CN117621121A - Anti-torsion split type ground knife structure for operation robot of power distribution cabinet - Google Patents
Anti-torsion split type ground knife structure for operation robot of power distribution cabinet Download PDFInfo
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Abstract
The invention relates to the field of installation and maintenance of power distribution cabinets, in particular to an anti-torsion split type ground knife structure of an operation robot for a power distribution cabinet, which comprises a frame, a ground knife module, a mechanical arm, a tool quick-change assembly, an adsorption structure arranged on the ground knife module and a separable connecting assembly for driving the ground knife module to be separated from the frame; the adsorption structure is used for adsorbing the ground knife module on the cabinet door. The arrangement of the adsorption structure not only ensures that the ground knife module is connected with the cabinet door through the adsorption structure because the required torque is very large when the ground knife switch is rotated by floating operation. The whole robot is connected by combining the mechanical arm, the mass of the robot and the adsorption force of the cabinet door of the grounding knife module are utilized to resist the torque of the grounding knife switch, so that the rotary motor drives the floating operation head to rotate, the grounding knife switch is rotated better, and the grounding knife switch operation is completed.
Description
Technical Field
The invention relates to the field of installation and maintenance of power distribution cabinets, in particular to a torsion-proof split type ground knife structure of an operation robot for a power distribution cabinet.
Background
With the continuous development of smart grids, the power grid equipment is increased, and the power grid voltage is also increased. For safety, many devices are deployed in a power distribution switch cabinet, and a traditional method adopts manpower to operate the power distribution switch cabinet, so that safety accidents easily occur during electrician operation.
With the rise of robotics, power distribution switch cabinets are beginning to be introduced into robots for automation or remote control. The robot operation power distribution cabinet switching device has the advantages that functions are perfect, the robot operation power distribution cabinet switching device is flexible to operate, the control accuracy of the power distribution switch cabinet can be improved, the safety operation coefficient can be improved, the stability of power supply to society of a power grid enterprise is guaranteed, meanwhile, the safety of the power grid and equipment of the power grid is guaranteed, and the robot operation power distribution cabinet switching device has important effects and significance.
However, although the prior art knife switch operating mechanism is also arranged on a robot for operation, such as an indoor live operation robot with a patent number of CN202011460884.0, the whole ground knife module is irremovably arranged on the robot body, and when the switch is operated, the ground knife module is transported to a switch cabinet site through the robot body, and the operation room is returned after the operation of the ground knife switch is completed. This operation requires a certain response time of the robot body, and a certain period of time is also required for the general robot body to transport the ground knife module to the switch cabinet site. In case of an emergency, such as a short circuit of the transformer substation, a dangerous event is often caused by the fact that the grounding switch is not operated. Therefore, by adopting the scheme in the prior art, the reaction time is long, the response time is slow, and the emergency is not treated in the past.
In view of the above, the invention provides a torsion-proof split type ground knife structure for an operation robot of a power distribution cabinet.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a torsion-proof split type ground knife structure of an operation robot for a power distribution cabinet.
In order to solve the technical problems, the following technical scheme is adopted:
the anti-torsion split type ground knife structure for the operation robot of the power distribution cabinet comprises a frame, a ground knife module, a mechanical arm, a tool quick-change assembly and a separable connecting assembly for driving the ground knife module to be separated from the frame;
the tool quick-change assembly comprises a first core signal module arranged on the mechanical arm and a second core signal module arranged on the ground knife module, and the power of the mechanical arm is transmitted to the ground knife module through quick-change matching of the first core signal module and the second core signal module;
the ground sword module is last to install adsorption structure and wireless communication module, adsorption structure is used for adsorbing ground sword module on the cabinet door, wireless communication module respectively with remote control system and the control module communication connection of operation robot.
The ground knife operation head of the ground knife module is provided with an angle sensor for measuring the rotation of the ground knife operation head and a camera for shooting the ground knife switch, and the camera and the angle sensor are connected with the control module.
Further, the adsorption structure comprises an electromagnetic adsorption structure, the electromagnetic adsorption structure comprises an electromagnetic adsorption seat and an electromagnetic block, the electromagnetic adsorption seat is fixedly arranged on the ground knife module, the electromagnetic adsorption seat is connected with the electromagnetic block, and the electromagnetic block acts on the cabinet door.
Further, the adsorption structure comprises a permanent magnet adsorption structure, the permanent magnet adsorption structure comprises a permanent magnet adsorption seat and a permanent magnet block, the permanent magnet adsorption seat is fixedly arranged on the ground knife module, the permanent magnet adsorption seat is connected with the permanent magnet block, and the permanent magnet block acts on the cabinet door.
Further, the adsorption structure comprises a sucking disc adsorption structure, the sucking disc adsorption structure comprises a sucking disc adsorption seat and a sucking disc block, the sucking disc adsorption seat is fixedly arranged on the ground knife module, the sucking disc adsorption seat is connected with the sucking disc block, and the sucking disc block acts on a cabinet door.
Further, a supporting platform is arranged on the frame, and the ground knife module is detachably installed on the supporting platform through the connecting component.
Further, the connecting assembly comprises an electromagnetic connecting assembly, the electromagnetic connecting assembly comprises an electromagnet fixedly mounted on the ground knife module, and the lower part of the electromagnet is connected with a supporting platform;
when the electromagnet is electrified, the ground knife module is attracted to the supporting platform.
Further, the connecting assembly comprises a permanent magnet connecting assembly, the permanent magnet connecting assembly comprises a permanent magnet fixedly installed on the ground knife module, and the lower part of the permanent magnet is connected with the supporting platform.
Further, the connecting assembly comprises a vacuum chuck connecting assembly, the vacuum chuck connecting assembly comprises a vacuum chuck fixedly installed on the ground knife module, and the lower part of the vacuum chuck is connected with a supporting platform.
When the vacuum chuck is electrified, the vacuum chuck adsorbs the ground knife module.
Further, the ground knife module comprises a lifting structure for driving the ground knife module to move, and the lifting structure is used for driving the supporting platform to vertically lift.
Further, a power supply is arranged on the ground knife module.
Due to the adoption of the technical scheme, the method has the following beneficial effects:
the invention discloses an anti-torsion split type ground knife structure for an operation robot of a power distribution cabinet, which ensures the control accuracy degree of the power distribution cabinet and the operation safety in the processes of installation, maintenance and the like of the power distribution cabinet. Specifically, the whole ground knife module is firstly arranged into an independent modularized product, and the ground knife module is detachably arranged on the frame through the connecting component, so that the ground knife module can be separated from the frame at any time through the connecting component. Specifically, the ground knife module can be mounted on a supporting platform of a lifting structure of the frame, and can also be a generally fixed supporting platform. When the robot is used, the robot is moved to a proper position relative to the cabinet door through the electric cabinet data acquired before. And then, the power of the mechanical arm is transmitted to the ground knife module through the quick-change matching of the first core signal module and the second core signal module. Meanwhile, the ground knife module is separated from the frame through the connecting assembly, and then the ground knife module is grabbed by the mechanical arm, so that the mechanical arm grabs the ground knife module to adjust the pose in the XYZ three-dimensional space, and the ground knife operation head of the ground knife module is completely aligned with the ground knife switch of the power distribution cabinet. Specifically, through the picture of the earthing knife-switch that the camera shot, confirm the required rotation angle of earthing knife-switch operating head to guarantee that switch board earthing knife-switch rotates suitable angle, reach the purpose of closing the switch, and use when just through angle sensor and control module's cooperation, also can prevent that earthing knife-switch operation from carrying out maloperation and twisting bad earthing knife-switch. And then the ground knife module is adsorbed on the cabinet door through the adsorption structure. Then the operation robot body can leave the cabinet door, the power supply of the ground knife module supplies power to the adsorption structure and the rotary motor, so that the remote control system and the control module of the operation robot control the rotary motor to work through invalid communication, the rotary motor drives the ground knife operation head to rotate the ground knife switch, the related operation of the ground knife switch of the power distribution cabinet is completed, the whole-course automatic operation is realized, and the robot completes the operation of rotating the ground knife switch. The structure can be free from a lifting structure and a sliding mechanism in the XY direction as in the prior art, so that compared with the prior art, the sliding mechanism in the XY direction is reduced on the ground knife module, and the lifting structure is not required, so that the structure of the ground knife module is greatly lightened, and the load is at least reduced by more than 50% compared with the prior art.
In addition, the adsorption structure is arranged, so that when the ground knife switch rotates in a floating operation, the ground knife module and the cabinet door are connected together through the adsorption structure due to the large torque required. The whole robot can be connected by combining the mechanical arm, the mass of the robot and the adsorption force of the cabinet door of the grounding knife module are utilized to resist the torque of the grounding knife switch, so that the rotary motor drives the floating operation head to rotate, the grounding knife switch is rotated better, and the grounding knife switch operation is completed. And because of the arrangement of the adsorption structure, after the grounding knife switch is operated, the robot body and the grounding knife module are completely separated through the tool quick-change assembly, so that the grounding knife module can be separated from the robot body at any time to perform independent action, for example, the grounding knife module of the robot can be directly placed on site after the grounding knife module finishes the work of rotating the grounding rotary knife switch. When the grounding knife switch is required to be rotated, the grounding knife switch can be directly used without the need of secondary transportation of the robot body to the site, so that the grounding knife module can be provided with an electromagnet, a permanent magnet or a sucking disc and other adsorption structures, the independent grounding knife module is adsorbed on a cabinet door, the remote control system controls the grounding knife module to carry out subsequent related work, the robot body can return to a working chamber again, the work can be restarted after the new grounding knife module is assembled, the grounding knife switch operation of the next switch cabinet is completed, the machine is convenient to use, the subsequent maintenance and the maintenance are convenient, and the working efficiency is greatly improved. In addition, the ground knife module is directly arranged on the cabinet door through the adsorption structure, and can normally work continuously for half a month to one month (under the condition that the adsorption structure is not powered off), so long as the battery on the ground knife module can drive the rotary motor, the adsorption structure and other equipment of the ground knife module to work, the ground knife module can not leave the site of the switch cabinet theoretically. Therefore, when the grounding disconnecting link is required to be operated, the remote control system can directly control the rotary motor to complete through signal transmission of the wireless communication module, the response time is fast, the working efficiency is high, and emergency matters can be processed in time.
Drawings
The invention is further described below with reference to the accompanying drawings:
fig. 1 is a schematic structural diagram of an adsorption structure disposed on a ground knife module according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of another view angle of the adsorbing structure disposed on the ground knife module according to the embodiment of the present invention.
Fig. 3 is a schematic structural diagram of an adsorption structure acting on a cabinet door according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a connection between a mechanical arm and a ground knife module of an operation robot according to an embodiment of the present invention.
Fig. 5 is a schematic structural view of another view of the connection between the mechanical arm and the ground blade module of the robot.
Fig. 6 is a schematic structural diagram of an operation robot with a mechanical arm and a ground knife module unconnected.
Fig. 7 is a schematic view illustrating an internal structure of an operation robot according to an embodiment of the present invention.
Fig. 8 is a schematic front view of an operating robot according to an embodiment of the present invention.
Fig. 9 is a schematic side view of an operating robot according to an embodiment of the present invention.
FIG. 10 is a schematic cross-sectional view of A-A in FIG. 8 according to an embodiment of the present invention.
In the figure: 1-a frame; 2-a transmission assembly; 3-a support platform; 4-lifting motor; 5-a ground knife module; a 6-connection assembly; 7-lifting columns; 8-a linear bearing seat; 9-a sliding assembly; 10-limiting plates; 11-limit posts, 12-motor drivers; 13-a motor fixing seat; 14-a first core signal module; 15-a second core signal module; 16-a mechanical arm; 17-cabinet door; an 18-adsorption structure; 19-angle sensor.
21-a synchronous belt drive assembly; 22-screw drive assembly.
211-a driving synchronous pulley; 212-a driven synchronous pulley; 213-a drive timing belt.
221-ball screw; 222-a lead screw nut; 223-a first screw bearing seat; 224-second screw bearing seat.
51-a rotary motor; 52-floor cutter operating head.
61-an electromagnetic connection assembly; 611-electromagnet.
91-lifting slide blocks; 92-lifting slide rails; 93-a slide block connecting seat.
181-electromagnetic adsorption seat; 182-electromagnetic block.
Detailed Description
The present invention will be further described in 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 detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
Example 1
Referring to fig. 1-6, a torsion-proof split type ground knife structure 18 for an operation robot of a power distribution cabinet comprises a frame 1, a ground knife module 5, a mechanical arm 16, a tool quick-change assembly and a detachable connecting assembly 6 for driving the ground knife module 5 to be separated from the frame 1. The mechanical arm 16 is arranged on the frame, the tool quick-change assembly comprises a first core signal module 14 arranged on the mechanical arm 16 and a second core signal module 15 arranged on the ground knife module, and the power of the mechanical arm 16 is transmitted to the ground knife module through quick-change cooperation of the first core signal module 14 and the second core signal module 15, so that the ground knife module 5 is adjusted by the power of the mechanical arm 16, and the ground knife floating head of the ground knife module 5 is aligned with a ground knife gate of a power distribution cabinet.
The ground sword module is last to install adsorption structure 18 and wireless communication module, adsorption structure 18 is used for adsorbing ground sword module on the cabinet door, wireless communication module respectively with remote control system and the control module communication connection of operation robot.
As a further explanation of this embodiment, the ground blade operating head of the ground blade module is provided with an angle sensor 19 for measuring the rotation of the ground blade operating head and a camera for shooting the ground blade, and both the camera and the angle sensor 19 are connected with the control module. And confirming the rotation angle required by the ground knife operation head through the picture of the ground knife switch shot by the camera. Specifically, through the picture of the earthing knife-switch that the camera shot, confirm the required rotation angle of earthing knife-switch operating head to guarantee that switch board earthing knife-switch rotates suitable angle, reach the purpose of closing the switch, and use when just through angle sensor 19 and control module's cooperation, also can prevent that earthing knife-switch operation from carrying out maloperation and twisting bad earthing knife-switch.
As a further illustration of the present embodiment, the suction structure 18 is used to suck the floor cutter module onto the cabinet door 17. The adsorption structure 18 comprises an electromagnetic adsorption structure, the electromagnetic adsorption structure comprises an electromagnetic adsorption base 181 and an electromagnetic block 182, the electromagnetic adsorption base 181 is fixedly installed on the ground knife module, the electromagnetic adsorption base 181 is connected with the electromagnetic block 182, and the electromagnetic block 182 acts on the cabinet door 17. The adsorption structure is arranged, and when the ground knife switch is rotated by floating operation, the ground knife module and the cabinet door 17 are connected together through the adsorption structure 18 due to the large torque required. The whole robot is connected by combining the mechanical arm 16, and the mass of the robot and the adsorption force of the ground knife module cabinet door 17 are utilized to resist the torque of the rotary ground knife switch together, so that the rotary motor 51 drives the floating operation head 52 to rotate, the ground knife switch is rotated better, and the ground knife switch operation is completed. And because of the arrangement of the adsorption structure 18, after the grounding knife switch is operated, the robot body and the grounding knife module are completely separated through the tool quick-change assembly, so that the grounding knife module can be separated from the robot body at any time to perform independent action, for example, the grounding knife module of the robot can be directly placed on site after the grounding knife module of the robot finishes the work of rotating the grounding rotation knife switch. When the grounding knife switch is required to be rotated, the grounding knife switch can be directly used without the need of secondary transportation of the robot body to the site, so that the adsorption structures 18 such as an electromagnet, a permanent magnet or a sucker can be arranged on the grounding knife module, the independent grounding knife module is adsorbed on a cabinet door, the remote control system controls the grounding knife module to carry out subsequent related work, the robot body can return to a working room again, the work can be restarted after the new grounding knife module is assembled, the grounding knife switch operation of the next switch cabinet is completed, the machine is convenient to use, the subsequent maintenance is convenient, and the working efficiency is greatly improved. In addition, the ground knife module is directly arranged on the cabinet door through the adsorption structure 18, and can normally work continuously for half a month to one month (under the condition that the adsorption structure 18 is not powered off), so long as the battery on the ground knife module can drive the equipment such as the rotary motor of the ground knife module, the adsorption structure 18 and the like to work, the ground knife module can not leave the site of the switch cabinet theoretically. Therefore, when the grounding disconnecting link is required to be operated, the remote control system can directly control the rotary motor to complete through signal transmission of the wireless communication module, the response time is fast, the working efficiency is high, and emergency matters can be processed in time.
As a further illustration of the present embodiment, a detachable connection assembly 6 is provided between the frame 1 and the ground blade module 5. Specifically, the ground knife module 5 is separately disposed on the platform of the frame, and in this embodiment, a separable connection assembly 6 is disposed between the support platform 3 and the ground knife module 5. The connecting assembly 6 is an electromagnetic connecting assembly 61, the electromagnetic connecting assembly 61 comprises an electromagnet 611 fixedly mounted on the ground knife module 5, and the lower part of the electromagnet 611 is connected with the supporting platform 3; when the electromagnet 611 is energized, the ground knife module 5 is attracted to the support platform 3. Like this sword module 5 and elevation structure separate the setting, not only reduced the equipment part on the sword module 5, need not install the drive mechanism etc. of sword module 5 on supporting platform 3, make whole sword module 5 detachable use alone, not only make elevator motor 4's motion load reduce more than 50% than originally, and owing to separable coupling assembling 6's setting, make sword module 5 can break away from the robot body at any time and carry out independent action, also make things convenient for subsequent maintenance and maintenance, improved work efficiency greatly.
As a further explanation of this embodiment, the connection assembly 6 is a permanent magnet connection assembly 6, and the permanent magnet connection assembly 6 includes a permanent magnet fixedly mounted on the ground knife module 5, and the lower portion of the permanent magnet is connected to the support platform 3.
As a further explanation of the present embodiment, the connection assembly 6 is a vacuum chuck connection assembly 6, and the vacuum chuck connection assembly 6 includes a vacuum chuck fixedly installed on the ground knife module 5, and a lower portion of the vacuum chuck is connected with the support platform 3; when the vacuum chuck is energized, the vacuum chuck attracts the ground blade module 5.
The working principle of the embodiment is as follows: the invention firstly sets the whole ground knife module into an independent modularized product, and detachably installs the ground knife module on the frame through the connecting component, so that the ground knife module can be separated from the frame at any time through the connecting component. Specifically, the ground knife module can be mounted on a supporting platform of a lifting structure of the frame, and can also be a generally fixed supporting platform. When the robot is used, the robot is moved to a proper position relative to the cabinet door through the electric cabinet data acquired before. And then, the power of the mechanical arm is transmitted to the ground knife module through the quick-change matching of the first core signal module and the second core signal module. Meanwhile, the ground knife module is separated from the frame through the connecting assembly, and then the ground knife module is grabbed by the mechanical arm, so that the mechanical arm grabs the ground knife module to adjust the pose in the XYZ three-dimensional space, and the ground knife operation head of the ground knife module is completely aligned with the ground knife switch of the power distribution cabinet. Specifically, through the picture of the earthing knife-switch that the camera shot, confirm the required rotation angle of earthing knife-switch operating head to guarantee that switch board earthing knife-switch rotates suitable angle, reach the purpose of closing the switch, and use when just through angle sensor 19 and control module's cooperation, also can prevent that earthing knife-switch operation from carrying out maloperation and twisting bad earthing knife-switch. The floor tool module is then attached to the cabinet door by means of the attachment structure 18. Then the operation robot body can leave the cabinet door, the power supply of the ground knife module supplies power to the adsorption structure 18 and the rotary motor, so that the remote control system and the control module of the operation robot control the rotary motor to work through invalid communication, the rotary motor drives the ground knife operation head to rotate the ground knife switch, the operation related to the ground knife switch of the power distribution cabinet is completed, the whole-course automatic operation is realized, and the robot completes the operation of rotating the ground knife switch. The structure can be free from a lifting structure and a sliding mechanism in the XY direction as in the prior art, so that compared with the prior art, the sliding mechanism in the XY direction is reduced on the ground knife module, and the lifting structure is not required, so that the structure of the ground knife module is greatly lightened, and the load is at least reduced by more than 50% compared with the prior art.
In addition, the adsorption structure 18 is arranged, so that when the ground knife switch is rotated by floating operation, the ground knife module and the cabinet door are connected together through the adsorption structure 18 due to the large torque required. The whole robot can be connected by combining the mechanical arm, the mass of the robot and the adsorption force of the cabinet door of the grounding knife module are utilized to resist the torque of the grounding knife switch, so that the rotary motor drives the floating operation head to rotate, the grounding knife switch is rotated better, and the grounding knife switch operation is completed. And because of the arrangement of the adsorption structure 18, after the grounding knife switch is operated, the robot body and the grounding knife module are completely separated through the tool quick-change assembly, so that the grounding knife module can be separated from the robot body at any time to perform independent action, for example, the grounding knife module of the robot can be directly placed on site after the grounding knife module of the robot finishes the work of rotating the grounding rotation knife switch. When the grounding knife switch is required to be rotated, the grounding knife switch can be directly used without the need of secondary transportation of the robot body to the site, so that the adsorption structures 18 such as an electromagnet, a permanent magnet or a sucker can be arranged on the grounding knife module, the independent grounding knife module is adsorbed on a cabinet door, the remote control system controls the grounding knife module to carry out subsequent related work, the robot body can return to a working room again, the work can be restarted after the new grounding knife module is assembled, the grounding knife switch operation of the next switch cabinet is completed, the machine is convenient to use, the subsequent maintenance is convenient, and the working efficiency is greatly improved. In addition, the ground knife module is directly arranged on the cabinet door through the adsorption structure 18, and can normally work continuously for half a month to one month (under the condition that the adsorption structure 18 is not powered off), so long as the battery on the ground knife module can drive the equipment such as the rotary motor of the ground knife module, the adsorption structure 18 and the like to work, the ground knife module can not leave the site of the switch cabinet theoretically. Therefore, when the grounding disconnecting link is required to be operated, the remote control system can directly control the rotary motor to complete through signal transmission of the wireless communication module, the response time is fast, the working efficiency is high, and emergency matters can be processed in time.
Example 2
On the basis of embodiment 1, see 7-10, split type ground sword adsorption equipment still drives the elevation structure of ground sword module motion, elevation structure includes drive assembly 2, supporting platform 3 and elevator motor 4, elevator motor 4 install in on frame 1, elevator motor 4 is connected with drive assembly 2, drive assembly 2 connect in the medial surface of supporting platform 3, install ground sword module 5 on the supporting platform 3.
Specifically, the transmission assembly 2 includes a synchronous belt transmission assembly 21 and a screw transmission assembly 22, one side of the synchronous belt transmission assembly 21 is connected with the lifting motor 4, and the other side of the synchronous belt transmission assembly 21 is connected with the screw transmission assembly 22.
Specifically, the screw transmission assembly 22 includes a ball screw 221 and a screw nut 222, the screw nut 222 is mounted on the ball screw 221, and the screw nut 222 is mounted on the support platform 3. Specifically, ball screw 221 set up in the medial surface of supporting platform 3, the lateral surface of supporting platform 3 carries out sliding support through linear bearing seat 8 and connects, like this sword module 5 whole install in supporting platform 3, convenient dismantlement, installation and maintenance.
As a further explanation of the present embodiment, the timing belt transmission assembly 21 includes a driving timing pulley 211, a driven timing pulley 212, and a driving timing belt 213, wherein the driving timing pulley 211 is mounted on the output shaft of the lifting motor 4, the driven timing pulley 212 is mounted on the lower end of the ball screw 221, and the driving timing belt 213 is disposed between the driving timing pulley 211 and the driven timing pulley 212.
As a further explanation of the present embodiment, a detachable connection assembly 6 is provided between the support platform 3 and the ground blade module 5. The connecting assembly 6 is an electromagnetic connecting assembly 61, the electromagnetic connecting assembly 61 comprises an electromagnet 611 fixedly mounted on the ground knife module 5, and the lower part of the electromagnet 611 is connected with the supporting platform 3; when the electromagnet 611 is energized, the ground knife module 5 is attracted to the support platform 3. Like this sword module 5 and elevation structure separate the setting, not only reduced the equipment part on the sword module 5, need not install the drive mechanism etc. of sword module 5 on supporting platform 3, make whole sword module 5 can dismantle alone and use, not only make elevator motor 4's motion load reduce more than 50% than originally, owing to the setting of the coupling assembling 6 of detachable, make sword module 5 can break away from the robot body at any time and carry out independent action, also make things convenient for subsequent maintenance and maintenance, improved work efficiency greatly.
As a further explanation of this embodiment, the outer side of the supporting platform 3 is provided with a lifting column 7 and a linear bearing seat 8, the upper end of the lifting column 7 is fixedly connected with the supporting platform 3, the outer sliding sleeve of the lifting column 7 is provided with the linear bearing seat 8, the linear bearing seat 8 is fixedly installed on the frame 1, and under the action of the Z-axis lifting structure, the lower end of the lifting column 7 extends into the frame 1. By arranging the lifting column 7 and the linear bearing seat 8, the supporting platform 3 can smoothly move up and down when in lifting motion.
As a further explanation of this embodiment, the two ends of the back side of the supporting platform 3 are both provided with sliding components 9, the sliding components 9 include a lifting sliding block 91, a lifting sliding rail 92 and a sliding block connecting seat 93, the lifting sliding block 91 is disposed on the lifting sliding rail 92, the lifting sliding block 91 is connected with the sliding block connecting seat 93, and the sliding block connecting seat 93 is fixedly mounted at two ends of the back side of the supporting platform 3. By arranging the sliding assemblies 9 at the two ends of the rear side of the supporting platform 3, the supporting platform 3 can smoothly move up and down when doing lifting movement.
As a further explanation of this embodiment, the frame 1 is provided with a limiting plate 10, and a limiting post 11 is disposed on an upper portion of the limiting plate 10, where the limiting post 11 limits the movement range of the support platform 3. By arranging the limiting plate 10 and the limiting column 11, the supporting platform 3 is prevented from falling to a position which is lower than the lifting motor 4, and the supporting platform 3 is prevented from damaging parts such as the lifting motor 4.
As a further explanation of the present embodiment, the limiting plate 10 is provided with a motor driver 12 for controlling the lifting motor 4.
As a further explanation of this embodiment, the upper end of the ball screw 221 is provided with a first screw bearing seat 223, the lower end of the ball screw 221 is provided with a second screw bearing seat 224, the outer part of the second screw bearing seat 224 is connected with a motor fixing seat 13, and the motor fixing seat 13 is connected with the lifting motor 4.
The working principle of the embodiment is as follows: the present invention provides the entire floor cutter module 5 as a single modular product and detachably mounts the floor cutter module 5 to the platform of the frame via the connection assembly 6. When in use, the robot is moved to a proper position relative to the cabinet door 17 through the electric cabinet data collected before. The power of the mechanical arm 16 is then transferred to the ground blade module by a quick-change fit of the first and second core signal modules 14, 15. Meanwhile, the synchronous belt transmission assembly 21 is driven to move through the lifting motor 4, and then the screw transmission assembly 22 is driven to drive the supporting platform 3 to lift. This vertically aligns the ground blade floating head of the ground blade module 5 with the switch cabinet ground blade. Then the frame and the ground knife module are separated through the connecting component, and then the ground knife module is grabbed by the mechanical arm 16, so that the mechanical arm 16 grabs the ground knife module to adjust the pose in the XY horizontal plane on the supporting platform. Finally, the grounding knife module 5 is fixed on the supporting platform through the connecting component, the grounding knife operating head 52 is rotated through the rotary motor 51 of the grounding knife module 5, the grounding knife is rotated, the related operation of the grounding knife of the power distribution cabinet is completed, the whole-course automatic operation is realized, and the grounding knife operation of the robot is completed. Because the ground knife module 5 and the lifting structure are arranged separately, a sliding table component in an XY horizontal plane is not required to be arranged, and when the ground knife module is driven to lift, the lifting motor 4, the synchronous belt transmission component, the speed reducer, the driver and other parts do not need to lift together with the supporting platform and the ground knife module, so that the lifting motion load of the lifting motor 4 is reduced by more than 50% compared with the prior art, when the mechanical arm 16 adjusts the ground knife module in the XY horizontal plane, the mechanical arm 16 only needs to drive the ground knife module to translate in the XY horizontal plane, and the load of the improved ground knife module is reduced by more than 50% compared with the prior art, the mechanical arm 16 only needs to select the mechanical arm 16 with small torque to finish the work, and the mechanical arm 16 with large torque does not need to be replaced because the ground knife module needs to be operated.
In addition, the detachable connection assembly 6 is arranged, and the rotary motor 51 drives the ground knife operating head 52 to rotate, so that when the ground knife switch is rotated, the ground knife module and the frame are connected together through the connection assembly 6 due to large torque, and the mass of the robot is utilized to resist the torque for rotating the ground knife switch. And the ground knife module 5 can be separated from the robot body at any time to perform independent action, so that subsequent repair and maintenance are convenient, and the working efficiency is greatly improved. And the ground knife module 5 can be separated from the robot body at any time to perform independent action, so that subsequent repair and maintenance are convenient, and the working efficiency is greatly improved. For example, the robot can be directly placed on the site after the ground knife module of the robot finishes the work of rotating the ground rotary knife switch. When the grounding knife switch is required to be rotated, the grounding knife switch can be directly used without the need of secondary transportation of the robot body to the site, so that the adsorption structures 18 such as an electromagnet, a permanent magnet or a sucker can be arranged on the grounding knife module, the independent grounding knife module is adsorbed on a cabinet door, the remote control system controls the grounding knife module to carry out subsequent related work, the robot body can return to a working room again, the work can be restarted after the new grounding knife module is assembled, the grounding knife switch operation of the next switch cabinet is completed, the machine is convenient to use, the subsequent maintenance is convenient, and the working efficiency is greatly improved. In addition, the ground knife module is directly arranged on the cabinet door through the adsorption structure 18, and can normally work continuously for half a month to one month (under the condition that the adsorption structure 18 is not powered off), so long as the battery on the ground knife module can drive the equipment such as the rotary motor of the ground knife module, the adsorption structure 18 and the like to work, the ground knife module can not leave the site of the switch cabinet theoretically. Therefore, when the grounding disconnecting link is required to be operated, the remote control system can directly control the rotary motor to complete through signal transmission of the wireless communication module, the response time is fast, the working efficiency is high, and emergency matters can be processed in time.
Example 3
The difference from embodiment 1 or 2 is that the adsorption structure 18 includes a permanent magnet adsorption structure, the permanent magnet adsorption structure includes a permanent magnet adsorption seat and a permanent magnet block, the permanent magnet adsorption seat is fixedly installed on the ground knife module, the permanent magnet adsorption seat is connected with the permanent magnet block, and the permanent magnet block acts on the cabinet door.
Example 4
The difference with embodiment 1 or 2 is that the suction structure 18 includes a suction cup suction structure, the suction cup suction structure includes a suction cup suction seat and a suction cup block, the suction cup suction seat is fixedly installed on the ground knife module, the suction cup suction seat is connected with the suction cup block, and the suction cup block acts on the cabinet door.
The above is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions or modifications made on the basis of the present invention to solve the substantially same technical problems and achieve the substantially same technical effects are encompassed within the scope of the present invention.
Claims (10)
1. A prevent turning round bad split type ground sword structure for switch board's operation robot, its characterized in that: the device comprises a frame, a ground knife module, a mechanical arm, a tool quick-change assembly and a separable connecting assembly for driving the ground knife module to be separated from the frame;
the tool quick-change assembly comprises a first core signal module arranged on the mechanical arm and a second core signal module arranged on the ground knife module, and the power of the mechanical arm is transmitted to the ground knife module through quick-change matching of the first core signal module and the second core signal module;
the ground knife module is provided with an adsorption structure and a wireless communication module, the adsorption structure is used for adsorbing the ground knife module on a cabinet door, and the wireless communication module is respectively in communication connection with a remote control system and a control module of the operation robot;
the ground knife operation head of the ground knife module is provided with an angle sensor for measuring the rotation of the ground knife operation head and a camera for shooting the ground knife switch, and the camera and the angle sensor are connected with the control module.
2. The torsion-proof split type ground knife structure of an operation robot for a power distribution cabinet according to claim 1, characterized in that: the adsorption structure comprises an electromagnetic adsorption structure, the electromagnetic adsorption structure comprises an electromagnetic adsorption seat and an electromagnetic block, the electromagnetic adsorption seat is fixedly arranged on the ground knife module, the electromagnetic adsorption seat is connected with the electromagnetic block, and the electromagnetic block acts on a cabinet door.
3. The torsion-proof split type ground knife structure of an operation robot for a power distribution cabinet according to claim 1, characterized in that: the adsorption structure comprises a permanent magnet adsorption structure, the permanent magnet adsorption structure comprises a permanent magnet adsorption seat and a permanent magnet block, the permanent magnet adsorption seat is fixedly arranged on the ground knife module, the permanent magnet adsorption seat is connected with the permanent magnet block, and the permanent magnet block acts on the cabinet door.
4. The torsion-proof split type ground knife structure of an operation robot for a power distribution cabinet according to claim 1, characterized in that: the sucking structure comprises a sucking disc sucking structure, the sucking disc sucking structure comprises a sucking disc sucking seat and a sucking disc block, the sucking disc sucking seat is fixedly arranged on the ground knife module and connected with the sucking disc block, and the sucking disc block acts on a cabinet door.
5. The torsion-proof split type ground knife structure of an operation robot for a power distribution cabinet according to any one of claims 1 to 4, wherein: the ground knife module is characterized in that a supporting platform is arranged on the frame and detachably installed through the connecting component.
6. The torsion-proof split type ground knife structure for an operation robot of a power distribution cabinet according to claim 5, characterized in that: the connecting assembly comprises an electromagnetic connecting assembly, the electromagnetic connecting assembly comprises an electromagnet fixedly arranged on the ground knife module, and the lower part of the electromagnet is connected with a supporting platform;
when the electromagnet is electrified, the ground knife module is attracted to the supporting platform.
7. The torsion-proof split type ground knife structure for an operation robot of a power distribution cabinet according to claim 5, characterized in that: the connecting assembly comprises a permanent magnet connecting assembly, the permanent magnet connecting assembly comprises a permanent magnet fixedly installed on the ground knife module, and the lower part of the permanent magnet is connected with the supporting platform.
8. The torsion-proof split type ground knife structure for an operation robot of a power distribution cabinet according to claim 5, characterized in that: the connecting assembly comprises a vacuum chuck connecting assembly, the vacuum chuck connecting assembly comprises a vacuum chuck fixedly arranged on the ground knife module, and the lower part of the vacuum chuck is connected with a supporting platform;
when the vacuum chuck is electrified, the vacuum chuck adsorbs the ground knife module.
9. The torsion-proof split type ground knife structure for an operation robot of a power distribution cabinet according to claim 5, characterized in that: the ground knife module is characterized by further comprising a lifting structure for driving the ground knife module to move, and the lifting structure is used for driving the supporting platform to vertically lift.
10. The torsion-proof split type ground knife structure for an operation robot of a power distribution cabinet according to claim 5, characterized in that: and a power supply is arranged on the ground knife module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410059268.6A CN117621121A (en) | 2024-01-16 | 2024-01-16 | Anti-torsion split type ground knife structure for operation robot of power distribution cabinet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410059268.6A CN117621121A (en) | 2024-01-16 | 2024-01-16 | Anti-torsion split type ground knife structure for operation robot of power distribution cabinet |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117621121A true CN117621121A (en) | 2024-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410059268.6A Pending CN117621121A (en) | 2024-01-16 | 2024-01-16 | Anti-torsion split type ground knife structure for operation robot of power distribution cabinet |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117621121A (en) |
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2024
- 2024-01-16 CN CN202410059268.6A patent/CN117621121A/en active Pending
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