An automatic detection system for shell dimensions of GIS combined electrical appliances

Abstract

The invention discloses an automatic detection system for shell size of GIS combined electrical appliances, belonging to the field of automatic detection technology. A detection area is set in an area adjacent to an incoming logistics conveyor line, and detection equipment and a control cabinet are arranged in the detection area. A computer workstation is arranged outside the detection area, and the control cabinet is respectively connected with the detection equipment and the computer workstation through a network cable; the detection equipment comprises a sinking rotating platform, a detection conveyor line, a robot, a three-dimensional laser scanner and an optical tracker. The product to be detected is sent from the incoming logistics conveyor line to the detection conveyor line, and the optical tracker positions it, and then the three-dimensional laser scanner performs laser scanning on the product to be detected, and the scanning result is automatically input into a computer to obtain the detection result; the detection system of the invention realizes the automatic detection of the shell size of the GIS combined electrical appliances, gets rid of the influence of human factors, and has a wide detection range and high detection accuracy.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic detection, and in particular relates to an automatic detection system for shell dimensions of a GIS combined electrical appliance. Background Art

[0002] GIS (Gas insulated Metal-Enclosed Switchgear) switchgear is the general name for SF6 (sulfur hexafluoride) gas insulated metal-enclosed switchgear. It combines the incoming line terminal, busbar, disconnector, grounding switch, circuit breaker, current transformer, voltage transformer, lightning arrester, intelligent terminal, outgoing line terminal, connector and other electrical components in a metal shell filled with SF6 as insulating gas and arc extinguishing medium, and can be applied to 110kV-1000kV high-voltage and ultra-high-voltage power distribution systems.

[0003] In order to undertake different functions, the metal shell can be made of cast iron, aluminum alloy or metal composite materials. The metal shell can be formed by casting or welding. The shapes of metal shells are complex and varied, mainly straight-through, T-joints, elbows, expansion joints or pot-type insulators, etc., as well as other special-shaped structures to adapt to various wiring layouts. Among them, the special shape is a high-level summary of all shell shapes, and the sizes of metal shells are also different. In addition, since various metal shells are finally combined with flanges to form sealed units, the end surface of each metal shell has a groove for placing a sealing ring and is densely covered with bolt holes.

[0004] Since GIS switchgear is used in high-voltage and ultra-high-voltage power distribution systems, its safety and reliability requirements are high. Especially with SF6 gas as the insulating medium, the accuracy of the metal shell end surface and bolt holes is crucial to ensure the sealing performance. For GIS switchgear manufacturers, these metal shells are purchased from different processing plants and then assembled into complete sets of equipment by GIS switchgear manufacturers. When these metal shells enter the factory, GIS switchgear manufacturers must test them in some way according to established standards.

[0005] The maximum size of commonly used metal shells can reach 2500mm in length, 1000mm in width and 1000mm in height. In addition to metal shells, GIS combination electrical appliances also have many other types of products, which must also be tested and judged when entering the factory. The required testing tools and methods are different, and some products with special-shaped structures are difficult to test using conventional testing tools and methods.

[0006] At present, when GIS combination electrical appliances' shells and products are inspected before entering the factory, they are usually inspected manually using manual inspection tools such as calipers and plug gauges. Due to different operating habits and tool usage methods, different people may measure the same workpiece in different sizes, which will cause various errors and affect the consistency of the inspection standards and the intuitiveness of the inspection results. Summary of the invention

[0007] The purpose of the present invention is to provide an automatic detection system for the shell size of a GIS combined electrical appliance to solve the technical problems mentioned in the background technology.

[0008] In order to achieve the above-mentioned purpose, the present invention discloses an automatic detection system for the shell size of a GIS combined electrical appliance, including a detection area, which is arranged adjacent to an incoming logistics conveying line; a detection device and a control cabinet are arranged in the detection area, and a computer workstation is arranged outside the detection area on a side opposite to the incoming logistics conveying line;

[0009] The control cabinet is connected to the testing equipment and computer workstation through network cables; the testing equipment includes a sunken rotating platform, a testing conveyor line, a robot, a 3D laser scanner and an optical tracker;

[0010] In the detection area, from one side adjacent to the inbound logistics conveyor line to the other side, a sunken rotating platform and a robot base are sequentially arranged; the upper surface of the sunken rotating platform is flush with the ground, a jacking mechanism is fixedly arranged on the upper surface of the sunken rotating platform, a detection conveyor line is installed above the jacking mechanism, the detection conveyor line is located in the output direction of the inbound logistics conveyor line, and a first limit blocking mechanism is arranged at the end of the detection conveyor line; the robot base is fixed on the ground, the robot is fixedly arranged above the robot base, and the three-dimensional laser scanner is fixedly arranged at the end of the robot's mechanical arm;

[0011] A horizontal movable track is provided in the detection area. The horizontal movable track is located on one side of the line connecting the center points of the sunken rotating platform and the robot base. The length direction of the horizontal movable track is parallel to the direction of the line connecting the center points of the sunken rotating platform and the robot base. A liftable pillar is slidably connected to the horizontal movable track, and an optical tracker is arranged on the top of the liftable pillar.

[0012] Furthermore, inside the inspection area, a connecting conveyor line is provided between the sunken rotating platform and the incoming logistics conveyor line. The connecting conveyor line is fixed on the ground. The connecting conveyor line is located in the output direction of the incoming logistics conveyor line. The upper surface height of the connecting conveyor line is the same as the upper surface height of the incoming logistics conveyor line; when the connecting conveyor line transports the products to be inspected to the inspection conveyor line, the upper surface height of the inspection conveyor line is the same as the upper surface height of the connecting conveyor line.

[0013] Furthermore, pneumatic clamping devices are installed on both sides of the detection conveying line.

[0014] Furthermore, inside the inspection area, a fixed platform is provided on the other side of the robot base, the center points of the sunken rotating platform, the robot base and the fixed platform are on the same straight line, the fixed platform is fixed on the ground, a product inspection platform is provided on the fixed platform, and mounting holes are opened on the surface of the product inspection platform.

[0015] Furthermore, inside the inspection area, a bracket is provided on the other side of the fixed platform, the bracket is fixed on the ground, the center points of the bracket, the fixed platform, the robot base and the sunken rotating platform are on the same straight line, one upper end of the bracket is located above the fixed platform, a slide rail is fixedly provided on the upper part of the bracket, the product inspection platform is slidably connected to the upper part of the slide rail, and a second limit blocking mechanism is provided at the end of the slide rail.

[0016] Furthermore, the control cabinet is located on a side of the detection area where a horizontal movable track is provided.

[0017] Furthermore, the control cabinet includes an electrical control cabinet and a robot control cabinet. The electrical control cabinet is connected to other detection equipment and a computer workstation except the robot through network cables, and the robot control cabinet is connected to the robot and the computer workstation through network cables.

[0018] Furthermore, the electrical control cabinet and the robot control cabinet are fixed side by side on the ground on the side opposite to the inbound logistics conveyor line in the inspection area. The electrical control cabinet and the robot control cabinet are vertically arranged to the horizontal moving track, and the control panels of the electrical control cabinet and the robot control cabinet are both facing outside the inspection area.

[0019] Furthermore, the inspection area is a rectangular area with safety fences set around it. The longitudinal length of the inspection area is consistent with the longitudinal direction of the inbound logistics conveyor line. A product inspection channel is centered on the safety fence on the side adjacent to the inbound logistics conveyor line, and an inspector channel is centered on the safety fence on the side corresponding to the product inspection channel. The sunken rotating platform, robot base and fixed platform are arranged in sequence inside the inspection area from the product inspection channel to the inspector channel.

[0020] Furthermore, a laser code reading device is provided in the product inspection channel, and a safety light curtain is provided in the inspector channel.

[0021] In the present invention, the inbound logistics conveying line, the connecting conveying line and the detection conveying line are all roller conveying line devices.

[0022] When the automatic detection system for shell size of GIS combination electrical appliances of the present invention is used, the working principle is as follows: large-sized products to be inspected are conveyed to the detection conveyor line above the sunken rotating platform through the inbound logistics conveyor line and the connecting conveyor line, and small-sized products to be inspected are manually placed on the product inspection table above the fixed platform; the optical tracker locates the products to be inspected, and the three-dimensional laser scanner arranged at the end of the robot's mechanical arm performs laser scanning on the products to be inspected, and the data information obtained after the scanning is input into the computer, compared with the standard data model in the computer, and the scanning detection results can be displayed in the computer.

[0023] In order to solve the problem of restricting the shell and product inspection of GIS combination electrical appliances before entering the factory, the present invention proposes a new automatic shell size inspection system for GIS combination electrical appliances, which reduces human intervention in the inspection process, ensures the consistency of inspection standards, and the intuitiveness of inspection results.

[0024] Compared with the prior art, the automatic detection system for shell size of GIS combination electrical appliances of the present invention has the following advantages:

[0025] (1) The automatic detection system for shell dimensions of GIS combination electrical appliances of the present invention is compatible with a variety of detection items, such as flatness, sealing ring grooves, bolt holes, welds, etc., and does not require a variety of detection tools and methods, which can save detection time and improve detection accuracy and efficiency. It completely gets rid of most of the human factors in the detection process, is easy to operate, and can achieve one-button automatic detection.

[0026] (2) The automatic shell size detection system of the GIS combination electrical appliance in the present invention has a sunken rotating platform for detecting large-sized shells and a fixed platform for detecting small-sized products on both sides of the robot, which expands the scope of factory inspection, maximizes the utilization rate of the robot, and reduces the inspection cost.

[0027] (3) The shell size automatic detection system of the GIS combination electrical appliance in the present invention is automated through the integration of logic control programming and background algorithms, with a connecting conveyor line for inspection, a detection conveyor line set on a sunken rotating platform, a robot carrying a three-dimensional laser scanner, and a motion mechanism for horizontal movement and vertical lifting carrying an optical tracker. In addition, the automated three-dimensional detection line can be embedded in the factory logistics automation system, so that the factory logistics automation will no longer be interrupted due to inspection, making it possible for GIS combination electrical appliance manufacturers to realize smart factories.

[0028] (4) The automatic detection system for the shell size of the GIS combination electrical appliance in the present invention transforms the factory entry inspection, which was mainly carried out by humans, into a mechanical automatic inspection with computers as the core, and automatically generates a detection report, which becomes a traceability basis with evidentiary force when disputes arise between upstream suppliers and downstream power distribution users, and effectively safeguards the legitimate rights and interests of the GIS combination electrical appliance manufacturer. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 : Schematic diagram of the three-dimensional structure of the automatic detection system for the shell size of the GIS combination electrical appliance in Example 1.

[0030] Figure 2 : A top view of the automatic detection system for the shell size of the GIS combination electrical appliance in Example 1.

[0031] Figure 3 : Schematic diagram of the three-dimensional structure after the product to be inspected is placed in the automatic detection system for the shell size of the GIS combination electrical appliance in Example 1.

[0032] Figure 4 : Schematic diagram of the structure of the sunken rotating platform, detection conveyor line and connecting conveyor line in Example 1.

[0033] Figure 5 : Schematic diagram of the structure of the fixed platform, slide rail and bracket in Example 1.

[0034] Explanation of the reference numerals: 1-safety fence; 11-product inspection channel; 12-inspector channel; 2-sunken rotating platform; 3-robot base; 4-fixed platform; 31-robot; 32-3D laser scanner; 5-horizontal moving track; 51-lifting pillar; 52-optical tracker; 61-electrical control cabinet; 62-robot control cabinet; 7-computer workstation; 21-lifting mechanism; 22-inspection conveyor line; 8-connection conveyor line; 221-first limit blocking mechanism; 222-pneumatic clamping device; 41-slide rail; 42-bracket; 421-first horizontal bracket; 422-vertical bracket; 423-second horizontal bracket; 43-product inspection table; 431-handle; 432-second limit blocking mechanism; 9-cable routing trough; 13-small-sized products to be inspected; 14-large-sized products to be inspected. DETAILED DESCRIPTION

[0035] The technical solution of the present invention is described in detail below through specific embodiments.

[0036] Example 1

[0037] like Figure 1-5 As shown, multiple structural schematic diagrams of the shell size automatic detection system of the GIS combination electrical appliance in Example 1 are given.

[0038] A shell size automatic detection system for GIS combination electrical appliances includes a detection area, which is located on the workshop floor and is adjacent to an incoming logistics conveyor line. The detection area is a rectangular area, and a safety fence 1 is arranged around the detection area; the longitudinal length of the detection area is consistent with the longitudinal direction of the incoming logistics conveyor line, and a product inspection channel 11 is centrally reserved on the safety fence 1 on the side adjacent to the incoming logistics conveyor line, and a laser code reading device (not shown in the figure) is arranged in the product inspection channel 11; an inspector channel 12 is centrally reserved on the safety fence 1 on the side corresponding to the product inspection channel 11, and a safety light curtain (not shown in the figure) is arranged in the inspector channel 12.

[0039] A detection device is provided inside the safety fence 1 , and the detection device includes a sunken rotating platform 2 , a detection conveyor line 22 , a robot 31 , a three-dimensional laser scanner 32 and an optical tracker 52 .

[0040] In the inspection area, from the product inspection channel 11 to the inspector channel 12, there are successively provided with a sunken rotating platform 2, a robot base 3 and a fixed platform 4. The sunken rotating platform 2 is flush with the ground and has a diameter of 1500mm; the robot base 3 is fixed to the ground with anchor bolts, and a robot 31 is fixed on the robot base 3. The robotic arm of the robot 31 consists of 6 axes + 2 external rotating axes, with a rotation radius of 2009mm. A 3D laser scanner 32 is fixed at the end of the robotic arm of the robot 31. The 3D laser scanner 32 is a 3D laser scanner containing 2 dynamic CCD industrial cameras, 2 7-beam cross lasers and an additional linear laser.

[0041] A horizontal movable track 5 is provided at the inner edge of the safety fence 1, and the horizontal movable track 5 is located on one side of the line connecting the center points of the sunken rotating platform 2, the robot base 3 and the fixed platform 4; the length direction of the horizontal movable track 5 is parallel to the direction of the line connecting the center points of the sunken rotating platform 2, the robot base 3 and the fixed platform 4.

[0042] The total length of the horizontal movable track 5 is 3400 mm. A liftable support 51 is slidably connected to the horizontal movable track 5 . The height of the liftable support 51 is 4400 mm. An optical tracker 52 is provided on the top of the liftable support 51 .

[0043] A control cabinet is also provided inside the safety fence 1, and the control cabinet includes an electrical control cabinet 61 and a robot control cabinet 62. The electrical control cabinet 61 and the robot control cabinet 62 are both arranged on the same side of the line connecting the center points of the sunken rotating platform 2, the robot base 3 and the fixed platform 4 as the horizontal moving track 5, and the electrical control cabinet 61 and the robot control cabinet 62 are arranged vertically to the horizontal moving track 5, and the electrical control cabinet 61 and the robot control cabinet 62 are fixedly arranged side by side on the ground inside the safety fence 1 on the side where the inspector passage 12 is provided, and the control panels of the electrical control cabinet 61 and the robot control cabinet 62 are both facing the outside of the safety fence 1.

[0044] A computer workstation 7 is provided outside the safety fence 1. The computer workstation 7 is located outside the safety fence 1 on the side where the inspector passage 12 is provided, and is located on the other side opposite to the electrical control cabinet 61 and the robot control cabinet 62. The computer workstation 7 includes a desk, an office chair and a computer placed above the desk.

[0045] The electrical control cabinet 61 is connected to other detection equipment and the computer workstation 7 except the robot 31 through network cables, and the robot control cabinet 62 is connected to the robot 31 and the computer workstation 7 through network cables. The connecting cables are arranged through a cable routing trough 9 set on the ground.

[0046] A lifting mechanism 21 is fixedly provided on the upper surface of the sunken rotating platform 2, and a detection conveyor line 22 is fixedly connected above the lifting mechanism 21. The detection conveyor line 22 is a conveyor belt device. The detection conveyor line 22 is located in the output direction of the inbound logistics conveyor line. A first limit blocking mechanism 221 is provided at the end of the detection conveyor line 22; a pneumatic clamping device 222 is provided on the detection conveyor line 22.

[0047] Inside the safety fence 1, between the incoming logistics conveyor line and the sunken rotating platform 2, there is a connecting conveyor line 8, which is a conveyor belt device fixed on the ground. The connecting conveyor line 8 is located in the output direction of the incoming logistics conveyor line, and the upper surface height of the connecting conveyor line 8 is the same as the upper surface height of the incoming logistics conveyor line; when the connecting conveyor line conveys the product to be inspected to the detection conveyor line 22, the upper surface height of the detection conveyor line 22 is the same as the upper surface height of the connecting conveyor line 8. The motor equipped with the connecting conveyor line 8 is dust-proof, and the hand cannot be directly inserted into the protective cover to ensure the service life of the motor. The mechanical processing is firm, and the housing of the GIS combination electrical appliance cannot shake during the transportation process.

[0048] The height of the fixed platform 4 is 600 mm and the diameter is 800 mm. A slide rail 41 and a bracket 42 are provided between the fixed platform 4 and the inspector passage 12. The bracket 42 includes a first horizontal bracket 421, a vertical bracket 422 and a second horizontal bracket 423 from top to bottom. The second horizontal bracket 423 is fixedly arranged on the ground by a support leg; the first horizontal bracket 421 and the second horizontal bracket 423 are arranged in parallel and vertically fixedly connected with the vertical bracket 422. The slide rail 41 is fixedly connected above the first horizontal bracket 421; one end of the first horizontal bracket 421 is arranged adjacent to the inspector passage 12 in the inspection area, and the other end is fixedly connected above the fixed platform 4; a product inspection table 43 is provided on the upper part of the slide rail 41, and the product inspection table 43 is slidably connected with the slide rail 41. The product inspection table 43 is a rectangular plate-shaped structure. A handle 431 is provided on the end of the product inspection table 43 facing one end of the inspector passage 12, and a second limit blocking mechanism 432 is provided at the end of the first horizontal bracket 421; a mounting hole is provided on the upper surface of the product inspection table 43, which can be used to fix a fixture for placing small-sized products 13 to be inspected.

[0049] The first position limiting blocking mechanism 221 is three vertical baffles fixed in parallel and at equal intervals at the end of the detection conveying line 22, and the vertical baffles are fixed to the detection conveying line 22 by fastening bolts.

[0050] The second position limiting and blocking mechanism 432 is two vertical baffles fixed to the end of the first horizontal bracket 41 , and the vertical baffles are fixed to the end of the first horizontal bracket 41 by fastening bolts.

[0051] In this embodiment 1, the inbound logistics conveyor line, the connection conveyor line 8 and the detection conveyor line 22 are all roller conveyor line devices.

[0052] When the automatic detection system for the shell size of the GIS combination electrical appliance in the first embodiment is used, the working steps are as follows:

[0053] For large-sized products to be inspected 14, specifically:

[0054] (1) When the large-sized products to be inspected 14 are unloaded at the factory, they will be placed on a pallet with a specific fixture. A barcode containing the information of the products to be inspected is printed on the pallet. The pallet with the products to be inspected is placed on the inbound logistics conveyor line. The inbound logistics conveyor line conveys the products to be inspected to the inspection area. The laser barcode reading device installed on the product inspection channel 11 in the inspection area reads the barcode and enters the information of the products to be inspected into the computer;

[0055] (2) The incoming logistics conveyor line transports the pallet with the products to be inspected to the connecting conveyor line 8, and the connecting conveyor line 8 transports the pallet with the products to be inspected to the detection conveyor line 22. The pallet with the products to be inspected is accurately positioned and fixed by using the first limit blocking mechanism 221 and the pneumatic clamping device 222 on the detection conveyor line 22;

[0056] (3) The optical tracker 52 is started to find the initial position of the product to be inspected. The robot 31 drives the 3D laser scanner 32 to automatically adjust the original coordinate system and start to perform 3D laser scanning on the product to be inspected. During the scanning process, the robot arm of the robot 31 drives the 3D laser scanner 32 to move and scan in the 3D space.

[0057] (4) During the three-dimensional laser scanning process, the lifting mechanism 21 disposed at the bottom of the detection conveyor line 22 lifts up the detection conveyor line 22, so that the tray with the product to be inspected is higher than the height of the connecting conveyor line 8, and the sunken rotating platform 2 drives the product to be inspected to rotate, and cooperates with the three-dimensional laser scanner 32 to perform three-dimensional laser scanning; after the lifting mechanism 21 lifts up the detection conveyor line 22, it can prevent the detection conveyor line 22 from interfering with the connecting conveyor line 8 during the rotation of the sunken rotating platform 2;

[0058] (5) After the scanning test is completed, the robot 31 drives the three-dimensional laser scanner 32 back to the starting point, and the pallet with the products to be inspected is returned to the original position on the inbound logistics conveyor line outside the inspection area and waits for orders. The computer workstation analyzes the scanning data and obtains the test results. Qualified products are transported to the warehousing system, and unqualified products are transported to the return area.

[0059] For small-sized products 13 to be inspected, they are manually placed on the product inspection table 43 above the fixed platform 4 and pushed to the second limit blocking mechanism 432 for positioning. Then, as in the above steps (3) and (4), the optical tracker 52 and the three-dimensional laser scanner 32 are started to perform a three-dimensional laser scan on the products to be inspected. Based on the inspection results, the inspectors manually transport qualified products to the warehousing system and unqualified products to the return area.

[0060] In actual applications, the standard data models of all products to be inspected for factory inspection (including large-sized shells and small-sized products) are imported into the computer workstation one by one. The standard data model can be the parameters specified in the technical conditions of the bidding documents of the GIS combination electrical appliance manufacturer, or it can be a certain implementation standard jointly recognized by the GIS combination electrical appliance manufacturer and the supplier. The imported data model will serve as the basis for detection and comparison. All products to be inspected for factory inspection are uniformly coded in the MES, WMS system, and SCADA system of the smart factory to ensure the automatic identification of the factory logistics system. The code reading, automatic detection, storage, and upload of the GIS combination electrical appliance shell size automatic detection system are all subject to unified coding. Therefore, after the computer workstation obtains the test results, it will share them with the factory MES system and WMS system and upload the test results. According to the test results, the MES system will automatically transport qualified products to the warehousing system and unqualified products to the return area.

[0061] In this embodiment 1, a logic controller (PLC) is used to perform system logic control, and complete the communication control of various peripherals such as robots, operation buttons, touch screens, indicator lights, and safety light curtains.

[0062] The system is equipped with a robot control cabinet 62, which is an integrated control system that independently controls the robot 31. The touch screen operation interface of the robot control cabinet 62 is displayed in full Chinese. The use of this system links the robot, the motion mechanism carrying the optical tracker 52, the laser code reader of the product inspection channel 11, the connecting conveyor line 8, the detection conveyor line 22 and the sunken rotating platform 2, without adding any additional burden to the robot control cabinet 62. The robot control cabinet 62 can also be isolated from the peripheral electrical system, which can effectively protect the expensive robot control cabinet 62 from damage and reduce maintenance expenses. The corresponding product number can be directly used on the touch screen to complete the editing, storage and operation of the operation mode of the entire system (beat change, data management, robot program, production management, etc.).

[0063] For each product to be inspected, the electrical control cabinet 61 and the robot control cabinet 62 are used to calibrate and position the 3D laser scanner 32 and the optical tracker 52. According to the size and shape of the product to be inspected and the inspection item, the horizontal movement and vertical lifting position of the optical tracker 52 are positioned, and the pneumatic clamping device 222 of the inspection conveyor line 22 and the movement of the sunken rotating platform 2 are logically edited with the start, scan and end of the 3D laser scanner 32, and are saved in the integrated control system of the robot control cabinet 62 and the electrical control cabinet 61.

[0064] When the tray with the products to be inspected is read by the laser barcode reader in the product inspection channel 11, the automated inspection system in the first embodiment is automatically started.

[0065] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the design concept of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic detection system for shell size of GIS combination electrical appliances, characterized by: It includes a testing area, which is adjacent to the inbound logistics conveyor line; testing equipment and control cabinets are provided in the testing area, and a computer workstation is provided outside the testing area on the side opposite to the inbound logistics conveyor line; The control cabinet is connected to the testing equipment and computer workstation through network cables; the testing equipment includes a sunken rotating platform, a testing conveyor line, a robot, a 3D laser scanner and an optical tracker; In the detection area, from one side adjacent to the inbound logistics conveyor line to the other side, a sunken rotating platform and a robot base are sequentially arranged; the upper surface of the sunken rotating platform is flush with the ground, a jacking mechanism is fixedly arranged on the upper surface of the sunken rotating platform, a detection conveyor line is installed above the jacking mechanism, the detection conveyor line is located in the output direction of the inbound logistics conveyor line, and a first limit blocking mechanism is arranged at the end of the detection conveyor line; the robot base is fixed on the ground, the robot is fixedly arranged above the robot base, and the three-dimensional laser scanner is fixedly arranged at the end of the robot's mechanical arm; A horizontal moving track is provided in the detection area, the horizontal moving track is located on one side of the line connecting the center points of the sunken rotating platform and the robot base, the length direction of the horizontal moving track is parallel to the direction of the line connecting the center points of the sunken rotating platform and the robot base, a liftable support is slidably connected to the horizontal moving track, and an optical tracker is arranged on the top of the liftable support; Inside the inspection area, a bracket is provided on the other side of the fixed platform, the bracket is fixed on the ground, the center points of the bracket, the fixed platform, the robot base and the sunken rotating platform are on the same straight line, one end of the upper part of the bracket is located above the fixed platform, a slide rail is fixedly provided on the upper part of the bracket, the product inspection table is slidably connected to the upper part of the slide rail, and a second limit blocking mechanism is provided at the end of the slide rail; The control cabinet is located on one side of the detection area where a horizontal moving track is provided.

2. The automatic detection system for shell size of GIS combination electrical appliances according to claim 1, characterized in that: Inside the inspection area, a connecting conveyor line is provided between the sunken rotating platform and the incoming logistics conveyor line. The connecting conveyor line is fixed on the ground. The connecting conveyor line is located in the output direction of the incoming logistics conveyor line. The upper surface height of the connecting conveyor line is the same as the upper surface height of the incoming logistics conveyor line; when the connecting conveyor line transports the products to be inspected to the inspection conveyor line, the upper surface height of the inspection conveyor line is the same as the upper surface height of the connecting conveyor line.

3. The automatic detection system for shell size of GIS combination electrical appliance according to claim 2, characterized in that: Pneumatic clamping devices are installed on both sides of the detection conveyor line.

4. The automatic detection system for shell size of GIS combination electrical appliances according to claim 1, characterized in that: Inside the testing area, a fixed platform is provided on the other side of the robot base. The center points of the sunken rotating platform, the robot base and the fixed platform are on the same straight line. The fixed platform is fixed on the ground. A product testing platform is provided on the fixed platform. Installation holes are opened on the surface of the product testing platform.

5. The automatic detection system for shell size of GIS combination electrical appliance according to claim 1, characterized in that: The control cabinet comprises an electrical control cabinet and a robot control cabinet. The electrical control cabinet is respectively connected to other detection equipment and a computer workstation except the robot through network cables, and the robot control cabinet is respectively connected to the robot and the computer workstation through network cables.

6. The automatic detection system for shell dimensions of GIS combination electrical appliances as claimed in claim 5, characterized in that: The electrical control cabinet and the robot control cabinet are fixed side by side on the ground on the side opposite to the inbound logistics conveyor line in the inspection area. The electrical control cabinet and the robot control cabinet are vertically arranged to the horizontal moving track, and the control panels of the electrical control cabinet and the robot control cabinet are both facing outside the inspection area.

7. The automatic detection system for shell dimensions of GIS combination electrical appliances according to claim 4, characterized in that: The inspection area is a rectangular area with safety fences set up around it. The longitudinal length of the inspection area is consistent with the longitudinal direction of the inbound logistics conveyor line. A product inspection channel is centered on the safety fence on the side adjacent to the inbound logistics conveyor line, and an inspector channel is centered on the safety fence on the side corresponding to the product inspection channel. The sunken rotating platform, robot base and fixed platform are arranged in sequence inside the inspection area from the product inspection channel to the inspector channel.

8. The automatic detection system for shell dimensions of GIS combination electrical appliances as claimed in claim 7, characterized in that: A laser code reading device is provided in the product inspection channel, and a safety light curtain is provided in the inspector channel.

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