A substation current transformer transport device and a transport method thereof

Abstract

The present invention discloses a substation current transformer handling device, comprising a loading and grabbing mechanism arranged in a current transformer storage area, a plurality of current transformer fixed bases fixedly arranged in the current transformer storage area, and a transport vehicle for transporting current transformers, wherein the loading and grabbing mechanism comprises a three-axis movable workbench and a mechanical clamp driven by the three-axis movable workbench. And a handling method for a substation current transformer handling device comprises the following steps: S1: the transport vehicle is parked at a standard position; S2: a coordinate system is established to determine the coordinate position of the device; S3: the mechanical clamp carries the current transformer according to the coordinate position; S4: step three is repeated until the transport vehicle completes loading; S5: the transport vehicle transports the current transformer to a designated maintenance station. The substation current transformer handling device and the handling method thereof of the present application can realize the automated handling of current transformers in a substation, reduce the labor intensity of workers, and improve work efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of substation inspection robots, and in particular to a substation current transformer transport device and a transport method thereof. Background Art

[0002] With the development of economy and the improvement of people's living standards, the social electricity consumption continues to increase, which poses a higher challenge to the stability of power transportation. Substation is the infrastructure that has the most direct relationship with people in the power system. It transmits electricity to the service area and ensures the supply of electricity required for people's daily life and social production. Most substations are in open-air environments, and the corrosion and looseness of the natural environment affect the stability of substations. If the daily inspection and maintenance of substations cannot be fully guaranteed, once the abnormal conditions of the equipment are not discovered in time and effectively handled, huge economic losses will be caused. Therefore, in order to ensure the stability and reliability of power supply, the relevant departments of substations need to conduct regular inspections and maintenance.

[0003] Current transformers are essential equipment for substations. During substation maintenance, current transformers sometimes need to be replaced. However, the storage area of ​​current transformers is far from the maintenance location, and it is inefficient to carry current transformers to designated maintenance locations manually. Even with the use of auxiliary tools such as trolleys to assist in transportation, it is very inconvenient to manually carry current transformers to the truck because of their heavy weight. It is also easy to consume physical strength, making workers more prone to fatigue, and bringing certain risks during maintenance. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a substation current transformer transport device and a transport method thereof, which can realize the automatic transport of current transformers in the substation, reduce the labor intensity of workers, and improve work efficiency.

[0005] The present invention solves the above problems by the following technical means:

[0006] A substation current transformer handling device comprises a loading and grabbing mechanism arranged in a current transformer storage area, a plurality of current transformer fixed bases fixedly arranged in the current transformer storage area, and a transport vehicle for transporting the current transformer, wherein the loading and grabbing mechanism comprises a three-axis movable workbench and a mechanical clamp driven by the three-axis movable workbench.

[0007] Furthermore, the current transformer fixed base includes a base baffle, fixed pillars and a fixed door, both sides of the base baffle are connected to the fixed pillars, and a fixed door is provided on one side of the opening of the base baffle.

[0008] Furthermore, the three-axis movable workbench includes an X-axis linear motion mechanism, a Y-axis linear motion mechanism and a Z-axis linear motion mechanism, and the X-axis linear motion mechanism, the Y-axis linear motion mechanism and the Z-axis linear motion mechanism all include a linear motion part and a linear motion drive mechanism for driving the linear motion part to move linearly, the Z-axis linear motion mechanism is installed on the linear motion part of the X-axis linear motion mechanism, the Y-axis linear motion mechanism is installed on the linear motion part of the Z-axis linear motion mechanism, and the mechanical gripper is installed on the linear motion part of the Y-axis linear motion mechanism.

[0009] Furthermore, a vehicle-mounted laser rangefinder is installed on the front side of the transport vehicle, a depth camera is installed on the left side of the transport vehicle, and a plurality of current transformer placement positions are provided on the transport vehicle.

[0010] A method for transporting a substation current transformer transport device is based on the above-mentioned device and comprises the following steps:

[0011] S1: Park the transport vehicle at the designated standard location;

[0012] S2: Establish a coordinate system to determine the coordinate position of the mechanical gripper, the coordinate position of each current transformer fixing base, and the coordinate position of each current transformer placement position of the transport vehicle;

[0013] S3: The mechanical gripper carries the current transformer. When the coordinate position of the mechanical gripper coincides with the coordinate position of the current transformer fixed base, the mechanical gripper grabs the current transformer. When the coordinate position of the mechanical gripper coincides with the coordinate position of the current transformer placement position, the mechanical gripper places the current transformer.

[0014] S4: Repeat S3 until the transport vehicle is loaded;

[0015] S5: The transport vehicle delivers the current transformer to the designated maintenance station.

[0016] Further, in S1, the method for parking the transport vehicle at the designated standard position is:

[0017] S101: A front limit plate is provided in front of the standard parking position of the transport vehicle, and a left limit plate is provided on the left side; the reference parameters D1, D2 and D3 when the transport vehicle is parked in the standard position are set, wherein the distance between the left end of the transport vehicle and the left limit plate is D1, and the distance between the front end of the transport vehicle and the front limit plate is D2; the transport vehicle is rotated 90° counterclockwise on the spot, so that the front end of the transport vehicle faces the left limit plate, and the distance between the front side of the transport vehicle and the left limit plate is D3;

[0018] S102: The depth information of the left front end and the left rear end of the transport vehicle relative to the left limit plate is obtained through the depth camera at the left end of the transport vehicle; if the depth value of the left front end of the transport vehicle relative to the left limit plate is greater than the depth value of the left rear end of the transport vehicle relative to the left limit plate, it means that the current position of the transport vehicle is deflected in the clockwise direction relative to the standard position, and the transport vehicle will rotate counterclockwise at this time; if the depth value of the left rear end of the transport vehicle relative to the left limit plate is greater than the depth value of the left front end of the transport vehicle relative to the left limit plate, it means that the current position of the transport vehicle is deflected in the counterclockwise direction relative to the standard position, and the transport vehicle will rotate clockwise at this time; until the depth value of the left front end of the transport vehicle relative to the left limit plate is equal to the depth value of the left rear end of the transport vehicle relative to the left limit plate; the deflection angle of the transport vehicle relative to the standard position is corrected;

[0019] S103: The transport vehicle rotates 90° counterclockwise on the spot. At this time, the front end of the transport vehicle is parallel to the left limit plate. The distance D5 between the front end of the transport vehicle and the left limit plate is detected by the on-board laser rangefinder at the front end of the transport vehicle. If D5>D3, it means that the transport vehicle is too far from the left limit plate, and the transport vehicle moves towards the left limit plate. If D5<D3, it means that the transport vehicle is too close to the left limit plate, and the transport vehicle moves away from the left limit plate until D5=D3; the transport vehicle rotates 90° clockwise on the spot. At this time, the distance between the left end of the transport vehicle and the left limit plate is consistent with the standard position;

[0020] S104: At this time, the front end of the transport vehicle is parallel to the front limit plate. The distance D6 between the front end of the transport vehicle and the front limit plate is detected by the on-board laser rangefinder at the front end of the transport vehicle. If D6>D2, it means that the transport vehicle is too far away from the front limit plate, and the transport vehicle moves toward the front limit plate. If D6<D2, it means that the transport vehicle is too close to the front limit plate, and the transport vehicle moves away from the front limit plate until D6=D2, so that the distance of the front end of the transport vehicle relative to the front limit plate is consistent with the standard position, so that the transport vehicle is in the standard position.

[0021] Furthermore, in S2, a coordinate system is established to determine the coordinate positions of each current transformer fixing base and the coordinate positions of each current transformer placement position of the transport vehicle in the following manner:

[0022] S201: randomly select a point as the coordinate origin O, establish an XYZ coordinate system, where the XOY plane is parallel to the horizontal plane, and the Z axis is perpendicular to the horizontal plane;

[0023] S202: Select the clamping center point of the mechanical gripper as the reference point. When the clamping center point of the mechanical gripper coincides with the current transformer fixing base or the current transformer installation position, the coordinate position of the reference point is equivalent to the coordinate position of the corresponding current transformer fixing base or the current transformer installation position.

[0024] Further, in S3, the method for the mechanical gripper to grab the current transformer is:

[0025] S301: the mechanical gripper is aligned with the fixed base of the current transformer to be grasped along the X-axis direction;

[0026] S302: The mechanical gripper moves along the Z-axis direction to reach a coordinate height corresponding to the current transformer fixed base;

[0027] S303: The mechanical gripper moves along the Y-axis direction to reach the coordinate position of the corresponding current transformer fixed base, and the mechanical gripper closes and grasps the corresponding current transformer;

[0028] S304: The mechanical gripper is lifted along the Z-axis direction to raise the current transformer to a height where it does not interfere with the movement of other components;

[0029] S305: The mechanical gripper moves along the horizontal plane to above the current transformer placement position corresponding to the transport vehicle;

[0030] S306: The mechanical gripper moves along the Z-axis direction to the coordinate position of the corresponding current transformer placement position, and the mechanical gripper is released to put down the current transformer.

[0031] Further, in S303, a clamp laser rangefinder is installed on the mechanical clamp. When the mechanical clamp moves along the Y-axis direction and satisfies L1=L2+D / 2, the mechanical clamp can just grab the current transformer, where L1 is the distance from the clamp laser rangefinder to the clamping center point of the mechanical clamp, L2 is the distance from the clamp laser rangefinder to the current transformer, and D is the upper end diameter of the current transformer.

[0032] Beneficial effects of the present invention:

[0033] A substation current transformer handling device of the present invention comprises a loading and grabbing mechanism arranged in a current transformer storage area, a plurality of current transformer fixed bases fixedly arranged in the current transformer storage area, and a transport vehicle for transporting the current transformer, wherein the loading and grabbing mechanism comprises a three-axis movable workbench and a mechanical gripper driven by the three-axis movable workbench. The device has at least the following beneficial effects:

[0034] 1. The loading and grabbing mechanism replaces manual loading of current transformers, which reduces the labor intensity of workers in loading current transformers, saves workers' physical strength, and avoids fatigue affecting maintenance work.

[0035] 2. Using transport vehicles to transport current transformers instead of manual labor improves the transportation efficiency of current transformers, avoids workers moving back and forth between the current transformer storage area and the maintenance location, and effectively improves work efficiency.

[0036] 3. Limiting the storage position of the current transformer by fixing the current transformer base is conducive to determining the coordinate position of the current transformer and improving the grasping accuracy of the current transformer.

[0037] 4. By installing a vehicle-mounted laser rangefinder and a depth camera on the transport vehicle, combined with the left limit plate and the front limit plate, the parking position of the transport vehicle can be detected, making the position more accurate.

[0038] A method for transporting a substation current transformer transport device comprises the following steps: S1: parking a transport vehicle at a designated standard position; S2: establishing a coordinate system to determine the coordinate positions of each current transformer fixed base and the coordinate positions of each current transformer placement position of the transport vehicle; S3: mechanical grippers transport the current transformer in combination with each coordinate position; S4: repeating step three until the transport vehicle completes loading; S5: the transport vehicle transports the current transformer to a designated maintenance station. It has at least the following beneficial effects:

[0039] 1. Use the on-board laser rangefinder and depth camera to detect the distance and depth, control the left end of the transport vehicle to be parallel to the left limit plate, the distance between the left end of the transport vehicle and the left limit plate is equal to the distance in the standard position, and the distance between the front end of the transport vehicle and the front limit plate is equal to the distance in the standard position. This can enable the transport vehicle to be accurately parked in the standard position and improve the accuracy of handling and placement of the current transformer.

[0040] 2. The mechanical gripper is first aligned with the fixed base of the current transformer to be grasped along the X-axis direction, and then moves along the Z-axis direction to reach the coordinate position height of the corresponding current transformer fixed base. Then it moves along the Y-axis direction to reach the coordinate position of the corresponding current transformer fixed base, and grabs the corresponding current transformer. After grabbing the current transformer, the mechanical gripper is lifted along the Z-axis direction, raising the current transformer to a height that does not cause motion interference with other components, and moves in the horizontal plane to the top of the current transformer placement position corresponding to the transport vehicle, and finally moves along the Z-axis direction to the coordinate position of the corresponding current transformer placement position, and releases the mechanical gripper to put down the current transformer. According to the planned movement route, motion interference of the mechanical gripper during the grasping process can be effectively avoided, and the grasping efficiency is high.

[0041] 3. While the mechanical gripper moves in the Y-axis direction, the distance between the current transformers is detected by the gripper laser rangefinder. When L1=L2+D / 2 is satisfied, the mechanical gripper can just grab the current transformer, where L1 is the distance from the gripper laser rangefinder to the center point of the mechanical gripper, L2 is the distance from the gripper laser rangefinder to the current transformer, and D is the diameter of the current transformer. In this way, the gripping error of the mechanical gripper in the Y-axis direction can be avoided and the gripping accuracy can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0043] Figure 1 It is a schematic diagram of the overall structure disclosed in the preferred embodiment of the present invention;

[0044] Figure 2 is a schematic diagram of a current transformer fixing base on which a current transformer is placed;

[0045] Figure 3 It is a structural schematic diagram of the base baffle;

[0046] Figure 4 It is a schematic diagram of the current transformer fixed base with the fixed door open;

[0047] Figure 5 It is a schematic diagram of the current transformer fixing base with the fixing door closed;

[0048] Figure 6 It is a schematic diagram of the transport vehicle;

[0049] Figure 7 This is a schematic diagram of the transport vehicle before it is ready to park;

[0050] Figure 8 is relative to Figure 7 Schematic diagram of the transport vehicle rotating 90° counterclockwise;

[0051] Fig. 9 It is a schematic diagram of the transport vehicle deflected counterclockwise relative to the standard position;

[0052] Fig.10 It is a schematic diagram of the transport vehicle deflected clockwise relative to the standard position;

[0053] Fig.11 It is a schematic diagram of the distance between the transport vehicle and the left limit plate;

[0054] Fig.12 It is a schematic diagram of the distance between the transport vehicle and the front side limit plate;

[0055] Fig.13 is a schematic diagram of a mechanical gripper equipped with a gripper laser rangefinder. DETAILED DESCRIPTION

[0056] The present invention is further described in detail below through the accompanying drawings and embodiments. Through these descriptions, the characteristics and advantages of the present invention will become clearer and more specific. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0057] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0058] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0059] See also Figure 1 A substation current transformer handling device includes a loading and grabbing mechanism 1 arranged in a current transformer storage area, a plurality of current transformer fixed bases 2 fixedly arranged in the current transformer storage area, and a transport vehicle 3 for transporting current transformers, wherein the loading and grabbing mechanism includes a three-axis mobile workbench 101 and a mechanical gripper 102 driven by the three-axis mobile workbench.

[0060] See also Figure 1 , wherein the three-axis movable workbench 101 includes an X-axis linear motion mechanism 101-1, a Y-axis linear motion mechanism 101-2 and a Z-axis linear motion mechanism 101-3, wherein the X-axis linear motion mechanism, the Y-axis linear motion mechanism and the Z-axis linear motion mechanism all include a linear motion part and a linear motion driving mechanism for driving the linear motion part to move linearly, the Z-axis linear motion mechanism is installed on the linear motion part of the X-axis linear motion mechanism, the Y-axis linear motion mechanism is installed on the linear motion part of the Z-axis linear motion mechanism, and the mechanical gripper is installed on the linear motion part of the Y-axis linear motion mechanism.

[0061] Specifically, each linear motion mechanism selects a screw slider mechanism, and the linear motion part is a slider that moves in coordination with the screw. The screw is driven to rotate by a motor to drive the slider to output linear motion. The three axes are arranged perpendicular to each other to achieve movement in the three directions of XYZ without generating motion interference.

[0062] See also Figure 2-Figure 5As a preferred embodiment, the current transformer fixed base 2 includes a base baffle 201, a fixed support 202 and a fixed door 203. The base baffle is connected to the fixed support by bolts on both sides. The arc of the base baffle matches the lower end of the current transformer. When the current transformer is placed on the current transformer fixed base, the base baffle can be fitted to define the coordinate position of the current transformer. The base baffle is also equipped with a fixed door on one side of the opening of the base baffle to prevent the current transformer from tipping over.

[0063] See also Figure 2-Figure 5 In this embodiment, the middle part of the base baffle is a semicircular plate 201-1, and two side guard plates 201-2 are welded along the tangent direction of the two sides of the semicircular plate. Two connecting plates 201-3 are welded along the radial sides of the base baffle of the semicircular plate 201-1 and are welded and fixed to the fixed pillar 202. A fixed door is hingedly installed at the end of the left side guard plate 201-2, and the fixed door is driven to open and close by a motor 201-4. The closed fixed door can prevent the current transformer from tipping over. When the current transformer needs to be taken out, the fixed door is opened by driving the motor. Figure 4 The middle fixed door is open. Figure 5 The middle fixed door is closed.

[0064] See also Figure 1 and Figure 6 In this embodiment, a vehicle-mounted laser rangefinder 301 is installed on the front side of the transport vehicle 3, a depth camera 302 is installed on the left side of the transport vehicle, and a plurality of current transformer placement positions 303 are provided on the transport vehicle.

[0065] The present invention discloses a transport method based on a substation current transformer transport device, comprising the following steps: S1: parking a transport vehicle at a designated standard position; S2: establishing a coordinate system, determining the coordinate position of a mechanical gripper, the coordinate position of each current transformer fixed base, and the coordinate position of each current transformer placement position of the transport vehicle; S3: the mechanical gripper transports the current transformer, when the coordinate position of the mechanical gripper coincides with the coordinate position of the current transformer fixed base, the mechanical gripper can grasp the current transformer, and when the coordinate position of the mechanical gripper coincides with the coordinate position of the current transformer placement position, the mechanical gripper just places the current transformer; S4: repeating step three until the transport vehicle completes loading; S5: the transport vehicle transports the current transformer to a designated maintenance station.

[0066] See also Figure 7-Figure 12 In S1, the method for parking the transport vehicle at the designated standard position is:

[0067] S101: See Figure 1 , Figure 7 and Figure 8A front limit plate 4 is provided in front of the standard parking position of the transport vehicle, and a left limit plate 5 is provided on the left side. The reference parameters D1, D2 and D3 are set when the transport vehicle is parked in the standard position, wherein the distance between the left end of the transport vehicle and the left limit plate is D1, and the distance between the front end of the transport vehicle and the front limit plate is D2. The transport vehicle is rotated 90° counterclockwise on the spot so that the front end of the transport vehicle faces the left limit plate. At this time, the distance between the front side of the transport vehicle and the left limit plate is D3.

[0068] S102: The depth information of the front left end and the rear left end of the transport vehicle relative to the left limit plate 5 is obtained through the depth camera 302 at the left end of the transport vehicle.

[0069] See also Fig. 9 If the depth value of the left front end of the transport vehicle relative to the left limit plate is greater than the depth value of the left rear end of the transport vehicle relative to the left limit plate, it means that the current position of the transport vehicle is deflected in the clockwise direction relative to the standard position. At this time, the transport vehicle will rotate counterclockwise until the depth value of the left front end of the transport vehicle relative to the left limit plate is equal to the depth value of the left rear end of the transport vehicle relative to the left limit plate.

[0070] See also Fig.10 If the depth value of the left rear end of the transport vehicle relative to the left limit plate is greater than the depth value of the left front end of the transport vehicle relative to the left limit plate, it means that the current position of the transport vehicle is deflected in the counterclockwise direction relative to the standard position. At this time, the transport vehicle will rotate clockwise; until the depth value of the left front end of the transport vehicle relative to the left limit plate is equal to the depth value of the left rear end of the transport vehicle relative to the left limit plate; the deflection angle of the transport vehicle relative to the standard position is corrected.

[0071] S103: See Fig.11 , the transport vehicle rotates 90° counterclockwise on the spot. At this time, the front end of the transport vehicle is parallel to the left limit plate. The distance D5 between the front end of the transport vehicle and the left limit plate is detected by the on-board laser rangefinder at the front end of the transport vehicle. If D5>D3, it means that the transport vehicle is too far away from the left limit plate, and the transport vehicle moves toward the left limit plate. If D5<D3, it means that the transport vehicle is too close to the left limit plate, and the transport vehicle moves away from the left limit plate until D5=D3; the transport vehicle rotates 90° clockwise on the spot. At this time, the distance between the left end of the transport vehicle and the left limit plate is consistent with the standard position.

[0072] S104: See Fig.12At this time, the front end of the transport vehicle is parallel to the front limit plate, and the distance D6 between the front end of the transport vehicle and the front limit plate is detected by the on-board laser rangefinder at the front end of the transport vehicle. If D6>D2, it means that the transport vehicle is too far away from the front limit plate, and the transport vehicle moves toward the front limit plate. If D6<D2, it means that the transport vehicle is too close to the front limit plate, and the transport vehicle moves away from the front limit plate until D6=D2, so that the distance between the front end of the transport vehicle and the front limit plate is consistent with the standard position, so that the transport vehicle is in the standard position.

[0073] In the S2, a coordinate system is established to determine the coordinate positions of each current transformer fixed base and the coordinate positions of each current transformer installation position of the transport vehicle in the following manner: S201: arbitrarily select a point as the coordinate origin O to establish an XYZ coordinate system, in which the XOY plane is parallel to the horizontal plane and the Z axis is perpendicular to the horizontal plane; S202: the clamping center point of the mechanical gripper is selected as the reference point. When the clamping center point of the mechanical gripper coincides with the current transformer fixed base or the current transformer installation position, the coordinate position of the reference point is equivalent to the coordinate position of the corresponding current transformer fixed base or the current transformer installation position.

[0074] For more details, see Figure 1 , select the leftmost side of the linear motion mechanism of the X-axis linear motion mechanism as the coordinate origin O, and establish the XYZ coordinate system, the XOY plane is parallel to the horizontal plane, and the Z axis is perpendicular to the horizontal plane. The shape of the mechanical gripper after clamping is a cylinder that matches the appearance of the upper end of the current transformer. The midpoint of the central axis of the cylinder is the clamping center point of the mechanical gripper. Let the coordinates of the clamping center point be the coordinates of the mechanical gripper, and let the coordinates of the clamping center point at any position be (X0, Y0, Z0). The mechanical gripper is manually controlled to clamp the current transformer stored in the current transformer placement position. At this time, the coordinate position of the clamping center point is the coordinate position of the corresponding current transformer placement position. All current transformers stored in the current transformer placement position are clamped one by one, and the coordinate positions of all current transformer placement positions can be determined. Multiple loading containers are provided corresponding to the multiple current transformer placement positions on the transport vehicle, and the current transformers are placed in the loading containers of the transport vehicle respectively by manually controlling the mechanical gripper. At this time, the coordinate position of the clamping center of the mechanical gripper is the coordinate position of the corresponding current transformer placement position.

[0075] Preferably, in S3, the method for the mechanical gripper to grasp the current transformer is: S301: the mechanical gripper is aligned with the fixed base of the current transformer to be grasped along the X-axis direction; S302: the mechanical gripper moves along the Z-axis direction to reach the coordinate position height of the corresponding current transformer fixed base; S303: the mechanical gripper moves along the Y-axis direction to reach the coordinate position of the corresponding current transformer fixed base, and the mechanical gripper closes and grasps the corresponding current transformer; S304: the mechanical gripper is lifted along the Z-axis direction to raise the current transformer to a height that does not interfere with the movement of other components; S305: the mechanical gripper moves along the horizontal plane to above the current transformer placement position corresponding to the transport vehicle; S306: the mechanical gripper moves along the Z-axis direction to the coordinate position of the corresponding current transformer placement position, and the mechanical gripper is released to put down the current transformer.

[0076] Specifically, when the transport vehicle arrives at the standard position, it is ready to start loading. The coordinates of the mechanical gripper in the initial state are (X0, Y0, Z0), and the coordinates of any current transformer fixed base are (X i , Y i , Z i ), the coordinates of any current transformer installation position are (X j , Y j , Z j The mechanical gripper moves along the X-axis direction and reaches the coordinate (X i , Y0, Z0) position, at which point the mechanical gripper is aligned with the current transformer to be gripped on the X-axis coordinate. The mechanical gripper then moves along the Z-axis direction to reach the coordinate (X i , Y0, Z i ) position, at which point the mechanical gripper is aligned with the current transformer to be gripped on both the X-axis and Z-axis coordinates. The mechanical gripper then moves along the Y-axis direction to reach the coordinate (X i , Y i , Z i ) position, at this time, the coordinates of the mechanical gripper coincide with the current transformer to be grasped, and the mechanical gripper can clamp the corresponding current transformer. After the mechanical gripper grasps the current transformer, it is lifted along the Z axis to the coordinate (X i , Y i , Z k ), the increased Z k The height should be such that the gripped current transformer will not interfere with other components in subsequent movement. The gripper moves to the coordinate (X j , Y j , Z k ), just above the corresponding current transformer placement position, and then the mechanical gripper descends along the Z axis to the coordinate (X j , Y j , Z j), release the mechanical gripper to place the current transformer on the current transformer placement position corresponding to the transport vehicle. At this point, the mechanical gripper completes the current transformer handling once, and then returns to the initial position (X0, Y0, Z0), repeats the gripping several times, and then completes the loading work.

[0077] See also Fig.13 As a preferred embodiment, the mechanical gripper is arranged in the Y-axis direction by (X i , Y0, Z i ) to (X i , Y i , Z i ) During the movement, the distance between the current transformers is detected by the gripper laser rangefinder 102-1. When L1=L2+D / 2 is satisfied, the mechanical gripper can just grab the current transformer, where L1 is the distance from the gripper laser rangefinder to the gripping center of the mechanical gripper, L2 is the distance from the gripper laser rangefinder to the current transformer, and D is the upper diameter of the current transformer. In this case, the mechanical gripper does not need to actually reach (X i , Y i , Z i ) coordinate points, but grasping is performed by actually measuring the distance in the Y-axis direction, which can solve the problem of the current transformer being placed in place when it is placed on the current transformer fixed base and improve the grasping accuracy.

[0078] In summary, the substation current transformer transport device and the transport method thereof of the present embodiment can realize the automated transport of current transformers in the substation, reduce the labor intensity of workers, and improve work efficiency.

[0079] Unless otherwise stated, any technical solution disclosed in the present invention disclosed above, if it discloses a numerical range, then the disclosed numerical range is a preferred numerical range, and any technician in the field should understand that the preferred numerical range is only a numerical value with a more obvious technical effect or representative value among many implementable numerical values. Since there are too many numerical values ​​to be exhaustive, the present invention discloses some numerical values ​​to illustrate the technical solution of the present invention, and the numerical values ​​listed above should not constitute a limitation on the scope of protection of the present invention.

[0080] At the same time, if the above-mentioned invention discloses or involves components or structural parts that are fixedly connected to each other, then, unless otherwise stated, the fixed connection can be understood as: a detachable fixed connection (for example, connected by bolts or screws), and can also be understood as: a non-detachable fixed connection (for example, riveting, welding). Of course, the mutual fixed connection can also be replaced by an integrated structure (for example, manufactured by one-piece molding using a casting process) (except when it is obviously impossible to use an one-piece molding process).

[0081] In addition, the terms used in any technical solution disclosed in the present invention to indicate positional relationships or shapes include states or shapes that are similar, similar or close to them unless otherwise stated. Any component provided by the present invention may be assembled from multiple separate components or may be a separate component manufactured by an integrated molding process.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A method for transporting a substation current transformer transport device, characterized in that: The device used comprises a loading and grabbing mechanism (1) arranged in a current transformer storage area, a plurality of current transformer fixed bases (2) fixedly arranged in the current transformer storage area, and a transport vehicle (3) for transporting the current transformers, wherein the loading and grabbing mechanism comprises a three-axis movable workbench (101) and a mechanical gripper (102) driven by the three-axis movable workbench; The current transformer fixed base (2) comprises a base baffle (201), a fixed support column (202) and a fixed door (203), the two sides of the base baffle being connected to the fixed support column, and the fixed door being arranged on one side of the opening of the base baffle; The three-axis movable workbench (101) comprises an X-axis linear motion mechanism (101-1), a Y-axis linear motion mechanism (101-2) and a Z-axis linear motion mechanism (101-3), wherein the X-axis linear motion mechanism, the Y-axis linear motion mechanism and the Z-axis linear motion mechanism all comprise a linear motion part and a linear motion drive mechanism for driving the linear motion part to move linearly, the Z-axis linear motion mechanism is mounted on the linear motion part of the X-axis linear motion mechanism, the Y-axis linear motion mechanism is mounted on the linear motion part of the Z-axis linear motion mechanism, and the mechanical gripper (102) is mounted on the linear motion part of the Y-axis linear motion mechanism; A vehicle-mounted laser rangefinder (301) is installed on the front side of the transport vehicle (3), a depth camera (302) is installed on the left side of the transport vehicle, and a plurality of current transformer placement positions (303) are provided on the transport vehicle; The steps include: S1: Park the transport vehicle (3) at a designated standard location; S2: Establishing a coordinate system to determine the coordinate position of the mechanical gripper (102), the coordinate position of each current transformer fixing base (2), and the coordinate position of each current transformer placement position (303) of the transport vehicle; S3: The mechanical gripper (102) carries the current transformer. When the coordinate position of the mechanical gripper coincides with the coordinate position of the current transformer fixing base (2), the mechanical gripper grabs the current transformer. When the coordinate position of the mechanical gripper coincides with the coordinate position of the current transformer placement position (303), the mechanical gripper places the current transformer. S4: Repeat S3 until the transport vehicle is loaded; S5: The transport vehicle transports the current transformer to the designated maintenance station; In the S1, the method for parking the transport vehicle at the designated standard position is: S101: A front limit plate (4) is provided at the front side of the standard parking position of the transport vehicle, and a left limit plate (5) is provided at the left side; the reference parameters D1, D2 and D3 when the transport vehicle is parked at the standard position are set, wherein the distance between the left end of the transport vehicle and the left limit plate is D1, and the distance between the front end of the transport vehicle and the front limit plate is D2; the transport vehicle is rotated 90° counterclockwise on the spot so that the front end of the transport vehicle faces the left limit plate, and the distance between the front side of the transport vehicle and the left limit plate is D3; S102: The depth information of the left front end and the left rear end of the transport vehicle relative to the left limit plate is obtained through the depth camera (302) at the left end of the transport vehicle; if the depth value of the left front end of the transport vehicle relative to the left limit plate is greater than the depth value of the left rear end of the transport vehicle relative to the left limit plate, it means that the current position of the transport vehicle is deflected in the clockwise direction relative to the standard position, and the transport vehicle will rotate counterclockwise at this time; if the depth value of the left rear end of the transport vehicle relative to the left limit plate is greater than the depth value of the left front end of the transport vehicle relative to the left limit plate, it means that the current position of the transport vehicle is deflected in the counterclockwise direction relative to the standard position, and the transport vehicle will rotate clockwise at this time; until the depth value of the left front end of the transport vehicle relative to the left limit plate is equal to the depth value of the left rear end of the transport vehicle relative to the left limit plate; the deflection angle of the transport vehicle relative to the standard position is corrected; S103: The transport vehicle rotates 90° counterclockwise on the spot. At this time, the front end of the transport vehicle is parallel to the left limit plate. The distance D5 between the front end of the transport vehicle and the left limit plate is detected by the on-board laser rangefinder at the front end of the transport vehicle. If D5>D3, it means that the transport vehicle is too far away from the left limit plate, and the transport vehicle moves towards the left limit plate. If D5<D3, it means that the transport vehicle is too close to the left limit plate, and the transport vehicle moves away from the left limit plate until D5=D3; The transport vehicle rotates 90° clockwise on the spot. At this time, the distance between the left end of the transport vehicle and the left limit plate is consistent with the standard position; S104: At this time, the front end of the transport vehicle is parallel to the front limit plate. The distance D6 between the front end of the transport vehicle and the front limit plate is detected by the on-board laser rangefinder at the front end of the transport vehicle. If D6>D2, it means that the transport vehicle is too far away from the front limit plate, and the transport vehicle moves toward the front limit plate. If D6<D2, it means that the transport vehicle is too close to the front limit plate, and the transport vehicle moves away from the front limit plate until D6=D2, so that the distance between the front end of the transport vehicle and the front limit plate is consistent with the standard position, so that the transport vehicle is in the standard position.

2. The method for transporting a substation current transformer transport device according to claim 1, characterized in that: In said S2, a coordinate system is established to determine the coordinate position of each current transformer fixing base (2) and the coordinate position of each current transformer placement position (303) of the transport vehicle in the following manner: S201: randomly select a point as the coordinate origin O, establish an XYZ coordinate system, where the XOY plane is parallel to the horizontal plane, and the Z axis is perpendicular to the horizontal plane; S202: Selecting the clamping center point of the mechanical clamp (102) as a reference point, when the clamping center point of the mechanical clamp coincides with the current transformer fixing base or the current transformer installation position, the coordinate position of the reference point is equivalent to the coordinate position of the corresponding current transformer fixing base or the current transformer installation position.

3. The method for transporting a substation current transformer transport device according to claim 1, characterized in that: In S3, the method in which the mechanical gripper (102) grabs the current transformer is: S301: the mechanical gripper is aligned with the fixed base of the current transformer to be grasped along the X-axis direction; S302: The mechanical gripper moves along the Z-axis direction to reach a coordinate height corresponding to the current transformer fixed base; S303: The mechanical gripper moves along the Y-axis direction to reach the coordinate position of the corresponding current transformer fixed base, and the mechanical gripper closes and grasps the corresponding current transformer; S304: The mechanical gripper is lifted along the Z-axis direction to raise the current transformer to a height where it does not interfere with the movement of other components; S305: The mechanical gripper moves along the horizontal plane to above the current transformer placement position corresponding to the transport vehicle; S306: The mechanical gripper moves along the Z-axis direction to the coordinate position of the corresponding current transformer placement position, and the mechanical gripper is released to put down the current transformer.

4. The method for transporting a substation current transformer transport device according to claim 3, characterized in that: In the S303, a clamping laser rangefinder (102-1) is installed on the mechanical clamping jaw (102), and when the mechanical clamping jaw moves along the Y-axis direction and satisfies L1=L2+D / 2, the mechanical clamping jaw can just grasp the current transformer, wherein L1 is the distance from the clamping laser rangefinder to the clamping center point of the mechanical clamping jaw, L2 is the distance from the clamping laser rangefinder to the current transformer, and D is the upper end diameter of the current transformer.

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