A flexible clamping device for GIS intelligent disassembly and assembly system

Abstract

The present invention discloses a flexible clamping device for a GIS intelligent disassembly and assembly system, comprising a multi-dimensional mobile platform, a multi-dimensional angle deflection platform, a binding mechanism and a clamp module; the multi-dimensional angle deflection platform is installed on the multi-dimensional mobile platform, the binding mechanism is located on the multi-dimensional angle deflection platform, the multi-dimensional mobile platform and the multi-dimensional angle deflection platform cooperate with each other to realize the multi-dimensional movement and multi-dimensional angle deflection of the binding mechanism; the clamp module is detachably mounted on the binding mechanism. The present invention clamps the GIS tank body by binding bands to avoid shaking and bumping due to inertia caused by the rope hanging method, and to avoid deformation or sliding of the tank body caused by the hard clamping method. It can be applied to the clamping of tank bodies with different diameters, does not damage the clamped workpiece, and is easy to operate.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of GIS equipment disassembly and assembly, and in particular to a flexible clamping device for a GIS intelligent disassembly and assembly system. Background Art

[0002] Among high-voltage electrical equipment, Gas Insulated Switchgear (GIS) occupies an important position and is a key core equipment for power transmission and transformation. It has the advantages of compact structure, small footprint, no influence from the external environment, high operating reliability, and long maintenance cycle. Since its introduction in the 1960s, the use of GIS has been increasing. However, there are currently problems in the installation and maintenance of GIS equipment, such as low use of mechanized construction devices and poor performance.

[0003] The main structural part of GIS products is the tank body, which has the characteristics of large volume, heavy weight, complex structure, and diversified size. Conductors are installed inside the tank body, and the inner cavity is filled with high-pressure SF6 insulating gas. In order to ensure the quality of equipment installation and improve the reliability of operation, the equipment installation position requires high accuracy and the flange joints require good sealing.

[0004] At present, GIS is mainly disassembled and assembled using cranes, etc. However, crane operations cannot enter indoor places, and the lifting rope is prone to shaking due to inertia, resulting in inaccurate docking of installation holes affecting installation accuracy, and the end faces of components are easily bumped, resulting in poor air tightness.

[0005] The problems existing in the current construction device are:

[0006] 1. It is not advisable to use a lifting rope for horizontal installation of long tank parts. It is advisable to use clamping or other methods to avoid the asymmetric center of gravity of the workpiece, which is easy to tilt and susceptible to inertial shaking, resulting in easy collision of the workpiece and poor installation position accuracy.

[0007] 2. Since the GIS tank body is a thin-walled aluminum alloy part with a smooth surface, and the outer diameter of the tank is a non-standard circle due to processing technology, it is easy to deform if the clamping force is too large, and it is easy to slide if the clamping force is too small, so there are problems with mechanical hard clamping.

[0008] 3. GIS tanks have various specifications. The main diameter of GIS tanks is between 500mm and 800mm, and the maximum single body weight is close to 1000kg. Most of the tanks are non-straight-through circles, and some are three-way or four-way pipe shapes, and some are spherical shapes. Mechanical hard clamping cannot adapt to the clamping of tanks of different diameters and shapes, and lacks versatility.

[0009] 4. All current clamping devices lack the ability to move to precise positions, making hole alignment difficult. Summary of the invention

[0010] In view of the technical problems existing in the prior art, the present invention provides a flexible clamping device for a GIS intelligent disassembly and assembly system which is easy to operate and does not damage the clamped workpiece.

[0011] In order to solve the above technical problems, the technical solution proposed by the present invention is:

[0012] A flexible clamping device for a GIS intelligent disassembly and assembly system comprises a multi-dimensional mobile platform, a multi-dimensional angle deflection platform, a binding mechanism and a clamp module; the multi-dimensional angle deflection platform is installed on the multi-dimensional mobile platform, the binding mechanism is located on the multi-dimensional angle deflection platform, the multi-dimensional mobile platform and the multi-dimensional angle deflection platform cooperate with each other to realize multi-dimensional directional movement and multi-dimensional angle deflection of the binding mechanism; the clamp module is detachably installed on the binding mechanism.

[0013] As a further improvement of the above technical solution:

[0014] The multi-dimensional mobile platform comprises a mounting bracket, an XY-direction mobile platform and a Z-direction mobile platform; the XY-direction mobile platform is mounted on the Z-direction mobile platform;

[0015] The XY moving platform comprises a first mounting plate, an X-direction sliding block assembly, an X-direction guide rail, an X-direction moving servo motor assembly, a first motor mounting seat assembly, a first screw coupling assembly, a first screw support seat assembly, a first screw nut assembly, an X-direction screw, a first screw mounting seat assembly, and a second mounting plate;

[0016] The upper plane of the first mounting plate and the mounting bracket are bolted and fixed; the X-axis sliding block assembly is installed on the X-axis guide rail for left and right movement in the X-axis; the X-axis guide rail is installed on the lower plane of the first mounting plate for linear movement of the X-axis sliding block assembly; the X-axis moving servo motor assembly is an X-axis driving power unit for driving the X-axis screw rod to rotate forward or reversely; the upper end of the first motor mounting seat assembly is installed on the lower plane of the first mounting plate for fixing the X-axis moving servo motor assembly on the first mounting plate; the first screw coupling assembly is used to connect the X-axis moving servo motor assembly with the X-axis screw rod; the upper ends of the first screw rod support seat assembly and the first screw rod mounting seat assembly are installed on the lower plane of the first mounting plate for fixing the X-axis screw rod; the first screw rod nut assembly is an X-axis screw rod matching part, which is bolted and fixed to the second mounting plate through its connecting plate; when the X-axis screw rod rotates forward or reversely under the drive of the X-axis moving servo motor assembly, the first screw rod nut assembly moves linearly left and right along the X-axis, driving the second mounting plate to move linearly along the X-axis.

[0017] The XY moving platform comprises a Y sliding block assembly, a Y guide rail, a Y moving servo motor assembly, a second motor mounting seat assembly, a second screw coupling assembly, a second screw support seat assembly, a second screw nut assembly, a Y screw, a second screw mounting seat assembly and a third mounting plate;

[0018] The upper plane of the second mounting plate is connected and fixed to the X-axis sliding block assembly; the Y-axis sliding block assembly is installed on the Y-axis guide rail for left and right movement in the Y-axis; the Y-axis guide rail is installed on the lower plane of the second mounting plate for linear movement of the Y-axis sliding block assembly; the Y-axis moving servo motor assembly is a Y-axis driving power unit for driving the Y-axis lead screw to rotate forward or reversely; the upper end of the second motor mounting seat assembly is installed on the lower plane of the second mounting plate for fixing the Y-axis moving servo motor assembly on the second mounting plate; the second screw coupling assembly is used to connect the Y-axis moving servo motor assembly with the Y-axis lead screw; the upper ends of the second screw support seat assembly and the second screw mounting seat assembly are installed on the lower plane of the second mounting plate for fixing the Y-axis lead screw; the second screw nut assembly is a Y-axis lead screw matching part, which is connected and fixed to the third mounting plate through its connecting plate; when the Y-axis lead screw rotates forward or reversely under the drive of the Y-axis moving servo motor assembly, the second screw nut assembly moves linearly left and right along the Y-axis, driving the third mounting plate to move linearly along the Y-axis.

[0019] The Z-axis moving platform includes a vertical lifting electric cylinder assembly and a mounting plate. The lower end flange and flange ball linear bearing seat of the vertical lifting electric cylinder assembly are fixed on the third mounting plate, and the piston rod passes through the center hole of the third mounting plate and is connected and fixed to the mounting plate; when the piston rod of the vertical lifting electric cylinder moves up and down in the Z direction, the mounting plate and the components installed at the lower end are driven to move up and down in the Z direction.

[0020] The multi-dimensional angle deflection platform includes a rotary gear, a fourth mounting plate, an angle servo motor assembly, and a transmission gear set;

[0021] The slewing gear is a slewing support structure, the upper end of its inner ring fixed part is connected and fixed to the mounting plate, and the lower end of the outer ring outer tooth rotating part is bolted and fixed to the fourth mounting plate; the angular servo motor assembly is installed on the fourth mounting plate, and the transmission ratio is converted through the transmission gear set to transmit the power of the angular servo motor assembly to the slewing gear, so that it can rotate 360° around the Z axis.

[0022] The multi-dimensional angle deflection platform also includes a Y-axis rotation power assembly, which includes a mounting circular plate assembly, a mounting plate assembly, a Y-axis rotation servo motor assembly, a connecting plate assembly, a connecting rod assembly, a Y-axis and a deflection support assembly;

[0023] The mounting circular plate assembly is connected and fixed to the fourth mounting plate; the mounting plate assembly is connected and fixed to the mounting circular plate assembly, the Y-axis rotating servo motor assembly is connected and fixed to the mounting plate assembly; the connecting plate assembly is connected to the Y-axis rotating servo motor assembly; the connecting rod assembly is connected to the deflection support assembly; the Y-axis passes through the lower end hole of the mounting circular plate assembly and the mounting hole of the deflection support assembly to connect the two components;

[0024] When the Y-axis rotary servo motor assembly is working, its piston rod drives the connecting plate assembly to move linearly, the connecting plate assembly then drives the connecting rod assembly to move at a deflection angle, and the connecting rod assembly then drives the deflection support assembly to move at a deflection angle around the Y-axis.

[0025] The multi-dimensional angle deflection platform includes an X-direction angle deflection platform, and the X-direction angle deflection platform includes a mounting block, a lining plate, a lower transition mounting plate, an X-axis, a guide rail mounting plate, a guide rail side plate, a sliding block assembly, a guide rail, a linear servo motor assembly, a piston rod, a fisheye bearing, a connecting rod and a crank arm;

[0026] The mounting block is connected and fixed to the deflection support assembly; the liner is connected and fixed to the lower transition mounting plate; the lower transition mounting plate is connected and fixed to the guide rail mounting plate; the X-axis passes through the center hole of the liner and the holes at both ends of the mounting block to connect the two components; the guide rail is connected and fixed to the guide rail mounting plate; the guide rail side plate is connected and fixed to the guide rail mounting plate; the sliding block assembly is installed on the guide rail; the linear servo motor assembly is connected and fixed to the guide rail mounting plate through its mounting support; the piston rod is connected to the crank arm through the fisheye bearing and the connecting rod; the crank arm is connected and fixed to the mounting block;

[0027] When the linear servo motor assembly is working, the piston rod retracts and drives the mounting block to deflect around the X-axis through the fisheye bearing, the connecting rod and the crank arm.

[0028] The strapping mechanism includes a power mechanism mounting frame, an electromagnetic brake module, a strapping servo motor module, an anti-slip pad, a guide member, a guide block, a long shaft, a bearing, a driving gear, a synchronous wheel, a short shaft, a first driven gear, a second driven gear, a third driven gear, and a fourth driven gear;

[0029] The electromagnetic brake module is installed on both sides of the power mechanism mounting frame, and its brake disc is connected to the long shaft through a key; the strap servo motor module is installed on the upper right side of the power mechanism mounting frame through bolts, and its reduction gear is connected to the long shaft through a key; the anti-skid pad is installed at the bottom of the power mechanism mounting frame; the guide member and guide block are installed in the middle of the power mechanism mounting frame, with a guide cutout for guiding the belt in and out; the bearing is a matching part for the long shaft and the short shaft; the driving gear is installed at the upper left position of the power mechanism mounting frame, connected to the strap servo motor module through the long shaft to provide the main force; the synchronous wheel is installed on the long shaft and the short shaft, and its tooth module is the same as the tooth module of the soft strap, which is used to drive the soft strap in and out; the driving gear, the first driven gear, the second driven gear, the third driven gear, and the fourth driven gear are meshed in sequence for power transmission.

[0030] The clamp module comprises a clamp assembly, a locking pin assembly, a connecting shaft assembly, a clamping clamp, a first plum handle bolt, a mounting channel steel, a linear guide rail, a screw rod, a right mounting seat assembly, a left mounting seat assembly, a bakelite handwheel, a third sliding seat, a flange clamp assembly and a hook assembly;

[0031] The locking pin assembly is installed on both ends of the chuck assembly and has a preload spring inside; the middle of the connecting shaft assembly is provided with a rotatable plane bearing, the upper shaft and the lower shaft rotate with each other, the upper flange surface of the connecting shaft assembly is installed on the chuck assembly, the internal shaft body passes through the center hole of the clamping chuck, and the lower shaft is connected to the connecting screw on the hook assembly; the clamping chuck is welded to the mounting channel steel as a whole; the first plum handle bolt is installed in the screw holes on both sides of the clamping chuck, and is screwed in clockwise or loosened counterclockwise Adjust the tightness of the clamping chuck and the connecting shaft assembly to control whether the mounting channel and the lower assembly rotate around the Z phase; the linear guide is installed at the bottom of the mounting channel; the screw rod, right mounting seat assembly, left mounting seat assembly, and bakelite handwheel are installed on the side of the mounting channel; the third sliding seat is installed at the bottom of the linear guide; the flange clamping assembly is respectively connected and fixed with the screw nut on the screw rod and the third sliding seat bolt; the hook assembly is installed and fixed by screwing the upper screw into the center screw hole of the lower end shaft of the connecting shaft assembly.

[0032] The flange clamping assembly comprises a third support assembly, a flange clamping block, a polyurethane pressure head, a second plum handle bolt and a rotating shaft;

[0033] The flange clamping block is placed in the middle slot hole of the third support assembly, and is connected to the third support assembly by inserting the rotating shaft into the right hole thereof; the polyurethane pressure head is installed at the front lower end of the flange clamping block for directly contacting the surface of the clamped component; the second plum blossom handle bolt passes through the waist round through hole of the third support assembly and is connected to the flange clamping block, and the second plum blossom handle bolt rotates forward and reversely to adjust the angle deflection of the flange clamping block around the center of the rotating shaft, thereby realizing the clamping or loosening of the flange workpiece by the clamping block.

[0034] Compared with the prior art, the advantages of the present invention are:

[0035] The present invention installs a flexible clamping device on the GIS intelligent disassembly and assembly system, and uses a strap and other flexible clamping methods to clamp the GIS tank body, so as to avoid shaking and bumping due to inertia caused by the rope hanging method, and to avoid deformation or sliding of the tank body caused by the hard clamping method. By using a strap and other flexible clamping methods, it can be used to clamp tanks of different diameters, without damaging the clamped workpiece, and is easy to operate; it is equipped with a clamp module, adopts a modular splicing method, and can use different modules according to different specifications of products, with good versatility; in addition, the clamp module can be quickly combined and separated with the flexible clamping device, and has the multi-functions of flexible clamping and hoisting of workpieces, and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 1 is a structural diagram of a flexible clamping device of the present invention in an embodiment; (a) is a main view; (b) is a side view.

[0037] Figure 2 It is a structural diagram of the mounting bracket in the embodiment of the present invention.

[0038] Figure 3 It is a structural diagram of an XY moving platform in an embodiment of the present invention.

[0039] Figure 4 The following are structural diagrams of the multi-phase angle deflection platform of the present invention in an embodiment; (a) is a structural diagram of the Z-axis moving platform; (b) is a structural diagram of the Y-axis rotating power assembly; and (c) is a schematic diagram of movement in various directions.

[0040] Figure 5 1 is a structural diagram of an X-axis angle deflection platform in an embodiment of the present invention; (a) is one of the three-dimensional diagrams; (b) is the second three-dimensional diagram; and (c) is a schematic diagram of the X-axis angle deflection.

[0041] Figure 6 The figures are structural diagrams of the strap mechanism of the present invention in an embodiment; (a) is a three-dimensional structural diagram; (b) is an internal structural diagram; and (c) is a soft strap structural diagram.

[0042] Figure 7 The following are structural diagrams of the clamp module of the present invention in an embodiment; (a) is a front view of the clamp module; (b) is a stereoscopic view of the clamp module; and (c) is a structural diagram of the flange clamping assembly.

[0043] Figure 8 Schematic diagram of the movement direction of the flexible clamping device of the present invention in an embodiment; (a) is a schematic diagram of three-dimensional movement and Y and Z direction deflection; (b) is a schematic diagram of X direction deflection; (c) is a schematic diagram of the overall movement direction.

[0044] Fig. 9 This is a diagram showing an embodiment of the flexible clamping device of the present invention in a specific application.

[0045] Fig.10 This is a diagram of the flexible clamping device of the present invention in use during a specific application.

[0046] Fig.11 This is one of the clamping method diagrams of the flexible clamping device of the present invention during specific application.

[0047] Fig.12 This is a second diagram of the clamping method of the flexible clamping device of the present invention in a specific application.

[0048] Fig.13 This is the third diagram of the clamping method of the flexible clamping device of the present invention in a specific application.

[0049] Fig.14 FIG4 is a fourth diagram of the clamping method of the flexible clamping device of the present invention in a specific application.

[0050] Legend: 1. Mounting bracket; 2. Cover; 3. XY moving platform; 301. First mounting plate; 302. X-axis sliding block assembly; 303. X-axis guide rail; 304. X-axis moving servo motor assembly; 305. First motor mounting seat assembly; 306. First screw coupling assembly; 307. First screw support seat assembly; 308. First screw nut assembly; 309. X-axis screw; 310. First screw mounting seat assembly; 311. Stopper; 312. Second mounting plate; 313. Y-axis sliding block assembly; 314. Y-axis guide rail; 315. Y-axis moving servo motor assembly; 316. Second motor mounting seat assembly; 317. Second screw coupling assembly; 318. Second screw support seat assembly; 319. 9. Second screw nut assembly; 320. Y-axis screw; 321. Second screw mounting seat assembly; 322. Infrared sensor assembly; 323. Third mounting plate; 4. Multi-dimensional angle deflection platform; 401. Vertical lifting cylinder assembly; 402. Mounting plate; 403. Rotating gear; 404. Fourth mounting plate; 405. Angle servo motor assembly; 406. Transmission gear set; 407. Y-axis rotation power assembly; 4071. Mounting circular plate assembly; 4072. Mounting plate assembly; 4073. Y-axis rotation servo motor assembly; 4074. Connecting plate assembly; 4075. Connecting rod assembly; 4076. Y-axis; 4077. Deflection support assembly; 5. X-axis angle deflection platform; 501. Mounting block; 502. Lining plate; 503, lower transition mounting plate; 504, X-axis; 505, guide rail mounting plate; 506, guide rail side plate; 507, sliding block assembly; 508, guide rail; 509, linear servo motor assembly; 510, piston rod; 511, fisheye bearing; 512, connecting rod; 513, crank arm; 6, strapping mechanism; 601, power mechanism mounting frame; 602, electromagnetic brake module; 603, strapping servo motor module; 604, anti-slip pad; 605, guide piece; 606, guide block; 607, long shaft; 608, bearing; 609, driving gear; 610, synchronous wheel; 611, short shaft; 612, first driven gear; 613, second driven gear; 614, third driven gear; 615, fourth driven gear ;616, damping rack;617, strap pressure block;618, limit ring;619, soft strap;620, wireless remote control;7, clamp module;701, chuck assembly;702, locking pin assembly;703, connecting shaft assembly;704, clamping chuck;705, first plum handle bolt;706, mounting channel steel;707, linear guide;708, screw rod;709, right mounting seat assembly;710, left mounting seat assembly;711, bakelite handwheel;712, third sliding seat;713, flange clamp assembly;7131, third support assembly;7132, flange clamp pressure block;7133, polyurethane pressure head;7134, second plum handle bolt;7135, rotating shaft;714, hook assembly;8. Flexible lifting platform; 801. Track chassis assembly; 802. Vehicle body assembly; 803. Leg assembly; 804. Control assembly; 805. Display unit; 806. Rotating platform assembly; 807. Main mechanical arm assembly; 808. Flying arm assembly; 809. Visual monitoring unit; 9. Leveling mechanism; 10. Position calibration unit; 11. First tank; 12. Second tank. ; DETAILED DESCRIPTION

[0051] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0052] like Figure 1 As shown, the flexible clamping device for the GIS intelligent disassembly and assembly system of the embodiment of the present invention includes a multi-dimensional mobile platform, a multi-dimensional angle deflection platform 4, a strap mechanism 6 and a clamp module 7; the multi-dimensional angle deflection platform 4 is installed on the multi-dimensional mobile platform, the strap mechanism 6 is located on the multi-dimensional angle deflection platform 4, the multi-dimensional mobile platform and the multi-dimensional angle deflection platform 4 cooperate with each other to realize the multi-dimensional direction movement and multi-dimensional angle deflection of the strap mechanism 6; the clamp module 7 is detachably installed on the strap mechanism 6.

[0053] like Figure 1 As shown, the multi-dimensional mobile platform is connected to the GIS intelligent assembly and disassembly system via the mounting bracket 1. Figure 2 As shown, the mounting bracket 1 is welded from sheet metal parts into an integral box frame structure, the side and back are connected to the leveling mechanism in the GIS intelligent disassembly and assembly system by bolts, and the lower end is used to install other parts of the flexible clamping device. The flexible clamping device is located in the cover 2, which is made of thin plate PVC material for dust prevention of the equipment.

[0054] like Figure 3 As shown, the multi-dimensional mobile platform includes a mounting bracket 1, an XY-direction mobile platform 3 and a Z-direction mobile platform; the XY-direction mobile platform is mounted on the Z-direction mobile platform;

[0055] The XY moving platform 3 is installed at the lower end of the mounting bracket 1 and is used to accurately move the clamping parts in the X and Y directions;

[0056] The XY moving platform 3 includes a first mounting plate 301, an X-direction sliding block assembly 302, an X-direction guide rail 303, an X-direction moving servo motor assembly 304, a first motor mounting seat assembly 305, a first screw coupling assembly 306, a first screw support seat assembly 307, a first screw nut assembly 308, an X-direction screw 309, a first screw mounting seat assembly 310, a stopper 311, a second mounting plate 312, a Y-direction sliding block assembly 313, a Y-direction guide rail 314, a Y-direction moving servo motor assembly 315, a second motor mounting seat assembly 316, a second screw coupling assembly 317, a second screw support seat assembly 318, a second screw nut assembly 319, a Y-direction screw 320, a second screw mounting seat assembly 321, an infrared sensor assembly 322 and a third mounting plate 323;

[0057] The first mounting plate 301, the second mounting plate 312 and the third mounting plate 323 are all made of aviation aluminum, which has good strength and light weight;

[0058] The upper plane of the first mounting plate 301 is connected and fixed with the mounting bracket 1 by bolts; the X-axis sliding block assembly 302 is installed on the X-axis guide rail 303, a total of 4 pieces, for X-axis left and right movement; the X-axis guide rail 303 is installed on the lower plane of the first mounting plate 301, a total of 2 pieces, for the linear movement of the X-axis sliding block assembly 302; the X-axis movement servo motor assembly 304 is the X-axis driving power unit, used to drive the X-axis screw rod 309 to rotate forward or reverse; the upper end of the first motor mounting seat assembly 305 is installed on the lower plane of the first mounting plate 301 The first screw coupling assembly 306 is used to connect the X-direction moving servo motor assembly 304 with the X-direction screw 309; the first screw support seat assembly 307 and the upper end of the first screw mounting seat assembly 310 are bolted to the lower plane of the first mounting plate 301 to fix the X-direction screw 309; the first screw nut assembly 308 is a matching part of the X-direction screw 309, and is bolted and fixed to the second mounting plate 312 through its connecting plate. When the X-direction screw 309 rotates forward or reversely under the drive of the X-direction moving servo motor assembly 304, the first screw nut assembly 308 moves straightly left and right along the X direction, driving the second mounting plate 312 to move straightly along the X direction. The stopper 311 is installed at both ends of the X-direction guide rail 303 and the Y-direction guide rail 314, with a total of 8 pieces, to prevent the X-direction sliding block assembly 302 and the Y-direction sliding block assembly 313 from moving out from both ends.

[0059] The upper plane of the second mounting plate 312 is bolted and fixed to the X-direction sliding block assembly 302; the Y-direction sliding block assembly 313 is mounted on the Y-direction guide rail 314, a total of 4 pieces, for Y-direction left and right movement; the Y-direction guide rail 314 is mounted on the lower plane of the second mounting plate 312, a total of 2 pieces, for the linear movement of the Y-direction sliding block assembly 313; the Y-direction movement servo motor assembly 315 is a Y-direction driving power unit, used to drive the Y-direction lead screw 320 to rotate forward or reverse; the upper end of the second motor mounting seat assembly 316 is mounted on the second mounting plate 31 2, used to bolt the Y-direction moving servo motor assembly 315 to the second mounting plate 312; the second screw coupling assembly 317 is used to connect the Y-direction moving servo motor assembly 315 with the Y-direction screw 320; the second screw support seat assembly 318 and the upper end of the second screw mounting seat assembly 321 are bolted to the lower plane of the second mounting plate 312, used to fix the Y-direction screw 320; the second screw nut assembly 319 is a matching part of the Y-direction screw 320, and is bolted and fixed to the third mounting plate 323 through its connecting plate. When the Y-direction screw 320 rotates forward and reversely under the drive of the Y-direction moving servo motor assembly 315, the second screw nut assembly 319 moves straightly left and right along the Y direction, driving the third mounting plate 323 to move straightly along the Y direction. The infrared sensor assembly 322 is respectively mounted on the side ends of the first mounting plate 301 and the second mounting plate 312, and each is installed with two pieces, which is used to control the movement range of the second mounting plate 312 in the X direction and the third mounting plate 323 in the Y direction.

[0060] The XY movable platform 3 has a simple structure and is easy to operate.

[0061] like Figure 4 As shown in (a), the Z-axis moving platform includes a vertical lifting cylinder assembly 401 and a mounting plate 402. The flange at the lower end of the vertical lifting cylinder assembly 401 and four flange ball linear bearings are fixed to the third mounting plate 323 by bolts, and the piston rod passes through the center hole of the third mounting plate 323 and is connected and fixed to the mounting plate 402 by slot nuts. When the piston rod of the vertical lifting cylinder moves up and down in Z direction, it drives the mounting plate 402 and the components installed at the lower end to move up and down in Z direction. The above Z-axis moving platform has a simple structure and is easy to operate.

[0062] like Figure 4 As shown in (b), the multi-dimensional angle deflection platform 4 includes a rotary gear 403, a fourth mounting plate 404, an angle servo motor assembly 405, a transmission gear set 406, a Y-axis rotation power assembly 407 and an X-axis angle deflection platform 5;

[0063] The slewing gear 403 is a slewing support structure, the upper end of the inner ring fixed part is bolted to the mounting plate 402, and the lower end of the outer ring outer tooth rotating part is bolted to the fourth mounting plate 404; the angle servo motor assembly 405 is bolted to the fourth mounting plate 404, and the transmission ratio is converted through the transmission gear set 406 to transmit the power of the angle servo motor assembly 405 to the slewing gear 403, so that it rotates 360° around the Z axis. The above overall structure is simple and easy to operate.

[0064] like Figure 4 As shown in (b), the Y-axis rotation power assembly 407 includes a mounting circular plate assembly 4071, a mounting plate assembly 4072, a Y-axis rotation servo motor assembly 4073, a connecting plate assembly 4074, a connecting rod assembly 4075, a Y-axis 4076 and a deflection support assembly 4077;

[0065] The mounting circular plate assembly 4071, the mounting plate assembly 4072, the connecting plate assembly 4074, the connecting rod assembly 4075 and the deflection support assembly 4077 are made of aviation aluminum material;

[0066] The mounting circular plate assembly 4071 is connected and fixed to the fourth mounting plate 404 by bolts; the mounting plate assembly 4072 is connected and fixed to the mounting circular plate assembly 4071 by bolts, and the Y-axis rotation servo motor assembly 4073 is connected and fixed to the mounting plate assembly 4072 by bolts; the connecting plate assembly 4074 is connected to the Y-axis rotation servo motor assembly 4073 and the connecting rod assembly 4075 by bolts; the connecting rod assembly 4075 is connected to the deflection support assembly 4077 by bolts; the Y-axis 4076 passes through the lower end hole of the mounting circular plate assembly 4071 and the mounting hole of the deflection support assembly 4077 to connect the two components;

[0067] When the Y-axis rotation servo motor assembly 4073 is working, its piston rod drives the connecting plate assembly 4074 to move linearly, and the connecting plate assembly 4074 drives the connecting rod assembly 4075 to move at a deflection angle, and the connecting rod assembly 4075 drives the deflection support assembly 4077 to move at a deflection angle around the Y-axis 4076.

[0068] The Y-axis rotating power assembly 407 has a simple overall structure and is easy to operate.

[0069] like Figure 5 As shown, the X-direction angle deflection platform 5 includes a mounting block 501, a lining plate 502, a lower transition mounting plate 503, an X-axis 504, a guide rail mounting plate 505, a guide rail side plate 506, a sliding block assembly 507, a guide rail 508, a linear servo motor assembly 509, a piston rod 510, a fisheye bearing 511, a connecting rod 512 and a crank arm 513;

[0070] The mounting block 501, the lining plate 502, the lower transition mounting plate 503, the guide rail mounting plate 505, the guide rail side plate 506 and the crank arm 513 are all made of aviation aluminum;

[0071] The mounting block 501 is connected and fixed to the deflection support assembly 4077 by bolts; the liner 502 is connected and fixed to the lower transition mounting plate 503 by bolts; the lower transition mounting plate 503 is connected and fixed to the guide rail mounting plate 505 by bolts; the X-axis 504 passes through the center hole of the liner 502 and the holes at both ends of the mounting block 501 to connect the two components; the guide rail 508 is connected and fixed to the guide rail mounting plate 505 by bolts, with a total of 2 pieces installed on both sides; the guide rail side plate 506 is connected and fixed to the guide rail mounting plate 505 by bolts, with a total of 2 pieces installed on both ends; the sliding block assembly 507 is installed on the guide rail 508, with a total of 4 or 6 pieces installed; the linear servo motor assembly 509 is connected and fixed to the guide rail mounting plate 505 by bolts through its mounting support; the piston rod 510 is connected to the crank arm 513 through the fisheye bearing 511 and the connecting rod 512; the crank arm 513 is connected and fixed to the mounting block 501 by bolts. When the linear servo motor assembly 509 is working, the piston rod 510 is extended and retracted, and drives the mounting block 501 to deflect around the X-axis 504 through the fisheye bearing 511, the connecting rod 512 and the crank arm 513.

[0072] The X-direction angle deflection platform 5 has a simple overall structure and is easy to operate.

[0073] like Figure 6 As shown, the strap mechanism 6 includes a power mechanism mounting frame 601, an electromagnetic brake module 602, a strap servo motor module 603, an anti-slip pad 604, a guide member 605, a guide block 606, a long shaft 607, a bearing 608, a driving gear 609, a synchronous wheel 610, a short shaft 611, a first driven gear 612, a second driven gear 613, a third driven gear 614, a fourth driven gear 615, a damping rack 616, a strap pressure block 617, a limit ring 618 and a soft strap 619;

[0074] The power mechanism mounting frame 601 is made of aviation aluminum and is the main frame of the strap mechanism 6; the electromagnetic brake module 602 is installed on both sides of the power mechanism mounting frame 601, and its brake disc is connected to the long shaft 607 through a key, with a total of 3 pieces; the strap servo motor module 603 is installed on the upper right side of the power mechanism mounting frame 601 by bolts, and its reduction gear is connected to the long shaft 607 through a key; the anti-skid pad 604 is installed at the bottom of the power mechanism mounting frame 601, which is in contact with the workpiece to be clamped, and is made of polyurethane material, with good anti-skid and certain elasticity; the guide member 605 and the guide block 606 are made of aluminum alloy, installed in the middle of the power mechanism mounting frame 601, with a guide cutout for guiding the soft strap 619 in and out; the long shaft 607 is installed on the upper part of the power mechanism mounting frame 601, with a total of 2 pieces, for the installation and fixation of the gear; the bearing 608 is a long The shaft 607 and the short shaft 611 are matched to ensure that the rotation friction is small; the driving gear 609 is installed at the upper left position of the power mechanism mounting frame 601, and is connected to the strap servo motor module 603 through the long shaft 607 to provide the main power; the synchronous wheel 610 is installed on the long shaft 607 and the short shaft 611, a total of 5 pieces, and its tooth module is the same as the tooth module of the soft strap 619, which is used to drive the soft strap 619 in and out; the first driven gear 612, the second driven gear 613, the third driven gear 614, and the fourth driven gear 615 are meshed in sequence, and the first driven gear 612 is meshed with the driving gear 609 and is used for power transmission under the drive of the driving gear 609; the damping rack 616 and the strap pressure block 617 are used to fix one end of the soft strap 619; the limit ring 618 is a matching part for the driving gear 609 and each driven gear group, and is used to determine the gear installation position.

[0075] During operation, the strap servo motor module 603 is started, driving the driving gear 609 to rotate. The driving gear 609 moves synchronously through tooth meshing with the first driven gear 612, the second driven gear 613, the third driven gear 614, and the fourth driven gear 615, and then drives the synchronous wheel 610 to move. The synchronous wheel 610 rotates clockwise or counterclockwise according to the forward and reverse rotation of the strap servo motor module 603.

[0076] When in use, one end of the soft strap 619 is placed on the damping rack 616, fixed with the strap pressing block 617, and the other end is inserted into the hole of the guide member 605. When the soft strap 619 contacts the synchronous wheel 610, it will rotate clockwise or counterclockwise along the synchronous wheel 610 through tooth meshing, thereby realizing the flexible clamping or loosening of the workpiece by the soft strap 619. The above-mentioned strap mechanism 6 has a simple overall structure and is easy to operate, can realize non-destructive clamping of the workpiece, and is suitable for clamping workpieces of different shapes and types.

[0077] like Figure 7As shown in (a)-(b), the clamp module 7 is mainly used for vertical installation of GIS tanks and hoisting of special-shaped parts, so that the clamping device has multi-scenario application capabilities, meets the installation requirements of different products, and has versatility.

[0078] Specifically, the clamp module 7 includes a clamp assembly 701, a locking pin assembly 702, a connecting shaft assembly 703, a clamping clamp 704, a first plum blossom handle bolt 705, a mounting channel steel 706, a linear guide 707, a screw rod 708, a right mounting seat assembly 709, a left mounting seat assembly 710, a bakelite handwheel 711, a third sliding seat 712, a flange clamp assembly 713, and a hook assembly 714; the clamp assembly 701 is located at the top of the clamp module 7, and the locking pin assembly 702 is installed on both ends of the clamp assembly 701, and has a pre-tightening spring inside, which can be pulled outward; the connecting shaft assembly 703 has a rotatable plane bearing in the middle position, and the upper end shaft and the lower end shaft can rotate with each other. The upper end flange surface of the connecting shaft assembly 703 is installed on the clamp assembly 701, and the internal shaft body passes through the center hole of the clamping clamp 704. The lower end shaft is connected to the connecting screw on the hook assembly 714 706, and the third sliding seat 712 is installed at the bottom of the linear guide rail 707; the flange clamping assembly 713 is respectively connected and fixed with the screw nut on the screw rod 708 and the third sliding seat 712; the hook assembly 714 is installed and fixed by screwing the upper screw into the center screw hole of the lower end shaft of the connecting shaft assembly 703.

[0079] like Figure 7 As shown in (c), the flange clamping assembly 713 includes a third support assembly 7131, a flange clamping pressing block 7132, a polyurethane pressing head 7133, a second plum handle bolt 7134 and a rotating shaft 7135;

[0080] The flange clamping block 7132 is placed in the middle slot hole of the third support assembly 7131, and is connected to the third support assembly 7131 by inserting the rotating shaft 7135 into the right hole thereof; the polyurethane pressure head 7133 is installed at the front lower end of the flange clamping block 7132, and is used to directly contact the surface of the clamped component, and it has a certain elasticity to prevent damage to the clamped surface; the second plum blossom handle bolt 7134 passes through the waist-round through hole of the third support assembly 7131, and is connected to the flange clamping block 7132. The second plum blossom handle bolt 7134 rotates forward and reversely to adjust the angle of the flange clamping block 7132 around the center of the rotating shaft 7135, thereby realizing the clamping or loosening of the flange workpiece by the flange clamping block 7132.

[0081] During operation, first pull the locking pin assembly 702 outward, and then insert the clamp assembly 701 into the lower slot of the binding mechanism 6. After it is in place, the locking pin assembly 702 is clamped under the action of the spring force; the hand-cranked bakelite handwheel 711 rotates, driving the screw rod 708 to rotate, and the screw rod nut drives the flange clamping assembly 713 and the third sliding seat 712 to move in a straight line on the linear guide rail 707. Since the left and right sections of the screw rod 708 are positive wire and negative wire structures respectively, the flange clamping assemblies 713 on both sides clamp and separate in the same direction and in the opposite direction along the linear guide rail 707, and adjust the clamping position according to the size of the flange. After it is in place, it is locked with the locking device on the third sliding seat 712; operate the second plum blossom handle bolt 7134 to make the flange clamping block 7132 move downward to clamp the flange.

[0082] like Figure 8 As shown, the flexible clamping device can move in 6 directions with degrees of freedom, such as Figure 8 The X, Y, and Z linear movements shown in (a) and the rotations around the Y axis 4076 and the Z axis; Figure 8 (b) shows a rotation about the X-axis 504; wherein the tank moves in the direction of Figure 8 As shown in (c), the movement accuracy is less than 0.1mm and the deflection accuracy is less than 0.25°.

[0083] Directions:

[0084] like Fig. 9The figure shows a GIS intelligent disassembly and assembly system, including a flexible lifting platform 8 and a leveling mechanism 9; the flexible lifting platform 8 includes a crawler chassis assembly 801, a vehicle body assembly 802, a leg assembly 803, a control assembly 804, a display unit 805, a rotary platform assembly 806, a main mechanical arm assembly 807 and a flying arm assembly 808; the vehicle body assembly 802 is installed on the crawler chassis assembly 801; the leg assembly 803 is located on the periphery of the vehicle body assembly 802; the rotary platform assembly 80 6 is installed on the vehicle body assembly 802; the main mechanical arm assembly 807 is installed on the rotary platform assembly 806; the flying arm assembly 808 is installed at the front end of the main mechanical arm assembly 807; the leveling unit 9 is installed at the front end of the flying arm assembly 808, and is used to adjust the flexible clamping device to be always perpendicular to the ground plane when the main mechanical arm assembly 807 and the flying arm assembly 808 perform angular deflection movements; wherein the flexible clamping device is located at the front end of the leveling mechanism 9, and is used to achieve flexible clamping of the GIS tank body.

[0085] like Fig. 9 As shown, operate the control assembly 804, with the end face of the flying arm assembly 808 facing downward, assemble the leveling mechanism 9 and the flexible clamping device into one body and transport them to the docking position with a special trolley, install the mounting shaft of the leveling mechanism 9 on the mounting welding plate slot of the leveling mechanism 9, insert the rectangular connecting pipe into the front end slot of the flying arm assembly 808, and then insert the connecting pin shaft of the leveling mechanism 9 into the pin hole to connect and fix the leveling mechanism 9 and the flying arm assembly 808.

[0086] like Fig.10 As shown, the equipment operation is divided between the operator and the assembler. The operator is responsible for the operation of the intelligent flexible lifting platform 8, and the assembler is responsible for the operation of the GIS flexible clamping device.

[0087] First, the position calibration unit 10 is installed on the first tank body 11 to be assembled and the second tank body 12 connected thereto, and then the operator controls the control assembly 804, the rotating platform assembly 806, the main robotic arm assembly 807, and the flying arm assembly 808 to move quickly and over a large range, so that the GIS flexible clamping device quickly approaches the first tank body 11.

[0088] One end of the soft strap 619 is fixed to the strap mechanism 6, and the other end is manually operated by the operator to make the soft strap 619 wrap around the first tank body 11 and insert it into the guide hole of the strap mechanism 6. Then the assembler operates the GIS flexible clamping wireless remote control 620, and the gear mechanism in the strap mechanism 6 moves clockwise. The soft strap 619 moves to the right under the drive of the gear to clamp the first tank body 11. Fig.10 shown.

[0089] After the clamping is completed, the strapping mechanism 6 sends a clamping signal according to the set torque value and is synchronously displayed on the display unit 805 and the GIS flexible clamping wireless remote control 620 display screen, prompting the operator and assembler to complete the clamping.

[0090] At this time, the operator controls the control assembly 804 to quickly move the clamped first tank body 11 to the vicinity of the second tank body 12. The GIS flexible clamping device is equipped with a visual monitoring unit 809, which can clearly display the on-site work scene on the display device to prevent accidents caused by operating errors. At the same time, the position calibration unit 10 installed on the first tank body 11 and the second tank body 12 can synchronize the spatial coordinates and video details of the two on the display unit 805 and the display screen of the GIS flexible clamping wireless remote control 620. The display unit 805 can display the position coordinate deviation of the two workpieces, and display them in virtual simulation graphics at the same time, so that the position status of the two workpieces can be intuitively grasped, and the operator can be guided to operate the equipment.

[0091] When the first tank 11 approaches the area of ​​the second tank 12, the display unit 805 prompts the entry area information, and the operator stops the equipment control at this time, and the assembler controls the GIS flexible clamping device wireless remote controller 620 to perform precise control of the GIS flexible clamping device.

[0092] The present invention installs a flexible clamping device on the GIS intelligent disassembly and assembly system, and adopts a binding belt and other flexible clamping methods (such as Figure 11-Figure 14 The GIS tank body is clamped by a flexible clamp (as shown in the figure) to avoid shaking and bumping due to inertia caused by the rope lifting method, and to avoid deformation or sliding of the tank body caused by the hard clamping method. By adopting straps and other flexible clamping methods, it can be used to clamp tanks of different diameters, without damaging the clamped workpiece, and is easy to operate; it is equipped with a clamp module 7, which adopts a modular splicing method and can use different modules according to different specifications of products, with good versatility; in addition, the clamp module 7 can be quickly combined and separated with the flexible clamping device, and has the multi-functions of flexible clamping and hoisting of workpieces, and has a wide range of applications.

[0093] The flexible clamping device of the present invention is driven by a servo motor, with a moving accuracy of less than 0.1 mm. It can move in six directions with degrees of freedom (X, Y, Z linear movement and X, Y, Z axial rotation), and can accurately ensure the installation and docking of components at any position, thereby improving the accuracy of alignment.

[0094] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0095] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0096] In the present invention, unless otherwise clearly specified and limited, the terms "assemble", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0097] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

1. A flexible clamping device for a GIS intelligent disassembly and assembly system, characterized in that: The multi-dimensional mobile platform comprises a multi-dimensional angle deflection platform (4), a strapping mechanism (6) and a clamping module (7); the multi-dimensional angle deflection platform (4) is mounted on the multi-dimensional mobile platform, the strapping mechanism (6) is located on the multi-dimensional angle deflection platform (4), and the multi-dimensional mobile platform and the multi-dimensional angle deflection platform (4) cooperate with each other to realize the multi-dimensional direction movement and multi-dimensional angle deflection of the strapping mechanism (6); the clamping module (7) is detachably mounted on the strapping mechanism (6); The multi-dimensional mobile platform comprises a mounting bracket (1), an XY-direction mobile platform (3) and a Z-direction mobile platform; the XY-direction mobile platform (3) is mounted on the Z-direction mobile platform; The XY moving platform (3) comprises a first mounting plate (301), an X-direction sliding block assembly (302), an X-direction guide rail (303), an X-direction moving servo motor assembly (304), a first motor mounting seat assembly (305), a first screw coupling assembly (306), a first screw support seat assembly (307), a first screw nut assembly (308), an X-direction screw (309), a first screw mounting seat assembly (310), and a second mounting plate (312); The upper plane of the first mounting plate (301) and the mounting bracket (1) are connected and fixed by bolts; the X-direction sliding block assembly (302) is mounted on the X-direction guide rail (303) for left and right movement in the X-direction; the X-direction guide rail (303) is mounted on the lower plane of the first mounting plate (301) for linear movement of the X-direction sliding block assembly (302); the X-direction moving servo motor assembly (304) is an X-direction driving power unit for driving the X-direction lead screw (309) to rotate forward or reverse; the upper end of the first motor mounting seat assembly (305) is mounted on the lower plane of the first mounting plate (301) for fixing the X-direction moving servo motor assembly (304) on the first mounting plate (301); the first lead screw coupling The assembly (306) is used to connect the X-direction moving servo motor assembly (304) with the X-direction screw rod (309); the upper ends of the first screw rod support seat assembly (307) and the first screw rod mounting seat assembly (310) are mounted on the lower plane of the first mounting plate (301) and are used to fix the X-direction screw rod (309); the first screw rod nut assembly (308) is a matching part of the X-direction screw rod (309), and is bolted and fixed to the second mounting plate (312) through its connecting plate; when the X-direction screw rod (309) rotates forward or reversely under the drive of the X-direction moving servo motor assembly (304), the first screw rod nut assembly (308) moves linearly leftward and rightward along the X-direction, driving the second mounting plate (312) to move linearly along the X-direction; The clamp module (7) comprises a clamping head assembly (701), a locking pin assembly (702), a connecting shaft assembly (703), a clamping clamping head (704), a first plum blossom handle bolt (705), a mounting channel steel (706), a linear guide rail (707), a screw rod (708), a right mounting seat assembly (709), a left mounting seat assembly (710), a bakelite hand wheel (711), a third sliding seat (712), a flange clamping assembly (713) and a hook assembly (714); The locking pin assembly (702) is installed on both ends of the clamp assembly (701) and has a preload spring inside; the middle position of the connecting shaft assembly (703) is provided with a rotatable plane bearing, the upper end shaft and the lower end shaft rotate with each other, the upper end flange surface of the connecting shaft assembly (703) is installed on the clamp assembly (701), the internal shaft body passes through the center hole of the clamping clamp (704), and the lower end shaft is connected to the connecting screw rod on the hook assembly (714); the clamping clamp (704) and the mounting channel steel (706) are welded as a whole; the first plum handle bolt (705) is installed in the screw holes on both sides of the clamping clamp (704), and the clamping clamp (704) and the connecting shaft are adjusted by screwing in clockwise direction or loosening in counterclockwise direction. The tightness of the shaft assembly (703) is controlled to control whether the mounting channel steel (706) and the lower assembly rotate around the Z phase; the linear guide rail (707) is installed at the lower part of the mounting channel steel (706); the screw rod (708), the right mounting seat assembly (709), the left mounting seat assembly (710), and the bakelite handwheel (711) are installed at the side of the mounting channel steel (706); the third sliding seat (712) is installed at the lower part of the linear guide rail (707); the flange clamping assembly (713) is respectively connected and fixed with the screw nut on the screw rod (708) and the third sliding seat (712); the hook assembly (714) is installed and fixed by screwing the upper screw into the central screw hole of the lower end shaft of the connecting shaft assembly (703).

2. The flexible clamping device for GIS intelligent disassembly and assembly system according to claim 1 is characterized in that: The XY moving platform (3) comprises a Y-direction sliding block assembly (313), a Y-direction guide rail (314), a Y-direction moving servo motor assembly (315), a second motor mounting seat assembly (316), a second screw coupling assembly (317), a second screw support seat assembly (318), a second screw nut assembly (319), a Y-direction screw (320), a second screw mounting seat assembly (321) and a third mounting plate (323); The upper plane of the second mounting plate (312) is connected and fixed to the X-direction sliding block assembly (302); the Y-direction sliding block assembly (313) is mounted on the Y-direction guide rail (314) for left-right movement in the Y-direction; the Y-direction guide rail (314) is mounted on the lower plane of the second mounting plate (312) for linear movement of the Y-direction sliding block assembly (313); the Y-direction moving servo motor assembly (315) is a Y-direction driving power unit for driving the Y-direction lead screw (320) to rotate in the forward or reverse direction; the upper end of the second motor mounting seat assembly (316) is mounted on the lower plane of the second mounting plate (312) for fixing the Y-direction moving servo motor assembly (315) on the second mounting plate (312); the second lead screw coupling assembly (316) is mounted on the lower plane of the second mounting plate (312) for fixing the Y-direction moving servo motor assembly (315) on the second mounting plate (312); The shaft assembly (317) is used to connect the Y-direction moving servo motor assembly (315) with the Y-direction lead screw (320); the upper ends of the second lead screw support seat assembly (318) and the second lead screw mounting seat assembly (321) are mounted on the lower plane of the second mounting plate (312) and are used to fix the Y-direction lead screw (320); the second lead screw nut assembly (319) is a matching part of the Y-direction lead screw (320) and is connected and fixed to the third mounting plate (323) through its connecting plate; when the Y-direction lead screw (320) rotates forward or reversely under the drive of the Y-direction moving servo motor assembly (315), the second lead screw nut assembly (319) moves linearly leftward and rightward along the Y-direction, driving the third mounting plate (323) to move linearly along the Y-direction.

3. The flexible clamping device for GIS intelligent disassembly and assembly system according to claim 2 is characterized in that: The Z-direction moving platform comprises a vertical lifting electric cylinder assembly (401) and a mounting plate (402); the flange at the lower end of the vertical lifting electric cylinder assembly (401) and the flange ball linear bearing seat are fixed on a third mounting plate (323); the piston rod passes through the center hole of the third mounting plate (323) and is connected and fixed to the mounting plate (402); when the piston rod of the vertical lifting electric cylinder moves up and down in the Z direction, the mounting plate (402) and the components installed at the lower end are driven to move up and down in the Z direction.

4. The flexible clamping device for the GIS intelligent disassembly and assembly system according to claim 3 is characterized in that: The multi-dimensional angle deflection platform (4) comprises a rotary gear (403), a fourth mounting plate (404), an angle servo motor assembly (405), and a transmission gear set (406); The slewing gear (403) is a slewing support structure, wherein the upper end of the inner ring fixed part is connected and fixed to the mounting plate (402), and the lower end of the outer ring outer tooth rotating part is bolted and fixed to the fourth mounting plate (404); the angular servo motor assembly (405) is mounted on the fourth mounting plate (404), and the transmission ratio is converted through the transmission gear set (406), so that the power of the angular servo motor assembly (405) is transmitted to the slewing gear (403), so that it rotates 360 degrees around the Z axis.

5. The flexible clamping device for the GIS intelligent disassembly and assembly system according to claim 4 is characterized in that: The multi-dimensional angle deflection platform (4) further comprises a Y-axis rotation power assembly (407), wherein the Y-axis rotation power assembly (407) comprises a mounting circular plate assembly (4071), a mounting plate assembly (4072), a Y-axis rotation servo motor assembly (4073), a connecting plate assembly (4074), a connecting rod assembly (4075), a Y-axis (4076) and a deflection support assembly (4077); The mounting circular plate assembly (4071) is connected and fixed to the fourth mounting plate (404); the mounting plate assembly (4072) is connected and fixed to the mounting circular plate assembly (4071); the Y-axis rotation servo motor assembly (4073) is connected and fixed to the mounting plate assembly (4072); the connecting plate assembly (4074) is connected to the Y-axis rotation servo motor assembly (4073) and the connecting rod assembly (4075) by bolts; the connecting rod assembly (4075) is connected to the deflection support assembly (4077); the Y-axis (4076) passes through the lower end hole of the mounting circular plate assembly (4071) and the mounting hole of the deflection support assembly (4077) to connect the two components; When the Y-axis rotation servo motor assembly (4073) is working, its piston rod drives the connecting plate assembly (4074) to move linearly, and the connecting plate assembly (4074) drives the connecting rod assembly (4075) to move at a deflection angle, and the connecting rod assembly (4075) drives the deflection support assembly (4077) to move at a deflection angle around the Y axis (4076).

6. The flexible clamping device for the GIS intelligent disassembly and assembly system according to claim 5 is characterized in that: The multi-dimensional angle deflection platform (4) comprises an X-direction angle deflection platform, and the X-direction angle deflection platform comprises a mounting block (501), a lining plate (502), a lower transition mounting plate (503), an X-axis (504), a guide rail mounting plate (505), a guide rail side plate (506), a sliding block assembly (507), a guide rail (508), a linear servo motor assembly (509), a piston rod (510), a fisheye bearing (511), a connecting rod (512), and a crank arm (513); The mounting block (501) is connected and fixed to the deflection support assembly (4077); the lining plate (502) is connected and fixed to the lower transition mounting plate (503); the lower transition mounting plate (503) is connected and fixed to the guide rail mounting plate (505); the X-axis (504) passes through the center hole of the lining plate (502) and the two end holes of the mounting block (501) to connect the two components; the guide rail (508) is connected and fixed to the guide rail mounting plate (505); the guide rail side plate (506) is connected and fixed to the guide rail mounting plate (505); the sliding block assembly (507) is installed on the guide rail (508); the linear servo motor assembly (509) is connected and fixed to the guide rail mounting plate (505) through its mounting support; the piston rod (510) is connected to the crank arm (513) through the fisheye bearing (511) and the connecting rod (512); the crank arm (513) is connected and fixed to the mounting block (501); When the linear servo motor assembly (509) is working, the piston rod (510) moves in a telescopic manner, and drives the mounting block (501) to make an angular deflection around the X-axis (504) through the fisheye bearing (511), the connecting rod (512) and the crank arm (513).

7. The flexible clamping device for the GIS intelligent disassembly and assembly system according to claim 6 is characterized in that: The strap mechanism (6) comprises a power mechanism mounting frame (601), an electromagnetic brake module (602), a strap servo motor module (603), an anti-slip pad (604), a guide member (605), a guide block (606), a long shaft (607), a bearing (608), a driving gear (609), a synchronous wheel (610), a short shaft (611), a first driven gear (612), a second driven gear (613), a third driven gear (614), and a fourth driven gear (615); The electromagnetic brake module (602) is installed on both sides of the power mechanism mounting frame (601), and its brake disc is connected to the long shaft (607) through a key; the strap servo motor module (603) is installed on the upper right side of the power mechanism mounting frame (601) through bolts, and its reduction gear is connected to the long shaft (607) through a key; the anti-slip pad (604) is installed at the bottom of the power mechanism mounting frame (601); the guide member (605) and the guide block (606) are installed in the middle of the power mechanism mounting frame (601), and have a guide cutout for guiding the strap in and out; the bearing (608) is the connection between the long shaft (607) and the short shaft ( 611) matching parts; the driving gear (609) is installed at the upper left position of the power mechanism mounting frame (601), and is connected to the strap servo motor module (603) through the long shaft (607) to provide the main power; the synchronous wheel (610) is installed on the long shaft (607) and the short shaft (611), and its tooth module is the same as the tooth module of the soft strap (619), and is used to drive the soft strap (619) to move in and out; the driving gear (609), the first driven gear (612), the second driven gear (613), the third driven gear (614), and the fourth driven gear (615) are meshed in sequence for power transmission.

8. The flexible clamping device for the GIS intelligent disassembly and assembly system according to claim 1 is characterized in that: The flange clamping assembly (713) comprises a third support assembly (7131), a flange clamping pressing block (7132), a polyurethane pressing head (7133), a second plum handle bolt (7134) and a rotating shaft (7135); The flange clamping block (7132) is placed in the middle slot hole of the third support assembly (7131) and is connected to the third support assembly (7131) by inserting the rotating shaft (7135) into the right hole thereof; the polyurethane pressure head (7133) is installed at the front lower end of the flange clamping block (7132) and is used to directly contact the surface of the clamped component; the second plum blossom handle bolt (7134) passes through the waist round through hole of the third support assembly (7131) and is connected to the flange clamping block (7132); the second plum blossom handle bolt (7134) rotates forward and reversely to adjust the angle deflection of the flange clamping block (7132) around the center of the rotating shaft (7135), thereby realizing the clamping or loosening of the flange workpiece by the clamping block (7132).

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