A rail-type mobile robot for transporting switch cabinets

Abstract

The present invention relates to the field of switch cabinet detection technology, and specifically discloses a guide rail mobile robot for transporting switch cabinets. A rack is laid on a workstation plane, and a work cabinet is placed on a rotating mechanism. The driving gear is driven to rotate, thereby driving the driven gear to rotate, so that the driven gear drives the rotating mechanism and the switch cabinet thereon to move along the rack. After the switch cabinet is transported to the detection point, the robot stops moving. At this time, the rotating mechanism is controlled to drive the switch cabinet to rotate, so that the detection surface of the switch cabinet is rotated to be opposite to the detection equipment, and the detection work can be started. Because the switch cabinet has very high position accuracy requirements during detection, the high-precision matching characteristics of the gear rack and the cooperation with the rotating mechanism can ensure that the stop position and angle of the switch cabinet meet the state requirements required by the detection equipment, thereby ultimately avoiding detection errors.

Description

Technical Field

[0001] The present invention relates to the technical field of switch cabinet detection, and in particular to a rail-type mobile robot for transporting switch cabinets. Background Art

[0002] The primary function of switchgear is to open and close, control, and protect electrical equipment during power generation, transmission, distribution, and conversion in power systems. Switchgear components primarily include circuit breakers, disconnectors, load switches, operating mechanisms, transformers, and various protective devices. Therefore, the quality of switchgear is crucial to safe production, and comprehensive testing is essential before installation and use.

[0003] The switchgear inspection process requires that all four sides of the switchgear be inspected separately. There are two options for the inspection process: first, the switchgear remains stationary, and the inspection equipment rotates around the switchgear to complete the inspection. This method requires additional tracks for the movement of the inspection equipment and requires a larger carriage working space, so it is currently less used; second, the inspection equipment remains stationary, and the switchgear rotates to complete the inspection. This method requires less carriage working space, but it is necessary to consider the inspection error caused by inaccurate switchgear positioning. To address the problem of detection errors, the patent discloses a system and method for automatically transporting switchgear to a testing center. The system includes an identification device for scanning a QR code on the surface of the switchgear, a 3D scanning inspection robot, a rotational positioning device, a 3D spatial tracking locator, and a control center. The method comprises: obtaining information on the switchgear type, model, dimensions, and inspection process by scanning the QR code; a 3D scanner obtaining position information between four 3D scanning target rods and the switchgear, as well as information from the 3D spatial tracking locator, and transmitting the above information to a control center; the control center calculating the position of the switchgear relative to the inspection platform; the control center controlling the power roller assembly of the inspection platform to transport the switchgear to the inspection center; and the control center controlling the drive gear slewing bearing to adjust the switchgear at different angles, thereby achieving rapid and accurate automatic transport of the switchgear to the inspection center. However, although the patented technology can control detection errors by adjusting the switchgear at different angles, because the switchgear is transported only by the power roller assembly, the roller's positioning accuracy is low, making it impossible to ensure that the switchgear is transported to the actual designated location, which also affects the inspection accuracy of the switchgear. In addition, the industry also uses RGV or AGV to transport items. However, the existing RGV or AGV uses sliders and slide rails or wires with magnetic strips and rollers to achieve movement. For switch cabinets with high detection accuracy requirements, when the switch cabinet is transported to the detection point, the stopping point of the slider or roller is not accurate enough, resulting in the switch cabinet being unable to accurately stay at the preset detection point, which also affects the detection accuracy of the switch cabinet. Summary of the Invention

[0004] The present invention aims to solve the technical problem of low switch cabinet detection accuracy existing in the above background technology, and provides a rail-type mobile robot for transporting switch cabinets to improve the detection accuracy of switch cabinets.

[0005] The present invention provides a rail-type mobile robot for transporting a switch cabinet, comprising a rotating mechanism for carrying the switch cabinet and a traveling mechanism, wherein the rotating mechanism is arranged on the traveling mechanism; the traveling mechanism comprises a bottom mounting seat, on which a rotatable driving gear and a rotatable driven gear meshing with the driving gear are arranged, and a rack is arranged below the driven gear, and the rack meshes with the driven gear.

[0006] The present invention discloses a rail-type mobile robot for transporting switch cabinets. The robot places a rack on a workstation plane (such as a work platform or the ground), places a work cabinet on a rotating mechanism, and drives the active gear to rotate, thereby driving the driven gear to rotate. The driven gear then drives the rotating mechanism and the switch cabinet thereon to move along the rack. After the switch cabinet is transported to the inspection point, the robot stops moving. At this time, the robot controls the rotating mechanism to rotate the switch cabinet so that the inspection surface of the switch cabinet rotates to face the inspection equipment, and then the inspection work can begin. Because the switch cabinet has high position accuracy requirements during inspection, the high-precision matching characteristics of the gear rack and the cooperation with the rotating mechanism can ensure that the stop position and angle of the switch cabinet meet the state requirements of the inspection equipment, ultimately avoiding inspection errors. In addition, the matching of the active gear and the driven gear effectively prevents the active gear from disengaging from the rack due to excessive output torque.

[0007] Furthermore, a rotatable support wheel is mounted on the bottom mounting base, and a slide rail is provided below the support wheel to cooperate with the support wheel. The rack is mounted on the slide rail. The support wheel can bear the weight of the RGV and the switchgear mounted on it, eliminating the need for the driven gear to bear all the weight, significantly extending the service life of the driven gear.

[0008] Furthermore, the bottom mounting seat includes a left mounting shell and a right mounting shell, and a driving gear, a driven gear, and a support wheel are provided inside the left mounting shell and the right mounting shell, and the driven gear and the support wheel both partially extend out of the mounting shell; a travel drive motor is provided between the left mounting shell and the right mounting shell, and the travel drive motor is connected to the driving gears on both sides through a worm gear reduction box. The driven gear and the support wheel both partially extend out of the mounting shell, so as to facilitate the engagement of the driven gear with the rack on the corresponding side, and to facilitate the cooperation of the support wheel with the slide rail on the corresponding side; and by driving the driving gears on both sides simultaneously by the same travel drive motor, the synchronization of the driven gears on both sides along the rack on the corresponding side can be ensured, further ensuring the accuracy of the RGV parking position; in addition, the travel drive motor is connected to the driving gear through the worm gear reduction box, which can increase the output torque to ensure that there is sufficient power to drive the robot to move.

[0009] Furthermore, a switch cabinet carrier is provided on the rotating mechanism, a roller assembly is provided on the switch cabinet carrier along its length direction, two groups of through-beam photoelectric sensors and two groups of cylinders are provided on the switch cabinet carrier, one group of through-beam photoelectric sensors and cylinders are provided at the entrance end of the switch cabinet carrier, and the other group of through-beam photoelectric sensors and cylinders are provided at the middle section or the tail section of the switch cabinet carrier; a pair of proximity switches are symmetrically provided on both sides of the tail of the switch cabinet carrier. The switch cabinet is placed on the roller assembly, and the roller assembly is rotated to drive the switch cabinet to move toward the tail of the switch cabinet carrier. When the two sets of through-beam photoelectric sensors on the switch cabinet carrier both sense the switch cabinet, the two sets of cylinders are extended to the same length. The extension of the cylinders pushes the switch cabinet to move in the width direction of the switch cabinet carrier to adjust the switch cabinet to a central position on the switch cabinet carrier. Then the cylinders retract and the switch cabinet continues to move forward with the roller assembly until both proximity switches detect the switch cabinet, indicating that the switch cabinet is not tilted. At this time, the two sets of cylinders are extended to the same length again to adjust the position of the switch cabinet again. Then the cylinders retract and the roller assembly stops running, eventually making the switch cabinet centrally located on the switch cabinet carrier. Combined with the rotating mechanism and the traveling mechanism, it is further ensured that the switch cabinet is in an effective detection position, thereby ensuring the final detection accuracy.

[0010] Furthermore, telescopic brackets are installed on both sides of the switchgear support frame, and the ends of both telescopic brackets are connected to the terminal block assembly. In the prior art, during switchgear testing, test wires often dangle and intertwine haphazardly, significantly affecting test accuracy. In the present invention, after the worker completes the wiring, the telescopic brackets are extended to allow the wiring terminals to rest against the terminal block assembly, thereby straightening the test wires and preventing them from dangling and intertwining, further ensuring test accuracy.

[0011] Furthermore, the telescopic frame includes a fixed frame connected to the switchgear support frame, and a sliding frame is mounted on the fixed frame and is slidable relative to the fixed frame. The sliding frames on both sides of the switchgear support frame are connected as a whole by a telescopic drive mechanism and can be extended and retracted synchronously. The telescopic drive mechanism simultaneously drives the sliding frames on both sides to extend and retract, ensuring smooth movement of the terminal block assembly.

[0012] Furthermore, slide frame detection sensors are provided on the front and rear sections of the fixed frame to detect the extension and retraction of the slide frame and its sliding distance, ensuring that the slide frame can fully form and straighten the detection line, thereby reducing detection errors.

[0013] Furthermore, the terminal block assembly includes two opposing, spaced-apart terminal blocks, one side of which is hinged to the corresponding sliding frame, and the other side is connected to the corresponding sliding frame via a retractable lock. Because the wiring connectors are divided into male and female connectors, when wiring, the male and female connectors are located on both sides of one terminal block. Therefore, by providing two opposing, spaced-apart terminal blocks, the detection line can be straightened more effectively. One side of one terminal block is hinged to the sliding frame, and the other side is connected to the corresponding sliding frame via a lock. When the staff needs to connect the wiring, they simply open the lock and flip the terminal block assembly, which will provide sufficient space for the staff to connect the detection equipment to the switch cabinet circuit.

[0014] Furthermore, the lock includes a mounting plate with a hook and a shaft mounting base. A shaft is provided on the shaft mounting base, one end of a rotating plate is connected to the shaft, and a transmission shaft is also provided on the rotating plate. Connecting rods are connected on both sides of the transmission shaft, which rotate relative to the shaft. The free ends of the two connecting rods are simultaneously connected to the rotatable shaft. When the lock is locked, the shaft is engaged in the hook on the mounting plate and pressed against the wall of the hook, and the two connecting rods are in a taut state. When the mounting plate is mounted on the terminal block, the shaft mounting base is mounted on the sliding frame. When the mounting plate is mounted on the sliding frame, the shaft mounting base is mounted on the terminal block. When the lock needs to be opened, the rotating plate is opened and rotated toward the mounting plate, so that the connecting rods on both sides of the rotating plate drive the shaft to move away from the hook while rotating, thereby opening the lock and flipping the terminal block assembly.

[0015] Furthermore, a positioning pin is provided on one side of the wiring board where the lock catch is mounted, a positioning plate is provided on the sliding plate, and a positioning slot is provided on the positioning plate to cooperate with the positioning pin. When the lock catch is locked, the positioning pin is snapped into the slot. The cooperation between the positioning pin and the positioning slot prevents the wiring board assembly from shifting up and down.

[0016] Furthermore, the notch of the positioning slot is in an outward-facing "X" shape, so that the notch of the positioning slot is in an inclined state, which facilitates guiding the positioning pin to enter the positioning slot accurately.

[0017] Furthermore, a handle is provided on the outer side of the wiring board to facilitate the staff to operate the wiring board assembly.

[0018] Compared with the prior art, the present invention has the following beneficial technical effects:

[0019] 1. Through the high-precision matching characteristics of the gear rack and the cooperation with the rotating mechanism, it is ensured that the stop position and angle of the switch cabinet meet the state requirements of the detection equipment, ultimately avoiding detection errors;

[0020] 2. By setting up the telescopic frame and the connection board assembly, the connection head is pressed against the connection board assembly, so that the detection line is straightened, preventing the detection line from hanging down and intertwining, and further ensuring the detection accuracy;

[0021] 3. Through the coordinated cooperation of the through-beam sensor, proximity switch and cylinder, the switch cabinet is ensured to be centered on the roller assembly, further ensuring the detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic structural diagram of an embodiment of the present invention (with a switch cabinet placed).

[0023] Figure 2 This is a schematic structural diagram of an embodiment of the present invention (without the switch cabinet).

[0024] Figure 3 It is a structural diagram of the driving gear, driven gear, support wheel, rack and slide rail in the walking mechanism in an embodiment of the present invention.

[0025] Figure 4 Schematic diagram of the installation positions of the through-beam photoelectric sensor and the proximity switch in an embodiment of the present invention.

[0026] Figure 5 Schematic diagram of the telescopic frame structure in an embodiment of the present invention.

[0027] Figure 6 Schematic diagram of the lock structure in an embodiment of the present invention.

[0028] Among them: 1. Switchgear; 2. Rotating mechanism; 201. Geared disc; 202. Rotating drive gear; 203. Rotating plate; 204. Rotating drive motor; 3. Traveling mechanism; 301. Bottom mounting seat; 302. Driving gear; 303. Driven gear; 304. Rack; 305. Support wheel; 306. Slide rail; 307. Left mounting housing; 308. Right mounting housing; 309. Traveling drive motor; 310. Mounting bracket; 4. Switchgear carrier; 5. Roller assembly; 501. Roller drive motor; 502. Roller; 503. Gear; 6. Through-beam photoelectric sensor; 7. Cylinder; 8. Proximity switch; 9. Telescopic frame; 901. Fixed frame; 902. Sliding frame; 903. Sliding frame detection sensor; 904. Support plate; 905. Slide block; 906. Slide rail; 907. Mounting bracket; 908. First driven gear; 909. Second driven gear; 910. First toothed belt; 911. Telescopic drive gear; 912. Second toothed belt; 913. Telescopic drive motor; 914. Outer panel assembly; 10. Terminal block assembly; 1001. Terminal block; 1002. Terminal block mounting frame; 1003. Connecting rod; 1004. Triangular reinforcing rib plate; 1005. Locating pin; 1006. Locating plate; 1007. Handle; 11. Lock; 1101. Hook; 1102. Mounting plate; 1103. Rotating shaft mounting seat; 1104. Rotating shaft; 1105. Rotating plate; 1106. Transmission rotating shaft; 1107. Connecting rod; 1108. Clamping shaft; 12. Drag chain. DETAILED DESCRIPTION

[0029] To make the purpose, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions of the present application will be clearly and completely described below in conjunction with the drawings of the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the described embodiments, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0030] Unless otherwise defined, the technical or scientific terms used in this application should have the usual meanings understood by people with ordinary skills in the field to which this application belongs. The "first", "second" and similar words used in this application do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative position relationships. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0031] Example 1

[0032] A rail-type mobile robot for transporting switch cabinets includes a rotating mechanism 2 for carrying a switch cabinet 1, and a traveling mechanism 3. The rotating mechanism 2 is arranged on the traveling mechanism 3; the traveling mechanism 3 includes a bottom mounting seat 301, on which are provided a rotatable driving gear 302 and a rotatable driven gear 303 meshing with the driving gear 302, and below which is provided a rack 304 meshing with the driven gear 303; the bottom mounting seat 301 is also provided with a rotatable supporting wheel 305, below which is provided a slide rail 306 cooperating with the supporting wheel 305, and the rack 304 is disposed on the slide rail 306.

[0033] In the specific implementation process, in this embodiment, if Figures 1 to 3As shown, the bottom mounting base 301 includes a left mounting shell 307 and a right mounting shell 308, and a driving gear 302, a driven gear 303 and a support wheel 305 are arranged inside the left mounting shell 307 and the right mounting shell 308, and the driven gear 303 and the support wheel 305 are partially extended outside the mounting shell; a travel drive motor 309 is arranged between the left mounting shell 307 and the right mounting shell 308, and the travel drive motor 309 is connected to the worm gear reduction box, and the connection method belongs to the prior art, that is, the output shaft of the travel drive motor 309 is connected to the worm gear of the worm gear reduction box, and the worm gear is connected to the worm gear of the worm gear reduction box. The worm gear of the worm gear reduction box is connected to the driving gears 302 on both sides, while the driven gears 303 and support wheels 305 partially extend outside the mounting housing. The rotating mechanism 2 is conventional technology, for example, a mounting bracket 310 is provided between the left mounting housing 307 and the right mounting housing 308. A rotatable toothed disc 201 is mounted on the mounting bracket 310. A rotating drive gear 202 is provided on one side of the toothed disc 201, meshing with it. A rotating plate 203 is connected to the toothed disc 201, which rotates with it and is used to support the switch cabinet 1. The rotating drive gear 202 is connected to the rotating drive motor 204 via a worm gear reduction box. In this embodiment, the travel drive motor 309 and the worm gear reduction box connected to it are arranged within the inner hole of the toothed disc 201, making the robot structure more compact.

[0034] During operation, the switch cabinet 1 is carried on the rotating plate 203 of the rotating mechanism 2, and the travel drive motor 309 drives the driving gear 302 to rotate by forward and reverse rotation, thereby driving the driven gear 303 to rotate, and then driving the support wheel 305 to rotate and the rotating mechanism 2 and the switch cabinet 1 thereon to move forward and backward, so as to accurately transport the switch cabinet 1 to the required inspection point; then, the rotating drive motor 204 is rotated forward and reverse to drive the rotating drive gear 202 to rotate forward and reverse, thereby driving the gear disk 201 to rotate forward and reverse, thereby realizing the rotation of the rotating plate 203 and the switch cabinet 1 thereon, so as to adjust the position angle of the switch cabinet 1 to adapt to the inspection equipment.

[0035] Example 2

[0036] Based on the first embodiment, in this embodiment, a switch cabinet carrier 4 is provided on the rotating mechanism 2, a roller assembly 5 is provided on the switch cabinet carrier 4 along its length direction, and two groups of through-beam photoelectric sensors 6 and two groups of cylinders 7 are provided on the switch cabinet carrier 4, one group of through-beam photoelectric sensors 6 and cylinders 7 are provided at the entrance end of the switch cabinet carrier 4, and the other group of through-beam photoelectric sensors 6 and cylinders 7 are provided at the rear end of the switch cabinet carrier 4; a pair of proximity switches 8 are symmetrically provided on both sides of the rear end of the switch cabinet carrier 4, as shown in FIG. Figure 4 shown.

[0037] During the specific implementation process, the switch cabinet carrier 4 has a frame structure and is installed on the rotating plate 203 of the rotating mechanism 2; the two through-beam photoelectric sensors 6 in each group are respectively arranged on the upper surfaces of the two side edges of the switch cabinet carrier 4, and are symmetrically arranged to realize the detection of the switch cabinet 1; and the two proximity switches 8 are arranged on the bottom surface of the tail end side of the switch cabinet carrier 4, and the two are symmetrically arranged to detect whether the switch cabinet 1 is moved into place; each group of cylinders 7 includes at least two cylinders 7, and the two cylinders 7 are respectively arranged on the upper surfaces of the two side edges of the switch cabinet carrier 4, and on the side of the corresponding through-beam photoelectric sensor 6. In this embodiment, a group of cylinders 7 actually contains two pairs of cylinders 7 with different strokes, according to the size of the switch cabinet 1. For example, a larger switch cabinet 1 uses a cylinder 7 with a small stroke, and a smaller switch cabinet 1 uses a cylinder 7 with a large stroke. The roller assembly 5 is a prior art, such as including roller drive motors 501 respectively arranged on both sides of the switch cabinet carrier 4, and a row of rollers 502 with both ends movably arranged on the switch cabinet carrier 4, and gears 503 are respectively provided at both ends of the rollers 502. The gears 503 between the rollers 502 are meshed with each other. The roller drive motor 501 is connected to the roller drive gear, wherein the gear 503 of one roller 502 is meshed with the roller drive gear, and the gears 503 between adjacent rollers 502 are respectively rigidly connected and movably connected to the rollers 502 to achieve the same rotation direction of all rollers 502, and the movable connection is that the gear 503 is arranged on the roller 502 through a bearing.

[0038] During operation, the switch cabinet 1 is placed on the roller assembly 5, and the roller drive motor 501 rotates forward and reverse to realize that all rollers 502 rotate in the same direction at the same time, thereby driving the switch cabinet 1 to move forward and backward on the switch cabinet carrier 4; when the front and rear two pairs of through-beam photoelectric sensors 6 both sense the switch cabinet 1, the front and rear two groups of the same type of cylinders 7 are extended at the same time and the extension distance is the same, and the symmetrically arranged cylinders 7 push the switch cabinet 1 so that it can be located in the middle of the switch cabinet carrier 4 without deviation, and then the cylinders 7 retract, and as the roller assembly 5 is conveyed When transported to the tail, the proximity switches 8 on both sides sense the switch cabinet 1, indicating that the switch cabinet 1 is centered and not offset. However, the two sets of cylinders 7 will be extended again at the same distance to ensure the switch cabinet 1 is centered. If the proximity switches 8 on one side do not sense the switch cabinet 1, it indicates that the switch cabinet 1 is offset and misaligned. At this time, the two sets of cylinders 7 will be extended again at the same distance to push the switch cabinet 1 again to center it, completing the posture correction of the switch cabinet 1 to adapt to the position of the detection equipment. Through the interaction of the roller assembly 5, the through-beam photoelectric sensor 6, the proximity switch 8, the cylinder 7, and their installation positions, the posture adjustment of the switch cabinet 1 can be easily achieved without adding any algorithms, and the adjustment efficiency is higher.

[0039] Example 3

[0040] On the basis of the second embodiment, in this embodiment, Figure 5 and 6 As shown, telescopic frames 9 are provided on either side of the switchgear carrier 4, with the ends of both telescopic frames 9 connected to a terminal block assembly 10. The telescopic frames 9 include a fixed frame 901 connected to the switchgear carrier 4, on which a sliding frame 902 is provided that can slide relative to the fixed frame 901. The sliding frames 902 on either side of the switchgear carrier 4 are connected as a whole via a telescopic drive mechanism and can extend and retract synchronously. The terminal block assembly 10 includes two opposing terminal blocks 1001 spaced apart. One side of each terminal block 1001 is hingedly connected to the corresponding sliding frame 902, and the other side is connected to the corresponding sliding frame 902 via a retractable lock 11. Sliding frame detection sensors 903 are provided on the front and rear sections of each sliding frame 902, respectively. These sliding frame detection sensors 903 are conventional, such as infrared sensors.

[0041] In the specific implementation process, the fixed frame 901 is fixed to the switch cabinet carrier frame 4 through the support plate 904, and a fixed slide block 905 is provided on the side wall of the fixed frame 901, and a slide rail 906 is provided on the side wall of the sliding frame 902 facing the fixed frame 901. The slide rail 906 is embedded in the slide groove on the slide block 905 and can slide relative to it. An outer plate assembly 914 is provided on the periphery of the fixed frame 901 and the sliding frame 902 to surround them, thereby improving the appearance of the robot; a mounting bracket 907 is provided between the fixed frame 901 and the switch cabinet carrier frame 4, and two coaxially rotating first driven gears 908 are connected to the upper part of the mounting bracket 907, and a second driven gear 909 is connected to the other end of the fixed frame 901, one of the first driven gears The wheel 908 is connected to the second driven gear 909 as a whole through a first toothed belt 910, and the first toothed transmission belt 910 is also fixedly connected to the sliding frame 902; a telescopic drive gear 911 is provided below the first driven gear 908, and the first driven gear 908 is connected to the telescopic drive gear 911 on the corresponding side through a second toothed belt 912. A telescopic drive motor 913 is provided between the two telescopic drive gears 911 and on the switch cabinet carrier 4. The telescopic drive motor 913 is connected to the telescopic drive gears 911 on both sides of the telescopic drive motor 913 through a worm gear reduction box. The telescopic drive motor 913 and the worm gear reduction box connected thereto are both provided on the switch cabinet carrier 4; the two terminal blocks 1001 are both embedded in the terminal block mounting In the mounting frame 1002, the two terminal block mounting frames 1002 are connected as a whole by a connecting rod 1003, and triangular reinforcing ribs 1004 are provided at the corners of the connecting rod 1003 and the corners of the connecting plate mounting frame 1002 to improve the strength of the terminal block assembly 10. One side of the terminal block mounting frame 1002 located on the inner side is hinged to the sliding frame 902 on the corresponding side by a hinge, and the other side is connected to the sliding frame 902 on the corresponding side by a lock 11; the mounting plate 1102 with a hook 1101 on the lock 11 is installed on the side of the terminal block mounting frame 1002 through the bottom plate, the shaft mounting seat 1103 is installed on the sliding frame 902 through the bottom plate, a shaft 1104 is provided on the shaft mounting seat 1103, and one end of the rotating plate 1105 is fixed to the sliding frame 902. It is connected to the rotating shaft 1104, and a transmission rotating shaft 1106 is also provided on the rotating plate 1105. Connecting rods 1107 that rotate relative to the transmission rotating shaft 1106 are respectively connected on both sides of the transmission rotating shaft 1106. The free ends of the two connecting rods 1107 are simultaneously connected to the rotatable clamping shaft 1108. When the lock is locked, the clamping shaft 1108 is clamped in the hook 1101 on the mounting plate 1102 and pressed against the wall surface of the hook 1101, and the two connecting rods 1107 are in a taut state; a positioning pin 1005 is provided on one side of the wiring board mounting frame 1002 where the lock 11 is provided, a positioning plate 1006 is provided on the sliding frame 902, and a positioning groove that matches the positioning pin is provided on the positioning plate 1006. When the lock 11 is locked, the positioning pin 1005 is clamped into the positioning groove;The notch of the positioning slot is in an outward-facing "X" shape; a handle 1007 is provided on the outer terminal block mounting frame 1002.

[0042] During operation, the staff opens the lock 11 and flips the terminal block assembly 10 to start wiring. After the wiring is completed, the terminal block assembly 10 is closed and the positioning pin 1005 is moved along the positioning slot with a bevel opening on the positioning plate 1006 to guide the terminal block assembly 10 back to the correct position, making it easier for the staff to lock the lock 11, thus completing the wiring of the detection equipment and the switch cabinet 1. The telescopic drive motor 913 is then rotated forward and reverse to drive the telescopic drive gears 911 on both sides thereof to rotate synchronously, thereby driving the first driven gear 908, the second driven gear 909 and the first toothed belt 910 to rotate, and then driving the sliding frame 902 to extend and retract forward to achieve straightening of the detection line. In this embodiment, a drag chain 13 is also provided. The drag chain 13 has power supply wires concentrated inside. The power supply wires are electrically connected to each drive motor. The electrical connection method is the existing technology to supply power to each drive motor. By concentrating all the power supply wires in the drag chain 13, the power supply wires are prevented from being scattered and the safety of the working environment is ensured.

[0043] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A rail-type mobile robot for transporting a switch cabinet, comprising a rotating mechanism (2) for carrying a switch cabinet (1), characterized in that: The invention also includes a walking mechanism (3), wherein the rotating mechanism (2) is arranged on the walking mechanism (3); the walking mechanism (3) includes a bottom mounting seat (301), a rotatable driving gear (302) and a rotatable driven gear (303) meshing with the driving gear (302) are arranged on the bottom mounting seat (301), and a rack (304) is arranged below the driven gear (303), and the rack (304) meshes with the driven gear (303); A switch cabinet carrier (4) is provided on the rotating mechanism (2), a roller assembly (5) is provided on the switch cabinet carrier (4) along its length direction, two groups of opposing beam type photoelectric sensors (6) and two groups of cylinders (7) are provided on the switch cabinet carrier (4), one group of opposing beam type photoelectric sensors (6) and cylinders (7) are provided at the entrance end of the switch cabinet carrier (4), and the other group of opposing beam type photoelectric sensors (6) and cylinders (7) are provided at the middle section or the tail section of the switch cabinet carrier (4); a pair of proximity switches (8) are symmetrically provided on both sides of the tail section of the switch cabinet carrier (4); Telescopic frames (9) are respectively provided on both sides of the switch cabinet support frame (4), and ends of the two telescopic frames (9) are simultaneously connected to the terminal block assembly (10); The terminal block assembly (10) comprises two terminal blocks (1001) that are opposite to each other and spaced apart, wherein one side of one terminal block (1001) is hinged to a sliding frame (902) on a corresponding side, and the other side is connected to the sliding frame (902) on the corresponding side via an openable and closable lock (11); The lock buckle (11) comprises a mounting plate (1102) with a hook (1101) and a rotating shaft mounting seat (1103); a rotating shaft (1104) is provided on the rotating shaft mounting seat (1103); one end of a rotating plate (1105) is connected to the rotating shaft (1104); a transmission rotating shaft (1106) is further provided on the rotating plate (1105); connecting rods (1107) are respectively connected on both sides of the transmission rotating shaft (1106) and rotate relative to the transmission rotating shaft; the free ends of the two connecting rods (1107) are simultaneously connected to a rotatable clamping shaft (1108); when the lock buckle (11) is locked, the clamping shaft (1108) is clamped in the hook (1101) on the mounting plate (1102) and pressed against the wall surface of the hook (1101), and the two connecting rods (1107) are in a taut state.

2. The rail-type mobile robot for transporting switch cabinets according to claim 1, characterized in that: A rotatable supporting wheel (305) is also provided on the bottom mounting seat (301), a slide rail (306) matched with the supporting wheel (305) is provided below the supporting wheel (305), and the rack (304) is provided on the slide rail (306).

3. The rail-type mobile robot for transporting switch cabinets according to claim 2, characterized in that: The bottom mounting seat (301) includes a left mounting shell (307) and a right mounting shell (308). A driving gear (302), a driven gear (303) and a support wheel (305) are arranged inside the left mounting shell (307) and the right mounting shell (308). Parts of the driven gear (303) and the support wheel (305) extend outside the mounting shell. A travel drive motor (309) is arranged between the left mounting shell (307) and the right mounting shell (308). The travel drive motor (309) is connected to the driving gears (302) on both sides through a worm gear reduction box.

4. The rail-type mobile robot for transporting switch cabinets according to claim 1, characterized in that: The telescopic frame (9) comprises a fixed frame (901) connected to the switch cabinet support frame (4); a sliding frame (902) is provided on the fixed frame (901) and can slide relative to the fixed frame; the sliding frames (902) on both sides of the switch cabinet support frame (4) are connected as a whole through a telescopic drive mechanism and can be telescoped synchronously.

5. The rail-type mobile robot for transporting switch cabinets according to claim 4, characterized in that: Sliding frame (902) detection sensors are provided on both the front section and the rear section of the fixed frame (901).

6. The rail-type mobile robot for transporting switch cabinets according to claim 5, characterized in that: A positioning pin (1005) is provided on one side of the wiring board (1001) on which the lock catch (11) is installed, a positioning plate (1006) is provided on the sliding frame (902), and a positioning slot matching the positioning pin (1005) is provided on the positioning plate (1006), and when the lock catch (11) is locked, the positioning pin (1005) is snapped into the slot; and / or a handle (1007) is provided on the wiring board (1001) located on the outside.

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