Intelligent maintenance device for handcart type switch cabinet in medium and low voltage transformer substation

Abstract

The application relates to an intelligent maintenance device for a handcart type switch cabinet in a medium-low voltage transformer substation, which comprises a moving chassis trolley, a power switching mechanism, a main control rod, a handcart holder and a mechanical arm, wherein the power switching mechanism, the mechanical arm and the main control rod are arranged on the moving chassis trolley, and the handcart holder is arranged on the main control rod. The handcart holder and the main control rod are used to control the position of the handcart, the main control rod can rotate, the turning, U-turn and other movements of the whole device can be reduced, the operation is convenient, the supporting rod is controlled by a main motor to be elongated and shortened, a large torque motor does not need to be arranged on the top cover of the main control rod, the layout is reasonable, the maintenance of the equipment can be completed without personnel assistance, the labor cost is saved, the maintenance operation is convenient and fast, and the maintenance efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of switchgear maintenance technology, and relates to switchgear maintenance devices, particularly to an intelligent maintenance device for handcart-type switchgear in medium and low voltage substations. Background Technology

[0002] Substations are important hubs of the power system, and handcart-type power switchgear is an important component of the power equipment in substations, playing a vital role in the safe and stable operation of the power system.

[0003] With the rapid development of smart grids, higher demands have been placed on the monitoring and maintenance of power equipment in substations, leading to the emergence of a number of intelligent power equipment maintenance devices. These devices are gradually replacing manual labor, enabling precise monitoring and rapid repair of power equipment.

[0004] For handcart-type power switchgear, existing maintenance devices can perform basic operations such as daily inspections, initial fault diagnosis, button start / stop, and switch opening / closing. However, when the system determines that the handcart needs to be withdrawn or replaced, at least two operators must arrive on site and use specialized auxiliary tools to complete the task. This increases the labor cost of equipment maintenance, reduces the efficiency of equipment replacement, prolongs the fault recovery time, and affects the normal and stable operation of the substation. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide an intelligent maintenance device for handcart-type switchgear in medium and low voltage substations.

[0006] The technical problem solved by this invention is achieved through the following technical solution:

[0007] A smart maintenance device for a handcart-type switchgear in a medium- and low-voltage substation is characterized by comprising a moving chassis trolley, a power switching mechanism, a main control rod, a handcart holder, and a robotic arm. The power switching mechanism, the robotic arm, and the main control rod are all mounted on the moving chassis trolley, and the handcart holder is mounted on the main control rod.

[0008] Furthermore, the motion chassis trolley includes a base plate, with three cuboid columns on both sides of the front end of the base plate. The tops of the three cuboid columns extend horizontally outward and converge to form a front driving wheel support frame. A front driving wheel control motor control rod is fixedly installed at the lower end of the front driving wheel support frame. The front driving wheel control motor control rod is connected to a front driving wheel control motor, and the motor shaft end of the front driving wheel control motor is connected to the front driving wheel. A rear driving wheel drive shaft is installed on the rear side of the base plate, with rear driving wheels installed at both ends of the rear driving wheel drive shaft. A main motor is installed on the base plate, and a first transmission rod support frame and a second transmission rod support frame are installed outside the main motor. A main motor gear is installed at the motor shaft end of the main motor, and a rear driving wheel connecting gear is meshed with the main motor gear. The rear driving wheel connecting gear is meshed with the rear driving wheel drive gear mounted on the rear driving wheel drive shaft.

[0009] Furthermore, the power switching mechanism includes a rear drive wheel drive gear controller, a main control lever drive gear controller, a power controller, a power controller base, a power control lever, a first main control lever drive gear, a second main control lever drive gear, a third main control lever drive gear, a main control lever gear, a main control lever drive gear transmission rod, and a main control lever transmission gear. The main control lever drive gear transmission rod is inserted into the second transmission rod support frame. The upper part of the control lever drive gear transmission rod is fitted with the first main control lever drive gear. The lower part of the control lever drive gear transmission rod is sequentially fitted with the main control lever drive gear controller and the second main control lever drive gear. The second main control lever drive gear meshes with the third main control lever drive gear mounted on the motor shaft of the main motor. The main control lever transmission gear is fitted onto the first transmission rod support frame and meshes with the main control lever gear and the first main control lever drive gear, respectively. A power controller is mounted on the power controller base, and a power control lever is mounted at the end of the power controller. Both the rear drive wheel drive gear controller and the main control lever drive gear controller are composed of a transmission block and a drive gear control fork.

[0010] Furthermore, the main control lever includes a cylindrical top control lever, a first main control lever, a control lever motor slot, a first main control lever motor guide rail slot, a second main control lever, a gear edge, a motor bayonet, a third main control lever control tooth slot, a third main control lever, a third main control lever control tooth, and a first main control lever motor; the cylindrical top control lever is fixedly mounted on the upper surface of the first main control lever, and a control lever motor slot and a first main control lever motor guide rail slot are provided at the bottom of the first main control lever. The upper surface of the first main control lever motor guide rail slot is flush with the upper surface of the control lever motor slot, and the lower end passes through the first main control lever; a motor bayonet is provided at the tail of the second main control lever; a slot with the same outer contour as the second main control lever is opened in the middle of the third main control lever, and a third main control lever control tooth extends from the notch of the second main control lever;

[0011] The first main control lever motor includes a first main control lever motor housing, a first main control lever motor gear, and a first main control lever motor guide rail. The first main control lever motor housing is installed in the control lever motor slot, and the first main control lever motor guide rail is installed in the first main control lever motor guide rail slot. The first main control lever motor guide rail and the first main control lever motor housing are fixed together. The first main control lever motor gear is mounted on the drive shaft of the first main control lever motor.

[0012] Furthermore, the handcart clamp consists of an extension rod controller and a clamping plate controller; the extension rod controller includes a main control rod gear, an operating frame control gear, a strut drive gear, a strut transmission gear, and a strut drive rod. The main control rod gear is fixedly installed on the top control rod of the first main control rod, the operating frame control gear is fixed on the motor transmission shaft of the operating frame controller, and the strut drive gear is installed on a shaft on the housing of the operating frame controller. There are two strut drive rods. The teeth on the front side of the upper strut drive rod mesh with the strut drive gear, and the teeth on the bottom surface of the two strut drive rods mesh with the strut drive gear.

[0013] A cylinder is fixed to the inner wall of the upper part of the main control lever top cover, serving as the connecting shaft for the control gear of the operating frame. A rectangular opening is formed in the front wall, and a support rod connecting gear frame is installed at the center of the lower surface of the opening. The top of the support rod connecting gear frame protrudes forward with a cylindrical section that connects to the support rod drive gear. There is a groove on the upper surface of the front wall opening, in which a support rod drive motor is installed. The drive shaft of the support rod drive motor is connected to the support rod drive gear. There is a row of grooves on the upper and lower surfaces of the front wall opening, perpendicular to the cylindrical protrusions on the support rod connecting gear frame. The grooves combine with the protrusions on the upper surface of the support rod drive lever. There is a square opening in the middle area of ​​the lower wall of the main control lever top cover for locking the first main control lever.

[0014] The clamp controller consists of a strut connector, a clamp guide rail, and a clamp; the strut connector includes two strut drive rods connected to the tail end of the strut assembly, a strut connecting gear frame, and a strut drive gear; the clamp guide rail is connected to the strut connector, and the clamp is mounted on the clamp guide rail.

[0015] Furthermore, the robotic arm is an operating lever composed of four metal rods, including a first metal rod, a second metal rod, a third metal rod, and a fourth metal rod. The tail end of the first metal rod is fixed to the bottom plate of the moving chassis trolley, and a stepper motor is installed at its top. The motor shaft of the stepper motor is connected to the tail end of the second metal rod. A stepper motor is installed at the top of the second metal rod, and the motor shaft of the stepper motor is connected to the tail end of the third metal rod. A stepper motor is installed at the top of the third metal rod, and the motor shaft of the stepper motor is connected to the tail end of the fourth metal rod. A stepper motor is fixed at the top of the fourth metal rod, and the motor shaft of the stepper motor is connected to a key holder.

[0016] The advantages and beneficial effects of this invention are as follows:

[0017] 1. The intelligent maintenance device for handcart-type switchgear in medium and low voltage substations of the present invention controls the position of the handcart through a handcart holder and a main control rod. The main control rod can rotate, which can reduce the overall turning and turning movements of the device and make it easy to operate.

[0018] 2. The intelligent maintenance device for handcart-type switchgear in medium and low voltage substations of the present invention uses a main motor to control the extension and retraction of the main control rod, eliminating the need to install a high-torque motor on the top cover of the main control rod, resulting in a reasonable layout.

[0019] 3. The intelligent maintenance device for handcart-type switchgear in medium and low voltage substations of the present invention can complete the maintenance of the equipment without the assistance of personnel, saving labor costs, and the maintenance operation is convenient and fast, thus improving maintenance efficiency. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the structure of the motion chassis vehicle of the present invention;

[0022] Figure 3 This is a front view of the power switching mechanism of the present invention;

[0023] Figure 4 This is a schematic diagram of the drive gear controller of the present invention;

[0024] Figure 5 This is a schematic diagram of the structure of the first main control lever of the present invention;

[0025] Figure 6 This is a schematic diagram of the structure of the second main control lever of the present invention;

[0026] Figure 7 This is a schematic diagram of the structure of the third main control lever of the present invention;

[0027] Figure 8 This is a schematic diagram of the overall structure of the main control lever of the present invention;

[0028] Figure 9 This is a schematic diagram of the structure of the first main control rod motor of the present invention;

[0029] Figure 10 This is a perspective view of the main control lever of the present invention;

[0030] Figure 11 This is a cross-sectional view of the main control lever of the present invention;

[0031] Figure 12 This is a schematic diagram of the main control rod of the present invention, including the motor bayonet and the bottom surface of the first control rod;

[0032] Figure 13 This is a schematic diagram of the structure of the extension rod controller of the present invention;

[0033] Figure 14 This is a schematic diagram of the structure of the main control rod top cover of the present invention;

[0034] Figure 15 This is a schematic diagram of the structure of the clamp controller of the present invention;

[0035] Figure 16 This is a schematic diagram of the key holder of the present invention;

[0036] Figure 17 This is a cross-sectional view of the key holder of the present invention;

[0037] Figure 18 This is a flowchart of the process of the present invention.

[0038] Explanation of reference numerals in the attached figures

[0039] 1-Motion chassis trolley, 2-Power switching mechanism, 3-Main control lever, 4-Handcart gripper, 5-Robotic arm;

[0040] 101-Front drive wheel control motor, 102-Front drive wheel control motor control rod, 103-Front drive wheel support frame, 104-Main motor, 105-Main motor gear, 106-Rear drive wheel connecting gear, 107-Rear drive wheel drive gear, 108-Front drive wheel, 109-Rear drive wheel, 110-Rear drive wheel drive shaft, 111-First transmission rod support frame, 112-Second transmission rod support frame;

[0041] 201-Rear drive wheel gear controller, 202-Main control lever drive gear controller, 203-Power controller, 204-Power controller base, 205-Power control lever, 206-First main control lever drive gear, 207-Second main control lever drive gear, 208-Third main control lever drive gear, 209-Main control lever gear, 210-Main control lever drive gear transmission rod, 211-Main control lever transmission gear, 212-Power switching block, 213-Power controller gear, 215-Transmission block, 214-Drive gear control fork;

[0042] 301-Cylindrical top control lever, 302-First main control lever, 303-First control lever motor slot, 304-First main control lever motor guide rail slot, 305-Second main control lever, 306-Gear edge, 307-Motor bayonet, 308-Third main control lever control tooth slot, 309-Third main control lever, 310-Third main control lever control tooth, 311-First main control lever motor housing, 312-Control lever motor gear, 313-Main control lever motor guide rail;

[0043] 401-Main control lever gear, 402-Operating frame control gear, 403-Support rod drive gear, 404-Support rod transmission gear, 405-Support rod drive rod, 406-First support rod, 407-Second support rod, 408-Support rod connecting gear frame, 409-Support rod drive motor, 410-Main control lever top cover, 411-Clamping plate guide rail, 412-Support rod connector, 413-Clamping plate. Detailed Implementation

[0044] The present invention will be further described in detail below through specific embodiments. The following embodiments are merely descriptive and not limiting, and should not be used to limit the scope of protection of the present invention.

[0045] A kind of intelligent maintenance device for handcart-type switchgear in medium and low voltage substations, such as Figure 1 As shown, the device includes a motion chassis trolley 1, a power switching mechanism 2, a main control lever 3, a handcart gripper 4, and a robotic arm 5. The power switching mechanism 2, the robotic arm 5, and the main control lever 3 are all mounted on the motion chassis trolley 1, and the handcart gripper 4 is mounted on the main control lever 3.

[0046] like Figure 2As shown, the motion chassis trolley includes a base plate, on which a front driving wheel control motor 101, a front driving wheel control motor control rod 102, a front driving wheel support frame 103, a main motor 104, a main motor gear 105, a rear driving wheel connecting gear 106, a rear driving wheel drive gear 107, a front driving wheel 108, a rear driving wheel 109, and a rear driving wheel drive shaft 110 are mounted. The base plate of the motion chassis 1 is a rectangular metal plate, with its narrower sides as front and back and its longer sides as left and right. A rectangular notch is cut inward at the two corners of the front side of the motion chassis 1. The two notches are symmetrical. Taking the right notch as an example from above, three rectangular pillars stand on the right side of the notch. Equally spaced; three cuboid columns extend horizontally to the right at their tops, with the middle column extending perpendicularly to the front and rear sides of the motion chassis 1. Two columns on its sides extend towards the middle column. The three extensions eventually intersect at a single point, forming the front drive wheel support frame 103. Taking the right-side front drive wheel support frame 103 as an example, a motor is fixed at the intersection of the three extensions. The motor's drive shaft is connected to the front drive wheel control motor control rod 102, which is connected to the top of the front drive wheel control motor 101. The drive shaft of the front drive wheel control motor 101 faces to the right and connects to the front drive wheel 108. The rear drive wheel drive shaft 110 is mounted... Mounted on the rear side of the motion chassis 1, parallel to the short side of the motion chassis 1, with each end connected to a rear driving wheel 109; the main motor 104 is mounted in the area on the right side between the rear driving wheel drive shaft 110 and the center of the motion chassis 1, with the motor's drive shaft located on the inner side; two frame-shaped fixed brackets are mounted around the main motor 104, located on the front and rear sides of the main motor 104; a main motor gear 105 is mounted on the drive shaft of the main motor 104; the main motor gear 105 meshes with the rear driving wheel connecting gear 106, and the rear driving wheel connecting gear 106 meshes with the rear driving wheel drive gear 107; a first transmission rod support is mounted on the top of the fixed bracket on the main motor 104 near the drive shaft. The support frame 111 and the second transmission rod support frame 112, viewed from the side where the motor 104 is located, are positioned as follows: the first transmission rod support frame 111 is located on the left side, close to the edge of the fixed bracket, and the second transmission rod support frame 112 is located on the right side, at the center of the top of the fixed bracket; the first transmission rod support frame 111 is a cuboid column with a cylindrical support shaft installed on the top of the column; the second transmission rod support frame 112, viewed from the side, is an L-shaped metal block, with the short side of the L connected to the fixed bracket and the long side of the L extending towards the transmission shaft of the motor 104, the extended long side of the support frame 112 being on the same vertical plane as the transmission shaft of the motor 104; a circular hole extending downwards is opened at the end of the extended long side of the support frame 112.

[0047] like Figure 3As shown, the power switching mechanism includes a rear drive wheel drive gear controller 201, a main control lever drive gear controller 202, a power controller 203, a power controller base 204, a power control lever 205, a first main control lever drive gear 206, a second main control lever drive gear 207, a third main control lever drive gear 208, a main control lever gear 209, a main control lever drive gear transmission rod 210, and a main control lever transmission gear 211. The control lever drive gear transmission rod 210 is inserted into a circular hole on the support frame 112. The first main control lever drive gear 206 is installed above it, and the main control lever drive gear controller 202 and the second main control lever drive gear 207 are installed below it. The second main control lever drive gear 207 is below the main control lever drive gear controller 202 and is connected to the third main control lever drive gear installed on the drive shaft of the main motor 104. 208 meshing; the main control lever transmission gear 211 is sleeved on the cylindrical support shaft on the first transmission lever support frame 111, and meshes with the main control lever gear 209 and the first main control lever drive gear 206 mounted on the main control lever respectively; the power controller base 204 is a metal plate, the lower half of which is a rectangular metal plate, and the upper half is inclined upward at 45 degrees. There is a notch on the lower right part of the outwardly inclined part. The notch is rectangular and parallel to the inclination direction. There are two rows of grooves parallel to the notch on both sides of the rectangular notch on the power controller base 204; the second main control lever drive gear 207 and the third main control lever drive gear 208 have the same structure. The gear base is a metal cylinder, and a row of teeth extends outward at a 45-degree angle from the top; the third main control lever drive gear 208 is fixed on the motor gear 105, and the center of the bottom circular surface coincides with the center of the motor gear 105;

[0048] The structure of the drive gear controller is as follows Figure 4As shown in the figure, the outer casing of the power controller 203 is removed, revealing the power switching block 212 and the power controller gear 213 located inside the casing of the power controller 203; the drive gear controller consists of a transmission block 215 and a drive gear control fork 214; the transmission block 215 is a metal rod, with a region on the upper part having a radius 1 cm larger than other regions; the drive gear control fork 214 is a metal fork, the upper part consisting of two semi-circular rings that are parallel to each other, the middle part of the metal fork being a cuboid block, connecting the top of the arc surface of the two semi-circular rings, the connecting part excluding the area between the two semi-circular rings, the tail end of the metal fork being a cylinder installed on the lower part of the cuboid block; the power control lever 205 is a metal plate with arc surfaces at both ends, formed by the metal plate... Two slots are cut downwards on the top surface, with the ratio of the slotted area at both ends to the unslotted area in the middle being 1:1:1. Two cuboid protrusions perpendicular to the back of the power control lever 205 are located in the unslotted area of ​​the power control lever 205 and are embedded in two grooves of the power controller base 204. The tail metal rods of the two drive gear controllers are respectively inserted into the two slots of the power control lever 205. The drive motor of the power controller gear 213 is mounted on the housing of the power controller 203, and the drive shaft is connected to the power controller gear 213. The power switching block 212 is a trapezoidal metal block with a row of teeth on its upper surface. The teeth do not completely cover the upper surface, leaving a blank area equal to the area of ​​the inclined surface of the trapezoid. The teeth of both metal blocks mesh with this wheel.

[0049] The motor fixed on the front driving wheel support frame 103 controls the rotation of the front driving wheel control motor 101 by controlling the front driving wheel control motor control lever 102, thereby realizing the steering function of the trolley; the main motor 104 is the main power source of the trolley, and the main motor gear 105 controls the maximum power output device of the trolley; the drive gear controller is used to control the position of the power output of the main motor 104; the two slots of the power control lever 205 control two power switching blocks. When the power control lever 205 moves to the upper right, the main control lever drives the gear controller 202 to move upward. The rear drive wheel drive gear controller 201 moves to the left. At this time, the second main control lever drive gear 207 and the third main control lever drive gear 208 disengage, and the main motor gear 105 engages with the rear drive wheel connecting gear 106. Since the width of the rear drive wheel connecting gear 106 exceeds the moving distance of the rear drive wheel drive gear controller 201, the rear drive wheel drive gear 107 remains engaged with the rear drive wheel connecting gear 106. At this time, the main motor 104 outputs power to the rear drive wheel drive gear 107 to control the trolley's forward movement. When the power control lever 205 moves to the lower left, reaching... Figure 3When in the specified position, the second main control lever drive gear 207 and the third main control lever drive gear 208 are engaged, and the main motor gear 105 disengages from the rear drive wheel connecting gear 106. At this time, the main motor 104 outputs power to the main control lever gear 209 through the main control lever drive gear 207, the main control lever drive gear transmission rod 210, and the main control lever transmission gear 211 to control the rotation of the main control lever. The drive gear controller controls the movement of the power control lever 205 by controlling the power controller gear 213. When the controller gear 213 rotates counterclockwise, the upper power switching block moves forward, and the lower power switching block moves backward. At this time, the inclined side of the upper power switching block is aligned with the power control lever. When the upper power switching block moves forward, the power control lever moves downward under the force of contact 205. Similarly, when the controller gear 213 rotates clockwise, the upper power switching block moves backward, the lower power switching block moves forward, and the power control lever 205 moves upward. The two rows of protrusions behind the power control lever 205 are embedded in the grooves of the power controller base 204. The range of movement of the power control lever 205 is controlled by the power controller base 204 to avoid excessive movement. The drive gear control fork 214 holds the transmission block 215 to control the movement of the transmission block 215. When the radius of the arc surface where the transmission block 215 contacts the drive gear control fork 214 is the same, the resistance to the rotation of the transmission block 215 is minimized.

[0050] like Figures 5-8As shown, the main control lever 3 includes a cylindrical top control lever 301, a first main control lever 302, a control lever motor slot 303, a first main control lever motor guide rail slot 304, a second main control lever 305, a gear edge 306, a motor bayonet 307, a third main control lever control gear slot 308, a third main control lever 309, a third main control lever control gear 310, and a first main control lever motor; the main body of the first main control lever is a cuboid with equal length and width, and the cylindrical top control lever 301 is fixed on the upper surface; the bottom... There is a control lever motor slot 303 and a first main control lever motor guide rail slot 304. The bottom surface of the control lever motor slot 303 is 0.5 cm away from the bottom surface of the first main control lever 302. The length of the right side of the control lever motor slot 303 is twice that of the top side. The first main control lever motor guide rail slot 304 is a cuboid slot opened from the bottom surface of the first main control lever upwards. The thickness of the slot is just enough to penetrate the control lever motor slot 303. The upper surface of the first main control lever motor guide rail slot 304 is flush with the upper surface of the control lever motor slot 303, and the lower end penetrates through... The first main control lever; the second main control lever is a rectangular hollow tube, sealed at the tail end. The tubular outer shell is 1cm thick on three sides except the left side. The upper half of the gear edge 306 is 1cm thick, and the lower half is 0.5cm thick. The thicker half has teeth engraved on its lower part. The outer wall of the second main control lever is not completely sealed. A hole with the same width and area as the engraved teeth is opened directly below the toothed side of the gear edge, penetrating the sealed tail area. The motor latch 307 is located at the tail of the second main control lever 305. The tail end of the upper surface of the second main control lever has a… The slotted area is located within the sealing area at the tail end. A rectangular neodymium magnet is installed in the slot as a limiting rod, and an electromagnet is installed on the bottom surface of the slot. The main body of the third main control rod is a cylinder with a slot in the middle that has the same outer contour size as the second main control rod. A row of control teeth 310 of the third main control rod extends from the notch of the second main control rod. There is a rectangular slot on the upper wall of the inner wall of the third main control rod near the opening. The position is the same as the slotted area at the tail end of the upper surface of the second main control rod, and the depth is half the length of the neodymium magnet limiting rod.

[0051] The first main control lever motor, such as Figure 9As shown, the device includes a motor body housing 311, a first main control lever motor gear 312, and a first main control lever motor guide rail 313. The first main control lever motor housing 311 is a cuboid. The length of the upper side of the front face of the cuboid is the same as the upper side of the control lever motor slot 303, and the length of the right side of the front face of the cuboid is the same as the upper side, but shorter than the right side of the control lever motor slot 303. The control lever motor gear 312 is mounted on the drive shaft of the motor. Taking the face containing the control lever motor gear 312 as the front, the first main control lever motor guide rail 313... 3 is fixed at the middle position on the right side of the first main control lever motor housing 311, with its top flush with the top of the first main control lever motor housing 311, its length being the same as the distance from the upper surface of the motor slot 303 to the bottom surface of the first main control lever 302, and its width being the same as the first main control lever motor guide rail slot 304; a neodymium magnet with a defined polarity is installed on the upper surface of the first main control lever motor guide rail 313, and an electromagnet with electrically controllable polarity is installed at the corresponding position on the upper surface of the first main control lever motor guide rail slot 304;

[0052] A 3D view of the main control lever is shown below. Figure 10 As shown, the sectional view of the main control lever is as follows: Figure 11 As shown, a schematic diagram of the main control rod, including the motor bayonet 307 and the bottom surface of the first main control rod 302, is shown below. Figure 12 As shown; the dimensions of the gear edge 306 and the third main control lever control tooth 310 can ensure that when the first main control lever motor 311 is in contact with the upper surface of the motor slot 303, the control lever motor gear 312 meshes with the gear edge 306; when the first main control lever motor 311 is in contact with the lower surface of the motor slot 303, the control lever motor gear 312 meshes with the third main control lever control tooth 310; the part of the third main control lever connected to the trolley base plate is a frustum, and there is a connecting shaft below the frustum, which is connected to the trolley base plate;

[0053] The first main control lever motor 311 can be controlled by a first main control lever electromagnet mounted on the surface of the first main control lever motor guide rail groove 304. When the first main control lever electromagnet and the neodymium magnet attract each other, the first main control lever motor moves upward and fits against the upper surface of the motor groove 303. At this time, the bottom surface of the first main control lever motor guide rail 313 is flush with the bottom surface of the first main control lever 302, and the control lever motor gear 312 meshes with the gear edge 306, controlling the first main control lever 302 to move relative to the second main control lever 305. When the first main control lever electromagnet and the neodymium magnet repel each other, the first main control lever motor moves downward and fits against the lower surface of the motor groove 303. Figure 13As shown, at this time, the bottom surface of the first main control rod motor guide rail 313 protrudes and inserts into the motor slot 307 located on the second main control rod 305. The control rod motor gear 312 meshes with the control gear 310 of the third main control rod. The movement of the first main control rod drives the second main control rod to move together relative to the control gear 310 of the third main control rod. When the main control rod extends or retracts, the electromagnet and neodymium magnet of the first main control rod repel each other first. The movement of the first main control rod drives the second main control rod to move upward together. When it reaches the top, the electromagnet at the tail of the second main control rod controls the neodymium magnet to extend and lock the groove on the third main control rod, so that the second and third main control rods can no longer move relative to each other. At this time, the electromagnet and neodymium magnet of the first main control rod repel each other, and the control rod motor gear 312 meshes with the gear edge 306, controlling the first main control rod to continue to extend.

[0054] The handcart gripper 4 mainly consists of an extension rod controller and a clamping plate controller. For example... Figure 13 As shown, the extension rod controller consists of a main control rod gear 401, an operating frame control gear 402, a support rod drive gear 403, a support rod transmission gear 404, and a support rod drive rod 405. The main control rod gear 401 is fixed to the top control rod 301 of the first main control rod 302, and presses against the top cover 410 of the main control rod when the trolley moves. The operating frame control gear 402 is fixed to the drive shaft of the motor on the housing of the operating frame controller. The support rod drive gear 403 is mounted on a shaft on the housing of the operating frame controller. There are two support rod drive rods 405, with their bottom surfaces facing each other. They are metal transmission rods with a transverse protrusion on the upper surface, teeth engraved on the lower surface and front side, and a protrusion extending from the right end of the rear side, connecting to the support rod. The teeth on the front side of the upper support rod drive rod 405 mesh with the support rod drive gear 403, and the teeth on the bottom surfaces of the two support rod drive rods 405 mesh with the support rod drive gear 404. The support rods on the control panel controller 4 are mainly a combination of six sets of support rods with the same structure as the first support rod 406 and the second support rod 407. The first support rod is a rectangular metal rod with semi-circular arc surfaces at both ends. One end protrudes with a section of cylinder, and the middle and the other end have cylindrical grooves with the same radius. The second support rod has a similar structure to the first support rod, but the cylindrical protrusion on the first support rod is a groove, and the cylindrical groove is a protrusion. A set of support rods consists of the first support rod and the second support rod. The concave part in the middle of the first support rod combines with the protrusion of the second support rod. The protrusion at one end combines with the concave part of the second support rod in the next set of support rods, and the concave part at the other end combines with the protrusion of the second support rod in the previous set of support rods. The two support rods at the beginning that are not connected to other support rods are both concave parts, which are used to combine with the support rod drive rod 405. The two support rods at the end that are not connected to other support rods are also both concave parts.

[0055] Main control lever top cover 410 Figure 14As shown, the main control lever top cover 410 is a rectangular non-metallic box with thicker walls on the top and rear sides and thinner walls on the left and right sides. A cylinder is fixed to the inner wall of the upper part, which serves as the connecting shaft for the control gear 402 of the operating frame. There is a rectangular opening on the front wall. A rectangular support rod connecting gear frame 408 is erected at the center of the lower surface of the opening. The top of the support rod connecting gear frame 408 protrudes forward with a section of cylinder, which connects to the support rod drive gear. There is a groove on the upper surface of the front wall opening. The support rod drive motor 409 is installed in the groove. The transmission shaft of the support rod drive motor 409 is connected to the support rod drive gear 403. There is a row of grooves on the upper and lower surfaces of the front wall opening. The two rows of grooves are opposite each other and perpendicular to the cylindrical protrusion on the support rod connecting gear frame 408. The grooves are combined with the protrusion on the upper surface of the support rod drive rod 405. There is a square opening in the middle area of ​​the lower wall of the main control lever top cover 410. The opening size is the same as that of the first main control lever 302, which is used to hold the first main control lever 302.

[0056] Clamp controller such as Figure 15 As shown, it consists of a strut connector 412, a clamping guide rail 411, and a clamping plate 413. The strut connector 412 has a similar structure to the rectangular opening on the front wall of the main control rod top cover 410, and also includes two strut drive rods 405 connected to the tail end of the strut assembly, a strut connecting gear frame 408 and a strut drive gear 404, but without a strut drive motor 409. The clamping guide rail 411 is connected to the strut connector 412 and is a rectangular guide rail with a groove that runs through both sides. From the side, the two grooves are vertical cuboids, and the upper cuboid does not penetrate the lower cuboid. A row of teeth arranged along the groove is engraved on the upper surface of the clamping guide rail 411. There are two clamping plates 413, each a rectangular... A thin metal plate, 1 cm thick, has a metal block with the same shape as the groove on the clamping guide rail 411 connected to one corner below it. The metal block is embedded in the groove on the clamping guide rail 411. Two clamping plates 413 are mounted on the clamping guide rail 411. A clamping plate motion motor is mounted on the opposite surface of the two clamping plates 413. The clamping plate motion motor is located above the metal block of the clamping plate 413. The gear connected to the drive shaft of the clamping plate motion motor meshes with a row of teeth on the upper surface of the clamping guide rail 411. Cameras are mounted on the outer end faces of both ends of the clamping guide rail 411, with the cameras facing forward. There are also cameras on the two clamping plates 413. The lenses of the cameras are located on the narrow end faces facing outward, and the camera bodies are embedded inside the two clamping plates 413.

[0057] When the strut drive motor 409 drives the strut drive gear 403 to move the strut drive rod 405, the strut drive rod 405 drives the two struts connected to it to perform a scissor-like opening and closing motion. Thus, the six strut groups push and pull the strut connector 412 forward and backward. Since the two drive rods 405 are connected to the strut drive gear 404, the two drive rods 405 move synchronously to maximize force output and ensure the standard trajectory of the strut connector 412, preventing deviation. The two clamping plates 413 are controlled by a clamping plate movement motor to move closer and further apart. When the two clamping plates 413 clamp an object, the upper structures, such as the strut connector 412 and the main control rod top cover 410, can be suspended by the two clamping plates 413. At this time, the main control rod shortens, and the first main control rod no longer supports the main control rod. The top cover 410 of the control rod moves downwards simultaneously with the main control rod gear 401 at its top, eventually meshing with the control gear 402 of the operating frame. At this time, the cuboid part of the first main control rod has completely detached from the top cover 410 of the main control rod. The top cover 410 of the main control rod only contains the cylinder at the top of the first main control rod and the control rod gear 401. At this time, the first main control rod 302 can rotate on the truncated cone under the third main control rod as its base. Since the power source for the rotation of the main control rod is the main motor 104, the torque provided by the main control rod gear 401 is much greater than that of the support rod drive motor 409. The key holder is used to hold the key of the switch cabinet. When the tail end of the key is placed in the groove, the two electromagnets attract each other and clamp the key. The motor controls the key to rotate, and the cabinet door can be opened when necessary.

[0058] The robotic arm consists of four metal rods, each a cuboid in shape. The first rod's tail is fixed to the trolley's base, and a stepper motor is mounted at its top. The motor's drive shaft is connected to the tail of the second rod. A stepper motor is mounted at the top of the second rod, and its drive shaft is connected to the tail of the third rod. A stepper motor is also mounted at the top of the third rod, and its drive shaft is connected to the tail of the fourth rod. A stepper motor is fixed to the top of the fourth rod, and a key holder is mounted on its drive shaft. Figure 16 As shown, the key holder has a rectangular groove that extends downwards from the top to both sides but does not reach the bottom. The inner surfaces of the two semi-cylinders on both sides each have two grooves (a cross-sectional plan view of the grooves is shown in the image). Figure 17 As shown), two grooves face each other; there is an electromagnet and a neodymium magnet inside the groove, the outside of the groove is covered with a layer of rubber, the neodymium magnet is placed in the middle, and the electromagnet is placed on the innermost side. The area occupied by the electromagnet is larger than that of the neodymium magnet, and the area of ​​the rubber sheet is much larger than the surface area of ​​the neodymium magnet and the electromagnet.

[0059] When the device is working, the trolley is first driven by the main motor 104 to move to the position of the standby handcart. The two clamping plates 413 clamp the left and right sides of the handcart, and the trolley moves... Figure 1 The robotic arm moves forward, controlling the handcart to move to the switch cabinet to be replaced. If the cabinet door needs to be opened, the robotic arm extends forward horizontally, and the key naturally extends forward. The robotic arm continues to extend forward to insert the key into the lock, and the motor on the key holder rotates to open the lock. At this time, the key is still attached to the door. The robotic arm moves backward while the base of the key holder rotates accordingly, thus opening the switch cabinet door a section. Then, the two electromagnets on the key holder attract neodymium magnets, releasing the key. Then, the backward movement motor on the base is activated to release the key. Finally, the robotic arm extends into the opened gap and moves to the left or right. Move to the right, open the switchgear and retract the robotic arm 5; when the gate needs to be opened, the robotic arm extends forward to hook the operating lever, and then moves diagonally upward or downward to open the gate; after the gate is opened, the camera on the clamp 413 indicates that it is aligned with the gap between the two sides of the handcart to be replaced and the switchgear housing, the drive motor 409 controls the clamp guide rail 411 to move forward, insert the clamp 413 into the gap, and then the clamp 413 clamps the handcart, then the main control lever shortens, the drive gear controller controls the motor 104 to output power to the main control lever gear 209, and controls the main control lever to rotate to drive the operation. The control gear 402 controls the support rod, pulling the trolley to be replaced out of the switch cabinet. Then, the main control rod extends and presses against the top cover 410 of the main control rod. The drive gear controller controls the main motor 104 to output power to the rear drive wheel drive gear 107, controlling the trolley to move forward or backward to move away from the trolley to be replaced. The clamp 413 releases the trolley, and the drive motor 409 controls the clamp guide rail 411 to move backward. After the trolley to be replaced is moved away, the trolley moves forward or backward in front of the replacement trolley. The camera on the clamp 413 instructs it to align with both sides of the replacement trolley, and the drive motor 409 controls the clamp guide rail 411 to move forward. The machine moves, then controls the clamping plate 413 to clamp the handcart, then the main control lever shortens, the drive gear controller controls the motor 104 to output power to the main control lever gear 209, controls the main control lever to rotate to drive the operating frame control gear 402 to control the support rod, pushes the replacement handcart into the switch cabinet; finally, close the power switch, close the switch cabinet door, then control the robotic arm to align the groove on the key holder with the key handle, the two electromagnets on the key holder attract each other to clamp the key, the motor on the key holder rotates to lock the switch cabinet and pull out the key, finally move the handcart to be replaced to the waiting area;

[0060] The entire device has a control center, which is a combination of a main controller, a power supply center, and a remote communication module. All parts are connected by wires. The control chip is a microcontroller chip, and the power supply center is a battery. The main controller is wirelessly connected to the remote control room through the remote communication module. The power supply center is connected to various motors, sensors, and electromagnets on the device through wires.

[0061] The workflow of this invention is as follows: Figure 18As shown. When not in operation, the device is in a low-power sleep state, while the remote communication module on the main controller operates normally. When the device receives an alarm (either issued by the switchgear's built-in inspection device or by monitoring personnel in the control room), the device operates at full power and, according to instructions from the remote control center, moves to the backup handcart, carrying it to the switchgear for replacement, or moves to the switchgear where personnel at the control center remotely control it to inspect the switchgear. During inspection, personnel at the remote control center control the device via the remote communication module to move it to the switchgear, open the switchgear door, monitor the switchgear's operation through the device's camera, and control the device's main controller to proceed with the next operation. If no problems are found, the device moves to the parking area and enters sleep mode.

[0062] If the switch cabinet trolley of the present invention requires a pallet truck to move, the replacement trolley is pre-placed on the pallet truck by default. Before pulling back the trolley to be replaced, the pallet truck is pre-pushed to the working position by the robotic arm 5 or the clamp 413.

[0063] Although embodiments and drawings of the present invention have been disclosed for illustrative purposes, those skilled in the art will understand that various substitutions, variations and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. An intelligent maintenance device for handcart-type switchgear in medium and low voltage substations, characterized in that: It includes a motion chassis trolley (1), a power switching mechanism (2), a main control lever (3), a handcart gripper (4), and a robotic arm (5). The power switching mechanism, the robotic arm, and the main control lever are all mounted on the motion chassis trolley, and the handcart gripper is mounted on the main control lever. The motion chassis trolley includes a base plate, with three cuboid columns on both sides of the front end of the base plate. The tops of the three cuboid columns extend horizontally outward and converge to form a front drive wheel support frame (103). A front drive wheel control motor control rod (102) is fixedly installed at the lower end of the front drive wheel support frame. The front drive wheel control motor control rod is connected to a front drive wheel control motor (101), and the motor shaft end of the front drive wheel control motor is connected to the front drive wheel (108). A rear drive wheel drive shaft (11) is installed on the rear side of the base plate. 0), both ends of the rear drive shaft are equipped with rear drive wheels (109), the base plate is equipped with a main motor (104), the main motor is equipped with a first transmission rod support frame (111) and a second transmission rod support frame (112), the motor shaft end of the main motor is equipped with a main motor gear (105), the main motor gear is meshed with a rear drive wheel connecting gear (106), and the rear drive wheel connecting gear is meshed with a rear drive wheel drive gear (107) mounted on the rear drive shaft; The power switching mechanism includes a rear drive wheel drive gear controller (201), a main control lever drive gear controller (202), a power controller (203), a power controller base (204), a power control lever (205), a first main control lever drive gear (206), a second main control lever drive gear (207), a third main control lever drive gear (208), a first main control lever gear (209), a main control lever drive gear transmission rod (210), and a main control lever transmission gear (211). The main control lever drive gear transmission rod (210) is inserted into the second transmission rod support frame (112). The first main control lever drive gear (206) is mounted on the upper part of the main control lever drive gear transmission rod. The main control lever drive gear controller is sequentially installed on the lower part of the main control lever drive gear transmission rod. (202) and the second main control lever drive gear (207), the second main control lever drive gear (207) meshes with the third main control lever drive gear (208) mounted on the motor shaft of the main motor, the main control lever transmission gear (211) is mounted on the first transmission lever support frame (111), the main control lever transmission gear (211) meshes with the first main control lever gear (209) and the first main control lever drive gear (206) respectively; the power controller base (204) is equipped with a power controller (203), the power controller (203) is equipped with a power control lever (205) at the end; the rear drive wheel drive gear controller (201) and the main control lever drive gear controller (202) are both composed of a transmission block (215) and a drive gear control fork (216).

2. The intelligent maintenance device for handcart-type switchgear in medium and low voltage substations according to claim 1, characterized in that: The main control lever includes a cylindrical top control lever (301), a first main control lever (302), a control lever motor slot (303), a first main control lever motor guide rail slot (304), a second main control lever (305), a gear edge (306), a motor bayonet (307), a third main control lever control tooth slot (308), a third main control lever (309), a third main control lever control tooth (310), and a first main control lever motor. The cylindrical top control lever (301) is fixedly installed on the upper surface of the first main control lever. A control lever motor slot (303) and a first main control lever motor guide rail slot (304) are provided at the bottom of the first main control lever. The upper surface of the first main control lever motor guide rail slot is flush with the upper surface of the control lever motor slot, and the lower end passes through the first main control lever. A motor bayonet (307) is provided at the tail of the second main control lever. A slot with the same outer contour as the second main control lever is opened in the middle of the third main control lever, and a third main control lever control tooth (310) extends from the notch of the second main control lever. The first master control lever motor includes a first master control lever motor housing (311), a first master control lever motor gear (312), and a first master control lever motor guide rail (313). The first master control lever motor housing (311) is installed in the control lever motor slot (303), and the first master control lever motor guide rail (313) is installed in the first master control lever motor guide rail slot (304). The first master control lever motor guide rail (313) and the first master control lever motor housing (311) are fixed together. The first master control lever motor gear (312) is mounted on the drive shaft of the first master control lever motor. The dimensions of the gear edge (306) and the control teeth of the third main control lever can ensure that when the first main control lever motor is in contact with the upper surface of the motor slot, the gear (312) of the first main control lever motor meshes with the gear edge (306), controlling the first main control lever to continue to extend.

3. The intelligent maintenance device for handcart-type switchgear in medium and low voltage substations according to claim 1, characterized in that: The handcart clamp (4) consists of an extension rod controller and a clamping plate controller; the extension rod controller includes a second main control rod gear (401), an operating frame control gear (402), a support rod drive gear (403), a support rod transmission gear (404), and a support rod drive rod (405). The second main control rod gear (401) is fixedly installed on the top control rod (301) of the first main control rod (302). The operating frame control gear (402) is fixed on the motor drive shaft of the operating frame controller. The support rod drive gear (403) is installed on a shaft on the housing of the operating frame controller. There are two support rod drive rods (405). The teeth on the front side of the upper support rod drive rod mesh with the support rod drive gear, and the teeth on the bottom surface of the two support rod drive rods mesh with the support rod transmission gear. A cylinder is fixed to the inner wall of the upper part of the main control lever top cover (410) for connecting shaft of the operating frame control gear (402). A rectangular opening is made in the front wall. A strut connecting gear frame (408) is installed at the center of the lower surface of the opening. The top of the strut connecting gear frame protrudes forward with a cylindrical section to connect to the strut drive gear (403). There is a groove on the upper surface of the front wall opening. A strut drive motor (409) is installed in the groove. The drive shaft of the strut drive motor is connected to the strut drive gear. There is a row of grooves on the upper and lower surfaces of the front wall opening, which are perpendicular to the cylindrical protrusions on the strut connecting gear frame. The grooves are combined with the protrusions on the upper surface of the strut drive rod. There is a square opening in the middle area of ​​the lower wall of the main control lever top cover for locking the first main control lever (302). The clamp controller consists of a strut connector (412), a clamp guide rail (411), and a clamp (413). The strut connector includes two strut drive rods connected to the tail end of the strut assembly, a strut connecting gear frame, and a strut transmission gear (404). The clamp guide rail (411) is connected to the strut connector (412), and the clamp (413) is mounted on the clamp guide rail (411).

4. The intelligent maintenance device for handcart-type switchgear in medium and low voltage substations according to claim 1, characterized in that: The robotic arm (5) is an operating lever composed of four metal rods, including a first metal rod, a second metal rod, a third metal rod and a fourth metal rod. The tail end of the first metal rod is fixed to the bottom plate of the moving chassis trolley (1), and a stepper motor is installed at the top. The motor shaft of the stepper motor is connected to the tail end of the second metal rod. A stepper motor is installed at the top of the second metal rod, and the motor shaft of the stepper motor is connected to the tail end of the third metal rod. A stepper motor is installed at the top of the third metal rod, and the motor shaft of the stepper motor is connected to the tail end of the fourth metal rod. A stepper motor is fixed at the top of the fourth metal rod, and the motor shaft of the stepper motor is connected to a key holder.

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