10kV switch cabinet switching operation robot using multi-axis mechanical arm

Abstract

The invention discloses a 10kV switch cabinet switching operation robot using a multi-axis mechanical arm, which comprises an AGV trolley main body, a multi-axis mechanical arm body, a switching operation robot body mounted at the upper end of the multi-axis mechanical arm body, and a bottom plate and a mounting mechanism welded at the lower end of the multi-axis mechanical arm body, the mounting mechanisms are arranged at the upper end of the AGV trolley body at equal angles, the movable long strip is telescopically connected to the middle of the AGV trolley body, bearing mechanisms are arranged on the side, away from the AGV trolley body, of the movable long strip, and the bearing mechanisms are symmetrically arranged at the front end and the rear end of the AGV trolley body. And the bearing mechanism is used for carrying out auxiliary supporting on the AGV trolley main body. According to the 10kV switch cabinet switching operation robot using the multi-axis mechanical arm, the robot can be conveniently disassembled, assembled, maintained and overhauled, the stability of the robot in the operation and use process is high, and through the arrangement of the anti-collision mechanism, the very good buffering and anti-collision protection effects can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field related to switch cabinet switching operation and maintenance, and specifically to a 10kV switch cabinet switching operation robot utilizing a multi-axis mechanical arm. Background Art

[0002] 10kV switchgear refers to an electrical device used in the power system for power generation, transmission, distribution and power conversion to realize the opening and closing, control and protection of electrical equipment. It is an important part of the power system. Electrical equipment is usually divided into three states: operation, standby and maintenance. The switching operation is to convert the electrical equipment from one state to another or change the operation mode of the system by operating the disconnector, circuit breaker, and hanging and removing the grounding wire. In order to improve the efficiency of the switching operation, the switching operation can be completed with the help of a switching operation robot;

[0003] For example, announcement number CN118514119A discloses a switch cabinet switching operation robot, comprising an AGV mobile body, a mechanical arm fixedly mounted on one end of the top of the AGV mobile body through a mechanical arm bracket, and a tool box fixedly mounted on the other end of the top of the AGV mobile body; the tool box stores a plurality of execution tools, each of which can be mounted on the front arm of the mechanical arm in a quick-change manner, and is used to open the switch cabinet door and plug in and out the aviation plug. The switch cabinet switching operation robot has a compact structure and a small floor area, and is suitable for switch rooms with limited space;

[0004] However, the existing switch cabinet switching operation robot still has the following shortcomings:

[0005] 1. The existing switch cabinet switching operation robot is not convenient for stable and fast installation and positioning between the robot and the AGV vehicle body, and it is not convenient for disassembly, maintenance and repair between the robot and the AGV vehicle body;

[0006] 2. The existing switch cabinet switching operation robot lacks a supporting mechanism to assist the robot when it moves to the corresponding operation position, which affects the stability of the robot during operation;

[0007] 3. The existing switch cabinet switching operation robot lacks a buffer mechanism to protect the robot from collision when it collides with external objects during movement.

[0008] Therefore, we propose a 10kV switch cabinet switching operation robot using a multi-axis robotic arm to solve the above-mentioned problems. Summary of the invention

[0009] The purpose of the present invention is to provide a 10kV switch cabinet switching operation robot using a multi-axis robotic arm to solve the problems raised in the above-mentioned background technology, such as the inconvenience in stable and rapid installation and positioning between the robot and the AGV trolley body, the inconvenience in disassembly, maintenance and overhaul of the robot and the AGV trolley body, the lack of a supporting mechanism to assist the robot in supporting it when it is moved to the corresponding operating position, which affects the stability of the robot during operation, and the lack of a buffer mechanism to protect the robot from collision when the robot collides with external objects during movement.

[0010] To achieve the above object, the present invention provides the following technical solution: a 10kV switch cabinet switching operation robot using a multi-axis mechanical arm, comprising an AGV trolley body, a multi-axis mechanical arm body, a switching operation robot body installed at the upper end of the multi-axis mechanical arm body, and a bottom plate welded at the lower end of the multi-axis mechanical arm body;

[0011] Wherein, a fixing block is welded at an equal angle at the edge of the upper end of the bottom plate;

[0012] Also includes:

[0013] The mounting mechanism is arranged at an equal angle on the upper end of the AGV trolley body, and the mounting mechanism is used to install and position the multi-axis mechanical arm body between the AGV trolley body, and the mounting mechanism drives the multi-axis mechanical arm body to form a disassembly structure on the upper end of the AGV trolley body;

[0014] A movable strip, which is telescopically connected to the middle part of the AGV trolley body, and a bearing mechanism is arranged on the side of the movable strip away from the AGV trolley body, and the bearing mechanism is symmetrically arranged at the front and rear ends of the AGV trolley body, and the bearing mechanism is used to provide auxiliary support for the AGV trolley body;

[0015] The bearing mechanism includes an electric telescopic rod fixedly mounted on one end of the movable strip away from the AGV trolley body, a bearing plate fixedly connected to the output end of the electric telescopic rod, a vertical plate fixedly connected to the middle of the bearing plate, and an auxiliary rod for connection;

[0016] The anti-collision mechanism comprises a buffer plate with an anti-collision function, a plurality of buffer rods fixedly connected to the inner side of the buffer plate, and a plurality of buffer cylinders fixedly connected to the left and right ends of the AGV trolley body.

[0017] Preferably, an AGV trolley wheel is installed at the lower end of the AGV trolley body, and a servo motor for driving is fixedly installed in the middle of the AGV trolley body.

[0018] Preferably, the mounting mechanism includes a mounting frame for limiting position, a mounting rod fixedly connected to the upper end of the mounting frame, a mounting plate fixedly connected to the upper edge of the AGV trolley body, and a mounting cap for locking and limiting position.

[0019] Preferably, the installation frame is sleeved on the outer surface of the fixing block, and a protrusion is fixed on the inner side of the installation frame so that the protrusion is inserted into the middle part of the fixing block.

[0020] Preferably, the mounting frame is inserted in the middle of the mounting plate, and the mounting plate and the mounting rod are connected by a slot, the outer surface of the mounting rod is threadedly connected with a mounting cap, and the mounting cap is snap-connected to the middle of the upper end of the mounting plate.

[0021] Preferably, the output end of the servo motor is fixedly connected to a gear, and the servo motor drives the gear to rotate in the middle of the AGV vehicle body, the left and right ends of the gear are meshed with movable strips, and the outer side of the movable strip is fixedly connected to a limiting column.

[0022] Preferably, a front-rear sliding structure is formed between the limit column and the auxiliary block, and the auxiliary block is respectively fixedly connected to the inner side walls at the left and right ends of the AGV trolley body.

[0023] Preferably, one end of the movable strip away from the AGV trolley body is fixedly connected to an auxiliary rod, and an up-and-down sliding structure is formed between the auxiliary rod and the vertical plate.

[0024] Preferably, the buffer rod is telescopically connected to the middle part of the buffer cylinder, and a buffer spring is provided between the buffer rod and the buffer cylinder, and the buffer rod drives the buffer plate to form an elastic structure on the outside of the AGV trolley body.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows: the 10kV switch cabinet switching operation robot using a multi-axis mechanical arm is convenient for fixing the multi-axis mechanical arm body on the upper end of the AGV trolley body through the setting of the fixing block and the mounting mechanism, which is convenient for disassembly, assembly, maintenance and repair of the robot. Combined with the setting of the movable strip and the bearing mechanism, when the robot moves to the corresponding operating position, the robot is auxiliary supported as a whole, which greatly improves the stability of the robot during operation and use. Moreover, through the setting of the anti-collision mechanism, it can play a good buffering and anti-collision protection effect when the robot collides with an external object.

[0026] 1. A fixing block and a mounting mechanism are provided. The fixing block and the mounting mechanism are arranged at equal angles at the edge of the upper end of the AGV trolley body. The mounting mechanism includes a mounting frame, a mounting rod, a mounting plate and a mounting cap. Through the setting of the fixing block and the mounting mechanism, the robot can be fixedly mounted on the AGV trolley body very quickly and conveniently, and the disassembly and assembly operation is relatively convenient;

[0027] 2. It is equipped with movable strips and a bearing mechanism, which includes an electric telescopic rod, a bearing plate, a vertical plate and an auxiliary rod. The movable strips and the bearing mechanism are arranged to facilitate auxiliary support of the robot when the robot moves to the corresponding operating position, which greatly improves the stability of the robot during operation;

[0028] 3. An anti-collision mechanism and a buffer spring are provided. The anti-collision mechanism includes a buffer plate, a buffer rod and a buffer cylinder. Through the setting of the anti-collision mechanism and the buffer spring, it can play a good buffering and protective role when colliding with external objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 It is a schematic diagram of the top view structure of the present invention;

[0031] Figure 3 It is a front view structural schematic diagram of the present invention;

[0032] Figure 4 It is a bottom view structural diagram of the AGV trolley body, the multi-axis mechanical arm body, the brake operation robot body and the bottom plate of the present invention;

[0033] Figure 5 For the present invention Figure 1 The enlarged structural diagram at A in the middle;

[0034] Figure 6 This is a schematic diagram of the exploded structure of the fixing block and the mounting frame of the present invention;

[0035] Figure 7 This is a schematic diagram of the exploded structure of the mounting frame, mounting rod, mounting plate and mounting cap of the present invention;

[0036] Figure 8 It is a schematic diagram of the top view of the cross-section structure of the AGV trolley body, gears, movable strips and the bearing plate of the present invention;

[0037] Fig. 9 This is a schematic diagram of the overall structure of the gear and the movable strip of the present invention when viewed from above;

[0038] Fig.10 This is a schematic diagram of the decomposed structure of the limit column and the auxiliary block of the present invention;

[0039] Fig.11 This is a bottom view of the structure of the movable strip, the vertical plate and the bearing plate of the present invention;

[0040] Fig.12 It is a schematic diagram of the overall structure of the anti-collision mechanism of the present invention;

[0041] Fig.13It is a schematic diagram of the front view and cross-section structure of the buffer rod and the buffer tube of the present invention.

[0042] In the figure: 1. AGV trolley body; 2. AGV trolley wheels; 3. Multi-axis robotic arm body; 4. Switching operation robot body; 5. Bottom plate; 6. Fixed block; 7. Mounting mechanism; 8. Mounting frame; 9. Mounting rod; 10. Mounting plate; 11. Mounting cap; 12. Servo motor; 13. Gear; 14. Movable strip; 15. Limiting column; 16. Auxiliary block; 17. Carrying mechanism; 18. Electric telescopic rod; 19. Carrying plate; 20. Vertical plate; 21. Auxiliary rod; 22. Anti-collision mechanism; 23. Buffer plate; 24. Buffer rod; 25. Buffer cylinder; 26. Buffer spring. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] See also Figure 1-Figure 13 , the present invention provides the following technical solutions:

[0045] Embodiment 1: In order to solve the problems in the prior art that it is inconvenient to stably and quickly install and position the robot and the AGV trolley body 1, and it is inconvenient to disassemble, maintain and overhaul the robot and the AGV trolley body 1, this embodiment adopts the following technical scheme: a 10kV switch cabinet switching operation robot using a multi-axis mechanical arm is provided with an AGV trolley body 1, a multi-axis mechanical arm body 3, a switching operation robot body 4 installed on the upper end of the multi-axis mechanical arm body 3, and a bottom plate 5 welded to the lower end of the multi-axis mechanical arm body 3, a fixing block 6 is welded at an equal angle at the edge of the upper end of the bottom plate 5, and a mounting mechanism 7 is arranged at an equal angle at the upper end of the AGV trolley body 1, and the mounting mechanism 7 is used to position the multi-axis mechanical arm body 3 and the AGV trolley body 1. The AGV trolley body 1 is installed and positioned therebetween, and the installation mechanism 7 drives the multi-axis mechanical arm body 3 to form a disassembly structure at the upper end of the AGV trolley body 1. The installation mechanism 7 includes an installation frame 8 for limiting, a mounting rod 9 fixedly connected to the upper end of the installation frame 8, a mounting plate 10 fixedly connected to the upper edge of the AGV trolley body 1, and a mounting cap 11 for locking and limiting. The installation frame 8 is sleeved on the outer surface of the fixed block 6, and a convex block is fixed on the inner side of the installation frame 8, so that the convex block is inserted in the middle of the fixed block 6, the installation frame 8 is inserted in the middle of the installation plate 10, and the installation plate 10 is connected to the installation rod 9 by a slot, and the outer surface of the installation rod 9 is threadedly connected to the installation cap 11, and the installation cap 11 is snap-connected to the middle of the upper end of the installation plate 10, as shown in FIG. Figure 1, Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the multi-axis robot arm body 3 drives the bottom plate 5 to be placed on the upper end of the AGV trolley body 1, and the fixed block 6 and the mounting plate 10 are correspondingly arranged, and then the mounting frame 8 is sleeved on the outer side of the fixed block 6, and the mounting frame 8 is moved at the same time, and the mounting frame 8 drives the protrusion to be engaged in the middle of the fixed block 6, and the mounting frame 8 is inserted into the mounting plate 10, and the mounting frame 8 drives the mounting rod 9 to be connected with the mounting plate 10 by the slot, and then the mounting cap 11 threadedly connected to the outer surface of the mounting plate 10 is rotated so that the mounting cap 11 is engaged in the middle of the upper end of the mounting plate 10, thereby facilitating the limiting of the bottom plate 5 and the AGV trolley body 1, so that the robot can be installed on the upper end of the AGV trolley body 1 very conveniently and quickly, and the multi-axis robot arm body 3 drives the switching operation robot body 4 to perform the switching operation on the 10kV switch cabinet. The multi-axis robot arm body 3 and the switching operation robot body 4 are both existing mature technologies and will not be described in detail;

[0046] Embodiment 2: The existing 10kV switch cabinet switching operation robot using a multi-axis mechanical arm lacks a supporting mechanism to assist in supporting the robot when it moves to the corresponding operating position, which affects the stability of the robot during operation. Therefore, by setting the AGV trolley wheel 2, servo motor 12, gear 13, movable strip 14, limit column 15, auxiliary block 16 and bearing mechanism 17, the middle part of the AGV trolley body 1 is fixedly installed with a servo motor 12 for driving, the output end of the servo motor 12 is fixedly connected with the gear 13, and the servo motor 12 drives the gear 13 to rotate in the middle part of the AGV trolley body 1, the left and right ends of the gear 13 are meshed and connected with the movable strip 14, and the outer side of the movable strip 14 is fixedly connected with the limit column 15, and the movable strip 14 is telescopically connected to the middle part of the AGV trolley body 1. A bearing mechanism 17 is provided on the side of the movable strip 14 away from the AGV trolley body 1, and the bearing mechanism 17 is symmetrically arranged at the front and rear ends of the AGV trolley body 1, and the bearing mechanism 17 is used to assist the AGV trolley body 1. The bearing mechanism 17 includes an electric telescopic rod 18 fixedly installed on the end of the movable strip 14 away from the AGV trolley body 1, a bearing plate 19 fixedly connected to the output end of the electric telescopic rod 18, a vertical plate 20 fixedly connected to the middle of the bearing plate 19 and an auxiliary rod 21 for connection, a front and rear sliding structure is formed between the limit column 15 and the auxiliary block 16, and the auxiliary blocks 16 are respectively fixedly connected to the inner side walls at the left and right ends of the AGV trolley body 1, and the end of the movable strip 14 away from the AGV trolley body 1 is fixedly connected to the auxiliary rod 21, and an up and down sliding structure is formed between the auxiliary rod 21 and the vertical plate 20, such as Figure 1 , Figure 8 , Fig. 9 , Fig.10 and Fig.11 As shown, after the AGV trolley body 1 combines with the AGV trolley wheel 2 to drive the robot to move to the corresponding operating position, the servo motor 12 starts to drive the gear 13 to rotate in the AGV trolley body 1, and the gear 13 is meshed and connected with the movable strip 14, thereby driving the gear 13 to telescopically move toward each other in the AGV trolley body 1, and the movable strip 14 drives the limit column 15 and the auxiliary block 16 to slide, thereby improving the stability of the movable strip 14 during the movement, and the movable strip 14 drives the bearing mechanism 17 to move to the side away from the AGV trolley body 1, and moves to the side as shown in FIG. Figure 1 When the turntable is shown, the electric telescopic rod 18 is started to drive the supporting plate 19 to move downward, so that the supporting plate 19 is placed on the ground. The supporting plate 19 and the movable long strip 14 provide auxiliary support for the entire robot during use, thereby greatly improving the stability of the robot during the actual switching operation. At the same time, the supporting plate 19 drives the vertical plate 20 and the auxiliary rod 21 to slide during the up and down movement, thereby increasing the stability of the supporting plate 19 during the up and down movement.

[0047] Embodiment 3: The existing 10kV switch cabinet switching operation robot using a multi-axis robotic arm lacks a buffer mechanism to protect the robot from collision when it collides with an external object during movement. Therefore, an anti-collision mechanism 22 and a buffer spring 26 are provided. The anti-collision mechanism 22 is symmetrically arranged on the left and right sides of the AGV trolley body 1, and the anti-collision mechanism 22 is composed of a buffer plate 23, a buffer rod 24 and a buffer cylinder 25. The anti-collision mechanism 22 includes a buffer plate 23 with an anti-collision function, a plurality of buffer rods 24 fixedly connected to the inner side of the buffer plate 23, and a plurality of buffer cylinders 25 fixedly connected to the left and right ends of the AGV trolley body 1. The buffer rod 24 is telescopically connected to the middle part of the buffer cylinder 25, and a buffer spring 26 is provided between the buffer rod 24 and the buffer cylinder 25. The buffer rod 24 drives the buffer plate 23 to form an elastic structure on the outside of the AGV trolley body 1, such as Figure 1 , Figure 3 , Fig.12 and Fig.13 As shown, through the setting of the anti-collision mechanism 22, when the buffer plate 23 collides during the movement of the robot, the buffer plate 23 squeezes the buffer rod 24, so that the buffer rod 24 extends and retracts in the buffer tube 25. At this time, the buffer rod 24 squeezes the buffer spring 26, and the buffer spring 26 undergoes elastic deformation, which can play a certain buffering role on the buffer plate 23, and play a good protective role on the entire robot to prevent damage during the collision.

[0048] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in the field. The standard parts used in the present invention can be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt the conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment adopt the conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here.

[0049] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A 10kV switch cabinet switching operation robot using a multi-axis mechanical arm, comprising an AGV vehicle body (1), a multi-axis mechanical arm body (3), a switching operation robot body (4) mounted on the upper end of the multi-axis mechanical arm body (3), and a bottom plate (5) welded to the lower end of the multi-axis mechanical arm body (3); in, A fixing block (6) is welded at an equal angle on the edge of the upper end of the bottom plate (5); It is characterized by further comprising: A mounting mechanism (7), wherein the mounting mechanism (7) is arranged at an equal angle at the upper end of the AGV trolley body (1), and the mounting mechanism (7) is used to install and position the multi-axis mechanical arm body (3) and the AGV trolley body (1), and the mounting mechanism (7) drives the multi-axis mechanical arm body (3) to form a disassembly structure at the upper end of the AGV trolley body (1); A movable strip (14), wherein the movable strip (14) is telescopically connected to the middle part of the AGV trolley body (1), and a bearing mechanism (17) is arranged on the side of the movable strip (14) away from the AGV trolley body (1), wherein the bearing mechanism (17) is symmetrically arranged at the front and rear ends of the AGV trolley body (1), and the bearing mechanism (17) is used to provide auxiliary support to the AGV trolley body (1); The bearing mechanism (17) comprises an electric telescopic rod (18) fixedly mounted on one end of the movable strip (14) away from the AGV vehicle body (1), a bearing plate (19) fixedly connected to the output end of the electric telescopic rod (18), a vertical plate (20) fixedly connected to the middle of the bearing plate (19), and an auxiliary rod (21) for connection; The anti-collision mechanism (22) comprises a buffer plate (23) having an anti-collision function, a plurality of buffer rods (24) fixedly connected to the inner side of the buffer plate (23), and a plurality of buffer cylinders (25) fixedly connected to the left and right ends of the AGV trolley body (1).

2. A 10kV switch cabinet switching operation robot using a multi-axis mechanical arm according to claim 1, characterized in that: An AGV trolley wheel (2) is installed at the lower end of the AGV trolley body (1), and a servo motor (12) for driving is fixedly installed in the middle of the AGV trolley body (1).

3. The 10kV switch cabinet switching operation robot using a multi-axis mechanical arm according to claim 1, characterized in that: The mounting mechanism (7) comprises a mounting frame (8) for limiting position, a mounting rod (9) fixedly connected to the upper end of the mounting frame (8), a mounting plate (10) fixedly connected to the upper edge of the AGV trolley body (1), and a mounting cap (11) for locking and limiting position.

4. The 10kV switch cabinet switching operation robot using a multi-axis mechanical arm according to claim 3 is characterized in that: The installation frame (8) is sleeved on the outer surface of the fixing block (6), and a protrusion is fixed on the inner side of the installation frame (8), so that the protrusion is inserted into the middle part of the fixing block (6).

5. The 10kV switch cabinet switching operation robot using a multi-axis mechanical arm according to claim 4, characterized in that: The mounting frame (8) is plugged into the middle of the mounting plate (10), and the mounting plate (10) is connected to the mounting rod (9) by a slot, the outer surface of the mounting rod (9) is threadedly connected with a mounting cap (11), and the mounting cap (11) is snap-fitted to the middle of the upper end of the mounting plate (10).

6. The 10kV switch cabinet switching operation robot using a multi-axis mechanical arm according to claim 2, characterized in that: The output end of the servo motor (12) is fixedly connected to a gear (13), and the servo motor (12) drives the gear (13) to rotate in the middle of the AGV trolley body (1), and the left and right ends of the gear (13) are meshedly connected to a movable strip (14), and the outer side surface of the movable strip (14) is fixedly connected to a limiting column (15).

7. The 10kV switch cabinet switching operation robot using a multi-axis mechanical arm according to claim 6, characterized in that: A front-to-rear sliding structure is formed between the limiting column (15) and the auxiliary block (16), and the auxiliary block (16) is respectively fixedly connected to the inner side walls at the left and right ends of the AGV trolley body (1).

8. The 10kV switch cabinet switching operation robot using a multi-axis mechanical arm according to claim 1, characterized in that: One end of the movable strip (14) away from the AGV trolley body (1) is fixedly connected to an auxiliary rod (21), and an up-and-down sliding structure is formed between the auxiliary rod (21) and the vertical plate (20).

9. The 10kV switch cabinet switching operation robot using a multi-axis mechanical arm according to claim 1, characterized in that: The buffer rod (24) is telescopically connected to the middle part of the buffer cylinder (25), and a buffer spring (26) is arranged between the buffer rod (24) and the buffer cylinder (25). The buffer rod (24) drives the buffer plate (23) to form an elastic structure on the outside of the AGV trolley body (1).

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