An intelligent test method for transformers based on automated storage and retrieval systems

Abstract

The present invention relates to an intelligent test method for a transformer based on a stereoscopic warehouse, and the test is carried out through a transformer intelligent test system arranged in the stereoscopic warehouse. The transformer intelligent test system includes a control box and a robot; it also includes a portable high-voltage fixture device, a low-voltage fixture device with an integrated short-circuit function, and a short-circuit board assembly respectively arranged circumferentially around the robot, as well as a detection system, which can accurately obtain the spatial position information of each high-voltage terminal and each low-voltage terminal of the transformer, and realize the intelligent and accurate wiring of the transformer in combination with the robot, the portable high-voltage fixture device, the low-voltage fixture device with an integrated short-circuit function, and the short-circuit board assembly, and solve its docking with the detection system and the stereoscopic warehouse, so as to realize one-stop services such as intelligent wiring, detection test, and warehousing of the transformer.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent transformer testing, and particularly to an intelligent transformer testing method based on a three-dimensional warehouse. Background Art

[0002] Before leaving the factory, transformers need to be subjected to electrical tests in accordance with national standards and customer requirements to verify whether the products are qualified and meet customer requirements. Currently, before leaving the factory, transformers must undergo many routine test items such as voltage ratio measurement and connection group label verification, winding resistance measurement, insulation resistance test, power frequency withstand voltage test, induced voltage withstand test, short-circuit impedance and load loss measurement, no-load loss and no-load current measurement, etc. In the prior art, traditional manual wiring methods are used for transformer testing, which not only has cumbersome operations and high labor intensity, but also has many uncontrollable factors such as wiring quality affecting test results and safety risks. Therefore, there is an urgent need to provide intelligent wiring equipment and methods.

[0003] How the emerging intelligent wiring equipment can be connected to the detection equipment or system. At the same time, in the prior art, the detection and storage of transformers belong to different systems and are carried out separately. Then, how to realize one-stop services such as intelligent wiring, detection test, and warehousing of transformers based on the existing three-dimensional warehouse has become a technical problem to be solved urgently. Summary of the Invention

[0004] To solve the above problems, the present invention provides an intelligent transformer testing method based on a three-dimensional warehouse, which can accurately obtain the spatial position information of each high-voltage terminal and each low-voltage terminal of the transformer, and realize intelligent and accurate wiring of the transformer by combining a robot, a portable high-voltage fixture device, a low-voltage fixture device integrated with a short-circuit function, and a short-circuit board assembly, and solve its connection with the detection system and the three-dimensional warehouse, so as to realize one-stop services such as intelligent wiring, detection test, and warehousing of the transformer.

[0005] The technical solution adopted by the present invention is: an intelligent transformer testing method based on a three-dimensional warehouse, which is tested by a transformer intelligent testing system arranged in the three-dimensional warehouse. The transformer intelligent testing system includes a control box and a robot; it also includes a portable high-voltage fixture device, a low-voltage fixture device integrated with a short-circuit function, a short-circuit board assembly, and a detection system respectively arranged circumferentially around the robot. The transformer intelligent testing method includes the following steps:

[0006] a. Through signal interaction between the control box and the warehousing control device of the three-dimensional warehouse, drive the automatic guided vehicle in the three-dimensional warehouse to realize the transfer of the transformer between the storage and transportation position and the test position in the three-dimensional warehouse;

[0007] b. The control box interacts with the robot in terms of signals. After step a is completed, the robot performs a motion scan on the transformer conveyed to the test position, and accurately obtains the spatial position information of each high-voltage terminal and each low-voltage terminal of the transformer via a stud positioning algorithm;

[0008] c. The robot sequentially and flexibly holds the portable high-voltage fixture device and the low-voltage fixture device with an integrated short-circuit function, and moves them respectively to clamp the high-voltage terminals and the low-voltage terminals to adapt to the different spatial postures of the studs of each high-voltage terminal and each low-voltage terminal. The robot interacts with the detection system via the control box, and the detection system supplies power to perform a routine test on the transformer;

[0009] d. When it is necessary to short-circuit the low-voltage terminals during one of the routine tests in step c, the robot flexibly carries the short-circuit plate assembly and inserts it into the low-voltage fixture device with an integrated short-circuit function to achieve short-circuiting of the low-voltage terminals;

[0010] e. After the detection is completed, the detection system interacts with the robot via the control box, and the robot sequentially and flexibly carries the short-circuit plate assembly, the low-voltage fixture device with an integrated short-circuit function, and the portable high-voltage fixture device back to their original positions. Then, the control box interacts with the warehousing control device via signals to drive the automatic rail vehicle to realize the transfer of the transformer between the test position and the storage and transportation position in the three-dimensional warehouse.

[0011] As a further limitation to the above technical solution, in step b, a line laser sensor is installed on the robot to perform a motion scan on the studs of the high-voltage terminals and the studs of the low-voltage terminals.

[0012] As a further limitation to the above technical solution, the stud positioning algorithm is to emit line laser AB and line laser CD respectively via the line laser sensor. At this time, the intersection points between line laser AB and line laser CD and the scanned stud are A, B, C, and D. It should be ensured that the distance H between line laser AB and line laser CD is greater than the radius R of the scanned stud. Arbitrarily select three intersection points A(x1, y1), B(x2, y2), C(x3, y3), and the intersection point O(x, y) of the perpendicular bisectors of AB and AC is the center of the stud.

[0013] As a further limitation to the above technical solution, a negative pressure suction cup is installed on the robot, a gas pipeline is detachably connected to the negative pressure suction cup, and a vacuum pressure sensor is installed on the gas pipeline. Plane adsorption surfaces adapted to the negative pressure suction cup are formed on the portable high-voltage fixture device, the low-voltage fixture device with an integrated short-circuit function, and the short-circuit plate assembly, for the robot to sequentially and flexibly carry via the negative pressure suction cup.

[0014] As a further limitation to the above technical solution, in step c, the portable high-voltage fixture device is movably placed on the fixture placement rack, which includes three groups of high-voltage fixtures respectively clamping the studs of the high-voltage terminals. Each of the high-voltage fixtures includes a connecting plate, and a double-acting cylinder installed on the connecting plate. The corresponding planar adsorption surface is formed on the upper surface of the connecting plate. It also includes a first non-conductive clamping block and a second non-conductive clamping block respectively installed at both ends of the double-acting cylinder, and a first copper conductor block installed on the first non-conductive clamping block. A first limiting portion for limiting and preventing the rotation of the stud of the high-voltage terminal is formed between the opposite surfaces of the first copper conductor block and the second non-conductive clamping block.

[0015] As a further limitation to the above technical solution, in step c, the low-voltage fixture device integrating the short-circuit function is movably placed on another fixture placement rack, which includes four groups of low-voltage fixture assemblies respectively clamping the studs of the low-voltage terminals. Each of the low-voltage fixture assemblies includes a mounting frame, and a short-circuit fixture and a low-voltage fixture arranged in parallel up and down in the mounting frame. The corresponding planar adsorption surface is formed on the upper surface of the mounting frame. The short-circuit fixture includes a short-circuit cylinder, the low-voltage fixture includes a clamping cylinder, and a third non-conductive clamping block installed on the clamping cylinder. Each of the low-voltage fixture assemblies further includes a short-circuit groove formed by being recessed from the upper surface of the mounting frame, and a second copper conductor block installed on the mounting frame relative to the short-circuit cylinder and the clamping cylinder. A second limiting portion for limiting and preventing the rotation of the stud of the low-voltage terminal is formed between the lower part of the second copper conductor block and the opposite surface of the third non-conductive clamping block.

[0016] As a further limitation to the above technical solution, the first limiting portion includes an external thread opened on the upper part of the first copper conductor block, and a semi-circular groove opened on the second non-conductive clamping block. The inner surface of the semi-circular groove is not provided with threads. The second limiting portion has the same structure as the first limiting portion, with its external thread opened on the second copper conductor block and the semi-circular groove opened on the third non-conductive clamping block.

[0017] As a further limitation to the above technical solution, the short-circuit plate assembly includes a flexible short-circuit plate, and a placement rack for the flexible short-circuit plate to be movably placed; it also includes a non-conductive seat body arranged on the flexible short-circuit plate. The corresponding planar adsorption surface is formed on the upper surface of the seat body. In step d, the robot flexibly carries the flexible short-circuit plate to take it out of the placement rack, and inserts it into the short-circuit groove and presses it against the upper part of the second copper conductor block through the short-circuit cylinder.

[0018] As a further limitation to the above technical solution, wire tube self-return mechanisms for connecting the high-voltage fixture and the low-voltage fixture assembly are respectively provided on two fixture placement racks, so that when the robot flexibly holds the high-voltage fixture and the low-voltage fixture assembly to shift in sequence in steps c and e, the wire tubes respectively connected to the high-voltage fixture and the low-voltage fixture assembly can achieve self-return.

[0019] As a further limitation to the above technical solution, each of the wire tube self-return mechanisms includes two fixed pulley groups for the wire tube to wind in and out, and a movable pulley wound around the wire tube between the two fixed pulley groups. A counterweight is connected to the movable pulley. The fixed pulley group for the wire tube to wind in includes two relatively arranged fixed pulleys, and a limit guiding channel for limiting and guiding the wire tube is formed between the two fixed pulleys. The fixed pulley group for the wire tube to wind out includes one fixed pulley.

[0020] An intelligent test method for a transformer based on an automated storage and retrieval system of the present invention performs a motion scan on a transformer transported to a test position by a robot, and can accurately obtain the spatial position information of each high-voltage terminal and each low-voltage terminal of the transformer through a stud positioning algorithm. The intelligent and precise wiring of the transformer is realized by combining the robot, a portable high-voltage fixture device, a low-voltage fixture device integrated with a short-circuit function, and a short-circuit board assembly, and signal interaction is respectively carried out between a control box and the robot and the warehousing control device of the automated storage and retrieval system to solve the docking with a detection system and the automated storage and retrieval system, so as to realize one-stop services such as intelligent wiring, detection test, and warehousing of the transformer. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a partial assembly structure schematic diagram of a transformer intelligent test system for an intelligent test method for a transformer based on an automated storage and retrieval system of the present invention;

[0022] Figure 2 It is an assembly structure schematic diagram of a portable high-voltage fixture assembly of the present invention;

[0023] Figure 3 It is a structural schematic diagram of a high-voltage fixture of the present invention;

[0024] Figure 4 It is a structural schematic diagram of the high-voltage fixture of the present invention from another angle;

[0025] Figure 5 It is an assembly structure schematic diagram of a low-voltage fixture device integrated with a short-circuit function of the present invention;

[0026] Figure 6 It is an assembly structure schematic diagram of the low-voltage fixture device integrated with a short-circuit function of the invention from another angle;

[0027] Figure 7Schematic structural diagram of the low-voltage fixture assembly of the present invention;

[0028] Figure 8 Partial schematic structural diagram of the low-voltage fixture assembly of the present invention;

[0029] Figure 9 Another partial schematic structural diagram of the low-voltage fixture assembly of the present invention from a different angle;

[0030] Figure 10 Schematic installation structure diagram of the wire tube self-return mechanism of the present invention.

[0031] Figure 11 Schematic assembly structure diagram of the short-circuiting plate assembly of the present invention;

[0032] Figure 12 Schematic assembly structure diagram of the robot and the transformer of the present invention.

[0033] In the figure:

[0034] 1 - Control box, 2 - Robot, 21 - Line laser sensor, 22 - Negative pressure suction cup, 3 - Portable high-voltage fixture device, 31 - Fixture placement rack, 32 - High-voltage fixture, 321 - Connection plate, 322 - Double-acting cylinder, 323 - First non-conductive clamping block, 324 - Second non-conductive clamping block, 325 - First copper conductor block, 3261 - External thread, 3262 - Semi-circular groove, 4 - Low-voltage fixture device with integrated short-circuit function, 41 - Low-voltage fixture assembly, 411 - Installation frame, 412 - Short-circuit cylinder, 413 - Clamping cylinder, 414 - Third non-conductive clamping block, 415 - Short-circuit groove, 416 - Second copper conductor block, 5 - Short-circuiting plate assembly, 51 - Flexible short-circuiting plate, 52 - Shelf, 53 - Base, 6 - Wire tube self-return mechanism, 61 - Fixed pulley group, 62 - Movable pulley, 63 - Limit guiding channel, 64 - Wire tube, 7 - Transformer, 81 - Test position, 9 - Detection and control device. Detailed implementation manners

[0035] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] Embodiment

[0037] A transformer intelligent test method based on a stereoscopic warehouse is tested through a transformer intelligent test system arranged in the stereoscopic warehouse. The transformer intelligent test system includes a control box 1 and a robot 2; it also includes a portable high-voltage fixture device 3, a low-voltage fixture device 4 with integrated short-circuit function, and a short-circuiting plate assembly 5 respectively arranged circumferentially around the robot 2, and a detection system. The transformer intelligent test method includes the following steps:

[0038] a. Interact with the warehousing control device of the three-dimensional warehouse via the control box 1 to drive the automatic guided vehicle in the three-dimensional warehouse to realize the transfer of the transformer 7 between the storage and transportation position and the test position 81 in the three-dimensional warehouse;

[0039] b. Interact with the robot 2 via the control box 1. After step a is completed, the robot 2 performs a motion scan on the transformer 7 transported to the test position 81, and accurately obtains the spatial position information of each high-voltage terminal and each low-voltage terminal of the transformer 7 through the stud positioning algorithm;

[0040] c. The robot 2 sequentially and flexibly holds the portable high-voltage fixture device 3 and the low-voltage fixture device 4 with integrated short-circuit function, and moves them respectively to clamp the high-voltage terminals and low-voltage terminals to adapt to the different spatial postures of the studs of each high-voltage terminal and each low-voltage terminal. The robot 2 and the detection system interact via the control box 1, and the detection system supplies power to conduct a routine test on the transformer 7;

[0041] d. When it is necessary to short-circuit the low-voltage terminals in one of the routine tests in step c, the robot 2 flexibly carries the short-circuit plate assembly 5 and inserts it into the low-voltage fixture device 4 with integrated short-circuit function to realize the short-circuit of the low-voltage terminals;

[0042] e. After the detection is completed, the detection system interacts with the robot 2 via the control box 1, so that the robot 2 sequentially and flexibly carries the short-circuit plate assembly 5, the low-voltage fixture device 4 with integrated short-circuit function, and the portable high-voltage fixture device 3 to return to their original positions. Then, it interacts with the warehousing control device via the control box 1 to drive the automatic guided vehicle to realize the transfer of the transformer 7 between the test position 81 and the storage and transportation position in the three-dimensional warehouse.

[0043] By performing a motion scan on the transformer 7 transported to the test position 81 by the robot 2 and accurately obtaining the spatial position information of each high-voltage terminal and each low-voltage terminal of the transformer 7 through the stud positioning algorithm, combined with the robot 2, the portable high-voltage fixture device 3, the low-voltage fixture device 4 with integrated short-circuit function, and the short-circuit plate assembly 5, the intelligent and accurate wiring of the transformer 7 is realized. And by interacting with the robot 2 and the warehousing control device of the three-dimensional warehouse via the control box 1 respectively to solve its docking with the detection system and the three-dimensional warehouse, the one-stop services such as intelligent wiring, detection test, and warehousing of the transformer 7 are realized.

[0044] Specifically, the detection system can be combined with the detection control device 9 and detection equipment in the existing technology. The control box 1 includes a PLC controller. The PLC controller interacts with the detection control device 9 to realize signal interaction. The model of the robot 2 is Turing TKB5800, and secondary development suitable for the application of this transformer intelligent test method is carried out on the robot 2 to realize its signal interaction with the PLC controller and realize the corresponding instructions of the robot 2.

[0045] Specifically, in step b, as shown in Figure 12 , a wired laser sensor 21 is installed on the robot 2 to perform motion scanning on the studs of the high-voltage terminal and the low-voltage terminal. Specifically, the line laser sensor 21 is installed on the connecting shaft of the robot 2 via the mounting frame 411. The stud positioning algorithm is to emit line laser AB and line laser CD respectively via the line laser sensor 21. At this time, the intersection points between the line laser AB and the line laser CD and the scanned stud are A, B, C, and D. The distance H between the line laser AB and the line laser CD should be greater than the radius R of the scanned stud. Arbitrarily select three intersection points A(x1, y1), B(x2, y2), C(x3, y3). The intersection point of the perpendicular bisectors of AB and AC, that is, the center of the circle O(x, y), is the center of the stud. Among them, x1, y1, x2, y2, x3, y3 are all from the real-time coordinates of the robot 2. Specifically:

[0046] x 2 +y 2 +Ax + By + C = 0 (1)

[0047] Substitute the coordinates of the three points A(x 1, y1), B(x2, y2), C(x3, y3) into equation (1), and we can get

[0048] A = (x1 2 +y1 2 )(y3 - y2) + (x2 2 +y2 2 )(y1 - y3) + (x3 2 +y3 2 )(y2 - y1) (2)

[0049] B = (x1 2 +y1 2 )(x2 - x3) + (x2 2 +y2 2 )(x3 - x1) + (x3 2 +y3 2 )(x1 - x2) (3)

[0050] C = (x1 2 +y1 2 )(x3y2 - x2y3) + (x2 2 +y2 2 )(x1y3 - x3y1) + (x3 2 +y3 2 )(x2y1 - x1y2) (4)

[0051] Combined with the circle formula, we can get:

[0052]

[0053]

[0054] In summary, the three-dimensional spatial coordinates of the center O are where the height coordinate z o is measured by the line laser sensor 21.

[0055] Since the stud is manually assembled, it is not completely vertical and will present different spatial postures. After the portable high-voltage fixture device 3 and the low-voltage fixture device 4 with integrated short-circuit function clamp studs with different spatial postures, they will adapt to the spatial postures of each stud, making it impossible for the robot 2 to automatically identify and retrieve them, thus affecting the overall intelligent operation. Therefore, in order to adapt to the different spatial postures of the studs of each high-voltage terminal and each low-voltage terminal, as shown in Figure 12 a negative pressure suction cup 22 is installed on the robot 2. A gas pipeline is detachably connected to the negative pressure suction cup 22, and a vacuum pressure sensor is installed on the gas pipeline. Plane adsorption surfaces adapted to the negative pressure suction cup 22 are formed on the portable high-voltage fixture device 3, the low-voltage fixture device 4 with integrated short-circuit function, and the short-circuit board assembly 5, so that the robot 2 can flexibly carry them in sequence via the negative pressure suction cup 22. In this embodiment, the vacuum pressure sensor is used to identify whether the negative pressure suction cup 22 is suctioned to the plane adsorption surface.

[0056] In step c, as shown in Figures 2 to 4 the portable high-voltage fixture device 3 is movably placed on the fixture placement rack 31. It includes three groups of high-voltage fixtures 32 that respectively clamp the studs of the high-voltage terminals. Each high-voltage fixture 32 includes a connecting plate 321, and a double-acting cylinder 322 installed on the connecting plate 321. The corresponding plane adsorption surface is formed on the upper surface of the connecting plate 321. It also includes a first non-conductive clamping block 323 and a second non-conductive clamping block 324 respectively installed at both ends of the double-acting cylinder 322, and a first copper conductor block 325 installed on the first non-conductive clamping block 323. A first limiting portion for limiting and preventing the rotation of the stud of the high-voltage terminal is formed between the opposite surfaces of the first copper conductor block 325 and the second non-conductive clamping block 324.

[0057] In step c, as shown in Figures 5 to 9As shown, the low-voltage fixture device 4 with an integrated short-circuit function is movably placed on another fixture placement rack 31. It includes four groups of low-voltage fixture assemblies 41 for clamping the studs of low-voltage terminals. Each group of low-voltage fixture assemblies 41 includes a mounting frame 411, and a short-circuit fixture and a low-voltage fixture arranged in parallel up and down within the mounting frame 411. Corresponding planar adsorption surfaces are formed on the upper surface of the mounting frame 411. The short-circuit fixture includes a short-circuit cylinder 412, the low-voltage fixture includes a clamping cylinder 413, and a third non-conductive clamping block 414 mounted on the clamping cylinder 413. Each group of low-voltage fixture assemblies 41 also includes a short-circuit groove 415 formed by being recessed from the upper surface of the mounting frame 411, and a second copper conductor block 416 mounted on the mounting frame 411 relative to the short-circuit cylinder 412 and the clamping cylinder 413. A second limiting portion for limiting and preventing the rotation of the stud of the low-voltage terminal is formed between the lower portion of the second copper conductor block 416 and the opposite surface of the third non-conductive clamping block 414. The settings of the first limiting portion and the second limiting portion can form the limiting and anti-rotation of each stud, so as to ensure the clamping effect and the clamping contact quality, and ensure the test effect.

[0058] Specifically, as shown in Figure 3 and Figure 4 As shown in, the first limiting portion includes an external thread 3261 opened on the first copper conductor block 325, and a semi-circular groove 3262 opened on the second non-conductive clamping block 324. The inner surface of the semi-circular groove 3262 is non-threaded. Specifically, the external thread 3261 here is thread-fitted with the outer surface of the stud of the high-voltage terminal, and the semi-circular groove 3262 here matches the nominal diameter of the stud of the high-voltage terminal. As shown in Figure 8 and Figure 9 As shown in, the second limiting portion has the same structure as the first limiting portion. Its external thread 3261 is opened on the second copper conductor block 416, and the semi-circular groove 3262 is opened on the third non-conductive clamping block 414. Specifically, the external thread 3261 here is thread-fitted with the outer surface of the stud of the low-voltage terminal, and the semi-circular groove 3262 here matches the nominal diameter of the stud of the low-voltage terminal. External threads 3261 are opened on the first copper conductor block 325 and the second copper conductor block 416, which can increase the contact area between each copper conductor block and the stud. And through the cooperation of the semi-circular groove 3262 and the corresponding external thread 3261, especially the inner surface of the semi-circular groove 3262 being non-threaded, it can make it relatively difficult for each fixture to cause rotation and torsion of the stud during the clamping process, and ensure the stability of the clamping.

[0059] As shown in Figure 11As shown in the figure, the shorting plate assembly 5 includes a flexible shorting plate 51 and a shelving rack 52 for the flexible shorting plate 51 to be movably placed thereon. It also includes a non-conductive seat body 53 provided on the flexible shorting plate 51. A planar adsorption surface is formed on the upper surface of the seat body 53. In step d, the robot 2 flexibly carries the flexible shorting plate 51 to take it out of the shelving rack 52 and inserts it into the shorting slot 415, and then presses it on the upper part of the second copper conductor block 416 via the shorting cylinder 412, on the studs of the four low-voltage terminals, called the A, B, C, and O ends. When shorting is required, the robot 2 inserts the flexible shorting plate 51 into the shorting slots 415 corresponding to the A, B, and C ends. The flexible shorting plate 51 is provided because the respective shorting slots 415 of the low-voltage fixture assemblies 41 at the A, B, and C ends may not be able to ensure complete parallelism in terms of spatial position during back-and-forth picking and placing, which may cause mutual jamming when the shorting cylinder 412 presses the shorting plate on the second copper conductor block 416, resulting in insufficient contact area or affecting the clamping stability of the clamping cylinder 413 on the studs of the low-voltage terminals. Therefore, the shorting plate is the flexible shorting plate 51. In this embodiment, the flexible shorting plate 51 is a flexible copper busbar.

[0060] To cooperate with the intelligent test, wire tube self-return mechanisms 6 for connecting the high-voltage fixtures 32 and the low-voltage fixture assemblies 41 are respectively provided on the two fixture placement racks 31. In steps c and e, when the robot 2 sequentially flexibly holds the high-voltage fixture 32 and the low-voltage fixture assembly 41 to shift, the wire tubes 64 connected to the high-voltage fixture 32 and the low-voltage fixture assembly 41 can achieve self-return. Specifically, Figure 10 As shown in the figure, each wire tube self-return mechanism 6 includes two fixed pulley groups 61 for the wire tube 64 to wind in and out, and a movable pulley 62 wound around the wire tube 64 between the two fixed pulley groups 61. A counterweight is connected to the movable pulley 62. The fixed pulley group 61 for the wire tube 64 to wind in includes two oppositely arranged fixed pulleys, and a limiting and guiding channel 63 for limiting and guiding the wire tube 64 is formed between the two fixed pulleys. The fixed pulley group 61 for the wire tube 64 to wind out includes one fixed pulley. Of course, to facilitate the positioning of each high-voltage fixture 32 and each low-voltage fixture assembly 41 after returning to their positions, corresponding positioning pins are also provided on each fixture placement rack 31, which will not be elaborated here.

[0061] The above is only the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technical solution obtained by those skilled in the art through equivalent substitution or modification based on the technical concept of the present invention within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention.

Claims

1. An intelligent test method for transformers used in three-dimensional warehouses, characterized in that: Conduct tests through the intelligent transformer test system installed in the three-dimensional warehouse. The intelligent transformer test system includes a control box and a robot. It also includes a portable high-voltage fixture device, a low-voltage fixture device with an integrated short-circuit function, and a short-circuit plate assembly respectively arranged circumferentially around the robot, as well as a detection system. The intelligent transformer test method includes the following steps: a. Conduct signal interaction between the control box and the warehousing control device of the three-dimensional warehouse to drive the automatic guided vehicle in the three-dimensional warehouse to realize the transfer of the transformer between the storage and transportation position and the test position in the three-dimensional warehouse; b. Conduct signal interaction between the control box and the robot. After step a is completed, the robot performs a motion scan on the transformer transported to the test position, and accurately obtains the spatial position information of each high-voltage terminal and each low-voltage terminal of the transformer through the stud positioning algorithm; c. The robot sequentially and flexibly holds the portable high-voltage fixture device and the low-voltage fixture device with an integrated short-circuit function, and moves them respectively to clamp the high-voltage terminals and low-voltage terminals to adapt to the different spatial postures of the studs of each high-voltage terminal and each low-voltage terminal. The robot and the detection system conduct signal interaction through the control box, and the detection system supplies power to conduct a routine test on the transformer; d. When it is necessary to short-circuit the low-voltage terminals in one of the routine tests in step c, the robot flexibly carries the short-circuit plate assembly and inserts it into the low-voltage fixture device with an integrated short-circuit function to realize the short-circuit of the low-voltage terminals; e. After the detection is completed, the detection system conducts signal interaction with the robot through the control box, so that the robot sequentially and flexibly carries the short-circuit plate assembly, the low-voltage fixture device with an integrated short-circuit function, and the portable high-voltage fixture device back to their positions. Then, conduct signal interaction between the control box and the warehousing control device to drive the automatic guided vehicle to realize the transfer of the transformer between the test position and the storage and transportation position in the three-dimensional warehouse; In step b, a line laser sensor is installed on the robot to perform a motion scan on the studs of the high-voltage terminals and the studs of the low-voltage terminals; The stud positioning algorithm is to emit line laser AB and line laser CD respectively through the line laser sensor. At this time, the intersection points of line laser AB and line laser CD with the scanned stud are A, B, C, and D. The distance H between line laser AB and line laser CD should be greater than the radius R of the scanned stud. Arbitrarily select three intersection points A(x1,y1), B(x2,y2), C(x3,y3), and the intersection point O(x,y) of the perpendicular bisectors of AB and AC is the center of the stud.

2. The intelligent test method for a transformer based on a stereoscopic warehouse according to claim 1, wherein: A negative pressure suction cup is installed on the robot. A gas pipeline is detachably connected to the negative pressure suction cup. A vacuum pressure sensor is installed on the gas pipeline. Plane adsorption surfaces adapted to the negative pressure suction cup are formed on the portable high-voltage fixture device, the low-voltage fixture device with an integrated short-circuit function, and the short-circuit plate assembly for the robot to sequentially and flexibly carry through the negative pressure suction cup.

3. The intelligent test method for a transformer based on a three-dimensional warehouse according to claim 2, wherein: In step c, the portable high-voltage fixture device is movably placed on the fixture placement rack. It includes three groups of high-voltage fixtures that respectively clamp the studs of the high-voltage terminals. Each high-voltage fixture includes a connecting plate, and a double-acting cylinder installed on the connecting plate. The corresponding planar adsorption surface is formed on the upper surface of the connecting plate. It also includes a first non-conductive clamping block and a second non-conductive clamping block respectively installed at both ends of the double-acting cylinder, and a first copper conductor block installed on the first non-conductive clamping block. A first limiting portion for limiting and preventing the rotation of the stud of the high-voltage terminal is formed between the opposite surfaces of the first copper conductor block and the second non-conductive clamping block.

4. A transformer intelligent test method based on a three-dimensional warehouse according to claim 3, characterized in that: In step c, the low-voltage fixture device integrated with a short-circuit function is movably placed on another fixture placement rack. It includes four groups of low-voltage fixture assemblies that respectively clamp the studs of the low-voltage terminals. Each group of low-voltage fixture assemblies includes an installation frame, and a short-circuit fixture and a low-voltage fixture arranged in parallel up and down within the installation frame. The corresponding planar adsorption surface is formed on the upper surface of the installation frame. The short-circuit fixture includes a short-circuit cylinder, the low-voltage fixture includes a clamping cylinder, and a third non-conductive clamping block installed on the clamping cylinder. Each group of low-voltage fixture assemblies also includes a short-circuit groove formed by being recessed from the upper surface of the installation frame, and a second copper conductor block installed on the installation frame relative to the short-circuit cylinder and the clamping cylinder. A second limiting portion for limiting and preventing the rotation of the stud of the low-voltage terminal is formed between the lower part of the second copper conductor block and the opposite surface of the third non-conductive clamping block.

5. The intelligent test method for transformers based on a three-dimensional warehouse according to claim 4, characterized in that: The first limiting portion includes an external thread opened on the first copper conductor block, and a semi-circular groove opened on the second non-conductive clamping block. The inner surface of the semi-circular groove is not provided with threads. The second limiting portion has the same structure as the first limiting portion, with the external thread opened on the second copper conductor block and the semi-circular groove opened on the third non-conductive clamping block.

6. The intelligent test method for a transformer based on a three-dimensional warehouse according to claim 4, characterized in that: The short-circuit plate assembly includes a flexible short-circuit plate, and a placement rack for the flexible short-circuit plate to be movably placed; it also includes a non-conductive seat body arranged on the flexible short-circuit plate. The corresponding planar adsorption surface is formed on the upper surface of the seat body. In step d, the robot flexibly carries the flexible short-circuit plate to take it out from the placement rack and insert it into the short-circuit groove, and then presses it against the upper part of the second copper conductor block through the short-circuit cylinder.

7. A transformer intelligent test method based on a three-dimensional warehouse according to claim 4, characterized in that: On the two fixture placement racks, there are also respectively provided wire tube self-return mechanisms connecting the high-voltage fixtures and the low-voltage fixture assemblies, so that when the robot sequentially and flexibly carries the high-voltage fixtures and the low-voltage fixture assemblies to shift in steps c and e, the wire tubes connected to the high-voltage fixtures and the low-voltage fixture assemblies can achieve self-return.

8. A transformer intelligent test method based on a three-dimensional warehouse according to claim 7, characterized in that: Each of the wire tube self-return mechanisms includes two fixed pulley groups for the wire tube to wind in and out, and a movable pulley wound around the wire tube between the two fixed pulley groups. A counterweight is connected to the movable pulley. The fixed pulley group for the wire tube to wind in includes two relatively arranged fixed pulleys, and a limiting and guiding channel for limiting and guiding the wire tube is formed between the two fixed pulleys. The fixed pulley group for the wire tube to wind out includes one fixed pulley.

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