Mechanical arm closing device

Abstract

The application relates to the field of electrical switches, in particular to a mechanical arm closing device.The mechanical arm closing device is installed on one side of an air switch or a leakage protection switch in a common rail, the moving end of the mechanical arm is close to the handle of the air switch or the leakage protection switch to perform closing operation, and the mechanical arm closing device further comprises a server, a driving module and a signal instruction module; after the closing instruction of the control end is acquired by the signal instruction module, the server is driven by the driving module to execute the mechanical arm action.The mechanical arm closing device has the beneficial effects that in the background of wide use of the existing air switch or the leakage protection switch, unmanned operation in various scenes is realized through remote control under the premise of ensuring safety, and the device focuses on solving the problems of universality, reliability of simulating manual handle pushing and fault safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of electrical switch, in particular to a mechanical arm closing device. BACKGROUND

[0002] Air switch, leakage protection switch and other electrical switches are widely used in industry, agriculture, social life and other aspects, and its function is that once the circuit overflows or leaks, the air switch or leakage protection switch will be opened under the action of elasticity to avoid abnormal current of the circuit, and after the circuit fault is eliminated, the handle needs to be manually pushed to close the circuit. In a large number of practices, it is found that in most cases, the circuit does not have a short circuit or leakage, but occasional surge current or capacitive coupling can also cause the action of the air switch or leakage protection switch, especially in the static environment caused by thunderstorm weather and dry climate, at this time, the handle needs to be manually pushed to close the circuit. With the development of unattended operation, many occasions need to pull and close the air switch, leakage protection switch and other various actuators, and a mechanical arm that can be remotely controlled to safely close the circuit and has universality with different types of switches is needed. The present application solves the complicated mechanism design with its wide adaptability, easy manufacturing and high reliability. SUMMARY

[0003] The purpose of the present application is to provide a mechanical arm closing device that is universally applicable to existing air switches and leakage protection switches. The mechanical arm closing device includes a mechanical arm, a server, a drive module, and a signal instruction module. After the closing instruction of the control end is obtained by the signal instruction module, the drive module drives the server to execute the mechanical arm action. The drive module also includes a current detection function. When the closing action is about to end, the motor load increases, causing the current to rise. At this time, the drive module drives the server to return to the starting point. In addition, the drive module also includes a fault detection function. If the motor current increases due to jamming or other reasons, the drive module will control the mechanical arm to retreat to the original position. If the drive module cannot perform the closing operation for three consecutive times, it will give up executing the closing instruction and issue an alarm.

[0004] The technical solution of the present application is:

[0005] A robotic arm closing device is characterized in that: the robotic arm closing device is installed on one side of an air switch or a residual current circuit breaker, and the moving end of the robotic arm is close to the handle of the air switch or the residual current circuit breaker for closing operation. The robotic arm closing device also includes a servo, a drive module, and a signal command module. After the signal command module obtains the closing command from the control terminal, the drive module drives the servo to execute the robotic arm movement. The drive module also includes a current detection function. When the closing action is about to end, the current rises due to the increased motor load. At this time, the drive module drives the servo to return to the starting point. The drive module also includes a fault detection function. If a jamming fault is encountered, the current of the servo motor increases. At this time, the drive module will control the robotic arm to return to its original position.

[0006] The aforementioned robotic arm closing device is characterized in that: the moving end of the robotic arm also includes a roller, which rolls on the handle during the vertical movement of the handle when closing the circuit, thereby avoiding lateral friction between the moving end and the handle.

[0007] The aforementioned robotic arm closing device is characterized in that: the moving end of the robotic arm also includes an involute meshing surface, which contacts the handle during the vertical movement of the handle when closing, thereby avoiding lateral friction between the moving end and the handle.

[0008] The aforementioned robotic arm closing device is characterized in that: the servo is a servo motor.

[0009] The aforementioned robotic arm closing device is characterized in that: the motor of the servo is a DC motor, an AC motor, or a stepper motor.

[0010] The vertical motion is the motion in the Y direction, and the lateral friction is the friction in the X direction. The frictional force in the X direction can cause the handle to loosen or be damaged.

[0011] The beneficial effects of this invention are: under the background of the widespread use of existing air switches or leakage protection switches, under the premise of ensuring safety, unattended operation can be achieved in various scenarios through remote control. This device focuses on solving the problems of universality, reliability of simulating human hand pushing handle, and fault safety. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of the present invention.

[0013] Figure 2 This is an embodiment of the present invention in which a roller is used as the actuating end.

[0014] Figure 3 This is an embodiment of the present invention in which the actuating end adopts an involute meshing surface.

[0015] Figure 4 for Figure 3 Side view.

[0016] Wherein, 101 is the mechanical arm closing device, 102 is the driving shaft, 103 is the mechanical arm, 104 is the air switch or the leakage protection switch, 105 is the action end of the mechanical arm, and 106 is the handle of the air switch or the leakage protection switch.

[0017] 201 is the roller shaft of the roller, and 202 is the roller.

[0018] 301 is the action end of the involute meshing surface, and 302 is the involute meshing surface. Embodiment

[0019] The application will be further described below in combination with the drawings and examples.

[0020] Reference Figure 1 The schematic structural diagram of the application is shown in the figure. The mechanical arm closing device 101 and the air switch or the leakage protection switch 104 are installed close to each other on the track (X-axis direction) of the distribution box. The mechanical arm 103 rotates under the driving of the driving shaft 102. The action end 105 of the mechanical arm 103 is close to the handle 106 of the air switch or the leakage protection switch 104. The action end 105 drives the handle 106 to perform the closing operation (moving along the Y-axis direction) through the rotating action of the mechanical arm 103. When the closing operation is performed by the mechanical arm, the rotating mechanical arm pushes the vertical movement of various execution mechanisms. The length of the mechanical arm can be selected to meet the application occasions of various air switches and leakage protection switches.

[0021] The mechanical arm closing device further comprises a servo, a driving module and a signal instruction module. The driving shaft 102 is the power output shaft of the servo. The signal instruction module obtains the closing instruction of the control end and drives the servo to perform the steering action through the driving module. The driving module further comprises a current detection function. When the closing action is about to end, the current rises due to the increased load of the motor. At this time, the driving module drives the servo to return to the starting point. The driving module further comprises a fault detection function. If the motor current of the servo increases due to the jamming fault, the driving module will control the mechanical arm to return to the original position. If the driving module cannot perform the closing operation for three times in succession, the closing instruction will be abandoned and an alarm will be given.

[0022] The servo adjusts the stroke through PWM to ensure the accuracy of the stroke. The spline linkage method is used to adjust the starting position to ensure the accuracy of the spatial positioning. The overcurrent detection when encountering resistance is used to ensure the safety of the fault state mechanism.

[0023] The servo adjusts the angle of rotation through PWM. Generally, it rotates 90 degrees each time. After the starting position is adjusted, the air switch handle can be accurately pushed to close. After the position is reached, it is kept for 1 second and then returns to the original position. If the motor current increases due to the jamming, the driving module will control the mechanical arm to return to the original position.

[0024] Figure 2 For the embodiment of the invention using a roller at the action end, one of the key problems to be solved by the invention is how to simulate the manual closing operation, Figure 1 In the embodiment shown, the mechanical arm 103 rotates under the drive of the driving shaft 102, and in the movement, on the one hand, the action end 105 applies a pushing force in the Y direction to the handle 106 to implement the closing operation, and on the other hand, the action end 105 and the handle 106 generate friction in the X direction, thereby generating a torque in the transverse X direction, which is prone to cause loosening and damage of the handle after long-term work. In order to perfectly simulate the manual operation, in the embodiment of the invention using a roller at the action end, 201 is the roller shaft of the roller, and 202 is the roller. In this way, the mechanical arm 103 rotates under the drive of the driving shaft 102, and in the movement, on the one hand, the roller 202 applies a pressure in the Y direction (vertical movement direction) to the handle 106 in the rolling process to implement the closing operation, and on the other hand, the roller 202 rolls on the handle 106 in the X direction, thereby avoiding the transverse friction (i.e. friction in the X direction) of the action end to the handle, and solving the problem of simulating the manual closing operation.

[0025] Figure 3 For the embodiment of the invention using an involute meshing surface at the action end, Figure 4 For Figure 3 the side view, in order to further simulate the manual closing operation, an involute meshing surface is arranged at the action end of the mechanical arm, and the handle is in contact with the involute meshing surface in the vertical movement (movement in the Y direction) during closing, thereby avoiding the transverse friction of the action end to the handle, 301 is the action end of the involute meshing surface, 302 is the involute meshing surface, and the surface of the part in contact with the handle 106 is made into an involute, and the dividing circle radius is the length of the mechanical arm, that is, the rotation center of the mechanical arm, so that the pure rolling contact in the horizontal direction (X axis direction) is ensured, the transverse friction (i.e. friction in the X direction) of the action end to the handle is avoided, and the problem of simulating the manual closing operation is perfectly solved.

[0026] In addition, the involute meshing surface is relative to the contact object, and can also be called an asymptote meshing surface.

[0027] The motor constituting the servo includes a DC motor, an AC motor, a stepping motor, etc., and a rudder machine can be selected as a power output component. The rudder machine is a motor capable of accurately controlling the rotation angle, which internally contains core components such as a motor, a speed reducer, an encoder, and a control circuit. Through the cooperative action of the internal control circuit, the position feedback device, and the motor driving device, the rotation angle of the output shaft is controlled, thereby realizing accurate angle control.

[0028] The steering engine is also called RC servo driver. The steering engine servo control system is generally composed of a small motor, a sensor, an embedded automatic control system and a transmission. The position of the motor output shaft is continuously sampled and accurately measured by the internal structure sensor, and compared with the target position set by the microprocessor (such as STM32, Arduino). According to the corresponding error, the control system adjusts the specific position of the motor output shaft to match the target position.

[0029] The above application mode and rule do not limit the basic characteristics of the method and application of the present application, and are not limited to the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A robotic arm closing device, characterized in that: The robotic arm closing device is installed on one side of the air switch or residual current circuit breaker. The moving end of the robotic arm is close to the handle of the air switch or residual current circuit breaker for closing operation. The robotic arm closing device also includes a servo, a drive module, and a signal command module. After the signal command module receives the closing command from the control terminal, the drive module drives the servo to execute the robotic arm movement. The drive module also includes a current detection function. When the closing action is about to end, the current rises due to the increased motor load. At this time, the drive module drives the servo to return to the starting point. The drive module also includes a fault detection function. If a jamming fault is encountered, the current of the servo motor increases. At this time, the drive module will control the robotic arm to return to the original position. The robotic arm's actuator also includes an involute meshing surface. The surface of the part that contacts the handle is an involute. The pitch circle radius is the length of the robotic arm, and the center of the pitch circle is the center of rotation of the robotic arm, ensuring pure rolling contact in the horizontal direction. During the vertical movement of the handle when closing the circuit, the involute meshing surface contacts the handle, thereby avoiding lateral friction between the actuator and the handle and solving the problem of simulating manual closing operation.

2. The robotic arm closing device according to claim 1, characterized in that: A servo is a servo motor.

3. The robotic arm closing device according to claim 1, characterized in that: The motor of the server can be a DC motor, an AC motor, or a stepper motor.

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