GIS intelligent disassembly and assembly system

Abstract

The invention discloses a GIS intelligent disassembly and assembly system which comprises a flexible lifting platform, a leveling unit and a flexible clamping unit. The flexible lifting platform comprises a crawler chassis assembly, a vehicle body assembly, a supporting leg assembly, a control assembly, a rotary platform assembly, a main mechanical arm assembly and a fly arm assembly. The vehicle body assembly is mounted on the crawler chassis assembly; the supporting leg assembly is located on the peripheral side of the vehicle body assembly. The rotary platform assembly is mounted on the vehicle body assembly; the main mechanical arm assembly is mounted on the rotary platform assembly; the fly arm assembly is mounted at the front end of the main mechanical arm assembly; the leveling unit is mounted at the front end of the fly boom assembly; the flexible clamping unit is located at the front end of the leveling unit and used for achieving flexible clamping of the GIS tank. According to the invention, high mechanization and automation of GIS installation operation can be realized, the efficiency of GIS disassembly and assembly operation is improved, the labor intensity of workers is reduced, the accuracy of installation and maintenance operation is improved, and the operation risk is reduced.

Description

Technical Field

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

[0002] With the development of the electric power industry, power grid construction faces severe challenges of "large-scale, fast-paced, and high difficulty". Comprehensively promoting mechanized construction is a practical need to actively respond to the large-scale construction tasks of power grids. Realizing a mechanized and intelligent construction model is a key measure to implement the requirements of high-quality development and achieve better and higher quality and efficiency goals, and it is a strategic need for building a new power system.

[0003] 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 problems such as low utilization of mechanized construction equipment and poor performance in the installation and maintenance of GIS equipment. Especially for the disassembly and assembly of GIS tanks, due to the large size and heavy weight of the product and the lack of special mechanized and intelligent equipment, installation and maintenance are difficult.

[0004] At present, the installation and maintenance of GIS equipment are mainly carried out by cranes (cranes) or hoists. During installation, the operator first binds the GIS components with ropes, then hooks the ropes with a crane (crane) or hoist and slowly lifts them. When it is found that the center of gravity of the components is asymmetrically tilted after lifting, the components fall to the ground and the ropes are readjusted before lifting them again. When using a crane (crane), the installer communicates with the operator through an intercom; when using a hoist, the operator controls the lifting operation by himself. After the installation components are moved to the appropriate installation position, multiple people need to collaborate to apply external force to the installation components by tying ropes on the installation components or directly touching the installation components to adjust the position. After aligning the installation position, fix them with bolts to complete the installation.

[0005] When using a crane (hoist) or a gourd crane for operations, there are disadvantages such as poor safety and negative impact on the disassembly and assembly process (inability to accurately adjust the position, damage to equipment, etc.).

[0006] In recent years, relevant units have conducted research and development on the disassembly and assembly of GIS tanks. The basic technical solution is: using a movable crawler as a carrying platform, installing an upwardly retractable mechanical arm or robot on the crawler platform, and installing a hydraulic clamping manipulator at the front end of the mechanical arm or robot. The above solutions all have the following disadvantages: 1. The robotic arm can only be extended upwards, not horizontally. Affected by the height of the indoor space, the working radius of the robotic arm is limited, making it difficult to cover the GIS disassembly and assembly range; the robotic arm is too short and the operating radius is too small, making it completely impractical.

[0007] 2. The existing equipment manipulator adopts hydraulic drive to clamp. Since the GIS tank body is a thin-walled aluminum alloy part with a smooth surface, and the outer diameter of the tank body is a non-standard circle due to the 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, with diameters ranging from 300mm to 800mm. Most of the tanks are non-straight circles, with three-way or four-way pipe shapes and spherical shapes. Mechanical hard clamping cannot adapt to the clamping of tanks of different diameters and shapes, and lacks versatility.

[0009] 4. When operating the equipment, the operator first controls the equipment to clamp the workpiece on the ground, and then controls the clamped workpiece to complete precise high-altitude docking. If the high-altitude docking distance is too large, the equipment operator cannot see the high-altitude docking position status, making operation difficult.

[0010] As mentioned above, the GIS tank disassembly and assembly equipment in the prior art has the following shortcomings: 1. Existing mechanical equipment cannot be used in narrow spaces GIS is used both indoors and outdoors. For GIS stations that operate indoors, most of the existing GIS switch rooms are not equipped with electric cranes. Instead, they only have lifting rings pre-installed on the roof. When the lifting rings are in use, they cannot be moved, and because they are on the roof, their convenience is greatly reduced. Due to the small indoor space, large cranes cannot be used to enter the room for lifting operations, and there is a lack of mechanized construction equipment.

[0011] 2. The existing disassembly and assembly operation methods are not safe When using a pole or scaffolding to lift GIS for disassembly and assembly, it is difficult to choose the support point of the pole, and the scaffolding is too thin to ensure the load-bearing capacity; the GIS air chamber is prone to shaking and safety cannot be guaranteed; and these operating equipment are generally rented from outside. These temporary equipment lack regular and professional safety testing and monitoring, and the reliability of the equipment cannot be guaranteed.

[0012] 3. The existing mechanical disassembly and assembly operation method has a negative impact on the disassembly and assembly process of GIS equipment When using a crane for lifting operations, especially when aligning the contact surface of the GIS air chamber, the lifting equipment needs to be accurately adjusted in all directions. During this process, the natural shaking of the sling will greatly affect the reliability and accuracy of the alignment. Inaccurate alignment of the GIS air chamber contact surface will cause the flange sealing surface to collide or rub during disassembly or assembly, the sealing rubber ring to twist or shift, and the contact surface may produce uneven internal stress, which greatly increases the risk of quality hazards and labor intensity.

[0013] 4. The existing disassembly and assembly operation method has high labor intensity Due to the heavy weight and complex shape of GIS product components and the lack of professional automated disassembly and assembly equipment, a large number of operations are carried out by primitive methods such as manual lifting and shoulder carrying, which are labor-intensive and inefficient.

[0014] 5. Existing equipment has many defects and is not practical.

[0015] The existing robotic arm can only be extended and retracted upwards. Due to the height limitation of the indoor space, the working radius of the robotic arm is difficult to cover the disassembly and assembly range of GIS components. The mechanical hard clamping of the existing equipment cannot adapt to the clamping of tanks of different diameters and shapes, and lacks versatility. The existing equipment is difficult to operate and it is difficult to achieve precise docking.

[0016] 6. Existing equipment is difficult to install During the use of the equipment, the mechanical arm will form a certain angle with the ground. If the front clamping component is directly fixed on the mechanical arm, an angle will also be formed after clamping. During the movement of the mechanical arm, the angle with the ground will change all the time. The GIS tank body needs to be kept horizontal with the ground when clamping to ensure that the installed accessories inside will not loosen or move. During installation, the two flange surfaces of the tank body must be parallel to each other before installation. Otherwise, the clamping unit will affect the product performance and make it difficult to install the tank in position.

[0017] Up to now, the industry still lacks available automated and intelligent equipment for GIS disassembly and assembly. Therefore, it is necessary to develop a new type of dedicated GIS disassembly and assembly intelligent equipment to achieve highly mechanized and automated GIS installation operations, improve the efficiency of GIS disassembly and assembly operations, reduce the labor intensity of workers, improve the accuracy of installation and maintenance operations, and reduce operational risks. Summary of the invention

[0018] In view of the technical problems existing in the prior art, the present invention provides a GIS intelligent disassembly and assembly system which improves the efficiency of GIS disassembly and assembly, reduces the labor intensity of workers, improves the accuracy of installation and maintenance operations, and reduces operation risks.

[0019] In order to solve the above technical problems, the technical solution proposed by the present invention is: A GIS intelligent disassembly and assembly system comprises a flexible lifting platform, a leveling unit and a flexible clamping unit; the flexible lifting platform comprises a crawler chassis assembly, a vehicle body assembly, a leg assembly, a control assembly, a slewing platform assembly, a main mechanical arm assembly and a flying arm assembly; the vehicle body assembly is mounted on the crawler chassis assembly; the leg assembly is located on the peripheral side of the vehicle body assembly; the slewing platform assembly is mounted on the vehicle body assembly; the main mechanical arm assembly is mounted on the slewing platform assembly; the flying arm assembly is mounted on the front end of the main mechanical arm assembly; the leveling unit is mounted on the front end of the flying arm assembly, and is used for adjusting the flexible clamping unit to be always perpendicular to the ground plane when the main mechanical arm assembly and the flying arm assembly perform an angular deflection action; the flexible clamping unit is located at the front end of the leveling unit, and is used for realizing flexible clamping of a GIS tank body.

[0020] As a further improvement of the above technical solution: The leveling unit includes a welding shaft, a mounting frame, a first shaft assembly, a long connecting rod, a second shaft assembly, a leveling arm tube, a leveling cylinder, a third shaft assembly, a fourth shaft assembly, a short connecting rod and a fifth shaft assembly; the mounting frame is connected to the flying arm assembly through a welding shaft; the mounting frame is rotatably connected to the leveling arm tube through the second shaft assembly; one end of the long connecting rod is rotatably mounted on the mounting frame through the first shaft assembly, and the other end is rotatably connected to the fourth shaft assembly; the leveling cylinder is rotatably mounted on the mounting frame through the third shaft assembly, and the front end of the leveling cylinder is rotatably connected to the fourth shaft assembly; one end of the short connecting rod is rotatably mounted on the leveling arm tube through the fifth shaft assembly, and the other end is rotatably connected to the fourth shaft assembly.

[0021] The leveling arm tube is provided with an inclination sensor.

[0022] Also includes a visual unit, the visual unit includes a display module and a video monitoring module; The video monitoring module is used for dynamic monitoring of the on-site installation scene; The display module is installed on the vehicle body assembly and is used to display the monitoring information of the video monitoring module.

[0023] It also includes a plurality of position calibration modules installed on the tank body, and is used to determine the three-dimensional spatial position of the tank body installation hole; The position calibration module is installed on the flange side of the two docking tank bodies; the position calibration module includes a left mounting bracket, a right mounting bracket, a position sensor, a distance sensor and a visual camera; the left mounting bracket is installed on the flange side of one of the tank bodies, wherein the left mounting bracket and the right mounting bracket are both equipped with a position sensor and a distance sensor; the distance sensors on the left mounting bracket and the right mounting bracket cooperate with each other to realize the detection of the axial distance between the two docking tank bodies; the position sensors on the left mounting bracket and the right mounting bracket cooperate with each other to realize the distance detection in the vertical axial direction of the two docking tank bodies; the visual camera is installed on the left mounting bracket or the right mounting bracket to realize the monitoring of the surrounding environment.

[0024] The flexible clamping unit includes a multi-dimensional mobile platform, a multi-dimensional angle deflection platform, a strap mechanism and a clamp module; the multi-dimensional angle deflection platform is installed on the multi-dimensional mobile platform, the strap 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 direction movement and multi-dimensional angle deflection of the strap mechanism; the clamp module can be detachably installed on the strap mechanism.

[0025] 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; 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; The 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, which is used to drive the X-axis screw rod to rotate forward or reverse; the upper end of the first motor mounting seat assembly is installed on the lower plane of the first mounting plate, which is used to fix 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, which are used to fix 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; The XY moving platform also includes 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; 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.

[0026] The Z-direction moving platform comprises a vertical lifting electric cylinder assembly and a mounting plate, the flange at the lower end of the vertical lifting electric cylinder assembly and the flange ball linear bearing seat 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 together; The multi-dimensional angle deflection platform includes a rotary gear, a fourth mounting plate, an angle servo motor assembly, and a transmission gear set; 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 angle 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 angle servo motor assembly to the slewing gear, so that it can rotate 360 ​​degrees around the Z axis.

[0027] 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; 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; When the Y-axis rotating servo motor assembly is working, its piston rod drives the connecting plate assembly to move linearly, and the connecting plate assembly drives the connecting rod assembly to move at a deflection angle, and the connecting rod assembly drives the deflection support assembly to move at a deflection angle around the Y axis; 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; 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; 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; 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.

[0029] Compared with the prior art, the advantages of the present invention are: The crawler vehicle type moving platform adopted in the present invention adopts a retractable mechanical arm and rotatable and retractable spider legs; the mechanical arm can be folded and retracted, and the spider legs can be offset supported and retracted at any angle. After the system is retracted, the platform width is less than 1.6 meters and the height is less than 2.2 meters. It can enter indoor operations and has the ability to work in narrow indoor environments; in order to adapt to the influence of indoor and outdoor height restrictions (indoor house height is limited, and outdoor height is limited due to overhead line interference), a horizontally retractable flying arm assembly is added to the front end of the main mechanical arm assembly, which not only ensures the need for a large range of operating radius, but also avoids the inability to operate due to interference with overhead lines caused by the excessive height of the mechanical arm, thereby meeting the mechanized operation needs of GIS in narrow indoor spaces.

[0030] The present invention installs a leveling unit at the front end of the flying arm assembly (to ensure the horizontal clamping of the flexible intelligent clamping assembly), and then installs the flexible clamping unit. The flexible clamping units are all driven by servo motors and can perform six-direction freedom movement (X, Y, Z linear movement and X, Y, Z axial rotation). The installation and docking of components at any position can be accurately guaranteed, the reliability and accuracy of the alignment are improved, the natural shaking of the slings is avoided to cause bumps, the product assembly process requirements are met, and the product assembly quality is improved.

[0031] The flexible clamping unit (clamp) of the present invention adopts a soft strap clamping method and automatic motor locking, and can be suitable for clamping tanks of different diameters, without damaging the clamped workpiece and is easy to operate; the flexible clamping unit (clamp) adopts a modular splicing method, and different module components can be used according to products of different specifications, and has good versatility.

[0032] In addition to the special clamping function of the GIS tank workpiece, the present invention still retains the lifting function similar to that of an ordinary crane. The modular flexible clamping unit can be quickly disassembled and has the multi-functions of flexible clamping and lifting of the workpiece, and has a wider range of applications.

[0033] The present invention installs visual recognition and laser ranging sensors on the flange holes of the tank body. The sensors form coordinate information of the flange hole positions of the tank body and form virtual graphics, which are intuitively displayed on a liquid crystal display screen to guide the operator to accurately operate the equipment. At the same time, a visual camera is installed so that the operator can clearly see the assembly details remotely, greatly improving the installation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Schematic diagram of the structure of the GIS intelligent disassembly and assembly system in an embodiment of the present invention; (a) is a main view; (b) is a side view; and (c) is a stereogram.

[0035] Figure 2 It is a schematic structural diagram of a vehicle body assembly of the present invention in an embodiment.

[0036] Figure 3 It is a schematic structural diagram of a leveling unit in an embodiment of the present invention.

[0037] Figure 4 Schematic diagram of the structure of the flexible clamping unit of the present invention in an embodiment; (a) is a front view of the flexible clamping unit; (b) is a structural diagram of the XY-axis moving platform; (c) is a structural diagram of the Z-axis moving platform; (d) is a structural diagram of the Y-axis rotating power assembly; (e) is one of the structural diagrams of the X-axis angle deflection platform; (f) is two of the structural diagrams of the X-axis angle deflection platform; (g) is a three-dimensional structural diagram of the binding mechanism; (h) is an internal structural diagram of the binding mechanism; (i) is a soft binding structure diagram; (j) is a clamp module structure diagram; (k) is a flange clamping assembly structure diagram; (l) is one of the clamping method diagrams; (m) is the second clamping method diagram; (n) is the third clamping method diagram; (o) is the fourth clamping method diagram.

[0038] Figure 5 Schematic diagram of the structure of the position calibration unit of the present invention in an embodiment; (a) is a stereogram; (b) is the AA view of (a).

[0039] Figure 6 It is a schematic diagram of the action of the GIS intelligent disassembly and assembly system in an embodiment of the present invention.

[0040] Figure 7 Schematic diagram of the action of the flexible clamping unit of the present invention in an embodiment; (a) is a schematic diagram of three-dimensional movement and deflection around the Z axis and the Y axis; (b) is a diagram of deflection around the X axis.

[0041] Figure 8 This is a diagram of the flexible lifting platform of the present invention in a folded and contracted state in an embodiment.

[0042] Fig. 9 It is a schematic diagram of the installation of the flexible lifting platform of the present invention in an embodiment.

[0043] Fig.10 It is a state diagram of the GIS intelligent disassembly and assembly system of the present invention during specific application.

[0044] Fig.11 This is a diagram of the docking state of the flexible lifting platform, the leveling unit and the flexible clamping unit of the present invention.

[0045] Fig.12 This is a diagram showing an implementation example of the GIS intelligent disassembly and assembly system of the present invention in a specific application.

[0046] Legend: 1. Track chassis assembly; 2. Vehicle body assembly; 3. Outrigger assembly; 4. Control assembly; 5. Vision unit; 501. Display module; 502. Video monitoring module; 6. Rotating platform assembly; 7. Main mechanical arm assembly; 8. Flying arm assembly; 9. Flexible clamping unit; 91. Mounting bracket; 92. Cover; 93. XY moving platform; 9301. First mounting plate; 9302. X-axis sliding block assembly; 9303. X-axis guide rail; 9304. X-axis moving servo motor assembly; 9305. First motor mounting seat assembly; 9306. First screw coupling assembly; 9307. First screw support seat assembly; 9308. First screw nut assembly; 9309. X-axis screw; 9310. First screw Mounting seat assembly; 9311, stopper; 9312, second mounting plate; 9313, Y-axis sliding block assembly; 9314, Y-axis guide rail; 9315, Y-axis moving servo motor assembly; 9316, second motor mounting seat assembly; 9317, second screw coupling assembly; 9318, second screw support seat assembly; 9319, second screw nut assembly; 9320, Y-axis screw; 9321, second screw mounting seat assembly; 9322, infrared sensor assembly; 9323, third mounting plate; 94, multi-dimensional angle deflection platform; 9401, vertical lifting cylinder assembly; 9402, mounting plate; 9403, rotary gear; 9404, fourth mounting plate; 9405, angle servo motor assembly; 9406, transmission gear Wheel assembly; 9407, Y-axis rotation power assembly; 94071, mounting circular plate assembly; 94072, mounting plate assembly; 94073, Y-axis rotation servo motor assembly; 94074, connecting plate assembly; 94075, connecting rod assembly; 94076, Y axis; 94077, deflection support assembly; 95, X-axis angle deflection platform; 9501, mounting block; 9502, lining plate; 9503, lower transition mounting plate; 9504, X axis; 9505, guide rail mounting plate; 9506, guide rail side plate; 9507, sliding block assembly; 9508, guide rail; 9509, linear servo motor assembly; 9510, piston rod; 9511, fisheye bearing; 9512, connecting rod; 9513, crank arm; 96, strapping machine Structure; 9601, power mechanism mounting frame; 9602, electromagnetic brake module; 9603, strap servo motor module; 9604, anti-skid pad; 9605, guide piece; 9606, guide block; 9607, long shaft; 9608, bearing; 9609, driving gear; 9610, synchronous wheel; 9611, short shaft; 9612, first driven gear; 9613, second driven gear; 9614, third driven gear; 9615, fourth driven gear; 9616, damping rack; 9617, strap pressure block; 9618, limit ring; 9619, soft strap; 97, fixture module; 9701, chuck assembly; 9702, locking pin assembly; 9703, connecting shaft assembly; 9704, holding chuck;9705, first plum handle bolt; 9706, mounting channel steel; 9707, linear guide rail; 9708, lead screw; 9709, right mounting seat assembly; 9710, left mounting seat assembly; 9711, bakelite handwheel; 9712, third sliding seat; 9713, flange clamping assembly; 97131, third support assembly; 97132, flange clamping block; 97133, polyurethane pressure head; 97134, second plum handle bolt; 97135, rotating shaft; 9714, hook assembly; 98, wireless remote control; 10, leveling unit; 1001, welding Axis; 1002, mounting bracket; 1003, first axis assembly; 1004, long connecting rod; 1005, second axis assembly; 1006, leveling arm tube; 1007, leveling cylinder; 1008, third axis assembly; 1009, fourth axis assembly; 1010, short connecting rod; 1011, fifth axis assembly; 1012, inclination sensor; 11, position calibration module; 1101, left mounting bracket; 1102, position sensor; 1103, distance sensor; 1104, right mounting bracket; 1105, visual camera; 12, first tank; 13, second tank. ; DETAILED DESCRIPTION

[0047] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0048] like Figure 1 As shown, the GIS intelligent disassembly and assembly system provided by the embodiment of the present invention includes a flexible lifting platform, a leveling unit 10, a flexible clamping unit 9 and a position calibration module 11; The flexible lifting platform includes a crawler chassis assembly 1, a vehicle body assembly 2 (such as Figure 2 As shown), the leg assembly 3, the control assembly 4, the visual unit 5, the rotary platform assembly 6, the main mechanical arm assembly 7 and the flying arm assembly 8; The crawler chassis assembly 1 is a moving platform, which adopts an engineering rubber crawler chassis, has a stable running, and is suitable for the construction of various complex terrains of substations. The overall width of both sides of the crawler vehicle is less than 1.6 meters, which can adapt to narrow space operations; The vehicle body assembly 2 is installed on the upper part of the crawler chassis assembly 1; The outrigger assembly 3 is located at the four corners of the vehicle body assembly 2, and is a multi-joint structure, driven by hydraulic pressure. The outrigger assembly 3 can be automatically extended and retracted under the drive of the hydraulic cylinder, and can be adjusted to different deflection angles around the vehicle body assembly 2; The control assembly 4 is located on the right side of the vehicle body assembly 2 and is used to control the operation of the outrigger assembly 3, the rotary platform assembly 6, the main mechanical arm assembly 7 and the flying arm assembly 8; The rotary platform assembly 6 is installed at the rear end of the vehicle body assembly 2 and can rotate 360 ​​degrees to facilitate operation; The main mechanical arm assembly 7 is installed on the rotary platform assembly 6, and the angle adjustment and length extension are realized through the control assembly 4; The flying arm assembly 8 is installed at the front end of the main mechanical arm assembly 7, and realizes angle deflection and horizontal length extension through the control assembly 4; The leveling unit 10 is installed at the front end of the flying arm assembly 8 to realize the transition installation of the flying arm assembly 8 and the flexible clamping unit 9; when the main mechanical arm assembly 7 and the flying arm assembly 8 perform an angle deflection action, it is used to ensure that the flexible clamping unit 9 is always perpendicular to the ground plane, thereby ensuring that the GIS tank body is synchronously kept level with the ground during clamping, thereby ensuring that the installed accessories inside it do not loosen or move, and at the same time ensuring that the two flange surfaces of the tank body are parallel to each other during installation, which is convenient for reliable installation and improves the installation quality; The flexible clamping unit 9 is installed at the front end of the leveling unit 10 and is used for flexible clamping of the GIS tank body. After clamping, the workpiece is stable and does not shake. The flexible clamping unit 9 has the ability to accurately move in 6 degrees of freedom (including X, Y, Z linear movement and rotation around X, Y, Z axes), and can accurately adjust the position offset of the clamped GIS, so that the installation holes of the GIS tank body can be quickly and accurately docked; The visual unit 5 includes a display module 501 and a video monitoring module 502; the video monitoring module 502 is used for dynamic monitoring of the on-site installation scene, and the video monitoring information is synchronously displayed in the display module 501 to improve operation safety and efficiency; the display module 501 is installed at the center position of the right end of the vehicle body assembly 2, and is used to display the monitoring information of the video monitoring module 502.

[0049] The position calibration module 11 is installed on the tank body, such as Figure 5 As shown, through the position sensor 1102 and the distance sensor 1103, etc., the three-dimensional spatial position of the installation hole of the tank body can be determined, and the position information can be displayed on the display screen of the display module 501 and the wireless remote control 98 of the flexible clamping unit 9 to guide the operator to operate the equipment and improve the installation efficiency.

[0050] like Figure 6 As shown, the crawler chassis assembly 1 is a moving platform, which can adapt to the construction of power equipment under complex working conditions and can be quickly moved to the construction site as needed; The leg assembly 3 can be rotated to a certain angle and extended to support the entire device off the ground; The rotary platform assembly 6, the main mechanical arm assembly 7, the flying arm assembly 8 and the leveling unit 10 are operated as follows under the control system. Figure 6The multiple degrees of freedom shown can be adjusted in a wide range of spatial positions up, down, far, near and in various angles as needed to meet the working range of GIS products. The flying arm assembly 8 can perform horizontal telescopic movement to adapt to the scene of limited height and large working radius during GIS indoor operation; the leveling unit 10 is controlled by the control system, the main mechanical arm assembly 7 and the flying arm assembly 8 to ensure that the front installation end surface of the leveling unit 10 is always perpendicular to the ground plane, so that the flexible clamping unit 9 installed thereon remains vertical and horizontal.

[0051] like Figure 3 As shown, the leveling unit 10 includes a welding shaft 1001, a mounting frame 1002, a first shaft assembly 1003, a long connecting rod 1004, a second shaft assembly 1005, a leveling arm tube 1006, a leveling cylinder 1007, a third shaft assembly 1008, a fourth shaft assembly 1009, a short connecting rod 1010 and a fifth shaft assembly 1011; the mounting frame 1002 is connected to the flying arm assembly 8 through the welding shaft 1001; the mounting frame 1002 is rotatably connected to the leveling arm tube 1006 through the second shaft assembly 1005 One end of the long connecting rod 1004 is rotatably mounted on the mounting frame 1002 through the first shaft assembly 1003, and the other end is rotatably connected to the fourth shaft assembly 1009; the leveling cylinder 1007 is rotatably mounted on the mounting frame 1002 through the third shaft assembly 1008, and the front end of the leveling cylinder 1007 is rotatably connected to the fourth shaft assembly 1009; one end of the short connecting rod 1010 is rotatably mounted on the leveling arm tube 1006 through the fifth shaft assembly 1011, and the other end is rotatably connected to the fourth shaft assembly 1009. The leveling arm tube 1006 is provided with an inclination sensor 1012 for detecting the inclination angle.

[0052] like Figure 4 As shown, the flexible clamping unit 9 uses servo motors or servo electric cylinders as driving power, with infinite speed regulation, and is individually controlled by a remote control system, which is easy to use. The flexible clamping unit 9 has the ability to accurately move in 6 degrees of freedom (including X, Y, Z linear movement and rotation around X, Y, Z axes), and can accurately offset and adjust the position of the clamped GIS, so that the installation holes of the GIS tank can be quickly and accurately docked.

[0053] like Figure 4 As shown in (a), the flexible clamping unit 9 includes a multi-dimensional mobile platform, a multi-dimensional angle deflection platform 94, a strap mechanism 96 and a clamp module 97; the multi-dimensional angle deflection platform 94 is installed on the multi-dimensional mobile platform, the strap mechanism 96 is located on the multi-dimensional angle deflection platform 94, and the multi-dimensional mobile platform and the multi-dimensional angle deflection platform 94 cooperate with each other to realize the multi-dimensional direction movement and multi-dimensional angle deflection of the strap mechanism 96; the clamp module 97 is detachably installed on the strap mechanism 96.

[0054] The multi-dimensional mobile platform is connected to the GIS intelligent disassembly and assembly system through a mounting bracket 91. Specifically, the mounting bracket 91 is welded from metal sheet metal parts into an integral box frame structure, and the side back is connected to the leveling unit 10 in the GIS intelligent disassembly and assembly system through bolts, and the lower end is used for the installation of other components of the flexible clamping unit 9. The flexible clamping unit 9 is located in a cover 92, and the cover 92 is made of a thin plate PVC material for dust prevention of the equipment.

[0055] like Figure 4 As shown in (b), the multi-dimensional mobile platform includes a mounting bracket 91, an XY-direction mobile platform 93 and a Z-direction mobile platform; the XY-direction mobile platform 93 is mounted on the Z-direction mobile platform; The XY moving platform 93 is installed at the lower end of the mounting bracket 91 and is used to accurately move the clamping parts in the X and Y directions; The XY moving platform 93 includes a first mounting plate 9301, an X-direction sliding block assembly 9302, an X-direction guide rail 9303, an X-direction moving servo motor assembly 9304, a first motor mounting seat assembly 9305, a first screw coupling assembly 9306, a first screw support seat assembly 9307, a first screw nut assembly 9308, an X-direction screw 9309, a first screw mounting seat assembly 9310, a stopper 9311, a second mounting plate 9312, a Y-direction sliding block assembly 9313, a Y-direction guide rail 9314, a Y-direction moving servo motor assembly 9315, a second motor mounting seat assembly 9316, a second screw coupling assembly 9317, a second screw support seat assembly 9318, a second screw nut assembly 9319, a Y-direction screw 9320, a second screw mounting seat assembly 9321, an infrared sensor assembly 9322 and a third mounting plate 9323; The first mounting plate 9301, the second mounting plate 9312 and the third mounting plate 9323 are all made of aviation aluminum 97075, which has good strength and light weight; The upper plane of the first mounting plate 9301 is connected and fixed with the mounting bracket 91 by bolts; the X-direction sliding block assembly 9302 is mounted on the X-direction guide rail 9303, a total of 4 pieces, for X-direction left and right movement; the X-direction guide rail 9303 is mounted on the lower plane of the first mounting plate 9301, a total of 2 pieces, for the linear movement of the X-direction sliding block assembly 9302; the X-direction movement servo motor assembly 9304 is the X-direction driving power unit, used to drive the X-direction screw rod 9309 to rotate forward or reverse; the upper end of the first motor mounting seat assembly 9305 is mounted on the lower plane of the first mounting plate 9301 The first screw coupling assembly 9306 is used to connect the X-direction moving servo motor assembly 9304 with the X-direction screw 9309; the first screw support seat assembly 9307 and the upper end of the first screw mounting seat assembly 9310 are bolted to the lower plane of the first mounting plate 9301 to fix the X-direction screw 9309; the first screw nut assembly 9308 is a matching part of the X-direction screw 9309, and is bolted and fixed to the second mounting plate 9312 through its connecting plate. When the X-direction screw 9309 rotates forward or backward under the drive of the X-direction moving servo motor assembly 9304, the first screw nut assembly 9308 moves straightly left and right along the X-direction, driving the second mounting plate 9312 to move straightly along the X-direction. Stoppers 9311 are installed at both ends of the X-direction guide rail 9303 and the Y-direction guide rail 9314, totaling 98 pieces, to prevent the X-direction sliding block assembly 9302 and the Y-direction sliding block assembly 9313 from moving out from both ends.

[0056] The upper plane of the second mounting plate 9312 is bolted and fixed to the X-direction sliding block assembly 9302; the Y-direction sliding block assembly 9313 is mounted on the Y-direction guide rail 9314, a total of 4 pieces, for Y-direction left and right movement; the Y-direction guide rail 9314 is mounted on the lower plane of the second mounting plate 9312, a total of 2 pieces, for the linear movement of the Y-direction sliding block assembly 9313; the Y-direction movement servo motor assembly 9315 is a Y-direction driving power unit, used to drive the Y-direction lead screw 9320 to rotate forward or reverse; the upper end of the second motor mounting seat assembly 9316 is mounted on the second mounting plate 9312 The lower plane is used to bolt the Y-direction moving servo motor assembly 9315 to the second mounting plate 9312; the second screw coupling assembly 9317 is used to connect the Y-direction moving servo motor assembly 9315 with the Y-direction screw 9320; the second screw support seat assembly 9318 and the upper end of the second screw mounting seat assembly 9321 are bolted to the lower plane of the second mounting plate 9312 to fix the Y-direction screw 9320; the second screw nut assembly 9319 is a matching part of the Y-direction screw 9320, and is bolted and fixed to the third mounting plate 9323 through its connecting plate. When the Y-direction screw 9320 rotates forward and reversely under the drive of the Y-direction moving servo motor assembly 9315, the second screw nut assembly 9319 moves straightly left and right along the Y direction, driving the third mounting plate 9323 to move straightly along the Y direction. The above-mentioned XY-direction moving platform 93 has a simple structure and is easy to operate.

[0057] like Figure 4 As shown in (c), the Z-axis moving platform includes a vertical lifting electric cylinder assembly 9401 and a mounting plate 9402. The lower flange of the vertical lifting electric cylinder assembly 9401 and the four flange ball linear bearing seats are fixed to the third mounting plate 9323 by bolts, and the piston rod passes through the center hole of the third mounting plate 9323 and is connected and fixed to the mounting plate 9402 by a slot nut. When the piston rod of the vertical lifting electric cylinder moves up and down in Z direction, it drives the mounting plate 9402 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.

[0058] like Figure 4 As shown in (c), the multi-dimensional angle deflection platform 94 includes a rotary gear 9403, a fourth mounting plate 9404, an angle servo motor assembly 9405, a transmission gear set 9406, a Y-axis rotation power assembly 9407 and an X-axis angle deflection platform 95; The slewing gear 9403 is a slewing support structure, the upper end of the inner ring fixed part is bolted to the mounting plate 9402, and the lower end of the outer ring outer tooth rotating part is bolted to the fourth mounting plate 9404; the angle servo motor assembly 9405 is bolted to the fourth mounting plate 9404, and the transmission ratio is converted through the transmission gear set 9406 to transmit the power of the angle servo motor assembly 9405 to the slewing gear 9403, so that it rotates 360 degrees around the Z axis. The above overall structure is simple and easy to operate.

[0059] like Figure 4 As shown in (d), the Y-axis rotation power assembly 9407 includes a mounting circular plate assembly 94071, a mounting plate assembly 94072, a Y-axis rotation servo motor assembly 94073, a connecting plate assembly 94074, a connecting rod assembly 94075, a Y-axis 94076 and a deflection support assembly 94077; The mounting circular plate assembly 94071, the mounting plate assembly 94072, the connecting plate assembly 94074, the connecting rod assembly 94075 and the deflection support assembly 94077 are made of aviation aluminum 97075 material; The mounting circular plate assembly 94071 is connected and fixed to the fourth mounting plate 9404 by bolts; the mounting plate assembly 94072 is connected and fixed to the mounting circular plate assembly 94071 by bolts, and the Y-axis rotation servo motor assembly 94073 is connected and fixed to the mounting plate assembly 94072 by bolts; the connecting plate assembly 94074 is connected to the Y-axis rotation servo motor assembly 94073 by bolts; the connecting rod assembly 94075 is connected to the deflection support assembly 94077 by bolts; the Y-axis 94076 passes through the lower end hole of the mounting circular plate assembly 94071 and the mounting hole of the deflection support assembly 94077 to connect the two components; When the Y-axis rotation servo motor assembly 94073 is working, its piston rod drives the connecting plate assembly 94074 to move linearly, and the connecting plate assembly 94074 drives the connecting rod assembly 94075 to move at a deflection angle, and the connecting rod assembly 94075 drives the deflection support assembly 94077 to move at a deflection angle around the Y-axis 94076.

[0060] The above-mentioned Y-axis rotating power assembly 9407 has a simple overall structure and is easy to operate.

[0061] like Figure 4 As shown in (e) and (f), the X-direction angle deflection platform 95 includes a mounting block 9501, a lining plate 9502, a lower transition mounting plate 9503, an X-axis 9504, a guide rail mounting plate 9505, a guide rail side plate 9506, a sliding block assembly 9507, a guide rail 9508, a linear servo motor assembly 9509, a piston rod 9510, a fisheye bearing 9511, a connecting rod 9512 and a crank arm 9513; The mounting block 9501, lining plate 9502, lower transition mounting plate 9503, guide rail mounting plate 9505, guide rail side plate 9506 and crank arm 9513 are all made of aviation aluminum 97075; The mounting block 9501 is connected and fixed to the deflection support assembly 94077 by bolts; the liner 9502 is connected and fixed to the lower transition mounting plate 9503 by bolts; the lower transition mounting plate 9503 is connected and fixed to the guide rail mounting plate 9505 by bolts; the X-axis 9504 passes through the center hole of the liner 9502 and the holes at both ends of the mounting block 9501 to connect the two parts; the guide rail 9508 is connected and fixed to the guide rail mounting plate 9505 by bolts, and a total of 2 pieces are installed on both sides; the guide rail side Plate 9506 is connected and fixed to guide rail mounting plate 9505 by bolts, with 2 pieces installed at both ends; sliding block assembly 9507 is installed on guide rail 9508, with 4 or 6 pieces installed in total; linear servo motor assembly 9509 is connected and fixed to guide rail mounting plate 9505 by bolts through its mounting support; piston rod 9510 is connected to crank arm 9513 through fisheye bearing 9511 and connecting rod 9512; crank arm 9513 is connected and fixed to mounting block 9501 by bolts. When linear servo motor assembly 9509 is working, piston rod 9510 telescopes, and drives mounting block 9501 to deflect around X-axis 9504 by angle through fisheye bearing 9511, connecting rod 9512 and crank arm 9513.

[0062] The X-direction angle deflection platform 95 has a simple overall structure and is easy to operate.

[0063] like Figure 4 As shown in (g), (h) and (i), the strap mechanism 96 includes a power mechanism mounting frame 9601, an electromagnetic brake module 9602, a strap servo motor module 9603, an anti-slip pad 9604, a guide member 9605, a guide block 9606, a long shaft 9607, a bearing 9608, a driving gear 9609, a synchronous wheel 9610, a short shaft 9611, a first driven gear 9612, a second driven gear 9613, a third driven gear 9614, a fourth driven gear 9615, a damping rack 9616, a strap pressure block 9617, a limit ring 9618 and a soft strap 9619; The power mechanism mounting frame 9601 is made of 97075 aviation aluminum and is the main frame of the strapping mechanism 96; the electromagnetic brake module 9602 is installed on both sides of the power mechanism mounting frame 9601, and its brake disc is connected to the long shaft 9607 through a key, a total of 3 pieces; the strap servo motor module 9603 is installed on the upper right side of the power mechanism mounting frame 9601 by bolts, and its reduction gear is connected to the long shaft 9607 through a key; the anti-skid pad 9604 is installed at the bottom of the power mechanism mounting frame 9601, 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 9605 and the guide block 9606 are made of aluminum alloy, installed in the middle of the mechanism mounting frame 9601, with a guide cutout for guiding the soft strap 9619 in and out; the long shaft 9607 is installed on the upper part of the power mechanism mounting frame 9601, a total of 2 pieces, for the installation and fixation of the gear; the bearing 9608 is the long shaft 9 607 and the short shaft 9611 are matched to ensure that the rotation friction is small; the driving gear 9609 is installed at the upper left position of the power mechanism mounting frame 9601, and is connected to the strap servo motor module 9603 through the long shaft 9607 to provide the main power; the synchronous wheel 9610 is installed on the long shaft 9607 and the short shaft 9611, a total of 5 pieces, and its tooth module is the same as the tooth module of the soft strap 9619, which is used to drive the soft strap 9619 to move in and out; the first driven gear 961 2. The second driven gear 9613, the third driven gear 9614, and the fourth driven gear 9615 are meshed in sequence, and the first driven gear 9612 is meshed with the driving gear 9609 and is used for power transmission under the drive of the driving gear 9609; the damping rack 9616 and the strap pressure block 9617 are used to fix one end of the soft strap 9619; the limiting ring 9618 is a matching component of the driving gear 9609 and each driven gear assembly, and is used to determine the gear installation position.

[0064] During operation, the strap servo motor module 9603 is started, driving the driving gear 9609 to rotate. The driving gear 9609 moves synchronously through tooth meshing with the first driven gear 9612, the second driven gear 9613, the third driven gear 9614, and the fourth driven gear 9615, and then drives the synchronous wheel 9610 to move. The synchronous wheel 9610 rotates clockwise or counterclockwise according to the forward and reverse rotation of the strap servo motor module 9603.

[0065] When in use, one end of the soft strap 9619 is placed on the damping rack 9616, fixed with a strap pressing block 9617, and the other end is inserted into the hole of the guide member 9605. When the soft strap 9619 contacts the synchronous wheel 9610, it will rotate clockwise or counterclockwise along the synchronous wheel 9610 through tooth meshing, thereby realizing the flexible clamping or loosening of the workpiece by the soft strap 9619. The above-mentioned strap mechanism 96 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.

[0066] like Figure 4 As shown in (j), the clamp module 97 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.

[0067] Specifically, the clamp module 97 includes a clamp assembly 9701, a locking pin assembly 9702, a connecting shaft assembly 9703, a clamping clamp 9704, a first plum handle bolt 9705, a mounting channel steel 9706, a linear guide rail, a screw rod 9708, a right mounting seat assembly 9709, a left mounting seat assembly 9710, a bakelite hand wheel 9711, a third sliding seat 9712, a flange clamp assembly 9713, and a hook assembly 9714; The chuck assembly 9701 is located at the top of the clamp module 97, and the locking pin assembly 9702 is installed on both ends of the chuck assembly 9701. It has a pre-tightened spring inside and can be pulled outward; the middle position of the connecting shaft assembly 9703 is equipped with a rotatable plane bearing, 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 9703 is installed on the chuck assembly 9701, and the internal shaft body passes through the center hole of the clamping chuck 9704. The lower end shaft is connected to the connecting screw on the hook assembly 9714; the clamping chuck 9704 is welded to the mounting channel steel 9706 as a whole, and the first plum blossom handle bolt 9705 is installed in the screw holes on both sides of the clamping chuck 9704, which can be screwed in clockwise or counterclockwise. Loosely adjust the tightness of the clamping chuck 9704 and the connecting shaft assembly 9703 to control whether the mounting channel steel 9706 and the lower assembly rotate around the Z phase, so as to facilitate the clamping of the rear flange corner hole of the tank body; the linear guide is installed at the lower part of the mounting channel steel 9706; the screw rod 9708, the right mounting seat assembly 9709, the left mounting seat assembly 9710, and the bakelite handwheel 9711 are installed at the side of the mounting channel steel 9706; the sliding seat 93712 is installed at the lower part of the linear guide; the flange clamping assembly 9713 is respectively connected and fixed with the screw nut on the screw rod 9708 and the sliding seat 93712 bolts; the hook assembly 9714 is screwed into the center screw hole of the lower end shaft of the connecting shaft assembly 9703 through the upper screw rod to be installed and fixed.

[0068] like Figure 4As shown in (k), the flange clamping assembly 9713 includes a third support assembly 97131, a flange clamping pressing block 97132, a polyurethane pressing head 97133, a second plum handle bolt 97134 and a rotating shaft 97135; The flange clamping block 97132 is placed in the middle slot hole of the third support assembly 97131, and is connected to the third support assembly 97131 by inserting the rotating shaft 97135 into the right hole thereof; the polyurethane pressure head 97133 is installed at the front lower end of the flange clamping block 97132, and is used to directly contact the surface of the clamped component. It has a certain elasticity to prevent damage to the clamped surface; the second plum blossom handle bolt 97134 passes through the waist round through hole of the third support assembly 97131 and is connected to the flange clamping block 97132. The second plum blossom handle bolt 97134 rotates forward and reversely to adjust the angle of the flange clamping block 97132 around the center of the rotating shaft 97135, thereby realizing the clamping or loosening of the flange workpiece by the clamping block 97132.

[0069] During operation, first pull the locking pin assembly 9702 outward, and then insert the clamp assembly 9701 into the lower slot of the binding mechanism 96. After it is in place, the locking pin assembly 9702 is clamped under the action of the spring force; the hand-cranked bakelite handwheel 9711 rotates to drive the screw rod 9708 to rotate, and the screw rod nut drives the flange clamping assembly 9713 and the third sliding seat 9712 to move in a straight line on the linear guide. Since the left and right sections of the screw rod 9708 are positive and negative wire structures respectively, the flange clamping assemblies 9713 on both sides clamp and separate in the same direction and in the opposite direction along the linear guide. The clamping position is adjusted according to the size of the flange. After it is in place, it is locked with the locking device on the third sliding seat 9712; operate the second plum blossom handle bolt 97134 to make the flange clamping block 97132 move downward to clamp the flange.

[0070] like Figure 7 The flexible clamping unit 9 can perform 6 degrees of freedom movement, including X, Y, and Z linear movement, and deflection around the X-axis 9504, Y-axis 94076, and Z-axis. The movement accuracy is <90.91mm and the deflection accuracy is <90.925°.

[0071] like Figure 8 As shown, the intelligent flexible lifting platform in the GIS disassembly and assembly intelligent system is in a folded and retracted state, with a very small size, and can be driven to the construction site by its crawler wheels. When entering the indoor operation, you can first use a crane to hoist it to the entrance platform (the indoor GIS station is on the second floor), and then drive it into the room by yourself. After finding a suitable working position, operate the control assembly 4 to operate the equipment, unfold the leg assembly 3, and lift the entire vehicle body in the air, and unfold the main mechanical arm assembly 7 and the flying arm assembly 8.

[0072] like Fig. 9 and Fig.11As shown, operate the control assembly 4, with the end face of the flying arm assembly 8 facing downward, assemble the leveling unit 10 and the flexible clamping unit 9 into one body and transport them to the docking position with a special trolley, install the mounting shaft of the leveling unit 10 on the mounting welding plate slot of the leveling unit 10, insert the rectangular connecting pipe into the front end slot of the flying arm assembly 8, and then insert the connecting pin shaft of the leveling unit 10 into the pin hole to connect and fix the leveling unit 10 and the flying arm.

[0073] The leveling unit 10 and the flexible clamping unit 9 adopt a modular design and can be quickly dismantled and stored separately. The main mechanical arm assembly 7 and the flying arm assembly 8 of the main lifting part can be retracted and folded, and are small in size, making it convenient to enter and exit the room. In addition, the modular structural design is adopted. When the equipment is hoisted, the leveling unit 10 and the flexible clamping unit 9 can be directly and quickly dismantled, and quickly docked through the card slot and power interface when in use (if the flexible clamping unit 9 and the sling are installed and used at the same time, when the mechanical arm is telescopic, the sling rope of the sling device will move up and down together, resulting in mutual interference and inability to use normally and major safety hazards).

[0074] like Figure 5 As shown, the position calibration module 11 includes a left mounting bracket 1101, a right mounting bracket 1104, a position sensor 1102, a distance sensor 1103 and a visual camera 1105; the left mounting bracket 1101 is installed on the flange side of one of the tank bodies, wherein the left mounting bracket 1101 and the right mounting bracket 1104 are both installed with the position sensor 1102 and the distance sensor 1103; the distance sensors 1103 on the left mounting bracket 1101 and the right mounting bracket 1104 cooperate with each other to realize the detection of the axial distance between the two docking tank bodies; the position sensors 1102 on the left mounting bracket 1101 and the right mounting bracket 1104 cooperate with each other to realize the distance detection in the vertical axial direction of the two docking tank bodies; the visual camera 1105 is installed on the left mounting bracket 1101 or the right mounting bracket 1104 to realize the monitoring of the surrounding environment.

[0075] like Fig.10 As shown, the operation of the equipment is divided among two operators (an operator and an assembler), the operator is responsible for the operation of the intelligent flexible lifting platform, and the assembler is responsible for the operation of the flexible clamping unit 9.

[0076] First, the position calibration module 11 is installed on the first tank body 12 to be assembled and the second tank body 13 connected thereto, and then the operator controls the control assembly 4, the rotating platform assembly 6, the main robotic arm assembly 7, and the flying arm assembly 8 to move quickly and over a large range, so that the flexible clamping unit 9 quickly approaches the first tank body 12.

[0077] One end of the soft strap 9619 is fixed to the strap mechanism 96, and the other end is manually operated by the assembler to make the soft strap 9619 wrap around the first tank body 12 and insert it into the guide hole of the strap mechanism 96 (the center hole of the plastic part in the strap mechanism 96). Then the assembler operates the GIS flexible clamping wireless remote control 98, and the gear mechanism in the strap mechanism 96 moves clockwise. The soft strap 9619 moves to the right under the drive of the gear to clamp the first tank body 12. Fig.10 As shown in (a).

[0078] After the clamping is completed, the strapping mechanism 96 sends a clamping signal according to the set torque value and is synchronously displayed on the display module 501 and the flexible clamping wireless remote control 98 display screen, prompting the operator and assembler to complete the clamping.

[0079] At this time, the operator controls the control assembly 4 to quickly move the clamped first tank body 12 to the vicinity of the second tank body 13. The flexible clamping unit 9 is equipped with a video monitoring module 502, which can clearly display the on-site working scene in the display module 501 to prevent accidents caused by operating errors. At the same time, the position calibration module 11 installed on the first tank body 12 and the second tank body 13 can synchronize the spatial coordinates and video details of the two on the display screen of the display module 501 and the flexible clamping wireless remote control 98. The display module 501 can display the position coordinate deviation of the two workpieces, and at the same time display them in virtual simulation graphics, so that the position status of the two workpieces can be intuitively grasped, and the operator can be guided to operate the equipment.

[0080] When the first tank body 12 approaches the area of ​​the second tank body 13 , the display module 501 prompts the entry into the area information. At this time, the operator stops the equipment control, and the assembler controls the wireless remote controller 98 to perform precise operation of the flexible clamping unit 9 .

[0081] like Figure 7 As shown, the flexible clamping unit 9 can perform precise movement in six degrees of freedom, and can achieve precise docking of the holes of the first tank body 12 and the second tank body 13.

[0082] The GIS disassembly and assembly intelligent equipment has a variety of usage methods. The leveling unit 10 and the flexible clamping unit 9 are modular units, which can be modularly installed and dismantled according to the on-site work scene. After the leveling unit 10 and the flexible clamping unit 9 are dismantled, the hook assembly 9714 can be installed to meet the lifting function of the same ordinary crane.

[0083] like Fig.12As shown in the figure, the GIS intelligent disassembly and assembly system can adapt to narrow indoor spaces and places with limited space height and large space operation radius. Especially for tanks that need to pass through the wall, one end can be clamped and inserted into the wall hole in a straight line and horizontally, solving the problem that such components can only be installed by shoulder-carrying manually, which greatly saves manpower and improves safety.

[0084] Since the tank body is clamped by the synchronous belt-style soft strap 9619, there will be no clamping marks and deformation, and no sliding phenomenon; there is no shaking during the tank assembly process, and when the two workpieces are close, there will be no inertia causing the flange end faces to collide and the sealing ring to fall off; due to the flexible hard clamping and precise displacement, it is very convenient to align the internal conductor after the two parts are close, and it has good practicality.

[0085] The crawler-type moving platform adopted in the present invention adopts a retractable mechanical arm and rotatable and retractable spider legs; the mechanical arm can be folded and retracted, and the spider legs can be offset and supported and retracted at any angle. After the system is retracted, the platform width is less than 1.6 meters and the height is less than 2.2 meters. It can enter indoor operations and has the ability to work in narrow indoor environments; in order to adapt to the influence of indoor and outdoor height restrictions (indoor house height is limited, and outdoor height is limited due to overhead line interference), a horizontally retractable flying arm assembly 8 is added to the front end of the main mechanical arm assembly 7, which not only ensures the need for a large range of operating radius, but also avoids the inability to operate due to interference with overhead lines caused by the excessive height of the mechanical arm, thereby meeting the mechanized operation needs of GIS in narrow indoor spaces.

[0086] The present invention installs a leveling unit 10 at the front end of the flying arm assembly 8 (to ensure the horizontal clamping of the flexible clamping unit 9), and then installs the flexible clamping unit 9. The flexible clamping unit 9 is all driven by a servo motor and can perform six-direction freedom movement (X, Y, Z linear movement and X, Y, Z axial rotation), which can accurately ensure the installation and docking of components at any position, improve the reliability and accuracy of positioning, avoid bumps caused by the natural shaking of the sling, meet the product assembly process requirements, and improve the product assembly quality.

[0087] The flexible clamping unit 9 (clamp) of the present invention adopts a soft strap 9619 clamping method and automatic motor locking, which can be used for clamping tanks of different diameters, without damaging the clamped workpiece and is easy to operate; the flexible clamping unit 9 (clamp) adopts a modular splicing method, and different module components can be used according to products of different specifications, and has good versatility.

[0088] In addition to the special clamping function of the GIS tank workpiece, the present invention still retains the lifting function similar to that of an ordinary crane. The modular flexible clamping unit 9 can be quickly disassembled and has the multi-functions of flexible clamping and lifting of the workpiece, and has a wider range of applications.

[0089] The present invention installs visual recognition and laser ranging sensors on the flange holes of the tank body. The sensors form coordinate information of the flange hole positions of the tank body and form virtual graphics, which are intuitively displayed on a liquid crystal display screen to guide the operator to accurately operate the equipment. At the same time, a visual camera 1105 is installed so that the operator can clearly see the assembly details remotely, greatly improving the installation efficiency.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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 GIS intelligent disassembly and assembly system, characterized in that: The invention comprises a flexible lifting platform, a leveling unit (10) and a flexible clamping unit (9); the flexible lifting platform comprises a crawler chassis assembly (1), a vehicle body assembly (2), a leg assembly (3), a control assembly (4), a slewing platform assembly (6), a main mechanical arm assembly (7) and a flying arm assembly (8); the vehicle body assembly (2) is mounted on the crawler chassis assembly (1); the leg assembly (3) is located on the peripheral side of the vehicle body assembly (2); the slewing platform assembly (6) is mounted on the vehicle body assembly (2 ); the main mechanical arm assembly (7) is mounted on the rotary platform assembly (6); the flying arm assembly (8) is mounted at the front end of the main mechanical arm assembly (7); the leveling unit (10) is mounted at the front end of the flying arm assembly (8) and is used to adjust the flexible clamping unit (9) to always be perpendicular to the ground plane when the main mechanical arm assembly (7) and the flying arm assembly (8) perform an angular deflection action; the flexible clamping unit (9) is located at the front end of the leveling unit (10) and is used to achieve flexible clamping of the GIS tank body; The leveling unit (10) comprises a welded shaft (1001), a mounting frame (1002), a first shaft assembly (1003), a long connecting rod (1004), a second shaft assembly (1005), a leveling arm tube (1006), a leveling oil cylinder (1007), a third shaft assembly (1008), a fourth shaft assembly (1009), a short connecting rod (1010) and a fifth shaft assembly (1011); the mounting frame (1002) is connected to the flying arm assembly (8) via the welded shaft (1001); the mounting frame (1002) is connected to the leveling arm tube (1006) via the second shaft assembly (1005). Rotationally connected; one end of the long connecting rod (1004) is rotationally mounted on the mounting frame (1002) through the first shaft assembly (1003), and the other end is rotationally connected to the fourth shaft assembly (1009); the leveling cylinder (1007) is rotationally mounted on the mounting frame (1002) through the third shaft assembly (1008), and the front end of the leveling cylinder (1007) is rotationally connected to the fourth shaft assembly (1009); one end of the short connecting rod (1010) is rotationally mounted on the leveling arm tube (1006) through the fifth shaft assembly (1011), and the other end is rotationally connected to the fourth shaft assembly (1009).

2. The GIS intelligent disassembly and assembly system according to claim 1 is characterized in that: The leveling arm tube (1006) is provided with a tilt sensor (1012).

3. The GIS intelligent disassembly and assembly system according to claim 1 or 2, characterized in that: It also includes a visual unit (5), wherein the visual unit (5) includes a display module (501) and a video monitoring module (502); The video monitoring module (502) is used for dynamic monitoring of the on-site installation scene; The display module (501) is mounted on the vehicle body assembly (2) and is used to display monitoring information of the video monitoring module (502).

4. The GIS intelligent disassembly and assembly system according to claim 3 is characterized in that: It also includes a plurality of position calibration modules (11) installed on the tank body, which are used to determine the three-dimensional spatial position of the tank body installation hole; The position calibration module (11) is installed on the flange side of two butted tanks; the position calibration module (11) comprises a left mounting bracket (1101), a right mounting bracket (1104), a position sensor (1102), a distance sensor (1103) and a visual camera (1105); the left mounting bracket (1101) is installed on the flange side of one of the tanks, wherein the position sensor (1102) and the distance sensor (1103) are installed on both the left mounting bracket (1101) and the right mounting bracket (1104). 103); the distance sensors (1103) on the left mounting bracket (1101) and the right mounting bracket (1104) cooperate with each other to detect the axial distance between the two docking tanks; the position sensors (1102) on the left mounting bracket (1101) and the right mounting bracket (1104) cooperate with each other to detect the distance between the two docking tanks in the vertical axial direction; the visual camera (1105) is installed on the left mounting bracket (1101) or the right mounting bracket (1104) to monitor the surrounding environment.

5. The GIS intelligent disassembly and assembly system according to claim 1 or 2, characterized in that: The flexible clamping unit (9) comprises a multi-dimensional mobile platform, a multi-dimensional angle deflection platform (94), a strap mechanism (96) and a clamp module (97); the multi-dimensional angle deflection platform (94) is installed on the multi-dimensional mobile platform, the strap mechanism (96) is located on the multi-dimensional angle deflection platform (94), and the multi-dimensional mobile platform and the multi-dimensional angle deflection platform (94) cooperate with each other to realize the multi-dimensional direction movement and multi-dimensional angle deflection of the strap mechanism (96); the clamp module (97) is detachably installed on the strap mechanism (96).

6. The GIS intelligent disassembly and assembly system according to claim 5, characterized in that: The multi-dimensional mobile platform comprises a mounting bracket (91), an XY-direction mobile platform (93) and a Z-direction mobile platform; the XY-direction mobile platform (93) is mounted on the Z-direction mobile platform; The XY moving platform (93) comprises a first mounting plate (9301), an X-direction sliding block assembly (9302), an X-direction guide rail (9303), an X-direction moving servo motor assembly (9304), a first motor mounting seat assembly (9305), a first screw coupling assembly (9306), a first screw support seat assembly (9307), a first screw nut assembly (9308), an X-direction screw (9309), a first screw mounting seat assembly (9310), and a second mounting plate (9312); The upper plane of the first mounting plate (9301) and the mounting bracket (91) are connected and fixed by bolts; the X-direction sliding block assembly (9302) is mounted on the X-direction guide rail (9303) for left and right movement in the X direction; the X-direction guide rail (9303) is mounted on the lower plane of the first mounting plate (9301) for linear movement of the X-direction sliding block assembly (9302); the X-direction moving servo motor assembly (9304) is an X-direction driving power unit for driving the X-direction lead screw (9309) to rotate forward or reverse; the upper end of the first motor mounting seat assembly (9305) is mounted on the lower plane of the first mounting plate (9301) for fixing the X-direction moving servo motor assembly (9304) on the first mounting plate (9301); the first lead screw coupling assembly The component (9306) is used to connect the X-direction moving servo motor assembly (9304) with the X-direction screw rod (9309); the upper ends of the first screw rod support seat assembly (9307) and the first screw rod mounting seat assembly (9310) are mounted on the lower plane of the first mounting plate (9301) to fix the X-direction screw rod (9309); the first screw rod nut assembly (9308) is a matching component of the X-direction screw rod (9309), and is bolted and fixed to the second mounting plate (9312) through its connecting plate; when the X-direction screw rod (9309) rotates forward or reversely under the drive of the X-direction moving servo motor assembly (9304), the first screw rod nut assembly (9308) moves linearly left and right along the X-direction, driving the second mounting plate (9312) to move linearly along the X-direction; The XY moving platform (93) further comprises a Y sliding block assembly (9313), a Y guide rail (9314), a Y moving servo motor assembly (9315), a second motor mounting seat assembly (9316), a second screw coupling assembly (9317), a second screw support seat assembly (9318), a second screw nut assembly (9319), a Y screw (9320), a second screw mounting seat assembly (9321) and a third mounting plate (9323); The upper plane of the second mounting plate (9312) is connected and fixed to the X-direction sliding block assembly (9302); the Y-direction sliding block assembly (9313) is mounted on the Y-direction guide rail (9314) for left and right movement in the Y direction; the Y-direction guide rail (9314) is mounted on the lower plane of the second mounting plate (9312) for linear movement of the Y-direction sliding block assembly (9313); the Y-direction moving servo motor assembly (9315) is a Y-direction driving power unit for driving the Y-direction lead screw (9320) to rotate forward or reverse; the upper end of the second motor mounting seat assembly (9316) is mounted on the lower plane of the second mounting plate (9312) for fixing the Y-direction moving servo motor assembly (9315) on the second mounting plate (9312); the second lead screw coupling assembly (9316) is connected to the Y-direction guide rail (9314 ... The shaft assembly (9317) is used to connect the Y-direction moving servo motor assembly (9315) with the Y-direction lead screw (9320); the upper ends of the second lead screw support seat assembly (9318) and the second lead screw mounting seat assembly (9321) are mounted on the lower plane of the second mounting plate (9312) for fixing the Y-direction lead screw (9320); the second lead screw nut assembly (9319) is a matching part of the Y-direction lead screw (9320) and is connected and fixed to the third mounting plate (9323) through its connecting plate; when the Y-direction lead screw (9320) rotates forward or reversely under the drive of the Y-direction moving servo motor assembly (9315), the second lead screw nut assembly (9319) moves linearly left and right along the Y direction, driving the third mounting plate (9323) to move linearly along the Y direction.

7. The GIS intelligent disassembly and assembly system according to claim 6, characterized in that: The Z-direction moving platform comprises a vertical lifting electric cylinder assembly (9401) and a mounting plate (9402); the flange at the lower end of the vertical lifting electric cylinder assembly (9401) and the flange ball linear bearing seat are fixed on the third mounting plate (9323); the piston rod passes through the center hole of the third mounting plate (9323) and is connected and fixed to the mounting plate (9402); when the piston rod of the vertical lifting electric cylinder moves up and down in the Z direction, the mounting plate (9402) and the components installed at the lower end are driven to move up and down in the Z direction; The multi-dimensional angle deflection platform (94) comprises a rotary gear (9403), a fourth mounting plate (9404), an angle servo motor assembly (9405), and a transmission gear set (9406); The slewing gear (9403) is a slewing support structure, the upper end of the inner ring fixed part is connected and fixed to the mounting plate (9402), and the lower end of the outer ring outer tooth rotating part is bolted and fixed to the fourth mounting plate (9404); the angular servo motor assembly (9405) is installed on the fourth mounting plate (9404), and the transmission ratio is converted through the transmission gear set (9406), so that the power of the angular servo motor assembly (9405) is transmitted to the slewing gear (9403), so that it can rotate 360 ​​degrees around the Z axis.

8. The GIS intelligent disassembly and assembly system according to claim 7, characterized in that: The multi-dimensional angle deflection platform (94) further comprises a Y-axis rotation power assembly (9407), wherein the Y-axis rotation power assembly (9407) comprises a mounting circular plate assembly (94071), a mounting plate assembly (94072), a Y-axis rotation servo motor assembly (94073), a connecting plate assembly (94074), a connecting rod assembly (94075), a Y-axis (94076) and a deflection support assembly (94077); The mounting circular plate assembly (94071) is connected and fixed to the fourth mounting plate (9404); the mounting plate assembly (94072) is connected and fixed to the mounting circular plate assembly (94071); the Y-axis rotation servo motor assembly (94073) is connected and fixed to the mounting plate assembly (94072); the connecting plate assembly (94074) is connected to the Y-axis rotation servo motor assembly (94073); the connecting rod assembly (94075) is connected to the deflection support assembly (94077); the Y-axis (94076) passes through the lower end hole of the mounting circular plate assembly (94071) and the mounting hole of the deflection support assembly (94077) to connect the two components; When the Y-axis rotation servo motor assembly (94073) is working, its piston rod drives the connecting plate assembly (94074) to move linearly, and the connecting plate assembly (94074) drives the connecting rod assembly (94075) to move at a deflection angle, and the connecting rod assembly (94075) drives the deflection support assembly (94077) to move at a deflection angle around the Y axis (94076); The multi-dimensional angle deflection platform (94) comprises an X-direction angle deflection platform, and the X-direction angle deflection platform comprises a mounting block (9501), a lining plate (9502), a lower transition mounting plate (9503), an X-axis (9504), a guide rail mounting plate (9505), a guide rail side plate (9506), a sliding block assembly (9507), a guide rail (9508), a linear servo motor assembly (9509), a piston rod (9510), a fisheye bearing (9511), a connecting rod (9512), and a crank arm (9513); The mounting block (9501) is connected and fixed to the deflection support assembly (94077); the lining plate (9502) is connected and fixed to the lower transition mounting plate (9503); the lower transition mounting plate (9503) is connected and fixed to the guide rail mounting plate (9505); the X-axis (9504) passes through the center hole of the lining plate (9502) and the holes at both ends of the mounting block (9501) to connect the two components; the guide rail (9508) is connected and fixed to the guide rail mounting plate (9505); The rail side plate (9506) is connected and fixed to the guide rail mounting plate (9505); the sliding block assembly (9507) is mounted on the guide rail (9508); the linear servo motor assembly (9509) is connected and fixed to the guide rail mounting plate (9505) through its mounting support; the piston rod (9510) is connected to the crank arm (9513) through the fisheye bearing (9511) and the connecting rod (9512); the crank arm (9513) is connected and fixed to the mounting block (9501); When the linear servo motor assembly (9509) is working, the piston rod (9510) moves in a telescopic manner, driving the mounting block (9501) to make an angular deflection around the X-axis (9504) through the fisheye bearing (9511), the connecting rod (9512) and the crank arm (9513).

9. The GIS intelligent disassembly and assembly system according to claim 8, characterized in that: The strap mechanism (96) comprises a power mechanism mounting frame (9601), an electromagnetic brake module (9602), a strap servo motor module (9603), an anti-slip pad (9604), a guide member (9605), a guide block (9606), a long shaft (9607), a bearing (9608), a driving gear (9609), a synchronous wheel (9610), a short shaft (9611), a first driven gear (9612), a second driven gear (9613), a third driven gear (9614), and a fourth driven gear (9615); The electromagnetic brake module (9602) is installed on both sides of the power mechanism mounting frame (9601), and its brake disc is connected to the long shaft (9607) through a key; the strap servo motor module (9603) is installed on the upper right side of the power mechanism mounting frame (9601) through bolts, and its reduction gear is connected to the long shaft (9607) through a key; the anti-slip pad (9604) is installed at the bottom of the power mechanism mounting frame (9601); the guide member (9605) and the guide block (9606) are installed in the middle of the power mechanism mounting frame (9601), with a guide cutout for guiding the strap in and out; the bearing (9608) is a connection between the long shaft (9607) and the short shaft (9607). 611) accessories; the driving gear (9609) is installed at the upper left position of the power mechanism mounting frame (9601), and is connected to the strap servo motor module (9603) through the long shaft (9607) to provide the main power; the synchronous wheel (9610) is installed on the long shaft (9607) and the short shaft (9611), and its tooth module is the same as the tooth module of the soft strap (9619), and is used to drive the soft strap (9619) to move in and out; the driving gear (9609), the first driven gear (9612), the second driven gear (9613), the third driven gear (9614), and the fourth driven gear (9615) are meshed in sequence for power transmission.

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