A GIS intelligent disassembly and assembly system

Abstract

The present invention discloses a GIS intelligent disassembly and assembly system, which includes a flexible lifting platform, a leveling unit and a flexible clamping unit; the flexible lifting platform includes a crawler chassis assembly, a vehicle body assembly, a leg assembly, a control assembly, a slewing platform assembly, a main robotic arm assembly and a fly arm assembly; the vehicle body assembly is installed on the crawler chassis assembly; the leg assembly is located on the periphery of the vehicle body assembly; the slewing platform assembly is installed on the vehicle body assembly; the main robotic arm assembly is installed on the slewing platform assembly; the fly arm assembly is installed at the front end of the main robotic arm assembly; the leveling unit is installed at the front end of the fly arm assembly; the flexible clamping unit is located at the front end of the leveling unit and is used to realize the flexible clamping of the GIS tank body. The present invention can realize the high mechanization and automation of 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 operation risks.

Description

Technical Field

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

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

[0003] In 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 floor space, being unaffected by the external environment, high operation reliability, and long maintenance cycle. Since its appearance in the 1960s, the usage of GIS has been increasing. However, there are problems such as low usage degree and poor performance of mechanized construction equipment in the installation and maintenance processes of current GIS equipment. Especially for the disassembly and assembly of GIS tanks, due to the large volume and heavy weight of the products and the lack of special mechanized and intelligent equipment, the installation and maintenance are difficult.

[0004] Currently, the installation and maintenance of GIS equipment mainly use a crane or a hoist. During installation, first, the operator binds the GIS components with ropes, and then the crane or hoist hooks the ropes and slowly lifts them. When it is found that the center of gravity of the components is asymmetric and tilted after hoisting, the components are lowered to the ground to re-adjust the rope position and then lifted again. When operating the crane, the installation personnel communicate with the operator through a walkie-talkie; when using a hoist, the operator controls the hoisting operation by himself. After the installation components are moved to the appropriate installation position, multiple people need to cooperate to apply an external force to the installation components by tying ropes to the installation components or directly touching the installation components to adjust the position. After aligning the installation position, it is fixed by bolt connection to complete the installation.

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

[0006] In recent years, in response to the disassembly and assembly problems of GIS tanks, relevant units have carried out research and development. The basic technical solutions are as follows: using a movable tracked vehicle as a bearing platform, installing an extendable mechanical arm or a robot on the tracked vehicle platform, and installing a hydraulic clamping manipulator at the front end of the mechanical arm or the robot. The above solutions all have the following disadvantages:

[0007] 1. The robotic arm can only extend vertically and cannot extend horizontally. Affected by the height of the indoor space, the working radius of the robotic arm is limited, making it difficult to cover the disassembly and assembly range of GIS. The robotic arm is too short and the operation radius is too small, making it completely impractical.

[0008] 2. The manipulator of the existing equipment uses a hydraulic drive method for clamping. Since the GIS tank body is a thin-walled aluminum alloy part with a smooth outer surface, and due to the processing technology, the outer diameter of the tank body is a non-standard circle. Excessive clamping force is likely to cause deformation, and insufficient clamping force is likely to cause sliding. There are problems with mechanical hard clamping.

[0009] 3. The GIS tank body has diverse specifications, with diameters ranging from 300 mm to 800 mm. Most of the tank bodies are non-straight-through circles, with shapes such as three-way or four-way pipes and spherical shapes. Mechanical hard clamping cannot adapt to the clamping of tank bodies with different diameters and shapes, lacking universality.

[0010] 4. During equipment operation, the operator first controls the equipment to clamp the workpiece on the ground, and then controls the clamped workpiece to complete the high-altitude precise docking. When the high-altitude docking distance is too large, the equipment operator cannot see the state of the high-altitude docking position, making it difficult to operate.

[0011] As described above, the existing GIS tank body disassembly and assembly equipment in the current prior art has the following deficiencies:

[0012] 1. Existing mechanical equipment cannot be used in narrow spaces

[0013] The GIS usage scenarios include indoor and outdoor. For indoor GIS stations, most of the existing GIS switch rooms are not equipped with electric overhead cranes. There are only lifting rings pre-installed on the roof. When using the lifting rings, not only the position cannot be moved, but also because they are on the roof, their usability is greatly reduced. Due to the narrow indoor space, large cranes cannot enter the indoor for hoisting operations, lacking mechanized construction operation equipment.

[0014] 2. The existing disassembly and assembly operation methods have poor safety

[0015] When using a gin pole or scaffolding to lift and disassemble the GIS for operation, it is very difficult to select the support point of the gin pole, and the scaffolding is too thin to guarantee the load-bearing capacity; the GIS gas chamber is prone to shaking, and the safety cannot be guaranteed; moreover, these operating equipment are generally rented from the outside, and these temporary equipment lack regular professional safety tests and monitoring, and the reliability of the equipment cannot be guaranteed.

[0016] 3. The existing mechanical disassembly and assembly operation methods have a negative impact on the disassembly and assembly process of GIS equipment

[0017] When using a crane for hoisting operations, especially when aligning the contact surfaces of the GIS gas chamber, since the hoisting equipment needs to accurately adjust its position in all directions, the natural sway of the sling will greatly affect the reliability and accuracy of alignment during this process. Incorrect alignment of the contact surfaces of the GIS gas chamber will lead to situations such as collision or friction damage to the flange sealing surfaces during disassembly and assembly, distortion or displacement of the sealing rubber rings, and possible uneven internal stress on the contact surfaces, greatly increasing the risk of quality hazards and labor intensity.

[0018] 4. The existing disassembly and assembly operation methods have a high labor intensity for workers

[0019] Due to the heavy weight and complex shape of GIS product components and the lack of professional automated disassembly and assembly equipment, primitive methods such as manual lifting and carrying on the shoulders are widely used, resulting in high labor intensity and low efficiency.

[0020] 5. The existing equipment has many defects and is not practical.

[0021] The existing robotic arm can only extend upward. Limited by the height of the indoor space, it is difficult for the working radius of the robotic arm to cover the disassembly and assembly range of GIS components; the existing equipment's mechanical hard clamping cannot adapt to clamping tanks with different diameters and shapes, lacking versatility; the existing equipment is difficult to operate and it is hard to complete precise docking.

[0022] 6. It is difficult to align and install the existing equipment

[0023] During the use of the equipment, the robotic arm will form a certain angle with the ground. If the front clamping component is directly fixed to the robotic arm, an angle will also be formed after clamping. During the movement of the robotic arm, the angle with the ground will change at all times. When clamping the GIS tank, it needs to be kept horizontal with the ground at the same time to ensure that the installed fittings inside do not loosen and displace. When installing, the two flange surfaces of the tank must be parallel to each other to be installed, otherwise it will cause difficulties in product performance and alignment installation after the clamping unit clamps the tank.

[0024] As of now, the industry still lacks available dedicated 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 a high degree of mechanization and automation in GIS installation operations, improve the efficiency of GIS disassembly and assembly operations, reduce the labor intensity of workers, enhance the accuracy of installation and maintenance operations, and reduce operation risks. Summary of the Invention

[0025] Aiming at the technical problems existing in the prior art, the present invention provides a GIS intelligent disassembly and assembly system that improves the efficiency of GIS disassembly and assembly operations, reduces the labor intensity of workers, enhances the accuracy of installation and maintenance operations, and reduces operation risks.

[0026] To solve the above technical problems, the technical solutions proposed by the present invention are as follows:

[0027] A GIS intelligent disassembly and assembly system, comprising a flexible lifting platform, a leveling unit and a flexible clamping unit; the flexible lifting platform includes a crawler chassis assembly, a vehicle body assembly, a leg assembly, a control assembly, a slewing platform assembly, a main robotic arm assembly and a fly arm assembly; the vehicle body assembly is installed on the crawler chassis assembly; the leg assembly is located on the periphery of the vehicle body assembly; the slewing platform assembly is installed on the vehicle body assembly; the main robotic arm assembly is installed on the slewing platform assembly; the fly arm assembly is installed at the front end of the main robotic arm assembly; the leveling unit is installed at the front end of the fly arm assembly and is used to adjust the flexible clamping unit to always be perpendicular to the ground plane when the main robotic arm assembly and the fly arm assembly make angular deflection movements; the flexible clamping unit is located at the front end of the leveling unit and is used to realize the flexible clamping of the GIS tank body.

[0028] As a further improvement of the above technical solution:

[0029] The leveling unit includes a welding shaft, a mounting bracket, a first shaft assembly, a long connecting rod, a second shaft assembly, a leveling arm cylinder, a leveling oil cylinder, a third shaft assembly, a fourth shaft assembly, a short connecting rod and a fifth shaft assembly; the mounting bracket is connected to the fly arm assembly through the welding shaft; the mounting bracket is rotationally connected to the leveling arm cylinder through the second shaft assembly; one end of the long connecting rod is rotationally installed on the mounting bracket through the first shaft assembly, and the other end is rotationally connected to the fourth shaft assembly; the leveling oil cylinder is rotationally installed on the mounting bracket through the third shaft assembly, and the front end of the leveling oil cylinder is rotationally connected to the fourth shaft assembly; one end of the short connecting rod is rotationally installed on the leveling arm cylinder through the fifth shaft assembly, and the other end is rotationally connected to the fourth shaft assembly.

[0030] An inclination sensor is provided on the leveling arm cylinder.

[0031] It further includes a vision unit, and the vision unit includes a display module and a video monitoring module;

[0032] The video monitoring module is used for dynamic monitoring of the on-site installation scenario;

[0033] The display module is installed on the vehicle body assembly and is used to display the monitoring information of the video monitoring module.

[0034] It further 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 installation holes;

[0035] The position calibration module is installed on the flange side of two docking tanks; the position calibration module includes a left mounting bracket, a right mounting bracket, a position sensor, a distance sensor, and a vision camera; the left mounting bracket is installed on the flange side of one of the tanks, and position sensors and distance sensors are installed on both the left mounting bracket and the right mounting bracket; the distance sensors on the left mounting bracket and the right mounting bracket cooperate with each other to detect the axial distance between the two docking tanks; the position sensors on the left mounting bracket and the right mounting bracket cooperate with each other to detect the distance in the direction perpendicular to the axial direction of the two docking tanks; the vision camera is installed on the left mounting bracket or the right mounting bracket to monitor the surrounding environment.

[0036] The flexible clamping unit includes a multi-dimensional moving platform, a multi-dimensional angle deflection platform, a strap mechanism, and a fixture module; the multi-dimensional angle deflection platform is installed on the multi-dimensional moving platform, the strap mechanism is located on the multi-dimensional angle deflection platform, and the multi-dimensional moving platform and the multi-dimensional angle deflection platform cooperate with each other to achieve the multi-dimensional movement and multi-dimensional angle deflection of the strap mechanism; the fixture module is detachably installed on the strap mechanism.

[0037] The multi-dimensional moving platform includes a mounting bracket, an XY-direction moving platform, and a Z-direction moving platform; the XY-direction moving platform is installed on the Z-direction moving platform;

[0038] The XY-direction moving platform includes 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 lead screw coupling assembly, a first lead screw support seat assembly, a first lead screw nut assembly, an X-direction lead screw, a first lead screw mounting seat assembly, and a second mounting plate;

[0039] The upper plane of the first mounting plate is bolted and fixed to the mounting bracket; the X-direction sliding block assembly is installed on the X-direction guide rail for left and right movement in the X-direction; the X-direction guide rail is installed on the lower plane of the first mounting plate for the linear movement of the X-direction sliding block assembly; the X-direction moving servo motor assembly is the driving power unit in the X-direction for driving the X-direction lead screw to rotate forward or backward; the upper end of the first motor mounting seat assembly is installed on the lower plane of the first mounting plate for fixing the X-direction moving servo motor assembly to the first mounting plate; the first lead screw coupling assembly is used to connect the X-direction moving servo motor assembly and the X-direction lead screw; the upper ends of the first lead screw support seat assembly and the first lead screw mounting seat assembly are installed on the lower plane of the first mounting plate for fixing the X-direction lead screw; the first lead screw nut assembly is a matching part of the X-direction lead screw and is bolted and fixed to the second mounting plate through its connecting plate; when the X-direction lead screw rotates forward or backward under the drive of the X-direction moving servo motor assembly, the first lead screw nut assembly moves linearly left and right in the X-direction, driving the second mounting plate to move linearly in the X-direction;

[0040] The XY moving platform further includes a Y-direction sliding block assembly, a Y-direction guide rail, a Y-direction moving servo motor assembly, a second motor mounting seat assembly, a second lead screw coupling assembly, a second lead screw support seat assembly, a second lead screw nut assembly, a Y-direction lead screw, a second lead screw mounting seat assembly, and a third mounting plate;

[0041] The upper plane of the second mounting plate is fixedly connected to the X-direction sliding block assembly; the Y-direction sliding block assembly is installed on the Y-direction guide rail and is used for moving left and right in the Y direction; the Y-direction guide rail is installed on the lower plane of the second mounting plate and is used for the linear movement of the Y-direction sliding block assembly; the Y-direction moving servo motor assembly is a Y-direction driving power unit and is used for driving the Y-direction lead screw to rotate forward or backward; the upper end of the second motor mounting seat assembly is installed on the lower plane of the second mounting plate and is used for fixing the Y-direction moving servo motor assembly on the second mounting plate; the second lead screw coupling assembly is used for connecting the Y-direction moving servo motor assembly and the Y-direction lead screw; the upper ends of the second lead screw support seat assembly and the second lead screw mounting seat assembly are installed on the lower plane of the second mounting plate and are used for fixing the Y-direction lead screw; the second lead screw nut assembly is a matching part of the Y-direction lead screw and is fixedly connected to the third mounting plate through its connecting plate; when the Y-direction lead screw rotates forward or backward under the drive of the Y-direction moving servo motor assembly, the second lead screw nut assembly moves linearly left and right in the Y direction, driving the third mounting plate to move linearly in the Y direction.

[0042] The Z-direction moving platform includes a vertical lifting electric cylinder assembly and a mounting disc. The lower flange and the flange ball linear bearing seat of the vertical lifting electric cylinder assembly are fixed on the third mounting plate, and the piston rod passes through the central hole of the third mounting plate and is fixedly connected to the mounting disc; when the piston rod of the vertical lifting electric cylinder moves up and down in the Z direction, it drives the mounting disc and the components installed at the lower end to move up and down in the Z direction;

[0043] The multi-dimensional angle deflection platform includes a slewing gear, a fourth mounting plate, a corner servo motor assembly, and a transmission gear set;

[0044] The slewing gear is a slewing bearing structure. The upper end of its fixed part of the inner ring is fixedly connected to the mounting disc, and the lower end of the rotating part of the outer ring's external teeth is bolted to the fourth mounting plate; the corner servo motor assembly is installed on the fourth mounting plate, and through the transmission gear set for transmission ratio conversion, the power of the corner servo motor assembly is transmitted to the slewing gear, making it rotate 360 degrees around the Z axis.

[0045] The multi-dimensional angle deflection platform further includes a Y-direction rotation power assembly. The Y-direction rotation power assembly includes a mounting circular plate assembly, a mounting plate assembly, a Y-direction rotation servo motor assembly, a connecting plate assembly, a connecting rod assembly, a Y axis, and a deflection support seat assembly;

[0046] The described mounting circular plate assembly is fixedly connected to the fourth mounting plate; the mounting plate assembly is fixedly connected to the mounting circular plate assembly, and the Y-direction rotation servo motor assembly is fixedly connected to the mounting plate assembly; the connecting plate assembly is connected to the Y-direction rotation servo motor assembly; the connecting rod assembly is connected to the deflection support assembly; the Y-axis passes through the lower hole of the mounting circular plate assembly and the mounting hole of the deflection support assembly to connect the two components;

[0047] When the Y-direction rotation servo motor assembly works, its piston rod drives the connecting plate assembly to move linearly, the connecting plate assembly then drives the connecting rod assembly to deflect at an angle, and the connecting rod assembly then drives the deflection support assembly to deflect at an angle around the Y-axis;

[0048] The described 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, guide rail side plates, a sliding block assembly, guide rails, a linear servo motor assembly, a piston rod, a spherical bearing, a connecting rod, and a crank arm;

[0049] The mounting block is fixedly connected to the deflection support assembly; the lining plate is fixedly connected to the lower transition mounting plate; the lower transition mounting plate is fixedly connected to the guide rail mounting plate; the X-axis passes through the central hole of the lining plate and the two end holes of the mounting block to connect the two components; the guide rails are fixedly connected to the guide rail mounting plate; the guide rail side plates are fixedly connected to the guide rail mounting plate; the sliding block assembly is mounted on the guide rails; the linear servo motor assembly is fixedly connected to the guide rail mounting plate through its mounting support; the piston rod is connected to the crank arm through a spherical bearing and a connecting rod; the crank arm is fixedly connected to the mounting block;

[0050] When the linear servo motor assembly works, the piston rod expands and contracts, driving the mounting block to deflect at an angle around the X-axis through the spherical bearing, the connecting rod, and the crank arm.

[0051] The described strap mechanism includes a power mechanism mounting frame, an electromagnetic brake module, a strap servo motor module, an anti-slip cushion plate, a guide, a guide block, a long shaft, a bearing, a driving gear, a synchronous pulley, a short shaft, a first driven gear, a second driven gear, a third driven gear, and a fourth driven gear;

[0052] 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 by a key; the strap servo motor module is installed on the upper right side of the power mechanism mounting frame by bolts, and its reduction gear is connected to the long shaft by a key; the anti-slip cushion plate is installed at the bottom of the power mechanism mounting frame; the guide and the guide block are installed in the middle of the power mechanism mounting frame, with a guide notch for guiding the entry and exit of the strap; 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 and is connected to the strap servo motor module through the long shaft to provide the driving force; the synchronous pulley is installed on the long shaft and the short shaft, and its tooth module is the same as that of the soft strap for driving the entry and exit of the soft strap; the driving gear, the first driven gear, the second driven gear, the third driven gear, and the fourth driven gear are engaged in sequence for power transmission.

[0053] Compared with the prior art, the advantages of the present invention are as follows:

[0054] The crawler vehicle type moving platform adopted by the present invention has a telescopic robotic arm and rotatable and telescopic spider legs; the robotic 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 width of the platform is less than 1.6 meters and the height is less than 2.2 meters, enabling indoor operation and having the ability to work in narrow indoor environments; in order to adapt to the influence of limited heights indoors and outdoors (the height of indoor houses is limited, and the height outdoors is limited due to overhead line interference), a horizontally telescopic flying arm assembly is added to the front end of the main robotic arm assembly, which not only ensures the required large operation radius but also avoids the inability to operate due to interference with overhead lines caused by the excessive height of the robotic arm, meeting the needs of mechanized operation in narrow spaces indoors for GIS.

[0055] 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 a flexible clamping unit. The flexible clamping unit is all driven by servo motors and can perform six-degree-of-freedom movements (linear movements in the X, Y, and Z directions and rotational movements around the X, Y, and Z axes), which can accurately ensure the installation and docking of components at any position, improving the reliability and accuracy of alignment, avoiding bumps caused by the natural swing of the sling, meeting the requirements of the product assembly process, and improving the product assembly quality.

[0056] The flexible clamping unit (fixture) of the present invention adopts a soft strap clamping method and is automatically locked by a motor, which can be used to clamp tanks with different diameters without damaging the clamped workpiece and is convenient to operate; the flexible clamping unit (fixture) adopts a modular splicing method and can use different module components according to different specifications of products, having good versatility.

[0057] In addition to having a dedicated clamping function for GIS tank body workpieces, the present invention still retains a lifting function similar to that of an ordinary crane. The modular flexible clamping unit can be quickly disassembled, and has multiple functions of flexible workpiece clamping and workpiece lifting, with a wider application range.

[0058] The present invention installs visual recognition and laser ranging sensors on the flange holes of the tank body. Through the sensors, the position of the flange holes of the tank body forms coordinate information and forms a virtual graph, which is intuitively displayed through a liquid crystal display screen to guide the operator to operate the equipment accurately. At the same time, a visual camera is installed, and the operator can clearly see the assembly details remotely, greatly improving the installation efficiency. Description of the Drawings

[0059] Figure 1 It is a schematic structural diagram of the GIS intelligent disassembly and assembly system of the present invention in an embodiment; where (a) is the front view; (b) is the side view; (c) is the perspective view.

[0060] Figure 2 It is a schematic structural diagram of the vehicle body assembly of the present invention in an embodiment.

[0061] Figure 3 It is a schematic structural diagram of the leveling unit of the present invention in an embodiment.

[0062] Figure 4 It is a schematic structural diagram of the flexible clamping unit of the present invention in an embodiment; (a) is the front view of the flexible clamping unit; (b) is the structural diagram of the XY-direction moving platform; (c) is the structural diagram of the Z-axis moving platform; (d) is the structural diagram of the Y-direction rotating power component; (e) is one of the structural diagrams of the X-direction angle deflection platform; (f) is another structural diagram of the X-direction angle deflection platform; (g) is the perspective structural diagram of the strap mechanism; (h) is the internal structural diagram of the strap mechanism; (i) is the structural diagram of the soft strap; (j) is the structural diagram of the fixture module; (k) is the structural diagram of the flange clamping component; (l) is one of the clamping mode diagrams; (m) is another clamping mode diagram; (n) is the third clamping mode diagram; (o) is the fourth clamping mode diagram.

[0063] Figure 5 It is a schematic structural diagram of the position calibration unit of the present invention in an embodiment; (a) is the perspective view; (b) is the A-A view of (a).

[0064] Figure 6 It is a schematic action diagram of the GIS intelligent disassembly and assembly system of the present invention in an embodiment.

[0065] Figure 7 It is a schematic action diagram of the flexible clamping unit of the present invention in an embodiment; (a) is a schematic diagram of three-dimensional movement, deflection around the Z-axis and Y-axis; (b) is a diagram of deflection around the X-axis.

[0066] Figure 8This is the folding and contraction state diagram of the flexible lifting platform of the present invention in the embodiment.

[0067] Figure 9 This is the installation schematic diagram of the flexible lifting platform of the present invention in the embodiment.

[0068] Figure 10 This is the state diagram of the GIS intelligent disassembly and assembly system of the present invention during specific application.

[0069] Figure 11 This is the docking state diagram of the flexible lifting platform, leveling unit and flexible clamping unit of the present invention.

[0070] Figure 12 This is the embodiment diagram of the GIS intelligent disassembly and assembly system of the present invention during specific application.

[0071] 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 blossom handle bolt; 9706, Installation 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 blossom handle bolt; 97135, Rotating shaft; 9714, Hook assembly; 98, Wireless remote control; 10, Leveling unit; 1001, Welding shaft; 1002, Mounting bracket; 1003, First shaft assembly; 1004, Long connecting rod; 1005, Second shaft assembly; 1006, Leveling arm cylinder; 1007, Leveling oil cylinder; 1008, Third shaft assembly; 1009, Fourth shaft assembly; 1010, Short connecting rod; 1011, Fifth shaft assembly; 1012, Inclinometer sensor; 11, Position calibration module; 1101, Left mounting bracket; 1102, Position sensor; 1103, Distance sensor; 1104, Right mounting bracket; 1105, Vision camera; 12, First tank body; 13, Second tank body; Detailed implementation manners

[0072] The present invention will be further described below in conjunction with the specification drawings and specific embodiments.

[0073] As Figure 1 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;

[0074] The flexible lifting platform includes a crawler chassis assembly 1, a vehicle body assembly 2 (as Figure 2 shown), a leg assembly 3, a control assembly 4, a vision unit 5, a slewing platform assembly 6, a main robotic arm assembly 7, and a fly arm assembly 8;

[0075] The crawler chassis assembly 1 is a traveling platform, using an engineering rubber crawler chassis, with stable driving, suitable for construction on various complex terrains in substations. The overall width on both sides of the crawler vehicle is less than 1.6 meters, and it can adapt to operation in narrow spaces;

[0076] The vehicle body assembly 2 is installed on the upper part of the crawler chassis assembly 1;

[0077] The leg assembly 3 is located at the four corners of the vehicle body assembly 2, is a multi-joint structure, and is hydraulically driven. The leg assembly 3 can automatically extend and retract under the drive of the hydraulic cylinder, and can perform different deflection angle adjustments around the vehicle body assembly 2;

[0078] 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 leg assembly 3, the slewing platform assembly 6, the main robotic arm assembly 7, the fly arm assembly 8, etc.;

[0079] The slewing platform assembly 6 is installed at the rear end of the vehicle body assembly 2 and can rotate 360 degrees, facilitating operations.

[0080] The main robotic arm assembly 7 is installed on the slewing platform assembly 6, and its angle adjustment and length telescoping are achieved through the control assembly 4.

[0081] The fly arm assembly 8 is installed at the front end of the main robotic arm assembly 7, and its angle deflection and horizontal length telescoping are achieved through the control assembly 4.

[0082] The leveling unit 10 is installed at the front end of the fly arm assembly 8 to achieve the transitional installation of the fly arm assembly 8 and the flexible clamping unit 9. When the main robotic arm assembly 7 and the fly arm assembly 8 perform angle deflection movements, it is used to ensure that the flexible clamping unit 9 is always perpendicular to the ground plane, thereby ensuring that the GIS tank remains horizontal with the ground during clamping, further ensuring that the internally installed fittings do not loosen or displace, and at the same time ensuring that the two flange surfaces of the tank are parallel to each other during installation for reliable installation and improving the installation quality.

[0083] The flexible clamping unit 9 is installed at the front end of the leveling unit 10 for the flexible clamping of the GIS tank. After clamping, the workpiece is stable without shaking. The flexible clamping unit 9 has the precise movement ability in 6 degrees of freedom directions (including linear movement in the X, Y, and Z directions and rotation around the X, Y, and Z axes), can perform precise position offset adjustment on the clamped GIS, and can quickly and precisely dock the installation hole positions of the GIS tank.

[0084] The vision 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 scenario, and the video monitoring information is synchronously displayed in the display module 501 to improve the operation safety and efficiency. The display module 501 is installed at the center position on the right end of the vehicle body assembly 2 for displaying the monitoring information of the video monitoring module 502.

[0085] The position calibration module 11 is installed on the tank. As Figure 5 shown, through the position sensor 1102, distance sensor 1103, etc., the three-dimensional spatial position of the installation hole of the tank can be determined, and the position information is displayed in the display module 501 and the display screen of the wireless remote controller 98 of the flexible clamping unit 9 to guide the operator to operate the equipment and improve the installation efficiency.

[0086] As Figure 6 shown, the crawler chassis assembly 1 is a traveling platform, which can adapt to the construction operations of electrical equipment under complex working conditions and can quickly travel to the construction site as needed.

[0087] The outrigger assembly 3 can rotate a certain angle and extend and open to support the whole equipment off the ground.

[0088] The slewing platform assembly 6, the main robotic arm assembly 7, the fly arm assembly 8 and the leveling unit 10 perform various degrees of freedom of movement as shown below under the control system, and can adjust the spatial position in a large range in the up and down, far and near, and various angular directions as needed to meet the working range requirements of GIS products. Among them, the fly arm assembly 8 can perform telescopic movement in the horizontal direction to adapt to the scenario where the height is limited while the working radius range is large during indoor GIS operations; the leveling unit 10 is jointly controlled with the main robotic arm assembly 7 and the fly arm assembly 8 through the control system to ensure that the front mounting end face of the leveling unit 10 is always perpendicular to the ground plane, so that the flexible clamping unit 9 mounted thereon remains vertical and horizontal. Figure 6 As shown, the leveling unit 10 includes a welding shaft 1001, a mounting bracket 1002, a first shaft assembly 1003, a long connecting rod 1004, a second shaft assembly 1005, a leveling arm cylinder 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 bracket 1002 is connected to the fly arm assembly 8 through the welding shaft 1001; the mounting bracket 1002 is rotatably connected to the leveling arm cylinder 1006 through the second shaft assembly 1005; one end of the long connecting rod 1004 is rotatably mounted on the mounting bracket 1002 through the first shaft assembly 1003, and the other end is rotatably connected to the fourth shaft assembly 1009; the leveling oil cylinder 1007 is rotatably mounted on the mounting bracket 1002 through the third shaft assembly 1008, and the front end of the leveling oil 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 cylinder 1006 through the fifth shaft assembly 1011, and the other end is rotatably connected to the fourth shaft assembly 1009. An inclination sensor 1012 is provided on the leveling arm cylinder 1006 for detecting the tilting angle.

[0089] As Figure 3 shown, the flexible clamping unit 9 entirely uses servo motors or servo electric cylinders as the driving power, with stepless speed regulation, and is individually controlled by a remote control system, which is convenient to use. The flexible clamping unit 9 has the precise movement ability in 6 degrees of freedom directions (including linear movement in the X, Y, and Z directions and rotation around the X, Y, and Z axes), can perform precise position offset and angle adjustment on the clamped GIS, and can quickly and precisely dock the mounting hole positions of the GIS tank body.

[0090] As Figure 4 shown, the flexible clamping unit 9 entirely uses servo motors or servo electric cylinders as the driving power, with stepless speed regulation, and is individually controlled by a remote control system, which is convenient to use. The flexible clamping unit 9 has the precise movement ability in 6 degrees of freedom directions (including linear movement in the X, Y, and Z directions and rotation around the X, Y, and Z axes), can perform precise position offset and angle adjustment on the clamped GIS, and can quickly and precisely dock the mounting hole positions of the GIS tank body.

[0091] As Figure 4As shown in Fig. (a), the flexible clamping unit 9 includes a multi-dimensional moving platform, a multi-dimensional angle deflection platform 94, a strap mechanism 96, and a fixture module 97; the multi-dimensional angle deflection platform 94 is installed on the multi-dimensional moving platform, the strap mechanism 96 is located on the multi-dimensional angle deflection platform 94, and the multi-dimensional moving platform and the multi-dimensional angle deflection platform 94 cooperate with each other to achieve the multi-dimensional movement and multi-dimensional angle deflection of the strap mechanism 96; the fixture module 97 is detachably installed on the strap mechanism 96.

[0092] The above-mentioned multi-dimensional moving platform is connected to the GIS intelligent disassembly and assembly system through a mounting bracket 91. Specifically, the mounting bracket 91 is welded by metal sheet metal parts into an integral box frame structure. The side and back are 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 integrally located inside the housing 92, and the housing 92 is made of thin plate PVC material for equipment dust prevention.

[0093] As Figure 4 shown in Fig. (b), the multi-dimensional moving platform includes a mounting bracket 91, an XY-direction moving platform 93, and a Z-direction moving platform; the XY-direction moving platform 93 is installed on the Z-direction moving platform;

[0094] The XY-direction moving platform 93 is installed at the lower end of the mounting bracket 91 and is used for the precise movement of the clamped component in the X and Y directions;

[0095] The XY-direction 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 lead screw coupling assembly 9306, a first lead screw support seat assembly 9307, a first lead screw nut assembly 9308, an X-direction lead screw 9309, a first lead screw mounting seat assembly 9310, a stop 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 lead screw coupling assembly 9317, a second lead screw support seat assembly 9318, a second lead screw nut assembly 9319, a Y-direction lead screw 9320, a second lead screw mounting seat assembly 9321, an infrared sensor assembly 9322, and a third mounting plate 9323;

[0096] Among them, the first mounting plate 9301, the second mounting plate 9312, and the third mounting plate 9323 are all made of aviation aluminum alloy 97075, with good strength and light weight;

[0097] The upper plane of the first mounting plate 9301 is fixedly connected to the mounting bracket 91 by bolts; the X-direction sliding block assembly 9302 is mounted on the X-direction guide rail 9303, with a total of 4 pieces, for moving left and right in the X direction; the X-direction guide rail 9303 is mounted on the lower plane of the first mounting plate 9301, with a total of 2 pieces, for the linear movement of the X-direction sliding block assembly 9302; the X-direction moving servo motor assembly 9304 is the X-direction driving power unit, for driving the X-direction lead screw 9309 to rotate forward or backward; the upper end of the first motor mounting seat assembly 9305 is mounted on the lower plane of the first mounting plate 9301, for bolt-fixing the X-direction moving servo motor assembly 9304 to the first mounting plate 9301; the first lead screw coupling assembly 9306 is used to connect the X-direction moving servo motor assembly 9304 and the X-direction lead screw 9309; the upper ends of the first lead screw support seat assembly 9307 and the first lead screw mounting seat assembly 9310 are mounted on the lower plane of the first mounting plate 9301 by bolts, for fixing the X-direction lead screw 9309; the first lead screw nut assembly 9308 is a matching part of the X-direction lead screw 9309, and is fixedly connected to the second mounting plate 9312 by its connecting plate with bolts. When the X-direction lead screw 9309 rotates forward or backward under the drive of the X-direction moving servo motor assembly 9304, the first lead screw nut assembly 9308 moves linearly left and right in the X direction, driving the second mounting plate 9312 to move linearly in the X direction. The stoppers 9311 are mounted at both ends of the X-direction guide rail 9303 and the Y-direction guide rail 9314, with a total of 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.

[0098] 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, with a total of 4 pieces, for moving left and right in the Y direction; the Y-direction guide rail 9314 is mounted on the lower plane of the second mounting plate 9312, with a total of 2 pieces, for the linear movement of the Y-direction sliding block assembly 9313; the Y-direction moving servo motor assembly 9315 is the Y-direction driving power unit, for driving the Y-direction lead screw 9320 to rotate forward or backward; the upper end of the second motor mounting seat assembly 9316 is mounted on the lower plane of the second mounting plate 9312, for bolt-fixing the Y-direction moving servo motor assembly 9315 to the second mounting plate 9312; the second lead screw coupling assembly 9317 is used to connect the Y-direction moving servo motor assembly 9315 and 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 bolted to 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 bolted and fixed to the third mounting plate 9323 through its connecting plate. When the Y-direction lead screw 9320 rotates forward and backward under the drive of the Y-direction moving servo motor assembly 9315, the second lead screw nut assembly 9319 moves linearly left and right in the Y direction, driving the third mounting plate 9323 to move linearly in the Y direction. The above XY-direction moving platform 93 has a simple structure and is easy to operate.

[0099] As Figure 4 shown in (c) of the figure, the Z-direction moving platform includes a vertical lifting electric cylinder assembly 9401 and a mounting disc 9402. The lower flange of the vertical lifting electric cylinder assembly 9401 and 4 flange ball linear bearing seats are bolted and fixed to the third mounting plate 9323, and the piston rod passes through the central hole of the third mounting plate 9323 and is connected and fixed to the mounting disc 9402 with a slotted nut. When the piston rod of the vertical lifting electric cylinder moves up and down in the Z direction, it drives the mounting disc 9402 and the components mounted at the lower end to move up and down in the Z direction. The above Z-direction moving platform has a simple structure and is easy to operate.

[0100] As Figure 4 shown in (c) of the figure, the multi-dimensional angle deflection platform 94 includes a rotary gear 9403, a fourth mounting plate 9404, a corner servo motor assembly 9405, a transmission gear set 9406, a Y-direction rotation power assembly 9407 and an X-direction angle deflection platform 95;

[0101] The slewing gear 9403 is a slewing bearing structure. The upper end of its fixed inner ring is fixedly connected to the mounting plate 9402 by bolts, and the lower end of the rotating outer teeth of the outer ring is fixedly connected to the fourth mounting plate 9404 by bolts; the corner servo motor assembly 9405 is mounted on the fourth mounting plate 9404 by bolts, and the transmission ratio is converted through the transmission gear set 9406, and the power of the corner servo motor assembly 9405 is transmitted to the slewing gear 9403 to make it rotate 360 degrees around the Z axis. The above overall structure is simple and easy to operate.

[0102] As Figure 4 shown in (d) therein, the Y-direction rotation power assembly 9407 includes a mounting circular plate assembly 94071, a mounting plate assembly 94072, a Y-direction 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;

[0103] 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 aerospace aluminum 97075 material;

[0104] The mounting circular plate assembly 94071 is fixedly connected to the fourth mounting plate 9404 by bolts; the mounting plate assembly 94072 is fixedly connected to the mounting circular plate assembly 94071 by bolts, and the Y-direction rotation servo motor assembly 94073 is fixedly connected to the mounting plate assembly 94072 by bolts; the connecting plate assembly 94074 is connected to the Y-direction 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 hole of the mounting circular plate assembly 94071 and the mounting hole of the deflection support assembly 94077 to connect the two components;

[0105] When the Y-direction rotation servo motor assembly 94073 works, its piston rod drives the connecting plate assembly 94074 to move linearly, the connecting plate assembly 94074 then drives the connecting rod assembly 94075 to deflect at an angle, and the connecting rod assembly 94075 then drives the deflection support assembly 94077 to deflect at an angle around the Y-axis 94076.

[0106] The above Y-direction rotation power assembly 9407 has a simple overall structure and is easy to operate.

[0107] As Figure 4As shown in (e) and (f) of the figure, the X-direction angular 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 spherical bearing 9511, a connecting rod 9512, and a crank arm 9513;

[0108] The mounting block 9501, the lining plate 9502, the lower transition mounting plate 9503, the guide rail mounting plate 9505, the guide rail side plate 9506, and the crank arm 9513 are all made of aviation aluminum 97075;

[0109] The mounting block 9501 is fixedly connected to the deflection support assembly 94077 by bolts; the lining plate 9502 is fixedly connected to the lower transition mounting plate 9503 by bolts; the lower transition mounting plate 9503 is fixedly connected to the guide rail mounting plate 9505 by bolts; the X-axis 9504 passes through the central 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 fixedly connected 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 fixedly connected to the guide rail mounting plate 9505 by bolts, and a total of 2 pieces are installed at both ends; the sliding block assembly 9507 is installed on the guide rail 9508, and a total of 4 pieces or 6 pieces are installed; the linear servo motor assembly 9509 is fixedly connected to the guide rail mounting plate 9505 by bolts through its mounting bracket; the piston rod 9510 is connected to the crank arm 9513 through the spherical bearing 9511 and the connecting rod 9512; the crank arm 9513 is fixedly connected to the mounting block 9501 by bolts. When the linear servo motor assembly 9509 works, the piston rod 9510 expands and contracts, and drives the mounting block 9501 to make an angular deflection around the X-axis 9504 through the spherical bearing 9511, the connecting rod 9512, and the crank arm 9513.

[0110] The overall structure of the above-mentioned X-direction angular deflection platform 95 is simple and easy to operate.

[0111] As Figure 4 As shown in (g), (h), and (i) of the figure, 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 backing plate 9604, a guide 9605, a guide block 9606, a long shaft 9607, a bearing 9608, a driving gear 9609, a synchronous pulley 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 pressing block 9617, a limit ring 9618, and a soft strap 9619;

[0112] The power mechanism mounting bracket 9601 is made of 97075 aviation aluminum and is the main frame part of the strap mechanism 96. The electromagnetic brake module 9602 is installed on both sides of the power mechanism mounting bracket 9601. Its brake disc is connected to the long shaft 9607 by a key, with a total of 3 pieces. The strap servo motor module 9603 is installed on the upper right side of the power mechanism mounting bracket 9601 by bolts. Its reduction gear is connected to the long shaft 9607 by a key. The anti-slip cushion plate 9604 is installed at the bottom of the power mechanism mounting bracket 9601. It contacts the workpiece to be clamped and is made of polyurethane material, with good anti-slip performance and certain elasticity. The guide 9605 and the guide block 9606 are made of aluminum alloy and are installed in the middle of the mechanism mounting bracket 9601, with guide cuts for guiding the entry and exit of the soft strap 9619. The long shaft 9607 is installed at the upper part of the power mechanism mounting bracket 9601, with a total of 2 pieces, for the installation and fixation of gears. The bearing 9608 is a matching part for the long shaft 9607 and the short shaft 9611, ensuring small rotational friction. The driving gear 9609 is installed at the upper left position of the power mechanism mounting bracket 9601 and is connected to the strap servo motor module 9603 through the long shaft 9607 to provide the driving force. The synchronous pulleys 9610 are installed on the long shaft 9607 and the short shaft 9611, with a total of 5 pieces. Their tooth module is the same as that of the soft strap 9619, for driving the entry and exit of the soft strap 9619. 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. 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 pressing block 9617 are used for fixing one end of the soft strap 9619. The limit ring 9618 is a matching part for the driving gear 9609 and each driven gear group, for determining the installation position of the gears.

[0113] During operation, the strap servo motor module 9603 is started, driving the driving gear 9609 to rotate. The driving gear 9609 synchronously rotates through meshing with the tooth profiles of 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 pulley 9610 to move. The synchronous pulley 9610 rotates clockwise or counterclockwise according to the forward and reverse rotation of the strap servo motor module 9603.

[0114] During use, one end of the flexible strap 9619 is placed on the damping rack 9616 and fixed with the strap pressing block 9617, and the other end is inserted into the hole of the guiding member 9605. When the flexible strap 9619 contacts the synchronous pulley 9610, it will rotate clockwise or counterclockwise along the synchronous pulley 9610 through tooth-shaped meshing, so as to realize the flexible clamping or releasing of the workpiece by the flexible strap 9619. The overall structure of the above strap mechanism 96 is simple and the operation is convenient. It can realize the non-destructive clamping of the workpiece and is applicable to the clamping of workpieces of different shapes and types at the same time.

[0115] As Figure 4 shown in (j) in the figure, the fixture module 97 is mainly used for the vertical installation of the GIS tank body and the hoisting of special-shaped components, enabling the clamping device to have the ability to be applied in multiple scenarios, meeting the installation requirements of different products, and having versatility.

[0116] Specifically, the fixture module 97 includes a chuck assembly 9701, a locking pin assembly 9702, a connecting rotating shaft assembly 9703, a clamping chuck 9704, a first plum blossom handle bolt 9705, a mounting channel steel 9706, a linear guide rail, a lead screw 9708, a right mounting seat assembly 9709, a left mounting seat assembly 9710, a bakelite handwheel 9711, a third sliding seat 9712, a flange clamping assembly 9713, and a hook assembly 9714;

[0117] The chuck assembly 9701 is located at the top of the fixture module 97. The locking pin assembly 9702 is installed on both ends of the chuck assembly 9701 and has a pre-tightening spring inside, which can be pulled outward; the middle position of the connecting rotating shaft assembly 9703 is provided with a rotatable plain bearing, and the upper shaft and the lower shaft can rotate relative to each other. The upper flange surface of the connecting rotating shaft assembly 9703 is installed on the chuck assembly 9701, and the internal shaft body passes through the central hole of the clamping chuck 9704, and the lower 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. The first plum blossom handle bolt 9705 is installed in the screw holes on both sides of the clamping chuck 9704. By screwing in clockwise or unscrewing counterclockwise, the tightness of the clamping between the clamping chuck 9704 and the connecting rotating shaft assembly 9703 is adjusted to control whether the mounting channel steel 9706 and the lower components rotate around the Z phase, facilitating the alignment of the flange corner of the tank body after clamping; the linear guide rail is installed below the mounting channel steel 9706; the lead screw 9708, the right mounting seat assembly 9709, the left mounting seat assembly 9710, and the bakelite handwheel 9711 are installed on the side of the mounting channel steel 9706; the sliding seat 93712 is installed below the linear guide rail; the flange clamping assembly 9713 is respectively bolted and fixed to the lead screw nut on the lead screw 9708 and the sliding seat 93712; the hook assembly 9714 is installed and fixed by screwing the upper screw into the central screw hole of the lower shaft of the connecting rotating shaft assembly 9703.

[0118] As Figure 4As shown in (k), the flange clamping assembly 9713 includes a third support assembly 97131, a flange clamping block 97132, a polyurethane pressure head 97133, a second plum blossom handle bolt 97134, and a rotating shaft 97135;

[0119] The flange clamping block 97132 is placed in the middle slot 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 for direct surface contact with the clamped part. It has a certain elasticity to prevent damage to the clamped surface; the second plum blossom handle bolt 97134 passes through the oval through hole of the third support assembly 97131 and is connected to the flange clamping block 97132. The second plum blossom handle bolt 97134 can be rotated forward and backward to adjust the angular deflection of the flange clamping block 97132 around the center of the rotating shaft 97135, so as to realize the clamping or loosening of the flange workpiece by the clamping block 97132.

[0120] During operation, first pull the locking pin assembly 9702 outward, then snap the chuck assembly 9701 into the lower card slot of the strap mechanism 96. After reaching the position, the locking pin assembly 9702 is clamped under the action of the spring force; rotate the bakelite handwheel 9711 to drive the lead screw 9708 to rotate. The lead screw nut drives the flange clamping assembly 9713 and the third sliding seat 9712 to move linearly on the linear guide rail. Since the left and right sections of the lead screw 9708 are respectively of positive thread and reverse thread structures, the two flange clamping assemblies 9713 on both sides perform the same-direction clamping and reverse-direction separation actions along the linear guide rail, and the clamping position is adjusted according to the flange size. After reaching the position, lock it 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.

[0121] As Figure 7 shown, the flexible clamping unit 9 can perform six-degree-of-freedom movements, including linear movements in the X, Y, and Z directions, as well as deflections around the X-axis 9504, Y-axis 94076, and Z-axis. The movement accuracy is <90.91 mm, and the deflection accuracy is <90.925°.

[0122] As Figure 8 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 volume. It can drive to the construction site by itself through its crawler wheels. When entering indoor operations, it can first be hoisted to the entrance platform by a crane (there are indoor GIS stations on the second floor), and then drive into the room by itself. After finding a suitable working position, operate the control assembly 4 to operate the equipment, unfold the leg assembly 3, lift the entire vehicle body off the ground, and unfold the main robotic arm assembly 7 and the fly arm assembly 8.

[0123] As Figure 9 andFigure 11 As shown, operate the operation and 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 slot of the mounting and welding plate of the leveling unit 10. Insert the rectangular connecting pipe into the front slot of the flying arm assembly 8, and then insert the connecting pin shaft of the leveling unit 10 into the pin hole to complete the connection and fixation of the leveling unit 10 and the flying arm.

[0124] The leveling unit 10 and the flexible clamping unit 9 adopt a modular design and can be quickly removed and stored separately. The main boom assembly 7 and the flying arm assembly 8 of the main lifting part can be both retracted and folded, with a small volume and convenient for entering and exiting the room. In addition, adopting a modular structure design, when the equipment is lifted, the leveling unit 10 and the flexible clamping unit 9 can be directly and quickly removed, and quickly docked through the slot and the power interface during use (if the flexible clamping unit 9 and the lifting tool are installed and used at the same time, when the robotic arm makes telescopic movements, the lifting rope of the lifting tool device will move up and down together, resulting in mutual interference and inability to be used normally and posing major safety hazards).

[0125] As Figure 5 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 vision camera 1105; the left mounting bracket 1101 is installed on the flange side of one of the tanks, and position sensors 1102 and distance sensors 1103 are installed on both the left mounting bracket 1101 and the right mounting bracket 1104; 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 in the vertical axial direction between the two docking tanks; the vision camera 1105 is installed on the left mounting bracket 1101 or the right mounting bracket 1104 to monitor the surrounding environment.

[0126] As Figure 10 shown, the operation of the equipment is divided between two operators (an operator and an assembler). The operator is responsible for operating the intelligent flexible lifting platform, and the assembler is responsible for operating the flexible clamping unit 9.

[0127] First, install the position calibration module 11 on the first tank 12 to be assembled and its docked second tank 13, and then the operator operates the operation and control assembly 4, and the slewing platform assembly 6, the main boom assembly 7, and the flying arm assembly 8 move quickly over a large range, so that the flexible clamping unit 9 quickly approaches the first tank 12.

[0128] One end of the flexible strap 9619 is fixed to the strap mechanism 96, and the other end is manually operated by the assembler to wind the flexible strap 9619 around the first tank body 12 for one week and insert it into the guiding hole of the strap mechanism 96 (the central hole of the plastic part in the strap mechanism 96). Then, the assembler operates the GIS flexible clamping wireless remote controller 98, and the gear mechanism in the strap mechanism 96 moves clockwise. Driven by the gear, the flexible strap 9619 moves to the right and clamps the first tank body 12, as shown in Figure 10 shown in (a) of

[0129] After the clamping is completed, the strap mechanism 96 sends a clamped signal according to the preset torque value and synchronously displays it on the display module 501 and the display screen of the flexible clamping wireless remote controller 98, prompting the operator and the assembler to complete the clamping.

[0130] At this time, the operator operates the control assembly 4 again to quickly move the clamped first tank body 12 near 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 on the display module 501 to prevent accidents caused by operation errors. At the same time, the position calibration module 11 installed on the first tank body 12 and the second tank body 13 can synchronously display the spatial coordinates and video detail information of the two on the display screen of the display module 501 and the flexible clamping wireless remote controller 98. The display module 501 can display the position coordinate deviation of the two workpieces in data, and at the same time display it in a virtual simulation graph, so that the position status of the two workpieces can be intuitively grasped to guide the operator to operate the equipment.

[0131] When the first tank body 12 approaches the area range of the second tank body 13, the display module 501 prompts the area information. At this time, the operator stops operating the equipment and transfers it to the assembler to operate the wireless remote controller 98 for precise operation of the flexible clamping unit 9.

[0132] As Figure 7 shown, the flexible clamping unit 9 can perform precise movements in 6 degrees of freedom directions and can complete the precise docking of the hole positions of the first tank body 12 and the second tank body 13.

[0133] The GIS disassembly and assembly intelligent equipment has multiple usage methods. The leveling unit 10 and the flexible clamping unit 9 are modular units, which can be modularly installed and removed according to the on-site working scene. After removing the leveling unit 10 and the flexible clamping unit 9, a hook assembly 9714 can be installed to meet the lifting function of an ordinary crane.

[0134] As Figure 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 the tank body that needs to pass through the wall, one end can be clamped and inserted horizontally into the wall hole in a straight line, solving the problem that such components can only be installed by manual carrying on the shoulder at present, greatly saving manpower and improving safety.

[0135] Since the soft binding belt 9619 in the form of a synchronous belt is used to clamp the tank body, no clamping marks and deformation will occur on the tank body, nor will there be a sliding phenomenon; there is no shaking during the assembly process of the tank body. When the two workpieces approach, there will be no inertial collision of the flange end face and dropping of the sealing ring; due to the flexible hard clamping, the displacement is accurate, which is very convenient for the centering installation of the internal conductor after the two components approach, and has good practicability.

[0136] The crawler vehicle type moving platform adopted in the present invention has a telescopic robotic arm and rotatable and telescopic spider legs; the robotic 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 width of the platform is less than 1.6 meters and the height is less than 2.2 meters, and it can enter the indoor operation, having the ability to work in narrow indoor environments; in order to adapt to the influence of limited heights indoors and outdoors (the height of indoor houses is limited, and the height outdoors is limited due to overhead line interference), a horizontally telescopic flying arm assembly 8 is added to the front end of the main robotic arm assembly 7, which not only ensures the need for a large operation radius, but also avoids the inability to operate due to interference with overhead lines caused by the excessive height of the robotic arm, meeting the needs of mechanized operation in narrow indoor spaces of GIS.

[0137] The present invention installs a leveling unit 10 at the front end of the flying arm assembly 8 (to ensure 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 servo motors and can perform six-degree-of-freedom movements (linear movements in the X, Y, and Z directions and rotational movements around the X, Y, and Z axes), which can accurately ensure the installation and docking of components at any position, improving the reliability and accuracy of alignment, avoiding collisions caused by the natural shaking of the sling, meeting the requirements of the product assembly process, and improving the product assembly quality.

[0138] The flexible clamping unit 9 (fixture) of the present invention adopts a soft binding belt 9619 clamping method and is automatically locked by a motor, which can be used to clamp tank bodies with different diameters, has no damage to the clamped workpieces, and is easy to operate; the flexible clamping unit 9 (fixture) adopts a modular splicing method and can use different module components according to different specifications of products, having good versatility.

[0139] In addition to having the special clamping function for GIS tank body workpieces, 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, has multiple functions of workpiece flexible clamping and workpiece lifting, and has a wider application range.

[0140] In the present invention, visual recognition and laser ranging sensors are installed on the flange holes of the tank body. The position of the flange holes of the tank body forms coordinate information through the sensors and forms a virtual graph, which is visually displayed through a liquid crystal display screen to guide the operator to accurately operate the equipment. At the same time, a visual camera 1105 is installed, and the operator can clearly see the assembly details remotely, greatly improving the installation efficiency.

[0141] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is 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 thus cannot be understood as a limitation of the present invention.

[0142] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0143] In the present invention, unless otherwise clearly specified and defined, the terms "assembly", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0144] The above is only the preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the idea of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, several improvements and refinements made without departing from the principle of the present invention should be regarded as within 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); The leveling arm tube (1006) is provided with a tilt sensor (1012); 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; The flexible clamping unit (9) comprises a multi-dimensional mobile platform, a multi-dimensional angle deflection platform (94), a binding mechanism (96) and a clamp module (97); the multi-dimensional angle deflection platform (94) is mounted on the multi-dimensional mobile platform, the binding 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 achieve multi-dimensional movement and multi-dimensional angle deflection of the binding mechanism (96); the clamp module (97) is detachably mounted on the binding mechanism (96); The clamp module (97) is used for vertical installation of the GIS tank and hoisting of special-shaped parts, so that the clamping device has multi-scenario application capabilities; The clamp module (97) includes a clamping head 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 clamping 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). There is a preload spring inside and it is pulled outward; the middle position of the connecting shaft assembly (9703) is provided with a rotatable plane bearing, and the upper end shaft and the lower end shaft 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) and the mounting channel steel (9706) are welded as a whole, and the first plum handle bolt (9705) is installed in the screw holes on both sides of the clamping chuck (9704), and the clamping is adjusted by screwing in clockwise or loosening counterclockwise. The tightness of the clamping of the chuck (9704) and the connecting shaft assembly (9703) controls 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) by bolts; the hook assembly (9714) is installed and fixed by screwing the upper screw into the center screw hole of the lower end shaft of the connecting shaft assembly (9703).

2. The GIS intelligent disassembly and assembly system according to claim 1 is 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).

3. The GIS intelligent disassembly and assembly system according to claim 1 is 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.

4. The GIS intelligent disassembly and assembly system according to claim 3 is 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.

5. The GIS intelligent disassembly and assembly system according to claim 4 is 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).

6. The GIS intelligent disassembly and assembly system according to claim 5, 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.

Images