Circuit breaker replacement operation assisting apparatus

Abstract

The application provides a circuit breaker replacement operation auxiliary device, and belongs to the technical field of electric power facilities, comprising a rack and a multi-degree-of-freedom mechanical arm, and a plurality of storage stations for storing different operation tools are arranged on the rack; the operation tools comprise key turning executors, switch turning executors and plug plugging executors, each of the executors is one-to-one supported on a different storage station; the multi-degree-of-freedom mechanical arm is fixed on the rack to grab different operation tools for operation according to operation requirements. The circuit breaker replacement operation auxiliary device provided in the embodiment constitutes a multifunctional mobile robot with a plurality of operation tools, in a plurality of operation processes such as on-site maintenance, replacement and wiring conversion, the multi-degree-of-freedom mechanical arm can be controlled to replace manual operation to grab corresponding operation tools according to a designed program, and a series of work can be completed by the multi-degree-of-freedom mechanical arm instead of manual operation, so that the operation intensity of manual operation is greatly reduced, the operation efficiency is improved, and the safety hidden danger caused by the fact that safety measures are not in place is avoided.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of power facilities, and particularly relates to a circuit breaker replacement operation auxiliary device. BACKGROUND

[0002] Circuit breaker maintenance test needs to be cooperated with maintenance, protection and test teams, and there are many project names, which leads to the need to carry a large number of tools and instruments and equipment for each pre-test work, manual carrying and loading, time-consuming and laborious, and there are risks of missing loading, missing test and missing inspection.

[0003] On-site operation projects need to manually replace maintenance tools and test instruments, and need to frequently change wiring, which not only makes the on-site test wiring multiple and messy, but also has the risk of electric shock caused by incomplete test safety measures. SUMMARY

[0004] The circuit breaker replacement operation auxiliary device provided by the embodiment of the present application aims to solve the unsafe risks of manual replacement of tools and manual operation.

[0005] To achieve the above-mentioned purpose, the technical scheme adopted by the present application is to provide a circuit breaker replacement operation auxiliary device, comprising: a rack and a multi-degree-of-freedom mechanical arm, the rack is provided with a plurality of storage stations for storing different operation tools; the operation tools include a key turning executor, a switch turning executor and a plug plugging executor, each executor is one-to-one supported on a different storage station; the multi-degree-of-freedom mechanical arm is fixed on the rack to grab different operation tools for operation according to operation requirements.

[0006] In a possible implementation manner, the rack comprises a base, a frame provided on the base, and a mechanical arm support plate and an operation tool support plate provided on the frame, the storage station is provided on the operation tool support plate, and the storage station is a notch provided on the operation tool support plate.

[0007] In a possible implementation manner, the key turning executor comprises a key turning driving motor, a key assembly assembled on a main shaft of the key turning driving motor, and a key pressure sensor assembled on the main shaft of the key turning driving motor.

[0008] In a possible implementation manner, the key assembly comprises a key guide cylinder, a key rod extending from the key guide cylinder, and a key spring placed in the key guide cylinder, the key guide cylinder is connected with the main shaft of the key turning driving motor through a key turning connecting piece, and the key guide cylinder is provided with a radial notch for the radial extension of the key pressure sensor.

[0009] In a possible implementation, the twist switch executor comprises a twist switch quick exchange clamp, a switch connecting bottom plate connected with the twist switch quick exchange clamp, a twist switch sleeve connected to the switch connecting bottom plate, a main operating rod and an auxiliary operating rod slidingly connected to the twist switch sleeve, a main spring and an auxiliary spring matched with the main operating rod and the auxiliary operating rod respectively, and a switch pressure sensor connected to the main operating rod.

[0010] In a possible implementation, the end of the main operating rod and the end of the auxiliary operating rod are both provided with a polyurethane sleeve.

[0011] In a possible implementation, the twist switch sleeve is provided with a limiting gap, in which the switch pressure sensor extends.

[0012] In a possible implementation, the elastic coefficient of the main spring is greater than the elastic coefficient of the auxiliary spring.

[0013] In a possible implementation, the plug-in plug-out executor comprises a plug-in plug-out quick exchange clamp, a plug-in plug-out quick exchange mounting plate supporting the plug-in plug-out quick exchange clamp, a large suction disc connecting plate and a small suction disc connecting plate connected to the plug-in plug-out quick exchange mounting plate, the large suction disc connecting plate is provided with a large suction disc, and the small suction disc connecting plate is provided with a small suction disc.

[0014] In a possible implementation, the suction direction of the large suction disc is perpendicular to the suction direction of the small suction disc.

[0015] The circuit breaker replacement operation auxiliary equipment provided by the application has the beneficial effects that a plurality of free mechanical arms and different operation tools are integrated together to form a multifunctional robot with a plurality of operation tools, in the process of on-site maintenance, replacement, and wiring change, the multifunctional robot can replace manual operation to grasp the corresponding operation tool according to the designed program, and the multifunctional robot can replace manual operation to perform a plurality of operations such as key twisting, switch twisting, plugging, wiring, and screw twisting, so that a series of work is completed, the work intensity of manual operation is greatly reduced, the work efficiency is improved, and the safety hidden danger such as electric shock and collision caused by direct or close contact between the operation personnel and the equipment due to the failure of safety measures is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 The structure diagram of the circuit breaker replacement operation auxiliary equipment provided by the embodiment of the application Figure 1

[0017] Figure 2 The structure diagram of the circuit breaker replacement operation auxiliary equipment provided by the embodiment of the application Figure 2 ​​

[0018] Figure 3 Structure diagram of the twist key executor provided by the embodiment of the present application Figure 1 ;

[0019] Figure 4 Structure diagram of the twist key executor provided by the embodiment of the present application Figure 2 ;

[0020] Figure 5 Structure diagram of the twist key executor provided by the embodiment of the present application Figure 3 ;

[0021] Figure 6 Structure diagram of the key guide cylinder provided by the embodiment of the present application Figure 5 ;

[0022] Figure 7 Internal structure diagram of the key guide cylinder provided by the embodiment of the present application Figure 5 ;

[0023] Figure 8 Structure diagram of the twist switch executor provided by the embodiment of the present application

[0024] Figure 9 Exploded structure diagram of the twist switch executor provided by the embodiment of the present application

[0025] Figure 10 Structure diagram of the twist switch sleeve provided by the embodiment of the present application Figure 9 ;

[0026] Figure 11 Internal structure diagram of the twist switch sleeve provided by the embodiment of the present application Figure 9 ;

[0027] Figure 12 Structure diagram of the aircraft plug plug-in executor provided by the embodiment of the present application

[0028] Explanation of reference signs:

[0029] 1, base; 2, control box; 3, work implement support plate; 4, key wrench executor; 401, key wrench quick change mounting plate; 402, key wrench drive motor; 403, key wrench connecting piece; 404, key guide cylinder; 405, key rod; 406, key pressure sensor; 407407, radial notch; 408, key spring; 5, storage station; 6, plug-in executor; 601, plug-in quick change clamp; 602, plug-in quick change mounting plate; 603, large suction disc connecting plate; 604, large suction disc reinforcing rib plate; 605, large suction disc; 606, small suction disc; 607, small suction disc connecting plate; 7, multi-degree-of-freedom robot arm; 8, robot arm support plate; 9, frame; 10, switch wrench executor; 101, switch wrench quick change clamp; 102, switch wrench quick change mounting plate; 103, switch pressure sensor; 104, switch wrench sleeve; 105, main operating rod; 106, polyurethane sleeve; 107, auxiliary operating rod; 108, switch connecting bottom plate; 109, switch pressure sensor connecting piece; 110, spring ejector rod; 111, limit notch. DETAILED DESCRIPTION

[0030] In order to make the technical problems to be solved by the present application, technical solutions and beneficial effects more clear, the present application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0031] Please refer to Figure 1 and Figure 2 , now the circuit breaker replacement operation auxiliary equipment provided by the present application will be described. The circuit breaker replacement operation auxiliary equipment comprises a rack and a multi-degree-of-freedom robot arm 7, and the rack is provided with a plurality of storage stations 5 for storing different work implements; the work implements include a key wrench executor 4, a switch wrench executor 10 and a plug-in executor 6, each executor is correspondingly supported on a different storage station 5; the multi-degree-of-freedom robot arm 7 is fixed on the rack to grab different work implements for operation according to operation requirements.

[0032] The circuit breaker replacement operation auxiliary equipment provided by the present embodiment, compared with the prior art, integrates the multi-degree-of-freedom robot arm and different work implements together to form a multi-functional robot with multiple work implements, in the process of on-site maintenance, replacement, wiring change and other operations, the multi-degree-of-freedom robot arm 7 can be controlled to replace manual operation to grab the corresponding work implement according to the designed program, and the multi-degree-of-freedom robot arm 7 can be used to replace manual operation to perform multiple operations such as key wrenching, switch wrenching, plugging, wiring, screwing and the like, to complete a series of work instead of manual operation, which not only greatly reduces the manual operation intensity and improves the operation efficiency, but also avoids the safety hazards such as electric shock and bumping caused by direct or close contact between the operation personnel and the equipment due to the lack of safety measures.

[0033] As a specific embodiment of the circuit breaker replacement operation assisting device provided in the present embodiment, referring to Figure 1 and Figure 2 , the rack comprises a base 1, a frame 9 arranged on the base 1, a mechanical arm support plate 8 and an operation tool support plate 3 arranged on the frame 9, and a storage station 5 arranged on the operation tool support plate 3, and the storage station 5 is a slot arranged on the operation tool support plate 3.

[0034] Among them, each actuator is respectively provided with a corresponding quick-change mounting plate which can be hung on the slot, so as to facilitate the quick grabbing and returning of the mechanical arm.

[0035] As a specific embodiment of the key turning actuator 4 provided in the present embodiment, referring to Figures 3 to 7 , the key turning actuator 4 comprises a key turning driving motor 402, a key assembly arranged on the main shaft of the key turning driving motor 402, and a key pressure sensor 406 arranged on the main shaft of the key turning driving motor 402. Among them, the key turning driving motor 402 is arranged on the key turning quick-change mounting plate 401, and the key turning actuator can be quickly supported on the storage station 5 of the frame 9 through the key turning quick-change mounting plate 401.

[0036] As a specific embodiment of the circuit breaker replacement operation assisting device provided in the present embodiment, referring to Figures 3 to 7 , the key assembly comprises a key guide cylinder 404, a key rod 405 extending out of the key guide cylinder 404, and a key spring 408 arranged in the key guide cylinder 404, the key guide cylinder 404 is connected with the main shaft of the key turning driving motor 402 through a key turning connecting piece 403, and the key guide cylinder 404 is provided with a radial gap 407 for the radial extension of the key pressure sensor 406.

[0037] The radial gap 407 plays a supporting and limiting role for the key pressure sensor 406.

[0038] The key turning actuator 4 provided in the present embodiment mainly consists of three parts, the key turning driving motor 402 provides torque as a power source, the intermediate transmission part not only transmits the torque of the key turning driving motor 402 to the actuator, but also transmits the pressure of the actuator to the control part through the key pressure sensor 406, and the last key turning actuator is a special part matching the shape of the key hole.

[0039] Specifically, the intermediate transmission part comprises a key guide cylinder 404 and a key turning connecting piece 403; the actuator comprises a key rod 405 and a key spring 408.

[0040] In this embodiment, the key-turning actuator 4 operates by having the multi-degree-of-freedom robotic arm 7 move it closer to the keyhole. When the actuator contacts the keyhole, it retracts under pressure, compressing the key spring 408 and transmitting the pressure to the key pressure sensor 406. Upon receiving the pressure signal, the key pressure sensor 406 controls the key-turning drive motor 402 to output torque via the control system. This torque drives the actuator to rotate through the intermediate transmission section. When the actuator rotates to align with the keyhole groove, it is pressed into the keyhole by the pressure of the key spring 408. The key spring 408 then returns to its original position, the pressure disappears, and the key pressure sensor 406 receives this signal. The control system then controls the motor to output rotational motion at a specified linear speed and angle, driving the actuator to turn the keyhole open. A control box 2 is mounted on the base 1.

[0041] As one specific embodiment of the toggle switch actuator 10 provided in this implementation, see [link to relevant documentation]. Figures 8 to 11 As shown, the switch actuator 10 includes a switch quick-change fixture 101, a switch connection base plate 108 connected to the switch quick-change fixture 101, a switch sleeve 104 connected to the switch connection base plate 108, a main operating rod 105 and an auxiliary operating rod 107 slidably connected to the switch sleeve 104, a main spring and an auxiliary spring respectively cooperating with the main operating rod 105 and the auxiliary operating rod 107, and a switch pressure sensor 103 connected to the main operating rod 105. The switch pressure sensor 103 is connected to the switch connection base plate 108 via a switch pressure sensor connector 109.

[0042] As one specific implementation of the circuit breaker replacement auxiliary equipment provided in this embodiment, see [link to relevant documentation]. Figures 8 to 11 As shown, both the main operating rod 105 and the auxiliary operating rod 107 are provided with polyurethane sleeves 106 at their ends.

[0043] As one specific implementation of the circuit breaker replacement auxiliary equipment provided in this embodiment, see [link to relevant documentation]. Figures 8 to 11 As shown, the switch sleeve 104 is provided with a limiting notch 111 for the extension of the switch pressure sensor 103.

[0044] As a specific implementation of the circuit breaker replacement auxiliary equipment provided in this embodiment, the spring constant of the main spring is greater than that of the auxiliary spring.

[0045] The switch actuator 10 provided in this embodiment is supported on the storage station 5 by the switch quick-change mounting plate 102, the switch connection base plate 108 is fixed on the switch quick-change mounting plate 102, and the spring push rod 110 corresponding to the auxiliary operating rod 107 is fixed on the switch quick-change mounting plate 102.

[0046] The main operating rod 105 and the auxiliary operating rod 107 of the actuator are attached with polyurethane sleeves 106, and the main operating rod 105 and the auxiliary operating rod 107 are respectively provided with springs with different elastic coefficients.

[0047] The spring with a larger elastic coefficient is used for compression of the main operating rod 105, and the switch pressure sensor 103 cooperates with the main operating rod 105, and when the main operating rod 105 contacts the surface of the switch cabinet, the switch pressure sensor 103 is triggered to rotate the switch, and the auxiliary operating rod 107 is not provided with a sensor and only serves as an auxiliary action when the switch is rotated by the human hand.

[0048] As a specific embodiment of the plug-pull executor 6 provided in the embodiment, referring to FIG. 1, the plug-pull executor 6 comprises a plug-pull quick-change clamp 601, a plug-pull quick-change mounting plate 602 supporting the plug-pull quick-change clamp 601, a large suction disc connecting plate 603 connected to the plug-pull quick-change mounting plate 602, and a small suction disc connecting plate 607, wherein the large suction disc connecting plate 603 is provided with a large suction disc 605, and the small suction disc connecting plate 607 is provided with a small suction disc 606. Figure 12

[0049] The large suction disc connecting plate 603 is provided with a plurality of large suction disc reinforcing rib plates 604 to increase the strength of the large suction disc connecting plate 603.

[0050] As a specific embodiment of the plug-pull executor 6 provided in the embodiment, referring to FIG. 1, the plug-pull executor 6 comprises a plug-pull quick-change clamp 601, a plug-pull quick-change mounting plate 602 supporting the plug-pull quick-change clamp 601, a large suction disc connecting plate 603 connected to the plug-pull quick-change mounting plate 602, and a small suction disc connecting plate 607, wherein the large suction disc connecting plate 603 is provided with a large suction disc 605, and the small suction disc connecting plate 607 is provided with a small suction disc 606. Figure 12

[0051] The plug-pull executor 6 provided in the embodiment is used for pulling the plug of the plug-pull executor 6, and each connecting plate bracket transmits the pulling force when the plug of the plug-pull executor 6 is pulled, and the suction disc is adsorbed on the plug paddle to pull the paddle.

[0052] When working, the small suction disc 606 is adsorbed on the paddle, the paddle is pulled by the mechanical arm, and the plug of the plug-pull executor 6 is prepared to be pulled down, after the suction force of the small suction disc 606 is lost, the mechanical arm rotates to adsorb the plug of the plug-pull executor 6 by the large suction disc 605, and the plug of the plug-pull executor 6 is pulled down under the action of the mechanical arm, and the specified function is completed.

[0053] The embodiment can further comprise a door opening end executor, and the door opening end executor has the same structure and working principle as the plug-pull executor 6.

[0054] The connecting plate transmits the pulling force when the door is opened, and the suction disc is adsorbed on the door end, when working, the large suction disc 605 is adsorbed on the door, and the door of the electrical cabinet is pulled under the action of the mechanical arm, and the function of opening the door is realized.

[0055] ​​The quick exchange clamp mentioned in each embodiment of the present application can be selected as the OX-10B type quick exchange clamp. The quick exchange clamp is a mechanical arm end-of-arm tool (EOAT) that can be quickly replaced when the mold of a molding machine is switched, and can integrate the signals of the clamp end with the sensing parts and the clamp parts of the gas circuit of each part.

[0056] The clamp can be automatically installed and automatically removed. The connecting part is a steel ball locking device, and the installation and removal operation is very smooth. It has a pneumatic circuit cutoff function (the gas circuit is automatically closed during removal), uses super-hard aluminum and steel, has excellent rigidity, and has a long service life. It has a safety circuit mechanism that can maintain the locking state even if the air pressure stops, and is an essential component for improving the performance of robots. The clamp body is made of super-hard aluminum, and the steel installation and removal unit is mixed to enhance durability.

[0057] As a specific embodiment of the circuit breaker replacement operation assisting device provided by the present embodiment, the switch opening executor 10 includes a switch opening quick exchange clamp 101, a switch connecting bottom plate 108 connected to the switch opening quick exchange clamp 101, a switch sleeve 104 connected to the switch connecting bottom plate 108, a main operating rod 105 and an auxiliary operating rod 107 slidingly connected to the switch sleeve 104, a main spring and an auxiliary spring matched with the main operating rod 105 and the auxiliary operating rod 107 respectively, and a switch pressure sensor 103 connected to the main operating rod 105. Among them, the switch pressure sensor 103 is connected to the switch connecting bottom plate 108 through a switch pressure sensor connecting piece 109; the plug-in plug-out executor 6 includes a plug-in plug-out quick exchange clamp 601, a plug-in plug-out quick exchange mounting plate 602 supporting the plug-in plug-out quick exchange clamp 601, a large suction disc connecting plate 603 and a small suction disc connecting plate 607 connected to the plug-in plug-out quick exchange mounting plate 602, and the large suction disc connecting plate 603 is provided with a large suction disc 605, and the small suction disc connecting plate 607 is provided with a small suction disc 606.

[0058] As a specific embodiment of the circuit breaker replacement operation assisting device provided by the present embodiment, the key turning executor 4 includes a key turning drive motor 402, a key assembly assembled on the main shaft of the key turning drive motor 402, and a key pressure sensor 406 assembled on the main shaft of the key turning drive motor 402. Among them, the key turning drive motor 402 is assembled on the key turning quick exchange mounting plate 401, and the key turning executor can be quickly supported on the storage station 5 of the frame 9 through the key turning quick exchange mounting plate 401; the key assembly includes a key guide cylinder 404, a key rod 405 extending out of the key guide cylinder 404, and a key spring 408 placed in the key guide cylinder 404, the key guide cylinder 404 is connected with the main shaft of the key turning drive motor 402 through a key turning connecting piece 403, and the key guide cylinder 404 is provided with a radial notch 407 for the radial extension of the key pressure sensor 406.

[0059] In the above embodiments, the description of each embodiment is focused on, and the part not described or recorded in a certain embodiment can be referred to the relevant description of other embodiments.

[0060] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement and improvement within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An auxiliary device for circuit breaker replacement operations, characterized in that, include: The frame is provided with storage stations (5) for storing different work tools; the work tools include key-turning actuators (4), switch-turning actuators (10) and plug-in / plug-out actuators (6), each actuator is supported on a different storage station (5); as well as A multi-degree-of-freedom robotic arm (7) is fixed on the frame to grasp different tools for operation according to the operation requirements; The switch actuator (10) includes a switch quick-change fixture (101), a switch connection base plate (108) connected to the switch quick-change fixture (101), a switch sleeve (104) connected to the switch connection base plate (108), a main operating rod (105) and an auxiliary operating rod (107) slidably connected to the switch sleeve (104), a main spring and an auxiliary spring respectively cooperating with the main operating rod (105) and the auxiliary operating rod (107), and a switch pressure sensor (103) connected to the main operating rod (105); The spring constant of the main spring is greater than that of the auxiliary spring; The switch pressure sensor (103) works in conjunction with the main operating rod (105). When the main operating rod (105) touches the surface of the switch cabinet, it triggers the switch pressure sensor (103) to turn the switch. The auxiliary operating rod (107) does not have a sensor and serves as an auxiliary function when turning the switch, mimicking a human finger.

2. The circuit breaker replacement auxiliary equipment as described in claim 1, characterized in that, The frame includes a base (1), a frame (9) disposed on the base (1), a robotic arm support plate (8) and a work tool support plate (3) disposed on the frame (9), and the storage station (5) is disposed on the work tool support plate (3), and the storage station (5) is a slot disposed on the work tool support plate (3).

3. The circuit breaker replacement auxiliary equipment as described in claim 2, characterized in that, The key-turning actuator (4) includes a key-turning drive motor (402), a key assembly mounted on the main shaft of the key-turning drive motor (402), and a key pressure sensor (406) mounted on the main shaft of the key-turning drive motor (402).

4. The circuit breaker replacement auxiliary equipment as described in claim 3, characterized in that, The key assembly includes a key guide cylinder (404), a key bar (405) extending out of the key guide cylinder (404), and a key spring (408) placed inside the key guide cylinder (404). The key guide cylinder (404) is connected to the main shaft of the key-turning drive motor (402) via a key-turning connector (403). The key guide cylinder (404) is provided with a radial notch (407) for the key pressure sensor (406) to extend radially.

5. The circuit breaker replacement auxiliary equipment as described in claim 1, characterized in that, Both the main operating rod (105) and the auxiliary operating rod (107) are provided with polyurethane sleeves (106) at their ends.

6. The circuit breaker replacement auxiliary equipment as described in claim 1, characterized in that, The switch sleeve (104) is provided with a limiting notch (111) for the extension of the switch pressure sensor (103).

7. The circuit breaker replacement auxiliary equipment as described in claim 1, characterized in that, The insertion and removal actuator (6) includes a quick-change clamp (601), a quick-change mounting plate (602) supporting the quick-change clamp (601), a large suction cup connecting plate (603) and a small suction cup connecting plate (607) connected to the quick-change mounting plate (602). The large suction cup connecting plate (603) is provided with a large suction cup (605), and the small suction cup connecting plate (607) is provided with a small suction cup (606).

8. The circuit breaker replacement auxiliary equipment as described in claim 7, characterized in that, The adsorption direction of the large suction cup (605) is perpendicular to the adsorption direction of the small suction cup (606).

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