CN205944755U - Switchgear opening operation device and operating robot - Google Patents

Abstract

The utility model relates to a switch cabinet opening operation device, which is arranged on the mechanical arm of an operation robot, and comprises a bracket and an operation mechanism, wherein the bracket comprises a first bracket and a second bracket connected with one side of the first bracket; the operating mechanism comprises a first brake-separating assembly, the first brake-separating assembly comprises a first brake-separating clamp and a driving piece, the first brake-separating clamp is mounted on the second support, and the driving piece is mounted on the first support and drives the first brake-separating clamp to rotate. Therefore, the method can adapt to the complex working environment of the site, operate the equipment to be operated, avoid the possibility of casualties and improve the safety of the site operation of the transformer substation. In addition, the operation is convenient, the workload of operation and maintenance personnel is reduced, the operation cost is reduced, the response speed is high, the power grid fault is reduced, and the loss caused by the fault is reduced.

Description

Switchgear opening operation device and operating robot

technical field

The utility model relates to the technical field of substation on-site operation auxiliary machinery, in particular to a switch cabinet opening operation device and an operation robot.

Background technique

A substation is an assembly of some equipment to cut or switch on, change or adjust voltage. In the power system, a substation is a gathering point for power transmission and distribution. The high-voltage switchgear is an indispensable distribution switchgear in the substation, which is used for the transmission and control of electric energy.

Generally, the operation of the main switchgear equipped inside the high-voltage switchgear uses electrical operation buttons to realize the switch action. For example, the cabinet surface of a 10kV switchgear has a switch button part for operating the circuit breaker to open and close. Usually, the traditional way is to manually operate the opening and closing actions, but this may cause electric shocks to relevant personnel and cause unnecessary accidents. Therefore, there is also a method of using an electric operating device to perform the opening operation, but there are many cabinets in the 10kV switch cabinet, and the number of switch button parts that need to be operated is large and the position is not fixed. Therefore, if a fixed switch is installed at the position of each button The electric operation button will increase the overall space burden of the 10kV switchgear, and it is also not conducive to the inspection operation of the inspection personnel. If the positioning of the electric operation device and the operation button is realized through manual control, the labor load of personnel operation will be great. In addition, in an emergency, the circuit breaker cannot be opened by remote control, but must be opened manually. In the emergency opening operation, there is a danger of the switch exploding, which endangers personal safety.

Utility model content

Based on this, it is necessary to provide a switch that avoids endangering human safety, is convenient to operate, and reduces operation and maintenance costs in view of the problems that the traditional high-voltage switchgear opening and closing methods endanger human safety, complex operation, and heavy burden on operation and maintenance personnel. Cabinet opening operation device and operation robot.

A switch cabinet opening operation device, installed on the mechanical arm of the operating robot, the switch cabinet opening operation device includes:

The bracket includes a first bracket and a second bracket connected to one side of the first bracket, and the switch cabinet opening operation device is installed on the mechanical arm of the operating robot through the first bracket;

The operating mechanism includes a first opening assembly, the first opening assembly includes a first opening pincer and a driving part, the first opening pincer is installed on the second bracket, and the driving part is installed on the the first bracket, and drives the first opening pincer to rotate.

In one embodiment, the first bracket includes a support plate, a reinforcement plate connected to both sides of the support plate, and a top plate connected between the support plate and the two reinforcement plates, and the support plate 1. The side plate and the top plate are surrounded to form an accommodating space, the driving member is installed on one side of the supporting plate and is located in the accommodating space, and the second bracket is fixedly connected to the opposite side of the supporting plate. side.

In one embodiment, the second bracket includes a connecting plate, a mounting plate connected to both sides of the connecting plate, and a fixing plate connected between the connecting plate and the mounting plate, and the connecting plate 1. An installation space is formed around the installation plate and the fixing plate, and the first opening tong is installed on a side of the fixing plate facing away from the installation plate.

In one of the embodiments, the operating mechanism further includes a second opening assembly, the second opening assembly includes a second opening clamp and a fixing part, and the fixing part is connected to the mounting plate and the fixing part. plate, and is arranged in the installation space relative to the connecting plate, and the second opening clamp is installed on the second bracket through the fixing part.

In one of the embodiments, the fixing part includes a mounting bracket and an adjusting plate, and the mounting bracket includes a bottom plate, side plates connected to both sides of the bottom plate, and ends respectively connected to the bottom plate and the side plates. plate, the two side plates are respectively fixed to the two mounting plates, the end plate is fixed to the fixed plate, the bottom plate is provided with first slide grooves arranged at intervals along the first direction, and the adjustment plate is set along the second direction There are second chutes arranged at intervals, the second opening tongs are installed on the adjustment plate through the second chute, and the adjustment plate is installed on the bottom plate through the first chute;

Wherein, the first direction and the second direction are perpendicular to each other.

In one of the embodiments, the first opening assembly further includes a supporting part, the supporting part is fixed to the second bracket, the first opening pincer is rotatably mounted on the supporting part, and is connected with the supporting part. The driving element is connected to perform rotational movement driven by the driving element.

In one embodiment, the driving member is a servo motor.

An operating robot includes the switch cabinet opening operation device as described above.

In one embodiment, including:

Inspection mechanism, used for walking;

The walking positioning system is installed on the inspection mechanism to guide the walking of the inspection mechanism to realize the positioning of the switch cabinet;

A mechanical arm installed on the inspection mechanism to perform 6-degree-of-freedom spatial movement, and the switch cabinet opening operation device is installed on the mechanical arm through the first bracket;

The control device is respectively connected with the inspection mechanism, the walking positioning system, the mechanical arm and the switch cabinet opening operation device.

In one of the embodiments, the walking positioning system includes:

The laser detection device is used to detect the environment, and transmit the detection information to the control device, so as to construct a map of the walking environment during the first detection, and to match the map during subsequent detection to realize walking positioning.

Description of drawings

Fig. 1 is a schematic structural view of a switch cabinet opening operation device in an embodiment of the present invention;

Fig. 2 is a schematic structural view of the bracket of the switch cabinet opening operation device shown in Fig. 1;

Fig. 3 is a structural schematic diagram of the mounting bracket of the fixed part of the switch cabinet opening operation device shown in Fig. 1;

Fig. 4 is a structural schematic diagram of the adjusting plate of the fixed part of the switch cabinet opening operation device shown in Fig. 1 .

detailed description

In order to facilitate the understanding of the utility model, the utility model will be described more fully below with reference to the relevant drawings. Preferred embodiments of the utility model are provided in the accompanying drawings. However, the invention can be embodied in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present utility model more thorough and comprehensive.

It should be noted that when an element is referred to as being “fixed” to another element, it can be directly on the other element or there can also be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and similar expressions are used herein for purposes of illustration only.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of this invention. The terminology used in the description of the utility model herein is only for the purpose of describing specific embodiments, and is not intended to limit the utility model. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The operating robot in one embodiment of the utility model includes an inspection mechanism, a walking positioning system, a mechanical arm, a control device and a switch cabinet opening operation device.

The inspection mechanism is used to realize the walking of the operating robot. The robot arm is installed on the inspection mechanism to perform space operation with 6 degrees of freedom. The switch cabinet opening operation device is installed on one end of the robot arm. direction, and control the movement of the mechanical arm, and the opening operation device of the switch cabinet for the opening action. In this way, it can adapt to the complex working environment on site, and operate the equipment that needs to be operated, avoiding the possibility of casualties and improving the safety of on-site operation of the substation. In addition, the operation is convenient, the workload of the operation and maintenance personnel is reduced, the operation cost is reduced, and the response speed is fast, the failure of the power grid is reduced, and the loss caused by the failure is reduced.

Specifically, the inspection mechanism may include a traveling drive mechanism and a traveling wheel. The traveling driving mechanism is controlled by a control device, and the traveling wheel drives in a preset or designated direction under the driving of the traveling mechanism, so that the operating robot reaches the switch cabinet. Next to it, it is convenient for opening operation.

The walking positioning system realizes the direction guidance and positioning during the walking process of the operating robot. The walking positioning system is installed on the inspection mechanism and moves together with the inspection mechanism. During the walking process of the inspection mechanism, it guides the walking of the inspection mechanism to realize the positioning of the switch cabinet. The guiding information of the walking positioning system can be transmitted to the control device Finally, the control device controls the walking of the inspection mechanism to the corresponding position of the switch cabinet.

Specifically in one embodiment, the walking positioning system may include a laser detection device. The laser detection device is, for example, laser radar, which is used for environmental detection, and determines the position of environmental objects according to the time difference between the emission and feedback signals. The laser detection device transmits the detection information to the control device during the detection process. The map of the walking environment is constructed during the first detection, and the walking positioning is realized by matching with the map during the subsequent detection. After the first detection, the laser detection device pre-stores the coordinate values of all landmarks in the environment in the global coordinate system to form an environment map. In the post-operation inspection process, the laser detection device automatically matches the detected road signs with the road marks in the stored environmental map, and calculates the current coordinates to realize the positioning during walking. The control device can also control the inspection mechanism to walk according to the preset route, detect and match environmental road signs during the walking process, and correct walking errors. During the walking process, the laser detection device detects the road signs matching the switch cabinet, and then realizes the positioning of the switch cabinet.

The mechanical arm can move with 6 degrees of freedom, so that the switch cabinet opening operation device can operate the buttons of different forms of the switch cabinet. For example, the switch cabinet is equipped with a rotary button, a telescopic button or a rotary telescopic integrated button. The mechanical arm moves to the operation button. The opening operation device touches the retractable button to realize opening. Specifically, in one embodiment, the mechanical arm is composed of several joints and several articulated arms connected to the joints, so as to realize space movement with 6 degrees of freedom. Preferably, both ends of the mechanical arm are set as joints, so as to achieve Flexible rotation of the end.

It can be understood that the structure of the mechanical arm and the structure of the walking positioning system are not limited here, as long as it can realize the above-mentioned preparatory guidance and positioning of the operating robot, and the auxiliary switch cabinet opening operation device can realize the opening action.

The following will describe the switchgear opening operation device in detail:

Please refer to FIG. 1 and FIG. 2 , the switchgear opening operation device includes a bracket 12 and an operating mechanism 14 . The bracket 12 includes a first bracket 122 and a second bracket 124 connected to one side of the first bracket 122 , and the switch cabinet opening operation device is installed on the mechanical arm of the operating robot through the first bracket 122 . The operating mechanism 14 includes a first opening assembly 142, and the first opening assembly 142 includes a first opening clamp 1422 and a driving member 1424, the first opening clamp 1422 is installed on the second bracket 124, and the driving member 1424 is installed on the The first bracket 122 drives the first opening pincer 1422 to rotate.

In this embodiment, the driving member 1424 is a servo motor, and the first opening clamp 1422 has an operating end, and the operating end is equipped with a soft rubber contact (not shown in the figure) and a rotating fork (not shown in the figure), and the mechanical arm Move the rotating fork of the first opening clamp 1422 to match the opening button embedded in the switch cabinet. After rotating at a certain angle, the operating end with soft rubber contacts will press the opening button of the switch cabinet under the drive of the mechanical arm. Action, so as to realize the opening operation.

Preferably, the first bracket 122 includes a support plate 1222, a reinforcement plate 1224 connected to both sides of the support plate 1222, and a top plate 1226 connected between the support plate 1222 and the two reinforcement plates 1224. The support plate 1222, side plates and The top plate 1226 surrounds and forms an accommodating space, the driving member 1424 is installed on one side of the supporting plate 1222 and is located in the accommodating space, and the second bracket 124 is fixedly connected to the opposite side of the supporting plate 1222 .

In this embodiment, the support plate 1222, the reinforcement plate 1224 and the top plate 1226 are all made of 0.3 cm thick stainless steel plate, the support plate 1222 is rectangular, the reinforcement plate 1224 is a right triangle, the top plate 1226 is rectangular, the support plate 1222, the reinforcement The plate 1224 and the top plate 1226 are welded together, and a reinforcing rod is connected between the two reinforcing plates 1224 to enhance the strength of the first bracket 122 and prevent the switch cabinet opening operation device from shaking during operation. Wherein, the width of support plate 1222 is 8.3 centimeters, and height is 13 centimeters, and the two right-angled sides of this reinforcement plate 1224 are 8 centimeters and 13 centimeters respectively, and the right-angled side of reinforcement plate 122413 centimeters is aligned with the side of support plate 1222 that is 13 centimeters welding.

Preferably, the second bracket 124 includes a connecting plate 1242, a mounting plate 1244 connected to both sides of the connecting plate 1242, and a fixing plate 1246 connected between the connecting plate 1242 and the mounting plate 1244, the connecting plate 1242, the mounting plate 1244 and The fixing plate 1246 surrounds and forms an installation space, and the first opening clamp 1422 is installed on the side of the fixing plate 1246 facing away from the installation plate 1244 .

In this embodiment, the connecting plate 1242 is fixedly connected to the supporting plate 1222 , and the height of the second bracket 124 is lower than that of the first bracket 122 , thereby forming a step for supporting and installing the first opening clamp 1422 . Wherein, the connecting plate 1242 has a width of 8.3 cm, which is the same as that of the support plate 1222, and a height of 6 cm. The mounting plate 1244 has a width of 9 cm and a height of 6 cm.

Wherein, the first opening assembly 142 also includes a supporting portion 1429, which is fixed to the fixing plate 1246 of the second bracket 124, and the first opening caliper 1422 is rotatably installed on the supporting portion 1429, and is connected with the driving 1424 is connected to be driven by the driving member 1424 for rotational movement. Specifically, in one embodiment, the supporting part 1429 is a lug, the first opening caliper 1422 includes a sleeve and a rotating part, the sleeve is respectively connected to the supporting plate 1222 and the supporting part 1429, the rotating part passes through and It is rotatably connected in the sleeve, and one end is connected with the driver 1424, and the other end protrudes from the sleeve to form a flange-shaped operating end.

In one embodiment, the operating mechanism 14 further includes a second opening assembly 144, the second opening assembly 144 includes a second opening clamp 1442 and a fixing part 1444, the fixing part 1444 is connected to the mounting plate 1244 and the fixing plate 1246 , and is arranged in the installation space relative to the connecting plate 1242 , and the second opening caliper 1442 is installed on the second bracket 124 through the fixing part 1444 .

It should be understood that the first bracket 122 and the second bracket 124 enable the first opening assembly 142 and the second opening assembly 144 to be installed at the same time, so as to be suitable for opening buttons of switch cabinets of different models and specifications. Among them, the first opening assembly 142 is suitable for the switch cabinet rotary button and the rotary telescopic integrated button, and the second opening clamp 1442 is suitable for the operation of the switch cabinet telescopic button. Driven by the mechanical arm, the telescopic Press the button to perform a touch action. In this way, the operating robot can operate the opening buttons of switch cabinets of different models and specifications, which is convenient to use.

Preferably, please refer to FIG. 3 and FIG. 4 , the fixing part 1444 includes a mounting bracket 1443 and an adjusting plate 1445, and the mounting bracket 1443 includes a bottom plate 1441, side plates 1446 connected to both sides of the bottom plate 1441, and connected to the bottom plate 1441 and the side plates. The end plate 1448 and the two side plates 1446 of the plate 1446 are respectively fixed on the two mounting plates 1244 , and the end plate 1448 is fixed on the fixing plate 1246 . The bottom plate 1441 is provided with first chute 1447 arranged at intervals along the first direction, and the adjusting plate 1445 is provided with second chute 1446 arranged at intervals along the second direction, and the second opening caliper 1442 passes through the second chute 1446 It is installed on the adjusting plate 1445 , and the adjusting plate 1445 is installed on the bottom plate 1441 through the first sliding slot 1447 .

In this embodiment, the mounting plate 1244 of the second bracket 124 is provided with a mounting hole (not shown in the figure), and the screw passes through the mounting hole and the side plate 1446 , so as to realize the fixing of the mounting bracket 1443 . The first chute 1447 is two, and the adjustment plate 1445 is provided with a via hole, and the bolt passes through the via hole and the first chute 1447 and is fixed with the nut. Make the bolt move along the first chute 1447. The second chute 1446 is also two, and the second opening pliers 1442 is welded with a screw rod, which passes through the second chute 1446 and is fixed with the nut. When the left and right positions of the second opening pliers 1442 need to be adjusted, Just make the screw rod move along the second chute 1446 .

In this way, the position of the second opening clamp 1442 can be adjusted, which is convenient to use.

It should be noted that the first direction and the second direction are perpendicular to each other, the first direction refers to the vertical direction as shown in FIG. 1 , and the second direction refers to the horizontal direction as shown in FIG. 1 .

The above switchgear opening operation device and operation robot can adapt to the complex working environment on site, and operate the equipment that needs to be operated, avoiding the possibility of casualties and improving the safety of on-site operation of the substation. In addition, the operation is convenient, the workload of the operation and maintenance personnel is reduced, the operation cost is reduced, and the response speed is fast, the failure of the power grid is reduced, and the loss caused by the failure is reduced.

The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

The above-mentioned embodiments only express several implementation modes of the utility model, and the description thereof is relatively specific and detailed, but it should not be understood as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the scope of protection of the utility model patent should be based on the appended claims.

Claims (10)

1. A switch cabinet opening operation device, which is installed on the mechanical arm of the operating robot, is characterized in that, the switch cabinet opening operation device comprises: The bracket includes a first bracket and a second bracket connected to one side of the first bracket, and the switch cabinet opening operation device is installed on the mechanical arm of the operating robot through the first bracket; The operating mechanism includes a first opening assembly, the first opening assembly includes a first opening pincer and a driving part, the first opening pincer is installed on the second bracket, and the driving part is installed on the the first bracket, and drives the first opening pincer to rotate. 2. The switch cabinet opening operation device according to claim 1, characterized in that, the first bracket includes a support plate, a reinforcement plate connected to both sides of the support plate, and a support plate connected to the support plate and the The top plate between the two reinforcement plates, the support plate, the side plate and the top plate surround and form an accommodating space, the driving member is installed on one side of the support plate and is located in the accommodating space, the first The two brackets are fixed on the opposite side of the support plate. 3. The switch cabinet opening operation device according to claim 2, characterized in that, the second bracket includes a connecting plate, mounting plates connected to both sides of the connecting plate, and connecting plates connected to the connecting plate and the The fixing plate between the mounting plates, the connecting plate, the mounting plate and the fixing plate enclose an installation space, and the first opening clamp is installed on the side of the fixing plate facing away from the mounting plate . 4. The switch cabinet opening operation device according to claim 3, characterized in that, the operating mechanism also includes a second opening assembly, and the second opening assembly includes a second opening clamp and a fixing part, so that The fixing part is connected to the installation plate and the fixing plate, and is arranged in the installation space relative to the connection plate, and the second opening tong is installed on the second bracket through the fixing part. 5. The switch cabinet opening operation device according to claim 4, wherein the fixed part includes a mounting bracket and an adjusting plate, and the mounting bracket includes a bottom plate, side plates connected to both sides of the bottom plate, and The end plates connected to the bottom plate and the side plates respectively, the two side plates are respectively fixed to the two installation plates, the end plates are fixed to the fixing plate, and the bottom plate is provided with intervals along the first direction. The first chute, the adjusting plate is provided with second chute arranged at intervals along the second direction, the second opening caliper is installed on the adjusting plate through the second chute, and the adjusting plate passes through the The first chute is installed on the bottom plate; Wherein, the first direction and the second direction are perpendicular to each other. 6. The switch cabinet opening operation device according to any one of claims 2-5, characterized in that, the first opening assembly further includes a supporting part, and the supporting part is fixed to the second bracket, so that The first opening pincer is rotatably mounted on the supporting part and connected with the driving part, so as to rotate under the driving of the driving part. 7. The switch cabinet opening operation device according to claim 1, characterized in that, the driving member is a servo motor. 8. An operating robot, characterized in that it comprises the switch cabinet opening operation device according to any one of claims 1-7. 9. The manipulating robot according to claim 8, comprising: Inspection mechanism, used for walking; The walking positioning system is installed on the inspection mechanism to guide the walking of the inspection mechanism to realize the positioning of the switch cabinet; A mechanical arm installed on the inspection mechanism to perform 6-degree-of-freedom spatial movement, and the switch cabinet opening operation device is installed on the mechanical arm through the first bracket; The control device is respectively connected with the inspection mechanism, the walking positioning system, the mechanical arm and the switch cabinet opening operation device. 10. The operating robot according to claim 9, wherein the walking positioning system comprises: The laser detection device is used to detect the environment, and transmit the detection information to the control device, so as to construct a map of the walking environment during the first detection, and to match the map during subsequent detection to realize walking positioning.