Circuit breaker transfer docking method

Abstract

The present invention provides a circuit breaker transfer docking method including tray docking and cabinet docking. When performing a 10KV switch cabinet circuit breaker transfer operation, the present invention first docks the tray with a transfer device, lifts the tray to a required height through a lifting mechanism, and then takes out and moves the circuit breaker in. At the same time, the operation is simple, the applicability is strong, and cabinets of different heights can be operated conveniently.

Description

Technical Field

[0001] The invention relates to the field of switch cabinet transfer devices, in particular to a circuit breaker transfer and docking method. Background Art

[0002] Switchgear is one of the most important electrical equipment in power generation, transformation and distribution. 10KV switchgear is the most widely used. Its stable operation directly affects the power system and the majority of users. It is particularly necessary to strengthen the maintenance and inspection of 10KV switchgear. The inspection and maintenance of switchgear requires transportation. The traditional transportation trolley has not been upgraded for nearly 20 years. Due to its design limitations, it brings great changes to users and is difficult to match the increasingly intelligent power system.

[0003] Traditional transfer carts adjust their height by manually screwing bolts, which is time-consuming and labor-intensive, and the height adjustment is limited. Even a small height adjustment is difficult when a circuit breaker is pressing on it. Since the traditional cart frame is light, the overall center of gravity of the transfer cart is high during movement, making it prone to tipping and overturning, threatening the personal safety of operators and causing damage to equipment. In addition, traditional transfer carts use universal wheels to move on the ground and have no brakes. However, it is difficult to fix the cart during switch maintenance and experimental operations, and it is easy to shake, which is not conducive to the smooth progress of operations. Summary of the invention

[0004] In order to solve the problems of the prior art, the present invention provides a circuit breaker transport docking method. When the 10KV switch cabinet circuit breaker is transported, the tray is lifted to the required height by the lifting mechanism, which is convenient for taking out and moving in the circuit breaker. At the same time, the operation is simple, the applicability is strong, and the cabinets of different heights can be operated conveniently. During the circuit breaker transportation process, the circuit breaker can be easily lifted to a lower height to control the overall center of gravity height, prevent the machine from tipping over, and cause equipment damage and personal safety.

[0005] The invention provides a circuit breaker transport docking method, which includes tray docking and cabinet docking.

[0006] The tray docking process is as follows:

[0007] 1) Determine how many layers of the pallet to be operated are stacked, select the corresponding pallet alignment virtual button on the touch display screen according to the number of stacking layers, adjust the transfer vehicle to the set pallet alignment posture, and then manually adjust the relative position of the transfer vehicle and the pallet, insert it horizontally from the bottom of the pallet, and place the pallet on the transfer vehicle with the assistance of the guide centering mechanism;

[0008] 2) The pallet proximity switch on the transfer vehicle determines whether the pallet is docked in place. After the proximity switch is triggered, the transfer vehicle automatically lifts the pallet and performs a translation operation so that the pallet locking pin is stuck inside the pallet. At this time, the pallet has been successfully docked on the transfer vehicle, and the pallet limit pin limits the degree of freedom on the plane, and then the pallet locking pin limits the displacement of the pallet height, so that the pallet is safely and reliably fixed on the transfer vehicle;

[0009] 3) When the transfer vehicle automatically lifts the pallet, the weight of the pallet acts on the pressure sensor, causing the pressure sensor to be triggered. The value feedback from the pressure sensor is used to determine whether the pallet is lifted and locked;

[0010] 4) After the lifting and locking judgment is completed, the display screen will show that the pallet locking and docking has been completed. Use the virtual button on the screen to return to the walking position and adjust the transfer vehicle to the walking posture for mobile transfer work.

[0011] The cabinet docking process is as follows:

[0012] 1) Push the transfer cart to the appropriate position on the counter surface, and use the laser distance sensor on the transfer cart to determine the distance between the cart and the counter surface. At the same time, determine whether the transfer cart is parallel to the counter surface based on the laser distance sensor and the feedback value of the sensor;

[0013] 2) When the transfer vehicle has reached the appropriate operating position, the touch screen will display that it has reached the appropriate position. Then, according to the feedback from the visual camera, the three-freedom posture adjustment buttons are manually controlled to align the tray on the transfer vehicle with the cabinet. After the alignment is completed, the push tray can be manually pushed to dock with the cabinet;

[0014] 3) Two electromagnets are installed in front of the transfer vehicle, and an electromagnet travel switch is set next to each electromagnet. When the tray is docked in place and matched with the cabinet, the electromagnet travel switch is triggered. At this time, press the operation button, and the electromagnet adsorption switch makes the electromagnet adsorbed to the cabinet. At the same time, the screen shows that the adsorption and docking are successful, and then the brakes on the universal wheels are locked to reliably fix the transfer vehicle in the current position;

[0015] 4) After locking the transfer vehicle, the current posture of the transfer vehicle is memorized, and the operation posture corresponding to the current cabinet is recorded. When the cabinet is subsequently operated, the cabinet is docked according to the recorded operation posture;

[0016] 5) After confirming that the transfer vehicle has been locked, operate the cabinet circuit breaker, manually pull the circuit breaker from the cabinet 9 to the transfer vehicle, and judge whether the circuit breaker operation has been completed according to the value of the pressure sensor;

[0017] 6) After the circuit breaker operation is completed, release the electromagnet adsorption switch and unlock the universal wheel brake, pull the transfer vehicle out of the cabinet to a suitable distance, and use the virtual button to return to the walking position to adjust the transfer vehicle to the walking position. After the transfer vehicle is pushed to the designated position, press the virtual button to land and place the circuit breaker and the tray on the ground, completing the transfer operation of the circuit breaker;

[0018] 7) Since the operating posture of the cabinet is recorded during the operation, when the cabinet is operated again or the circuit breaker is moved back to the cabinet, the transfer cart can be pushed to the appropriate position on the cabinet surface. The cabinet can be aligned through the virtual button, so that the transfer cart can be automatically adjusted to the docking state of the cabinet, reducing the manual adjustment process and significantly improving work efficiency.

[0019] The circuit breaker transport and docking device adopted by the present invention comprises a walking chassis component, a lifting component and an operating component which are sequentially connected from bottom to top.

[0020] The walking chassis assembly includes a chassis bearing frame and an electrical box, a universal wheel, a power-assisted driving wheel assembly and a directional wheel installed on the chassis bearing frame. The electrical box controls the rotation of the directional wheel through the power-assisted driving wheel assembly, thereby driving the walking chassis assembly to move.

[0021] The lifting assembly adopts a double ball screw to drive a double guide rail transmission, including two supporting columns with an operating assembly on the top, the two supporting columns are vertically installed on the chassis bearing frame, and a lifting guide rail slider is fixed on the same plane of the two supporting columns, each lifting guide rail slider is installed with a lifting adapter block, and the ball screw is fixed on the lifting adapter block. When the ball screw rotates, the lifting guide rail slider guides the ball screw nut to drive the lifting adapter block to perform lifting movement; one end of the ball screw is fixed by a screw fixing seat at the bottom of the supporting column, and the screw fixing seat is fixed with a screw nut. A double-row angular contact bearing is installed to support the rotation of the ball screw, and is fixed to the screw fixing seat through the ball screw to limit the axial movement of the fixed end of the ball screw; the other end of the ball screw is supported on the upper part of the support column, the upper part of one ball screw is connected through the screw support seat, and the upper part of the other ball screw is connected through the power-off anti-fall device. Deep groove ball bearings are installed inside the screw support seat and the power-off anti-fall device to support the rotation of the ball screw; the lifting motor is fixed on the motor mounting bracket, and the motor mounting bracket is installed on the support column. At the top, below the motor mounting bracket, a driving synchronous pulley is installed on the shaft end of the lifting motor reducer, and the rotation and torque of the motor are transmitted to the driving synchronous pulley through a key connection; above the screw support seat, a driven synchronous pulley is installed on the top of the motor-side ball screw; the drive synchronous belt transmits motion between the driven synchronous pulley and the driving synchronous pulley; at the bottom of the ball screw, a transmission synchronous pulley is installed below the screw fixing seat, which is fixed to the shaft end of the ball screw through a keyless expansion sleeve and rotates synchronously with the ball screw; the transmission on both sides The middle of the synchronous pulleys are connected by a transmission synchronous belt; the rotation of the lifting motor drives the driving synchronous pulley to rotate, and the power is transmitted to the driven synchronous pulley through the synchronous belt; the driven synchronous pulley drives the ball screw to rotate, and at the same time, the rotation is transmitted to the ball screw on the other side through the transmission synchronous pulley and the transmission synchronous belt, so that the two ball screws rotate synchronously; the rotation of the ball screw causes the screw nut to move linearly along the axial direction of the ball screw, and then relies on the guidance of the lifting guide rail slider to make the ball screw nut drive the lifting adapter block to perform lifting and lowering movements to complete the lifting operation.

[0022] Further improvement, the front end of the chassis bearing frame is a fixed wheel, and the rear end is a universal wheel, the universal wheel has a steering brake and a tire rotation brake; the driving wheel assembly is arranged between the two fixed wheels at the front end of the machine; the electrical box includes a battery, a switching power supply, and a circuit board.

[0023] Further improvement, the power-assisted drive wheel assembly includes a drive wheel hub, a drive wheel mounting plate, a linear bearing, a support shaft, an shaft end gasket and a mounting frame, wherein the drive wheel hub is fixed on one side of the drive wheel mounting plate, and two linear bearings are installed on the other side, and a support shaft is supported inside the linear bearing, and the support shaft moves smoothly along the axial direction; a shaft end gasket is installed on the end face of the support shaft to limit the axial direction of the support shaft; the top end of the support shaft is locked on the mounting frame by screws, and the mounting frame is fixed to the chassis bearing frame.

[0024] As a further improvement, an elastic element is placed between the mounting frame and the linear bearing, and the elastic element provides pressure on the ground to the driving hub.

[0025] Further improvement, the interactive component includes a display light, a screen slider, a limit plunger, an emergency stop button, an operation confirmation button, and a push handle. The supporting column of the lifting component is equipped with a column side shell and an upper cover shell, and the upper cover shells on both sides are provided with display lights; two sets of screen sliders and a limit plunger are installed on the upper cover shell on one side of the lifting motor, and an emergency stop button and an operation confirmation button are arranged on the other side; the push handle is installed under the upper cover shells on both sides and fixed on the supporting columns.

[0026] As a further improvement, a walking power-assist throttle is installed on the pushing handle, and the walking power-assist throttle is connected to the power-assist driving wheel assembly in the walking chassis assembly through a line, and the power-assist driving wheel assembly can be controlled by pressing the throttle.

[0027] Further improvement, the operating component is connected to a screen interaction component, and the screen interaction component includes a screen back cover, a screen cover shell, a screen guide rail, a plunger pressure plate, a limit block, a debugging port baffle, a stylus holder, a stylus, a touch screen and an operation button; the interactive screen component is installed on the upper cover shell on the motor side of the lifting component, and a screen slider is installed on the upper cover shell to cooperate with the screen guide rail on the interactive screen component. The interactive screen component is moved translationally on the upper cover shell through the connection of the guide rail slider, and the moving distance is limited by the limit blocks at both ends of the screen guide rail; a plunger pressure plate is installed on the screen back cover, and the length of the plunger pressure plate is slightly smaller than the screen The interactive screen assembly is installed on the upper cover shell, and circular holes are opened at both ends of the plunger pressure plate; when the interactive screen assembly is installed on the upper cover shell, the plunger pressure plate contacts and presses on the limit plunger, and the limit plunger slides on the plunger pressure plate. When it slides into the circular holes at both ends of the plunger pressure plate, the internal spring of the limit plunger is released to provide damping, so that the interactive screen can be stably positioned at both ends; the screen back cover and the screen cover are fixed by screws, and the screen cover is equipped with a touch screen, a stylus and operation buttons; the stylus is installed in the stylus holder; the stylus holder is fixed to the screen cover by threaded connection; operation buttons are arranged below the touch screen.

[0028] As a further improvement, there is an interactive locking logic between the operation button and the operation confirmation button.

[0029] As a further improvement, a debugging port baffle is installed on the side of the screen cover, and a connection port used for machine debugging is inside the debugging port baffle.

[0030] According to a further improvement, the docking assembly includes an electromagnet, a pallet guide centering mechanism, a pallet in-place proximity switch, a pallet locking pin, a pressure sensor, a laser ranging sensor, a visual camera, a pallet limit pin, and an electromagnet travel switch.

[0031] The beneficial effects of the present invention are:

[0032] 1. When transporting the 10KV switch cabinet circuit breaker, the tray is lifted to the required height through the lifting mechanism, which is convenient for taking out and moving in the circuit breaker; at the same time, it is simple to operate, has strong applicability, and is convenient for operating cabinets of different heights. During the transportation of the circuit breaker, the circuit breaker can be easily lifted to a lower height to control the overall center of gravity height, prevent the machine from tipping over, causing damage to the equipment and personal safety.

[0033] 2. The chassis walking mechanism is used to better realize the transportation and storage of the circuit breaker. The universal wheel at the rear end is equipped with a rotation brake and a wheel rotation brake, which can reliably fix the machine when the circuit breaker is taken out and moved in, making it easier to carry out the operation. The transportation push increases the walking assistance and reduces the labor intensity.

[0034] 3. The lifting form of double guide rail sliders driven by double screws on both sides can realize large load lifting and loading while reserving the middle operation space, which is convenient for manual transfer operation of circuit breaker.

[0035] 4. Electromagnet adsorption locking: During the process of taking and placing the trolley, the electromagnet is reliably locked with the cabinet to prevent the trolley from slipping and causing damage to the equipment and personnel.

[0036] 5. Dual laser real-time distance measurement: During the cabinet docking process, the laser distance sensor monitors the distance to the cabinet in real time, and can also determine whether the vehicle is parallel to the cabinet based on the dual laser data. During walking, if the distance is less than the safe distance, the walking assist function will be automatically turned off.

[0037] 6. Visual camera assisted alignment: Visual cameras can be used to conveniently and quickly help humans align the trolley and the cabinet.

[0038] 7. Power-off protection function: The transfer vehicle can keep the circuit breaker at any height, and the power-off state can be automatically maintained without slipping.

[0039] 8. Posture preset: The transfer vehicle can be set to several commonly used cabinet operation postures, so that the transfer vehicle can easily reach the preset position. Including: pallet alignment posture, walking position posture, pallet landing posture and cabinet operation posture. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 It is the overall three-dimensional structure diagram of the lifting and traveling mechanism;

[0042] Figure 2 It is the three-dimensional structure diagram of the chassis walking mechanism;

[0043] Figure 3 It is the structural diagram of the power-assisted driving wheel;

[0044] Figure 4 It is the overall exploded diagram of the lifting mechanism;

[0045] Figure 5 It is the transmission structure diagram of the lifting mechanism;

[0046] Figure 6 It is a schematic diagram of the installation of the human-computer interaction screen;

[0047] Figure 7 It is a three-dimensional stereogram of the human-computer interaction screen.

[0048] Figure 8 It is a schematic diagram of the docking device.

[0049] Fig. 9 This is a schematic diagram of the transfer vehicle pallet docking.

[0050] Fig.10 This is a schematic diagram of the transfer vehicle pallet completing docking.

[0051] Fig.11 This is a schematic diagram of cabinet docking operations.

[0052] Fig.12 It is the flowchart of pallet docking and locking.

[0053] Fig.13 This is the first cabinet docking operation flow chart.

[0054] Fig.14 It is the cabinet docking flow chart.

[0055] The figure includes: 1. Walking chassis assembly; 2. Lifting assembly; 3. Interactive screen assembly; 4. Docking assembly; 5. First-layer pallet; 6. Second-layer pallet; 7. Third-layer pallet; 8. Circuit breaker; 9. Cabinet; 1-1. Chassis bearing frame; 1-2. Electrical box; 1-3. Universal wheel; 1-4. Support pin hole; 1-5. Power-assisted driving wheel assembly; 1-6. Steering wheel; 1-5-1. Driving wheel hub; 1-5-2. Driving wheel mounting plate; 1-5-3. Linear bearing; 1-5-4, support shaft; 1-5-5, shaft end gasket; 1-5-6, elastic element; 1-5-7, mounting frame; 2-1, support column; 2-2, column side shell; 2-3, upper cover shell; 2-4, display light; 2-5, screen slider; 2-6, limit plunger; 2-7, emergency stop button; 2-8, operation confirmation button; 2-9, push handle; 2-10, lifting guide slider; 2-11, lifting adapter block; 2-12, proximity switch bracket; 2-1 3. Screw fixing seat; 2-14. Transmission synchronous pulley; 2-15. Transmission synchronous belt; 2-16. Support pin shaft; 2-17. Ball screw; 2-18. Power-off anti-fall device; 2-19. Driven synchronous pulley; 2-20. Lifting motor; 2-21. Motor mounting bracket; 2-22. Drive synchronous pulley; 2-23. Travel power throttle; 2-24. Screw supporting seat; 3-1. Screen back cover; 3-2. Screen cover; 3-3. Screen guide rail; 3-4, plunger pressure plate; 3-5, limit block; 3-6, debugging port baffle; 3-7, stylus holder; 3-8, stylus; 3-9, touch screen; 3-10, operation button; 4-1, electromagnet; 4-2, tray guide centering mechanism; 4-3, tray in place proximity switch; 4-4, tray locking pin; 4-5, pressure sensor; 4-6, laser ranging sensor; 4-7, visual camera; 4-8, tray limit pin; 4-9, electromagnet travel switch. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] like Figure 1 As shown, the lifting and traveling mechanism described in this patent is mainly composed of a traveling chassis assembly 1, a lifting assembly 2, and an interactive screen assembly 3.

[0058] like Figure 2As shown, it is a structural diagram of the chassis walking mechanism, which is mainly composed of a chassis bearing frame 1-1, an electrical box 1-2, a universal wheel 1-3, a power-assisted drive wheel assembly 1-5, and a fixed wheel 1-6. The universal wheel 1-3, the fixed wheel 1-6, and the drive wheel assembly are directly fixed to the chassis bearing frame 1-1 by screw connection, and the layout is that the front end of the machine is a fixed wheel, and the rear end is a universal wheel; the universal wheel 1-3 is equipped with a steering brake and a tire rotation brake, which can reliably fix the machine during operation. The drive wheel assembly 1-5 is arranged between the two fixed wheels at the front end of the machine. An electrical box 1-2 is installed in the middle of the chassis bearing frame 1-1, and electronic components such as batteries, switching power supplies, and circuit boards are arranged in the electrical box.

[0059] like Figure 3 As shown, it is a structural diagram of the power-assisted driving wheel, which consists of a driving wheel hub 1-5-1, a driving wheel mounting plate 1-5-2, a linear bearing 1-5-3, a support shaft 1-5-4, an axle end gasket 1-5-5, an elastic element 1-5-6, and a mounting frame 1-5-7. The driving wheel hub 1-5-1 is fixed on one side of the driving wheel mounting plate 1-5-2, and two linear bearings 1-5-3 are installed on the other side. The linear bearing 1-5-3 supports the support shaft 1-5-4 inside, and the support shaft 1-5-4 can move smoothly along the axial direction. The axle end gasket 1-5-5 is installed on the end face of the support shaft 1-5-4 at the bottom of the linear bearing 1-5-3, so that the support shaft 1-5-4 is limited in the axial direction. The top of the support shaft 1-5-4 is locked on the mounting frame 1-5-7 by screws, and the mounting frame 1-5-7 is installed with a positioning pin, which is fixed to the chassis bearing frame 1-1 by the positioning pin and screws. An elastic element 1-5-6 is placed between the mounting frame 1-5-7 and the linear bearing 1-5-3. When the driving wheel assembly is installed on the chassis bearing frame, the elastic element 1-5-6 provides pressure on the ground to the driving wheel hub 1-5-1, so that the driving wheel hub always has sufficient driving friction with the ground.

[0060] like Figure 4 , 5 The figure shows a schematic diagram of the lifting mechanism. Figure 4 This is the overall exploded diagram of the lifting mechanism. Figure 5This is a three-dimensional diagram of the lifting transmission mechanism after removing the outer shell. The lifting transmission mechanism is installed with column side shells 2-2 and upper cover shells 2-3 on both sides. Display lights 2-4 are set on the upper cover shells on both sides. The color of the display lights 2-4 can automatically change according to the status of the machine. Two sets of screen sliders 2-5 and limit plungers 2-6 are installed on the upper cover shell on one side of the lifting motor 2-20, and the emergency stop button 2-7 and operation confirmation button 2-8 are arranged on the other side. The push handle 2-9 is installed under the upper cover shells 2-3 on both sides and is fixed to the support column 2-1 by screws. The support column 2-1 is the main supporting part of the lifting transmission mechanism. The lifting transmission adopts double ball screws to drive double guide rails. The lifting guide sliders 2-10 are arranged on the same plane on both sides of the support column and are fixed to the support column by screws. The lifting guide slider 2-10 is provided with a lifting adapter block 2-11, and the nut on the ball screw 2-17 is fixed to the lifting adapter block 2-11 by means of screws. When the ball screw 2-17 rotates, the lifting guide slider 2-10 guides the ball screw nut to drive the lifting adapter block 2-11 to perform lifting movements. The ball screw 2-17 is fixed at one end and supported at the other end. The fixed connection of the screw is provided by the screw fixing seat 2-13 at the bottom of the support column 2-1. A double-row angular contact bearing supporting the rotation of the ball screw 2-17 is installed in the screw fixing seat 2-13, and is fixed to the screw fixing seat 2-13 through the thread on the ball screw 2-17 and the support nut, thereby limiting the axial movement of the fixed end of the ball screw. The support side of the ball screw 2-17 is on the upper part of the support column 2-1, and the support connection on the motor side is provided by the screw support seat 2-24, and the other side is provided by the power-off anti-fall device 2-18. Deep groove ball bearings are installed inside the screw support seat 2-24 and the power-off anti-fall device 2-18 to support the rotational motion of the ball screw. The lifting motor 2-20 is fixed to the motor mounting bracket 2-21 by screws, and the motor mounting bracket 2-21 is installed on the top of the support column 2-1. Below the motor mounting bracket 2-21, a driving synchronous pulley 2-22 is installed on the shaft end of the lifting motor reducer, and the rotation and torque of the motor are transmitted to the driving synchronous pulley 2-22 through a key connection. Above the screw support seat 2-24, a driven synchronous pulley 2-19 is installed on the top of the motor side ball screw 2-17. The driven synchronous belt transmits motion between the driven synchronous pulley 2-19 and the driving synchronous pulley 2-22. At the bottom end of the ball screw 2-17, a transmission synchronous pulley 2-14 is installed below the screw fixing seat 2-13, fixed on the shaft end of the ball screw 2-17 through a keyless expansion sleeve, and rotates synchronously with the ball screw 2-17. The transmission synchronous pulleys 2-14 on both sides are connected by a transmission synchronous belt 2-15.The lifting motor 2-20 rotates to drive the driving synchronous pulley 2-22, and transmits power to the driven synchronous pulley 2-19 through the synchronous belt; the driven synchronous pulley 2-19 drives the ball screw 2-17 to rotate, and at the same time transmits the rotation to the ball screw 2-17 on the other side through the transmission synchronous pulley 2-14 and the transmission synchronous belt 2-15, so as to realize the synchronous rotation of the two ball screws 2-17. The rotation of the ball screw 2-17 makes the screw nut move linearly along the axial direction of the ball screw, and then relies on the guidance of the lifting guide slider 2-10 to make the ball screw nut drive the lifting adapter block 2-11 to perform lifting and lowering movements, thus completing the lifting and lowering operation. A travel power throttle 2-23 is installed on the push handle 2-9, and the chassis drive wheel hub can be controlled by pressing the throttle.

[0061] like Figure 6 , 7 As shown, it is a three-dimensional diagram of the human-computer interaction screen. The screen interaction component 3 is mainly composed of a screen back cover 3-1, a screen cover shell 3-2, a screen guide rail 3-3, a plunger pressure plate 3-4, a limit block 3-5, a debugging port baffle 3-6, a stylus holder 3-7, a stylus 3-8, a touch screen 3-9 and an operation button 3-10. The interactive screen component 3 is installed on the upper cover shell 2-3 on the motor side of the lifting component 2. A screen slider 2-5 is installed on the upper cover shell 2-3, which cooperates with the screen guide rail 3-3 on the interactive screen component 3. The interactive screen component 3 can be translated on the upper cover shell 2-3 through the connection of the guide rail slider, and the moving distance is limited by the limit blocks 3-5 at both ends of the screen guide rail 3-3. A plunger pressure plate 3-4 is installed on the screen back cover 3-1. The length of the plunger pressure plate 3-4 is slightly smaller than the screen guide rail 3-3, and round holes are opened at both ends of the plunger pressure plate 3-4. When the interactive screen assembly 3 is installed on the upper cover shell 2-3, the plunger pressure plate 3-4 contacts the limit plunger 2-6 and presses on the plunger pressure plate. The limit plunger 2-6 can slide on the plunger pressure plate 3-4. When sliding into the circular holes at both ends of the plunger pressure plate 3-4, the internal spring of the limit plunger is released to provide damping, so that the interactive screen 3 can be stably positioned at both ends. The screen back cover 3-1 and the screen cover 3-2 are fixed by screws. The screen cover is equipped with a touch screen 3-9, a stylus 3-8 and an operation button 3-10. The stylus 3-8 is installed in the stylus holder 3-7 and can be easily pulled out for use. The stylus holder 3-7 is fixed to the screen cover 3-2 by a threaded connection. Some operation buttons 3-10 are arranged below the touch screen 3-9, and the machine functions can be operated by the operation buttons 3-10. There is an interactive locking logic between the operation button 3-10 and the operation confirmation button 2-8. The operation of the operation button 3-10 can only take effect after the confirmation button 2-8 is pressed, so as to prevent accidental touching of the operation button. A debugging port baffle 3-6 is installed on the side of the screen cover 3-2. Opening the debugging port baffle 3-6 will expose the connection port required for machine debugging, which is convenient for machine debugging and maintenance.

[0062] like Figure 8 As shown, the docking assembly includes an electromagnet 4-1, a pallet guide centering mechanism 4-2, a pallet in-place proximity switch 4-3, a pallet locking pin 4-4, a pressure sensor 4-5, a laser ranging sensor 4-6, a visual camera 4-7, a pallet limit pin 4-8, and an electromagnet travel switch 4-9.

[0063] Fig. 9 The figure shows the docking diagram of the transfer vehicle pallet. The pallets can be stacked, such as Fig. 9 As shown, it includes a first-layer tray 5, a second-layer tray 6, and a third-layer tray 7.

[0064] Pallet docking and locking process diagram Fig.12 As shown, when performing the pallet docking operation, first determine how many layers the pallet to be operated has been stacked, select the corresponding pallet alignment virtual button on the touch display screen according to the number of stacking layers, adjust the transfer vehicle to the set pallet alignment posture, and then manually adjust the relative position of the transfer vehicle and the pallet, insert it horizontally from the bottom of the pallet, and place the pallet on the transfer vehicle with the assistance of the guide centering mechanism 4-2. The pallet is docked in place according to the proximity switch 3 on the transfer vehicle. After the proximity switch triggers the docking, the transfer vehicle automatically lifts the pallet and performs a translation operation so that the pallet locking pin 4-4 is stuck inside the pallet; at this time, the pallet has been successfully docked to the transfer vehicle, and the degrees of freedom on the plane of the pallet are limited according to the pallet limit pin 4-8, and then the displacement of the pallet height is limited according to the pallet locking pin, so that the pallet is safely and reliably fixed on the transfer vehicle. When the transfer vehicle automatically lifts the pallet, the weight of the pallet will act on the pressure sensor 4-5, causing the pressure sensor to be triggered, and the value feedback from the pressure sensor is used to determine whether the pallet is lifted and locked; after the lifting and locking judgment is completed, the display screen will show that the pallet locking docking is completed. After the pallet docking is completed, as shown Fig.10 As shown; then you can use the virtual button on the screen to return to the walking position and adjust the transfer vehicle to the walking posture to carry out mobile transfer work.

[0065] Fig.13 This is the first cabinet docking operation flow chart.

[0066] Fig.14 It is the cabinet docking flow chart.

[0067] This mechanism is mainly used to realize the lifting and handling operation of the 10KV switch cabinet vacuum circuit breaker. A tray can be installed on the lifting adapter block 2-11 in the lifting mechanism. The lifting mechanism drives the tray to the corresponding position of the switch cabinet, and the circuit breaker can be pulled onto the tray. The circuit breaker is then transported to other areas through the chassis walking mechanism. The chassis walking mechanism adopts a layout of front fixed wheels and rear universal wheels, which can easily realize the mobile turning operation of the machine. At the same time, an electric drive hub is set to provide a certain amount of power for people to push; the power-assisted travel speed can be adjusted by pushing the walking power throttle 2-23 on the handle 2-9. The screen interaction component 3 is used for human-computer interaction. The touch screen 3-9 and the operation button 3-10 can be used to conveniently observe the machine status and operate the machine function. The lifting mechanism adopts a double ball screw to drive the double guide rail slider, which can realize large-load lifting transmission while leaving space in the middle of the supporting column, giving the operator enough space to move the vacuum circuit breaker of the switch cabinet. The screen interaction component 3 is designed to be able to move in a translational manner. When operating a machine function, it can be pulled inward for easy manual operation, and when operating a mobile circuit breaker, it can be pushed outward, without occupying space for manual operation.

[0068] Fig.11 The following is a schematic diagram of the docking process for the transfer vehicle cabinet. Fig.13 The rest of the docking process is as follows Fig.14As shown. When the cabinet 9 is docked, first push the transfer cart to the appropriate position of the cabinet surface, and rely on the laser distance sensor on the transfer cart to judge the distance between the car body and the cabinet surface. At the same time, since laser distance sensors 4-6 are installed on both sides of the car body, it is also possible to judge whether the transfer cart is parallel to the cabinet surface according to the value of the sensor feedback on the screen; when the transfer cart has reached the appropriate operating position, the touch screen will display that it has reached the appropriate position, and then according to the visual camera feedback picture, manually control the three-freedom posture adjustment button to align the tray on the transfer cart with the cabinet. After the alignment is completed, the push tray can be manually pushed to dock with the cabinet. Two electromagnets 4-1 are installed in front of the transfer cart, and an electromagnet travel switch 4-9 is set next to each electromagnet. When the tray is docked in place and matched with the cabinet, the electromagnet travel switch 4-9 will be triggered. At this time, press the operation button: the electromagnet adsorption switch can make the electromagnet adsorbed to the cabinet, and the screen will display that the adsorption and docking are successful. Then lock the brake on the universal wheel to reliably fix the transfer cart in the current position. After locking the transfer vehicle, the current transfer vehicle posture can be memorized, and the operating posture corresponding to the current cabinet can be recorded. When operating this cabinet in the future, there is no need to manually adjust the docking cabinet. After confirming that the transfer vehicle has been locked, the cabinet circuit breaker can be operated. The circuit breaker 8 is manually pulled from the cabinet 9 to the transfer vehicle, and the circuit breaker operation is judged according to the value of the pressure sensor 4-5. After the circuit breaker operation is completed, the electromagnet adsorption switch is released and the universal wheel brake is unlocked, and the transfer vehicle is pulled out of the cabinet surface at a suitable distance. The virtual button is used to return the walking position with one key to adjust the transfer vehicle to the walking position. After pushing the transfer vehicle to the designated position, press the virtual button to land with one key to place the circuit breaker and the tray on the ground, and the transfer operation of the circuit breaker is completed. Since the cabinet operation posture is recorded during the operation, when operating this cabinet or moving the circuit breaker back to the cabinet in the future, after pushing the transfer vehicle to the appropriate position of the cabinet surface, the virtual button cabinet can be aligned to automatically adjust the transfer vehicle to the docking state of this cabinet, reducing the process of manual adjustment and significantly improving work efficiency.

[0069] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, the above is only a preferred embodiment of the present invention. Since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field is within the technical scope disclosed by the present invention. For ordinary technicians in the technical field, changes or replacements that can be easily thought of should be covered within the protection scope of the present invention without departing from the principle of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A circuit breaker transfer and docking method, characterized in that: Including tray docking and cabinet docking; The tray docking process is as follows: 1) Determine how many layers of the pallet to be operated are stacked, select the corresponding pallet alignment virtual button on the touch display screen according to the number of stacking layers, adjust the transfer vehicle to the set pallet alignment posture, and then manually adjust the relative position of the transfer vehicle and the pallet, insert it horizontally from the bottom of the pallet, and place the pallet on the transfer vehicle with the assistance of the guide centering mechanism; 2) The pallet proximity switch on the transfer vehicle determines whether the pallet is docked in place. After the proximity switch is triggered, the transfer vehicle automatically lifts the pallet and performs a translation operation so that the pallet locking pin is stuck inside the pallet. At this time, the pallet has been successfully docked on the transfer vehicle, and the pallet limit pin limits the degree of freedom on the plane, and then the pallet locking pin limits the displacement of the pallet height, so that the pallet is safely and reliably fixed on the transfer vehicle; 3) When the transfer vehicle automatically lifts the pallet, the weight of the pallet acts on the pressure sensor, causing the pressure sensor to be triggered. The value feedback from the pressure sensor is used to determine whether the pallet is lifted and locked; 4) After the lifting and locking judgment is completed, the display screen will show that the pallet locking and docking has been completed. Use the virtual button on the screen to return to the walking position and adjust the transfer vehicle to the walking posture to carry out mobile transfer work; The cabinet docking process is as follows: 1) Push the transfer cart to the appropriate position on the counter surface, and use the laser distance sensor on the transfer cart to determine the distance between the cart and the counter surface. At the same time, determine whether the transfer cart is parallel to the counter surface based on the laser distance sensor and the feedback value of the sensor; 2) When the transfer vehicle has reached the appropriate operating position, the touch screen will display that it has reached the appropriate position. Then, according to the feedback from the visual camera, the three-freedom posture adjustment buttons are manually controlled to align the tray on the transfer vehicle with the cabinet. After the alignment is completed, the push tray can be manually pushed to dock with the cabinet; 3) Two electromagnets are installed in front of the transfer vehicle, and an electromagnet travel switch is set next to each electromagnet. When the tray is docked in place and matched with the cabinet, the electromagnet travel switch is triggered. At this time, press the operation button, and the electromagnet adsorption switch makes the electromagnet adsorbed to the cabinet. At the same time, the screen shows that the adsorption and docking are successful, and then the brakes on the universal wheels are locked to reliably fix the transfer vehicle in the current position; 4) After confirming that the transfer vehicle has been locked, operate the cabinet circuit breaker, manually pull the circuit breaker from the cabinet to the transfer vehicle, and judge whether the circuit breaker operation has been completed based on the value of the pressure sensor; 5) After the circuit breaker operation is completed, release the electromagnet adsorption switch and unlock the universal wheel brake, pull the transfer vehicle out of the cabinet to a suitable distance, and use the virtual button to return to the walking position to adjust the transfer vehicle to the walking position. After the transfer vehicle is pushed to the designated position, press the virtual button to land and place the circuit breaker and tray on the ground, completing the circuit breaker transfer operation; The circuit breaker transport docking device comprises a walking chassis assembly, a lifting assembly, and an operating assembly connected in sequence from bottom to top, and a docking assembly is fixed above the walking chassis assembly; the walking chassis assembly comprises a chassis bearing frame and an electrical box, a universal wheel, a power-assisted driving wheel assembly, and a directional wheel installed on the chassis bearing frame, and the electrical box controls the rotation of the directional wheel through the power-assisted driving wheel assembly, thereby driving the walking chassis assembly to move; The lifting assembly adopts a double ball screw to drive a double guide rail transmission, including two supporting columns with an operating assembly on the top, the two supporting columns are vertically installed on the chassis bearing frame, and a lifting guide rail slider is fixed on the same plane of the two supporting columns, each lifting guide rail slider is installed with a lifting adapter block, and the ball screw is fixed on the lifting adapter block. When the ball screw rotates, the lifting guide rail slider guides the ball screw nut to drive the lifting adapter block to perform lifting movement; one end of the ball screw is fixed by a screw fixing seat at the bottom of the supporting column, and the screw fixing seat is fixed with a screw nut. A double-row angular contact bearing is installed to support the rotation of the ball screw, and is fixed to the screw fixing seat through the ball screw to limit the axial movement of the fixed end of the ball screw; the other end of the ball screw is supported on the upper part of the support column, the upper part of one ball screw is connected through the screw support seat, and the upper part of the other ball screw is connected through the power-off anti-fall device. Deep groove ball bearings are installed inside the screw support seat and the power-off anti-fall device to support the rotation of the ball screw; the lifting motor is fixed on the motor mounting bracket, and the motor mounting bracket is installed on the support column. At the top, below the motor mounting bracket, a driving synchronous pulley is installed on the shaft end of the lifting motor reducer, and the rotation and torque of the motor are transmitted to the driving synchronous pulley through a key connection; above the screw support seat, a driven synchronous pulley is installed on the top of the motor-side ball screw; the drive synchronous belt transmits motion between the driven synchronous pulley and the driving synchronous pulley; at the bottom of the ball screw, a transmission synchronous pulley is installed below the screw fixing seat, which is fixed to the shaft end of the ball screw through a keyless expansion sleeve and rotates synchronously with the ball screw; the transmission on both sides The middle of the synchronous pulley is connected by a transmission synchronous belt; the rotation of the lifting motor drives the driving synchronous pulley to rotate, and the power is transmitted to the driven synchronous pulley through the synchronous belt; the driven synchronous pulley drives the ball screw to rotate, and at the same time, the rotation is transmitted to the ball screw on the other side through the transmission synchronous pulley and the transmission synchronous belt, so that the two ball screws rotate synchronously; the rotation of the ball screw causes the screw nut to move linearly along the axial direction of the ball screw, and then the lifting guide slider is guided to make the ball screw nut drive the lifting adapter block to perform lifting and lowering movements to complete the lifting operation; The docking assembly includes an electromagnet, a pallet guide centering mechanism, a pallet in-place proximity switch, a pallet locking pin, a pressure sensor, a laser ranging sensor, a visual camera, a pallet limit pin, and an electromagnet travel switch.

2. The circuit breaker transfer and docking method according to claim 1, characterized in that: After locking the brakes on the universal wheels to securely fix the transfer vehicle at the current position, the current posture of the transfer vehicle is memorized, and the operating posture corresponding to the current cabinet is recorded. When the cabinet is subsequently operated, the cabinet is docked according to the recorded operating posture.

3. The circuit breaker transfer and docking method according to claim 2, characterized in that: When you operate this cabinet again or move the circuit breaker back to the cabinet, push the transfer cart to the appropriate position on the cabinet surface, and align the cabinets by pressing the virtual buttons according to the previously recorded operating posture, so that the transfer cart is automatically adjusted to the docking state of this cabinet.

4. The circuit breaker transfer and docking method according to claim 1, characterized in that: The front end of the chassis bearing frame is a fixed wheel, and the rear end is a universal wheel, and the universal wheel is provided with a steering brake and a tire rotation brake; the driving wheel assembly is arranged between the two fixed wheels at the front end of the machine; the electrical box includes a battery, a switching power supply, and a circuit board.

5. The circuit breaker transfer and docking method according to claim 1 or 4, characterized in that: The power-assisted driving wheel assembly includes a driving wheel hub, a driving wheel mounting plate, a linear bearing, a support shaft, an axle end gasket and a mounting frame, wherein the driving wheel hub is fixed on one side of the driving wheel mounting plate, and two linear bearings are installed on the other side, and a support shaft is supported inside the linear bearing, and the support shaft moves smoothly along the axial direction; a shaft end gasket is installed on the end face of the support shaft to limit the axial direction of the support shaft; the top end of the support shaft is locked on the mounting frame by screws, and the mounting frame is fixed to the chassis bearing frame.

6. The circuit breaker transfer and docking method according to claim 1, characterized in that: The operating component includes a display light, a screen slider, a limit plunger, an emergency stop button, an operation confirmation button, and a push handle. The support column of the lifting component is equipped with a column side shell and an upper cover shell, and the upper cover shells on both sides are provided with display lights; two groups of screen sliders and a limit plunger are installed on the upper cover shell on one side of the lifting motor, and an emergency stop button and an operation confirmation button are arranged on the other side; the push handle is installed under the upper cover shells on both sides and fixed on the supporting columns.

7. The circuit breaker transfer and docking method according to claim 6, characterized in that: The operation component is connected to the screen interaction component, which includes a screen back cover, a screen cover shell, a screen guide rail, a plunger pressure plate, a limit block, a debugging port baffle, a stylus holder, a stylus, a touch screen and an operation button; the interactive screen component is installed on the upper cover shell on the motor side of the lifting component, and a screen slider is installed on the upper cover shell to cooperate with the screen guide rail on the interactive screen component. The interactive screen component is moved horizontally on the upper cover shell through the connection of the guide rail slider, and the moving distance is limited by the limit blocks at both ends of the screen guide rail; a plunger pressure plate is installed on the screen back cover, and the length of the plunger pressure plate is slightly smaller than the screen guide rail. There are circular holes at both ends of the plunger pressure plate; when the interactive screen assembly is installed on the upper cover shell, the plunger pressure plate contacts and presses on the limit plunger, and the limit plunger slides on the plunger pressure plate. When it slides into the circular holes at both ends of the plunger pressure plate, the internal spring of the limit plunger is released to provide damping, so that the interactive screen can be stably positioned at both ends; the screen back cover and the screen cover are fixed by screws, and the screen cover is equipped with a touch screen, a stylus and operation buttons; the stylus is installed in the stylus holder; the stylus holder is fixed to the screen cover by a threaded connection; operation buttons are arranged below the touch screen.

8. The circuit breaker transfer and docking method according to claim 7, characterized in that: There is an interactive locking logic between the operation button and the operation confirmation button.

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