A foreign matter disposal device, SF6 circuit breaker and system in circuit breaker operation state

Abstract

The present invention provides a foreign matter disposal device, SF6 circuit breaker and system under the running state of the circuit breaker, belonging to the technical field of foreign matter cleaning of the circuit breaker. The system includes: a host computer and an SF6 circuit breaker, in which a foreign matter disposal device under the pressure state of the circuit breaker is installed; the device includes: a machine nest, a base and a robot; the machine nest includes a machine slot shielding cover and a shell, and a lifting mechanism, a rotating mechanism and a machine slot are arranged inside the shell, and the machine slot is used to place the robot; a group of bolt holes are provided on the base for bolt connection with the SF6 circuit breaker; an air plug and a traction mechanism are installed on the base; the traction mechanism connects the robot to transmit signals and traction power to the robot; the air plug is externally connected to external electrical cables and internally connected to various line control devices in the machine nest; under the control of the host computer, the lifting mechanism sends the robot to the main cavity of the SF6 circuit breaker, and the rotating mechanism and the traction mechanism cooperate with the robot to execute the instructions of the host computer, patrol in the main cavity and absorb foreign matter.

Description

Technical Field

[0001] The present invention relates to the technical field of circuit breaker foreign matter cleaning, and in particular to a foreign matter disposal device, a SF6 circuit breaker and a system in a circuit breaker operating state. Background Art

[0002] Circuit breakers are key components for current interruption in power systems, and their operational reliability is directly related to the safety and stability of the power grid system. During the production process, tiny metal foreign matter may remain on the surface of circuit breaker components, which is difficult to remove effectively; when the circuit breaker is in operation, since the internal components are at a high potential, if tiny metal foreign matter (such as metal wire, metal ash, etc.) remains on the surface of the high-potential electrode, live operation will reduce the insulation level of the product and there is a risk of induced discharge. When foreign matter on the surface of the internal components is scattered, it will also cause discharge accidents. Since the circuit breaker is a gas-insulated fully enclosed device, foreign matter inside the circuit breaker is mainly detected through local discharge detection during the live operation of the circuit breaker, and the cleaning of foreign matter requires the circuit breaker to be disassembled after power outage, which is difficult to clean quickly and it is not convenient to replace the circuit breaker. Summary of the invention

[0003] In view of this, the present invention provides a foreign matter disposal device and an SF6 circuit breaker in the operating state of the circuit breaker, so as to realize rapid detection and cleaning of foreign matter inside the circuit breaker and improve the efficiency of foreign matter disposal.

[0004] The technical solution adopted by the embodiment of the present invention to solve the technical problem is:

[0005] A foreign matter disposal device in a circuit breaker operating state, used for being installed in a cavity of an SF6 circuit breaker and supporting the cleaning of foreign matter in a gas-enclosed environment, the device comprising: a machine nest (1), a base (2) and a robot (3);

[0006] The machine nest (1) comprises a machine slot shielding cover (11) having a pair of observation windows, and a shell (12) whose shape matches the outer edge of the machine slot shielding cover. The shell is provided with a lifting mechanism (4), a rotating mechanism (5), and a machine slot (6) connected in sequence from bottom to top. The machine slot (6) is used to place a robot (3), and 360-degree rotating camera devices are installed on both sides. The machine slot shielding cover (11) is fixedly installed on the top of the machine slot (6), and the two observation windows are respectively located directly above the two 360-degree rotating camera devices.

[0007] The lower edge of the housing and the lifting mechanism are both mounted on the base, and a group of bolt holes are provided on the base. The bolt holes are located outside the housing and are used for bolt connection with the SF6 circuit breaker.

[0008] An aerial plug (8) and a traction mechanism (7) are installed on the base (2); the traction mechanism (7) is connected to the robot (3) and is used to transmit signals to the robot (3) and provide traction power;

[0009] The aviation plug (8) is externally connected to an external electrical cable and internally connected to each wire-controlled device in the machine nest (1); each wire-controlled device in the robot (3), the lifting mechanism (4), the rotating mechanism (5), the machine slot (6), and the traction mechanism (7) is connected to the host computer via the aviation plug (8) and the external electrical cable, and is directly controlled by the host computer;

[0010] Under the control of the host computer, the lifting mechanism (4) lifts the machine slot (6) upwards and sends the robot (3) into the main cavity of the SF6 circuit breaker; the rotating mechanism (5) and the traction mechanism (7) cooperate with the robot (3) to execute the instructions of the host computer, inspect and absorb foreign matter in the main cavity; after the robot (3) returns to the machine slot (6), the lifting mechanism (4) descends so that the machine slot (6) is completely placed in the machine nest (1).

[0011] Preferably, the lifting mechanism (4) comprises a groove-shaped base (41) mounted on the base (2), a groove-shaped top base (42), and a lifting drive motor (43) and a fork-shaped hinged frame mounted on the groove-shaped base (41); the groove-shaped base (41) and the groove-shaped top base (42) are opened to face each other, and slide grooves are provided on the rear side walls on both left and right sides;

[0012] The fork-shaped articulated frame comprises a middle connecting rod (44), a pair of X-shaped brackets (45), a screw rod (46), a slider (47) and a pair of bearing seats (48) fixedly mounted on the groove-shaped base (41), one end of the screw rod (46) is fixedly connected to the rotating shaft of the lifting drive motor (43), and the other end is connected to the first bearing seat, the slider (47) and the second bearing seat in a rotating connection manner in sequence, and the screw rod (46) is located in the middle of the two slide grooves of the groove-shaped base (41) and is arranged parallel to the slide grooves;

[0013] The bottom front ends of the two X-shaped brackets are connected to the left and right side front walls of the groove base (41) by a pin connection method, and the top front ends are connected to the left and right side front walls of the groove top seat (42) by a pin connection method; the first connecting rod (49) adopts a rotation connection method to sequentially pass through the left side slide groove of the groove base (41), the through hole at the bottom rear end of the first X-shaped bracket, the through hole of the slider (47), the through hole at the bottom rear end of the second X-shaped bracket, and the right side slide groove of the groove base (41); the first connecting rod (49) is arranged perpendicular to the screw rod (46), and anti-slip fixing parts are installed at both ends;

[0014] The top front ends of the two X-shaped brackets adopt a groove structure with a through hole, the inner width of the groove matches the side wall thickness of the groove-shaped top seat (42), and the size of the through hole matches the width of the slide groove. The left and right side walls of the groove-shaped top seat (42) are respectively inserted into the two groove structures, and the through holes are aligned with the slide groove. The second connecting rod (410) adopts a rotating connection method to sequentially pass through the through hole at the top rear end of the first X-shaped bracket and the through hole at the bottom rear end of the second X-shaped bracket. The second connecting rod (410) is arranged parallel to the first connecting rod (49), and anti-slip fixing parts are installed at both ends.

[0015] The two ends of the middle connecting rod (44) are rotatably connected to the hinged parts of the two X-shaped brackets respectively and are arranged parallel to the first connecting rod (49);

[0016] The lifting drive motor (43) rotates to drive the screw rod (46) to rotate, and the slider (47) and the first connecting rod (49) slide horizontally under the transmission action, so that the X-shaped bracket (45) drives the groove-shaped top seat (42) to rise or fall;

[0017] The lifting drive motor (43) is connected to the aerial plug (8) via a cable and is controlled by the host computer.

[0018] Preferably, the rotating mechanism (5) comprises a rotating drive motor (51), and a shaft (52), a bearing (55), and a gear plate (54) coaxially nested from the inside to the outside, wherein the bearing (55) and the shaft (52) and the gear plate (54) are in a rotational connection relationship; one end of the shaft (52) is fixedly connected to the upper surface of the groove-shaped top seat (42), and the other end is placed in the bearing (55); the upper surface of the gear plate (54) is fixedly connected to the machine groove (6); the rotating drive motor (51) is fixedly installed on the groove-shaped top seat (42), the rotating shaft of the rotating drive motor (51) extends upward from the through hole of the groove-shaped top seat (42), the end of the rotating shaft is provided with a key and is connected to the internal gear key of the pinion (53), and the external teeth of the pinion (53) are meshedly connected to the external teeth of the gear plate (54); the gear plate (54), the machine groove (6) and the rotating shaft of the rotating drive motor (51) are in a transmission connection relationship;

[0019] The rotary drive motor (51) is connected to the aerial plug (8) via a cable and is controlled by the host computer.

[0020] Preferably, the machine slot (6) comprises a slot bottom (61) fixedly connected to the upper surface of the gear plate (54), and a left slot wall (62), a right slot wall (63), and a rear slot wall (64) fixedly connected to the slot bottom (61) and jointly enclosing a single-side opening storage space, wherein the upper surfaces of the left slot wall (62), the right slot wall (63), and the rear slot wall (64) are all fixedly connected to the machine slot shielding cover (11); a double slide groove structure (65) is provided on the slot bottom (61) for guiding the robot (3) to return to its position; a 360° rotating camera device (66) with a fill light is fixedly installed on the rear outer surface of each of the left slot wall (62) and the right slot wall (63); the two 360° rotating camera devices (66) are respectively located below the two observation windows, and the light source used by the fill light of the rotating camera device (66) is a white light source or a purple light source;

[0021] An observation camera (67) is installed on the inner surface of the rear side groove wall (64);

[0022] The 360° rotating camera device (66) and the observation camera (67) are connected to the aerial plug (8) via cables and are controlled by the host computer;

[0023] A through hole is provided on the rear side groove wall (64) and a lead-in pipe (68) is fixedly installed outside;

[0024] A traction mechanism (7) is installed on the outer side of the left groove wall (62).

[0025] Preferably, the robot (3):

[0026] A flexible arm, dual cameras and dual fill lights are installed on the front surface of the fuselage, and a suction nozzle is provided at the end of the flexible arm;

[0027] A main controller and a flexible arm control module are provided inside the fuselage; the main controller is connected to the aerial plug through a traction mechanism (7) and is controlled by the host computer;

[0028] The dual cameras, the dual fill lights, and the flexible arm control module are electrically connected to the main controller and are controlled by the main controller;

[0029] Power is supplied directly through the line.

[0030] Preferably, the traction mechanism (7) is composed of a traction motor (71), a chain transmission assembly, and a winding assembly:

[0031] The winding assembly comprises a winding mechanism base (75), a rotating shaft seat (76), a rotating shaft (77), a reel (78), and a cable (79); the winding mechanism base (75) is fixedly mounted on the outer surface of the left groove wall (62); a pair of rotating shaft seats (76) are placed at both ends of the reel (78) and fixedly mounted on the winding mechanism base (75), and are used to limit the cable and support the rotating shaft; a bearing is installed on the rotating shaft seat (76), and the rotating shaft (77) is passed through the axial portion of the reel (78). The rotating shaft (77) is fixedly connected to the reel (78), and the two ends of the rotating shaft (77) are respectively inserted into two bearings; one end of the rotating shaft (77) passes through the bearing, and the outer teeth of the end are meshed and connected with the inner teeth of the driven sprocket (73); one end of the cable (79) is connected to the aviation plug (8), the middle part is fixedly connected to the middle part of the reel (78), and the other end passes through the lead pipe (68) and the through hole of the rear side groove wall (64) to be connected to the rear end of the fuselage of the robot (3), and is electrically connected to the main controller;

[0032] The traction motor (71) is fixedly mounted on the winding mechanism base (75) and connected to the aerial plug (8);

[0033] The chain drive assembly comprises a driving sprocket (72) keyed to a rotor of a traction motor (71), a driven sprocket (73) meshingly connected to a rotating shaft (77) in the cable winding assembly, and a transmission chain (74) meshingly connected to the outer teeth of the driving sprocket (72) and the outer teeth of the driven sprocket (73);

[0034] The traction motor (71) rotates to drive the chain transmission assembly to rotate, and the winding assembly follows the transmission, and the cable (79) performs a retracting and extending movement following the guidance of the reel (78).

[0035] Preferably, weight-reducing holes are provided on the gear plate (54), the left groove wall (62), and the right groove wall (63);

[0036] The center of gravity of the grooved top seat (42) is located on the axis of the bearing (55);

[0037] The width of the sliding grooves of the groove-shaped base (41) and the groove-shaped top seat (42) matches the radial dimensions of the first connecting rod (49) and the second connecting rod (410);

[0038] The fill light in the 360° rotating camera device on the left groove wall (62) is a purple light source, and the fill light in the 360° rotating camera device on the right groove wall (63) is a white light source;

[0039] The height of the machine nest (1) is 360-580 mm, and the outer diameter is 534 mm;

[0040] The flexible arm has 5 degrees of freedom rotation;

[0041] Each motor and camera inside the machine nest is connected to the aviation plug (8) by a spiral wire.

[0042] Preferably, in terms of foreign body handling of the circuit breaker, the specific process is as follows:

[0043] S1, a 360° rotating camera device observes the inside of the circuit breaker through an observation window on the top cover and transmits image data to the host computer;

[0044] S2, when foreign matter cleaning is required, the lifting mechanism, the rotating mechanism, and the operating mechanism of the 360° rotating camera device receive and execute the command of the host computer, raise the height of the robot by d to be level with the circuit breaker cavity, rotate the machine slot, and place the robot at the initial position of the route, with the 360° rotating camera device facing the inside of the circuit breaker cylinder;

[0045] S3, the robot (3) and the traction mechanism receive and execute the instructions of the host computer, the robot (3) executes the preset route and cleans the foreign matter in the circuit breaker, and the traction mechanism releases the cable;

[0046] S4, after the robot (3) has finished cleaning, it moves back into the machine nest (1) along the preset route, and the traction mechanism retracts the cable;

[0047] S5, the upper computer confirms that the robot (3) has arrived in the machine nest (1) based on the data transmitted by the observation camera (67) on the rear side slot wall (64) in the machine slot, and the lifting mechanism, the rotating mechanism, and the operating mechanism of the 360° rotating camera device receive and execute the instructions of the upper computer, lower the height of the robot (3) by d, so that the height of the top cover is flush with the circuit breaker cavity, rotate the machine slot, place the observation window of the top cover at the initial observation position, and rotate the 360° rotating camera device back to the initial position;

[0048] In addition, when the robot (3) cannot be reversed to its original position due to a fault, the traction mechanism receives and executes the command of the host computer, and drags the robot (3) back to its original position by retracting the cable.

[0049] An SF6 circuit breaker is a sealed device filled with SF6 gas, comprising an SF6 circuit breaker body and the aforementioned foreign matter disposal device in the circuit breaker operating state; the SF6 circuit breaker body comprises a horizontally arranged main cylinder and at least one intersecting cylinder intersecting and connected with the main cylinder, the first intersecting cylinder is vertically arranged with the ground and has an outer edge platform at the bottom, the first intersecting cylinder is used to place the foreign matter disposal device in the circuit breaker operating state, the outer edge platform is connected to the base of the foreign matter disposal device in the circuit breaker operating state by bolts, and the external connection part is fixed by thread glue;

[0050] When the robot (3) rises to a specified height and is working in the main cylinder, the height of the machine slot shielding cover (11) is lower than the height of the shielding ring;

[0051] A peripheral camera (10) is installed on each of the front and rear end covers of the main cylinder, and the peripheral camera faces the interior of the cylinder and is connected to a host computer to directly transmit image data to the host computer;

[0052] There is an observation window on the side of the main cylinder;

[0053] The peripheral camera (10) is connected to the host computer via a cable and is controlled by the host computer.

[0054] A foreign matter disposal system under pressure of a circuit breaker, comprising a host computer and the aforementioned SF6 circuit breaker;

[0055] The host computer is used for:

[0056] S1, the host computer receives image data transmitted by the 360° rotating camera device and the peripheral camera (10);

[0057] S2, when it is determined according to the image data that foreign matter cleaning needs to be performed, the execution is sent to the operating mechanism of the lifting mechanism, the rotating mechanism, and the 360° rotating camera device, the height of the robot is raised by d to be level with the circuit breaker cavity, and the machine slot is rotated to place the robot at the initial position of the route, and the 360° rotating camera device faces the inside of the circuit breaker cylinder;

[0058] S3, setting a preset route and sending it to the robot (3), while controlling the traction mechanism, the robot (3) executes the preset route and cleans foreign objects in the circuit breaker, while the traction mechanism releases the cable;

[0059] S4, after the robot (3) has finished the cleaning work, the upper computer controls the robot (3) to return to the machine nest (1) along the preset route, and at the same time controls the traction mechanism to retract the cable;

[0060] S5, the upper computer confirms that the robot (3) has arrived in the machine nest (1) according to the data transmitted by the observation camera 67 on the rear side slot wall 64 in the machine slot, controls the lifting mechanism, the rotating mechanism, and the operating mechanism of the 360° rotating camera device, lowers the height of the robot (3) by d, makes the top cover level with the circuit breaker cavity, rotates the machine slot, places the observation window of the top cover at the initial observation position, and rotates the 360° rotating camera device back to the initial position;

[0061] In addition, when the robot (3) cannot be reversed to its original position due to a fault, the traction mechanism is controlled to drag the robot (3) to its original position by retracting the cable.

[0062] It can be seen from the above technical scheme that the foreign matter disposal device, SF6 circuit breaker and system provided by the embodiment of the present invention in the operating state of the circuit breaker. The system includes: a host computer and an SF6 circuit breaker, in which a foreign matter disposal device in the operating state of the circuit breaker is installed; the device includes: a machine nest, a base and a robot; the machine nest includes a machine slot shielding cover and a shell, and a lifting mechanism, a rotating mechanism and a machine slot are arranged inside the shell, and the machine slot is used to place the robot; a group of bolt holes are provided on the base for bolt connection with the SF6 circuit breaker; an air plug and a traction mechanism are installed on the base; the traction mechanism connects the robot to transmit signals and traction power to the robot; the air plug is externally connected to external electrical cables and internally connected to various wire control devices in the machine nest; under the control of the host computer, the lifting mechanism sends the robot to the main cavity of the SF6 circuit breaker, and the rotating mechanism and the traction mechanism cooperate with the robot to execute the instructions of the host computer, patrol in the main cavity and adsorb foreign matter. The system of the present invention can realize the rapid detection and cleaning of foreign matter inside the circuit breaker and improve the efficiency of foreign matter handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 This is a schematic diagram of the foreign matter disposal system when the circuit breaker is in operation.

[0064] Figure 2 This is a schematic diagram of installing the machine nest in the circuit breaker.

[0065] Figure 3 This is a schematic diagram of the internal structure of the machine nest.

[0066] Figure 4 It is a structural schematic diagram of the lifting mechanism 4.

[0067] Figure 5 It is a structural schematic diagram of the rotating mechanism 5.

[0068] Figure 6 It is a schematic diagram of the structure of the machine slot 6 and the traction mechanism 7.

[0069] Figure 7 This is a schematic diagram of the robot 3 driving out of the machine nest.

[0070] Figure 8 This is a schematic diagram of the robot 3 working inside the main cylinder of the circuit breaker.

[0071] In the figure: machine nest 1, base 2 and robot 3, machine slot shielding cover 11, shell 12, lifting mechanism 4, rotating mechanism 5, machine slot 6, traction mechanism 7, aerial plug 8, external electrical cable 9, peripheral camera 10;

[0072] Lifting mechanism 4: grooved base 41, grooved top seat 42, lifting drive motor 43, middle connecting rod 44, X-shaped bracket 45, screw rod 46, slider 47, bearing seat 48, first connecting rod 49, second connecting rod 410;

[0073] Rotating mechanism 5: rotating driving motor 51, shaft 52, pinion 53, gear plate 54, bearing 55;

[0074] Machine slot 6: slot bottom 61, left slot wall 62, right slot wall 63, rear slot wall 64, double slide slot structure 65, 360° rotating camera device 66, fill light 661, camera 662, observation camera 67, lead pipe 68;

[0075] Traction mechanism 7: traction motor 71, driving sprocket 72, driven sprocket 73, transmission chain 74, winding mechanism base 75, rotating shaft base 76, rotating shaft 77, reel 78, cable 79. DETAILED DESCRIPTION

[0076] The technical scheme and technical effects of the present invention are further elaborated in detail below in conjunction with the accompanying drawings of the present invention.

[0077] Reference Figure 1 As shown, the foreign matter disposal system of the circuit breaker in the operating state of the present invention is composed of a host computer and a SF6 circuit breaker, such as Figure 2 As shown, the SF6 circuit breaker body includes a horizontally arranged main cylinder and at least one intersecting cylinder intersecting with the main cylinder. The first intersecting cylinder is arranged vertically to the ground and has an outer edge platform at the bottom. The first intersecting cylinder is used to place a foreign body disposal device when the circuit breaker is in operation. The outer edge platform is connected to the base of the foreign body disposal device when the circuit breaker is in operation by bolts, and the external connection part is fixed with threaded glue. An observation window is provided on the side of the main cylinder; a peripheral camera 10 is installed on each of the front and rear end covers of the main cylinder, which faces the inside of the cylinder and is connected to the host computer to directly transmit image data to the host computer; the peripheral camera 10 is connected to the host computer through a cable and is controlled by the host computer. The SF6 circuit breaker is a sealed structural device filled with SF6 gas to provide internal insulation.

[0078] refer to Figure 2-Figure 8 As shown, the foreign body disposal device in the circuit breaker operation state is used to be installed in the cavity of the SF6 circuit breaker, and supports the cleaning of foreign bodies in a gas-enclosed environment. The device includes: a machine nest 1, a base 2 and a robot 3:

[0079] The machine nest 1 includes a machine slot shielding cover 11 with a pair of observation windows, and a shell 12 that matches the shape of the outer edge of the machine slot shielding cover. The shell is provided with a lifting mechanism 4, a rotating mechanism 5, and a machine slot 6 connected in sequence from bottom to top. The machine slot 6 is used to place the robot 3, and 360° rotating camera devices are installed on both sides. The machine slot shielding cover 11 is fixedly installed on the top of the machine slot 6, and the two observation windows are respectively located directly above the two 360° rotating camera devices.

[0080] The lower edge of the housing and the lifting mechanism are installed on the base. A set of bolt holes are provided on the base. The bolt holes are located on the outside of the housing and are used for bolt connection with the SF6 circuit breaker.

[0081] The base 2 is provided with an air plug 8 and a traction mechanism 7; the traction mechanism 7 is connected to the robot 3 and is used to transmit signals to the robot 3 and provide traction power;

[0082] The aviation plug 8 is connected to external electrical cables and internally to various wire-controlled devices in the machine nest 1; various wire-controlled devices in the robot 3, the lifting mechanism 4, the rotating mechanism 5, the machine slot 6, and the traction mechanism 7 are connected to the host computer through the aviation plug 8 and external electrical cables, and are directly controlled by the host computer;

[0083] Under the control of the host computer, the lifting mechanism 4 lifts the machine slot 6 upward and sends the robot 3 to the main cavity of the SF6 circuit breaker. The rotating mechanism 5 and the traction mechanism 7 cooperate with the robot 3 to execute the instructions of the host computer, inspect and absorb foreign matter in the main cavity. After the robot 3 returns to the machine slot 6, the lifting mechanism 4 descends to place the machine slot 6 completely in the machine nest 1.

[0084] Reference Figure 4 The lifting mechanism 4 includes a groove-shaped base 41, a groove-shaped top base 42 installed on the base 2, a lifting drive motor 43 installed on the groove-shaped base 41, and a pair of X-shaped brackets 45; the groove-shaped base 41 and the groove-shaped top base 42 are opened to face each other, and slide grooves are provided on the rear side walls of the left and right sides;

[0085] The fork-shaped articulated frame includes a pair of X-shaped brackets 45, a screw rod 46, a slider 47, and a pair of bearing seats 48 fixedly mounted on the groove-shaped base 41. One end of the screw rod 46 is fixedly connected to the rotating shaft of the lifting drive motor 43 (which can be connected by a coupling), and the other end is connected to the first bearing seat, the slider 47, and the second bearing seat in a rotating connection manner in sequence. The screw rod 46 is located in the middle of the two slide grooves of the groove-shaped base 41 and is arranged parallel to the slide grooves.

[0086] The bottom front ends of the two X-shaped brackets are connected to the left and right front side walls of the groove base 41 by a pin connection, and the top front ends are connected to the left and right front side walls of the groove top seat 42 by a pin connection; the first connecting rod 49 adopts a rotation connection method to sequentially pass through the left side slide groove of the groove base 41, the through hole at the bottom rear end of the first X-shaped bracket, the through hole of the slider 47, the through hole at the bottom rear end of the second X-shaped bracket, and the right side slide groove of the groove base 41. The first connecting rod 49 is arranged perpendicular to the screw rod 46, and anti-slip fixings are installed at both ends;

[0087] The top front ends of the two X-shaped brackets adopt a groove structure with a through hole, the inner width of the groove matches the side wall thickness of the groove-shaped top seat 42, and the size of the through hole matches the width of the slide groove. The left and right side walls of the groove-shaped top seat 42 are respectively inserted into the two groove structures, and the through holes are aligned with the slide groove. The second connecting rod 410 adopts a rotating connection method to pass through the through hole at the top rear end of the first X-shaped bracket and the through hole at the bottom rear end of the second X-shaped bracket in sequence. The second connecting rod 410 is arranged parallel to the first connecting rod 49, and anti-slip fixings are installed at both ends; the slide groove widths of the groove-shaped base 41 and the groove-shaped top seat 42 match the radial dimensions of the first connecting rod 49 and the second connecting rod 410;

[0088] The two ends of the middle connecting rod 44 are rotatably connected to the hinged parts of the two X-shaped brackets and are arranged parallel to the first connecting rod 49;

[0089] The lifting drive motor 43 rotates to drive the screw rod 46 to rotate, and the slider 47 and the first connecting rod 49 slide horizontally under the transmission action, so that the X-shaped bracket 45 drives the groove-shaped top seat 42 to rise or fall;

[0090] The lifting drive motor 43 is connected to the aerial plug 8 via a cable and is controlled by the host computer.

[0091] Reference Figure 5 The rotating mechanism (5) comprises a rotating drive motor (51), and a shaft (52), a bearing (55), and a gear plate (54) coaxially nested from the inside to the outside, wherein the bearing (55) and the shaft (52) and the gear plate (54) are in a rotational connection relationship; one end of the shaft (52) is fixedly connected to the upper surface of the groove-shaped top seat (42), and the other end is placed in the bearing (55); the upper surface of the gear plate (54) is fixedly connected to the machine groove (6); the rotating drive motor (51) is fixedly installed on the groove-shaped top seat (42), the rotating shaft of the rotating drive motor (51) passes upward from the through hole of the groove-shaped top seat (42), the end portion is provided with a key and is connected to the internal gear key of the pinion (53), and the external teeth of the pinion (53) are meshedly connected to the external teeth of the gear plate (54); the gear plate (54), the machine groove (6) and the rotating shaft of the rotating drive motor (51) are in a transmission connection relationship;

[0092] The rotary drive motor (51) is connected to the aerial plug (8) via a cable and is controlled by a host computer.

[0093] Reference Figure 6The machine slot 6 includes a slot bottom 61 fixedly connected to the upper surface of the gear plate 54, and a left slot wall 62, a right slot wall 63, and a rear slot wall 64 fixedly connected to the slot bottom 61 and jointly enclosing a single-side opening storage space, and the upper surfaces of the left slot wall 62, the right slot wall 63, and the rear slot wall 64 are all fixedly connected to the machine slot shielding cover 11; a double slide groove structure 65 is provided on the slot bottom 61 for guiding the robot 3 to return to its position; a 360° rotating camera device 66 with a fill light is fixedly installed on the rear outer surface of the left slot wall 62 and the right slot wall 63; two 360° rotating camera devices 66 are respectively located below the two observation windows, and the light source used by the fill light in the rotating camera device 66 is a white light source or a purple light source; optionally, the fill light in the 360° rotating camera device on the left slot wall 62 is a purple light source, and the fill light in the 360° rotating camera device on the right slot wall 63 is a white light source;

[0094] An observation camera 67 is mounted on the inner surface of the rear groove wall 64;

[0095] The 360° rotating camera device 66 and the observation camera 67 are connected to the aerial plug 8 via cables and are controlled by the host computer;

[0096] A through hole is provided on the rear side groove wall 64, and a lead pipe 68 is fixedly installed outside;

[0097] The traction mechanism 7 is installed on the outer side of the left groove wall 62 .

[0098] Robot 3: The front surface of the fuselage is equipped with a flexible arm, dual cameras and dual fill lights on both sides of the flexible arm, a suction nozzle at the end of the flexible arm, and the flexible arm has a 5-degree-of-freedom rotation function; the fuselage has a main controller and a flexible arm control module; the main controller is connected to the aviation plug through a traction mechanism 7 and is controlled by the host computer; the dual cameras, dual fill lights, and the flexible arm control module are electrically connected to the main controller and are controlled by the main controller; the robot 3 is directly powered by the line. The robot 3 used in the present invention is a tow-line working trolley, which has the modules or components required to perform foreign body adsorption work according to the host computer instructions, such as a dust collection box, an adsorption motor, a flexible arm drive motor, a heat dissipation device, etc., which will not be repeated here.

[0099] The traction mechanism 7 is composed of a traction motor 71, a chain transmission assembly, and a winding assembly:

[0100] The winding assembly includes a winding mechanism base 75, a rotating shaft seat 76, a rotating shaft 77, a reel 78, and a cable 79; the winding mechanism base 75 is fixedly mounted on the outer surface of the left groove wall 62 (as shown in the figure, it can be a plate); a pair of rotating shaft seats 76 are placed at both ends of the reel 78 and fixedly mounted on the winding mechanism base 75, which are used as cable limit and support shafts; bearings are installed on the rotating shaft seat 76, the rotating shaft 77 is passed through the axis of the reel 78 and is fixedly connected to the reel 78, and the two ends of the rotating shaft 77 are respectively passed through two bearings; one end of the rotating shaft 77 passes through the bearing, and the outer teeth at the end are meshed and connected with the inner teeth of the driven sprocket 73; one end of the cable 79 is connected to the aviation plug 8, the middle part is fixedly connected to the middle part of the reel 78 (with the middle part as the dividing point, the winding method is one side forward and one side reverse), and the other end passes through the lead pipe 68 and the through hole of the rear groove wall 64 to be connected to the rear end of the fuselage of the robot 3 and is electrically connected to the main controller;

[0101] The traction motor 71 is fixedly mounted on the winding mechanism base 75 and connected to the aerial plug 8;

[0102] The chain drive assembly includes a driving sprocket 72 connected to the rotor key of the traction motor 71, a driven sprocket 73 meshingly connected to the rotating shaft 77 in the cable winding assembly, and a transmission chain 74 meshingly connected to the external teeth of the driving sprocket 72 and the external teeth of the driven sprocket 73;

[0103] The traction motor 71 rotates to drive the chain transmission assembly to rotate, and the winding assembly follows the transmission, and the cable 79 performs the retracting and extending movement following the guidance of the reel 78.

[0104] Furthermore, weight-reducing holes may be provided on the gear plate 54, the left slot wall 62, and the right slot wall 63; each motor and camera inside the machine nest is connected to the aviation plug 8 by a spiral line to adapt to the expansion and contraction of the connection line during the lifting and lowering of the machine slot;

[0105] The reference dimensions of the machine nest 1 provided by the present invention are: a height of 360-580 mm and an outer diameter of 534 mm.

[0106] In terms of foreign body handling of circuit breakers, the specific process is as follows:

[0107] S1, the 360° rotating camera device observes the inside of the circuit breaker through the observation window of the top cover and transmits the image data to the host computer; (the status is as follows Figure 2 shown)

[0108] S2, when it is necessary to perform foreign body cleaning, the lifting mechanism, the rotating mechanism, and the operating mechanism of the 360° rotating camera device receive the instructions of the upper computer and execute them, raising the height of the robot by d (when the robot 3 rises to the specified height and works in the main cylinder, the height of the machine slot shielding cover 11 is lower than the height of the lowest point of the shielding ring in the circuit breaker), level with the circuit breaker cavity, rotating the machine slot, placing the robot at the initial position of the route, and the 360° rotating camera device faces the inside of the circuit breaker cylinder; (refer to Figure 7 Lift height shown)

[0109] S3, robot 3 and traction mechanism receive and execute the instructions of the host computer, robot 3 executes the preset route and cleans the foreign objects in the circuit breaker, while the traction mechanism releases the cable; (status as Figure 8 shown)

[0110] S4, after the robot 3 finishes cleaning, it retreats back to the machine nest 1 along the preset route, and the traction mechanism retracts the cable;

[0111] S5, the upper computer confirms that the robot 3 has arrived in the machine nest 1 according to the data transmitted by the observation camera 67 of the rear side slot wall 64 in the machine slot, and the operating mechanism of the lifting mechanism, the rotating mechanism, and the 360° rotating camera device receives and executes the command of the upper computer, lowers the height of the robot 3 by d, makes the top cover level with the circuit breaker cavity, rotates the machine slot, places the observation window of the top cover at the initial observation position, and rotates the 360° rotating camera device back to the initial position;

[0112] In addition, when the robot 3 cannot return to its original position due to a fault, the traction mechanism receives and executes the command of the host computer, and drags the robot 3 back to its original position by retracting the cable.

[0113] Accordingly, Figure 1 The host computer in the system is used for:

[0114] S1, the host computer receives image data transmitted by the 360° rotating camera device and the peripheral camera 10;

[0115] S2, when it is determined according to the image data that foreign matter cleaning needs to be performed, the execution is sent to the operating mechanisms of the lifting mechanism, the rotating mechanism, and the 360° rotating camera device, the height of the robot is raised by d to be level with the circuit breaker cavity, the machine slot is rotated, the robot is placed at the initial position of the route, and the 360° rotating camera device faces the inside of the circuit breaker cylinder;

[0116] S3, setting a preset route and sending it to robot 3, while controlling the traction mechanism, robot 3 executes the preset route and cleans foreign objects in the circuit breaker, while the traction mechanism releases the cable;

[0117] S4, after the robot 3 finishes cleaning, the host computer controls the robot 3 to return to the machine nest 1 according to the preset route, and controls the traction mechanism to retract the cable;

[0118] S5, the upper computer confirms that the robot 3 has arrived in the machine nest 1 according to the data transmitted by the observation camera 67 of the rear side slot wall 64 in the machine slot, controls the lifting mechanism, the rotating mechanism, and the operating mechanism of the 360° rotating camera device, lowers the height of the robot 3 by d, makes the top cover level with the circuit breaker cavity, rotates the machine slot, places the observation window of the top cover at the initial observation position, and rotates the 360° rotating camera device back to the initial position;

[0119] In addition, when the robot 3 cannot return to its original position due to a fault, the traction mechanism is controlled to drag the robot 3 back to its original position by retracting the cable.

[0120] The SF6 circuit breaker provided by the present invention is equipped with a foreign matter disposal device in the operating state of the circuit breaker. The robot nest is equipped with a modular robot. A grounding shield is arranged above the nest, and a communication interface is arranged below the nest to realize power supply and data interaction with the robot. During the normal energization process of the circuit breaker, the robot is in the nest, and the circuit breaker is in a cold standby or maintenance state. The nest can rise to the same horizontal position as the bottom of the tank body, and the robot can enter the tank body for status detection. A high-definition camera with a fill light allows the operator to observe the internal situation of the filter group circuit breaker. The robot nest for internal operation of the circuit breaker has the functions of lifting and rotating, which is convenient for the robot to be stored in the nest, and the robot can be charged at the same time. The present invention realizes rapid detection and cleaning of foreign matter inside the circuit breaker, and improves the efficiency of foreign matter handling.

[0121] What is disclosed above is only a preferred embodiment of the present invention, which certainly cannot be used to limit the scope of rights of the present invention. A person skilled in the art can understand that all or part of the processes of the above embodiments and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A foreign matter disposal device in the circuit breaker operation state, characterized in that: The device is used for installation in the cavity of an SF6 circuit breaker and supports cleaning of foreign matter in a gas-enclosed environment. The device comprises: a machine nest (1), a base (2) and a robot (3); The machine nest (1) comprises a machine slot shielding cover (11) having a pair of observation windows, and a shell (12) whose shape matches the outer edge of the machine slot shielding cover. The shell is provided with a lifting mechanism (4), a rotating mechanism (5), and a machine slot (6) connected in sequence from bottom to top. The machine slot (6) is used to place a robot (3), and 360-degree rotating camera devices are installed on both sides. The machine slot shielding cover (11) is fixedly installed on the top of the machine slot (6), and the two observation windows are respectively located directly above the two 360-degree rotating camera devices. The lower edge of the housing and the lifting mechanism are both mounted on the base, and a group of bolt holes are provided on the base. The bolt holes are located outside the housing and are used for bolt connection with the SF6 circuit breaker. An aerial plug (8) and a traction mechanism (7) are installed on the base (2); the traction mechanism (7) is connected to the robot (3) and is used to transmit signals to the robot (3) and provide traction power; The aviation plug (8) is externally connected to an external electrical cable and internally connected to each wire-controlled device in the machine nest (1); each wire-controlled device in the robot (3), the lifting mechanism (4), the rotating mechanism (5), the machine slot (6), and the traction mechanism (7) is connected to the host computer via the aviation plug (8) and the external electrical cable, and is directly controlled by the host computer; Under the control of the host computer, the lifting mechanism (4) lifts the machine slot (6) upwards and sends the robot (3) into the main cavity of the SF6 circuit breaker; the rotating mechanism (5) and the traction mechanism (7) cooperate with the robot (3) to execute the instructions of the host computer, inspect and absorb foreign matter in the main cavity; after the robot (3) returns to the machine slot (6), the lifting mechanism (4) descends so that the machine slot (6) is completely placed in the machine nest (1); The lifting mechanism (4) comprises a groove-shaped base (41) and a groove-shaped top base (42) mounted on the base (2), and a lifting drive motor (43) and a fork-shaped hinged frame mounted on the groove-shaped base (41); the groove-shaped base (41) and the groove-shaped top base (42) are opened to face each other, and slide grooves are provided on the rear side walls of the left and right sides; The fork-shaped articulated frame comprises a middle connecting rod (44), a pair of X-shaped brackets (45), a screw rod (46), a slider (47) and a pair of bearing seats (48) fixedly mounted on the groove-shaped base (41), one end of the screw rod (46) is fixedly connected to the rotating shaft of the lifting drive motor (43), and the other end is connected to the first bearing seat, the slider (47) and the second bearing seat in a rotating connection manner in sequence, and the screw rod (46) is located in the middle of the two slide grooves of the groove-shaped base (41) and is arranged parallel to the slide grooves; The bottom front ends of the two X-shaped brackets are connected to the left and right side front walls of the groove base (41) by a pin connection method, and the top front ends are connected to the left and right side front walls of the groove top seat (42) by a pin connection method; the first connecting rod (49) adopts a rotation connection method to sequentially pass through the left side slide groove of the groove base (41), the through hole at the bottom rear end of the first X-shaped bracket, the through hole of the slider (47), the through hole at the bottom rear end of the second X-shaped bracket, and the right side slide groove of the groove base (41); the first connecting rod (49) is arranged perpendicular to the screw rod (46), and anti-slip fixing parts are installed at both ends; The top front ends of the two X-shaped brackets adopt a groove structure with a through hole, the inner width of the groove matches the side wall thickness of the groove-shaped top seat (42), and the size of the through hole matches the width of the slide groove. The left and right side walls of the groove-shaped top seat (42) are respectively inserted into the two groove structures, and the through holes are aligned with the slide groove. The second connecting rod (410) adopts a rotating connection method to sequentially pass through the through hole at the top rear end of the first X-shaped bracket and the through hole at the bottom rear end of the second X-shaped bracket. The second connecting rod (410) is arranged parallel to the first connecting rod (49), and anti-slip fixing parts are installed at both ends. The two ends of the middle connecting rod (44) are rotatably connected to the hinged parts of the two X-shaped brackets respectively and are arranged parallel to the first connecting rod (49); The lifting drive motor (43) rotates to drive the screw rod (46) to rotate, and the slider (47) and the first connecting rod (49) slide horizontally under the transmission action, so that the X-shaped bracket (45) drives the groove-shaped top seat (42) to rise or fall; The lifting drive motor (43) is connected to the aerial plug (8) via a cable and is controlled by the host computer; The rotating mechanism (5) comprises a rotating driving motor (51), and a shaft (52), a bearing (55), and a gear plate (54) coaxially nested from the inside to the outside, wherein the bearing (55) and the shaft (52) and the gear plate (54) are all in a rotationally connected relationship; one end of the shaft (52) is fixedly connected to the upper surface of the groove-shaped top seat (42), and the other end is placed in the bearing (55); The upper surface of the gear plate (54) is fixedly connected to the machine slot (6); the rotation drive motor (51) is fixedly installed on the slot-shaped top seat (42); the rotating shaft of the rotation drive motor (51) extends upward from the through hole of the slot-shaped top seat (42); the end of the rotation drive motor (51) is provided with a key and is connected to the internal gear key of the pinion gear (53); the external teeth of the pinion gear (53) are meshed and connected to the external teeth of the gear plate (54); the gear plate (54), the machine slot (6) and the rotating shaft of the rotation drive motor (51) are in a transmission connection relationship; The rotary drive motor (51) is connected to the aerial plug (8) via a cable and is controlled by the host computer; The machine slot (6) comprises a slot bottom (61) fixedly connected to the upper surface of the gear plate (54), and a left slot wall (62), a right slot wall (63), and a rear slot wall (64) fixedly connected to the slot bottom (61) and jointly enclosing a single-side opening storage space, wherein the upper surfaces of the left slot wall (62), the right slot wall (63), and the rear slot wall (64) are all fixedly connected to the machine slot shielding cover (11); a double slide groove structure (65) is provided on the slot bottom (61) for guiding the robot (3) to return to its position; a 360° rotating camera device (66) with a fill light is fixedly installed on the rear outer surface of each of the left slot wall (62) and the right slot wall (63); the two 360° rotating camera devices (66) are respectively located below the two observation windows, and the light source used by the fill light of the rotating camera device (66) is a white light source or a purple light source; An observation camera (67) is installed on the inner surface of the rear groove wall (64); The 360° rotating camera device (66) and the observation camera (67) are connected to the aerial plug (8) via cables and are controlled by the host computer; A through hole is provided on the rear side groove wall (64) and a lead-in pipe (68) is fixedly installed outside; A traction mechanism (7) is installed on the outer side of the left groove wall (62); The traction mechanism (7) is composed of a traction motor (71), a chain transmission assembly, and a winding assembly: The winding assembly comprises a winding mechanism base (75), a rotating shaft seat (76), a rotating shaft (77), a reel (78), and a cable (79); the winding mechanism base (75) is fixedly mounted on the outer surface of the left groove wall (62); a pair of rotating shaft seats (76) are placed at both ends of the reel (78) and fixedly mounted on the winding mechanism base (75), and are used for limiting the cable and supporting the rotating shaft; a bearing is mounted on the rotating shaft seat (76), and the rotating shaft (77) is passed through the axis of the reel (78) The rotating shaft (77) is connected to the robot (3) and is fixedly connected to the reel (78). The two ends of the rotating shaft (77) are respectively inserted into two bearings. One end of the rotating shaft (77) passes through the bearing, and the outer teeth of the end are meshed and connected with the inner teeth of the driven sprocket (73). One end of the cable (79) is connected to the aviation plug (8), the middle part is fixedly connected to the middle part of the reel (78), and the other end passes through the lead pipe (68) and the through hole of the rear side groove wall (64) to be connected to the rear end of the fuselage of the robot (3) and electrically connected to the main controller. The traction motor (71) is fixedly mounted on the winding mechanism base (75) and connected to the aerial plug (8); The chain drive assembly comprises a driving sprocket (72) keyed to a rotor of a traction motor (71), a driven sprocket (73) meshingly connected to a rotating shaft (77) in the cable winding assembly, and a transmission chain (74) meshingly connected to the outer teeth of the driving sprocket (72) and the outer teeth of the driven sprocket (73); The traction motor (71) rotates to drive the chain transmission assembly to rotate, and the winding assembly follows the transmission, and the cable (79) performs a retracting and extending movement following the guidance of the reel (78).

2. The foreign matter disposal device in the circuit breaker operation state according to claim 1, characterized in that: Robots (3): A flexible arm, dual cameras and dual fill lights are installed on the front surface of the fuselage, and a suction nozzle is provided at the end of the flexible arm; A main controller and a flexible arm control module are provided inside the fuselage; the main controller is connected to the aerial plug through a traction mechanism (7) and is controlled by the host computer; The dual cameras, the dual fill lights, and the flexible arm control module are electrically connected to the main controller and are controlled by the main controller; Power is supplied directly through the line.

3. The foreign matter disposal device in the circuit breaker operation state according to claim 2, characterized in that: The gear plate (54), the left groove wall (62) and the right groove wall (63) are provided with weight-reducing holes; The center of gravity of the grooved top seat (42) is located on the axis of the bearing (55); The width of the sliding grooves of the groove-shaped base (41) and the groove-shaped top seat (42) matches the radial dimensions of the first connecting rod (49) and the second connecting rod (410); The fill light in the 360° rotating camera device on the left groove wall (62) is a purple light source, and the fill light in the 360° rotating camera device on the right groove wall (63) is a white light source; The height of the machine nest (1) is 360-580 mm, and the outer diameter is 534 mm; The flexible arm has 5 degrees of freedom rotation; Each motor and camera inside the machine nest is connected to the aviation plug (8) by a spiral wire.

4. The foreign matter disposal device in the circuit breaker operation state according to claim 3, characterized in that: In terms of foreign body handling of circuit breakers, the specific process is as follows: S1, a 360° rotating camera device observes the inside of the circuit breaker through an observation window on the top cover and transmits image data to the host computer; S2, when foreign matter cleaning is required, the lifting mechanism, the rotating mechanism, and the operating mechanism of the 360° rotating camera device receive and execute the command of the host computer, raise the height of the robot by d to be level with the circuit breaker cavity, rotate the machine slot, and place the robot at the initial position of the route, with the 360° rotating camera device facing the inside of the circuit breaker cylinder; S3, the robot (3) and the traction mechanism receive and execute the instructions of the host computer, the robot (3) executes the preset route and cleans the foreign matter in the circuit breaker, and the traction mechanism releases the cable; S4, after the robot (3) has finished cleaning, it moves back into the machine nest (1) along the preset route, and the traction mechanism retracts the cable; S5, the upper computer confirms that the robot (3) has arrived in the machine nest (1) based on the data transmitted by the observation camera (67) on the rear side slot wall (64) in the machine slot, and the lifting mechanism, the rotating mechanism, and the operating mechanism of the 360° rotating camera device receive and execute the instructions of the upper computer, lower the height of the robot (3) by d, so that the height of the top cover is flush with the circuit breaker cavity, rotate the machine slot, place the observation window of the top cover at the initial observation position, and rotate the 360° rotating camera device back to the initial position; In addition, when the robot (3) cannot be reversed to its original position due to a fault, the traction mechanism receives and executes the command of the host computer, and drags the robot (3) back to its original position by retracting the cable.

5. An SF6 circuit breaker, characterized in that: A sealing device filled with SF6 gas, comprising an SF6 circuit breaker body and a foreign body disposal device in the circuit breaker operating state as claimed in any one of claims 1 to 4; the SF6 circuit breaker body comprises a horizontally arranged main cylinder and at least one intersecting cylinder connected to the main cylinder, the first intersecting cylinder is arranged vertically to the ground and has an outer edge platform at the bottom, the first intersecting cylinder is used to place the foreign body disposal device in the circuit breaker operating state, the outer edge platform is connected to the base of the foreign body disposal device in the circuit breaker operating state by bolts, and the external connection part is fixed by thread glue; When the robot (3) rises to a specified height and is working in the main cylinder, the height of the machine slot shielding cover (11) is lower than the height of the shielding ring; A peripheral camera (10) is installed on each of the front and rear end covers of the main cylinder, and the peripheral camera faces the interior of the cylinder and is connected to a host computer to directly transmit image data to the host computer; There is an observation window on the side of the main cylinder; The peripheral camera (10) is connected to the host computer via a cable and is controlled by the host computer.

6. A foreign matter disposal system under pressure of a circuit breaker, comprising a host computer and the SF6 circuit breaker according to claim 5; The host computer is used for: S1, the host computer receives image data transmitted by the 360° rotating camera device and the peripheral camera (10); S2, when it is determined according to the image data that foreign matter cleaning needs to be performed, the execution is sent to the operating mechanism of the lifting mechanism, the rotating mechanism, and the 360° rotating camera device, the height of the robot is raised by d to be level with the circuit breaker cavity, and the machine slot is rotated to place the robot at the initial position of the route, and the 360° rotating camera device faces the inside of the circuit breaker cylinder; S3, setting a preset route and sending it to the robot (3), while controlling the traction mechanism, the robot (3) executes the preset route and cleans foreign objects in the circuit breaker, while the traction mechanism releases the cable; S4, after the robot (3) has finished the cleaning work, the upper computer controls the robot (3) to return to the machine nest (1) along the preset route, and at the same time controls the traction mechanism to retract the cable; S5, the upper computer confirms that the robot (3) has arrived in the machine nest (1) according to the data transmitted by the observation camera 67 on the rear side slot wall 64 in the machine slot, controls the lifting mechanism, the rotating mechanism, and the operating mechanism of the 360° rotating camera device, lowers the height of the robot (3) by d, makes the top cover level with the circuit breaker cavity, rotates the machine slot, places the observation window of the top cover at the initial observation position, and rotates the 360° rotating camera device back to the initial position; In addition, when the robot (3) cannot be reversed to its original position due to a fault, the traction mechanism is controlled to drag the robot (3) to its original position by retracting the cable.

Images