the base, and the telescopic motor drives the telescopic shaft to realize telescopic action through threaded fit of the screw rod and the inside of the telescopic shaft.
As one embodiment, the handcart type breaker picking and placing assembly comprises an assembly supporting platform, a claw electric cylinder and a claw sliding plate; the assembly supporting platform is provided with a plurality of guide rails, the second guide rails are symmetrically arranged on two sides of the supporting platform, the first guide rails are perpendicular to the second guide rails and are arranged on one side of the supporting platform, each first guide rail is provided with an X-direction through stepping motor, each X-direction through stepping motor is provided with a supporting seat, the supporting seats and the corresponding through stepping motor are matched for use, each second guide rail is provided with a Y-direction through stepping motor, and the hook claw, the hook claw electric cylinder and the hook claw sliding plate are connected together through pin shafts and are assembled on the supporting seats and the X-direction through stepping motor.
As one implementation mode, each pair of supporting seats and the through type stepping motor penetrate through a first trapezoidal screw, wherein one first trapezoidal screw penetrates through the supporting seat and the X-direction through type stepping motor on the first guide rail in sequence, and the other first trapezoidal screw penetrates through the X-direction through type stepping motor and the supporting seat on the other first guide rail in sequence, so that the hook claw moves along the X direction respectively under the driving of the two groups of stepping motors.
As one implementation mode, the second guide rail is provided with a Y-direction through type stepping motor and a drawing sliding plate, one side of the drawing sliding plate is fixed on the upper part of the Y-direction through type stepping motor, the other side of the drawing sliding plate is in sliding connection with the second guide rail on the side, second trapezoidal screw bearing seats are arranged on two sides close to the second guide rail, the Y-direction through type stepping motor is in sliding connection with the second guide rail, and second trapezoidal screws are fixed between the second trapezoidal screw bearing seats.
As an implementation mode, the side edge of the component supporting platform on the opposite side of the second guide rail is provided with a locating pin and a locking hook, the locking hook is connected with a locking hook motor, the relative position of the automatic placing platform and the switch cabinet is determined through the locating pin, and after the position is determined, the locking hook locks the position between the placing platform and the switch cabinet under the driving of a fourth motor.
As an implementation mode, the side edge of the component supporting platform is further provided with a binocular camera, the binocular camera is used for identifying position characteristic information on the switch cabinet, providing relative position deviation between the placing platform and the switch cabinet, guiding the placing platform to adjust the relative position between the placing platform and the switch cabinet, and realizing automatic adjustment of the pose of the placing platform.
As an implementation mode, a two-axis inclination sensor is installed on the slewing support plate, the gesture of the handcart type breaker taking and placing component is monitored in real time according to a set detection period, and the real-time output angles of the slewing motor and the telescopic motor are calculated by receiving the data of the two-axis inclination sensor.
The second aspect of the invention provides a robot, which comprises the rapid switching device platform of the switch cabinet working tool, can realize full-automatic pose adjustment of a handcart breaker, does not need manual work, increases the degree of freedom of rotation, and can solve the problem that the car body parking pose of a mobile platform is not parallel to the cabinet body of the switch cabinet in the field use process.
The beneficial effects of the invention are as follows:
1. the invention innovatively provides the full-automatic pose adjusting device of the handcart breaker, the angle deviation between the automatic placing platform and the switch cabinet is adjusted through rotary motion without manual work, the rotary freedom degree is increased, the problem that the car body of the moving platform is not parallel to the car body of the switch cabinet in the field use process is solved, the full-automatic pose adjusting of the handcart breaker is realized, the manual intervention cost is reduced, and the operation safety is improved.
2. The invention adopts the scissors mechanism to realize the lifting of the placement platform, and has the characteristics of large bearing capacity, simple structure and good stability.
3. The invention uses the binocular camera to measure the distance deviation, and can realize the full-automatic adjustment of the placement platform.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
Fig. 1 is a schematic diagram of the overall structure of an electric placement platform of a handcart type circuit breaker of a high-voltage switch cabinet, which is provided by the embodiment of the invention;
fig. 2 is a schematic diagram of a picking and placing assembly of a handcart type circuit breaker according to an embodiment of the present invention;
fig. 3 is a partial enlarged view of a part of a structure of a picking and placing assembly of a handcart type circuit breaker, which is provided by the embodiment of the invention;
fig. 4 is a schematic diagram of a cart-type circuit breaker grabbed by a picking and placing component according to an embodiment of the invention;
FIG. 5 is a schematic view of a lifting rotary assembly according to an embodiment of the present invention;
FIG. 6 is a schematic view of the bottom structure of a rotary platform according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a top structure of a rotary platform according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a swing support plate adjusting motor assembly according to an embodiment of the present invention.
The device comprises a 1-handcart type breaker picking and placing component, a 2-lifting rotating component, a 3-bottom moving platform, a 111-hook, a 112-hook electric cylinder, a 113-hook sliding plate, a 114-supporting seat, a 115-first trapezoidal screw, a 116-first guide rail, a 117-X direction through stepping motor, a 118-first screw bearing seat, a 119-slideway baffle, a 120-pulling sliding plate, a 121-second screw bearing seat, a 122-Y direction through stepping motor, a 123-long trapezoidal screw, a 124-second guide rail, a 125-binocular camera, a 126-locating pin, a 127-component supporting platform, a 128-locking hook, a 129-locking hook motor, a 221-rotating platform, a 2211-ring rail sliding block, a 2212-rotating platen, a 2213-ring rail, a 2214-rotating motor, a 2215-second speed reducer, a 2216-locating pin, a 222-rotating supporting plate adjusting motor component, a 2221-adjusting supporting seat, a 2222-adjusting telescopic shaft, a 3-base, a 2224-supporting seat, a 5-supporting seat, a telescopic motor, a 222223-supporting seat, a 223-supporting plate, a 226-supporting seat, a 222228-supporting seat, a 222232-linear shear, a speed reducer, a 222233-connecting plate, a 222232-lifting connecting plate, a linear guide rail, a 222, a driving device, a driving seat, a 222233-connecting seat, and a connecting plate.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
In the present invention, terms such as "connected," "connected," and the like are to be construed broadly and mean either fixedly connected or integrally connected or detachably connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the terms in the present invention can be determined according to circumstances by a person skilled in the relevant art or the art, and is not to be construed as limiting the present invention.
It should be noted that, in terms of the individual devices involved in the present invention, the specific structure for realizing the functions to be realized in each device is already existing in the prior art, and the protocols, software or programs involved in the working process between them are also already existing in the prior art, so those skilled in the art are well aware that the present invention does not make any improvement on the individual devices, and therefore does not involve the content of the software, but rather relies on the organic integration and integration of the components into a whole, i.e. a structural scheme is provided.
In one aspect, the invention provides an automatic placement platform for a handcart type circuit breaker of a high-voltage switch cabinet, which mainly comprises a handcart type circuit breaker taking and placing assembly 1, a lifting and rotating assembly 2 and a moving platform 3.
As shown in fig. 1, a lifting rotating assembly 2 is fixed on the mobile platform 3, and the lifting rotating assembly 2 is connected with a handcart type breaker picking and placing assembly 1;
as shown in fig. 5, the elevating rotation assembly 2 includes: rotary platform 221, slewing support plate adjustment motor assembly 222, slewing support plate 223, scissor bracket 224, bearing pedestal 225, bearing pedestal connection block 226, bottom plate 227, stop block 228, linear guide 229, detection sensor 230, slider 231, scissor connection plate 232, first speed reducer 233, lift motor 234, and motor connection seat 235.
The bottom plate 227 is fixed on the moving platform 3, a bearing seat connecting block 226 and a linear guide rail 229 are arranged on the bottom plate 227, one end of the bottom of the scissor bracket 224 is fixed on the bearing seat connecting block 226 through a bearing seat 225, the other end of the bottom of the scissor bracket is fixed on a sliding block 231 through the bearing seat 225, the sliding block 231 is in sliding connection with the linear guide rail 229, and two sliding sides of the linear guide rail 229 are fixed through a stop block 228;
thus, the scissor bracket 224, the bearing housing 225, the bearing housing connection block 226, the linear guide 229 and the slider 231 constitute a scissor lift mechanism.
The motor connecting seat 235 is arranged on the bottom plate 227, one end of the motor connecting seat 235 is connected with the lifting motor 234, the other end of the motor connecting seat 235 is connected with the first speed reducer 233, the first speed reducer 233 is fixed on the scissor connecting plate 232, the scissor connecting plate 232 is fixedly connected with the scissor bracket 224, and the lifting motor 234 and the first speed reducer 233 convert the linear reciprocating motion of the sliding block 231 into lifting motion of the scissor through the scissor connecting plate 232.
As shown in fig. 6-7, a slewing support plate 223 is fixed on top of the scissor bracket 224, a rotating platform 221 is assembled on the slewing support plate 223, and the rotating platform 221 includes a circular rail slide block 2211, a turntable plate 2212, a circular rail 2213, a circular motor 2214, a second speed reducer 2215 and a positioning pin 2216.
Wherein, the bottom of the turntable plate 2212 is fixed with a circular rail slide block 2211, the circular rail slide block 2211 is connected with a circular rail 2213 in a sliding way, and the circular rail 2213 is fixed on the slewing bearing plate 223; the bottom of the turntable plate 2212 is further provided with a positioning pin 2216, one end of the positioning pin 2216 is connected with the second speed reducer 2215 and the loop motor 2214, and the other end is connected to the handcart type breaker picking and placing assembly 1; the second speed reducer 2215 and the loop motor 2214 drive the rotary platform 221 and the handcart type breaker picking and placing assembly 1 to rotate.
Further, a detection sensor 230 is further disposed on the bottom plate 227, and the detection sensor 230 is used for detecting the limit positions of the two sides of the stroke of the slider 231.
Further, the top of the scissors bracket 224 is fixed with a rotation support plate 223, specifically: the scissors bracket 224 is connected to the support plate 223 at one side of the top thereof by a swing support plate adjustment motor assembly 222 and to the support plate 223 at the other side thereof by a scissors connection plate 232.
As shown in fig. 8, the slewing bearing plate adjusting motor assembly 222 includes an adjusting support base 2221, a telescopic shaft 2222, a base 2223, a bearing point 2224, and a telescopic motor 2225.
The bearing support point 2224 is connected to the top of the scissor bracket 224, the base 2223 is fixedly connected with the bearing support point 2224, a telescopic motor 2225 and a telescopic shaft 2222 are arranged on the base 2223, an adjusting support base 2221 is arranged on the telescopic shaft 2222, and the adjusting support base 2221 is fixedly connected to the support plate 223. The telescopic motor 222 drives the screw rod to rotate through a pair of bevel gears in the base 2223, and drives and adjusts the telescopic shaft 2222 to realize telescopic action through threaded fit inside the screw rod and the telescopic shaft 2222.
As shown in fig. 2-4, the handcart type breaker picking and placing assembly mainly comprises: the device comprises a hook 111, a hook electric cylinder 112, a hook sliding plate 113, a supporting seat 114, a first trapezoidal screw 115, a first guide rail 116, an X-direction through stepping motor 117, a first screw bearing seat 118, a slideway baffle 119, a drawing sliding plate 120, a second screw bearing seat 121, a Y-direction through stepping motor 122, a second trapezoidal screw 123, a second guide rail 124, a binocular camera 125, a positioning pin 126, a component supporting platform 127, a locking hook 128 and a locking hook motor 129.
The assembly support platform 127 is fixed to the rotating platform 221 through positioning pins 2216, the assembly support platform 127 is provided with a plurality of guide rails, the second guide rails 124 are symmetrically arranged on two sides of the assembly support platform 127, the first guide rails 116 are perpendicular to the second guide rails 124 and are arranged on one side of the assembly support platform 127, the second guide rails are provided with supporting seats 114, each first guide rail 116 is provided with an X-direction through stepping motor 117, each first guide rail 116 is provided with a supporting seat 114, each supporting seat 114 is matched with the corresponding through stepping motor 117, each pair of supporting seats 114 and each X-direction through stepping motor 117 are penetrated by a first trapezoidal screw 115, and the first trapezoidal screws 115 are fixed on the drawing sliding plate 120 through first screw bearing seats 118.
The finger 111, the finger cylinder 112 and the finger slide 113 are connected together by a pin and are assembled on the support base 114 and the X-direction through type stepping motor 117.
In this embodiment, the first guide rail 116 includes two guide rails, and the two guide rails are disposed in parallel. One first trapezoidal screw 115 sequentially passes through the supporting seat 114 and the X-direction through type stepping motor 117 on the first guide rail 116, and the other first trapezoidal screw 115 sequentially passes through the X-direction through type stepping motor 117 and the supporting seat 114 on the other first guide rail 116, so that the two groups of hooks 111 can respectively move along the X direction under the drive of the two groups of stepping motors.
The second guide rail 124 is provided with a long trapezoidal screw 123, a long screw bearing seat 121, a drawing slide plate 120 and a Y-direction through type stepping motor 122 which are assembled together.
Specifically, the second guide rail 124 is mounted on the assembly support platform 127, two second trapezoidal screw bearing blocks 121 are mounted on the assembly support platform 127 close to two sides of the second guide rail 124, the Y-direction through stepping motor 122 is slidably connected with the second guide rail 124 through a sliding mechanism, the second trapezoidal screw 123 is fixed between the second trapezoidal screw bearing blocks 121, one side of the drawing sliding plate 120 is fixed on the upper portion of the Y-direction through stepping motor, and the other side is connected with the second guide rail 124 on the side through the sliding mechanism.
The opposite side of the first guide rail 124 is provided with a positioning pin 126, a binocular camera 125 and a locking hook 128 on the side of the assembly supporting platform 127, the locking hook 128 is connected with a locking hook motor 129, the relative positions of the automatic placing platform and the switch cabinet are determined through the binocular camera 125 and the positioning pin 126, and after the positions are fixed, the locking hook 128 locks the positions between the placing platform and the switch cabinet under the driving of the locking hook motor 129.
The binocular camera is used for identifying position characteristic information on the switch cabinet, providing relative position deviation between the placing platform and the switch cabinet, guiding the placing platform to adjust the relative position between the placing platform and the switch cabinet, and realizing automatic adjustment of the pose of the placing platform.
In the process of completely fixing the handcart type circuit breaker on the handcart type circuit breaker picking and placing assembly 1 when the handcart type circuit breaker is contacted with the handcart type circuit breaker picking and placing assembly 1, the gesture of the handcart type circuit breaker picking and placing assembly 1 can be caused to be subjected to uncertain change due to the action of gravity, and then the problem of blocking in the extraction process of the handcart type circuit breaker is caused to cause extraction failure.
Therefore, the problem can be effectively solved by adding the real-time posture adjustment system of the handcart type breaker picking and placing assembly 1.
Wherein, the rotation support plate 223 is provided with a two-axis tilt sensor, the gesture of the handcart type breaker picking and placing component 1 is monitored in real time with a set detection period, for example, a detection period of 10ms, and the real-time output angles of the rotation motor 2214 and the telescopic motor 2225 are calculated by the following formula after receiving the data of the two-axis tilt sensor.
Ax＝g·sin(α)
Ay＝g·sin(β)
Wherein: ax is the input value of the given intersection angle of the rotary motor 2214; ay is an input value of a given angle of the telescopic motor 2225; g is gravity acceleration; alpha and beta are inclination angles.
The working principle of the invention is as follows:
step 1, automatically placing a switch cabinet handcart type circuit breaker of which the platform is close to a fault state.
And 2, identifying the relative positions of the switch cabinet and the placing platform by the binocular camera, controlling and adjusting the height of the scissor lifting device and the rotation angle of the rotating platform, and ensuring the alignment of the positioning pin 126 and the pin hole of the switch cabinet.
And 3, controlling the moving platform 3 to slowly approach the switch cabinet, so that the positioning pin 126 is inserted into the positioning pin hole, and the lock hook motor 129 drives the lock hook 128 to act, thereby ensuring that the placing platform and the switch cabinet are firmly locked.
And 4, the pulling slide plate 120 drives the hook 111 to advance to the handle position of the handcart type circuit breaker, the hook electric cylinder 112 acts to drive the hook 111 to hook the handle, the Y-direction through stepping motor 122 acts, and the handcart type circuit breaker is pulled out of the switch cabinet.
And 5, the latch hook motor 129 drives the latch hook 128 to unlock, the automatic placement platform drives the fault handcart type circuit breaker to reach the overhauling position, and the handcart type circuit breaker overhauling work is manually carried out.
On the other hand, the embodiment provides a robot, including a handcart-type breaker automatic placement platform of high tension switchgear, its specific structure is the same with above-mentioned structure, and this is not repeated here.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. Automatic place platform of high tension switchgear handcart-type circuit breaker, its characterized in that includes: the handcart type circuit breaker picking and placing assembly, the lifting rotating assembly and the mobile platform;
the movable platform is provided with a lifting rotating assembly, the lifting rotating assembly is provided with a linear guide rail and a scissor bracket, one end of the bottom of the scissor bracket is fixed on a bearing seat connecting block, the other end of the scissor bracket is fixed on a sliding block through a fixing, and the sliding block is in sliding connection with the linear guide rail;
the rotary support plate is fixed at the top of the scissor bracket, the rotary platform is assembled on the rotary support plate, the rotary platform is rotationally connected with the handcart type circuit breaker picking and placing component, and the handcart type circuit breaker is pulled out of the switch cabinet through the handcart type circuit breaker picking and placing component.
2. The automatic placement platform for the handcart type circuit breaker of the high-voltage switch cabinet according to claim 1, wherein the lifting rotating assembly comprises a bottom plate, a scissor connecting plate is arranged on a scissor bracket, a motor connecting seat is arranged on the bottom plate, one end of the motor connecting seat is connected with a lifting motor, the other end of the motor connecting seat is connected with a first speed reducer, the first speed reducer is fixed on the scissor connecting plate, and the lifting motor and the first speed reducer convert linear reciprocating motion into lifting motion of a scissor through the scissor connecting plate.
3. The automatic placement platform for the handcart type circuit breaker of the high-voltage switch cabinet according to claim 1, wherein the rotating platform comprises a circular rail sliding block, a rotating platform plate, a circular rail, a circular motor, a second speed reducer and a positioning pin;
the bottom of the rotating table plate is fixed with a circular rail sliding block, the circular rail sliding block is connected with a circular rail in a sliding manner, and the circular rail sliding block is fixed on the slewing bearing plate through the sliding connection circular rail; the bottom of the rotating table plate is provided with a locating pin, one end of the locating pin is connected with the second speed reducer and the loop motor, the other end of the locating pin is connected to the handcart type circuit breaker picking and placing assembly, and the rotating table and the handcart type circuit breaker picking and placing assembly are driven to rotate through the second speed reducer and the loop motor.
4. The automatic placement platform for the handcart type circuit breaker of the high-voltage switch cabinet according to claim 1, wherein the lifting rotating assembly further comprises a slewing support plate adjusting motor assembly, and the slewing support plate adjusting motor assembly comprises an adjusting support seat, a telescopic shaft, a base, a bearing fulcrum and a telescopic motor;
the telescopic support is characterized in that the bearing fulcrum is connected to the top of the scissor support, the base is fixedly connected with the bearing fulcrum, the base is provided with a telescopic motor and a telescopic shaft, the telescopic shaft is provided with an adjusting support seat, the telescopic motor is connected to the slewing support plate through the adjusting support seat, the telescopic motor drives the screw rod to rotate through a pair of bevel gears in the base, and the telescopic motor drives the telescopic shaft to realize telescopic action through threaded fit of the screw rod and the inside of the telescopic shaft.
5. The automatic placement platform for the handcart type circuit breaker of the high-voltage switch cabinet according to claim 1, wherein the handcart type circuit breaker taking and placing component comprises a component supporting platform, a claw electric cylinder and a claw sliding plate;
the assembly supporting platform is provided with a plurality of guide rails, the second guide rails are symmetrically arranged on two sides of the supporting platform, the first guide rails are perpendicular to the second guide rails and are arranged on one side of the supporting platform, each first guide rail is provided with an X-direction through stepping motor, each X-direction through stepping motor is provided with a supporting seat, the supporting seats and the through stepping motor are matched for use, and the hook claw, the hook claw electric cylinder and the hook claw sliding plate are connected together through pin shafts and are assembled on the supporting seats and the X-direction through stepping motor.
6. The automatic placement platform for handcart type circuit breakers of high-voltage switch cabinets according to claim 5, wherein each pair of supporting seats and through type stepping motors penetrate through a first trapezoidal screw rod, one first trapezoidal screw rod penetrates through the supporting seat and the X-direction through type stepping motor on the first guide rail successively, and the other first trapezoidal screw rod penetrates through the X-direction through type stepping motor and the supporting seat on the other first guide rail successively, so that the hook claw moves along the X direction under the driving of the two groups of stepping motors respectively.
7. The automatic placement platform for the handcart type circuit breaker of the high-voltage switch cabinet according to claim 5, wherein the second guide rail is provided with a Y-direction through stepping motor and a drawing sliding plate, one side of the drawing sliding plate is fixed on the upper part of the Y-direction through stepping motor, the other side of the drawing sliding plate is in sliding connection with the second guide rail on the side, second trapezoidal screw bearing seats are arranged on two sides close to the second guide rail, the Y-direction through stepping motor is in sliding connection with the second guide rail, and second trapezoidal screws are fixed between the second trapezoidal screw bearing seats.
8. The automatic placement platform for the handcart type circuit breaker of the high-voltage switch cabinet according to claim 5, wherein a positioning pin and a locking hook are arranged on the side edge of the component support platform on the opposite side of the second guide rail, the locking hook is connected with a locking hook motor, the relative position of the automatic placement platform and the switch cabinet is determined through the positioning pin, and after the position is determined, the locking hook locks the position between the placement platform and the switch cabinet under the driving of a fourth motor.
9. The automatic placement platform for the handcart type circuit breaker of the high-voltage switch cabinet according to claim 8, wherein a binocular camera is further arranged on the side edge of the assembly supporting platform and used for identifying position characteristic information on the switch cabinet, providing relative position deviation between the placement platform and the switch cabinet, guiding the placement platform to adjust the relative position between the placement platform and the switch cabinet, and achieving automatic adjustment of the pose of the placement platform.
10. The automatic placement platform for the handcart type circuit breaker of the high-voltage switch cabinet according to claim 1, wherein the two-axis inclination sensor is installed on the slewing support plate, the gesture of the picking and placing component of the handcart type circuit breaker is monitored in real time according to a set detection period, and the real-time output angles of the slewing motor and the telescopic motor are calculated by receiving the data of the two-axis inclination sensor.
11. A robot comprising a switchgear working tool rapid switching device platform according to any one of claims 1-10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311390417.9A CN117410866A (en) | 2023-10-24 | 2023-10-24 | Automatic placing platform and robot for handcart type circuit breaker of high-voltage switch cabinet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311390417.9A CN117410866A (en) | 2023-10-24 | 2023-10-24 | Automatic placing platform and robot for handcart type circuit breaker of high-voltage switch cabinet |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117410866A true CN117410866A (en) | 2024-01-16 |
Family
ID=89486667
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311390417.9A Pending CN117410866A (en) | 2023-10-24 | 2023-10-24 | Automatic placing platform and robot for handcart type circuit breaker of high-voltage switch cabinet |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117410866A (en) |
-
2023
- 2023-10-24 CN CN202311390417.9A patent/CN117410866A/en active Pending
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