Vacuum circuit breaker automatic carrying robot and control method

Abstract

The invention discloses an automatic carrying robot for a vacuum circuit breaker. The automatic carrying robot at least comprises a frame; the bearing mechanism is used for bearing the target vacuum circuit breaker; the horizontal telescopic mechanism is connected with the bearing mechanism and used for driving the bearing mechanism to move front and back in the horizontal direction; the lifting mechanism is connected with the bearing mechanism and the horizontal telescopic mechanism and used for driving the bearing mechanism to move up and down in the vertical direction; the walking mechanism is used for providing walking power and direction adjustment for the robot; the control electric box is at least used for controlling the bearing mechanism to move back and forth in the horizontal direction, controlling the lifting mechanism to lift in the vertical direction and controlling the walking mechanism to walk and adjust the direction; the energy storage device is used for providing electric energy for the robot; the bearing mechanism, the horizontal telescopic mechanism, the lifting mechanism, the walking mechanism, the control electric box and the energy storage device are all arranged on the frame. The method can reduce the burden of manual operation, improve the safety, improve the precision and efficiency, and reduce the overall operation cost of a power system.

Description

Technical Field

[0001] The invention relates to the technical field of electrical switch cabinet detection, and in particular to an automatic handling robot for vacuum circuit breakers and a control method thereof. Background Art

[0002] High-voltage switchgear is a vital equipment in the power system, which is used to control and protect the normal operation of power lines and equipment. In the high-voltage switchgear, the vacuum circuit breaker, as a core component, undertakes the important task of breaking and closing the circuit. However, the traditional replacement and maintenance methods of vacuum circuit breakers have many inconveniences and safety hazards. First of all, vacuum circuit breakers are usually large in size and heavy in weight. Manual push-pull replacement is not only time-consuming and labor-intensive, but also easy to cause equipment damage or personal injury due to improper operation. Especially during the loading and unloading process, the guide rail ramp needs to be installed manually. When the vacuum circuit breaker moves on the slope, it is easy to tip over due to the unstable center of gravity, which leads to safety accidents. Secondly, with the continuous development of the power system, the reliability and safety requirements of high-voltage switchgear and its internal equipment are getting higher and higher. The traditional replacement and maintenance methods can no longer meet the needs of modern power systems, and a more efficient, safe and convenient solution is urgently needed.

[0003] Regarding the replacement and maintenance of vacuum circuit breakers in high-voltage switch cabinets, the existing technology has the following shortcomings:

[0004] 1. Heavy burden of manual operation: Traditional vacuum circuit breaker replacement requires manual pushing and pulling, which is not only labor-intensive but also inefficient. Especially during loading and unloading, the guide rail ramp needs to be installed manually, which increases the complexity of operation and safety risks.

[0005] 2. Great safety hazard: Due to the large size, heavy weight and unstable center of gravity of the vacuum circuit breaker, it is easy to fall over when the guide rail slope is manually installed and the vacuum circuit breaker is pushed, causing equipment damage or personal injury. This safety hazard is a problem that cannot be ignored in the existing technology.

[0006] 3. Limited accuracy and efficiency: Even if some mechanical auxiliary devices are used, such as electric push rods or hydraulic lifting platforms, it is often difficult to achieve accurate docking between vacuum circuit breakers and high-voltage switchgear due to the lack of precise navigation and positioning technology, which affects the efficiency and quality of replacement and maintenance.

[0007] 4. High cost: Although some highly automated solutions can significantly improve efficiency and safety, the equipment is expensive and requires professional technicians to maintain and operate, which increases the overall operating cost of the power system.

[0008] The Chinese patent with publication number CN 221625789U discloses "a substation auxiliary maintenance robot". The technical solution includes an AGV body, and a lifting mechanism for lifting and transporting the target object is arranged on the front side of the AGV body. The lifting mechanism is composed of a vertical lifting module for vertical adjustment and a fork adjustment module arranged on the vertical lifting module and used to adjust the position relationship of the fork according to different types of switch cabinets. However, the patent is a universal forklift type transporter, which has at least the following defects: 1) It can only achieve vertical lifting and cannot move horizontally; 2) It cannot achieve translation of the robot as a whole in any direction, and can only move forward and backward; 3) There is no safety device for automatically unlocking and locking the vacuum circuit breaker; 4) It also requires a lot of manual assistance. Summary of the invention

[0009] In order to overcome the deficiencies of the above technologies, the present invention provides a vacuum circuit breaker automatic handling robot and a control method.

[0010] The technical solution adopted by the present invention to overcome the technical problems is:

[0011] A vacuum circuit breaker automatic handling robot, comprising at least:

[0012] Frame;

[0013] A supporting mechanism, used for supporting a target vacuum circuit breaker;

[0014] A horizontal telescopic mechanism connected to the supporting mechanism, used to drive the supporting mechanism to move forward and backward in the horizontal direction;

[0015] A lifting mechanism connected to the supporting mechanism and the horizontal telescopic mechanism, used to drive the supporting mechanism to move up and down in the vertical direction;

[0016] Walking mechanism, used to provide walking power and direction adjustment for the robot;

[0017] A control electric box, at least used to control the horizontal forward and backward movement of the supporting mechanism, the vertical lifting and lowering movement of the lifting mechanism, and the movement and direction adjustment of the walking mechanism;

[0018] An energy storage device, used to provide electrical energy to the robot;

[0019] Among them, the supporting mechanism, horizontal telescopic mechanism, lifting mechanism, walking mechanism, control electric box and energy storage device are all arranged on the frame.

[0020] Furthermore, the supporting mechanism is arranged on the front side of the frame, and at least comprises a shovel frame and two shovel teeth fixed to the lower part of the shovel frame and extending forward horizontally.

[0021] Furthermore, the horizontal telescopic mechanism includes at least a pair of vertical plates, a pair of horizontal telescopic linear guides, a pair of horizontal telescopic sliders matching the horizontal telescopic linear guides, a pair of horizontal telescopic motors, a pair of horizontal telescopic screws and a pair of horizontal telescopic screw nuts matching the horizontal telescopic screws, wherein the pair of vertical plates, the pair of horizontal telescopic linear guides, the pair of horizontal telescopic sliders, the pair of horizontal telescopic motors, the pair of horizontal telescopic screws and the pair of horizontal telescopic screw nuts are symmetrically distributed on the left and right sides of the frame respectively, the horizontal telescopic linear guides and the horizontal telescopic motor are fixed to the frame, the horizontal telescopic slider is fixed to the bottom of the vertical plates and is slidably connected to the horizontal telescopic linear guides, the horizontal telescopic screw is fixedly connected to the output shaft of the horizontal telescopic motor, the horizontal telescopic screw nut is sleeved on the horizontal telescopic screw and is fixedly connected to the vertical plates, and the two vertical plates are fixedly connected to the shovel frame.

[0022] Furthermore, the lifting mechanism includes at least a pair of vertical lifting linear guides, a pair of vertical lifting sliders matching the vertical lifting linear guides, a pair of vertical lifting reduction motors, a pair of vertical lifting screws and a pair of vertical lifting screw nuts matching the vertical lifting screws, wherein the pair of vertical lifting linear guides, a pair of vertical lifting sliders, a pair of vertical lifting reduction motors, a pair of vertical lifting screws and a pair of vertical lifting screw nuts are symmetrically distributed on the left and right sides of the frame respectively, the vertical lifting reduction motor is fixed to the outer side of the vertical plate, the vertical lifting linear guide is fixed on the shovel frame, the vertical lifting slider is fixed to the inner side of the vertical plate and is slidably connected to the vertical lifting linear guide, the vertical lifting screw is fixedly connected to the output shaft of the vertical lifting reduction motor, the vertical lifting screw nut is sleeved on the vertical lifting screw and the vertical lifting screw nut is fixedly connected to the shovel frame.

[0023] Furthermore, the walking mechanism includes at least one driving wheel assembly and a plurality of universal driven wheels installed under the frame, each driving wheel assembly includes at least a walking motor, a driving wheel, a steering motor, a pair of shock-absorbing springs, a pair of floating shafts, a pair of bushings matching the floating shafts, a mounting plate, a driving wheel bracket and an axle seat, the driving wheel is installed on one side of the driving wheel bracket, the walking motor is fixed to the other side of the driving wheel bracket and the output shaft of the walking motor passes through the driving wheel bracket and is fixedly connected to the driving wheel, the bushing base is arranged above the driving wheel bracket, the steering motor is installed above the axle seat and the output shaft of the steering motor passes through the axle seat and is fixedly connected to the driving wheel bracket, the mounting plate is located above the axle seat and is fixedly connected to the frame, the floating shaft is installed above the axle seat and the upper end of the floating shaft passes through the mounting plate, the bushing is fixed above the mounting plate and is sleeved on the floating shaft, and the shock-absorbing spring is sleeved on the floating shaft and is located between the mounting plate and the axle seat.

[0024] Furthermore, it also includes a pair of unlocking cylinders and an air pump, the air pump provides an air source for the unlocking cylinders, the pair of unlocking cylinders are respectively fixed on both sides of the shovel frame, the cylinder barrels of the unlocking cylinders are fixed on the shovel frame, and a pushing plate for pushing the locking pin on the vacuum circuit breaker is fixed on the piston end, and the piston ends of the two unlocking cylinders are arranged facing each other.

[0025] Furthermore, it also includes a pair of rotary locking cylinders and an air pump, the air pump provides an air source for the rotary locking cylinder, the pair of rotary locking cylinders are respectively fixed on both sides of the shovel frame, the cylinder barrels of the rotary locking cylinders are fixed on the shovel frame, and the pressure block is spaced a preset distance from the front end face of the shovel frame.

[0026] Furthermore, it also includes two magnetic navigation sensors, two cameras, several ultrasonic sensors, indicator lights, a human-computer interaction screen, a power switch, a start button, an emergency stop button, automatic charging contacts, an automatic charging infrared transmitter and a manual charging interface. The two magnetic navigation sensors and the two cameras are respectively arranged on both sides of the frame, the ultrasonic sensors are arranged around the frame, the indicator lights, the human-computer interaction screen, the power switch, the start button, and the emergency stop button are all arranged on the control box, and the automatic charging contacts, the automatic charging infrared transmitter and the manual charging interface are all arranged at the rear of the frame.

[0027] The present invention also discloses a control method for a vacuum circuit breaker automatic handling robot, which is applied to the vacuum circuit breaker automatic handling robot and comprises the following steps:

[0028] S1. Setting the tasks to be performed by the robot through the remote control or directly on the robot, the tasks at least including taking out the vacuum circuit breaker, putting back the vacuum circuit breaker and returning the robot to the charging position;

[0029] S2. Execute corresponding operations according to the task to be performed: when the task is to take out or put back the vacuum circuit breaker, execute step S3; when the task is to return the robot to the charging position, execute step S4;

[0030] S3, the control box controls the walking mechanism to move to the set position, and the robot automatically corrects the deviation by controlling the walking mechanism during the walking process. After the robot reaches the preset position, the control box controls the lifting mechanism to drive the supporting mechanism to move vertically and / or controls the horizontal telescopic mechanism to drive the supporting mechanism to move forward and backward horizontally, adjusts the supporting mechanism to a suitable position, and then controls the vacuum circuit breaker to be taken out of the switch cabinet and placed on the supporting mechanism or controls the vacuum circuit breaker to be put back into the switch cabinet;

[0031] S4. The control box controls the walking mechanism to move to the charging position of the robot. During the walking process of the robot, the walking mechanism is controlled to automatically correct the deviation.

[0032] The beneficial effects of the present invention are:

[0033] 1. Reduce the burden of manual operation: Through automated handling and installation of vacuum circuit breakers, the labor intensity is reduced and the efficiency of replacement and maintenance is greatly improved.

[0034] 2. Improve safety: The walking mechanism is used to provide the robot with walking power and direction adjustment, and the horizontal telescopic mechanism and lifting mechanism are used to adjust the supporting mechanism in multiple directions, front and back, up and down, so as to achieve precise alignment of the robot with the switch cabinet, avoiding the process of manually installing the guide rail slope and pushing the vacuum circuit breaker, thereby avoiding safety accidents such as the vacuum circuit breaker tipping over. At the same time, the unlocking cylinder and rotary locking cylinder on the robot can ensure stability and safety during the handling and installation of the vacuum circuit breaker.

[0035] 3. Improve accuracy and efficiency: Through precise navigation and positioning technology, the vacuum circuit breaker and switch cabinet can be quickly and accurately connected, improving the accuracy and efficiency of replacement and maintenance.

[0036] 4. Reduce costs: Although the automatic handling robot of the present invention requires a certain equipment cost, in the long run, it can reduce labor costs and equipment damage costs caused by improper operation, thereby reducing the overall operating cost of the power system. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a schematic diagram of the overall front axial structure of the vacuum circuit breaker automatic handling robot according to an embodiment of the present invention.

[0038] Figure 2 for Figure 1 Schematic diagram of the enlarged structure of part A.

[0039] Figure 3 The figure is a schematic diagram of the overall rear axis side structure of the vacuum circuit breaker automatic handling robot according to an embodiment of the present invention.

[0040] Figure 4 The figure is a schematic diagram of the internal rear axis side structure of the vacuum circuit breaker automatic handling robot according to an embodiment of the present invention.

[0041] Figure 5 It is a schematic structural diagram of the driving wheel assembly according to an embodiment of the present invention.

[0042] Figure 6 This is a schematic diagram of the rear view structure of the vacuum circuit breaker automatic handling robot that can move forward and backward according to an embodiment of the present invention.

[0043] Figure 7 This is a schematic diagram of the rear view structure of the vacuum circuit breaker automatic handling robot that can move left and right according to an embodiment of the present invention.

[0044] Figure 8It is a schematic structural diagram of a vacuum circuit breaker according to an embodiment of the present invention.

[0045] Fig. 9 This is a schematic diagram of the cooperation of the vacuum circuit breaker automatic handling robot according to an embodiment of the present invention when taking out or putting back a vacuum circuit breaker from a switch cabinet.

[0046] Fig.10 for Fig. 9 Schematic diagram of the enlarged structure of part B.

[0047] Fig.11 This is a schematic diagram of a state in which the automatic vacuum circuit breaker handling robot according to an embodiment of the present invention takes the vacuum circuit breaker out of the switch cabinet and then locks the vacuum circuit breaker.

[0048] Fig.12 for Fig.11 Schematic diagram of the enlarged structure of part C.

[0049] In the figure, 1. shovel teeth, 2. shovel frame, 3. vertical lifting linear guide, 4. vertical lifting slider, 5. vertical lifting reduction motor, 6. vertical lifting screw, 7. vertical lifting screw nut, 8. unlocking cylinder, 8.1. push plate, 9. rotary locking cylinder, 9.1. pressure block, 10. vertical plate, 11. horizontal telescopic screw nut, 12. horizontal telescopic screw, 13. magnetic sensor, 14. camera, 15. ultrasonic sensor, 16. indicator light, 17. touch screen, 18. power switch, 19. horizontal telescopic slider, 20. horizontal telescopic linear guide, 21. start button, 22 .Emergency stop button, 23. Automatic charging infrared transmitter, 24. Manual charging interface, 25. Energy storage device, 26. Horizontal telescopic motor, 27. Driving wheel assembly, 27.1 Travel motor, 27.2 Driving wheel, 27.3 Steering motor, 27.4 Shock-absorbing spring, 27.5 Floating shaft, 27.6 Bushing, 27.7 Mounting plate, 27.8. Driving wheel bracket, 27.9. Shaft seat, 28. Air pump, 29. Control electrical box, 30. Universal driven wheel, 31. Automatic charging contact, 32. Cylinder fixing plate, 33. Vacuum circuit breaker, 34. Handle, 35. Lock pin, 36. Switch cabinet. DETAILED DESCRIPTION

[0050] In order to facilitate those skilled in the art to better understand the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The following is only exemplary and does not limit the protection scope of the present invention.

[0051] like Figure 1-5As shown, the present invention discloses a vacuum circuit breaker automatic handling robot, which at least includes a frame, a supporting mechanism, a horizontal telescopic mechanism, a lifting mechanism, a walking mechanism, a control electric box 29 and an energy storage device 25, wherein the supporting mechanism, the horizontal telescopic mechanism, the lifting mechanism, the walking mechanism, the control electric box 29 and the energy storage device are all arranged on the frame.

[0052] In this embodiment, the supporting mechanism is used to support the target vacuum circuit breaker. Figure 1 As shown, the supporting mechanism is arranged on the front side of the frame, and at least includes a shovel frame 2 and two shovel teeth 1 fixed to the lower part of the shovel frame and extending horizontally forward. In this embodiment, the shovel frame 2 is a rectangular frame, and the shovel teeth 1 are strip-shaped and perpendicular to the entire frame surface of the shovel frame 2.

[0053] In this embodiment, the horizontal telescopic mechanism is connected to the supporting mechanism, and the horizontal telescopic mechanism is used to drive the supporting mechanism to move forward and backward in the horizontal direction. Figure 1 , Figure 2 and Figure 4 As shown, the horizontal telescopic mechanism at least includes a pair of vertical plates 10, a pair of horizontal telescopic linear guides 20, a pair of horizontal telescopic sliders 19 matching the horizontal telescopic linear guides, a pair of horizontal telescopic motors 26, a pair of horizontal telescopic screw rods 12 and a pair of horizontal telescopic screw rod nuts 11 matching the horizontal telescopic screw rods, wherein the pair of vertical plates 10, a pair of horizontal telescopic linear guides 20, a pair of horizontal telescopic sliders 19, a pair of horizontal telescopic motors 26, a pair of horizontal telescopic screw rods 12 and a pair of horizontal telescopic screw rod nuts 11 are symmetrically distributed on the left and right sides of the frame respectively, the horizontal telescopic linear guides 20 and the horizontal telescopic motor 26 are fixed on the frame, the horizontal telescopic motor 26 is located behind the vertical plates 10, the horizontal telescopic slider 19 is fixed below the vertical plates 10 and is slidably connected to the horizontal telescopic linear guides 20, the horizontal telescopic screw rod 12 is fixedly connected to the output shaft of the horizontal telescopic motor 26, the horizontal telescopic screw rod nut 11 is sleeved on the horizontal telescopic screw rod 12 and is fixedly connected to the vertical plates 10, and the two vertical plates 10 are fixedly connected to the shovel frame 2.

[0054] In this embodiment, the principle of the horizontal telescopic mechanism driving the supporting mechanism to move forward and backward in the horizontal direction is: the control electric box 29 controls the rotation of the horizontal telescopic motor 26. Since the horizontal telescopic screw rod 12 is fixedly connected to the output shaft of the horizontal telescopic motor 26, the horizontal telescopic screw rod 12 rotates under the action of the horizontal telescopic motor 26, so that the horizontal telescopic screw rod nut 11 drives the vertical plate 10 to move forward and backward in the horizontal direction, and then drives the shovel frame 2 to move forward and backward in the horizontal direction, and then makes the shovel tooth 1 move forward and backward in the horizontal direction.

[0055] In this embodiment, the lifting mechanism is connected to the supporting mechanism and to the horizontal telescopic mechanism, and the lifting mechanism is used to drive the supporting mechanism to move vertically. Figure 1 and Figure 2 As shown, the lifting mechanism at least includes a pair of vertical lifting linear guides 3, a pair of vertical lifting sliders 4 matching the vertical lifting linear guides, a pair of vertical lifting reduction motors 5, a pair of vertical lifting screws 6 and a pair of vertical lifting screw nuts 7 matching the vertical lifting screws, wherein the pair of vertical lifting linear guides 3, a pair of vertical lifting sliders 4, a pair of vertical lifting reduction motors 5, a pair of vertical lifting screws 6 and a pair of vertical lifting screw nuts 7 are symmetrically distributed on the left and right sides of the frame respectively, the vertical lifting reduction motor 5 is fixed to the outer side of the vertical plate 10, the vertical lifting linear guide 3 is fixed on the shovel frame 2, the vertical lifting slider 4 is fixed to the inner side of the vertical plate 10 and is slidably connected to the vertical lifting linear guide 3, the vertical lifting screw 6 is fixedly connected to the output shaft of the vertical lifting reduction motor 5, the vertical lifting screw nut 7 is sleeved on the vertical lifting screw 6 and the vertical lifting screw nut 7 is fixedly connected to the shovel frame 2.

[0056] In this embodiment, the principle of the lifting mechanism driving the supporting mechanism to lift and move vertically is: the control electric box 29 controls the rotation of the vertical lifting reduction motor 5. Since the vertical lifting screw rod 6 is fixedly connected to the output shaft of the vertical lifting reduction motor 5, the vertical lifting screw rod 6 rotates under the action of the vertical lifting reduction motor 5, so that the vertical lifting screw rod nut 7 drives the shovel frame 2 to move vertically up and down, and then the shovel teeth 1 move vertically up and down.

[0057] In this embodiment, the walking mechanism is used to provide walking power and direction adjustment for the robot. Figure 3 , Figure 4 and Figure 5As shown, the travel mechanism includes at least one driving wheel assembly 27 and a plurality of universal driven wheels 30 installed under the frame. In this embodiment, preferably, two driving wheel assemblies 27 are used and symmetrically distributed under the two sides of the frame, and preferably, four universal driven wheels 30 are used and distributed at the four corners under the frame. Each driving wheel assembly 27 at least includes a travel motor 27.1, a driving wheel 27.2, a steering motor 27.3, a pair of shock absorbing springs 27.4, a pair of floating shafts 27.5, a pair of shaft sleeves 27.6 matching the floating shafts, a mounting plate 27.7, a driving wheel bracket 27.8 and a shaft seat 27.9. The driving wheel 27.2 is installed on one side of the driving wheel bracket 27.8, the travel motor 27.1 is fixed on the other side of the driving wheel bracket 27.8, and the output shaft of the travel motor 27.1 passes through the driving wheel bracket 27.8 and is fixedly connected to the driving wheel 27.2. The shaft sleeve base 27.9 is arranged on the driving wheel bracket. 27.8, the steering motor 27.3 is installed on the top of the shaft seat 27.9 and the output shaft of the steering motor 27.3 passes through the shaft seat 27.9 and is fixedly connected to the driving wheel bracket 27.8, the mounting plate 27.7 is located above the shaft seat 27.9 and is fixedly connected to the frame, the floating shaft 27.5 is installed on the top of the shaft seat 27.9 and the upper end of the floating shaft 27.5 passes through the mounting plate 27.7, the sleeve 27.6 is fixed on the top of the mounting plate 27.7 and is sleeved on the floating shaft 27.5, and the shock absorbing spring 27.4 is sleeved on the floating shaft 27.5 and is located between the mounting plate 27.7 and the shaft seat 27.9. The cooperation of the shock absorbing spring 27.4, the floating shaft 27.5 and the sleeve 27.6 can be used for shock absorption of the robot.

[0058] In this embodiment, the principle of the robot being able to achieve steering is as follows: when the robot needs to be controlled to steer, the steering motor 27.3 is used to control the driving wheel 27.2 to steer, and the control box 29 controls the output shaft of the steering motor 27.3 to rotate. Since the driving wheel bracket 27.8 is fixedly connected to the output shaft of the steering motor 27.3, the driving wheel bracket 27.8 rotates, thereby driving the driving wheel 27.2 mounted on the driving wheel bracket 27.8 to steer. Since the universal driven wheel 30 can rotate in any direction, the robot can achieve steering. When the steering motor 27.3 controls the driving wheel 27.2 to steer, the driving wheel 27.2 rotates. Figure 6 In the state shown, the robot can move forward and backward; when the steering motor 27.3 controls the driving wheel 27.2 to turn Figure 7 In the state shown, the robot can move left and right; the robot can be translated in any direction by changing the rotation angle of the motor 27.3. The chassis structure described in this embodiment can adapt to narrow working areas.

[0059] In this embodiment, the energy storage device 25 is used to provide electrical energy for the robot. Specifically, the energy storage device 25 is a group of batteries. The energy storage device 25 is electrically connected to at least the horizontal telescopic motor 26, the vertical lifting reduction motor 5, the steering motor 27.3, the control electrical box 29, the ultrasonic sensor 15, the indicator light 16, and the touch screen 17 to provide electrical energy.

[0060] like Figure 1 and Figure 4 As shown, in order to realize automatic unlocking of the vacuum circuit breaker, the vacuum circuit breaker automatic handling robot described in this embodiment also includes a pair of unlocking cylinders 8; in order to prevent the robot from falling off the supporting mechanism during the transportation of the vacuum circuit breaker, the vacuum circuit breaker automatic handling robot described in this embodiment also includes a pair of rotating locking cylinders 9; and also includes an air pump 28, which provides an air source for the unlocking cylinders 8 and the rotating locking cylinders 9. The pair of unlocking cylinders 8 and the pair of rotating locking cylinders 9 are respectively fixed on both sides of the shovel frame 2. Specifically, a cylinder fixing plate 32 is fixed on each upper side of the shovel frame 2, the cylinder barrel of the unlocking cylinder 8 is fixed on the cylinder fixing plate 32, and a pushing plate 8.1 for pushing the locking pin on the vacuum circuit breaker is fixed on the piston end, and the piston ends of the two unlocking cylinders 8 are arranged facing each other. The cylinder barrel of a rotary locking cylinder 9 is fixed on the shovel frame 2, and the pressure block 9.1 is spaced a preset distance from the front end surface of the shovel frame 2 so that after the vacuum circuit breaker is placed on the supporting mechanism, the rotary locking cylinder 9 can press the vacuum circuit breaker through the pressure block 9.1 to ensure stability during transportation and prevent the vacuum circuit breaker from tipping over or sliding.

[0061] like Figure 1-Figure 3As shown, the vacuum circuit breaker automatic handling robot described in this embodiment also includes two magnetic navigation sensors 13, two cameras 14, several ultrasonic sensors 15, indicator lights 16, human-machine interaction screen 17, power switch 18, start button 21, emergency stop button 22, automatic charging contact 31, automatic charging infrared transmitter 23 and manual charging interface 24. The two magnetic navigation sensors 13 and the two cameras 14 are respectively arranged on both sides of the frame. The ultrasonic sensors 15 are preferably arranged in four pieces and arranged around the frame, the purpose of which is to transmit signals to the control box 29 when encountering obstacles so that the control box 29 controls the robot to automatically slow down and stop. During the walking process, the robot moves along the preset magnetic strip, and the magnetic navigation sensor 13 is used to detect the deviation value. A landmark QR code is provided next to the magnetic strip. The camera 14 on the robot is used to identify the landmark QR code information. The landmark QR code contains site information and serves as a position reference for the robot positioning. The indicator lights 16, human-machine interaction screen 17, power switch 18, start button 21, and emergency stop button 22 are all arranged on the control box 29 and located above the robot for easy operation. The indicator light 16 serves as a light prompt during the operation of the robot. The automatic charging contact 31, the automatic charging infrared transmitter 23 and the manual charging interface 24 are all arranged at the rear of the frame. When the automatic charging contact 31 cannot be used or the robot cannot control the automatic charging contact to align with the charger, the manual charging interface 24 can be used to charge the robot.

[0062] In this embodiment, the control electrical box 29 is at least used to control the horizontal forward and backward movement of the supporting mechanism, control the vertical lifting and lowering movement of the lifting mechanism, control the movement and direction adjustment of the walking mechanism, control the unlocking cylinder 8 to unlock the vacuum circuit breaker, and control the rotary locking cylinder 9 to lock or release the vacuum circuit breaker.

[0063] This embodiment also discloses a control method for a vacuum circuit breaker automatic handling robot, which is applied to the vacuum circuit breaker automatic handling robot. Figure 1 , Figure 2 , Figure 4 , Figure 8-Figure 12 As shown, the following steps are included:

[0064] S1. Setting the tasks to be performed by the robot through the remote control or directly on the robot, the tasks at least including taking out the vacuum circuit breaker, putting back the vacuum circuit breaker and returning the robot to the charging position.

[0065] Specifically, the tasks to be performed by the robot can be set through the remote control or directly on the human-machine interaction screen 17 of the robot. In this embodiment, the tasks include taking out the vacuum circuit breaker, putting back the vacuum circuit breaker and the robot recharging the charging position. When performing the task of taking out or putting back the vacuum circuit breaker, it is necessary to set the switch cabinet number and the maintenance position number.

[0066] S2. Execute corresponding operations according to the task to be executed: when the task is to take out or put back the vacuum circuit breaker, execute step S3; when the task is to return the robot to the charging position, execute step S4.

[0067] S3, the control box 29 controls the walking mechanism to move to the set position. During the walking process of the robot, the walking mechanism is controlled to automatically correct. After the robot reaches the preset position, the control box 29 controls the lifting mechanism to drive the supporting mechanism to move up and down in the vertical direction and / or controls the horizontal telescopic mechanism to drive the supporting mechanism to move forward and backward in the horizontal direction, adjusts the supporting mechanism to a suitable position, and then controls the vacuum circuit breaker 33 to be taken out of the switch cabinet 36 and placed on the supporting mechanism or controls the vacuum circuit breaker 33 to be put back into the switch cabinet 36.

[0068] Specifically, when the robot receives the task of taking out or putting back the vacuum circuit breaker, the control box 29 controls the walking mechanism to walk to the set position. During the walking process, the robot moves along the preset magnetic strip, and the magnetic navigation sensor 13 is used to detect the deviation value. A landmark QR code is set next to the magnetic strip. The camera 14 on the robot is used to identify the landmark QR code information. The landmark QR code contains site information and serves as a position reference for the robot's positioning to achieve automatic deviation correction during the robot's walking process. When the robot reaches the preset position, the control box 29 controls the lifting mechanism to drive the supporting mechanism to move vertically and / or controls the horizontal telescopic mechanism to drive the supporting mechanism to move forward and backward in the horizontal direction, and adjusts the supporting mechanism to a position suitable for the vacuum circuit breaker. When the vacuum circuit breaker needs to be taken out from the switch cabinet, the control box 29 controls the push plates 8.1 on the two unlocking cylinders 8 to move toward each other, thereby pushing the two handles 34 on the vacuum circuit breaker 33 to slide horizontally inward. Since the lock pin 35 of the vacuum circuit breaker 33 is linked with the handle 34, the lock pin 35 of the vacuum circuit breaker 33 is unlocked, such as Fig. 9 and Fig.10 As shown, the vacuum circuit breaker 33 can be taken out from the switch cabinet 36. After the vacuum circuit breaker 33 is transferred to the shovel tooth 1, the two locking pins 35 on the vacuum circuit breaker 33 return to their original positions under the action of the elastic member, and the control box 29 controls the pressing block 9.1 of the rotary locking cylinder 9 to rotate to a vertical position of 90° and make the free end of the pressing block 9.1 face upward to press the vacuum circuit breaker, as shown in FIG. Fig.11 and Fig.12As shown, the vacuum circuit breaker will not fall off the shovel teeth 1 during the robot's transportation of the vacuum circuit breaker. When the vacuum circuit breaker needs to be put back into the switch cabinet 36, the control box 29 controls the pressing block 9.1 of the rotary locking cylinder 9 to rotate to a horizontal position to release the vacuum circuit breaker. Then the control box 29 controls the push plates 8.1 on the two unlocking cylinders 8 to move toward each other, thereby pushing the two handles 34 on the vacuum circuit breaker to slide horizontally inward. Since the lock pin 35 of the vacuum circuit breaker is linked to the handle 34, the lock pin 35 of the vacuum circuit breaker is unlocked. Fig. 9 and Fig.10 As shown, the vacuum circuit breaker can be put back into the switch cabinet 36 only when the locking pin 35 of the vacuum circuit breaker is in the unlocked state.

[0069] S4, control the electric box 29 to control the walking mechanism to walk to the charging position of the robot, and the robot automatically corrects the deviation by controlling the walking mechanism during the walking process.

[0070] Specifically, when the robot is tasked with returning to the charging position, the control box 29 controls the walking mechanism to walk to the preset charging position. During the walking process, the robot moves along the preset magnetic stripe, and the magnetic navigation sensor 13 is used to detect the deviation value. A landmark QR code is provided next to the magnetic stripe. The camera 14 on the robot is used to identify the landmark QR code information. The landmark QR code contains site information and serves as a position reference for the robot's positioning to achieve automatic deviation correction during the robot's walking process. After the robot reaches the charging position, the automatic charging infrared transmitter 23 detects that the automatic charging contact 31 is aligned with the charger, and then the robot is charged.

[0071] The above only describes the basic principles and preferred embodiments of the present invention. Those skilled in the art may make many changes and improvements based on the above description, and these changes and improvements should fall within the protection scope of the present invention.

Claims

1. A vacuum circuit breaker automatic handling robot, characterized in that: At least: Frame; A supporting mechanism, used for supporting a target vacuum circuit breaker; A horizontal telescopic mechanism connected to the supporting mechanism, used to drive the supporting mechanism to move forward and backward in the horizontal direction; A lifting mechanism connected to the supporting mechanism and the horizontal telescopic mechanism, used to drive the supporting mechanism to move up and down in the vertical direction; Walking mechanism, used to provide walking power and direction adjustment for the robot; A control electric box (29) is used at least to control the horizontal forward and backward movement of the supporting mechanism, control the vertical lifting and lowering movement of the lifting mechanism, and control the movement and direction adjustment of the walking mechanism; An energy storage device (25), used to provide electrical energy to the robot; Among them, the supporting mechanism, horizontal telescopic mechanism, lifting mechanism, walking mechanism, control electric box and energy storage device are all arranged on the frame.

2. The vacuum circuit breaker automatic handling robot according to claim 1, characterized in that: The supporting mechanism is arranged on the front side of the vehicle frame and comprises at least a shovel frame (2) and two shovel teeth (1) fixed to the lower part of the shovel frame and extending forward horizontally.

3. The vacuum circuit breaker automatic handling robot according to claim 2, characterized in that: The horizontal telescopic mechanism comprises at least a pair of vertical plates (10), a pair of horizontal telescopic linear guide rails (20), a pair of horizontal telescopic sliders (19) matched with the horizontal telescopic linear guide rails, a pair of horizontal telescopic motors (26), a pair of horizontal telescopic screw rods (12) and a pair of horizontal telescopic screw rod nuts (11) matched with the horizontal telescopic screw rods, wherein the pair of vertical plates (10), the pair of horizontal telescopic linear guide rails (20), the pair of horizontal telescopic sliders (19), the pair of horizontal telescopic motors (26), the pair of horizontal telescopic screw rods (12) and the pair of horizontal telescopic screw rod nuts (11) matched with the horizontal telescopic screw rods. The telescopic screw nuts (11) are symmetrically distributed on the left and right sides of the frame, the horizontal telescopic linear guide rail (20) and the horizontal telescopic motor (26) are fixed on the frame, the horizontal telescopic slider (19) is fixed below the vertical plate (10) and is slidably connected to the horizontal telescopic linear guide rail (20), the horizontal telescopic screw rod (12) is fixedly connected to the output shaft of the horizontal telescopic motor (26), the horizontal telescopic screw rod nut (11) is sleeved on the horizontal telescopic screw rod (12) and is fixedly connected to the vertical plate (10), and the two vertical plates (10) are fixedly connected to the shovel frame (2).

4. The vacuum circuit breaker automatic handling robot according to claim 3, characterized in that: The lifting mechanism comprises at least a pair of vertical lifting linear guide rails (3), a pair of vertical lifting sliders (4) matched with the vertical lifting linear guide rails, a pair of vertical lifting reduction motors (5), a pair of vertical lifting screw rods (6) and a pair of vertical lifting screw rod nuts (7) matched with the vertical lifting screw rods, wherein the pair of vertical lifting linear guide rails (3), the pair of vertical lifting sliders (4), the pair of vertical lifting reduction motors (5), the pair of vertical lifting screw rods (6) and the pair of vertical lifting screw rod nuts (7) are symmetrically distributed on the left and right sides of the frame respectively, the vertical lifting reduction motor (5) is fixed to the outer side of the vertical plate (10), the vertical lifting linear guide rails (3) are fixed on the shovel frame (2), the vertical lifting slider (4) is fixed to the inner side of the vertical plate (10) and is slidably connected to the vertical lifting linear guide rails (3), the vertical lifting screw rod (6) is fixedly connected to the output shaft of the vertical lifting reduction motor (5), the vertical lifting screw rod nut (7) is sleeved on the vertical lifting screw rod (6) and the vertical lifting screw rod nut (7) is fixedly connected to the shovel frame (2).

5. The vacuum circuit breaker automatic handling robot according to claim 4, characterized in that: The walking mechanism comprises at least one driving wheel assembly (27) installed below the vehicle frame and a plurality of universal driven wheels (30), each driving wheel assembly (27) at least comprising a walking motor (27.1), a driving wheel (27.2), a steering motor (27.3), a pair of shock absorbing springs (27.4), a pair of floating shafts (27.5), a pair of shaft sleeves (27.6) matching the floating shafts, a mounting plate (27.7), a driving wheel bracket (27.8) and an axle seat (27.9), the driving wheel (27.2) being installed on one side of the driving wheel bracket (27.8), the walking motor (27.1) being fixed on the other side of the driving wheel bracket (27.8), and the output shaft of the walking motor (27.1) passing through the driving wheel bracket (27.8) and being fixedly connected with the driving wheel (27.2). The shaft sleeve base (27.9) is arranged above the driving wheel bracket (27.8), the steering motor (27.3) is installed above the shaft seat (27.9) and the output shaft of the steering motor (27.3) passes through the shaft seat (27.9) and is fixedly connected to the driving wheel bracket (27.8), the mounting plate (27.7) is located above the shaft seat (27.9) and is fixedly connected to the vehicle frame, the floating shaft (27.5) is installed above the shaft seat (27.9) and the upper end of the floating shaft (27.5) passes through the mounting plate (27.7), the shaft sleeve (27.6) is fixed above the mounting plate (27.7) and is sleeved on the floating shaft (27.5), and the shock absorbing spring (27.4) is sleeved on the floating shaft (27.5) and is located between the mounting plate (27.7) and the shaft seat (27.9).

6. The vacuum circuit breaker automatic handling robot according to claim 1, characterized in that: The invention also comprises a pair of unlocking cylinders (8) and an air pump (28), wherein the air pump (28) provides an air source for the unlocking cylinders (8), the pair of unlocking cylinders (8) are respectively fixed on both sides of the shovel frame (2), the cylinder barrel of the unlocking cylinder (8) is fixed on the shovel frame (2), a pushing plate (8.1) for pushing a locking pin on the vacuum circuit breaker is fixed on the piston end, and the piston ends of the two unlocking cylinders (8) are arranged facing each other.

7. The vacuum circuit breaker automatic handling robot according to claim 1, characterized in that: It also includes a pair of rotary locking cylinders (9) and an air pump (28), wherein the air pump (28) provides an air source for the rotary locking cylinders (9), the pair of rotary locking cylinders (9) are respectively fixed to two sides of the shovel frame (2), the cylinder barrels of the rotary locking cylinders (9) are fixed to the shovel frame (2), and the pressure block (9.1) is spaced a preset distance from the front end surface of the shovel frame (2).

8. The vacuum circuit breaker automatic handling robot according to any one of claims 1 to 7, characterized in that: The vehicle also comprises two magnetic navigation sensors (13), two cameras (14), a plurality of ultrasonic sensors (15), an indicator light (16), a human-machine interaction screen (17), a power switch (18), a start button (21), an emergency stop button (22), an automatic charging contact (31), an automatic charging infrared transmitter (23) and a manual charging interface (24). The two magnetic navigation sensors (13) and the two cameras (14) are respectively arranged on both sides of the vehicle frame, the ultrasonic sensors (15) are arranged around the vehicle frame, the indicator light (16), the human-machine interaction screen (17), the power switch (18), the start button (21) and the emergency stop button (22) are all arranged on the control box (29), and the automatic charging contact (31), the automatic charging infrared transmitter (23) and the manual charging interface (24) are all arranged at the rear of the vehicle frame.

9. A control method for a vacuum circuit breaker automatic handling robot, characterized in that: The vacuum circuit breaker automatic handling robot applied to any one of claims 1 to 8 comprises the following steps: S1. Setting the tasks to be performed by the robot through the remote control or directly on the robot, the tasks at least including taking out the vacuum circuit breaker, putting back the vacuum circuit breaker and returning the robot to the charging position; S2. Execute corresponding operations according to the task to be performed: when the task is to take out or put back the vacuum circuit breaker, execute step S3; when the task is to return the robot to the charging position, execute step S4; S3, the control box (29) controls the walking mechanism to move to a set position, and the walking mechanism is automatically corrected during the walking process of the robot. After the robot reaches the preset position, the control box (29) controls the lifting mechanism to drive the supporting mechanism to move vertically and / or controls the horizontal telescopic mechanism to drive the supporting mechanism to move forward and backward in the horizontal direction, adjusts the supporting mechanism to a suitable position, and then controls the vacuum circuit breaker to be taken out of the switch cabinet and placed on the supporting mechanism or controls the vacuum circuit breaker to be placed back into the switch cabinet; S4, the control electric box (29) controls the walking mechanism to move to the charging position of the robot, and the robot automatically corrects the deviation by controlling the walking mechanism during the walking process.

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