A high voltage power outage robot

Abstract

The present invention discloses a high-voltage power outage robot, comprising a walking mechanism, an actuator and a control system; the walking mechanism comprises two front drive motors and two rear drive motors, the front drive motors and the rear drive motors are fixedly connected to the bottom of a vehicle body through a bracket, and wheels are fixedly connected to the motor shafts of the front drive motors and the rear drive motors; a trackless deviation correction device is provided on the vehicle body; the device moves to a specified position through the walking mechanism, and a rotating section rod is extended into a switch cabinet of a high-voltage power distribution cabinet and rotates after cooperating with a switch button to perform cold standby and hot standby conversion; the robot replaces manpower, and a large amount of power outage work can be completed while ensuring the safety of operators, ensuring that nothing goes wrong.

Description

Technical Field

[0001] The invention relates to the technical field of high-voltage power outage and transmission, and in particular to a high-voltage power outage and transmission robot. Background Art

[0002] The ground production system is the key and core of large-scale power companies' coal crushing, screening, transportation, storage and loading; the ground production system equipment in the storage and transportation center includes loading stations, crushing stations, screening workshops, belt conveyors, crushers and other large machines; how to ensure safe, efficient and stable operation is the direction and goal of all staff members from on-site inspections to electromechanical maintenance and safety management; when it comes to equipment inspection and repair and maintenance, trouble, danger and complexity have become major problems faced by the inspection and repair and maintenance of equipment in the storage and transportation center.

[0003] In order to ensure the absolute safety of equipment maintenance, the center stipulates that any equipment inspection and spot check must cut off the power supply from the source in addition to taking secondary protection on site, and the necessary safety measures for entering the equipment must be strictly implemented; although the hidden danger of equipment misstarting has been eliminated, the safety risk of electricians operating power outage operations has increased. High-voltage equipment such as belt conveyors and crushers in the ground production system need to be converted between hot standby and cold standby; assuming that the staff operates the high-voltage equipment 5 times a day on average; if the two drive motors of each device are shut down once each, then 5*2*2*30*12=7200 operations are completed on the high-voltage equipment each year. It is conceivable how great the potential risks of such a number are.

[0004] How can we successfully complete a large number of power outages while ensuring the safety of operators and making sure that nothing goes wrong? The inventors have considered that if the switch cabinet of the high-voltage distribution cabinet is improved and modified to automatically control the power outage, the existing problems can be solved; but this method is not suitable for our existing high-voltage distribution cabinets; when the switch cabinet of the high-voltage distribution cabinet is manufactured, the mechanical structure has been installed and perfected, and it is unlikely to modify the existing switch cabinet. In addition to the huge investment, it may also damage its original structural function; for this reason, the inventors designed a high-voltage power outage robot, which does not change the overall structure of the distribution cabinet, but changes a method to design an electrical device for stopping the switch cabinet. The robot replaces manpower to complete a large number of power outages while ensuring the safety of operators and making sure that nothing goes wrong. Summary of the invention

[0005] The purpose of the present invention is to provide a high-voltage power outage robot. The device moves to a specified position through a walking mechanism, and a rotating section rod is extended into the switch cabinet of the high-voltage distribution cabinet and rotates after cooperating with the switch button to perform cold standby and hot standby conversion. The robot replaces manpower to complete a large number of power outage work while ensuring the safety of operators and ensuring that nothing goes wrong.

[0006] The technical solution adopted by the present invention is as follows: a high-voltage power outage robot, including a walking mechanism, an actuator and a control system; the walking mechanism includes two front-drive motors and two rear-drive motors, the front-drive motors and the rear-drive motors are fixedly connected to the bottom of the vehicle body through brackets, and wheels are fixedly connected to the motor shafts of the front-drive motors and the rear-drive motors; the actuator includes left and right drive plates, left and right connecting shafts, left and right fixed plates, upper and lower drive plates, and upper and lower fixed plates; there are two left and right connecting shafts, which are fixedly connected to the front and rear sides of the top of the vehicle body through shaft seats; the left and right fixed plates are arranged between the two left and right connecting shafts and fixed to the top of the vehicle body by bolts , vertical platform 1 and platform 2 are provided at both ends of the left and right fixed plates, and a vertical platform 3 is provided on the left and right fixed plates near the platform 1, and relative screw channels are provided on the platforms 2 and 3, and left and right motor channels are provided on the platform 1 at positions corresponding to the screw channels; left and right screws are installed on the screw channels, and the left ends of the left and right screws extend out of the platform 3; the left end surface of the platform 1 is fixed with left and right sliding motors by bolts, and the motor shafts of the left and right sliding motors pass through the left and right motor channels and are fixedly connected to the left and right screws by couplings; the left and right drive plates are horizontally arranged on the upper ends of the left and right fixed plates, and the lower end surfaces of the left and right drive plates are fixedly connected by bolts There are sliding sleeves that match the left and right connecting shafts; left and right driving blocks that match the left and right lead screws are provided in the middle position of the lower ends of the left and right driving plates; the upper and lower fixing plates are fixedly connected to the front sides of the upper ends of the left and right driving plates, and the upper and lower fixing plates are vertically arranged, and the upper ends of the upper and lower fixing plates are provided with an upper baffle plate, and the lower ends are provided with a lower baffle plate, the upper baffle plate is provided with an upper channel, and the lower baffle plate is provided with a lower channel corresponding to the upper channel; a positioning rod is fixed between the upper baffle plate and the lower baffle plate, and the positioning rods are two and vertically arranged on the left and right sides of the upper channel respectively; the upper channel is provided with upper and lower lead screws, and the upper end surface of the upper baffle plate is fixedly connected to a lifting motor, and the motor shaft of the lifting motor passes through the upper channel and the upper and lower The lead screw is fixedly connected through a coupling; the upper and lower drive plates are arranged on the rear side of the upper and lower fixed plates, and the front side of the upper and lower drive plates is fixedly connected with a sliding sleeve that cooperates with the positioning rod, and the middle position of the front side of the upper and lower drive plates is provided with an upper and lower drive block that cooperates with the upper and lower lead screws; a control console is fixed on the rear side of the upper and lower drive plates, and the lower end of the control console is fixedly connected with a switch motor through a motor bracket, and a rotating section rod that cooperates with the switch of the existing high-voltage distribution cabinet is fixedly connected to the motor shaft of the switch motor; the control system is used to control the movement and stop of the device for precise positioning, and control the rotating section rod to accurately extend into the switch cabinet of the high-voltage distribution cabinet to stop power supply.

[0007] Furthermore, the control system includes: a PLC and an expansion module, the PLC is electrically connected to the expansion module; an obstacle laser sensor, a deceleration laser sensor, an electromagnetic sensor, four cabinet number recognition laser sensors, front and rear laser sensors, and an encoder are electrically connected to the input end of the PLC respectively; a backward zero point sensor, a downward zero point sensor, an up and down positioning sensor, and a high-voltage circuit breaker position sensor are electrically connected to the input end of the expansion module respectively; the output end of the PLC is electrically connected to the left and right sliding motors, the lifting motor, and the switch motor through a stepper driver respectively; the output end of the expansion module is electrically connected to the front drive motor and the rear drive motor through a frequency converter respectively; the output end of the expansion module is electrically connected to the brake motor The charging socket is electrically connected to the charging inverter, the charging inverter is electrically connected to the positive and negative poles of the battery, and the 220V AC end of the charging inverter is electrically connected to the 220V AC end of the brake and the inverter through the switch; the end of the switch opposite to the 220V AC end of the charging inverter is electrically connected to the AC input end of the 48V switching power supply, and the DC output end of the 48V switching power supply is electrically connected to the 48V power supply end of the stepper driver; the end of the switch opposite to the 220V AC end of the charging inverter is electrically connected to the AC input end of the 24V switching power supply, the DC output end of the 24V switching power supply is electrically connected to the touch screen, and the touch screen is electrically connected to the input end of the PLC.

[0008] Furthermore, the obstacle laser sensor is arranged on the front side of the vehicle body, the deceleration laser sensor, electromagnetic sensor and charging socket are arranged on the rear side of the vehicle body; four cabinet number recognition laser sensors, front and rear laser sensors, upper and lower positioning sensors, high-voltage circuit breakers, and position sensors are arranged on the right side of the vehicle body; the encoder is arranged on the bottom surface of the vehicle body; the PLC, expansion module, stepper driver, frequency converter, 24V switching power supply, 48V switching power supply, charging inverter and battery are arranged inside the vehicle body; the reverse zero point sensor is arranged on the left side of the left and right fixed plates; the downward zero point sensor is arranged on the lower side of the upper and lower fixed plates; the touch screen is arranged on the rear side of the upper part of the vehicle body; and magnets for assisting the precise positioning of the sensor are adsorbed on the high-voltage distribution cabinet.

[0009] Preferably, the PLC can be controlled by an intelligent terminal, and the intelligent terminal can communicate with the PLC via GSM or 3G or 4G or Wifi or Bluetooth to control the operation of the device.

[0010] Preferably, a charging pile is provided on the ground at a position parallel to the rear side of the vehicle body, and the charging pile is provided with a charging plug that matches the charging socket.

[0011] As an optimization, the charging plug is adaptively connected to the charging pile via a spring.

[0012] Preferably, a trackless deviation correcting device is provided on the vehicle body.

[0013] Furthermore, the trackless correction device includes a mounting plate, a fixed pulley and a magnet; the mounting plate is fixedly connected to the bottom of the vehicle body, a fixed pulley is provided on the side of the mounting plate away from the vehicle body, the fixed pulley is horizontally arranged, a magnet is provided on the side of the mounting plate away from the vehicle body, and the horizontal spacing between the rightmost side of the magnet and the rightmost side of the fixed pulley is 2-3mm.

[0014] As an optimization, the rotating joint rod is a telescopic moment-limiting structure.

[0015] Furthermore, the rotating section rod includes a first section rod and a second section rod, the right side of the first section rod is provided with a socket that matches the switch of the high-voltage distribution cabinet, the left end of the first section rod is provided with a plug rod, the left side of the plug rod is threadedly connected with a baffle, the diameter of the baffle is larger than the diameter of the plug rod, and a first spring groove is provided on the left side of the baffle; the diameter of the first spring groove is smaller than the diameter of the baffle; the right side of the second section rod is provided with a slot that matches the plug rod, the diameter of the slot is equal to the diameter of the baffle, the depth of the slot is greater than the length of the plug rod, and the bottom of the slot is provided with a second spring groove opposite to the first spring groove; a fixing ring is passed through the plug rod, the center diameter of the fixing ring is equal to the diameter of the plug rod, and the left side of the fixing ring is threadedly connected to the slot; a compression spring is provided between the first spring groove and the second spring groove; the left side of the second section rod is connected to the motor shaft of the switch motor through a torque limiting coupling.

[0016] The beneficial effects of the present invention are:

[0017] 1. The device moves to the designated position through the walking mechanism, and the rotating section rod extends into the switch cabinet of the high-voltage distribution cabinet and rotates after cooperating with the switch button to perform the cold standby and hot standby conversion; the robot replaces manpower to complete a large number of power outages and ensure the safety of operators, ensuring that nothing goes wrong;

[0018] 2. The trackless deviation correction device is used to ensure the smooth operation of the device, thereby ensuring the precise positioning of the rotating section rod;

[0019] 3. The rotating section rod is a retractable moment-limiting structure. When the socket is matched with the switch of the high-voltage distribution cabinet, it can avoid the damage of the rotating section rod due to the slight error during insertion;

[0020] 4. A torque-limiting coupling is provided on the second section of the rod to avoid errors during rotation and damage to the socket and the switch of the high-voltage distribution cabinet. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0022] Figure 2 It is a schematic diagram of the walking mechanism structure of the present invention.

[0023] Figure 3 The structure of the actuator of the present invention is shown in FIG. Figure 1 .

[0024] Figure 4 The structure of the actuator of the present invention is shown in FIG. Figure 2 .

[0025] Figure 5 It is a schematic structural diagram of the left and right drive plates of the present invention.

[0026] Figure 6 The upper and lower drive plate structure of the present invention is schematically shown Figure 1 .

[0027] Figure 7 The upper and lower drive plate structure of the present invention is schematically shown Figure 2 .

[0028] Figure 8 The electrical principle of the present invention Figure 1 .

[0029] Fig. 9 The electrical principle of the present invention Figure 2 .

[0030] Fig.10 This is a block diagram of the intelligent terminal connection of the present invention.

[0031] Fig.11 It is a schematic diagram of the charging pile structure of the present invention.

[0032] Fig.12 It is a schematic structural diagram of the trackless deviation-correcting device of the present invention.

[0033] Fig.13 It is a schematic diagram of the rotating joint rod structure of the present invention.

[0034] Fig.14 Schematic diagram of the explosion of the rotating joint rod of the present invention Figure 1 .

[0035] Fig.15 Schematic diagram of the explosion of the rotating joint rod of the present invention Figure 2 .

[0036] Fig.16 Schematic diagram of the explosion of the rotating joint rod of the present invention Figure 3 .

[0037] In the figure: walking mechanism 1, actuator 2, control system 3, front drive motor 4, rear drive motor 5, bracket 6, body 7, wheel 8, left and right drive plate 9, left and right connecting shaft 10, left and right fixed plate 11, upper and lower drive plate 12, upper and lower fixed plate 13, platform 1 14, platform 2 15, platform 3 16, screw channel 17, left and right motor channel 18, left and right screws 19, left and right sliding motor 20, sleeve 21, left and right drive block 22, upper baffle 23, lower baffle 24, upper channel 25, lower channel 26, positioning rod 27, upper and lower screws 28, lifting motor 29, upper and lower drive block 30, control console 31, switch motor 32, rotating joint rod 33, PLC 34, expansion module 35, obstacle laser sensor 36, deceleration laser sensor 37, electromagnetic Sensor 38, cabinet number recognition laser sensor 39, front and rear laser sensor 40, encoder 41, backward zero point sensor 42, downward zero point sensor 43, up and down positioning sensor 44, high-voltage circuit breaker 45, stepper driver 46, frequency converter 47, charging socket 49, charging inverter 50, battery 51, switch 52, 48V switching power supply 53, 24V switching power supply 54, touch screen 55, charging pile 56, charging plug 57, mounting plate 58, fixed pulley 59, magnet 60, first section rod 61, second section rod 62, socket 63, plug rod 64, first spring groove 65, slot 66, fixing ring 67, compression spring 68, torque limiting coupling 69, second spring groove 70, intelligent terminal 71, baffle 72, position sensor 73. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings. The following description is only used to illustrate the technical solution of the present invention rather than to limit it.

[0039] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention; in addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features; thus, the features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features; in the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0040] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal connection of two elements; for ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood through specific circumstances.

[0041] A high voltage power outage robot, such as Figure 1-4 As shown, it includes a walking mechanism 1, an actuator 2 and a control system 3; the walking mechanism 1 includes two front drive motors 4 and two rear drive motors 5, the front drive motors 4 and the rear drive motors 5 are fixedly connected to the bottom of the vehicle body 7 through brackets 6, and wheels 8 are fixedly connected to the motor shafts of the front drive motors 4 and the rear drive motors 5; the actuator 2 includes left and right drive plates 9, left and right connecting shafts 10, left and right fixing plates 11, upper and lower drive plates 12, and upper and lower fixing plates 13; there are two left and right connecting shafts 10, which are fixedly connected to the front and rear sides of the top of the vehicle body 7 through shaft seats; the left and right fixing plates 9 are arranged between the two left and right connecting shafts 10 and are fixed to the top of the vehicle body 7 by bolts; as shown Figure 5-7As shown, a vertical platform 14 and a platform 2 15 are provided at both ends of the left and right fixed plates 9, a vertical platform 3 16 is provided near the platform 14 on the left and right fixed plates 9, a relative screw channel 17 is provided on the platform 2 15 and the platform 3 16, and a left and right motor channel 18 is provided at a position corresponding to the screw channel 17 on the platform 14; a left and right screw 19 is installed on the screw channel 17, and the left ends of the left and right screws 19 extend out of the platform 3 16; a left and right sliding motor 20 is fixed to the left end surface of the platform 14 by bolts, and the motor shaft of the left and right sliding motor 20 passes through the left and right motors The machine channel 18 is fixedly connected to the left and right lead screws 19 through a coupling; the left and right drive plates 9 are horizontally arranged on the upper ends of the left and right fixed plates 11, and the lower end surfaces of the left and right drive plates 9 are fixedly connected with the sliding sleeves 21 matched with the left and right connecting shafts 10 through bolts; the middle position of the lower ends of the left and right drive plates 9 is provided with left and right drive blocks 22 matched with the left and right lead screws 19; the upper front sides of the upper ends of the left and right drive plates 9 are provided with upper and lower fixed plates 13, and the upper and lower fixed plates 13 are vertically arranged, and the upper ends of the upper and lower fixed plates 13 are provided with upper baffles 23 and lower ends are provided with lower baffles 24, and the upper baffles 23 are provided with upper channels 25, The lower baffle plate 24 is provided with a lower channel 26 corresponding to the upper channel 25; a positioning rod 27 is fixed between the upper baffle plate 23 and the lower baffle plate 24, and the positioning rod 27 is two, which are respectively vertically arranged on the left and right sides of the upper channel 25; an upper and lower lead screw 28 is installed on the upper channel 25, and a lifting motor 29 is fixedly connected to the upper end surface of the upper baffle plate 23 by bolts, and the motor shaft of the lifting motor 29 passes through the upper channel 25 and is fixedly connected to the upper and lower lead screws 28 by a coupling; the upper and lower drive plates 12 are arranged at the rear side of the upper and lower fixed plates 13, and the front side of the upper and lower drive plates 12 is fixedly connected to the fixed plate 13 by bolts. A sliding sleeve 21 cooperates with the positioning rod 27, and an upper and lower driving block 30 cooperating with the upper and lower lead screws 28 is provided in the middle position of the front side of the upper and lower driving plates 12; a control console 31 is fixed to the rear side of the upper and lower driving plates 12, and a switch motor 32 is fixedly connected to the lower end of the control console 31 through a motor bracket, and a rotating section rod 33 cooperating with the switch of the existing high-voltage distribution cabinet is fixedly connected to the motor shaft of the switch motor 32; the control system 2 is used to control the movement and stop of the device for precise positioning, and control the rotating section rod 33 to accurately extend into the switch cabinet of the high-voltage distribution cabinet to stop power supply.

[0042] First of all, the device mainly serves the intelligent operation function of converting between hot and cold standby states of various high-voltage distribution cabinets such as KN28 type. Through the control of the control system 3, the device will search for the high-voltage distribution cabinet of the corresponding equipment according to the input instructions. The front drive motor 4 and the rear drive motor 5 drive the device to the corresponding high-voltage distribution cabinet to detect whether the current contactor state meets the position to be operated; if it is not correct, the robot executes to return to the origin; if it is correct, the lifting motor 29 controls the upper and lower drive plates 12 to move to a predetermined height, so that the rotating section rod 33 is aligned with the switch of the high-voltage distribution cabinet, and the left and right sliding motors 20 control the left and right drive plates 9 to move to the right to a predetermined position, so that the rotating section rod 33 cooperates with the switch of the high-voltage distribution cabinet; the switch motor 32 controls the rotating section rod 33 to rotate, so that the high-voltage circuit breaker in the high-voltage distribution cabinet can be converted between hot and cold standby states through a predetermined number of turns; the front drive motor 4 and the rear drive motor 5 of the actuator 2 are retracted by the control system 3 to drive the device back to the origin.

[0043] Further, if Figure 8-9As shown, the control system includes: PLC34 and expansion module 35, the PLC34 is electrically connected to the expansion module 35; the obstacle laser sensor 36, the deceleration laser sensor 37, the electromagnetic sensor 38, the four cabinet number recognition laser sensors 39, the front and rear laser sensors 40, and the encoder 41 are electrically connected to the input end of the PLC34 respectively; the backward zero point sensor 42, the downward zero point sensor 43, the up and down positioning sensor 44, the high-voltage circuit breaker 45, and the position sensor 73 are electrically connected to the input end of the expansion module 35 respectively; the output end of the PLC34 is electrically connected to the left and right sliding motors 20, the lifting motor 29 and the switch motor 32 respectively through the stepping driver 46; the output end of the expansion module 35 ... The front drive motor 4 and the rear drive motor 5 are electrically connected through the inverter 47; the output end of the expansion module 35 is electrically connected to the brake 48; the charging socket 49 is electrically connected to the charging inverter 50, and the charging inverter 50 is electrically connected to the positive and negative poles of the battery 51, and the 220V AC end of the charging inverter 50 is electrically connected to the brake 48 and the 220V AC end of the inverter 47 through the switch 52; the end of the switch 52 opposite to the 220V AC end of the charging inverter 50 is electrically connected to the AC input end of the 48V switching power supply 53, and the DC output end of the 48V switching power supply 53 is electrically connected to the 48V power supply end of the stepper driver 46; the end of the switch 52 opposite to the 220V AC end of the charging inverter 50 is electrically connected to the 24 The AC input end of the 24V switching power supply 54 is electrically connected, and the DC output end of the 24V switching power supply 54 is electrically connected to the touch screen 55, and the touch screen 55 is electrically connected to the input end of the PLC34; the obstacle laser sensor 36 is arranged on the front side of the vehicle body for obstacle monitoring. If there is a pedestrian or obstacle in front of the device, the obstacle laser sensor 36 will detect it and transmit the signal to the PLC34 to control the device to stop; the deceleration laser sensor 37, the electromagnetic sensor 38 and the charging socket 49 are arranged on the rear side of the vehicle body 7. The deceleration laser sensor 37 is used to transmit the signal to the PLC34 when the device returns to its position to control the deceleration of the device, and the electromagnetic sensor 38 is transmitted to the PLC34 when it returns to control the device to stop. The charging socket 49 can charge the battery 51 Charging; four cabinet number recognition laser sensors 39 and front and rear laser sensors 40 are arranged on the right side of the vehicle body 7 to transmit front and rear position signals; upper and lower positioning sensors 44, high-voltage circuit breakers 45, and position sensors 73 are arranged on the right side of the vehicle body; the encoder 41 is arranged on the bottom surface of the vehicle body 7 to record the moving distance of the trolley and transmit the signal to PLC34; the PLC34, expansion module 35, stepper driver 46, inverter 47, 24V switching power supply 21, 48V switching power supply 53, charging inverter 50 and battery 51 are arranged inside the vehicle body 7; the backward zero point sensor 42 is arranged on the left side of the left and right fixed plates 11, and the detection signal is transmitted to PLC34 to control the left and right sliding motors 20 to stop when the left and right fixed plates 11 return to their positions;The down zero point sensor 43 is arranged on the lower side of the upper and lower fixed plates 13; the detection signal is transmitted to the PLC 34 to control the lifting motor 2 to stop when the upper and lower fixed plates 13 return to their original positions; the touch screen 46 is arranged on the upper rear side of the vehicle body 7; the high voltage distribution cabinet is adsorbed with a magnet for assisting the accurate positioning of the sensor. ;

[0044] Considering the convenient and quick control of this device, such as Fig.10 As shown, the PLC34 can be controlled by a smart terminal 71, which can be a mobile phone or a computer. The smart terminal 71 can communicate with the PLC34 via GSM or 3G or 4G or Wifi or Bluetooth to control the operation of the device; in this way, remote control of the device can be achieved, which is more convenient and practical.

[0045] Considering that it is very troublesome to move and charge this device, Fig.11 As shown, a charging pile 56 is provided on the ground at a parallel position on the rear side of the vehicle body 7, and a charging plug 57 matching with the charging socket 49 is provided on the charging pile 56; in this way, after the device automatically returns to its original position, the charging plug 57 matches with the charging socket 49 to charge the battery 51, and automatic charging without manual operation is possible, which is more convenient.

[0046] Taking into account that a slight error when the device returns to its original position may cause damage to the charging plug 57 and the charging socket 49, the charging plug 57 and the charging pile 56 are adaptively connected via a spring, and the charging plug 57 and the charging pile 56 eliminate stress via a spring adaptively to avoid damage to the charging plug 57 and the charging socket 49 caused by a slight error when the device returns to its original position.

[0047] Taking into account that if the ground is uneven or there are foreign objects such as tiny stones on the ground, the device cannot travel in a straight line, which in turn causes the rotating section rod 33 to be unable to extend into the switch cabinet of the high-voltage distribution cabinet and rotate after cooperating with the switch button. The vehicle body is provided with a trackless correction device, which can be an electrical trackless correction device, a laser ranging scanning device on the vehicle body, and the laser ranging scanning device can perform horizontal scanning; at least two reflection units are arranged in the scanning area of ​​the laser ranging scanning device; the laser ranging scanning device detects the distance between it and each of the reflection units through horizontal scanning, and PLC34 can obtain the distance information collected by the laser ranging scanning device, and judge the offset of the device according to the distance information. It can also be achieved by adopting a mechanical trackless correction device to keep the device traveling in a straight line through a mechanical structure.

[0048] Considering that the mechanical trackless and trackless correction device has a more reliable structure and more stable correction, such as Fig.12As shown, the trackless deviation correction device includes a mounting plate 58, a fixed pulley 59 and a magnet 60; the mounting plate 58 is fixedly connected to the bottom of the vehicle body 7 by bolts, the mounting plate 58 is provided with a fixed pulley 59 on the side away from the vehicle body, the fixed pulley 59 is horizontally arranged, and the mounting plate 58 is provided with a magnet 60 on the side away from the vehicle body 7; if the device is about to deviate toward the side of the high-voltage distribution cabinet, the fixed pulley 59 will resist the bottom of the high-voltage distribution cabinet to prevent the device from deviating toward the side of the high-voltage distribution cabinet; if the device is about to deviate toward the side away from the high-voltage distribution cabinet, the magnetic force of the magnet 60 and the attraction between the high-voltage distribution cabinet will prevent the device from deviating toward the side away from the high-voltage distribution cabinet, and the horizontal spacing between the rightmost side of the magnet 60 and the rightmost side of the fixed pulley 59 is 2-3mm, ensuring a large attraction.

[0049] When the socket is matched with the switch of the high-voltage distribution cabinet, in order to avoid stress damage to the rotating joint rod due to a slight error during insertion, the rotating joint rod 33 is a retractable moment-limiting structure.

[0050] Specifically, Figure 14-16 As shown, the rotating section rod 33 includes a first section rod 61 and a second section rod 62. The first section rod 61 has a socket 63 on the right side thereof that matches the switch of the high-voltage distribution cabinet. The first section rod 61 has a plug rod 64 on the left end thereof. A baffle plate 72 is threadedly connected to the left side of the plug rod 64. The diameter of the baffle plate 72 is larger than the diameter of the plug rod 64. A first spring groove 65 is provided on the left side of the baffle plate 72. The diameter of the first spring groove 65 is smaller than the diameter of the baffle plate 72. The second section rod 62 has a slot 66 on the right side thereof that matches the plug rod 64. The diameter of the slot 66 is equal to the diameter of the baffle plate 72. The depth of the slot 66 is greater than the length of the plug rod 64. A second spring groove 70 opposite to the first spring groove 65 is provided at the bottom of the slot 66. A fixing ring 67 is passed through 64, and the center diameter of the fixing ring 67 is equal to the diameter of the insertion rod 64, and the left side of the fixing ring 67 is threadedly connected to the slot 66; a compression spring 68 is provided between the first spring slot 65 and the second spring slot 70; considering that errors are generated when the switch motor 32 rotates, the switch of the high-voltage distribution cabinet will be damaged; the left side of the second section rod 62 is connected to the motor shaft of the switch motor 32 through a torque-limiting coupling 68; when the rated torque of the torque-limiting coupling 69 is exceeded, the motor shaft of the switch motor 32 rotates, and the rotating section rod 33 matched with the switch of the high-voltage distribution cabinet is stationary, thereby protecting the socket 63 and the switch of the high-voltage distribution cabinet; the torque-limiting coupling 69 uses the X6D model of the OuYue brand.

[0051] The method of use is as follows: first, this device mainly serves the intelligent operation function of converting the hot and cold standby states of various high-voltage distribution cabinets such as KN28 type. First, select the hot standby to cold standby or cold standby to hot standby command on the touch screen 55, and then the touch screen 55 will pop up the device options for selection. The second step is to select the name of the device to be operated, and then the touch screen 55 will pop up the option of whether to execute. After selecting the touch, the robot will complete the search for the high-voltage distribution cabinet of the corresponding device according to the input command, automatically find the corresponding high-voltage distribution cabinet and accurately locate it, and detect whether the current contactor state meets the position to be operated. If it is not correct, the device executes the return to origin action and the touch screen will pop up the fault code. If it is correct, the device starts to execute the next step, and the front drive motor 4 and the rear drive motor 5 drive the device to the corresponding high-voltage distribution cabinet. The robot detects whether the current contactor state conforms to the position to be operated; if not, the robot returns to the origin; if correct, the lifting motor 29 controls the upper and lower drive plates 12 to move to a predetermined height, so that the rotating section rod 33 is aligned with the switch of the high-voltage distribution cabinet, and the left and right sliding motors 20 control the left and right drive plates 9 to move to the right to a predetermined position, so that the rotating section rod 33 cooperates with the switch of the high-voltage distribution cabinet; the switch motor 32 controls the rotating section rod 33 to rotate, so that the high-voltage circuit breaker in the high-voltage distribution cabinet can be converted between hot and cold standby states through a predetermined number of turns; if the equipment is multi-drive, continue to search for the next high-voltage distribution cabinet, if it is single-drive, after detecting that all components of the operating mechanism have returned to zero, the control system 3 retracts the actuator 2, the front drive motor 4, and the rear drive motor 5 drive the device back to the origin, and the HMI prompts that the task is completed normally.

[0052] Although the present invention has been described in detail with reference to the aforementioned examples, it is still possible for those skilled in the art to make and modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A high voltage power outage robot, characterized in that: It includes a walking mechanism, an actuator and a control system; the walking mechanism includes two front-drive motors and two rear-drive motors, the front-drive motors and the rear-drive motors are fixedly connected to the bottom of the vehicle body through brackets, and wheels are fixedly connected to the motor shafts of the front-drive motors and the rear-drive motors; the actuator includes left and right drive plates, left and right connecting shafts, left and right fixed plates, upper and lower drive plates, and upper and lower fixed plates; there are two left and right connecting shafts, which are fixedly connected to the front and rear sides of the top of the vehicle body through shaft seats; the left and right fixed plates are arranged between the two left and right connecting shafts, and are fixed to the top of the vehicle body by bolts, and both ends of the left and right fixed plates are provided with vertical platforms and Platform two, a vertical platform three is provided on the left and right fixed plates near the platform one, and opposite screw channels are provided on the platform two and the platform three, and left and right motor channels are provided on the platform one at positions corresponding to the screw channels; left and right screws are installed on the screw channels, and the left ends of the left and right screws extend out of platform three; the left end surface of the platform one is fixed with left and right sliding motors by bolts, and the motor shafts of the left and right sliding motors pass through the left and right motor channels and are fixedly connected to the left and right screws by couplings; the left and right drive plates are horizontally arranged on the upper ends of the left and right fixed plates, and the lower end surfaces of the left and right drive plates are fixedly connected with sliding plates matching the left and right connecting shafts by bolts. A sleeve; a left and right driving block matching with the left and right lead screws is provided at the middle position of the lower ends of the left and right driving plates; an upper and lower fixing plate is fixedly connected to the front sides of the upper ends of the left and right driving plates, the upper and lower fixing plates are vertically arranged, an upper baffle is provided at the upper ends of the upper and lower fixing plates, a lower baffle is provided at the lower ends, the upper baffle is provided with an upper channel, and the lower baffle is provided with a lower channel corresponding to the upper channel; a positioning rod is fixed between the upper baffle and the lower baffle, and the positioning rod is two and vertically arranged on the left and right sides of the upper channel respectively; an upper and lower lead screws are provided on the upper channel, and a lifting motor is fixedly connected to the upper end surface of the upper baffle, and the motor shaft of the lifting motor passes through the upper channel and is connected to the upper and lower lead screws through a coupling The upper and lower drive plates are arranged on the rear side of the upper and lower fixed plates, and the front side of the upper and lower drive plates is fixedly connected with a sliding sleeve that matches the positioning rod, and the middle position of the front side of the upper and lower drive plates is provided with an upper and lower drive block that matches the upper and lower lead screws; a control console is fixed on the rear side of the upper and lower drive plates, and a switch motor is fixedly connected to the lower end of the control console through a motor bracket, and a rotating section rod that matches the switch of the existing high-voltage distribution cabinet is fixedly connected to the motor shaft of the switch motor; the control system is used to control the walking and stopping of the device for precise positioning, and control the rotating section rod to accurately extend into the switch cabinet of the high-voltage distribution cabinet to stop power transmission; The control system includes: a PLC and an expansion module, wherein the PLC is electrically connected to the expansion module; an obstacle laser sensor, a deceleration laser sensor, an electromagnetic sensor, four cabinet number recognition laser sensors, front and rear laser sensors, and an encoder are electrically connected to the input end of the PLC respectively; a backward zero point sensor, a downward zero point sensor, an upper and lower positioning sensor, a high-voltage circuit breaker, and a position sensor are electrically connected to the input end of the expansion module respectively; the output end of the PLC is electrically connected to the left and right sliding motors, the lifting motor, and the switch motor respectively through a stepper driver; the output end of the expansion module is electrically connected to the front drive motor and the rear drive motor respectively through a frequency converter; the output end of the expansion module is electrically connected to the brake Connection; the charging socket is electrically connected to the charging inverter, the charging inverter is electrically connected to the positive and negative poles of the battery, and the 220V AC end of the charging inverter is electrically connected to the 220V AC end of the brake and the inverter through the switch; the end of the switch opposite to the 220V AC end of the charging inverter is electrically connected to the AC input end of the 48V switching power supply, and the DC output end of the 48V switching power supply is electrically connected to the 48V power supply end of the stepper driver; the end of the switch opposite to the 220V AC end of the charging inverter is electrically connected to the AC input end of the 24V switching power supply, the DC output end of the 24V switching power supply is electrically connected to the touch screen, and the touch screen is electrically connected to the input end of the PLC; The obstacle laser sensor is arranged on the front side of the vehicle body, the deceleration laser sensor, electromagnetic sensor and charging socket are arranged on the rear side of the vehicle body; four cabinet number recognition laser sensors, front and rear laser sensors, upper and lower positioning sensors, high-voltage circuit breakers, and position sensors are arranged on the right side of the vehicle body; the encoder is arranged on the bottom surface of the vehicle body; the PLC, expansion module, stepper drive, frequency converter, 24V switching power supply, 48V switching power supply, charging inverter and battery are arranged inside the vehicle body; the reverse zero point sensor is arranged on the left side of the left and right fixed plates; the downward zero point sensor is arranged on the lower side of the upper and lower fixed plates.

2. A high-voltage power outage robot according to claim 1, characterized in that: The PLC can be controlled by an intelligent terminal, and the intelligent terminal can communicate with the PLC via GSM or 3G or 4G or Wifi or Bluetooth to control the operation of the device.

3. A high-voltage power outage robot according to claim 2, characterized in that: A charging pile is arranged on the ground at a position parallel to the rear side of the vehicle body, and a charging plug matching with the charging socket is arranged on the charging pile.

4. A high-voltage power outage robot according to claim 3, characterized in that: The charging plug is adaptively connected to the charging pile via a spring.

5. A high-voltage power outage robot according to claim 4, characterized in that: A trackless deviation correcting device is arranged on the vehicle body.

6. A high-voltage power outage robot according to claim 5, characterized in that: The trackless deviation correction device comprises a mounting plate, a fixed pulley and a magnet; the mounting plate is fixedly connected to the bottom of the vehicle body, a fixed pulley is arranged on the side of the mounting plate away from the vehicle body, the fixed pulley is arranged horizontally, a magnet is arranged on the side of the mounting plate away from the vehicle body, and the horizontal spacing between the rightmost side of the magnet and the rightmost side of the fixed pulley is 2-3mm.

7. A high-voltage power outage robot according to claim 6, characterized in that: The rotating joint rod is a telescopic moment-limiting structure.

8. A high-voltage power outage robot according to claim 7, characterized in that: The rotating section rod comprises a first section rod and a second section rod, a socket matched with the switch of the high-voltage distribution cabinet is provided on the right side of the first section rod, a plug rod is provided on the left end of the first section rod, a baffle is threadedly connected to the left side of the plug rod, the diameter of the baffle is larger than the diameter of the plug rod, and a first spring groove is provided on the left side of the baffle; the diameter of the first spring groove is smaller than the diameter of the baffle; a slot matched with the plug rod is provided on the right side of the second section rod, the slot diameter is equal to the baffle diameter, the slot depth is greater than the length of the plug rod, and a second spring groove opposite to the first spring groove is provided at the bottom of the slot groove; a fixing ring is passed through the plug rod, the center diameter of the fixing ring is equal to the diameter of the plug rod, and the left side of the fixing ring is threadedly connected to the slot; a sliding groove is provided on the plug rod, and an insert block matched with the sliding groove is provided on the inner wall of the fixing ring, and the insert block is slidably connected to the sliding groove; a compression spring is provided between the first spring groove and the second spring groove; the left side of the second section rod is connected to the motor shaft of the switch motor through a torque limiting coupling.

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